Authors:
Nobukado Abe
1
;
Satoshi Iwaki
1
;
Kazuki Yoshinaga
1
;
Naoki Tsuchihashi
1
;
Tetsushi Ikeda
1
;
Toshiharu Kosaku
1
and
Takeshi Takaki
2
Affiliations:
1
Systems Engineering Robotics Laboratory, Graduate School of Information Science, Hiroshima City University, 3-4-1, Ozukahigashi, Asaminami-ku, Hiroshima and Japan
;
2
Graduate School of Engineering, Hiroshima University, 3-3-2, Kagamiyama, Higashihiroshima, Hiroshima and Japan
Keyword(s):
Air Jet, Pitching, Catching, Manipulation, 3D.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Intelligent Transportation Technologies and Systems
;
Robotics and Automation
Abstract:
We have been studying an air jet manipulation technology to non-contactly carry an object over a long distance using multiple 3D air jet manipulation modules consisting of a single air jet nozzle and a pan-tilt actuator. Here we challenge long distant transportation through object pitching-and-catching between a pair of air jet. In this report, we propose a control algorithm to determine each air jet angle and its flow rate, for both pitching side and catching side. First we try to observe human behaviour in a real catch-ball as a hint to create the algorithm. Next, as a preliminary experiment, a pitching experiment and a catching experiment are independently performed to obtain an air jet output function and a control law for each. After that, we propose an integrated transporting algorithm of pitching and catching, and confirm its validity by demonstration experiment.