Title: Nonprehensile manipulation of deformable objects: Achievements and perspectives from the RoDyMan project
Speaker: Professor Bruno Siciliano
Abstract: The state of the art of robotic manipulation is still rather far from the human dexterity in the execution of complex motions such as, for example, in dynamic manipulation tasks. Dynamic manipulation is considered as the most complex category of manipulation requiring ad-hoc controllers and specialized hardware. In case of non-prehensile manipulation or non-rigid objects, the task of dynamic manipulation becomes even more challenging. This reduces the opportunities for wide adoption of robots within human co-habited environments.
This talk presents the results achieved within the RoDyMan project related to planning and control strategies for robotic non-prehensile manipulation. The project aims at advancing the state of the art of non-prehensile dynamic manipulation of rigid and deformable objects to further enhance the possibility of employing robots in anthropic environments. The final demonstrator of the RoDyMan project will be an autonomous pizza maker. The lessons learned so far are highlighted to pave the way towards future research directions and critical discussion.
Short Bio: Professor Bruno Siciliano is Director of the Interdepartmental Center for Advances in RObotic Surgery (ICAROS), as well as Coordinator of the Laboratory of Robotics Projects for Industry, Services and Mechatronics (PRISMA Lab), at University of Naples Federico II. Fellow of the scientific societies IEEE, ASME, IFAC, he received numerous international prizes and awards, and he was President of the IEEE Robotics and Automation Society from 2008 to 2009. Since 2012 he is on the Board of Directors of the European Robotics Association. He has delivered more than 150 keynotes and has published more than 300 papers and 7 books. His book “Robotics” is among the most adopted academic texts worldwide, while his edited volume “Springer Handbook of Robotics” received the highest recognition for scientific publishing: 2008 PROSE Award for Excellence in Physical Sciences & Mathematics. His research team got 18 projects funded by the European Union for a total grant of 10 M€ in the last ten years, including an Advanced Grant from the European Research Council.