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Balancing of a Planar Object
N. Zumel
tech. report CMU-RI-TR-93-26, Robotics Institute, Carnegie Mellon University, November, 1993.

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While most previous work in planning manipulation tasks has relied on the assumption of quasi-static conditions, there can be situations where the quasi-static assumption may not hold, and the assumptions about the environment must be relaxed. This is true, for example, in a situation where objects are making and breaking contact at high enough velocities that contact dynamics play a significant effect in the motion of the colliding objects.

There has been some work studying models of collision, in particular for the design and analysis of systems with intermittent constraints, and for the design of juggling robots. Our work extends previous studies in planr juggling to the case of a polygonal object, using the model of rigid body impulsive collision. Simulations verify the results of a linearlized analysis.

Sponsor: NSF
Grant ID: GER-9255691

Associated center: CFR
Associated lab/group: Manipulation Lab

Number of pages: 28

N. Zumel, Balancing of a Planar Object, tech. report CMU-RI-TR-93-26, Robotics Institute, Carnegie Mellon University, November, 1993.

@techreport{Zumel_1993_315,
   author = "Nina Zumel",
   title = "Balancing of a Planar Object",
   institution = "Robotics Institute, Carnegie Mellon University",
   month = "November",
   year = "1993",
   number = "CMU-RI-TR-93-26",
   address = "Pittsburgh, PA"
}