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

Informacje na temat projektu

SoftEnable

Identyfikator umowy o grant: 101070600

DOI

10.3030/101070600

Projekt został zamknięty

Data podpisania przez KE 23 Czerwca 2022

Data rozpoczęcia 1 Października 2022

Data zakończenia 30 Września 2026

Finansowanie w ramach

• Digital, Industry and Space

Koszt całkowity

€ 2 568 721,00

Wkład UE

€ 2 568 721,00

Koordynowany przez

KUNGLIGA TEKNISKA HOEGSKOLAN
Sweden

CORDIS oferuje możliwość skorzystania z odnośników do publicznie dostępnych publikacji i rezultatów projektów realizowanych w ramach programów ramowych HORYZONT.

Odnośniki do rezultatów i publikacji związanych z poszczególnymi projektami 7PR, a także odnośniki do niektórych konkretnych kategorii wyników, takich jak zbiory danych i oprogramowanie, są dynamicznie pobierane z systemu OpenAIRE .

Rezultaty

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

Publikacje

Conference proceedings (18)

Robotic Tight Packaging using a Hybrid gripper with Variable Stiffness

Autorzy: M. Moroni, A.E.H. Martin, L. Klupfel, A.M. Sundaram, W. Friedl, and M.A. Roa
Opublikowane w: Towards Autonomous Robotic Systems Conference (TAROS) 2024, 2024
Wydawca: Springer-Verlag

Evaluating the Pre-Dressing Step: Unfolding Medical Garments via Imitation Learning

Autorzy: David Blanco-Mulero, Julia Borras, Carme Torras
Opublikowane w: 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
Wydawca: IEEE
DOI: 10.1109/IROS60139.2025.11247713

Dynamic manipulation of deformable objects using imitation learning with adaptation to hardware constraints

Autorzy: E. Hannus, T. Nguyen Le, D. Blanco-Mulero and V. Kyrki
Opublikowane w: IEEE/RSJ IROS 2024
Wydawca: IEEE

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

Autorzy: L.M. Lach, R. Haschke, D. Tateo, J. Peters, H. Ritter, J. Borràs and C. Torras
Opublikowane w: IEEE/RSJ IROS 2024, 2024
Wydawca: IEEE

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

Autorzy: Luca Lach, Niklas Funk, Robert Haschke, Severin Lemaignan, Helge Joachim Ritter, Jan Peters, Georgia Chalvatzaki
Opublikowane w: IEEE/RSJ IROS, 2023
Wydawca: IEEE/RSJ

Quasi-static Soft Fixture Analysis of Rigid and Deformable Objects

Autorzy: Y. Dong, F.T. Pokorny
Opublikowane w: IEEE ICRA 2024
Wydawca: IEEE

CloSE: A Geometric Shape-Agnostic Cloth State Representation

Autorzy: Jay Kamat, Júlia Borràs, Carme Torras
Opublikowane w: 2026 IEEE International Conference on Robotics and Automation (ICRA), 2026
Wydawca: IEEE
DOI: 10.1109/ICRA57385.2026.11696937

A gripper for flap separation and opening of sealed bags

Autorzy: Sergi Foix, Jaume Oriol, Carme Torras, Júlia Borràs
Opublikowane w: 2026 IEEE International Conference on Robotics and Automation (ICRA), 2026
Wydawca: IEEE
DOI: 10.1109/ICRA57385.2026.11697438

Scene Understanding in Deformable Object Manipulation via Taxonomy-Guided Vision-Language Models

Autorzy: Gawtam Chithra Ramesh, David Blanco-Mulero, Yifei Dong, Júlia Borràs Sol, Carme Torras, Florian T. Pokorny
Wydawca: ROMADO Workshop, IROS 2025

Robustness-Aware Tool Selection and Manipulation Planning with Learned Energy-Informed Guidance

Autorzy: Yifei Dong, Yan Zhang, Sylvain Calinon, Florian T. Pokorny
Opublikowane w: 2026 IEEE International Conference on Robotics and Automation (ICRA), 2026
Wydawca: IEEE
DOI: 10.1109/ICRA57385.2026.11695929

Task-Oriented Stiffness Setting for a Variable Stiffness Hand

Autorzy: Ana Elvira H. Martin; Ashok M. Sundaram; Werner Friedl; Virginia Ruiz Garate; Máximo A. Roa
Opublikowane w: IEEE ICRA 2023, 2023
Wydawca: IEEE
DOI: 10.1109/ICRA48891.2023.10161053

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

Autorzy: Borràs Sol, Júlia; Boix Granell, Arnau; Foix Salmerón, Sergi; Torras, Carme
Opublikowane w: 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023
Wydawca: IEEE
DOI: 10.1109/ICRA48891.2023.10161122

CageCoOpt: Enhancing Manipulation Robustness through Caging-Guided Morphology and Policy Co-Optimization

Autorzy: Yifei Dong, Shaohang Han, Xianyi Cheng, Werner Friedl, Rafael I. Cabral Muchacho, Máximo A. Roa, Jana Tumova, Florian T. Pokorny
Opublikowane w: 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
Wydawca: IEEE
DOI: 10.1109/IROS60139.2025.11246485

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

Autorzy: L Lach, R Haschke, D Tateo, J Peters, H Ritter, J Borràs, C Torras
Opublikowane w: 1st Workshop on Touch Processing: a new Sensing Modality for AI at NeurIPS 2024, 2023
Wydawca: 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

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

A Human-Inspired Linear Scoop Gripper and Grasping Framework for Manipulation of Thin Deformable Food Products

Autorzy: Werner Friedl, Ashok M. Sundaram, Francesco Porta, Mykhaylo Marfeychuk, Wesley Wimshurst, Mariana De Paula Assis Fonseca, Leonard Klüpfel, Jelizaveta Konstantinova, Máximo A. Roa
Opublikowane w: 2026 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2026
Wydawca: IEEE
DOI: 10.1109/AIM65483.2026.11658272

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

Autorzy: Yifei Dong; Florian T. Pokorny
Opublikowane w: 3rd Workshop on Representing and Manipulating Deformable Objects at IEEE ICRA 2023, 2023
Wydawca: 3rd Workshop on Representing and Manipulating Deformable Objects, ICRA2023

Advancing Robust Multi-Object Manipulation with Energy Margin

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

Peer reviewed articles (7)

Dual Arm Steering of Flexible Linear Objects in 2-D and 3-D Environments Using Euler's Elastica Solutions

Autorzy: A. Levin, I. Grinberg, E. D. Rimon, A. Shapiro
Opublikowane w: IEEE Robotics and Automation Letters, Numer 10, 2025, ISSN 2377-3766
Wydawca: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2025.3586475

Benchmarking the sim-to-real gap in cloth manipulation

Autorzy: D. Blanco-Mulero, O. Barbany, G. Alcan, A. Colomé, C. Torras and V. Kyrki
Opublikowane w: IEEE Robotics and Automation Letters, Numer 9, 2024, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.48550/arXiv.2509.23926

Unfolding the literature: a review of robotic cloth manipulation

Autorzy: A. Longhini, Y. Wang, I. Garcia-Camacho, D. Blanco-Mulero, M. Moletta, M.C. Welle, G. Alenyà, H. Yin, Z. Erickson, D. Held, J. Borràs and D. Kragic
Opublikowane w: Annual Review of Control, Robotics, and Autonomous Systems, Numer 8, ISSN 0000-0000
Wydawca: Annual Review of Control, Robotics, and Autonomous Systems
DOI: 10.48550/arXiv.2407.01361

A context-adaptive policy framework for robust and reactive robotic manipulation via uncertainty-aware imitation learning

Autorzy: Tim R. Winter, Leonard Klüpfel, Ashok M. Sundaram, Werner Friedl, Maximo A. Roa, Freek Stulp, João Silvério
Opublikowane w: Robotics and Autonomous Systems, Numer 205, 2026, ISSN 0921-8890
Wydawca: Elsevier BV
DOI: 10.1016/J.ROBOT.2026.105649

Characterizing Manipulation Robustness Through Energy Margin and Caging Analysis

Autorzy: Yifei Dong; Xianyi Cheng; Florian T. Pokorny
Opublikowane w: IEEE Robotics and Automation Letters, Numer 9, 2024, ISSN 0000-0000
Wydawca: IEEE
DOI: 10.48550/ARXIV.2404.12115

Evaluation of different robotic grippers for simultaneous multi-object grasping

Autorzy: Friedl, Werner
Opublikowane w: Frontiers in Robotics and AI, Numer 11, 2024, ISSN 0000-0000
Wydawca: Frontiers in Robotics and AI
DOI: 10.3389/FROBT.2024.1351932

Ethics of Social Robotics: Individual and Societal Concerns and Opportunities

Autorzy: Torras, Carme
Opublikowane w: Annual Review of Control, Robotics, and Autonomous Systems, Numer 7, 2024, ISSN 0000-0000
Wydawca: Annual Reviews
DOI: 10.1146/ANNUREV-CONTROL-062023-082238