Universita Degli Studi Della Campania Luigi Vanvitelli, Italy
Università degli Studi della Campania – Luigi Vanvitelli (UCLV) (until November 2016, Seconda Università degli Studi di Napoli) participates to IntelliMan with the Automatic Control group of the Engineering Department. The main skills of Automatic Control research group of UCLV, which will be involved in IntelliMan, are focused on the following described research areas strictly related to the project. Such experience is proved by several publications in international journals and conferences proceedings of primary relevance, and by National and European patents.
The research activity of UCLV in the development of sensors for advanced robotic systems have covered the development of the entire sensory system of the DEXMART hand, which includes joint angular sensors, tendon tension sensors, tactile sensors for the fingertips. From the tactile sensor developed in DEXMART an artificial skin, based on the same technology, has been developed in SAPHARI project with the aim to cover different robotic parts, e.g. palm, arm, torso and mobile platform. Both the tactile sensor and the artificial skin have been awarded as the best interactive presentation by the National Society of Automatic Control Researchers (SIDRA) in 2011 and in 2013, respectively. UCLV developed also models of the tactile sensor deformable layer and algorithms for the tactile data interpretation. The Extended Kalman Filter has been used to reconstruct the geometric parameters of the contact. These data have been used to estimate object properties such as the friction coefficient and to implement innovative algorithms for slipping detection and avoidance. Also, this slipping detection approach has been awarded by SIDRA in 2015. In H2020 REFILLS Project, UCLV proposed technological and methodological solutions to improve the following logistics processes in a supermarket: store delivery and presorting of goods; initial shelf filling; refilling from the backroom. Then, UCLV developed a new version of the tactile sensor, suitably designed for the wire manipulation, within the WIRES project. In REMODEL, currently ongoing, UCLV is investigating manipulation techniques for Deformable Linear Objects (e.g., wires, wiring harness, tubes).
Role: Technical provider
Expertise related to the project
In IntelliMan, UCLV will use its previous experience to optimize and integrate tactile and proximity sensors in suitably designed multi-sensorized fingers for commercial grippers (T5.1); develop sensor-based control strategies for grasping and manipulation of deformable objects (T5.4); develop sensing data interpretation algorithms for reconstructing features (e.g. interaction forces, shapes, stiffness) for object grasping and manipulation, (T5.1); develop slipping detection and avoidance algorithms (T5.4); investigate hand-over algorithms (T4.2).