Abstract
The author presents a method for determining the possible instantaneous motions of a sliding object during multiple contact pushing. The approach consists of two components: a kinematic analysis considering kinematic motion constraints, and a force analysis considering force constraints on the motion. A representation of the support friction of a sliding object is presented, and the results of the force analysis are independent of the exact support distribution of the object. The analysis results in a manipulation primitive: stable rotational pushing. This primitive may be used for precise placement operations by pushing.
| Original language | English (US) |
|---|---|
| Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |
| Publisher | Publ by IEEE |
| Pages | 2269-2276 |
| Number of pages | 8 |
| Volume | 3 |
| ISBN (Print) | 0818627204 |
| State | Published - Dec 1 1992 |
| Event | Proceedings of the 1992 IEEE International Conference on Robotics and Automation - Nice, Fr Duration: May 12 1992 → May 14 1992 |
Other
| Other | Proceedings of the 1992 IEEE International Conference on Robotics and Automation |
|---|---|
| City | Nice, Fr |
| Period | 5/12/92 → 5/14/92 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering