Posing Polygonal Objects in the Plane by Pushing
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 3, pp. 2255 - 2262, May, 1992
Abstract
The authors study the use of pushing actions with a fence to orient and translate objects in the plane. They describe a planner which a guaranteed to construct a sequence of pushing actions to move any polygonal object from any initial configuration to any final configuration. This planner, which utilizes an analysis of the mechanics of pushing an object, generates open-loop plans which do not require feedback sensing. These plans are guaranteed to succeed provided certain physical assumptions are met. Results of experiments conducted to demonstrate the generated plans are presented.
BibTeX
@conference{Akella-1992-13361,author = {Srinivas Akella and Matthew T. Mason},
title = {Posing Polygonal Objects in the Plane by Pushing},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {1992},
month = {May},
volume = {3},
pages = {2255 - 2262},
}
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