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20

ICRA
1995
IEEE

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Controllability of Pushing

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Controllability of Pushing

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This paper addresses the question “Can the object be pushed from here to there?” We characterize the set of objects that are controllable (can be positioned arbitrarily), with and without obstacles, for the cases of point and line pushing contact. For the case of line contact, we ﬁnd a set of pushing directions that keep the object ﬁxed to the pusher, and we use these pushing directions to ﬁnd sensorless plans to reposition the object among obstacles.

Kevin M. Lynch, Matthew T. Mason

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Controllable | ICRA 1995 | Line Pushing Contact | Paper | Robotics |

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Added	26 Aug 2010
Updated	26 Aug 2010
Type	Conference
Year	1995
Where	ICRA
Authors	Kevin M. Lynch, Matthew T. Mason

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