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".