01761nas a2200229   4500008004100000245005000041210004700091300001000138490000700148520102800155100002101183700002101204700002101225700002601246700002301272700002101295700002401316700003101340700002001371700002201391856011801413       2021                        eng d00aWRAPP-up: A Dual-Arm Robot for Intralogistics0 aWRAPPup A DualArm Robot for Intralogistics  a50-660 v283 a<p>The diffusion of e-commerce has produced larger and larger volumes of varying items to be handled in warehouses, with the effect that the need for picking automation is increasing. Conventionally, automation has been achieved through a custom plant designed for large-scale production of items having well-established characteristics that are expected to change slowly and to only a small degree over time. However, today the challenge is to realize a solution that is flexible enough to handle goods with different shapes, sizes, and physical properties and that require different grasping modes. To solve this problem, we first analyzed how humans perform picking and then synthesized their behavior according to four main tactics. These were then used as guidelines for the design, planning, and control of WRAPP-up, a dual-arm robot composed of two anthropomorphic manipulators: a Pisa/IIT SoftHand and a velvet tray (Figure 1). The system has been validated and evaluated through extensive experimental tests.</p>
1 aGarabini, Manolo1 aCaporale, Danilo1 aTincani, Vinicio1 aPalleschi, Alessandro1 aGabellieri, Chiara1 aGugliotta, Marco1 aSettimi, Alessandro1 aCatalano, Manuel, Giuseppe1 aGrioli, Giorgio1 aPallottino, Lucia  uhttps://ieeexplore.ieee.org/document/9212558?fbclid=IwAR05rgEATvdOFrtQWMrNKMrGHGfvtKE4MEKcj3i9pb6KAI4XTdhMqaq7MNc