A Coordinate-Free Framework for Robotic Pizza Tossing and Catching

Aykut C. Satici, Fabio Ruggiero, Vincenzo Lippiello, Bruno Siciliano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this work, we demonstrate how autonomous pizza tossing and catching can be achieved. Under the assumption that the pizza dough is grasped by a number of fingers with soft contact, we formulate the grasp constraints and use them to derive the individual and combined Euler-Lagrange dynamic equations of motion of the robotic manipulator and the dough. In particular, the dynamics of the dough is a modified version of the rigid-body dynamics, taking into account the change of inertia due to its deformation. Armed with these mathematical models, we tackle the two control problems of tossing and catching. For the tossing phase, we derive an exponentially convergent controller that stabilizes a desired velocity of the dough as it is let go. On the other hand, so as to catch the dough, we generate an optimal trajectory for the end-effector of the robotic manipulator. Finally, we derive control laws to make the optimal trajectory exponentially attractive. We demonstrate the developed theory with an elaborate simulation of the tossing and catching phases.
Original languageAmerican English
Title of host publication2016 IEEE International Conference on Robotics and Automation Stockholm, Sweden, May 16th - 21st
EditorsAllison Okamura
PublisherIEEE Computer Society
Pages3932-3939
Number of pages8
ISBN (Electronic)978-1-4673-8026-3
DOIs
StatePublished - 2016
Externally publishedYes
Event2016 IEEE International Conference on Robotics and Automation - Stockholm, Sweden
Duration: 16 May 201621 May 2016

Conference

Conference2016 IEEE International Conference on Robotics and Automation
Abbreviated titleICRA
Country/TerritorySweden
CityStockholm
Period16/05/1621/05/16

EGS Disciplines

  • Mechanical Engineering

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