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Research Paper #864

Title:Qualitative Transitions in Object Reorienting Behaviour, Part 2: the Effects of Varying the Centre of Mass
Authors:Deacon,G; Wright,M; Malcolm,CA
Date:Jun 1997
Presented:To appear in the Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, Grenoble, France, September, 1997
Abstract:In this and a companion paper we investigate the topology of the space of possible pushing behaviour for 2.5D objects of arbitrary outline. We do this by studying the Push-Stability Diagram (PSD) derived by Brost, which is a generalisation of a result of Mason's. In a previous paper we showed how to generalise the PSD to objects of arbitrary outline, and the affect of verying the coefficient of friction on the topology of the PSD. In this paper 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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