Titlebook: Robot Dynamic Manipulation; Perception of Deform Bruno Siciliano,Fabio Ruggiero Book 2022 Springer Nature Switzerland AG 2022 Perception.De

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Perception and Motion Planning for Unknotting/untangling of Ropes of Finite Thicknessuss the specific problem of untangling strings/ropes with finite thickness. The chapter discusses the motivation for this problem, the problem statement, the state of the art in this area, and the specific direction of this research. Subsequently, an outline of the rope simulator being developed, wh

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Pizza-Peel Handling Through a Sliding Nonprehensile Manipulation Primitiver models. A literature review of the recent works dealing with this task is first introduced. Then, a particular nonprehensile manipulation task that has arisen in the framework of the RoDyMan project, i.e., a pizza and peel mechanical system, is addressed. A more in-depth study is presented for thi

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Deformation Modelling for a Physics-Based Perception Systemcracks or tears of the manipulated objects as well as collision models to deal with multiple interacting objects or interactions with the environment. Also, these models have proven to be computationally efficient and are thus suitable for dynamic manipulation. This chapter is based on the works presented in [., .].

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