Posing polygonal objects in the plane by pushing
نویسندگان
چکیده
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 con guration to any nal con guration. 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.
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