Toppling manipulation

Kevin M Lynch*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

46 Scopus citations


This paper describes a robotic manipulation primitive called toppling - knocking a part over. We derive the mechanical conditions for toppling, express these as constraints on robot contact locations and motions, and describe an application of toppling to minimalist parts feeding of 3D objects on a conveyor with a 2 joint robot.

Original languageEnglish (US)
Pages (from-to)2551-2557
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - Jan 1 1999

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

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