Coordinated manipulation of polygonal objects

In this paper the author presents an efficient algorithm for the coordinated manipulation of polygonal objects with independent robot agents and an efficient decision procedure for whether a polygonal object can undergo any desired reorientation. This algorithm has good stability properties, in that it is not sensitive to small errors in the initial data and it relies on a simple control scheme. The result is a contribution towards realistic task-level planning for robots.

Authors

• Daniela Rus

Keywords

• Uncertainty
• Fingers
• Robot kinematics
• Robot sensing systems
• Motion planning
• Mobile robots
• Computer science
• Fixtures
• Friction
• Robotic assembly
• Robotic System
• Path Planning
• Termination Condition
• Decision Problem
• Motion Tracking
• Presence Of Uncertainty
• Independent Agency
• Hybrid Control
• Objective Dimensions
• Rotation Step
• Unstructured Environments
• Object Geometry
• Sequence Of Edges
• Finger Motion
• Hand Tracking
• Amount Of Rotation