Paper Title: Cart Pushing with a Mobile Manipulation System: Towards Navigation with Moveable Objects
- Authors: Jonathan Scholz, Sachin Chitta, Bhaskara Marthi, Maxim Likhachev
- Forum: ICRA 2011, Shanghai, China
Contents
Citation
@inproceedings {Scholz2011,
title = {Cart Pushing with a Mobile Manipulation System: Towards Navigation with Moveable Objects},
booktitle = {International Conference on Robotics and Automation},
series = {},
year = {2011},
author = {Jonathan Scholz and Sachin Chitta and Bhaskara Marthi and Maxim Likhachev}
}
Full Text
Photos and Video Results
Videos
Pictures
The PR2 robot with a cart
An example plan
Documentation
The cart pushing software is mainly self-contained within the cart_pushing stack and has been tested in simulation and on the PR2 against the cturtle ROS distribution.
Instructions for reproducing experiments
Download and Install
Complete instructions on using the cart pushing code are on the cart_pushing stack page.
In Simulation
This tutorial contains complete instructions for running the cart pushing stack in the Stage simulator.
On hardware
This tutorial contains complete instructions for running the cart pushing stack on the PR2, including details of the cart used.
