A. Marigo

About

A. Marigo is a robotics and control researcher whose work sits at the intersection of nonholonomic systems theory, robotic manipulation, and motion planning. Best known for pioneering contributions to the study of rolling body mechanics, Marigo has fundamentally advanced our understanding of how surfaces rolling against one another can be harnessed to achieve sophisticated robotic dexterity with minimal mechanical complexity. His landmark 2000 paper, "Rolling Bodies with Regular Surface: Controllability Theory and Applications," which has garnered 149 citations, established rigorous theoretical foundations for the controllability of these nonholonomic systems — work that continues to underpin research in robotic end-effector design. Marigo translated this theory into practice through the development of dexterous robotic grippers that deliberately exploit rolling contacts, demonstrating that high manipulative versatility need not require elaborate hardware. His 2002 paper on dexterous grippers (74 citations) remains a touchstone reference in low-complexity manipulation design. Further contributions to planning algorithms for polyhedral parts, robust controllers for rolling manipulation, and manipulation of unknown objects round out a cohesive and impactful body of work. With over 360 cumulative citations, Marigo's research offers students an elegant example of how deep mathematical theory can directly enable practical engineering innovation.

Research Focus

Key Achievements

Top Papers

1. 1
   Rolling bodies with regular surface: controllability theory and applications

   149 citations · 2000
2. 2
   Dexterous Grippers: Putting Nonholonomy to Work for Fine Manipulation

   74 citations · 2002
3. 3
   Dexterity through rolling: manipulation of unknown objects

   44 citations · 2003
4. 4
   Planning Motions of Polyhedral Parts by Rolling

   39 citations · 2000
5. 5
   A local-local planning algorithm for rolling objects

   22 citations · 2003
6. 6
   Rolling contacts and dexterous manipulation

   10 citations · 2002
7. 7
   Robotic dexterity via nonholonomy

   9 citations · 2005
8. 8
   From nominal to robust planning: the plate-ball manipulation system

   8 citations · 2004
9. 9
   Quantization of the rolling-body problem with applications to motion planning

   5 citations · 2004
10. 10
    Dexterity through Rolling: Towards Manipulation of Unknown Objects

    3 citations · 1996

Key Collaborators

Contact & Links