As robots make their way out of factories into human environments, outer space, and
beyond, they require the skill to manipulate their environment in multifarious, unforeseeable …

The rise of mass production and the resulting accumulation of end-of-life (EoL) products
present a growing challenge in waste management and highlight the need for efficient …

Nonprehensile dynamic manipulation can be reasonably considered as the most complex
manipulation task. It might be argued that such a task is still rather far from being fully solved …

Motion planning aims to compute the high-quality and collision-free robotic trajectory. To
solve the planning problems defined in varying dimensional sizes, motion planners …

We investigate the problem of using contact sensors to estimate the pose of an object during
planar pushing by a fixed-shape hand. Contact sensors are unique because they inherently …

In this paper is presented an interfacing of a robotic arm with a motion planner and a 3D
viewer (RViz). The main purpose of this work, is to manipulate and grip objects to transport …

This paper presents a framework for learning and transferring robot tool-use skills based on
Dynamic Movement Primitives (DMPs) for robot fine manipulation. DMPs and their …

In this work we present a fast kinodynamic RRT-planner that uses dynamic nonprehensile
actions to rearrange cluttered environments. In contrast to many previous works, the …

Non-prehensile manipulation, such as pushing, is an important function for robots to move
objects and is sometimes preferred as an alternative to gras**. However, due to unknown …

In a realistic mobile push-manipulation scenario, it becomes non-trivial and infeasible to
build analytical models that will capture the complexity of the interactions between the …