Peng Pan

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| W e describe a one-joint planar arm which r e-peatedly throws and catches parts on its surface, and we demonstrate that proper choice of the throw v elocity a n d arm geometry guarantees that the part will enter a unique recurrent motion pattern from a large set of initial conngu-rations. The resulting system resembles an open-loop stable juggler of(More)
Smooth, frictionless, kinematic constraints on the motion of a grasped object reduce the motion freedoms at the hand, but add force freedoms, that is, force directions that do not affect the motion of the object. We are studying how subjects make use of these force freedoms in static and dynamic manipulation tasks. In this study, subjects were asked to use(More)