Planning of quasi-static graspless manipulation

The planning of graspless manipulation is more difficult than that of conventional pick-and-place, because the motion of the object in graspless manipulation is determined by not only the motion of the manipulator, but also mechanical effect through the contacts with the environment. Based on quasi-static analysis, we propose an algorithm for the planning of 2D graspless manipulation under Coulomb friction. We apply this algorithm to a planning problem of a one-finger manipulation and show a generated result consists of pushing and tumbling - typical graspless operations.