Nonprehensile Manipulation of Deformable Objects: Achievements and Perspectives from the Robotic Dynamic Manipulation Project

Fabio Ruggiero; Antoine Petit; Diana Serra; Aykut C. Satici; Jonathan Cacace; Alejandro Donaire; Fanny Ficuciello; Luca R. Buonocore; Giuseppe Andrea Fontanelli; Vincenzo Lippiello; Luigi Villani; Bruno Siciliano

doi:10.1109/MRA.2017.2781306

Nonprehensile Manipulation of Deformable Objects: Achievements and Perspectives from the Robotic Dynamic Manipulation Project

Fabio Ruggiero
, Antoine Petit
, Diana Serra
, Aykut C. Satici
, Jonathan Cacace
, Alejandro Donaire
, Fanny Ficuciello
, Luca R. Buonocore
, Giuseppe Andrea Fontanelli
, Vincenzo Lippiello
, Luigi Villani
, Bruno Siciliano

Mechanical and Biomedical Engineering Department

University of Naples Federico II
French Institute for Research in Computer Science and Automation
Rete Ferroviaria Italiana (RFI) S.p.A.
Queensland University of Technology

Research output: Contribution to journal › Article › peer-review

27 Scopus citations

Abstract

The goal of this article is to disseminate the planning and control strategies for robotic nonprehensile manipulation results achieved so far with the Robotic Dynamic Manipulation (RoDyMan) project. The goal of the project is to advance the state of the art of nonprehensile dynamic manipulation of rigid and deformable objects to enhance the possibility of employing robots in anthropic environments. RoDyMan project's final demonstration will be acting as an autonomous pizza maker. This article highlights the lessons learned and paves the way toward critical discussions and future research.

Original language	English
Article number	8320376
Pages (from-to)	83-92
Number of pages	10
Journal	IEEE Robotics and Automation Magazine
Volume	25
Issue number	3
DOIs	https://doi.org/10.1109/MRA.2017.2781306
State	Published - Sep 2018

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Ruggiero, F., Petit, A., Serra, D., Satici, A. C., Cacace, J., Donaire, A., Ficuciello, F., Buonocore, L. R., Fontanelli, G. A., Lippiello, V., Villani, L., & Siciliano, B. (2018). Nonprehensile Manipulation of Deformable Objects: Achievements and Perspectives from the Robotic Dynamic Manipulation Project. IEEE Robotics and Automation Magazine, 25(3), 83-92. Article 8320376. https://doi.org/10.1109/MRA.2017.2781306

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title = "Nonprehensile Manipulation of Deformable Objects: Achievements and Perspectives from the Robotic Dynamic Manipulation Project",

abstract = "The goal of this article is to disseminate the planning and control strategies for robotic nonprehensile manipulation results achieved so far with the Robotic Dynamic Manipulation (RoDyMan) project. The goal of the project is to advance the state of the art of nonprehensile dynamic manipulation of rigid and deformable objects to enhance the possibility of employing robots in anthropic environments. RoDyMan project's final demonstration will be acting as an autonomous pizza maker. This article highlights the lessons learned and paves the way toward critical discussions and future research.",

author = "Fabio Ruggiero and Antoine Petit and Diana Serra and Satici, \{Aykut C.\} and Jonathan Cacace and Alejandro Donaire and Fanny Ficuciello and Buonocore, \{Luca R.\} and Fontanelli, \{Giuseppe Andrea\} and Vincenzo Lippiello and Luigi Villani and Bruno Siciliano",

note = "Publisher Copyright: {\textcopyright} 1994-2011 IEEE.",

year = "2018",

month = sep,

doi = "10.1109/MRA.2017.2781306",

language = "English",

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Ruggiero, F, Petit, A, Serra, D, Satici, AC, Cacace, J, Donaire, A, Ficuciello, F, Buonocore, LR, Fontanelli, GA, Lippiello, V, Villani, L & Siciliano, B 2018, 'Nonprehensile Manipulation of Deformable Objects: Achievements and Perspectives from the Robotic Dynamic Manipulation Project', IEEE Robotics and Automation Magazine, vol. 25, no. 3, 8320376, pp. 83-92. https://doi.org/10.1109/MRA.2017.2781306

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T2 - Achievements and Perspectives from the Robotic Dynamic Manipulation Project

AU - Ruggiero, Fabio

AU - Petit, Antoine

AU - Serra, Diana

AU - Satici, Aykut C.

AU - Cacace, Jonathan

AU - Donaire, Alejandro

AU - Ficuciello, Fanny

AU - Buonocore, Luca R.

AU - Fontanelli, Giuseppe Andrea

AU - Lippiello, Vincenzo

AU - Villani, Luigi

AU - Siciliano, Bruno

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N2 - The goal of this article is to disseminate the planning and control strategies for robotic nonprehensile manipulation results achieved so far with the Robotic Dynamic Manipulation (RoDyMan) project. The goal of the project is to advance the state of the art of nonprehensile dynamic manipulation of rigid and deformable objects to enhance the possibility of employing robots in anthropic environments. RoDyMan project's final demonstration will be acting as an autonomous pizza maker. This article highlights the lessons learned and paves the way toward critical discussions and future research.

AB - The goal of this article is to disseminate the planning and control strategies for robotic nonprehensile manipulation results achieved so far with the Robotic Dynamic Manipulation (RoDyMan) project. The goal of the project is to advance the state of the art of nonprehensile dynamic manipulation of rigid and deformable objects to enhance the possibility of employing robots in anthropic environments. RoDyMan project's final demonstration will be acting as an autonomous pizza maker. This article highlights the lessons learned and paves the way toward critical discussions and future research.

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JO - IEEE Robotics and Automation Magazine

JF - IEEE Robotics and Automation Magazine

IS - 3

M1 - 8320376

ER -

Nonprehensile Manipulation of Deformable Objects: Achievements and Perspectives from the Robotic Dynamic Manipulation Project

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