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With multiple pushing contact points, however, it is possible to find pushing directions that cause the object to remain fixed to the manipulator. These are called stable pushing directions. In this article we consider the problem of planning pushing paths using stable pushes. Pushing imposes a set of nonholonomic velocity constraints on the motion of the object, and we study the issues of local and global controllability during pushing with point contact or stable line contact. We describe a planner for finding stable pushing paths among obstacles, and the planner is demon strated on several manipulation tasks. <\/jats:p>","DOI":"10.1177\/027836499601500602","type":"journal-article","created":{"date-parts":[[2007,3,5]],"date-time":"2007-03-05T01:24:06Z","timestamp":1173057846000},"page":"533-556","source":"Crossref","is-referenced-by-count":352,"title":["Stable Pushing: Mechanics, Controllability, and Planning"],"prefix":"10.1177","volume":"15","author":[{"given":"Kevin M.","family":"Lynch","sequence":"first","affiliation":[{"name":"The Robotics Institute Carnegie Mellon University Pittsburgh, Pennsylvania 15213"}]},{"given":"Matthew T.","family":"Mason","sequence":"additional","affiliation":[{"name":"The Robotics Institute Carnegie Mellon University Pittsburgh, Pennsylvania 15213"}]}],"member":"179","published-online":{"date-parts":[[1996,12,1]]},"reference":[{"key":"atypb1","volume-title":"Proc. 1995 IEEE\/RSJ Int. Conf. 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