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The mechanics of fine manipulation by pushing

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1 Author(s)
K. M. Lynch ; Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA

The author presents a method for determining the possible instantaneous motions of a sliding object during multiple contact pushing. The approach consists of two components: a kinematic analysis considering kinematic motion constraints, and a force analysis considering force constraints on the motion. A representation of the support friction of a sliding object is presented, and the results of the force analysis are independent of the exact support distribution of the object. The analysis results in a manipulation primitive: stable rotational pushing. This primitive may be used for precise placement operations by pushing

Published in:

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

Date of Conference:

12-14 May 1992