Events

Here the project's main consortium meetings and dissemination activities such as EAB and ESAB meetings are shown with their respective agendas

  • GRAB INTEGRATION & VALIDATION WEEK

    Date:  29 January - 2 February 2024

    Venue: EPFL, Lausanne, Switzerland 

    Agenda

    Goal: 

    - integrate all components on for the GRAB scenario demonstration and validation

    - set up draft for GRAB Scenario report D5.5

    Monday - 29/01/2024

    • Welcome and Kick-off 
    • Agreement on plan 
    • Ensure infrastructure is working for everyone (internet etc)
    • Resolution of software installation and running problems on Franka and KUKA.
    • Assess of control feasibility of torque-controlled KUKA IIWA robots with mc_rtc → (solved for single arm, but not yet for dual-arm)
    • Reproduce and test TU/e dual-arm grabbing on Franka (Torque Control) → done
    • Reproduce and test CNRS dual-arm grabbing on Franka (Velocity Control) → (test)
    • Reproduce and test EPFL dual-arm grabbing on Franka: Test for overall behavior → (done with mc_rtc)

    Tuesday - 30/01/2024: Test on isolated box first

    Torque control mode: Base controller - TU/e dual-arm grabbing on Franka

    • Add or upgrade the contact sensing (with TUM (new) algorithm) (partially)
    • Add DS (EPFL) to Reference Spreading (TU/e) for pre-impact and post-impact motion generation
    • Add Optitrack option for online object's pose adaptation (small issue with ros)
    • Add impact constraints to the nominal hardware constraints (Niels and Yuquan works) → (next step : follow up with Ahmed )
    • Add impact planning module (impact direction, speed, and robot configuration) (Next step: end-next week)

    Velocity control mode: Base controller -  CNRS dual-arm grabbing on Franka

    • Idem than above

      

    Torque control mode for KUKA: Base controller -  EPFL dual-arm grabbing

    • Similar adaptation as in the two previous cases (Ref Spreading transferable

    Wednesday - 31/01/2024: Test on isolated box first

         

    Test individual new components

    • Test the sensing algorithm on Franka  ( Sensing) (TUM) (tested on Franka)
    • Test Object Backward tilting and grabbing (EPFL) (end of next week) → Priority
    • Test Object Hitting to flip  and grabbing (CNRS) (need to be tested with TU/e pads)

     

    Add pre-grabbing maneuvers:

    • Object Backward tilting and grabbing (EPFL)
    • Object Hitting to flip  and grabbing (CNRS)
    • Object planar Hitting and grabbing (EPFL)

    Add Identification (classification) of possible task failure.

    • loss of contact (TUM)  →(Interface created and required ros com)
    • contact slippage (using Optitrack) →(to be done with Optitrack integration)
    • mass estimation  (TUM) (working and integrated with pre-compiled lib)

     

    Add  and adapt  similar features  for the KUKA robots

     

    Thursday  - 01/02/2024: Systematic testing

     

    Lunch with LASA members

     

    Robustify and Optimize post-grabbing tasks:

    • Grabbing and Placing
    • Grabbing and Placing with impact
    • Grabbing and Tossing unto a target location
    • Grabbing, Placing on a table, and hitting (pushing) toward a target zone

     

    Test on a stack of boxes

    • Add a multi-object management module for a task sequence
    • Test Grabbing of multi-object layers
    • Test Grabbing sequential objects

     

    Friday - 02/02/2024: Benchmarking

     

     Grabbing Isolated object

    •  Test for average cycle time
    •  Test for average pick and place time

     

     Grabbing from packed Pallet of objects

    • Test for average cycle time
    • Test for average pick and place time
    • Retry rate/pickability

     

    • Comparison between grabbing with and without impact awareness in control
    • Comparison between grabbing with torque-controlled and velocity-controlled robots
    • Agreement on Data collection protocol

     

    NB: We will try as best as we can to systematically collect enough (statistically significant) data to make valid conclusions about Dual-Arm Grabbing for the report.

     

    End of integration week

    Every day we would like to do a standup to evaluate the current status and possibly adapt the plan.

     

  • TOSS INTEGRATION & VALIDATION WEEK

    Date:  12 - 16  September 2022

    Venue: TU/e, Eindhoven, The Netherlands 

    Agenda

    Goal: 

    - integrate all of CNRS, EPFL, TUE and Smart Robotics components on TUE Panda and UR10 for the TOSS scenario demonstration and validation

    - set up draft for TOSS Scenario report D5.3

    Monday 12 September 

    • Welcome
    • Agree on plan
    • Test setup

    Tuesday 13 September 

    • Kick-off 
    • Discuss placement algorithm
    • Toss optimization (panda)
    • optional: Improve planner to make it applicable for multiple boxes?

    Wednesday 14 September 

    • Toss optimization (panda)
    • Simulation comparison
    • optional: Improve planner to make it applicable for multiple boxes?
    • Toss on UR10

    Thursday 15 September 

    • Toss optimization (panda)
    • Toss on ur10
    • Comparison with placement

    Friday 16 September 

    • Naive benchmark on Panda and UR10
     

  • EXTERNAL SCIENTIFIC ADVISORY BOARD (ESAB) MEETING #2

    Date:  23 September 2022

    Venue: Vanderlande, Veghel, The Netherlands & TU/e, Eindhoven, The Netherlands + Online meeting (MS Teams)

    Agenda

     

    15:30 –16:00 (CET)

    Welcome

    · Tour on Vanderlande premises (with Oussama Khatib)

    · General announcements  

    · Short recap on I.AM. project vision and objectives  (Alessandro, TU/e )

    · Further details and societal relevance of the industrial scenarios of I.AM.   (Stijn de Looijer, Vanderlande )

    		  

     16:00 – 16:30 (CET)

    Research status update (Alessandro, with I.AM. PIs filling in, when necessary)

    		  

    16:30 – 16:45 (CET)

    Break (15 minutes) 

    		  

    16:45 – 17:30 (CET)

    Collect impressions and feedback from Oussama and Vincent

    Scientific discussion based on 
    · research status update and 

    · shared published papers. 


    Potential discussion topics: 

    · Robot control/learning approaches for tasks with intentional collisions

    · Modeling and numerical simulation of robotics systems undergoing impacts

    · Estimation of object and robot post-impact velocities and forces

    · …

    		  
     

     

     

  • End-User Advisory Board (EAB) meeting #2

    Date: 30 June 2022

    Venue: European Robotics Forum (ERF) 2022 - Ahoy, Rotterdam

    Dock 6

    Agenda

    10:00-10:10        Short introduction and recap EUAB – Jesse

                                   Short introduction round – All

    10:10 - 10:40      Current status and results of the project – Alessandro

    10:40 - 10:50      Walk to demo   

    10:50 - 11:10      Demo

    11:10 – 11:20     Walk back

    11:20 – 11:35     Individually record conclusions in Powerpoint (template)

    11:35 – 12:00     Share individual conclusions and discussions with members of the EUAB

  • ERF2022 - booth with demonstrator

    Date: 28 - 30 June 2022

    Venue: European Robotics Forum (ERF) 2022 - Ahoy, Rotterdam

    Booth 17, Rotterdam Hall

    ERF 2022 Website - Floorplan

  • MIDYEAR CONSORTIUM MEETING (2022)

    Date: 15 June 2022

    Venue: EPFL, Lausanne, Switzerland

    Agenda

     

    09:00 – 09:15 Welcom and general intro (Alessandro Saccon)  
    09:15 – 09:30 WP6 Management and WP8 Ethics (Jos den Ouden, TU/e)   
    09:30 – 10:15 WP1 Modeling (Alessandro Saccon, TU/e)  
    10:15 – 10:30 Break  
    10:30 – 11:15 WP2 Learning (EPFL)
    		  
    11:15 – 12:00 WP3 Sensing (TUM)  
    12:00 – 13:00 Lunch  
    13:00 – 13:45 WP4 Control (CNRS)  
    13:45 – 14:30 WP5 Integration and Scenario validations (Heico Sandee, Smart Robotics)  
    14:30 – 15:15 WP7 Dissemination and exploitation (Jalte Norder, Vanderlande)  
    15:15 – 15:30 Break  
    15:00 – 17:30

    Internal discussion.

    • TOSS Scenario: wrap up, in view of deliverable end of this year (2022)
    • BOX and GRAB scenarios, experimental execution (D6.8)
    • Demonstrators (WP5)
    • Industrial use case roadmap
    • Follow-up plans for a tutorial on Open Source Software Framework (GLUE)
    • Upcoming 2nd EC Review meeting
    		 

     

  • End-User Advisory Board (EAB) meeting #1

    Date: 29 June 2021

    Venue: Online

    Agenda

    8:30 – 9:00  

    Intro by Alessandro Saccon (Coordinator) and Jos den Ouden (Project manager) -- I.AM. Project and the role of End-users Advisory Board (EAB).

    Alessandro, Jos

    9:00 – 9:15  

    Introduction Vanderlande, explanation of scenarios & business drivers. 

    Stijn

    9:15  – 10:00

    Company Presentations (companies)

    All

    10:00 – 10:15

    Break

     

    10:15 – 10:45

    Global status and explanation of scientific and integration work packages (WPs 1 to 5)

    Alessandro

    10:45 – 11:30

    Break out- sessions to share and discuss ideas in small groups.

    N.B. break out sessions depended on number of people in call.

    All

    11:30 – 11:50

    Share ideas and discussions central

    ·       Which opportunities do you see in your company in the short/long term? 

    ·       Additional companies to invite to strengthen I.AM Project

    ·       Are their any concerns related to e.g. legal

    All

    11:50 – 12:00

    Wrap-up meeting, actions to record results and plan follow-up meeting

    Jesse, Alessandro

  • ERF2021 Workshop: Impact aware manipulation - H2020 I.AM.

    Date: 13 Apr 2021

    Venue: European Robotics Forum (ERF) 2021 (online)

    Agenda

     

    15:40 - 15:45 Introduction (Alessandro Saccon, TU/e)  
    15:45 - 15:55 Vanderlande Innovation lab @ TU/e (Maarten Jongeneel (TU/e)​)
    		  
    15:55 - 16:05 Impact with Deformable Contacts (Niels Dehio, CNRS)  
    16:05 – 16:15 Impact manipulation and learning (Michael Bombile (EPFL))  
    16:15 – 16:25 IMU-enhanced impact detection (Alexander Kurdas (TUM))  
    16:30 – 17:00 Open discussion (Heico Sandee (Smart Robotics))  

     

  • 1st YEAR CONSORTIUM MEETING (2021)

    Date: 25 Feb 2021

    Venue: Online meeting (MS Teams)

    Agenda

     

    09:00 – 09:15 Intro (Alessandro Saccon)  
    09:15 – 10:00 WP6 Management and WP8 Ethics (Jos den Ouden, TU/e)   
    10:00 – 10:30 WP1 Modeling (Alessandro Saccon, TU/e)  
    10:30 – 11:00 Break  
    11:00 – 11:30 WP2 Learning (Aude Billard, EPFL)
    		  
    11:30 – 12:00 WP3 Sensing (Sami Haddadin, TUM)  
    12:00 – 12:30 WP4 Control (Abderrahmane Kheddar, CNRS)  
    12:30 – 13:30 Lunch  
    13:30 – 14:00 WP5 Integration and Scenario validations (Heico Sandee, Smart Robotics)  
    14:00 – 14:30 WP7 Dissemination and exploitation (Jalte Norder, Vanderlande)  
    14:30 – 15:00 Break  
    15:00 – 17:00

    General discussion.

    • - Preparation software integration: manuals / continuous integration
    • - Preparations for EC Review meeting (June 2021)
    • - ERF 2021 workshop (13/14 Arpil 2021)
    • - IROS 2021 workshop
    		  

     

  • EXTERNAL SCIENTIFIC ADVISORY BOARD (ESAB) MEETING #1

    Date:  2 Feb 2021

    Venue: Online meeting (MS Teams)

    Agenda

     

    18:00 –18:25 (CET) / 9:00 – 9:25 AM (PST) 

    Introduction: Round of introductions & Introduction H2020 EU project I.AM.  (Alessandro / Jos) 

    • Vision, objectives, project partners 
    • WP overview  
    • Role of ESAB
    		 

     

    18:25 – 18:50 (CET) / 9:25 – 9:50 AM (PST)  

    General discussion: Impression/feedback from Aaron, Oussama, and Vincent (e.g., research/projects in the EU, US, world with same or strictly related focus) 

    		  
    18:50 – 19:00 (CET) / 9:50 – 10:00 AM (PST) 

    Break (10 minutes) 

    		  
    19:00 – 19:50 (CET) / 10:00 – 10:50 AM (PST) 

    In-depth scientific discussion. Focus points: 

    • Modeling and numerical simulation of robotics systems undergoing impacts  
    • Accurate estimation of object and robot post-impact velocities and forces 
    • Control/Learning of robotic systems tasked to perform ideal simultaneous impacts (e.g., ideal reference impacts with segment or surface contact) 
    • Other topics (TBD.) 
    		  
    19:50 – 20:00 (CET) / 10:50 – 11:00 AM (PST)  Summary / conclusions and next meeting   

     

     

  • 1st MIDYEAR CONSORTIUM MEETING (2020)

    Date: 8 Jun 2020

    Venue: Online meeting (MS Teams)

    Agenda

     

    09:00 – 09:15 Intro (Alessandro Saccon)  
    09:15 – 10:00 WP6 Management and WP8 Ethics (Jos den Ouden, TU/e)   
    10:00 – 10:30 WP1 Modeling (Alessandro Saccon, TU/e)  
    10:30 – 11:00 Break  
    11:00 – 11:30 WP2 Learning (Aude Billard, EPFL)
    		  
    11:30 – 12:00 WP3 Sensing (Sami Haddadin, TUM)  
    12:00 – 12:30 WP4 Control (Abderrahmane Kheddar, CNRS)  
    12:30 – 13:30 Lunch  
    13:30 – 14:00 WP5 Integration and Scenario validations (Heico Sandee, Smart Robotics)  
    14:00 – 14:30 WP7 Dissemination and exploitation (Jalte Norder, Vanderlande)  
    14:30 – 15:00 Break  
    15:00 – 17:00 General discussion. Special focus: software integration (for D5.1 due June 2020), data management (for D6.3, due June 2020) & dissemination (for D7.1, due June 2020)  

     

  • Kick-off meeting (2020)

    Dates: 23-24 January 2020

    Venues: Eindhoven University of Technology / Vanderlande Headquarter

    Agenda

    23 January 2020. TU/e, Dept. Mechanical Engineering, Eindhoven

     

    11:30-12:00 Welcome (Hall of the TU/e Dept. of Mechanical Engineering, building GEMINI )  
    12:00-13:15  Lunch (Canteen of the Dept. of Mechanical Engineering)  
         
    13:15-13:30     I.AM Introduction by Alessandro Saccon (Room GEMINI ZUID 0.05)  
    13:30-14:00 TU/e and its role in I.AM (I.Model and WP1, Alessandro Saccon)  
    14:00-14:30     EPFL and its role in I.AM (I.Learn and WP2, Mahdi Khoramshahi, representing Aude Billard)  
    14:30-15:00 TUM and its role in I.AM (I.Sense and WP3, Sami Haddadin)  
    15:00-15:30 CNRS and its role in I.AM (I.Control and WP4, Abder Kheddar)  
         
    15:30-15:45 Coffee break  
         
    15:45-16:15 SMART ROBOTICS and its role in I.AM (WP5, Heico Sandee)  
    16:15-16:45 ALGORYX and its role in I.AM (DYNAMICS SOFTWARE and API, Claude Lacoursière)  
    16:45-17:15 FRANKA-EMIKA and its role in I.AM (PANDA AND IMPACTS, José Medina)  
         
    18:30-open Dinner at the Restaurant 1910, Willemstraat 43A, Eindhoven (https://1910restaurant.nl/)  

    24 January 2020. Vanderlande headquarter, Veghel

     

    08:30 sharp Shuttle to Vanderlande (Rooseveltlaan 1, 5466AC, Veghel)
    Pick-up point: in front of the Student Hotel (Stationsweg 1, 5611 AA Eindhoven),
    close to Eindhoven train station’s main entrance    		  
    08:30-09:00 Transfer to Vanderlande (Veghel)  
    09:00-09:10 Welcome by Vanderlande (Room VEGHEL 50 0th FL - 01)  
    09:10-09:30 VANDERLANDE and its role in I.AM (USES CASES, Bas Coenen)  
    09:30-10:30 Project Management/Gender Action/Data Management/Ethics (Jos den Ouden, 40mins)
    Industrial Dissemination/Exploitation/IP (Jalte Norde, 20mins)    		  
    10:30-12:00 Visit at Vanderlande Innovation Center (in particular, SIR system and robot depalletizer)  
    12:00-13:15 Lunch  
    13:30 sharp Shuttle to Eindhoven Center from Vanderlande (pick-up point: same as drop-off)  
    13:30-14:00 Transfer to Eindhoven Center (back to Student Hotel/Eindhoven’s train station)  

     

LOGIN
PRIVACY POLICY
I.AM. has received funding from the European Union's Horizon 2020 Research and Innovation Programme (call: H2020-ICT-09-2019-2020, RIA) under Grant Agreement No. 871899