NDLI: Nonprehensile two palm manipulation with non-equilibrium transitions between stable states

Content Provider	IEEE Xplore Digital Library
Author	Zumel, N.B. Erdmann, M.A.
Copyright Year	1996
Description	Author affiliation: Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA (Zumel, N.B.; Erdmann, M.A.)
Abstract	Manipulation without prehension is a natural way of handling objects for both humans and machines. Nonprehensile operations are appropriate when complete constraint over the object to be manipulated is either undesirable or impractical, but some control over the object is desired over its entire trajectory in order to bring the object reliably to a desired final state. Research to date has explored only a small portion of this class. We are interested in controlling the shape of the constraint surfaces so that constraint and external forces naturally attract the system to the desired state, even if the object momentarily loses stability during the motion. We present a preliminary analysis of the nonprehensile orientation of planar objects by two low friction palms joined at a central hinge. These palms support an object in a gravitational field, without grasping or gripping. We determine connected regions of stable states of the object, and give a method of planning part orientation based on a graph search over these regions, allowing nonequilibrium transitions between them. We conclude with the results of simulations and tests of an example plan.
Starting Page	3317
Ending Page	3323
File Size	756024
Page Count	7
File Format	PDF
ISBN	0780329880
ISSN	10504729
DOI	10.1109/ROBOT.1996.509218
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-04-22
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Shape control Robots Control systems Humans Motion control Stability Friction Fasteners Testing Dictionaries
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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