Mechanics, Planning, and Control for Tapping

Wesley H. Huang and Matthew T. Mason
Workshop on the Algorithmic Foundations of Robotics, 1998.
Proceedings published as "Robotics: The Algorithmic Perspective,"
Edited by P. K. Agrawal, L.  E. Kavraki, and M.  T. Mason,
A K Peters, 1998, Pages 91-102.
[pdf]

Abstract

We have been studying manipulation using impulsive forces; in particular, we have focused on the manipulation of planar sliders by tapping. These objects then slide on a support surface, slowing down and coming to rest due to frictional forces. In this paper, we present analytical and experimental results in the mechanics, planning, and control of this system.

BibTeX entry

@InCollection{Huang98a,
  author = 	 {Wesley H. Huang and Matthew T. Mason},
  title = 	 {Mechanics, Planning, and Control for Tapping},
  editor = 	 {Pankaj K. Agrawal and Lydia E. Kavraki and Matthew T. Mason},
  booktitle = 	 {Robotics: The Algorithmic Perspective},
  publisher =	 {A K Peters},
  pages =        {91--102}
  year =	 1998
}