对象重定向行为中的质的转变。2. 改变质心的影响

Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97 Pub Date : 1997-09-07 DOI:10.1109/IROS.1997.649101

G. Deacon, M. Wright, C. Malcolm

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摘要

第1部分见Proc. IEEE Int。机器人与自动化，p.2697-704(1997)。我们研究了任意轮廓的2.5维物体的可能推入行为空间的拓扑结构。我们通过研究由Brost(1985,1988)导出的推稳定性图(PSD)来做到这一点。我们展示了如何预测由于改变质心位置而产生的PSD拓扑上的一些影响，从而有可能将其用作供料对象设计中的控制参数。

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Qualitative transition in object reorienting behaviour. 2. The effects of varying the centre of mass

For pt. 1 see Proc. IEEE Int. Conf. on Robotics and Automation, p.2697-704 (1997). We investigate the topology of the space of possible pushing behaviour for 2.5 D objects of arbitrary outline. We do this by studying the push-stability diagram (PSD) derived by Brost (1985, 1988). We show how to predict some of the effects on the topology of the PSD that arise from varying the position of the centre of mass, making it possible to use this as a control parameter in the design of objects for feeding.

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Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97

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