Manipulation Enhancement through Robotic Guidance and Intelligent Novel Grippers

Livrables

Dissemination and Communication Plan (revised)

The activities included in the Dissemination and Communication Plan will define the goals the targeted audience and the desired activities A dissemination and communication toolkit will include the website flyers videos interviews project leaflet providing key information about the project in a concise and engaging message While the Dissemination is focussed on the disclosure of project results to specific target groups Communication is aimed to promote the project and its impacts to defined audiences MERGING will deploy a 360 degrees Dissemination and Communication Strategy combining online and offline channels content marketing strategies tools media relations top events and work with stakeholdersThe plan will be assessed and updated two times during the project in order to evaluate the effectiveness of the actionsThis deliverable is the updated version of the D and C Plan

Dissemination and Communication Plan (initial)

The activities included in the Dissemination and Communication Plan will define the goals, the targeted audience and the desired activities. A dissemination and communication toolkit will include the website, flyers, videos, interviews, project leaflet (providing key information about the project in a concise and engaging message). While the Dissemination is focussed on the disclosure of project results to specific target groups, Communication is aimed to promote the project and its impacts to defined audiences. MERGING will deploy a 360 degrees Dissemination and Communication Strategy, combining online and offline channels, content marketing strategies & tools, media relations, top events and work with stakeholders. The plan will be assessed and updated two times during the project, in order to evaluate the effectiveness of the actions. This deliverable is the initial version of the D and C Plan.

MERGING Website

The website will be designed in accordance with the visual project identity. All the public project materials documents, data, reports as well as dissemination and communication materials (print and digital) will be accessible from the website. The website will be regularly updated (every 2 months) and maintained throughout the project.

Perception functionalities demonstration

This deliverable will show the assessment of the multilevel system before using it in the demonstration prototypesFirst trials for humanrobot interaction will be performed to verify the hardware and software dependability in order to ensure an adequate deployment in the demonstration scenarios This validation phase will be done using representative laboratory setups for the proposed demonstration scenarios and the verification process will contain multiple scenario runs

Publications

Shielded soft force sensors

Auteurs: Bekir Aksoy, Yufei Hao, Giulio Grasso, Krishna Manaswi Digumarti, Vito Cacucciolo, Herbert Shea
Publié dans: Nature Communications, Numéro 2023, 2022, ISSN 2041-1723
Éditeur: Nature Publishing Group
DOI: 10.1038/s41467-022-32391-0

On deformable object handling: multi-tool end-effector for robotized manipulation and layup of fabrics and composites

Auteurs: Giorgos Papadopoulos, Dionisis Andronas, Emmanouil Kampourakis, Nikolaos Theodoropoulos, Panagiotis Stylianos Kotsaris, Sotiris Makris
Publié dans: The International Journal of Advanced Manufacturing Technology, Numéro 2023, 2023, ISSN 0268-3768
Éditeur: Springer Verlag
DOI: 10.1007/s00170-023-11914-z

A service-oriented orchestration and planning tool for plug and produce manufacturing: a deformable object handling supervision paradigm

Auteurs: Konstantinos Kavvathas; Emmanouil Kampourakis; Dionisis Andronas; Nikolaos Fousekis; Sotiris Makris
Publié dans: International Journal of Computer Integrated Manufacturing, Numéro 12, 2024, Page(s) 1-24, ISSN 1362-3052
Éditeur: Taylor & Francis
DOI: 10.1080/0951192x.2024.2331533

On deformable object handling: Model-based motion planning for human-robot co-manipulation

Auteurs: Sotiris Makris, Emmanouil Kampourakis, DionisisAndronas
Publié dans: CIRP Annals, Numéro 2022, 2022, ISSN 0007-8506
Éditeur: Hallwag AG
DOI: 10.1016/j.cirp.2022.04.048

Cyber-physical systems in non-rigid assemblies: A methodology for the calibration of deformable object reconstruction models

Auteurs: Nikolaos Theodoropoulos, Emmanouil Kampourakis, Dionisis Andronas, Sotiris Makris
Publié dans: Journal of Manufacturing Systems, Numéro 2023, 2023, Page(s) 525-537, ISSN 0278-6125
Éditeur: Elsevier BV
DOI: 10.1016/j.jmsy.2023.08.022

On modelling and handling of flexible materials: A review on Digital Twins and planning systems

Auteurs: Dionisis Andronas, George Kokotinis, Sotiris Makris
Publié dans: Procedia CIRP, Numéro 97, 2021, Page(s) 447-452, ISSN 2212-8271
Éditeur: Elsevier
DOI: 10.1016/j.procir.2020.08.005

Automated assembly of non-rigid objects

Auteurs: Sotiris Makris, Franz Dietrich, Karel Kellens, S.Jack Hu
Publié dans: CIRP Annals, Numéro 2023, 2023, Page(s) 513-539, ISSN 0007-8506
Éditeur: Hallwag AG
DOI: 10.1016/j.cirp.2023.05.003

Twist modelling for assembly of wiring harnesses

Auteurs: Papacharalampopoulos, Alexios; Makris, Sotiris
Publié dans: Procedia CIRP, Numéro Volume 97, 2021, Page(s) 71-75, ISSN 2212-8271
Éditeur: Elsevier
DOI: 10.1016/j.procir.2020.05.206

Influence of the Object Stiffness on the Grasp Stability with Compliant Hand Based on Energetic Approach

Auteurs: Ugo Vollhardt; Maria Makarov; Alex Caldas; Mathieur Grossard; Pedro Rodriguez-Ayerbe
Publié dans: IFAC-PapersOnLine, Numéro 2020, 2020, Page(s) 9905-9911, ISSN 2405-8963
Éditeur: Kidlington: Elsevier Ltd
DOI: 10.1016/j.ifacol.2020.12.2698

On modelling and handling of flexible materials: A review on Digital Twins and planning systems

Auteurs: Andronas, Dionisis; Kokotinis, George; Makris, Sotiris
Publié dans: Procedia CIRP, Numéro Volume 97, 2021, Page(s) 447-452, ISSN 2212-8271
Éditeur: Elsevier
DOI: 10.1016/j.procir.2020.08.005

How to compete with robots by assessing job automation risks and resilient alternatives

Auteurs: Paolillo A, Colella F, Nosengo N, Schiano F, Stewart W, Zambrano D, Chappuis I, Lalive R, Floreano D.
Publié dans: Science Robotics, Numéro 13;7(65), 2022, ISSN 2470-9476
Éditeur: AAAS
DOI: 10.1126/scirobotics.abg5561

Reinforcement Learning-Based Approaches in Manufacturing Environments

Auteurs: Andrea Fernández Martínez, Carlos González-Val, Daniel Gordo Martín, Alberto Botana López, Jose Angel Segura Muros, Afra Maria Petrusa Llopis, Jawad Masood, and Santiago Muiños-Landin
Publié dans: Artificial Intelligence in Manufacturing - Enabling Intelligent, Flexible andCost-Effective Production Through AI, Numéro February 2024, 2024, Page(s) 195-216, ISBN 978-3-031-46452-2
Éditeur: J. Soldatos, SPRINGER
DOI: 10.1007/978-3-031-46452-2_11

MERGING project : Simulation for enhanced perception and planning

Auteurs: Diego Perez, Dionisis Andronas
Publié dans: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021), Numéro 27 September 2021, 2021, Page(s) RoMaDO-RA workshop (Robotic Manipulation of Deformable Objects: Challenges in Perception, Planning and Control for Real-World Applications)
Éditeur: IEEE/RSJ

CANIA (Cloth simulAtion eNvironment for Intelligent Agent training)

Auteurs: González Val, Carlos et al.
Publié dans: Zenodo open source data and project, Numéro 12 July 2023, 2023
Éditeur: Zenodo
DOI: 10.5281/zenodo.8138878

Electro-active soft materials for robots and wearables

Auteurs: Vito Cacucciolo
Publié dans: Volume PC12741, Advanced Materials, Biomaterials, and Manufacturing Technologies for Security and Defence, Numéro Proc. SPIE PC127410C, 2023
Éditeur: SPIE Security + Defence
DOI: 10.1117/12.2687962

Electroactive soft grippers for flexible and delicate objects (workshop W9, co-organizer)

Auteurs: Vito Cacucciolo (workshop W9, co-organizer and presenter)
Publié dans: "2023 IEEE-RAS International Conference on Soft Robotics ROBOSOFT - Workshop 9 : ""Soft grippers: from the labs to the market""", Numéro 6th conference, 3-7 April 2023, 2023
Éditeur: IEEE
DOI: 10.1109/robosoft55895.2023

Electro-active materials for soft robots and wearables (invited presentation)

Auteurs: Vito Cacucciolo (invited presenter)
Publié dans: Transducers 2023 - IEEE International Conference on Solid-State Sensors, Actuators and Microsystems, Numéro 22nd conference, 25-29 June 2023, 2024
Éditeur: IEEJ Transactions on Electrical and Electronic Engineering

Real-time Gesture Recognition in Industry

Auteurs: Afra Marıa Pertusa Llopis, Adriana Costas Lopez, Jawad Masood
Publié dans: "2023 IEEE-RAS International Conference on Robotics and Automation ICRA - Workshop FW15 : ""Cognitive Modelling in Robot Learning for adaptive Human-Robot interactions""", Numéro 29 May - 2 June 2023, 2023
Éditeur: IEEE

Dexterous textile manipulation using electroadhesive fingers

Auteurs: Krishna Manaswi Digumarti; Vito Cacucciolo; Herbert Shea
Publié dans: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Numéro 2021, 2021
Éditeur: IEEE
DOI: 10.1109/iros51168.2021.9636095

A variable stiffness soft gripper with integrated ion-drag pump

Auteurs: Michael Smith, Krishna Manaswi Digumarti, Vito Cacucciolo, Herbert Shea
Publié dans: Proceedings Volume PC12042, Electroactive Polymer Actuators and Devices (EAPAD) XXIV;, Numéro 2022, 2022
Éditeur: SPIE Digital Library
DOI: 10.1117/12.2615068

Controller design of a robotic assistant for the transport of large and fragile objects

Auteurs: J. Dumora, J. Nicolas, F. Geffard
Publié dans: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Numéro 2022, 2022, Page(s) 2111-2118
Éditeur: IEEE
DOI: 10.1109/iros47612.2022.9981993

Model-Based Robot Control for Human-Robot Flexible Material Co-Manipulation

Auteurs: D. Andronas, E. Kampourakis, K. Bakopoulou, C. Gkournelos, P. Angelakis and S. Makris,
Publié dans: 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA ), Numéro 2021, 2021, Page(s) 1-8
Éditeur: IEEE
DOI: 10.1109/etfa45728.2021.9613235

Slip Anticipation for Grasping Deformable Objects Using a Soft Force Sensor

Auteurs: E. Judd, B. Aksoy, K. M. Digumarti, H. Shea, D. Floreano
Publié dans: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Numéro 2022, 2022, Page(s) 10003-10008
Éditeur: IEEE
DOI: 10.1109/iros47612.2022.9981174

Use of a human-centered manual interaction patterns analysis methodology for the specification of dexterous robotic grippers

Auteurs: T. Mokadim F. Gosselin
Publié dans: 2022 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Numéro 2022, 2022, Page(s) 29-36
Éditeur: IEEE
DOI: 10.1109/ro-man53752.2022.9900729

An Intelligent Robotics Modular Architecture for Easy Adaptation to Novel Tasks and Applications

Auteurs: F. Gosselin, G. Acher, B. Gradoussoff, S. Kchir, F. Keith, O. Lebec, C. Louison, B. Luvison, F. Mayran de Chamisso, B. Meden, V. Molina, M. Morelli, J. Rabarisoa, C. Vienne, G. Ameyugo
Publié dans: 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE), Numéro 2023, 2023, Page(s) 1-8
Éditeur: IEEE
DOI: 10.1109/case56687.2023.10260553

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