Posing polygonal objects in the plane by pushing

1992 IEEE International Conference on Robotics and Automation, pp. 2255-2262, Nice, France, May 1992.

Srinivas Akella and Matthew T. Mason


This paper studies the use of pushing actions with a fence to orient and translate objects in the plane. It describes a planner which is guaranteed to construct a sequence of pushing actions to move any polygonal object from any initial configuration to any final configuration. This planner, which utilizes an analysis of the mechanics of pushing an object, generates open-loop plans which do not require feedback sensing. These plans are guaranteed to succeed provided certain physical assumptions are met. We present results of experiments conducted to demonstrate the generated plans.