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The International Journal of Robotics Research
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Manipulation of Convex Objects via Two-agent Point-contact Push

Qingguo Li

Locomotion Laboratory, School of Kinesiology Simon Fraser University Burnaby, BC V5A 1S6, Canada, qlib{at}sfu.ca

Shahram Payandeh

Experimental Robotics Laboratory, School of Engineering Science Simon Fraser University Burnaby, BC V5A 1S6, Canada, shahram{at}fas.sfu.ca

This paper explores a sensorless manipulation method for orienting and translating convex objects in the plane. The manipulation task is performed by a two-agent point-contact push. During the manipulation, each agent makes a point contact with the object, and both agents push together along a straight-line. One advantage of the two-agent point-contact push over the physical fence based push is that the two-agent point-contact push can manipulate non-polygonal parts, and reduce the position and orientation uncertainties simultaneously. First, two manipulation primitives are identified, equilibrium and non-equilibrium pushes, and the motion of the object characterized under these two pushing actions. Then, a controllability analysis is conducted for this class of manipulation using the theory of positive bases. After the analysis, the planning problem is studied in the framework of a switched system, and an analytical solution to the planning problem is developed. Finally, manipulation examples and experiments are provided to demonstrate the proposed manipulation method.

Key Words: manipulation planning • two-agent point-contact push • manipulation controllability • switched system • linear programming

The International Journal of Robotics Research, Vol. 26, No. 4, 377-403 (2007)
DOI: 10.1177/0278364907076819
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