Pushing Manipulation for Multiple Objects

[+] Author and Article Information
Kensuke Harada

 National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568, Japan

Jun Nishiyama, Yoshihiro Murakami, Makoto Kaneko

Graduate School of Engineering, Hiroshima University, Kagamiyama, Higashi-Hiroshima 739-8527, Japan

For example, in Ref. 3, they estimated the friction force distribution by using the least-squares method. Also, we show the extension to the case where the friction distribution is unknown in Sec. 4.5.

Due to static indeterminacy of the underconstrained support forces, there is no way to ensure that the actual objects have the same friction force distribution. We also note that the friction force distribution calculated in (3) includes negative support forces.

J. Dyn. Sys., Meas., Control 128(2), 422-427 (Apr 06, 2005) (6 pages) doi:10.1115/1.2199857 History: Received July 11, 2003; Revised April 06, 2005

This paper discusses the manipulation of multiple objects by pushing. When multiple objects are placed on the flat floor and manipulated simultaneously by pushing, relative motion between two objects such as sliding and rotation may occur. The set of the pusher motion manipulating objects stably is obtained as an intersection of multiple sets of pusher motion where each set prevents the relative motion at one of the contact areas. Experimental results are also included to show the effectiveness of our idea.

Copyright © 2006 by American Society of Mechanical Engineers
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Figure 1

Explanation of the proposed method

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Figure 2

Model of the system

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Figure 3

Geometrical interpretation of the ECOF

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Figure 4

Physical interpretation of [C1], [C2]

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Figure 5

Physical interpretation of [C3], [C4]

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Figure 6

Region of the center of rotation

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Figure 7

Region of the pusher’s velocity for translational motion

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Figure 8

Model composed of n objects

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Figure 9

Region of the center of rotation

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Figure 10

Experimental setup

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Figure 11

Region of the COR obtained experimentally

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Figure 12

Experimental results



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