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The International Journal of Robotics Research
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Progress in Nonprehensile Manipulation

Matthew T. Mason

Computer Science Department and Robotics Institute, Carnegie Mellon University, Pittsburgh PA 15213matt.mason{at}cs.cmu.edu

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.

The International Journal of Robotics Research, Vol. 18, No. 11, 1129-1141 (1999)
DOI: 10.1177/02783649922067762
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Q. Li and S. Payandeh
Planning Velocities of Free Sliding Objects as a Free Boundary Value Problem
The International Journal of Robotics Research, January 1, 2004; 23(1): 69 - 87.
[Abstract] [PDF]