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 language||English (US)|
|Number of pages||7|
|Journal||Proceedings - IEEE International Conference on Robotics and Automation|
|State||Published - Jan 1 1999|
ASJC Scopus subject areas
- Control and Systems Engineering