  We present the first controller for quasistatic robotic planar pushing with
single-point contact using only force feedback. We consider a mobile robot
equipped with a force-torque sensor to measure the force at the contact point
with the pushed object (the "slider"). The parameters of the slider are not
known to the controller, nor is feedback on the slider's pose. We assume that
the global position of the contact point is always known and that the
approximate initial position of the slider is provided. We focus specifically
on the case when it is desired to push the slider along a straight line.
Simulations and real-world experiments show that our controller yields stable
pushes that are robust to a wide range of slider parameters and state
perturbations.
