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

Risultati finali

Dissemination material

Initial dissemination material to be used for dissemination

Website

Website, including both public and private sites.

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

Robot prototypes

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

Pubblicazioni

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

Autori: Stefania Pellegrinelli, Nicola Pedrocchi, Lorenzo Molinari Tosatti, Anath Fischer, Tullio Tolio
Pubblicato in: Robotics and Computer-Integrated Manufacturing, Numero 44, 2017, Pagina/e 97-116, ISSN 0736-5845
Editore: Pergamon Press Ltd.
DOI: 10.1016/j.rcim.2016.08.006

Fingertip Fiber Optical Tactile Array with Two-Level Spring Structure

Autori: Jelizaveta Konstantinova, Agostino Stilli, Kaspar Althoefer
Pubblicato in: Sensors, Numero 17/10, 2017, Pagina/e 2337, ISSN 1424-8220
Editore: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s17102337

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

Autori: Loris Roveda, Giacomo Pallucca, Nicola Pedrocchi, Francesco Braghin, Lorenzo Molinari Tosatti
Pubblicato in: IEEE Transactions on Industrial Informatics, 2017, Pagina/e 1-1, ISSN 1551-3203
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TII.2017.2748236

Natural multimodal communication for human–robot collaboration

Autori: Iñaki Maurtua, Izaskun Fernández, Alberto Tellaeche, Johan Kildal, Loreto Susperregi, Aitor Ibarguren, Basilio Sierra
Pubblicato in: International Journal of Advanced Robotic Systems, Numero 14/4, 2017, Pagina/e 172988141771604, ISSN 1729-8814
Editore: SAGE journals
DOI: 10.1177/1729881417716043

Human–robot collaboration in industrial applications

Autori: Iñaki Maurtua, Aitor Ibarguren, Johan Kildal, Loreto Susperregi, Basilio Sierra
Pubblicato in: International Journal of Advanced Robotic Systems, Numero 14/4, 2017, Pagina/e 172988141771601, ISSN 1729-8814
Editore: SAGE publishers
DOI: 10.1177/1729881417716010

Discrete-Time Formulation for Optimal Impact Control in Interaction Tasks

Autori: Loris Roveda, Niccoló Iannacci, Lorenzo Molinari Tosatti
Pubblicato in: Journal of Intelligent & Robotic Systems, 2017, ISSN 0921-0296
Editore: Kluwer Academic Publishers
DOI: 10.1007/s10846-017-0683-6

Motion planning and scheduling for human and industrial-robot collaboration

Autori: Stefania Pellegrinelli, Andrea Orlandini, Nicola Pedrocchi, Alessandro Umbrico, Tullio Tolio
Pubblicato in: CIRP Annals, Numero 66/1, 2017, Pagina/e 1-4, ISSN 0007-8506
Editore: 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

Autori: Christian Vogel, Christoph Walter, Norbert Elkmann
Pubblicato in: Procedia Manufacturing, Numero 11, 2017, Pagina/e 39-46, ISSN 2351-9789
Editore: Elseiver
DOI: 10.1016/j.promfg.2017.07.127

A Geometry Deformation Model for Braided Continuum Manipulators

Autori: S. M. Hadi Sadati, S. Elnaz Naghibi, Ali Shiva, Yohan Noh, Aditya Gupta, Ian D. Walker, Kaspar Althoefer, Thrishantha Nanayakkara
Pubblicato in: Frontiers in Robotics and AI, Numero 4, 2017, ISSN 2296-9144
Editore: Frontiers
DOI: 10.3389/frobt.2017.00022

A Novel Concept for Safe, Stiffness-Controllable Robot Links

Autori: Agostino Stilli, Helge A. Wurdemann, Kaspar Althoefer
Pubblicato in: Soft Robotics, Numero 4/1, 2017, Pagina/e 16-22, ISSN 2169-5172
Editore: Mary Ann Liebert, Inc.
DOI: 10.1089/soro.2016.0015

Embroidered Electromyography: A Systematic Design Guide

Autori: Ali Shafti, Roger B. Ribas Manero, Amanda M. Borg, Kaspar Althoefer, Matthew J. Howard
Pubblicato in: IEEE Transactions on Neural Systems and Rehabilitation Engineering, Numero 25/9, 2017, Pagina/e 1472-1480, ISSN 1534-4320
Editore: 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

Autori: Loris Roveda, Nicola Pedrocchi, Federico Vicentini, Lorenzo Molinari Tosatti
Pubblicato in: Mechatronics, Numero 39, 2016, Pagina/e 42-53, ISSN 0957-4158
Editore: Pergamon Press Ltd.
DOI: 10.1016/j.mechatronics.2016.08.001

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

Autori: Emilio M. Sanfilippo, Stefano Borgo
Pubblicato in: Computer-Aided Design, Numero 80, 2016, Pagina/e 9-18, ISSN 0010-4485
Editore: 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

Autori: Rainer Müller, Matthias Vette, Aaron Geenen
Pubblicato in: Procedia Manufacturing, Numero 11, 2017, Pagina/e 13-21, ISSN 2351-9789
Editore: Elseiver
DOI: 10.1016/j.promfg.2017.07.113

Modelling the temperature in joint friction of industrial manipulators

Autori: Luca Simoni, Manuel Beschi, Giovanni Legnani, Antonio Visioli
Pubblicato in: Robotica, 2017, Pagina/e 1-22, ISSN 0263-5747
Editore: Cambridge University Press
DOI: 10.1017/S0263574717000509

Planning and execution with flexible timelines: a formal account

Autori: Marta Cialdea Mayer, Andrea Orlandini, Alessandro Umbrico
Pubblicato in: Acta Informatica, Numero Acta Informatica, 2016, ISSN 0001-5903
Editore: Springer Verlag
DOI: 10.1007/s00236-015-0252-z

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

Autori: Loris Roveda, Niccolo Iannacci, Federico Vicentini, Nicola Pedrocchi, Francesco Braghin, Lorenzo Molinari Tosatti
Pubblicato in: IEEE Robotics and Automation Letters, Numero 1/1, 2016, Pagina/e 130-136, ISSN 2377-3766
Editore: IEEE Robotics and Automation Society
DOI: 10.1109/LRA.2015.2508061

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

Autori: Stefania Pellegrinelli, Federico Lorenzo Moro, Nicola Pedrocchi, Lorenzo Molinari Tosatti, Tullio Tolio
Pubblicato in: CIRP Annals - Manufacturing Technology, Numero 65/1, 2016, Pagina/e 57-60, ISSN 0007-8506
Editore: 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

Autori: Loris Roveda, Nicola Pedrocchi, Federico Vicentini, Lorenzo Molinari Tosatti
Pubblicato in: Robotica, 2016, Pagina/e 1-15, ISSN 0263-5747
Editore: Cambridge University Press
DOI: 10.1017/S0263574716000461

Autonomous Object Handover Using Wrist Tactile Information

Autori: Jelizaveta Konstantinova, Senka Krivic, Agostino Stilli, Justus Piater, Kaspar Althoefer
Pubblicato in: owards Autonomous Robotic Systems. TAROS 2017. Lecture Notes in Computer Science, Numero 1/12, 2017, Pagina/e 450-463, ISBN 978-3-319-64107-2
Editore: Springer International Publishing
DOI: 10.1007/978-3-319-64107-2_35

Object Classification Using Hybrid Fiber Optical Force/Proximity Sensor

Autori: Konstantinova, J; Cotugno, G; Stilli, A; Noh, Y; Althoefer, K
Pubblicato in: IEEE Sensors conference, Numero 1/12, 2017
Editore: IEEE

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

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

Complexity of Timeline-based Planning

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

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

Autori: R. Müller; M. Vette; A. Geenen; T. Masiak; A. Kanso
Pubblicato in: 20th World Congress The International Federation of Automatic Control Toulouse, France, Numero 1/12, 2017, Pagina/e 13266-13272
Editore: IFAC-PapersOnLine

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

Autori: R. Müller; M. Vette; A. Geenen
Pubblicato in: 20th IFAC World Congress, 2017
Editore: IFAC online publishing

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

Autori: Rainer Mueller, Matthias Vette, Aaron Geenen, Tobias Masiak
Pubblicato in: SAE Technical Paper Series, 2017
Editore: SAE International
DOI: 10.4271/2017-01-2096

Reactive motion planning for mobile continuum arm in dynamic industrial environment

Autori: AHMAD ATAKA, ALI SHIVA, ALI SHAFTI, HELGE WURDEMANN, KASPAR ALTHOEFER
Pubblicato in: Proceedings of the 19th International Conference on Clawar 2016, Numero 1/12, 2016, Pagina/e 178-185, ISBN 9789-813149120
Editore: WORLD SCIENTIFIC
DOI: 10.1142/9789813149137_0023

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

Autori: JOHAN KILDAL, IÑAKI MAURTUA
Pubblicato in: Workshop on Collaborative Robots for Industrial Applications, CLAWAR, Numero 12, 2016, Pagina/e 196-204
Editore: WORLD SCIENTIFIC
DOI: 10.1142/9789813149137_0025

Fingertip proximity sensor with realtime visual-based calibration

Autori: J. Konstantinova, A. Stilli, A. Faragasso, K. Althoefer
Pubblicato in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Numero 1/12, 2016, Pagina/e 170-175, ISBN 978-1-5090-3762-9
Editore: IEEE
DOI: 10.1109/IROS.2016.7759051

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

Autori: Amedeo Cesta, Andrea Orlandini, Giulio Bernardi, Alessandro Umbrico
Pubblicato in: 2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA), 2016, Pagina/e 1-8, ISBN 978-1-5090-1314-2
Editore: IEEE
DOI: 10.1109/ETFA.2016.7733585

Enhancing safe human-robot collaboration through natural multimodal communication

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

Designing embroidered electrodes for wearable surface electromyography

Autori: A. Shafti, R. B. Ribas Manero, A. M. Borg, K. Althoefer, M. J. Howard
Pubblicato in: 2016 IEEE International Conference on Robotics and Automation (ICRA), Numero 1/12, 2016, Pagina/e 172-177, ISBN 978-1-4673-8026-3
Editore: IEEE
DOI: 10.1109/ICRA.2016.7487131

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

Autori: JOSÉ DE GEA FERNÉNDEZ, HOLGER SPRENGEL, MARTIN MALLWITZ, MICHAEL ZIPPER, BINGBIN YU, VINZENZ BARGSTEN
Pubblicato in: CLAWAR, 2016, Numero 1/12, 2016, Pagina/e 135-142
Editore: WORLD SCIENTIFIC
DOI: 10.1142/9789813149137_0019

Human-robot shared workspace collaboration via hindsight optimization

Autori: Stefania Pellegrinelli, Henny Admoni, Shervin Javdani, Siddhartha Srinivasa
Pubblicato in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Pagina/e 831-838, ISBN 978-1-5090-3762-9
Editore: IEEE
DOI: 10.1109/IROS.2016.7759147

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

Autori: Vogel, C
Pubblicato in: ERF 2016, 3rd Workshop on Hybrid Production Systems, 2016
Editore: ERF

Novel method to form adaptive internal impedance profiles in walkers

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

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

Autori: Stilli, A. Cremoni, H. A. Wurdemann, K. Althoefer
Pubblicato in: 2016
Editore: EMBC2016

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

Autori: Ahmad Ataka, Peng Qi, Ali Shiva, Ali Shafti, Helge Wurdemann, Prokar Dasgupta, Kaspar Althoefer
Pubblicato in: 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), Numero 1/12, 2016, Pagina/e 600-605, ISBN 978-1-5090-3287-7
Editore: IEEE
DOI: 10.1109/BIOROB.2016.7523691

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

Autori: C. Vogel, J. Saenz, N. Elkmann,
Pubblicato in: ICRA 2015, 2015
Editore: ICRA 2015

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

Autori: Ahmad Ataka, Peng Qi, Ali Shiva, Ali Shafti, Helge Wurdemann, Hongbin Liu, Kaspar Althoefer
Pubblicato in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Numero 1/12, 2016, Pagina/e 2827-2832, ISBN 978-1-5090-3762-9
Editore: IEEE
DOI: 10.1109/IROS.2016.7759438

Analysis of comfort and ergonomics for clinical work environments

Autori: Ali Shafti, Beatriz Urbistondo Lazpita, Oussama Elhage, Helge A. Wurdemann, Kaspar Althoefer
Pubblicato in: 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Numero 1/12, 2016, Pagina/e 1894-1897, ISBN 978-1-4577-0220-4
Editore: IEEE
DOI: 10.1109/EMBC.2016.7591091

Design knowledge representation: An ontological perspective

Autori: E. M. Sanfilippo1, C. Masolo, and D. Porello
Pubblicato in: AIDE2015, 2015
Editore: AIDE2015

Dynamic Task Planning for Safe Human Robot Collaboration

Autori: G. Bernardi, A. Cesta, A. Orlandini and A. Umbrico,
Pubblicato in: Proc. Of the ICAPS Workshop on Planning, Scheduling and Dependability in Safe Human-Robot Interaction (SafePlan), Numero 1/12, 2016
Editore: ICAPS 2016

FourByThree: Imagine humans and robots working hand in hand

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

Interacting with collaborating robots in industrial environments: a semantic approach

Autori: I. Maurtua, I. Fernandez, J. Kildal, L. Susperregi, A. Tellaeche, A. Ibarguren
Pubblicato in: SafePlan Workshop (ICAPS), 2016, Numero 1/12, 2016
Editore: ICAPS

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

Autori: A. Ataka, A. Shiva, A. Shafti, H. A. Wurdemann, K. Althoefer,
Pubblicato in: 26th International Conference on Automated Planning and Scheduling ICAPS 2016 - London, United Kingdom, 2016
Editore: SAFEPLAN WORKSHOP ICAPS 2016

Cartesian tasks oriented friction compensation through a reinforcement learning approach

Autori: Loris Roveda, Giacomo Pallucca, Nicola Pedrocchi, Francesco Braghin, Lorenzo Molinari Tosatti
Pubblicato in: 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2016, Pagina/e 895-900, ISBN 978-1-5090-2065-2
Editore: IEEE
DOI: 10.1109/AIM.2016.7576882

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

Autori: Loris Roveda, Federico Vicentini, Nicola Pedrocchi, Lorenzo Molinari Tosatti
Pubblicato in: Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics, 2015, Pagina/e 386-391, ISBN 978-989-758-122-9
Editore: SCITEPRESS - Science and and Technology Publications
DOI: 10.5220/0005565403860391

A general analytical procedure for robot dynamic model reduction

Autori: Manuel Beschi, Enrico Villagrossi, Nicola Pedrocchi, Lorenzo Molinari Tosatti
Pubblicato in: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, Pagina/e 4127-4132, ISBN 978-1-4799-9994-1
Editore: IEEE
DOI: 10.1109/IROS.2015.7353960

PLATINUM: A new Framework for Planning and Acting

Autori: Alessandro Umbrico, Amedeo Cesta, Marta Cialdea Mayer, Andrea Orlandini
Pubblicato in: Advances in Artificial Intelligence, AI*IA 2017, Numero 1/12, 2017, Pagina/e 498-512, ISBN 978-3-319-70168-4
Editore: Springer International Publishing
DOI: 10.1007/978-3-319-70169-1_37

Feature-Based Modelling and Information Systems for Engineering

Autori: Emilio M. Sanfilippo, Stefano Borgo
Pubblicato in: AI*IA 2015 Advances in Artificial Intelligence, 2015, Pagina/e 151-163, ISBN 978-3-319-24309-2
Editore: Springer International Publishing
DOI: 10.1007/978-3-319-24309-2_12

EU Projekt FourByThree - Auf dem Weg zu eigensicheren Robotern

Autori: Jose de Gea Fernandez Marc Ronthaler
Pubblicato in: Industrie 4.0 Management, Numero Bimonthly, 2016, Pagina/e 33-36, ISSN 2364-9208
Editore: Gito mbH Verlag

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