Volume 26 Issue 4 - Publication Date: 1 April 2007
Manipulation of Convex Objects via Two-agent Point-contact Push
Qingguo Li Locomotion Laboratory, School of Kinesiology, Simon Fraser University Burnaby, BC V5A 1S6, Canada and Shahram Payandeh Experimental Robotics Laboratory, School of Engineering Science, Simon Fraser University Burnaby, BC V5A 1S6, Canada
This paper explores a sensorless manipulation method for orienting and translating convex objects in the plane. The manipulation task is performed by a two-agent point-contact push. During the manipulation, each agent makes a point contact with the object, and both agents push together along a straight-line. One advantage of the two-agent point-contact push over the physical fence based push is that the two-agent point-contact push can manipulate non-polygonal parts, and reduce the position and orientation uncertainties simultaneously. First, two manipulation primitives are identified, equilibrium and non-equilibrium pushes, and the motion of the object characterized under these two pushing actions. Then, a controllability analysis is conducted for this class of manipulation using the theory of positive bases. After the analysis, the planning problem is studied in the framework of a switched system, and an analytical solution to the planning problem is developed. Finally, manipulation examples and experiments are provided to demonstrate the proposed manipulation method.
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