Code underlying publication: Unwieldy object delivery with nonholonomic mobile base: A stable pushing approach

This collection contains all code to produce the results of "Unwieldy Object Delivery With Nonholonomic Mobile Base: A Stable Pushing Approach," in <em style="color:rgb(51, 51, 51);">IEEE Robotics and Automation Letters</em>, vol. 8, no. 11, pp. 7727-7734, Nov. 2023, doi: 10.1109/LRA.2023.3322323. This paper presents a stable pushing approach for mobile robots to deliver objects while maintaining a stiff contact between the robot and the object. This method significantly reduces the risk of losing the object during transport, thereby decreasing reliance on robust state estimation. The codes are written in Python and tested with the Clearpath Husky and Boxer robots. To reproduce the results, please refer to "readme.md".

本数据集包含复现论文《面向非完整移动底盘的笨重物品递送：一种稳定推控方法》所需的全部代码，该论文发表于《IEEE机器人与自动化快报（IEEE Robotics and Automation Letters）》2023年11月第8卷第11期，页码范围7727-7734，DOI为10.1109/LRA.2023.3322323。该论文提出了一种面向移动机器人的稳定推控方案，可在维持机器人与物品间刚性接触的前提下完成物品递送任务。本方案可显著降低运输过程中物品脱落的风险，进而减少对鲁棒状态估计的依赖。本代码基于Python编写，并已在Clearpath Husky与Boxer机器人平台上完成测试。如需复现论文结果，请参阅readme.md文件。