Co-production CeLL performing Human-Robot Collaborative AssEmbly

Project Information

CoLLaboratE

Grant agreement ID: 820767

DOI 10.3030/820767

Project closed

EC signature date 3 August 2018

Start date 1 October 2018

End date 31 March 2022

Funded under

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

Total cost € 6 864 600,00

EU contribution € 6 864 600,00

Coordinated by

ARISTOTELIO PANEPISTIMIO THESSALONIKIS
Greece

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Deliverables

Documents, reports (35)

Multimodal Learning of Assembly Tasks

Final version of Multimodal Learning of Assembly Tasks

Ethics and Safety Manual for CoLLaboratE technology

The final version of the ethics and safety manual for CoLLaboratE

Design of the Human-Robot Interaction Interface (Preliminary)

Preliminary version of Design of the HumanRobot Interaction Interface

Lab setup methodology, s/w and h/w extensions, validation

Final version of the Lab setup methodology sw and hw extensions validation report

Market analysis and exploitation strategy (first version)

First version of Market analysis and exploitation strategy.

CoLLaboratE consolidated evaluation and lessons learned (Preliminary)

Preliminary version of CoLLaboratE consolidated evaluation and lessons learned

Behavioral Experiments to Demystify and Improve Key Human Factor Aspects of HRC
End-user requirements, use cases and industrial scenarios (preliminary)

This is the preliminary report of the enduser requirements use cases and industrial scenarios of CoLLaboratE

Multimodal Learning of Assembly Tasks (preliminary)

Preliminary version of Multimodal Learning of Assembly Tasks

Design of the Human-Robot Interaction Interface

Final version of Design of the HumanRobot Interaction Interface

Dissemination and Communication activities, public participation & awareness (first version)

First version of Dissemination and Communication activities, public participation & awareness

Evolutionary Requirements Elicitation and Innovations
Ethics and Safety Manual for CoLLaboratE technology (preliminary)

The preliminary version of the ethics and safety manual for CoLLaboratE

Evolutionary Requirements Elicitation and Innovations (preliminary)

Evolutionary Requirements Elicitation and Innovations

Mobile interface to teach robot paths with variations

Final version of Mobile interface to teach robot paths with variations

Lab setup methodology, s/w and h/w extensions, validation (Preliminary)

First version of the Lab setup methodology sw and hw extensions validation report

CoLLaboratE Detailed architecture & system specifications (preliminary)

This is the preliminary version of the architecture and the technical specifications of CoLLaboratE.

Learning Collaborative Assembly Tasks from Demonstration (Public)

Public version of Learning Collaborative Assembly Tasks from Demonstration

CoLLaboratE consolidated evaluation and lessons learned

Final version of CoLLaboratE consolidated evaluation and lessons learned

End-user requirements, use cases and industrial scenarios

This is the final version of the enduser requirements use cases and industrial scenarios of CoLLaboratE

Dissemination and Communication activities, public participation & awareness (second version)

First version of Dissemination and Communication activities public participation awareness

Social Studies Analysis of the Implications Human-Robot Collaboration on Job Quality

Social Studies Analysis of the Implications HumanRobot Collaboration on Job Quality

Dissemination and Communication activities, public participation & awareness (final update)

Final update of the Dissemination and Communication activities public participation awareness

CoLLaboratE Detailed architecture & system specifications

This is the final version of the architecture and the technical specifications of CoLLaboratE

Final plan for the use and exploitation of foreground (PU)

Public version of the Final plan for the use and exploitation of foreground

Teaching by kinesthetic guidance (Public)

Public version of Teaching by kinesthetic guidance

Social Studies Analysis of the Implications Human-Robot Collaboration on Job Quality (preliminary)

Social Studies Analysis of the Implications Human-Robot Collaboration on Job Quality

Mobile interface to teach robot paths with variations (preliminary)

Preliminary version of Mobile interface to teach robot paths with variations

Data Management Plan

Final version of Data Management Plan

EFFRA Innovation Portal

It details the submission of the projects progress in the Innovation Portal of EFFRA

Behavioral Experiments to Demystify and Improve Key Human Factor Aspects of HRC (preliminary)

Behavioral Experiments to Demystify and Improve Key Human Factor Aspects of HRC

Data Management Plan (Preliminary)

Preliminary version of Data Management Plan

Assembly Policy Learning and Improvement

Final version of Assembly Policy Learning and Improvement

EFFRA Innovation Portal (first version)

It details the submission of the project’s progress in the Innovation Portal of EFFRA.

Assembly Policy Learning and Improvement (preliminary)

Preliminary version of Assembly Policy Learning and Improvement

Demonstrators, pilots, prototypes (5)

CoLLaboratE challenging scenarios deployment and execution (Preliminary)

First demonstrator of CoLLaboratE challenging scenarios deployment and execution

Integrated Co-production Cell (Preliminary)

First prototype version of the Integrated Co-production Cell

Design and Deployment of CoLLaboratE Automated Guided Vehicles (PU)

Public demonstrator of Design and Deployment of CoLLaboratE Automated Guided Vehicles

Integrated Co-production Cell

Final prototype of the Integrated Coproduction Cell

CoLLaboratE challenging scenarios deployment and execution

Final demonstrator of CoLLaboratE challenging scenarios deployment and execution

Other (7)

Website and Social Media Presence Launch

Report and software

Active constraints enforcement for increased safety during HRC

Report hardware and software for Active constraints enforcement for increased safety during HRC

Learning of Physical Human Robot Cooperation

Report and software for Learning of Physical Human Robot Cooperation

Detection of Human Intentions and Professional Gesture Recognition

Report and software for Detection of Human Intentions and Professional Gesture Recognition

Enhanced pHRI through Sensorised Robot Skin

Report and software for Enhanced pHRI through Sensorised Robot Skin

Human Touch Recognition and Classification

Report and software for Human Touch Recognition and Classification

Extension of movement primitives to behavior primitives

Report hardware and software for Extension of movement primitives to behavior primitives

Publications

Peer reviewed articles (12)

Ergodic Exploration Using Tensor Train: Applications in Insertion Tasks

Author(s): Suhan Shetty, Joao Silverio, Sylvain Calinon
Published in: IEEE Transactions on Robotics, 2021, Page(s) 1-16, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2021.3087317

A Passive pHRI Controller for Assisting the User in Partially Known Tasks

Author(s): Dimitrios Papageorgiou, Theodora Kastritsi, Zoe Doulgeri, George A. Rovithakis
Published in: IEEE Transactions on Robotics, Issue 36/3, 2020, Page(s) 802-815, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2020.2969018

Learning from demonstration using products of experts: Applications to manipulation and task prioritization

Author(s): Pignat, Emmanuel; Silvério, João; Calinon, Sylvain
Published in: The International Journal of Robotics Research, Issue 9, 2021, ISSN 0278-3649
Publisher: SAGE Publications
DOI: 10.1177/02783649211040561

Analysis of Methods for Incremental Policy Refinement by Kinesthetic Guidance

Author(s): Mihael Simonič, Tadej Petrič, Aleš Ude, Bojan Nemec
Published in: Journal of Intelligent & Robotic Systems, Issue 102/1, 2021, ISSN 0921-0296
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s10846-021-01328-y

Stochastic-Biomechanic Modeling and Recognition of Human Movement Primitives, in Industry, Using Wearables

Author(s): Brenda Elizabeth Olivas-Padilla; Sotiris Manitsaris; Dimitrios Menychtas; Alina Glushkova
Published in: Sensors, Vol 21, Iss 2497, p 2497 (2021), Issue 17, 2021, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s21072497

Mechatronic Modelling of Industrial AGVs: A Complex System Architecture

Author(s): J. Enrique Sierra-García, Matilde Santos
Published in: Complexity, Issue 2020, 2020, Page(s) 1-21, ISSN 1076-2787
Publisher: John Wiley & Sons Inc.
DOI: 10.1155/2020/6687816

Pressure distribution classification and segmentation of human hands in contact with the robot body

Author(s): Alessandro Albini, Giorgio Cannata
Published in: The International Journal of Robotics Research, 2020, Page(s) 027836492090768, ISSN 0278-3649
Publisher: SAGE Publications
DOI: 10.1177/0278364920907688

A Control Scheme With a Novel DMP-Robot Coupling Achieving Compliance and Tracking Accuracy Under Unknown Task Dynamics and Model Uncertainties

Author(s): Konstantinos Vlachos, Zoe Doulgeri
Published in: IEEE Robotics and Automation Letters, Issue 5/2, 2020, Page(s) 2310-2316, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2020.2970985

Unified Virtual Guides Framework for Path Tracking Tasks

Author(s): Leon Žlajpah, Tadej Petrič
Published in: Robotica, 2019, Page(s) 1-17, ISSN 0263-5747
Publisher: Cambridge University Press
DOI: 10.1017/s0263574719000973

Bayesian Gaussian Mixture Model for Robotic Policy Imitation

Author(s): Emmanuel Pignat, Sylvain Calinon
Published in: IEEE Robotics and Automation Letters, Issue 4/4, 2019, Page(s) 4452-4458, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2019.2932610

Online and Offline Robot Programming via Augmented Reality Workspaces

Author(s): Thoo, Yong Joon; Maceiras, Jérémy; Abbet, Philip; Racca, Mattia; Girgin, Hakan; Calinon, Sylvain
Published in: IEEE Robotics & Automation Magazine', Issue 6, 2021, ISSN 1070-9932
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.48550/arxiv.2107.01884

Analyzing the kinematic and kinetic contributions of the human upper body’s joints for ergonomics assessment

Author(s): Dimitrios Menychtas, Alina Glushkova, Sotiris Manitsaris
Published in: Journal of Ambient Intelligence and Humanized Computing, Issue 11/12, 2020, Page(s) 6093-6105, ISSN 1868-5137
Publisher: Springer Verlag
DOI: 10.1007/s12652-020-01926-y

Conference proceedings (26)

Prescribed Performance Tracking using State Quantization for Uncertain Feedback Linearizable Systems

Author(s): Lampros N. Bikas; George A. Rovithakis
Published in: Issue 1, 2022
Publisher: IFAC
DOI: 10.1016/j.ifacol.2020.12.1022

Generation of Smooth Cartesian Paths Using Radial Basis Functions

Author(s): Žlajpah, Leon; Petrič, Tadej
Published in: Issue 1, 2020
Publisher: Springer
DOI: 10.1007/978-3-030-48989-2_19

Generative adversarial training of product of policies for robust and adaptive movement primitives

Author(s): Pignat, Emmanuel; Girgin, Hakan; Calinon, Sylvain
Published in: 4th conference of robot learning, Issue 20, 2020
Publisher: CoRL

Progressive automation of periodic tasks on planar surfaces of unknown pose with hybrid force/position control

Author(s): Dimeas, Fotios; Doulgeri, Zoe
Published in: IROS, Issue 15, 2020
Publisher: IEEE
DOI: 10.5281/zenodo.4032334

A Reversible Dynamic Movement Primitive formulation

Author(s): Sidiropoulos, Antonis; Doulgeri, Zoe
Published in: ICRA, Issue 17, 2021
Publisher: IEEE
DOI: 10.1109/icra48506.2021.9562059

Human-robot collaborative object transfer using human motion prediction based on Cartesian pose Dynamic Movement Primitives

Author(s): Sidiropoulos, Antonis; Karayiannidis, Yiannis; Doulgeri, Zoe
Published in: ICRA, Issue 8, 2021
Publisher: IEEE
DOI: 10.5281/zenodo.5575747

A control scheme for haptic inspection and partial modification of kinematic behaviors

Author(s): Dimitrios Papageorgiou; Zoe Doulgeri
Published in: IROS, Issue 3, 2021
Publisher: IEEE
DOI: 10.5281/zenodo.4032431

Learning of Exception Strategies in Assembly Tasks

Author(s): Nemec, Bojan; Simonič, Mihael; Ude, Aleš
Published in: ICRA, Issue 2, 2020
Publisher: IEEE
DOI: 10.1109/ICRA40945.2020.9197480

Fourier movement primitives: an approach for learning rhythmic robot skills from demonstrations

Author(s): Thibaut Kulak, Joao Silverio, Sylvain Calinon
Published in: Robotics: Science and Systems XVI, 2020, ISBN 978-0-9923747-6-1
Publisher: Robotics: Science and Systems Foundation
DOI: 10.15607/rss.2020.xvi.056

A New Phase Determination Algorithm for Iterative Learning of Human-Robot Collaboration

Author(s): Simonič, Mihael; Deniša, Miha; Ude, Aleš; Nemec, Bojan
Published in: Crossref, Issue 21, 2020
Publisher: IEEE
DOI: 10.5281/zenodo.5589237

Human-robot collaborative object transfer using human motion prediction based on Dynamic Movement Primitives

Author(s): Sidiropoulos, Antonis; Karayiannidis, Yiannis; Doulgeri, Zoe
Published in: 2019 18th European Control Conference (ECC), Issue 1, 2019
Publisher: IEEE
DOI: 10.5281/zenodo.2611333

Uncertainty-Aware Imitation Learning using Kernelized Movement Primitives

Author(s): João Silvério et al.
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems 2019, 2019
Publisher: IEEE
DOI: 10.5281/zenodo.3676692

Autonomous Learning of Assembly Tasks from the Corresponding Disassembly Tasks

Author(s): Mihael Simonic, Leon Zlajpah, Ales Ude, Bojan Nemec
Published in: 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), 2019, Page(s) 230-236, ISBN 978-1-5386-7630-1
Publisher: IEEE
DOI: 10.1109/humanoids43949.2019.9035052

A Methodology to Formulate User Requirements for Designing Collaborative Robots

Author(s): Macovetchi; Kirstein; Doulgeri; Dimeas
Published in: Workshop on Physical human-robot interaction: a design focus (ICRA 2019), Issue 1, 2019
Publisher: -
DOI: 10.5281/zenodo.3266849

A correct formulation for the Orientation Dynamic Movement Primitives for robot control in the Cartesian space

Author(s): Koutras, Leonidas; Doulgeri, Zoe
Published in: Conference on Robotic Learning (CoRL) 2019, Issue 1, 2019
Publisher: -
DOI: 10.5281/zenodo.3537791

Formulating User Requirements for Designing Collaborative Robots

Author(s): Macovetchi, Ana-Maria; Parizi, Mohammad Shahabeddini; Kirstein, Franziska
Published in: The 28th IEEE International Conference on Robot & Human Interactive Communication (Ro-MAN), Issue 1, 2019
Publisher: -
DOI: 10.5281/zenodo.3666189

A methodology for formulating and exploiting innovative technologies for collaborative robots in a manufacturing setting

Author(s): Parizi, Mohammad Shahabeddini; Macovetchi, Ana-Maria; Kirstein, Franziska
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Issue 1, 2019
Publisher: IEEE
DOI: 10.5281/zenodo.3672631

Designing a web-based automatic ergonomic assessment using motion data

Author(s): Brenda E. Olivas Padilla, Alina Glushkova, Dimitrios Menychtas, Sotiris Manitsaris
Published in: Proceedings of the 12th ACM International Conference on PErvasive Technologies Related to Assistive Environments - PETRA '19, 2019, Page(s) 528-534, ISBN 9781-450362320
Publisher: ACM Press
DOI: 10.1145/3316782.3322758

Incremental Policy Refinement by Recursive Regression and Kinesthetic Guidance

Author(s): Bojan Nemec, Mihael Simonic, Tadej Petric, Ales Ude
Published in: 2019 19th International Conference on Advanced Robotics (ICAR), 2019, Page(s) 344-349, ISBN 978-1-7281-2467-4
Publisher: IEEE
DOI: 10.1109/icar46387.2019.8981606

Motion analysis for identification of overused body segments: the packaging task in industry 4.0

Author(s): Olivas-Padilla, Brenda E.; Glushkova, Alina; Manitsaris, Sotiris
Published in: 1st International Workshop on HCI Challenges in Human Movement Analysis, Issue 1, 2019
Publisher: -
DOI: 10.5281/zenodo.3634988

Dynamic Movement Primitives for moving goals with temporal scaling adaptation

Author(s): Koutras, Leonidas; Doulgeri, Zoe
Published in: 2020 International Conference on Robotics and Automation (ICRA), Issue 1, 2020
Publisher: IEEE
DOI: 10.5281/zenodo.3635299

Analysis and Transfer of Human Movement Manipulability in Industry-like Activities

Author(s): Noemie Jaquier; Leonel Rozo; Sylvain Calinon
Published in: Crossref, Issue 2, 2020
Publisher: IEEE
DOI: 10.5281/zenodo.4041400

Hidden Markov Modelling And Recognition Of Euler-Based Motion Patterns For Automatically Detecting Risks Factors From The European Assembly Worksheet

Author(s): Olivas-Padilla, Brenda Elizabeth; Menychtas, Dimitrios; Glushkova, Alina; Manitsaris, Sotiris
Published in: Issue 18, 2020
Publisher: IEEE
DOI: 10.5281/zenodo.6566273

Active Improvement of Control Policies with Bayesian Gaussian Mixture Model

Author(s): Hakan Girgin, Emmanuel Pignat, Noemie Jaquier, Sylvain Calinon
Published in: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, Page(s) 5395-5401, ISBN 978-1-7281-6212-6
Publisher: IEEE
DOI: 10.1109/iros45743.2020.9341187

A novel DMP formulation for global and frame independent spatial scaling in the task space

Author(s): Koutras, Leonidas; Doulgeri, Zoe
Published in: RO-MAN, Issue 11, 2020
Publisher: IEEE
DOI: 10.5281/zenodo.4034573

Variational Inference with Mixture Model Approximation for Applications in Robotics

Author(s): Emmanuel Pignat, Teguh Lembono, Sylvain Calinon
Published in: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Page(s) 3395-3401, ISBN 978-1-7281-7395-5
Publisher: IEEE
DOI: 10.1109/icra40945.2020.9197166

Book chapters (4)

Real-Time Gestural Control of Robot Manipulator Through Deep Learning Human-Pose Inference

Author(s): Jesus Bujalance Martin, Fabien Moutarde
Published in: Computer Vision Systems - 12th International Conference, ICVS 2019, Thessaloniki, Greece, September 23–25, 2019, Proceedings, Issue 11754, 2019, Page(s) 565-572, ISBN 978-3-030-34994-3
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-34995-0_51

Extracting the Inertia Properties of the Human Upper Body Using Computer Vision

Author(s): Dimitrios Menychtas, Alina Glushkova, Sotirios Manitsaris
Published in: Computer Vision Systems - 12th International Conference, ICVS 2019, Thessaloniki, Greece, September 23–25, 2019, Proceedings, Issue 11754, 2019, Page(s) 596-603, ISBN 978-3-030-34994-3
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-34995-0_54

Towards a Professional Gesture Recognition with RGB-D from Smartphone

Author(s): Pablo Vicente Moñivar, Sotiris Manitsaris, Alina Glushkova
Published in: Computer Vision Systems - 12th International Conference, ICVS 2019, Thessaloniki, Greece, September 23–25, 2019, Proceedings, Issue 11754, 2019, Page(s) 234-244, ISBN 978-3-030-34994-3
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-34995-0_22

Bounded Self-motion of Functional Redundant Robots

Author(s): Leon Žlajpah, Tadej Petrič
Published in: Advances in Service and Industrial Robotics - Proceedings of the 28th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD 2019), Issue 980, 2020, Page(s) 285-292, ISBN 978-3-030-19647-9
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-19648-6_33

Other (1)

Nullspace Structure in Model Predictive Control

Author(s): Girgin, Hakan; Calinon, Sylvain
Published in: Pre-print, Issue 1, 2019
Publisher: -