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Grasping is the dominant approach for robot manipulation, but only a singleobject can be grasped at a time. Nonprehensile manipulation offers richer setof interactions, however state-of-the-art is limited to using the end-effectoronly. 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 intotheir respective goal regions, we show that a greedy strategy that uses acombination of forearm pushes and pick and place operations reduces taskcompletion time by %28 compared to picking and placing each objectindividually.

Embracing Contact: Pushing Multiple Objects with Robot's Forearm