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We present an approach to robotic manipulation of unknown objects through regulation of the object's contact configuration: the location, geometry, and mode of all contacts between the object, robot, and environment.
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Y. Hou, Z. Jia, and M. Mason, “Manipulation with Shared Grasping,” in Proceedings of Robotics: Science and Systems , Corvalis, Oregon, USA, July 2020
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F. R. Hogan, J. Ballester., S. Dong, and A. Rodriguez, “Tactile dexterity: Manipulation primitives with tactile feedback,” in Proceedings of International Conference on Robotics and Automation (ICRA) , 2020
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S. Wang, A. Bhatia, M. T. Mason, and A. M. Johnson, “Contact localization using velocity constraints,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2020
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Y. She, S. Wang, S. Dong, N. Sunil, A. Rodriguez, and E. Adelson, “Cable manipulation with a tactile-reactive gripper,” The International Journal of Robotics Research , 2021
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D. Ma, S. Dong, and A. Rodriguez, “Extrinsic contact sensing with relative-motion tracking from distributed tactile measurements,” in Proceedings of IEEE International Conference on Robotics and Automation (ICRA) , 2021
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S. Dong, D. Jha, D. Romeres, S. Kim, D. Nikovski, and A. Rodriguez, “Tactile-rl for insertion: Generalization to objects of unknown geometry,” in Proceedings of IEEE International Conference on Robotics and Automation (ICRA) , 2021
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