DocumentCode
309387
Title
Estimating the friction parameters of pushed objects
Author
Lynch, Kevin M.
Author_Institution
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Volume
1
fYear
1993
fDate
26-30 Jul 1993
Firstpage
186
Abstract
In order to plan manipulation of an object by pushing, a robot must have a model of the geometry and the friction properties of the object. This paper presents an approach to estimating the relevant friction parameters by performing experimental pushes and observing the resultant motion. Recognition of objects based on their friction parameters is also explored
Keywords
path planning; friction; manipulators; object pushing; object recognition; parameter estimation; resultant motion; robot; Character recognition; Computational geometry; Friction; Grippers; Machine vision; Manipulators; Motion estimation; Parameter estimation; Robots; Solid modeling;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/IROS.1993.583097
Filename
583097
Link To Document