Object Re-Orientation via Two-Edge-Contact Pushing Along a Circular Path Based on Friction Estimation

Achieving a stable displacement of an object to its target pose is a fundamental requirement in numerous robotic manipulation tasks. In this work, we investigate the use of planar pushing to re-orient an object with unknown physical parameters. Primarily, this study serves as a supplement to our previously introduced Zero Moment Two Edge Pushing (ZMTEP) technique designed to achieve pure object translation. Specifically, precise object re-orientation is accomplished by employing a variable stroke parallel-jaw gripper pusher to make contact with two edges of the object and execute circular motion. We initially give an assertion for enabling an unknown object to smoothly track a specified circular trajectory while remaining in sticking contact with the pusher. Subsequently, we carry out a comprehensive set of experiments to validate the suggested claim by examining the possible two-edge-contact (TEC) configurations. Lastly, we assess the practicality of the estimated frictional forces to find the achievable TEC configurations. The experimental outcomes provide empirical evidence that confirms the validity of friction estimation for TEC pushing.