Title :
Locally controllable polygons by stable pushing
Author_Institution :
Biorobotics Div., Mech. Eng. Lab., Tsukuba, Japan
Abstract :
This paper characterizes polygons that are small-time locally controllable by stable pushing as a function of the polygon shape, the location of the center of friction, and the friction coefficient at the pushing contact. Such polygons can be pushed to follow any path arbitrarily and closely, a useful property for planar manipulation. Because the pushes are stable, pushing plans can be executed without feedback
Keywords :
controllability; manipulator dynamics; motion control; path planning; sliding friction; controllability; friction; friction coefficient; locally controllable polygons; path planning; polygons; pushing contact; robotic manipulation; stable pushing; Controllability; Feedback; Friction; Laboratories; Mechanical engineering; Mobile robots; Orbital robotics; Robot sensing systems; Shape control; Turning;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.614340
