Title :
Qualitative transition in object reorienting behaviour. 2. The effects of varying the centre of mass
Author :
Deacon, Graham E. ; Wright, Mark ; Malcolm, Chris
Author_Institution :
Dept. of Artificial Intelligence, Edinburgh Univ., UK
Abstract :
For pt. 1 see Proc. IEEE Int. Conf. on Robotics and Automation, p.2697-704 (1997). We investigate the topology of the space of possible pushing behaviour for 2.5 D objects of arbitrary outline. We do this by studying the push-stability diagram (PSD) derived by Brost (1985, 1988). We show how to predict some of the effects on the topology of the PSD that arise from varying the position of the centre of mass, making it possible to use this as a control parameter in the design of objects for feeding
Keywords :
materials handling; mechanical stability; topology; centre of mass variation; object reorientation; parts feeding; push-stability diagram; qualitative transition; topology; Algorithm design and analysis; Artificial intelligence; Belts; Friction; Grippers; Robustness; Topology; Uncertainty; Virtual environment; Weight control;
Conference_Titel :
Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on
Conference_Location :
Grenoble
Print_ISBN :
0-7803-4119-8
DOI :
10.1109/IROS.1997.649101
