TY - GEN
T1 - A dipole field for object delivery by pushing on a flat surface
AU - Igarashi, Takeo
AU - Kamiyama, Youichi
AU - Inami, Masahiko
N1 - Copyright:
Copyright 2010 Elsevier B.V., All rights reserved.
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
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U2 - 10.1109/ROBOT.2010.5509483
DO - 10.1109/ROBOT.2010.5509483
M3 - Conference contribution
AN - SCOPUS:77955800721
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 5114
EP - 5119
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -