Progress in Nonprehensile Manipulation

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

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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.

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},
} 2017-09-13T10:46:33-04:00