Motion and Force Planning for Manipulating Heavy Objects by Pivoting
Amin Fakhari,Aditya Patankar,Nilanjan Chakraborty,Amin Fakhari,Aditya Patankar,Nilanjan Chakraborty
Manipulation of objects by exploiting their contact with the environment can enhance both the dexterity and payload capability of robotic manipulators. A common way to manipulate heavy objects beyond the payload capability of a robot is to use a sequence of pivoting motions, wherein, an object is moved while some contact points between the object and a support surface are kept fixed. The goal of t...
