Impulsive Manipulation
W. H. Huang, E. P. Krotkov, and M. T. Mason

Abstract

In this paper, we examine a little-studied method of manipulation --- manipulation by striking an object and letting it slide. There are two parts to this problem: The Inverse Sliding Problem, determining the velocities required to send an object to a desired configuration, and The Impact Problem, determining how to strike the object in order to achieve those velocities. We will present a solution to these two problems for the class of rotationally symmetric objects and conclude with some observations about this method of manipulation.