Mechanics and planning of manipulator pushing operations
International Journal of Robotics Research
Automatic grasp planning in the presence of uncertainty
International Journal of Robotics Research
Robot grasp synthesis algorithms: a survey
International Journal of Robotics Research
Stable pushing: mechanics, controllability, and planning
International Journal of Robotics Research
Practical force-motion models for sliding manipulation
International Journal of Robotics Research
Behaviour Synthesis of the Erect Stance for a Biped Control
Journal of Intelligent and Robotic Systems
Compliant Sliding of a Block Along a Wall
The First International Symposium on Experimental Robotics I
Manipulation of Convex Objects via Two-agent Point-contact Push
International Journal of Robotics Research
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The goal of this paper is to present a new method to control pushing operations with several fingers. We take into account some dynamical aspects that have not yet been investigated in pushing studies such as the object's center of mass acceleration correction and optimal force distribution. To do this, we use a general method for multi-chain mechanisms based on a dynamical control with finger coordination. We first detail the problems encountered in this type of manipulation and the way to take these points into account with specific constraints definition for the support contact. According to the parameters of the model such as optimization criterion and object characteristics, we present simulation results of object pushing with two fingers for a rotational and translational motion.