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