The Mechanics of Fine Manipulation by Pushing
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 3, pp. 2269 - 2276, May, 1992
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.
BibTeX
@conference{Lynch-1992-15869,author = {Kevin Lynch},
title = {The Mechanics of Fine Manipulation by Pushing},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {1992},
month = {May},
volume = {3},
pages = {2269 - 2276},
}
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