Zero moment pushing manipulation for multiple objects

摘要

This paper discusses the pushing manipulation of multiple objects placed on a table. We derive the condition where the objects maintain the contact with the other objects or with the finger. By considering the contact force at the zero moment point, the condition can be obtained analytically and in a very simple form. We analyze the physical meaning of the conditions. Furthermore, we consider to assign the desired velocity to the center of mass of each object. Lastly, we consider to obtain the finger force which accelerates the objects.