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Impulsive Manipulation

Wesley Huang, Eric Krotkov and Matthew T. Mason
Conference Paper, IEEE International Conference on Robotics and Automation (ICRA '95), January, 1995

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In this paper, we examine a little-studied method of manipulation — manipulation by striking an object and letting it slide. There are two parts to this problem: The Inverse Sliding Problem, determining the velocities required to send an object to a desired configuration, and The Impact Problem, determining how to strike the object in order to achieve those velocities. We will present a solution to these two problems for the class of rotationally symmetric objects and conclude with some observations about this method of manipulation.

BibTeX Reference
title = {Impulsive Manipulation},
author = {Wesley Huang and Eric Krotkov and Matthew T. Mason},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA '95)},
month = {January},
year = {1995},