Planning motions of polyhedral parts by rolling (Q1974472)

For the purpose of robotic manipulation, the problem of displacing and reorienting a polyhedral part with piecewise smooth surface rolling on a plane is considered. The corresponding theoretical results are reviewed, and a polynomial time algorithm is proposed allowing the planning of such motions. The effects of finite accuracy in representing problem data, as well as the operational and computational complexity of the proposed method is considered.