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

Informacje na temat projektu

ReconCycle

Identyfikator umowy o grant: 871352

DOI

10.3030/871352

Projekt został zamknięty

Data podpisania przez KE 11 Października 2019

Data rozpoczęcia 1 Stycznia 2020

Data zakończenia 31 Lipca 2024

Finansowanie w ramach

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

Koszt całkowity

€ 3 853 958,75

Wkład UE

€ 3 853 958,75

Koordynowany przez

INSTITUT JOZEF STEFAN
Slovenia

CORDIS oferuje możliwość skorzystania z odnośników do publicznie dostępnych publikacji i rezultatów projektów realizowanych w ramach programów ramowych HORYZONT.

Odnośniki do rezultatów i publikacji związanych z poszczególnymi projektami 7PR, a także odnośniki do niektórych konkretnych kategorii wyników, takich jak zbiory danych i oprogramowanie, są dynamicznie pobierane z systemu OpenAIRE .

Rezultaty

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.

Publikacje

Peer reviewed articles (15)

Determining exception context in assembly operations from multimodal data

Autorzy: Mihael Simonič, Matevž Majcen Hrovat, Sašo Džeroski, Aleš Ude and Bojan Nemec
Opublikowane w: Sensors, Numer 14248220, 2022, ISSN 1424-8220
Wydawca: 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

Autorzy: Haoran Li, Christopher J. Ford, Matteo Bianchi, Manuel G. Catalano, Efi Psomopoulou, and Nathan F. Lepora
Opublikowane w: IEEE Robotics and Automation Letters, Numer 23773766, 2022, Strona(/y) 8745-8751, ISSN 2377-3766
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2022.3187876

Hierarchical learning of robotic contact policies

Autorzy: Mihael Simonič, Aleš Ude, Bojan Nemec
Opublikowane w: Robotics and Computer-Integrated Manufacturing, Numer 86, 2023, Strona(/y) 102657, ISSN 0736-5845
Wydawca: Pergamon Press Ltd.
DOI: 10.1016/j.rcim.2023.102657

Damping in compliant actuation: A review

Autorzy: Simone Monteleone, Francesca Negrello, Manuel G. Catalano, Manolo Garabini, and Giorgio Grioli
Opublikowane w: IEEE Robotics & Automation Magazine, Numer 21618089, 2022, Strona(/y) 47-66, ISSN 2161-8089
Wydawca: 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

Autorzy: Zvezdan Lončarević, Rok Pahič, Aleš Ude, Andrej Gams
Opublikowane w: Applied Sciences, Numer 11/3, 2021, Strona(/y) 1013, ISSN 2076-3417
Wydawca: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/app11031013

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

Autorzy: Rok Pahič, Zvezdan Lončarević, Andrej Gams, Aleš Ude
Opublikowane w: Robotics and Autonomous Systems, Numer 135, 2021, Strona(/y) 103690, ISSN 0921-8890
Wydawca: Elsevier BV
DOI: 10.1016/j.robot.2020.103690

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

Autorzy: Elisa Stefanini, Gianluca Lentini, Giorgio Grioli, Manuel Giuseppe Catalano, Antonio Bicchi
Opublikowane w: Robotics, Numer 13, 2024, Strona(/y) 58, ISSN 2218-6581
Wydawca: MDPI
DOI: 10.3390/robotics13040058

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

Autorzy: Riccardo Mengacci, Manolo Garabini, Giorgio Grioli, Manuel G. Catalano, and Antonio Bicchi
Opublikowane w: IEEE/ASME Transactions on Mechatronics, Numer 10834435, 2021, Strona(/y) 3186-3197, ISSN 1083-4435
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tmech.2021.3055364

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

Autorzy: Erfan Shahriari, Seyed A. B. Birjandi, Sami Haddadin
Opublikowane w: IEEE Robotics and Automation Letters, Numer 23773766, 2022, Strona(/y) 2194-2201, ISSN 2377-3766
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2022.3142903

Simulated mental imagery for robotic task planning

Autorzy: Shijia Li, Tomas Kulvicius, Minija Tamosiunaite, Florentin Wörgötter
Opublikowane w: Frontiers in Neurorobotics, Numer 17, 2023, ISSN 1662-5218
Wydawca: Frontiers Research Foundation
DOI: 10.3389/fnbot.2023.1218977

Unified force-impedance control

Autorzy: Sami Haddadin, Erfan Shahriari
Opublikowane w: The International Journal of Robotics Research, Numer 43, 2024, Strona(/y) 2112-2141, ISSN 0278-3649
Wydawca: SAGE Publications
DOI: 10.1177/02783649241249194

Improving Ergonomics of Collaborative Robot Workcells Using Passive Reconfigurable Fixtures

Autorzy: Miha Deniša, Aleš Ude
Opublikowane w: IEEE Access, Numer 12, 2024, Strona(/y) 124871-124888, ISSN 2169-3536
Wydawca: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2024.3451975

Tactile Exploration Using Unified Force-Impedance Control

Autorzy: Kübra Karacan, Divij Grover, Hamid Sadeghian, Fan Wu, Sami Haddadin
Opublikowane w: IFAC-PapersOnLine, Numer 56, 2024, Strona(/y) 5015-5020, ISSN 2405-8963
Wydawca: Elsevier BV
DOI: 10.1016/j.ifacol.2023.10.1279

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

Autorzy: Riccardo Mengacci, Grazia Zambella, Giorgio Grioli, Danilo Caporale, Manuel G. Catalano, and Antonio Bicchi
Opublikowane w: Frontiers in Robotics and AI, Numer 22969144, 2021, ISSN 2296-9144
Wydawca: Frontiers
DOI: 10.3389/frobt.2021.713083

A Suspended Aerial Manipulation Avatar for Physical Interaction in Unstructured Environments

Autorzy: Fanyi Kong, Grazia Zambella, Simone Monteleone, Giorgio Grioli, Manuel G. Catalano, Antonio Bicchi
Opublikowane w: IEEE Access, Numer 12, 2024, Strona(/y) 48108-48125, ISSN 2169-3536
Wydawca: 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

Autorzy: Kübra Karacan, Robin Jeanne Kirschner, Hamid Sadeghian, Fan Wu, Sami Haddadin
Opublikowane w: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Strona(/y) 204-210
Wydawca: IEEE
DOI: 10.1109/icra57147.2024.10610054

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

Autorzy: Xiao Chen, Hamid Sadeghian, Lingyun Chen, Mario Tröbinger, Abadalla Swirkir, Abdeldjallil Naceri, Sami Haddadin
Opublikowane w: 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023, Strona(/y) 5242-5248, ISBN 979-8-3503-2365-8
Wydawca: IEEE
DOI: 10.1109/icra48891.2023.10160366

dSEDA: a Differential Series Elastic Damped Actuator

Autorzy: Simone Monteleone, Francesca Negrello, Giorgio Grioli, and Manuel G. Catalano
Opublikowane w: 2022 International Conference on Robotics and Automation (ICRA), 2022, Strona(/y) 11395-11401, ISBN 978-1-7281-9681-7
Wydawca: 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

Autorzy: Alexander Toedtheide, Johannes Kuhn, Edmundo Pozo Fortunic, Sami Haddadin
Opublikowane w: 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), 2022, Strona(/y) 25-32, ISBN 978-1-7281-9372-4
Wydawca: IEEE
DOI: 10.1109/humanoids47582.2021.9555777

Towards integrated tactile sensorimotor control in anthropomorphic soft robotic hands

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

Autorzy: Mihael Simonič, Boris Kuster, Matija Mavsar, Gašper Šavle, Sebastian Ruiz, Martin Bem, Matevž Majcen Hrovat, Aleš Ude
Opublikowane w: 2024 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE International Conference on Robotics, Automation and Mechatronics (RAM), 2024, Strona(/y) 180-186
Wydawca: IEEE
DOI: 10.1109/cis-ram61939.2024.10673362

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

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

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

Autorzy: Fabian Jakob, Xiao Chen, Hamid Sadeghian, Sami Haddadin
Opublikowane w: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Strona(/y) 12097-12103
Wydawca: IEEE
DOI: 10.1109/icra57147.2024.10610616

Robust Execution of Assembly Policies Using a Pose Invariant Task Representation

Autorzy: Bojan Nemec, Matevž Majcen Hrovat, Mihael Simonič, Suhan Shetty, Sylvain Calinon, Aleš Ude
Opublikowane w: 2023 20th International Conference on Ubiquitous Robots (UR), 2023, Strona(/y) 779-786
Wydawca: IEEE
DOI: 10.1109/ur57808.2023.10202430

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

Autorzy: Kübra Karacan, Robin Jeanne Kirschner, Hamid Sadeghian, Fan Wu, Sami Haddadin
Opublikowane w: 2023 62nd IEEE Conference on Decision and Control (CDC), 2024, Strona(/y) 4745-4752
Wydawca: IEEE
DOI: 10.1109/cdc49753.2023.10383326

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

Autorzy: Kübra Karacan, Hamid Sadeghian, Robin Kirschner, Sami Haddadin
Opublikowane w: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Wydawca: IEEE
DOI: 10.1109/iros47612.2022.9981728

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

Autorzy: Primož Radanovič, Jaka Jereb, Igor Kovač, and Aleš Ude
Opublikowane w: 2021 20th International Conference on Advanced Robotics (ICAR), 2021, Strona(/y) 304-309, ISBN 978-1-6654-3684-7
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/icar53236.2021.9659345

Towards a reference framework for tactile robot performance and safety benchmarking

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

Book chapters (1)

Adaptive Robotic Levering for Recycling Tasks

Autorzy: Boris Kuster, Mihael Simonič, Aleš Ude
Opublikowane w: Mechanisms and Machine Science, Advances in Service and Industrial Robotics, 2023, Strona(/y) 417-425
Wydawca: Springer Nature Switzerland
DOI: 10.1007/978-3-031-32606-6_49