Tootfinder

Integrating Maneuverable Planning and Adaptive Control for Robot Cart-Pushing under Disturbances
Zhe Zhang, Peijia Xie, Zhirui Sun, Bingyi Xia, Bi-Ke Zhu, Jiankun Wang
https://arxiv.org/abs/2506.18410

Integrating Maneuverable Planning and Adaptive Control for Robot Cart-Pushing under Disturbances
Precise and flexible cart-pushing is a challenging task for mobile robots. The motion constraints during cart-pushing and the robot's redundancy lead to complex motion planning problems, while variable payloads and disturbances present complicated dynamics. In this work, we propose a novel planning and control framework for flexible whole-body coordination and robust adaptive control. Our motion planning method employs a local coordinate representation and a novel kinematic model to solve a non…