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ICRA
2006
IEEE

Designing Open-loop Plans for Planar Micro-manipulation

9 years 9 months ago
Designing Open-loop Plans for Planar Micro-manipulation
— This paper describes a test-bed for planar micro manipulation tasks and a framework for planning based on quasistatic models of mechanical systems with frictional contacts. We show how planar peg-in-the-hole assembly tasks can be designed using randomized motion planning techniques with Mason’s models for quasi-static manipulation. Finally, we present simulation and experimental results in support of our methodology.
David J. Cappelleri, Jonathan Fink, Barry Munkunda
Added 11 Jun 2010
Updated 11 Jun 2010
Type Conference
Year 2006
Where ICRA
Authors David J. Cappelleri, Jonathan Fink, Barry Munkundakrisnam, Vijay Kumar, Jeffrey C. Trinkle
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