Federico, Sara (Università degli Studi della Campania "Luigi Vanvitelli"), Costanzo, Marco (Università degli Studi della Campania Luigi Vanvitelli), Natale, Ciro (Università degli Studi della Campania "Luigi Vanvitelli")

Modelling and Identification of Planar Slider Dynamics for Robotic Pushing

Scheduled for presentation during the Regular Session "Modeling, Identification, and Estimation" (WeCT2), Wednesday, July 16, 2025, 17:50−18:10, Room 106

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on July 16, 2025

Abstract

Robotic dynamic manipulation involves several non-prehensile actions that a manipulator can apply to objects in its environment. One of the most useful actions is pushing, which can allow the robot to move objects in cluttered spaces without the need to grasp them. The resulting object motion can be predicted by exploiting physics models. Most of the literature contributions to the control of this manipulation task rely on the quasi-static assumption, where friction forces largely overcome inertial forces. On the other hand, highly dynamic non-prehensile maneuvers, such as tapping, require more accurate dynamic models. This abstract presents a dynamic model that includes a novel friction model taking into account the coupled translational and rotational motions. The model is then experimentally identified on a real robot by exploiting both motion and force measurements. This validated model will be the basis of control algorithms for the robotic dynamic pushing.