Add to ORKGThis paper 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 new 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 new manipulation primitive: stable rotational pushing. This primitive may be used for precise placement operations by pushing. 1
This paper explores the manipulation of a grasped object by pushing it against its environment. Rely...
Some robot tasks require manipulation of objects that may be touching other fixed objects. The effec...
Precise reorientation and repositioning of sliding objects presents an interesting control problem. ...
This paper presents a method for determining the possible instantaneous motions of a sliding object ...
In the field of robotic manipulation, a key problem addressed by researchers is the presence of unce...
This paper discusses the manipulation of multiple objects by pushing. When multiple objects are plac...
This paper discusses the manipulation of multiple objects by pushing. When multiple objects are plac...
The primary goal of this research is to develop theoretical tools for analysis, synthesis, applicati...
In this paper, we present the mechanics and algorithms to compute the set of feasible motions of an ...
We add to a manipulator's capabilities a new primitive motion which we term a push-grasp. While sign...
<p>A high-fidelity and tractable mechanics model of physical interaction is essential for autonomous...
This paper presents an approach to in-hand manipulation planning that exploits the mechanics of alte...
A high-fidelity and tractable mechanics model of physical interaction is essential for autonomous ro...
When one rigid object (the pusher) pushes another (the slider) across a horizontal support plane, Co...
Pushing is an essential component of many manipulator operations. This paper presents a theoretical ...
This paper explores the manipulation of a grasped object by pushing it against its environment. Rely...
Some robot tasks require manipulation of objects that may be touching other fixed objects. The effec...
Precise reorientation and repositioning of sliding objects presents an interesting control problem. ...
This paper presents a method for determining the possible instantaneous motions of a sliding object ...
In the field of robotic manipulation, a key problem addressed by researchers is the presence of unce...
This paper discusses the manipulation of multiple objects by pushing. When multiple objects are plac...
This paper discusses the manipulation of multiple objects by pushing. When multiple objects are plac...
The primary goal of this research is to develop theoretical tools for analysis, synthesis, applicati...
In this paper, we present the mechanics and algorithms to compute the set of feasible motions of an ...
We add to a manipulator's capabilities a new primitive motion which we term a push-grasp. While sign...
<p>A high-fidelity and tractable mechanics model of physical interaction is essential for autonomous...
This paper presents an approach to in-hand manipulation planning that exploits the mechanics of alte...
A high-fidelity and tractable mechanics model of physical interaction is essential for autonomous ro...
When one rigid object (the pusher) pushes another (the slider) across a horizontal support plane, Co...
Pushing is an essential component of many manipulator operations. This paper presents a theoretical ...
This paper explores the manipulation of a grasped object by pushing it against its environment. Rely...
Some robot tasks require manipulation of objects that may be touching other fixed objects. The effec...
Precise reorientation and repositioning of sliding objects presents an interesting control problem. ...