IEEE Robotics & Automation Magazine - September 2018 - 83
By 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, and Bruno Siciliano
Nonprehensile
Manipulation
of Deformable Objects
T
he 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.
Achievements
and Perspectives
from the Robotic
Dynamic
Manipulation
Project
Overview of Nonprehensile Manipulation
Manipulating an object entails changing its current state to a
desired one. Suppose an object on a table has to be moved
from location A to B on the same table. How would you move
it? The two most common answers might be 1) grab the
object, lift it up, and place it back on the table in location B, or
2) push the object on the table from A to B. In case 1, the
object is gripped between the fingertips and/or the
palm, and the hand is theoretically able to resist
any external disturbance applied to the
object (force closure), even preventing
infinitesimal motions (form closure)
[1]. Bilateral constraints are exhibited
by the grasp in both closures. In case 2,
the object is instead pushed by one or
more of the fingertips, and the fingertips are able to resist only forces counteracting the direction of the pushing;
hence, nonprehensile or graspless manipulation occurs because only unilateral constraints are involved. These tasks can also be
Digital Object Identifier 10.1109/MRA.2017.2781306
Date of publication: 20 March 2018
1070-9932/18©2018IEEE
Robot: ©istockphoto.com/julos
pizza: ©istockphoto.com/bonetta
september 2018
*
IEEE ROBOTICS & AUTOMATION MAGAZINE
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83
http://www.istockphoto.com/julos
http://www.istockphoto.com/bonetta
IEEE Robotics & Automation Magazine - September 2018
Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2018
Contents
IEEE Robotics & Automation Magazine - September 2018 - Cover1
IEEE Robotics & Automation Magazine - September 2018 - Cover2
IEEE Robotics & Automation Magazine - September 2018 - Contents
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IEEE Robotics & Automation Magazine - September 2018 - Cover3
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