Stable transport of assemblies by pushing

Jay D. Bernheisel*, Kevin M. Lynch

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

11 Scopus citations


This paper presents a method to determine whether an assembly of planar parts will stay assembled as it is pushed over a support surface. For a given pushing motion, an assembly is classified into one of three categories: (P = possible): any force necessary to preserve the assembly can be generated by the pushing contacts; (I = impossible): pushing forces cannot preserve the assembly; and (U = undecided): pushing forces may or may not be able to preserve the assembly. This classification is made based on the solution of linear constraint satisfaction problems. If the part-part and part-pusher contacts are frictionless, motions labeled P are guaranteed to preserve the assembly. The results are based on bounds on the possible support friction acting on individual parts in the face of indeterminacy in the distribution of support forces. Experimental results supporting the analysis are given.

Original languageEnglish (US)
Pages (from-to)740-750
Number of pages11
JournalIEEE Transactions on Robotics
Issue number4
StatePublished - Aug 2006


  • Assemblies
  • Friction
  • Linear constraint satisfaction
  • Stable pushing
  • Wrench space

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


Dive into the research topics of 'Stable transport of assemblies by pushing'. Together they form a unique fingerprint.

Cite this