Related papers: Push, Press, Slide: Mode-Aware Planar Contact Mani…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
Pushing is a motion primitive useful to handle objects that are too large, too heavy, or too cluttered to be grasped. It is at the core of much of robotic manipulation, in particular when physical interaction is involved. It seems…
Pushing is a simple yet effective skill for robots to interact with and further change the environment. Related work has been mostly focused on utilizing it as a non-prehensile manipulation primitive for a robotic manipulator. However, it…
Non-prehensile manipulation methods usually use a simple end effector, e.g., a single rod, to manipulate the object. Compared to the grasping method, such an end effector is compact and flexible, and hence it can perform tasks in a…
This paper investigates real-time control strategies for dynamical systems that involve frictional contact interactions. Hybridness and underactuation are key characteristics of these systems that complicate the design of feedback…
Contact-based motion planning for manipulation, object exploration or balancing often requires finding sequences of fixed and sliding contacts and planning the transition from one contact in the environment to another. However, most…
Force modulation of robotic manipulators has been extensively studied for several decades. However, it is not yet commonly used in safety-critical applications due to a lack of accurate interaction contact modeling and weak performance…
Developing robot controllers capable of achieving dexterous nonprehensile manipulation, such as pushing an object on a table, is challenging. The underactuated and hybrid-dynamics nature of the problem, further complicated by the…
Non-prehensile manipulation enables fast interactions with objects by circumventing the need to grasp and ungrasp as well as handling objects that cannot be grasped through force closure. Current approaches to non-prehensile manipulation…
Robot manipulation in cluttered scenes often requires contact-rich interactions with objects. It can be more economical to interact via non-prehensile actions, for example, push through other objects to get to the desired grasp pose,…
Long-term non-prehensile planar manipulation is a challenging task for robot planning and feedback control. It is characterized by underactuation, hybrid control, and contact uncertainty. One main difficulty is to determine both the…
This paper uses a mobile manipulator with a collaborative robotic arm to manipulate objects beyond the robot's maximum payload. It proposes a single-shot probabilistic roadmap-based method to plan and optimize manipulation motion with…
Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interact…
Based on the convex force-motion polynomial model for quasi-static sliding, we derive the kinematic contact model to determine the contact modes and instantaneous object motion on a supporting surface given a position controlled…
Many robot manipulation tasks require the robot to make and break contact with objects and surfaces. The dynamics of such changing-contact robot manipulation tasks are discontinuous when contact is made or broken, and continuous elsewhere.…
Planning contact interactions is one of the core challenges of many robotic tasks. Optimizing contact locations while taking dynamics into account is computationally costly and, in environments that are only partially observable, executing…
Robotic manipulation in unstructured environments requires planners to reason jointly about free-space motion and sustained, frictional contact with the environment. Existing (local) planning and simulation frameworks typically separate…
This paper presents a hierarchical framework for planning and control of in-hand manipulation of a rigid object involving grasp changes using fully-actuated multifingered robotic hands. While the framework can be applied to the general…
In contact-rich tasks, like dexterous manipulation, the hybrid nature of making and breaking contact creates challenges for model representation and control. For example, choosing and sequencing contact locations for in-hand manipulation,…
Robotic dexterous in-hand manipulation, where multiple fingers dynamically make and break contact, represents a step toward human-like dexterity in real-world robotic applications. Unlike learning-based approaches that rely on large-scale…