抄録
Kudou make end-effector which generate large force and push obejects in two-dimentional surface. We use this end-effector to position heavy obejects. But the end-effector is moved by reference force from obejects when push the obejects, and we can't calculate how force we need to push the object and estimate the movement of the object. So in this paper, we analysis the movement of the object in two-dimentional surface and applying force to the end-effector.
