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working paper

Hitting with Different Joints of a Robotic Manipulator

Khurana, Harshit  
•
Billard, Aude  
May 13, 2024

This paper builds up the skill of impact aware non prehensile manipulation through a hitting motion by allowing the robot arm to come in contact with the environment with parts other than its end effector. Hitting with other joints allows us to manipulate heavier objects since the robot effective inertia is higher at joints other than its end effector. Preliminary work to align the robot to hit an object from a certain joint while having better understanding of desired directional inertia values is presented.

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Name

Hitting_with_Different_Joints_of_a_Robotic_Manipulator.pdf

Type

Postprint

Version

http://purl.org/coar/version/c_ab4af688f83e57aa

Access type

openaccess

License Condition

CC BY-NC-ND

Size

730.17 KB

Format

Adobe PDF

Checksum (MD5)

0fabbcc9e4f12a319bb50b554e363ac3

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