Robot Dynamic Manipulation

Perception of Deformable Objects and Nonprehensile Manipulation Control

AvBruno Siciliano,Fabio Ruggiero

Häftad, Engelska, 2023

Del 144 i serien Springer Tracts in Advanced Robotics

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Beskrivning

This book collects the main results of the Advanced Grant project RoDyMan funded by the European Research Council. 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.

Produktinformation

Utgivningsdatum:2023-03-04
Mått:155 x 235 x 15 mm
Vikt:417 g
Format:Häftad
Språk:Engelska
Serie:Springer Tracts in Advanced Robotics
Antal sidor:253
Förlag:Springer Nature Switzerland AG
ISBN:9783030932923

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Innehållsförteckning

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.