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Manipulation Enhancement through Robotic Guidance and Intelligent Novel Grippers

Deliverables

Perception functionalities demonstration

This deliverable will show the assessment of the multi-level system before using it in the demonstration prototypes.First trials for human-robot interaction will be performed to verify the hardware and software dependability in order to ensure an adequate deployment in the demonstration scenarios. This validation phase will be done using representative laboratory setups for the proposed demonstration scenarios and the verification process will contain multiple scenario runs.

Dissemination and Communication Plan (final)

The activities included in the Dissemination and Communication Plan will define the goals, the targeted audience and the desired activities. A dissemination and communication toolkit will include the website, flyers, videos, interviews, project leaflet (providing key information about the project in a concise and engaging message). While the Dissemination is focussed on the disclosure of project results to specific target groups, Communication is aimed to promote the project and its impacts to defined audiences. MERGING will deploy a 360 degrees Dissemination and Communication Strategy, combining online and offline channels, content marketing strategies & tools, media relations, top events and work with stakeholders.The plan will be assessed and updated two times during the project, in order to evaluate the effectiveness of the actions.This deliverable is the final version of the D and C Plan.

MERGING Workshop

A final seminar, “MERGING Workshop”, will be organized (and webcast) by the end of the project aiming to: gather all stakeholders from several sectors (industry, education, standardization bodies, etc.), present the main results and expected gains of its deployment for the targeted markets and to provide a faster acceptance and integration of the project results in industrial value chain.Specifications of broader use of applications will be provided in order to verify if results could be relevant to a larger field of textiles and films applications or to other domains (new market potential), a pathway will be defined for the commercialization of the low-cost solution.

Dissemination and Communication Plan (revised)

The activities included in the Dissemination and Communication Plan will define the goals the targeted audience and the desired activities A dissemination and communication toolkit will include the website flyers videos interviews project leaflet providing key information about the project in a concise and engaging message While the Dissemination is focussed on the disclosure of project results to specific target groups Communication is aimed to promote the project and its impacts to defined audiences MERGING will deploy a 360 degrees Dissemination and Communication Strategy combining online and offline channels content marketing strategies tools media relations top events and work with stakeholdersThe plan will be assessed and updated two times during the project in order to evaluate the effectiveness of the actionsThis deliverable is the updated version of the D and C Plan

Gripper and skin demonstrator

"This deliverable will be constituted by the enhanced gripper prototypes made of the new low-cost gripper designs integrated with the new electro-adhesive skins.It will illustrate the integration of the separate developments described in deliverable ""Report on gripping technologies"". Considering necessary adjustments (mechanical, electronic, sensing and control integration, considering also the skin behavior impact onthe other characteristics of the hardware design), the final enhanced prototype grippers will be manufactured. This deliverable will be used in the following work packages (WP7 and WP8)."

Robot control functionalities demonstration

This deliverable will show the functionalities of the robot arm control technologies described in deliverable 'Report on robot arm control technologies', through experimental demonstration of elementary use from user's side :- a set of assistance tools/schemes, among which the control algorithm will be able to propose automatically to the operator the best fitted one during the execution of each step inside the global task.- an on-line robot control law for the control of robot arm under human-machine interaction, servoing the shape of the flexible part that will be modified by the co-manipulation operation.- a 'supervised learning algorithm' allowing the robot to adapt in real time to the environment and flexible object during execution phases in the production line.

Dissemination and Communication Plan (initial)

The activities included in the Dissemination and Communication Plan will define the goals, the targeted audience and the desired activities. A dissemination and communication toolkit will include the website, flyers, videos, interviews, project leaflet (providing key information about the project in a concise and engaging message). While the Dissemination is focussed on the disclosure of project results to specific target groups, Communication is aimed to promote the project and its impacts to defined audiences. MERGING will deploy a 360 degrees Dissemination and Communication Strategy, combining online and offline channels, content marketing strategies & tools, media relations, top events and work with stakeholders. The plan will be assessed and updated two times during the project, in order to evaluate the effectiveness of the actions. This deliverable is the initial version of the D and C Plan.

MERGING Website

The website will be designed in accordance with the visual project identity. All the public project materials documents, data, reports as well as dissemination and communication materials (print and digital) will be accessible from the website. The website will be regularly updated (every 2 months) and maintained throughout the project.

On-line training material

A version of the training material (detailed in the Training Plan) -excluding confidential information-, will be made available on-line to ensure training opportunities are widely available for EU workforce.

Publications

Shielded soft force sensors

Author(s): Bekir Aksoy, Yufei Hao, Giulio Grasso, Krishna Manaswi Digumarti, Vito Cacucciolo, Herbert Shea
Published in: Nature Communications, Issue 2023, 2022, ISSN 2041-1723
Publisher: Nature Publishing Group
DOI: 10.1038/s41467-022-32391-0

On deformable object handling: multi-tool end-effector for robotized manipulation and layup of fabrics and composites

Author(s): Giorgos Papadopoulos, Dionisis Andronas, Emmanouil Kampourakis, Nikolaos Theodoropoulos, Panagiotis Stylianos Kotsaris, Sotiris Makris
Published in: The International Journal of Advanced Manufacturing Technology, Issue 2023, 2023, ISSN 0268-3768
Publisher: Springer Verlag
DOI: 10.1007/s00170-023-11914-z

A service-oriented orchestration and planning tool for plug and produce manufacturing: a deformable object handling supervision paradigm

Author(s): Konstantinos Kavvathas; Emmanouil Kampourakis; Dionisis Andronas; Nikolaos Fousekis; Sotiris Makris
Published in: International Journal of Computer Integrated Manufacturing, Issue 12, 2024, Page(s) 1-24, ISSN 1362-3052
Publisher: Taylor & Francis
DOI: 10.1080/0951192x.2024.2331533

On deformable object handling: Model-based motion planning for human-robot co-manipulation

Author(s): Sotiris Makris, Emmanouil Kampourakis, DionisisAndronas
Published in: CIRP Annals, Issue 2022, 2022, ISSN 0007-8506
Publisher: Hallwag AG
DOI: 10.1016/j.cirp.2022.04.048

Cyber-physical systems in non-rigid assemblies: A methodology for the calibration of deformable object reconstruction models

Author(s): Nikolaos Theodoropoulos, Emmanouil Kampourakis, Dionisis Andronas, Sotiris Makris
Published in: Journal of Manufacturing Systems, Issue 2023, 2023, Page(s) 525-537, ISSN 0278-6125
Publisher: Elsevier BV
DOI: 10.1016/j.jmsy.2023.08.022

Automated assembly of non-rigid objects

Author(s): Sotiris Makris, Franz Dietrich, Karel Kellens, S.Jack Hu
Published in: CIRP Annals, Issue 2023, 2023, Page(s) 513-539, ISSN 0007-8506
Publisher: Hallwag AG
DOI: 10.1016/j.cirp.2023.05.003

Twist modelling for assembly of wiring harnesses

Author(s): Papacharalampopoulos, Alexios; Makris, Sotiris
Published in: Procedia CIRP, Issue Volume 97, 2021, Page(s) 71-75, ISSN 2212-8271
Publisher: Elsevier
DOI: 10.1016/j.procir.2020.05.206

Influence of the Object Stiffness on the Grasp Stability with Compliant Hand Based on Energetic Approach

Author(s): Ugo Vollhardt; Maria Makarov; Alex Caldas; Mathieur Grossard; Pedro Rodriguez-Ayerbe
Published in: IFAC-PapersOnLine, Issue 2020, 2020, Page(s) 9905-9911, ISSN 2405-8963
Publisher: Kidlington: Elsevier Ltd
DOI: 10.1016/j.ifacol.2020.12.2698

On modelling and handling of flexible materials: A review on Digital Twins and planning systems

Author(s): Andronas, Dionisis; Kokotinis, George; Makris, Sotiris
Published in: Procedia CIRP, Issue Volume 97, 2021, Page(s) 447-452, ISSN 2212-8271
Publisher: Elsevier
DOI: 10.1016/j.procir.2020.08.005

How to compete with robots by assessing job automation risks and resilient alternatives

Author(s): Paolillo A, Colella F, Nosengo N, Schiano F, Stewart W, Zambrano D, Chappuis I, Lalive R, Floreano D.
Published in: Science Robotics, Issue 13;7(65), 2022, ISSN 2470-9476
Publisher: AAAS
DOI: 10.1126/scirobotics.abg5561

Reinforcement Learning-Based Approaches in Manufacturing Environments

Author(s): Andrea Fernández Martínez, Carlos González-Val, Daniel Gordo Martín, Alberto Botana López, Jose Angel Segura Muros, Afra Maria Petrusa Llopis, Jawad Masood, and Santiago Muiños-Landin
Published in: Artificial Intelligence in Manufacturing - Enabling Intelligent, Flexible andCost-Effective Production Through AI, Issue February 2024, 2024, Page(s) 195-216, ISBN 978-3-031-46452-2
Publisher: J. Soldatos, SPRINGER
DOI: 10.1007/978-3-031-46452-2_11

MERGING project : Simulation for enhanced perception and planning

Author(s): Diego Perez, Dionisis Andronas
Published in: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021), Issue 27 September 2021, 2021, Page(s) RoMaDO-RA workshop (Robotic Manipulation of Deformable Objects: Challenges in Perception, Planning and Control for Real-World Applications)
Publisher: IEEE/RSJ

CANIA (Cloth simulAtion eNvironment for Intelligent Agent training)

Author(s): González Val, Carlos et al.
Published in: Zenodo open source data and project, Issue 12 July 2023, 2023
Publisher: Zenodo
DOI: 10.5281/zenodo.8138878

Electro-active soft materials for robots and wearables

Author(s): Vito Cacucciolo
Published in: Volume PC12741, Advanced Materials, Biomaterials, and Manufacturing Technologies for Security and Defence, Issue Proc. SPIE PC127410C, 2023
Publisher: SPIE Security + Defence
DOI: 10.1117/12.2687962

Electroactive soft grippers for flexible and delicate objects (workshop W9, co-organizer)

Author(s): Vito Cacucciolo (workshop W9, co-organizer and presenter)
Published in: "2023 IEEE-RAS International Conference on Soft Robotics ROBOSOFT - Workshop 9 : ""Soft grippers: from the labs to the market""", Issue 6th conference, 3-7 April 2023, 2023
Publisher: IEEE
DOI: 10.1109/robosoft55895.2023

A variable stiffness soft gripper with integrated ion-drag pump

Author(s): Michael Smith, Krishna Manaswi Digumarti, Vito Cacucciolo, Herbert Shea
Published in: Volume PC12042, Electroactive Polymer Actuators and Devices (EAPAD) XXIV, Issue Proc. SPIE PC120420A, 2022
Publisher: SPIE Smart Structures + Nondestructive Evaluation
DOI: 10.1117/12.2615068

Electro-active materials for soft robots and wearables (invited presentation)

Author(s): Vito Cacucciolo (invited presenter)
Published in: Transducers 2023 - IEEE International Conference on Solid-State Sensors, Actuators and Microsystems, Issue 22nd conference, 25-29 June 2023, 2024
Publisher: IEEJ Transactions on Electrical and Electronic Engineering

Dexterous textile manipulation using electroadhesive fingers

Author(s): Krishna Manaswi Digumarti; Vito Cacucciolo; Herbert Shea
Published in: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Issue 2021, 2021
Publisher: IEEE
DOI: 10.1109/iros51168.2021.9636095

Controller design of a robotic assistant for the transport of large and fragile objects

Author(s): J. Dumora, J. Nicolas, F. Geffard
Published in: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Issue 2022, 2022, Page(s) 2111-2118
Publisher: IEEE
DOI: 10.1109/iros47612.2022.9981993

Model-Based Robot Control for Human-Robot Flexible Material Co-Manipulation

Author(s): D. Andronas, E. Kampourakis, K. Bakopoulou, C. Gkournelos, P. Angelakis and S. Makris,
Published in: 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA ), Issue 2021, 2021, Page(s) 1-8
Publisher: IEEE
DOI: 10.1109/etfa45728.2021.9613235

Slip Anticipation for Grasping Deformable Objects Using a Soft Force Sensor

Author(s): E. Judd, B. Aksoy, K. M. Digumarti, H. Shea, D. Floreano
Published in: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Issue 2022, 2022, Page(s) 10003-10008
Publisher: IEEE
DOI: 10.1109/iros47612.2022.9981174

Use of a human-centered manual interaction patterns analysis methodology for the specification of dexterous robotic grippers

Author(s): T. Mokadim F. Gosselin
Published in: 2022 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Issue 2022, 2022, Page(s) 29-36
Publisher: IEEE
DOI: 10.1109/ro-man53752.2022.9900729

An Intelligent Robotics Modular Architecture for Easy Adaptation to Novel Tasks and Applications

Author(s): F. Gosselin, G. Acher, B. Gradoussoff, S. Kchir, F. Keith, O. Lebec, C. Louison, B. Luvison, F. Mayran de Chamisso, B. Meden, V. Molina, M. Morelli, J. Rabarisoa, C. Vienne, G. Ameyugo
Published in: 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE), Issue 2023, 2023, Page(s) 1-8
Publisher: IEEE
DOI: 10.1109/case56687.2023.10260553

Real-time Gesture Recognition in Industry

Author(s): Afra Marıa Pertusa Llopis, Adriana Costas Lopez, Jawad Masood
Published in: "2023 IEEE-RAS International Conference on Robotics and Automation ICRA - Workshop FW15 : ""Cognitive Modelling in Robot Learning for adaptive Human-Robot interactions""", Issue 29 May - 2 June 2023, 2023
Publisher: IEEE

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