In the final period of the CONCERT project, several novel technologies advanced collaborative robotics beyond the state of the art, particularly for automation in dynamic, unstructured environments like construction. Key progress areas included mechatronic development, software architecture, safety mechanisms, human-robot interaction, and real-world validation.
A major milestone was the fabrication of the modular CONCERT mobile manipulation system, including actuation units, modular joints, passive link modules, and specialized end-effectors (drill, spraying tool, high-force gripper). These components, along with a fully developed and tested mobile robotic platform, underwent rigorous validation. Interaction force estimation modules enabled precise contact detection and force monitoring.
A unified approach for automatic robot-model generation was implemented, enhancing adaptability across configurations. Robot model detection from the communication bus was extended to mobility modules and end-effectors, supporting diverse tasks. Joint variable impedance modulation improved interaction safety and efficiency.
The XBot2 real-time middleware was successfully deployed, along with a multi-device graphical user interface. A breakthrough in construction robot programming based on Building Information Modelling (BIM) streamlined task parameterization. Additionally, a benchmarking toolbox for modular robot configurations introduced a genetic algorithm-based optimization approach.
To ensure safe human-robot collaboration, the project developed SARA-shield, an open-source safety software integrated into XBot2. Real-world validation included two weeks of field trials on active construction sites, testing drilling, spraying, and formwork assembly in collaboration with BUDIMEX personnel. A virtual reality-based hazard analysis environment was also developed to define safety guidelines.
By the project’s conclusion, a fully integrated robotic platform combining advanced hardware, intelligent perception, and control had been realized. The success of these technologies in real-world construction highlights the potential of modular robots to enhance efficiency, safety, and flexibility in demanding industries.
Exploitation and Dissemination
The CONCERT project delivered key exploitable results in modular robotics and automation. This includes modular robot components (high-torque actuators, mobility units, adaptive links) with advanced impedance control and contact sensing. Specialized end-effectors, such as a modular gripper and construction tool modules, address high-payload requirements and could be integrated into other robotic systems.
A configurable robotic software framework ensures seamless hardware integration, with a patent securing its market exclusivity. The CONCERT collaborative robot platform, designed for rapid reconfiguration, features a patented coupling mechanism for mechanical, electrical, and communication integration. Its adaptability gives it a competitive edge with no direct rivals.
To drive commercialization, technologies were showcased at automation fairs and industry events. Plans to explore a startup for industrialization will ensure broad adoption.
On the scientific front, the project produced 14 journal papers and 28 conference publications. It demonstrated results at over 10 industrial exhibitions, organized three major robotics workshops (IEEE ICRA, IEEE/RSJ IROS), and delivered more than 15 invited talks, including keynote presentations.
Moving forward, the project’s innovations will support broader industrial adoption, bridging robotic automation with human-centric collaboration and reshaping robotics in construction.
