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Carnegie Mellon Robotics Institute

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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.

Notes

Associated Center(s) / Consortia: Center for the Foundations of Robotics

Associated Lab(s) / Group(s): Manipulation Lab

Text Reference

Wesley Huang, Eric Krotkov, and Matthew T. Mason, "Impulsive Manipulation," IEEE International Conference on Robotics and Automation (ICRA '95), 1995.

BibTeX Reference

@inproceedings{Huang_1995_3075,
   author = "Wesley Huang and Eric Krotkov and Matthew T. Mason",
   title = "Impulsive Manipulation",
   booktitle = "IEEE International Conference on Robotics and Automation (ICRA '95)",
   year = "1995",
}

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