July 3-5, 1996
LAAS-CNRS, Toulouse, France
Matt Mason and Mike Erdmann
Manipulation Laboratory, Carnegie Mellon, Pittsburgh
This talk will survey recent results on nonprehensile manipulation.
We will give a brief history of our work on nonprehensile
manipulation, then discuss two ongoing projects. In one project we
are using a single degree of freedom arm to orient parts arriving on a
conveyor belt. In the other project we are using two low degree of
freedom robot palms to manipulate objects. The first project is
interesting because it explores the task competence of a single joint.
The second project is interesting because it analyzes and synthesizes
motions with relative slip. Both systems have been implemented.