Nonprehensile object transportation

Implementation of the nonprehensile object transportation method developed in the papers:

M. Selvaggio, A. Garg, F. Ruggiero, G. Oriolo, B. Siciliano "Nonprehensile Object Transportation via Model Predictive Non-sliding Manipulation Control", in IEEE Transactions on Control System Technology, accepted, doi: 10.1109/TCST.2023.3277224.

Click here to watch the video.

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, no. 1, pp. 569-583, Feb. 2022, doi: 10.1109/TRO.2021.3086773.

Citing

@ARTICLE{SelvaggioTCST2023,
  author={Selvaggio, Mario and Garg, Akash and Ruggiero, Fabio and Oriolo, Giuseppe and Siciliano, Bruno},
  journal={IEEE Transactions on Control Systems Technology}, 
  title={Non-Prehensile Object Transportation via Model Predictive Non-Sliding Manipulation Control}, 
  year={2023},
  volume={},
  number={},
  pages={1-14},
  doi={10.1109/TCST.2023.3277224}}

@article{SelvaggioTRO2021,
  author={Selvaggio, Mario and Cacace, Jonathan and Pacchierotti, Claudio and Ruggiero, Fabio and Giordano, Paolo Robuffo},
  journal={IEEE Transactions on Robotics}, 
  title={A Shared-Control Teleoperation Architecture for Nonprehensile Object Transportation}, 
  year={2022},
  volume={38},
  number={1},
  pages={569-583},
  doi={10.1109/TRO.2021.3086773}
}

Instructions

The code was tested with Ubuntu 20.04, and ROS Noetic. Different OS and ROS versions are possible but not supported.

Install dependencies

sudo apt-get install ros-noetic-ros-control ros-noetic-ros-controllers

Clone the following packages

cd <CATKIN_WS_DIR>/src

git clone https://github.com/mrslvg/nonprehensile-object-transp.git

git clone https://github.com/ros/geometry.git

git clone https://github.com/ros/kdl_parser.git

Compile

catkin_make --only-pkg-with-deps kdl_ros_control

catkin_make -DCATKIN_WHITELIST_PACKAGES=""

Run simulation

roslaunch lbr_iiwa_launch lbr_iiwa_gazebo_effort_control.launch

rosrun nonprehensile-object-transp-iiwa nonprehensile-object-transp-iiwa_node

Press play in gazebo to start the simulation