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

Información del proyecto

IntelliMan

Identificador del acuerdo de subvención: 101070136

DOI

10.3030/101070136

Fecha de la firma de la CE 13 Junio 2022

Fecha de inicio 1 Septiembre 2022

Fecha de finalización 28 Febrero 2026

Financiado con arreglo a

• Digital, Industry and Space

Coste total

€ 4 509 303,00

Aportación de la UE

€ 4 509 303,00

Coordinado por

ALMA MATER STUDIORUM - UNIVERSITA DI BOLOGNA
Italy

CORDIS proporciona enlaces a los documentos públicos y las publicaciones de los proyectos de los programas marco HORIZONTE.

Los enlaces a los documentos y las publicaciones de los proyectos del Séptimo Programa Marco, así como los enlaces a algunos tipos de resultados específicos, como conjuntos de datos y «software», se obtienen dinámicamente de OpenAIRE .

Resultado final

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.

Publicaciones

Conference proceedings (23)

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

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

Enhanced 6D Pose Estimation for Robotic Fruit Picking*

Autores: Marco Costanzo, Marco De Simone, Sara Federico, Ciro Natale, Salvatore Pirozzi
Publicado en: 9th Int. Conf. on Control, Decision and Information Technologies (CODIT 2023), 2023
Editor: IEEE
DOI: 10.48550/arXiv.2305.15856

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

Autores: Alessio Caporali, Kevin Galassi, Matteo Pantano, Gianluca Palli
Publicado en: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, ISSN 2153-0866
Editor: IEEE
DOI: 10.1109/IROS58592.2024.10802495

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

Autores: Gianluca Laudante, Olga Pennacchio, Salvatore Pirozzi
Publicado en: Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 2023, ISSN 2184-2809
Editor: SciTePress
DOI: 10.5220/0012166900003543

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

Autores: Mohamad Yaacoub, Yahya Abbass, Christian Gianoglio, Lucia Seminara, Maurizio Valle
Publicado en: 2023 IEEE Sensors, 2023, ISSN 2168-9229
Editor: IEEE
DOI: 10.1109/SENSORS56945.2023.10325161

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

Autores: Marco Costanzo, Marco De Simone, Sara Federico, Ciro Natale
Publicado en: 9th Int. Conf. on Control, Decision and Information Technologies (CODIT 2023), 2023, ISSN 2218-6581
Editor: MDPI
DOI: 10.3390/robotics12040092

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

Autores: Marcello Zanghieri, Mattia Orlandi, Elisa Donati, Emanuele Gruppioni, Luca Benini, Simone Benatti
Publicado en: 2023 IEEE Biomedical Circuits and Systems Conference (BioCAS), 2023, ISSN 2766-4465
Editor: IEEE
DOI: 10.1109/BioCAS58349.2023.10388902

Stiffness-Aware Genetic Algorithm for Robotic Path Finding Optimization

Autores: Alex Pasquali, Miriam Massini Alunni, Davide Chiaravalli, Gianluca Palli
Publicado en: 2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2024, ISSN 2159-6255
Editor: IEEE
DOI: 10.1109/AIM55361.2024.10637048

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

Autores: Kevin Galassi, Alessio Caporali, Gianluca Laudante, Gianluca Palli
Publicado en: 2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2024, ISSN 2159-6255
Editor: IEEE
DOI: 10.1109/AIM55361.2024.10637054

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

Autores: Alessio Caporali, Kevin Galassi, Gianluca Palli
Publicado en: 2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2024, ISSN 2159-6255
Editor: IEEE
DOI: 10.1109/AIM55361.2024.10637081

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

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

Conceptual Design of a Compliant, Low-Cost Prosthetic Hand

Autores: Mario Baggetta, Marghterita Vazzoler, Giovanni Berselli, Gianluca Palli, Claudio Melchiorri
Publicado en: 2022 I-RIM Conference, 2022, ISBN 978-88-945805-3-2
Editor: Zenodo
DOI: 10.5281/zenodo.7531286

Attention-Based Cloth Manipulation from Model-free Topological Representation

Autores: Kevin Galassi, Bingbing Wu, Julien Perez, Gianluca Palli, Jean-Michel Renders
Publicado en: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
Editor: IEEE
DOI: 10.1109/ICRA57147.2024.10610241

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

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

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

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

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

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

Visual and Haptic Cues for Human-Robot Handover*

Autores: Marco Costanzo, Ciro Natale, Mario Selvaggio
Publicado en: 2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) , 2023, ISSN 1944-9437
Editor: IEEE
DOI: 10.1109/RO-MAN57019.2023.10309480

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

Autores: Fabio Egle, Dario Di Domenico, Andrea Marinelli, Nicolò Boccardo, Michele Canepa, Matteo Laffranchi, Lorenzo De Michieli, Claudio Castellini
Publicado en: ICORR 2023, 2023, ISSN 1945-7901
Editor: IEEE
DOI: 10.1109/ICORR58425.2023.10304813

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

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

Multi-Modal Sensor for Fingertips of Anthropomorphic Grippers

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

Exploiting Foundation Models for Efficient Labeling of Deformable Linear Objects

Autores: Alessio Caporali, Kevin Galassi, Matteo Pantano, Gianluca Palli
Publicado en: Springer Proceedings in Advanced Robotics, Edición Vol. 32, 2025, ISSN 2511-1264
Editor: Springer, Cham
DOI: 10.1007/978-3-031-76424-0_57

Combined Task and Motion Planning Via Sketch Decompositions

Autores: Magí Dalmau-Moreno, Néstor Garcıa, Vicenç Gómez, Héctor Geffner
Publicado en: PlanRob workshop of the 33rd International Conference on Automated Planning and Scheduling (ICAPS), 2023
Editor: ICAPS

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

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

Peer reviewed articles (22)

Smart perception for situation awareness in robotic manipulation tasks

Autores: Albert Dalmasses, Oriol Ruiz-Celada, Isiah Zaplana, Jan Rosell
Publicado en: Robotics and Autonomous Systems, Edición 00, 2023, ISSN 0921-8890
Editor: 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

Autores: Roberto Meattini, Alessio Caporali, Alessandra Bernardini, Gianluca Palli, Claudio Melchiorri
Publicado en: IEEE Robotics and Automation Letters, Edición Vol. 7 Edición 4, 2022, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/LRA.2022.3193247

A Monolithic Cable-Driven Compliant Wrist for Prosthetic Arms

Autores: Mario Baggetta, Gianluca Palli, Claudio Melchiorr, Giovanni Berselli
Publicado en: IEEE/ASME Transactions on Mechatronics, Edición Vol. 29 Edición 2, 2024, ISSN 1941-014X
Editor: IEEE
DOI: 10.1109/TMECH.2023.3345215

Neuromorphic Tactile Sensing System for Artificial Texture Classification

Autores: Haydar Al Haj Ali, Yahya Abbass, Christian Gianoglio, Ali Ibrahim, Changjae Oh, Maurizio Valle
Publicado en: IEEE Sensors Journal, Edición Vol. 24 Edición 10, 2024, ISSN 1558-1748
Editor: IEEE
DOI: 10.1109/JSEN.2024.3382369

World Model for Autonomous Intelligent Mobile Manipulation

Autores: Ryo Sakagami, Andreas Dömel, Peter Lehner, Sebastian Riedel,Sebastian G. Brunner, Alin Albu-Schäffer, Freek Stulp
Publicado en: IEEE Robotics and Automation Letters, Edición Vol. 9 Edición 7, 2024, ISSN 2377-3766
Editor: 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

Autores: Christian Gianoglio, Edoardo Ragusa, Paolo Gastaldo, Maurizio Valle
Publicado en: IEEE Sensors Letters, Edición Vol. 7 Edición 5, 2023, ISSN 2475-1472
Editor: IEEE
DOI: 10.1109/LSENS.2023.3273733

Model-based approach for indentation on soft electronic skin

Autores: Chiara Micheli, Giovanni Berselli, Lucia Seminara
Publicado en: Mechatronics, Edición Vol. 102, 2024, ISSN 0957-4158
Editor: Elsevier
DOI: 10.1016/j.mechatronics.2024.103225

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

Autores: Seyyed Masoud Kargar; Giovanni Berselli
Publicado en: The International Journal of Advanced Manufacturing Technology, 2024, ISSN 1433-3015
Editor: Springer-Verlag London Ltd
DOI: 10.1007/s00170-024-14086-6

Whole-Body Ergodic Exploration With a Manipulator Using Diffusion

Autores: Cem Bilaloglu; Tobias Löw; Sylvain Calinon
Publicado en: IEEE Robotics and Automation Letters, Edición Vol. 8 Edición 12, 2023, ISSN 2377-3766
Editor: IEEE
DOI: 10.48550/arxiv.2306.16898

Comparison of pose estimation methods for robotic fruit picking

Autores: Alessio Benito Alterani, Marco Costanzo, Marco De Simone, Sara Federico, Ciro Natale
Publicado en: Sensors and Control in Robotics, 2024, ISSN 2218-6581
Editor: MDPI
DOI: 10.3390/robotics13090127

Condition-based Design of Variable Impedance Controllers from User Demonstrations

Autores: Alberto San-Miguel, Guillem Alenya, Vicenc Puig
Publicado en: Control Engineering Practice, Edición Vol. 140, 2023, ISSN 0967-0661
Editor: Elsevier Ltd.
DOI: 10.1016/j.conengprac.2023.105658

Embedded real-time objects’ hardness classification for robotic grippers

Autores: Youssef Amin, Christian Gianoglio, Maurizio Valle
Publicado en: Future Generation Computer Systems, 2023, ISSN 0167-739X
Editor: Elsevier Ltd.
DOI: 10.1016/j.future.2023.06.002

Geometric Algebra for Optimal Control With Applications in Manipulation Tasks

Autores: Tobias Löw, Sylvain Calinon
Publicado en: IEEE: Transactions on Robotics, Edición Vol. 39 Edición 5, 2023, ISSN 1552-3098
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2023.3277282

Evaluation of different hardware solutions for multiple objects grasping

Autores: Werner Friedl
Publicado en: Frontiers in Robotics and AI, Edición Vol.11 - 2024, 2024, ISSN 2296-9144
Editor: Frontiers
DOI: 10.3389/frobt.2024.1351932

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

Autores: Seyyed Masoud Kargar; Alberto Parmiggiani; Mario Baggetta; Emilio Ottonello; Guangbo Hao; Giovanni Berselli
Publicado en: The International Journal of Advanced Manufacturing Technology, 2024, ISSN 1433-3015
Editor: Springer
DOI: 10.1007/s00170-024-13314-3

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

Autores: Cosimo Gentile, Emanuele Gruppioni
Publicado en: Innovations in the Control and Assessment of Prosthetic Arms, 2023, ISSN 2673-1592
Editor: MDPI
DOI: 10.3390/prosthesis5040083

Learning passive policies with virtual energy tanks in robotics

Autores: Riccardo Zanella, Stefano Stramigioli, Federico Califano, Gianluca Palli
Publicado en: IET Control Theory & Applications, 2023, ISSN 1751-8644
Editor: Institution of Engineering and Technology
DOI: 10.1049/cth2.12558

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

Autores: Sara Federico, Marco Costanzo, Marco De Simone, Ciro Natale
Publicado en: IEEE Robotics and Automation Letters, Edición 10, 2025, ISSN 2377-3766
Editor: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2025.3539092

Multimodal grasp planner for hybrid grippers in cluttered scenes

Autores: Salvatore D’Avella, Ashok M. Sundaram, Werner Friedl, Paolo Tripicchio, and Maximo A. Roa
Publicado en: IEEE Robotics and Automation Letters, Edición Vol. 8 Edición 4, 2023, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/LRA.2023.3247221

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

Autores: Marta Rinaldi, Ciro Natale, Marcello Fera, Roberto Macchiaroli, Maria Grazia, Lourdes Monaco, Eric Grosse
Publicado en: Procedia Computer Science, Edición Vol. 232, 2024, ISSN 1877-0509
Editor: Elsevier
DOI: 10.1016/j.procs.2024.01.072 

Online Learning of Piecewise Polynomial Signed Distance Fields for Manipulation Tasks

Autores: Ante Maric, Yiming Li, and Sylvain Calinon
Publicado en: IEEE Robotics and Automation Letters, Edición Vol. 9 Edición 6, 2024, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/LRA.2024.3397085

Projection-based first-order constrained optimization solver for robotics

Autores: Hakan Girgin, Tobias Löw, Teng Xue, Sylvain Calinon
Publicado en: IEEE Robotics and Automation Letters, 2023, ISSN 2377-3766
Editor: IEEE
DOI: 10.48550/ARXIV.2306.17611

Thesis and dissertations (1)

AiRLIHockey: Highly Reactive Contact Control and Stochastic Optimal Shooting

Autores: Jankowski, Julius; Marić, Ante; Calinon, Sylvain
Publicado en: 2024, ISSN 2331-8422
Editor: -
DOI: 10.48550/arxiv.2401.14964

Other (6)

Tactile Ergodic Control Using Diffusion and Geometric Algebra

Autores: Cem Bilaloglu, Tobias Löw, Sylvain Calinon
Publicado en: 2024
Editor: Idiap Research Institute & EPFL
DOI: 10.48550/ARXIV.2402.04862

gafro: Geometric Algebra for Robotics

Autores: Tobias Löw, Philip Abbet, Sylvain Calinon
Publicado en: 2023
Editor: -
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

Autores: Lucia Seminara, Strahinja Dosen, Fulvio Mastrogiovanni, Matteo Bianchi, Simon Watt, Philipp Beckerle, Thrishantha Nanayakkara, Knut Drewing, Alessandro Moscatelli, Roberta L. Klatzky, Gerald E. Loeb
Publicado en: Science Robotics, Edición Vol. 8 No. 78, 2023, ISSN 2470-9476
Editor: Science Robotics
DOI: 10.1126/scirobotics.add5434

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

Autores: Yiming Li, Yan Zhang, Amirreza Razmjoo Fard, Sylvain Calinon
Publicado en: 2023
Editor: Idiap Research Institute & EPFL
DOI: 10.48550/arXiv.2307.00533

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

Autores: Enes Bektürk, Marc-Anton Scheidl, Fabio Egle, Claudio Castellini
Publicado en: 2023
Editor: Zenodo
DOI: 10.5281/zenodo.8289286

Extending the Cooperative Dual-Task Space in Conformal Geometric Algebra

Autores: Tobias Löw, Sylvain Calinon
Publicado en: 2023
Editor: -
DOI: 10.48550/ARXIV.2310.19093