Figure 1: A simple method for finding a conservative approximation to the stable pushing directions for the case of line contact.
Controllability of Pushing
K. M. Lynch and M. T. Mason
Abstract
This paper addresses the question ``Can the object be pushed from here to there?'' We characterize the set of objects that are controllable (can be positioned arbitrarily), with and without obstacles, for the cases of point and line pushing contact. For the case of line contact, we find a set of pushing directions that keep the object fixed to the pusher, and we use these pushing directions to find sensorless plans to reposition the object among obstacles.