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About this paper
Zhengxiong Li, Lingfeng Tao
The authors analyze how slip events can reveal pusher–object friction in a planar pusher–slider model. They propagate parameter sensitivities across mode changes and include pose, force, and event-time observations in Fisher information. In simulation, a crossing push produced an event-time information contribution of 9.9×10^3, while an equally sampled stick-only push had zero friction information under the stated starting conditions.
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