Nonprehensile Manipulation Techniques

An object is manipulated in a nonprehensile way when it is not caged between the fingertips or the hand's palm. Moreover, the so-called "force closure" constraint does not hold during the manipulation task. This means that the motion can also be performed thanks to unilateral constraints: the part can thus roll, slide and break the contact with the robot manipulating it. Examples of everyday nonprehensile manipulation tasks are pushing objects, folding clothes, carrying a glass on a tray, cooking in a pan, and so on. Nonprehensile manipulation can also be referred to as dynamic when the dynamics of both the object and the robot are essential to accomplishing the desired task. A standard approach within the robotics community is to split a complex nonprehensile manipulation task into several subtasks that are easier to deal with individually. Therefore, it is possible to define the so-called "manipulation primitives" like rolling (holonomic and nonholonomic), throwing, bouncing, catching, sliding, etc. The primary goal regarding Fabio Ruggiero's research is to design a common practical/theoretical framework where each motion primitive can be equipped with a proper motion planner and controller.

Survey about nonprehensile manipulation written by Fabio Ruggiero:

• F. RUGGIERO, V. Lippiello, B. Siciliano, Nonprehensile dynamic manipulation: A survey, in IEEE Robotics and Automation Letters, vol. 3, n. 3, pp. 1711-1718, 2018, DOI: 10.1109/LRA.2018.2801939.

Results of the RoDyMan project:

• F. RUGGIERO, A. Petit, D. Serra, A.C. Satici, J. Cacace, A. Donaire, F. Ficuciello, L.R. Buonocore, G.A. Fontanelli, V. Lippiello, L. Villani, B. Siciliano, Nonprehensile manipulation of deformable objects: Achievements and perspectives from the RoDyMan project, in IEEE Robotics & Automation Magazine, vol. 25, pp. 83-92, 2018, DOI: 10.1109/MRA.2017.2781306.
• F. RUGGIERO, J.-T. Kim, A. Gutiérrez-Giles, A.C. Satici, A. Donaire, J. Cacace, L.R. Buonocore, G.A. Fontanelli, V. Lippiello, B. Siciliano, Nonprehensile manipulation con- trol and task planning for deformable object manipulation: Results from the RoDyMan project, in Informatics in Control, Automation and Robotics, Lecture Notes in Electrical Engineering , Gusikhin O. and Madani K. (eds), vol. 613, pp. 76-100, Springer, Cham, 2020. DOI: 10.1007/978-3-030-31993-9_4.

Proposed solutions (holonomic rolling):

• J.-C. Ryu, F. RUGGIERO, K. Lynch, Control of nonprehensile rolling manipulation: Balancing a disk on a disk, in IEEE Transactions on Robotics, vol. 29, n. 5, pp. 1152-1161, 2013, DOI: 10.1109/TRO.2013.2262775.
• V. Lippiello, F. RUGGIERO, B. Siciliano, The effects of shapes in input-state linearization for stabilization of nonprehensile planar rolling dynamic manipulation, in IEEE Robotics and Automation Letters, vol. 1, n.1, pp. 492-499, 2016, DOI: 10.1109/LRA.2016.2519147.
• A. Donaire, F. RUGGIERO, V. Lippiello, B. Siciliano, Passivity-based control for a rolling-balancing system: The nonprehensile disk-on-disk, in IEEE Transactions on Control System Technology, vol. 25, n.6, pp. 2135-2142, 2017, DOI: 10.1109/TCST.2016.2637719.
• D. Serra, F. RUGGIERO, A. Donaire, L.R. Buonocore, V. Lippiello, B. Siciliano, Control of nonprehensile planar rolling manipulation: A passivity-based approach, in IEEE Transactions on Robotics, vol. 35, n. 2, pp. 317-329, 2019, DOI: 10.1109/TRO.2018.2887356.
• P. Arpenti, F. Ruggiero, V. Lippiello, A constructive methodology for the IDA-PBC of underactuated 2-DoF mechanical systems with explicit solution of PDEs, in International Journal of Control, Automation and Systems, vol. 20, pp. 283-297, 2022, DOI: 10.1007/s12555-020-0839-1.
• A. Donaire, M. Crespo, F. RUGGIERO, V. Lippiello, B. Siciliano, Passivity-based control design and experiments for a rolling-balancing system, in Informatics in Control, Automation and Robotics, Lecture Notes in Electrical Engineering, Madani K., Peaucelle D., Gusikhin O. (eds), vol. 430, pp. 230-255, Springer, Cham, 2018. DOI: 10.1007/978-3-319-55011-4_12.
• A. Donaire, F. RUGGIERO, V. Lippiello, B. Siciliano, Holonomic rolling nonprehensile manipulation primitive, in Robot dynamic manipulation. Perception of deformable objects and nonprehensile manipulation control, B. Siciliano and F. Ruggiero (eds.), vol. 144, pp. 129-157, Springer, Cham, 2022. DOI: 10.1007/978-3-030-93290-9_6.
• M. Crespo, A. Donaire, F. RUGGIERO, V. Lippiello, B. Siciliano, Design, implementation and experiments of a robust passivity-based controller for a rolling-balancing system, 13th International Conference on Informatics in Control, Automation and Robotics, Lisbon, P, pp. 79-89, 2016, DOI: 10.5220/0005981700790089.
• P. Arpenti, D. Serra, F. RUGGIERO, V. Lippiello, Control of the TORA system through the IDA-PBC without explicit solution of the matching equations, 3rd IEEE International Conference on Robotic Computing, Naples, I, 2019, DOI: 10.1109/IRC.2019.00069.
• A. Teimoorzadeh, A. Donaire, P. Arpenti, F. RUGGIERO, Robust energy shaping for mechanical systems with dissipative forces and disturbances, 2022 European Control Conference, London, England, pp. 1409-1414, 2022, DOI: 10.23919/ECC55457.2022.9838430.

Proposed solutions (nonholonomic rolling):

• A. Gutiérrez-Giles, F. RUGGIERO, V. Lippiello, B. Siciliano, Nonprehensile manipulation of an underactuated mechanical system with second order nonholonomic constraints: The robotic hula-hoop, in IEEE Robotics and Automation Letters, vol. 3, n. 2, pp. 1136-1143, 2018, DOI: 10.1109/LRA.2018.2792403.
• A. Gutierrez-Giles, A.C. Satici, A. Donaire, F. RUGGIERO, V. Lippiello, B. Siciliano, Nonholonomic rolling nonprehensile manipulation primitive, in Robot dynamic manipulation. Perception of deformable objects and nonprehensile manipulation control, B. Siciliano and F. Ruggiero (eds.), vol. 144, pp. 159-205, Springer, Cham, 2022. DOI: 10.1007/978-3-030-93290-9_7.
• A.C. Satici, F. RUGGIERO, V. Lippiello, B. Siciliano, Intrinsic Euler-Lagrange dynamics and control analysis of the ballbot, 2016 American Control Conference, Boston, MA, USA, pp. 5685-5690, 2016, DOI: 10.1109/ACC.2016.7526560.
• A. Gutiérrez-Giles, F. RUGGIERO, V. Lippiello, B. Siciliano, Modelling and control of a robotic hula-hoop system without velocity measurements, 20th IFAC World Congress, Toulouse, F, pp. 9808-9814, 2017, DOI: 10.1016/j.ifacol.2017.08.889.
• D. Serra, J. Ferguson, F. RUGGIERO, A. Siniscalco, A. Petit, V. Lippiello, B. Siciliano, On the experiments about the nonprehensile reconfiguration of a rolling sphere on a plate, 26th Mediterranean Conference on Control and Automation, Zadar, HR, pp. 13-20, 2018, DOI: 10.1109/MED.2018.8442769.

Proposed solutions (batting):

• D. Serra, F. RUGGIERO, A.C. Satici, V. Lippiello, B. Siciliano, Time-optimal paths for a robotic batting task, in Informatics in Control, Automation and Robotics, Lecture Notes in Electrical Engineering, Madani K., Peaucelle D., Gusikhin O. (eds), vol 430, pp. 256-276, Springer, Cham, 2018. DOI: 10.1007/978-3-319-55011-4_13.
• D. Serra, A.C. Satici, F. RUGGIERO, V. Lippiello, B. Siciliano, An optimal trajectory planner for a robotic batting task: The table tennis example, 13th International Conference on Informatics in Control, Automation and Robotics, Lisbon, P, pp. 90-101, 2016, DOI: 10.5220/0005982000900101.
• D. Serra, F. RUGGIERO, V. Lippiello, B. Siciliano, A nonlinear least squares approach for nonprehensile dual-hand robotic ball juggling, 20th IFAC World Congress, Toulouse, F, pp. 11485-11490, 2017, DOI: 10.1016/j.ifacol.2017.08.1595.

Proposed solutions (throwing):

• A.C. Satici, F. RUGGIERO, V. Lippiello, B. Siciliano, A coordinate-free framework for robotic pizza tossing and catching, in Robot dynamic manipulation. Perception of deformable objects and nonprehensile manipulation control, B. Siciliano and F. Ruggiero (eds.), vol. 144, pp. 207-227, Springer, Cham, 2022. DOI: 10.1007/978-3-030-93290- 9_8.
• A.C. Satici, F. RUGGIERO, V. Lippiello, B. Siciliano, Coordinate-free framework for robotic pizza tossing and catching, 2016 IEEE International Conference on Robotics and Automation, Stockholm, S, pp. 3932-3939, 2016, DOI: 10.1109/ICRA.2016.7487582.

Proposed solutions (sliding and friction-induced manipulation):

• A. Gutierrez-Giles, F. RUGGIERO, V. Lippiello, B. Siciliano, Pizza-peel handling through a sliding nonprehensile manipulation primitive, in Robot dynamic manipulation. Perception of deformable objects and nonprehensile manipulation control, B. Siciliano and F. Ruggiero(eds.), vol. 144, pp. 113-128, Springer, Cham, 2022. DOI: 10.1007/978-3-030-93290-9_5.
• A. Gutiérrez-Giles, F. RUGGIERO, V. Lippiello, B. Siciliano, Closed-loop control of a nonprehensile manipulation system inspired by a pizza-peel mechanism, European Control Conference, Naples, I, pp. 1580-1585, 2019, DOI: 10.23919/ECC.2019.8796077.

Proposed solutions (pushing):

• F. Bertoncelli, F. RUGGIERO, L. Sabattini, Wheel slip avoidance through a non-linear model predictive control for object pushing with a mobile robot, 10th IFAC Symposium on Intelligent Autonomous Vehicles, Gdansk, PL, 2019, DOI: 10.1016/j.ifacol.2019.08.043.
• F. Bertoncelli, F. RUGGIERO, L. Sabattini, Linear time-varying MPC for nonprehensile object manipulation with a nonholonomic mobile robot, 2020 IEEE International Conference on Robotics and Automation, Paris, F, pp. 11032-11038, 2020, DOI: 10.1109/ICRA40945.2020.9197173.
• F. Bertoncelli, F. RUGGIERO, L. Sabattini, Characterization of grasp configurations for multi-robot object pushing, 3rd IEEE International Symposium on Multi- Robot and Multi-Agent Systems, United Kingdom, pp. 38-46, 2021, DOI: 10.1109/MRS50823.2021.9620678.
• F. Bertoncelli, M. Selvaggio, F. RUGGIERO, L. Sabattini, Task-oriented contact optimization for pushing manipulation with mobile robots, 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, Kyoto, Japan, pp. 1639-1646, 2022, DOI: 10.1109/IROS47612.2022.9982177.

Proposed solutions (dynamic grasp and transportation):

• M. Selvaggio, J. Cacace, C. Pacchierotti, F. RUGGIERO, P. Robuffo Giordano, A shared-control teleoperation architecture for nonprehensile object transportation, in IEEE Transactions on Robotics, vol. 38, n. 1, pp. 569-583, 2022, DOI: 10.1109/TRO.2021.3086773.
• R. Subburaman, M. Selvaggio, F. RUGGIERO, A non-prehensile object transportation framework with adaptive tilting based on quadratic programming, in Robotics and Automation Letters, vol. 8, n. 6, pp. 3581–3588, 2023, DOI: 10.1109/LRA.2023.3268594.
• M. Selvaggio, A. Garg, F. RUGGIERO, G. Oriolo, B. Siciliano, Non-prehensile object transportation via model predictive non-sliding manipulation control, in IEEE Transactions on Control Systems Technology, (early access), DOI: 10.1109/TCST.2023.3277224.

Proposed solutions (stretching):

• J.-T. Kim, F. RUGGIERO, V. Lippiello, B. Siciliano, Planning framework for robotic pizza dough stretching with a rolling pin, in Robot dynamic manipulation. Perception of deformable objects and nonprehensile manipulation control, B. Siciliano and F. Ruggiero (eds.), vol. 144, pp. 229-253, Springer, Cham, 2022. DOI: 10.1007/978-3- 030-93290-9_9.