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Robot Dynamic Manipulation: Perception of Deformable Objects and Nonprehensile Manipulation Control

Robot Dynamic Manipulation: Perception of Deformable Objects and Nonprehensile Manipulation Control

Hardcover

Series: Springer Tracts in Advanced Robotics, Book 144

Technology & Engineering

ISBN10: 3030932893
ISBN13: 9783030932893
Publisher: Springer
Published: Mar 3 2022
Pages: 253
Weight: 1.23
Height: 0.63 Width: 6.14 Depth: 9.21
Language: English
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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Siciliano, Bruno

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