3 papers
eess.SY2025
Differential Flatness of Quasi-Static Slider-Pusher Models with Applications in Control
Sander De Witte, Tom Lefebvre, Thomas Neve +2
This paper investigates the dynamic properties of planar slider-pusher systems as a motion primitive in manipulation tasks. To that end, we construct a differential kinematic model…
math.OC2023
Flatness-based MPC using B-splines transcription with application to a Pusher-Slider System
Thomas Neve, Tom Lefebvre, Sander De Witte +1
This work discusses the use of model predictive control (MPC) for the manipulation of a pusher-slider system. In particular we leverage the differential flatness of the pusher-slid…
math.DS2023
Differential Flatness of Slider-Pusher Systems for Constrained Time Optimal Collision Free Path Planning
Tom Lefebvre, Sander De Witte, Thomas Neve +1
In this work we show that the differential kinematics of slider-pusher systems are differentially flat assuming quasi-static behaviour and frictionless contact. Second we demonstra…