Pushing with a physics-based model
Name
825553618-MIT.pdf
Description
Full printable version
Size
7.73 MB
Format
Adobe PDF
Checksum (MD5)
36600b47ee89ca9e8210de60f974a044
Author(s)
Liu, Huan
Advisor(s)
Tomas Lozano-Perez.
Date Issued
2011
Publisher
Massachusetts Institute of Technology
Abstract
Humans often push when grasping or lifting is inconvenient or infeasible, because pushing requires fewer contacts and fights against only a fraction of the object's weight. However, pushing results are hard to predict, because the physical parameters that govern the pushing motion are difficult to measure. We derived a physics-based box pushing model and implemented a feedback-based pushing pipeline using the model. Experimental results show that our pushing model has fair predictive power and our pushing pipeline can reliably push the target to the goal. We compared our physics-based method to a minimalistic baseline pushing method and showed that our method is more accurate and reliable.
Description
Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2011.
Page numbering occurs only at the beginning of each chapter, the contents and the bibliography. Cataloged from PDF version of thesis.
Includes bibliographical references (p. 67-[70]).
Subjects
Electrical Engineering and Computer Science.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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copyright. They may be viewed from this source for any purpose, but
reproduction or distribution in any format is prohibited without written
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