Non-prehensile manipulation enables fast interactions with objects by circumventing the need to grasp and ungrasp as well as handling objects that cannot be grasped through force closure. Current approaches to non-prehensile manipulation focus on static contacts, avoiding the underactuation that comes with sliding. However, the ability to control sliding contact, essentially removing the no-slip constraint, opens up new possibilities in dynamic manipulation. In this paper, we explore a challenging dynamic non-prehensile manipulation task that requires the consideration of the full spectrum of hybrid contact modes. We leverage recent methods in contact-implicit MPC to handle the multi-modal planning aspect of the task. We demonstrate, with careful consideration of integration between the simple model used for MPC and the low-level tracking controller, how contact-implicit MPC can be adapted to dynamic tasks. Surprisingly, despite the known inaccuracies of frictional rigid contact models, our method is able to react to these inaccuracies while still quickly performing the task. Moreover, we do not use common aids such as reference trajectories or motion primitives, highlighting the generality of our approach. To the best of our knowledge, this is the first application of contact-implicit MPC to a dynamic manipulation task in three dimensions.

翻译：非抓取式操作通过规避抓取与释放动作，以及处理无法通过力闭合抓取的物体，实现了与物体的快速交互。当前非抓取式操作方法侧重于静态接触，避免因滑动引发的欠驱动问题。然而，控制滑动接触的能力（本质上解除无滑动约束）为动态操作开辟了新可能。本文探索了一项需要全面考虑混合接触模式极具挑战性的动态非抓取式操作任务。我们利用近期接触隐式模型预测控制（MPC）方法处理该任务的多模态规划问题。通过精心设计MPC简化模型与底层跟踪控制器之间的集成，我们展示了如何将接触隐式MPC适配至动态任务。尽管已知摩擦刚性接触模型存在不准确性，我们的方法仍能应对这些误差并快速完成任务。值得注意的是，我们未采用参考轨迹或运动基元等常见辅助手段，凸显了方法的普适性。据我们所知，这是接触隐式MPC在三维动态操作任务中的首次应用。