PRI (PALM ROTATION INDICATOR): A METRIC FOR POSTURAL STABILITY IN DYNAMIC NONPREHENSILE MANIPULATION

Authors

  • Borhan Beigzadeh School of ME, Iran University of Science and Technology
  • Ali Meghdari CEDRA, ME Department, Sharif University of Technology
  • Saeed Sohrabpour CEDRA, ME Department, Sharif University of Technology

DOI:

https://doi.org/10.5755/j01.mech.18.4.2324

Keywords:

palm rotation indicator, metric for postural stability, dynamic nonprehensile manipulation

Abstract

In this study, we discuss the postural stability of a nonprehensile manipulation problem, which deals with multibody objects. As a metric for postural stability, we define PRI. Then, the system is posturally stable, if PRI is inside the convex hull of the object-manipulator contact surface. We then discuss that dynamic biped locomotion is a special case of dynamic nonprehensile manipulation in all aspects; we prove that ZMP (zero-moment point) and FRI (zoot rotation indicator) are special cases of PRI (palm rotation indicator). Simulations and experiments corresponding to simple examples support the results.

DOI: http://dx.doi.org/10.5755/j01.mech.18.4.2324

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Published

2012-08-30

Issue

Vol. 18 No. 4 (2012)

Section

DESIGN AND OPTIMIZATION OF MECHANICAL SYSTEMS

License

The copyright for the articles in this journal is retained by the author(s) with the first publication right granted to the journal. The journal is licensed under the Creative Commons Attribution License 4.0 (CC BY 4.0).