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dc.contributor.authorTaylor, Orion Thomas
dc.contributor.authorRodriguez Garcia, Alberto
dc.date.accessioned2021-03-02T19:00:31Z
dc.date.available2021-03-02T19:00:31Z
dc.date.issued2017-07
dc.identifier.isbn9780992374730
dc.identifier.urihttps://hdl.handle.net/1721.1/130051
dc.description.abstractThis paper presents a framework for optimizing both the shape and the motion of a planar rigid end-effector to satisfy a desired manipulation task. We frame this design problem as a nonlinear optimization program, where shape and motion are decision variables represented as splines. The task is represented as a series of constraints, along with a fitness metric,which force the solution to be compatible with the dynamics of frictional hard contact while satisfying the task. We illustrate the approach with the example problem of moving a disk along a desired path or trajectory, and we verify it by applying it to three classical design problems: the rolling brachistochrone, the design of teeth of involute gears, and the pitch curve of rolling cams. We conclude with a case study involving the optimization and real implementation of the shape and motion of a dynamic throwing arm.en_US
dc.language.isoen
dc.publisherRobotics: Science and Systems Foundationen_US
dc.relation.isversionofhttp://dx.doi.org/10.15607/rss.2017.xiii.055en_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alikeen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0/en_US
dc.sourceMIT web domainen_US
dc.titleOptimal Shape and Motion Planning for Dynamic Planar Manipulationen_US
dc.typeArticleen_US
dc.identifier.citationTaylor, Orion and Alberto Rodriguez."Optimal Shape and Motion Planning for Dynamic Planar Manipulation." Robotics: Science and Systems XIII, July 2017, Cambridge, Massachusetts, Robotics: Science and Systems Foundation, July 2017.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Mechanical Engineeringen_US
dc.relation.journalRobotics: Science and Systems XIIIen_US
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
eprint.statushttp://purl.org/eprint/status/NonPeerRevieweden_US
dc.date.updated2020-07-31T17:44:30Z
dspace.date.submission2020-07-31T17:44:33Z
mit.licenseOPEN_ACCESS_POLICY
mit.metadata.statusComplete


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