%0 Generic
%A Tang, Yujie
%A Pan, Wei
%A Wisse, Martijn
%D 2024
%T Code underlying publication: Unwieldy Object Delivery With Nonholonomic Mobile Base: A Free Pushing Approach
%U 
%R 10.4121/c6b05efc-2c13-49fe-8a45-2e565585d1ab.v1
%K Robot control
%K nonprehensile manipulation
%K Contact modeling
%K manipulation planning
%K motion control
%X <p>This collection contains all code to produce the results of "<span style="color: rgb(51, 51, 51);">Unwieldy Object Delivery With Nonholonomic Mobile Base: A Free Pushing Approach, in&nbsp;</span><em style="color: rgb(51, 51, 51);">IEEE Robotics and Automation Letters</em><span style="color: rgb(51, 51, 51);">, vol. 9, no. 10, pp. 8991-8998, Oct. 2024, doi: 10.1109/LRA.2024.3455855.</span>" In this paper, we studied how to push unweildy objects with basic mobile bases, in contrast to recent studies that focus on pushing with a manipulator’s end effector. A free-contact pushing controller is presented. The code is written in Python. Experiments are conducted with the PAL TiaGO robot. To reproduce the code, please refer "readme.md".</p>
%I 4TU.ResearchData