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

Rezultaty

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.

Data management plan

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

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

Publikacje

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

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

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

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

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

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

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

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

Autorzy: Kübra Karacan, Hami Sadeghian, Robin J. Kirschner, and S. Haddadin
Opublikowane w: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
Wydawca: Institute of Electrical and Electronics Engineers

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

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