
FourByThree
Project ID: 637095Funded under:
Highly customizable robotic solutions for effective and safe human robot collaboration in manufacturing applications
Project details
Total cost:
EUR 6 859 721,75EU contribution:
EUR 6 305 517Coordinated in:
SpainCall for proposal:
H2020-FoF-2014See other projects for this callFunding scheme:
IA - Innovation actionObjective
Industrial robots have demonstrated their capacity to answer the needs of many industrial applications, offering a high degree of dexterity, accuracy and efficiency.
However, when the application requires the collaboration between the robot and the worker, including workspace sharing, it is not feasible to use standard industrial robots due to safety being compromised
Recently, new robotic products have appeared on the marked claiming to be safe when used in the vicinity of humans, offering the possibility to control the force exerted in case of collision. However they lack the flexibility (in terms of possible physical configurations) or are very expensive.
Furthermore, even these robots are offered as isolated products without rich perception capabilities or adequate responsive behaviours that have to be developed by the system integrators for any new manufacturing process.
FourByThree proposes the development of a new generation of modular industrial robotic solutions that are suitable for efficient task execution in collaboration with humans in a safe way and are easy to use and program by the factory worker.
Consortium partners in this proposal have already achieved relevant results in different technologies that are fundamental to solving the outlined problem of automating the factory floor by means of modular robots, collaborating with human workers. The approach is to adapt those results, make them more reliable and integrate them in order to achieve the final goal of the project.
The acronym of the proposal refers to the two main foci of the proposal: the FOUR main characteristics of FourByThree (Modularity, Safety, Usability, Efficiency) and the THREE main actors (Humans, Robots, Environment) in the manufacturing scenarios.
The proposal outlines a Business Model and a Business Plan that will be further elaborated through the project.
Deliverables
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Dissemination material
Initial dissemination material to be used for dissemination
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Website
Website, including both public and private sites.
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Periodical reports on experiments (I)
Periodical report of the experiments and the results obtained in the Continuous Experimentation Lab and Pilot Studies
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Human centered design of safe human robot collaborative working environment
Report including the complete plan to implement the human centered design approach
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Definition of experiment and validation procedure
Document explaining the experiments to be done in the project and the validation procedures
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Scenario analysis and specification and configuration of the scenarios at the end users
Report including the analysis in detail of the Pilots, and the specifications for the robotic systems in each of them
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System Architecture
Overall architecture, including the hardware, software and communication mechanisms
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Periodical reports on experiments (II)
Periodical report of the experiments and the results obtained in the Continuous Experimentation Lab and Pilot Studies
Publications
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Projection-based sensor system for providing safety and interaction capabilities in human-robot cooperative applicationsAuthor(s): Vogel, CPublished in: ERF 2016, 3rd Workshop on Hybrid Production Systems, 2016.
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Tutorial session: Real-world applications of human-robot interactionAuthor(s): C. Vogel, J. Saenz, N. Elkmann,Published in: ICRA 2015, 2015.
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Improving Working Conditions in Aircraft Productions using Human-Robot-Collaboration in a Collaborative Riveting ProcessAuthor(s): Rainer Mueller, Matthias Vette, Aaron Geenen, Tobias MasiakPublished in: SAE Technical Paper Series, 2017.DOI: 10.4271/2017-01-2096
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A Novel Inflatable and Stiffness-Controllable Endoscope for Minimal Invasive SurgeryAuthor(s): Stilli, A. Cremoni, H. A. Wurdemann, K. Althoefer
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Object Classification Using Hybrid Fiber Optical Force/Proximity SensorAuthor(s): Konstantinova, J; Cotugno, G; Stilli, A; Noh, Y; Althoefer, KPublished in: IEEE Sensors conference, issue 1/12, 2017.
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Sealing process on a large floor grid crossbeam assembly by human-robot-cooperationAuthor(s): R. Müller; M. Vette; A. GeenenPublished in: 20th IFAC World Congress, 2017.
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Design knowledge representation: An ontological perspectiveAuthor(s): E. M. Sanfilippo1, C. Masolo, and D. PorelloPublished in: AIDE2015, 2015.
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Methodology for design of mechatronic robotic manipulators based on suitability for modern application scenariosAuthor(s): R. Müller; M. Vette; A. Geenen; T. Masiak; A. KansoPublished in: 20th World Congress The International Federation of Automatic Control Toulouse, France, issue 1/12, 2017. Page(s) 13266-13272.
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Complexity of Timeline-based PlanningAuthor(s): Nicola Gigante, Marta Cialdea Mayer, Angelo Montanari, Andrea OrlandiniPublished in: Proc. Of the 27th International Conference on Automated Planning and Scheduling (ICAPS 2017)., 2017.
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Interacting with collaborating robots in industrial environments: a semantic approachAuthor(s): I. Maurtua, I. Fernandez, J. Kildal, L. Susperregi, A. Tellaeche, A. IbargurenPublished in: SafePlan Workshop (ICAPS), 2016, issue 1/12, 2016.
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Designing Modular Series-Elastic Actuators for Safe Human-Robot Collaboration in Industrial SettingAuthor(s): JOSÉ DE GEA FERNÉNDEZ, HOLGER SPRENGEL, MARTIN MALLWITZ, MICHAEL ZIPPER, BINGBIN YU, VINZENZ BARGSTENPublished in: CLAWAR, 2016, issue 1/12, 2016. Page(s) 135-142.DOI: 10.1142/9789813149137_0019
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Planning and Execution with Robot Trajectory Generation in Industrial Human-Robot CollaborationAuthor(s): Amedeo Cesta, Lorenzo Molinari Tosatti, Andrea Orlandini, Nicola Pedrocchi, Stefania Pellegrinelli, Tullio Tolio, Alessandro UmbricoPublished in: Proc. Of 4th Italian Workshop on Artificial Intelligence and Robotics (AIRO 2017), 2017.
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Dynamic Task Planning for Safe Human Robot CollaborationAuthor(s): G. Bernardi, A. Cesta, A. Orlandini and A. Umbrico,Published in: Proc. Of the ICAPS Workshop on Planning, Scheduling and Dependability in Safe Human-Robot Interaction (SafePlan), issue 1/12, 2016.
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Real-Time Obstacle Avoidance for Continuum Manipulator: Towards Safer Application in Human EnvironmentsAuthor(s): A. Ataka, A. Shiva, A. Shafti, H. A. Wurdemann, K. Althoefer,Published in: 26th International Conference on Automated Planning and Scheduling ICAPS 2016 - London, United Kingdom, 2016.
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Revisiting the End User’s Perspective in Collaborative Human-Robot InteractionAuthor(s): JOHAN KILDAL, IÑAKI MAURTUAPublished in: Workshop on Collaborative Robots for Industrial Applications, CLAWAR, issue 12, 2016. Page(s) 196-204.DOI: 10.1142/9789813149137_0025
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Industrial compliant robot bases in interaction tasks: a force tracking algorithm with coupled dynamics compensationAuthor(s): Loris Roveda, Nicola Pedrocchi, Federico Vicentini, Lorenzo Molinari TosattiPublished in: Robotica, 2016. Page(s) 1-15. ISSN: 0263-5747DOI: 10.1017/S0263574716000461
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Optimal Impedance Force-Tracking Control Design With Impact Formulation for Interaction TasksAuthor(s): Loris Roveda, Niccolo Iannacci, Federico Vicentini, Nicola Pedrocchi, Francesco Braghin, Lorenzo Molinari TosattiPublished in: IEEE Robotics and Automation Letters, issue 1/1, 2016. Page(s) 130-136. ISSN: 2377-3766DOI: 10.1109/LRA.2015.2508061
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A Novel Concept for Safe, Stiffness-Controllable Robot LinksAuthor(s): Agostino Stilli, Helge A. Wurdemann, Kaspar AlthoeferPublished in: Soft Robotics, issue 4/1, 2017. Page(s) 16-22. ISSN: 2169-5172DOI: 10.1089/soro.2016.0015
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Discrete-Time Formulation for Optimal Impact Control in Interaction TasksAuthor(s): Loris Roveda, Niccoló Iannacci, Lorenzo Molinari TosattiPublished in: Journal of Intelligent & Robotic Systems, 2017. ISSN: 0921-0296DOI: 10.1007/s10846-017-0683-6
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Skill-based Dynamic Task Allocation in Human-Robot-Cooperation with the Example of Welding ApplicationAuthor(s): Rainer Müller, Matthias Vette, Aaron GeenenPublished in: Procedia Manufacturing, issue 11, 2017. Page(s) 13-21. ISSN: 2351-9789DOI: 10.1016/j.promfg.2017.07.113
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Motion planning and scheduling for human and industrial-robot collaborationAuthor(s): Stefania Pellegrinelli, Andrea Orlandini, Nicola Pedrocchi, Alessandro Umbrico, Tullio TolioPublished in: CIRP Annals, issue 66/1, 2017. Page(s) 1-4. ISSN: 0007-8506DOI: 10.1016/j.cirp.2017.04.095
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Iterative Learning Procedure with Reinforcement for High-Accuracy Force Tracking in Robotized TasksAuthor(s): Loris Roveda, Giacomo Pallucca, Nicola Pedrocchi, Francesco Braghin, Lorenzo Molinari TosattiPublished in: IEEE Transactions on Industrial Informatics, 2017. Page(s) 1-1. ISSN: 1551-3203DOI: 10.1109/TII.2017.2748236
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Embroidered Electromyography: A Systematic Design GuideAuthor(s): Ali Shafti, Roger B. Ribas Manero, Amanda M. Borg, Kaspar Althoefer, Matthew J. HowardPublished in: IEEE Transactions on Neural Systems and Rehabilitation Engineering, issue 25/9, 2017. Page(s) 1472-1480. ISSN: 1534-4320DOI: 10.1109/TNSRE.2016.2633506
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Human–robot collaboration in industrial applicationsAuthor(s): Iñaki Maurtua, Aitor Ibarguren, Johan Kildal, Loreto Susperregi, Basilio SierraPublished in: International Journal of Advanced Robotic Systems, issue 14/4, 2017. Page(s) 172988141771601. ISSN: 1729-8814DOI: 10.1177/1729881417716010
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Natural multimodal communication for human–robot collaborationAuthor(s): Iñaki Maurtua, Izaskun Fernández, Alberto Tellaeche, Johan Kildal, Loreto Susperregi, Aitor Ibarguren, Basilio SierraPublished in: International Journal of Advanced Robotic Systems, issue 14/4, 2017. Page(s) 172988141771604. ISSN: 1729-8814DOI: 10.1177/1729881417716043
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A probabilistic approach to workspace sharing for human–robot cooperation in assembly tasksAuthor(s): Stefania Pellegrinelli, Federico Lorenzo Moro, Nicola Pedrocchi, Lorenzo Molinari Tosatti, Tullio TolioPublished in: CIRP Annals - Manufacturing Technology, issue 65/1, 2016. Page(s) 57-60. ISSN: 0007-8506DOI: 10.1016/j.cirp.2016.04.035
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Safeguarding and Supporting Future Human-robot Cooperative Manufacturing Processes by a Projection- and Camera-based TechnologyAuthor(s): Christian Vogel, Christoph Walter, Norbert ElkmannPublished in: Procedia Manufacturing, issue 11, 2017. Page(s) 39-46. ISSN: 2351-9789DOI: 10.1016/j.promfg.2017.07.127
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Modelling the temperature in joint friction of industrial manipulatorsAuthor(s): Luca Simoni, Manuel Beschi, Giovanni Legnani, Antonio VisioliPublished in: Robotica, 2017. Page(s) 1-22. ISSN: 0263-5747DOI: 10.1017/S0263574717000509
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An interaction controller formulation to systematically avoid force overshoots through impedance shaping method with compliant robot baseAuthor(s): Loris Roveda, Nicola Pedrocchi, Federico Vicentini, Lorenzo Molinari TosattiPublished in: Mechatronics, issue 39, 2016. Page(s) 42-53. ISSN: 0957-4158DOI: 10.1016/j.mechatronics.2016.08.001
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A Geometry Deformation Model for Braided Continuum ManipulatorsAuthor(s): S. M. Hadi Sadati, S. Elnaz Naghibi, Ali Shiva, Yohan Noh, Aditya Gupta, Ian D. Walker, Kaspar Althoefer, Thrishantha NanayakkaraPublished in: Frontiers in Robotics and AI, issue 4, 2017. ISSN: 2296-9144DOI: 10.3389/frobt.2017.00022
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What are features? An ontology-based review of the literatureAuthor(s): Emilio M. Sanfilippo, Stefano BorgoPublished in: Computer-Aided Design, issue 80, 2016. Page(s) 9-18. ISSN: 0010-4485DOI: 10.1016/j.cad.2016.07.001
Open Access
Open Access
Coordinator
EU contribution: EUR 1 001 240
CALLE INAKI GOENAGA 5
20600 EIBAR GUIPUZCOA
Spain
Participants
EU contribution: EUR 922 770
TRIPPSTADTER STRASSE 122
67663 KAISERSLAUTERN
Germany
EU contribution: EUR 504 420
HANSASTRASSE 27C
80686 MUNCHEN
Germany
EU contribution: EUR 744 785
PIAZZALE ALDO MORO 7
00185 ROMA
Italy
EU contribution: EUR 295 735
Strand
WC2R2LS LONDON
United Kingdom
EU contribution: EUR 684 582,50
GEWERBEPARK ESCHBERGER WEG 9
66121 SAARBRÜCKEN
Germany
EU contribution: EUR 265 125
Soidintie 14
00700 Helsinki
Finland
EU contribution: EUR 227 272,50
C/CAMI RAL 130
08401 GRANOLLERS
Spain
EU contribution: EUR 123 436,25
PORTUETXE 23 B OFICINA 3-16 CEMEI SAN SEBASTIAN
20018 DONOSTIA
Spain
EU contribution: EUR 158 786,25
SOSTOA-TARREN 16AC
20600 EIBAR
Spain
EU contribution: EUR 171 682
LANDTURMSTRASSE 15
74226 NORDHEIM
Germany
EU contribution: EUR 0
HAUNSTETTER 225
86179 AUGSBURG
Germany
EU contribution: EUR 174 818
TORREKUA 3
20600 EIBAR GIPUZKOA
Spain
EU contribution: EUR 134 275,75
KRUGHUTTER STRASSE 93
66128 SAARBRUCKEN
Germany
EU contribution: EUR 554 322,50
De Gieterij 212
7553 VZ HENGELO
Netherlands
EU contribution: EUR 0
ROBERT-HOOKE-STRASSE 1
28359 BREMEN
Germany
EU contribution: EUR 342 266,25
327 MILE END ROAD
E1 4NS LONDON
United Kingdom
Last updated on: 2017-08-17
Record Number: 193464
Last updated on 2017-08-17Share this page