Self-reconfiguration of a robotic workcell for the recycling of electronic waste

CORDIS fornisce collegamenti ai risultati finali pubblici e alle pubblicazioni dei progetti ORIZZONTE.

I link ai risultati e alle pubblicazioni dei progetti del 7° PQ, così come i link ad alcuni tipi di risultati specifici come dataset e software, sono recuperati dinamicamente da .OpenAIRE .

Risultati finali

Use case 1: solution with adaptation and self-reconfiguration

Demonstrator of use case 1: solution with adaptation and self-reconfiguration.

Reconfigurable and adaptable soft end-effectors for electronic waste recycling

First prototype of reconfigurable and adaptable soft end-effectors for electronic waste recycling.

ReconCycle system for use case 1: exemplar archetypical solution

First demonstrator of ReconCycle system for use case 1: exemplar archetypical solution.

Data management plan

Report describing the data management plan, including how ReconCycle will participate in the Pilot on Open Research Data in Horizon 2020.

Project website

ReconCycle project website.

Semantic framework of scene description

Report and data format specification sheet for the semantic framework of scene description

Benchmark and KPI definition

Report on benchmark and KPI definition

Use-case structure (for use cases 1 and 2) and dis-assembly procedures

Report on use-case structure (for use cases 1 and 2) and dis-assembly procedures.

ROS-based software architecture for disassembly cells

The modular software architecture of the disassembly cell will be based on ROS, which provides interfaces to robots, sensors and other hardware elements and also enables communication within the cell. This deliverable provides a report about the required software architecture.

Skill definition and control methods in ReconCycle

Report or scientific publication on skill definition and control methods in ReconCycle

Pubblicazioni

Determining exception context in assembly operations from multimodal data

Autori: Mihael Simonič, Matevž Majcen Hrovat, Sašo Džeroski, Aleš Ude and Bojan Nemec
Pubblicato in: Sensors, Numero 14248220, 2022, ISSN 1424-8220
Editore: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s22207962

BRL/Pisa/IIT SoftHand: A low-cost, 3D-printed, underactuated, tendon-driven hand with soft and adaptive synergies

Autori: Haoran Li, Christopher J. Ford, Matteo Bianchi, Manuel G. Catalano, Efi Psomopoulou, and Nathan F. Lepora
Pubblicato in: IEEE Robotics and Automation Letters, Numero 23773766, 2022, Pagina/e 8745-8751, ISSN 2377-3766
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2022.3187876

Hierarchical learning of robotic contact policies

Autori: Mihael Simonič, Aleš Ude, Bojan Nemec
Pubblicato in: Robotics and Computer-Integrated Manufacturing, Numero 86, 2023, Pagina/e 102657, ISSN 0736-5845
Editore: Pergamon Press Ltd.
DOI: 10.1016/j.rcim.2023.102657

Damping in compliant actuation: A review

Autori: Simone Monteleone, Francesca Negrello, Manuel G. Catalano, Manolo Garabini, and Giorgio Grioli
Pubblicato in: IEEE Robotics & Automation Magazine, Numero 21618089, 2022, Pagina/e 47-66, ISSN 2161-8089
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/mra.2021.3138388

Generalization-Based Acquisition of Training Data for Motor Primitive Learning by Neural Networks

Autori: Zvezdan Lončarević, Rok Pahič, Aleš Ude, Andrej Gams
Pubblicato in: Applied Sciences, Numero 11/3, 2021, Pagina/e 1013, ISSN 2076-3417
Editore: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/app11031013

Robot skill learning in latent space of a deep autoencoder neural network

Autori: Rok Pahič, Zvezdan Lončarević, Andrej Gams, Aleš Ude
Pubblicato in: Robotics and Autonomous Systems, Numero 135, 2021, Pagina/e 103690, ISSN 0921-8890
Editore: Elsevier BV
DOI: 10.1016/j.robot.2020.103690

Exploring Saliency for Learning Sensory-Motor Contingencies in Loco-Manipulation Tasks

Autori: Elisa Stefanini, Gianluca Lentini, Giorgio Grioli, Manuel Giuseppe Catalano, Antonio Bicchi
Pubblicato in: Robotics, Numero 13, 2024, Pagina/e 58, ISSN 2218-6581
Editore: MDPI
DOI: 10.3390/robotics13040058

Overcoming the torque/stiffness range tradeoff in antagonistic variable stiffness actuators

Autori: Riccardo Mengacci, Manolo Garabini, Giorgio Grioli, Manuel G. Catalano, and Antonio Bicchi
Pubblicato in: IEEE/ASME Transactions on Mechatronics, Numero 10834435, 2021, Pagina/e 3186-3197, ISSN 1083-4435
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tmech.2021.3055364

Passivity-based adaptive force-impedance control for modular multi-manual object manipulation

Autori: Erfan Shahriari, Seyed A. B. Birjandi, Sami Haddadin
Pubblicato in: IEEE Robotics and Automation Letters, Numero 23773766, 2022, Pagina/e 2194-2201, ISSN 2377-3766
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2022.3142903

Simulated mental imagery for robotic task planning

Autori: Shijia Li, Tomas Kulvicius, Minija Tamosiunaite, Florentin Wörgötter
Pubblicato in: Frontiers in Neurorobotics, Numero 17, 2023, ISSN 1662-5218
Editore: Frontiers Research Foundation
DOI: 10.3389/fnbot.2023.1218977

Unified force-impedance control

Autori: Sami Haddadin, Erfan Shahriari
Pubblicato in: The International Journal of Robotics Research, Numero 43, 2024, Pagina/e 2112-2141, ISSN 0278-3649
Editore: SAGE Publications
DOI: 10.1177/02783649241249194

Improving Ergonomics of Collaborative Robot Workcells Using Passive Reconfigurable Fixtures

Autori: Miha Deniša, Aleš Ude
Pubblicato in: IEEE Access, Numero 12, 2024, Pagina/e 124871-124888, ISSN 2169-3536
Editore: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2024.3451975

Tactile Exploration Using Unified Force-Impedance Control

Autori: Kübra Karacan, Divij Grover, Hamid Sadeghian, Fan Wu, Sami Haddadin
Pubblicato in: IFAC-PapersOnLine, Numero 56, 2024, Pagina/e 5015-5020, ISSN 2405-8963
Editore: Elsevier BV
DOI: 10.1016/j.ifacol.2023.10.1279

An open-source ROS-Gazebo toolbox for simulating robots with compliant actuators

Autori: Riccardo Mengacci, Grazia Zambella, Giorgio Grioli, Danilo Caporale, Manuel G. Catalano, and Antonio Bicchi
Pubblicato in: Frontiers in Robotics and AI, Numero 22969144, 2021, ISSN 2296-9144
Editore: Frontiers
DOI: 10.3389/frobt.2021.713083

A Suspended Aerial Manipulation Avatar for Physical Interaction in Unstructured Environments

Autori: Fanyi Kong, Grazia Zambella, Simone Monteleone, Giorgio Grioli, Manuel G. Catalano, Antonio Bicchi
Pubblicato in: IEEE Access, Numero 12, 2024, Pagina/e 48108-48125, ISSN 2169-3536
Editore: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2024.3383774

Tactile Robot Programming: Transferring Task Constraints into Constraint-Based Unified Force-Impedance Control

Autori: Kübra Karacan, Robin Jeanne Kirschner, Hamid Sadeghian, Fan Wu, Sami Haddadin
Pubblicato in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Pagina/e 204-210
Editore: IEEE
DOI: 10.1109/icra57147.2024.10610054

A Passivity-based Approach on Relocating High-Frequency Robot Controller to the Edge Cloud

Autori: Xiao Chen, Hamid Sadeghian, Lingyun Chen, Mario Tröbinger, Abadalla Swirkir, Abdeldjallil Naceri, Sami Haddadin
Pubblicato in: 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023, Pagina/e 5242-5248, ISBN 979-8-3503-2365-8
Editore: IEEE
DOI: 10.1109/icra48891.2023.10160366

dSEDA: a Differential Series Elastic Damped Actuator

Autori: Simone Monteleone, Francesca Negrello, Giorgio Grioli, and Manuel G. Catalano
Pubblicato in: 2022 International Conference on Robotics and Automation (ICRA), 2022, Pagina/e 11395-11401, ISBN 978-1-7281-9681-7
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/icra46639.2022.9811727

An Integrated, Force-Sensitive, Impedance Controlled, Tendon-Driven Wrist: Design, Modeling, and Control

Autori: Alexander Toedtheide, Johannes Kuhn, Edmundo Pozo Fortunic, Sami Haddadin
Pubblicato in: 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), 2022, Pagina/e 25-32, ISBN 978-1-7281-9372-4
Editore: IEEE
DOI: 10.1109/humanoids47582.2021.9555777

Towards integrated tactile sensorimotor control in anthropomorphic soft robotic hands

Autori: Lepora, Nathan F.; Stinchcombe, Andrew; Ford, Chris; Brown, Alfred; Lloyd, John; Catalano, Manuel G.; Bianchi, Matteo; Ward-Cherrier, Benjamin
Pubblicato in: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/icra48506.2021.9561350

An Application Study on Reconfigurable Robotic Workcells and Policy Adaptation for Electronic Waste Recycling

Autori: Mihael Simonič, Boris Kuster, Matija Mavsar, Gašper Šavle, Sebastian Ruiz, Martin Bem, Matevž Majcen Hrovat, Aleš Ude
Pubblicato in: 2024 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE International Conference on Robotics, Automation and Mechatronics (RAM), 2024, Pagina/e 180-186
Editore: IEEE
DOI: 10.1109/cis-ram61939.2024.10673362

Modular ROS-based software architecture for reconfigurable, Industry 4.0 compatible robotic workcells

Autori: Mihael Simonič, Rok Pahič, Timotej Gašpar, Saeed Abdolshah, Sami Haddadin, Manuel G. Catalano, Florentin Wörgötter, and Aleš Ude
Pubblicato in: 2021 20th International Conference on Advanced Robotics (ICAR), 2021, Pagina/e 44-51, ISBN 978-1-6654-3684-7
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/icar53236.2021.9659378

Enhancing the Tracking Performance of Passivity-based High-Frequency Robot Cloud Control

Autori: Fabian Jakob, Xiao Chen, Hamid Sadeghian, Sami Haddadin
Pubblicato in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Pagina/e 12097-12103
Editore: IEEE
DOI: 10.1109/icra57147.2024.10610616

Robust Execution of Assembly Policies Using a Pose Invariant Task Representation

Autori: Bojan Nemec, Matevž Majcen Hrovat, Mihael Simonič, Suhan Shetty, Sylvain Calinon, Aleš Ude
Pubblicato in: 2023 20th International Conference on Ubiquitous Robots (UR), 2023, Pagina/e 779-786
Editore: IEEE
DOI: 10.1109/ur57808.2023.10202430

The Inherent Representation of Tactile Manipulation Using Unified Force-Impedance Control

Autori: Kübra Karacan, Robin Jeanne Kirschner, Hamid Sadeghian, Fan Wu, Sami Haddadin
Pubblicato in: 2023 62nd IEEE Conference on Decision and Control (CDC), 2024, Pagina/e 4745-4752
Editore: IEEE
DOI: 10.1109/cdc49753.2023.10383326

Passivity-Based Skill Motion Learning in Stiffness-Adaptive Unified Force-Impedance Control

Autori: Kübra Karacan, Hamid Sadeghian, Robin Kirschner, Sami Haddadin
Pubblicato in: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Editore: IEEE
DOI: 10.1109/iros47612.2022.9981728

Design of a modular robotic workcell platform enabled by plug & produce connectors

Autori: Primož Radanovič, Jaka Jereb, Igor Kovač, and Aleš Ude
Pubblicato in: 2021 20th International Conference on Advanced Robotics (ICAR), 2021, Pagina/e 304-309, ISBN 978-1-6654-3684-7
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/icar53236.2021.9659345

Towards a reference framework for tactile robot performance and safety benchmarking

Autori: Robin J. Kirschner, Alexander Kurdas, Kübra Karacan, Philipp Junge, Seyed A. B. Birjandi, Nico Mansfeld, Saeed Abdolshah, and Sami Haddadin
Pubblicato in: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/iros51168.2021.9636329

Adaptive Robotic Levering for Recycling Tasks

Autori: Boris Kuster, Mihael Simonič, Aleš Ude
Pubblicato in: Mechanisms and Machine Science, Advances in Service and Industrial Robotics, 2023, Pagina/e 417-425
Editore: Springer Nature Switzerland
DOI: 10.1007/978-3-031-32606-6_49

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