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pushing task

Robotica (1)

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Dynamic control of pushing operations
N. Rezzoug, P. Gorce
Journal:

Robotica / Volume 17 / Issue 6 / November 1999

Published online by Cambridge University Press:

01 November 1999, pp. 613-620
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The goal of this paper is to present a new method to control pushing operations with several fingers. We take into account some dynamical aspects that have not yet been investigated in pushing studies such as the object's center of mass acceleration correction and optimal force distribution. To do this, we use a general method for multi-chain mechanisms based on a dynamical control with finger coordination. We first detail the problems encountered in this type of manipulation and the way to take these points into account with specific constraints definition for the support contact. According to the parameters of the model such as optimization criterion and object characteristics, we present simulation results of object pushing with two fingers for a rotational and translational motion.