Hybrid Human-Robot RECYcling plant for electriCal and eLEctRonic equipment

Deliverables

Documents, reports (12)

Flexible Probing

This deliverable will describe the developed methods for integrating control structures with learning algorithms in order to identify physical probing locations

Force guided manipulation evaluation

This deliverable will describe the developed methods for manipulation tasks with uncertain exact object dimensions and locations

Project Web presence

This deliverable will describe the prepared dissemination material and project branding activities on the Web.

Dissemination plan and reports (version 1)

This deliverable will describe the developed means to raise awareness amongst interested parties that shall be impacted by HR-Recycler outcomes (version 1).

Haptic Regression Report

This deliverable will describe the developed methods for mimicing the behaviour of humans when manipulating different object types.

Factory floor lifelong mapping and mobile robots navigation

This deliverable will describe the developed methods for the appropriate mapping and navigation of the AGVs of the factory floor

Grasping Strategy Evaluation

This deliverable will describe the developed force-adaptive grasping strategy with tactile sensing gripper fingers.

The HR-Recycler impact assessment method

This deliverable will describe the method of performing an impact assessment in HR-Recycler.

Report on security, data protection, privacy, ethics and societal acceptance

This deliverable will describe the fundamental rights, ethical, societal and regulatory frameworks relevant to HR-Recycler.

Dissemination plan and reports (version 2)

This deliverable will describe the developed means to raise awareness amongst interested parties that shall be impacted by HRRecycler outcomes version 2

Adaptive cell -based collaborative factory model

This deliverable will describe the adaptive Cell aCell based hierarchical factory floor model of HRRecycler

Initial models for natural and safe robot movement

This deliverable will describe the initial methods to enable the robot to proactively collaborate with human partners.

Websites, patent fillings, videos etc. (1)

EFFRA innovation portal (version 1)

This deliverable will describe the submission of the project’s progress in the Innovation Portal of EFFRA (version 1).

Publications

Peer reviewed articles (11)

Towards sample-efficient policy learning with DAC-ML

Author(s): Freire, I. T., Amil, A. F., Vouloutsi, V., & Verschure, P. F
Published in: Procedia Computer Science, 190, 2021, 2021, Page(s) 256-262, ISSN 1877-0509
Publisher: Amsterdam Elsevier
DOI: 10.1016/j.procs.2021.06.035

An Online Trajectory Generator on SE(3) for Human–Robot Collaboration

Author(s): Gerold Huber, Dirk Wollherr
Published in: Robotica, 2019, ISSN 1469-8668
Publisher: Cambridge University Press
DOI: 10.1017/s0263574719001619

Efficient Closed-Form Task Space Manipulability for a 7-DOF Serial Robot

Author(s): Gerold Huber, Dirk Wollherr
Published in: Robotics, 8/4, 2019, Page(s) 98, ISSN 2218-6581
Publisher: MDPI
DOI: 10.3390/robotics8040098

Robot regulatory behaviour based on fundamental homeostatic and allostatic principles

Author(s): Guerrero-Rosado, O., & Verschure, P
Published in: Procedia Computer Science, 13/07/1905, 2021, Page(s) 292-300, ISSN 1877-0509
Publisher: Amsterdam Elsevier
DOI: 10.1016/j.procs.2021.06.039

Joint Object Affordance Reasoning and Segmentation in RGB-D Videos

Author(s): Spyridon Thermos; Gerasimos Potamianos; Petros Daras
Published in: IEEE Access, 2021, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2021.3090471

An Online Robot Collision Detection and Identification Scheme by Supervised Learning and Bayesian Decision Theory

Author(s): Zengjie Zhang, Kun Qian, Bjorn W. Schuller, Dirk Wollherr
Published in: IEEE Transactions on Automation Science and Engineering, 2020, Page(s) 1-13, ISSN 1545-5955
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tase.2020.2997094

A Concise and Geometrically Exact Planar Beam Model for Arbitrarily Large Elastic Deformation Dynamics

Author(s): Gerold Huber, Dirk Wollherr, Martin Buss
Published in: Frontiers in Robotics and AI, 2021, ISSN 2296-9144
Publisher: Frontiers Media S.A.
DOI: 10.3389/frobt.2020.609478

Bayesian optimization with unknown constraints in graphical skill models for compliant manipulation tasks using an industrial robot

Author(s): Volker Gabler, Dirk Wollherr
Published in: Frontiers in Robotics and AI, 2022, ISSN 2296-9144
Publisher: Frontiers Media S.A.
DOI: 10.3389/frobt.2022.993359

Modeling the formation of social conventions from embodied real-time interactions

Author(s): Ismael T. Freire, Clement Moulin-Frier, Marti Sanchez-Fibla, Xerxes D. Arsiwalla, Paul F. M. J. Verschure
Published in: PLOS ONE, 15/6, 2020, Page(s) e0234434, ISSN 1932-6203
Publisher: Public Library of Science
DOI: 10.1371/journal.pone.0234434

Adaptation and Transfer of Robot Motion Policies for Close Proximity Human-Robot Interaction

Author(s): Khoi Hoang Dinh, Ozgur S. Oguz, Mariam Elsayed, Dirk Wollherr
Published in: Frontiers in Robotics and AI, 6, 2019, ISSN 2296-9144
Publisher: Frontiers in Robotics AI
DOI: 10.3389/frobt.2019.00069

Complementary interactions between classical and top-down driven inhibitory mechanisms of attention

Author(s): Low, S. C., Vouloutsi, V., & Verschure, P. F.
Published in: Cognitive Systems Research, 67, June 2021, 2021, Page(s) 66-72, ISSN 1389-0417
Publisher: Elsevier BV
DOI: 10.1016/j.cogsys.2020.12.003

Book chapters (7)

Efficient Fine-Grained Object Detection for Robot-Assisted WEEE Disassembly

Author(s): Ioannis Athanasiadis, Athanasios Psaltis, Apostolos Axenopoulos, Petros Daras
Published in: Biomimetic and Biohybrid Systems - 9th International Conference, Living Machines 2020, Freiburg, Germany, July 28–30, 2020, Proceedings, 12413, 2020, Page(s) 17-22, ISBN 978-3-030-64312-6
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-64313-3_3

Enhancing Robot-Assisted WEEE Disassembly Through Optimizing Automated Detection of Small Components

Author(s): Ioannis Athanasiadis, Athanasios Psaltis, Apostolos Axenopoulos, Petros Daras
Published in: Computer Vision – ECCV 2020 Workshops - Glasgow, UK, August 23–28, 2020, Proceedings, Part IV, 12538, 2020, Page(s) 440-454, ISBN 978-3-030-66822-8
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-66823-5_26

Machine Morality: From Harm-Avoidance to Human-Robot Cooperation

Author(s): Ismael T. Freire, Dina Urikh, Xerxes D. Arsiwalla, Paul F. M. J. Verschure
Published in: Biomimetic and Biohybrid Systems - 9th International Conference, Living Machines 2020, Freiburg, Germany, July 28–30, 2020, Proceedings, 12413, 2020, Page(s) 116-127, ISBN 978-3-030-64312-6
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-64313-3_13

Cholinergic Control of Chaos and Evidence Sensitivity in a Neocortical Model of Perceptual Decision-Making

Author(s): Adrián F. Amil, Jordi-Ysard Puigbò, Paul F. M. J. Verschure
Published in: Biomimetic and Biohybrid Systems - 9th International Conference, Living Machines 2020, Freiburg, Germany, July 28–30, 2020, Proceedings, 12413, 2020, Page(s) 92-96, ISBN 978-3-030-64312-6
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-64313-3_10

Haptic Object Identification for Advanced Manipulation Skills

Author(s): Volker Gabler, Korbinian Maier, Satoshi Endo, Dirk Wollherr
Published in: Biomimetic and Biohybrid Systems - 9th International Conference, Living Machines 2020, Freiburg, Germany, July 28–30, 2020, Proceedings, 12413, 2020, Page(s) 128-140, ISBN 978-3-030-64312-6
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-64313-3_14

Distributed Adaptive Control: An Ideal Cognitive Architecture Candidate for Managing a Robotic Recycling Plant

Author(s): Oscar Guerrero Rosado, Paul F. M. J. Verschure
Published in: Biomimetic and Biohybrid Systems - 9th International Conference, Living Machines 2020, Freiburg, Germany, July 28–30, 2020, Proceedings, 12413, 2020, Page(s) 153-164, ISBN 978-3-030-64312-6
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-64313-3_16

Integrated Topological Planning and Scheduling for Orchestrating Large Human-Robot Collaborative Teams

Author(s): Ioannis Chatzikonstantinou, Ioannis Kostavelis, Dimitrios Giakoumis, Dimitrios Tzovaras
Published in: Biomimetic and Biohybrid Systems - 9th International Conference, Living Machines 2020, Freiburg, Germany, July 28–30, 2020, Proceedings, 12413, 2020, Page(s) 23-35, ISBN 978-3-030-64312-6
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-64313-3_4

Conference proceedings (12)

MS2MP: A Min-Sum Message Passing Algorithm for Motion Planning

Author(s): Salman Bari, Volker Gabler, Dirk Wollherr
Published in: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, ISBN 978-1-7281-9077-8
Publisher: IEEE
DOI: 10.1109/icra48506.2021.9561533

A Hybrid Human-Robot Collaborative Environment for Recycling Electrical and Electronic Equipment

Author(s): Axenopοulos, Apostolos and Papadopoulos, Georgios Th. and Giakoumis, Dimitrios and Kostavelis, Ioannis and Papadimitriou, Alexis and Sillaurren, Sara and Bastida, Leire and Oguz, Ozgur S. and Wollherr, Dirk and Garnica, Eugenio and Vouloutsi, Vasiliki and Verschure, Paul F.M.J. and Tzovaras, Dimitrios and Daras, Petros
Published in: 2019
Publisher: IEEE
DOI: 10.1109/smartworld-uic-atc-scalcom-iop-sci.2019.00312

Safe Tracking Control of Euler-Lagrangian Systems Based on A Novel Adaptive Super-twisting Algorithm

Author(s): Zengjie Zhang, Yongchao Wang, Dirk Wollherr
Published in: IFAC-PapersOnLine, 53(2), 2020, Page(s) 9974-9979
Publisher: Elsevier Ltd.
DOI: 10.1016/j.ifacol.2020.12.2714

A Force-Sensitive Grasping Controller Using Tactile Gripper Fingers and an Industrial Position-Controlled Robot

Author(s): Volker Gabler; Gerold Huber; Dirk Wollherr
Published in: 2022 International Conference on Robotics and Automation (ICRA), 2022, ISBN 978-1-7281-9681-7
Publisher: IEEE
DOI: 10.1109/icra46639.2022.9812278

Globally Optimal Online Redundancy Resolution for Serial 7-DOF Kinematics Along SE(3) Trajectories

Author(s): Gerold Huber, Dirk Wollherr
Published in: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021
Publisher: IEEE
DOI: 10.1109/icra48506.2021.9560810

Towards sample-efficient episodic control with DAC-ML

Author(s): Freire, I. T., Amil, A. F., Vouloutsi, V., & Verschure, P. F.
Published in: Annual International Conference on Brain-Inspired Cognitive Architectures for Artificial Intelligence (BICA*AI 2020), 2020
Publisher: N/A
DOI: 10.1007/978-3-030-64313-3_36

Intuitive and Safe Interaction in Multi-User Human Robot Collaboration Environments through Augmented Reality Displays

Author(s): Georgios Tsamis; Georgios Chantziaras; Dimitrios Giakoumis; Ioannis Kostavelis; Andreas Kargakos; Athanasios Tsakiris; Dimitrios Tzovaras
Published in: 2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN), 8-12 Aug. 2021, 2021, Page(s) pp. 520-526, ISBN 978-1-6654-0492-1
Publisher: IEEE
DOI: 10.1109/ro-man50785.2021.9515474

A Deep Learning Approach to Object Affordance Segmentation

Author(s): Spyridon Thermos, Petros Daras, Gerasimos Potamianos
Published in: ICASSP 2020 - 2020 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP), 2020, Page(s) 2358-2362, ISBN 978-1-5090-6631-5
Publisher: IEEE
DOI: 10.1109/icassp40776.2020.9054167

Pallet detection and docking strategy for autonomous pallet truck AGV operation

Author(s): Efthimios Tsiogas, Ioannis Kleitsiotis, Ioannis Kostavelis, Andreas Kargakos, Dimitris Giakoumis, Marc Bosch-Jorge, Raquel Julia Ros, Rafa López Tarazón, Spyridon Likothanassis, Dimitrios Tzovaras
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2021, 2021
Publisher: IEEE
DOI: 10.1109/iros51168.2021.9636270

A New Shopfloor Orchestration Approach for Collaborative Human-Robot Device Disassembly

Author(s): Ioannis Chatzikonstantinou, Dimitrios Giakoumis, Dimitrios Tzovaras
Published in: 2019 IEEE SmartWorld, Ubiquitous Intelligence & Computing, Advanced & Trusted Computing, Scalable Computing & Communications, Cloud & Big Data Computing, Internet of People and Smart City Innovation (SmartWorld/SCALCOM/UIC/ATC/CBDCom/IOP/SCI), 2019, Page(s) 225-230, ISBN 978-1-7281-4034-6
Publisher: IEEE
DOI: 10.1109/smartworld-uic-atc-scalcom-iop-sci.2019.00081

Towards life-long mapping of dynamic environments using temporal persistence modeling

Author(s): Georgios Tsamis, Ioannis Kostavelis, Dimitrios Giakoumis, Dimitrios Tzovaras
Published in: 25th International Conference on Pattern Recognition, 2020
Publisher: IEEE
DOI: 10.1109/icpr48806.2021.9413161

Initiating the human-robot collaboration during the WEEE management

Author(s): Sixto Arnaiz, Iñigo Cacho, Iratxe Uria, Dorleta Guarde, Maider Arieta-araunabeña, Athanasios Stergiou,Spyridon D. Karamoutsos, Anna C. Antunes, Elisabete Oliveira, Sara Sillaurren, Leire Bastida
Published in: Electronic Goes Green 2020+ proceedings, September 2020, 2020, Page(s) 255-262, ISBN 978-3-8396-1659-8
Publisher: Fraunhofer Verlag

Other (7)

Towards a method for data protection impact assessment: Making sense of GDPR requirements

Author(s): Dariusz KLOZA, Niels VAN DIJK, Simone CASIRAGHI, Sergi VAZQUEZ MAYMIR, Sara RODA, Alessia TANAS and Ioulia KONSTANTINOU
Published in: d.pia.lab Policy Brief, 1/2019, 2019, Page(s) 1-8, ISSN 2565-9936
Publisher: VUB

Vers une méthode pour l’analyse d’impact relative à la protection des données : Comprendre et interpréter les obligations du RGPD

Author(s): Dariusz KLOZA, Niels VAN DIJK, Simone CASIRAGHI, Sergi VAZQUEZ MAYMIR, Sara RODA, Alessia TANAS and Ioulia KONSTANTINOU
Published in: d.pia.lab Policy Brief, 1/2019, 2019, Page(s) 1-8, ISSN 2565-9936
Publisher: VUB

Cap a un mètode d’avaluació d’impacte per a la protecció de dades: Donant sentit a les obligacions del RGPD

Author(s): Dariusz KLOZA, Niels VAN DIJK, Simone CASIRAGHI, Sergi VAZQUEZ MAYMIR, Sara RODA, Alessia TANAS i Ioulia KONSTANTINOU
Published in: d.pia.lab Policy Brief, 1/2019, 2020, Page(s) 1-12, ISSN 2565-9936
Publisher: VUB

Entwicklung einer Methode für die Datenschutz-Folgenabschätzung: Erläuterung und Auslegung der Anforderungen der DSGVO

Author(s): Dariusz KLOZA, Niels VAN DIJK, Simone CASIRAGHI, Sergi VAZQUEZ MAYMIR, Sara RODA, Alessia TANAS and Ioulia KONSTANTINOU
Published in: d.pia.lab Policy Brief, 1/2019, 2019, Page(s) 1-8, ISSN 2565-9936
Publisher: VUB

Em direção a um método para avaliações de impacto sobre a proteção de dados: entendendo as exigências do RGPD

Author(s): Dariusz KLOZA, Niels VAN DIJK, Simone CASIRAGHI, Sergi VAZQUEZ MAYMIR, Sara RODA, Alessia TANAS e Ioulia KONSTANTINOU
Published in: d.pia.lab Policy Brief, 1/2019, 2019, Page(s) 1-12, ISSN 2565-9936
Publisher: VUB

Προς μία μέθοδο για την Εκτίμηση Αντικτύπου σχετικά με την Προστασία Δεδομένων: Κατανοώντας τις απαιτήσεις του ΓΚΠΔ

Author(s): Dariusz Kloza, Niels van Dijk, Simone Casiraghi, Sergi Vazquez Maymir, Sara Roda, Alessia Tanas, Ioulia Konstantinou
Published in: d.pia.lab Policy Brief, 1/2019, 2020, Page(s) 1-12, ISSN 2565-9936
Publisher: VUB

Szablon raportu z procesu oceny skutkow dla ochrony danych w Unii Europejskiej: propozycja

Author(s): Dariusz Kloza, Alessandra Calvi, Simone Casiraghi, Sergi Vazquez Maymir, Nikolaos Ioannidis, Alessia Tanas, Niels Van Dijk, Paweł Uściński (Translator), Maciej Otmianowski (Translator)
Published in: d.pia.lab Policy Brief, 1/2020, 2021, Page(s) 1-56
Publisher: VUB