Locally controllable polygons by stable pushing

Kevin M. Lynch*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

10 Scopus citations


This paper characterizes polygons that are small-time locally controllable by stable pushing as a function of the polygon shape, the location of the center of friction, and the friction coefficient at the pushing contact. Such polygons can be pushed to follow any path arbitrarily closely, a useful property for planar manipulation. Because the pushes are stable, pushing plans can be executed without feedback.

Original languageEnglish (US)
Pages (from-to)1442-1447
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - Jan 1 1997

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering


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