Impulsive Manipulation

  title={Impulsive Manipulation},
  author={Wesley H. Huang and Eric Krotkov and Matthew T. Mason},
In this paper, we examine a little-studied method of manipulation — manipulation by striking an object and letting it slide. There are two parts to this problem: The Inverse Sliding Problem, determining the velocities required to send an object to a desired configuration, and The Impact Problem, determining how to strike the object in order to achieve those velocities. We will present a solution to these two problems for the class of rotationally symmetric objects and conclude with some… CONTINUE READING