Controllability of pushing

19 November 2002

conference paper
Published by Institute of Electrical and Electronics Engineers (IEEE)

Vol. 1 (10504729) , 112-119 vol.1
https://doi.org/10.1109/robot.1995.525272

Abstract

This paper addresses the question "Can the object be pushed from here to there?" The authors 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, the authors find a set of pushing directions that keep the object fixed to the pusher and they use these pushing directions to find sensorless plans to reposition the object among obstacles.

Keywords

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