Code underlying publication: Unwieldy Object Delivery With Nonholonomic Mobile Base: A Free Pushing Approach

This collection contains all code to produce the results of "Unwieldy Object Delivery With Nonholonomic Mobile Base: A Free Pushing Approach, in <em style="color:rgb(51, 51, 51);">IEEE Robotics and Automation Letters</em>, vol. 9, no. 10, pp. 8991-8998, Oct. 2024, doi: 10.1109/LRA.2024.3455855." In this paper, we studied how to push unweildy objects with basic mobile bases, in contrast to recent studies that focus on pushing with a manipulator’s end effector. A free-contact pushing controller is presented. The code is written in Python. Experiments are conducted with the PAL TiaGO robot. To reproduce the code, please refer "readme.md".

本数据集包含复现论文《基于非完整移动底盘的难以操控物体递送：自由推送方法》（Unwieldy Object Delivery With Nonholonomic Mobile Base: A Free Pushing Approach）的全部代码。该论文发表于《IEEE机器人与自动化快报》（IEEE Robotics and Automation Letters）2024年10月第9卷第10期，页码范围为8991至8998，DOI标识为10.1109/LRA.2024.3455855。与当前聚焦于机械臂末端执行器（manipulator’s end effector）推送的相关研究不同，本文探讨了采用通用移动底盘实现难以操控物体推送的方法，并提出了一种自由接触式推送控制器。本数据集代码采用Python语言编写，实验验证基于PAL TiaGO机器人平台开展。如需复现论文实验结果，请参考项目中的readme.md文件。