TY - GEN
T1 - Nonprehensile Manipulation Control and Task Planning for Deformable Object Manipulation
T2 - 15th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2018
AU - Ruggiero, Fabio
AU - Kim, Jung Tae
AU - Gutierrez-Giles, Alejandro
AU - Satici, Aykut C.
AU - Donaire, Alejandro
AU - Cacace, Jonathan
AU - Buonocore, Luca Rosario
AU - Fontanelli, Giuseppe Andrea
AU - Lippiello, Vincenzo
AU - Siciliano, Bruno
N1 - Publisher Copyright:
© 2020, Springer Nature Switzerland AG.
PY - 2020
Y1 - 2020
N2 - This chapter aims the broadcasting of the results achieved by the RoDyMan project about the task planning manipulation of deformable objects, and the nonprehensile manipulation control. The final demonstrator of the project is a pizza-making process. After an introduction to the general topic of nonprehensile manipulation, the mechatronic design and the high-level software architecture are described. Then, the smoothed particle hydrodynamic formulation is briefly introduced, along with the description of a detection method for a deformable object. The task planning for stretching a modelling clay, emulating the pizza dough, is sketched. After, the problematic control objective is split into several nonprehensile motion primitives: holonomic and nonholonomic rolling, friction-induced manipulation, and tossing are the described primitives. This chapter highlights the achievements reached so far by the project, and pave the way towards future research directions.
AB - This chapter aims the broadcasting of the results achieved by the RoDyMan project about the task planning manipulation of deformable objects, and the nonprehensile manipulation control. The final demonstrator of the project is a pizza-making process. After an introduction to the general topic of nonprehensile manipulation, the mechatronic design and the high-level software architecture are described. Then, the smoothed particle hydrodynamic formulation is briefly introduced, along with the description of a detection method for a deformable object. The task planning for stretching a modelling clay, emulating the pizza dough, is sketched. After, the problematic control objective is split into several nonprehensile motion primitives: holonomic and nonholonomic rolling, friction-induced manipulation, and tossing are the described primitives. This chapter highlights the achievements reached so far by the project, and pave the way towards future research directions.
KW - Deformable object Perception
KW - Nonprehensile dynamic manipulation
KW - Robot control
KW - Robot planning
UR - http://www.scopus.com/inward/record.url?scp=85075654668&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-31993-9_4
DO - 10.1007/978-3-030-31993-9_4
M3 - Conference contribution
AN - SCOPUS:85075654668
SN - 9783030319922
T3 - Lecture Notes in Electrical Engineering
SP - 76
EP - 100
BT - Informatics in Control, Automation and Robotics - 15th International Conference, ICINCO 2018, Revised Selected Papers
A2 - Gusikhin, Oleg
A2 - Madani, Kurosh
Y2 - 29 July 2018 through 31 July 2018
ER -