Paper:

# Characterization of Deformable Objects by Using Dynamic Nonprehensile Manipulation

## Ixchel G. Ramirez-Alpizar, Mitsuru Higashimori, and Makoto Kaneko

Graduate School of Engineering, Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan

This paper presents amethod for evaluating a physical parameter of unknown deformable objects, by using nonprehensile manipulation. By means of simulation analysis, we show that the curve representing the relationship between the object’s angular velocity and the plate’s frequency has a resonance-like response. Based on the above phenomenon, we utilize a Lorentz curve fitting to represent the object’s angular velocity as a function of the plate’s frequency with a simple mathematical expression, instead of deriving the equation of motion of the system that is rather complex due to the intricate dynamics of the system. Then, we show that the first order natural angular frequency in bending determines the frequency at which the object’s has its maximal angular velocity. Using this information, we present a method of how to estimate the object’s first order natural frequency in bending. We show the simulation and experimental results to verify the validity of the method presented.

*J. Robot. Mechatron.*, Vol.25, No.1, pp. 252-261, 2013.

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