Tactile sensing is a key sensor modality for robots interacting with their surroundings. These
sensors provide a rich and diverse set of data signals that contain detailed information …

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 …

We would like to give robots the ability to position and orient parts in the plane by pushing,
particularly when the parts are too large or heavy to be grasped and lifted. Unfortunately, the …

Pushing is a motion primitive useful to handle objects that are too large, too heavy, or too
cluttered to be grasped. It is at the core of much of robotic manipulation, in particular when …

An efficient, generalizable physical simulator with universal uncertainty estimates has wide
applications in robot state estimation, planning, and control. In this paper, we build such a …

This article presents an offline solution and online approximation to the hybrid control
problem of planar non-prehensile manipulation. Hybrid dynamics and underactuation are …

This paper presents a data-driven approach to model planar pushing interaction to predict
both the most likely outcome of a push and its expected variability. The learned models rely …

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

This paper investigates real-time control strategies for dynamical systems that involve
frictional contact interactions. Hybridness and underactuation are key characteristics of …

Tactile perception is central to robot manipulation in unstructured environments. However, it
requires contact, and a mature implementation must infer object models while also …