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

Informations projet

IntelliMan

N° de convention de subvention: 101070136

DOI

10.3030/101070136

Date de signature de la CE 13 Juin 2022

Date de début 1 Septembre 2022

Date de fin 28 Février 2026

Financé au titre de

• Digital, Industry and Space

Coût total

€ 4 509 303,00

Contribution de l’UE

€ 4 509 303,00

Coordonné par

ALMA MATER STUDIORUM - UNIVERSITA DI BOLOGNA
Italy

CORDIS fournit des liens vers les livrables publics et les publications des projets HORIZON.

Les liens vers les livrables et les publications des projets du 7e PC, ainsi que les liens vers certains types de résultats spécifiques tels que les jeux de données et les logiciels, sont récupérés dynamiquement sur OpenAIRE .

Livrables

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

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

Enhanced 6D Pose Estimation for Robotic Fruit Picking*

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

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

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

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

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

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

Auteurs: Mohamad Yaacoub, Yahya Abbass, Christian Gianoglio, Lucia Seminara, Maurizio Valle
Publié dans: 2023 IEEE Sensors, 2023, ISSN 2168-9229
Éditeur: IEEE
DOI: 10.1109/SENSORS56945.2023.10325161

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

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

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

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

Stiffness-Aware Genetic Algorithm for Robotic Path Finding Optimization

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

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

Auteurs: Kevin Galassi, Alessio Caporali, Gianluca Laudante, Gianluca Palli
Publié dans: 2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2024, ISSN 2159-6255
Éditeur: IEEE
DOI: 10.1109/AIM55361.2024.10637054

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

Auteurs: Alessio Caporali, Kevin Galassi, Gianluca Palli
Publié dans: 2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2024, ISSN 2159-6255
Éditeur: IEEE
DOI: 10.1109/AIM55361.2024.10637081

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

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

Conceptual Design of a Compliant, Low-Cost Prosthetic Hand

Auteurs: Mario Baggetta, Marghterita Vazzoler, Giovanni Berselli, Gianluca Palli, Claudio Melchiorri
Publié dans: 2022 I-RIM Conference, 2022, ISBN 978-88-945805-3-2
Éditeur: Zenodo
DOI: 10.5281/zenodo.7531286

Attention-Based Cloth Manipulation from Model-free Topological Representation

Auteurs: Kevin Galassi, Bingbing Wu, Julien Perez, Gianluca Palli, Jean-Michel Renders
Publié dans: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
Éditeur: IEEE
DOI: 10.1109/ICRA57147.2024.10610241

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

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

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

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

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

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

Visual and Haptic Cues for Human-Robot Handover*

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

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

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

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

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

Multi-Modal Sensor for Fingertips of Anthropomorphic Grippers

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

Exploiting Foundation Models for Efficient Labeling of Deformable Linear Objects

Auteurs: Alessio Caporali, Kevin Galassi, Matteo Pantano, Gianluca Palli
Publié dans: Springer Proceedings in Advanced Robotics, Numéro Vol. 32, 2025, ISSN 2511-1264
Éditeur: Springer, Cham
DOI: 10.1007/978-3-031-76424-0_57

Combined Task and Motion Planning Via Sketch Decompositions

Auteurs: Magí Dalmau-Moreno, Néstor Garcıa, Vicenç Gómez, Héctor Geffner
Publié dans: PlanRob workshop of the 33rd International Conference on Automated Planning and Scheduling (ICAPS), 2023
Éditeur: ICAPS

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

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

Peer reviewed articles (22)

Smart perception for situation awareness in robotic manipulation tasks

Auteurs: Albert Dalmasses, Oriol Ruiz-Celada, Isiah Zaplana, Jan Rosell
Publié dans: Robotics and Autonomous Systems, Numéro 00, 2023, ISSN 0921-8890
Éditeur: 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

Auteurs: Roberto Meattini, Alessio Caporali, Alessandra Bernardini, Gianluca Palli, Claudio Melchiorri
Publié dans: IEEE Robotics and Automation Letters, Numéro Vol. 7 Numéro 4, 2022, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/LRA.2022.3193247

A Monolithic Cable-Driven Compliant Wrist for Prosthetic Arms

Auteurs: Mario Baggetta, Gianluca Palli, Claudio Melchiorr, Giovanni Berselli
Publié dans: IEEE/ASME Transactions on Mechatronics, Numéro Vol. 29 Numéro 2, 2024, ISSN 1941-014X
Éditeur: IEEE
DOI: 10.1109/TMECH.2023.3345215

Neuromorphic Tactile Sensing System for Artificial Texture Classification

Auteurs: Haydar Al Haj Ali, Yahya Abbass, Christian Gianoglio, Ali Ibrahim, Changjae Oh, Maurizio Valle
Publié dans: IEEE Sensors Journal, Numéro Vol. 24 Numéro 10, 2024, ISSN 1558-1748
Éditeur: IEEE
DOI: 10.1109/JSEN.2024.3382369

World Model for Autonomous Intelligent Mobile Manipulation

Auteurs: Ryo Sakagami, Andreas Dömel, Peter Lehner, Sebastian Riedel,Sebastian G. Brunner, Alin Albu-Schäffer, Freek Stulp
Publié dans: IEEE Robotics and Automation Letters, Numéro Vol. 9 Numéro 7, 2024, ISSN 2377-3766
Éditeur: 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

Auteurs: Christian Gianoglio, Edoardo Ragusa, Paolo Gastaldo, Maurizio Valle
Publié dans: IEEE Sensors Letters, Numéro Vol. 7 Numéro 5, 2023, ISSN 2475-1472
Éditeur: IEEE
DOI: 10.1109/LSENS.2023.3273733

Model-based approach for indentation on soft electronic skin

Auteurs: Chiara Micheli, Giovanni Berselli, Lucia Seminara
Publié dans: Mechatronics, Numéro Vol. 102, 2024, ISSN 0957-4158
Éditeur: Elsevier
DOI: 10.1016/j.mechatronics.2024.103225

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

Auteurs: Seyyed Masoud Kargar; Giovanni Berselli
Publié dans: The International Journal of Advanced Manufacturing Technology, 2024, ISSN 1433-3015
Éditeur: Springer-Verlag London Ltd
DOI: 10.1007/s00170-024-14086-6

Whole-Body Ergodic Exploration With a Manipulator Using Diffusion

Auteurs: Cem Bilaloglu; Tobias Löw; Sylvain Calinon
Publié dans: IEEE Robotics and Automation Letters, Numéro Vol. 8 Numéro 12, 2023, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.48550/arxiv.2306.16898

Comparison of pose estimation methods for robotic fruit picking

Auteurs: Alessio Benito Alterani, Marco Costanzo, Marco De Simone, Sara Federico, Ciro Natale
Publié dans: Sensors and Control in Robotics, 2024, ISSN 2218-6581
Éditeur: MDPI
DOI: 10.3390/robotics13090127

Condition-based Design of Variable Impedance Controllers from User Demonstrations

Auteurs: Alberto San-Miguel, Guillem Alenya, Vicenc Puig
Publié dans: Control Engineering Practice, Numéro Vol. 140, 2023, ISSN 0967-0661
Éditeur: Elsevier Ltd.
DOI: 10.1016/j.conengprac.2023.105658

Embedded real-time objects’ hardness classification for robotic grippers

Auteurs: Youssef Amin, Christian Gianoglio, Maurizio Valle
Publié dans: Future Generation Computer Systems, 2023, ISSN 0167-739X
Éditeur: Elsevier Ltd.
DOI: 10.1016/j.future.2023.06.002

Geometric Algebra for Optimal Control With Applications in Manipulation Tasks

Auteurs: Tobias Löw, Sylvain Calinon
Publié dans: IEEE: Transactions on Robotics, Numéro Vol. 39 Numéro 5, 2023, ISSN 1552-3098
Éditeur: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2023.3277282

Evaluation of different hardware solutions for multiple objects grasping

Auteurs: Werner Friedl
Publié dans: Frontiers in Robotics and AI, Numéro Vol.11 - 2024, 2024, ISSN 2296-9144
Éditeur: Frontiers
DOI: 10.3389/frobt.2024.1351932

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

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

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

Auteurs: Cosimo Gentile, Emanuele Gruppioni
Publié dans: Innovations in the Control and Assessment of Prosthetic Arms, 2023, ISSN 2673-1592
Éditeur: MDPI
DOI: 10.3390/prosthesis5040083

Learning passive policies with virtual energy tanks in robotics

Auteurs: Riccardo Zanella, Stefano Stramigioli, Federico Califano, Gianluca Palli
Publié dans: IET Control Theory & Applications, 2023, ISSN 1751-8644
Éditeur: Institution of Engineering and Technology
DOI: 10.1049/cth2.12558

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

Auteurs: Sara Federico, Marco Costanzo, Marco De Simone, Ciro Natale
Publié dans: IEEE Robotics and Automation Letters, Numéro 10, 2025, ISSN 2377-3766
Éditeur: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2025.3539092

Multimodal grasp planner for hybrid grippers in cluttered scenes

Auteurs: Salvatore D’Avella, Ashok M. Sundaram, Werner Friedl, Paolo Tripicchio, and Maximo A. Roa
Publié dans: IEEE Robotics and Automation Letters, Numéro Vol. 8 Numéro 4, 2023, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/LRA.2023.3247221

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

Auteurs: Marta Rinaldi, Ciro Natale, Marcello Fera, Roberto Macchiaroli, Maria Grazia, Lourdes Monaco, Eric Grosse
Publié dans: Procedia Computer Science, Numéro Vol. 232, 2024, ISSN 1877-0509
Éditeur: Elsevier
DOI: 10.1016/j.procs.2024.01.072 

Online Learning of Piecewise Polynomial Signed Distance Fields for Manipulation Tasks

Auteurs: Ante Maric, Yiming Li, and Sylvain Calinon
Publié dans: IEEE Robotics and Automation Letters, Numéro Vol. 9 Numéro 6, 2024, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/LRA.2024.3397085

Projection-based first-order constrained optimization solver for robotics

Auteurs: Hakan Girgin, Tobias Löw, Teng Xue, Sylvain Calinon
Publié dans: IEEE Robotics and Automation Letters, 2023, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.48550/ARXIV.2306.17611

Thesis and dissertations (1)

AiRLIHockey: Highly Reactive Contact Control and Stochastic Optimal Shooting

Auteurs: Jankowski, Julius; Marić, Ante; Calinon, Sylvain
Publié dans: 2024, ISSN 2331-8422
Éditeur: -
DOI: 10.48550/arxiv.2401.14964

Other (6)

Tactile Ergodic Control Using Diffusion and Geometric Algebra

Auteurs: Cem Bilaloglu, Tobias Löw, Sylvain Calinon
Publié dans: 2024
Éditeur: Idiap Research Institute & EPFL
DOI: 10.48550/ARXIV.2402.04862

gafro: Geometric Algebra for Robotics

Auteurs: Tobias Löw, Philip Abbet, Sylvain Calinon
Publié dans: 2023
Éditeur: -
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

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

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

Auteurs: Yiming Li, Yan Zhang, Amirreza Razmjoo Fard, Sylvain Calinon
Publié dans: 2023
Éditeur: Idiap Research Institute & EPFL
DOI: 10.48550/arXiv.2307.00533

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

Auteurs: Enes Bektürk, Marc-Anton Scheidl, Fabio Egle, Claudio Castellini
Publié dans: 2023
Éditeur: Zenodo
DOI: 10.5281/zenodo.8289286

Extending the Cooperative Dual-Task Space in Conformal Geometric Algebra

Auteurs: Tobias Löw, Sylvain Calinon
Publié dans: 2023
Éditeur: -
DOI: 10.48550/ARXIV.2310.19093