Dynamic Manipulation of an Unknown Object Under Compliant Non-holonomic Constraints
There are many robot control schemes where the end-effector is subject to holonomic or non-holonomic constraints. However, the literature has overlooked the problem of simultaneous holonomic and nonholonomic constraints. In particular, the case of constrained tangent force with a normal force to man...
Saved in:
| Published in | International journal of control, automation, and systems Vol. 21; no. 6; pp. 1939 - 1949 |
|---|---|
| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
| Published |
Bucheon / Seoul
Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
01.06.2023
Springer Nature B.V 제어·로봇·시스템학회 |
| Subjects | |
| Online Access | Get full text |
| ISSN | 1598-6446 2005-4092 |
| DOI | 10.1007/s12555-021-1075-z |
Cover
| Abstract | There are many robot control schemes where the end-effector is subject to holonomic or non-holonomic constraints. However, the literature has overlooked the problem of simultaneous holonomic and nonholonomic constraints. In particular, the case of constrained tangent force with a normal force to manipulate an object. In this paper, to study this problem, it is considered two 2D rigid robot fingers whose end-effectors are equipped with hemispherical deformable tips in contact with a rigid object. If the radius changes when force is exerted, we can notice a 1D-tangent constraint force and a 1D-normal compliant force arise simultaneously from the so-called compliant nonholonomic constraint. An energy reshaping controller is proposed to ensure simultaneously the convergence of the normal and tangential constraint forces assuming nonlinear viscoelastic damping. A representative simulation study shows the advantages of the constraints forces, in complex dexterity tasks, under the assumption that knowledge of the non-regular object is unknown. |
|---|---|
| AbstractList | There are many robot control schemes where the end-effector is subject to holonomic or non-holonomic constraints. However, the literature has overlooked the problem of simultaneous holonomic and nonholonomic constraints. In particular, the case of constrained tangent force with a normal force to manipulate an object. In this paper, to study this problem, it is considered two 2D rigid robot fingers whose end-effectors are equipped with hemispherical deformable tips in contact with a rigid object. If the radius changes when force is exerted, we can notice a 1D-tangent constraint force and a 1D-normal compliant force arise simultaneously from the so-called compliant nonholonomic constraint. An energy reshaping controller is proposed to ensure simultaneously the convergence of the normal and tangential constraint forces assuming nonlinear viscoelastic damping. A representative simulation study shows the advantages of the constraints forces, in complex dexterity tasks, under the assumption that knowledge of the non-regular object is unknown. There are many robot control schemes where the end-effector is subject to holonomic or non-holonomic constraints. However, the literature has overlooked the problem of simultaneous holonomic and nonholonomic constraints. In particular, the case of constrained tangent force with a normal force to manipulate an object. In this paper, to study this problem, it is considered two 2D rigid robot fingers whose end-effectors are equipped with hemispherical deformable tips in contact with a rigid object. If the radius changes when force is exerted, we can notice a 1D-tangent constraint force and a 1D-normal compliant force arise simultaneously from the so-called compliant nonholonomic constraint. An energy reshaping controller is proposed to ensure simultaneously the convergence of the normal and tangential constraint forces assuming nonlinear viscoelastic damping. A representative simulation study shows the advantages of the constraints forces, in complex dexterity tasks, under the assumption that knowledge of the non-regular object is unknown. KCI Citation Count: 0 |
| Author | Parra-Vega, Vicente Pantoja-Garcia, Luis Garcia-Rodriguez, Rodolfo Olguín-Díaz, Ernesto |
| Author_xml | – sequence: 1 givenname: Rodolfo orcidid: 0000-0002-4402-6072 surname: Garcia-Rodriguez fullname: Garcia-Rodriguez, Rodolfo email: rogarcia@upmh.edu.mx organization: Aeronautical Engineering Program and Postgraduate Program in Aerospacial Engineering, Universidad Politécnica Metropolitana de Hidalgo – sequence: 2 givenname: Vicente orcidid: 0000-0002-1813-0394 surname: Parra-Vega fullname: Parra-Vega, Vicente organization: Robotics and Advanced Manufacturing Department, Research Center for Advanced Studies (CINVESTAV) – sequence: 3 givenname: Luis orcidid: 0000-0002-6606-861X surname: Pantoja-Garcia fullname: Pantoja-Garcia, Luis organization: Robotics and Advanced Manufacturing Department, Research Center for Advanced Studies (CINVESTAV) – sequence: 4 givenname: Ernesto orcidid: 0000-0001-9721-191X surname: Olguín-Díaz fullname: Olguín-Díaz, Ernesto organization: Robotics and Advanced Manufacturing Department, Research Center for Advanced Studies (CINVESTAV) |
| BackLink | https://www.kci.go.kr/kciportal/ci/sereArticleSearch/ciSereArtiView.kci?sereArticleSearchBean.artiId=ART002960549$$DAccess content in National Research Foundation of Korea (NRF) |
| BookMark | eNp1kF1LwzAYRoMouE1_gHcF74Rokn6kuRz1azAd6HYd0jaZ3bo3M-mQ7debWcErr14C5zyEM0SnYEEjdEXJLSWE33nK0jTFhFFMCU_x4QQNGCEpTohgp2hAU5HjLEmyczT0fkVIljHBB-j9fg9q01TRi4Jmu2tV11iIrIkURAtYg_2CaFaudNWFZ61dVNjNtm0UdNGrBfxhWwv26BcWfOdUA52_QGdGtV5f_t4RWjw-zItnPJ09TYrxFFcxiTtcm4onaZzTWtRJXFMlqDGkjMtKC57rshJJrYwRmtLSEJVzlXIWi-BmucnrMh6hm34XnJHrqpFWNT93aeXayfHbfCIpYSEMpwG-7uGts5877Tu5sjsH4X-S5YxzmjCSBYr2VOWs904buXXNRrl9GJLH0LIPLUNoeQwtD8FhveMDC0vt_pb_l74BReuCzA |
| Cites_doi | 10.1108/AA-11-2020-0180 10.1016/j.mechmachtheory.2018.12.013 10.1016/j.rcim.2011.09.004 10.1007/s12555-010-0218-4 10.1080/00207721.2019.1617366 10.1080/00207721.2019.1647304 10.1007/s11432-020-3059-9 10.1109/TSMCB.2008.2002853 10.1017/S0263574721000023 10.1007/s11071-015-2485-3 10.1109/70.240200 10.1109/ACCESS.2020.3006715 10.1109/70.897777 10.1098/rstb.2011.0152 10.3390/robotics8040086 10.1080/00207721.2012.724116 10.1109/MRA.2021.3065870 10.1007/s12555-018-0011-3 10.1115/1.3139651 10.1119/1.1830501 10.1142/S0219843619500294 10.1109/TRO.2011.2168151 10.1080/00207729808929541 10.1016/S0377-0427(97)00178-7 10.1016/j.mechatronics.2014.01.007 10.1007/s12555-013-0328-x 10.1016/j.arcontrol.2003.12.001 10.1109/70.499823 10.1109/9.880610 10.3182/20050703-6-CZ-1902.01339 10.1186/s40648-020-00162-5 10.1109/IROS.2006.281860 10.1109/ICRA.2016.7487385 10.1109/AMC.2019.8371080 10.1007/978-3-540-37347-6_12 10.1109/ROBOT.2007.363051 |
| ContentType | Journal Article |
| Copyright | ICROS, KIEE and Springer 2023 ICROS, KIEE and Springer 2023. |
| Copyright_xml | – notice: ICROS, KIEE and Springer 2023 – notice: ICROS, KIEE and Springer 2023. |
| DBID | AAYXX CITATION 7SC 7SP 7TB 8FD FR3 JQ2 L7M L~C L~D ACYCR |
| DOI | 10.1007/s12555-021-1075-z |
| DatabaseName | CrossRef Computer and Information Systems Abstracts Electronics & Communications Abstracts Mechanical & Transportation Engineering Abstracts Technology Research Database Engineering Research Database ProQuest Computer Science Collection Advanced Technologies Database with Aerospace Computer and Information Systems Abstracts Academic Computer and Information Systems Abstracts Professional Korean Citation Index |
| DatabaseTitle | CrossRef Technology Research Database Computer and Information Systems Abstracts – Academic Mechanical & Transportation Engineering Abstracts Electronics & Communications Abstracts ProQuest Computer Science Collection Computer and Information Systems Abstracts Engineering Research Database Advanced Technologies Database with Aerospace Computer and Information Systems Abstracts Professional |
| DatabaseTitleList | Technology Research Database |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering |
| EISSN | 2005-4092 |
| EndPage | 1949 |
| ExternalDocumentID | oai_kci_go_kr_ARTI_10225571 10_1007_s12555_021_1075_z |
| GroupedDBID | -EM .UV 06D 0R~ 0VY 1N0 203 29J 29~ 2KG 2LR 2VQ 30V 3V. 4.4 406 408 40D 5GY 5VS 67Z 7WY 8FE 8FG 8FL 96X 9ZL AACDK AAHNG AAIAL AAJBT AAJKR AAKPC AANZL AARHV AARTL AASML AATNV AATVU AAUYE AAWCG AAYIU AAYQN AAYTO AAYZH AAZMS ABAKF ABDZT ABECU ABFTD ABFTV ABJNI ABJOX ABKCH ABMQK ABQBU ABSXP ABTEG ABTHY ABTKH ABTMW ABUWG ABXPI ACAOD ACDTI ACGFS ACHSB ACHXU ACIWK ACKNC ACMDZ ACMLO ACOKC ACPIV ACZOJ ADHHG ADHIR ADINQ ADKNI ADKPE ADRFC ADTPH ADURQ ADYFF ADZKW AEBTG AEFQL AEGNC AEJHL AEJRE AEMSY AENEX AEOHA AEPYU AESKC AETCA AEVLU AEXYK AFBBN AFGCZ AFKRA AFLOW AFQWF AFWTZ AFZKB AGAYW AGDGC AGJBK AGMZJ AGQEE AGQMX AGRTI AGWZB AGYKE AHAVH AHBYD AHKAY AHSBF AHYZX AIAKS AIGIU AIIXL AILAN AITGF AJBLW AJRNO ALMA_UNASSIGNED_HOLDINGS AMKLP AMXSW AMYLF AMYQR ANMIH AOCGG ARAPS ASPBG AVWKF AXYYD AYJHY AZFZN AZQEC BA0 BENPR BEZIV BGLVJ BGNMA BPHCQ CAG CCPQU COF CSCUP DBRKI DDRTE DNIVK DPUIP DU5 DWQXO EBLON EBS EIOEI EJD ESBYG F5P FEDTE FERAY FFXSO FIGPU FINBP FNLPD FRJ FRNLG FRRFC FSGXE FYJPI GGCAI GGRSB GJIRD GNUQQ GQ6 GQ7 GROUPED_ABI_INFORM_COMPLETE GW5 H13 HCIFZ HF~ HG6 HLICF HMJXF HRMNR HVGLF HZ~ IKXTQ IWAJR IXC IXD I~X J-C J0Z JBSCW JZLTJ K60 K6V K6~ K7- KOV KVFHK LLZTM M0C M0N M4Y MA- NPVJJ NQJWS NU0 O9- O9J P62 P9P PQBIZ PQBZA PQQKQ PROAC PT4 Q2X R9I ROL RSV S1Z S27 S3B SDH SEG SHX SISQX SJYHP SNE SNPRN SNX SOHCF SOJ SPISZ SRMVM SSLCW STPWE T13 TDB TSG U2A UG4 UOJIU UTJUX UZXMN VC2 VFIZW W48 WK8 Z45 Z7R Z7X Z7Z Z83 Z88 ZMTXR ~A9 AAPKM AAYXX ABDBE ABFSG ACSTC AEZWR AFDZB AFHIU AFOHR AHPBZ AHWEU AIXLP ATHPR CITATION PHGZM PHGZT 7SC 7SP 7TB 8FD ABRTQ FR3 JQ2 L7M L~C L~D ACYCR PMFND |
| ID | FETCH-LOGICAL-c303t-dfc745381d9d43d1a91ff0b3bce978ebc94daff9e11bf0a87a5723930368f8db3 |
| IEDL.DBID | AGYKE |
| ISSN | 1598-6446 |
| IngestDate | Thu May 29 05:23:43 EDT 2025 Sat Jul 26 02:34:36 EDT 2025 Tue Jul 01 00:27:59 EDT 2025 Fri Feb 21 02:43:19 EST 2025 |
| IsPeerReviewed | false |
| IsScholarly | true |
| Issue | 6 |
| Keywords | non-holonomic constraints rigid robot fingers Manipulation soft finger-tip |
| Language | English |
| LinkModel | DirectLink |
| MergedId | FETCHMERGED-LOGICAL-c303t-dfc745381d9d43d1a91ff0b3bce978ebc94daff9e11bf0a87a5723930368f8db3 |
| Notes | ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 14 http://link.springer.com/article/10.1007/s12555-021-1075-z |
| ORCID | 0000-0002-6606-861X 0000-0001-9721-191X 0000-0002-1813-0394 0000-0002-4402-6072 |
| PQID | 2827714206 |
| PQPubID | 326316 |
| PageCount | 11 |
| ParticipantIDs | nrf_kci_oai_kci_go_kr_ARTI_10225571 proquest_journals_2827714206 crossref_primary_10_1007_s12555_021_1075_z springer_journals_10_1007_s12555_021_1075_z |
| ProviderPackageCode | CITATION AAYXX |
| PublicationCentury | 2000 |
| PublicationDate | 2023-06-01 |
| PublicationDateYYYYMMDD | 2023-06-01 |
| PublicationDate_xml | – month: 06 year: 2023 text: 2023-06-01 day: 01 |
| PublicationDecade | 2020 |
| PublicationPlace | Bucheon / Seoul |
| PublicationPlace_xml | – name: Bucheon / Seoul – name: Heidelberg |
| PublicationSubtitle | IJCAS |
| PublicationTitle | International journal of control, automation, and systems |
| PublicationTitleAbbrev | Int. J. Control Autom. Syst |
| PublicationYear | 2023 |
| Publisher | Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers Springer Nature B.V 제어·로봇·시스템학회 |
| Publisher_xml | – name: Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers – name: Springer Nature B.V – name: 제어·로봇·시스템학회 |
| References | Bicchi, Gabiccini, Santello (CR14) 2011; 366 Wang, McClamroch (CR4) 1993; 9 Amodio, Mazzia (CR37) 1997; 87 Arimoto (CR2) 2004; 28 Marwan, Chyi, Kwek (CR21) 2021; 39 Takegaki, Arimoto (CR35) 1981; 103 CR38 CR15 Liu, Yu, Ji, Miao, Zhou (CR10) 2019; 50 CR36 CR13 Lane, Pickett (CR1) 1998; 29 Moosavian, Papadopoulos (CR3) 2010; 8 CR12 Hazard, Pollard, Coros (CR44) 2020; 17 CR33 CR32 Rehan, Reyhanoglu (CR6) 2018; 16 Pennestrì, Rossi, Salvini, Valentini (CR25) 2016; 83 Kim, Choi, Kim, Liu, Moon, Koo, Choi (CR30) 2014; 12 Liang, Zhang, Wang, Ge (CR39) 2012; 28 Wang, Zhou, Mao, Chen (CR9) 2014; 45 Buss, Hashimoto, Moore (CR18) 1996; 12 Li, Chen, Ma (CR22) 2021; 41 Bicchi (CR29) 2000; 16 Li, Tao, Ge, Adams, Wijesoma (CR16) 2009; 39 Castro-Diaz, Sanchez-Sanchez, Gutiérrez-Giles, Arteaga-Perez, Pliego-Jimenez (CR17) 2020; 8 Lai, Xiong, Wu (CR11) 2019; 50 CR5 CR8 CR7 Marigo, Bicchi (CR19) 2007; 45 CR28 CR27 Montaño, Suárez (CR42) 2019; 8 CR26 Lee, Lee, Kim, Han, Shin, Han (CR41) 2014; 24 Hou, Yang, Aiyama, Liu, Wang, Wang, Liang, Fan (CR24) 2019; 133 CR43 Wang, Abu-Dakka, Le, Kyrki, Xu (CR23) 2021; 28 CR40 Song, Park, Choi (CR20) 2012; 28 Flannery (CR31) 2005; 73 Garcia-Rodriguez, Parra-Vega (CR34) 2021; 64 1075_CR13 1075_CR12 1075_CR33 1075_CR32 E Pennestrì (1075_CR25) 2016; 83 M Takegaki (1075_CR35) 1981; 103 P Amodio (1075_CR37) 1997; 87 1075_CR38 1075_CR15 1075_CR36 Z Li (1075_CR16) 2009; 39 A Marigo (1075_CR19) 2007; 45 Q Liang (1075_CR39) 2012; 28 X Lai (1075_CR11) 2019; 50 1075_CR7 1075_CR8 1075_CR5 S A A Moosavian (1075_CR3) 2010; 8 M R Flannery (1075_CR31) 2005; 73 M Marwan (1075_CR21) 2021; 39 H Wang (1075_CR23) 2021; 28 1075_CR43 1075_CR28 1075_CR27 R Garcia-Rodriguez (1075_CR34) 2021; 64 Z P Wang (1075_CR9) 2014; 45 1075_CR26 A Bicchi (1075_CR14) 2011; 366 C Hazard (1075_CR44) 2020; 17 T Hou (1075_CR24) 2019; 133 D Wang (1075_CR4) 1993; 9 M Buss (1075_CR18) 1996; 12 S Song (1075_CR20) 2012; 28 J-D Castro-Diaz (1075_CR17) 2020; 8 X Li (1075_CR22) 2021; 41 L Liu (1075_CR10) 2019; 50 A Montaño (1075_CR42) 2019; 8 M Rehan (1075_CR6) 2018; 16 A Bicchi (1075_CR29) 2000; 16 D-M Lane (1075_CR1) 1998; 29 M J Kim (1075_CR30) 2014; 12 S Arimoto (1075_CR2) 2004; 28 H-D Lee (1075_CR41) 2014; 24 1075_CR40 |
| References_xml | – volume: 41 start-page: 208 issue: 2 year: 2021 end-page: 220 ident: CR22 article-title: Optimal grasp force for robotic grasping and in-hand manipulation with impedance control publication-title: Assembly Automation doi: 10.1108/AA-11-2020-0180 – volume: 133 start-page: 706 year: 2019 end-page: 719 ident: CR24 article-title: Design and experiment of a universal two-fingered hand with soft fingertips based on jamming effect publication-title: Mechanism and Machine Theory doi: 10.1016/j.mechmachtheory.2018.12.013 – volume: 28 start-page: 238 year: 2012 end-page: 244 ident: CR39 article-title: Development of a touch probe based on five-dimensional force/torque transducer for coordinate measuring machine (CMM) publication-title: Robotics and Computer-integrated Manufacturing doi: 10.1016/j.rcim.2011.09.004 – ident: CR43 – volume: 8 start-page: 314 year: 2010 end-page: 327 ident: CR3 article-title: Cooperative object manipulation with contact impact using multiple impedance control publication-title: International Journal of Control, Automation, and Systems doi: 10.1007/s12555-010-0218-4 – volume: 50 start-page: 1556 issue: 8 year: 2019 end-page: 1567 ident: CR10 article-title: Cooperative adaptive consensus tracking for multiple nonholonomic mobile robots publication-title: International Journal of Systems Science doi: 10.1080/00207721.2019.1617366 – volume: 50 start-page: 2126 issue: 11 year: 2019 end-page: 2141 ident: CR11 article-title: Stable control strategy for a second-order nonholonomic planar underactuated mechanical system publication-title: International Journal of Systems Science doi: 10.1080/00207721.2019.1647304 – ident: CR12 – volume: 64 start-page: 152209 year: 2021 ident: CR34 article-title: In-hand manipulation of a circular object by soft finger-tips without angle measuring publication-title: Science China Information Sciences doi: 10.1007/s11432-020-3059-9 – volume: 39 start-page: 103 issue: 1 year: 2009 end-page: 116 ident: CR16 article-title: Robust adaptive control of cooperating mobile manipulators with relative motion publication-title: IEEE Transactions on Systems, Man, and Cybernetics-Part B doi: 10.1109/TSMCB.2008.2002853 – volume: 39 start-page: 1849 year: 2021 end-page: 1882 ident: CR21 article-title: Comprehensive review on reaching and grasping of objects in robotics publication-title: Robotica doi: 10.1017/S0263574721000023 – ident: CR33 – volume: 83 start-page: 1785 issue: 4 year: 2016 end-page: 1801 ident: CR25 article-title: Review and comparison of dry friction force models publication-title: Nonlinear Dynamics doi: 10.1007/s11071-015-2485-3 – volume: 9 start-page: 308 issue: 3 year: 1993 end-page: 313 ident: CR4 article-title: Position and force control for constrained manipulator motion: Lyapunov’s direct method publication-title: IEEE Transactions on Robotics and Automation doi: 10.1109/70.240200 – volume: 8 start-page: 120959 year: 2020 end-page: 120973 ident: CR17 article-title: Experimental results for haptic interaction with virtual holonomic and nonholonomic constraints publication-title: IEEE Access doi: 10.1109/ACCESS.2020.3006715 – ident: CR8 – volume: 16 start-page: 652 issue: 6 year: 2000 end-page: 662 ident: CR29 article-title: Hands for dexterous manipulation and robust grasping: A difficult road toward simplicity publication-title: IEEE Transactions on Robotics and Automation doi: 10.1109/70.897777 – ident: CR40 – volume: 366 start-page: 3153 issue: 1581 year: 2011 end-page: 3161 ident: CR14 article-title: Modelling natural and artificial hands with synergies publication-title: Philosophical Transactions of the Royal Society B: Biological Sciences doi: 10.1098/rstb.2011.0152 – volume: 8 start-page: 86 issue: 4 year: 2019 ident: CR42 article-title: Dexterous manipulation of unknown objects using virtual contact points publication-title: Robotics doi: 10.3390/robotics8040086 – ident: CR27 – volume: 45 start-page: 133 issue: 2 year: 2014 end-page: 144 ident: CR9 article-title: Adaptive recurrent neural network control of uncertain constrained nonholonomic mobile manipulators publication-title: International Journal of Systems Science doi: 10.1080/00207721.2012.724116 – volume: 28 start-page: 37 issue: 2 year: 2021 end-page: 49 ident: CR23 article-title: A novel soft robotic hand design with human-inspired soft palm: Achieving a great diversity of grasps publication-title: IEEE Robotics & Automation Magazine doi: 10.1109/MRA.2021.3065870 – volume: 16 start-page: 2709 year: 2018 end-page: 2717 ident: CR6 article-title: Global formulation and motion planning for a sphere rolling on a smooth surface publication-title: International Journal of Control, Automation, and Systems doi: 10.1007/s12555-018-0011-3 – volume: 103 start-page: 119 issue: 2 year: 1981 end-page: 125 ident: CR35 article-title: A new feedback method for dynamic control of manipulators publication-title: Journal of Dynamic Systems, Measurement, and Control doi: 10.1115/1.3139651 – volume: 73 start-page: 265 issue: 3 year: 2005 end-page: 272 ident: CR31 article-title: The enigma of Non-holonomic Constraints publication-title: American Journal of Physics doi: 10.1119/1.1830501 – volume: 17 start-page: 1950029 issue: 1 year: 2020 ident: CR44 article-title: Automated design of robotic hands for in-hand manipulation tasks publication-title: International Journal of Humanoid Robotics doi: 10.1142/S0219843619500294 – volume: 28 start-page: 256 year: 2012 end-page: 262 ident: CR20 article-title: Dual-fingered stable grasping control for an optimal force angle publication-title: IEEE Transactions on Robotics doi: 10.1109/TRO.2011.2168151 – ident: CR15 – ident: CR38 – volume: 29 start-page: 513 issue: 5 year: 1998 end-page: 527 ident: CR1 article-title: Task planning for dexterous manipulation using blind grasping tele-assistance publication-title: International Journal of Systems Science doi: 10.1080/00207729808929541 – ident: CR13 – volume: 87 start-page: 135 issue: 1 year: 1997 end-page: 146 ident: CR37 article-title: Numerical solution of differential algebraic equations and computation of consistent initial/boundary conditions publication-title: Journal of Computational and Applied Mathematics doi: 10.1016/S0377-0427(97)00178-7 – ident: CR32 – volume: 24 start-page: 168 year: 2014 end-page: 176 ident: CR41 article-title: Human-robot cooperation control based on a dynamic model of an upper limb exoskeleton for human power amplification publication-title: Mechatronics doi: 10.1016/j.mechatronics.2014.01.007 – ident: CR36 – ident: CR5 – volume: 12 start-page: 406 year: 2014 end-page: 414 ident: CR30 article-title: Exploration of unknown object by active touch of robot hand publication-title: International Journal of Control, Automation, and Systems doi: 10.1007/s12555-013-0328-x – ident: CR7 – volume: 28 start-page: 75 issue: 1 year: 2004 end-page: 85 ident: CR2 article-title: Intelligent control of multi-fingered hands publication-title: Annual Review in Control doi: 10.1016/j.arcontrol.2003.12.001 – volume: 12 start-page: 406 issue: 3 year: 1996 end-page: 418 ident: CR18 article-title: Dextrous hand grasping force optimization publication-title: IEEE Transactions on Robotics and Automation doi: 10.1109/70.499823 – ident: CR28 – volume: 45 start-page: 1586 issue: 9 year: 2007 end-page: 1599 ident: CR19 article-title: Rolling bodies with regular surface: Controllability theory and applications publication-title: IEEE Transactions on Automatic Control doi: 10.1109/9.880610 – ident: CR26 – volume: 50 start-page: 2126 issue: 11 year: 2019 ident: 1075_CR11 publication-title: International Journal of Systems Science doi: 10.1080/00207721.2019.1647304 – volume: 83 start-page: 1785 issue: 4 year: 2016 ident: 1075_CR25 publication-title: Nonlinear Dynamics doi: 10.1007/s11071-015-2485-3 – ident: 1075_CR5 – ident: 1075_CR12 – volume: 39 start-page: 1849 year: 2021 ident: 1075_CR21 publication-title: Robotica doi: 10.1017/S0263574721000023 – ident: 1075_CR8 doi: 10.3182/20050703-6-CZ-1902.01339 – volume: 50 start-page: 1556 issue: 8 year: 2019 ident: 1075_CR10 publication-title: International Journal of Systems Science doi: 10.1080/00207721.2019.1617366 – volume: 45 start-page: 1586 issue: 9 year: 2007 ident: 1075_CR19 publication-title: IEEE Transactions on Automatic Control doi: 10.1109/9.880610 – ident: 1075_CR43 doi: 10.1186/s40648-020-00162-5 – volume: 28 start-page: 37 issue: 2 year: 2021 ident: 1075_CR23 publication-title: IEEE Robotics & Automation Magazine doi: 10.1109/MRA.2021.3065870 – ident: 1075_CR7 – volume: 16 start-page: 652 issue: 6 year: 2000 ident: 1075_CR29 publication-title: IEEE Transactions on Robotics and Automation doi: 10.1109/70.897777 – volume: 8 start-page: 86 issue: 4 year: 2019 ident: 1075_CR42 publication-title: Robotics doi: 10.3390/robotics8040086 – volume: 64 start-page: 152209 year: 2021 ident: 1075_CR34 publication-title: Science China Information Sciences doi: 10.1007/s11432-020-3059-9 – volume: 133 start-page: 706 year: 2019 ident: 1075_CR24 publication-title: Mechanism and Machine Theory doi: 10.1016/j.mechmachtheory.2018.12.013 – volume: 29 start-page: 513 issue: 5 year: 1998 ident: 1075_CR1 publication-title: International Journal of Systems Science doi: 10.1080/00207729808929541 – volume: 9 start-page: 308 issue: 3 year: 1993 ident: 1075_CR4 publication-title: IEEE Transactions on Robotics and Automation doi: 10.1109/70.240200 – volume: 16 start-page: 2709 year: 2018 ident: 1075_CR6 publication-title: International Journal of Control, Automation, and Systems doi: 10.1007/s12555-018-0011-3 – volume: 73 start-page: 265 issue: 3 year: 2005 ident: 1075_CR31 publication-title: American Journal of Physics doi: 10.1119/1.1830501 – volume: 24 start-page: 168 year: 2014 ident: 1075_CR41 publication-title: Mechatronics doi: 10.1016/j.mechatronics.2014.01.007 – volume: 12 start-page: 406 year: 2014 ident: 1075_CR30 publication-title: International Journal of Control, Automation, and Systems doi: 10.1007/s12555-013-0328-x – ident: 1075_CR32 – ident: 1075_CR26 doi: 10.1109/IROS.2006.281860 – ident: 1075_CR27 doi: 10.1109/ICRA.2016.7487385 – ident: 1075_CR40 doi: 10.1109/AMC.2019.8371080 – ident: 1075_CR38 – ident: 1075_CR13 – volume: 12 start-page: 406 issue: 3 year: 1996 ident: 1075_CR18 publication-title: IEEE Transactions on Robotics and Automation doi: 10.1109/70.499823 – ident: 1075_CR36 doi: 10.1007/978-3-540-37347-6_12 – volume: 8 start-page: 314 year: 2010 ident: 1075_CR3 publication-title: International Journal of Control, Automation, and Systems doi: 10.1007/s12555-010-0218-4 – volume: 28 start-page: 238 year: 2012 ident: 1075_CR39 publication-title: Robotics and Computer-integrated Manufacturing doi: 10.1016/j.rcim.2011.09.004 – volume: 17 start-page: 1950029 issue: 1 year: 2020 ident: 1075_CR44 publication-title: International Journal of Humanoid Robotics doi: 10.1142/S0219843619500294 – volume: 45 start-page: 133 issue: 2 year: 2014 ident: 1075_CR9 publication-title: International Journal of Systems Science doi: 10.1080/00207721.2012.724116 – ident: 1075_CR15 doi: 10.1109/ROBOT.2007.363051 – volume: 39 start-page: 103 issue: 1 year: 2009 ident: 1075_CR16 publication-title: IEEE Transactions on Systems, Man, and Cybernetics-Part B doi: 10.1109/TSMCB.2008.2002853 – volume: 41 start-page: 208 issue: 2 year: 2021 ident: 1075_CR22 publication-title: Assembly Automation doi: 10.1108/AA-11-2020-0180 – ident: 1075_CR28 – volume: 28 start-page: 256 year: 2012 ident: 1075_CR20 publication-title: IEEE Transactions on Robotics doi: 10.1109/TRO.2011.2168151 – volume: 366 start-page: 3153 issue: 1581 year: 2011 ident: 1075_CR14 publication-title: Philosophical Transactions of the Royal Society B: Biological Sciences doi: 10.1098/rstb.2011.0152 – volume: 28 start-page: 75 issue: 1 year: 2004 ident: 1075_CR2 publication-title: Annual Review in Control doi: 10.1016/j.arcontrol.2003.12.001 – volume: 8 start-page: 120959 year: 2020 ident: 1075_CR17 publication-title: IEEE Access doi: 10.1109/ACCESS.2020.3006715 – volume: 87 start-page: 135 issue: 1 year: 1997 ident: 1075_CR37 publication-title: Journal of Computational and Applied Mathematics doi: 10.1016/S0377-0427(97)00178-7 – ident: 1075_CR33 – volume: 103 start-page: 119 issue: 2 year: 1981 ident: 1075_CR35 publication-title: Journal of Dynamic Systems, Measurement, and Control doi: 10.1115/1.3139651 |
| SSID | ssj0066297 |
| Score | 2.3051405 |
| Snippet | There are many robot control schemes where the end-effector is subject to holonomic or non-holonomic constraints. However, the literature has overlooked the... |
| SourceID | nrf proquest crossref springer |
| SourceType | Open Website Aggregation Database Index Database Publisher |
| StartPage | 1939 |
| SubjectTerms | Constraints Control Deformation effects End effectors Engineering Formability Mechatronics Regular Papers Robot control Robotics Task complexity Viscoelastic damping 제어계측공학 |
| Title | Dynamic Manipulation of an Unknown Object Under Compliant Non-holonomic Constraints |
| URI | https://link.springer.com/article/10.1007/s12555-021-1075-z https://www.proquest.com/docview/2827714206 https://www.kci.go.kr/kciportal/ci/sereArticleSearch/ciSereArtiView.kci?sereArticleSearchBean.artiId=ART002960549 |
| Volume | 21 |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| ispartofPNX | International Journal of Control, 2023, Automation, and Systems, 21(6), , pp.1939-1949 |
| link | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV1Lb9QwEB6x2wsceCMWSmUJTiBXcWLH9nFVWgqo5UBXKifLz6payYt208v-euwk1tIKDj3lkCiPGWcenpnvA_jQ0LRqpWDYNZRhSiqPtSUS88pVjQ91Q3sWhbPz9nRBv12yy3GOe1O63UtJsrfUu2G3FP3maeLcgsUZ3k5gjxEhxRT25l9-fT8uBrht64FThUmBk7tvSzHzXze55Y4mcR1uRZp3iqO9zzl5AhflbYdWk-XhTWcO7fYOkOM9P-cpPB5jUDQfFs0zeODjc3j0FzLhC_j5eWCqR2c6XheKL7QKSEe0iHkjLqIfJu_hoJ45CR31relJTeh8FXE2qf28M8qEoD0NRbd5CYuT44ujUzzyL2CbHFuHXbCcJoNInHS0cURLEkJlGmN9yj29sZI6HYL0hJhQacE14xlRLTlFEYQzzSuYxlX0rwE546lstWh6ADEtdKiD5FJX1qb4y_kZfCxqUL8HmA21A1TOklJJUipLSm1n8D4pSi3ttcrg2Pl4tVLLtUopwFeVU1jGOJnBflGkGv_LjUoJJueE1lU7g09FL7vT_33km3td_RYeZlb6oaNsH6bd-sa_S7FLZw7GtXoAk0U9_wOyKOYg |
| linkProvider | Springer Nature |
| linkToHtml | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV07T8MwED5BGYAB8RTlaQkmkKU4ceJ4rICqPFoGqNTNcmIbVZVc1Jalvx7baVRAMDBlSJRIn52773yPD-AyoW7X8jzFKqEppiTSWJaEYxapKNEmTmhQUej2sk6fPgzSwaKPe1pXu9cpyWCpl81ujv36bmJfgsVSPF-FNccFci9b0I9btfnNsrhSVEl5jp2zz-pU5m-v-OaMVu3EfOOZP1KjweO0t2FrQRVRq1rbHVjRdhc2vwwQ3IOX20pQHnWlHdZKXGhskLSob_15mUXPhT9qQUHgCN2ECnKHJuqNLfaWL7QlI6_bGdQiZtN96LfvXm86eCGTgEvnf2ZYmZJRZ7eI4oomikhOjImKpCi1CxF1UXKqpDFcE1KYSOZMpswPPnO-Kze5KpIDaNix1YeAVKEpz2SehDlfMpcmNpxxGZWlo0lKN-Gqxku8V9MwxHLusQdXOHCFB1fMm3DhEBWjcij8DGt_fRuL0UQ4pn4vfKSZpow04aRGXCx-n6lwcSBjhMZR1oTrehWWt__85NG_nj6H9c5r90k83fcej2HDC8lXRWAn0JhNPvSpoxuz4ixsr08uqcsR |
| linkToPdf | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV1bS8MwFD54AdEH8YrTqQF9UoJNmzbN43COeZuCDnwLaZPIGGSy1Zf9epN2ZU70wac-tLTw5fRcknO-D-A8os5qeRpjFdEYUxJoLHPCMQtUEGkTRrRUUXjsJd0-vXuL32Y6p5O6270-kqxmGjxLky2uPpS5mg--uUzYTxb7diwW4-kyrDpvTLyh98NW7YqTJKzUVWKeYhf4k_pY87dXLASmZTs2Cznnj2PSMvp0tmBzljaiVrXO27Ck7Q5sfCMT3IWXdiUujx6lHdSqXGhkkLSob_3emUVPmd92QaXYEbouu8kdsqg3sth7wXJEGXkNz1I5opjsQb9z83rdxTPJBJy7WFRgZXJGnQ8jiisaKSI5MSbIoizXrlzUWc6pksZwTUhmApkyGTNPgubiWGpSlUX7sGJHVh8AUpmmPJFpVHJ-yVSa0HDGZZDnLmVSugEXNV7io2LGEHMOZA-ucOAKD66YNuDMISqG-UB4Pmt_fR-J4Vi4rP1W-KozjhlpQLNGXMx-pYlwNSFjhIZB0oDLehXmt__85OG_nj6Fted2Rzzc9u6PYN1rylf9YE1YKcaf-thlHkV2UlrXFxSuz00 |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Dynamic+Manipulation+of+an+Unknown+Object+Under+Compliant+Non-holonomic+Constraints&rft.jtitle=International+journal+of+control%2C+automation%2C+and+systems&rft.au=Garcia-Rodriguez%2C+Rodolfo&rft.au=Parra-Vega%2C+Vicente&rft.au=Pantoja-Garcia%2C+Luis&rft.au=Olgu%C3%ADn-D%C3%ADaz%2C+Ernesto&rft.date=2023-06-01&rft.pub=Institute+of+Control%2C+Robotics+and+Systems+and+The+Korean+Institute+of+Electrical+Engineers&rft.issn=1598-6446&rft.eissn=2005-4092&rft.volume=21&rft.issue=6&rft.spage=1939&rft.epage=1949&rft_id=info:doi/10.1007%2Fs12555-021-1075-z&rft.externalDocID=10_1007_s12555_021_1075_z |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=1598-6446&client=summon |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=1598-6446&client=summon |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=1598-6446&client=summon |