DocumentCode
309378
Title
Coordinated manipulation of polygonal objects
Author
Rus, Daniela
Author_Institution
Dept. of Comput. Sci., Cornell Univ., Ithaca, NY, USA
Volume
1
fYear
1993
fDate
26-30 Jul 1993
Firstpage
106
Abstract
In this paper the author presents an efficient algorithm for the coordinated manipulation of polygonal objects with independent robot agents and an efficient decision procedure for whether a polygonal object can undergo any desired reorientation. This algorithm has good stability properties, in that it is not sensitive to small errors in the initial data and it relies on a simple control scheme. The result is a contribution towards realistic task-level planning for robots
Keywords
manipulators; coordinated manipulation; independent robot agents; polygonal objects; task-level planning; Computer science; Fingers; Fixtures; Friction; Mobile robots; Motion planning; Robot kinematics; Robot sensing systems; Robotic assembly; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location
Yokohama
Print_ISBN
0-7803-0823-9
Type
conf
DOI
10.1109/IROS.1993.583087
Filename
583087
Link To Document