Nonprehensile Manipulation of Deformable Objects: Achievements and Perspectives from the Robotic Dynamic Manipulation Project

The goal of this article is to disseminate the planning and control strategies for robotic nonprehensile manipulation results achieved so far with the Robotic Dynamic Manipulation (RoDyMan) project. The goal of the project is to advance the state of the art of nonprehensile dynamic manipulation of rigid and deformable objects to enhance the possibility of employing robots in anthropic environments. RoDyMan project's final demonstration will be acting as an autonomous pizza maker. This article highlights the lessons learned and paves the way toward critical discussions and future research.