Releasing manipulation for object transferring task

Summary form only given as follows. Releasing manipulation is a manipulation methodology such that a manipulator gives an object on a table an initial velocity and releases it to stop at a desired position by means of a contact friction between the object and the table. Its forward problem, which calculates how moves the object with given initial velocity, and inverse problem, which calculates an initial velocity for manipulation of the object to desired position and orientation cannot be solved analytically. We present a numerical analysis for both.