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
Your Session has timed out. Please sign back in to continue.



Grahic Jump Location
Figure 1

Explanation of the proposed method

Grahic Jump Location
Figure 2

Model of the system

Grahic Jump Location
Figure 3

Geometrical interpretation of the ECOF

Grahic Jump Location
Figure 4

Physical interpretation of [C1], [C2]

Grahic Jump Location
Figure 5

Physical interpretation of [C3], [C4]

Grahic Jump Location
Figure 6

Region of the center of rotation

Grahic Jump Location
Figure 7

Region of the pusher’s velocity for translational motion

Grahic Jump Location
Figure 8

Model composed of n objects

Grahic Jump Location
Figure 9

Region of the center of rotation

Grahic Jump Location
Figure 10

Experimental setup

Grahic Jump Location
Figure 11

Region of the COR obtained experimentally

Grahic Jump Location
Figure 12

Experimental results




Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In