the deadline for the IEEE Robotics and Automation Letters (IEEE RA-L)
Special Issue on "Control an Motion Planning for Nonprehensile Dynamic
Manipulation" has been extended.
Please upload your manuscript *before August, 6th (firm deadline)*.
In order to submit your work, please follow the next steps.
- Log in into the RA-L PaperCept website
- Click "Submit a new paper to IEEE RA-L"
- From the drop-down menu, select the Special Issue: Control and Motion
Planning for Nonprehensile Dynamic Manipulation
- Follow the upcoming steps to complete the submission
Should you have any questions, do not hesitate to contact me.
Please, visit the official webpage of the Special Issue at
Please find below the call for papers of the Special Issue.
Motivations and Objectives
The robotic manipulation problem aims at finding a set of suitable
controls to lead the configuration of an object to a desired pose.
However, can we do such an action only by grasping? In truth, thanks to
the high dexterity of the human hand, a manipulation task can be
achieved also in nonprehensile –the object is not grasped –and dynamic
–dynamics is exploited to control the motion– ways.
The state of the art of robotic manipulation is still rather far from
the human dexterity in the execution of complex motions, such as in
nonprehensile dynamic manipulation tasks. This may reduce the
opportunities for wide adoption of robots within human co-habited
environments. Nonprehensile manipulation is considered as the most
complex category of manipulation, requiring adhoc controllers and
specialized hardware. Since the object is not caged between fingertips,
the part is moved exploiting its dynamics, and it is possible to
increase the workspace by throwing and catching the object. As examples,
think of a juggler, or a pizza maker or even of a surgeon pushing away
organs, arteries, or making sutures. In several industrial applications,
it is not directly possible to manipulate the object through
firm/fine/precise manipulation, therefore only nonprehensile
manipulation is allowed (e.g., using vibratory platforms). In case of
deformable objects, for instance, the related tasks become even more
The control design must carefully take into account dynamic models of
both the robot and the object, posing thus new challenges in high-speed
sensing, motion planning and control.
This Special Issue aims at collecting the latest results achieved by the
researchers working in motion planning and control of robots for
nonprehensile dynamic tasks involving manipulation. Moreover, people
working on hybrid and switching dynamical systems may find several
points in common with the subjects addressed within the letters
submitted to such Special Issue.
The sought ambition is to provide the groundwork to stir the current
idea of robot manipulation that is still too much conceived as simple
This might be the starting point within the research community to arise
future discussions regarding possible expectations, open-topics,
longterm goals and enhance collaboration among research teams.
List of topics
The list of topics include, but it is not limited to:
- Nonprehensile dynamic manipulation
- Nonlinear control of hybrid dynamic systems
- Impedance and force control in robotic dynamic manipulation tasks
- Motion planning for nonprehensile robot manipulation
The SI will cover both motion planning and control aspect to achieve the
object manipulation in a nonprehensile way. Moreover, the shared
connections with other similar control problems, like piece-wise smooth
and impacting systems are welcome.
- Special Issue Submission Opens: July 20, 2017
- Special Issue Submission Closes: August 6, 2017
- First Decision Communicated to Authors: October 24, 2017
- Final Decision Communicated to Authors: December 28, 2017
- Accepted RA-L Papers appear on IEEE Xplore: January 16, 2018
Fabio Ruggiero (Università di Napoli Federico II)
Vincenzo Lippiello (Università di Napoli Federico II)
Bruno Siciliano (Università di Napoli Federico II)
Organization of the submitted papers
Papers are six-page long in two column IEEE format, including figures
and reference. Up to two extra-pages (at fee) are allowed.
Links to multimedia material are welcome.
RA-L is an electronic-only journal. The final version provided by the
authors will be rapidly posted on IEEE Xplore: submitted manuscripts
will be either published within January 16, 2018 or rejected.
Information about IEEE RA-L
All the information about the IEEE Robotics and Automation Letters can
be found at the following link: https://urldefense.proofpoint.com/v2/url?u=http-3A__www.ieee-2Dras.org_publications_ra-2Dl&d=DwIDaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=rondn__-RyV2svf-9lIziNn_GJuR4prIVn5m4SvoNOw&s=8w70wsJpJDrxgvOSp4dlJM5JS-U60HUwQR2bvqMKGN0&e= .
To recap, the scope of this journal is to publish peer-reviewed articles
that provide a timely and concise account of innovative research ideas
and application results, reporting significant theoretical findings and
application case studies in areas of robotics and automation.
Our Special Issue is supported by
- IEEE RAS Technical Committee on Algorithms for Planning and Control of
- IEEE RAS Technical Committee on Robotic Hands, Grasping and Manipulation
On behalf of the Guest Editors,
Eng. Fabio Ruggiero, Ph.D.
Affiliated to the ICAROS center
Department of Electrical Engineering and Information Technology
University of Naples Federico II
Via Claudio 21, 80125, Napoli, Italy
Building 3A, room 3.07
tel: +39 081 76-83843
email: [hidden email]
research website: www.fabioruggiero.name
didactic website: www.docenti.unina.it/fabio.ruggiero
laboratory website: www.prisma.unina.it
icaros center website: www.icaros.unina.it
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