Date of Original Version



Conference Proceeding

Abstract or Description

While most previous work in planning manipulation tasks relies on the assumption of quasi-static conditions, there can be situations where the quasi-static assumption may not hold, and the assumptions about the environment must be relaxed. This is true, for example, in a situation where objects are making and breaking contact at high enough velocities that contact dynamics play a significant effect in the motion of the colliding objects.

There has been some work studying models of collision, in particular for the design and analysis of systems with intermittent constraints, and for the design of juggling robots. Our work extends previous studies in planar juggling to the case of a polygonal object, using the model of rigid body impulsive collision. Simulations verify the results of a linearized analysis.


"©1994 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE."

Included in

Robotics Commons



Published In

IEEE International Conference on Robotics and Automation (ICRA '94), 2949-2954.