2026-09-20T01:53:52Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/769882022-01-13T07:54:29Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Tomas Lozano-Perez.
Liu, Huan
Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
2013-02-14T15:35:37Z
2013-02-14T15:35:37Z
2011
2011
http://hdl.handle.net/1721.1/76988
825553618
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]).
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.
by Huan Liu.
M.Eng.
67, [3] p.
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by
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http://dspace.mit.edu/handle/1721.1/7582
Electrical Engineering and Computer Science.
Pushing with a physics-based model
Thesis
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<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.</Abstract>
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