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Based on the convex force-motion polynomial model for quasi-static sliding, we derive the kinematic contact model to determine the contact modes and instantaneous object motion on a supporting surface given a position controlled manipulator.
The generalised product moment distribution in samples from a normal multivariate population
John Wishart · 1928
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Quasi-static assembly of compliantly supported rigid parts
D. E. Whitney · 1983
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Automatic synthesis of fine-motion strategies for robots
Tomas Lozano-Perez, Matthew T. Mason, and Russell H. Taylor · 1984
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Using backprojections for fine motion planning with uncertainty
M. Erdmann · 1986
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Automatic grasp planning in the presence of uncertainty
Randy C Brost · 1988
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The motion of a pushed, sliding workpiece
Michael Peshkin, Arthur C Sanderson, et al · 1988
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Planning robotic manipulation strategies for workpieces that slide
Michael A. Peshkin and Arthur C. Sanderson · 1988
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Planar Sliding of a Rigid Body With Dry Friction: Limit Surfaces and Dynamics of Motion
Suresh Goyal · 1989
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Graphical analysis of planar rigid-body dynamics with multiple frictional contacts
Randy C Brost and Matthew T Mason · 1991
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Planar sliding with dry friction. Part 1. Limit surface and moment function
Suresh Goyal, Andy Ruina, and Jim Papadopoulos · 1991
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Identification of the center of friction from pushing an object by a mobile robot
Tsuneo Yoshikawa and Masamitsu Kurisu · 1991
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Planning optimal grasps
Carlo Ferrari and John Canny · 1992
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Manipulation and active sensing by pushing using tactile feedback
Kevin M Lynch, Hitoshi Maekawa, and Kazuo Tanie · 1992
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Estimating the friction parameters of pushed objects
Kevin M. Lynch · 1993
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Practical force-motion models for sliding manipulation
Robert D Howe and Mark R Cutkosky · 1996
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Structured Semidefinite Programs and Semialgebraic Geometry Methods in Robustness and Optimization
Pablo A Parrilo · 2000
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Mechanics of robotic manipulation
Matthew T Mason · 2001
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Automatic grasp planning using shape primitives
Andrew T Miller, Steffen Knoop, Henrik I Christensen, and Peter K Allen · 2003
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Tractable fitting with convex polynomials via sum-of-squares
Alessandro Magnani, Sanjay Lall, and Stephen Boyd · 2005
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Push-grasping with dexterous hands: Mechanics and a method
Mehmet Dogar and Siddhartha Srinivasa · 2010
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More than a million ways to be pushed. a high-fidelity experimental dataset of planar pushing
Kuan-Ting Yu, Maria Bauza, Nima Fazeli, and Alberto Rodriguez · 2016
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Stable pushing: Mechanics, controllability, and planning
Kevin M. Lynch and Matthew T. Mason · 1996
Cited alongside, same era.
An implicit time-stepping scheme for rigid body dynamics with inelastic collisions and coulomb friction
David E Stewart and Jeffrey C Trinkle · 1996
Cited alongside, same era.
On the scope of quasi-static pushing
Matthew T. Mason
Cited in the paper.
Mechanics and planning of manipulator pushing operations
Matthew T. Mason
Cited in the paper.
Later among the works it cites.
A convex polynomial force-motion model for planar sliding: identification and application
Jiaji Zhou, R. Paolini, J. A. Bagnell, and M. T. Mason · 2016
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Two-finger adaptive robot gripper
ROBOTIQ · 2017
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