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

We investigate manipulation and active sensing by a pushing control system using only tactile feedback. The equations of motion of a pushed object are derived using a model of the object's limit surface, and we design a control system to translate and orient objects. The effectiveness of the proposed controller is confirmed through simulation and experiments. Active sensing of the object's center of mass is described.

Notes

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

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

Text Reference

Kevin Lynch, H. Maekawa, and K. Tanie, "Manipulation and active sensing by pushing using tactile feedback," IEEE/RSJ International Conference on Intelligent Robots and Systems, 1992, pp. 416 - 421.

BibTeX Reference

@inproceedings{Lynch_1992_3077,
   author = "Kevin Lynch and H. Maekawa and K. Tanie",
   title = "Manipulation and active sensing by pushing using tactile feedback",
   booktitle = "IEEE/RSJ International Conference on Intelligent Robots and Systems",
   pages = "416 - 421",
   year = "1992",
}

The Robotics Institute

Menu