The Robotics Institute

Carnegie Mellon Robotics Institute

This paper reviews my recent research in robotic manipulation and speculates on potentially fruitful directions for future work. My recent work is focused on nonprehensile manipulation: manipulating objects without grasping them. In particular, the paper surveys work on a single joint robot that orients parts on a conveyor belt; a robot that uses dynamics to snatch, roll, or throw objects; hitting things to position them; manipulating things whose shapes are not completely known; and integration of manipulation with locomotion. In the future, a broad view of robotics will allow us to focus on fundamental principles and at the same time address a variety of new applications.

Notes

Number of pages: 13

Text Reference

Matthew T. Mason, "Progress in Nonprehensile Manipulation," International Journal of Robotics Research, Vol. 18, No. 11, November, 1999, pp. 1129-1141.

BibTeX Reference

@article{Mason_1999_3844,
   author = "Matthew T. Mason",
   title = "Progress in Nonprehensile Manipulation",
   journal = "International Journal of Robotics Research",
   pages = "1129-1141",
   publisher = "Sage Science Press",
   address = "Thousand Oaks, CA",
   month = "November",
   year = "1999",
   volume = "18",
   number = "11",
}

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