Handling with AI-enhanced Robotic Technologies for flexible manufactUring

Informazioni relative al progetto

HARTU

ID dell’accordo di sovvenzione: 101092100

DOI

10.3030/101092100

Progetto chiuso

Data della firma CE 24 Novembre 2022

Data di avvio 1 Gennaio 2023

Data di completamento 31 Dicembre 2025

Finanziato da

• Digital, Industry and Space

Costo totale

€ 5 926 987,50

Contributo UE

€ 5 926 987,50

Coordinato da

FUNDACION TEKNIKER
Spain

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)

Initial setup of real world scenarios

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

Documents, reports (5)

HARTU Architectural specification and integration plan

Report describing the software architecture

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

Data Management Plan

Report collecting data management life cycle

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

Pubblicazioni

Conference proceedings (5)

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

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

Gaussian Mixture Likelihood-based Adaptive MPC for Interactive Mobile Manipulators

Autori: D. Rakovitis and D. Mronga
Pubblicato 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

Autori: Vamsi Krishna Origanti, Adrian Danzglock, Frank Kirchner
Pubblicato in: 2025 IEEE/SICE International Symposium on System Integration (SII), 2025
Editore: IEEE
DOI: 10.1109/SII59315.2025.10871056

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

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

Force feedback using fiber Bragg gratings embedded in a suction cup

Autori: Joaquín Ascorbe, Abel Feijóo, Jawad Masood, Tania Grandal
Pubblicato in: 29th International Conference on Optical Fiber Sensors, 2025
Editore: OSF29
DOI: 10.1117/12.3060878

Peer reviewed articles (7)

Physics-Based Self-Supervised Grasp Pose Detection

Autori: Jon Ander Ruiz; Ander Iriondo; Elena Lazkano; Ander Ansuategi; Iñaki Maurtua
Pubblicato in: Machines, 2024, ISSN 2075-1702
Editore: Machines’ journal
DOI: 10.20944/PREPRINTS202411.0225.V1

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

Autori: Adrian Danzglock, Vamsi Krishna Origanti, Frank Kirchner
Pubblicato in: Journal of Open Source Software, Numero 10, 2025, ISSN 2475-9066
Editore: The Open Journal
DOI: 10.21105/JOSS.09140

Extreme Mechanics Letters

Autori: Mastrangelo M.; Caruso F.; Carbone G.; Cacucciolo V.
Pubblicato in: Extreme Mechanics Letters, 2023, ISSN 2352-4316
Editore: Elsevier
DOI: 10.1016/J.EML.2023.101999

Anisotropic shrinkage and finite strains in confined frictional contacts

Autori: Marco Ceglie, Cosimo Mandriota, Giuseppe Carbone, Nicola Menga, Antoine Chateauminois
Pubblicato in: Tribology International, Numero 214, 2025, ISSN 0301-679X
Editore: Elsevier BV
DOI: 10.1016/J.TRIBOINT.2025.111185

Electroadhesion Suction Cups

Autori: Fabio Caruso, Herbert Shea, Vito Cacucciolo
Pubblicato in: Advanced Materials, Numero 37, 2025, ISSN 0935-9648
Editore: Wiley
DOI: 10.1002/ADMA.202420231

Electroadhesion zipping with soft grippers on curved objects

Autori: Massimiliano Mastrangelo, Fabio Caruso, Giuseppe Carbone, Vito Cacucciolo
Pubblicato in: Extreme Mechanics Letters, Numero 61, 2025, ISSN 2352-4316
Editore: Elsevier BV
DOI: 10.1016/J.EML.2023.101999

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

Autori: Michele Santeramo, Giuseppe Carbone, Stefan Krenn, Carmine Putignano
Pubblicato in: Journal of the Mechanics and Physics of Solids, Numero 203, 2025, ISSN 0022-5096
Editore: Elsevier BV
DOI: 10.1016/J.JMPS.2025.106217

Book chapters (5)

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

Autori: Jawad Masood, Abel F. Alonso, Joaquín A. Muruzabal, Tania G. González
Pubblicato in: Springer Proceedings in Advanced Robotics, European Robotics Forum 2024, 2024
Editore: Springer Nature Switzerland
DOI: 10.1007/978-3-031-76428-8_60

Robotic Grasping Decision Making Assisted by AI and Simulation

Autori: Jon Ander Ruiz, Ander Iriondo, Andoni Rivera, Ander Ansuategi, Iñaki Maurtua
Pubblicato in: Springer Proceedings in Advanced Robotics, European Robotics Forum 2024, 2024
Editore: 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

Autori: Vinzenz Bargsten, Dimitrios Rakovitis, Vamsi Krishna Origanti, Adrian Danzglock, Frank Kirchner
Pubblicato in: Lecture Notes in Networks and Systems, Intelligent and Fuzzy Systems, 2025
Editore: 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

Autori: Alejandro Grajeda, David Castro, Jawad Masood
Pubblicato in: Springer Proceedings in Advanced Robotics, European Robotics Forum 2025, 2025
Editore: Springer Nature Switzerland
DOI: 10.1007/978-3-031-89471-8_45

Towards Human-Centric Industrial Training

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