2 papers
cs.RO2026
Push, Press, Slide: Mode-Aware Planar Contact Manipulation via Reduced-Order Models
Melih Ãzcan, Umut Orguner, Ozgur S. Oguz
Non-prehensile planar manipulation, including pushing and press-and-slide, is critical for diverse robotic tasks, but notoriously challenging due to hybrid contact mechanics, under…
eess.SY2026
Performance of the Kalman Filter and Smoother for Benchmark Studies
Batin Kurt, Umut Orguner
We propose analytical mean square error (MSE) expressions for the Kalman filter (KF) and the Kalman smoother (KS) for benchmark studies, where the true system dynamics are unknown…