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

Livrables

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.

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

Project website

ReconCycle project website.

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

Publications

Determining exception context in assembly operations from multimodal data

Auteurs: Mihael Simonič, Matevž Majcen Hrovat, Sašo Džeroski, Aleš Ude and Bojan Nemec
Publié dans: Sensors, Numéro 14248220, 2022, ISSN 1424-8220
Éditeur: 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

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

Damping in compliant actuation: A review

Auteurs: Simone Monteleone, Francesca Negrello, Manuel G. Catalano, Manolo Garabini, and Giorgio Grioli
Publié dans: IEEE Robotics & Automation Magazine, Numéro 21618089, 2022, Page(s) 47-66, ISSN 2161-8089
Éditeur: 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

Auteurs: Zvezdan Lončarević, Rok Pahič, Aleš Ude, Andrej Gams
Publié dans: Applied Sciences, Numéro 11/3, 2021, Page(s) 1013, ISSN 2076-3417
Éditeur: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/app11031013

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

Auteurs: Rok Pahič, Zvezdan Lončarević, Andrej Gams, Aleš Ude
Publié dans: Robotics and Autonomous Systems, Numéro 135, 2021, Page(s) 103690, ISSN 0921-8890
Éditeur: Elsevier BV
DOI: 10.1016/j.robot.2020.103690

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

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

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

Auteurs: Erfan Shahriari, Seyed A. B. Birjandi, Sami Haddadin
Publié dans: IEEE Robotics and Automation Letters, Numéro 23773766, 2022, Page(s) 2194-2201, ISSN 2377-3766
Éditeur: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2022.3142903

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

Auteurs: Riccardo Mengacci, Grazia Zambella, Giorgio Grioli, Danilo Caporale, Manuel G. Catalano, and Antonio Bicchi
Publié dans: Frontiers in Robotics and AI, Numéro 22969144, 2021, ISSN 2296-9144
Éditeur: Frontiers
DOI: 10.3389/frobt.2021.713083

dSEDA: a Differential Series Elastic Damped Actuator

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

Towards integrated tactile sensorimotor control in anthropomorphic soft robotic hands

Auteurs: Lepora, Nathan F.; Stinchcombe, Andrew; Ford, Chris; Brown, Alfred; Lloyd, John; Catalano, Manuel G.; Bianchi, Matteo; Ward-Cherrier, Benjamin
Publié dans: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021
Éditeur: 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

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

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

Auteurs: Kübra Karacan, Hami Sadeghian, Robin J. Kirschner, and S. Haddadin
Publié dans: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
Éditeur: Institute of Electrical and Electronics Engineers

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

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

Towards a reference framework for tactile robot performance and safety benchmarking

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

Recherche de données OpenAIRE...

Livrables

Publications

Partager cette page

Télécharger