### Citations

397 | Rapidly-exploring random trees: A new tool for path planning.
- LaValle
- 1998
(Show Context)
Citation Context ...iction [4]. The method for 3-D simulation presented in [8] is adapted to solve the “2.5-dimensional” problem with surface friction. An application of the Rapidly Exploring Random Tree (RRT) algorithm =-=[16]-=- with modifications for dynamic systems described in [17] is used to solve the pegin-hole insertion task. II. QUASI-STATIC SIMULATION AND PLANNING Since the inertial forces are negligible compared to ... |

265 |
An exploration of sensorless manipulation.
- Erdmann, Mason
- 1988
(Show Context)
Citation Context ...em of planning pushing paths using stable pushes is discussed in [10]. Open-loop motion strategies, without the use of sensors, can be used to eliminate uncertainty and to orient polygonal parts [1], =-=[2]-=-, [11]. In [1], planar parts are considered polygons if their convex hull is a polygon. Given a list of n vertices describing the polygonal part with an unknown initial orientation, the shortest seque... |

203 | An implicit time-stepping scheme for rigidbody dynamics with inelastic collisions and Coulomb friction,”
- Stewart, Trinkle
- 1996
(Show Context)
Citation Context ... for the motion of the peg is quasi-static in nature. This quasi-static problem together with the frictional constraints and the rigid body constraints can be posed as a complementarity problem [18], =-=[19]-=- and subsequently solved to determine the overall motion of the system at every time-step. Simulation based randomized planning algorithms are then used to design manipulation plans for the peg insert... |

138 | Formulating dynamic multi-rigid-body contact problems with friction as solvable linear complementarity problems.
- Anitescu, Potra
- 1997
(Show Context)
Citation Context ...olving for the motion of the peg is quasi-static in nature. This quasi-static problem together with the frictional constraints and the rigid body constraints can be posed as a complementarity problem =-=[18]-=-, [19] and subsequently solved to determine the overall motion of the system at every time-step. Simulation based randomized planning algorithms are then used to design manipulation plans for the peg ... |

122 |
Stable pushing: Mechanics, controllability, and planning.
- Lynch, Mason
- 1996
(Show Context)
Citation Context ...t during multiple contact pushing are examined and the manipulation primitive of stable rotational pushing is defined in [9]. The problem of planning pushing paths using stable pushes is discussed in =-=[10]-=-. Open-loop motion strategies, without the use of sensors, can be used to eliminate uncertainty and to orient polygonal parts [1], [2], [11]. In [1], planar parts are considered polygons if their conv... |

89 |
Manipulator grasping and pushing operations,
- Mason
- 1982
(Show Context)
Citation Context ...ept in the simplest of cases, so simulation-based solutions are the only option. The derivation of the fundamental mechanics of pushing operations and sliding objects have been extensively studied by =-=[4]-=-–[6]. There is also extensive work addressing the analysis and simulation of mechanical systems with frictional contacts. In particular, semi-implicit and instantaneous-time models for predicting moti... |

86 | Survey of sticking effects for micro parts handling,
- Fearing
- 1995
(Show Context)
Citation Context ...of parts is applied to micro-scale parts in [3]. At the micro scale, sticking effects due to Van der Walls forces and static electricity make the manipulator motions and part release more complicated =-=[12]-=-, [13]. Micromanipulators also have limited degrees of freedom when compared to manipulators at the macro-scale. These problems are addressed in [3] with a parallel-jaw gripper and squeeze and roll pr... |

70 | Posing polygonal objects in the plane by pushing.
- Akella, Mason
- 1992
(Show Context)
Citation Context ... planning pushing paths using stable pushes is discussed in [10]. Open-loop motion strategies, without the use of sensors, can be used to eliminate uncertainty and to orient polygonal parts [1], [2], =-=[11]-=-. In [1], planar parts are considered polygons if their convex hull is a polygon. Given a list of n vertices describing the polygonal part with an unknown initial orientation, the shortest sequence of... |

48 | The mechanics of fine manipulation by pushing
- Lynch
- 1992
(Show Context)
Citation Context ...d [7], [8]. Pushing operations and the instantaneous motions of a sliding object during multiple contact pushing are examined and the manipulation primitive of stable rotational pushing is defined in =-=[9]-=-. The problem of planning pushing paths using stable pushes is discussed in [10]. Open-loop motion strategies, without the use of sensors, can be used to eliminate uncertainty and to orient polygonal ... |

36 |
Orienting polygonal parts without sensing
- Goldberg
- 1993
(Show Context)
Citation Context ...e not proved successful. Finally, it is even more difficult to grasp and manipulate parts at the micro and meso level than it is at the macro level. A natural question, one that has been asked before =-=[1]-=-– [3], is if simple open loop plans that do not require precise feedback in real-time, can be designed to accomplish such tasks. In this paper we explore such open loop plans for microassembly 1 tasks... |

31 | A semi-implicit timestepping model for frictional compliant contact problems,”
- Song, Pang, et al.
- 2004
(Show Context)
Citation Context ...ems with frictional contacts. In particular, semi-implicit and instantaneous-time models for predicting motion and contact forces for quasi-static multirigid-body systems have recently been developed =-=[7]-=-, [8]. Pushing operations and the instantaneous motions of a sliding object during multiple contact pushing are examined and the manipulation primitive of stable rotational pushing is defined in [9]. ... |

28 | An RRT-Based Algorithm for Testing and Validating Multi-Robot Controllers”, Robotics: Science and Systems
- Kim, Esposito, et al.
- 2005
(Show Context)
Citation Context ...] is adapted to solve the “2.5-dimensional” problem with surface friction. An application of the Rapidly Exploring Random Tree (RRT) algorithm [16] with modifications for dynamic systems described in =-=[17]-=- is used to solve the pegin-hole insertion task. II. QUASI-STATIC SIMULATION AND PLANNING Since the inertial forces are negligible compared to frictional forces in our problem, the problem of solving ... |

27 |
Visually guided microassembly using optical microscopes and active vision techniques, in:
- Vikramaditya, Nelson
(Show Context)
Citation Context ...e affixed to tiny precision instruments without compromising their functionality [13]. The use of high resolution optical systems with controllable parameters for micro-assembly tasks are examined by =-=[14]-=-. Specifically, depth-from-defocus and visual servoing strategies are presented. Even with this sensor data, calibration and vision-based control at this scale can present technical difficulties. With... |

16 |
Design of part feeding and assembly processes with dynamics.
- Song, Trinkle, et al.
- 2004
(Show Context)
Citation Context ...chnical difficulties. Without accurate sensor data, it is hard to to develop models, and therefore controllers, for micro manipulation. Our work in this paper is in the spirit of our own earlier work =-=[15]-=-, where the designer chooses the system parameters relating to geometric, material, and dynamic properties to optimize the performance of the design of an assembly/feeding device. We consider the cano... |

12 | Orienting micro-scale parts with squeeze and roll primitives, in
- Moll, Goldberg, et al.
- 1931
(Show Context)
Citation Context ... proved successful. Finally, it is even more difficult to grasp and manipulate parts at the micro and meso level than it is at the macro level. A natural question, one that has been asked before [1]– =-=[3]-=-, is if simple open loop plans that do not require precise feedback in real-time, can be designed to accomplish such tasks. In this paper we explore such open loop plans for microassembly 1 tasks. We ... |

8 | The Motion of a Pushed, Sliding Object (Part 1: Sliding Friction
- Peshkin, Sanderson
- 1985
(Show Context)
Citation Context ...in the simplest of cases, so simulation-based solutions are the only option. The derivation of the fundamental mechanics of pushing operations and sliding objects have been extensively studied by [4]–=-=[6]-=-. There is also extensive work addressing the analysis and simulation of mechanical systems with frictional contacts. In particular, semi-implicit and instantaneous-time models for predicting motion a... |

8 | A time-stepping scheme for quasistatic multibody systems
- Trinkle, Berard, et al.
- 2005
(Show Context)
Citation Context ...ith frictional contacts. In particular, semi-implicit and instantaneous-time models for predicting motion and contact forces for quasi-static multirigid-body systems have recently been developed [7], =-=[8]-=-. Pushing operations and the instantaneous motions of a sliding object during multiple contact pushing are examined and the manipulation primitive of stable rotational pushing is defined in [9]. The p... |

4 | and planning of manipulator pushing operations - “Mechanics - 1986 |

4 |
Handbook of Industrial Robotics, 2nd Ed
- Boehringer, Fearing, et al.
- 1999
(Show Context)
Citation Context ...ts is applied to micro-scale parts in [3]. At the micro scale, sticking effects due to Van der Walls forces and static electricity make the manipulator motions and part release more complicated [12], =-=[13]-=-. Micromanipulators also have limited degrees of freedom when compared to manipulators at the macro-scale. These problems are addressed in [3] with a parallel-jaw gripper and squeeze and roll primitiv... |