Title :
Coordinated manipulation of polygonal objects
Author_Institution :
Dept. of Comput. Sci., Cornell Univ., Ithaca, NY, USA
Abstract :
In this paper the author presents an efficient algorithm for the coordinated manipulation of polygonal objects with independent robot agents and an efficient decision procedure for whether a polygonal object can undergo any desired reorientation. This algorithm has good stability properties, in that it is not sensitive to small errors in the initial data and it relies on a simple control scheme. The result is a contribution towards realistic task-level planning for robots
Keywords :
manipulators; coordinated manipulation; independent robot agents; polygonal objects; task-level planning; Computer science; Fingers; Fixtures; Friction; Mobile robots; Motion planning; Robot kinematics; Robot sensing systems; Robotic assembly; Uncertainty;
Conference_Titel :
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location :
Yokohama
Print_ISBN :
0-7803-0823-9
DOI :
10.1109/IROS.1993.583087
