{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/76988"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/76988","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Pushing with a physics-based model","abstract":"Humans often push when grasping or lifting is inconvenient or infeasible, because pushing requires fewer contacts and fights against only a fraction of the object's weight. However, pushing results are hard to predict, because the physical parameters that govern the pushing motion are difficult to measure. We derived a physics-based box pushing model and implemented a feedback-based pushing pipeline using the model. Experimental results show that our pushing model has fair predictive power and our pushing pipeline can reliably push the target to the goal. We compared our physics-based method to a minimalistic baseline pushing method and showed that our method is more accurate and reliable.","abstract_html":"Humans often push when grasping or lifting is inconvenient or infeasible, because pushing requires fewer contacts and fights against only a fraction of the object's weight. However, pushing results are hard to predict, because the physical parameters that govern the pushing motion are difficult to measure. We derived a physics-based box pushing model and implemented a feedback-based pushing pipeline using the model. Experimental results show that our pushing model has fair predictive power and our pushing pipeline can reliably push the target to the goal. We compared our physics-based method to a minimalistic baseline pushing method and showed that our method is more accurate and reliable.","abstract_has_math":false,"creators":["Liu, Huan"],"institution":"Massachusetts Institute of Technology","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":"Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.","school":null,"contributors":[],"advisors":["Tomas Lozano-Perez."],"committee_chairs":[],"committee_members":[],"year":2011,"date_issued":"2011","date_published":"2011","updated_at":"2026-07-22T22:21:11Z","subjects":["Electrical Engineering and Computer Science."],"languages":["eng"],"rights":["M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission."],"rights_urls":["http://dspace.mit.edu/handle/1721.1/7582"],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/1721.1/76988","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.advisor","label":"Advisor","values":["Tomas Lozano-Perez."]},{"key":"dc:contributor.department","label":"Department","values":["Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science."]},{"key":"dc:contributor.other","label":"Dc Contributor Other","values":["Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science."]},{"key":"dc:creator","label":"Author","values":["Liu, Huan"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2013-02-14T15:35:37Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2013-02-14T15:35:37Z"]},{"key":"dc:date.issued","label":"Date","values":["2011"]},{"key":"dc:publisher","label":"Institution","values":["Massachusetts Institute of Technology"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Electrical Engineering and Computer Science."]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language.iso","label":"Language (ISO)","values":["eng"]},{"key":"dc:rights","label":"Dc Rights","values":["M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission."]},{"key":"dc:rights.uri","label":"Rights URI","values":["http://dspace.mit.edu/handle/1721.1/7582"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/1721.1/76988"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2011.","Page numbering occurs only at the beginning of each chapter, the contents and the bibliography. Cataloged from PDF version of thesis.","Includes bibliographical references (p. 67-[70])."]},{"key":"dc:description.abstract","label":"Abstract","values":["Humans often push when grasping or lifting is inconvenient or infeasible, because pushing requires fewer contacts and fights against only a fraction of the object's weight. However, pushing results are hard to predict, because the physical parameters that govern the pushing motion are difficult to measure. We derived a physics-based box pushing model and implemented a feedback-based pushing pipeline using the model. Experimental results show that our pushing model has fair predictive power and our pushing pipeline can reliably push the target to the goal. We compared our physics-based method to a minimalistic baseline pushing method and showed that our method is more accurate and reliable."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["M.Eng."]},{"key":"dc:title","label":"Title","values":["Pushing with a physics-based model"]}]}],"canonical_facts":{"dc:contributor.advisor":["Tomas Lozano-Perez."],"dc:contributor.department":["Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science."],"dc:contributor.other":["Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science."],"dc:creator":["Liu, Huan"],"dc:date.accessioned":["2013-02-14T15:35:37Z"],"dc:date.available":["2013-02-14T15:35:37Z"],"dc:date.issued":["2011"],"dc:description":["Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2011.","Page numbering occurs only at the beginning of each chapter, the contents and the bibliography. Cataloged from PDF version of thesis.","Includes bibliographical references (p. 67-[70])."],"dc:description.abstract":["Humans often push when grasping or lifting is inconvenient or infeasible, because pushing requires fewer contacts and fights against only a fraction of the object's weight. However, pushing results are hard to predict, because the physical parameters that govern the pushing motion are difficult to measure. We derived a physics-based box pushing model and implemented a feedback-based pushing pipeline using the model. Experimental results show that our pushing model has fair predictive power and our pushing pipeline can reliably push the target to the goal. We compared our physics-based method to a minimalistic baseline pushing method and showed that our method is more accurate and reliable."],"dc:description.degree":["M.Eng."],"dc:identifier.uri":["http://hdl.handle.net/1721.1/76988"],"dc:language.iso":["eng"],"dc:publisher":["Massachusetts Institute of Technology"],"dc:rights":["M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission."],"dc:rights.uri":["http://dspace.mit.edu/handle/1721.1/7582"],"dc:subject":["Electrical Engineering and Computer Science."],"dc:title":["Pushing with a physics-based model"],"dc:type":["Thesis"]},"updated_at":"2026-07-22T22:21:11Z"}