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Robot Dynamic Manipulation

Perception of Deformable Objects and Nonprehensile Manipulation Control

  • Book
  • © 2022

Overview

Editors:
  1. Bruno Siciliano

    1. Department of Electrical Engineering, University of Naples Federico II, Naples, Italy

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  2. Fabio Ruggiero

    1. Department of Electrical Engineering, University of Naples Federico II, Naples, Italy

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    You can also search for this editor in PubMed   Google Scholar

  • Covers topics of the perception of deformable objects and nonprehensile manipulation
  • Resumes all results achieved by the RoDyMan project, creating a compendium of the most dexterous manipulation actions
  • Includes the throwing, dynamic catching, holonomic and nonholonomic rolling, juggling, and stretching primitives

Part of the book series: Springer Tracts in Advanced Robotics (STAR, volume 144)

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About this book

This book collects the main results of the Advanced Grant project RoDyMan funded by the European Research Council. As a final demonstrator of the project, a pizza-maker robot was realized. This represents a perfect example of understanding the robot challenge, considering every inexperienced person's difficulty preparing a pizza. Through RoDyMan, the opportunity was to merge all the acquired competencies in advancing the state of the art in nonprehensile dynamic manipulation, which is the most complex manipulation task, considering deformable objects. This volume is intended to present Ph.D. students and postgraduates working on deformable object perception and robot manipulation control the results achieved within RoDyMan and propose cause for reflection of future developments. The RoDyMan project culminating with this book is meant as a tribute to Naples, the hosting city of the project, an avant-garde city in robotics technology, automation, gastronomy, and art culture.

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Table of contents (9 chapters)

  1. Front Matter

    Pages i-xvii
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  2. Perception

    1. Front Matter

      Pages 1-1
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    2. Deformation Modelling for a Physics-Based Perception System

      • Antoine Petit, Vincenzo Lippiello, Bruno Siciliano
      Pages 3-17

    3. Non-rigid Tracking Using RGB-D Data

      • Antoine Petit, Vincenzo Lippiello, Bruno Siciliano
      Pages 19-72

    4. Smoothed Particle Hydrodynamics-Based Viscous Deformable Object Modelling

      • Jung-Tae Kim, Fabio Ruggiero, Vincenzo Lippiello, Bruno Siciliano
      Pages 73-102

    5. Perception and Motion Planning for Unknotting/untangling of Ropes of Finite Thickness

      • Midhun S. Menon, Vincenzo Lippiello
      Pages 103-110

  3. Nonprehensile Manipulation Planning and Control

    1. Front Matter

      Pages 111-111
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    2. Pizza-Peel Handling Through a Sliding Nonprehensile Manipulation Primitive

      • Alejandro Gutierrez-Giles, Fabio Ruggiero, Vincenzo Lippiello, Bruno Siciliano
      Pages 113-128

    3. Holonomic Rolling Nonprehensile Manipulation Primitive

      • Alejandro Donaire, Fabio Ruggiero, Vincenzo Lippiello, Bruno Siciliano
      Pages 129-157

    4. Nonholonomic Rolling Nonprehensile Manipulation Primitive

      • Alejandro Gutierrez-Giles, Aykut C. Satici, Alejandro Donaire, Fabio Ruggiero, Vincenzo Lippiello, Bruno Siciliano
      Pages 159-205

    5. A Coordinate-Free Framework for Robotic Pizza Tossing and Catching

      • Aykut C. Satici, Fabio Ruggiero, Vincenzo Lippiello, Bruno Siciliano
      Pages 207-227

    6. Planning Framework for Robotic Pizza Dough Stretching with a Rolling Pin

      • Jung-Tae Kim, Fabio Ruggiero, Vincenzo Lippiello, Bruno Siciliano
      Pages 229-253
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Editors and Affiliations

  • Department of Electrical Engineering, University of Naples Federico II, Naples, Italy

    Bruno Siciliano, Fabio Ruggiero

Bibliographic Information

  • Book Title: Robot Dynamic Manipulation

  • Book Subtitle: Perception of Deformable Objects and Nonprehensile Manipulation Control

  • Editors: Bruno Siciliano, Fabio Ruggiero

  • Series Title: Springer Tracts in Advanced Robotics

  • DOI: https://doi.org/10.1007/978-3-030-93290-9

  • Publisher: Springer Cham

  • eBook Packages: Intelligent Technologies and Robotics, Intelligent Technologies and Robotics (R0)

  • Copyright Information: Springer Nature Switzerland AG 2022

  • Hardcover ISBN: 978-3-030-93289-3Published: 03 March 2022

  • Softcover ISBN: 978-3-030-93292-3Published: 04 March 2023

  • eBook ISBN: 978-3-030-93290-9Published: 02 March 2022

  • Series ISSN: 1610-7438

  • Series E-ISSN: 1610-742X

  • Edition Number: 1

  • Number of Pages: XVII, 253

  • Number of Illustrations: 6 b/w illustrations, 93 illustrations in colour

  • Topics: Robotics and Automation, Robotics

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