Ixchel Georgina Ramirez-Alpizar

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A rigid plate end-effector at the tip of a high-speed manipulator can remotely manipulate an object without grasping it. This paper discusses a dynamic nonprehensile manipulation strategy to rotate thin deformable objects on a rigid plate with two degrees of freedom (DOFs). The deformation of the object due to dynamic effects is exploited to produce fast(More)
This paper discusses a nonprehensile dynamic manipulation of a deformable object, where the object is remotely manipulated on a plate attached at the tip of a bar. We have found that the object's deformation generated by dynamic effects can drastically contribute to a fast and stable object rotation. We introduce a new simulation model for a sheet-like(More)
This paper presents a method for planning motions of a flexible objects based on precise simulation using Finite Element Method (FEM). The proposed method is applied to ring-shape objects manipulated by robot arms, which is often seen in various applications. Since large deformation is implied, assembly planning with realistic simulation is important to(More)
This paper discusses a dynamic nonprehensile manipulation of a thin flexible object where the object rotates on a plate. We have found that a thin flexible object shows bipedal-gaited motions when rotating on the vibrating plate and that the maximal angular velocity of the object is achieved by an appropriate plate motion with respect to the object's(More)
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