Pushing Manipulation for Multiple Objects

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME Volume 128 Issue 2 Page 422-427 published_at 2006-06
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Title ( eng )
Pushing Manipulation for Multiple Objects
Creator
Harada Kensuke
Nishiyama Jun
Murakami Yoshihiro
Kaneko Makoto
Source Title
Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Volume 128
Issue 2
Start Page 422
End Page 427
Abstract
This paper discusses the manipulation of multiple objects by pushing. When multiple objects are placed on the flat floor and manipulated simultaneously by pushing, relative motion between two objects such as sliding and rotation may occur. The set of the pusher motion manipulating objects stably is obtained as an intersection of multiple sets of pusher motion where each set prevents the relative motion at one of the contact areas. Experimental results are also included to show the effectiveness of our Idea.
Keywords
manipulators
mechanical contact
stability
Language
eng
Resource Type journal article
Publisher
American Society of Mechanical Engineers
Date of Issued 2006-06
Rights
Copyright (c) 2006 ASME.
Publish Type Version of Record
Access Rights open access
Source Identifier
[ISSN] 0022-0434
[DOI] 10.1115/1.2199857
[NCID] AA00696727
[DOI] http://dx.doi.org/10.1115/1.2199857