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Soft Manipulation (SOMA)
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). Our partners are:
- University of Pisa, Research Center "E.Piaggio"
- Italian Institute of Technology/University of Siena, Siena Robotics and Systems Lab
- Ocado Technology
- Disney Research Zurich
- German Aerospace Center, Biomimetic Robotics and Machine Learning
- Institute of Science and Technology Austria, Computer Graphics and Digital Fabrication
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 manipulation 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. See the current iteration of the RBO Soft Hand.
The project is funded by European Union's Horizon 2020 Research and Innovation Programme under Grant Agreement 645599.
Contact person: Oliver Brock [1] (project coordinator), Can Erdogan, Előd [2]Páll [3], Jessica Abele, Vincent Wall [4], Clemens Eppner, Steffen Puhlmann [5]
For more information and awesome videos, please visit http://soma-project.eu/ [6].
SOMA Media Kit
We provide a pre-packaged set of materials containing information and pictures about SOMA, especially for journalists and the media on our website [7] (please scroll down to Media Kit). Please feel free to include the pictures in your story about SOMA and also link to our youtube channel [8].
Publications
Order by: Author [16] Year [17] Journal [18]
_brock/parameter/en/font1/minhilfe/
all/parameter/en/font1/minhilfe/
ll/
t_wall/parameter/en/font1/minhilfe/
n_puhlmann/
kT2jTiB5nTzXLhztn666T
ft_manipulation_soma/parameter/en/font1/minhilfe/?showp
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7f236a74eed7852d7e6d2eb32bbc7
oft_manipulation_soma/parameter/en/font1/minhilfe/?show
p=1&tx_sibibtex_pi1%5Bsort%5D=year%3A1&cHash=5f
9b79531357504dffb8c33d2f717762
oft_manipulation_soma/parameter/en/font1/minhilfe/?show
p=2&tx_sibibtex_pi1%5Bsort%5D=year%3A1&cHash=e7
77f236a74eed7852d7e6d2eb32bbc7
oft_manipulation_soma/parameter/en/font1/minhilfe/?show
p=4&tx_sibibtex_pi1%5Bsort%5D=year%3A1&cHash=17
ab026b99bc5b517dcf83fdb40cb8f6
oft_manipulation_soma/parameter/en/font1/minhilfe/?show
p=5&tx_sibibtex_pi1%5Bsort%5D=year%3A1&cHash=33
3bc86f27a956bf878fdaf9ba964cee
oft_manipulation_soma/parameter/en/font1/minhilfe/?show
p=6&tx_sibibtex_pi1%5Bsort%5D=year%3A1&cHash=c5
2bfb8c08c5ab583cb6f1c3d5864328
oft_manipulation_soma/parameter/en/font1/minhilfe/?show
p=4&tx_sibibtex_pi1%5Bsort%5D=year%3A1&cHash=17
ab026b99bc5b517dcf83fdb40cb8f6
oft_manipulation_soma/parameter/en/font1/minhilfe/?cHas
h=6eb8d0c4824b9a0fd56f6e4529a49082&showp=3&tx_s
ibibtex_pi1%5Bsort%5D=author%3A0&type=1
oft_manipulation_soma/parameter/en/font1/minhilfe/?cHas
h=94bc310c2b54129460fc9a3d769b0099&showp=3&tx_s
ibibtex_pi1%5Bsort%5D=year%3A0&type=1
oft_manipulation_soma/parameter/en/font1/minhilfe/?cHas
h=5305c82a1b27f7c0addba65e03b2cfd5&showp=3&tx_s
ibibtex_pi1%5Bsort%5D=journal%3A0&type=1
ublikationen_pdf/Sieverling17_IROS.pdf
oft_manipulation_soma/parameter/en/font1/minhilfe/?no_c
ache=1&tx_sibibtex_pi1%5Bdownload_bibtex_uid%5D=131
8288&tx_sibibtex_pi1%5Bcontentelement%5D=tt_content
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ublikationen_pdf/Sieverling17_RSS_WS.pdf
oft_manipulation_soma/parameter/en/font1/minhilfe/?no_c
ache=1&tx_sibibtex_pi1%5Bdownload_bibtex_uid%5D=131
8289&tx_sibibtex_pi1%5Bcontentelement%5D=tt_content
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ublikationen_pdf/Eppner17_IROS.pdf
oft_manipulation_soma/parameter/en/font1/minhilfe/?no_c
ache=1&tx_sibibtex_pi1%5Bdownload_bibtex_uid%5D=132
0172&tx_sibibtex_pi1%5Bcontentelement%5D=tt_content
%3A917292
ublikationen_pdf/puhlmann-heinemann-16-IROS.pdf
oft_manipulation_soma/parameter/en/font1/minhilfe/?no_c
ache=1&tx_sibibtex_pi1%5Bdownload_bibtex_uid%5D=124
4045&tx_sibibtex_pi1%5Bcontentelement%5D=tt_content
%3A917292
ublikationen_pdf/deimel-15-IJRR.draft.pdf
oft_manipulation_soma/parameter/en/font1/minhilfe/?no_c
ache=1&tx_sibibtex_pi1%5Bdownload_bibtex_uid%5D=964
816&tx_sibibtex_pi1%5Bcontentelement%5D=tt_content%
3A917292
oft_manipulation_soma/parameter/en/font1/minhilfe/?show
p=2&tx_sibibtex_pi1%5Bsort%5D=year%3A1&cHash=e7
77f236a74eed7852d7e6d2eb32bbc7
oft_manipulation_soma/parameter/en/font1/minhilfe/?show
p=1&tx_sibibtex_pi1%5Bsort%5D=year%3A1&cHash=5f
9b79531357504dffb8c33d2f717762
oft_manipulation_soma/parameter/en/font1/minhilfe/?show
p=2&tx_sibibtex_pi1%5Bsort%5D=year%3A1&cHash=e7
77f236a74eed7852d7e6d2eb32bbc7
oft_manipulation_soma/parameter/en/font1/minhilfe/?show
p=4&tx_sibibtex_pi1%5Bsort%5D=year%3A1&cHash=17
ab026b99bc5b517dcf83fdb40cb8f6
oft_manipulation_soma/parameter/en/font1/minhilfe/?show
p=5&tx_sibibtex_pi1%5Bsort%5D=year%3A1&cHash=33
3bc86f27a956bf878fdaf9ba964cee
oft_manipulation_soma/parameter/en/font1/minhilfe/?show
p=6&tx_sibibtex_pi1%5Bsort%5D=year%3A1&cHash=c5
2bfb8c08c5ab583cb6f1c3d5864328
oft_manipulation_soma/parameter/en/font1/minhilfe/?show
p=4&tx_sibibtex_pi1%5Bsort%5D=year%3A1&cHash=17
ab026b99bc5b517dcf83fdb40cb8f6