We present the first controller for quasistatic robotic planar pushing with single-point contact using only force feedback. We consider a mobile robot equipped with a force-torque sensor to measure the force at the contact point with the pushed object (the "slider"). The parameters of the slider are not known to the controller, nor is feedback on the slider's pose. We assume that the global position of the contact point is always known and that the approximate initial position of the slider is provided. We focus specifically on the case when it is desired to push the slider along a straight line. Simulations and real-world experiments show that our controller yields stable pushes that are robust to a wide range of slider parameters and state perturbations.

翻译：我们提出了首个仅利用力反馈实现准静态机器人平面单点接触推动的控制器。该控制器面向配备力-扭矩传感器的移动机器人，可测量与推动物体（"滑块"）接触点的力。控制器无需获知滑块参数，也无须获取滑块位姿反馈。我们假设接触点的全局位置始终已知，并提供了滑块的近似初始位置。本文特别聚焦于沿直线推动滑块的应用场景。仿真与真实实验表明，所提出的控制器能实现稳定的推动效果，对广泛变化的滑块参数与状态扰动均具有鲁棒性。