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

Informazioni relative al progetto

IntelliMan

ID dell’accordo di sovvenzione: 101070136

DOI

10.3030/101070136

Data della firma CE 13 Giugno 2022

Data di avvio 1 Settembre 2022

Data di completamento 28 Febbraio 2026

Finanziato da

• Digital, Industry and Space

Costo totale

€ 4 509 303,00

Contributo UE

€ 4 509 303,00

Coordinato da

ALMA MATER STUDIORUM - UNIVERSITA DI BOLOGNA
Italy

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

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.

Pubblicazioni

Conference proceedings (23)

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

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

Enhanced 6D Pose Estimation for Robotic Fruit Picking*

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

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

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

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

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

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

Autori: Mohamad Yaacoub, Yahya Abbass, Christian Gianoglio, Lucia Seminara, Maurizio Valle
Pubblicato in: 2023 IEEE Sensors, 2023, ISSN 2168-9229
Editore: IEEE
DOI: 10.1109/SENSORS56945.2023.10325161

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

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

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

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

Stiffness-Aware Genetic Algorithm for Robotic Path Finding Optimization

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

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

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

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

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

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

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

Conceptual Design of a Compliant, Low-Cost Prosthetic Hand

Autori: Mario Baggetta, Marghterita Vazzoler, Giovanni Berselli, Gianluca Palli, Claudio Melchiorri
Pubblicato in: 2022 I-RIM Conference, 2022, ISBN 978-88-945805-3-2
Editore: Zenodo
DOI: 10.5281/zenodo.7531286

Attention-Based Cloth Manipulation from Model-free Topological Representation

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

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

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

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

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

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

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

Visual and Haptic Cues for Human-Robot Handover*

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

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

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

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

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

Multi-Modal Sensor for Fingertips of Anthropomorphic Grippers

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

Exploiting Foundation Models for Efficient Labeling of Deformable Linear Objects

Autori: Alessio Caporali, Kevin Galassi, Matteo Pantano, Gianluca Palli
Pubblicato in: Springer Proceedings in Advanced Robotics, Numero Vol. 32, 2025, ISSN 2511-1264
Editore: Springer, Cham
DOI: 10.1007/978-3-031-76424-0_57

Combined Task and Motion Planning Via Sketch Decompositions

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

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

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

Peer reviewed articles (22)

Smart perception for situation awareness in robotic manipulation tasks

Autori: Albert Dalmasses, Oriol Ruiz-Celada, Isiah Zaplana, Jan Rosell
Pubblicato in: Robotics and Autonomous Systems, Numero 00, 2023, ISSN 0921-8890
Editore: 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

Autori: Roberto Meattini, Alessio Caporali, Alessandra Bernardini, Gianluca Palli, Claudio Melchiorri
Pubblicato in: IEEE Robotics and Automation Letters, Numero Vol. 7 Numero 4, 2022, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/LRA.2022.3193247

A Monolithic Cable-Driven Compliant Wrist for Prosthetic Arms

Autori: Mario Baggetta, Gianluca Palli, Claudio Melchiorr, Giovanni Berselli
Pubblicato in: IEEE/ASME Transactions on Mechatronics, Numero Vol. 29 Numero 2, 2024, ISSN 1941-014X
Editore: IEEE
DOI: 10.1109/TMECH.2023.3345215

Neuromorphic Tactile Sensing System for Artificial Texture Classification

Autori: Haydar Al Haj Ali, Yahya Abbass, Christian Gianoglio, Ali Ibrahim, Changjae Oh, Maurizio Valle
Pubblicato in: IEEE Sensors Journal, Numero Vol. 24 Numero 10, 2024, ISSN 1558-1748
Editore: IEEE
DOI: 10.1109/JSEN.2024.3382369

World Model for Autonomous Intelligent Mobile Manipulation

Autori: Ryo Sakagami, Andreas Dömel, Peter Lehner, Sebastian Riedel,Sebastian G. Brunner, Alin Albu-Schäffer, Freek Stulp
Pubblicato in: IEEE Robotics and Automation Letters, Numero Vol. 9 Numero 7, 2024, ISSN 2377-3766
Editore: 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

Autori: Christian Gianoglio, Edoardo Ragusa, Paolo Gastaldo, Maurizio Valle
Pubblicato in: IEEE Sensors Letters, Numero Vol. 7 Numero 5, 2023, ISSN 2475-1472
Editore: IEEE
DOI: 10.1109/LSENS.2023.3273733

Model-based approach for indentation on soft electronic skin

Autori: Chiara Micheli, Giovanni Berselli, Lucia Seminara
Pubblicato in: Mechatronics, Numero Vol. 102, 2024, ISSN 0957-4158
Editore: Elsevier
DOI: 10.1016/j.mechatronics.2024.103225

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

Autori: Seyyed Masoud Kargar; Giovanni Berselli
Pubblicato in: The International Journal of Advanced Manufacturing Technology, 2024, ISSN 1433-3015
Editore: Springer-Verlag London Ltd
DOI: 10.1007/s00170-024-14086-6

Whole-Body Ergodic Exploration With a Manipulator Using Diffusion

Autori: Cem Bilaloglu; Tobias Löw; Sylvain Calinon
Pubblicato in: IEEE Robotics and Automation Letters, Numero Vol. 8 Numero 12, 2023, ISSN 2377-3766
Editore: IEEE
DOI: 10.48550/arxiv.2306.16898

Comparison of pose estimation methods for robotic fruit picking

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

Condition-based Design of Variable Impedance Controllers from User Demonstrations

Autori: Alberto San-Miguel, Guillem Alenya, Vicenc Puig
Pubblicato in: Control Engineering Practice, Numero Vol. 140, 2023, ISSN 0967-0661
Editore: Elsevier Ltd.
DOI: 10.1016/j.conengprac.2023.105658

Embedded real-time objects’ hardness classification for robotic grippers

Autori: Youssef Amin, Christian Gianoglio, Maurizio Valle
Pubblicato in: Future Generation Computer Systems, 2023, ISSN 0167-739X
Editore: Elsevier Ltd.
DOI: 10.1016/j.future.2023.06.002

Geometric Algebra for Optimal Control With Applications in Manipulation Tasks

Autori: Tobias Löw, Sylvain Calinon
Pubblicato in: IEEE: Transactions on Robotics, Numero Vol. 39 Numero 5, 2023, ISSN 1552-3098
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2023.3277282

Evaluation of different hardware solutions for multiple objects grasping

Autori: Werner Friedl
Pubblicato in: Frontiers in Robotics and AI, Numero Vol.11 - 2024, 2024, ISSN 2296-9144
Editore: Frontiers
DOI: 10.3389/frobt.2024.1351932

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

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

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

Autori: Cosimo Gentile, Emanuele Gruppioni
Pubblicato in: Innovations in the Control and Assessment of Prosthetic Arms, 2023, ISSN 2673-1592
Editore: MDPI
DOI: 10.3390/prosthesis5040083

Learning passive policies with virtual energy tanks in robotics

Autori: Riccardo Zanella, Stefano Stramigioli, Federico Califano, Gianluca Palli
Pubblicato in: IET Control Theory & Applications, 2023, ISSN 1751-8644
Editore: Institution of Engineering and Technology
DOI: 10.1049/cth2.12558

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

Autori: Sara Federico, Marco Costanzo, Marco De Simone, Ciro Natale
Pubblicato in: IEEE Robotics and Automation Letters, Numero 10, 2025, ISSN 2377-3766
Editore: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2025.3539092

Multimodal grasp planner for hybrid grippers in cluttered scenes

Autori: Salvatore D’Avella, Ashok M. Sundaram, Werner Friedl, Paolo Tripicchio, and Maximo A. Roa
Pubblicato in: IEEE Robotics and Automation Letters, Numero Vol. 8 Numero 4, 2023, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/LRA.2023.3247221

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

Autori: Marta Rinaldi, Ciro Natale, Marcello Fera, Roberto Macchiaroli, Maria Grazia, Lourdes Monaco, Eric Grosse
Pubblicato in: Procedia Computer Science, Numero Vol. 232, 2024, ISSN 1877-0509
Editore: Elsevier
DOI: 10.1016/j.procs.2024.01.072 

Online Learning of Piecewise Polynomial Signed Distance Fields for Manipulation Tasks

Autori: Ante Maric, Yiming Li, and Sylvain Calinon
Pubblicato in: IEEE Robotics and Automation Letters, Numero Vol. 9 Numero 6, 2024, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/LRA.2024.3397085

Projection-based first-order constrained optimization solver for robotics

Autori: Hakan Girgin, Tobias Löw, Teng Xue, Sylvain Calinon
Pubblicato in: IEEE Robotics and Automation Letters, 2023, ISSN 2377-3766
Editore: IEEE
DOI: 10.48550/ARXIV.2306.17611

Thesis and dissertations (1)

AiRLIHockey: Highly Reactive Contact Control and Stochastic Optimal Shooting

Autori: Jankowski, Julius; Marić, Ante; Calinon, Sylvain
Pubblicato in: 2024, ISSN 2331-8422
Editore: -
DOI: 10.48550/arxiv.2401.14964

Other (6)

Tactile Ergodic Control Using Diffusion and Geometric Algebra

Autori: Cem Bilaloglu, Tobias Löw, Sylvain Calinon
Pubblicato in: 2024
Editore: Idiap Research Institute & EPFL
DOI: 10.48550/ARXIV.2402.04862

gafro: Geometric Algebra for Robotics

Autori: Tobias Löw, Philip Abbet, Sylvain Calinon
Pubblicato in: 2023
Editore: -
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

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

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

Autori: Yiming Li, Yan Zhang, Amirreza Razmjoo Fard, Sylvain Calinon
Pubblicato in: 2023
Editore: Idiap Research Institute & EPFL
DOI: 10.48550/arXiv.2307.00533

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

Autori: Enes Bektürk, Marc-Anton Scheidl, Fabio Egle, Claudio Castellini
Pubblicato in: 2023
Editore: Zenodo
DOI: 10.5281/zenodo.8289286

Extending the Cooperative Dual-Task Space in Conformal Geometric Algebra

Autori: Tobias Löw, Sylvain Calinon
Pubblicato in: 2023
Editore: -
DOI: 10.48550/ARXIV.2310.19093