Code underlying publication: Unwieldy object delivery with nonholonomic mobile base: A stable pushing approach
doi:10.4121/1840c996-1a1f-4a33-8513-a815d1457a8f.v1
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doi: 10.4121/1840c996-1a1f-4a33-8513-a815d1457a8f
doi: 10.4121/1840c996-1a1f-4a33-8513-a815d1457a8f
Datacite citation style:
Tang, Yujie; Zhu, Hai; Potters, Susan; Wisse, Martijn; Pan, Wei (2024): Code underlying publication: Unwieldy object delivery with nonholonomic mobile base: A stable pushing approach. Version 1. 4TU.ResearchData. dataset. https://doi.org/10.4121/1840c996-1a1f-4a33-8513-a815d1457a8f.v1
Other citation styles (APA, Harvard, MLA, Vancouver, Chicago, IEEE) available at Datacite
Dataset
This collection contains all code to produce the results of "Unwieldy Object Delivery With Nonholonomic Mobile Base: A Stable Pushing Approach," in IEEE Robotics and Automation Letters, vol. 8, no. 11, pp. 7727-7734, Nov. 2023, doi: 10.1109/LRA.2023.3322323. This paper presents a stable pushing approach for mobile robots to deliver objects while maintaining a stiff contact between the robot and the object. This method significantly reduces the risk of losing the object during transport, thereby decreasing reliance on robust state estimation. The codes are written in Python and tested with the Clearpath Husky and Boxer robots. To reproduce the results, please refer to "readme.md".
history
- 2024-10-29 first online, published, posted
publisher
4TU.ResearchData
format
.py
associated peer-reviewed publication
Unwieldy Object Delivery With Nonholonomic Mobile Base: A Stable Pushing Approach
funding
- CSC scholarship (grant code 202306210072) China Scholarship Council
organizations
TU Delft, Faculty of Mechanical Engineering, Department of Cognitive robotics
DATA
files (77)
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