Record link: 
http://hdl.handle.net/20.500.12708/223277
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Title: 
Reinterpretation of the Non-Slippage Impact Direction for Elastic Contact Transitions
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Citation: 
Kirner, A. K., & Ott, C. (2025). Reinterpretation of the Non-Slippage Impact Direction for Elastic Contact Transitions. In B. Nessler, J. Piater, & P. M. Roth (Eds.), Austrian Symposium on AI, Robotics, and Vision (AIRoV) : Proceedings March 26–27, 2024, University of Innbruck (pp. 269–273). innsbruck university press. https://doi.org/10.15203/99106-150-2-50
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Publisher DOI: 
10.15203/99106-150-2-50
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Publication Type: 
Inproceedings - Full-Paper Contribution
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Language: 
English
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Authors: 
Kirner, Annika Katharina 
Ott, Christian 
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Organisational Unit: 
E376-03 - Forschungsbereich Robotersysteme 
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Published in: 
Austrian Symposium on AI, Robotics, and Vision (AIRoV) : Proceedings March 26–27, 2024, University of Innbruck 
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ISBN: 
978-3-99106-150-2
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DOI of the book: 
10.15203/99106-150-2
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Date (published): 
2025
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Event name: 
Austrian Symposium on AI, Robotics, and Vision (AIRoV) 2024 
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Event date: 
26-Mar-2024 - 27-Mar-2024
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Event place: 
Innsbruck, Austria
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Number of Pages: 
5
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Publisher: 
innsbruck university press, Innsbruck
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Keywords: 
Impact-aware robotics
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Abstract: 
Performing impacts at a target without sliding is essential for robot manipulation tasks, such as stamping. Recently, a model-based solution for this targeted non- slippage impact problem has been proposed and validated in experiments with a torque-controlled robot. For fully inelastic impacts, the goal is obtained if the approach direction of the impact target aligns with its unique non-slippage impact direction. In this work, the non-slippage impact direction is reinterpreted for elastic impacts. We show that it is the unique approach direction of a target, which is reversed by the impact. Moreover, we discuss possible applications to tasks such as hammering.
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Project title: 
Utilizing Natural Dynamics for Reliable Legged Locomotion: 819358 (European Commission) 
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Research Areas: 
Automation and Robotics: 100%
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Science Branch: 
2020 - Elektrotechnik, Elektronik, Informationstechnik: 100%
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Appears in Collections:
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