Robotics Enabling Fully-Integrated Logistics Lines for Supermarkets

Project Information

REFILLS

Grant agreement ID: 731590

DOI 10.3030/731590

Project closed

EC signature date 25 October 2016

Start date 1 January 2017

End date 31 December 2020

Funded under

• INDUSTRIAL LEADERSHIP - Leadership in enabling and industrial technologies - Information and Communication Technologies (ICT)

Total cost € 4 388 087,50

EU contribution € 3 692 850,00

Coordinated by

C.R.E.A.T.E. CONSORZIO DI RICERCA PER L'ENERGIA L AUTOMAZIONE E LE TECNOLOGIE DELL'ELETTROMAGNETISMO
Italy

Deliverables

Documents, reports (11)

Biomechanical evaluation of collaborative lifting
Experiment and evaluation criteria specification
Report on final round of experiments and recommendations for RTD work
Final Project Report
PEDR report
Report on second round of experiments and recommendations for RTD work
Report on initial experiments and recommendations for RTD work

Report on initial experiments and recommendations for RTD work

STAR volume
Experience-based learning and optimization of manipulation activities
Integration Plan (with internal draft versions at Mo6, Mo18, Mo30)
Booklet of project publications

Open Research Data Pilot (3)

Data management plan (second version)
Data management plan (first version)
Data management plan (final version)

Other (7)

Preliminary 3D object perception and localization
Third prototype of knowledge-enabled and plan-based control system
First prototype of knowledge-enabled and plan-based control system
Reactive control strategies
Second prototype of knowledge-enabled and plan-based control system
Interpretation methods of perception data
Final 3D object perception and localization

Websites, patent fillings, videos etc. (2)

Project web site
Project poster and leaflet

Demonstrators, pilots, prototypes (2)

Sensors for grasping and collision avoidance
Final demonstration of the project findings

Publications

Peer reviewed articles (13)

Motion Planning and Reactive Control Algorithms for Object Manipulation in Uncertain Conditions

Author(s): Marco Costanzo, Giuseppe De Maria, Gaetano Lettera, Ciro Natale, Salvatore Pirozzi
Published in: Robotics, Issue 7/4, 2018, Page(s) 76, ISSN 2218-6581
Publisher: MDPI
DOI: 10.3390/robotics7040076

Two-Fingered In-Hand Object Handling Based on Force/Tactile Feedback

Author(s): Marco Costanzo, Giuseppe De Maria, Ciro Natale
Published in: IEEE Transactions on Robotics, Issue 36/1, 2020, Page(s) 157-173, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2019.2944130

Design and Calibration of a Force/Tactile Sensor for Dexterous Manipulation

Author(s): Giuseppe De Maria; Marco Costanzo; Ciro Natale; Salvatore Pirozzi
Published in: Sensors (Basel, Switzerland), Issue 1, 2019, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s19040966

A Reconfigurable Gripper for Robotic Autonomous Depalletizing in Supermarket Logistics

Author(s): G. Andrea Fontanelli, Gianmarco Paduano, Riccardo Caccavale, Pierluigi Arpenti, Vincenzo Lippiello, Luigi Villani, Bruno Siciliano
Published in: IEEE Robotics and Automation Letters, Issue 5/3, 2020, Page(s) 4612-4617, ISSN 2377-3766
Publisher: IEEE Press
DOI: 10.1109/lra.2020.3003283

Learning attentional regulations for structured tasks execution in robotic cognitive control

Author(s): Riccardo Caccavale, Alberto Finzi
Published in: Autonomous Robots, Issue 43/8, 2019, Page(s) 2229-2243, ISSN 0929-5593
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s10514-019-09876-x

Can Robots Refill a Supermarket Shelf?: Motion Planning and Grasp Control

Author(s): Marco Costanzo; Giuseppe De Maria; Gaetano Lettera; Ciro Natale
Published in: IEEE Robotics & Automation Magazine, 2021, ISSN 1070-9932
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/mra.2021.3064754

Modeling and Calibration of a Tactile Sensor for Robust Grasping * *This work was supported by the European Commission within the FP7 projects EUROC (GA n. 608849) and ECHORD++ (WIRES Experiment GA n. 601116) and H2020 REFILLS project (ID n. 731590).

Author(s): A. Cirillo, P. Cirillo, G. De Maria, C. Natale, S. Pirozzi
Published in: IFAC-PapersOnLine, Issue 50/1, 2017, Page(s) 6843-6850, ISSN 2405-8963
Publisher: Elsevier
DOI: 10.1016/j.ifacol.2017.08.1205

Multidimensional Time-Series Shapelets Reliably Detect and Classify Contact Events in Force Measurements of Wiping Actions

Author(s): Simon Stelter, Georg Bartels, Michael Beetz
Published in: IEEE Robotics and Automation Letters, Issue 3/1, 2018, Page(s) 320-327, ISSN 2377-3766
Publisher: IEEE Press
DOI: 10.1109/LRA.2017.2716423

Tactile Sensors for Parallel Grippers: Design and Characterization

Author(s): Andrea Cirillo, Marco Costanzo, Gianluca Laudante, Salvatore Pirozzi
Published in: Sensors, Issue 21/5, 2021, Page(s) 1915, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s21051915

Modeling and slipping control of a planar slider

Author(s): Alberto Cavallo, Marco Costanzo, Giuseppe De Maria, Ciro Natale
Published in: Automatica, Issue 115, 2020, Page(s) 108875, ISSN 0005-1098
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2020.108875

A Flexible Robotic Depalletizing System for Supermarket Logistics

Author(s): Riccardo Caccavale, Pierluigi Arpenti, Gianmarco Paduano, Andrea Fontanellli, Vincenzo Lippiello, Luigi Villani, Bruno Siciliano
Published in: IEEE Robotics and Automation Letters, Issue 5/3, 2020, Page(s) 4471-4476, ISSN 2377-3766
Publisher: IEEE Press
DOI: 10.1109/lra.2020.3000427

Manipulation Planning and Control for Shelf Replenishment

Author(s): Marco Costanzo, Simon Stelter, Ciro Natale, Salvatore Pirozzi, Georg Bartels, Alexis Maldonado, Michael Beetz
Published in: IEEE Robotics and Automation Letters, Issue 5/2, 2020, Page(s) 1595-1601, ISSN 2377-3766
Publisher: IEEE Robotics and Automation Society
DOI: 10.1109/lra.2020.2969179

RGB-D Recognition and Localization of Cases for Robotic Depalletizing in Supermarkets

Author(s): Pierluigi Arpenti, Riccardo Caccavale, Gianmarco Paduano, Giuseppe Andrea Fontanelli, Vincenzo Lippiello, Luigi Villani, Bruno Siciliano
Published in: IEEE Robotics and Automation Letters, Issue 5/4, 2020, Page(s) 6233-6238, ISSN 2377-3766
Publisher: IEEE Press
DOI: 10.1109/lra.2020.3013936

Conference proceedings (12)

Pre-Processing for Task-Based Kinematic Synthesis

Author(s): V. Zumpe, J. Horeis, M. Hüsing and B. Corves
Published in: IFToMM D-A-CH Konferenz, 2019
Publisher: E-Publications
DOI: 10.17185/duepublico/48194

Slipping Control Algorithms for Object Manipulation with Sensorized Parallel Grippers

Author(s): Marco Costanzo, Giuseppe De Maria, Ciro Natale
Published in: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Page(s) 7455-7461, ISBN 978-1-5386-3081-5
Publisher: IEEE Press
DOI: 10.1109/icra.2018.8460883

A Framework for Self-Training Perceptual Agents in Simulated Photorealistic Environments

Author(s): Patrick Mania, Michael Beetz
Published in: 2019 International Conference on Robotics and Automation (ICRA), 2019, Page(s) 4396-4402, ISBN 978-1-5386-6027-0
Publisher: IEEE Press
DOI: 10.1109/icra.2019.8793474

Flexible Motion Planning for Object Manipulation in Cluttered Scenes

Author(s): Marco Costanzo, Giuseppe De Maria, Gaetano Lettera, Ciro Natale, Salvatore Pirozzi
Published in: Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics, 2018, Page(s) 120-131, ISBN 978-989-758-321-6
Publisher: SCITEPRESS - Science and Technology Publications
DOI: 10.5220/0006848701200131

Automated acquisition of structured, semantic models of manipulation activities from human VR demonstration

Author(s): Haidu, Andrei; Beetz, Michael
Published in: Submitted to IEEE Int. Conf. on Robotics and Automation, May 2021, Issue 1, 2021
Publisher: IEEE Press

Automated Models of Human Everyday Activity based on Game and Virtual Reality Technology

Author(s): Andrei Haidu, Michael Beetz
Published in: 2019 International Conference on Robotics and Automation (ICRA), 2019, Page(s) 2606-2612, ISBN 978-1-5386-6027-0
Publisher: IEEE Press
DOI: 10.1109/icra.2019.8793859

Control of linear and rotational slippage based on six-axis force/tactile sensor

Author(s): Andrea Cirillo, Pasquale Cirillo, Giuseppe De Maria, Ciro Natale, Salvatore Pirozzi
Published in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 1587-1594, ISBN 978-1-5090-4633-1
Publisher: IEEE Press
DOI: 10.1109/ICRA.2017.7989188

Programming robotic agents with action descriptions

Author(s): Gayane Kazhoyan, Michael Beetz
Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 103-108, ISBN 978-1-5386-2682-5
Publisher: IEEE Press
DOI: 10.1109/IROS.2017.8202144

Learning Motion Parameterizations of Mobile Pick and Place Actions from Observing Humans in Virtual Environments

Author(s): G. Kazhoyan, A. Hawkin, S. Koralewski, A. Haidu and M. Beetz
Published in: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020
Publisher: IEEE Press

Drive Concepts Designed to Improve the Safety for Human-Robot Interaction

Author(s): V. Zumpe, M. Hüsing and B. Corves
Published in: IFToMM D-A-CH Konferenz, 2020
Publisher: E-Publications
DOI: 10.17185/duepublico/71199

The Robot Household Marathon Experiment

Author(s): Kazhoyan, Gayane; Stelter, Simon; Kenfack, Franklin Kenghagho; Koralewski, Sebastian; Beetz, Michael
Published in: Submitted to IEEE Int. Conf. on Robotics and Automation, May 2021, Issue 1, 2021
Publisher: IEEE press

Using Linked Data to Help Robots Understand Product-related Actions

Author(s): M. Kümpel, A. de Groot, I. Tiddi, and M. Beetz
Published in: JOWO 2020, The Joint Ontology Workshop, 2020
Publisher: IAOA

Thesis and dissertations (2)

Pervasive Perception for Robots Performing Everyday Manipulation

Author(s): Ferenc Bálint-Benczédi
Published in: 2020
Publisher: University of Bremen

Soft Contact Modeling for In-Hand Manipulation Control and Planning

Author(s): Marco Costanzo
Published in: 2021
Publisher: Università della Campania Luigi Vanvitelli