The software modules (direct and inverse kinematics, basic trajectory planning algorithms, …) to move and control the robotic devices in “closed-loop” are being developed. The modules have been tested in a real scenario using the bimanual manipulator of DFKI-Robotics Innovation Center in the framework of integrated action between Universidad Miguel Hernandez and DFKI-Robotics Innovation Center (wit the financial support of Economy and Competitiveness Ministry PRI-AIBDE-2011-1219). This bimanual manipulator is quite similar to the one designed for HERMES project.

In parallel, the software modules to read and pre-process data of the different sensors available on the robot have been implemented. Moreover, The software modules to recognize relevant objects such as shoes, packaging paper, shoebox, has been implemented and tested.

The design of the robotic solution has been finished and evaluated in a simulation environment. The forward and inverse kinematics modules were implemented using the MATLAB/Simulink software. The software modules to move and control the robotic devices in “open-loop” are being developed and tested.

Based on the acquired knowledge of the natural behaviour of humans interacting with shoes in the packaging process, technical requirements of robot kinematics were obtained. Different kinematic configurations of the robot hardware were simulated using Matlab/Simulink and ROS. Finally, we defined a 7 DOF robot configuration using PRL modules manufactured by Schunk and custom-made links.