Task-Oriented Contact Optimization for Pushing Manipulation with Mobile Robots
Filippo Bertoncelli,Mario Selvaggio,Fabio Ruggiero,Lorenzo Sabattini,Filippo Bertoncelli,Mario Selvaggio,Fabio Ruggiero,Lorenzo Sabattini
This work addresses the problem of transporting an object along a desired planar trajectory by pushing with mobile robots. More specifically, we concentrate on establishing optimal contacts between the object and the robots to execute the given task with minimum effort. We present a task-oriented contact placement optimization strategy for object pushing that allows calculating optimal contact poi...
