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In everyday life, we often find that we can maintain an object's equilibriumon a tray by adjusting its orientation. Building upon this observation andextending the method we previously proposed to suppress sloshing in a movingvessel, this paper presents a feedforward control approach for transportingobjects with a robot that are not firmly grasped but simply placed on a tray.The proposed approach combines smoothing actions and end-effectorre-orientation to prevent object sliding. It can be integrated into existingrobotic systems as a plug-in element between the reference trajectory generatorand the robot control. To demonstrate the effectiveness of the proposedmethods, particularly when dealing with unknown reference signals, we embedthem in a direct teleoperation scheme. In this scheme, the user commands therobot carrying the tray by simply moving their hand in free space, with thehand's 3D position detected by a motion capture system. Furthermore, in thecase of point-to-point motions, the same feedforward control, when fed withstep inputs representing the desired goal position, dynamically generates theminimum-time reference trajectory that complies with velocity and accelerationconstraints, thus avoiding sloshing and slipping. More information andaccompanying videos can be found at https://sites.google.com/view/robotwaiter/

Optimal Feed-Forward Control for Robotic Transportation of Solid and Liquid Materials via Nonprehensile Grasp