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Tang, Y. (author), Zhu, H. (author), Potters, Susan (author), Wisse, M. (author), Pan, W. (author)This letter addresses the problem of pushing manipulation with nonholonomic mobile robots. Pushing is a fundamental skill that enables robots to move unwieldy objects that cannot be grasped. We propose a stable pushing method that maintains stiff contact between the robot and the object to avoid consuming repositioning actions. We prove that...journal article 2023