In this survey, we present the current status on robots performing manipulation tasks that
require varying contact with the environment, such that the robot must either implicitly or …

The empirical success of reinforcement learning (RL) in contact-rich manipulation leaves
much to be understood from a model-based perspective, where the key difficulties are often …

A simple gripper can solve more complex manipulation tasks if it can utilize the external
environment such as pushing the object against the table or a vertical wall, known as" …

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 …

We propose a hybrid model predictive control algorithm, consensus complementarity control
(C3), for systems that make and break contact with their environment. Many state-of-the-art …

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 …

We present a system for non-prehensile manipulation that require a significant number of
contact mode transitions and the use of environmental contacts to successfully manipulate …

The skill of pivoting an object with a robotic system is challenging for the external forces that
act on the system, mainly given by contact interaction. The complexity increases when the …

We present a method for global motion planning of robotic systems that interact with the
environment through contacts. Our method directly handles the hybrid nature of such tasks …

Robots need to manipulate objects in constrained environments like shelves and cabinets
when assisting humans in everyday settings like homes and offices. These constraints make …