Impulsive Manipulation

Wesley H. Huang, Eric P. Krotkov, and Matthew T. Mason
Proceedings of the 1995 IEEE International Conference on Robotics and Automation
Volume 1, Pages 120-5.
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Abstract

In this paper, we examine a little-studied method of manipulation — manipulation by striking an object and letting it slide. There are two parts to this problem: The Inverse Sliding Problem, determining the velocities required to send an object to a desired configuration, and The Impact Problem, determining how to strike the object in order to achieve those velocities. We will present a solution to these two problems for the class of rotationally symmetric objects and conclude with some observations about this method of manipulation.

BibTeX entry

@STRING{icra = "IEEE International Conference on Robotics and Automation"}
@inproceedings{Huang95,
author	=	"Wesley H. Huang and Eric P. Krotkov and Matthew T. Mason",
title 	=	"Impulsive manipulation",
booktitle =	icra,
year	=	1995,
pages   =       {120--125},
volume  =       1
}