Reproduce “Robust Nonprehensile Object Transportation with Uncertain Inertial Parameters” on OpenResearch
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About this paper
Adam Heins, Angela P. Schoellig
This research introduces a framework for robust nonprehensile object transportation, addressing the 'waiter's problem' with significant uncertainty in an object's inertial parameters. It achieves a 100% success rate in simulations and consistently transports challenging tall objects in hardware experiments by enforcing robust sticking constraints and verifying physical realizability using moment relaxations.
Key insights
- Enforcing robust sticking constraints for the extreme points of the CoM uncertainty set during online planning significantly enhances success rates compared to using a single nominal CoM.
- Moment relaxations can effectively verify the physical realizability of inertial parameters for a given object bounding shape, providing a method to formally guarantee robustness against inertia matrix uncertainty.
- A trade-off exists between motion speed and robustness; the robust planner prioritizes reliable transportation by generating trajectories that are safer, even if sometimes slower, than those generated by less robust methods.
Summary by alphaXiv.
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