Periodic Reporting for period 2 - CONCERT (CONfigurable CollaborativE Robot Technologies)
Período documentado: 2022-07-01 hasta 2024-08-31
The goal of CONCERT is to develop a number of innovative core technologies, which will concurrently explore and integrate i) novel concepts of configurable collaborative robots, ii) automatic generation of control and interface components, iii) safe interaction control methodologies, iv) multi modal human and workspace perception and supervision tools, and v) versatile and dynamic shared autonomy principles. CONCERT will deliver a novel configurable robot concept that can be rapidly customized and applied in workspaces and tasks with highly uncertain settings, providing collaborative functionalities that are robust, safe and efficient under unstructured workspace conditions while executing a number of demanding representative tasks from the construction sector. With these advancements the project attempts to transition from the current general-purpose lower power collaborative robots to a new generation of collaborative robots that can safely collaborate in tasks demanding high forces and diverse collaboration roles and demonstrate quick adaptability to address specific application/environment requirements, while ensuring safety.
To demonstrate its impact, CONCERT validates its technologies in real-world construction tasks involving heavy payload handling, diverse and unstructured workspaces, and collaboration with human workers. These scenarios demonstrate how the CONCERT adaptable robotic solution can enhance efficiency and safety in physically intensive environments while improving the efficiency of the construction task process.
To demonstrate its impact, CONCERT validates its technologies in real-world construction tasks involving heavy payload handling, diverse and unstructured workspaces, and collaboration with human workers. These scenarios demonstrate how the CONCERT adaptable robotic solution can enhance efficiency and safety in physically intensive environments while improving the efficiency of the construction task process.
In the final period of the CONCERT project, several novel technologies advanced collaborative robotics beyond the state of the art, particularly for automation in dynamic, unstructured environments like construction. Key progress areas included mechatronic development, software architecture, safety mechanisms, human-robot interaction, and real-world validation.
A major milestone was the fabrication of the modular CONCERT mobile manipulation system, including actuation units, modular joints, passive link modules, and specialized end-effectors (drill, spraying tool, high-force gripper). These components, along with a fully developed and tested mobile robotic platform, underwent rigorous validation. Interaction force estimation modules enabled precise contact detection and force monitoring.
A unified approach for automatic robot-model generation was implemented, enhancing adaptability across configurations. Robot model detection from the communication bus was extended to mobility modules and end-effectors, supporting diverse tasks. Joint variable impedance modulation improved interaction safety and efficiency.
The XBot2 real-time middleware was successfully deployed, along with a multi-device graphical user interface. A breakthrough in construction robot programming based on Building Information Modelling (BIM) streamlined task parameterization. Additionally, a benchmarking toolbox for modular robot configurations introduced a genetic algorithm-based optimization approach.
To ensure safe human-robot collaboration, the project developed SARA-shield, an open-source safety software integrated into XBot2. Real-world validation included two weeks of field trials on active construction sites, testing drilling, spraying, and formwork assembly in collaboration with BUDIMEX personnel. A virtual reality-based hazard analysis environment was also developed to define safety guidelines.
By the project’s conclusion, a fully integrated robotic platform combining advanced hardware, intelligent perception, and control had been realized. The success of these technologies in real-world construction highlights the potential of modular robots to enhance efficiency, safety, and flexibility in demanding industries.
Exploitation and Dissemination
The CONCERT project delivered key exploitable results in modular robotics and automation. This includes modular robot components (high-torque actuators, mobility units, adaptive links) with advanced impedance control and contact sensing. Specialized end-effectors, such as a modular gripper and construction tool modules, address high-payload requirements and could be integrated into other robotic systems.
A configurable robotic software framework ensures seamless hardware integration, with a patent securing its market exclusivity. The CONCERT collaborative robot platform, designed for rapid reconfiguration, features a patented coupling mechanism for mechanical, electrical, and communication integration. Its adaptability gives it a competitive edge with no direct rivals.
To drive commercialization, technologies were showcased at automation fairs and industry events. Plans to explore a startup for industrialization will ensure broad adoption.
On the scientific front, the project produced 14 journal papers and 28 conference publications. It demonstrated results at over 10 industrial exhibitions, organized three major robotics workshops (IEEE ICRA, IEEE/RSJ IROS), and delivered more than 15 invited talks, including keynote presentations.
Moving forward, the project’s innovations will support broader industrial adoption, bridging robotic automation with human-centric collaboration and reshaping robotics in construction.
A major milestone was the fabrication of the modular CONCERT mobile manipulation system, including actuation units, modular joints, passive link modules, and specialized end-effectors (drill, spraying tool, high-force gripper). These components, along with a fully developed and tested mobile robotic platform, underwent rigorous validation. Interaction force estimation modules enabled precise contact detection and force monitoring.
A unified approach for automatic robot-model generation was implemented, enhancing adaptability across configurations. Robot model detection from the communication bus was extended to mobility modules and end-effectors, supporting diverse tasks. Joint variable impedance modulation improved interaction safety and efficiency.
The XBot2 real-time middleware was successfully deployed, along with a multi-device graphical user interface. A breakthrough in construction robot programming based on Building Information Modelling (BIM) streamlined task parameterization. Additionally, a benchmarking toolbox for modular robot configurations introduced a genetic algorithm-based optimization approach.
To ensure safe human-robot collaboration, the project developed SARA-shield, an open-source safety software integrated into XBot2. Real-world validation included two weeks of field trials on active construction sites, testing drilling, spraying, and formwork assembly in collaboration with BUDIMEX personnel. A virtual reality-based hazard analysis environment was also developed to define safety guidelines.
By the project’s conclusion, a fully integrated robotic platform combining advanced hardware, intelligent perception, and control had been realized. The success of these technologies in real-world construction highlights the potential of modular robots to enhance efficiency, safety, and flexibility in demanding industries.
Exploitation and Dissemination
The CONCERT project delivered key exploitable results in modular robotics and automation. This includes modular robot components (high-torque actuators, mobility units, adaptive links) with advanced impedance control and contact sensing. Specialized end-effectors, such as a modular gripper and construction tool modules, address high-payload requirements and could be integrated into other robotic systems.
A configurable robotic software framework ensures seamless hardware integration, with a patent securing its market exclusivity. The CONCERT collaborative robot platform, designed for rapid reconfiguration, features a patented coupling mechanism for mechanical, electrical, and communication integration. Its adaptability gives it a competitive edge with no direct rivals.
To drive commercialization, technologies were showcased at automation fairs and industry events. Plans to explore a startup for industrialization will ensure broad adoption.
On the scientific front, the project produced 14 journal papers and 28 conference publications. It demonstrated results at over 10 industrial exhibitions, organized three major robotics workshops (IEEE ICRA, IEEE/RSJ IROS), and delivered more than 15 invited talks, including keynote presentations.
Moving forward, the project’s innovations will support broader industrial adoption, bridging robotic automation with human-centric collaboration and reshaping robotics in construction.
Progress Beyond the State of the Art
CONCERT developed novel modular, intelligent collaborative robotics, enabling robots to be reconfigured on demand, work safely with humans, and adapt to complex environments. The project developed a fully modular robotic platform with customizable manipulation, mobility systems, and specialized end-effectors. A plug-and-play architecture allows rapid adaptation for new tasks. Advances in robot autonomy include automatic model generation and adaptive control, optimizing performance in unstructured settings. Safety and usability were enhanced with real-time monitoring, adaptive controllers, and VR-based hazard analysis, making robots more intuitive and safer. Real-world construction applications demonstrate increased efficiency, reduced physical strain, and improved workplace safety.
Expected Results and Impact
CONCERT validated an innovative robotic platform optimized for construction tasks like drilling, insulation spraying, and material handling. Its comprehensive software and control framework ensure interoperability, reconfigurability, and deployment across various industries. By automating hazardous, labor-intensive tasks, the project improves worker safety and productivity while reducing physical strain.
Socio-Economic and Societal Impact
CONCERT will transform industries, particularly construction, one of the least automated yet most hazardous sectors. By minimizing human exposure to risks and automating demanding tasks, the project enhances safety and workforce productivity, allowing workers to focus on higher-value tasks. Environmentally, robotic process optimization improves energy efficiency, reduces waste, and boosts construction sustainability. Economically, CONCERT strengthens Europe’s industrial competitiveness by accelerating the adoption of AI-driven modular robotics in new markets.
Contribution to European Excellence in Robotics
CONCERT is advancing European robotics through configurable robot design, intelligent control, and human-robot collaboration. By leading the adoption of configurable robotics in under-automated sectors, CONCERT positions Europe at the forefront of next-generation robotic transformation.
CONCERT developed novel modular, intelligent collaborative robotics, enabling robots to be reconfigured on demand, work safely with humans, and adapt to complex environments. The project developed a fully modular robotic platform with customizable manipulation, mobility systems, and specialized end-effectors. A plug-and-play architecture allows rapid adaptation for new tasks. Advances in robot autonomy include automatic model generation and adaptive control, optimizing performance in unstructured settings. Safety and usability were enhanced with real-time monitoring, adaptive controllers, and VR-based hazard analysis, making robots more intuitive and safer. Real-world construction applications demonstrate increased efficiency, reduced physical strain, and improved workplace safety.
Expected Results and Impact
CONCERT validated an innovative robotic platform optimized for construction tasks like drilling, insulation spraying, and material handling. Its comprehensive software and control framework ensure interoperability, reconfigurability, and deployment across various industries. By automating hazardous, labor-intensive tasks, the project improves worker safety and productivity while reducing physical strain.
Socio-Economic and Societal Impact
CONCERT will transform industries, particularly construction, one of the least automated yet most hazardous sectors. By minimizing human exposure to risks and automating demanding tasks, the project enhances safety and workforce productivity, allowing workers to focus on higher-value tasks. Environmentally, robotic process optimization improves energy efficiency, reduces waste, and boosts construction sustainability. Economically, CONCERT strengthens Europe’s industrial competitiveness by accelerating the adoption of AI-driven modular robotics in new markets.
Contribution to European Excellence in Robotics
CONCERT is advancing European robotics through configurable robot design, intelligent control, and human-robot collaboration. By leading the adoption of configurable robotics in under-automated sectors, CONCERT positions Europe at the forefront of next-generation robotic transformation.