Title :
Impulsive manipulation
Author :
Huang, Wesley H. ; Krotkov, Eric P. ; Mason, Matthew T.
Author_Institution :
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
Examines a little-studied method of manipulation-manipulation by striking an object and letting it slide. There are two parts to this problem: The inverse sliding problem, determining the velocities required to send an object to a desired configuration, and the impact problem, determining how to strike the object in order to achieve those velocities. The authors present a solution to these two problems for the class of rotationally symmetric objects and conclude with some observations about this method of manipulation
Keywords :
friction; manipulators; position control; impact problem; impulsive manipulation; inverse sliding problem; rotationally symmetric objects; Angular velocity; Coils; Friction; Geometry; Robotics and automation; Robots; State-space methods; Torque; Visualization;
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.1995.525273
