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Posing polygonal objects in the plane by pushing

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2 Author(s)
S. Akella ; Carnegie Mellon Univ., Pittsburgh, PA, USA ; M. T. Mason

The authors study the use of pushing actions with a fence to orient and translate objects in the plane. They describe a planner which a guaranteed to construct a sequence of pushing actions to move any polygonal object from any initial configuration to any final configuration. This planner, which utilizes an analysis of the mechanics of pushing an object, generates open-loop plans which do not require feedback sensing. These plans are guaranteed to succeed provided certain physical assumptions are met. Results of experiments conducted to demonstrate the generated plans are presented

Published in:

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Date of Conference:

12-14 May 1992