A contact microphone on a robot tray learns a velocity-dependent friction constraint that reduces object displacement during fast non-prehensile transport by an average of 86% in physical experiments.
Non-prehensile object transportation via model predictive non-sliding manipulation control,
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Hearing the Slide: Acoustic-Guided Constraint Learning for Fast Non-Prehensile Transport
A contact microphone on a robot tray learns a velocity-dependent friction constraint that reduces object displacement during fast non-prehensile transport by an average of 86% in physical experiments.