Handling with AI-enhanced Robotic Technologies for flexible manufactUring

Project Information

HARTU

Grant agreement ID: 101092100

DOI

10.3030/101092100

Project closed

EC signature date 24 November 2022

Start date 1 January 2023

End date 31 December 2025

Funded under

• Digital, Industry and Space

Total cost

€ 5 926 987,50

EU contribution

€ 5 926 987,50

Coordinated by

FUNDACION TEKNIKER
Spain

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Deliverables

Demonstrators, pilots, prototypes (2)

Initial setup of real world scenarios

Initial implementation of the real-world scenarios based on the analysis and requirements reported in D1.1.

Real world scenarios for system validation

New release of the of the real-world scenarios based on the analysis and requirements reported in D1.1 and integrating the results of the different WPs. This implementation will be used for the validation of the results.

Documents, reports (8)

HARTU Architectural specification and integration plan

Report describing the software architecture

Human centric design guidance and Skills transformation map

Guidelines for the development of acceptable and trustworthy solutions for smart manufacturing and a Skills Transformation Map which provides guidance on how to match people’s skills with the automated solutions within the production lines and how to customise the type of training to facilitate speed of adaptation.

Dissemination, Exploitation and Communication Plan – Update

Plan updated of the Dissemination, Exploitation and Communication activities

Real world scenarios and metrics for validation definition

Document describing the scenarios that will be used to

HARTU validation results in real world scenarios

Report describing the validation experiments and results achieved through the project. It also includes a summary of the changes made to the components as a result of the partial results obtained

Data Management Plan

Report collecting data management life cycle

Human-AI teaming interaction model

Report describing the designed human-AI-robotics relationships, including the model of interaction between them.

Dissemination, Exploitation, and Communication Plan

Strategic document including the consortium’s communication, exploitation and dissemination goals, targeted audience, main messages and the strategy to overcome the communication barriers.

Other (2)

Simulation infrastructure for handling component training

Software module integrated in Unity to simulate the environments that will be used for training the handling models.

HARTU-APP-BUILDER Open Tool

Software module to support system integrators in the development of applications

Data sets, microdata, etc (1)

Assembly dataset

Dataset of relevant data acquired during assembly operations used for training models

Publications

Conference proceedings (4)

Simulation-Based Synthetic Data Generation for Automated Training of Bin-Picking Segmentation Models

Author(s): Ander Iriondo, Andoni Rivera, Aitor Madrazo, Aitor Gutierrez, Ander Ansuategi, Iñaki Maurtua
Published in: 2025 11th International Conference on Automation, Robotics, and Applications (ICARA), 2025
Publisher: IEEE ICARA
DOI: 10.1109/ICARA64554.2025.10977584

Gaussian Mixture Likelihood-based Adaptive MPC for Interactive Mobile Manipulators

Author(s): D. Rakovitis and D. Mronga
Published in: 2024 IEEE International Conference on Robotics and Automation, 2024
DOI: 10.5281/zenodo.13619113

Look Ahead Optimization for Managing Nullspace in Cartesian Impedance Control of Dual-Arm Robots

Author(s): Vamsi Krishna Origanti, Adrian Danzglock, Frank Kirchner
Published in: 2025 IEEE/SICE International Symposium on System Integration (SII), 2025
Publisher: IEEE
DOI: 10.1109/SII59315.2025.10871056

Force feedback using fiber Bragg gratings embedded in a suction cup

Author(s): Joaquín Ascorbe, Abel Feijóo, Jawad Masood, Tania Grandal
Published in: 29th International Conference on Optical Fiber Sensors, 2025
Publisher: OSF29
DOI: 10.1117/12.3060878

Book chapters (6)

Virtual Reality and AI for Training in Manufacturing: Advancing Human-AI Teaming and Collaboration

Author(s): Andrea Capaccioli, Nicola Cavagnetto, Emma Volpato, Linda Napoletano
Published in: Communications in Computer and Information Science, HCI International 2025 – Late Breaking Papers, 2026
Publisher: Springer Nature Switzerland
DOI: 10.1007/978-3-032-12764-8_1

Preliminary Evaluation of an Embedded FBG-Based Force Sensor for In-Hand Grasp Monitoring

Author(s): Jawad Masood, Abel F. Alonso, Joaquín A. Muruzabal, Tania G. González
Published in: Springer Proceedings in Advanced Robotics, European Robotics Forum 2024, 2024
Publisher: Springer Nature Switzerland
DOI: 10.1007/978-3-031-76428-8_60

Robotic Grasping Decision Making Assisted by AI and Simulation

Author(s): Jon Ander Ruiz, Ander Iriondo, Andoni Rivera, Ander Ansuategi, Iñaki Maurtua
Published in: Springer Proceedings in Advanced Robotics, European Robotics Forum 2024, 2024
Publisher: Springer Nature Switzerland
DOI: 10.1007/978-3-031-76428-8_61

Continuous Learning of Contact Episodes from Proprioceptive Sensors in Industrial Assembly Scenarios Using Adaptive Resonance Theory

Author(s): Vinzenz Bargsten, Dimitrios Rakovitis, Vamsi Krishna Origanti, Adrian Danzglock, Frank Kirchner
Published in: Lecture Notes in Networks and Systems, Intelligent and Fuzzy Systems, 2025
Publisher: Springer Nature Switzerland
DOI: 10.1007/978-3-031-98304-7_39

Efficient 6D Object Pose Estimation for Robotic Grasping Using Lightweight Neural Network Architectures

Author(s): Alejandro Grajeda, David Castro, Jawad Masood
Published in: Springer Proceedings in Advanced Robotics, European Robotics Forum 2025, 2025
Publisher: Springer Nature Switzerland
DOI: 10.1007/978-3-031-89471-8_45

Towards Human-Centric Industrial Training

Author(s): Niccoló Becattini, Gaetano Cascini, Mario Covarrubias Rodriguez, Nicolò Dozio, Francesco Ferrise, Shumin Li, Federico Morosi, Linda Napoletano, Erica Vanucci, Debora Zanatto
Published in: Lecture Notes in Mechanical Engineering, Design Tools and Methods in Industrial Engineering IV, 2025
Publisher: Springer Nature Switzerland
DOI: 10.1007/978-3-031-76594-0_32

Peer reviewed articles (6)

Physics-Based Self-Supervised Grasp Pose Detection

Author(s): Jon Ander Ruiz; Ander Iriondo; Elena Lazkano; Ander Ansuategi; Iñaki Maurtua
Published in: Machines, 2024, ISSN 2075-1702
Publisher: Machines’ journal
DOI: 10.20944/PREPRINTS202411.0225.V1

MujocoROS2Control: Seamless MuJoCo Integration with ROS 2 for Robot Simulation and Control

Author(s): Adrian Danzglock, Vamsi Krishna Origanti, Frank Kirchner
Published in: Journal of Open Source Software, Issue 10, 2025, ISSN 2475-9066
Publisher: The Open Journal
DOI: 10.21105/JOSS.09140

Anisotropic shrinkage and finite strains in confined frictional contacts

Author(s): Marco Ceglie, Cosimo Mandriota, Giuseppe Carbone, Nicola Menga, Antoine Chateauminois
Published in: Tribology International, Issue 214, 2025, ISSN 0301-679X
Publisher: Elsevier BV
DOI: 10.1016/J.TRIBOINT.2025.111185

Electroadhesion Suction Cups

Author(s): Fabio Caruso, Herbert Shea, Vito Cacucciolo
Published in: Advanced Materials, Issue 37, 2025, ISSN 0935-9648
Publisher: Wiley
DOI: 10.1002/ADMA.202420231

Electroadhesion zipping with soft grippers on curved objects

Author(s): Massimiliano Mastrangelo, Fabio Caruso, Giuseppe Carbone, Vito Cacucciolo
Published in: Extreme Mechanics Letters, Issue 61, 2025, ISSN 2352-4316
Publisher: Elsevier BV
DOI: 10.1016/J.EML.2023.101999

A novel energy-based numerical approach for adhesive contact mechanics of rough surfaces

Author(s): Michele Santeramo, Giuseppe Carbone, Stefan Krenn, Carmine Putignano
Published in: Journal of the Mechanics and Physics of Solids, Issue 203, 2025, ISSN 0022-5096
Publisher: Elsevier BV
DOI: 10.1016/J.JMPS.2025.106217