{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,5,13]],"date-time":"2025-05-13T21:56:03Z","timestamp":1747173363055,"version":"3.40.5"},"reference-count":29,"publisher":"Cambridge University Press (CUP)","issue":"4","license":[{"start":{"date-parts":[[2019,7,31]],"date-time":"2019-07-31T00:00:00Z","timestamp":1564531200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2020,4]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Regrasping is a manipulation to alternate between grasp configurations of an object to perform different tasks. We address a regrasping problem termed <jats:italic>longitude regrasping<\/jats:italic> to reposition a gripper along an elongated object. We propose an algorithm using the dynamics of the arm and a non-dexterous gripper to perform the manipulation. Energy control is used to toss the object up and catch it under the goal position. Clipped Linear Quadratic Regulator control approach is then applied to the gripper jaws to control the friction force on the object and to let it slide to the final goal position. The object sliding within the gripper is modeled as a semi-active linear joint where only dissipative forces can be applied to it. A set of experiments validated the feasibility of the method.<\/jats:p>","DOI":"10.1017\/s0263574719000912","type":"journal-article","created":{"date-parts":[[2019,7,30]],"date-time":"2019-07-30T23:30:41Z","timestamp":1564529441000},"page":"639-651","source":"Crossref","is-referenced-by-count":3,"title":["Longitudinal Regrasping of Elongated Objects"],"prefix":"10.1017","volume":"38","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3320-3897","authenticated-orcid":false,"given":"Avishai","family":"Sintov","sequence":"first","affiliation":[]},{"given":"Or","family":"Tslil","sequence":"additional","affiliation":[]},{"given":"Shahar","family":"Frenkel","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2019,7,31]]},"reference":[{"key":"S0263574719000912_ref18","doi-asserted-by":"publisher","DOI":"10.1016\/S0005-1098(99)00140-5"},{"key":"S0263574719000912_ref10","unstructured":"10. Vinayavekhin, P. , Kudoh, S. and Ikeuchi, K. , \u201cTowards an Automatic Robot Regrasping Movement Based on Human Demonstration Using Tangle Topology,\u201d Proceedings of IEEE International Conference on Robotics and Automation, Shanghai (2011) pp. 3332\u20133339."},{"key":"S0263574719000912_ref7","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-25486-4_14"},{"key":"S0263574719000912_ref13","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2017.09.009"},{"key":"S0263574719000912_ref20","doi-asserted-by":"publisher","DOI":"10.1155\/2004\/565947"},{"key":"S0263574719000912_ref11","unstructured":"11. Dafle, N. , Rodriguez, A. , Paolini, R. , Tang, B. , Srinivasa, S. , Erdmann, M. , Mason, M. , Lundberg, I. , Staab, H. and Fuhlbrigge, T. , \u201cRegrasping Objects Using Extrinsic Dexterity,\u201d Proceedings of IEEE International Conference on Robotics and Automation, Hong Kong (2014) p. 2560."},{"key":"S0263574719000912_ref9","doi-asserted-by":"publisher","DOI":"10.1007\/s40430-013-0006-1"},{"key":"S0263574719000912_ref12","unstructured":"12. Hou, Y. , Jia, Z. , Johnson, A. M. and Mason, M. T. , \u201cRobust Planar Dynamic Pivoting by Regulating Inertial and Grip Forces,\u201d Workshop on the Algorithmic Foundations of Robotics, San Francisco, CA, USA (2016)."},{"key":"S0263574719000912_ref19","unstructured":"19. Lane, J. S. and Ferri, A. A. , \u201cOptimal Control of a Semi-Active, Frictionally Damped Joint,\u201d American Control Conference, Chicago, IL, USA (1992) pp. 2754\u20132759."},{"key":"S0263574719000912_ref2","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487693"},{"key":"S0263574719000912_ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2593053"},{"key":"S0263574719000912_ref4","unstructured":"4. Saut, J.-P. , Gharbi, M. , Cortes, J. , Sidobre, D. and Simeon, T. , \u201cPlanning Pick-and-Place Tasks with Two-Hand Regrasping,\u201d Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan (2010) pp. 4528\u20134533."},{"key":"S0263574719000912_ref5","first-page":"1924","article-title":"Regrasping","volume":"4","author":"Tournassoud","year":"1987","journal-title":"Proceedings of IEEE International Conference on Robotics and Automation"},{"key":"S0263574719000912_ref8","unstructured":"8. Roa, M. A. and Suarez, R. , \u201cRegrasp Planning in the Grasp Space Using Independent Regions,\u201d Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems, IROS\u201909, St. Louis, MO, USA (2009) pp. 1823\u20131829."},{"key":"S0263574719000912_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2588879"},{"key":"S0263574719000912_ref15","unstructured":"15. Furukawa, N. , Namiki, A. , Taku, S. and Ishikawa, M. , \u201cDynamic regrasping using a high-speed multifingered hand and a high-speed vision system,\u201d Proceedings of IEEE International Conference on Robotics and Automation, Orlando, FL, USA (2006) pp. 181\u2013187."},{"key":"S0263574719000912_ref16","unstructured":"16. 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H. and Yamasaki, T. , \u201cRevisiting Energy-Based Swing-Up Control for the Pendubot,\u201d Proceedings of the IEEE International Conference on Control Applications, Yokohama (2010) pp. 1576\u20131581."},{"key":"S0263574719000912_ref21","doi-asserted-by":"publisher","DOI":"10.1006\/jsvi.1996.0798"},{"key":"S0263574719000912_ref28","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910369189"},{"volume-title":"Modern Control Engineering","year":"1998","author":"Ogata","key":"S0263574719000912_ref22"},{"volume-title":"Dynamics with Friction: Modeling, Analysis and Experiment, EBL-Schweitzer","year":"2001","author":"Popp","key":"S0263574719000912_ref23"},{"volume-title":"A Mathematical Introduction to Robotic Manipulation","year":"1994","author":"Murray","key":"S0263574719000912_ref24"},{"key":"S0263574719000912_ref25","doi-asserted-by":"publisher","DOI":"10.1115\/1.3097294"},{"key":"S0263574719000912_ref26","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140698"},{"key":"S0263574719000912_ref27","first-page":"96","article-title":"Event-based control of the inverted pendulum: Swing up and stabilization","volume":"15","author":"Durand","year":"2013","journal-title":"J. Control Eng. Appl. Inf."},{"key":"S0263574719000912_ref29","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-0339-4"},{"key":"S0263574719000912_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/70.127238"},{"key":"S0263574719000912_ref6","unstructured":"6. Balaguer, B. and Carpin, S. , \u201cBimanual Regrasping from Unimanual Machine Learning,\u201d Proceedings of IEEE International Conference on Robotics and Automation, Saint Paul, MN, USA (2012) pp. 3264\u20133270."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574719000912","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,2,28]],"date-time":"2020-02-28T08:25:39Z","timestamp":1582878339000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574719000912\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,7,31]]},"references-count":29,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2020,4]]}},"alternative-id":["S0263574719000912"],"URL":"https:\/\/doi.org\/10.1017\/s0263574719000912","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2019,7,31]]}}}