Skip to main content
European Commission logo
italiano italiano
CORDIS - Risultati della ricerca dell’UE
CORDIS
CORDIS Web 30th anniversary CORDIS Web 30th anniversary

Manipulation Enhancement through Robotic Guidance and Intelligent Novel Grippers

Risultati finali

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.

Pubblicazioni

Shielded soft force sensors

Autori: Bekir Aksoy, Yufei Hao, Giulio Grasso, Krishna Manaswi Digumarti, Vito Cacucciolo, Herbert Shea
Pubblicato in: Nature Communications, Numero 2023, 2022, ISSN 2041-1723
Editore: 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

Autori: Giorgos Papadopoulos, Dionisis Andronas, Emmanouil Kampourakis, Nikolaos Theodoropoulos, Panagiotis Stylianos Kotsaris, Sotiris Makris
Pubblicato in: The International Journal of Advanced Manufacturing Technology, Numero 2023, 2023, ISSN 0268-3768
Editore: 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

Autori: Konstantinos Kavvathas; Emmanouil Kampourakis; Dionisis Andronas; Nikolaos Fousekis; Sotiris Makris
Pubblicato in: International Journal of Computer Integrated Manufacturing, Numero 12, 2024, Pagina/e 1-24, ISSN 1362-3052
Editore: Taylor & Francis
DOI: 10.1080/0951192x.2024.2331533

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

Autori: Sotiris Makris, Emmanouil Kampourakis, DionisisAndronas
Pubblicato in: CIRP Annals, Numero 2022, 2022, ISSN 0007-8506
Editore: 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

Autori: Nikolaos Theodoropoulos, Emmanouil Kampourakis, Dionisis Andronas, Sotiris Makris
Pubblicato in: Journal of Manufacturing Systems, Numero 2023, 2023, Pagina/e 525-537, ISSN 0278-6125
Editore: Elsevier BV
DOI: 10.1016/j.jmsy.2023.08.022

Automated assembly of non-rigid objects

Autori: Sotiris Makris, Franz Dietrich, Karel Kellens, S.Jack Hu
Pubblicato in: CIRP Annals, Numero 2023, 2023, Pagina/e 513-539, ISSN 0007-8506
Editore: Hallwag AG
DOI: 10.1016/j.cirp.2023.05.003

Twist modelling for assembly of wiring harnesses

Autori: Papacharalampopoulos, Alexios; Makris, Sotiris
Pubblicato in: Procedia CIRP, Numero Volume 97, 2021, Pagina/e 71-75, ISSN 2212-8271
Editore: 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

Autori: Ugo Vollhardt; Maria Makarov; Alex Caldas; Mathieur Grossard; Pedro Rodriguez-Ayerbe
Pubblicato in: IFAC-PapersOnLine, Numero 2020, 2020, Pagina/e 9905-9911, ISSN 2405-8963
Editore: 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

Autori: Andronas, Dionisis; Kokotinis, George; Makris, Sotiris
Pubblicato in: Procedia CIRP, Numero Volume 97, 2021, Pagina/e 447-452, ISSN 2212-8271
Editore: Elsevier
DOI: 10.1016/j.procir.2020.08.005

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

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

Reinforcement Learning-Based Approaches in Manufacturing Environments

Autori: 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
Pubblicato in: Artificial Intelligence in Manufacturing - Enabling Intelligent, Flexible andCost-Effective Production Through AI, Numero February 2024, 2024, Pagina/e 195-216, ISBN 978-3-031-46452-2
Editore: J. Soldatos, SPRINGER
DOI: 10.1007/978-3-031-46452-2_11

MERGING project : Simulation for enhanced perception and planning

Autori: Diego Perez, Dionisis Andronas
Pubblicato in: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021), Numero 27 September 2021, 2021, Pagina/e RoMaDO-RA workshop (Robotic Manipulation of Deformable Objects: Challenges in Perception, Planning and Control for Real-World Applications)
Editore: IEEE/RSJ

CANIA (Cloth simulAtion eNvironment for Intelligent Agent training)

Autori: González Val, Carlos et al.
Pubblicato in: Zenodo open source data and project, Numero 12 July 2023, 2023
Editore: Zenodo
DOI: 10.5281/zenodo.8138878

Electro-active soft materials for robots and wearables

Autori: Vito Cacucciolo
Pubblicato in: Volume PC12741, Advanced Materials, Biomaterials, and Manufacturing Technologies for Security and Defence, Numero Proc. SPIE PC127410C, 2023
Editore: SPIE Security + Defence
DOI: 10.1117/12.2687962

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

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

MERGING website

Autori: Merging consortium
Pubblicato in: 2019
Editore: Laboratory for Manufacturing Systems and Automation (LMS)

A variable stiffness soft gripper with integrated ion-drag pump

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

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

Autori: Vito Cacucciolo (invited presenter)
Pubblicato in: Transducers 2023 - IEEE International Conference on Solid-State Sensors, Actuators and Microsystems, Numero 22nd conference, 25-29 June 2023, 2024
Editore: IEEJ Transactions on Electrical and Electronic Engineering

Dexterous textile manipulation using electroadhesive fingers

Autori: Krishna Manaswi Digumarti; Vito Cacucciolo; Herbert Shea
Pubblicato in: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Numero 2021, 2021
Editore: IEEE
DOI: 10.1109/iros51168.2021.9636095

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

Autori: J. Dumora, J. Nicolas, F. Geffard
Pubblicato in: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Numero 2022, 2022, Pagina/e 2111-2118
Editore: IEEE
DOI: 10.1109/iros47612.2022.9981993

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

Autori: D. Andronas, E. Kampourakis, K. Bakopoulou, C. Gkournelos, P. Angelakis and S. Makris,
Pubblicato in: 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA ), Numero 2021, 2021, Pagina/e 1-8
Editore: IEEE
DOI: 10.1109/etfa45728.2021.9613235

Slip Anticipation for Grasping Deformable Objects Using a Soft Force Sensor

Autori: E. Judd, B. Aksoy, K. M. Digumarti, H. Shea, D. Floreano
Pubblicato in: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Numero 2022, 2022, Pagina/e 10003-10008
Editore: IEEE
DOI: 10.1109/iros47612.2022.9981174

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

Autori: T. Mokadim F. Gosselin
Pubblicato in: 2022 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Numero 2022, 2022, Pagina/e 29-36
Editore: IEEE
DOI: 10.1109/ro-man53752.2022.9900729

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

Autori: 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
Pubblicato in: 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE), Numero 2023, 2023, Pagina/e 1-8
Editore: IEEE
DOI: 10.1109/case56687.2023.10260553

Real-time Gesture Recognition in Industry

Autori: Afra Marıa Pertusa Llopis, Adriana Costas Lopez, Jawad Masood
Pubblicato in: "2023 IEEE-RAS International Conference on Robotics and Automation ICRA - Workshop FW15 : ""Cognitive Modelling in Robot Learning for adaptive Human-Robot interactions""", Numero 29 May - 2 June 2023, 2023
Editore: IEEE

È in corso la ricerca di dati su OpenAIRE...

Si è verificato un errore durante la ricerca dei dati su OpenAIRE

Nessun risultato disponibile