Force Push: Robust Single-Point Pushing with Force Feedback
CoRR(2024)
摘要
We present the first controller for quasistatic robotic planar pushing with
single-point contact using only force feedback. We consider an omnidirectional
mobile robot pushing an object (the "slider") along a given path, where the
robot is equipped with a force-torque sensor to measure the force at the
contact point with the slider. The geometric, inertial, and frictional
parameters of the slider are not known to the controller, nor are measurements
of the slider's pose. We assume that the robot can be localized so that the
global position of the contact point is always known and that the approximate
initial position of the slider is provided. Simulations and real-world
experiments show that our controller yields stable pushes that are robust to a
wide range of slider parameters and state perturbations along both straight and
curved paths. Furthermore, we use an admittance controller to adjust the
pushing velocity based on the measured force when the slider contacts obstacles
like walls.
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关键词
force feedback,single-point
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