The DOI matches its Crossref record; 72 of the 72 references it cites were found in a registry or an index.
Stable Pushing: Mechanics, Controllability, and Planning
Abstract
We would like to give robots the ability to position and orient 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 pushing directions that cause the object to remain fixed to the manipulator. These are called stable pushing directions. In this article we consider the problem of planning pushing paths using stable pushes. Pushing imposes a set of nonholonomic velocity constraints on the motion of the object, and we study the issues of local and global controllability during pushing with point contact or stable line contact. We describe a planner for finding stable pushing paths among obstacles, and the planner is demon strated on several manipulation tasks.
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Cited by
Randomized Kinodynamic Planning
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Metadata
- Authors
- Lynch, K. M., & Mason, M. T.
- Affiliations
- Carnegie Mellon University (US)
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 1996-12
- Volume
- 15
- Issue
- 6
- Pages
- 533-556
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W2098030884
- Cited by
- 463
- References
- 72
- Citations by year
- 2026: 5 · 2025: 16 · 2024: 16 · 2023: 15 · 2022: 9 · 2021: 28 · 2020: 24 · 2019: 22 · 2018: 36 · 2017: 14 · 2016: 19 · 2015: 17 · 2014: 7 · 2013: 11 · 2012: 13
- FWCI
- 14.86
- Type
- journal article
- Language
- en
- Open access
- closed
- Licence
- journals.sagepub.com/page/policies/text-and-data-mining-license (tdm)
- Locations
- The International Journal of Robotics Research (publishedVersion)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Robot Manipulation and Learning
- Physical Sciences › Engineering › Control and Systems Engineering › Robotic Path Planning Algorithms
- Physical Sciences › Engineering › Control and Systems Engineering › Robotic Mechanisms and Dynamics
- Keywords
- controllability, line contact, point contacts, object manipulation, motion planning, obstacle avoidance
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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