Title :
Estimating the friction parameters of pushed objects
Author_Institution :
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
In order to plan manipulation of an object by pushing, a robot must have a model of the geometry and the friction properties of the object. This paper presents an approach to estimating the relevant friction parameters by performing experimental pushes and observing the resultant motion. Recognition of objects based on their friction parameters is also explored
Keywords :
path planning; friction; manipulators; object pushing; object recognition; parameter estimation; resultant motion; robot; Character recognition; Computational geometry; Friction; Grippers; Machine vision; Manipulators; Motion estimation; Parameter estimation; Robots; Solid modeling;
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
DOI :
10.1109/IROS.1993.583097
