This article proposes a shared-control teleoperation architecture for robot manipulators
transporting an object on a tray. Differently from many existing studies about remotely …

This paper addresses the optimal control of the ball-plate system, a well-known
nonholonomic system in the context of nonprehensile manipulation, using a multibody …

Stretching a pizza dough with a rolling pin is a nonprehensile manipulation. Since the object
is deformable, force closure cannot be established, and the manipulation is carried out in a …

In this article, we review the main results achieved by the research activities carried out at
PRISMA Lab of the University of Naples Federico II where, for 35 years, an interdisciplinary …

In this article, we define “robotic contact juggling” to be the purposeful control of the motion
of a 3-D smooth object as it rolls freely on a motion-controlled robot manipulator, or “hand.” …

This chapter aims the broadcasting of the results achieved by the RoDyMan project about
the task planning manipulation of deformable objects, and the nonprehensile manipulation …

In this chapter, the design of nonlinear controllers for non-prehensile holonomic rolling
system is reviewed. A general model for the class of non-prehensile rolling system …

This chapter reviews the problem of nonholonomic rolling in nonprehensile manipulation
tasks through two challenging and illustrative examples: the robotic hula-hoop and the …

In this paper, we develop a control method of 3-dimensional nonprehensile manipulation for
a ball-and-plate system with a 6-DOF manipulator. In the first part of the method, the position …

This thesis presents methods to improve the manipulation capabilities of robots. People and
animals can effectively handle objects of many shapes, sizes, weights, and materials using a …