This paper proposes a method to realize a frontal pushing manipulation of an object by autonomously adjusting the pushing force and virtual attitude angle for an omnidirectional mobile manipulator. Coordinated manipulation between the mobile base and manipulator is essential for achieving a human-like transmission of reaction force from the feet, through the torso and arms, to the object. However, conventional approaches do not adequately consider the coordination between the mobile base and manipulator. Therefore, we propose an autonomous pushing manipulation that utilizes both a driving force generated by the mobile base and an object contact force received from the object. This approach facilitates the autonomous of pushing force and the orientation of the object relative to the manipulator. Slip-free control, identified as the most effective driving-force control strategy via comparative experiments, is used to adjust the pushing force. In addition, this approach allows for the adjustment of the virtual attitude angle, enabling the automatic reorientation of the object so that the pushing is effectively applied from the front. This integrated approach contributes to robust and adaptable object transfer by leveraging the driving dynamics of the mobile base and the contact interaction with the object.
Hashimoto et al. (Thu,) studied this question.
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