SiMOD – Multi-robot mobile systems for the manipulation of deformable objects

Abstract

The SiMOD project aims to develop a manipulation framework based on collaborative robots installed on mobile platforms, capable of sensing and co-manipulating deformable objects for industrial applications. The goal is to improve the work experience by reducing the physical and cognitive effort of workers in the manufacturing sector in applications that involve handling deformable objects, such as large soft material packaging, electrical cables, and bulk material bags, therefore not automatable in a flexible way with the technological solutions currently available on the market.

Project Goals

The objectives of the project are:

• the application of algorithms for the perception of the state of deformable objects, capable of exploiting and sharing the information coming from several robots,
• multi-robot manipulation algorithms capable of adapting in real-time to the evolution of the state of the manipulated deformable objects by exploiting the coordinated movement of the mobile bases and manipulator arms to optimize operations and extend the working area,
• the development of a prototype consisting of two mobile manipulators equipped with vision systems and gripping devices suitable for perception and manipulation operations.

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