Proboscidean sensitive soft robot for versatile gripping

Informacje na temat projektu

PROBOSCIS

Identyfikator umowy o grant: 863212

DOI

10.3030/863212

Projekt został zamknięty

Data podpisania przez KE 24 Września 2019

Data rozpoczęcia 1 Listopada 2019

Data zakończenia 30 Kwietnia 2025

Finansowanie w ramach

• EXCELLENT SCIENCE - Future and Emerging Technologies (FET)

Koszt całkowity

€ 3 473 438,75

Wkład UE

€ 3 473 438,75

Koordynowany przez

FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA
Italy

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

Demonstrators, pilots, prototypes (4)

PROBOSCIS final prototype

Based on the results obtained with early prototype, the final version of PROBOSCIS is developed and delivered.

Full 3D high-resolution anatomical model with associated material properties

The final results on 3D high-resolution anatomical model with associated material properties are reported.

Extended tactile skin

The bioinspired large area tactile skin, based on results of D6.3, is fabricated and tested

Development of multimodal sensing components

Sensing components, exploiting also 3D micro and nanostructures, able to detect multiple mechanical cues (i.e. pressure, tangential forces, air/fluid flow, etc) are designed, fabricated and tested.

Documents, reports (7)

Definition of functional materials for 2D and 3D sensing

The choices of functional materials for developing the tip and of the outer skin are explained in view of the utilization of the 3D printing methods are presented

Definition of functional materials for actuators

The choices of functional materials that will be used for developing for fabrication of durable integrated actuators are presented

Communication, dissemination and exploitation plan (CoDE plan) - updated

The updated report of the COmmunication, Dissemination and Exploitation plan is released

Communication, dissemination and exploitation plan (CoDE plan) – first release

The first report of the COmmunication, Dissemination and Exploitation plan is released

Analysis of solutions for 2D and 3D multimodal sensing

The analysis of the State of the Art on planar and 3D structures for multimodal mechanical sensing is performed.

Definition of experimental protocols

The experimental protocols for evaluating the PROBOSCIS prototypes in selected scenarios are described

PROBOSCIS reaching control

The high-level controller of the continuum arm is described in this deliverable, explaining the control strategies for tasks such as reaching an object.

Websites, patent fillings, videos etc. (1)

Project website and dissemination materials

Project website and dissemination materials are delivered

Open Research Data Pilot (1)

Data Management Plan I (DMP)

The first Data Management Plan is released

Publikacje

Conference proceedings (9)

Smell Driven Navigation for Soft Robotic Arms: Artificial Nose and Control

Autorzy: Francesco Piqué; Francesco Stella; Josie Hughes; Egidio Falotico; Cosimo Della Santina
Opublikowane w: Proceedings of IEEE Conference on Soft Robotics, 2023
Wydawca: IEEE
DOI: 10.1109/robosoft55895.2023.10122116

A bistable soft gripper with mechanically embedded sensing and actuation for fast grasping

Autorzy: Thuruthel T. G.; Haider Abidi S.; Cianchetti M.; Laschi C.; Falotico E.
Opublikowane w: Proceedings of the 29th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2020. (pp. pp. 1049-1054). IEEE (2020), 2020
Wydawca: IEEE
DOI: 10.1109/ro-man47096.2020.9223487

Open-loop Model-free Dynamic Control of a Soft Manipulator for Tracking Tasks

Autorzy: Andrea Centurelli, Alessandro Rizzo, Silvia Tolu, Egidio Falotico
Opublikowane w: 2021 20th International Conference on Advanced Robotics, ICAR 2021, 2021
Wydawca: IEEE
DOI: 10.1109/icar53236.2021.9659370

GRACE: GeometRy-based Actuators that Contract and Elongate

Autorzy: De Pascali, Corrado; Naselli, Giovanna Adele; Palagi, Stefano; Scharff, Rob Bernardus Nicolaas; Mazzolai, Barbara
Opublikowane w: 2022 I-RIM Conference, 2022, ISBN 9788894580532
Wydawca: Zenodo
DOI: 10.5281/zenodo.7531361

Policy Adaptation using an Online Regressing Network in a Soft Robotic Arm

Autorzy: Muhammad Sunny Nazeer; Diego Bianchi; Giulia Campinoti; Cecilia Laschi; Egidio Falotico
Opublikowane w: Proceedings of IEEE Conference on Soft Robotics, 2023
Wydawca: IEEE
DOI: 10.1109/robosoft55895.2023.10121927

A Learning-based Approach for Adaptive Closed-loop Control of a Soft Robotic Arm

Autorzy: Pique, Francesco; Kalidindi, Hari Teja; Menciassi, Arianna; Laschi, Cecilia; Falotico, Egidio
Opublikowane w: 202 I-RIM Conference, 2021
Wydawca: Zenodo
DOI: 10.5281/zenodo.4781427

Open-loop Control of a Soft Arm in Throwing Tasks

Autorzy: Diego Bianchi, Michele Antonelli, Cecilia Laschi, Egidio Falotico
Opublikowane w: Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO, 2022, ISBN 978-989-758-585-2
Wydawca: ScitePress
DOI: 10.5220/0011267100003271

Grasping of Li-ion Batteries via Additively Manufactured Soft Gripper and Collaborative Robot

Autorzy: Savas Dilibal, Emre Tugberk Gulnergiz, Niccolò Pagliarani, Enrico Donato, Francesco Iori, Elisa Setti, Egidio Falotico, Matteo Cianchett
Opublikowane w: 2022 International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA), 2022
Wydawca: IEEE
DOI: 10.1109/hora55278.2022.9799902

Whole-arm Grasping Strategy for Soft Arms to Capture Space Debris

Autorzy: Agabiti, Camilla; Ménager, Etienne; Falotico, Egidio
Opublikowane w: 2023 IEEE International Conference on Soft Robotics (RoboSoft), 2023
Wydawca: IEEE
DOI: 10.1109/robosoft55895.2023.10122076

Peer reviewed articles (27)

Triaxial 3-D-Channeled Soft Optical Sensor for Tactile Robots

Autorzy: Matteo Lo Preti, Federico Bernabei, Anderson B. Nardin, Lucia Beccai
Opublikowane w: IEEE Sensors Journal, Numer 24, 2024, Strona(/y) 27956-27965, ISSN 1530-437X
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/jsen.2024.3425835

3D-printed hierarchical arrangements of actuators mimicking biological muscular architectures

Autorzy: De Pascali, Corrado; Palagi, Stefano; Mazzolai, Barbara
Opublikowane w: Bioinspiration & Biomimetics, 2023, ISSN 1748-3190
Wydawca: IOP PUblishing
DOI: 10.1088/1748-3190/acd159

Mechanical Sensing in Embodied Agents

Autorzy: Preti, Matteo Lo; Thuruthel, Thomas George; Gilday, Kieran; Beccai, Lucia; Iida, Fumiya
Opublikowane w: IOP Conference Series: Materials Science and Engineering, 2021, ISSN 1757-899X
Wydawca: IOP Publishing
DOI: 10.1088/1757-899x/1261/1/012013

Tunable Lotus Leaf Effect by Three-Dimensionally Printed Stretchable Objects

Autorzy: Noa Trink, Shlomo Magdassi
Opublikowane w: ACS Applied Materials & Interfaces, Numer 16, 2024, Strona(/y) 64276-64286, ISSN 1944-8244
Wydawca: American Chemical Society
DOI: 10.1021/acsami.4c14238

Soft DAgger: Sample-Efficient Imitation Learning for Control of Soft Robots

Autorzy: Muhammad Sunny Nazeer , Cecilia Laschi, Egidio Falotico
Opublikowane w: Sensors, 2023, ISSN 1424-8220
Wydawca: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s23198278

Sensing Deformation in Vacuum Driven Foam-Based Actuator via Inductive Method

Autorzy: Seonggun Joe, Hongbo Wang, Massimo Totaro, Lucia Beccai
Opublikowane w: Frontiers in Robotics and AI, Numer 22969144, 2021, ISSN 2296-9144
Wydawca: Frontiers
DOI: 10.3389/frobt.2021.742885

Elephants evolved strategies reducing the biomechanical complexity of their trunk.

Autorzy: Paule Dagenais; Paule Dagenais; Sean Hensman; Valérie Haechler; Michel C. Milinkovitch; Michel C. Milinkovitch
Opublikowane w: Current biology, 2021, ISSN 0960-9822
Wydawca: Cell Press
DOI: 10.1016/j.cub.2021.08.029

Closed-Loop Dynamic Control of a Soft Manipulator Using Deep Reinforcement Learning

Autorzy: Andrea Centurelli, Luca Arleo, Alessandro Rizzo, Silvia Tolu, Cecilia Laschi, Egidio Falotico
Opublikowane w: IEEE Robotics and Automation Letters, Numer 23773766, 2022, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.1109/lra.2022.3146903

Ablation Study of a Dynamic Model for a 3D-Printed Pneumatic Soft Robotic Arm

Autorzy: Carlo Alessi; Egidio Falotico; Alessandro Lucantonio
Opublikowane w: IEEE Access, 2023, ISSN 2169-3536
Wydawca: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2023.3266282

RL-Based Adaptive Controller for High Precision Reaching in a Soft Robot Arm

Autorzy: Muhammad Sunny Nazeer , Cecilia Laschi, Egidio Falotico
Opublikowane w: IEEE Transactions on Robotics, 2024, ISSN 1552-3098
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2024.3381558

Editorial: Machine Learning Techniques for Soft Robots

Autorzy: Thomas George Thuruthel, Egidio Falotico, Lucia Beccai, Fumiya Iida
Opublikowane w: Frontiers in Robotics and AI, Numer 22969144, 2021, ISSN 2296-9144
Wydawca: Frontiers Media S.A.
DOI: 10.3389/frobt.2021.726774

Design and 3D printing of soft optical waveguides towards monolithic perceptive systems

Autorzy: Petr Trunin, Diana Cafiso, Lucia Beccai
Opublikowane w: Additive Manufacturing, Numer 100, 2025, Strona(/y) 104687, ISSN 2214-8604
Wydawca: Elsevier BV
DOI: 10.1016/j.addma.2025.104687

3D-printed biomimetic artificial muscles using soft actuators that contract and elongate

Autorzy: Corrado De Pascali, Giovanna Adele Naselli, Stefano Palagi, Rob B. N. Sharff, Barbara Mazzolai
Opublikowane w: Science Robotics, Numer 24709476, 2022, ISSN 2470-9476
Wydawca: AAAS
DOI: 10.1126/scirobotics.abn4155

Stretchable reflective coating for soft optical waveguides and sensors

Autorzy: Simone Lantean; Matteo Lo Preti; Lucia Beccai
Opublikowane w: Soft Matter, 2022, ISSN 1744-6848
Wydawca: Royal Society of Chemistry
DOI: 10.1039/d2sm00869f

Jointless Bioinspired Soft Robotics by Harnessing Micro and Macroporosity

Autorzy: Seonggun Joe, Ouriel Bliah, Shlomo Magdassi, Lucia Beccai
Opublikowane w: Advanced Science, 2023, ISSN 2198-3844
Wydawca: Wiley
DOI: 10.1002/advs.202302080

Tactile Object Recognition With Recurrent Neural Networks Through a Perceptive Soft Gripper

Autorzy: Enrico Donato, David Pelliccia, Matin Hosseinzadeh, Mahmood Amiri, Egidio Falotico
Opublikowane w: IEEE Robotics and Automation Letters, Numer 10, 2025, Strona(/y) 7023-7030, ISSN 2377-3766
Wydawca: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lra.2025.3572422

Development of the Ultralight Hybrid Pneumatic Artificial Muscle: Modelling and optimization.

Autorzy: Seonggun Joe; Massimo Totaro; Hongbo Wang; Lucia Beccai
Opublikowane w: PLoS ONE, 2021, ISSN 1932-6203
Wydawca: Public Library of Science
DOI: 10.1371/journal.pone.0250325

SofToss: Learning to Throw Objects With a Soft Robot

Autorzy: Diego Bianchi , Michele Gabrio Antonelli , Cecilia Laschi , Angelo Maria Sabatini, and Egidio Falotico
Opublikowane w: IEEE Robotics & Automation Magazine, 2023, ISSN 1070-9932
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/mra.2023.3310865

Sensorized Objects Used to Quantitatively Study Distal Grasping in the African Elephant

Autorzy: Matteo Lo Preti; Lucia Beccai
Opublikowane w: iScience, 2023, ISSN 2589-0042
Wydawca: Cell Press, Elsevier
DOI: 10.2139/ssrn.4366155

Controlling Soft Robotic Arms Using Continual Learning

Autorzy: Francesco Piqué, Hari Teja Kalidindi, Lorenzo Fruzzetti, Cecilia Laschi, Arianna Menciassi, Egidio Falotico
Opublikowane w: IEEE Robotics and Automation Letters, Numer 23773766, 2022, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.1109/lra.2022.3157369

Online Pressure Map Reconstruction in a Multitouch Soft Optical Waveguide Skin

Autorzy: Matteo Lo Preti; Massimo Totaro; Egidio Falotico; Marco Crepaldi; Lucia Beccai
Opublikowane w: IEEE/ASME Transactions on Mechatronics, Numer 10834435, 2022, ISSN 1083-4435
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tmech.2022.3158979

Pushing with Soft Robotic Arms via Deep Reinforcement Learning

Autorzy: Carlo Alessi, Diego Bianchi, Gianni Stano, Matteo Cianchetti, Egidio Falotico
Opublikowane w: Advanced Intelligent Systems, Numer 6, 2024, ISSN 2640-4567
Wydawca: Wiley
DOI: 10.1002/aisy.202300899

Robust Fractional-Order Control Using a Decoupled Pitch and Roll Actuation Strategy for the I-Support Soft Robot

Autorzy: Jorge Muñoz, Francesco Piqué, Concepción A. Monje, Egidio Falotico
Opublikowane w: MDPI Mathematics, Numer 22277390, 2021, ISSN 2227-7390
Wydawca: MDPI
DOI: 10.3390/math9070702

Soft Mechanosensing via 3D Printing: A review

Autorzy: Diana Cafiso, Simone Lantean , Candido Fabrizio Pirri, Lucia Beccai
Opublikowane w: Advanced Intelligent Systems, 2023, ISSN 2640-4567
Wydawca: Wiley
DOI: 10.1002/aisy.202200373

Multi-Material 3D Printed Shape Memory Polymer with Tunable Melting and Glass Transition Temperature Activated by Heat or Light

Autorzy: Ela Sachyani Keneth , Rama Lieberman , Matthew Rednor , Giulia Scalet, Ferdinando Auricchio and Shlomo Magdassi
Opublikowane w: Polymers, 2020, ISSN 2073-4360
Wydawca: MDPI
DOI: 10.3390/polym12030710

SoftSling: A Soft Robotic Arm Control Strategy to Throw Objects With Circular Run-Ups

Autorzy: Diego Bianchi, Giulia Campinoti, Costanza Comitini, Cecilia Laschi, Alessandro Rizzo, Angelo Maria Sabatini, Egidio Falotico
Opublikowane w: IEEE Robotics and Automation Letters, Numer 9, 2024, Strona(/y) 8250-8257, ISSN 2377-3766
Wydawca: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lra.2024.3442535

Learning Controllers for Continuum Soft Manipulators: Impact of Modeling and Looming Challenges

Autorzy: Egidio Falotico, Enrico Donato, Carlo Alessi, Elisa Setti, Muhammad Sunny Nazeer, Camilla Agabiti, Daniele Caradonna, Diego Bianchi, Francesco Piqué, Yasmin Tauqeer Ansari, Marc Killpack
Opublikowane w: Advanced Intelligent Systems, Numer 7, 2025, ISSN 2640-4567
Wydawca: Wiley
DOI: 10.1002/aisy.202400344

Book chapters (1)

A Review on Vacuum-Powered Fluidic Actuators in Soft Robotics

Autorzy: Seonggun Joe, Federico Bernabei, Lucia Beccai
Opublikowane w: Rehabilitation of the Human Bone-Muscle System, 2022
Wydawca: IntechOpen
DOI: 10.5772/intechopen.104373