Self-reconfiguration of a robotic workcell for the recycling of electronic waste

Project Information

ReconCycle

Grant agreement ID: 871352

DOI

10.3030/871352

Project closed

EC signature date 11 October 2019

Start date 1 January 2020

End date 31 July 2024

Funded under

• INDUSTRIAL LEADERSHIP - Leadership in enabling and industrial technologies - Information and Communication Technologies (ICT)

Total cost

€ 3 853 958,75

EU contribution

€ 3 853 958,75

Coordinated by

INSTITUT JOZEF STEFAN
Slovenia

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Deliverables

Documents, reports (11)

Error handling and learning of disassembly primitives

Report or scientific publication on error handling and learning of disassembly primitives.

Reconfigurable/adaptable soft effector control methods

Report or scientific publication of reconfigurable/adaptable soft effector control methods.

Semantic framework of scene description

Report and data format specification sheet for the semantic framework of scene description

Benchmark and KPI definition

Report on benchmark and KPI definition

Use-case structure (for use cases 1 and 2) and dis-assembly procedures

Report on use-case structure (for use cases 1 and 2) and dis-assembly procedures.

DIH activities

Report on DIH activities.

Skill adaptation and learning

Report or scientific publication on skill adaptation and learning.

ROS-based software architecture for disassembly cells

The modular software architecture of the disassembly cell will be based on ROS, which provides interfaces to robots, sensors and other hardware elements and also enables communication within the cell. This deliverable provides a report about the required software architecture.

Skill definition and control methods in ReconCycle

Report or scientific publication on skill definition and control methods in ReconCycle

Constraint & permissive range calculation

Report or scientific publication and algorithmic procedures for constraint & permissive range calculation.

Benchmarks and KPIs

Report on benchmarks and KPIs.

Demonstrators, pilots, prototypes (6)

Use case 1: solution with adaptation and self-reconfiguration

Demonstrator of use case 1: solution with adaptation and self-reconfiguration.

Use case 3

Demonstrator of use case 3.

Reconfigurable and adaptable soft end-effectors for electronic waste recycling

First prototype of reconfigurable and adaptable soft end-effectors for electronic waste recycling.

ReconCycle system for use case 1: exemplar archetypical solution

First demonstrator of ReconCycle system for use case 1: exemplar archetypical solution.

Use case 2

Demonstrator of use case 2.

Reconfigurable and adaptable soft end-effectors

Demonstration of reconfigurable and adaptable soft end-effectors fully integrated into ReconCycle system.

Open Research Data Pilot (1)

Data management plan

Report describing the data management plan, including how ReconCycle will participate in the Pilot on Open Research Data in Horizon 2020.

Websites, patent fillings, videos etc. (1)

Project website

ReconCycle project website.

Publications

Peer reviewed articles (15)

Determining exception context in assembly operations from multimodal data

Author(s): Mihael Simonič, Matevž Majcen Hrovat, Sašo Džeroski, Aleš Ude and Bojan Nemec
Published in: Sensors, Issue 14248220, 2022, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s22207962

BRL/Pisa/IIT SoftHand: A low-cost, 3D-printed, underactuated, tendon-driven hand with soft and adaptive synergies

Author(s): Haoran Li, Christopher J. Ford, Matteo Bianchi, Manuel G. Catalano, Efi Psomopoulou, and Nathan F. Lepora
Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2022, Page(s) 8745-8751, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2022.3187876

Hierarchical learning of robotic contact policies

Author(s): Mihael Simonič, Aleš Ude, Bojan Nemec
Published in: Robotics and Computer-Integrated Manufacturing, Issue 86, 2023, Page(s) 102657, ISSN 0736-5845
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.rcim.2023.102657

Damping in compliant actuation: A review

Author(s): Simone Monteleone, Francesca Negrello, Manuel G. Catalano, Manolo Garabini, and Giorgio Grioli
Published in: IEEE Robotics & Automation Magazine, Issue 21618089, 2022, Page(s) 47-66, ISSN 2161-8089
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/mra.2021.3138388

Generalization-Based Acquisition of Training Data for Motor Primitive Learning by Neural Networks

Author(s): Zvezdan Lončarević, Rok Pahič, Aleš Ude, Andrej Gams
Published in: Applied Sciences, Issue 11/3, 2021, Page(s) 1013, ISSN 2076-3417
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/app11031013

Robot skill learning in latent space of a deep autoencoder neural network

Author(s): Rok Pahič, Zvezdan Lončarević, Andrej Gams, Aleš Ude
Published in: Robotics and Autonomous Systems, Issue 135, 2021, Page(s) 103690, ISSN 0921-8890
Publisher: Elsevier BV
DOI: 10.1016/j.robot.2020.103690

Exploring Saliency for Learning Sensory-Motor Contingencies in Loco-Manipulation Tasks

Author(s): Elisa Stefanini, Gianluca Lentini, Giorgio Grioli, Manuel Giuseppe Catalano, Antonio Bicchi
Published in: Robotics, Issue 13, 2024, Page(s) 58, ISSN 2218-6581
Publisher: MDPI
DOI: 10.3390/robotics13040058

Overcoming the torque/stiffness range tradeoff in antagonistic variable stiffness actuators

Author(s): Riccardo Mengacci, Manolo Garabini, Giorgio Grioli, Manuel G. Catalano, and Antonio Bicchi
Published in: IEEE/ASME Transactions on Mechatronics, Issue 10834435, 2021, Page(s) 3186-3197, ISSN 1083-4435
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tmech.2021.3055364

Passivity-based adaptive force-impedance control for modular multi-manual object manipulation

Author(s): Erfan Shahriari, Seyed A. B. Birjandi, Sami Haddadin
Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2022, Page(s) 2194-2201, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2022.3142903

Simulated mental imagery for robotic task planning

Author(s): Shijia Li, Tomas Kulvicius, Minija Tamosiunaite, Florentin Wörgötter
Published in: Frontiers in Neurorobotics, Issue 17, 2023, ISSN 1662-5218
Publisher: Frontiers Research Foundation
DOI: 10.3389/fnbot.2023.1218977

Unified force-impedance control

Author(s): Sami Haddadin, Erfan Shahriari
Published in: The International Journal of Robotics Research, Issue 43, 2024, Page(s) 2112-2141, ISSN 0278-3649
Publisher: SAGE Publications
DOI: 10.1177/02783649241249194

Improving Ergonomics of Collaborative Robot Workcells Using Passive Reconfigurable Fixtures

Author(s): Miha Deniša, Aleš Ude
Published in: IEEE Access, Issue 12, 2024, Page(s) 124871-124888, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2024.3451975

Tactile Exploration Using Unified Force-Impedance Control

Author(s): Kübra Karacan, Divij Grover, Hamid Sadeghian, Fan Wu, Sami Haddadin
Published in: IFAC-PapersOnLine, Issue 56, 2024, Page(s) 5015-5020, ISSN 2405-8963
Publisher: Elsevier BV
DOI: 10.1016/j.ifacol.2023.10.1279

An open-source ROS-Gazebo toolbox for simulating robots with compliant actuators

Author(s): Riccardo Mengacci, Grazia Zambella, Giorgio Grioli, Danilo Caporale, Manuel G. Catalano, and Antonio Bicchi
Published in: Frontiers in Robotics and AI, Issue 22969144, 2021, ISSN 2296-9144
Publisher: Frontiers
DOI: 10.3389/frobt.2021.713083

A Suspended Aerial Manipulation Avatar for Physical Interaction in Unstructured Environments

Author(s): Fanyi Kong, Grazia Zambella, Simone Monteleone, Giorgio Grioli, Manuel G. Catalano, Antonio Bicchi
Published in: IEEE Access, Issue 12, 2024, Page(s) 48108-48125, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2024.3383774

Conference proceedings (13)

Tactile Robot Programming: Transferring Task Constraints into Constraint-Based Unified Force-Impedance Control

Author(s): Kübra Karacan, Robin Jeanne Kirschner, Hamid Sadeghian, Fan Wu, Sami Haddadin
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Page(s) 204-210
Publisher: IEEE
DOI: 10.1109/icra57147.2024.10610054

A Passivity-based Approach on Relocating High-Frequency Robot Controller to the Edge Cloud

Author(s): Xiao Chen, Hamid Sadeghian, Lingyun Chen, Mario Tröbinger, Abadalla Swirkir, Abdeldjallil Naceri, Sami Haddadin
Published in: 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023, Page(s) 5242-5248, ISBN 979-8-3503-2365-8
Publisher: IEEE
DOI: 10.1109/icra48891.2023.10160366

dSEDA: a Differential Series Elastic Damped Actuator

Author(s): Simone Monteleone, Francesca Negrello, Giorgio Grioli, and Manuel G. Catalano
Published in: 2022 International Conference on Robotics and Automation (ICRA), 2022, Page(s) 11395-11401, ISBN 978-1-7281-9681-7
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/icra46639.2022.9811727

An Integrated, Force-Sensitive, Impedance Controlled, Tendon-Driven Wrist: Design, Modeling, and Control

Author(s): Alexander Toedtheide, Johannes Kuhn, Edmundo Pozo Fortunic, Sami Haddadin
Published in: 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), 2022, Page(s) 25-32, ISBN 978-1-7281-9372-4
Publisher: IEEE
DOI: 10.1109/humanoids47582.2021.9555777

Towards integrated tactile sensorimotor control in anthropomorphic soft robotic hands

Author(s): Lepora, Nathan F.; Stinchcombe, Andrew; Ford, Chris; Brown, Alfred; Lloyd, John; Catalano, Manuel G.; Bianchi, Matteo; Ward-Cherrier, Benjamin
Published in: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/icra48506.2021.9561350

An Application Study on Reconfigurable Robotic Workcells and Policy Adaptation for Electronic Waste Recycling

Author(s): Mihael Simonič, Boris Kuster, Matija Mavsar, Gašper Šavle, Sebastian Ruiz, Martin Bem, Matevž Majcen Hrovat, Aleš Ude
Published in: 2024 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE International Conference on Robotics, Automation and Mechatronics (RAM), 2024, Page(s) 180-186
Publisher: IEEE
DOI: 10.1109/cis-ram61939.2024.10673362

Modular ROS-based software architecture for reconfigurable, Industry 4.0 compatible robotic workcells

Author(s): Mihael Simonič, Rok Pahič, Timotej Gašpar, Saeed Abdolshah, Sami Haddadin, Manuel G. Catalano, Florentin Wörgötter, and Aleš Ude
Published in: 2021 20th International Conference on Advanced Robotics (ICAR), 2021, Page(s) 44-51, ISBN 978-1-6654-3684-7
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/icar53236.2021.9659378

Enhancing the Tracking Performance of Passivity-based High-Frequency Robot Cloud Control

Author(s): Fabian Jakob, Xiao Chen, Hamid Sadeghian, Sami Haddadin
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Page(s) 12097-12103
Publisher: IEEE
DOI: 10.1109/icra57147.2024.10610616

Robust Execution of Assembly Policies Using a Pose Invariant Task Representation

Author(s): Bojan Nemec, Matevž Majcen Hrovat, Mihael Simonič, Suhan Shetty, Sylvain Calinon, Aleš Ude
Published in: 2023 20th International Conference on Ubiquitous Robots (UR), 2023, Page(s) 779-786
Publisher: IEEE
DOI: 10.1109/ur57808.2023.10202430

The Inherent Representation of Tactile Manipulation Using Unified Force-Impedance Control

Author(s): Kübra Karacan, Robin Jeanne Kirschner, Hamid Sadeghian, Fan Wu, Sami Haddadin
Published in: 2023 62nd IEEE Conference on Decision and Control (CDC), 2024, Page(s) 4745-4752
Publisher: IEEE
DOI: 10.1109/cdc49753.2023.10383326

Passivity-Based Skill Motion Learning in Stiffness-Adaptive Unified Force-Impedance Control

Author(s): Kübra Karacan, Hamid Sadeghian, Robin Kirschner, Sami Haddadin
Published in: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Publisher: IEEE
DOI: 10.1109/iros47612.2022.9981728

Design of a modular robotic workcell platform enabled by plug & produce connectors

Author(s): Primož Radanovič, Jaka Jereb, Igor Kovač, and Aleš Ude
Published in: 2021 20th International Conference on Advanced Robotics (ICAR), 2021, Page(s) 304-309, ISBN 978-1-6654-3684-7
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/icar53236.2021.9659345

Towards a reference framework for tactile robot performance and safety benchmarking

Author(s): Robin J. Kirschner, Alexander Kurdas, Kübra Karacan, Philipp Junge, Seyed A. B. Birjandi, Nico Mansfeld, Saeed Abdolshah, and Sami Haddadin
Published in: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/iros51168.2021.9636329

Book chapters (1)

Adaptive Robotic Levering for Recycling Tasks

Author(s): Boris Kuster, Mihael Simonič, Aleš Ude
Published in: Mechanisms and Machine Science, Advances in Service and Industrial Robotics, 2023, Page(s) 417-425
Publisher: Springer Nature Switzerland
DOI: 10.1007/978-3-031-32606-6_49