This paper reviews my recent research in robotic manipulation and speculates on potentially fruitful directions for future work. My re- cent work is focused on nonprehensile manipulation: manipulating objects without grasping them. Inparticular, the paper survrys work on a smgle joint robot that orients parts on a conveyor be a robot that uses dynamics to snatch, roll, or throw objects; hiting things to position them; manipulating things whose shapes are not com- pletely known; and integration of manipulation with locomotion. In the future, a broad view of robotics will allow us to focus on fun- damental principles and at the same time address a variery of new applications.
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