Smart Assembly Robot with Advanced FUNctionalities

Informations projet

SARAFun

N° de convention de subvention: 644938

DOI 10.3030/644938

Projet clôturé

Date de signature de la CE 19 Decembre 2014

Date de début 1 Mars 2015

Date de fin 28 Février 2018

Financé au titre de

• INDUSTRIAL LEADERSHIP - Leadership in enabling and industrial technologies - Information and Communication Technologies (ICT)

Coût total € 4 037 266,25

Contribution de l’UE € 4 037 265,50

Coordonné par

HITACHI ENERGY SWEDEN AB
Sweden

Livrables

Demonstrators, pilots, prototypes (3)

Tactile sensor integration
Integrated SARAFun bi-manual robot

Integrated SARAFun bimanual robot

SARAFun use cases deployment and execution

Documents, reports (14)

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

Lab setup methodology sw and hw Robot extensions validation

Preliminary lab setup methodology, s/w and h/w Robot extensions validation

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

Website and Social Media Presence Launch
Ethics and Safety Manual for SARAFun technology, final version

Final version of the Ethics and Safety Manual for SARAFun technology

Adaptive learning Control of Bimanual Folding Assembly
A BT implementation controlling the execution of ABB FRIDA in a task, preliminary version

A BT implementation controlling the execution of ABB FRIDA in a task

SARAFun system specifications and conceptual architecture, final version

Final version of the SARAFun system specifications and conceptual architecture

Preliminary SARAFun system specifications and conceptual architecture

SARAFun system specifications and conceptual architecture

End-user requirements, use cases and application scenarios

Enduser requirements use cases and application scenarios

Draft Data Management Plan

Data Management Plan

SARAFun consolidated evaluation and lessons learned
Preliminary Ethics and Safety Manual for SARAFun technology

Ethics and Safety Manual for SARAFun technology

Assembly key-frame extraction using visual feedback

Assembly keyframe extraction using visual feedback

A BT implementation controlling the execution of ABB FRIDA in a task, final version

A BT implementation controlling the execution of ABB FRIDA in a task

Open Research Data Pilot (1)

Data Management Plan

Publications

Peer reviewed articles (10)

A database for reproducible manipulation research: CapriDB – Capture, Print, Innovate

Auteurs: Florian T. Pokorny, Yasemin Bekiroglu, Karl Pauwels, Judith Butepage, Clara Scherer, Danica Kragic
Publié dans: Data in Brief, Numéro 11, 2017, Page(s) 491-498, ISSN 2352-3409
Éditeur: Elsevier BV
DOI: 10.1016/j.dib.2017.02.015

Experimental verification of design automation methods for robotic finger

Auteurs: M. Honarpardaz, M. Tarkian, J. Ölvander, X. Feng
Publié dans: Robotics and Autonomous Systems, Numéro 94, 2017, Page(s) 89-101, ISSN 0921-8890
Éditeur: Elsevier BV
DOI: 10.1016/j.robot.2017.04.011

Two-Degree-of-Freedom Control for Trajectory Tracking and Perturbation Recovery during Execution of Dynamical Movement Primitives * *The authors are members of the LCCC Linnaeus Center and the ELLIIT Excellence Center at Lund University. The research leading to these results has received funding from the European Community’s Framework Programme Horizon 2020 - under grant agreement No 644938 - SA

Auteurs: Martin Karlsson, Fredrik Bagge Carlson, Anders Robertsson, Rolf Johansson
Publié dans: IFAC-PapersOnLine, Numéro 50/1, 2017, Page(s) 1923-1930, ISSN 2405-8963
Éditeur: ELSEVIER
DOI: 10.1016/j.ifacol.2017.08.383

Semantic Modelling of Hybrid Controllers for Robotic Cells

Auteurs: Mathias Haage, Jacek Malec, Anders Nilsson, Maj Stenmark, Elin Anna Topp
Publié dans: Procedia Manufacturing, Numéro 11, 2017, Page(s) 292-299, ISSN 2351-9789
Éditeur: ELSEVIER
DOI: 10.1016/j.promfg.2017.07.108

Teaching Assembly by Demonstration Using Advanced Human Robot Interaction and a Knowledge Integration Framework

Auteurs: Mathias Haage, Grigoris Piperagkas, Christos Papadopoulos, Ioannis Mariolis, Jacek Malec, Yasemin Bekiroglu, Mikael Hedelind, Dimitrios Tzovaras
Publié dans: Procedia Manufacturing, Numéro 11, 2017, Page(s) 164-173, ISSN 2351-9789
Éditeur: ELSEVIER
DOI: 10.1016/j.promfg.2017.07.221

Key-frame Extraction With Semantic Graphs in Assembly Processes

Auteurs: Grigorios S. Piperagkas, Ioannis Mariolis, Dimosthenis Ioannidis, Dimistrios Tzovaras
Publié dans: IEEE Robotics and Automation Letters, Numéro 2/3, 2017, Page(s) 1264-1271, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/LRA.2017.2662064

Dynamical System Based Robotic Motion Generation With Obstacle Avoidance

Auteurs: Sotiris Stavridis, Dimitrios Papageorgiou, Zoe Doulgeri
Publié dans: IEEE Robotics and Automation Letters, Numéro 2/2, 2017, Page(s) 712-718, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/LRA.2017.2651172

On Prescribed Contact Establishment * *This work is funded by the EU Horizon 2020 research and innovation programme under grant agreement No 644938, project SARAFun.The authors are with the Center for Research and Technology Hellas (CERTH), 57001 Thessaloniki, Greece and with the Aristotle University of Thessaloniki, Dept. of Electrical and Computer Engineering, 54124, Thessaloniki, Greece

Auteurs: George S. Kanakis, George A. Rovithakis, Zoe Doulgeri
Publié dans: IFAC-PapersOnLine, Numéro 50/1, 2017, Page(s) 4831-4836, ISSN 2405-8963
Éditeur: ELSEVIER
DOI: 10.1016/j.ifacol.2017.08.970

Kinematic control of redundant robots with guaranteed joint limit avoidance

Auteurs: Abdelrahem Atawnih, Dimitrios Papageorgiou, Zoe Doulgeri
Publié dans: Robotics and Autonomous Systems, Numéro 79, 2016, Page(s) 122-131, ISSN 0921-8890
Éditeur: Elsevier BV
DOI: 10.1016/j.robot.2016.01.006

Finger design automation for industrial robot grippers: A review

Auteurs: M. Honarpardaz, M. Tarkian, J. Ölvander, X. Feng
Publié dans: Robotics and Autonomous Systems, 2016, ISSN 0921-8890
Éditeur: Elsevier BV
DOI: 10.1016/j.robot.2016.10.003

Conference proceedings (29)

Autonomous interpretation of demonstrations for modification of dynamical movement primitives

Auteurs: Martin Karlsson, Anders Robertsson, Rolf Johansson
Publié dans: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 316-321, ISBN 978-1-5090-4633-1
Éditeur: IEEE
DOI: 10.1109/ICRA.2017.7989040

Linear parameter-varying spectral decomposition

Auteurs: Fredrik Bagge Carlson, Anders Robertsson, Rolf Johansson
Publié dans: 2017 American Control Conference (ACC), 2017, Page(s) 146-151, ISBN 978-1-5090-5992-8
Éditeur: IEEE
DOI: 10.23919/ACC.2017.7962945

From Demonstrations to Skills for High-Level Programming of Industrial Robots

Auteurs: Maj Stenmark, Elin A. Topp
Publié dans: The 2016 AAAI Fall Symposium Series: Artificial Intelligence for Human-Robot Interaction, 2016
Éditeur: AAAI Press

Simplified Programming of Re-usable Skills on a Safe Industrial Robot: Prototype and Evaluation

Auteurs: Maj Stenmark, Mathias Haage, Elin Anna Topp
Publié dans: Proceedings of the 2017 ACM/IEEE International Conference on Human-Robot Interaction, 2017
Éditeur: IEEE

Supporting Semantic Capture during Kinesthetic Teaching of Collaborative Industrial Robots

Auteurs: Maj Stenmark, Mathias Haage, Elin Anna Topp, Jacek Malec
Publié dans: 2017 IEEE 11th International Conference on Semantic Computing (ICSC), 2017, Page(s) 366-371, ISBN 978-1-5090-4284-5
Éditeur: IEEE
DOI: 10.1109/ICSC.2017.40

Making Robotic Sense of Incomplete Human Instructions in High-level Programming for Industrial Robotic Assembly

Auteurs: Maj Stenmark, Mathias Haage, Elin A. Topp, and Jacek Malec
Publié dans: 2017, Association for the Advancement of Artificial Intelligence, 2017
Éditeur: AAAI Press

Modularization of skill ontologies for industrial robots

Auteurs: Ludwig Jacobsson, Jacek Malec, Klas Nilsson
Publié dans: ISR 2016: 47st International Symposium on Robotics, 2016
Éditeur: IEEE

Tactile Convolutional Networks for Online Slip and Rotation Detection

Auteurs: Martin Meier, Florian Patzelt, Robert Haschke and Helge J. Ritter
Publié dans: ICANN 2016: 25th International Conference on Artificial Neural Networks, 2016
Éditeur: Springer

Bimanual folding assembly: Switched control and contact point estimation

Auteurs: Diogo Almeida, Francisco E. Vina, Yiannis Karayiannidis
Publié dans: 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 2016, Page(s) 210-216, ISBN 978-1-5090-4718-5
Éditeur: IEEE
DOI: 10.1109/HUMANOIDS.2016.7803279

Dexterous manipulation with compliant grasps and external contacts

Auteurs: Diogo Almeida, Yiannis Karayiannidis
Publié dans: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 1913-1920, ISBN 978-1-5386-2682-5
Éditeur: IEEE
DOI: 10.1109/IROS.2017.8206010

An Advanced Human-Robot Interaction Interface for Teaching Collaborative Robots New Assembly Tasks

Auteurs: Christos Papadopoulos, Ioannis Mariolis, Angeliki Topalidou-Kyniazopoulou, Grigorios Piperagkas, Dimosthenis Ioannidis, Dimitrios Tzovaras
Publié dans: Interactive Collaborative Robotics: Second International Conference, ICR 2017, 2017, Page(s) 180-190
Éditeur: Springer International Publishing
DOI: 10.1007/978-3-319-66471-2_20

A fast robot deployment strategy for successful snap assembly

Auteurs: Yiannis Koveos, Dimitrios Papageorgiou, Stefanos Doltsinis, Zoe Doulgeri
Publié dans: 2016 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS), 2016, Page(s) 80-85, ISBN 978-1-5090-6084-9
Éditeur: IEEE
DOI: 10.1109/IRIS.2016.8066070

Fast grasp tool design: From force to form closure

Auteurs: M. Honarpardaz, M. Meier, R. Haschke
Publié dans: 2017 13th IEEE Conference on Automation Science and Engineering (CASE), 2017, Page(s) 782-788, ISBN 978-1-5090-6781-7
Éditeur: IEEE
DOI: 10.1109/COASE.2017.8256199

Grasp quality evaluation done right: How assumed contact force bounds affect Wrench-based quality metrics

Auteurs: Robert Krug, Yasemin Bekiroglu, Maximo A. Roa
Publié dans: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 1595-1600, ISBN 978-1-5090-4633-1
Éditeur: IEEE
DOI: 10.1109/ICRA.2017.7989189

Identification of LTV Dynamical Models with Smooth or Discontinuous Time Evolution by means of Convex Optimization

Auteurs: Fredrik Bagge Carlson, Anders Robertsson, Rolf Johansson
Publié dans: IEEE--Institute of Electrical and Electronics Engineers Inc., 2018
Éditeur: IEEE

Detection and Control of Contact Force Transients in Robotic Manipulation without a Force Sensor

Auteurs: Martin Karlsson, Anders Robertsson, Rolf Johansson
Publié dans: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018
Éditeur: IEEE

Convergence of Dynamical Movement Primitives with Temporal Coupling

Auteurs: Martin Karlsson, Anders Robertsson, Rolf Johansson
Publié dans: 2018 European Control Conference, 2018
Éditeur: IEEE

High-level task descriptions for industrial robots

Auteurs: Maj Stenmark
Publié dans: 13th Scandinavian Conference on Artificial Intelligence, SCAI 2015, 2015
Éditeur: SCAI 2015
DOI: 10.3233/978-1-61499-589-0-191

Bilingual robots : Extracting robot program statements from Swedish natural language instructions

Auteurs: Maj Stenmark
Publié dans: 13th Scandinavian Conference on Artificial Intelligence, SCAI 2015, 2015, Page(s) 137-146
Éditeur: SCAI 2015
DOI: 10.3233/978-1-61499-589-0-137

Connecting natural language to task demonstrations and low-level control of industrial robots

Auteurs: Maj Stenmark, Jacek Malec
Publié dans: Proceedings of the Workshop on Multimodal and Semantics for Robotics Systems (MuSRobS), 2015
Éditeur: MuSRobS

An impedance control modification guaranteeing compliance strictly within preselected spatial limits

Auteurs: Achilles Theodorakopoulos, George A. Rovithakis, Zoe Doulgeri
Publié dans: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, Page(s) 2210-2215, ISBN 978-1-4799-9994-1
Éditeur: IEEE
DOI: 10.1109/IROS.2015.7353673

A passivity based control signal guaranteeing joint limit avoidance in redundant robots

Auteurs: Dimitrios Papageorgiou, Abdelrahem Atawnih, Zoe Doulgeri
Publié dans: 2016 24th Mediterranean Conference on Control and Automation (MED), 2016, Page(s) 569-574, ISBN 978-1-4673-8345-5
Éditeur: IEEE
DOI: 10.1109/MED.2016.7535862

Recovering 6D Object Pose and Predicting Next-Best-View in the Crowd

Auteurs: Andreas Doumanoglou, Rigas Kouskouridas, Sotiris Malassiotis, Tae-Kyun Kim
Publié dans: The IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2016, 2016
Éditeur: Computer Vision Foundation

Physiological Mechanisms for Stabilizing the Limb when Acting Against Physical Constraints.

Auteurs: Patrice Senot, Loic Damm, Michele Tagliabue, Joseph McIntyre
Publié dans: Proceedings of the 38th Annual International Conference of the IEEE Engineering in Medicine & Biology Society, 2016
Éditeur: EMBC 2016

Distinguishing Sliding from Slipping during Object Pushing

Auteurs: Meier, M., Walck, G., Haschke, R., & Ritter, H. J.
Publié dans: International Conference on Intelligent Robots and Systems (IROS 2016), 2016
Éditeur: IEEE

Learning Convolutional Filters for Tactile Manipulation

Auteurs: Meier, M., Haschke, R., & Ritter, H. J.
Publié dans: DGR Days 2016, (Deutsche Gesellschaft fuer Robotik), 2016
Éditeur: DGR

Generic Automated Finger Design

Auteurs: Mohammadali Honarpardaz, Mehdi Tarkian, Xiaolong Feng, Daniel Sirkett, Johan Ölvander
Publié dans: Volume 5B: 40th Mechanisms and Robotics Conference, 2016, Page(s) V05BT07A071, ISBN 978-0-7918-5016-9
Éditeur: ASME
DOI: 10.1115/DETC2016-60514

Folding assembly by means of dual-arm robotic manipulation

Auteurs: Diogo Almeida, Yiannis Karayiannidis
Publié dans: 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016, Page(s) 3987-3993, ISBN 978-1-4673-8026-3
Éditeur: IEEE
DOI: 10.1109/ICRA.2016.7487588

Generic Automated Multi-function Finger Design

Auteurs: Mohammadali Honarpardaz, Mehdi Tarkian, Johan Ölvander, Xiaolong Feng, Daniel Sirkett, Rasmus Sjögren, Joakim Elf
Publié dans: International Conference of Mechanical Engineering and Automation Systems, 2016
Éditeur: Elsevier

Thesis and dissertations (4)

On Motion Control and Machine Learning for Robotic Assembly

Auteurs: Martin Karlsson
Publié dans: 2017
Éditeur: Department of Automatic Control, Lund Institute of Technology, Lund University

Modeling and Estimation Topics in Robotics

Auteurs: Fredrik Bagge Carlson
Publié dans: 2017
Éditeur: Department of Automatic Control, Lund Institute of Technology, Lund University

Intuitive Instruction of Industrial Robots : A Knowledge-Based Approach

Auteurs: Maj Stenmark
Publié dans: 2017
Éditeur: Department of Computer Science, Lund University

Finger Design Automation for Industrial Robots: A Generic and Agile Approach

Auteurs: Mohammadali Honarpardaz
Publié dans: 2018
Éditeur: Department of Management and Engineering, Machine Design. Linköping University

Monographic books (1)

Artificial Neural Networks and Machine Learning – ICANN 2016

Auteurs: Alessandro E.P. Villa, Paolo Masulli, Antonio Javier Pons Rivero
Publié dans: Lecture Notes in Computer Science, 2016, ISBN 978-3-319-44781-0
Éditeur: Springer International Publishing
DOI: 10.1007/978-3-319-44781-0