Robotic tEchnologies for the Manipulation of cOmplex DeformablE Linear objects

Risultati finali

The CAD platform interface documentation and software will be released

This deliverable will report the system performance from the point of view of the impact Imp1 Imp2 and Imp3 measured through periodic measurements and surveys carried out at different project development stages

Stakeholder analysis and mapping

A report on the stakeholder analysis, dissemination and communication activities tailored to each group.

Intermediate exploitation plan

An updated plan on management procedures and channels for exploitation and protection of the project results

Interactive perception

A technical report or a publication on interactive perception in deformable linear objects handling

Robotic platforms

A description of the robotic platforms for the evaluation of the scenarios envisaged in the project

Force/tactile and pressure/proximity sensors

These deliverables include hardware software and technical documentation of the sensory system components

Planner architecture

A technical report describing both the architecture and the data exchanged between the different components.

Preliminary exploitation plan

Preliminary plan on management procedures and channels for exploitation and protection of the project results.

Final exploitation plan

An updated plan on management procedures and channels for exploitation and protection of the project results including business plans for the project SMEs and guidelines for the market expansion

First assessment of system performance

This deliverable will report the system performance from the point of view of the impact Imp1, Imp2 and Imp3 measured through periodic measurements and surveys carried out at different project development stages.

Risk assessments, safety requirements and measures

The evaluation of potential risks for the considered use cases will be detailed and the definition of the safety requirements will be provided in this deliverable. The safety measures to be introduced in the User Interface and in the robotic platform will be detailed.

Third assessment of system performance

Cable grasping

A technical document or a publication reporting the cable grasping strategy

Skill-based teaching by demonstration

A demonstrator of the skill-based teaching by demonstration will be released.

Wiring harness manipulation

A technical document or a publication reporting the wiring harness manipulation strategy.

Bimanual cable manipulation

A technical document or a publication reporting the bimanual cable manipulation strategy.

User Interface

The User Interface will be released together with its documentation and a report on validation tests.

Report on the robot safety tests

This document will report the results of the safety test performed on the robotic platform. This deliverable includes both the safety controller documentation and implementation in the robotic platform. An updated version of this deliverable will be submitted at month 48.

Initial data management plan

Initial plan on the management of the project data.

Final data management plan

Final plan on the management of the project data

Intermediate data management plan

Intermediate plan on the management of the project data.

Dissemination and communication plan

Initial plan on the dissemination and communication activities (M6); First update (M24); second update (M42).

Project website

The REMODEL website will be set up. The structure and the contents are detailed in section 2.2.

Report on the dissemination activities and materials

Visual identity, promotion materials, engagement with stakeholders, media activity, technical dissemination.

Pubblicazioni

Effective Deployment of CNNs for 3DoF Pose Estimation and Grasping in Industrial Settings

Autori: De Gregorio, Daniele; Zanella, Riccardo; Palli, Gianluca; Di Stefano, Luigi
Pubblicato in: Numero 1, 2020
Editore: IEEE

An Approach based on Machine Vision for the identification and shape estima-tion of deformable linear objects

Autori: Pablo Malvido Fresnillo, Saigopal Vasudevan, Wael M. Mohammed, Jose L. Martinez Lastra (TAU), Jose A. Perez Garcia (UVIGO).
Pubblicato in: Mechatronics, 2023, ISSN 0957-4158
Editore: Pergamon Press Ltd.
DOI: 10.1016/j.mechatron-ics.2023.103085

Exploiting In-Hand Knowledge in Hybrid Joint-Cartesian Mapping for Anthropomorphic Robotic Hands

Autori: Roberto Meattini; Davide Chiaravalli; Gianluca Palli; Claudio Melchiorri
Pubblicato in: IEEE Robotics and Automation Letters, Numero 3, 2021, Pagina/e 5517 - 5524, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2021.3078658

Optical Force/Tactile Sensors for Robotic Applications

Autori: Marco Costanzo and Salvatore Pirozzi
Pubblicato in: IEEE Instrumentation & Measurement MagazineSpecial Numero on “Optical measurements”, 2021, ISSN 1094-6969
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/mim.2021.9491003

Deformable Linear Objects 3D Shape Estimation and Tracking From Multiple 2D Views

Autori: Alessio Caporali, Kevin Galassi, Gianluca Palli
Pubblicato in: IEEE Robotics and Automation Letters, 2023, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2023.3273518

Proximity Sensor for Thin Wire Recognition and Manipulation

Autori: Andrea Cirillo, Gianluca Laudante, Salvatore Pirozzi
Pubblicato in: This article belongs to the Special Numero State-of-Art in Sensors for Robotic Applications, 2021, ISSN 2075-1702
Editore: MDPI
DOI: 10.3390/machines9090188

Effective Deployment of CNNs for 3DoF Pose Estimation and Grasping in Industrial Settings

Autori: Daniele De Gregorio; Riccardo Zanella; Gianluca Palli; Luigi Di Stefano
Pubblicato in: 25th International Conference on Pattern Recognition, ICPR 2020, Numero 3, 2021, ISSN 1051-4651
Editore: IEEE
DOI: 10.1109/icpr48806.2021.9411912

Robot Learning-Based Pipeline for Autonomous Reshaping of a Deformable Linear Object in Cluttered Backgrounds

Autori: Riccardo Zanella; Gianluca Palli
Pubblicato in: IEEE Access, Vol 9, Pp 138296-138306 (2021), Numero 5, 2021, ISSN 2169-3536
Editore: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2021.3118209

Point Cloud Registration With Object-Centric Alignment

Autori: Bare Luka Zagar; Ekim Yurtsever; Arne Peters; Alois C. Knoll
Pubblicato in: Crossref, Numero 21693536, 2022, ISSN 2169-3536
Editore: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2022.3191352

A Weakly Super-vised Semi-Automatic Image Labeling Approach for Deformable Linear Objects

Autori: Alessio Caporali; Matteo Pantano; Lucas Janisch; Daniel Regulin; Gianluca Palli; Dongheui Lee
Pubblicato in: IEEE Robotics and Automation Letters, 2023, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2023.3234799

Extrinsic Calibration of an Eye-In-Hand 2D LiDAR Sensor in Unstructured Environments Using ICP

Autori: Arne Peters, Adam Schmidt, Alois C. Knoll
Pubblicato in: IEEE Robotics and Automation Letters, Numero 5/2, 2020, Pagina/e 929-936, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2020.2965878

Robot Programming by Demonstration: Trajectory Learning Enhanced by sEMG-Based User Hand Stiffness Estimation

Autori: L Biagiotti, R Meattini, D Chiaravalli, G Palli, C Melchiorri
Pubblicato in: IEEE Transactions on Robotics, 2023, ISSN 1552-3098
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2023.3258669

Simulative Evaluation of a Joint-Cartesian Hybrid Motion Mapping for Robot Hands Based on Spatial In-Hand Information

Autori: R Meattini, D Chiaravalli, G Palli, C Melchiorri
Pubblicato in: Frontiers in Robotics and AI, 2022
Editore: Frontiers
DOI: 10.3389/frobt.2022.878364

Tactile sensor data interpretation for estimation of wire features

Autori: Andrea Cirillo, Gianluca Laudante, Salvatore Pirozzi
Pubblicato in: MDPI Electronics, 2021, ISSN 2079-9292
Editore: MDPI
DOI: 10.3390/electronics10121458

Vision-Based Robotic Solution for Wire Insertion with an Assigned Label Orientation

Autori: Pasquale Cirillo, Gianluca Laudante, Salvatore Pirozzi
Pubblicato in: IEEE Access, 2021, Pagina/e 102278-102289, ISSN 2169-3536
Editore: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2021.3098472

Tell Me, What Do You See?—Interpretable Classification of Wiring Harness Branches with Deep Neural Networks

Autori: Piotr Kicki; Michal Bednarek; Paweł Lembicz; Grzegorz Mierzwiak; Amadeusz Szymko; Marek Kraft; Krzysztof Walas
Pubblicato in: Sensors (Basel, Switzerland), Numero 14248220, 2021, ISSN 1424-8220
Editore: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s21134327

sEMG-Based Human-in-the-Loop Control of Elbow Assistive Robots for Physical Tasks and Muscle Strength Training

Autori: Roberto Meattini, Davide Chiaravalli, Gianluca Palli, Claudio Melchiorri
Pubblicato in: IEEE Robotics and Automation Letters, Numero 5/4, 2020, Pagina/e 5795-5802, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2020.3010741

CAD-Based Robot Programming Solution for Wire Harness Manufacturing in Aeronautic Sector

Autori: Javier González Huarte, Maite Ortiz de Zarate, and Aitor Ibarguren
Pubblicato in: Robotics, 2023, ISSN 2218-6581
Editore: MDPI
DOI: 10.3390/robotics12050130

RT-DLO: Real-Time Deformable Linear Objects Instance Segmentation

Autori: Alessio Caporali; Kevin Galassi; Bare Luka Žagar; Riccardo Zanella; Gianluca Palli; Alois C Knoll
Pubblicato in: IEEE Transac-tions on Industrial Informatics, 2023, ISSN 1551-3203
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tii.2023.3245641

A Safe and Energy Efficient Robotic System for Industrial Automatic Tests on Domestic Appliances: Problem Statement and Proof of Concept

Autori: Wendwosen Bellete Bedada, Rawan Kalawoun, Ismayil Ahmadli, Gianluca Palli
Pubblicato in: Procedia Manufacturing, Numero 51, 2020, Pagina/e 454-461, ISSN 2351-9789
Editore: Elsevier
DOI: 10.1016/j.promfg.2020.10.064

Extending the motion planning framework—MoveIt with advanced manipulation functions for industrial applications

Autori: Pablo Malvido Fresnillo, Saigopal Vasudevan, Wael M. Mohammed, Jose L. Martinez Lastra,Jose A. Perez Garcia
Pubblicato in: Robotics and Com-puter-Integrated Manufacturing, 2023, ISSN 0736-5845
Editore: Pergamon Press Ltd.
DOI: 10.1016/j.rcim.2023.102559

Ariadne+: Deep Learning-based Augmented Framework for the Instance Segmentation of Wires

Autori: Alessio Caporali; Riccardo Zanella; Daniele De Gregorio; Gianluca Palli
Pubblicato in: IEEE Transactions on Industrial Informatics, 2022, ISSN 1551-3203
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tii.2022.3154477

New model-based manipulation technique for reshaping deformable linear objects

Autori: Alaa Khalifa; Gianluca Palli
Pubblicato in: The International Journal of Advanced Manufacturing Technology, Numero 6, 2022, Pagina/e 3575–3583
Editore: Springer
DOI: 10.1007/s00170-021-08107-x

Combining Unsupervised Muscle Co-Contraction Estimation With Bio-Feedback Allows Augmented Kinesthetic Teaching

Autori: Roberto Meattini; Davide Chiaravalli; Luigi Biagiotti; Gianluca Palli; Claudio Melchiorri
Pubblicato in: IEEE Robotics and Automation Letters, Numero 4, 2021, Pagina/e 6180 - 6187, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2021.3092269

Symplectic Integration for Multivariate Dynamic Spline-Based Model of Deformable Linear Objects

Autori: Alaa Khalifa; Gianluca Palli
Pubblicato in: Journal of Computational and Nonlinear Dynamics, Numero 4, 2021
Editore: ASME
DOI: 10.48550/arxiv.2108.08935

Beyond the Baseline: 3D Reconstruction of Tiny Objects With Si ngle Camera Ste reo R obot

Autori: Daniele De Gregorio; Matteo Poggi; Pierluigi Zama Ramirez; Gianluca Palli; Stefano Mattoccia; Luigi Di Stefano
Pubblicato in: IEEE Access, Numero 4, 2021, ISSN 2169-3536
Editore: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2021.3108626

Tactile Sensors for Parallel Grippers: Design and Characterization.

Autori: Andrea Cirillo; Marco Costanzo; Gianluca Laudante; Salvatore Pirozzi
Pubblicato in: Sensors, Vol 21, Iss 1915, p 1915 (2021), Numero 5, 2021, ISSN 1424-8220
Editore: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s21051915

Tactile Sensors for Parallel Grippers: Design and Characterization

Autori: Andrea Cirillo, Marco Costanzo, Gianluca Laudante, Salvatore Pirozzi
Pubblicato in: Sensors, Numero 21/5, 2021, Pagina/e 1915, ISSN 1424-8220
Editore: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s21051915

Stability and Convergence Analysis of 3D Feature-Based Visual Servoing

Autori: Marco Costanzo; Giuseppe De Maria; Ciro Natale; Antonio Russo
Pubblicato in: IEEE Ro-botics and Automation Letters, Numero 23773766, 2022, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/LRA.2022.3211154

sEMG-Based Minimally Supervised Regression Using Soft-DTW Neural Networks for Robot Hand Grasping Control

Autori: Roberto Meattini; Alessandra Bernardini; Gianluca Palli; Claudio Melchiorri
Pubblicato in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2022.3193247

Human to Robot Hand Motion Mapping Methods: Review and Classification

Autori: Roberto Meattini; Raúl Suárez; Gianluca Palli; Claudio Melchiorri
Pubblicato in: Crossref, Numero 3, 2022, ISSN 1552-3098
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2022.3205510

FASTDLO: Fast Deformable Linear Objects Instance Segmentation

Autori: Caporali, A., Galassi, K., Zanella, R., Palli, G.
Pubblicato in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2022.3189791

A Method for Understanding and Digitizing Manipulation Activities using Programming by Demonstration in Robotic Applications

Autori: Pablo Malvido Fresnillo, Saigopal Vasudevan, Wael M. Mohammed, Jose L. Martinez Lastra (TAU), Jose A. Perez Garcia (UVIGO).
Pubblicato in: Robotics and Autonomous Systems, 2023, ISSN 0921-8890
Editore: Elsevier BV
DOI: 10.1016/j.robot.2023.104556

New Metrics for Industrial Depth Sensors Evaluation for Precise Robotic Applications

Autori: Cop, Konrad P.; Peters, Arne; Žagar, Bare L; Hettegger, Daniel; Knoll, Alois C
Pubblicato in: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021
Editore: IEEE
DOI: 10.1109/iros51168.2021.9636322

An approach for the bimanual manipulation of a deformable linear object using a dual-arm industrial robot : cable routing use case

Autori: Pablo Malvido Fresnillo; Saigopal Vasudevan; Wael M. Mohammed
Pubblicato in: 5th IEEE International Conference on Industrial Cyber-Physical Systems (ICPS), 24 – 26 May 2022, Numero 1, 2022
Editore: IEEE
DOI: 10.1109/icps51978.2022.9816981

A Low Cost Tactile Sensor for Large Surfaces Based on Deformable Skin with Embedded IMU

Autori: Yuki Iwamoto, Roberto Meattini, Davide Chiaravalli, Gianluca Palli, Koji Shibuya, Claudio Melchiorri
Pubblicato in: 2020 IEEE Conference on Industrial Cyberphysical Systems (ICPS), 2020, Pagina/e 501-506, ISBN 978-1-7281-6389-5
Editore: IEEE
DOI: 10.1109/icps48405.2020.9274737

Robotic Wires Manipulation for Switchgear Cabling and Wiring Harness Manufacturing

Autori: Kevin Galassi, Gianluca Palli
Pubblicato in: 2021 4th IEEE International Conference on Industrial Cyber-Physical Systems (ICPS), 2021
Editore: IEEE
DOI: 10.1109/icps49255.2021.9468128

Validating DLO Models from Shape Observation

Autori: Gianluca Palli, Salvatore Pirozzi
Pubblicato in: 2021
Editore: IEEE/ASME
DOI: 10.1109/aim46487.2021.9517570

A Cyber-Physical System for Clothes Detection, Manipulation and Washing Machine Loading

Autori: Alessio Caporali; Wendwosen Bellete Bedada; Gianluca Palli
Pubblicato in: 2021 4th IEEE International Conference on Industrial Cyber-Physical Systems (ICPS), Numero 4, 2021, ISBN 978-1-7281-6207-2
Editore: IEEE
DOI: 10.1109/icps49255.2021.9468189

Combining Vision and Tactile Data for Cable Grasping

Autori: Alessio Caporali; Kevin Galassi; Gianluca Laudante; Gianluca Palli; Salvatore Pirozzi
Pubblicato in: AIM, Numero 2, 2021
Editore: IEEE/ASME
DOI: 10.1109/aim46487.2021.9517447

Auto-generated Wires Dataset for Semantic Segmentation with Domain-Independence

Autori: Zanella, R., Caporali, A., Tadaka, K., De Gregorio, D., Palli, G.
Pubblicato in: 2021
Editore: IEEE
DOI: 10.1109/icccr49711.2021.9349395

Graphical visualization of contact forces and hand movements during in-hand manipulation

Autori: Raúl Suárez, Andrés Montaño
Pubblicato in: 27th Annual Conference of the IEEE Industrial Electronics Society, 2022
Editore: IEEE
DOI: 10.1109/etfa52439.2022.9921664

Training an Under-actuated Gripper for Grasping Shallow Objects Using Reinforcement Learning

Autori: Wael M. Mohammed, Miroslaw Nejman, Fernando Castano, Jose L. Martinez Lastra, Stanislaw Strzelczak, Alberto Villalonga
Pubblicato in: 2020 IEEE Conference on Industrial Cyberphysical Systems (ICPS), 2020, Pagina/e 493-498, ISBN 978-1-7281-6389-5
Editore: IEEE
DOI: 10.1109/icps48405.2020.9274727

Towards the automation of wire harness manufacturing: a robotic manipulator with sensorized fingers

Autori: Andrea Govoni, Gianluca Laudante, Michele Mirto, Ciro Natale, Salvatore Pirozzi
Pubblicato in: 2023 9th International Conference on Control, Decision and Infor-mation Technolo-gies (CoDIT), 2023
Editore: IEEE

3D DLO Shape Detection and Grasp Planning from Multiple 2D Views

Autori: Alessio Caporali; Kevin Galassi; Gianluca Palli
Pubblicato in: AIM, Numero 10, 2021
Editore: IEEE/ASME
DOI: 10.1109/aim46487.2021.9517655

Deformable Objects Grasping and Shape Detection with Tactile Fingers and Industrial Grippers

Autori: Pablo Malvido Fresnillo; Saigopal Vasudevan; Wael M. Mohammed; Jose L. Martinez Lastra; Gianluca Laudante; Salvatore Pirozzi; Kevin Galassi; Gianluca Palli
Pubblicato in: ICPS, Numero 1, 2021
Editore: IEEE
DOI: 10.1109/icps49255.2021.9468151

DLOFTBs – Fast Tracking of Deformable Linear Objects with B-splines

Autori: Piotr Kicki, Amadeusz Szymko, Krzysztof Walas
Pubblicato in: IEEE International Conference on Robotics and Automation (ICRA), 2023
Editore: IEEE
DOI: 10.1109/icra48891.2023.10160437

Real-Time Instance Segmentation of Pedestrians using Transfer Learning

Autori: Bare Luka Žagar; Tobias Preintner; Alois C. Knoll; Ekim Yurtsever
Pubblicato in: 2022 27th International Conference on Automation and Computing (ICAC), 2022, ISBN 978-1-6654-9807-4
Editore: IEEE
DOI: 10.1109/icac55051.2022.9911121

Towards a Twisted String Actuated Haptic Device: Experimental Testing of a 2-D Virtual Environment and Teleoperation Interface

Autori: Linda Feenstra; Umberto Scarcia; Riccardo Zanella; Roberto Meattini; Davide Chiaravalli; Gianluca Palli; Claudio Melchiorri
Pubblicato in: 2021 20th International Conference on Advanced Robotics (ICAR), 2022
Editore: IEEE
DOI: 10.1109/icar53236.2021.9659420

Cable Detection and Manipulation for DLO-in-Hole Assembly Tasks

Autori: Alessio Caporali, Kevin Galassi, Gianluca Palli
Pubblicato in: 5th IEEE International Conference on Industrial Cyber-Physical Systems (ICPS), 24 – 26 May 2022, 2022
Editore: IEEE
DOI: 10.1109/icps51978.2022.9817006

An Approach for Modeling Grasping Configuration Using Ontology-based Taxonomy

Autori: Wael M. Mohammed, Pablo Malvido Fresnillo, Saigopal Vasudevan, Ziga Gosar, Jose L. Martinez Lastra
Pubblicato in: 2020 IEEE Conference on Industrial Cyberphysical Systems (ICPS), 2020, Pagina/e 507-513, ISBN 978-1-7281-6389-5
Editore: IEEE
DOI: 10.1109/icps48405.2020.9274760

Wire Grasping by Using Proximity and Tactile Sensors

Autori: Cirillo Andrea; Laudante Gianluca; Pirozzi Salvatore
Pubblicato in: 5th IEEE International Conference on Industrial Cyber-Physical Systems (ICPS), 24 – 26 May 2022, Numero 2, 2022
Editore: IEEE
DOI: 10.1109/ICPS51978.2022.9816936

Copy and Paste Augmentation for Deformable Wiring Harness Bags Segmentation

Autori: Bare Luka Žagar, Alessio Caporali, Amadeusz Szymko, Piotr Kicki, Krzysztof Walas, Gianluca Palli, Alois C Knoll
Pubblicato in: 2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2023
Editore: IEEE
DOI: 10.1109/aim46323.2023.10196168

Pointcloud-based Identification of Optimal Grasping Poses for Cloth-like Deformable Objects

Autori: Alessio Caporali, Gianluca Palli
Pubblicato in: 2020 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), 2020, Pagina/e 581-586, ISBN 978-1-7281-8956-7
Editore: IEEE
DOI: 10.1109/etfa46521.2020.9211879

Model-based Manipulation of Deformable Linear Objects by Multivariate Dynamic Splines

Autori: Gianluca Palli
Pubblicato in: 2020 IEEE Conference on Industrial Cyberphysical Systems (ICPS), 2020, Pagina/e 520-525, ISBN 978-1-7281-6389-5
Editore: IEEE
DOI: 10.1109/icps48405.2020.9274730

FASTDLO: Towards Real-Time Perception of Deformable Linear Objects

Autori: Caporali, Alessio; Palli, Gianluca; Galassi, Kevin
Pubblicato in: Fourth Italian Conference on Robotics and Intelligent Machines, Numero 1, 2022, ISBN 9788894580532
Editore: Zenodo
DOI: 10.5281/zenodo.7531208

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