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In this paper, we consider the problem of non-prehensile manipulation using grasped objects.
Contact-invariant optimization for hand manipulation
Igor Mordatch, Zoran Popović, and Emanuel Todorov · 2012
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A direct method for trajectory optimization of rigid bodies through contact
Michael Posa, Cecilia Cantu, and Russ Tedrake · 2014
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Extrinsic dexterity: In-hand manipulation with external forces
Nikhil Chavan Dafle, Alberto Rodriguez, Robert Paolini, Bowei Tang, Siddhartha S Srinivasa, Michael Erdmann, Matthew T Mason, Ivan Lundberg, Harald Staab, and Thomas Fuhlbrigge · 2014
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Localizing external contact using proprioceptive sensors: The contact particle filter
Lucas Manuelli and Russ Tedrake · 2016
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Gelsight: High-resolution robot tactile sensors for estimating geometry and force
Wenzhen Yuan, Siyuan Dong, and Edward H Adelson · 2017
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Implementing tactile behaviors using fingervision
Akihiko Yamaguchi and Christopher G Atkeson · 2017
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Optnet: Differentiable optimization as a layer in neural networks
Brandon Amos and J Zico Kolter · 2017
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Information theoretic mpc for model-based reinforcement learning
Grady Williams, Nolan Wagener, Brian Goldfain, Paul Drews, James M Rehg, Byron Boots, and Evangelos A Theodorou · 2017
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Toward robotic manipulation
Matthew T Mason · 2018
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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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Stable prehensile pushing: In-hand manipulation with alternating sticking contacts
Nikhil Chavan-Dafle and Alberto Rodriguez · 2018
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Soft-bubble: A highly compliant dense geometry tactile sensor for robot manipulation
Alex Alspach, Kunimatsu Hashimoto, Naveen Kuppuswamy, and Russ Tedrake · 2019
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Fast model-based contact patch and pose estimation for highly deformable dense-geometry tactile sensors
Naveen Kuppuswamy, Alejandro Castro, Calder Phillips-Grafflin, Alex Alspach, and Russ Tedrake · 2019
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Differentiable convex optimization layers
Akshay Agrawal, Brandon Amos, Shane Barratt, Stephen Boyd, Steven Diamond, and J Zico Kolter · 2019
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Digit: A novel design for a low-cost compact high-resolution tactile sensor with application to in-hand manipulation
Mike Lambeta, Po-Wei Chou, Stephen Tian, Brian Yang, Benjamin Maloon, Victoria Rose Most, Dave Stroud, Raymond Santos, Ahmad Byagowi, Gregg Kammerer, et al · 2020
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Variational contact-implicit trajectory optimization
Zachary Manchester and Scott Kuindersma · 2020
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A global quasi-dynamic model for contact-trajectory optimization in manipulation
Bernardo Aceituno-Cabezas and Alberto Rodriguez · 2020
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Planar in-hand manipulation via motion cones
Nikhil Chavan-Dafle, Rachel Holladay, and Alberto Rodriguez · 2020
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Tactile dexterity: Manipulation primitives with tactile feedback
Francois R Hogan, Jose Ballester, Siyuan Dong, and Alberto Rodriguez · 2020
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Active extrinsic contact sensing: Application to general peg-in-hole insertion
Sangwoon Kim and Alberto Rodriguez · 2022
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Velocity level approximation of pressure field contact patches
Joseph Masterjohn, Damrong Guoy, John Shepherd, and Alejandro Castro · 2022
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Seed: Series elastic end effectors in 6d for visuotactile tool use
HJ Terry Suh, Naveen Kuppuswamy, Tao Pang, Paul Mitiguy, Alex Alspach, and Russ Tedrake · 2022
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Robust pivoting: Exploiting frictional stability using bilevel optimization
Yuki Shirai, Devesh K Jha, Arvind U Raghunathan, and Diego Romeres · 2022
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Manipulation of unknown objects via contact configuration regulation
Neel Doshi, Orion Taylor, and Alberto Rodriguez · 2022
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Tac2pose: Tactile object pose estimation from the first touch
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Yifan Hou, Zhenzhong Jia, and Matthew T Mason · 2020
Cited alongside, same era.
Sample-efficient cross-entropy method for real-time planning
Cristina Pinneri, Shambhuraj Sawant, Sebastian Blaes, Jan Achterhold, Joerg Stueckler, Michal Rolinek, and Georg Martius · 2020
Cited alongside, same era.
Ian Taylor, Siyuan Dong, and Alberto Rodriguez · 2021
Cited alongside, same era.
The unstable queen: Uncertainty, mechanics, and tactile feedback
Alberto Rodriguez · 2021
Cited alongside, same era.
Extrinsic contact sensing with relative-motion tracking from distributed tactile measurements
Daolin Ma, Siyuan Dong, and Alberto Rodriguez · 2021
Cited alongside, same era.
Planning for multi-stage forceful manipulation
Rachel Holladay, Tomás Lozano-Pérez, and Alberto Rodriguez · 2021
Cited alongside, same era.
Tactile pose estimation and policy learning for unknown object manipulation
Tarik Kelestemur, Robert Platt, and Taskin Padir · 2022
Cited alongside, same era.
Maria Bauza, Antonia Bronars, and Alberto Rodriguez · 2023
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Multiscope: Disambiguating in-hand object poses with proprioception and tactile feedback
Andrea Sipos and Nima Fazeli · 2023
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Neural contact fields: Tracking extrinsic contact with tactile sensing
Carolina Higuera, Siyuan Dong, Byron Boots, and Mustafa Mukadam · 2023
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Simultaneous tactile estimation and control of extrinsic contact
Sangwoon Kim, Devesh K Jha, Diego Romeres, Parag Patre, and Alberto Rodriguez · 2023
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Manipulation via membranes: High-resolution and highly deformable tactile sensing and control
Miquel Oller, Mireia Planas i Lisbona, Dmitry Berenson, and Nima Fazeli · 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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Object manipulation through contact configuration regulation: multiple and intermittent contacts
Orion Taylor, Neel Doshi, and Alberto Rodriguez · 2023
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Yuki Shirai, Devesh K Jha, Arvind U Raghunathan, and Dennis Hong · 2023
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