{'fraction_non_alphanumeric': 0.019927536231884056, 'fraction_numerical': 0.0, 'mean_word_length': 4.760416666666667, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Two Dimensional Dynamic Manipulation of a Disc Using Two Manipulators

In this paper, we analyze a dynamic object manipulation (DOM) problem; throwing upward and catching a disc using two planar manipulators. The manipulators control the disc xy position dynamically and use its angular movement as a free parameter. We use a simple model for the system. Each manipulator has three links and three active joints. In addition, the disc has considerable radius and mass. Therefore, we design a simple mechanism in the palm to damp a portion of the impact