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Carnegie Mellon Robotics Institute

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Abstract

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.

Notes

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

@inproceedings{Lynch_1997_3076,
   author = "Kevin Lynch",
   title = "Locally controllable polygons by stable pushing",
   booktitle = "IEEE International Conference on Robotics and Automation (ICRA '97)",
   year = "1997",
}

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