Highly customizable robotic solutions for effective and safe human robot collaboration in manufacturing applications

Project Information

FourByThree

Grant agreement ID: 637095

DOI 10.3030/637095

Project closed

EC signature date 13 November 2014

Start date 1 December 2014

End date 30 November 2017

Funded under

• INDUSTRIAL LEADERSHIP - Leadership in enabling and industrial technologies - Advanced manufacturing and processing

Total cost € 6 859 721,75

EU contribution € 6 305 517,00

Coordinated by

FUNDACION TEKNIKER
Spain

Deliverables

Websites, patent fillings, videos etc. (2)

Dissemination material

Initial dissemination material to be used for dissemination

Website

Website, including both public and private sites.

Documents, reports (13)

Periodical reports on experiments (III)

Periodical report of the experiments and the results obtained in the Continuous Experimentation Lab and Pilot Studies

Final report on experiments in Pilots

Report of the experiments and the results obtained and the pilots and benchmarks.

Report on Communication and Dissemination activities I

Report of all communication and dissemination activities carried out in the first half of the project

Periodical reports on experiments (IV)

Periodical report of the experiments and the results obtained in the Continuous Experimentation Lab and Pilot Studies

Periodical reports on experiments (I)

Periodical report of the experiments and the results obtained in the Continuous Experimentation Lab and Pilot Studies

Human centered design of safe human robot collaborative working environment

Report including the complete plan to implement the human centered design approach

Guidelines for collaborative workspaces definition workspace

Design method for a collaborative layout under consideration of process characteristics, safety requirements and organisational aspectsProcess planning including an intelligent distribution of tasks between human and robot.

Report on Communication and Dissemination activities II

Report of all communication and dissemination activities carried out in the second half of the project

Design for Human-Robot Collaborative assembly

Report on impact of Human-robot collaboration in the DFA methodology

Definition of experiment and validation procedure

Document explaining the experiments to be done in the project and the validation procedures

Scenario analysis and specification and configuration of the scenarios at the end users

Report including the analysis in detail of the Pilots, and the specifications for the robotic systems in each of them

System Architecture

Overall architecture, including the hardware, software and communication mechanisms

Periodical reports on experiments (II)

Periodical report of the experiments and the results obtained in the Continuous Experimentation Lab and Pilot Studies

Demonstrators, pilots, prototypes (1)

Robot prototypes

Prototype robots. There will be different releases including those not completely functional for intermediate testing and support in the development process

Publications

Peer reviewed articles (19)

Multi-robot spot-welding cells for car-body assembly: Design and motion planning

Author(s): Stefania Pellegrinelli, Nicola Pedrocchi, Lorenzo Molinari Tosatti, Anath Fischer, Tullio Tolio
Published in: Robotics and Computer-Integrated Manufacturing, Issue 44, 2017, Page(s) 97-116, ISSN 0736-5845
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.rcim.2016.08.006

Fingertip Fiber Optical Tactile Array with Two-Level Spring Structure

Author(s): Jelizaveta Konstantinova, Agostino Stilli, Kaspar Althoefer
Published in: Sensors, Issue 17/10, 2017, Page(s) 2337, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s17102337

Iterative Learning Procedure with Reinforcement for High-Accuracy Force Tracking in Robotized Tasks

Author(s): Loris Roveda, Giacomo Pallucca, Nicola Pedrocchi, Francesco Braghin, Lorenzo Molinari Tosatti
Published in: IEEE Transactions on Industrial Informatics, 2017, Page(s) 1-1, ISSN 1551-3203
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TII.2017.2748236

Natural multimodal communication for human–robot collaboration

Author(s): Iñaki Maurtua, Izaskun Fernández, Alberto Tellaeche, Johan Kildal, Loreto Susperregi, Aitor Ibarguren, Basilio Sierra
Published in: International Journal of Advanced Robotic Systems, Issue 14/4, 2017, Page(s) 172988141771604, ISSN 1729-8814
Publisher: SAGE journals
DOI: 10.1177/1729881417716043

Human–robot collaboration in industrial applications

Author(s): Iñaki Maurtua, Aitor Ibarguren, Johan Kildal, Loreto Susperregi, Basilio Sierra
Published in: International Journal of Advanced Robotic Systems, Issue 14/4, 2017, Page(s) 172988141771601, ISSN 1729-8814
Publisher: SAGE publishers
DOI: 10.1177/1729881417716010

Discrete-Time Formulation for Optimal Impact Control in Interaction Tasks

Author(s): Loris Roveda, Niccoló Iannacci, Lorenzo Molinari Tosatti
Published in: Journal of Intelligent & Robotic Systems, 2017, ISSN 0921-0296
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s10846-017-0683-6

Motion planning and scheduling for human and industrial-robot collaboration

Author(s): Stefania Pellegrinelli, Andrea Orlandini, Nicola Pedrocchi, Alessandro Umbrico, Tullio Tolio
Published in: CIRP Annals, Issue 66/1, 2017, Page(s) 1-4, ISSN 0007-8506
Publisher: Hallwag AG
DOI: 10.1016/j.cirp.2017.04.095

Safeguarding and Supporting Future Human-robot Cooperative Manufacturing Processes by a Projection- and Camera-based Technology

Author(s): Christian Vogel, Christoph Walter, Norbert Elkmann
Published in: Procedia Manufacturing, Issue 11, 2017, Page(s) 39-46, ISSN 2351-9789
Publisher: Elseiver
DOI: 10.1016/j.promfg.2017.07.127

A Geometry Deformation Model for Braided Continuum Manipulators

Author(s): S. M. Hadi Sadati, S. Elnaz Naghibi, Ali Shiva, Yohan Noh, Aditya Gupta, Ian D. Walker, Kaspar Althoefer, Thrishantha Nanayakkara
Published in: Frontiers in Robotics and AI, Issue 4, 2017, ISSN 2296-9144
Publisher: Frontiers
DOI: 10.3389/frobt.2017.00022

A Novel Concept for Safe, Stiffness-Controllable Robot Links

Author(s): Agostino Stilli, Helge A. Wurdemann, Kaspar Althoefer
Published in: Soft Robotics, Issue 4/1, 2017, Page(s) 16-22, ISSN 2169-5172
Publisher: Mary Ann Liebert, Inc.
DOI: 10.1089/soro.2016.0015

Embroidered Electromyography: A Systematic Design Guide

Author(s): Ali Shafti, Roger B. Ribas Manero, Amanda M. Borg, Kaspar Althoefer, Matthew J. Howard
Published in: IEEE Transactions on Neural Systems and Rehabilitation Engineering, Issue 25/9, 2017, Page(s) 1472-1480, ISSN 1534-4320
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TNSRE.2016.2633506

An interaction controller formulation to systematically avoid force overshoots through impedance shaping method with compliant robot base

Author(s): Loris Roveda, Nicola Pedrocchi, Federico Vicentini, Lorenzo Molinari Tosatti
Published in: Mechatronics, Issue 39, 2016, Page(s) 42-53, ISSN 0957-4158
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.mechatronics.2016.08.001

What are features? An ontology-based review of the literature

Author(s): Emilio M. Sanfilippo, Stefano Borgo
Published in: Computer-Aided Design, Issue 80, 2016, Page(s) 9-18, ISSN 0010-4485
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.cad.2016.07.001

Skill-based Dynamic Task Allocation in Human-Robot-Cooperation with the Example of Welding Application

Author(s): Rainer Müller, Matthias Vette, Aaron Geenen
Published in: Procedia Manufacturing, Issue 11, 2017, Page(s) 13-21, ISSN 2351-9789
Publisher: Elseiver
DOI: 10.1016/j.promfg.2017.07.113

Modelling the temperature in joint friction of industrial manipulators

Author(s): Luca Simoni, Manuel Beschi, Giovanni Legnani, Antonio Visioli
Published in: Robotica, 2017, Page(s) 1-22, ISSN 0263-5747
Publisher: Cambridge University Press
DOI: 10.1017/S0263574717000509

Planning and execution with flexible timelines: a formal account

Author(s): Marta Cialdea Mayer, Andrea Orlandini, Alessandro Umbrico
Published in: Acta Informatica, Issue Acta Informatica, 2016, ISSN 0001-5903
Publisher: Springer Verlag
DOI: 10.1007/s00236-015-0252-z

Optimal Impedance Force-Tracking Control Design With Impact Formulation for Interaction Tasks

Author(s): Loris Roveda, Niccolo Iannacci, Federico Vicentini, Nicola Pedrocchi, Francesco Braghin, Lorenzo Molinari Tosatti
Published in: IEEE Robotics and Automation Letters, Issue 1/1, 2016, Page(s) 130-136, ISSN 2377-3766
Publisher: IEEE Robotics and Automation Society
DOI: 10.1109/LRA.2015.2508061

A probabilistic approach to workspace sharing for human–robot cooperation in assembly tasks

Author(s): Stefania Pellegrinelli, Federico Lorenzo Moro, Nicola Pedrocchi, Lorenzo Molinari Tosatti, Tullio Tolio
Published in: CIRP Annals - Manufacturing Technology, Issue 65/1, 2016, Page(s) 57-60, ISSN 0007-8506
Publisher: Hallwag AG
DOI: 10.1016/j.cirp.2016.04.035

Industrial compliant robot bases in interaction tasks: a force tracking algorithm with coupled dynamics compensation

Author(s): Loris Roveda, Nicola Pedrocchi, Federico Vicentini, Lorenzo Molinari Tosatti
Published in: Robotica, 2016, Page(s) 1-15, ISSN 0263-5747
Publisher: Cambridge University Press
DOI: 10.1017/S0263574716000461

Conference proceedings (30)

Autonomous Object Handover Using Wrist Tactile Information

Author(s): Jelizaveta Konstantinova, Senka Krivic, Agostino Stilli, Justus Piater, Kaspar Althoefer
Published in: owards Autonomous Robotic Systems. TAROS 2017. Lecture Notes in Computer Science, Issue 1/12, 2017, Page(s) 450-463, ISBN 978-3-319-64107-2
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-64107-2_35

Object Classification Using Hybrid Fiber Optical Force/Proximity Sensor

Author(s): Konstantinova, J; Cotugno, G; Stilli, A; Noh, Y; Althoefer, K
Published in: IEEE Sensors conference, Issue 1/12, 2017
Publisher: IEEE

Planning and Execution with Robot Trajectory Generation in Industrial Human-Robot Collaboration

Author(s): Amedeo Cesta, Lorenzo Molinari Tosatti, Andrea Orlandini, Nicola Pedrocchi, Stefania Pellegrinelli, Tullio Tolio, Alessandro Umbrico
Published in: Proc. Of 4th Italian Workshop on Artificial Intelligence and Robotics (AIRO 2017), 2017
Publisher: Springer

Complexity of Timeline-based Planning

Author(s): Nicola Gigante, Marta Cialdea Mayer, Angelo Montanari, Andrea Orlandini
Published in: Proc. Of the 27th International Conference on Automated Planning and Scheduling (ICAPS 2017)., 2017
Publisher: AAAI

Methodology for design of mechatronic robotic manipulators based on suitability for modern application scenarios

Author(s): R. Müller; M. Vette; A. Geenen; T. Masiak; A. Kanso
Published in: 20th World Congress The International Federation of Automatic Control Toulouse, France, Issue 1/12, 2017, Page(s) 13266-13272
Publisher: IFAC-PapersOnLine

Sealing process on a large floor grid crossbeam assembly by human-robot-cooperation

Author(s): R. Müller; M. Vette; A. Geenen
Published in: 20th IFAC World Congress, 2017
Publisher: IFAC online publishing

Improving Working Conditions in Aircraft Productions using Human-Robot-Collaboration in a Collaborative Riveting Process

Author(s): Rainer Mueller, Matthias Vette, Aaron Geenen, Tobias Masiak
Published in: SAE Technical Paper Series, 2017
Publisher: SAE International
DOI: 10.4271/2017-01-2096

Reactive motion planning for mobile continuum arm in dynamic industrial environment

Author(s): AHMAD ATAKA, ALI SHIVA, ALI SHAFTI, HELGE WURDEMANN, KASPAR ALTHOEFER
Published in: Proceedings of the 19th International Conference on Clawar 2016, Issue 1/12, 2016, Page(s) 178-185, ISBN 9789-813149120
Publisher: WORLD SCIENTIFIC
DOI: 10.1142/9789813149137_0023

Revisiting the End User’s Perspective in Collaborative Human-Robot Interaction

Author(s): JOHAN KILDAL, IÑAKI MAURTUA
Published in: Workshop on Collaborative Robots for Industrial Applications, CLAWAR, Issue 12, 2016, Page(s) 196-204
Publisher: WORLD SCIENTIFIC
DOI: 10.1142/9789813149137_0025

Fingertip proximity sensor with realtime visual-based calibration

Author(s): J. Konstantinova, A. Stilli, A. Faragasso, K. Althoefer
Published in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Issue 1/12, 2016, Page(s) 170-175, ISBN 978-1-5090-3762-9
Publisher: IEEE
DOI: 10.1109/IROS.2016.7759051

Towards a planning-based framework for symbiotic human-robot collaboration

Author(s): Amedeo Cesta, Andrea Orlandini, Giulio Bernardi, Alessandro Umbrico
Published in: 2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA), 2016, Page(s) 1-8, ISBN 978-1-5090-1314-2
Publisher: IEEE
DOI: 10.1109/ETFA.2016.7733585

Enhancing safe human-robot collaboration through natural multimodal communication

Author(s): Inaki Maurtua, Izaskun Fernandez, Johan Kildal, Loreto Susperregi, Alberto Tellaeche, Aitor Ibarguren
Published in: 2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA), 2016, Page(s) 1-8, ISBN 978-1-5090-1314-2
Publisher: IEEE
DOI: 10.1109/ETFA.2016.7733573

Designing embroidered electrodes for wearable surface electromyography

Author(s): A. Shafti, R. B. Ribas Manero, A. M. Borg, K. Althoefer, M. J. Howard
Published in: 2016 IEEE International Conference on Robotics and Automation (ICRA), Issue 1/12, 2016, Page(s) 172-177, ISBN 978-1-4673-8026-3
Publisher: IEEE
DOI: 10.1109/ICRA.2016.7487131

Designing Modular Series-Elastic Actuators for Safe Human-Robot Collaboration in Industrial Setting

Author(s): JOSÉ DE GEA FERNÉNDEZ, HOLGER SPRENGEL, MARTIN MALLWITZ, MICHAEL ZIPPER, BINGBIN YU, VINZENZ BARGSTEN
Published in: CLAWAR, 2016, Issue 1/12, 2016, Page(s) 135-142
Publisher: WORLD SCIENTIFIC
DOI: 10.1142/9789813149137_0019

Human-robot shared workspace collaboration via hindsight optimization

Author(s): Stefania Pellegrinelli, Henny Admoni, Shervin Javdani, Siddhartha Srinivasa
Published in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Page(s) 831-838, ISBN 978-1-5090-3762-9
Publisher: IEEE
DOI: 10.1109/IROS.2016.7759147

Projection-based sensor system for providing safety and interaction capabilities in human-robot cooperative applications

Author(s): Vogel, C
Published in: ERF 2016, 3rd Workshop on Hybrid Production Systems, 2016
Publisher: ERF

Novel method to form adaptive internal impedance profiles in walkers

Author(s): Maximilano F. Escudero Morland, Kaspar Althoefer, Thrishantha Nanayakkara
Published in: 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2015, Page(s) 7764-7767, ISBN 978-1-4244-9271-8
Publisher: IEEE
DOI: 10.1109/EMBC.2015.7320192

A Novel Inflatable and Stiffness-Controllable Endoscope for Minimal Invasive Surgery

Author(s): Stilli, A. Cremoni, H. A. Wurdemann, K. Althoefer
Published in: 2016
Publisher: EMBC2016

Towards safer obstacle avoidance for continuum-style manipulator in dynamic environments

Author(s): Ahmad Ataka, Peng Qi, Ali Shiva, Ali Shafti, Helge Wurdemann, Prokar Dasgupta, Kaspar Althoefer
Published in: 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), Issue 1/12, 2016, Page(s) 600-605, ISBN 978-1-5090-3287-7
Publisher: IEEE
DOI: 10.1109/BIOROB.2016.7523691

Tutorial session: Real-world applications of human-robot interaction

Author(s): C. Vogel, J. Saenz, N. Elkmann,
Published in: ICRA 2015, 2015
Publisher: ICRA 2015

Real-time pose estimation and obstacle avoidance for multi-segment continuum manipulator in dynamic environments

Author(s): Ahmad Ataka, Peng Qi, Ali Shiva, Ali Shafti, Helge Wurdemann, Hongbin Liu, Kaspar Althoefer
Published in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Issue 1/12, 2016, Page(s) 2827-2832, ISBN 978-1-5090-3762-9
Publisher: IEEE
DOI: 10.1109/IROS.2016.7759438

Analysis of comfort and ergonomics for clinical work environments

Author(s): Ali Shafti, Beatriz Urbistondo Lazpita, Oussama Elhage, Helge A. Wurdemann, Kaspar Althoefer
Published in: 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Issue 1/12, 2016, Page(s) 1894-1897, ISBN 978-1-4577-0220-4
Publisher: IEEE
DOI: 10.1109/EMBC.2016.7591091

Design knowledge representation: An ontological perspective

Author(s): E. M. Sanfilippo1, C. Masolo, and D. Porello
Published in: AIDE2015, 2015
Publisher: AIDE2015

Dynamic Task Planning for Safe Human Robot Collaboration

Author(s): G. Bernardi, A. Cesta, A. Orlandini and A. Umbrico,
Published in: Proc. Of the ICAPS Workshop on Planning, Scheduling and Dependability in Safe Human-Robot Interaction (SafePlan), Issue 1/12, 2016
Publisher: ICAPS 2016

FourByThree: Imagine humans and robots working hand in hand

Author(s): Inaki Maurtua, Nicola Pedrocchi, Andrea Orlandini, Jose de Gea Fernandez, Christian Vogel, Aaron Geenen, Kaspar Althoefer, Ali Shafti
Published in: 2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA), Issue 1/12, 2016, Page(s) 1-8, ISBN 978-1-5090-1314-2
Publisher: IEEE
DOI: 10.1109/ETFA.2016.7733583

Interacting with collaborating robots in industrial environments: a semantic approach

Author(s): I. Maurtua, I. Fernandez, J. Kildal, L. Susperregi, A. Tellaeche, A. Ibarguren
Published in: SafePlan Workshop (ICAPS), 2016, Issue 1/12, 2016
Publisher: ICAPS

Real-Time Obstacle Avoidance for Continuum Manipulator: Towards Safer Application in Human Environments

Author(s): A. Ataka, A. Shiva, A. Shafti, H. A. Wurdemann, K. Althoefer,
Published in: 26th International Conference on Automated Planning and Scheduling ICAPS 2016 - London, United Kingdom, 2016
Publisher: SAFEPLAN WORKSHOP ICAPS 2016

Cartesian tasks oriented friction compensation through a reinforcement learning approach

Author(s): Loris Roveda, Giacomo Pallucca, Nicola Pedrocchi, Francesco Braghin, Lorenzo Molinari Tosatti
Published in: 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2016, Page(s) 895-900, ISBN 978-1-5090-2065-2
Publisher: IEEE
DOI: 10.1109/AIM.2016.7576882

Impedance Control based Force-tracking Algorithm for Interaction Robotics Tasks: An Analytically Force Overshoots-free Approach

Author(s): Loris Roveda, Federico Vicentini, Nicola Pedrocchi, Lorenzo Molinari Tosatti
Published in: Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics, 2015, Page(s) 386-391, ISBN 978-989-758-122-9
Publisher: SCITEPRESS - Science and and Technology Publications
DOI: 10.5220/0005565403860391

A general analytical procedure for robot dynamic model reduction

Author(s): Manuel Beschi, Enrico Villagrossi, Nicola Pedrocchi, Lorenzo Molinari Tosatti
Published in: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, Page(s) 4127-4132, ISBN 978-1-4799-9994-1
Publisher: IEEE
DOI: 10.1109/IROS.2015.7353960

Book chapters (2)

PLATINUM: A new Framework for Planning and Acting

Author(s): Alessandro Umbrico, Amedeo Cesta, Marta Cialdea Mayer, Andrea Orlandini
Published in: Advances in Artificial Intelligence, AI*IA 2017, Issue 1/12, 2017, Page(s) 498-512, ISBN 978-3-319-70168-4
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-70169-1_37

Feature-Based Modelling and Information Systems for Engineering

Author(s): Emilio M. Sanfilippo, Stefano Borgo
Published in: AI*IA 2015 Advances in Artificial Intelligence, 2015, Page(s) 151-163, ISBN 978-3-319-24309-2
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-24309-2_12

Other (1)

EU Projekt FourByThree - Auf dem Weg zu eigensicheren Robotern

Author(s): Jose de Gea Fernandez Marc Ronthaler
Published in: Industrie 4.0 Management, Issue Bimonthly, 2016, Page(s) 33-36, ISSN 2364-9208
Publisher: Gito mbH Verlag