Manipulation of unknown objects via contact configuration regulation
Neel Doshi,Orion Taylor,Alberto Rodriguez,Neel Doshi,Orion Taylor,Alberto Rodriguez
We present an approach to robotic manipulation of unknown objects through regulation of the object's contact configuration: the location, geometry, and mode of all contacts between the object, robot, and environment. A contact configu-ration constrains the forces and motions that can be applied to the object; however, synthesizing these constraints generally requires knowledge of the object's pose...
