Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Embracing Contact: Pushing Multiple Objects with Robot's Forearm   Grasping is the dominant approach for robot manipulation, but only a single
object can be grasped at a time. Nonprehensile manipulation offers richer set
of interactions, however state-of-the-art is limited to using the end-effector
only. We propose using a robot link (forearm) to push multiple objects at once.
In a simulated task where the robot's task is to sort two kinds of objects into
their respective goal regions, we show that a greedy strategy that uses a
combination of forearm pushes and pick and place operations reduces task
completion time by %28 compared to picking and placing each object
individually.

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The categories of this paper are: q-alg
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The categories of this paper are: hep-lat
0
The categories of this paper are: hep-ph
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The categories of this paper are: supr-con
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The categories of this paper are: eess
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The categories of this paper are: stat
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The categories of this paper are: nlin
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The categories of this paper are: quant-ph
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The categories of this paper are: dg-ga
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The categories of this paper are: atom-ph
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The categories of this paper are: acc-phys
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The categories of this paper are: adap-org
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The categories of this paper are: econ
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The categories of this paper are: physics
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The categories of this paper are: comp-gas
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The categories of this paper are: ao-sci