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Pizza-Peel Handling Through a Sliding Nonprehensile Manipulation Primitive

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Robot Dynamic Manipulation

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 144))

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Abstract

The sliding primitive is a ubiquitous nonprehensile manipulation task, generally performed by mechanical systems represented by underactuated nonlinear 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 this system, including modelling, control, and stability analysis. Finally, a discussion on the current achievements and some directions for future work is provided. This chapter is based on the work presented in [1].

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Author information

Authors and Affiliations

  1. CECAv-UNAM, Av. Universidad 3000, Ciudad Universitaria, CDMX, 04510, Mexico

    Alejandro Gutierrez-Giles

  2. Department of Electrical Engineering and Information Technology, PRISMA Lab, CREATE Consortium & University of Naples Federico II, Via Claudio 21, 80125, Naples, Italy

    Fabio Ruggiero, Vincenzo Lippiello & Bruno Siciliano

Authors
  1. Alejandro Gutierrez-Giles
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  2. Fabio Ruggiero
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  3. Vincenzo Lippiello
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  4. Bruno Siciliano
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Corresponding author

Correspondence to Alejandro Gutierrez-Giles .

Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, University of Naples Federico II, Naples, Italy

    Bruno Siciliano

  2. Department of Electrical Engineering, University of Naples Federico II, Naples, Italy

    Fabio Ruggiero

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Gutierrez-Giles, A., Ruggiero, F., Lippiello, V., Siciliano, B. (2022). Pizza-Peel Handling Through a Sliding Nonprehensile Manipulation Primitive. In: Siciliano, B., Ruggiero, F. (eds) Robot Dynamic Manipulation. Springer Tracts in Advanced Robotics, vol 144. Springer, Cham. https://doi.org/10.1007/978-3-030-93290-9_5

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