{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,8]],"date-time":"2026-01-08T03:31:51Z","timestamp":1767843111963,"version":"3.49.0"},"reference-count":24,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2018,7,4]],"date-time":"2018-07-04T00:00:00Z","timestamp":1530662400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>This paper presents a novel nonprehensile manipulation method that uses the vibration of a plate, where the two degrees of freedom of a part on the plate are controlled by only one actuator. First, a manipulator whose end effector is a flat plate is introduced. By employing an underactuated joint mechanism, the shape and orientation of the vibrational orbit of the plate vary according to frequency and offset angle of the sinusoidal displacement input to an actuator. Then, simulation analyses reveal that the manipulator can omnidirectionally induce translational velocity to the part on the plate. There exists an orthogonality between the effects of the frequency and offset angle on the velocity map of the part. Based on this characteristic, a visual feedback control for manipulating the part is designed. Finally, the proposed method is validated via experiments using a prototype manipulator. A target-trajectory tracking task and a four-way part-feeding task are demonstrated.<\/jats:p>","DOI":"10.3390\/robotics7030034","type":"journal-article","created":{"date-parts":[[2018,7,4]],"date-time":"2018-07-04T12:23:02Z","timestamp":1530706982000},"page":"34","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":12,"title":["Omnidirectional Nonprehensile Manipulation Using Only One Actuator"],"prefix":"10.3390","volume":"7","author":[{"given":"Mitsuru","family":"Higashimori","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Graduate School of Engineering, Osaka University, Suita 565-0871, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kohei","family":"Yamaguchi","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Graduate School of Engineering, Osaka University, Suita 565-0871, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Akihide","family":"Shibata","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Graduate School of Engineering, Osaka University, Suita 565-0871, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2018,7,4]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"652","DOI":"10.1109\/70.897777","article-title":"Hands for Dexterous Manipulation and Robust Grasping: A Difficult Road Toward Simplicity","volume":"16","author":"Bicchi","year":"2000","journal-title":"IEEE Trans. Rob. Autom."},{"key":"ref_2","unstructured":"Arai, H., and Khatib, O. (1994, January 11\u201318). Experiments with Dynamic Skills. Proceedings of the 1994 Japan-USA Symposium on Flexible Automation : A Pacific Rim conference, Kobe, Japan."},{"key":"ref_3","unstructured":"Amagai, A., and Takase, K. (2001, January 29\u201329). Implementation of Dynamic Manipulation with Visual Feedback and Its Application to Pick and Place Task. Proceedings of the 2001 IEEE International Symposium on Assembly and Task Planning (ISATP2001), Fukuoka, Japan."},{"key":"ref_4","unstructured":"Reznik, D., and Canny, J. (1998, January 20\u201320). A Flat Rigid Plate is a Universal Planar Manipulator. Proceedings of the 1998 IEEE International Conference on Robotics and Automation, Leuven, Belgium."},{"key":"ref_5","unstructured":"Reznik, D., and Canny, J. (2001, January 21\u201326). C\u2019mon Part, Do the Local Motion! In Proceedings of the 2001 ICRA. 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Eng."},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Vose, T.H., Umbanhowar, P., and Lynch, K.M. (2010, January 3\u20137). Toward the Set of Frictional Velocity Fields Generable by 6-Degree-of-Freedom Oscillatory Motion of a Rigid Plate. Proceedings of the 2010 IEEE International Conference on Robotics and Automation, Anchorage, AK, USA.","DOI":"10.1109\/ROBOT.2010.5509340"},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"819","DOI":"10.1177\/0278364912442430","article-title":"Sliding Manipulation of Rigid Bodies on a Controlled 6-DoF Plate","volume":"31","author":"Vose","year":"2012","journal-title":"Int. J Rob. Res."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"671","DOI":"10.1109\/TMECH.2006.886197","article-title":"Microparts Feeding by a Saw-Tooth Surface","volume":"11","author":"Mitani","year":"2006","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"151","DOI":"10.20965\/ijat.2009.p0151","article-title":"Submillimeter Micropart Feeding Along an Asymmetric Femtosecond-Laser- Microfabricated Surface","volume":"3","author":"Mitani","year":"2009","journal-title":"Int. J. Autom. Technol."},{"key":"ref_13","first-page":"73","article-title":"A Study on the Motion of Micro-Parts on a Saw-Tooth Surface by the PTV Method","volume":"6","author":"Le","year":"2012","journal-title":"J. Syst. Des. Dyn."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"S102","DOI":"10.1002\/tee.21925","article-title":"Effect of Geometry Parameters of Saw-tooth Surface on the Feeding Velocity of Micro-parts","volume":"8","author":"Le","year":"2013","journal-title":"IEEJ Trans. Electr. Electron. Eng."},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Umbanhowar, P., Vose, T.H., Mitani, A., Hirai, S., and Lynch, K.M. (2012, January 14\u201318). The Effect of Anisotropic Friction on Vibratory Velocity Fields. Proceedings of the IEEE International Conference on Robotics and Automation, Saint Paul, MN, USA.","DOI":"10.1109\/ICRA.2012.6225273"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"829","DOI":"10.1109\/TRO.2009.2017085","article-title":"Dynamic Manipulation Inspired by the Handling of a Pizza Peel","volume":"25","author":"Higashimori","year":"2009","journal-title":"IEEE Trans. Rob."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"607","DOI":"10.1109\/TRO.2011.2181098","article-title":"Dynamic Nonprehensile Manipulation for Rotating a Thin Deformable Object: An Analogy to Bipedal Gaits","volume":"28","author":"Higashimori","year":"2012","journal-title":"IEEE Trans. Rob."},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"Ramirez-Alpizar, I.G., Higashimori, M., and Kaneko, M. (2012, January 20\u201324). Identification of a Thin Flexible Object with Bipedal Gaits. 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