Progress in nonprehensile manipulation

Journal Article · Mon Nov 01 00:00:00 EST 1999 · International Journal of Robotics Research

DOI:https://doi.org/10.1177/02783649922067762· OSTI ID:20005589

Mason, M T

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.

• Research Organization: Carnegie Mellon Univ., Pittsburgh, PA (US)
• OSTI ID: 20005589
• Journal Information: International Journal of Robotics Research, Vol. 18, Issue 11; Other Information: PBD: Nov 1999; ISSN 0278-3649
• Country of Publication: United States
• Language: English

Related Subjects

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION
99 MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
ROBOTS
RESEARCH PROGRAMS
MOTION
MATERIALS HANDLING
MANIPULATORS