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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| File | |
| Title ( eng ) |
Pushing Manipulation for Multiple Objects
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| Creator |
Harada Kensuke
Nishiyama Jun
Murakami Yoshihiro
Kaneko Makoto
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| 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.
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| Keywords |
manipulators
mechanical contact
stability
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| Language |
eng
|
| Resource Type | journal article |
| Publisher |
American Society of Mechanical Engineers
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| Date of Issued | 2006-06 |
| Rights |
Copyright (c) 2006 ASME.
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| 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
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