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@ARTICLE{Gao:1026134,
      author       = {Gao, Ziyan and Elibol, Armagan and Chong, Nak Young},
      title        = {{O}n the {G}enerality and {A}pplication of {M}ason's
                      {V}oting {T}heorem to {C}enter of {M}ass {E}stimation for
                      {P}ure {T}ranslational {M}otion},
      journal      = {IEEE transactions on robotics},
      volume       = {40},
      issn         = {1552-3098},
      address      = {[Erscheinungsort nicht ermittelbar]},
      publisher    = {IEEE},
      reportid     = {FZJ-2024-03295},
      pages        = {2656-2671},
      year         = {2024},
      abstract     = {Object rearrangement is widely demanded in many of the
                      manipulation tasks performed by industrial and service
                      robots. Rearranging an object through planar pushing is
                      deemed energy efficient and safer compared with the
                      pick-and-place operation. However, due to the unknown
                      physical properties of the object, rearranging an object
                      toward the target position is difficult to accomplish. Even
                      though robots can benefit from multimodal sensory data for
                      estimating novel object dynamics, the exact estimation error
                      bound is still unknown. In this work, first, we demonstrate
                      a way to obtain an error bound on the center of mass (CoM)
                      estimation for the novel object only using a
                      position-controlled robot arm and a vision sensor.
                      Specifically, we extend Mason's Voting Theorem to object CoM
                      estimation in the absence of accurate information on
                      friction and object shape. The probable CoM locations are
                      monotonously narrowed down to a convex region, and the
                      extended voting theorems' guarantee that the convex region
                      contains the CoM ground truth in the presence of contact
                      normal estimation error and pushing execution error. For the
                      object translation task, existing methods generally assume
                      that the pusher-object system's physical properties and
                      full-state feedback are available, or utilize iterative
                      pushing executions, which limits the application of planar
                      pushing to real-world settings. In this work, assuming a
                      nominal friction coefficient between the pusher and object
                      through contact normal error bound analysis, we leverage the
                      estimated convex region and the Zero Moment Two Edge Pushing
                      method (Gao et al., 2023) to select the contact
                      configurations for object pure translation. It is ensured
                      that the selected contact configurations are capable of
                      tolerating the CoM estimation error. The experimental
                      results show that the object can be accurately translated to
                      the target position with only two controlled pushes at
                      most.},
      cin          = {IAS-8},
      ddc          = {004},
      cid          = {I:(DE-Juel1)IAS-8-20210421},
      pnm          = {5112 - Cross-Domain Algorithms, Tools, Methods Labs (ATMLs)
                      and Research Groups (POF4-511)},
      pid          = {G:(DE-HGF)POF4-5112},
      typ          = {PUB:(DE-HGF)16},
      doi          = {10.1109/TRO.2024.3392080},
      url          = {https://juser.fz-juelich.de/record/1026134},
}