3 papers
cs.RO2026
Robotic Nonprehensile Object Transportation with a Hanging Tray
Adam Heins, Angela P. Schoellig
We consider the nonprehensile object transportation task known as the waiter's problem, in which a robot must move an object balanced on a tray from one location to another. In con…
cs.RO2024
Robust Nonprehensile Object Transportation with Uncertain Inertial Parameters
Adam Heins, Angela P. Schoellig
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 tran…
cs.RO2024
Force Push: Robust Single-Point Pushing with Force Feedback
Adam Heins, Angela P. Schoellig
We present a controller for quasistatic robotic planar pushing with single-point contact using only force feedback to sense the pushed object. We consider an omnidirectional mobile…