|
|
|
|
RI | Publications | Limiting Cases of Impulsive Manipulation
|
|
Text only version of this site
Limiting Cases of Impulsive Manipulation
W. Huang and M. Mason
tech. report CMU-RI-TR-96-24, Robotics Institute, Carnegie Mellon University, September, 1996.
Jump to: Download | Abstract | Notes | Text Reference | BibTeX Reference
| Download [Help] |
Adobe portable document format (pdf) [225 KB] Compressed postscript (ps.gz) [162 KB]
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 |
Impulsive manipulation is the use of impulsive forces to manipulate objects. In particular, we are studying how to manipulate a rigid planar slider by tapping. In this paper, we focus on the limiting case --- where the number of taps approaches infinity as the energy of each tap approaches zero. This paper develops two definitions of the limiting case: for intermittent tapping, where the object comes to rest between taps, and for continuous tapping, where the object does not come to rest. For intermittent tapping, we find that the motion obeys a simple scaling law, and for continuous tapping, we find that there is a limiting case such that the possible motions of the object are identical to those for pushing for rotationally symmetric objects. We also explore analogous forms of vibratory manipulation, where we take the striker behavior foremost and examine the resulting object motion.
| Notes |
Grant ID: NAGW-1175
Number of pages: 30
| Text Reference |
W. Huang and M. Mason, Limiting Cases of Impulsive Manipulation, tech. report CMU-RI-TR-96-24, Robotics Institute, Carnegie Mellon University, September, 1996.
| BibTeX Reference |
@techreport{Huang_1996_417,
author = "Wesley Huang and Matthew Mason",
title = "Limiting Cases of Impulsive Manipulation",
institution = "Robotics Institute, Carnegie Mellon University",
month = "September",
year = "1996",
number = "CMU-RI-TR-96-24",
address = "Pittsburgh, PA"
}