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 …

The use of motion strategies to eliminate uncertainty, without the use of sensors, is
considered. The approach is demonstrated within the context of a simple method to orient …

In manufacturing it is often necessary to orient parts prior to packing or assembly. We say
that a planar part is polygonal if its convex hull is a polygon. We consider the following …

This paper presents an algorithm for automatic planning of robot grasping motions that are
insensitive to bounded uncer tainties in the object's location. The algorithm plans parallel …

This paper addresses the motion planning problem for a robot in presence of movable
objects. Motion planning in this context appears as a constrained instance of the …

This paper studies the use of pushing actions to orient and trans late objects in the plane.
The authors use linear normal pushes, which are straight-line pushes in a direction normal …

It occurs frequently in robotic applications that a robot manipulates a workpiece which is free
to slide on a work surface. Because the pressure distribution supporting the workpiece on …

This article provides a geometric representation of friction for a rigid planar part with two
translational and one rotational degrees of freedom. The article constructs a generalized …

This paper presents a method for determining the possible instantaneous motions of a
sliding object during multiple contact pushing. The approach consists of two components: a …

The authors consider the automated planning of manipulation strategies for workpieces able
to slide on their work surface. The aim is to generate open-loop (ie sensorless) strategies …