Functionalised Soft robotic gripper for delicate produce harvesting powered by imitation learning-based control

Projektinformationen

SoftGrip

ID Finanzhilfevereinbarung: 101017054

DOI

10.3030/101017054

Projekt abgeschlossen

EK-Unterschriftsdatum 4 Dezember 2020

Startdatum 1 Januar 2021

Enddatum 30 Juni 2024

Finanziert unter

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

Gesamtkosten

€ 2 998 955,00

EU-Beitrag

€ 2 998 955,00

Koordiniert durch

SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO S ANNA
Italy

CORDIS bietet Links zu öffentlichen Ergebnissen und Veröffentlichungen von HORIZONT-Projekten.

Links zu Ergebnissen und Veröffentlichungen von RP7-Projekten sowie Links zu einigen Typen spezifischer Ergebnisse wie Datensätzen und Software werden dynamisch von OpenAIRE abgerufen.

Leistungen

Documents, reports (7)

Final Report on Dissemination and Communication Activities
Dissemination and Communication Plan
Report on multi-task and meta-learning algorithms including neural network architectures
SoftGrip software and hardware architecture
Interim Report on Dissemination and Communication Activities
SoftGrip use case description, functional requirements and standards

SoftGrip use case description functional requirements and standards

Report on SoftGrip performance assessment

Demonstrators, pilots, prototypes (7)

Adaptation and skill transfer learning algorithms
Validated SoftGrip prototype
Annotated datasets of human expert demonstrations
Integrated SoftGrip hardware system
SoftGrip machine vision system
Embedded sensor-based gripper configuration reconstruction
Continuum mechanics model for model-based control

Websites, patent fillings, videos etc. (1)

Project website and promotional material

Open Research Data Pilot (1)

SoftGrip Data Management Plan

Veröffentlichungen

Peer reviewed articles (1)

Actuation Technologies for Soft Robot Grippers and Manipulators: A Review.

Autoren: Shadab Zaidi, Martina Maselli, Cecilia Laschi, Matteo Cianchetti
Veröffentlicht in: Current Robotics Reports, 2021, ISSN 2662-4087
Herausgeber: Springer Nature Switzerland AG
DOI: 10.1007/s43154-021-00054-5

Conference proceedings (2)

Task Driven Skill Learning in a Soft-Robotic Arm

Autoren: Paris Oikonomou, Athanasios Dometios, Mehdi Khamassi, Costas S. Tzafestas
Veröffentlicht in: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021
Herausgeber: IEEE
DOI: 10.1109/iros51168.2021.9636812

Reproduction of Human Demonstrations with a Soft-Robotic Arm based on a Library of Learned Probabilistic Movement Primitives

Autoren: Paris Oikonomou, Athanasios Dometios, Mehdi Khamassi, Costas S. Tzafestas
Veröffentlicht in: 2022 International Conference on Robotics and Automation (ICRA), 2022
Herausgeber: IEEE
DOI: 10.1109/icra46639.2022.9811627