@inproceedings{65c8e1641348485082063bd2f66dede8,
title = "Generating Periodic Motions for the Butterfly Robot",
abstract = "We analyze the problem of dynamic non-prehensile manipulation by considering the example of the butterfly robot. Our main objective is to study the problem of stabilizing periodic motions, which resemble some form of juggling acrobatics. To this end, we approach the problem by considering the framework of virtual holonomic constraints. Under this basis, we provide an analytical and systematic solution to the problems of trajectory planning and design of feedback controllers to guarantee orbital exponential stability. Results are presented in the form of simulation tests.",
keywords = "Underactuated mechanical systems, limit cycles, motion planning, nonlinear control, transverse linearization, virtual holonomic constraints, Underactuated mechanical systems, limit cycles, motion planning, nonlinear control, transverse linearization, virtual holonomic constraints",
author = "\{Ort{\'i}z Morales\}, Daniel and \{La Hera\}, Pedro and Rehman, \{Shafiq Ur\}",
year = "2013",
doi = "10.1109/IROS.2013.6696712",
language = "English",
isbn = "978-1-4673-6358-7",
series = "Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems",
pages = "2527--2532",
booktitle = "IROS 2013: New Horizon Conference Digest : 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems : Tokyo Big Sight, Tokyo, Japan November 3‐8, 2013",
publisher = "IEEE",
}