University of Oulu

Suomalainen, M., Karayiannidis, Y., & Kyrki, V. (2022). A survey of robot manipulation in contact. Robotics and Autonomous Systems, 156, 104224.

A survey of robot manipulation in contact

Saved in:
Author: Suomalainen, Markku1; Karayiannidis, Yiannis2; Kyrki, Ville3
Organizations: 1Center for Ubiquitous Computing, Faculty of Information Technology and Electrical Engineering, University of Oulu, Finland
2Systems and Control, Department of Electrical Engineering, Chalmers University of Technology, Gothenburg, Sweden
3Intelligent Robotics research group, Department of Electrical Engineering and Automation, School of Electrical Engineering, Aalto University, Helsinki, Finland
Format: article
Version: published version
Access: open
Online Access: PDF Full Text (PDF, 1.8 MB)
Persistent link:
Language: English
Published: Elsevier, 2022
Publish Date: 2022-12-07


In this survey, we present the current status on robots performing manipulation tasks that require varying contact with the environment, such that the robot must either implicitly or explicitly control the contact force with the environment to complete the task. Robots can perform more and more manipulation tasks that are still done by humans, and there is a growing number of publications on the topics of (1) performing tasks that always require contact and (2) mitigating uncertainty by leveraging the environment in tasks that, under perfect information, could be performed without contact. The recent trends have seen robots perform tasks earlier left for humans, such as massage, and in the classical tasks, such as peg-in-hole, there is a more efficient generalization to other similar tasks, better error tolerance, and faster planning or learning of the tasks. Thus, in this survey we cover the current stage of robots performing such tasks, starting from surveying all the different in-contact tasks robots can perform, observing how these tasks are controlled and represented, and finally presenting the learning and planning of the skills required to complete these tasks.

see all

Series: Robotics and autonomous systems
ISSN: 0921-8890
ISSN-E: 1872-793X
ISSN-L: 0921-8890
Volume: 156
Article number: 104224
DOI: 10.1016/j.robot.2022.104224
Type of Publication: A1 Journal article – refereed
Field of Science: 213 Electronic, automation and communications engineering, electronics
113 Computer and information sciences
Funding: This work was supported by Academy of Finland project PERCEPT 322637 and by European Research Council project ILLUSIVE 101020977.
EU Grant Number: (101020977) ILLUSIVE - Foundations of Perception Engineering
Academy of Finland Grant Number: 322637
Detailed Information: 322637 (Academy of Finland Funding decision)
Copyright information: © 2022 The Author(s). This is an open access article under the CC BY license (