Title :
Controllability of pushing
Author :
Lynch, Kevin M. ; Mason, Matthew T.
Author_Institution :
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
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;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525272
