Advanced RoBOTic Technology for Handling SOFT Materials in MANufacturing Sectors

Deliverables

Documents, reports (12)

Project management handbook

Report including all necessary project management procedures (reporting, approvals, etc.) to be performed by consortium members.

Analysis of multi-modal control strategies

This report will detail the existing multi-modal control strategies for implementing contact-based robotic skills in previous scientific works in the literature and a theoretical and methodological proposal for the new approach to be implemented.

Analysis of HRI planning strategies

This report will detail the extension of planning techniques described in D4.4. for adding human factors.

Risk & Opportunities Register _v1

First version including risk/opportunities policy, forecasted and detected risks/opportunities and the actions descriptions, deadlines and responsibilities.

Risk & Opportunities Register_v2

Second version including an update of risk/opportunities policy, forecasted and detected risks/opportunities and the actions descriptions, deadlines and responsibilities.

Global definition of the software and hardware architectures

This report will detail the methodology used to define the software and hardware architectures. It will provide a complete and detailed description of them.

Branding, website and social media channels

This report will provide details on the project branding, website, with a private area to support project management and document repository, and links to the communities (LinkedIn, Twitter) in which the project is active.

Business model and Exploitation plan_v1

First report on the exploitation strategies of the SOFTMANBOT consortium and plans specifying the intended use of project results by project beneficiaries.

Progress Report_PR1

Project progress report to be delivered at the end of the first reporting period (PR2)

Analysis of task planning strategies

This report will detail the existing task-level/action-level/motion-level planning strategies described in previous scientific works in the literature and a theoretical and methodological proposal for the new approach to be implemented.

Dissemination Master Plan

This report will provide details on the communication strategy for the project. It will describe the target audiences, key messages, outreach activities and communication channels.

Use cases definition and system requirements

This report will detail the methodology used to collect the data for the technical requirement analysis and the final set of requirements related to each sector.

Open Research Data Pilot (1)

Data Management Plan

Report including all information required in the Guidelines on Data Management in Horizon 2020

Publications

Peer reviewed articles (11)

Online Non-Collocated Estimation of Payload and Articular Stress for Real-Time Human Ergonomy Assessment

Author(s): Yeshasvi Tirupachuri; Prashanth Ramadoss; Lorenzo Rapetti; Claudia Latella; Kourosh Darvish; Silvio Traversaro; Daniele Pucci
Published in: IEEE Access, Vol 9, Pp 123260-123279 (2021), 21693536, 2021, Page(s) 10412-10419, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2021.3109238

Robotic Motion Coordination Based on a Geometric Deformation Measure

Author(s): M. Aranda, J. Sanchez, J. A. C. Ramon and Y. Mezouar
Published in: IEEE Systems Journal, 19379234, 2022, Page(s) 3689-3699, ISSN 1937-9234
Publisher: IEEE
DOI: 10.1109/jsyst.2021.3107779

Dynamic Evaluation of Deformable Object Grasping

Author(s): P. Song, J. A. C. Ramón and Y. Mezouar
Published in: IEEE Robotics and Automation Letters, 23773766, 2022, Page(s) 4392-4399, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3145963

A Soft Robotic Gripper With an Active Palm and Reconfigurable Fingers for Fully Dexterous In-Hand Manipulation

Author(s): A. Pagoli, F. Chapelle, J. A. Corrales, Y. Mezouar and Y. Lapusta
Published in: EEE Robotics and Automation Letters, 23773766, 2021, Page(s) 7706-7713, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3098803

Grasp Planning Pipeline for Robust Manipulation of 3D Deformable Objects with Industrial Robotic Hand + Arm Systems

Author(s): Lazher Zaidi, Juan Antonio Corrales Ramon, Laurent Sabourin, Belhassen Chedli Bouzgarrou, Youcef Mezouar
Published in: Applied Sciences, 10/23, 2020, Page(s) 8736, ISSN 2076-3417
Publisher: MDPI
DOI: 10.3390/app10238736

Resolved-Acceleration Control of Serial Robotic Manipulators Using Unit Dual Quaternions

Author(s): Chandra, Rohit, Juan Antonio Corrales-Ramon, and Youcef Mezouar.
Published in: 21st IFAC World Congress: Berlin, Germany, 11–17 July 2020, 24058963, 2020, Page(s) 8500-8505, ISSN 2405-8963
Publisher: Elsevier
DOI: 10.1016/j.ifacol.2020.12.1425

Hierarchical, Dense and Dynamic 3D Reconstruction Based on VDB Data Structure for Robotic Manipulation Tasks

Author(s): Carlos M. Mateo, Juan A. Corrales, Youcef Mezouar
Published in: Frontiers in Robotics and AI, 7, 2021, Page(s) 600387, ISSN 2296-9144
Publisher: Frontiers Media SA
DOI: 10.3389/frobt.2020.600387

General Framework for the Optimization of the Human-Robot Collaboration Decision-Making Process Through the Ability to Change Performance Metrics.

Author(s): Mélodie Hani Daniel Zakaria; Sebastien Lengagne; Juan Antonio Corrales Ramon; Youcef Mezouar
Published in: Frontiers in Robotics and AI, 22969144, 2021, ISSN 2296-9144
Publisher: Frontiers
DOI: 10.3389/frobt.2021.736644

Distributed Linear Control of Multirobot Formations Organized in Triads.

Author(s): M. Aranda, G. López-Nicolás and Y. Mezouar
Published in: IEEE Robotics and Automation Letters, 23773766, 2021, Page(s) 8498-8505, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3107025

ADHERENT: Learning Human-like Trajectory Generators for Whole-body Control of Humanoid Robots

Author(s): P. M. Viceconte et al
Published in: IEEE Robotics and Automation Letters, 23773766, 2022, Page(s) 2779-2786, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3141658

Exoscarne: Assistive Strategies for an Industrial Meat Cutting System Based on Physical Human-Robot Interaction

Author(s): Harsh Maithani, Juan Antonio Corrales Ramon, Laurent Lequievre, Youcef Mezouar, Matthieu Alric
Published in: Applied Sciences, 11/9, 2021, Page(s) 3907, ISSN 2076-3417
Publisher: MDPI
DOI: 10.3390/app11093907

Conference proceedings (1)

Monocular Visual Shape Tracking and Servoing for Isometrically Deforming Objects

Author(s): Miguel Aranda, Juan Antonio Corrales Ramon, Youcef Mezouar, Adrien Bartoli, Erol Ozgur
Published in: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Yearly, 2020, Page(s) 7542-7549, ISBN 978-1-7281-6212-6
Publisher: IEEE
DOI: 10.1109/iros45743.2020.9341646