Optimal Nonprehensile Interception Strategy for Objects in Flight
Cheng Zhou,Yanbo Long,Ying Cao,Longfei Zhao,Bidan Huang,Yu Zheng,Cheng Zhou,Yanbo Long,Ying Cao,Longfei Zhao,Bidan Huang,Yu Zheng
Intercepting an object in flight through nonpre-hensile manipulation is a challenging problem, which is aimed at catching and stopping a flying object using little contacts without completely restraining its relative motion to the robot. This paper presents a two-stage optimal trajectory generation method to tackle this problem. At the pre-catching stage, optimal position and attitude trajectories...
