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Advanced RoBOTic Technology for Handling SOFT Materials in MANufacturing Sectors

Deliverables

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.

Progress Report_PR2

Project progress report to be delivered at the end of the second reporting period PR2

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_v3

Third version including riskopportunities policy forecasted and detected risksopportunities and the actions descriptions deadlines and responsibilities

Business model and Exploitation plan_v2

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

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.

Final Report

Report to be delivered at the end of the projectThe management reports will include information required in corresponding guidelines of the Horizon 2020 programme and Advisory Board meetings Updated plans for the dissemination and exploitation of results will be included in both the periodic and final reports

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.

Report on Dissemination and Communication_v2

Second report on different actions to raise awareness of the project including the selection and calendar of dissemination events It is a live document that will be updated along the duration of the project

Integration of the SOFTMANBOT system in industrial environments

This report will detail the complete layout of the use cases integrated

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.

Analysis of task generalization strategies

This report will detail the AIbased generalization techniques for extending the control and planning strategies to other tasks and sectors

Comparative LCA report for the 4 manufacturing sectors: textile, toy, footwear and tyres

This report will provide the results of the comparative study of the traditional manufacturing process in the 4 sectors addressed by the project with the use of robotics and the main environmental conclusions

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)

Validation test campaign and collection of results

This report will detail the test campaign comprehensive of the test plan and description of test execution

Report on Dissemination and Communication_v1

First report on different actions to raise awareness of the project including the selection and calendar of dissemination events It is a live document that will be updated along the duration of the project

Training sessions report

This will detail the training session performed at the end users premises with line operators providing an analysis of operators feedback and identifying further possibilities for fine tuning

Progress Report_v3

Project progress report to be delivered at the end of the third reporting period PR3

Report on Dissemination and Communication_v3

Final report on the different actions carried out to raise awareness of the project including the selection and calendar of dissemination events

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.

Report of the SOFTMANBOT's users' acceptance

This report will include the results of the evaluation of the users acceptance Here the main findings will be exposed also the solutions to any problem found will be introduced

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.

Data Management Plan

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

Publications

Simultaneous Tactile Localization And Reconstruction of an Object During Robotic Manipulation

Author(s): G. KISSOUM and V. PERDEREAU
Published in: 2021 20th International Conference on Advanced Robotics (ICAR), 2021, Page(s) pp. 948-954
Publisher: IEEE
DOI: 10.1109/icar53236.2021.9659354

Simultaneous Human Action and Motion Prediction

Author(s): Kourosh Darvish, Daniele Pucci
Published in: """2021 Interna- tional Conference on Neural Information Processing Systems (NeurIPS), Workshop on """"Robot Learning Workshop: Self-Supervised and Lifelong Learning""""""", 2023
Publisher: ARXIV
DOI: 10.48550/arxiv.2303.07655

Optimal Shape Servoing with Task-focused Convergence Constraints

Author(s): Victor H Giraud, Maxime Padrin, Mohammadreza Shetab-Bushehri, Chedli Bouzgarrou, Youcef Mezouar, Erol Ozgur
Published in: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022, Page(s) 2197-2202
Publisher: IEEE
DOI: 10.1109/iros47612.2022.9981902

Robotic Control of the Deformation of Soft Linear Objects Using Deep Reinforcement Learning

Author(s): M. H. Daniel Zakaria, M. Aranda, L. Lequièvre, S. Lengagne, J. A. Corrales Ramón and Y. Mezouar
Published in: 2022 IEEE 18th International Conference on Automation Science and Engineering (CASE), 2022, Page(s) pp. 1516-1522
Publisher: IEEE
DOI: 10.1109/case49997.2022.9926667

Whole-Body Control and Estimation of Humanoid Robots with Link Flexibility

Author(s): G. Romualdi, N. A. Villa, S. Dafarra, D. Pucci and O. Stasse
Published in: 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids), 2022, Page(s) pp. 104-111
Publisher: IEEE
DOI: 10.1109/humanoids53995.2022.10000157

Tactile-Based Task Definition Through Edge Contact Formation Setpoints for Object Exploration and Manipulation

Author(s): Z. Kappassov, J. A. C. Ramon and V. Perdereau
Published in: IEEE Robotics and Automation Letters, Issue vol. 7, no. 2, 2022, Page(s) pp. 5007-5014
Publisher: IEEE
DOI: 10.1109/lra.2022.3154478

Approaches to Automatic Assembling of Plastic

Author(s): Daniel Sanchez-Martinez, Carlos A. Jara, Francisco Gomez-Donoso
Published in: Robot2022: Fifth Iberian Robotics Conference, 2022
Publisher: Springer
DOI: 10.1007/978-3-031-21062-4_49

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), Issue Yearly, 2020, Page(s) 7542-7549, ISBN 978-1-7281-6212-6
Publisher: IEEE
DOI: 10.1109/iros45743.2020.9341646

Kinematic screws and dual quaternion based motion controllers

Author(s): Hernán Abaunza, Rohit Chandra, Erol Özgür, Juan Antonio Corrales Ramón, Youcef Mezouar
Published in: 2022
Publisher: Science Direct
DOI: 10.1016/j.conengprac.2022.105325

Robotic Manipulation System for Multi-Layer Fabric Stitching

Author(s): Lahoud M, Marchello G, Abidi H, D'Imperio M, Cannella F.
Published in: 2021
Publisher: ASME
DOI: 10.1115/detc2021-70994

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), Issue 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, Issue 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, Issue 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, Issue 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, Issue 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, Issue 24058963, 2020, Page(s) 8500-8505, ISSN 2405-8963
Publisher: Elsevier
DOI: 10.1016/j.ifacol.2020.12.1425

Large-Area and Low-Cost Force/Tactile Capacitive Sensor for Soft Robotic Applications

Author(s): Amir Pagoli, Frédéric Chapelle, Juan-Antonio Corrales-Ramon, Youcef Mezouar, Yuri Lapusta
Published in: Journal: Sensors, 2022, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s22114083

Review of Soft Fluidic Actuators: Classification and Materials Modeling Analysis.

Author(s): Pagoli, A., Chapelle, F., Ramón, J. A. C., Mezouar, Y., & Lapusta, Y
Published in: Smart Materials and Structures, Issue Volume 31, Number 1, 2021, ISSN 1361-665X
Publisher: IOP- SCience
DOI: 10.1088/1361-665x/ac383a

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, Issue 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, Issue 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, Issue 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, Issue 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, Issue 11/9, 2021, Page(s) 3907, ISSN 2076-3417
Publisher: MDPI
DOI: 10.3390/app11093907

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