Towards Soft Fixture-Based Manipulation Primitives Enabling Safe Robotic Manipulation in Hazardous Healthcare and Food Handling Applications

Informazioni relative al progetto

SoftEnable

ID dell’accordo di sovvenzione: 101070600

DOI

10.3030/101070600

Data della firma CE 23 Giugno 2022

Data di avvio 1 Ottobre 2022

Data di completamento 30 Settembre 2026

Finanziato da

• Digital, Industry and Space

Costo totale

€ 2 568 721,00

Contributo UE

€ 2 568 721,00

Coordinato da

KUNGLIGA TEKNISKA HOEGSKOLAN
Sweden

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

Demonstrators, pilots, prototypes (1)

Robotic PPE Handling evaluator system setup and initial demonstration

Other (2)

Software for Manipulation Planning with Macro States
Software for Deformable Object Shape Control with Soft Fixtures

Data Management Plan (1)

Data Management Plan

Documents, reports (6)

Ethical Project Framework towards Human Study Participants
Requirements and use case KPIs
Co-design of Hand-Held Tools Supporting Soft Fixture-Based Manipulation
Software integration framework
SOFTCARE Exploitation and Dissemination Plan
Intermediate Exploitation and Dissemination Report

Data sets, microdata, etc (2)

Dataset demonstrating soft fixture candidates
Primitive Taxonomy and Demonstration Mocap/Video Dataset for PPE handling

Primitive Taxonomy and Demonstration MocapVideo Dataset for PPE handling

Websites, patent fillings, videos etc. (1)

SOFTCARE Web-portal & Intranet

SOFTCARE Webportal Intranet

Pubblicazioni

Conference proceedings (10)

Robotic Tight Packaging using a Hybrid gripper with Variable Stiffness

Autori: M. Moroni, A.E.H. Martin, L. Klupfel, A.M. Sundaram, W. Friedl, and M.A. Roa
Pubblicato in: Towards Autonomous Robotic Systems Conference (TAROS) 2024, 2024
Editore: Springer-Verlag

Zero-shot transfer of a tactile-based continuous force control policy from simulation to robot

Autori: L.M. Lach, R. Haschke, D. Tateo, J. Peters, H. Ritter, J. Borràs and C. Torras
Pubblicato in: IEEE/RSJ IROS 2024, 2024
Editore: IEEE

Placing by Touching: An empirical study on the importance of tactile sensing for precise object placing

Autori: Luca Lach, Niklas Funk, Robert Haschke, Severin Lemaignan, Helge Joachim Ritter, Jan Peters, Georgia Chalvatzaki
Pubblicato in: IEEE/RSJ IROS, 2023
Editore: IEEE/RSJ

Task-Oriented Stiffness Setting for a Variable Stiffness Hand

Autori: Ana Elvira H. Martin; Ashok M. Sundaram; Werner Friedl; Virginia Ruiz Garate; Máximo A. Roa
Pubblicato in: IEEE ICRA 2023, 2023
Editore: IEEE
DOI: 10.1109/ICRA48891.2023.10161053

A Virtual Reality Framework For Fast Dataset Creation Applied to Cloth Manipulation with Automatic Semantic Labelling

Autori: Borràs Sol, Júlia; Boix Granell, Arnau; Foix Salmerón, Sergi; Torras, Carme
Pubblicato in: 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023
Editore: IEEE
DOI: 10.1109/ICRA48891.2023.10161122

A Virtual Reality Framework For Fast Dataset Creation Applied to Cloth Manipulation with Automatic Semantic Labelling

Autori: Júlia Borràs; Arnau Boix-Granell; Sergi Foix; Carme Torras
Pubblicato in: IEEE ICRA 2023, 2023
Editore: IEEE
DOI: 10.1109/ICRA48891.2023.10161122

Towards Transferring Tactile-based Continuous Force Control Policies from Simulation to Robot

Autori: L Lach, R Haschke, D Tateo, J Peters, H Ritter, J Borràs, C Torras
Pubblicato in: 1st Workshop on Touch Processing: a new Sensing Modality for AI at NeurIPS 2024, 2023
Editore: 1st Workshop on Touch Processing: a new Sensing Modality for AI at NeurIPS 2024

Adaptive Bayesian Optimization for Robotic Pushing on Thin Fragile Deformable Objects

Autori: R. Herguedas, A. M. Sundaram, G. Lopez-Nicolas, M. A. Roa, C. Sagues
Pubblicato in: Sixth Iberian Robotics Conference. Coimbra, Portugal, 22-24 Nov 2023, 2024
Editore: n/a
DOI: 10.1007/978-3-031-58676-7_28

Soft Fixtures: Towards Practical Caging-Based Manipulation of Rigid and Deformable Objects

Autori: Yifei Dong; Florian T. Pokorny
Pubblicato in: 3rd Workshop on Representing and Manipulating Deformable Objects at IEEE ICRA 2023, 2023
Editore: 3rd Workshop on Representing and Manipulating Deformable Objects, ICRA2023

Advancing Robust Multi-Object Manipulation with Energy Margin

Autori: Yifei Dong, Xianyi Cheng, Werner Friedl, Aurel Schröter, Ashok M. Sundaram, Máximo A. Roa, Florian T. Pokorny
Pubblicato in: IEEE ICRA 2024 Workshop on Multi-Object Grasping: Progress and Prospects, 2024
Editore: IEEE ICRA 2024 Workshop on Multi-Object Grasping: Progress and Prospects

Peer reviewed articles (3)

Characterizing Manipulation Robustness Through Energy Margin and Caging Analysis

Autori: Yifei Dong; Xianyi Cheng; Florian T. Pokorny
Pubblicato in: IEEE Robotics and Automation Letters, Numero 9, 2024, ISSN 0000-0000
Editore: IEEE
DOI: 10.48550/ARXIV.2404.12115

Evaluation of different robotic grippers for simultaneous multi-object grasping

Autori: Friedl, Werner
Pubblicato in: Frontiers in Robotics and AI, Numero 11, 2024, ISSN 0000-0000
Editore: Frontiers in Robotics and AI
DOI: 10.3389/FROBT.2024.1351932

Ethics of Social Robotics: Individual and Societal Concerns and Opportunities

Autori: Torras, Carme
Pubblicato in: Annual Review of Control, Robotics, and Autonomous Systems, Numero 7, 2024, ISSN 0000-0000
Editore: Annual Reviews
DOI: 10.1146/ANNUREV-CONTROL-062023-082238