DocumentCode
314474
Title
Locally controllable polygons by stable pushing
Author
Lynch, Kevin M.
Author_Institution
Biorobotics Div., Mech. Eng. Lab., Tsukuba, Japan
Volume
2
fYear
1997
fDate
20-25 Apr 1997
Firstpage
1442
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location
Albuquerque, NM
Print_ISBN
0-7803-3612-7
Type
conf
DOI
10.1109/ROBOT.1997.614340
Filename
614340
Link To Document