Title :
Strategies for pushing a 3D block along a wall
Author :
Mayeda, H. ; Wakatsuki, Y.
Author_Institution :
Osaka Univ., Japan
Abstract :
Pushing strategies to slide a cuboidal 3D block along a vertical wall and a horizontal floor without any rotation of the block are studied. Conditions for a pushing strategy is carefully formulated, and properties of the strategy and conditions on the block sizes for existence of a strategy are derived. To cope with uncertainty of coefficients of friction between the block surface and the wall and floor surfaces and mass and location of center of mass of the block, some robust pushing strategies are proposed
Keywords :
force control; friction; robots; block surface; coefficients of friction; cuboidal 3D block pushing strategies; floor surfaces; robotics; wall surfaces; Educational robots; Fingers; Friction; Intelligent robots; Robot kinematics; Robotic assembly; Robustness; Steel; Uncertainty;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174512
