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SoMa SIGNED
Soft-bodied intelligence for Manipulation
Total Cost €
0EC-Contrib. €
0Partnership
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0SoMa project word cloud
Explore the words cloud of the SoMa project. It provides you a very rough idea of what is the project "SoMa" about.
innovation
industry
physical
embodied
adapt
solutions
interactions
environmental
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dynamic
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imposed
humans
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objects
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hands
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manipulation
soft
ingredient
obstacle
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functional
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ill
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front
Project "SoMa" data sheet
The following table provides information about the project.
| Coordinator |
TECHNISCHE UNIVERSITAT BERLIN
Organization address contact info |
| Coordinator Country | Germany [DE] |
| Project website | http://soma-project.eu |
| https://twitter.com/soma_H2020 | |
| Total cost | 7˙096˙091 € |
| EC max contribution | 6˙321˙278 € (89%) |
| Programme |
1. H2020-EU.2.1.1.5. (Advanced interfaces and robots: Robotics and smart spaces) |
| Code Call | H2020-ICT-2014-1 |
| Funding Scheme | RIA |
| Starting year | 2015 |
| Duration (year-month-day) | from 2015-05-01 to 2019-04-30 |
Partnership
Take a look of project's partnership.
| # | ||||
|---|---|---|---|---|
| 1 | TECHNISCHE UNIVERSITAT BERLIN | DE (BERLIN) | coordinator | 1˙690˙482.00 |
| 2 | UNIVERSITA DI PISA | IT (PISA) | participant | 1˙574˙062.00 |
| 3 | FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA | IT (GENOVA) | participant | 1˙168˙000.00 |
| 4 | DEUTSCHES ZENTRUM FUER LUFT - UND RAUMFAHRT EV | DE (KOELN) | participant | 820˙740.00 |
| 5 | OCADO INNOVATION LIMITED | UK (HATFIELD) | participant | 812˙875.00 |
| 6 | INSTITUTE OF SCIENCE AND TECHNOLOGY AUSTRIA | AT (KLOSTERNEUBURG) | participant | 229˙618.00 |
| 7 | THE WALT DISNEY COMPANY (SWITZERLAND) GMBH | CH (ZURICH) | participant | 25˙500.00 |
Map
Project objective
The main obstacle to a wide-spread adoption of advanced manipulation systems in industry is their complexity, fragility, lack of strength, and difficulty of use. This project describes a path of disruptive innovation for the development of simple, compliant, yet strong, robust, and easy-to-program manipulation systems. The idea is: Soft Manipulation (SoMa).
SoMa explores a new avenue of robotic manipulation with the environment, as opposed to manipulation of or in the environment. In our approach, the physical constraints imposed by objects in the environment and the manipulandum itself are not regarded as obstacles, but rather as opportunities to guide functional hand pre-shaping, adaptive grasping, and affordance-guided manipulation of objects. The exploitation of these opportunities, which we refer to as environmental constraints (EC), enables robust grasping and manipulation in dynamic, open, and highly variable environments.
The key ingredient for the exploitation of EC is softness of hands, i.e. their embodied ability to comply and adapt to features of the environment. The traditional paradigm for robotic manipulation is in complete disarray in front of this shift of focus: state-of-the-art grasp planners are targeted towards rigid hands and objects, and attempt to find algorithmic solutions to inherently complex, often ill-posed problems. Further complicating matters, the requirement of planning for soft, uncertain interactions between hand and environment is entirely beyond the state of the art. However, this is how humans most often use their hands, and how we plan to change robotic manipulation.
Deliverables
| Information package for European Robotics companies | Documents, reports | 2020-03-20 10:32:38 |
| HRI Evaluation report | Documents, reports | 2020-03-20 10:32:38 |
| Reactive planner for sequencing ECE primitives | Other | 2020-03-20 10:32:38 |
| Evaluation of sensory feedback | Documents, reports | 2020-03-20 10:32:35 |
| Strategy descriptions | Documents, reports | 2020-03-20 10:32:35 |
| Internet presence online | Other | 2020-03-20 10:32:35 |
| Methods for measuring grip stiffness | Other | 2020-03-20 10:32:35 |
| Computational Design Tool - Unified simulation | Other | 2020-03-20 10:32:35 |
| Revised methods for measuring grip stiffness | Documents, reports | 2020-03-20 10:32:35 |
| Haptically guided grasping motion and stiffness regulation strategies | Documents, reports | 2020-03-20 10:32:35 |
| Strategy descriptions revised | Documents, reports | 2020-03-20 10:32:35 |
| Mapping ECE primitives from human to robotic hands | Documents, reports | 2020-03-20 10:32:35 |
| Planner for sequencing ECE primitives | Other | 2020-03-20 10:32:35 |
| Enhanced Hand Prototypes exploiting ECE | Demonstrators, pilots, prototypes | 2020-03-20 10:32:35 |
| Revised Requirements Analysis | Documents, reports | 2020-03-20 10:32:35 |
| Soft hands for Intermediate Integration and Testing | Demonstrators, pilots, prototypes | 2020-03-20 10:32:35 |
| Revised HRI Use Cases | Documents, reports | 2020-03-20 10:32:35 |
| Requirements Analysis | Documents, reports | 2020-03-20 10:32:35 |
| HRI Use Cases | Documents, reports | 2020-03-20 10:32:35 |
Take a look to the deliverables list in detail: detailed list of SoMa deliverables.
Publications
| year | authors and title | journal | last update |
|---|---|---|---|
| 2019 |
Shayan Hoshyari, Hongyi Xu, Espen Knoop, Stelian Coros, Moritz Bächer Vibration-Minimizing Motion Retargeting for Robotic Characters published pages: , ISSN: 0730-0301, DOI: |
ACM Transactions on Graphics (Proceedings of SIGGRAPH 2019) | 2020-03-20 |
| 2019 |
Matteo Bianchi, Gionata Salvietti Editorial: Mapping Human Sensory-Motor Skills for Manipulation Onto the Design and Control of Robots published pages: , ISSN: 1662-5218, DOI: 10.3389/fnbot.2019.00001 |
Frontiers in Neurorobotics 13 | 2020-03-20 |
| 2018 |
Visar Arapi, Cosimo Della Santina, Davide Bacciu, Matteo Bianchi, Antonio Bicchi DeepDynamicHand: A Deep Neural Architecture for Labeling Hand Manipulation Strategies in Video Sources Exploiting Temporal Information published pages: , ISSN: 1662-5218, DOI: 10.3389/fnbot.2018.00086 |
Frontiers in Neurorobotics 12 | 2020-03-20 |
| 2018 |
Panagiotis Sotiropoulos, Pavlos Triantafylou, Hussein Mnyusiwalla, Maximo A. Roa, Duncan Russell, Graham Deacon System-level evaluation of a Robotic System for a Pick-and-Place Task published pages: , ISSN: , DOI: |
Conference Workshop: IROS 2018 - Experimental Robotic Grasping and Manipulation, Benchmarks, Datasets, and Competitions | 2020-03-20 |
| 2019 |
F. Negrello, W. Friedl, M. Roa, G. Grioli, O. Brock, M.Garabini, A.Bicchi and M.G.Catalano. Benchmarking Artificial Hands in Dynamic Tasks: Hand and Grasp Resilience published pages: , ISSN: 2377-3766, DOI: |
IEEE Robotics and Automation Letters, Special issue | 2020-03-20 |
| 2019 |
G. J. Pollayil, M. J. Pollayil, G. Grioli and A. Bicchi Touch Based Adaptive Grasping for Soft Robotic Hands published pages: , ISSN: 0278-3649, DOI: |
International Journal of Robotics Research. Special issue on Soft Manipulation | 2020-03-20 |
| 2019 |
Francesco Vigni, Espen Knoop, Domenico Prattichizzo, Monica Malvezzi The Role of Closed-Loop Hand Control in Handshaking Interactions published pages: 878-885, ISSN: 2377-3766, DOI: 10.1109/lra.2019.2893402 |
IEEE Robotics and Automation Letters 4/2 | 2020-03-20 |
| 2018 |
Virginia Ruiz Garate, Maria Pozzi, Domenico Prattichizzo, Nikos Tsagarakis, Arash Ajoudani Grasp Stiffness Control in Robotic Hands Through Coordinated Optimization of Pose and Joint Stiffness published pages: 3952-3959, ISSN: 2377-3766, DOI: 10.1109/lra.2018.2858271 |
IEEE Robotics and Automation Letters 3/4 | 2020-03-20 |
| 2018 |
Clemens Eppner and Roberto Martin-Martin and Oliver Brock Physics-Based Selection of Informative Actions for Interactive Perception published pages: , ISSN: , DOI: |
IEEE Transactions on Automation Science and Engineering | 2020-03-20 |
| 2019 |
H. Mnyusiwalla, P. Triantafyllou, P. Sotiropoulos, G. Deacon, M.A. Roa, W. Friedl and A.M. Sundaram Benchmarking of Compliant Underactuated Soft End Effectors in an Industrial Context published pages: , ISSN: 1793-6942, DOI: |
International Journal of Humanoid Robotics | 2020-03-20 |
| 2018 |
Virginia Ruiz Garate, Maria Pozzi, Domenico Prattichizzo, Arash Ajoudani A Bio-inspired Grasp Stiffness Control for Robotic Hands published pages: , ISSN: 2296-9144, DOI: 10.3389/frobt.2018.00089 |
Frontiers in Robotics and AI 5 | 2020-03-20 |
| 2018 |
E. Battaglia Touch on the go: wearable haptics for sensing and augmented perception published pages: , ISSN: , DOI: |
2020-03-20 | |
| 2017 |
Francesca Negrello, Sariah Mghames, Giorgio Grioli, Manolo Garabini, Manuel Giuseppe Catalano A compact soft articulated parallel wrist for grasping in narrow spaces published pages: 1-1, ISSN: 2377-3766, DOI: 10.1109/lra.2019.2925304 |
IEEE Robotics and Automation Letters 2017 IEEE/RSJ International Con | 2020-03-20 |
| 2019 |
Ciotti S., Sun T., Battaglia E., Bicchi A., Liu H., Bianchi M. Force, torque and contact point information from deformable surfaces published pages: , ISSN: , DOI: |
ICRA 2019 | 2020-03-20 |
| 2018 |
Clemens Eppner, Sebastian Höfer, Rico Jonschkowski, Roberto MartÃn-MartÃn, Arne Sieverling, Vincent Wall, Oliver Brock Four aspects of building robotic systems: lessons from the Amazon Picking Challenge 2015 published pages: 1459-1475, ISSN: 0929-5593, DOI: 10.1007/s10514-018-9761-2 |
Autonomous Robots 42/7 | 2020-03-20 |
| 2018 |
Irfan Hussain, Federico Renda, Zubair Iqbal, Monica Malvezzi, Gionata Salvietti, Lakmal Seneviratne, Dongming Gan, Domenico Prattichizzo Modeling and Prototyping of an Underactuated Gripper Exploiting Joint Compliance and Modularity published pages: 2854-2861, ISSN: 2377-3766, DOI: 10.1109/lra.2018.2845906 |
IEEE Robotics and Automation Letters 3/4 | 2020-03-20 |
| 2019 |
Cosimo Della Santina, Visar Arapi, Giuseppe Averta, Francesca Damiani, Gaia Fiore, Alessandro Settimi, Manuel G. Catalano, Davide Bacciu, Antonio Bicchi, Matteo Bianchi Learning From Humans How to Grasp: A Data-Driven Architecture for Autonomous Grasping With Anthropomorphic Soft Hands published pages: 1533-1540, ISSN: 2377-3766, DOI: 10.1109/LRA.2019.2896485 |
IEEE Robotics and Automation Letters 4/2 | 2020-03-20 |
| 2019 |
F. Negrello, M. Garabini, G. Grioli, N. Tsagarakis, A. Bicchi and M. G. Catalano Benchmarking Resilience of Artificial Hands published pages: , ISSN: , DOI: |
ICRA 2019 | 2020-03-20 |
| 2018 |
Irfan Hussain, Federico Renda, Zubair Iqbal, Monica Malvezzi, Gionata Salvietti, Lakmal Seneviratne, Dongming Gan, Domenico Prattichizzo Modeling and Prototyping of an Underactuated Gripper Exploiting Joint Compliance and Modularity published pages: 2854-2861, ISSN: 2377-3766, DOI: 10.1109/lra.2018.2845906 |
IEEE Robotics and Automation Letters 3/4 | 2020-03-20 |
| 2019 |
Hongyi Xu, Espen Knoop, Stelian Coros, Moritz Bächer Bend-it published pages: 1-15, ISSN: 0730-0301, DOI: 10.1145/3272127.3275089 |
ACM Transactions on Graphics 37/6 | 2020-03-20 |
| 2019 |
Luigi Malomo, Jesús Pérez, Emmanuel Iarussi, Nico Pietroni, Eder Miguel, Paolo Cignoni, Bernd Bickel FlexMaps published pages: 1-14, ISSN: 0730-0301, DOI: 10.1145/3272127.3275076 |
ACM Transactions on Graphics 37/6 | 2020-03-20 |
| 2019 |
Vincent Wall and Oliver Brock Multi-Task Sensorization of Soft Actuators Using Prior Knowledge published pages: 9416-9421, ISSN: , DOI: |
IEEE International Conference on Robotics and Automation (ICRA) | 2020-03-20 |
| 2018 |
Virginia Ruiz Garate, Maria Pozzi, Domenico Prattichizzo, Arash Ajoudani A Bio-inspired Grasp Stiffness Control for Robotic Hands published pages: , ISSN: 2296-9144, DOI: 10.3389/frobt.2018.00089 |
Frontiers in Robotics and AI 5 | 2020-03-20 |
| 2019 |
Mura Domenico, Manuel Catalano, Knoop Espen, G. Grioli, M. Bächer and A. Bicchi On the role of Stiffness and Synchronization in Human-Robot Handshaking published pages: , ISSN: 0278-3649, DOI: |
International Journal of Robotics Research. Special issue on Soft Manipulation | 2020-03-20 |
| 2018 |
Can Erdogan and Armin Schröder and Oliver Brock Coordination of Intrinsic and Extrinsic Degrees of Freedom in Soft Robotic Grasping published pages: , ISSN: , DOI: |
ICRA 2018 | 2020-03-20 |
| 2016 |
R. Deimel, O. Brock A novel type of compliant and underactuated robotic hand for dexterous grasping published pages: 161-185, ISSN: 0278-3649, DOI: 10.1177/0278364915592961 |
The International Journal of Robotics Research 35/1-3 | 2020-03-20 |
| 2018 |
M. Pozzi, E. Miguel, R. Deimel, M. Malvezzi, B. Bickel, O. Brock, D. Prattichizzo Efficient FEM-Based Simulation of Soft Robots Modeled as Kinematic Chains published pages: , ISSN: , DOI: |
IEEE International Conference on Robotics and Automation 2018 | 2020-03-20 |
| 2018 |
Gionata Salvietti Replicating Human Hand Synergies Onto Robotic Hands: A Review on Software and Hardware Strategies published pages: , ISSN: 1662-5218, DOI: 10.3389/fnbot.2018.00027 |
Frontiers in Neurorobotics 12 | 2020-03-20 |
| 2016 |
Raphael Deimel, Marcel Radke, Oliver Brock Mass Control of Pneumatic Soft Continuum Actuators with Commodity Components published pages: IEEE, ISSN: 2153-0866, DOI: |
2020-03-20 | |
| 2016 |
Steffen Puhlmann, Fabian Heinemann, Oliver Brock, Marianne Maertens A Compact Representation of Human Single-Object Grasping published pages: , ISSN: 2153-0866, DOI: |
Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems | 2020-03-20 |
| 2017 |
Gionata Salvietti, Irfan Hussain, Monica Malvezzi, Domenico Prattichizzo Design of the Passive Joints of Underactuated Modular Soft Hands for Fingertip Trajectory Tracking published pages: 2008-2015, ISSN: 2377-3766, DOI: 10.1109/LRA.2017.2718099 |
IEEE Robotics and Automation Letters 2/4 | 2020-03-20 |
| 2016 |
Rico Jonschkowski, Clemens Eppner, Sebastian Höfer, Roberto MartÃn-MartÃn, Oliver Brock Probabilistic Multi-Class Segmentation for the Amazon Picking Challenge published pages: , ISSN: 2153-0866, DOI: 10.1109/IROS.2016.7758087 |
2020-03-20 | |
| 2018 |
Cosimo Della Santina, Robert K. Katzschmann, Antonio Bicchi, Daniela Rus Dynamic Control of Soft Robots Interacting with the Environment published pages: , ISSN: , DOI: |
2020-03-20 | |
| 2016 |
Hamal Marino, Mirko Ferrati, Alessandro Settimi, Carlos Rosales, Marco Gabiccini On the Problem of Moving Objects With Autonomous Robots: A Unifying High-Level Planning Approach published pages: 469-476, ISSN: 2377-3766, DOI: 10.1109/LRA.2016.2519149 |
IEEE Robotics and Automation Letters 1/1 | 2020-03-20 |
| 2018 |
Cosimo Della Santina, Cristina Piazza, Giorgio Grioli, Manuel G. Catalano, Antonio Bicchi Toward Dexterous Manipulation With Augmented Adaptive Synergies: The Pisa/IIT SoftHand 2 published pages: 1-16, ISSN: 1552-3098, DOI: 10.1109/TRO.2018.2830407 |
IEEE Transactions on Robotics | 2020-03-20 |
| 2016 |
Maria Pozzi, Ashok M. Sundaram, Monica Malvezzi, Domenico Prattichizzo, Maximo A. Roa Grasp Quality Evaluation in Underactuated Robotic Hands published pages: , ISSN: 2153-0866, DOI: |
2020-03-20 | |
| 2015 |
Raphael Deimel, Oliver Brock Soft Hands for Reliable Grasping Strategies published pages: 211-221, ISSN: , DOI: |
Soft Robotics | 2020-03-20 |
| 2017 |
Ruslan Guseinov, Eder Miguel, Bernd Bickel CurveUps published pages: 1-12, ISSN: 0730-0301, DOI: 10.1145/3072959.3073709 |
ACM Transactions on Graphics 36/4 | 2020-03-20 |
| 2018 |
Simone Fani, Simone Ciotti, Manuel G. Catalano, Giorgio Grioli, Alessandro Tognetti, Gaetano Valenza, Arash Ajoudani, Matteo Bianchi Simplifying Telerobotics: Wearability and Teleimpedance Improves Human-Robot Interactions in Teleoperation published pages: 77-88, ISSN: 1070-9932, DOI: 10.1109/MRA.2017.2741579 |
IEEE Robotics & Automation Magazine 25/1 | 2020-03-20 |
| 2017 |
Cosimo Della Santina, Matteo Bianchi, Giorgio Grioli, Franco Angelini, Manuel Catalano, Manolo Garabini, Antonio Bicchi Controlling Soft Robots: Balancing Feedback and Feedforward Elements published pages: 75-83, ISSN: 1070-9932, DOI: 10.1109/MRA.2016.2636360 |
IEEE Robotics & Automation Magazine 24/3 | 2020-03-20 |
| 2016 |
Matteo Bianchi, Robert Haschke, Gereon Büscher, Simone Ciotti, Nicola Carbonaro, Alessandro Tognetti A Multi-Modal Sensing Glove for Human Manual-Interaction Studies published pages: 42, ISSN: 2079-9292, DOI: 10.3390/electronics5030042 |
Electronics 5/3 | 2020-03-20 |
| 2015 |
Clemens Eppner, Raphael Deimel, Jose Alvarez-Ruiz, Marianne Maertens, Oliver Brock Exploitation of Environmental Constraints in Human and Robotic Grasping published pages: 1021-1038, ISSN: 0278-3649, DOI: |
The International Journal of Robotics Research , 2015, Green OA 34(7) | 2020-03-20 |
| 2018 |
Giuseppe Averta, Franco Angelini, Manuel Bonilla, Matteo Bianchi, Antonio Bicchi Incrementality and Hierarchies in the Enrollment of Multiple Synergies for Grasp Planning published pages: 2686-2693, ISSN: 2377-3766, DOI: 10.1109/LRA.2018.2829027 |
IEEE Robotics and Automation Letters 3/3 | 2020-03-20 |
| 2017 |
Cosimo Della Santina, Cristina Piazza, Gian Maria Gasparri, Manuel Bonilla, Manuel Giuseppe Catalano, Giorgio Grioli, Manolo Garabini, Antonio Bicchi The Quest for Natural Machine Motion: An Open Platform to Fast-Prototyping Articulated Soft Robots published pages: 48-56, ISSN: 1070-9932, DOI: 10.1109/MRA.2016.2636366 |
IEEE Robotics & Automation Magazine 24/1 | 2020-03-20 |
| 2015 |
C. Eppner, R. Deimel, J. Alvarez-Ruiz, M. Maertens, O. Brock Exploitation of environmental constraints in human and robotic grasping published pages: 1021-1038, ISSN: 0278-3649, DOI: 10.1177/0278364914559753 |
The International Journal of Robotics Research 34/7 | 2020-03-20 |
| 2015 |
Monica Malvezzi, Guido Gioioso, Gionata Salvietti, Domenico Prattichizzo SynGrasp: A MATLAB Toolbox for Underactuated and Compliant Hands published pages: 52-68, ISSN: 1070-9932, DOI: 10.1109/MRA.2015.2408772 |
IEEE Robotics & Automation Magazine 22/4 | 2020-03-20 |
| 2017 |
Cosimo Della Santina, Matteo Bianchi, Giuseppe Averta, Simone Ciotti, Visar Arapi, Simone Fani, Edoardo Battaglia, Manuel Giuseppe Catalano, Marco Santello, Antonio Bicchi Postural Hand Synergies during Environmental Constraint Exploitation published pages: , ISSN: 1662-5218, DOI: 10.3389/fnbot.2017.00041 |
Frontiers in Neurorobotics 11 | 2020-03-20 |
| 2017 |
Paul Oh, Hannes Hoeppner, M. Ani Hsieh The 2017 IEEE RAS Technical Education Program Activites: A Snapshot [Education] published pages: 112-113, ISSN: 1070-9932, DOI: 10.1109/MRA.2017.2761158 |
IEEE Robotics & Automation Magazine 24/4 | 2020-03-20 |
| 2018 |
Franco Angelini, Cosimo Della Santina, Manolo Garabini, Matteo Bianchi, Gian Maria Gasparri, Giorgio Grioli, Manuel Giuseppe Catalano, Antonio Bicchi Decentralized Trajectory Tracking Control for Soft Robots Interacting With the Environment published pages: 1-12, ISSN: 1552-3098, DOI: 10.1109/TRO.2018.2830351 |
IEEE Transactions on Robotics | 2020-03-20 |
| 2016 |
Abhishek Gupta, Clemens Eppner, Sergey Levine, Pieter Abbeel Dexterous Manipulation for a Soft Robotic Hand from Human Demonstration published pages: , ISSN: 2153-0866, DOI: |
2020-03-20 | |
| 2015 |
Fabian Heinemann, Steffen Puhlmann, Clemens Eppner, Jose Alvarez-Ruiz, Marianne Maertens, Oliver Brock A Taxonomy of Human Grasping Behavior Suitable for Transfer to Robotic Hands published pages: , ISSN: , DOI: |
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), May 2015 | 2020-03-20 |
| 2016 |
Simone Ciotti, Edoardo Battaglia, Nicola Carbonaro, Antonio Bicchi, Alessandro Tognetti, Matteo Bianchi A Synergy-Based Optimally Designed Sensing Glove for Functional Grasp Recognition published pages: 811, ISSN: 1424-8220, DOI: 10.3390/s16060811 |
Sensors 16/6 | 2020-03-20 |
| 2017 |
Roberto MartÃn-MartÃn and Oliver Brock Building Kinematic and Dynamic Models of Articulated Objects with Multi-Modal Interactive Perception published pages: , ISSN: , DOI: |
AAAI Symposium on Interactive Multi-Sensory Object Perception for Embodied Agents | 2020-03-20 |
| 2017 |
Giuseppe Averta, Cosimo Della Santina, Edoardo Battaglia, Federica Felici, Matteo Bianchi, Antonio Bicchi Unvealing the Principal Modes of Human Upper Limb Movements through Functional Analysis published pages: , ISSN: 2296-9144, DOI: 10.3389/frobt.2017.00037 |
Frontiers in Robotics and AI 4 | 2020-03-20 |
| 2017 |
Jonas Zehnder, Espen Knoop, Moritz Bächer, Bernhard Thomaszewski Metasilicone published pages: 1-13, ISSN: 0730-0301, DOI: 10.1145/3130800.3130881 |
ACM Transactions on Graphics 36/6 | 2020-03-20 |
| 2016 |
Eder Miguel, Mathias Lepoutre, Bernd Bickel Computational design of stable planar-rod structures published pages: 1-11, ISSN: 0730-0301, DOI: 10.1145/2897824.2925978 |
ACM Transactions on Graphics 35/4 | 2020-03-20 |
| 2016 |
Alessandro Moscatelli, Matteo Bianchi, Alessandro Serio, Alexander Terekhov, Vincent Hayward, Marc O. Ernst, Antonio Bicchi The Change in Fingertip Contact Area as a Novel Proprioceptive Cue published pages: 1159-1163, ISSN: 0960-9822, DOI: 10.1016/j.cub.2016.02.052 |
Current Biology 26/9 | 2020-03-20 |
| 2018 |
Maria Pozzi, Gionata Salvietti, Joao Bimbo, Monica Malvezzi, Domenico Prattichizzo The Closure Signature: A Functional Approach to Model Underactuated Compliant Robotic Hands published pages: 2206-2213, ISSN: 2377-3766, DOI: 10.1109/LRA.2018.2810946 |
IEEE Robotics and Automation Letters 3/3 | 2020-03-20 |
| 2015 |
Clemens Eppner, Oliver Brock Planning Grasp Strategies That Exploit Environmental Constraints published pages: , ISSN: , DOI: |
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), May 2015 | 2020-03-20 |
| 2017 |
Deimel, Raphael Soft robotic hands for compliant grasping published pages: , ISSN: , DOI: 10.14279/depositonce-6063 |
2020-03-20 | |
| 2017 |
Hannes Höppner, Maximilian Große-Dunker, Georg Stillfried, Justin Bayer, Patrick van der Smagt Key Insights into Hand Biomechanics: Human Grip Stiffness Can Be Decoupled from Force by Cocontraction and Predicted from Electromyography published pages: , ISSN: 1662-5218, DOI: 10.3389/fnbot.2017.00017 |
Frontiers in Neurorobotics 11 | 2020-03-20 |
| 2016 |
Edoardo Battaglia, Matteo Bianchi, Alessandro Altobelli, Giorgio Grioli, Manuel G. Catalano, Alessandro Serio, Marco Santello, Antonio Bicchi ThimbleSense: A Fingertip-Wearable Tactile Sensor for Grasp Analysis published pages: 121-133, ISSN: 1939-1412, DOI: 10.1109/TOH.2015.2482478 |
IEEE Transactions on Haptics 9/1 | 2020-03-20 |
| 2017 |
Maria Pozzi, Monica Malvezzi, Domenico Prattichizzo On Grasp Quality Measures: Grasp Robustness and Contact Force Distribution in Underactuated and Compliant Robotic Hands published pages: 329-336, ISSN: 2377-3766, DOI: 10.1109/LRA.2016.2612304 |
IEEE Robotics and Automation Letters 2/1 | 2020-03-20 |
| 2016 |
Gionata Salvietti, Leonardo Meli, Guido Gioioso, Monica Malvezzi, Domenico Prattichizzo Multi–Contact Bilateral Telemanipulation with Kinematic Asymmetries published pages: 1-1, ISSN: 1083-4435, DOI: 10.1109/TMECH.2016.2606895 |
IEEE/ASME Transactions on Mechatronics | 2020-03-20 |
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The information about "SOMA" are provided by the European Opendata Portal: CORDIS opendata.