AI-Powered Manipulation System for Advanced Robotic Service, Manufacturing and Prosthetics

Project Information

IntelliMan

Grant agreement ID: 101070136

DOI

10.3030/101070136

EC signature date 13 June 2022

Start date 1 September 2022

End date 28 February 2026

Funded under

• Digital, Industry and Space

Total cost

€ 4 509 303,00

EU contribution

€ 4 509 303,00

Coordinated by

ALMA MATER STUDIORUM - UNIVERSITA DI BOLOGNA
Italy

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Deliverables

Documents, reports (5)

Multiresolution shape encoding with GPIS representation

A document reporting the use of GPIS to model the object shape and surrounding environment.

Preliminary exploitation plan

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

Low dimensional manifolds with tensor factorization

A report on how to exploit tensor factorization to encode various manipulation tasks and object properties.

Project Handbook

The Project Handbook brings together a wide range of generaloperational information including contact details, roles and responsibilities of the partners according to the governance structure, operational and reporting processes, templates, procedures for the preparation of deliverables.

Fusion of control and sensing data as a PoE

Documentation about how to treat the fusion of diverse sources of information as a Product of Experts (PoE).

Websites, patent fillings, videos etc. (3)

Project website

The IntelliMan website will be set up. The structure and the contents will be tailored to inform the public as well as to reach an expert (scientific / industrial) target group.

Dissemination and communication plan, second version

Update plan on the dissemination and communication activities [M24].

Dissemination and communication plan, first version

Initial plan on the dissemination and communication activities [M6].

Data Management Plan (1)

DMP

The DMP will provide the identification elements and the descriptions of the data sets and will include details regarding how the research data will be handled during the project and how they will be preserved after it is completed. It will specify which methodologies and standards will be used in the data creation and management and how and when the data will be shared and made open for re-use.

Demonstrators, pilots, prototypes (1)

Use Cases Intermediate Validation

Intermediate demonstrators for the validation of the four use cases considered in IntelliMan.

Publications

Conference proceedings (23)

Assessment of Recurrent Spiking Neural Networks on Neuromorphic Accelerators for Naturalistic Texture Classification

Author(s): Haydar Al Haj Ali, Ali Dabbous, Ali Ibrahim and Maurizio Valle
Published in: 2023 18th Conference on Ph.D Research in Microelectronics and Electronics (PRIME), 2023, ISBN 979-8-3503-0320-9
Publisher: IEEE
DOI: 10.1109/PRIME58259.2023.10161772

Enhanced 6D Pose Estimation for Robotic Fruit Picking*

Author(s): Marco Costanzo, Marco De Simone, Sara Federico, Ciro Natale, Salvatore Pirozzi
Published in: 9th Int. Conf. on Control, Decision and Information Technologies (CODIT 2023), 2023
Publisher: IEEE
DOI: 10.48550/arXiv.2305.15856

Deformable Object Perception is Just a Few Clicks Away – Dense Annotations from Sparse Inputs

Author(s): Alessio Caporali, Kevin Galassi, Matteo Pantano, Gianluca Palli
Published in: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, ISSN 2153-0866
Publisher: IEEE
DOI: 10.1109/IROS58592.2024.10802495

Multiphysics Simulation for the Optimization of an Optoelectronic-Based Tactile Sensor

Author(s): Gianluca Laudante, Olga Pennacchio, Salvatore Pirozzi
Published in: Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 2023, ISSN 2184-2809
Publisher: SciTePress
DOI: 10.5220/0012166900003543

Pilot Study: Response of a Piezoelectric Polymer based Sensing system to Indentation

Author(s): Mohamad Yaacoub, Yahya Abbass, Christian Gianoglio, Lucia Seminara, Maurizio Valle
Published in: 2023 IEEE Sensors, 2023, ISSN 2168-9229
Publisher: IEEE
DOI: 10.1109/SENSORS56945.2023.10325161

Non-prehensile Manipulation Actions and Visual 6D Pose Estimation For Fruit Grasping Based on Tactile Sensing

Author(s): Marco Costanzo, Marco De Simone, Sara Federico, Ciro Natale
Published in: 9th Int. Conf. on Control, Decision and Information Technologies (CODIT 2023), 2023, ISSN 2218-6581
Publisher: MDPI
DOI: 10.3390/robotics12040092

Online Unsupervised Arm Posture Adaptation for sEMG-based Gesture Recognition on a Parallel Ultra-Low-Power Microcontroller

Author(s): Marcello Zanghieri, Mattia Orlandi, Elisa Donati, Emanuele Gruppioni, Luca Benini, Simone Benatti
Published in: 2023 IEEE Biomedical Circuits and Systems Conference (BioCAS), 2023, ISSN 2766-4465
Publisher: IEEE
DOI: 10.1109/BioCAS58349.2023.10388902

Stiffness-Aware Genetic Algorithm for Robotic Path Finding Optimization

Author(s): Alex Pasquali, Miriam Massini Alunni, Davide Chiaravalli, Gianluca Palli
Published in: 2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2024, ISSN 2159-6255
Publisher: IEEE
DOI: 10.1109/AIM55361.2024.10637048

Scalable Shared Encoding Architecture for Learning-Based Error Detection in Robotic Wiring Harness Assembly

Author(s): Kevin Galassi, Alessio Caporali, Gianluca Laudante, Gianluca Palli
Published in: 2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2024, ISSN 2159-6255
Publisher: IEEE
DOI: 10.1109/AIM55361.2024.10637054

Monocular Estimation of Connector Orientation: Combining Deformable Linear Object Priors and Smooth Angle Classification

Author(s): Alessio Caporali, Kevin Galassi, Gianluca Palli
Published in: 2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2024, ISSN 2159-6255
Publisher: IEEE
DOI: 10.1109/AIM55361.2024.10637081

An Adaptive Dynamic Mixing Model for sEMG Real-Time ICA on an Ultra-Low Power Processor

Author(s): Mattia Orlandi, Pierangelo Maria Rapa, Marcello Zanghieri, Sebastian Frey, Victor Kartsch, Luca Benini, Simone Benatti
Published in: 2023 IEEE Biomedical Circuits and Systems Conference (BioCAS), 2023, ISSN 2766-4465
Publisher: IEEE
DOI: 10.1109/BioCAS58349.2023.10388538

Conceptual Design of a Compliant, Low-Cost Prosthetic Hand

Author(s): Mario Baggetta, Marghterita Vazzoler, Giovanni Berselli, Gianluca Palli, Claudio Melchiorri
Published in: 2022 I-RIM Conference, 2022, ISBN 978-88-945805-3-2
Publisher: Zenodo
DOI: 10.5281/zenodo.7531286

Attention-Based Cloth Manipulation from Model-free Topological Representation

Author(s): Kevin Galassi, Bingbing Wu, Julien Perez, Gianluca Palli, Jean-Michel Renders
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
Publisher: IEEE
DOI: 10.1109/ICRA57147.2024.10610241

Additively Manufactured Flexible Endoscope Driven By Guided Antagonistic Twisted String Actuation: A Pilot Experimental Evaluation

Author(s): Edoardo Fratarcangeli, Andrea Govoni, Giuliano A. Giacoppo, Leonhard Heinrich, Roberto Meattini, Peter P. Pott, Gianluca Palli
Published in: 2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2024, ISSN 2159-6255
Publisher: IEEE
DOI: 10.1109/AIM55361.2024.10637078

BE-AWARE: an ontology-based adaptive robotic manipulation framework

Author(s): Oriol ruiz-Celada, Albert Dalmases, Raúl Suárez, Jan Rosell
Published in: Proceedings ot the IEEE Int. Conf. on Emerging Technologies and Factory Automation (ETFA), 2023, ISSN 1946-0759
Publisher: IEEE
DOI: 10.1109/ETFA54631.2023.10275440

Endoscopic Stereo Vision for Robotic 3D Detection of Thin Wire Features

Author(s): Tanzeel Ahmad Fazal, Gianluca Laudante, Michele Mirto, Olga Pennacchio, Salvatore Pirozzi
Published in: 2024 IEEE 20th International Conference on Automation Science and Engineering (CASE), 2024, ISSN 2161-8089
Publisher: IEEE
DOI: 10.1109/CASE59546.2024.10711442

Visual and Haptic Cues for Human-Robot Handover*

Author(s): Marco Costanzo, Ciro Natale, Mario Selvaggio
Published in: 2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) , 2023, ISSN 1944-9437
Publisher: IEEE
DOI: 10.1109/RO-MAN57019.2023.10309480

Preliminary Assessment of Two Simultaneous and Proportional Myocontrol Methods for 3-DoFs Prostheses using Incremental Learning

Author(s): Fabio Egle, Dario Di Domenico, Andrea Marinelli, Nicolò Boccardo, Michele Canepa, Matteo Laffranchi, Lorenzo De Michieli, Claudio Castellini
Published in: ICORR 2023, 2023, ISSN 1945-7901
Publisher: IEEE
DOI: 10.1109/ICORR58425.2023.10304813

Human-inspired Grasping Strategies of Fresh Fruits and Vegetables Applied to Robotic Manipulation

Author(s): Romeo Orsolino, Mykhaylo Marfeychuk, Mario Baggetta, Mariana de Paula Assis Fonseca, Wesley Wimshurst, Francesco Porta, Morgan Clarke, Giovanni Berselli, Jelizaveta Konstantinova
Published in: 2024 20th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), 2024
Publisher: IEEE
DOI: 10.1109/MESA61532.2024.10704863

Multi-Modal Sensor for Fingertips of Anthropomorphic Grippers

Author(s): Tanzeel Ahmad Fazal, Gianluca Laudante, Michele Mirto, Olga Pennacchio, Salvatore Pirozzi
Published in: 2024 20th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), 2024, ISSN 2835-902X
Publisher: IEEE
DOI: 10.1109/MESA61532.2024.10704824

Exploiting Foundation Models for Efficient Labeling of Deformable Linear Objects

Author(s): Alessio Caporali, Kevin Galassi, Matteo Pantano, Gianluca Palli
Published in: Springer Proceedings in Advanced Robotics, Issue Vol. 32, 2025, ISSN 2511-1264
Publisher: Springer, Cham
DOI: 10.1007/978-3-031-76424-0_57

Combined Task and Motion Planning Via Sketch Decompositions

Author(s): Magí Dalmau-Moreno, Néstor Garcıa, Vicenç Gómez, Héctor Geffner
Published in: PlanRob workshop of the 33rd International Conference on Automated Planning and Scheduling (ICAPS), 2023
Publisher: ICAPS

C-arm unleashed: Intuitive inter-operative positioning of C-arms using wearable gesture detection

Author(s): Jingyu Ouyang, Fabio Egle, Claudia Igney, Thomas Mutzke, Chiheb Dahmani, Claudio Castellini, Sabine Thuerauf
Published in: 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), 2024, ISSN 2155-1782
Publisher: IEEE
DOI: 10.1109/BioRob60516.2024.10719972

Peer reviewed articles (22)

Smart perception for situation awareness in robotic manipulation tasks

Author(s): Albert Dalmasses, Oriol Ruiz-Celada, Isiah Zaplana, Jan Rosell
Published in: Robotics and Autonomous Systems, Issue 00, 2023, ISSN 0921-8890
Publisher: Elsevier BV
DOI: 10.2139/ssrn.4545174

Self-Supervised Regression Of sEMG Signals Combining Non-Negative Matrix Factorization With Deep Neural Networks For Robot Hand Multi-Grasp Control

Author(s): Roberto Meattini, Alessio Caporali, Alessandra Bernardini, Gianluca Palli, Claudio Melchiorri
Published in: IEEE Robotics and Automation Letters, Issue Vol. 7 Issue 4, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2022.3193247

A Monolithic Cable-Driven Compliant Wrist for Prosthetic Arms

Author(s): Mario Baggetta, Gianluca Palli, Claudio Melchiorr, Giovanni Berselli
Published in: IEEE/ASME Transactions on Mechatronics, Issue Vol. 29 Issue 2, 2024, ISSN 1941-014X
Publisher: IEEE
DOI: 10.1109/TMECH.2023.3345215

Neuromorphic Tactile Sensing System for Artificial Texture Classification

Author(s): Haydar Al Haj Ali, Yahya Abbass, Christian Gianoglio, Ali Ibrahim, Changjae Oh, Maurizio Valle
Published in: IEEE Sensors Journal, Issue Vol. 24 Issue 10, 2024, ISSN 1558-1748
Publisher: IEEE
DOI: 10.1109/JSEN.2024.3382369

World Model for Autonomous Intelligent Mobile Manipulation

Author(s): Ryo Sakagami, Andreas Dömel, Peter Lehner, Sebastian Riedel,Sebastian G. Brunner, Alin Albu-Schäffer, Freek Stulp
Published in: IEEE Robotics and Automation Letters, Issue Vol. 9 Issue 7, 2024, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2024.3410156

Trade-off between Accuracy and Computational Cost with Neural Architecture Search: a Novel Smart Tactile Sensing Systems Design

Author(s): Christian Gianoglio, Edoardo Ragusa, Paolo Gastaldo, Maurizio Valle
Published in: IEEE Sensors Letters, Issue Vol. 7 Issue 5, 2023, ISSN 2475-1472
Publisher: IEEE
DOI: 10.1109/LSENS.2023.3273733

Model-based approach for indentation on soft electronic skin

Author(s): Chiara Micheli, Giovanni Berselli, Lucia Seminara
Published in: Mechatronics, Issue Vol. 102, 2024, ISSN 0957-4158
Publisher: Elsevier
DOI: 10.1016/j.mechatronics.2024.103225

Soft pads for robotic limbs: achieving human finger compliance via finite element optimization

Author(s): Seyyed Masoud Kargar; Giovanni Berselli
Published in: The International Journal of Advanced Manufacturing Technology, 2024, ISSN 1433-3015
Publisher: Springer-Verlag London Ltd
DOI: 10.1007/s00170-024-14086-6

Whole-Body Ergodic Exploration With a Manipulator Using Diffusion

Author(s): Cem Bilaloglu; Tobias Löw; Sylvain Calinon
Published in: IEEE Robotics and Automation Letters, Issue Vol. 8 Issue 12, 2023, ISSN 2377-3766
Publisher: IEEE
DOI: 10.48550/arxiv.2306.16898

Comparison of pose estimation methods for robotic fruit picking

Author(s): Alessio Benito Alterani, Marco Costanzo, Marco De Simone, Sara Federico, Ciro Natale
Published in: Sensors and Control in Robotics, 2024, ISSN 2218-6581
Publisher: MDPI
DOI: 10.3390/robotics13090127

Condition-based Design of Variable Impedance Controllers from User Demonstrations

Author(s): Alberto San-Miguel, Guillem Alenya, Vicenc Puig
Published in: Control Engineering Practice, Issue Vol. 140, 2023, ISSN 0967-0661
Publisher: Elsevier Ltd.
DOI: 10.1016/j.conengprac.2023.105658

Embedded real-time objects’ hardness classification for robotic grippers

Author(s): Youssef Amin, Christian Gianoglio, Maurizio Valle
Published in: Future Generation Computer Systems, 2023, ISSN 0167-739X
Publisher: Elsevier Ltd.
DOI: 10.1016/j.future.2023.06.002

Geometric Algebra for Optimal Control With Applications in Manipulation Tasks

Author(s): Tobias Löw, Sylvain Calinon
Published in: IEEE: Transactions on Robotics, Issue Vol. 39 Issue 5, 2023, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2023.3277282

Evaluation of different hardware solutions for multiple objects grasping

Author(s): Werner Friedl
Published in: Frontiers in Robotics and AI, Issue Vol.11 - 2024, 2024, ISSN 2296-9144
Publisher: Frontiers
DOI: 10.3389/frobt.2024.1351932

Optimization of a tetrahedron compliant spherical joint via computer-aided engineering tools

Author(s): Seyyed Masoud Kargar; Alberto Parmiggiani; Mario Baggetta; Emilio Ottonello; Guangbo Hao; Giovanni Berselli
Published in: The International Journal of Advanced Manufacturing Technology, 2024, ISSN 1433-3015
Publisher: Springer
DOI: 10.1007/s00170-024-13314-3

A Perspective on Prosthetic Hands Control: From the Brain to the Hand

Author(s): Cosimo Gentile, Emanuele Gruppioni
Published in: Innovations in the Control and Assessment of Prosthetic Arms, 2023, ISSN 2673-1592
Publisher: MDPI
DOI: 10.3390/prosthesis5040083

Learning passive policies with virtual energy tanks in robotics

Author(s): Riccardo Zanella, Stefano Stramigioli, Federico Califano, Gianluca Palli
Published in: IET Control Theory & Applications, 2023, ISSN 1751-8644
Publisher: Institution of Engineering and Technology
DOI: 10.1049/cth2.12558

Nonlinear Model Predictive Control for Robotic Pushing of Planar Objects With Generic Shape

Author(s): Sara Federico, Marco Costanzo, Marco De Simone, Ciro Natale
Published in: IEEE Robotics and Automation Letters, Issue 10, 2025, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2025.3539092

Multimodal grasp planner for hybrid grippers in cluttered scenes

Author(s): Salvatore D’Avella, Ashok M. Sundaram, Werner Friedl, Paolo Tripicchio, and Maximo A. Roa
Published in: IEEE Robotics and Automation Letters, Issue Vol. 8 Issue 4, 2023, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2023.3247221

Evaluation of mental stress in Human-Robot interaction: an explorative study

Author(s): Marta Rinaldi, Ciro Natale, Marcello Fera, Roberto Macchiaroli, Maria Grazia, Lourdes Monaco, Eric Grosse
Published in: Procedia Computer Science, Issue Vol. 232, 2024, ISSN 1877-0509
Publisher: Elsevier
DOI: 10.1016/j.procs.2024.01.072 

Online Learning of Piecewise Polynomial Signed Distance Fields for Manipulation Tasks

Author(s): Ante Maric, Yiming Li, and Sylvain Calinon
Published in: IEEE Robotics and Automation Letters, Issue Vol. 9 Issue 6, 2024, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2024.3397085

Projection-based first-order constrained optimization solver for robotics

Author(s): Hakan Girgin, Tobias Löw, Teng Xue, Sylvain Calinon
Published in: IEEE Robotics and Automation Letters, 2023, ISSN 2377-3766
Publisher: IEEE
DOI: 10.48550/ARXIV.2306.17611

Thesis and dissertations (1)

AiRLIHockey: Highly Reactive Contact Control and Stochastic Optimal Shooting

Author(s): Jankowski, Julius; Marić, Ante; Calinon, Sylvain
Published in: 2024, ISSN 2331-8422
Publisher: -
DOI: 10.48550/arxiv.2401.14964

Other (6)

Tactile Ergodic Control Using Diffusion and Geometric Algebra

Author(s): Cem Bilaloglu, Tobias Löw, Sylvain Calinon
Published in: 2024
Publisher: Idiap Research Institute & EPFL
DOI: 10.48550/ARXIV.2402.04862

gafro: Geometric Algebra for Robotics

Author(s): Tobias Löw, Philip Abbet, Sylvain Calinon
Published in: 2023
Publisher: -
DOI: 10.48550/ARXIV.2310.19090

A touch of humanity for human-in-the-loop artificial hands / A hierarchical sensorimotor control framework for human-in-the-loop robotic hands

Author(s): Lucia Seminara, Strahinja Dosen, Fulvio Mastrogiovanni, Matteo Bianchi, Simon Watt, Philipp Beckerle, Thrishantha Nanayakkara, Knut Drewing, Alessandro Moscatelli, Roberta L. Klatzky, Gerald E. Loeb
Published in: Science Robotics, Issue Vol. 8 No. 78, 2023, ISSN 2470-9476
Publisher: Science Robotics
DOI: 10.1126/scirobotics.add5434

Learning Robot Geometry as Distance Fields: Applications to Whole-body Manipulation

Author(s): Yiming Li, Yan Zhang, Amirreza Razmjoo Fard, Sylvain Calinon
Published in: 2023
Publisher: Idiap Research Institute & EPFL
DOI: 10.48550/arXiv.2307.00533

Development of a flexible, modular, and wearable 3D-printed sensor system

Author(s): Enes Bektürk, Marc-Anton Scheidl, Fabio Egle, Claudio Castellini
Published in: 2023
Publisher: Zenodo
DOI: 10.5281/zenodo.8289286

Extending the Cooperative Dual-Task Space in Conformal Geometric Algebra

Author(s): Tobias Löw, Sylvain Calinon
Published in: 2023
Publisher: -
DOI: 10.48550/ARXIV.2310.19093