This paper is a summary of a comprehensive study of the problem of predicting the
accelerations of a set of rigid, three‐dimensional bodies in contact in the presence of …

This paper presents a framework for planning the motion of an η-fingered robot hand to
create an inertial load on a grasped object to achieve a desired in-grasp sliding motion. The …

Planning robot dexterity is challenging due to the non-smoothness introduced by contacts,
intricate fine motions, and ever-changing scenarios. We present a hierarchical planning …

In this paper a new time-step** method for simulating systems of rigid bodies is given.
Unlike methods which take an instantaneous point of view, our method is based on impulse …

This paper presents Contact Mode Guided Manipulation Planning (CMGMP) for 3D
quasistatic and quasi-dynamic rigid body motion planning in dexterous manipulation. The …

Humans demonstrate an impressive ability to acquire and generalize manipulation “tricks.”
Even from a single demonstration, such as using soup ladles to reach for distant objects, we …

The discontinuities and multi-modality introduced by contacts make manipulation planning
challenging. Many previous works avoid this problem by pre-designing a set of high-level …

In this work we propose an approach to learn a robust policy for solving the pivoting task.
Recently, several model-free continuous control algorithms were shown to learn successful …

In this paper we propose a method for motion planning and feedback control of hybrid,
dynamic, and non-prehensile manipulation tasks. We outline five subproblems to address …

When two hands manipulate a part, they perform three basic opera tions: holding or rotating
the part in an equilibrium grasp, allowing the part to fall in disequilibrium, and sliding one …