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Non-prehensile Modes of Object Manipulation: A Comprehensive Review

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Control and Information Sciences (CISCON 2018)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 1140))

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Abstract

Any given object can be manipulated in a 3D space using human (or using industrial anthropomorphic) arm(s). Depending on the material property and geometry of the object, the task of object handling is done by either prehensile modes or by non-prehensile modes. While prehensile modes of object manipulation involve human fingers (or robotic grippers) to grasp and hold on to any given object for its spatial reconfiguration, the non-prehensile modes do not so. This paper attempts to provide a comprehensive resource for all readers on the non-prehensile mode of object transportation and its various types which are currently used or mentioned in various works of literature.

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Acknowledgements

The authors wish to thank Manipal Institute of Technology, Manipal Academy of Higher Education (MAHE), Manipal, Karnataka, for their valuable support toward this non-prehensile-based object manipulation study.

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Authors and Affiliations

  1. Department of Instrumentation and Control Engineering, Manipal Institute of Technology, Manipal Academy of Higher Education (MAHE), Manipal, Karnataka, India

    Mukund Kumar Menon

  2. Mar Baselios Christian College of Engineering & Technology (MBC), Pallikkunnu P O, Kuttikkanam, Peermade, Idukki District, Kerala, 685531, India

    V. I. George

  3. Department of Computer Science & Engineering, Manipal Institute of Technology, Manipal Academy of Higher Education (MAHE), Manipal, Karnataka, India

    Shashank Goyal

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  1. Mukund Kumar Menon
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  2. V. I. George
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Correspondence to Shashank Goyal .

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  1. Electrical and Electronics Engineering Department, Mar Baselios Christian College of Engineering and Technology, Kerala, India

    V. I. George

  2. Instrumentation & Control Engineering, Manipal University, Udupi, Karnataka, India

    K. V. Santhosh

  3. College of Design and Engineering, National University of Singapore, Singapore, Singapore

    Samavedham Lakshminarayanan

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Menon, M.K., George, V.I., Goyal, S. (2024). Non-prehensile Modes of Object Manipulation: A Comprehensive Review. In: George, V.I., Santhosh, K.V., Lakshminarayanan, S. (eds) Control and Information Sciences. CISCON 2018. Lecture Notes in Electrical Engineering, vol 1140. Springer, Singapore. https://doi.org/10.1007/978-981-99-9554-7_34

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