Nonprehensile Manipulation of Deformable Objects: Achievements and Perspectives from the RobDyMan Project

Fabio Ruggiero (1) , Antoine Petit (2) , Diana Serra (1) , Aykut C Satici (3) , Jonathan Cacace (1) , Alejandro Donaire (4) , Fanny Ficuciello (1) , Luca R Buonocore (5) , Giuseppe Andrea Fontanelli (1) , Vincenzo Lippiello (1) , Luigi Villani (1) , Bruno Siciliano (1)

1 DIETI - Dipartimento di Ingegneria Elettrica e delle Tecnologie dell'Informazione [Napoli]
2 MIMESIS - Computational Anatomy and Simulation for Medicine
3 Boise State University
4 QUT - Queensland University of Technology [Brisbane]
5 CERN - European Organization for Nuclear Research

The goal of this work is to disseminate the results achieved so far within the RODYMAN project related to planning and control strategies for robotic nonprehensile manipulation. The project aims at advancing the state of the art of nonprehensile dynamic manipulation of rigid and deformable objects to future enhance the possibility of employing robots in anthropic environments. The final demonstrator of the RODYMAN project will be an autonomous pizza maker. This article is a milestone to highlight the lessons learned so far and pave the way towards future research directions and critical discussions.

Domaines: Vision par ordinateur et reconnaissance de formes [cs.CV]; Modélisation et simulation; Robotique [cs.RO]

Fabio Ruggiero, Antoine Petit, Diana Serra, Aykut C Satici, Jonathan Cacace, et al.. Nonprehensile Manipulation of Deformable Objects: Achievements and Perspectives from the RobDyMan Project. IEEE Robotics and Automation Magazine, 2018, 25 (3), pp.83 - 92. ⟨10.1109/mra.2017.2781306⟩. ⟨hal-01889779⟩