The Robotics Institute

Carnegie Mellon Robotics Institute

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

This paper addresses the question "Can the object be pushed from here to there?" The authors characterize the set of objects that are controllable (can be positioned arbitrarily), with and without obstacles, for the cases of point and line pushing contact. For the case of line contact, the authors find a set of pushing directions that keep the object fixed to the pusher and they use these pushing directions to find sensorless plans to reposition the object among obstacles.

Notes

Text Reference

Kevin Lynch and Matthew T. Mason, "Controllability of Pushing," IEEE International Conference on Robotics and Automation, May, 1995, pp. 112--119.

BibTeX Reference

@inproceedings{Lynch_1995_1519,
   author = "Kevin Lynch and Matthew T. Mason",
   title = "Controllability of Pushing",
   booktitle = "IEEE International Conference on Robotics and Automation",
   pages = "112--119",
   month = "May",
   year = "1995",
   volume = "1",
}

The Robotics Institute

Menu