Predicting Center of Mass by Iterative Pushing for Object Transportation and Manipulation
Steven M. Hyland,Jing Xiao,Cagdas D. Onal,Steven M. Hyland,Jing Xiao,Cagdas D. Onal
Robotic manipulation tasks rely on a plethora of environmental and payload information. One critical piece of information for accurate manipulation is the center of mass (CoM) of the object, which is essential for estimating the dynamic response of the system and determining the payload placement. Traditionally, the CoM of a payload is provided prior to manipulation. In order to create a more robu...
