This paper proposes a technique to manipulate an object with a nonholonomic mobile robot by pushing, which is a nonprehensile manipulation motion primitive. Such a primitive involves unilateral constraints associated with the friction between the robot and the manipulated object. Violating this constraint produces the slippage of the object during the manipulation, preventing the correct achievement of the task. A linear time-varying model predictive control is designed to include the unilateral constraint within the control action properly. The approach is verified in a dynamic simulation environment through a Pioneer 3-DX wheeled robot executing the pushing manipulation of a package.
Linear Time-Varying MPC for Nonprehensile Object Manipulation with a Nonholonomic Mobile Robot / Bertoncelli, F.; Ruggiero, F.; Sabattini, L.. - (2020), pp. 11032-11038. (Intervento presentato al convegno 2020 IEEE International Conference on Robotics and Automation, ICRA 2020 tenutosi a fra nel 2020) [10.1109/ICRA40945.2020.9197173].
Linear Time-Varying MPC for Nonprehensile Object Manipulation with a Nonholonomic Mobile Robot
Bertoncelli F.;Sabattini L.
2020
Abstract
This paper proposes a technique to manipulate an object with a nonholonomic mobile robot by pushing, which is a nonprehensile manipulation motion primitive. Such a primitive involves unilateral constraints associated with the friction between the robot and the manipulated object. Violating this constraint produces the slippage of the object during the manipulation, preventing the correct achievement of the task. A linear time-varying model predictive control is designed to include the unilateral constraint within the control action properly. The approach is verified in a dynamic simulation environment through a Pioneer 3-DX wheeled robot executing the pushing manipulation of a package.
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