Robot Dynamic Manipulation : Perception of Deformable Objects and Nonprehensile Manipulation Control
Robot Dynamic Manipulation : Perception of Deformable Objects and Nonprehensile Manipulation Control
edited by Bruno Siciliano, Fabio Ruggiero
- First edition 2022
- 1 recurso en línea (XVII, 253 páginas) 99 ilustraciones, 93 ilustraciones a color
- Springer Tracts in Advanced Robotics 144 1610-742X .
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.
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.
9783030932909
10.1007/978-3-030-93290-9 doi
Robótica
Robots
TJ211.4 / 2022 EB
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.
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.
9783030932909
10.1007/978-3-030-93290-9 doi
Robótica
Robots
TJ211.4 / 2022 EB