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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/18155

Title: Zero Moment Two Edge Pushing of Novel Objects With Center of Mass Estimation
Authors: Gao, Ziyan
Elibol, Armagan
Nak-Young, Chong
Keywords: Planar pushing
object CoM estimation
two edge pushing
data-driven automation
Issue Date: 2022-09
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Magazine name: IEEE Transactions on Automation Science and Engineering
Start page: 1
End page: 13
DOI: 10.1109/TASE.2022.3208739
Abstract: Pushing is one of the fundamental nonprehensile manipulation skills to impart to an object changes in position and orientation. To exploit this skill to manipulate novel objects, explicit knowledge of their physical properties should be given a priori. In this work, we estimate the center of mass (CoM) of an object by narrowing down its probable location with a deep learning model and Mason’s voting theorem. In addition, we propose the Zero Moment Two Edge Pushing (ZMTEP) method to translate a novel object without rotation to a goal pose. The proposed method enables a pusher to select the most suitable two-edge-contact configuration for a given object using the estimated CoM and the geometrical shape of the object. Notably, neither the friction between the object and its support plane nor the friction between the object and the pusher are assumed to be known. We evaluate the proposed CoM estimation and ZMTEP methods through a series of experiments in both simulation and real robotic pusher settings. The result shows that the CoM estimation method has good mean squared error properties and small standard deviation, and the ZMTEP method significantly outperforms competitive baseline methods.
Rights: This is the author's version of the work. Copyright (C)2022 IEEE. IEEE Transactions on Automation Science and Engineering, 2022, pp.1-13. DOI:10.1109/TASE.2022.3208739. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
URI: http://hdl.handle.net/10119/18155
Material Type: author
Appears in Collections:b10-1. 雑誌掲載論文 (Journal Articles)

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