Object manipulation techniques in robotics can be categorized in two major groups including manipulation with grasp and manipulation without grasp. The original aim of this paper is to develop an object manipulation method where in addition to being grasp-less, the manipulation task is done in a passive approach. In this method, linear and angular positions of the object are changed and its man...

Robotic manipulation systems suffer from two main problems in unstructured human environments: uncertainty and clutter. We introduce a planning framework addressing these two issues. The framework plans rearrangement of clutter using non-prehensile actions, such as pushing. Pushing actions are also used to manipulate object pose uncertainty. The framework uses an action library that is derived ...

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...

Reinforcement learning has emerged as a promising methodology for training robot controllers. However, most results have been limited to simulation due to the need for a large number of samples and the lack of automated-yet-safe data collection methods. Model-based reinforcement learning methods provide an avenue to circumvent these challenges, but the traditional concern has been the mismatch ...

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...

Skilled robotic manipulation benefits from complex synergies between non-prehensile (e.g. pushing) and prehensile (e.g. grasping) actions: pushing can help rearrange cluttered objects to make space for arms and fingers; likewise, grasping can help displace objects to make pushing movements more precise and collision-free. In this work, we demonstrate that it is possible to discover and learn th...

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...

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...

Dan Reznik John Canny EECS Dept., UC-Berkeley, CA 94720-1776 USA Abstract We consider the problem of parallel part manipulation, i.e., the simultaneous position and orientation control of one or more parts in a bounded region of the plane. We propose a novel, minimalist device, based on a single horizontallyvibrating at plate. We show that a closed rigid motion of the plate, involving its 3 dof...