Seamless and safe human - centred robotic applications for novel collaborative workplaces

Información del proyecto

SHERLOCK

Identificador del acuerdo de subvención: 820689

DOI

10.3030/820689

Proyecto cerrado

Fecha de la firma de la CE 3 Agosto 2018

Fecha de inicio 1 Octubre 2018

Fecha de finalización 30 Septiembre 2022

Financiado con arreglo a

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

Coste total

€ 7 939 022,50

Aportación de la UE

€ 7 939 022,50

Coordinado por

PANEPISTIMIO PATRON
Greece

CORDIS proporciona enlaces a los documentos públicos y las publicaciones de los proyectos de los programas marco HORIZONTE.

Los enlaces a los documentos y las publicaciones de los proyectos del Séptimo Programa Marco, así como los enlaces a algunos tipos de resultados específicos, como conjuntos de datos y «software», se obtienen dinámicamente de OpenAIRE .

Resultado final

Demonstrators, pilots, prototypes (27)

CALPAK – Solar Thermal Collectors pre-pilot demonstrator setup and prototypes integration

This deliverable will report the CALPAK initial demonstrator setup in LMS developed in Task 62

Indirect human robot interaction and awareness – First prototype

This deliverable will document the first prototypes of the indirect HRI and awareness modules from Task 3.2 and Task 3.3

SHERLOCK soft robotics collaborative production station – Initial version

This deliverable will describe the first version of the station integrating the SHERLOCK developments

Autonomous learning and programming methods – First Prototype

Report of the first prototypes of the autonomous learning and programming modules undertaken in Tasks 45 and Task 46

Indirect human robot interaction and awareness – Final prototype

This deliverable will document the final prototypes of indirect HRI and awareness modules developed in Task 3233

Online safety assessment module – Final Prototype

This deliverable will contain a description of the final prototype of the online monitoring module undertaken in task 53

VR based tools for evaluation of HRC operations – Final prototype

Report on the final prototypes of the fully functional version of VR tools for evaluation of HRC cells undertaken in task 52

Workspace monitoring and digital twin – First prototype

This deliverable will report the prototypes of the environment perception and digital twin models developed in Tasks 4.2 and 4.3

SOFITEC - Aeronautics Structures Production pre-pilot demonstrator setup and prototypes integration

Report of the SOFITEC initial demonstrator at TECNALIA in Task 65

FIDIA – Machine Tools pre-pilot demonstrator setup and prototypes integration

This deliverable will report the FIDIA initial demonstrator developed in Task 64

CALPAK - Solar Thermal Collectors final demonstrator execution

This deliverable will contain a description of the CALPAK final demonstrator, setup at CALPAK premises, developed in Task 6.2

Process perception modules – Final prototype

This deliverable will contain a description of the final prototypes of the process perception modules undertaken in task 41

VR based tools for evaluation of HRC operations – First prototype

Report on the first prototypes of the VR tools for immersive and interactive evaluation of HRC cells, undertaken in task 5.2

SOFITEC - Aeronautics Structures Production final demonstrator execution

Report of the SOFITEC final demonstrator, setup in SOFITEC premises and developed in Task 6.5

SHERLOCK tools for AR/VR enabled operator training

This deliverable will contain a description of the first prototypes of the training modules using ARVR technology undertaken in tasks 54

FIDIA - Machine Tools final demonstrator execution

This deliverable will contain a description of the FIDIA final demonstrator, developed in Task 6.4

SHERLOCK Online task planning module – Final Prototype

This deliverable will contain a description of the first prototypes of the AIenabled task planning modules undertaken in Task 44

Autonomous learning and programming methods – Final Prototype

Report of the final prototypes of the autonomous learning and programming modules undertaken in Tasks 45 and 46

Online safety module – First Prototype

This deliverable will contain a description of the first prototype of the online monitoring module, undertaken in task 5.3.

Process perception modules – First prototype

This deliverable will contain a description of the first prototypes of the process perception modules developed in task 4.1

SHERLOCK soft robotics collaborative production station - Final version

This deliverable will describe the final version of the station integrating the SHERLOCK developments

VDLIM - Industrial Modules final demonstrator execution

This deliverable will contain a description of the VDLIM final demonstrator, developed in Task 6.3

SHERLOCK Online task planning module – First Prototype

This deliverable will contain a description of the first prototypes of the AI-enabled task planning modules, undertaken in Tasks 4.4

VDLIM – Industrial Modules pre-pilot demonstrator setup and prototypes integration

This deliverable will report the VDLIM initial demonstrator developed in Task 63

Workspace monitoring and digital twin – Final prototype

Report of the final prototypes for the environment perception and digital twin models undertaken in tasks 42 and Task 43

Human Robot Interaction modules – Final prototype

This deliverable will contain a description of the final prototypes of the HRI modules undertaken in task 31

Human Robot Interaction modules – First prototype

This deliverable will contain a description of the first prototypes of the HRI modules, undertaken in Task 3.1

Open Research Data Pilot (1)

Data Management Plan

Websites, patent fillings, videos etc. (1)

SHERLOCK public web portal

Report containing actions of design and implementation of SHERLOCK’s public web portal for communication and dissemination activities

Publicaciones

Peer reviewed articles (20)

Automatic simulation-based design and validation of robotic gripper fingers

Autores: Ramasubramanian, A. K., Connolly, M., Mathew, R., & Papakostas, N
Publicado en: CIRP Annals, Edición 00078506, 2022, ISSN 0007-8506
Editor: Hallwag AG
DOI: 10.1016/j.cirp.2022.04.054

Power and force limiting on industrial robots for human-robot collaboration

Autores: P. Aivaliotis, S. Aivaliotis, C. Gkournelos, K. Kokkalis, G. Michalos, S. Makris
Publicado en: Robotics and Computer-Integrated Manufacturing, Edición 59, 2019, Página(s) 346-360, ISSN 0736-5845
Editor: Pergamon Press Ltd.
DOI: 10.1016/j.rcim.2019.05.001

Histogram-Based Descriptor Subset Selection for Visual Recognition of Industrial Parts

Autores: Ibon Merino, Jon Azpiazu, Anthony Remazeilles, Basilio Sierra
Publicado en: Applied Sciences, Edición 10/11, 2020, Página(s) 3701, ISSN 2076-3417
Editor: Multidisciplinary Digital Publishing Institute
DOI: 10.3390/app10113701

Flexure-based Environmental Compliance for High-speed Robotic Contact Tasks

Autores: Richard Matthias Hartisch; Kevin Haninger
Publicado en: ASME International Conference on Advanced Intelligent Mechatronics (AIM), Edición 21596255, 2022, ISSN 2159-6255
Editor: IEEE
DOI: 10.1109/aim52237.2022.9863334

Digital Twin for Human–Robot Collaboration in Manufacturing: Review and Outlook

Autores: Ramasubramanian, A. K., Mathew, R., Kelly, M., Hargaden, V., & Papakostas, N.
Publicado en: MDPI Applied Sciences, Edición 20763417, 2022, ISSN 2076-3417
Editor: MDPI
DOI: 10.3390/app12104811

Seamless Human–Robot Collaborative Assembly Using Artificial Intelligence and Wearable Devices

Autores: Nikos Dimitropoulos, Theodoros Togias, Natalia Zacharaki, George Michalos, Sotiris Makris
Publicado en: Applied Sciences, Edición 11/12, 2021, Página(s) 5699, ISSN 2076-3417
Editor: Multidisciplinary Digital Publishing Institute
DOI: 10.3390/app11125699

Towards High-Payload Admittance Control for Manual Guidance With Environmental Contact

Autores: Kevin Haninger; Marcel Radke; Axel Vick; Jörg Krüger
Publicado en: IEEE Robotics and Automation Letters, Edición 23773766, 2022, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2022.3150051

Contact Information Flow and Design of Compliance

Autores: Kevin Haninger; Marcel Radke; Richard Hartisch; Jörg Krüger
Publicado en: ASME International Conference on Advanced Intelligent Mechatronics (AIM), Edición 21596255, 2022, ISSN 2159-6255
Editor: IEEE
DOI: 10.1109/aim52237.2022.9863254

Minimum directed information: A design principle for compliant robots

Autores: Haninger, Kevin
Publicado en: ICRA 2021, Edición June 2021, 2021, Página(s) 11953 - 11960, ISSN 2577-087X
Editor: IEEE
DOI: 10.1109/icra48506.2021.9561976

A Real Application of an Autonomous Industrial Mobile Manipulator within Industrial Context

Autores: Jose Luis Outón, Ibon Merino, Iván Villaverde, Aitor Ibarguren, Héctor Herrero, Paul Daelman, Basilio Sierra
Publicado en: Electronics, Edición 10/11, 2021, Página(s) 1276, ISSN 2079-9292
Editor: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/electronics10111276

An outlook on future hybrid assembly systems - the Sherlock approach

Autores: Nikos Dimitropoulos, George Michalos, Sotiris Makris
Publicado en: Procedia CIRP, Edición 97, 2021, Página(s) 441-446, ISSN 2212-8271
Editor: Elsevier
DOI: 10.1016/j.procir.2020.08.004

An admittance based hierarchical control framework for dual-arm cobots

Autores: Sonny Tarbouriech; Benjamin Navarro; Philippe Fraisse; André Crosnier; Andrea Cherubini; Damien Sallé
Publicado en: https://hal.archives-ouvertes.fr/hal-02887280, Edición 09574158, 2022, ISSN 0957-4158
Editor: Pergamon Press Ltd.
DOI: 10.1016/j.mechatronics.2022.102814

An approach for task and action planning in Human–Robot Collaborative cells using AI

Autores: George Evangelou, Nikos Dimitropoulos, George Michalos, Sotiris Makris
Publicado en: Procedia CIRP, Edición 97, 2021, Página(s) 476-481, ISSN 2212-8271
Editor: Elsevier
DOI: 10.1016/j.procir.2020.08.006

On using human activity recognition sensors to improve the performance of collaborative mobile manipulators: Review and outlook

Autores: Aswin K Ramasubramanian, Syed M. Aiman, Nikolaos Papakostas
Publicado en: Procedia CIRP, Edición 97, 2021, Página(s) 211-216, ISSN 2212-8271
Editor: Elsevier
DOI: 10.1016/j.procir.2020.05.227

Operator support in human–robot collaborative environments using AI enhanced wearable devices

Autores: Nikos Dimitropoulos, Theodoros Togias, George Michalos, Sotiris Makris
Publicado en: Procedia CIRP, Edición 97, 2021, Página(s) 464-469, ISSN 2212-8271
Editor: Elsevier
DOI: 10.1016/j.procir.2020.07.006

Operator - mobile robot collaboration for synchronized part movement

Autores: Aswin K Ramasubramanian, Nikolaos Papakostas
Publicado en: Procedia CIRP, Edición 97, 2021, Página(s) 217-223, ISSN 2212-8271
Editor: Elsevier
DOI: 10.1016/j.procir.2020.05.228

2D Features-based Detector and Descriptor Selection System for Hierarchical Recognition of Industrial Parts

Autores: Ibon Merino, Jon Azpiazu, Anthony Remazeilles, Basilio Sierra
Publicado en: International Journal of Artificial Intelligence & Applications, Edición 10/6, 2019, Página(s) 1-13, ISSN 0976-2191
Editor: AIRCC
DOI: 10.5121/ijaia.2019.10601

Path Driven Dual Arm Mobile Co-Manipulation Architecture for Large Part Manipulation in Industrial Environments

Autores: Aitor Ibarguren, Paul Daelman
Publicado en: Sensors, Edición 21/19, 2021, Página(s) 6620, ISSN 1424-8220
Editor: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s21196620

Will Operators Work in Close Proximity to Industrial Robots? A Study of Acceptance Using Psychological and Physiological Responses

Autores: Iveta Eimontaite, Cyril Jaksic, Sarah Fletcher, Teegan Johnson, Anne-Marie Oostveen
Publicado en: SSRN Electronic Journal, 2020, ISSN 1556-5068
Editor: SSRN
DOI: 10.2139/ssrn.3718020

Dual Arm Co-Manipulation Architecture with Enhanced Human–Robot Communication for Large Part Manipulation

Autores: Aitor Ibarguren, Iveta Eimontaite, José Luis Outón, Sarah Fletcher
Publicado en: Sensors, Edición 20/21, 2020, Página(s) 6151, ISSN 1424-8220
Editor: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s20216151

Conference proceedings (12)

Control Strategies for Dual Arm Co-Manipulation of Flexible Objects in Industrial Environments

Autores: Aitor Ibarguren, Paul Daelman, Miguel Prada
Publicado en: 2020 IEEE Conference on Industrial Cyberphysical Systems (ICPS), Edición 2020, 2020, Página(s) 514-519, ISBN 978-1-7281-6389-5
Editor: IEEE
DOI: 10.1109/icps48405.2020.9274711

Online Prediction for Safe Human-Robot Collaboration: A Model of the Human Arm

Autores: Binchi, Jacopo; Mangeruca, Leonardo; Rucco, Matteo; Orlando, Ferrante; Minissale, Alfio; Abba', Fabio Francesco
Publicado en: Procedia CIRP, Edición 29 Sept 2020, 2020
Editor: Elsevier
DOI: 10.5281/zenodo.3901416

Using a process simulation platform for reviewing automated airport baggage handling system configurations

Autores: Fay, B., Ramasubramanian, A. K., Murphy, R. D., Adderley, T., & Papakostas, N.
Publicado en: PROCEDIA CIRP, 2022
Editor: Elsevier
DOI: 10.1016/j.procir.2022.09.069

Impedance Adaptation by Reinforcement Learning with Contact Dynamic Movement Primitives

Autores: Chunyang Chang, Kevin Haninger, Yunlei Shi, Chengjie Yuan, Zhaopeng Chen, Jianwei Zhang
Publicado en: ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2022
Editor: IEEE
DOI: 10.1109/aim52237.2022.9863416

An approach for monitoring the execution of human based assembly operations using machine learning

Autores: George Andrianakos, Nikos Dimitropoulos, George Michalos, Sotirios Makris
Publicado en: Procedia CIRP, Edición 86, 2019, Página(s) 198-203, ISSN 2212-8271
Editor: Elsevier B.V.
DOI: 10.1016/j.procir.2020.01.040

What dynamics should impedance-controlled robots render?

Autores: Haninger, Kevin; Dragoljub, Surdilovic; Bastidas Cruz, Arturo
Publicado en: 2019 International Conference on Robotics and Automation (ICRA) Workshop on physical human-robot interaction, Edición 24/5/2019, 2019
Editor: Electronic via Workshop Cordinator
DOI: 10.5281/zenodo.3833653

Preliminary development of the Psychological Factors Assessment Framework

Autores: Eimontaite, Iveta; Fletcher, Sarah
Publicado en: Ergonomics and Human Factors (EHF) 2020, Edición April 2020, 2020
Editor: CIEHF
DOI: 10.5281/zenodo.3835639

Bounded Collision Force by the Sobolev Norm

Autores: Kevin Haninger, Dragoljub Surdilovic
Publicado en: 2019 International Conference on Robotics and Automation (ICRA), Edición 20-24 May 2019, 2019, Página(s) 8529-8535, ISBN 978-1-5386-6027-0
Editor: IEEE
DOI: 10.1109/ICRA.2019.8793711

2d Image Features Detector and Descriptor Selection Expert System

Autores: Ibon Merino, Jon Azpiazu, Anthony Remazeilles, Basilio Sierra
Publicado en: 8th International Conference on Natural Language Processing (NLP 2019), Edición September 2019, 2019, Página(s) 51-61, ISBN 9781-925953084
Editor: Electronic
DOI: 10.5121/csit.2019.91206

Model Predictive Control with Gaussian Processes for Flexible Multi-Modal Physical Human Robot Interaction

Autores: Kevin Haninger; Christian Hegeler; Luka Peternel
Publicado en: International Conference on Robotics and Automation (ICRA), 2022
Editor: IEEE
DOI: 10.1109/icra46639.2022.9811590

Review and application of Edge AI solutions for mobile collaborative robotic platforms

Autores: Ramasubramanian, A. K., Mathew, R., Preet, I., & Papakostas, N.
Publicado en: Procedia CIRP - Conference on Manufacturing Systems, 2022
Editor: Elsevier
DOI: 10.1016/j.procir.2022.05.112

Realistic simulation of robotic grasping tasks: review and application

Autores: Matthew Connolly; Aswin K. Ramasubramanian; Matthew Kelly; Jack Mc. Evoy; Nikolaos Papakostas
Publicado en: Procedia CIRP, 2021
Editor: Elsevier
DOI: 10.1016/j.procir.2021.11.287

Book chapters (3)

Robot Inference of Human States: Performance and Transparency in Physical Collaboration

Autores: Kevin Haninger
Publicado en: The 21st Century Industrial Robot: When Tools Become Collaborators, Edición 81, 2021, Página(s) 55-69, ISSN 978-3-030-78512-3978-3-030-78513-0
Editor: Springer International Publishing
DOI: 10.1007/978-3-030-78513-0_4

Human Robot Collaboration in Industrial Environments

Autores: George Michalos Panagiotis Karagiannis Nikos Dimitropoulos Dionisis Andronas Sotiris Makris
Publicado en: The 21st Century Industrial Robot: When Tools Become Collaborators, Edición 81, 2021, Página(s) 17-39, ISSN 978-3-030-78512-3978-3-030-78513-0
Editor: Springer International Publishing
DOI: 10.1007/978-3-030-78513-0_2

Human–Robot Collaboration Using Visual Cues for Communication

Autores: Iveta Eimontaite
Publicado en: The 21st Century Industrial Robot: When Tools Become Collaborators, Edición 81, 2022, Página(s) 71-85, ISBN 978-3-030-78512-3
Editor: Springer International Publishing
DOI: 10.1007/978-3-030-78513-0_5