Box pushing with a mobile robot using visual servoing

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dc.contributor.advisorLongoria, Raul G.
dc.creatorAinampudi, Parthasarathi
dc.creator.orcid0000-0001-9360-728X
dc.date.accessioned2019-10-21T22:02:00Z
dc.date.available2019-10-21T22:02:00Z
dc.date.created2019-05
dc.date.issued2019-05-09
dc.date.submittedMay 2019
dc.date.updated2019-10-21T22:02:00Z
dc.description.abstractPushing is one of the many ways to manipulate an object and it is especially useful when the object is too big to be gripped by the robot. Previous studies analyzed the problem of pushing polygonal objects into desired poses and proposed open loop pushing algorithms. In the absence of object pose feedback, to avoid slip in contact between the robot and the object, primitives for path planning were computed using conservative estimates for coefficient of friction between the robot and the object. In this work, we experimentally measured the coefficient of friction between the robot and object to compute path planning primitives. We used A* search and RRT* algorithms for path planning. We perform controlled pushing using object pose feedback obtained from a vision system using fiduciary markers. Pushing objects with object pose feedback enables us to confidently operate close to the frictional limits of the system, as the robot can take paths with tighter turns (smaller turning radius) to push the object into the goal pose.
dc.description.departmentMechanical Engineering
dc.format.mimetypeapplication/pdf
dc.identifier.urihttps://hdl.handle.net/2152/76310
dc.identifier.urihttp://dx.doi.org/10.26153/tsw/3399
dc.language.isoen
dc.subjectMobile robot
dc.subjectVisual servoing
dc.subjectPushing
dc.subjectManipulation
dc.subjectPath planning
dc.subjectLocalization
dc.subjectFriction
dc.titleBox pushing with a mobile robot using visual servoing
dc.typeThesis
dc.type.materialtext
thesis.degree.departmentMechanical Engineering
thesis.degree.disciplineMechanical Engineering
thesis.degree.grantorThe University of Texas at Austin
thesis.degree.levelMasters
thesis.degree.nameMaster of Science in Engineering

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