Holonomic Rolling Nonprehensile Manipulation Primitive

In this chapter, the design of nonlinear controllers for non-prehensile holonomic rolling system is reviewed. A general model for the class of non-prehensile rolling system considered in this work is first formulated. Then, both the input-state linearisation approach and the interconnection and damping assignment passivity-based control technique for rolling systems are addressed. The class of control designs presented in this chapter make use of energy concepts and physical properties. Three benchmark examples are used to illustrate the control design presented, namely the disk-on-disk, the ball-and-beam, and the eccentric disk-on-disk This chapter is based on the works presented in [1–3].