Pizza-Peel Handling Through a Sliding Nonprehensile Manipulation Primitive

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].