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

Projektinformationen

MANiBOT

ID Finanzhilfevereinbarung: 101120823

DOI

10.3030/101120823

EK-Unterschriftsdatum 29 Juni 2023

Startdatum 1 November 2023

Enddatum 30 April 2027

Finanziert unter

• Digital, Industry and Space

Gesamtkosten

€ 6 285 273,75

EU-Beitrag

€ 6 285 273,75

Koordiniert durch

ETHNIKO KENTRO EREVNAS KAI TECHNOLOGIKIS ANAPTYXIS
Greece

CORDIS bietet Links zu öffentlichen Ergebnissen und Veröffentlichungen von HORIZONT-Projekten.

Links zu Ergebnissen und Veröffentlichungen von RP7-Projekten sowie Links zu einigen Typen spezifischer Ergebnisse wie Datensätzen und Software werden dynamisch von OpenAIRE abgerufen.

Leistungen

Data Management Plan (2)

Data Management Plan - v1

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

Data Management Plan - v2

Interim Data Management Plan - v2

Documents, reports (11)

Dissemination and communication plan - v2

This deliverable will provide the second version of the dissemination and communication plan. D8.6 is connected to task 8.1.

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

System testing and demonstration plan - v2

This deliverable will describe the final version of the system testing and demonstration plan. D7.5 is connected to task 7.1

Mutual robot-human environment and operations model

This deliverable will describe methods developed for modelling the robot-human environment and operations. D5.1 is connected to task 5.1.

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

Current and emerging, relevant state of art solutions

This deliverable will provide the state of art analysis and will analyse the existing tools for the MANIBOT project. D2.1 is connected to task 2.1.

Safe, human-aware robot navigation

This deliverable will describe the methods developed for human-aware robot navigation. D4.1 is connected to task 4.1.

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

Dissemination and Communication Activities Report - v1

This deliverable will provide the first version of the report on the dissemination and communication activities. D8.3 is connected to task 8.2.

Basic functions of coordinated mobile bimanual robot motion

This deliverable will describe the methods developed for mobile bimanual coordination with self-collision and obstacle avoidance. D4.2 is connected to task 4.2

Demonstrators, pilots, prototypes (1)

MANiBOT Web Portal

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

Veröffentlichungen

Conference proceedings (15)

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

Autoren: Mario Peñacoba Yagüe, Jesús Enrique Sierra García
Veröffentlicht in: Jornadas de Automática, 2025, ISSN 3045-4093
Herausgeber: 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

Autoren: Mario Peñacoba Yagüe; Jesús Enrique Sierra García; Matilde Santos Peñas
Herausgeber: Jornadas de Automática
DOI: 10.17979/JA-CEA.2025.46.12144

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

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

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

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

Optimización multiobjetivo de trayectorias en manipuladores industriales mediante el algoritmo MOPSO

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

Discrete-time Prescribed Performance Control and Maximum Allowable Transmission Interval

Autoren: Bikas, Lampros; Rovithakis, George
Veröffentlicht in: 2024 European Control Conference (ECC), 2024, ISBN 978-3-9071-4410-7
Herausgeber: IEEE
DOI: 10.23919/ECC64448.2024.10591120

Event-Triggered Prescribed Performance Control for SISO Uncertain Nonlinear Systems in Brunovsky Canonical Form

Autoren: Aforozi, Thomais; Rovithakis, George
Veröffentlicht in: 2024 European Control Conference (ECC), 2024
Herausgeber: IEEE
DOI: 10.23919/ECC64448.2024.10591132

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

Autoren: Alejandro Menéndez García, Jesús Enrique Sierra García
Veröffentlicht in: Simposios del Comité Español de Automática (CEA), Ausgabe 1, 2025, ISSN 3081-5002
Herausgeber: Comité Español de Automática
DOI: 10.64117/SIMPOSIOSCEA.V1I2.74

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

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

Active-Perceptive Motion Generation for Mobile Manipulation

Autoren: Jauhri, Snehal; Lueth, Sophie; Chalvatzaki, Georgia
Veröffentlicht in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
Herausgeber: IEEE
DOI: 10.48550/ARXIV.2310.00433

Towards Passivity Based Nonprehensile Bimanual Manipulation of Large Objects

Autoren: Koutras, Leonidas; Doliou, Ilia; Doulgeri, Zoe
Veröffentlicht in: 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), 2023
Herausgeber: ΙΕΕΕ
DOI: 10.1109/HUMANOIDS57100.2023.10375178

Transition State Clustering for Interaction Segmentation and Learning

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

Optimización inteligente de trayectorias en manipuladores industriales mediante algoritmo PSO

Autoren: Mario Peñacoba Yagüe, Jesús Enrique Sierra García, Matilde Santos Peñas
Veröffentlicht in: Jornadas de Automática, 2025, ISSN 3045-4093
Herausgeber: 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

Autoren: M. Kiatos, L. Koutras, I. Sarantopoulos and Z. Doulgeri
Herausgeber: IEEE
DOI: 10.1109/IROS58592.2024.10801734

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

Autoren: Snehal Jauhri, Ishikaa Lunawat, Georgia Chalvatzaki
Veröffentlicht in: Robotics: Science and Systems XX, 2024
Herausgeber: 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

Autoren: Mario Peñacoba Yagüe, Jesús Enrique Sierra García, Matilde Santos Peñas
Veröffentlicht in: Advanced Engineering Informatics, Ausgabe 69, 2025, ISSN 1474-0346
Herausgeber: Elsevier BV
DOI: 10.1016/J.AEI.2025.103941

Efficient Transformer-Based Model for Human Proximity Detection

Autoren: Dimitrios Tsiakmakis, Massimiliano Iosi, Marcello Chiurazzi, Gastone Ciuti
Veröffentlicht in: IEEE Robotics and Automation Letters, Ausgabe 10, 2025, ISSN 2377-3766
Herausgeber: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2025.3609943

Classification of Vision-Based Tactile Sensors: A Review

Autoren: H. Li, Y. Lin, C. Lu, M. Yang, E. Psomopoulou and N. F. Lepora
Veröffentlicht in: IEEE Sensors Journal, ISSN 1558-1748
Herausgeber: IEEE
DOI: 10.1109/JSEN.2025.3599236

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

Autoren: Haoran Li; Saekwang Nam; Zhenyu Lu; Chenguang Yang; Efi Psomopoulou; Nathan F. Lepora
Veröffentlicht in: IEEE Robotics and Automation Letters, 2024, ISSN 2377-3766
Herausgeber: IEEE
DOI: 10.1109/lra.2024.3387111

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

Autoren: Eduardo Bayona; J. Enrique Sierra-García; Matilde Santos; Ioannis Mariolis
Veröffentlicht in: Engineering Applications of Artificial Intelligence, 2024, ISSN 0922-3444
Herausgeber: Elsevier
DOI: 10.1016/J.ENGAPPAI.2024.108440

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

Autoren: Prasad, Vignesh; Kshirsagar, Alap; Koert, Dorothea; Stock-Homburg, Ruth; Peters, Jan; Chalvatzaki, Georgia
Veröffentlicht in: IEEE Robotics and Automation Letters, 2024, ISSN 2377-3766
Herausgeber: IEEE
DOI: 10.1109/LRA.2024.3396074

Shear-Based Grasp Control for Multifingered Underactuated Tactile Robotic Hands

Autoren: C. J. Ford, H. Li, M. G. Catalano, M. Bianchi, E. Psomopoulou and N. F. Lepora
Veröffentlicht in: Transactions on Robotics, ISSN 1941-0468
Herausgeber: IEEE
DOI: 10.1109/TRO.2025.3563046

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

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