Qualitative transitions in object reorienting behaviour. 1. The effects of varying friction

Author

Deacon, Graham E. ; Wright, Mark ; Malcolm, Chris

Author_Institution

Dept. of Artificial Intelligence, Edinburgh Univ., UK

Volume

3

fYear

1997

fDate

20-25 Apr 1997

Firstpage

2697

Abstract

We investigate the topology of the space of possible pushing behaviour for 2.5D objects of arbitrary outline. We do this by studying the push-stability diagram (PSD) derived by Brost (1985, 1988), which is a generalisation of a result of Mason´s. In this paper, we show how to derive a PSD for arbitrarily curved objects, and investigate how changes in the friction between pushing and pushed objects affect the topology of the PSD for any given object. This leads us to include an extra axis on the PSD, resulting in an extended PSD. This representation makes explicit the topological changes in the operation space of possible reorientation behaviours for any given 2.5D object, leading to the possibility of using it in the design of feeders

Keywords

computational geometry; materials handling; sliding friction; topology; 2.5D objects; feeders; object reorientation; polygonal objects; push-stability diagram; pushing behaviour; sliding friction; topology; Algorithm design and analysis; Artificial intelligence; Belts; Friction; Grippers; Robustness; Topology; Uncertainty; Virtual environment; Voting;

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.1997.619368

Filename

619368