Papers › Robust Nonprehensile Object Transportation with Uncertain Inertial Parameters
Robust Nonprehensile Object Transportation with Uncertain Inertial Parameters
Adam Heins, Angela P. Schoellig
The archive published only this paper's code-link row. Authors, date and abstract are from arXiv's metadata (CC0), read from the Kaggle arXiv metadata snapshot of 2026-09-12 where its title matched the archive's; the title is the archive's.
We consider the nonprehensile object transportation task known as the waiter's problem - in which a robot must move an object on a tray from one location to another - when the transported object has uncertain inertial parameters. In contrast to existing approaches that completely ignore uncertainty in the inertia matrix or which only consider small parameter errors, we are interested in pushing the limits of the amount of inertial parameter uncertainty that can be handled. We first show how constraints that are robust to inertial parameter uncertainty can be incorporated into an optimization-based motion planning framework to transport objects while moving quickly. Next, we develop necessary conditions for the inertial parameters to be realizable on a bounding shape based on moment relaxations, allowing us to verify whether a trajectory will violate the constraints for any realizable inertial parameters. Finally, we demonstrate our approach on a mobile manipulator in simulations and real hardware experiments: our proposed robust constraints consistently successfully transport a 56 cm tall object with substantial inertial parameter uncertainty in the real world, while the baseline approaches drop the object while transporting it.
Code
Repository list and official/mentioned flags are the archive's, frozen 2025-07-28. Reachability, where shown, is from one Syntology probe window (2026-09-16 to 2026-09-18); repositories not probed show nothing. GitHub stars are not tracked.
Code Syntology ran Syntology
Not run by Syntology. Nothing on this page verifies that the listed code works.
Results from the paper archive 2025-07-28
No leaderboard rows for this paper in the archive.
Report a problem or propose a change · a person checks every report against the paper or source before anything changes; decisions are listed on /corrections