DocumentCode
299848
Title
Controllability of pushing
Author
Lynch, Kevin M. ; Mason, Matthew T.
Author_Institution
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Volume
1
fYear
1995
fDate
21-27 May 1995
Firstpage
112
Abstract
This paper addresses the question “Can the object be pushed from here to there?” The authors characterize the set of objects that are controllable (can be positioned arbitrarily), with and without obstacles, for the cases of point and line pushing contact. For the case of line contact, the authors find a set of pushing directions that keep the object fixed to the pusher and they use these pushing directions to find sensorless plans to reposition the object among obstacles
Keywords
controllability; friction; manipulators; motion control; path planning; position control; controllability; line pushing contact; point pushing contact; pushing; sensorless plans; Controllability; Force control; Grippers; Kinematics; Manipulators; Path planning; Resists; Robots; Sensorless control; Sufficient conditions;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location
Nagoya
ISSN
1050-4729
Print_ISBN
0-7803-1965-6
Type
conf
DOI
10.1109/ROBOT.1995.525272
Filename
525272
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