Soft-bodied intelligence for Manipulation

Rezultaty

Revised methods for measuring grip stiffness

Strategy description and final results.

Information package for European Robotics companies

Package containing information for potential industrial customers about relevant project achievements.

Document specifying safe human-robot interaction scenarios and requirements, together with realism recommendations, will serve as input to WP1.

Evaluation of sensory feedback

Estimation of relative contributions of sensory feedback, a particular endeffector (hand) and a priori information to manipulation/grasping and manipulation/grasping planning.

Revised HRI Use Cases

Document reporting the evaluation results and resulting revision in requirements.

Revised Requirements Analysis

Document with revised requirements, based on deliverable D5.1.

Experience Report

A report summarising the experience with the robot trials on the SOMA grippers using SOMA manipulation plans.

HRI Evaluation report

Final report on safety standards, safety evaluations, and human’s emotional response to SOMA hands.

Role of force feedback with teleimpedance in a telepresence scenario

Quantitative results about the role of tactile force feedback in tele-impedence scenarios will be presented. It will be shown how the presence of force feedback affects the performances of a human operator who tele-operates the impedance of a robot during the execution of soft-manipulation tasks.

Strategy descriptions

Strategy descriptions at verbal and algorithmic level.

Requirements Analysis

A document detailing the results of the requirements analysis.

Haptically guided grasping motion and stiffness regulation strategies

Haptically-guided exploration and grasping strategies will be provided within this deliverable. These strategies will be defined along with correspondent stiffness regulation procedures which allow to properly perform them.

Report on organized events

Report listing the organized events during the project period

Mapping ECE primitives from human to robotic hands

A set of suitable ECE primitives for the robotic hands involved in the project will be provided. This outcome will be the result of a mapping procedure applied to the set of ECE primitives defined for the human hand in WP1.

Strategy descriptions revised

Revised and extended strategy descriptions at verbal and algorithmic level.

Enhanced Hand Prototypes exploiting ECE

Each partner involved in T2.3 (UNIPI, DLR, TUB, IIT) will present one or more prototypes of hands (developed in T2.2) provided with sensors and/or interfaces under analysis in T2.3.

Soft hands for Intermediate Integration and Testing

Each partner involved in T2.2 (UNIPI, DLR, TUB, IIT) will present one or more prototypes of robotic hands and grippers under analysis in T2.2. Moreover the partners UNIPI and TUB will deliver four prototypes each (2 to OCADO WP5 and 2 to Disney WP6) for the intermediate integration. This Deliverable will be strictly connected with the Milestone MS2, Intermediate Integration.

Data Management Plan

First Version of a Data Management Plan.

Internet presence online

Project website and Youtube channel set up and online

Planner for sequencing ECE primitives

We will provide a planning algorithm that outputs sequences of ECE primitive to achieve robust and reliable grasping.

Reactive planner for sequencing ECE primitives

We will provide a planning algorithm that outputs reactive trees of ECE primitive whose decisions are made during plan execution based on haptic feedback.

Methods for measuring grip stiffness

Methods for continuously measuring grip stiffness at a certain force level are ready. Strategy description and first results.

Computational Design Tool - Unified simulation

We will provide a software tool to simulate the behavior of soft robotic hands and grippers under development in T2.2 according to the model philosophies pursued in T2.1 (hands composed of rigid bodied and lumped elasticities or continuum soft deformable hands).

Publikacje

The 2017 IEEE RAS Technical Education Program Activites: A Snapshot [Education]

Autorzy: Paul Oh, Hannes Hoeppner, M. Ani Hsieh
Opublikowane w: IEEE Robotics & Automation Magazine, Numer 24/4, 2017, Strona(/y) 112-113, ISSN 1070-9932
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/MRA.2017.2761158

Design of the Passive Joints of Underactuated Modular Soft Hands for Fingertip Trajectory Tracking

Autorzy: Gionata Salvietti, Irfan Hussain, Monica Malvezzi, Domenico Prattichizzo
Opublikowane w: IEEE Robotics and Automation Letters, Numer 2/4, 2017, Strona(/y) 2008-2015, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.1109/LRA.2017.2718099

Toward Dexterous Manipulation With Augmented Adaptive Synergies: The Pisa/IIT SoftHand 2

Autorzy: Cosimo Della Santina, Cristina Piazza, Giorgio Grioli, Manuel G. Catalano, Antonio Bicchi
Opublikowane w: IEEE Transactions on Robotics, 2018, Strona(/y) 1-16, ISSN 1552-3098
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TRO.2018.2830407

The Quest for Natural Machine Motion: An Open Platform to Fast-Prototyping Articulated Soft Robots

Autorzy: Cosimo Della Santina, Cristina Piazza, Gian Maria Gasparri, Manuel Bonilla, Manuel Giuseppe Catalano, Giorgio Grioli, Manolo Garabini, Antonio Bicchi
Opublikowane w: IEEE Robotics & Automation Magazine, Numer 24/1, 2017, Strona(/y) 48-56, ISSN 1070-9932
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/MRA.2016.2636366

Simplifying Telerobotics: Wearability and Teleimpedance Improves Human-Robot Interactions in Teleoperation

Autorzy: Simone Fani, Simone Ciotti, Manuel G. Catalano, Giorgio Grioli, Alessandro Tognetti, Gaetano Valenza, Arash Ajoudani, Matteo Bianchi
Opublikowane w: IEEE Robotics & Automation Magazine, Numer 25/1, 2018, Strona(/y) 77-88, ISSN 1070-9932
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/MRA.2017.2741579

Controlling Soft Robots: Balancing Feedback and Feedforward Elements

Autorzy: Cosimo Della Santina, Matteo Bianchi, Giorgio Grioli, Franco Angelini, Manuel Catalano, Manolo Garabini, Antonio Bicchi
Opublikowane w: IEEE Robotics & Automation Magazine, Numer 24/3, 2017, Strona(/y) 75-83, ISSN 1070-9932
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/MRA.2016.2636360

Decentralized Trajectory Tracking Control for Soft Robots Interacting With the Environment

Autorzy: Franco Angelini, Cosimo Della Santina, Manolo Garabini, Matteo Bianchi, Gian Maria Gasparri, Giorgio Grioli, Manuel Giuseppe Catalano, Antonio Bicchi
Opublikowane w: IEEE Transactions on Robotics, 2018, Strona(/y) 1-12, ISSN 1552-3098
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TRO.2018.2830351

The Closure Signature: A Functional Approach to Model Underactuated Compliant Robotic Hands

Autorzy: Maria Pozzi, Gionata Salvietti, Joao Bimbo, Monica Malvezzi, Domenico Prattichizzo
Opublikowane w: IEEE Robotics and Automation Letters, Numer 3/3, 2018, Strona(/y) 2206-2213, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.1109/LRA.2018.2810946

Metasilicone

Autorzy: Jonas Zehnder, Espen Knoop, Moritz Bächer, Bernhard Thomaszewski
Opublikowane w: ACM Transactions on Graphics, Numer 36/6, 2017, Strona(/y) 1-13, ISSN 0730-0301
Wydawca: Association for Computing Machinary, Inc.
DOI: 10.1145/3130800.3130881

Replicating Human Hand Synergies Onto Robotic Hands: A Review on Software and Hardware Strategies

Autorzy: Gionata Salvietti
Opublikowane w: Frontiers in Neurorobotics, Numer 12, 2018, ISSN 1662-5218
Wydawca: Frontiers Research Foundation
DOI: 10.3389/fnbot.2018.00027

Key Insights into Hand Biomechanics: Human Grip Stiffness Can Be Decoupled from Force by Cocontraction and Predicted from Electromyography

Autorzy: Hannes Höppner, Maximilian Große-Dunker, Georg Stillfried, Justin Bayer, Patrick van der Smagt
Opublikowane w: Frontiers in Neurorobotics, Numer 11, 2017, ISSN 1662-5218
Wydawca: Frontiers Research Foundation
DOI: 10.3389/fnbot.2017.00017

Incrementality and Hierarchies in the Enrollment of Multiple Synergies for Grasp Planning

Autorzy: Giuseppe Averta, Franco Angelini, Manuel Bonilla, Matteo Bianchi, Antonio Bicchi
Opublikowane w: IEEE Robotics and Automation Letters, Numer 3/3, 2018, Strona(/y) 2686-2693, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.1109/LRA.2018.2829027

Unvealing the Principal Modes of Human Upper Limb Movements through Functional Analysis

Autorzy: Giuseppe Averta, Cosimo Della Santina, Edoardo Battaglia, Federica Felici, Matteo Bianchi, Antonio Bicchi
Opublikowane w: Frontiers in Robotics and AI, Numer 4, 2017, ISSN 2296-9144
Wydawca: Frontiers Media S.A.
DOI: 10.3389/frobt.2017.00037

Postural Hand Synergies during Environmental Constraint Exploitation

Autorzy: Cosimo Della Santina, Matteo Bianchi, Giuseppe Averta, Simone Ciotti, Visar Arapi, Simone Fani, Edoardo Battaglia, Manuel Giuseppe Catalano, Marco Santello, Antonio Bicchi
Opublikowane w: Frontiers in Neurorobotics, Numer 11, 2017, ISSN 1662-5218
Wydawca: Frontiers Research Foundation
DOI: 10.3389/fnbot.2017.00041

CurveUps

Autorzy: Ruslan Guseinov, Eder Miguel, Bernd Bickel
Opublikowane w: ACM Transactions on Graphics, Numer 36/4, 2017, Strona(/y) 1-12, ISSN 0730-0301
Wydawca: Association for Computing Machinary, Inc.
DOI: 10.1145/3072959.3073709

The Change in Fingertip Contact Area as a Novel Proprioceptive Cue

Autorzy: Alessandro Moscatelli, Matteo Bianchi, Alessandro Serio, Alexander Terekhov, Vincent Hayward, Marc O. Ernst, Antonio Bicchi
Opublikowane w: Current Biology, Numer 26/9, 2016, Strona(/y) 1159-1163, ISSN 0960-9822
Wydawca: Cell Press
DOI: 10.1016/j.cub.2016.02.052

Exploitation of environmental constraints in human and robotic grasping

Autorzy: C. Eppner, R. Deimel, J. Alvarez-Ruiz, M. Maertens, O. Brock
Opublikowane w: The International Journal of Robotics Research, Numer 34/7, 2015, Strona(/y) 1021-1038, ISSN 0278-3649
Wydawca: SAGE Publications
DOI: 10.1177/0278364914559753

On Grasp Quality Measures: Grasp Robustness and Contact Force Distribution in Underactuated and Compliant Robotic Hands

Autorzy: Maria Pozzi, Monica Malvezzi, Domenico Prattichizzo
Opublikowane w: IEEE Robotics and Automation Letters, Numer 2/1, 2017, Strona(/y) 329-336, ISSN 2377-3766
Wydawca: IEEE Robotics and Automation Letters
DOI: 10.1109/LRA.2016.2612304

Multi–Contact Bilateral Telemanipulation with Kinematic Asymmetries

Autorzy: Gionata Salvietti, Leonardo Meli, Guido Gioioso, Monica Malvezzi, Domenico Prattichizzo
Opublikowane w: IEEE/ASME Transactions on Mechatronics, 2016, Strona(/y) 1-1, ISSN 1083-4435
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TMECH.2016.2606895

A Synergy-Based Optimally Designed Sensing Glove for Functional Grasp Recognition

Autorzy: Simone Ciotti, Edoardo Battaglia, Nicola Carbonaro, Antonio Bicchi, Alessandro Tognetti, Matteo Bianchi
Opublikowane w: Sensors, Numer 16/6, 2016, Strona(/y) 811, ISSN 1424-8220
Wydawca: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s16060811

A Multi-Modal Sensing Glove for Human Manual-Interaction Studies

Autorzy: Matteo Bianchi, Robert Haschke, Gereon Büscher, Simone Ciotti, Nicola Carbonaro, Alessandro Tognetti
Opublikowane w: Electronics, Numer 5/3, 2016, Strona(/y) 42, ISSN 2079-9292
Wydawca: Electronics
DOI: 10.3390/electronics5030042

Computational design of stable planar-rod structures

Autorzy: Eder Miguel, Mathias Lepoutre, Bernd Bickel
Opublikowane w: ACM Transactions on Graphics, Numer 35/4, 2016, Strona(/y) 1-11, ISSN 0730-0301
Wydawca: Association for Computing Machinary, Inc.
DOI: 10.1145/2897824.2925978

Bend-it

Autorzy: Hongyi Xu, Espen Knoop, Stelian Coros, Moritz Bächer
Opublikowane w: ACM Transactions on Graphics, Numer 37/6, 2019, Strona(/y) 1-15, ISSN 0730-0301
Wydawca: Association for Computing Machinary, Inc.
DOI: 10.1145/3272127.3275089

The Role of Closed-Loop Hand Control in Handshaking Interactions

Autorzy: Francesco Vigni, Espen Knoop, Domenico Prattichizzo, Monica Malvezzi
Opublikowane w: IEEE Robotics and Automation Letters, Numer 4/2, 2019, Strona(/y) 878-885, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.1109/lra.2019.2893402

Editorial: Mapping Human Sensory-Motor Skills for Manipulation Onto the Design and Control of Robots

Autorzy: Matteo Bianchi, Gionata Salvietti
Opublikowane w: Frontiers in Neurorobotics, Numer 13, 2019, ISSN 1662-5218
Wydawca: Frontiers Research Foundation
DOI: 10.3389/fnbot.2019.00001

Vibration-Minimizing Motion Retargeting for Robotic Characters

Autorzy: Shayan Hoshyari, Hongyi Xu, Espen Knoop, Stelian Coros, Moritz Bächer
Opublikowane w: ACM Transactions on Graphics (Proceedings of SIGGRAPH 2019), 2019, ISSN 0730-0301
Wydawca: Association for Computing Machinary, Inc.

Learning From Humans How to Grasp: A Data-Driven Architecture for Autonomous Grasping With Anthropomorphic Soft Hands

Autorzy: Cosimo Della Santina, Visar Arapi, Giuseppe Averta, Francesca Damiani, Gaia Fiore, Alessandro Settimi, Manuel G. Catalano, Davide Bacciu, Antonio Bicchi, Matteo Bianchi
Opublikowane w: IEEE Robotics and Automation Letters, Numer 4/2, 2019, Strona(/y) 1533-1540, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.1109/LRA.2019.2896485

Grasp Stiffness Control in Robotic Hands Through Coordinated Optimization of Pose and Joint Stiffness

Autorzy: Virginia Ruiz Garate, Maria Pozzi, Domenico Prattichizzo, Nikos Tsagarakis, Arash Ajoudani
Opublikowane w: IEEE Robotics and Automation Letters, Numer 3/4, 2018, Strona(/y) 3952-3959, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.1109/lra.2018.2858271

Modeling and Prototyping of an Underactuated Gripper Exploiting Joint Compliance and Modularity

Autorzy: Irfan Hussain, Federico Renda, Zubair Iqbal, Monica Malvezzi, Gionata Salvietti, Lakmal Seneviratne, Dongming Gan, Domenico Prattichizzo
Opublikowane w: IEEE Robotics and Automation Letters, Numer 3/4, 2018, Strona(/y) 2854-2861, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.1109/lra.2018.2845906

A Bio-inspired Grasp Stiffness Control for Robotic Hands

Autorzy: Virginia Ruiz Garate, Maria Pozzi, Domenico Prattichizzo, Arash Ajoudani
Opublikowane w: Frontiers in Robotics and AI, Numer 5, 2018, ISSN 2296-9144
Wydawca: Frontiers Media SA
DOI: 10.3389/frobt.2018.00089

DeepDynamicHand: A Deep Neural Architecture for Labeling Hand Manipulation Strategies in Video Sources Exploiting Temporal Information

Autorzy: Visar Arapi, Cosimo Della Santina, Davide Bacciu, Matteo Bianchi, Antonio Bicchi
Opublikowane w: Frontiers in Neurorobotics, Numer 12, 2018, ISSN 1662-5218
Wydawca: Frontiers Research Foundation
DOI: 10.3389/fnbot.2018.00086

Four aspects of building robotic systems: lessons from the Amazon Picking Challenge 2015

Autorzy: Clemens Eppner, Sebastian Höfer, Rico Jonschkowski, Roberto Martín-Martín, Arne Sieverling, Vincent Wall, Oliver Brock
Opublikowane w: Autonomous Robots, Numer 42/7, 2018, Strona(/y) 1459-1475, ISSN 0929-5593
Wydawca: Kluwer Academic Publishers
DOI: 10.1007/s10514-018-9761-2

Benchmarking of Compliant Underactuated Soft End Effectors in an Industrial Context

Autorzy: H. Mnyusiwalla, P. Triantafyllou, P. Sotiropoulos, G. Deacon, M.A. Roa, W. Friedl and A.M. Sundaram
Opublikowane w: International Journal of Humanoid Robotics, 2019, ISSN 1793-6942
Wydawca: World Scientific

Benchmarking Artificial Hands in Dynamic Tasks: Hand and Grasp Resilience

Autorzy: F. Negrello, W. Friedl, M. Roa, G. Grioli, O. Brock, M.Garabini, A.Bicchi and M.G.Catalano.
Opublikowane w: IEEE Robotics and Automation Letters, Special issue, 2019, ISSN 2377-3766
Wydawca: IEEE

On the role of Stiffness and Synchronization in Human-Robot Handshaking

Autorzy: Mura Domenico, Manuel Catalano, Knoop Espen, G. Grioli, M. Bächer and A. Bicchi
Opublikowane w: International Journal of Robotics Research. Special issue on Soft Manipulation, 2019, ISSN 0278-3649
Wydawca: SAGE Publications

Touch Based Adaptive Grasping for Soft Robotic Hands

Autorzy: G. J. Pollayil, M. J. Pollayil, G. Grioli and A. Bicchi
Opublikowane w: International Journal of Robotics Research. Special issue on Soft Manipulation, 2019, ISSN 0278-3649
Wydawca: SAGE Publications

A compact soft articulated parallel wrist for grasping in narrow spaces

Autorzy: Francesca Negrello, Sariah Mghames, Giorgio Grioli, Manolo Garabini, Manuel Giuseppe Catalano
Opublikowane w: IEEE Robotics and Automation Letters, Numer 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Strona(/y) 1-1, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.1109/lra.2019.2925304

FlexMaps

Autorzy: Luigi Malomo, Jesús Pérez, Emmanuel Iarussi, Nico Pietroni, Eder Miguel, Paolo Cignoni, Bernd Bickel
Opublikowane w: ACM Transactions on Graphics, Numer 37/6, 2019, Strona(/y) 1-14, ISSN 0730-0301
Wydawca: Association for Computing Machinary, Inc.
DOI: 10.1145/3272127.3275076

ThimbleSense: A Fingertip-Wearable Tactile Sensor for Grasp Analysis

Autorzy: Edoardo Battaglia, Matteo Bianchi, Alessandro Altobelli, Giorgio Grioli, Manuel G. Catalano, Alessandro Serio, Marco Santello, Antonio Bicchi
Opublikowane w: IEEE Transactions on Haptics, Numer 9/1, 2016, Strona(/y) 121-133, ISSN 1939-1412
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TOH.2015.2482478

On the Problem of Moving Objects With Autonomous Robots: A Unifying High-Level Planning Approach

Autorzy: Hamal Marino, Mirko Ferrati, Alessandro Settimi, Carlos Rosales, Marco Gabiccini
Opublikowane w: IEEE Robotics and Automation Letters, Numer 1/1, 2016, Strona(/y) 469-476, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.1109/LRA.2016.2519149

A novel type of compliant and underactuated robotic hand for dexterous grasping

Autorzy: R. Deimel, O. Brock
Opublikowane w: The International Journal of Robotics Research, Numer 35/1-3, 2016, Strona(/y) 161-185, ISSN 0278-3649
Wydawca: SAGE Publications
DOI: 10.1177/0278364915592961

SynGrasp: A MATLAB Toolbox for Underactuated and Compliant Hands

Autorzy: Monica Malvezzi, Guido Gioioso, Gionata Salvietti, Domenico Prattichizzo
Opublikowane w: IEEE Robotics & Automation Magazine, Numer 22/4, 2015, Strona(/y) 52-68, ISSN 1070-9932
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/MRA.2015.2408772

Interleaving motion in contact and in free space for planning under uncertainty

Autorzy: Arne Sieverling, Clemens Eppner, Felix Wolff, Oliver Brock
Opublikowane w: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Strona(/y) 4011-4073, ISBN 978-1-5386-2682-5
Wydawca: IEEE
DOI: 10.1109/IROS.2017.8206255

Dynamic Control of Soft Robots Interacting with the Environment

Autorzy: Cosimo Della Santina, Robert K. Katzschmann, Antonio Bicchi, Daniela Rus
Opublikowane w: 2018
Wydawca: RoboSoft 2018- IEEE RAS International Conference on Soft Robotics

Estimating contact forces from postural measures in a class of under-actuated robotic hands

Autorzy: Cosimo Della Santina, Cristina Piazza, Gaspare Santaera, Giorgio Grioli, Manuel Catalano, Antonio Bicchi
Opublikowane w: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Strona(/y) 2456-2463, ISBN 978-1-5386-2682-5
Wydawca: IEEE
DOI: 10.1109/IROS.2017.8206062

Morphological computation: The good, the bad, and the ugly

Autorzy: Keyan Ghazi-Zahedi, Raphael Deimel, Guido Montufar, Vincent Wall, Oliver Brock
Opublikowane w: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Strona(/y) 464-469, ISBN 978-1-5386-2682-5
Wydawca: IEEE
DOI: 10.1109/IROS.2017.8202194

Cerebellar-inspired learning rule for gain adaptation of feedback controllers

Autorzy: Ivan Herreros, Xerxes D. Arsiwalla, Cosimo Della Santina, Jordi-Ysard Puigbo, Antonio Bicchi, Paul Verschure
Opublikowane w: 2017 25th Mediterranean Conference on Control and Automation (MED), 2017, Strona(/y) 565-570, ISBN 978-1-5090-4533-4
Wydawca: IEEE
DOI: 10.1109/MED.2017.7984177

Visual detection of opportunities to exploit contact in grasping using contextual multi-armed bandits

Autorzy: Clemens Eppner, Oliver Brock
Opublikowane w: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Strona(/y) 273-278, ISBN 978-1-5386-2682-5
Wydawca: IEEE
DOI: 10.1109/IROS.2017.8202168

Automated co-design of soft hand morphology and control strategy for grasping

Autorzy: Raphael Deimel, Patrick Irmisch, Vincent Wall, Oliver Brock
Opublikowane w: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Strona(/y) 1213-1218, ISBN 978-1-5386-2682-5
Wydawca: IEEE
DOI: 10.1109/IROS.2017.8202294

Efficient FEM-Based Simulation of Soft Robots Modeled as Kinematic Chains

Autorzy: Maria Pozzi, Eder Miguel, Raphael Deimel, Monica Malvezzi, Bernd Bickel, Oliver Brock, Domenico Prattichizzo
Opublikowane w: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Strona(/y) 1-8, ISBN 978-1-5386-3081-5
Wydawca: IEEE
DOI: 10.1109/icra.2018.8461106

A method for sensorizing soft actuators and its application to the RBO hand 2

Autorzy: Vincent Wall, Gabriel Zoller, Oliver Brock
Opublikowane w: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Strona(/y) 4965-4970, ISBN 978-1-5090-4633-1
Wydawca: IEEE
DOI: 10.1109/icra.2017.7989577

Building Kinematic and Dynamic Models of Articulated Objects with Multi-Modal Interactive Perception

Autorzy: Roberto Martín-Martín and Oliver Brock
Opublikowane w: AAAI Symposium on Interactive Multi-Sensory Object Perception for Embodied Agents, 2017
Wydawca: AAAI

Handshakiness: Benchmarking for human-robot hand interactions

Autorzy: Espen Knoop, Moritz Bacher, Vincent Wall, Raphael Deimel, Oliver Brock, Paul Beardsley
Opublikowane w: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Strona(/y) 4982-4989, ISBN 978-1-5386-2682-5
Wydawca: IEEE
DOI: 10.1109/IROS.2017.8206381

Cross-modal interpretation of multi-modal sensor streams in interactive perception based on coupled recursion

Autorzy: Roberto Martin-Martin, Oliver Brock
Opublikowane w: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Strona(/y) 3289-3295, ISBN 978-1-5386-2682-5
Wydawca: IEEE
DOI: 10.1109/IROS.2017.8206165

On the role of stiffness design for fingertip trajectories of underactuated modular soft hands

Autorzy: Irfan Hussain, Gionata Salvietti, Monica Malvezzi, Domenico Prattichizzo
Opublikowane w: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Strona(/y) 3096-3101, ISBN 978-1-5090-4633-1
Wydawca: IEEE
DOI: 10.1109/ICRA.2017.7989354

Designing cable-driven actuation networks for kinematic chains and trees

Autorzy: Vittorio Megaro, Espen Knoop, Andrew Spielberg, David I. W. Levin, Wojciech Matusik, Markus Gross, Bernhard Thomaszewski, Moritz Bächer
Opublikowane w: Proceedings of the ACM SIGGRAPH / Eurographics Symposium on Computer Animation - SCA '17, 2017, Strona(/y) 1-10, ISBN 9781-450350914
Wydawca: ACM Press
DOI: 10.1145/3099564.3099576

From humans to robots: The role of cutaneous impairment in human environmental constraint exploitation to inform the design of robotic hands

Autorzy: Giuseppe Averta, Cosimo Della Santina, Edoardo Battaglia, Simone Ciotti, Visar Arapi, Simone Fani, Matteo Bianchi
Opublikowane w: 2017 9th International Congress on Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), 2017, Strona(/y) 179-184, ISBN 978-1-5386-3435-6
Wydawca: IEEE
DOI: 10.1109/ICUMT.2017.8255117

Design of an under-actuated wrist based on adaptive synergies

Autorzy: Simona Casini, Vinicio Tincani, Giuseppe Averta, Mattia Poggiani, Cosimo Della Santina, Edoardo Battaglia, Manuel G. Catalano, Matteo Bianchi, Giorgio Grioli, Antonio Bicchi
Opublikowane w: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Strona(/y) 6679-6686, ISBN 978-1-5090-4633-1
Wydawca: IEEE
DOI: 10.1109/ICRA.2017.7989789

On the common-mode and configuration-dependent stiffness control of multiple degrees of freedom hands

Autorzy: Virginia Ruiz Garate, Nikos Tsagarakis, Antonio Bicchi, Arash Ajoudani
Opublikowane w: 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), 2017, Strona(/y) 113-120, ISBN 978-1-5386-4678-6
Wydawca: IEEE
DOI: 10.1109/HUMANOIDS.2017.8239545

Lessons from the Amazon Picking Challenge: Four Aspects of Building Robotic Systems

Autorzy: Clemens Eppner, Sebastian Höfer, Rico Jonschkowski, Roberto Martín-Martín, Arne Sieverling, Vincent Wall, Oliver Brock
Opublikowane w: Robotics: Science and Systems XII, 2016, ISBN 9780-992374723
Wydawca: Robotics: Science and Systems Foundation
DOI: 10.15607/RSS.2016.XII.036

Grasp Quality Evaluation in Underactuated Robotic Hands

Autorzy: Maria Pozzi, Ashok M. Sundaram, Monica Malvezzi, Domenico Prattichizzo, Maximo A. Roa
Opublikowane w: 2016, ISSN 2153-0866
Wydawca: IEEE

Dexterity augmentation on a synergistic hand: the Pisa/IIT SoftHand+

Autorzy: Cosimo Della Santina, Giorgio Grioli, Manuel Giuseppe Catalano, Alberto Brando,Antonio Bicchi
Opublikowane w: 15th IEEE RAS Humanoids Conference (HUMANOIDS2015), 2015, ISBN 978-1-4799-6885-5
Wydawca: IEEE
DOI: 10.1109/HUMANOIDS.2015

Planning grasp strategies That Exploit Environmental Constraints

Autorzy: Clemens Eppner, Oliver Brock
Opublikowane w: 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015, Strona(/y) 4947-4952, ISBN 978-1-4799-6923-4
Wydawca: IEEE
DOI: 10.1109/ICRA.2015.7139886

Probabilistic multi-class segmentation for the Amazon Picking Challenge

Autorzy: Rico Jonschkowski, Clemens Eppner, Sebastian Hofer, Roberto Martin-Martin, Oliver Brock
Opublikowane w: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Strona(/y) 1-7, ISBN 978-1-5090-3762-9
Wydawca: IEEE
DOI: 10.1109/iros.2016.7758087

Reflex control of the Pisa/IIT SoftHand during object slippage

Autorzy: Arash Ajoudani, Elif Hocaoglu, Alessandro Altobelli, Matteo Rossi, Edoardo Battaglia, Nikos Tsagarakis, Antonio Bicchi
Opublikowane w: 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016, Strona(/y) 1972-1979, ISBN 978-1-4673-8026-3
Wydawca: IEEE
DOI: 10.1109/ICRA.2016.7487344

Learning dexterous manipulation for a soft robotic hand from human demonstrations

Autorzy: Abhishek Gupta, Clemens Eppner, Sergey Levine, Pieter Abbeel
Opublikowane w: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Strona(/y) 3786-3793, ISBN 978-1-5090-3762-9
Wydawca: IEEE
DOI: 10.1109/iros.2016.7759557

Mass Control of Pneumatic Soft Continuum Actuators with Commodity Components

Autorzy: Raphael Deimel, Marcel Radke, Oliver Brock
Opublikowane w: 2016, Strona(/y) IEEE, ISSN 2153-0866
Wydawca: IEEE

A taxonomy of human grasping behavior suitable for transfer to robotic hands

Autorzy: Fabian Heinemann, Steffen Puhlmann, Clemens Eppner, Jose Alvarez-Ruiz, Marianne Maertens, Oliver Brock
Opublikowane w: 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015, Strona(/y) 4286-4291, ISBN 978-1-4799-6923-4
Wydawca: IEEE
DOI: 10.1109/ICRA.2015.7139790

A compact representation of human single-object grasping

Autorzy: Steffen Puhlmann, Fabian Heinemann, Oliver Brock, Marianne Maertens
Opublikowane w: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Strona(/y) 1954-1959, ISBN 978-1-5090-3762-9
Wydawca: IEEE
DOI: 10.1109/iros.2016.7759308

SoftHand Pro-D: Matching dynamic content of natural user commands with hand embodiment for enhanced prosthesis control

Autorzy: Cristina Piazza, Cosimo Della Santina, Manuel Catalano, Giorgio Grioli, Manolo Garabini, Antonio Bicchi
Opublikowane w: 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016, Strona(/y) 3516-3523, ISBN 978-1-4673-8026-3
Wydawca: IEEE
DOI: 10.1109/ICRA.2016.7487532

Feeling Fireworks - An Inclusive Tactile Firework Display

Autorzy: Dorothea Reusser, Espen Knoop, Roland Siegwart, Paul Beardsley
Opublikowane w: Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems - CHI '19, 2019, Strona(/y) 1-11, ISBN 9781-450359702
Wydawca: ACM Press
DOI: 10.1145/3290605.3300659

A Benchmarking Framework for Systematic Evaluation of Compliant Under-Actuated Soft End Effectors in an Industrial Context

Autorzy: Panagiotis Sotiropoulos, Maximo A. Roa, Murilo F. Martins, Werner Fried, Hussein Mnyusiwalla, Pavlos Triantafyllou, Graham Deacon
Opublikowane w: 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 2018, Strona(/y) 280-283, ISBN 978-1-5386-7283-9
Wydawca: IEEE
DOI: 10.1109/humanoids.2018.8624924

A Benchmarking Framework for Systematic Evaluation of Robotic Pick-and-Place Systems in an Industrial Grocery Setting

Autorzy: P. Triantafyllou, H. Mnyusiwalla, P. Sotiropoulos, M.A. Roa, D. Russell, and G. Deacon
Opublikowane w: IEEE Int. Conf. Robotics and Automation, (ICRA), 2019, Strona(/y) 6692-6698, ISBN 978-1-5386-6026-3
Wydawca: IEEE

CLASH: Compliant Low Cost Antagonistic Servo Hands

Autorzy: Werner Friedl, Hannes Hoppner, Florian Schmidt, Maximo A. Roa, Markus Grebenstein
Opublikowane w: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Strona(/y) 6469-6476, ISBN 978-1-5386-8094-0
Wydawca: IEEE
DOI: 10.1109/iros.2018.8593903

Contingent Contact-Based Motion Planning

Autorzy: Elod Pall, Arne Sieverling, Oliver Brock
Opublikowane w: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Strona(/y) 6615-6621, ISBN 978-1-5386-8094-0
Wydawca: IEEE
DOI: 10.1109/iros.2018.8594365

Acoustic Sensing for Soft Pneumatic Actuators

Autorzy: Gabriel Zoller, Vincent Wall, Oliver Brock
Opublikowane w: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Strona(/y) 6986-6991, ISBN 978-1-5386-8094-0
Wydawca: IEEE
DOI: 10.1109/iros.2018.8594396

Touch-Based Grasp Primitives for Soft Hands: Applications to Human-to-Robot Handover Tasks and Beyond

Autorzy: Matteo Bianchi, Giuseppe Averta, Edoardo Battaglia, Carlos Rosales, Manuel Bonilla, Alessandro Tondo, Mattia Poggiani, Gaspare Santaera, Simone Ciotti, Manuel G. Catalano, Antonio Bicchi
Opublikowane w: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Strona(/y) 7794-7801, ISBN 978-1-5386-3081-5
Wydawca: IEEE
DOI: 10.1109/icra.2018.8463212

ExoSense: Measuring Manipulation in a Wearable Manner

Autorzy: Edoardo Battaglia, Manuel G. Catalano, Giorgio Grioli, Matteo Bianchi, Antonio Bicchi
Opublikowane w: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Strona(/y) 2774-2781, ISBN 978-1-5386-3081-5
Wydawca: IEEE
DOI: 10.1109/icra.2018.8460498

A Synergistic Behavior Underpins Human Hand Grasping Force Control During Environmental Constraint Exploitation

Autorzy: Giuseppe Averta, Edoardo Battaglia, Cosimo Della Santina, Manuel G. Catalano, Matteo Bianchi
Opublikowane w: Converging Clinical and Engineering Research on Neurorehabilitation III - Proceedings of the 4th International Conference on NeuroRehabilitation (ICNR2018), October 16-20, 2018, Pisa, Italy, Numer 21, 2019, Strona(/y) 67-71, ISBN 978-3-030-01844-3
Wydawca: Springer, Cham
DOI: 10.1007/978-3-030-01845-0_13

System-level evaluation of a Robotic System for a Pick-and-Place Task

Autorzy: Panagiotis Sotiropoulos, Pavlos Triantafylou, Hussein Mnyusiwalla, Maximo A. Roa, Duncan Russell, Graham Deacon
Opublikowane w: Conference Workshop: IROS 2018 - Experimental Robotic Grasping and Manipulation, Benchmarks, Datasets, and Competitions, 2018
Wydawca: IEEE

Physics-Based Selection of Informative Actions for Interactive Perception

Autorzy: Clemens Eppner and Roberto Martin-Martin and Oliver Brock
Opublikowane w: IEEE Transactions on Automation Science and Engineering, 2018
Wydawca: IEEE

Coordination of Intrinsic and Extrinsic Degrees of Freedom in Soft Robotic Grasping

Autorzy: Can Erdogan and Armin Schröder and Oliver Brock
Opublikowane w: ICRA 2018, 2018
Wydawca: IEEE

Multi-Task Sensorization of Soft Actuators Using Prior Knowledge

Autorzy: Vincent Wall and Oliver Brock
Opublikowane w: IEEE International Conference on Robotics and Automation (ICRA), 2019, Strona(/y) 9416-9421
Wydawca: IEEE

Force, torque and contact point information from deformable surfaces

Autorzy: Ciotti S., Sun T., Battaglia E., Bicchi A., Liu H., Bianchi M.
Opublikowane w: ICRA 2019, 2019
Wydawca: IEEE

Benchmarking Resilience of Artificial Hands

Autorzy: F. Negrello, M. Garabini, G. Grioli, N. Tsagarakis, A. Bicchi and M. G. Catalano
Opublikowane w: ICRA 2019, 2019
Wydawca: IEEE

Teleoperation in cluttered environments using wearable haptic feedback

Autorzy: Joao Bimbo, Claudio Pacchierotti, Marco Aggravi, Nikos Tsagarakis, Domenico Prattichizzo
Opublikowane w: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Strona(/y) 3401-3408, ISBN 978-1-5386-2682-5
Wydawca: IEEE
DOI: 10.1109/iros.2017.8206180

Dexterity augmentation on a synergistic hand: The Pisa/IIT SoftHand+

Autorzy: Cosimo Della Santina, Giorgio Grioli, Manuel Catalano, Alberto Brando, Antonio Bicchi
Opublikowane w: 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), Numer 3-5 Nov. 2015, 2015, Strona(/y) 497-503, ISBN 978-1-4799-6885-5
Wydawca: IEEE
DOI: 10.1109/HUMANOIDS.2015.7363595

Modeling compliant grasps exploiting environmental constraints

Autorzy: Gionata Salvietti, Monica Malvezzi, Guido Gioioso, Domenico Prattichizzo
Opublikowane w: 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015, Strona(/y) 4941-4946, ISBN 978-1-4799-6923-4
Wydawca: IEEE
DOI: 10.1109/ICRA.2015.7139885

Selective stiffening of soft actuators based on jamming

Autorzy: Vincent Wall, Raphael Deimel, Oliver Brock
Opublikowane w: 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015, Strona(/y) 252-257, ISBN 978-1-4799-6923-4
Wydawca: IEEE
DOI: 10.1109/ICRA.2015.7139008

Soft robotic hands for compliant grasping

Autorzy: Deimel, Raphael
Opublikowane w: 2017
Wydawca: Technische Universität Berlin
DOI: 10.14279/depositonce-6063

Touch on the go: wearable haptics for sensing and augmented perception

Autorzy: E. Battaglia
Opublikowane w: 2018
Wydawca: University of Pisa

From Soft to Adaptive Synergies: The Pisa/IIT SoftHand

Autorzy: Manuel G. Catalano, Giorgio Grioli, Edoardo Farnioli, Alessandro Serio, Manuel Bonilla, Manolo Garabini, Cristina Piazza, Marco Gabiccini, Antonio Bicchi
Opublikowane w: Human and Robot Hands, 2016, Strona(/y) 101-125, ISBN 978-3-319-26706-7
Wydawca: Springer International Publishing
DOI: 10.1007/978-3-319-26706-7_8

On the Role of Postural Synergies for Grasp Force Generation and Upper Limb Motion Control

Autorzy: Giuseppe Averta, Franco Angelini, Antonio Bicchi, Gaetano Valenza, Matteo Bianchi
Opublikowane w: Converging Clinical and Engineering Research on Neurorehabilitation III - Proceedings of the 4th International Conference on NeuroRehabilitation (ICNR2018), October 16-20, 2018, Pisa, Italy, Numer 21, 2019, Strona(/y) 344-348, ISBN 978-3-030-01844-3
Wydawca: Springer International Publishing
DOI: 10.1007/978-3-030-01845-0_69

Soft Hands for Reliable Grasping Strategies

Autorzy: Raphael Deimel, Oliver Brock
Opublikowane w: Soft Robotics, 2015, Strona(/y) 211-221
Wydawca: Springer

Human and Robot Hands

Autorzy: Matteo Bianchi, Alessandro Moscatelli
Opublikowane w: Springer Series on Touch and Haptic Systems, 2016, ISBN 978-3-319-26706-7
Wydawca: Springer International Publishing
DOI: 10.1007/978-3-319-26706-7