Toppling Manipulation

This paper describes a robotic manipulation primitive called toppling--knocking a part over. We derive the mechanical conditions for toppling, express these as constraints on robot contact locations and motions, and describe an application of toppling to minimalist parts feeding of 3D objects on a conveyor with a 2 joint robot.

• Type: Conference
• Year: 1999
• Where: ICRA
• Authors: Kevin M. Lynch
• Keywords: ICRA 1999, Mechanical Conditions, Robot Contact Locations, Robotic Manipulation, Robotics