40 citations · 52 across the 5 of their papers we have counts for
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cs.RO2023
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…
cs.RO2023★ 40 cited
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…