Robot Dynamic Manipulation Perception of Deformable Objects and Nonprehensile Manipulation Control
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&...
| Other Authors: | , |
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| Format: | eBook |
| Language: | English |
| Published: |
Cham
Springer International Publishing
2022, 2022
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| Edition: | 1st ed. 2022 |
| Series: | Springer Tracts in Advanced Robotics
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| Subjects: | |
| Online Access: | |
| Collection: | Springer eBooks 2005- - Collection details see MPG.ReNa |
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