/Progress in Nonprehensile Manipulation

Progress in Nonprehensile Manipulation

Matthew T. Mason
Journal Article, International Journal of Robotics Research, Vol. 18, No. 11, pp. 1129-1141, November, 1999

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author’s copyright. These works may not be reposted without the explicit permission of the copyright holder.


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.

BibTeX Reference
author = {Matthew T. Mason},
title = {Progress in Nonprehensile Manipulation},
journal = {International Journal of Robotics Research},
year = {1999},
month = {November},
volume = {18},
number = {11},
pages = {1129-1141},