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このアイテムの引用には次の識別子を使用してください:
http://hdl.handle.net/10119/19413
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| タイトル: | Object Re-Orientation via Two-Edge-Contact Pushing along a Circular Path Based on Friction Estimation |
| 著者: | Gao, Ziyan
Li, Chenghao
Ma, Dianbo
Chong, Nak Young |
| 発行日: | 2024-12-11 |
| 出版者: | Institute of Electrical and Electronics Engineers (IEEE) |
| 誌名: | 2024 Eighth IEEE International Conference on Robotic Computing (IRC) |
| 開始ページ: | 17 |
| 終了ページ: | 23 |
| DOI: | 10.1109/IRC63610.2024.00009 |
| 抄録: | Achieving a stable displacement of an object to its target pose is a fundamental requirement in numerous robotic manipulation tasks. In this work, we investigate the use of planar pushing to re-orient an object with unknown physical parameters. Primarily, this study serves as a supplement to our previously introduced Zero Moment Two Edge Pushing (ZMTEP) technique designed to achieve pure object translation. Specifically, precise object re-orientation is accomplished by employing a variable stroke parallel-jaw gripper pusher to make contact with two edges of the object and execute circular motion. We initially give an assertion for enabling an unknown object to smoothly track a specified circular trajectory while remaining in sticking contact with the pusher. Subsequently, we carry out a comprehensive set of experiments to validate the suggested claim by examining the possible two-edge-contact (TEC) configurations. Lastly, we assess the practicality of the estimated frictional forces to find the achievable TEC configurations. The experimental outcomes provide empirical evidence that confirms the validity of friction estimation for TEC pushing. |
| Rights: | This is the author's version of the work. Copyright (C) 2024 IEEE. 2024 Eighth IEEE International Conference on Robotic Computing (IRC), Tokyo, Japan, pp. 17-23. DOI: https://doi.org/10.1109/IRC63610.2024.00009. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
| URI: | http://hdl.handle.net/10119/19413 |
| 資料タイプ: | author |
| 出現コレクション: | b11-1. 会議発表論文・発表資料 (Conference Papers)
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| N-CHONG-I-0107.pdf | | 6044Kb | Adobe PDF | 見る/開く |
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