Located at the ENIM, this robotic platform is comprised of two UR10e collaborative robots, multiple end-effectors, and a motion capture system for human motion estimation and ground truth.
The Collaborative Robotic Manipulation Cell supports our activities for robotic deformable object manipulation and human-robot collaboration. It is comprised of:
- Robots: Two Universal Robots UR10e collaborative arms with PolyscopeX controllers
- Motion capture: Optitrack system of four Flex13 infrared cameras
- RGB-D vision: Intel RealSense D435 RGB-D camera (to-hand) and OnRobot Eyes camera (in-hand)
- End-effectors: parallel grippers (Schunk EGH, OnRobot 2FG7), vacuum gripper (OnRobot VGC10), quick changers, custom tooling
Hardware and software integration is performed using the ROS2 middleware. Our code can be found on GitLab: https://gitlab.univ-lorraine.fr/labos/lcfc/robotic-manipulation
The following support is acknowledged:
- Ecole Nationale d'Ingénieurs de Metz
- INTERREG V A Greater Region programme
- French national research agency (ANR), grant number ANR-23-CE10-0008-02 (HERR-MAN)
- French national research agency (ANR), grant number ANR-25-CE33-0917-01 (Mandolin)