Advancing the physical intelligence and performance of roBOTs towards human-like bi-manual objects MANipulation

Project Information

MANiBOT

Grant agreement ID: 101120823

DOI

10.3030/101120823

EC signature date 29 June 2023

Start date 1 November 2023

End date 30 April 2027

Funded under

• Digital, Industry and Space

Total cost

€ 6 285 273,75

EU contribution

€ 6 285 273,75

Coordinated by

ETHNIKO KENTRO EREVNAS KAI TECHNOLOGIKIS ANAPTYXIS
Greece

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

Data Management Plan (1)

Data Management Plan - v1

Interim Data Management Plan - v1; based on the DMP information of D1.2.

Documents, reports (4)

Trustworthiness and dependability analysis - v1

This deliverable will provide the literature review on HRI aspects relevant to MANIBOT and describe the plan and results for the safety, trustworthiness and dependability factors analysis (version 1). D2.3 is connected to task 2.3

Report on pilot Specification and pilot sites preparation - v1

This deliverable will describe the first version of the report on the lab and pilot sites preparation; two versions foreseen, one public and one confidential version. D7.2 is connected to task 7.2

Dissemination and communication plan - v1

This deliverable will provide the first version of the dissemination and communication plan. D8.1 is connected to task 8.1

System testing and demonstration plan - v1

This deliverable will describe the first version of the system testing and demonstration plan. D7.1 is connected to task 7.1

Demonstrators, pilots, prototypes (1)

MANiBOT Web Portal

This deliverable will provide the MANIBOT web portal. D8.2 is connected to task 8.2.

Publications

Conference proceedings (12)

Diseño e integración de una plataforma robótica bimanual móvil para la manipulación inteligente: avances del proyecto MANiBOT

Author(s): Mario Peñacoba Yagüe, Jesús Enrique Sierra García
Published in: Jornadas de Automática, 2025, ISSN 3045-4093
Publisher: Universidade da Coruna
DOI: 10.17979/JA-CEA.2025.46.12144

Diseño e integración de una plataforma robótica bimanual móvil para la manipulación inteligente: avances del proyecto MANiBOT

Author(s): Mario Peñacoba Yagüe; Jesús Enrique Sierra García; Matilde Santos Peñas
Publisher: Jornadas de Automática
DOI: 10.17979/JA-CEA.2025.46.12144

ZS6D: Zero-shot 6D Object Pose Estimation using Vision Transformers

Author(s): Philipp Ausserlechner, David Haberger, Stefan Thalhammer, Jean-Baptiste Weibel, Markus Vincze
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
Publisher: IEEE
DOI: 10.1109/ICRA57147.2024.10611464

Robotic Shelf Replenishment by Combining Non-Prehensile Object Manipulation with Simple Grasping

Author(s): Leonidas Koutras, Sotiris Stavridis, Christos Papakonstantinou, Zoe Doulgeri
Published in: 2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids), 2025
Publisher: IEEE
DOI: 10.1109/HUMANOIDS65713.2025.11203187

Optimización multiobjetivo de trayectorias en manipuladores industriales mediante el algoritmo MOPSO

Author(s): Mario Peñacoba Yagüe; Jesús Enrique Sierra García; Matilde Santos Peñas
Publisher: Simposios del Comité Español de Automática (CEA)
DOI: 10.17979/JA-CEA.2025.46.12051

El Aprendizaje por Refuerzo para el cálculo del Modelo Cinemático Inverso de un robot colaborativo

Author(s): Alejandro Menéndez García, Jesús Enrique Sierra García
Published in: Simposios del Comité Español de Automática (CEA), Issue 1, 2025, ISSN 3081-5002
Publisher: Comité Español de Automática
DOI: 10.64117/SIMPOSIOSCEA.V1I2.74

Kinematically Constrained Human-like Bimanual Robot-to-Human Handovers

Author(s): Yasemin Göksu, Antonio De Almeida Correia, Vignesh Prasad, Alap Kshirsagar, Dorothea Koert, Jan Peters, Georgia Chalvatzaki
Published in: Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction, 2024
Publisher: ACM
DOI: 10.1145/3610978.3640670

Active-Perceptive Motion Generation for Mobile Manipulation

Author(s): Jauhri, Snehal; Lueth, Sophie; Chalvatzaki, Georgia
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
Publisher: IEEE
DOI: 10.48550/ARXIV.2310.00433

Transition State Clustering for Interaction Segmentation and Learning

Author(s): Fabian Hahne, Vignesh Prasad, Alap Kshirsagar, Dorothea Koert, Ruth Maria Stock-Homburg, Jan Peters, Georgia Chalvatzaki
Published in: Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction, 2024
Publisher: ACM
DOI: 10.1145/3610978.3640738

Optimización inteligente de trayectorias en manipuladores industriales mediante algoritmo PSO

Author(s): Mario Peñacoba Yagüe, Jesús Enrique Sierra García, Matilde Santos Peñas
Published in: Jornadas de Automática, 2025, ISSN 3045-4093
Publisher: Universidade da Coruna
DOI: 10.17979/JA-CEA.2025.46.12051

Learning a Pre-Grasp Manipulation Policy to Effectively Retrieve a Target in Dense Clutter

Author(s): M. Kiatos, L. Koutras, I. Sarantopoulos and Z. Doulgeri
Publisher: IEEE
DOI: 10.1109/IROS58592.2024.10801734

Learning Any-View 6DoF Robotic Grasping in Cluttered Scenes via Neural Surface Rendering

Author(s): Snehal Jauhri, Ishikaa Lunawat, Georgia Chalvatzaki
Published in: Robotics: Science and Systems XX, 2024
Publisher: Robotics: Science and Systems Foundation
DOI: 10.15607/RSS.2024.XX.046

Peer reviewed articles (8)

Human-intelligent trajectory optimization for robotic manipulators with hybrid PSO-PS algorithm

Author(s): Mario Peñacoba Yagüe, Jesús Enrique Sierra García, Matilde Santos Peñas
Published in: Advanced Engineering Informatics, Issue 69, 2025, ISSN 1474-0346
Publisher: Elsevier BV
DOI: 10.1016/J.AEI.2025.103941

Efficient Transformer-Based Model for Human Proximity Detection

Author(s): Dimitrios Tsiakmakis, Massimiliano Iosi, Marcello Chiurazzi, Gastone Ciuti
Published in: IEEE Robotics and Automation Letters, Issue 10, 2025, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2025.3609943

Classification of Vision-Based Tactile Sensors: A Review

Author(s): H. Li, Y. Lin, C. Lu, M. Yang, E. Psomopoulou and N. F. Lepora
Published in: IEEE Sensors Journal, ISSN 1558-1748
Publisher: IEEE
DOI: 10.1109/JSEN.2025.3599236

BioTacTip: A Soft Biomimetic Optical Tactile Sensor for Efficient 3D Contact Localization and 3D Force Estimation

Author(s): Haoran Li; Saekwang Nam; Zhenyu Lu; Chenguang Yang; Efi Psomopoulou; Nathan F. Lepora
Published in: IEEE Robotics and Automation Letters, 2024, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2024.3387111

In search of the best fitness function for optimum generation of trajectories for Automated Guided Vehicles

Author(s): Eduardo Bayona; J. Enrique Sierra-García; Matilde Santos; Ioannis Mariolis
Published in: Engineering Applications of Artificial Intelligence, 2024, ISSN 0922-3444
Publisher: Elsevier
DOI: 10.1016/J.ENGAPPAI.2024.108440

MoVEInt: Mixture of Variational Experts for Learning Human–Robot Interactions From Demonstrations

Author(s): Prasad, Vignesh; Kshirsagar, Alap; Koert, Dorothea; Stock-Homburg, Ruth; Peters, Jan; Chalvatzaki, Georgia
Published in: IEEE Robotics and Automation Letters, 2024, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2024.3396074

Shear-Based Grasp Control for Multifingered Underactuated Tactile Robotic Hands

Author(s): C. J. Ford, H. Li, M. G. Catalano, M. Bianchi, E. Psomopoulou and N. F. Lepora
Published in: Transactions on Robotics, ISSN 1941-0468
Publisher: IEEE
DOI: 10.1109/TRO.2025.3563046

Tactile SoftHand-A: 3D-printed, tactile, highly underactuated, anthropomorphic robot hand with an antagonistic tendon mechanism

Author(s): Li, Haoran, Christopher J. Ford, Chenghua Lu, Yijiong Lin, Matteo Bianchi, Manuel G. Catalano, Efi Psomopoulou, and Nathan F. Lepora
Published in: The International Journal of Robotics Research, ISSN 0278-3649
Publisher: SAGE Publications
DOI: 10.1177/02783649251379516