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2015.
Acting on Push Affordances : Adapting Dynamic Movement Primitives Based on Object Behaviour
Nonprehensile manipulation such as pushing can play a significant role in complex scenarios. Objects may have diverse, even anisotropic properties under pushing in different environments. This increases the complexity of the pushing problem. We propose an approach to adapting dynamic movement primitives (DMPs) based on the observed object-motion behaviour and experienced forces. We also investigate an alternative optimal control based technique that enable dexterous and adaptive manipulation using pushability and manipulability of objects.