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Flexible, safe and dependable robotic part handling in industrial environments

Deliverables

Dissemination material

Initial dissemination material to be used for dissemination. It will be updated during the rest of the project.

Website

Website, including both public and private sites.

Final pilot implementation

Document describing the final prototype.

Report on Communication and Dissemination activities

Report on Communication and Dissemination activities.

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Publications

Multimodal Bin Picking System with Compliant Tactile Sensor Arrays for Flexible Part Handling*

Author(s): Veit Muller, Norbert Elkmann
Published in: 2019 International Conference on Robotics and Automation (ICRA), 2019, Page(s) 2824-2830, ISBN 978-1-5386-6027-0
Publisher: IEEE
DOI: 10.1109/icra.2019.8793950

An MPC Framework for Online Motion Planning in Human-Robot Collaborative Tasks

Author(s): Marco Faroni, Manuel Beschi, Nicola Pedrocchi
Published in: 2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), 2019, Page(s) 1555-1558, ISBN 978-1-7281-0303-7
Publisher: IEEE
DOI: 10.1109/etfa.2019.8869047

Real-time trajectory scaling for robot manipulators

Author(s): Marco Faroni, Roberto Pagani, Giovanni Legnani
Published in: 2020 17th International Conference on Ubiquitous Robots (UR), 2020, Page(s) 533-539, ISBN 978-1-7281-5715-3
Publisher: IEEE
DOI: 10.1109/ur49135.2020.9144889

Slip and collision detection using tactile sensors for parallel grippers

Author(s): Reem Muhammed Al-Gaifi, Veit M�ller, Norbert Elkmann
Published in: 2021 IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), 2021
Publisher: IEEE

Reactive grasping using high-resolution tactile sensors

Author(s): Reem Muhammed Al-Gaifi, Veit Muller, Norbert Elkmann
Published in: 2020 IEEE 16th International Conference on Automation Science and Engineering (CASE), 2020, Page(s) 463-468, ISBN 978-1-7281-6904-0
Publisher: IEEE
DOI: 10.1109/case48305.2020.9217038

Predictive joint trajectory scaling for manipulators with kinodynamic constraints

Author(s): Marco Faroni, Manuel Beschi, Corrado Guarino Lo Bianco, Antonio Visioli
Published in: Control Engineering Practice, 95, 2020, Page(s) 104264, ISSN 0967-0661
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.conengprac.2019.104264

A real-time trajectory planning method for enhanced path-tracking performance of serial manipulators

Author(s): Marco Faroni, Manuel Beschi, Antonio Visioli, Nicola Pedrocchi
Published in: Mechanism and Machine Theory, 156, 2021, Page(s) 104152, ISSN 0094-114X
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.mechmachtheory.2020.104152

Predictive Inverse Kinematics for Redundant Manipulators: Evaluation in Re-Planning Scenarios

Author(s): Marco Faroni, Manuel Beschi, Antonio Visioli
Published in: IFAC-PapersOnLine, 51/22, 2018, Page(s) 238-243, ISSN 2405-8963
Publisher: Elsevier
DOI: 10.1016/j.ifacol.2018.11.548

Pick and Place Operations in Logistics Using a Mobile Manipulator Controlled with Deep Reinforcement Learning

Author(s): Ander Iriondo, Elena Lazkano, Loreto Susperregi, Julen Urain, Ane Fernandez, Jorge Molina
Published in: Applied Sciences, 9/2, 2019, Page(s) 348, ISSN 2076-3417
Publisher: MDPI
DOI: 10.3390/app9020348

How motion planning affects human factors in human-robot collaboration

Author(s): Manuel Beschi, Marco Faroni, Cosmin Copot, Nicola Pedrocchi
Published in: IFAC-PapersOnLine, 53/5, 2020, Page(s) 744-749, ISSN 2405-8963
Publisher: Elsevier Ltd
DOI: 10.1016/j.ifacol.2021.04.167

Affordance-Based Grasping Point Detection Using Graph Convolutional Networks for Industrial Bin-Picking Applications

Author(s): Ander Iriondo, Elena Lazkano, Ander Ansuategi
Published in: Sensors, 21/3, 2021, Page(s) 816, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s21030816

Inverse Kinematics of Redundant Manipulators With Dynamic Bounds on Joint Movements

Author(s): Marco Faroni, Manuel Beschi, Nicola Pedrocchi
Published in: IEEE Robotics and Automation Letters, 5/4, 2020, Page(s) 6435-6442, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2020.3013879