Posing polygonal objects in the plane by pushing
1992 IEEE International Conference on Robotics and
Automation, pp. 2255-2262, Nice, France, May 1992.
Srinivas Akella and Matthew T. Mason
Abstract
This paper studies the use of pushing actions with a
fence to orient and translate objects in the plane. It
describes a planner which is guaranteed to construct a sequence of
pushing actions to move any polygonal object from any initial
configuration to any final configuration. This planner, which
utilizes an analysis of the mechanics of pushing an object, generates
open-loop plans which do not require feedback sensing. These
plans are guaranteed to succeed provided certain physical assumptions
are met. We present results of experiments conducted to demonstrate the
generated plans.