Seamless and safe human - centred robotic applications for novel collaborative workplaces

Informacje na temat projektu

SHERLOCK

Identyfikator umowy o grant: 820689

DOI

10.3030/820689

Projekt został zamknięty

Data podpisania przez KE 3 Sierpnia 2018

Data rozpoczęcia 1 Października 2018

Data zakończenia 30 Września 2022

Finansowanie w ramach

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

Koszt całkowity

€ 7 939 022,50

Wkład UE

€ 7 939 022,50

Koordynowany przez

PANEPISTIMIO PATRON
Greece

CORDIS oferuje możliwość skorzystania z odnośników do publicznie dostępnych publikacji i rezultatów projektów realizowanych w ramach programów ramowych HORYZONT.

Odnośniki do rezultatów i publikacji związanych z poszczególnymi projektami 7PR, a także odnośniki do niektórych konkretnych kategorii wyników, takich jak zbiory danych i oprogramowanie, są dynamicznie pobierane z systemu OpenAIRE .

Rezultaty

Demonstrators, pilots, prototypes (27)

CALPAK – Solar Thermal Collectors pre-pilot demonstrator setup and prototypes integration

This deliverable will report the CALPAK initial demonstrator setup in LMS developed in Task 62

Indirect human robot interaction and awareness – First prototype

This deliverable will document the first prototypes of the indirect HRI and awareness modules from Task 3.2 and Task 3.3

SHERLOCK soft robotics collaborative production station – Initial version

This deliverable will describe the first version of the station integrating the SHERLOCK developments

Autonomous learning and programming methods – First Prototype

Report of the first prototypes of the autonomous learning and programming modules undertaken in Tasks 45 and Task 46

Indirect human robot interaction and awareness – Final prototype

This deliverable will document the final prototypes of indirect HRI and awareness modules developed in Task 3233

Online safety assessment module – Final Prototype

This deliverable will contain a description of the final prototype of the online monitoring module undertaken in task 53

VR based tools for evaluation of HRC operations – Final prototype

Report on the final prototypes of the fully functional version of VR tools for evaluation of HRC cells undertaken in task 52

Workspace monitoring and digital twin – First prototype

This deliverable will report the prototypes of the environment perception and digital twin models developed in Tasks 4.2 and 4.3

SOFITEC - Aeronautics Structures Production pre-pilot demonstrator setup and prototypes integration

Report of the SOFITEC initial demonstrator at TECNALIA in Task 65

FIDIA – Machine Tools pre-pilot demonstrator setup and prototypes integration

This deliverable will report the FIDIA initial demonstrator developed in Task 64

CALPAK - Solar Thermal Collectors final demonstrator execution

This deliverable will contain a description of the CALPAK final demonstrator, setup at CALPAK premises, developed in Task 6.2

Process perception modules – Final prototype

This deliverable will contain a description of the final prototypes of the process perception modules undertaken in task 41

VR based tools for evaluation of HRC operations – First prototype

Report on the first prototypes of the VR tools for immersive and interactive evaluation of HRC cells, undertaken in task 5.2

SOFITEC - Aeronautics Structures Production final demonstrator execution

Report of the SOFITEC final demonstrator, setup in SOFITEC premises and developed in Task 6.5

SHERLOCK tools for AR/VR enabled operator training

This deliverable will contain a description of the first prototypes of the training modules using ARVR technology undertaken in tasks 54

FIDIA - Machine Tools final demonstrator execution

This deliverable will contain a description of the FIDIA final demonstrator, developed in Task 6.4

SHERLOCK Online task planning module – Final Prototype

This deliverable will contain a description of the first prototypes of the AIenabled task planning modules undertaken in Task 44

Autonomous learning and programming methods – Final Prototype

Report of the final prototypes of the autonomous learning and programming modules undertaken in Tasks 45 and 46

Online safety module – First Prototype

This deliverable will contain a description of the first prototype of the online monitoring module, undertaken in task 5.3.

Process perception modules – First prototype

This deliverable will contain a description of the first prototypes of the process perception modules developed in task 4.1

SHERLOCK soft robotics collaborative production station - Final version

This deliverable will describe the final version of the station integrating the SHERLOCK developments

VDLIM - Industrial Modules final demonstrator execution

This deliverable will contain a description of the VDLIM final demonstrator, developed in Task 6.3

SHERLOCK Online task planning module – First Prototype

This deliverable will contain a description of the first prototypes of the AI-enabled task planning modules, undertaken in Tasks 4.4

VDLIM – Industrial Modules pre-pilot demonstrator setup and prototypes integration

This deliverable will report the VDLIM initial demonstrator developed in Task 63

Workspace monitoring and digital twin – Final prototype

Report of the final prototypes for the environment perception and digital twin models undertaken in tasks 42 and Task 43

Human Robot Interaction modules – Final prototype

This deliverable will contain a description of the final prototypes of the HRI modules undertaken in task 31

Human Robot Interaction modules – First prototype

This deliverable will contain a description of the first prototypes of the HRI modules, undertaken in Task 3.1

Open Research Data Pilot (1)

Data Management Plan

Websites, patent fillings, videos etc. (1)

SHERLOCK public web portal

Report containing actions of design and implementation of SHERLOCK’s public web portal for communication and dissemination activities

Publikacje

Peer reviewed articles (20)

Automatic simulation-based design and validation of robotic gripper fingers

Autorzy: Ramasubramanian, A. K., Connolly, M., Mathew, R., & Papakostas, N
Opublikowane w: CIRP Annals, Numer 00078506, 2022, ISSN 0007-8506
Wydawca: Hallwag AG
DOI: 10.1016/j.cirp.2022.04.054

Power and force limiting on industrial robots for human-robot collaboration

Autorzy: P. Aivaliotis, S. Aivaliotis, C. Gkournelos, K. Kokkalis, G. Michalos, S. Makris
Opublikowane w: Robotics and Computer-Integrated Manufacturing, Numer 59, 2019, Strona(/y) 346-360, ISSN 0736-5845
Wydawca: Pergamon Press Ltd.
DOI: 10.1016/j.rcim.2019.05.001

Histogram-Based Descriptor Subset Selection for Visual Recognition of Industrial Parts

Autorzy: Ibon Merino, Jon Azpiazu, Anthony Remazeilles, Basilio Sierra
Opublikowane w: Applied Sciences, Numer 10/11, 2020, Strona(/y) 3701, ISSN 2076-3417
Wydawca: Multidisciplinary Digital Publishing Institute
DOI: 10.3390/app10113701

Flexure-based Environmental Compliance for High-speed Robotic Contact Tasks

Autorzy: Richard Matthias Hartisch; Kevin Haninger
Opublikowane w: ASME International Conference on Advanced Intelligent Mechatronics (AIM), Numer 21596255, 2022, ISSN 2159-6255
Wydawca: IEEE
DOI: 10.1109/aim52237.2022.9863334

Digital Twin for Human–Robot Collaboration in Manufacturing: Review and Outlook

Autorzy: Ramasubramanian, A. K., Mathew, R., Kelly, M., Hargaden, V., & Papakostas, N.
Opublikowane w: MDPI Applied Sciences, Numer 20763417, 2022, ISSN 2076-3417
Wydawca: MDPI
DOI: 10.3390/app12104811

Seamless Human–Robot Collaborative Assembly Using Artificial Intelligence and Wearable Devices

Autorzy: Nikos Dimitropoulos, Theodoros Togias, Natalia Zacharaki, George Michalos, Sotiris Makris
Opublikowane w: Applied Sciences, Numer 11/12, 2021, Strona(/y) 5699, ISSN 2076-3417
Wydawca: Multidisciplinary Digital Publishing Institute
DOI: 10.3390/app11125699

Towards High-Payload Admittance Control for Manual Guidance With Environmental Contact

Autorzy: Kevin Haninger; Marcel Radke; Axel Vick; Jörg Krüger
Opublikowane w: IEEE Robotics and Automation Letters, Numer 23773766, 2022, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.1109/lra.2022.3150051

Contact Information Flow and Design of Compliance

Autorzy: Kevin Haninger; Marcel Radke; Richard Hartisch; Jörg Krüger
Opublikowane w: ASME International Conference on Advanced Intelligent Mechatronics (AIM), Numer 21596255, 2022, ISSN 2159-6255
Wydawca: IEEE
DOI: 10.1109/aim52237.2022.9863254

Minimum directed information: A design principle for compliant robots

Autorzy: Haninger, Kevin
Opublikowane w: ICRA 2021, Numer June 2021, 2021, Strona(/y) 11953 - 11960, ISSN 2577-087X
Wydawca: IEEE
DOI: 10.1109/icra48506.2021.9561976

A Real Application of an Autonomous Industrial Mobile Manipulator within Industrial Context

Autorzy: Jose Luis Outón, Ibon Merino, Iván Villaverde, Aitor Ibarguren, Héctor Herrero, Paul Daelman, Basilio Sierra
Opublikowane w: Electronics, Numer 10/11, 2021, Strona(/y) 1276, ISSN 2079-9292
Wydawca: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/electronics10111276

An outlook on future hybrid assembly systems - the Sherlock approach

Autorzy: Nikos Dimitropoulos, George Michalos, Sotiris Makris
Opublikowane w: Procedia CIRP, Numer 97, 2021, Strona(/y) 441-446, ISSN 2212-8271
Wydawca: Elsevier
DOI: 10.1016/j.procir.2020.08.004

An admittance based hierarchical control framework for dual-arm cobots

Autorzy: Sonny Tarbouriech; Benjamin Navarro; Philippe Fraisse; André Crosnier; Andrea Cherubini; Damien Sallé
Opublikowane w: https://hal.archives-ouvertes.fr/hal-02887280, Numer 09574158, 2022, ISSN 0957-4158
Wydawca: Pergamon Press Ltd.
DOI: 10.1016/j.mechatronics.2022.102814

An approach for task and action planning in Human–Robot Collaborative cells using AI

Autorzy: George Evangelou, Nikos Dimitropoulos, George Michalos, Sotiris Makris
Opublikowane w: Procedia CIRP, Numer 97, 2021, Strona(/y) 476-481, ISSN 2212-8271
Wydawca: Elsevier
DOI: 10.1016/j.procir.2020.08.006

On using human activity recognition sensors to improve the performance of collaborative mobile manipulators: Review and outlook

Autorzy: Aswin K Ramasubramanian, Syed M. Aiman, Nikolaos Papakostas
Opublikowane w: Procedia CIRP, Numer 97, 2021, Strona(/y) 211-216, ISSN 2212-8271
Wydawca: Elsevier
DOI: 10.1016/j.procir.2020.05.227

Operator support in human–robot collaborative environments using AI enhanced wearable devices

Autorzy: Nikos Dimitropoulos, Theodoros Togias, George Michalos, Sotiris Makris
Opublikowane w: Procedia CIRP, Numer 97, 2021, Strona(/y) 464-469, ISSN 2212-8271
Wydawca: Elsevier
DOI: 10.1016/j.procir.2020.07.006

Operator - mobile robot collaboration for synchronized part movement

Autorzy: Aswin K Ramasubramanian, Nikolaos Papakostas
Opublikowane w: Procedia CIRP, Numer 97, 2021, Strona(/y) 217-223, ISSN 2212-8271
Wydawca: Elsevier
DOI: 10.1016/j.procir.2020.05.228

2D Features-based Detector and Descriptor Selection System for Hierarchical Recognition of Industrial Parts

Autorzy: Ibon Merino, Jon Azpiazu, Anthony Remazeilles, Basilio Sierra
Opublikowane w: International Journal of Artificial Intelligence & Applications, Numer 10/6, 2019, Strona(/y) 1-13, ISSN 0976-2191
Wydawca: AIRCC
DOI: 10.5121/ijaia.2019.10601

Path Driven Dual Arm Mobile Co-Manipulation Architecture for Large Part Manipulation in Industrial Environments

Autorzy: Aitor Ibarguren, Paul Daelman
Opublikowane w: Sensors, Numer 21/19, 2021, Strona(/y) 6620, ISSN 1424-8220
Wydawca: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s21196620

Will Operators Work in Close Proximity to Industrial Robots? A Study of Acceptance Using Psychological and Physiological Responses

Autorzy: Iveta Eimontaite, Cyril Jaksic, Sarah Fletcher, Teegan Johnson, Anne-Marie Oostveen
Opublikowane w: SSRN Electronic Journal, 2020, ISSN 1556-5068
Wydawca: SSRN
DOI: 10.2139/ssrn.3718020

Dual Arm Co-Manipulation Architecture with Enhanced Human–Robot Communication for Large Part Manipulation

Autorzy: Aitor Ibarguren, Iveta Eimontaite, José Luis Outón, Sarah Fletcher
Opublikowane w: Sensors, Numer 20/21, 2020, Strona(/y) 6151, ISSN 1424-8220
Wydawca: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s20216151

Conference proceedings (12)

Control Strategies for Dual Arm Co-Manipulation of Flexible Objects in Industrial Environments

Autorzy: Aitor Ibarguren, Paul Daelman, Miguel Prada
Opublikowane w: 2020 IEEE Conference on Industrial Cyberphysical Systems (ICPS), Numer 2020, 2020, Strona(/y) 514-519, ISBN 978-1-7281-6389-5
Wydawca: IEEE
DOI: 10.1109/icps48405.2020.9274711

Online Prediction for Safe Human-Robot Collaboration: A Model of the Human Arm

Autorzy: Binchi, Jacopo; Mangeruca, Leonardo; Rucco, Matteo; Orlando, Ferrante; Minissale, Alfio; Abba', Fabio Francesco
Opublikowane w: Procedia CIRP, Numer 29 Sept 2020, 2020
Wydawca: Elsevier
DOI: 10.5281/zenodo.3901416

Using a process simulation platform for reviewing automated airport baggage handling system configurations

Autorzy: Fay, B., Ramasubramanian, A. K., Murphy, R. D., Adderley, T., & Papakostas, N.
Opublikowane w: PROCEDIA CIRP, 2022
Wydawca: Elsevier
DOI: 10.1016/j.procir.2022.09.069

Impedance Adaptation by Reinforcement Learning with Contact Dynamic Movement Primitives

Autorzy: Chunyang Chang, Kevin Haninger, Yunlei Shi, Chengjie Yuan, Zhaopeng Chen, Jianwei Zhang
Opublikowane w: ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2022
Wydawca: IEEE
DOI: 10.1109/aim52237.2022.9863416

An approach for monitoring the execution of human based assembly operations using machine learning

Autorzy: George Andrianakos, Nikos Dimitropoulos, George Michalos, Sotirios Makris
Opublikowane w: Procedia CIRP, Numer 86, 2019, Strona(/y) 198-203, ISSN 2212-8271
Wydawca: Elsevier B.V.
DOI: 10.1016/j.procir.2020.01.040

What dynamics should impedance-controlled robots render?

Autorzy: Haninger, Kevin; Dragoljub, Surdilovic; Bastidas Cruz, Arturo
Opublikowane w: 2019 International Conference on Robotics and Automation (ICRA) Workshop on physical human-robot interaction, Numer 24/5/2019, 2019
Wydawca: Electronic via Workshop Cordinator
DOI: 10.5281/zenodo.3833653

Preliminary development of the Psychological Factors Assessment Framework

Autorzy: Eimontaite, Iveta; Fletcher, Sarah
Opublikowane w: Ergonomics and Human Factors (EHF) 2020, Numer April 2020, 2020
Wydawca: CIEHF
DOI: 10.5281/zenodo.3835639

Bounded Collision Force by the Sobolev Norm

Autorzy: Kevin Haninger, Dragoljub Surdilovic
Opublikowane w: 2019 International Conference on Robotics and Automation (ICRA), Numer 20-24 May 2019, 2019, Strona(/y) 8529-8535, ISBN 978-1-5386-6027-0
Wydawca: IEEE
DOI: 10.1109/ICRA.2019.8793711

2d Image Features Detector and Descriptor Selection Expert System

Autorzy: Ibon Merino, Jon Azpiazu, Anthony Remazeilles, Basilio Sierra
Opublikowane w: 8th International Conference on Natural Language Processing (NLP 2019), Numer September 2019, 2019, Strona(/y) 51-61, ISBN 9781-925953084
Wydawca: Electronic
DOI: 10.5121/csit.2019.91206

Model Predictive Control with Gaussian Processes for Flexible Multi-Modal Physical Human Robot Interaction

Autorzy: Kevin Haninger; Christian Hegeler; Luka Peternel
Opublikowane w: International Conference on Robotics and Automation (ICRA), 2022
Wydawca: IEEE
DOI: 10.1109/icra46639.2022.9811590

Review and application of Edge AI solutions for mobile collaborative robotic platforms

Autorzy: Ramasubramanian, A. K., Mathew, R., Preet, I., & Papakostas, N.
Opublikowane w: Procedia CIRP - Conference on Manufacturing Systems, 2022
Wydawca: Elsevier
DOI: 10.1016/j.procir.2022.05.112

Realistic simulation of robotic grasping tasks: review and application

Autorzy: Matthew Connolly; Aswin K. Ramasubramanian; Matthew Kelly; Jack Mc. Evoy; Nikolaos Papakostas
Opublikowane w: Procedia CIRP, 2021
Wydawca: Elsevier
DOI: 10.1016/j.procir.2021.11.287

Book chapters (3)

Robot Inference of Human States: Performance and Transparency in Physical Collaboration

Autorzy: Kevin Haninger
Opublikowane w: The 21st Century Industrial Robot: When Tools Become Collaborators, Numer 81, 2021, Strona(/y) 55-69, ISSN 978-3-030-78512-3978-3-030-78513-0
Wydawca: Springer International Publishing
DOI: 10.1007/978-3-030-78513-0_4

Human Robot Collaboration in Industrial Environments

Autorzy: George Michalos Panagiotis Karagiannis Nikos Dimitropoulos Dionisis Andronas Sotiris Makris
Opublikowane w: The 21st Century Industrial Robot: When Tools Become Collaborators, Numer 81, 2021, Strona(/y) 17-39, ISSN 978-3-030-78512-3978-3-030-78513-0
Wydawca: Springer International Publishing
DOI: 10.1007/978-3-030-78513-0_2

Human–Robot Collaboration Using Visual Cues for Communication

Autorzy: Iveta Eimontaite
Opublikowane w: The 21st Century Industrial Robot: When Tools Become Collaborators, Numer 81, 2022, Strona(/y) 71-85, ISBN 978-3-030-78512-3
Wydawca: Springer International Publishing
DOI: 10.1007/978-3-030-78513-0_5