Z. Balorda et T. Bajd, REDUCING POSITIONING UNCERTAINTY OF OBJECTS BY ROBOT PUSHING, IEEE transactions on robotics and automation, 10(4), 1994, pp. 535-541
Robotic applications often involve manipulation of objects where posit
ion and orientation are not perfectly known. Pushing an object for ins
tance by a fence, can be employed to accurately align parts, reducing
uncertainty to only one degree of freedom. In this paper a pushing tas
k involving two fingers that completely constrains an object in a plan
e is proposed. The stability of orientation and position of an object
being pushed is discussed. The solution obtained is unique despite the
fact that the distribution of forces supporting the object cannot, in
general, be known. The proposed task of pushing is simple although so
me preliminary information about the initial position and orientation
of an object is required. An approach to avoid the ambiguity in orient
ation, owing to the effect of friction between the object and the push
er, by introducing up and down movement of the pusher is also presente
d.