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《非完整移动底盘重载难操控物件推送：一种自由接触推送方法》（Unwieldy Object Delivery With Nonholonomic Mobile Base: A Free Pushing Approach）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）2024年10月，第9卷第10期，页码8991-8998，DOI为10.1109/LRA.2024.3455855。本研究针对非完整移动底盘推送重载难操控物件的任务展开探讨，相较于当前聚焦于机械臂末端执行器推送的相关研究，本文提出了一种自由接触式推送控制器。相关代码采用Python语言编写，实验基于PAL TiaGO机器人平台开展。如需复现该代码，请参考readme.md文件。