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

Projektinformationen

ReconCycle

ID Finanzhilfevereinbarung: 871352

DOI 10.3030/871352

EK-Unterschriftsdatum 11 Oktober 2019

Startdatum 1 Januar 2020

Enddatum 31 Juli 2024

Finanziert unter

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

Gesamtkosten € 3 853 958,75

EU-Beitrag € 3 853 958,75

Koordiniert durch

INSTITUT JOZEF STEFAN
Slovenia

Leistungen

Demonstrators, pilots, prototypes (3)

Use case 1: solution with adaptation and self-reconfiguration

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

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.

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.

Documents, reports (5)

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.

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

Veröffentlichungen

Peer reviewed articles (8)

Determining exception context in assembly operations from multimodal data

Autoren: Mihael Simonič, Matevž Majcen Hrovat, Sašo Džeroski, Aleš Ude and Bojan Nemec
Veröffentlicht in: Sensors, Ausgabe 14248220, 2022, ISSN 1424-8220
Herausgeber: 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

Autoren: Haoran Li, Christopher J. Ford, Matteo Bianchi, Manuel G. Catalano, Efi Psomopoulou, and Nathan F. Lepora
Veröffentlicht in: IEEE Robotics and Automation Letters, Ausgabe 23773766, 2022, Seite(n) 8745-8751, ISSN 2377-3766
Herausgeber: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2022.3187876

Damping in compliant actuation: A review

Autoren: Simone Monteleone, Francesca Negrello, Manuel G. Catalano, Manolo Garabini, and Giorgio Grioli
Veröffentlicht in: IEEE Robotics & Automation Magazine, Ausgabe 21618089, 2022, Seite(n) 47-66, ISSN 2161-8089
Herausgeber: 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

Autoren: Zvezdan Lončarević, Rok Pahič, Aleš Ude, Andrej Gams
Veröffentlicht in: Applied Sciences, Ausgabe 11/3, 2021, Seite(n) 1013, ISSN 2076-3417
Herausgeber: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/app11031013

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

Autoren: Rok Pahič, Zvezdan Lončarević, Andrej Gams, Aleš Ude
Veröffentlicht in: Robotics and Autonomous Systems, Ausgabe 135, 2021, Seite(n) 103690, ISSN 0921-8890
Herausgeber: Elsevier BV
DOI: 10.1016/j.robot.2020.103690

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

Autoren: Riccardo Mengacci, Manolo Garabini, Giorgio Grioli, Manuel G. Catalano, and Antonio Bicchi
Veröffentlicht in: IEEE/ASME Transactions on Mechatronics, Ausgabe 10834435, 2021, Seite(n) 3186-3197, ISSN 1083-4435
Herausgeber: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tmech.2021.3055364

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

Autoren: Erfan Shahriari, Seyed A. B. Birjandi, Sami Haddadin
Veröffentlicht in: IEEE Robotics and Automation Letters, Ausgabe 23773766, 2022, Seite(n) 2194-2201, ISSN 2377-3766
Herausgeber: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2022.3142903

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

Autoren: Riccardo Mengacci, Grazia Zambella, Giorgio Grioli, Danilo Caporale, Manuel G. Catalano, and Antonio Bicchi
Veröffentlicht in: Frontiers in Robotics and AI, Ausgabe 22969144, 2021, ISSN 2296-9144
Herausgeber: Frontiers
DOI: 10.3389/frobt.2021.713083

Conference proceedings (6)

dSEDA: a Differential Series Elastic Damped Actuator

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

Towards integrated tactile sensorimotor control in anthropomorphic soft robotic hands

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

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

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

Passivity-based skill motion learning in stiffness-adaptive unified force-impedance control

Autoren: Kübra Karacan, Hami Sadeghian, Robin J. Kirschner, and S. Haddadin
Veröffentlicht in: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
Herausgeber: Institute of Electrical and Electronics Engineers

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

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

Towards a reference framework for tactile robot performance and safety benchmarking

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