Robotics Enabling Fully-Integrated Logistics Lines for Supermarkets

Informations projet

REFILLS

N° de convention de subvention: 731590

DOI 10.3030/731590

Projet clôturé

Date de signature de la CE 25 Octobre 2016

Date de début 1 Janvier 2017

Date de fin 31 Decembre 2020

Financé au titre de

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

Coût total € 4 388 087,50

Contribution de l’UE € 3 692 850,00

Coordonné par

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

Livrables

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

Auteurs: Marco Costanzo, Giuseppe De Maria, Gaetano Lettera, Ciro Natale, Salvatore Pirozzi
Publié dans: Robotics, Numéro 7/4, 2018, Page(s) 76, ISSN 2218-6581
Éditeur: MDPI
DOI: 10.3390/robotics7040076

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

Auteurs: Marco Costanzo, Giuseppe De Maria, Ciro Natale
Publié dans: IEEE Transactions on Robotics, Numéro 36/1, 2020, Page(s) 157-173, ISSN 1552-3098
Éditeur: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2019.2944130

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

Auteurs: Giuseppe De Maria; Marco Costanzo; Ciro Natale; Salvatore Pirozzi
Publié dans: Sensors (Basel, Switzerland), Numéro 1, 2019, ISSN 1424-8220
Éditeur: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s19040966

A Reconfigurable Gripper for Robotic Autonomous Depalletizing in Supermarket Logistics

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

Learning attentional regulations for structured tasks execution in robotic cognitive control

Auteurs: Riccardo Caccavale, Alberto Finzi
Publié dans: Autonomous Robots, Numéro 43/8, 2019, Page(s) 2229-2243, ISSN 0929-5593
Éditeur: Kluwer Academic Publishers
DOI: 10.1007/s10514-019-09876-x

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

Auteurs: Marco Costanzo; Giuseppe De Maria; Gaetano Lettera; Ciro Natale
Publié dans: IEEE Robotics & Automation Magazine, 2021, ISSN 1070-9932
Éditeur: 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).

Auteurs: A. Cirillo, P. Cirillo, G. De Maria, C. Natale, S. Pirozzi
Publié dans: IFAC-PapersOnLine, Numéro 50/1, 2017, Page(s) 6843-6850, ISSN 2405-8963
Éditeur: 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

Auteurs: Simon Stelter, Georg Bartels, Michael Beetz
Publié dans: IEEE Robotics and Automation Letters, Numéro 3/1, 2018, Page(s) 320-327, ISSN 2377-3766
Éditeur: IEEE Press
DOI: 10.1109/LRA.2017.2716423

Tactile Sensors for Parallel Grippers: Design and Characterization

Auteurs: Andrea Cirillo, Marco Costanzo, Gianluca Laudante, Salvatore Pirozzi
Publié dans: Sensors, Numéro 21/5, 2021, Page(s) 1915, ISSN 1424-8220
Éditeur: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s21051915

Modeling and slipping control of a planar slider

Auteurs: Alberto Cavallo, Marco Costanzo, Giuseppe De Maria, Ciro Natale
Publié dans: Automatica, Numéro 115, 2020, Page(s) 108875, ISSN 0005-1098
Éditeur: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2020.108875

A Flexible Robotic Depalletizing System for Supermarket Logistics

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

Manipulation Planning and Control for Shelf Replenishment

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

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

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

Conference proceedings (12)

Pre-Processing for Task-Based Kinematic Synthesis

Auteurs: V. Zumpe, J. Horeis, M. Hüsing and B. Corves
Publié dans: IFToMM D-A-CH Konferenz, 2019
Éditeur: E-Publications
DOI: 10.17185/duepublico/48194

Slipping Control Algorithms for Object Manipulation with Sensorized Parallel Grippers

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

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

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

Flexible Motion Planning for Object Manipulation in Cluttered Scenes

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

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

Auteurs: Haidu, Andrei; Beetz, Michael
Publié dans: Submitted to IEEE Int. Conf. on Robotics and Automation, May 2021, Numéro 1, 2021
Éditeur: IEEE Press

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

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

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

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

Programming robotic agents with action descriptions

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

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

Auteurs: G. Kazhoyan, A. Hawkin, S. Koralewski, A. Haidu and M. Beetz
Publié dans: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020
Éditeur: IEEE Press

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

Auteurs: V. Zumpe, M. Hüsing and B. Corves
Publié dans: IFToMM D-A-CH Konferenz, 2020
Éditeur: E-Publications
DOI: 10.17185/duepublico/71199

The Robot Household Marathon Experiment

Auteurs: Kazhoyan, Gayane; Stelter, Simon; Kenfack, Franklin Kenghagho; Koralewski, Sebastian; Beetz, Michael
Publié dans: Submitted to IEEE Int. Conf. on Robotics and Automation, May 2021, Numéro 1, 2021
Éditeur: IEEE press

Using Linked Data to Help Robots Understand Product-related Actions

Auteurs: M. Kümpel, A. de Groot, I. Tiddi, and M. Beetz
Publié dans: JOWO 2020, The Joint Ontology Workshop, 2020
Éditeur: IAOA

Thesis and dissertations (2)

Pervasive Perception for Robots Performing Everyday Manipulation

Auteurs: Ferenc Bálint-Benczédi
Publié dans: 2020
Éditeur: University of Bremen

Soft Contact Modeling for In-Hand Manipulation Control and Planning

Auteurs: Marco Costanzo
Publié dans: 2021
Éditeur: Università della Campania Luigi Vanvitelli