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".