Stable Transport of Assemblies: Pushing Stacked Parts

Jay D. Bernheisel*, Kevin M Lynch

*Corresponding author for this work

Research output: Contribution to conferencePaperpeer-review

5 Scopus citations


This paper presents a method to determine stable pushing motions for a planar stack of polygonal parts. The approach consists of solving a series of subproblems where each part in the stack is pushing the parts ahead of it. The solutions to these subproblems are sets of stable motions, and their intersection is the set of stable motions for the entire stack. The motion of multiple parts depends on the exact locations of the centers of mass and the relative masses of the parts. If either or both of these is unknown, it is still possible to calculate a conservative set of motions guaranteed to be stable by using a center of mass uncertainty region.

Original languageEnglish (US)
Number of pages6
StatePublished - Dec 26 2003
Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
Duration: Oct 27 2003Oct 31 2003


Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/TerritoryUnited States
CityLas Vegas, NV

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications


Dive into the research topics of 'Stable Transport of Assemblies: Pushing Stacked Parts'. Together they form a unique fingerprint.

Cite this