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+along+a+given+path%252C+where+the+robot+is+equipped+with+a+force-torque+sensor+to+measure+the+force+at+the+contact+point+with+the+slider.+The+geometric%252C+inertial%252C+and+frictional+parameters+of+the+slider+are+not+known+to+the+controller%252C+nor+are+measurements+of+the+slider%27s+pose.+We+assume+that+the+robot+can+be+localized+so+that+the+global+position+of+the+contact+point+is+always+known+and+that+the+approximate+initial+position+of+the+slider+is+provided.+Simulations+and+real-world+experiments+show+that+our+controller+yields+pushes+that+are+robust+to+a+wide+range+of+slider+parameters+and+state+perturbations+along+both+straight+and+curved+paths.+Furthermore%252C+we+use+an+admittance+controller+to+adjust+the+pushing+velocity+based+on+the+measured+force+when+the+slider+contacts+obstacles+like+walls.&cdnurl=https%3a%2f%2fth.bing.com%2fth%2fid%2fR.97bc5451abf93a4daa4b9d65aef3bcc9%3frik%3dOWPFtUSDB%252fIVKQ%26pid%3dImgRaw%26r%3d0&exph=630&expw=1200&q=Constant+Force+Push&FORM=IRPRST&ck=9F29D2FEE7B585A548B8830C8200DFA3&selectedIndex=17&itb=0)
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