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Nonprehensile Manipulation for Orienting Parts in the Plane
journal contribution
posted on 1997-01-01, 00:00 authored by Nina B. Zumel, Michael ErdmannIn [19] we presented a model of nonprehensile manipulation, using two one-degree-of-freedom palms. Under the
assumptions of low friction and quasistatic motion, we developed a planning method for part reorientation with our
model, starting from a known initial state. Our method finds
feasible paths through the space of equivalent state configurations of the object in the palms, without requiring that the
palms maintain stable support of the object over the entire
path. We have shown that such a device can reliably orient parts in the plane. In this paper we extend our method
to the case of reorienting a part to a desired goal from an
unknown initial state. In addition to the all sliding contacts
case which the model is based upon, we look at extensions
to rolling contacts. We include the results of tests with example plans.