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 nonprehensile way. The framework of this pizza dough stretching application that is explained in this chapter consists of four sub-procedures: (i) recognition of the pizza dough on a plate, (ii) planning the necessary steps to shape the pizza dough to the desired form, (iii) path generation for a rolling pin to execute the output of the pizza dough planner, and (iv) inverse kinematics for the bi-manual robot to grasp and control the rolling pin properly. Using the deformable object model described in Chap. 3, each sub-procedure of the proposed framework is explained sequentially.

Planning Framework for Robotic Pizza Dough Stretching with a Rolling Pin / Kim, Jung-Tae; Ruggiero, Fabio; Lippiello, Vincenzo; Siciliano, Bruno. - 144:(2022), pp. 229-253. [10.1007/978-3-030-93290-9_9]

Planning Framework for Robotic Pizza Dough Stretching with a Rolling Pin

Ruggiero, Fabio;Lippiello, Vincenzo;Siciliano, Bruno
2022

Abstract

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 nonprehensile way. The framework of this pizza dough stretching application that is explained in this chapter consists of four sub-procedures: (i) recognition of the pizza dough on a plate, (ii) planning the necessary steps to shape the pizza dough to the desired form, (iii) path generation for a rolling pin to execute the output of the pizza dough planner, and (iv) inverse kinematics for the bi-manual robot to grasp and control the rolling pin properly. Using the deformable object model described in Chap. 3, each sub-procedure of the proposed framework is explained sequentially.
2022
978-3-030-93289-3
978-3-030-93290-9
Planning Framework for Robotic Pizza Dough Stretching with a Rolling Pin / Kim, Jung-Tae; Ruggiero, Fabio; Lippiello, Vincenzo; Siciliano, Bruno. - 144:(2022), pp. 229-253. [10.1007/978-3-030-93290-9_9]
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11588/876438
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