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SARAFun

Smart Assembly Robot with Advanced FUNctionalities

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EC-Contrib. €

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Project "SARAFun" data sheet

The following table provides information about the project.

Coordinator
ABB POWER GRIDS SWEDEN AB 

Organization address
address: Kopparbergsvagen 2
city: VASTERAS
postcode: 72183
website: www.abb.com/se

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 Sweden [SE]
 Project website http://www.sarafun.eu
 Total cost 4˙037˙266 €
 EC max contribution 4˙037˙265 € (100%)
 Programme 1. H2020-EU.2.1.1.5. (Advanced interfaces and robots: Robotics and smart spaces)
 Code Call H2020-ICT-2014-1
 Funding Scheme RIA
 Starting year 2015
 Duration (year-month-day) from 2015-03-01   to  2018-02-28

 Partnership

Take a look of project's partnership.

# participants  country  role  EC contrib. [€] 
1    ABB POWER GRIDS SWEDEN AB SE (VASTERAS) coordinator 1˙054˙747.00
2    ETHNIKO KENTRO EREVNAS KAI TECHNOLOGIKIS ANAPTYXIS EL (THERMI THESSALONIKI) participant 976˙875.00
3    LUNDS UNIVERSITET SE (LUND) participant 569˙500.00
4    KUNGLIGA TEKNISKA HOEGSKOLAN SE (STOCKHOLM) participant 564˙612.00
5    FUNDACION TECNALIA RESEARCH & INNOVATION ES (DERIO BIZKAIA) participant 462˙500.00
6    UNIVERSITAET BIELEFELD DE (BIELEFELD) participant 409˙031.00

Map

 Project objective

While Industrial robots are very successful in many areas of industrial manufacturing, assembly automation still suffers from complex time consuming programming and the need of dedicated hardware. ABB has developed FRIDA (Friendly Robot for Industrial Dual Arm Assembly), a collaborative inherently safe assembly robot that is expected to reduce integration costs significantly by offering a standardized hardware setup and simple fitting of the robot into existing workplaces. Internal Pilot testing at ABB has however shown that when FRIDA is programmed with traditional methods the programming time even for simple assembly tasks will remain very long. The SARAFun project has been formed to enable a non-expert user to integrate a new bi-manual assembly task on a FRIDA robot in less than a day. This will be accomplished by augmenting the FRIDA robot with cutting edge sensory and cognitive abilities as well as reasoning abilities required to plan and execute an assembly task. The overall conceptual approach is that the robot should be capable of learning and executing assembly tasks in a human like manner. Studies will be made to understand how human assembly workers learn and perform assembly tasks. The human performance will be modelled and transferred to the FRIDA robot as assembly skills. The robot will learn assembly tasks, such as insertion or folding, by observing the task being performed by a human instructor. The robot will then analyze the task and generate an assembly program, including exception handling, and design 3D printable fingers tailored for gripping the parts at hand. Aided by the human instructor, the robot will finally learn to perform the actual assembly task, relying on sensory feedback from vision, force and tactile sensing as well as physical human robot interaction. During this phase the robot will gradually improve its understanding of the assembly at hand until it is capable of performing the assembly in a fast and robust manner.

 Deliverables

List of deliverables.
Tactile sensor integration Demonstrators, pilots, prototypes 2019-10-08 16:55:45
SARAFun system specifications and conceptual architecture, final version Documents, reports 2019-10-08 16:55:45
Preliminary lab setup methodology, s/w and h/w Robot extensions validation Documents, reports 2019-10-08 16:55:52
Ethics and Safety Manual for SARAFun technology, final version Documents, reports 2019-09-09 12:29:21
Assembly key-frame extraction using visual feedback Documents, reports 2019-09-09 12:29:22
A BT implementation controlling the execution of ABB FRIDA in a task, final version Documents, reports 2019-09-09 12:29:21
End-user requirements, use cases and application scenarios Documents, reports 2019-09-09 12:29:21
Integrated SARAFun bi-manual robot Demonstrators, pilots, prototypes 2019-09-09 12:29:21
Preliminary Ethics and Safety Manual for SARAFun technology Documents, reports 2019-09-09 12:29:21
Adaptive learning Control of Bimanual Folding Assembly Documents, reports 2019-09-09 12:29:21
Data Management Plan Open Research Data Pilot 2019-09-09 12:29:21
SARAFun consolidated evaluation and lessons learned Documents, reports 2019-09-09 12:29:21
A BT implementation controlling the execution of ABB FRIDA in a task, preliminary version Documents, reports 2019-09-09 12:29:21
Preliminary SARAFun system specifications and conceptual architecture Documents, reports 2019-09-09 12:29:21
Website and Social Media Presence Launch Documents, reports 2019-09-09 12:29:21
SARAFun use cases deployment and execution Demonstrators, pilots, prototypes 2019-09-09 12:29:21
Lab setup methodology, s/w and h/w Robot extensions validation Documents, reports 2019-09-09 12:29:21
Draft Data Management Plan Documents, reports 2019-09-09 12:29:21

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

 Publications

year authors and title journal last update
List of publications.
2017 Sotiris Stavridis, Dimitrios Papageorgiou, Zoe Doulgeri
Dynamical System Based Robotic Motion Generation With Obstacle Avoidance
published pages: 712-718, ISSN: 2377-3766, DOI: 10.1109/LRA.2017.2651172
IEEE Robotics and Automation Letters 2/2 2019-09-09
2017 Maj Stenmark
Intuitive Instruction of Industrial Robots : A Knowledge-Based Approach
published pages: , ISSN: , DOI:
2019-09-09
2016 Ludwig Jacobsson, Jacek Malec, Klas Nilsson
Modularization of skill ontologies for industrial robots
published pages: , ISSN: , DOI:
ISR 2016: 47st International Symposium on Robotics 2019-09-09
2018 Martin Karlsson, Anders Robertsson, Rolf Johansson
Convergence of Dynamical Movement Primitives with Temporal Coupling
published pages: , ISSN: , DOI:
2018 European Control Conference 2019-09-09
2017 Martin Karlsson
On Motion Control and Machine Learning for Robotic Assembly
published pages: , ISSN: , DOI:
2019-09-09
2015 Maj Stenmark
Bilingual robots : Extracting robot program statements from Swedish natural language instructions
published pages: 137-146, ISSN: , DOI: 10.3233/978-1-61499-589-0-137
13th Scandinavian Conference on Artificial Intelligence, SCAI 2015 2019-09-09
2016 Andreas Doumanoglou, Rigas Kouskouridas, Sotiris Malassiotis, Tae-Kyun Kim
Recovering 6D Object Pose and Predicting Next-Best-View in the Crowd
published pages: , ISSN: , DOI:
The IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2016 2019-09-09
2016 Martin Meier, Florian Patzelt, Robert Haschke and Helge J. Ritter
Tactile Convolutional Networks for Online Slip and Rotation Detection
published pages: , ISSN: , DOI:
ICANN 2016: 25th International Conference on Artificial Neural Networks 2019-09-09
2016 Abdelrahem Atawnih, Dimitrios Papageorgiou, Zoe Doulgeri
Kinematic control of redundant robots with guaranteed joint limit avoidance
published pages: 122-131, ISSN: 0921-8890, DOI: 10.1016/j.robot.2016.01.006
Robotics and Autonomous Systems 79 2019-09-09
2018 Martin Karlsson, Anders Robertsson, Rolf Johansson
Detection and Control of Contact Force Transients in Robotic Manipulation without a Force Sensor
published pages: , ISSN: , DOI:
2018 IEEE International Conference on Robotics and Automation (ICRA) 2019-09-09
2017 Fredrik Bagge Carlson
Modeling and Estimation Topics in Robotics
published pages: , ISSN: , DOI:
2019-09-09
2016 Meier, M., Walck, G., Haschke, R., & Ritter, H. J.
Distinguishing Sliding from Slipping during Object Pushing
published pages: , ISSN: , DOI:
International Conference on Intelligent Robots and Systems (IROS 2016) 2019-09-09
2018 Mohammadali Honarpardaz
Finger Design Automation for Industrial Robots: A Generic and Agile Approach
published pages: , ISSN: , DOI:
2019-09-09
2015 Maj Stenmark
High-level task descriptions for industrial robots
published pages: , ISSN: , DOI: 10.3233/978-1-61499-589-0-191
13th Scandinavian Conference on Artificial Intelligence, SCAI 2015 2019-09-09
2018 Fredrik Bagge Carlson, Anders Robertsson, Rolf Johansson
Identification of LTV Dynamical Models with Smooth or Discontinuous Time Evolution by means of Convex Optimization
published pages: , ISSN: , DOI:
IEEE--Institute of Electrical and Electronics Engineers Inc. 2019-09-09
2016 Maj Stenmark, Elin A. Topp
From Demonstrations to Skills for High-Level Programming of Industrial Robots
published pages: , ISSN: , DOI:
The 2016 AAAI Fall Symposium Series: Artificial Intelligence for Human-Robot Interaction 2019-09-09
2017 Maj Stenmark, Mathias Haage, Elin A. Topp, and Jacek Malec
Making Robotic Sense of Incomplete Human Instructions in High-level Programming for Industrial Robotic Assembly
published pages: , ISSN: , DOI:
2017, Association for the Advancement of Artificial Intelligence 2019-09-09
2016 Meier, M., Haschke, R., & Ritter, H. J.
Learning Convolutional Filters for Tactile Manipulation
published pages: , ISSN: , DOI:
DGR Days 2016, (Deutsche Gesellschaft fuer Robotik) 2019-09-09
2017 Martin Karlsson, Fredrik Bagge Carlson, Anders Robertsson, Rolf Johansson
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 - SARAFun.
published pages: 1923-1930, ISSN: 2405-8963, DOI: 10.1016/j.ifacol.2017.08.383
IFAC-PapersOnLine 50/1 2019-09-09
2016 Patrice Senot, Loic Damm, Michele Tagliabue, Joseph McIntyre
Physiological Mechanisms for Stabilizing the Limb when Acting Against Physical Constraints.
published pages: , ISSN: , DOI:
Proceedings of the 38th Annual International Conference of the IEEE Engineering in Medicine & Biology Society 2019-09-09
2017 Christos Papadopoulos, Ioannis Mariolis, Angeliki Topalidou-Kyniazopoulou, Grigorios Piperagkas, Dimosthenis Ioannidis, Dimitrios Tzovaras
An Advanced Human-Robot Interaction Interface for Teaching Collaborative Robots New Assembly Tasks
published pages: 180-190, ISSN: , DOI: 10.1007/978-3-319-66471-2_20
Interactive Collaborative Robotics: Second International Conference, ICR 2017 2019-09-09
2017 George S. Kanakis, George A. Rovithakis, Zoe Doulgeri
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
published pages: 4831-4836, ISSN: 2405-8963, DOI: 10.1016/j.ifacol.2017.08.970
IFAC-PapersOnLine 50/1 2019-09-09
2017 Mathias Haage, Grigoris Piperagkas, Christos Papadopoulos, Ioannis Mariolis, Jacek Malec, Yasemin Bekiroglu, Mikael Hedelind, Dimitrios Tzovaras
Teaching Assembly by Demonstration Using Advanced Human Robot Interaction and a Knowledge Integration Framework
published pages: 164-173, ISSN: 2351-9789, DOI: 10.1016/j.promfg.2017.07.221
Procedia Manufacturing 11 2019-09-09
2015 Maj Stenmark, Jacek Malec
Connecting natural language to task demonstrations and low-level control of industrial robots
published pages: , ISSN: , DOI:
Proceedings of the Workshop on Multimodal and Semantics for Robotics Systems (MuSRobS) 2019-09-09
2016 M. Honarpardaz, M. Tarkian, J. Ölvander, X. Feng
Finger design automation for industrial robot grippers: A review
published pages: , ISSN: 0921-8890, DOI: 10.1016/j.robot.2016.10.003
Robotics and Autonomous Systems 2019-09-09
2016 Mohammadali Honarpardaz, Mehdi Tarkian, Johan Ölvander, Xiaolong Feng, Daniel Sirkett, Rasmus Sjögren, Joakim Elf
Generic Automated Multi-function Finger Design
published pages: , ISSN: , DOI:
International Conference of Mechanical Engineering and Automation Systems 2019-09-09
2017 Mathias Haage, Jacek Malec, Anders Nilsson, Maj Stenmark, Elin Anna Topp
Semantic Modelling of Hybrid Controllers for Robotic Cells
published pages: 292-299, ISSN: 2351-9789, DOI: 10.1016/j.promfg.2017.07.108
Procedia Manufacturing 11 2019-09-09
2017 Maj Stenmark, Mathias Haage, Elin Anna Topp
Simplified Programming of Re-usable Skills on a Safe Industrial Robot: Prototype and Evaluation
published pages: , ISSN: , DOI:
Proceedings of the 2017 ACM/IEEE International Conference on Human-Robot Interaction 2019-09-09
2017 Florian T. Pokorny, Yasemin Bekiroglu, Karl Pauwels, Judith Butepage, Clara Scherer, Danica Kragic
A database for reproducible manipulation research: CapriDB – Capture, Print, Innovate
published pages: 491-498, ISSN: 2352-3409, DOI: 10.1016/j.dib.2017.02.015
Data in Brief 11 2019-09-09
2017 Grigorios S. Piperagkas, Ioannis Mariolis, Dimosthenis Ioannidis, Dimistrios Tzovaras
Key-frame Extraction With Semantic Graphs in Assembly Processes
published pages: 1264-1271, ISSN: 2377-3766, DOI: 10.1109/LRA.2017.2662064
IEEE Robotics and Automation Letters 2/3 2019-09-09
2017 M. Honarpardaz, M. Tarkian, J. Ölvander, X. Feng
Experimental verification of design automation methods for robotic finger
published pages: 89-101, ISSN: 0921-8890, DOI: 10.1016/j.robot.2017.04.011
Robotics and Autonomous Systems 94 2019-09-09

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