# Manipulation of unknown objects via contact configuration regulation

arXiv: https://arxiv.org/abs/2203.01203 · HTML: https://mlsanity.com/paper/2203.01203/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 2 Mar 2022.

## Built on by (most cited first, 1 of 1)

- [Rotating without Seeing: Towards In-hand Dexterity through Touch](https://mlsanity.com/paper/2303.10880/) (2023)

## Abstract (arXiv)

We present an approach to robotic manipulation of unknown objects through regulation of the object's contact configuration: the location, geometry, and mode of all contacts between the object, robot, and environment. A contact configuration constrains the forces and motions that can be applied to the object; however, synthesizing these constraints generally requires knowledge of the object's pose and geometry. We develop an object-agnostic approach for estimation and control that circumvents this need. Our framework directly estimates a set of wrench and motion constraints which it uses to regulate the contact configuration. We use this to reactively manipulate unknown planar objects in the gravity plane. A video describing our work can be found on our project page: http://mcube.mit.edu/research/contactConfig.html.