Final Report Summary - ECROBOT (European and Chinese Platform for Robotics and Applications)
Publishable summary:
ECROBOT project has established a long-term collaboration platform between EU countries and China in robotics research. Through a large number of staff exchanges, the EU and Chinese partners of the project investigated robotic technologies in sensing and actuation, cognition and control, and human-robot interaction, and developed exploitable techniques for industrial robots, service robots, and micro and nano handling robots.
In particular, based on a thorough literature review, the project is able to foresee the trend of technology development for health care robots in the new 5-, 10-, and 15-years. The investigation in sensing and actuation focused on techniques that support localisation for mobile robots, mobile sensor network, structure light based vision, and more controllable probe holder and laser holder of AFMs and MFMs for nano handling. The emphasis of cognition and human-robot interaction was on the recognition of human’s intention, human motion modelling and on automated robot ontology. Robot control concentrated on automatic control of UAV.
The staff exchanges strongly supported the robotic systems development undertaken in project partners’ institutes, which includes the lower mobility parallel manipulators for industrial assembly line applications, the continuum manipulator for MIS, the structured light based 3D vision system and robot manipulator for offshore oil and gas platform inspection and maintenance, the vision-aided inertial navigation system, the upper limb rehabilitation robot, and AFMs and MFMs for nano handling and measuring. The consortium achieved the following exploitable research and development outcomes:
1 Potential field method for robot navigation
2 Robot localization based on Kalman filter and Particle filter
3 Simultaneously Localization and mapping (SLAM)
4 Face recognition based HMI
5 Voice recognition based HMI
6 Brain signal (EEG) based HMI
7 Muscle signal (EMG) based HMI
8 Robotic wheelchair control
9 UAV plan, navigation, and control
10 Robotic fish navigation and control
11 Artificial neural network based robot behaviour
12 Fuzzy controller of robot behaviour
13 Reinforcement learning and GA learning of robot behaviour
14 Robot swarm and flocking
15 Mobile wireless sensor network
16 Robot coordination and cooperation
17 Model predictive control of robot motion
18 Back-stepping control of robot motion
19 Robust control of robot motion
20 Robot skill learning
21 Symbolic grounding
22 Interaction between human and human-companion robots
23 Robot motion planning
24 Uncertainty handling in natural language processing
25 Robotic lifting chair control
26 Human intention recognition and prediction
27 Ontology
28 Semi-autonomous and remote-controllable robotics
29 Nano-robotics
30 Theory of Robotic Nano Manipulation and its implementation
31 Micro/Nano Robotics for Biomedical Application
32 Aerial search and rescue robot
33 Explosive ordnance disposal (EOD) robot
34 Amphibious reconfigurable robot research
35 Robot system for planetary exploration
36 High-speed visual odometer methods for field robot
37 Medical robots
38 Industrial robots
39 Mobile robots
40 Power transmission line inspection robots
41 Modular robots
42 Kinematic performance evaluation method of parallel robots
43 Unified parameter modelling method of lower mobility robots
44 Prototype design technology of parallel robots
45 Humanoid Robotics
46 Quadrupedal Robotics
47 Rehabilitation Robotics
48 Physical Human-Robotic Interaction
49 Locomotion and Gait Generation
50 Actuation Technology
51 Haptics
52 Telepresence
53 Dextrous Manipulation
54 Human-Robot Interfaces
55 Micro-manipulation
56 Balance and Locomotion Control
57 SLS principles
58 SLS system development
59 3D image processing
60 Orientation and position of object for robotics
61 Quality inspection
62 ANN, SVM, DT for object classification
63 Intelligent decision-making
64 Modelling and predicting
The project partners published more than 90 research papers, organised a organised IROS 2015 Conference, ECROBOT special sessions in 3MN 2013 - 2015 conferences, IWAMA2013 – 2015 conferences, a number of workshops and seminars for the purpose of dissemination and obtained 6 patents in nano handling and measuring. The project partners also collaborated in further funding applications at both national and EU levels.
The staff exchanges strongly supported the robotic systems development undertaken in project partners’ institutes, which includes the lower mobility parallel manipulators for industrial assembly line applications, the continuum manipulator for MIS, the structured light based 3D vision system and robot manipulator for offshore oil and gas platform inspection and maintenance, the vision-aided inertial navigation system, the upper limb rehabilitation robot, and AFMs and MFMs for nano handling and measuring.
The project partners published about 70 research papers, organised a number of workshops and seminars for the purpose of dissemination and obtained 6 patents in nano handling and measuring.
ECROBOT project has established a long-term collaboration platform between EU countries and China in robotics research. Through a large number of staff exchanges, the EU and Chinese partners of the project investigated robotic technologies in sensing and actuation, cognition and control, and human-robot interaction, and developed exploitable techniques for industrial robots, service robots, and micro and nano handling robots.
In particular, based on a thorough literature review, the project is able to foresee the trend of technology development for health care robots in the new 5-, 10-, and 15-years. The investigation in sensing and actuation focused on techniques that support localisation for mobile robots, mobile sensor network, structure light based vision, and more controllable probe holder and laser holder of AFMs and MFMs for nano handling. The emphasis of cognition and human-robot interaction was on the recognition of human’s intention, human motion modelling and on automated robot ontology. Robot control concentrated on automatic control of UAV.
The staff exchanges strongly supported the robotic systems development undertaken in project partners’ institutes, which includes the lower mobility parallel manipulators for industrial assembly line applications, the continuum manipulator for MIS, the structured light based 3D vision system and robot manipulator for offshore oil and gas platform inspection and maintenance, the vision-aided inertial navigation system, the upper limb rehabilitation robot, and AFMs and MFMs for nano handling and measuring. The consortium achieved the following exploitable research and development outcomes:
1 Potential field method for robot navigation
2 Robot localization based on Kalman filter and Particle filter
3 Simultaneously Localization and mapping (SLAM)
4 Face recognition based HMI
5 Voice recognition based HMI
6 Brain signal (EEG) based HMI
7 Muscle signal (EMG) based HMI
8 Robotic wheelchair control
9 UAV plan, navigation, and control
10 Robotic fish navigation and control
11 Artificial neural network based robot behaviour
12 Fuzzy controller of robot behaviour
13 Reinforcement learning and GA learning of robot behaviour
14 Robot swarm and flocking
15 Mobile wireless sensor network
16 Robot coordination and cooperation
17 Model predictive control of robot motion
18 Back-stepping control of robot motion
19 Robust control of robot motion
20 Robot skill learning
21 Symbolic grounding
22 Interaction between human and human-companion robots
23 Robot motion planning
24 Uncertainty handling in natural language processing
25 Robotic lifting chair control
26 Human intention recognition and prediction
27 Ontology
28 Semi-autonomous and remote-controllable robotics
29 Nano-robotics
30 Theory of Robotic Nano Manipulation and its implementation
31 Micro/Nano Robotics for Biomedical Application
32 Aerial search and rescue robot
33 Explosive ordnance disposal (EOD) robot
34 Amphibious reconfigurable robot research
35 Robot system for planetary exploration
36 High-speed visual odometer methods for field robot
37 Medical robots
38 Industrial robots
39 Mobile robots
40 Power transmission line inspection robots
41 Modular robots
42 Kinematic performance evaluation method of parallel robots
43 Unified parameter modelling method of lower mobility robots
44 Prototype design technology of parallel robots
45 Humanoid Robotics
46 Quadrupedal Robotics
47 Rehabilitation Robotics
48 Physical Human-Robotic Interaction
49 Locomotion and Gait Generation
50 Actuation Technology
51 Haptics
52 Telepresence
53 Dextrous Manipulation
54 Human-Robot Interfaces
55 Micro-manipulation
56 Balance and Locomotion Control
57 SLS principles
58 SLS system development
59 3D image processing
60 Orientation and position of object for robotics
61 Quality inspection
62 ANN, SVM, DT for object classification
63 Intelligent decision-making
64 Modelling and predicting
The project partners published more than 90 research papers, organised a organised IROS 2015 Conference, ECROBOT special sessions in 3MN 2013 - 2015 conferences, IWAMA2013 – 2015 conferences, a number of workshops and seminars for the purpose of dissemination and obtained 6 patents in nano handling and measuring. The project partners also collaborated in further funding applications at both national and EU levels.
The staff exchanges strongly supported the robotic systems development undertaken in project partners’ institutes, which includes the lower mobility parallel manipulators for industrial assembly line applications, the continuum manipulator for MIS, the structured light based 3D vision system and robot manipulator for offshore oil and gas platform inspection and maintenance, the vision-aided inertial navigation system, the upper limb rehabilitation robot, and AFMs and MFMs for nano handling and measuring.
The project partners published about 70 research papers, organised a number of workshops and seminars for the purpose of dissemination and obtained 6 patents in nano handling and measuring.