We present DARRT, a sampling-based algorithm for planning with multiple types of manipulation. Given a robot, a set of movable objects, and a set of actions for manipulating the objects, DARRT returns a sequence of manipulation actions that move the robot and objects from an initial configuration to a final configuration. The manipulation actions may be non-prehensile, meaning that the object i...

Many manipulation systems using air flow have been proposed for object handling in a non-prehensile way and without solid-to-solid contact. Potential applications include high-speed transport of fragile and clean products and high-resolution positioning of wafers. This paper discusses a comprehensive survey of state-of-the art pneumatic manipulation from the macro scale to the micro scale. The ...

During pick and place tasks, a mobile manipulator performs recurring relative moves within the close proximities of the object of interest and the destination independent of their global poses. These moves are usually critical to the success of the manipulation attempt and hence need to be executed delicately. Considering the critical yet recurring nature of these moves, we let the robot memori...

To achieve human-level object manipulation capability, a robot must be able to handle objects not only with prehensile manipulation, such as pick-and-place, but also nonprehensile manipulation. study we studied robotic batting, primitive form of Batting is challenging research area because it requires sophisticated and fast moving considerable improvement. In this paper, designed batting system...

This paper presents an approach to in-hand manipulation planning that exploits the mechanics of alternating sticking contact. Particularly, we consider the problem of manipulating a grasped object using external pushes for which the pusher sticks to the object. Given the physical properties of the object, frictional coefficients at contacts and a desired regrasp on the object, we propose a samp...

This letter describes an approach to achieve well-known Chinese cooking art stir-fry on a bimanual robot system. Stir-fry requires sequence of highly dynamic coordinated movements, which is usually difficult learn for chef, let alone transfer robots. In this letter, we define canonical movement, and then propose decoupled framework learning deformable object manipulation from human demonstratio...

We explore learning-based approaches for feedback control of a dexterous five-finger hand performing non-prehensile manipulation. First we learn local controllers that are able to perform the task starting at a predefined initial state. These controllers are constructed using trajectory optimization with respect to locally-linear time-varying models learned directly from sensor data. In some ca...

A study of the platyrrhine prehensile tail provides an opportunity to better understand how ecological and biomechanical factors affect the ability of primates to distribute mass across many different kinds of arboreal supports. Young individuals experience ontogenetic changes in body mass, limb proportions, and motor skills that are likely to exert a strong influence on foraging strategies, so...