Collaborative Robotics for Assembly and Kitting in Smart Manufacturing

Project Information

ColRobot

Grant agreement ID: 688807

DOI 10.3030/688807

Project closed

EC signature date 10 November 2015

Start date 1 February 2016

End date 31 January 2019

Funded under

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

Total cost € 4 338 412,50

EU contribution € 3 914 493,38

Coordinated by

ECOLE NATIONALE SUPERIEURE D'ARTS ET METIERS
France

Deliverables

Documents, reports (5)

Evaluation of localization, navigation and grasping system

Public report containing testing results for both systems.

Evaluation of the HRI/C system

Public report containing testing results for the cognitive and physical HRI/C system. The report should contain: gesture and touch recognition rates in different conditions (environment, user, training time), level of intuitiveness, repeatability and error in teaching by demonstration.

Safety evaluation and standardization

Public report containing testing results for the safety system and the results that will contribute to standards.

Demonstration of the ColRobot in automobile industry

Public report showing the performance of ColRobot system in automobile industry.

Demonstration of the ColRobot in aerospace industry

Public report showing the performance of ColRobot system in aerospace industry.

Open Research Data Pilot (1)

Dataset for benchmarking in aerospace demonstrator

Public dataset containing measurements and routings for benchmarking purposes.

Demonstrators, pilots, prototypes (2)

ColRobot prototype in automobile industry

Prototype TRL7, public prototype demonstrated in operational environment at RNLT facilities.

ColRobot prototype in aerospace industry

Prototype TRL7, public prototype demonstrated in operational environment at TAS-F facilities.

Websites, patent fillings, videos etc. (2)

Communication material and record reports (project results)

• Dossier including all the publications related to the ColRobot project (flyers, posters, brochures); • 5-minutes general video and other videos related with lab demonstrators; • Wikipedia page on the project and its results.

Project Website and dissemination material

Project website (updated every 3 months) with public and private areas to collaborate among partners and to disseminate the public results of the project. Dissemination material includes the project initial video, flyers, posters, brochures.

Other (1)

Dataset for benchmarking in automobile demonstrator

Public dataset containing measurements and routings for benchmarking purposes.

Publications

Peer reviewed articles (10)

Safeguarding Collaborative Mobile Manipulators - Evaluation of the VALERI Workspace Monitoring System

Author(s): José Saenz, Christian Vogel, Felix Penzlin, Norbert Elkmann
Published in: Procedia Manufacturing, Issue 11, 2017, Page(s) 47-54, ISSN 2351-9789
Publisher: Elsevier
DOI: 10.1016/j.promfg.2017.07.129

From the Internet of Things to Cyber-Physical Systems: The Holonic Perspective

Author(s): Luca Pazzi, Marcello Pellicciari
Published in: Procedia Manufacturing, Issue 11, 2017, Page(s) 989-995, ISSN 2351-9789
Publisher: Elservier
DOI: 10.1016/j.promfg.2017.07.204

Human Behavior and Hand Gesture Classification for Smart Human-robot Interaction

Author(s): Nuno Mendes, João Ferrer, João Vitorino, Mohammad Safeea, Pedro Neto
Published in: Procedia Manufacturing, Issue 11, 2017, Page(s) 91-98, ISSN 2351-9789
Publisher: Elsevier
DOI: 10.1016/j.promfg.2017.07.156

Minimum Distance Calculation for Safe Human Robot Interaction

Author(s): Mohammad Safeea, Nuno Mendes, Pedro Neto
Published in: Procedia Manufacturing, Issue 11, 2017, Page(s) 99-106, ISSN 2351-9789
Publisher: Elsevier
DOI: 10.1016/j.promfg.2017.07.157

3D Metrology Using a Collaborative Robot with a Laser Triangulation Sensor

Author(s): Gil Boyé de Sousa, Adel Olabi, Jorge Palos, Olivier Gibaru
Published in: Procedia Manufacturing, Issue 11, 2017, Page(s) 132-140, ISSN 2351-9789
Publisher: Elsevier
DOI: 10.1016/j.promfg.2017.07.211

Map-Matching Algorithms for Robot Self-Localization: A Comparison Between Perfect Match, Iterative Closest Point and Normal Distributions Transform

Author(s): Héber Sobreira, Carlos M. Costa, Ivo Sousa, Luis Rocha, José Lima, P. C. M. A. Farias, Paulo Costa, A. Paulo Moreira
Published in: Journal of Intelligent & Robotic Systems, Issue 93/3-4, 2019, Page(s) 533-546, ISSN 0921-0296
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s10846-017-0765-5

A Pragmatic Approach to Exploiting Full Force Capacity for Serial Redundant Manipulators

Author(s): David Busson, Richard Bearee
Published in: IEEE Robotics and Automation Letters, Issue 3/2, 2018, Page(s) 888-894, ISSN 2377-3766
Publisher: IEE
DOI: 10.1109/lra.2018.2792541

Unsupervised Robotic Sorting : Towards Autonomous Decision Making Robots

Author(s): Joris GuErin, StEphane Thiery, Eric Nyiri, Olivier Gibaru
Published in: International Journal of Artificial Intelligence & Applications, Issue 9/2, 2018, Page(s) 81-98, ISSN 0976-2191
Publisher: AIRCC Publishing Corporation
DOI: 10.5121/ijaia.2018.9207

Task-oriented rigidity optimization for 7 DOF redundant manipulators

Author(s): D. Busson, R. Bearee, A. Olabi
Published in: IFAC-PapersOnLine, Issue 50/1, 2017, Page(s) 14588-14593, ISSN 2405-8963
Publisher: ELSEVIER
DOI: 10.1016/j.ifacol.2017.08.2108

Locally optimal control under unknown dynamics with learnt cost function: application to industrial robot positioning

Author(s): Joris Guérin, Olivier Gibaru, Stéphane Thiery, Eric Nyiri
Published in: Journal of Physics: Conference Series, Issue 783, 2017, Page(s) 012036, ISSN 1742-6588
Publisher: Institute of Physics
DOI: 10.1088/1742-6596/783/1/012036

Conference proceedings (12)

Clustering for Different Scales of Measurement - the Gap-Ratio Weighted K-means Algorithm

Author(s): Guérin, Joris; Gibaru, Olivier; Thiery, Stéphane; Nyiri, Eric
Published in: Proceedings of the 7th International Conference on Computer Science, Engineering and Information Technology (CCSEIT 2017), Issue 3, 2017, Page(s) 35-52, ISBN 978-1-921987-66-3
Publisher: AIRCC Publishing Corporation

Semantically Meaningful View Selection

Author(s): Guérin, Joris; Gibaru, Olivier; Nyiri, Eric; Thiery, Stéphane; Boots, Byron
Published in: IROS 2018 Madrid Spai, Issue 2, 2018
Publisher: IEEE

CNN features are also great at unsupervised classification

Author(s): Guérin, Joris; Gibaru, Olivier; Thiery, Stéphane; Nyiri, Eric
Published in: arXiv.org e-Print Archive Proceedings of AIFU 2018, Melbourne, Australia, Issue 5, 2017
Publisher: AIFU

Automatic Construction of Real-World Datasets for 3D Object Localization using Two Cameras

Author(s): Guérin, Joris; Gibaru, Olivier; Nyiri, Eric; Thiery, Stéphane
Published in: 1st Conference on Robot Learning (CoRL2017), Issue 1, 2017
Publisher: CoRL

Reducing the Computational Complexity of Mass-Matrix Calculation for High DOF Robots

Author(s): Mohammad Safeea, Richard Bearee, Pedro Neto
Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Page(s) 5614-5619, ISBN 978-1-5386-8094-0
Publisher: IEEE
DOI: 10.1109/iros.2018.8593775

Tactile Sensor Modules for Flexible Manipulation

Author(s): Mueller, Veit; Urbahn, Christoph; Al-Gaifi, Reem Muhammed; Schmidt, Maximilian; Saenz, Jose; Elkmann, Norbert
Published in: Conference: ISR 2018 - 50th International Symposium on Robotics, 2018, ISBN 978-3-8007-4699-6
Publisher: VDE Verlag

Validation of workspace monitoring and human detection for soft safety with collaborative mobile manipulator using machine learning techniques in the ColRobot project

Author(s): Bexten, Simone; Scholle, Julian; Saenz, Jose; Walter, Christoph; Elkmann, Norbert
Published in: larger VDMA; VDE; ITG; IFR (Ed.) ISR 2018 50th International Symposium on Robotics, 2018, ISBN 978-3-8007-4699-6
Publisher: VDE Verlag

Survey of methods for design of collaborative robotics applications- Why safety is a barrier to more widespread robotics uptake

Author(s): José Saenz, Norbert Elkmann, Olivier Gibaru, Pedro Neto
Published in: Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering - ICMRE 2018, 2018, Page(s) 95-101, ISBN 9781-450363655
Publisher: ACM Press
DOI: 10.1145/3191477.3191507

Gesture Recognition from Skeleton Data for Intuitive Human-Machine Interaction

Author(s): Brás A., Simão M., Neto P.
Published in: TE2018 Proceedings 25th International Conference on Transdisciplinary Engineering. Modena (IT), July 3-6, 2018, Issue 7, 2018, Page(s) 271 – 280, ISBN 978-1-61499-898-3
Publisher: IOS Press
DOI: 10.3233/978-1-61499-898-3-271

Human-robot Collision Avoidance for Industrial Robots: A V-REP based Solution

Author(s): Mohammad SafeeaPedro NetoPedro Neto
Published in: Conference: The 25th International Conference on Transdisciplinary Engineering (TE2018), Issue 7, 2018, ISBN 978-1-61499-898-3
Publisher: IOS Press
DOI: 10.3233/978-1-61499-898-3-301

Learning local trajectories for high precision robotic tasks: Application to KUKA LBR iiwa Cartesian positioning

Author(s): Joris Guerin, Olivier Gibaru, Eric Nyiri, Stephane Thiery
Published in: IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society, 2016, Page(s) 5316-5321, ISBN 978-1-5090-3474-1
Publisher: IEEE
DOI: 10.1109/IECON.2016.7793388

Clustering for Different Scales of Measurement - The Gap Ratio Weighted K-Means Algorithm

Author(s): J. Guérin, O. Gibaru, S. Thiery, & E. Nyiri
Published in: Computer Science & Information Technology (CS & IT) Proceedings of the 7th International Conference on Computer Science, Engineering and Information Technology (CCSEIT 2017), Issue 68, 2017, Page(s) 35-52, ISBN 978-1-921987-66-3
Publisher: AIRCC Publishing Corporation

Book chapters (4)

Deep Learning-Based Method for Vision-Guided Robotic Grasping of Unknown Objects

Author(s): Bergamini, Luca; Sposato, Mario; Peruzzini, Margherita; Vezzani, Roberto; Pellicciari, Marcello
Published in: Transdisciplinary Engineering Methods for Social Innovation of Industry 4.0, Issue 7, 2018, Page(s) 281-290, ISBN 9781-614998976
Publisher: IOS Presss
DOI: 10.3233/978-1-61499-898-3-281

End-Effector Precise Hand-Guiding for Collaborative Robots

Author(s): Mohammad Safeea, Richard Bearee, Pedro Neto
Published in: ROBOT 2017: Third Iberian Robotics Conference, Issue 694, 2018, Page(s) 595-605, ISBN 978-3-319-70835-5
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-70836-2_49

Pose Invariant Object Recognition Using a Bag of Words Approach

Author(s): Carlos M. Costa, Armando Sousa, Germano Veiga
Published in: ROBOT 2017: Third Iberian Robotics Conference, Issue 694, 2018, Page(s) 153-164, ISBN 978-3-319-70835-5
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-70836-2_13

VALERI - A collaborative mobile manipulator for aerospace production

Author(s): JOSÉ SAENZ, FELIX PENZLIN, CHRISTIAN VOGEL, MARKUS FRITZSCHE
Published in: Advances in Cooperative Robotics, Proceedings of the 19th International Conference on CLAWAR 2016, 2016, Page(s) 186-195, ISBN 978-981-3149-12-0
Publisher: WORLD SCIENTIFIC
DOI: 10.1142/9789813149137_0024

Other (2)

Improving Image Clustering With Multiple Pretrained CNN Feature Extractors

Author(s): Joris GuérinByron Boots
Published in: Archive (Preprint, 2018), 2018
Publisher: Archive (Preprint, 2018)

Taking Advantage of Data Dimensionality Reduction for Dynamic Gesture Recognition from Incomplete Data

Author(s): M. Simão, P Neto & O. Gibaru
Published in: IEEE RO-MAN 2016, New York, USA, Aug 2016, 2016
Publisher: IEEE