IEEE Robotics & Automation Magazine - September 2021 - 65

realized a dual-arm robot provided with a Pisa/IIT SoftHand
and a velvet tray. The first end effector is adaptable;
hence, it is used for establishing stable grasps to rotate and
slide goods with various shapes; the second end effector is
mainly used to support the weight of the objects. The
robot has been experimentally validated in multiple picking
actions on a set of four different representative objects.
Future study will be to, on one hand, provide the robot
planning with a high-level decision tool that is able to
automatically generate the right strategy to adopt on the
basis of features of the objects that can be detected by a
vision system and, on the other hand, to adopt suitable
feedback strategies based on vision, force feedback, and
tactile feedback to improve robot reliability. Furthermore,
the average picking time will be minimized by adopting
suitable optimization algorithms, and the robot will be
provided with a mobile base.
Acknowledgments
This work was supported in part by the European Union's
Horizon 2020 research and innovation program as part of
the projects Intra-Logistics with Integrated Automatic
Deployment (grant 732737) and in part by the Italian Ministry
of Education and Research in the framework of the
CrossLab project (Departments of Excellence). Manolo
Garabini is the corresponding author.
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SEPTEMBER 2021 * IEEE ROBOTICS & AUTOMATION MAGAZINE *
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IEEE Robotics & Automation Magazine - September 2021

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2021