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

Informazioni relative al progetto

ReconCycle

ID dell’accordo di sovvenzione: 871352

DOI 10.3030/871352

Data della firma CE 11 Ottobre 2019

Data di avvio 1 Gennaio 2020

Data di completamento 31 Luglio 2024

Finanziato da

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

Costo totale € 3 853 958,75

Contributo UE € 3 853 958,75

Coordinato da

INSTITUT JOZEF STEFAN
Slovenia

Risultati finali

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

Pubblicazioni

Peer reviewed articles (8)

Determining exception context in assembly operations from multimodal data

Autori: Mihael Simonič, Matevž Majcen Hrovat, Sašo Džeroski, Aleš Ude and Bojan Nemec
Pubblicato in: Sensors, Numero 14248220, 2022, ISSN 1424-8220
Editore: 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

Autori: Haoran Li, Christopher J. Ford, Matteo Bianchi, Manuel G. Catalano, Efi Psomopoulou, and Nathan F. Lepora
Pubblicato in: IEEE Robotics and Automation Letters, Numero 23773766, 2022, Pagina/e 8745-8751, ISSN 2377-3766
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2022.3187876

Damping in compliant actuation: A review

Autori: Simone Monteleone, Francesca Negrello, Manuel G. Catalano, Manolo Garabini, and Giorgio Grioli
Pubblicato in: IEEE Robotics & Automation Magazine, Numero 21618089, 2022, Pagina/e 47-66, ISSN 2161-8089
Editore: 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

Autori: Zvezdan Lončarević, Rok Pahič, Aleš Ude, Andrej Gams
Pubblicato in: Applied Sciences, Numero 11/3, 2021, Pagina/e 1013, ISSN 2076-3417
Editore: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/app11031013

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

Autori: Rok Pahič, Zvezdan Lončarević, Andrej Gams, Aleš Ude
Pubblicato in: Robotics and Autonomous Systems, Numero 135, 2021, Pagina/e 103690, ISSN 0921-8890
Editore: Elsevier BV
DOI: 10.1016/j.robot.2020.103690

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

Autori: Riccardo Mengacci, Manolo Garabini, Giorgio Grioli, Manuel G. Catalano, and Antonio Bicchi
Pubblicato in: IEEE/ASME Transactions on Mechatronics, Numero 10834435, 2021, Pagina/e 3186-3197, ISSN 1083-4435
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tmech.2021.3055364

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

Autori: Erfan Shahriari, Seyed A. B. Birjandi, Sami Haddadin
Pubblicato in: IEEE Robotics and Automation Letters, Numero 23773766, 2022, Pagina/e 2194-2201, ISSN 2377-3766
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2022.3142903

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

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

Conference proceedings (6)

dSEDA: a Differential Series Elastic Damped Actuator

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

Towards integrated tactile sensorimotor control in anthropomorphic soft robotic hands

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

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

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

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

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

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

Towards a reference framework for tactile robot performance and safety benchmarking

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