DocumentCode
2803796
Title
Strategies for pushing a 3D block along a wall
Author
Mayeda, H. ; Wakatsuki, Y.
Author_Institution
Osaka Univ., Japan
fYear
1991
fDate
3-5 Nov 1991
Firstpage
461
Abstract
Pushing strategies to slide a cuboidal 3D block along a vertical wall and a horizontal floor without any rotation of the block are studied. Conditions for a pushing strategy is carefully formulated, and properties of the strategy and conditions on the block sizes for existence of a strategy are derived. To cope with uncertainty of coefficients of friction between the block surface and the wall and floor surfaces and mass and location of center of mass of the block, some robust pushing strategies are proposed
Keywords
force control; friction; robots; block surface; coefficients of friction; cuboidal 3D block pushing strategies; floor surfaces; robotics; wall surfaces; Educational robots; Fingers; Friction; Intelligent robots; Robot kinematics; Robotic assembly; Robustness; Steel; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location
Osaka
Print_ISBN
0-7803-0067-X
Type
conf
DOI
10.1109/IROS.1991.174512
Filename
174512
Link To Document