40 citations · 52 across the 5 of their papers we have counts for
6 papers
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…
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…
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…
Robust Single-Point Pushing with Force Feedback
Adam Heins, Angela P. Schoellig
We present the first controller for quasistatic robotic planar pushing with single-point contact using only force feedback. We consider a mobile robot equipped with a force-torque…
Keep it Upright: Model Predictive Control for Nonprehensile Object Transportation with Obstacle Avoidance on a Mobile Manipulator
Adam Heins, Angela P. Schoellig
We consider a nonprehensile manipulation task in which a mobile manipulator must balance objects on its end effector without grasping them -- known as the waiter's problem -- and m…
Provably Robust Learning-Based Approach for High-Accuracy Tracking Control of Lagrangian Systems
Mohamed K. Helwa, Adam Heins, Angela P. Schoellig
Lagrangian systems represent a wide range of robotic systems, including manipulators, wheeled and legged robots, and quadrotors. Inverse dynamics control and feedforward linearizat…