Carnegie Mellon University
Locally controllable polygons by stable pushing

Kevin Lynch
IEEE International Conference on Robotics and Automation (ICRA '97), 1997.

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This paper characterizes polygons that are small-time locally controllable by stable pushing as a function of the polygon shape, the location of the center of friction, and the friction coefficient at the pushing contact. Such polygons can be pushed to follow any path arbitrarily closely, a useful property for planar manipulation. Because the pushes are stable, pushing plans can be executed without feedback.

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

Text Reference
Kevin Lynch, "Locally controllable polygons by stable pushing," IEEE International Conference on Robotics and Automation (ICRA '97), 1997.

BibTeX Reference
   author = "Kevin Lynch",
   title = "Locally controllable polygons by stable pushing",
   booktitle = "IEEE International Conference on Robotics and Automation (ICRA '97)",
   year = "1997",