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FourByThree

Highly customizable robotic solutions for effective and safe human robot collaboration in manufacturing applications

Total Cost €

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EC-Contrib. €

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Partnership

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Project "FourByThree" data sheet

The following table provides information about the project.

Coordinator
FUNDACION TEKNIKER 

Organization address
address: CALLE INAKI GOENAGA 5
city: EIBAR GUIPUZCOA
postcode: 20600
website: www.tekniker.es

contact info
title: n.a.
name: n.a.
surname: n.a.
function: n.a.
email: n.a.
telephone: n.a.
fax: n.a.

 Coordinator Country Spain [ES]
 Project website http://www.fourbythree.eu
 Total cost 6˙859˙721 €
 EC max contribution 6˙305˙517 € (92%)
 Programme 1. H2020-EU.2.1.5.1. (Technologies for Factories of the Future)
 Code Call H2020-FoF-2014
 Funding Scheme IA
 Starting year 2014
 Duration (year-month-day) from 2014-12-01   to  2017-11-30

 Partnership

Take a look of project's partnership.

# participants  country  role  EC contrib. [€] 
1    FUNDACION TEKNIKER ES (EIBAR GUIPUZCOA) coordinator 1˙001˙240.00
2    DEUTSCHES FORSCHUNGSZENTRUM FUR KUNSTLICHE INTELLIGENZ GMBH DE (KAISERSLAUTERN) participant 922˙770.00
3    CONSIGLIO NAZIONALE DELLE RICERCHE IT (ROMA) participant 744˙785.00
4    ZENTRUM FÜR MECHATRONIK UND AUTOMATISIERUNGSTECHNIK GEMEINNÜTZIGE GMBH DE (SAARBRÜCKEN) participant 684˙582.00
5    STICHTING STODT PRAKTIJKCENTRUM VOOR GEAVANCEERDE TECHNOLOGIE NL (HENGELO) participant 554˙322.00
6    FRAUNHOFER GESELLSCHAFT ZUR FOERDERUNG DER ANGEWANDTEN FORSCHUNG E.V. DE (MUNCHEN) participant 504˙420.00
7    QUEEN MARY UNIVERSITY OF LONDON UK (LONDON) participant 342˙266.00
8    KING'S COLLEGE LONDON UK (LONDON) participant 295˙735.00
9    Deltatron Oy FI (Helsinki) participant 265˙125.00
10    PILZ INDUSTRIEELEKTRONIK SL ES (GRANOLLERS) participant 227˙272.00
11    ALFA PRECISION CASTING SA ES (EIBAR GIPUZKOA) participant 174˙818.00
12    EFS- GESELLSCHAFT FÜR HEBE- UND HANDHABUNGSTECHNIK MBH DE (NORDHEIM) participant 171˙682.00
13    INGENIERIA Y SERVICIOS DE AUTOMATIZACION Y ROBOTICA KOMAT SL ES (EIBAR) participant 158˙786.00
14    WOLL MASCHINENBAU GMBH DE (SAARBRUCKEN) participant 134˙275.00
15    ANTPROJECT TVIP SL ES (DONOSTIA) participant 123˙436.00
16    GROUND TRUTH ROBOTICS GMBH DE (BREMEN) participant 0.00
17    PREMIUM AEROTEC GmbH DE (AUGSBURG) participant 0.00

Map

 Project objective

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

List of deliverables.
Final report on experiments in Pilots Documents, reports 2019-03-07 16:22:46
Design for Human-Robot Collaborative assembly Documents, reports 2019-03-06 12:33:06
Robot prototypes Demonstrators, pilots, prototypes 2019-03-06 10:30:35
Periodical reports on experiments (IV) Documents, reports 2019-01-09 15:29:12
Report on Communication and Dissemination activities I Documents, reports 2019-03-06 10:30:29
Definition of experiment and validation procedure Documents, reports 2019-01-09 15:29:11
Website Websites, patent fillings, videos etc. 2019-01-09 15:29:11
Dissemination material Websites, patent fillings, videos etc. 2019-02-22 11:32:35
Human centered design of safe human robot collaborative working environment Documents, reports 2019-01-09 15:29:10
Periodical reports on experiments (I) Documents, reports 2019-01-09 15:29:10
Scenario analysis and specification and configuration of the scenarios at the end users Documents, reports 2019-03-04 17:20:37
System Architecture Documents, reports 2019-01-09 15:29:11
Periodical reports on experiments (II) Documents, reports 2019-01-09 15:29:11
Guidelines for collaborative workspaces definition workspace Documents, reports 2019-03-06 09:59:41
Periodical reports on experiments (III) Documents, reports 2019-02-25 12:37:46
Report on Communication and Dissemination activities II Documents, reports 2019-02-25 12:37:46

Take a look to the deliverables list in detail:  detailed list of FourByThree deliverables.

 Publications

year authors and title journal last update
List of publications.
2017 Jelizaveta Konstantinova, Agostino Stilli, Kaspar Althoefer
Fingertip Fiber Optical Tactile Array with Two-Level Spring Structure
published pages: 2337, ISSN: 1424-8220, DOI: 10.3390/s17102337
Sensors 17/10 2019-05-27
2016 Marta Cialdea Mayer, Andrea Orlandini, Alessandro Umbrico
Planning and execution with flexible timelines: a formal account
published pages: , ISSN: 0001-5903, DOI: 10.1007/s00236-015-0252-z
Acta Informatica Acta Informatica 2019-05-27
2016 Jose de Gea Fernandez Marc Ronthaler
EU Projekt FourByThree - Auf dem Weg zu eigensicheren Robotern
published pages: 33-36, ISSN: 2364-9208, DOI:
Industrie 4.0 Management Bimonthly 2019-05-27
2017 Stefania Pellegrinelli, Nicola Pedrocchi, Lorenzo Molinari Tosatti, Anath Fischer, Tullio Tolio
Multi-robot spot-welding cells for car-body assembly: Design and motion planning
published pages: 97-116, ISSN: 0736-5845, DOI: 10.1016/j.rcim.2016.08.006
Robotics and Computer-Integrated Manufacturing 44 2019-05-27
2017 Loris Roveda, Giacomo Pallucca, Nicola Pedrocchi, Francesco Braghin, Lorenzo Molinari Tosatti
Iterative Learning Procedure with Reinforcement for High-Accuracy Force Tracking in Robotized Tasks
published pages: 1-1, ISSN: 1551-3203, DOI: 10.1109/TII.2017.2748236
IEEE Transactions on Industrial Informatics 2019-05-27
2017 R. Müller; M. Vette; A. Geenen
Sealing process on a large floor grid crossbeam assembly by human-robot-cooperation
published pages: , ISSN: , DOI:
20th IFAC World Congress 2019-05-27
2017 Christian Vogel, Christoph Walter, Norbert Elkmann
Safeguarding and Supporting Future Human-robot Cooperative Manufacturing Processes by a Projection- and Camera-based Technology
published pages: 39-46, ISSN: 2351-9789, DOI: 10.1016/j.promfg.2017.07.127
Procedia Manufacturing 11 2019-05-27
2017 Nicola Gigante, Marta Cialdea Mayer, Angelo Montanari, Andrea Orlandini
Complexity of Timeline-based Planning
published pages: , ISSN: , DOI:
Proc. Of the 27th International Conference on Automated Planning and Scheduling (ICAPS 2017). 2019-05-27
2016 G. Bernardi, A. Cesta, A. Orlandini and A. Umbrico,
Dynamic Task Planning for Safe Human Robot Collaboration
published pages: , ISSN: , DOI:
Proc. Of the ICAPS Workshop on Planning, Scheduling and Dependability in Safe Human-Robot Interaction (SafePlan) 1/12 2019-05-27
2017 Luca Simoni, Manuel Beschi, Giovanni Legnani, Antonio Visioli
Modelling the temperature in joint friction of industrial manipulators
published pages: 1-22, ISSN: 0263-5747, DOI: 10.1017/S0263574717000509
Robotica 2019-05-27
2017 Rainer Müller, Matthias Vette, Aaron Geenen
Skill-based Dynamic Task Allocation in Human-Robot-Cooperation with the Example of Welding Application
published pages: 13-21, ISSN: 2351-9789, DOI: 10.1016/j.promfg.2017.07.113
Procedia Manufacturing 11 2019-05-27
2016 Vogel, C
Projection-based sensor system for providing safety and interaction capabilities in human-robot cooperative applications
published pages: , ISSN: , DOI:
ERF 2016, 3rd Workshop on Hybrid Production Systems 2019-05-27
2016 Loris Roveda, Nicola Pedrocchi, Federico Vicentini, Lorenzo Molinari Tosatti
An interaction controller formulation to systematically avoid force overshoots through impedance shaping method with compliant robot base
published pages: 42-53, ISSN: 0957-4158, DOI: 10.1016/j.mechatronics.2016.08.001
Mechatronics 39 2019-05-27
2017 Iñaki Maurtua, Izaskun Fernández, Alberto Tellaeche, Johan Kildal, Loreto Susperregi, Aitor Ibarguren, Basilio Sierra
Natural multimodal communication for human–robot collaboration
published pages: 172988141771604, ISSN: 1729-8814, DOI: 10.1177/1729881417716043
International Journal of Advanced Robotic Systems 14/4 2019-05-27
2016 JOSÉ DE GEA FERNÉNDEZ, HOLGER SPRENGEL, MARTIN MALLWITZ, MICHAEL ZIPPER, BINGBIN YU, VINZENZ BARGSTEN
Designing Modular Series-Elastic Actuators for Safe Human-Robot Collaboration in Industrial Setting
published pages: 135-142, ISSN: , DOI: 10.1142/9789813149137_0019
CLAWAR, 2016 1/12 2019-05-27
2017 Agostino Stilli, Helge A. Wurdemann, Kaspar Althoefer
A Novel Concept for Safe, Stiffness-Controllable Robot Links
published pages: 16-22, ISSN: 2169-5172, DOI: 10.1089/soro.2016.0015
Soft Robotics 4/1 2019-05-27
2017 Konstantinova, J; Cotugno, G; Stilli, A; Noh, Y; Althoefer, K
Object Classification Using Hybrid Fiber Optical Force/Proximity Sensor
published pages: , ISSN: , DOI:
IEEE Sensors conference 1/12 2019-05-27
2016 Stilli, A. Cremoni, H. A. Wurdemann, K. Althoefer
A Novel Inflatable and Stiffness-Controllable Endoscope for Minimal Invasive Surgery
published pages: , ISSN: , DOI:
2019-05-27
2015 C. Vogel, J. Saenz, N. Elkmann,
Tutorial session: Real-world applications of human-robot interaction
published pages: , ISSN: , DOI:
ICRA 2015 2019-05-27
2016 I. Maurtua, I. Fernandez, J. Kildal, L. Susperregi, A. Tellaeche, A. Ibarguren
Interacting with collaborating robots in industrial environments: a semantic approach
published pages: , ISSN: , DOI:
SafePlan Workshop (ICAPS), 2016 1/12 2019-05-27
2016 A. Ataka, A. Shiva, A. Shafti, H. A. Wurdemann, K. Althoefer,
Real-Time Obstacle Avoidance for Continuum Manipulator: Towards Safer Application in Human Environments
published pages: , ISSN: , DOI:
26th International Conference on Automated Planning and Scheduling ICAPS 2016 - London, United Kingdom 2019-05-27
2016 JOHAN KILDAL, IÑAKI MAURTUA
Revisiting the End User’s Perspective in Collaborative Human-Robot Interaction
published pages: 196-204, ISSN: , DOI: 10.1142/9789813149137_0025
Workshop on Collaborative Robots for Industrial Applications, CLAWAR 12 2019-05-27
2015 E. M. Sanfilippo1, C. Masolo, and D. Porello
Design knowledge representation: An ontological perspective
published pages: , ISSN: , DOI:
AIDE2015 2019-05-27
2016 Loris Roveda, Nicola Pedrocchi, Federico Vicentini, Lorenzo Molinari Tosatti
Industrial compliant robot bases in interaction tasks: a force tracking algorithm with coupled dynamics compensation
published pages: 1-15, ISSN: 0263-5747, DOI: 10.1017/S0263574716000461
Robotica 2019-05-27
2017 Amedeo Cesta, Lorenzo Molinari Tosatti, Andrea Orlandini, Nicola Pedrocchi, Stefania Pellegrinelli, Tullio Tolio, Alessandro Umbrico
Planning and Execution with Robot Trajectory Generation in Industrial Human-Robot Collaboration
published pages: , ISSN: , DOI:
Proc. Of 4th Italian Workshop on Artificial Intelligence and Robotics (AIRO 2017) 2019-05-27
2017 Ali Shafti, Roger B. Ribas Manero, Amanda M. Borg, Kaspar Althoefer, Matthew J. Howard
Embroidered Electromyography: A Systematic Design Guide
published pages: 1472-1480, ISSN: 1534-4320, DOI: 10.1109/TNSRE.2016.2633506
IEEE Transactions on Neural Systems and Rehabilitation Engineering 25/9 2019-05-27
2016 Emilio M. Sanfilippo, Stefano Borgo
What are features? An ontology-based review of the literature
published pages: 9-18, ISSN: 0010-4485, DOI: 10.1016/j.cad.2016.07.001
Computer-Aided Design 80 2019-05-27
2017 S. M. Hadi Sadati, S. Elnaz Naghibi, Ali Shiva, Yohan Noh, Aditya Gupta, Ian D. Walker, Kaspar Althoefer, Thrishantha Nanayakkara
A Geometry Deformation Model for Braided Continuum Manipulators
published pages: , ISSN: 2296-9144, DOI: 10.3389/frobt.2017.00022
Frontiers in Robotics and AI 4 2019-05-27
2017 Rainer Mueller, Matthias Vette, Aaron Geenen, Tobias Masiak
Improving Working Conditions in Aircraft Productions using Human-Robot-Collaboration in a Collaborative Riveting Process
published pages: , ISSN: , DOI: 10.4271/2017-01-2096
SAE Technical Paper Series 2019-05-27
2017 Loris Roveda, Niccoló Iannacci, Lorenzo Molinari Tosatti
Discrete-Time Formulation for Optimal Impact Control in Interaction Tasks
published pages: , ISSN: 0921-0296, DOI: 10.1007/s10846-017-0683-6
Journal of Intelligent & Robotic Systems 2019-05-27
2017 Stefania Pellegrinelli, Andrea Orlandini, Nicola Pedrocchi, Alessandro Umbrico, Tullio Tolio
Motion planning and scheduling for human and industrial-robot collaboration
published pages: 1-4, ISSN: 0007-8506, DOI: 10.1016/j.cirp.2017.04.095
CIRP Annals 66/1 2019-05-27
2016 Stefania Pellegrinelli, Federico Lorenzo Moro, Nicola Pedrocchi, Lorenzo Molinari Tosatti, Tullio Tolio
A probabilistic approach to workspace sharing for human–robot cooperation in assembly tasks
published pages: 57-60, ISSN: 0007-8506, DOI: 10.1016/j.cirp.2016.04.035
CIRP Annals - Manufacturing Technology 65/1 2019-05-27
2017 R. Müller; M. Vette; A. Geenen; T. Masiak; A. Kanso
Methodology for design of mechatronic robotic manipulators based on suitability for modern application scenarios
published pages: 13266-13272, ISSN: , DOI:
20th World Congress The International Federation of Automatic Control Toulouse, France 1/12 2019-05-27
2016 Loris Roveda, Niccolo Iannacci, Federico Vicentini, Nicola Pedrocchi, Francesco Braghin, Lorenzo Molinari Tosatti
Optimal Impedance Force-Tracking Control Design With Impact Formulation for Interaction Tasks
published pages: 130-136, ISSN: 2377-3766, DOI: 10.1109/LRA.2015.2508061
IEEE Robotics and Automation Letters 1/1 2019-05-27
2017 Iñaki Maurtua, Aitor Ibarguren, Johan Kildal, Loreto Susperregi, Basilio Sierra
Human–robot collaboration in industrial applications
published pages: 172988141771601, ISSN: 1729-8814, DOI: 10.1177/1729881417716010
International Journal of Advanced Robotic Systems 14/4 2019-05-27

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