Non-prehensile Modes of Object Manipulation: A Comprehensive Review

Any given object can be manipulated in a 3D space using human (or using industrial anthropomorphic) arm(s). Depending on the material property and geometry of the object, the task of object handling is done by either prehensile modes or by non-prehensile modes. While prehensile modes of object manipulation involve human fingers (or robotic grippers) to grasp and hold on to any given object for its spatial reconfiguration, the non-prehensile modes do not so. This paper attempts to provide a comprehensive resource for all readers on the non-prehensile mode of object transportation and its various types which are currently used or mentioned in various works of literature.