Nonprehensile Manipulation for Orienting Parts in the Plane

Nina Zumel and Michael Erdmann
Proceedings of the IEEE International Conference on Robotics and Automation, April, 1997, pp. 2433 - 2439.


Download
  • Adobe portable document format (pdf) (130KB)
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
The authors previously (1996) presented a model of nonprehensile manipulation, using two one-degree-of-freedom palms. Under the assumptions of low friction and quasistatic motion, we developed a planning method for part reorientation with our model, starting from a known initial state. Our method finds feasible paths through the space of equivalent state configurations of the object in the palms, without requiring that the palms maintain stable support of the object over the entire path. We have shown that such a device can reliably orient parts in the plane. In this paper we extend our method to the case of reorienting a part to a desired goal from an unknown initial state. In addition to the all sliding contacts case which the model is based upon, we look at extensions to rolling contacts. We include the results of tests with example plans.

Notes

Text Reference
Nina Zumel and Michael Erdmann, "Nonprehensile Manipulation for Orienting Parts in the Plane," Proceedings of the IEEE International Conference on Robotics and Automation, April, 1997, pp. 2433 - 2439.

BibTeX Reference
@inproceedings{Zumel_1997_1602,
   author = "Nina Zumel and Michael Erdmann",
   title = "Nonprehensile Manipulation for Orienting Parts in the Plane",
   booktitle = "Proceedings of the IEEE International Conference on Robotics and Automation",
   pages = "2433 - 2439",
   month = "April",
   year = "1997",
   volume = "3",
}