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Non-prehensile manipulation enables fast interactions with objects by circumventing the need to grasp and ungrasp as well as handling objects that cannot be grasped through force closure.
A unified approach for motion and force control of robot manipulators: The operational space formulation
O. Khatib · 1987
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Formulating dynamic multi-rigid-body contact problems with friction as solvable linear complementarity problems
Mihai Anitescu and Florian A Potra · 1997
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Dynamic nonprehensile manipulation: Controllability, planning, and experiments
Kevin M Lynch and Matthew T Mason · 1999
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Linear complementarity systems
WPMH Heemels, Johannes M Schumacher, and S Weiland · 2000
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Dynamic manipulation inspired by the handling of a pizza peel
Mitsuru Higashimori, Keisuke Utsumi, Yasutaka Omoto, and Makoto Kaneko · 2009
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Lcm: Lightweight communications and marshalling
Albert S Huang, Edwin Olson, and David C Moore · 2010
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Generation of dynamic humanoid behaviors through task-space control with conic optimization
Patrick M. Wensing and David E. Orin · 2013
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Rigid body dynamics algorithms
Roy Featherstone · 2014
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Admissible velocity propagation: Beyond quasi-static path planning for high-dimensional robots
Quang-Cuong Pham, Stéphane Caron, Puttichai Lertkultanon, and Yoshihiko Nakamura · 2017
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Ambiguous collision outcomes and sliding with infinite friction in models of legged systems
C David Remy · 2017
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Dynamic in-hand sliding manipulation
Jian Shi, J Zachary Woodruff, Paul B Umbanhowar, and Kevin M Lynch · 2017
Earlier work this paper cites.
Planning and control for dynamic, nonprehensile, and hybrid manipulation tasks
J. Zachary Woodruff and Kevin M. Lynch · 2017
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Fast planning for 3d any-pose-reorienting using pivoting
Yifan Hou, Zhenzhong Jia, and Matthew T Mason · 2018
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Nonprehensile dynamic manipulation: A survey
Fabio Ruggiero, Vincenzo Lippiello, and Bruno Siciliano · 2018
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Tagslam: Robust slam with fiducial markers
Bernd Pfrommer and Kostas Daniilidis · 2019
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Drake: Model-based design and verification for robotics, 2019
Russ Tedrake and the Drake Development Team · 2019
Cited alongside, same era.
Regularized predictive control framework for robust dynamic legged locomotion
Gerardo Bledt · 2020
Cited alongside, same era.
Planar in-hand manipulation via motion cones
Nikhil Chavan-Dafle, Rachel Holladay, and Alberto Rodriguez · 2020
Cited alongside, same era.
Robust planar dynamic pivoting by regulating inertial and grip forces
Yifan Hou, Zhenzhong Jia, Aaron M Johnson, and Matthew T Mason · 2020
Cited alongside, same era.
Osqp: An operator splitting solver for quadratic programs
Bartolomeo Stellato, Goran Banjac, Paul Goulart, Alberto Bemporad, and Stephen Boyd · 2020
Visual dexterity: In-hand reorientation of novel and complex object shapes
Tao Chen, Megha Tippur, Siyang Wu, Vikash Kumar, Edward Adelson, and Pulkit Agrawal · 2023
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Enhancing dexterity in robotic manipulation via hierarchical contact exploration
Xianyi Cheng, Sarvesh Patil, Zeynep Temel, Oliver Kroemer, and Matthew T Mason · 2023
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Diffusion policy: Visuomotor policy learning via action diffusion
Cheng Chi, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric Cousineau, Benjamin Burchfiel, and Shuran Song · 2023
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Gurobi Optimizer Reference Manual, 2023
Gurobi Optimization, LLC · 2023
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Keep it upright: Model predictive control for nonprehensile object transportation with obstacle avoidance on a mobile manipulator
Adam Heins and Angela P. Schoellig · 2023
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Cited alongside, same era.
Contactnets: Learning discontinuous contact dynamics with smooth, implicit representations
Samuel Pfrommer, Mathew Halm, and Michael Posa · 2021
Cited alongside, same era.
Contact mode guided motion planning for quasidynamic dexterous manipulation in 3d
Xianyi Cheng, Eric Huang, Yifan Hou, and Matthew T. Mason · 2022
Cited alongside, same era.
Long-horizon manipulation of unknown objects via task and motion planning with estimated affordances
Aidan Curtis, Xiaolin Fang, Leslie Pack Kaelbling, Tomás Lozano-Pérez, and Caelan Reed Garrett · 2022
Cited alongside, same era.
Manipulation of unknown objects via contact configuration regulation
Neel Doshi, Orion Taylor, and Alberto Rodriguez · 2022
Cited alongside, same era.
Dojo: A differentiable physics engine for robotics
Taylor A Howell, Simon Le Cleac’h, Jan Brüdigam, J Zico Kolter, Mac Schwager, and Zachary Manchester · 2022
Cited alongside, same era.
Velocity level approximation of pressure field contact patches
Joseph Masterjohn, Damrong Guoy, John Shepherd, and Alejandro Castro · 2022
Cited alongside, same era.
Wei-Cheng Huang, Alp Aydinoglu, Wanxin Jin, and Michael Posa · 2023
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Inverse dynamics trajectory optimization for contact-implicit model predictive control
Vince Kurtz, Alejandro Castro, Aykut Özgün Önol, and Hai Lin · 2023
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Eureka: Human-level reward design via coding large language models
Yecheng Jason Ma, William Liang, Guanzhi Wang, De-An Huang, Osbert Bastani, Dinesh Jayaraman, Yuke Zhu, Linxi Fan, and Anima Anandkumar · 2023
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A non-prehensile object transportation framework with adaptive tilting based on quadratic programming
Rajesh Subburaman, Mario Selvaggio, and Fabio Ruggiero · 2023
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Object manipulation through contact configuration regulation: Multiple and intermittent contacts
Orion Taylor, Neel Doshi, and Alberto Rodriguez · 2023
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Serving time: Real-time, safe motion planning and control for manipulation of unsecured objects
Zachary Brei, Jonathan Michaux, Bohao Zhang, Patrick Holmes, and Ram Vasudevan · 2024
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Fast contact-implicit model predictive control
Simon Le Cleac’h, Taylor A. Howell, Shuo Yang, Chi-Yen Lee, John Zhang, Arun Bishop, Mac Schwager, and Zachary Manchester · 2024
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A fast procedure for computing the distance between complex objects in three-dimensional space
Elmer G Gilbert, Daniel W Johnson, and S Sathiya Keerthi · 2083
Closest in time.