A dipole field for object delivery by pushing on a flat surface

Takeo Igarashi, Youichi Kamiyama, Masahiko Inami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

19 Citations (Scopus)

Abstract

This paper introduces a simple algorithm for non-prehensile object transportation by a pushing robot on a flat surface. We assume that the global position and orientation of the robot and objects are known. The system computes a dipole field around the object and moves the robot along the field. This simple algorithm resolves many subtle issues in implementing reliable pushing behaviors, such as collision avoidance, error recovery, and multi-robot coordination. We verify the effectiveness of the algorithm via several experiments with varying robot and object form factors. Although object delivery by pushing and motion control by a vector field are not new, the proposed algorithm offers easier implementation with fewer parameter adjustments because of its mode-less definition and scale-invariant formulation.

Original languageEnglish
Title of host publication2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Pages5114-5119
Number of pages6
DOIs
Publication statusPublished - 2010 Aug 26
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: 2010 May 32010 May 7

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
CountryUnited States
CityAnchorage, AK
Period10/5/310/5/7

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Igarashi, T., Kamiyama, Y., & Inami, M. (2010). A dipole field for object delivery by pushing on a flat surface. In 2010 IEEE International Conference on Robotics and Automation, ICRA 2010 (pp. 5114-5119). [5509483] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2010.5509483