Locally controllable polygons by stable pushing
نویسنده
چکیده
This paper characterizes polygons that are small-time locally controllableby stable pushing as a function of the polygon shape, the location of the center of friction, and the friction coefficient at the pushing contact. Such polygons can be pushed to follow any path arbitrarily closely, a useful property for planar manipulation. Because the pushes are stable, pushing plans can be executed without feedback.
منابع مشابه
Locally controllable manipulation by stable pushing
When a polygonal object is pushed with line contact along an edge, the push is called stable if the object remains fixed to the pusher. The object is small-time locally controllable by stable pushing if, by switching among pushing edges, it can be pushed to follow any path arbitrarily closely. Because the pushes are stable by the frictional mechanics, pushing plans can be executed without posit...
متن کاملControllability of Pushing
This paper addresses the question “Can the object be pushed from here to there?” We characterize the set of objects that are controllable (can be positioned arbitrarily), with and without obstacles, for the cases of point and line pushing contact. For the case of line contact, we find a set of pushing directions that keep the object fixed to the pusher, and we use these pushing directions to fi...
متن کاملDesign of Homogeneous Time-Varying Stabilizing Control Laws for Driftless Controllable Systems Via Oscillatory Approximation of Lie Brackets in Closed Loop
A constructive method for time-varying stabilization of smooth driftless controllable systems is developed. It provides time-varying homogeneous feedback laws that are continuous and smooth away from the origin. These feedbacks make the closed-loop system globally exponentially asymptotically stable if the control system is homogeneous with respect to a family of dilations and, using local homo...
متن کاملStable Pushing: Mechanics, Controllability, and Planning
We would like to give robots the ability to position and orient Erratum: Figures 13 and 15 are transposed. parts in the plane by pushing, particularly when the parts are too large or heavy to be grasped and lifted. Unfortunately, the motion of a pushed object is generally unpredictable due to unknown support friction forces. With multiple pushing contact points, however, it is possible to find ...
متن کاملControl and Stabilization of the Korteweg-de Vries Equation on a Periodic Domain
This paper aims at completing an earlier work of Russell and Zhang [38] to study internal control problems for the distributed parameter system described by the Korteweg-de Vries equation on a periodic domain T. In [38], Russell and Zhang showed that the system is locally exactly controllable and locally exponentially stabilizable when the control acts on an arbitrary nonempty subdomain of T. I...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 1997