Seamless and safe human - centred robotic applications for novel collaborative workplaces | SHERLOCK | Project | Results | H2020 | CORDIS

Deliverables

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

Data Management Plan

SHERLOCK public web portal

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

Publications

Automatic simulation-based design and validation of robotic gripper fingers

Author(s): Ramasubramanian, A. K., Connolly, M., Mathew, R., & Papakostas, N
Published in: CIRP Annals, Issue 00078506, 2022, ISSN 0007-8506
Publisher: Hallwag AG
DOI: 10.1016/j.cirp.2022.04.054

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

Author(s): P. Aivaliotis, S. Aivaliotis, C. Gkournelos, K. Kokkalis, G. Michalos, S. Makris
Published in: Robotics and Computer-Integrated Manufacturing, Issue 59, 2019, Page(s) 346-360, ISSN 0736-5845
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.rcim.2019.05.001

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

Author(s): Ibon Merino, Jon Azpiazu, Anthony Remazeilles, Basilio Sierra
Published in: Applied Sciences, Issue 10/11, 2020, Page(s) 3701, ISSN 2076-3417
Publisher: Multidisciplinary Digital Publishing Institute
DOI: 10.3390/app10113701

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

Author(s): Richard Matthias Hartisch; Kevin Haninger
Published in: ASME International Conference on Advanced Intelligent Mechatronics (AIM), Issue 21596255, 2022, ISSN 2159-6255
Publisher: IEEE
DOI: 10.1109/aim52237.2022.9863334

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

Author(s): Ramasubramanian, A. K., Mathew, R., Kelly, M., Hargaden, V., & Papakostas, N.
Published in: MDPI Applied Sciences, Issue 20763417, 2022, ISSN 2076-3417
Publisher: MDPI
DOI: 10.3390/app12104811

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

Author(s): Nikos Dimitropoulos, Theodoros Togias, Natalia Zacharaki, George Michalos, Sotiris Makris
Published in: Applied Sciences, Issue 11/12, 2021, Page(s) 5699, ISSN 2076-3417
Publisher: Multidisciplinary Digital Publishing Institute
DOI: 10.3390/app11125699

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

Author(s): Kevin Haninger; Marcel Radke; Axel Vick; Jörg Krüger
Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3150051

Contact Information Flow and Design of Compliance

Author(s): Kevin Haninger; Marcel Radke; Richard Hartisch; Jörg Krüger
Published in: ASME International Conference on Advanced Intelligent Mechatronics (AIM), Issue 21596255, 2022, ISSN 2159-6255
Publisher: IEEE
DOI: 10.1109/aim52237.2022.9863254

Minimum directed information: A design principle for compliant robots

Author(s): Haninger, Kevin
Published in: ICRA 2021, Issue June 2021, 2021, Page(s) 11953 - 11960, ISSN 2577-087X
Publisher: IEEE
DOI: 10.1109/icra48506.2021.9561976

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

Author(s): Jose Luis Outón, Ibon Merino, Iván Villaverde, Aitor Ibarguren, Héctor Herrero, Paul Daelman, Basilio Sierra
Published in: Electronics, Issue 10/11, 2021, Page(s) 1276, ISSN 2079-9292
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/electronics10111276

An outlook on future hybrid assembly systems - the Sherlock approach

Author(s): Nikos Dimitropoulos, George Michalos, Sotiris Makris
Published in: Procedia CIRP, Issue 97, 2021, Page(s) 441-446, ISSN 2212-8271
Publisher: Elsevier
DOI: 10.1016/j.procir.2020.08.004

An admittance based hierarchical control framework for dual-arm cobots

Author(s): Sonny Tarbouriech; Benjamin Navarro; Philippe Fraisse; André Crosnier; Andrea Cherubini; Damien Sallé
Published in: https://hal.archives-ouvertes.fr/hal-02887280, Issue 09574158, 2022, ISSN 0957-4158
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.mechatronics.2022.102814

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

Author(s): George Evangelou, Nikos Dimitropoulos, George Michalos, Sotiris Makris
Published in: Procedia CIRP, Issue 97, 2021, Page(s) 476-481, ISSN 2212-8271
Publisher: 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

Author(s): Aswin K Ramasubramanian, Syed M. Aiman, Nikolaos Papakostas
Published in: Procedia CIRP, Issue 97, 2021, Page(s) 211-216, ISSN 2212-8271
Publisher: Elsevier
DOI: 10.1016/j.procir.2020.05.227

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

Author(s): Nikos Dimitropoulos, Theodoros Togias, George Michalos, Sotiris Makris
Published in: Procedia CIRP, Issue 97, 2021, Page(s) 464-469, ISSN 2212-8271
Publisher: Elsevier
DOI: 10.1016/j.procir.2020.07.006

Operator - mobile robot collaboration for synchronized part movement

Author(s): Aswin K Ramasubramanian, Nikolaos Papakostas
Published in: Procedia CIRP, Issue 97, 2021, Page(s) 217-223, ISSN 2212-8271
Publisher: Elsevier
DOI: 10.1016/j.procir.2020.05.228

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

Author(s): Ibon Merino, Jon Azpiazu, Anthony Remazeilles, Basilio Sierra
Published in: International Journal of Artificial Intelligence & Applications, Issue 10/6, 2019, Page(s) 1-13, ISSN 0976-2191
Publisher: AIRCC
DOI: 10.5121/ijaia.2019.10601

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

Author(s): Aitor Ibarguren, Paul Daelman
Published in: Sensors, Issue 21/19, 2021, Page(s) 6620, ISSN 1424-8220
Publisher: 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

Author(s): Iveta Eimontaite, Cyril Jaksic, Sarah Fletcher, Teegan Johnson, Anne-Marie Oostveen
Published in: SSRN Electronic Journal, 2020, ISSN 1556-5068
Publisher: SSRN
DOI: 10.2139/ssrn.3718020

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

Author(s): Aitor Ibarguren, Iveta Eimontaite, José Luis Outón, Sarah Fletcher
Published in: Sensors, Issue 20/21, 2020, Page(s) 6151, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s20216151

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

Author(s): Aitor Ibarguren, Paul Daelman, Miguel Prada
Published in: 2020 IEEE Conference on Industrial Cyberphysical Systems (ICPS), Issue 2020, 2020, Page(s) 514-519, ISBN 978-1-7281-6389-5
Publisher: IEEE
DOI: 10.1109/icps48405.2020.9274711

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

Author(s): Binchi, Jacopo; Mangeruca, Leonardo; Rucco, Matteo; Orlando, Ferrante; Minissale, Alfio; Abba', Fabio Francesco
Published in: Procedia CIRP, Issue 29 Sept 2020, 2020
Publisher: Elsevier
DOI: 10.5281/zenodo.3901416

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

Author(s): Fay, B., Ramasubramanian, A. K., Murphy, R. D., Adderley, T., & Papakostas, N.
Published in: PROCEDIA CIRP, 2022
Publisher: Elsevier
DOI: 10.1016/j.procir.2022.09.069

Impedance Adaptation by Reinforcement Learning with Contact Dynamic Movement Primitives

Author(s): Chunyang Chang, Kevin Haninger, Yunlei Shi, Chengjie Yuan, Zhaopeng Chen, Jianwei Zhang
Published in: ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2022
Publisher: IEEE
DOI: 10.1109/aim52237.2022.9863416

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

Author(s): George Andrianakos, Nikos Dimitropoulos, George Michalos, Sotirios Makris
Published in: Procedia CIRP, Issue 86, 2019, Page(s) 198-203, ISSN 2212-8271
Publisher: Elsevier B.V.
DOI: 10.1016/j.procir.2020.01.040

What dynamics should impedance-controlled robots render?

Author(s): Haninger, Kevin; Dragoljub, Surdilovic; Bastidas Cruz, Arturo
Published in: 2019 International Conference on Robotics and Automation (ICRA) Workshop on physical human-robot interaction, Issue 24/5/2019, 2019
Publisher: Electronic via Workshop Cordinator
DOI: 10.5281/zenodo.3833653

Preliminary development of the Psychological Factors Assessment Framework

Author(s): Eimontaite, Iveta; Fletcher, Sarah
Published in: Ergonomics and Human Factors (EHF) 2020, Issue April 2020, 2020
Publisher: CIEHF
DOI: 10.5281/zenodo.3835639

Bounded Collision Force by the Sobolev Norm

Author(s): Kevin Haninger, Dragoljub Surdilovic
Published in: 2019 International Conference on Robotics and Automation (ICRA), Issue 20-24 May 2019, 2019, Page(s) 8529-8535, ISBN 978-1-5386-6027-0
Publisher: IEEE
DOI: 10.1109/ICRA.2019.8793711

2d Image Features Detector and Descriptor Selection Expert System

Author(s): Ibon Merino, Jon Azpiazu, Anthony Remazeilles, Basilio Sierra
Published in: 8th International Conference on Natural Language Processing (NLP 2019), Issue September 2019, 2019, Page(s) 51-61, ISBN 9781-925953084
Publisher: Electronic
DOI: 10.5121/csit.2019.91206

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

Author(s): Kevin Haninger; Christian Hegeler; Luka Peternel
Published in: International Conference on Robotics and Automation (ICRA), 2022
Publisher: IEEE
DOI: 10.1109/icra46639.2022.9811590

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

Author(s): Ramasubramanian, A. K., Mathew, R., Preet, I., & Papakostas, N.
Published in: Procedia CIRP - Conference on Manufacturing Systems, 2022
Publisher: Elsevier
DOI: 10.1016/j.procir.2022.05.112

Realistic simulation of robotic grasping tasks: review and application

Author(s): Matthew Connolly; Aswin K. Ramasubramanian; Matthew Kelly; Jack Mc. Evoy; Nikolaos Papakostas
Published in: Procedia CIRP, 2021
Publisher: Elsevier
DOI: 10.1016/j.procir.2021.11.287

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

Author(s): Kevin Haninger
Published in: The 21st Century Industrial Robot: When Tools Become Collaborators, Issue 81, 2021, Page(s) 55-69, ISSN 978-3-030-78512-3978-3-030-78513-0
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-78513-0_4

Human Robot Collaboration in Industrial Environments

Author(s): George Michalos Panagiotis Karagiannis Nikos Dimitropoulos Dionisis Andronas Sotiris Makris
Published in: The 21st Century Industrial Robot: When Tools Become Collaborators, Issue 81, 2021, Page(s) 17-39, ISSN 978-3-030-78512-3978-3-030-78513-0
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-78513-0_2

Human–Robot Collaboration Using Visual Cues for Communication

Author(s): Iveta Eimontaite
Published in: The 21st Century Industrial Robot: When Tools Become Collaborators, Issue 81, 2022, Page(s) 71-85, ISBN 978-3-030-78512-3
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-78513-0_5

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

Deliverables

Publications

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