Qualitative Planning of Object Pushing by a Robot

摘要: Pushing is often used by robots as a simple way to manipulate the environment and has in past been well studied from kinematic numerical perspective. The paper proposes qualitative approach pushing convex polygonal objects wheeled robot through single point contact. We show that using reasoning, dynamics can be described concise intuitive manner, still sufficient control successfully objects. Using QUIN program on data collected our while experimentally of various shapes, we induce model pushing. This then planning algorithm push previously unused shapes given goal configurations. produced trajectories are compared smooth geometric solutions. Results correctness efficiency algorithm.