Models for pushing objects with a mobile robot using single point contact

Publication Type:
Conference Proceeding
IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings, 2010, pp. 2964 - 2969
Issue Date:
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In many mobile robotic manipulation tasks it is desirable to interact with the robots surroundings without actually grasping the object being manipulated. Non-prehensile manipulation allows a robot to interact in situations which would otherwise be impossible due to size or weight. This paper presents the derivation of a mathematical model of an object pushed by a single point and sliding in the presence of friction where the dynamic effects of mass and inertia are significant. This model is validated using numerical simulation. The derived dynamic model is also compared with a kinematic approximation from literature, showing that under certain conditions, the motion of a pushed object is similar to the motion of a non-holonomic vehicle. Finally, the results of experimental investigations are discussed and promising directions for further work are proposed. ©2010 IEEE.
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