5 accepted papers
We consider the nonprehensile object transportation task known as the waiter's problem---in which a robot must move an object on a tray from one location to another---when the transported object has uncertain inertial parameters. In contrast to existing approaches that completely ignore uncertainty …
We consider the nonprehensile object transportation task known as the <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">waiter's problem</i>—in which a robot must move an object on a tray from one location to another—when the transported object has unc
We present a controller for quasistatic robotic planar pushing with single-point contact using <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">only</i> force feedback to sense the pushed object. We consider an omnidirectional mobile robot pushing an
We consider a nonprehensile manipulation task in which a mobile manipulator must balance objects on its end effector without grasping them—known as the <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">waiter's problem</i> —and move to a desired locati
Lagrangian systems represent a wide range of robotic systems, including manipulators, wheeled and legged robots, and quadrotors. Inverse dynamics control and feedforward linearization are typically used to convert the complex nonlinear dynamics of Lagrangian systems to a set of decoupled double inte