Robot Dynamic Manipulation: Perception of Deformable Objects and Nonprehensile Manipulation Control
Author:   Bruno Siciliano ,  Fabio Ruggiero
Publisher:   Springer Nature Switzerland AG
Edition:   1st ed. 2022
Volume:   144
ISBN:  

9783030932923


Pages:   253
Publication Date:   04 March 2023
Format:   Paperback
Availability:   Manufactured on demand   Availability explained
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Robot Dynamic Manipulation: Perception of Deformable Objects and Nonprehensile Manipulation Control


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Overview

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.

Full Product Details

Author:   Bruno Siciliano ,  Fabio Ruggiero
Publisher:   Springer Nature Switzerland AG
Imprint:   Springer Nature Switzerland AG
Edition:   1st ed. 2022
Volume:   144
Weight:   0.421kg
ISBN:  

9783030932923


ISBN 10:   3030932923
Pages:   253
Publication Date:   04 March 2023
Audience:   Professional and scholarly ,  Professional & Vocational
Format:   Paperback
Publisher's Status:   Active
Availability:   Manufactured on demand   Availability explained
We will order this item for you from a manufactured on demand supplier.

Table of Contents

Part I: Perception.- Deformation modelling for a physics-based perception system.- Non-rigid tracking using RGB-D data.- Smoothed particle hydrodynamics-based viscous deformable object modelling.- Perception and motion planning for unknotting/untangling of ropes of finite thickness.- Part II: Nonprehensile manipulation planning and control.- Pizza-peel handling through a sliding nonprehensile manipulation primitive.- Holonomic rolling nonprehensile manipulation primitive.- Nonholonomic rolling nonprehensile manipulation primitive.- A coordinate-free framework for robotic pizza tossing and catching.- Planning framework for robotic pizza dough stretching with a rolling pin.

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