Controllability of pushing

Kevin M. Lynch*, Matthew T. Mason

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

30 Scopus citations

Abstract

This paper addresses the question 'Can the object be pushed from here to there?' We 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, we find a set of pushing directions that keep the object fixed to the pusher, and we use these pushing directions to find sensorless plans to reposition the object among obstacles.

Original languageEnglish (US)
Pages (from-to)112-119
Number of pages8
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume1
StatePublished - Jan 1 1995
EventProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn
Duration: May 21 1995May 27 1995

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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