Impulsive Manipulation - Robotics Institute Carnegie Mellon University

Impulsive Manipulation

Wesley Huang, Eric Krotkov, and Matthew T. Mason
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 1, pp. 120 - 125, May, 1995

Abstract

In this paper, we examine a little-studied method of manipulation --- manipulation by striking an object and letting it slide. There are two parts to this problem: The Inverse Sliding Problem, determining the velocities required to send an object to a desired configuration, and The Impact Problem, determining how to strike the object in order to achieve those velocities. We will present a solution to these two problems for the class of rotationally symmetric objects and conclude with some observations about this method of manipulation.

BibTeX

@conference{Huang-1995-16201,
author = {Wesley Huang and Eric Krotkov and Matthew T. Mason},
title = {Impulsive Manipulation},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {1995},
month = {May},
volume = {1},
pages = {120 - 125},
}