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

Summary

SHERLOCK aims to introduce the latest safe robotic technologies in production environments, enhancing them with smart mechatronics and AI based cognition, creating efficient HRC stations that are designed to be safe and guarantee the acceptance/wellbeing of operators.

SHERLOCK's objectives are driven by production requirements involving a portfolio of 19 s/w and h/w modules:

Soft Robotics Collaborative Production Station:
- High payload collaborative manipulator (HPCM)
- Low payload collaborative manipulator (LPCM)
- Enhanced exoskeleton device (EED) with adjustable level of assistance
- Mobile dual arm manipulator (MDAM)
- Production orchestration module (POM)
- Knowledge repository (KR)
Human - centred interaction, collaboration and awareness by developing
- Physical human robot interaction module (HPCM)
- Operator support module (OSM)
- Robot to human communication module (RHCM)
- Operator Psychological Safety Module (OPSM), involving design principles/standards to maintain operator psychological safety/wellbeing in HRC
- Design principles/standards to maintain operator psychological safety/wellbeing in HR
AI enabled cognition for autonomous HRC applications: enabling robots to understand their environment, reason over it and adapt by:
- Process perception module (PPM)
- Workplace monitoring module (WMM)
- Tasks and actions planning software (TAPS)
- Shopfloor digital representation (SDR)
- Learning and programming module (LPM)
Modules for design and certification of Safe HRC applications:
- Automated Risk Assessment Module (ARAM) within design/simulation packages
- HRC validation module (HVM), involving VR/AR tools for validating collaborative operations - reducing certification time
- Online safety assessment module (OSAM)
- HRC training module (HTM), involvingAR/VR training methods specialized for HRC

SHERLOCK demonstrated its result in 4 sectors: renewable energy, industrial modules, aeronautics structures and machine tools production.

Results, demos, etc. Show all and search (67)

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Demonstrators, pilots, prototypes

Result items:

CALPAK – Assembly Of Solar Thermal Collectors

FIDIA – Exoskeleton Assisted Machine Production

SOFITEC – Co-Manipulation Of Large Parts By Dual-Arm Mobile Manipulator

VDL – Reconfigurable Industrial Collaborative Modules Assembly

Result items:

Autonomous learning and programming methods – Final Prototype

Autonomous learning and programming methods – First Prototype

Human Robot Interaction modules – Final prototype

Human Robot Interaction modules – First prototype

Indirect human robot interaction and awareness – Final prototype

Indirect human robot interaction and awareness – First prototype

Online safety assessment module – Final Prototype

Online safety module – First Prototype

Process perception modules – Final prototype

Process perception modules – First prototype

Robot-Human Communication Module - First prototype

SHERLOCK Online task planning module – Final Prototype

SHERLOCK Online task planning module – First Prototype

SHERLOCK tools for AR/VR enabled operator training

VR based tools for evaluation of HRC operations – Final prototype

VR based tools for evaluation of HRC operations – First prototype

Workspace monitoring and digital twin – Final prototype

Workspace monitoring and digital twin – First prototype

Result items:

Autonomous learning and programming methods – Final Prototype

Autonomous learning and programming methods – First Prototype

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

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

Human Robot Interaction modules – Final prototype

Human Robot Interaction modules – First prototype

Indirect human robot interaction and awareness – Final prototype

Indirect human robot interaction and awareness – First prototype

Online safety assessment module – Final Prototype

Online safety module – First Prototype

Process perception modules – Final prototype

Process perception modules – First prototype

SHERLOCK Online task planning module – Final Prototype

SHERLOCK Online task planning module – First Prototype

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

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

VR based tools for evaluation of HRC operations – Final prototype

VR based tools for evaluation of HRC operations – First prototype

Workspace monitoring and digital twin – Final prototype

Workspace monitoring and digital twin – First prototype

More information & hyperlinks

Web resources:	http://www.sherlock-project.eu https://cordis.europa.eu/project/id/820689
Start date:	01-10-2018
End date:	30-09-2022
Total budget - Public funding:	7 939 022,00 Euro - 7 939 022,00 Euro
Twitter:	@SherlockH2020

Cordis data

Original description

Human robot collaboration (HRC) has evolved to address the need for flexible production, presenting however drawbacks such as: Inability to cover all applications, Low performance/quality of collaboration and Complexity. SHERLOCK aims to introduce the latest safe robotic technologies in production environments, enhancing them with smart mechatronics and AI based cognition, creating efficient HRC stations that are designed to be safe and guarantee the acceptance/wellbeing of operators. SHERLOCK’s objectives are driven by production requirements involving:
1. Soft Robotics Collaborative Production Station: Starting from a human safety basis:
- AURA a high payload collaborative manipulator
- Smart exoskeletons with adjustable operation
- Safe mobile dual arm manipulators
2. Human - centred interaction, collaboration and awareness by developing
- Interfaces inspiring trust/familiarity, allowing seamless HR interaction
- Methods for assessing user impact of HRC systems
- Design principles/standards to maintain operator psychological safety/wellbeing in HRC
- Production setups for people with special restrictions exploiting the robot’s cognition
3. AI enabled cognition for autonomous HRC applications: enabling robots to understand their environment, reason over it and adapt by:
-Multi-level perception for process and environment assessment
- Safe workspace monitoring systems
- Autonomous planning and coordination of human robot tasks
- Interactive learning, adapting to operator and simplifying teaching of new tasks
4. Modules for design and certification of Safe HRC applications:
- Automated Risk Assessment tools within design/simulation packages
- VR/AR tools for validating collaborative operations - reducing certification time
- Software tools for Formal on-line safety assessment
- AR/VR training methods specialized for HRC
SHERLOCK will demonstrate its result in 4 sectors: elevators, industrial modules, aeronautics structures and machine tools production.

Status

CLOSED

Url

https://cordis.europa.eu/project/id/820689

Call topic

DT-FOF-02-2018

Update Date

27-10-2022

Geographical location(s)

Structured mapping

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FoF and Made in Europe Partnership

Factories of the Future Partnership - Made in Europe Partnership

Report - Video - Presentation - Publication....?

Result items:

Autonomous learning and programming methods – First Prototype

CALPAK – Assembly Of Solar Thermal Collectors

FIDIA – Exoskeleton Assisted Machine Production

Human Robot Interaction modules – Final prototype

Human Robot Interaction modules – First prototype

Indirect human robot interaction and awareness – Final prototype

Online safety assessment module – Final Prototype

Online safety module – First Prototype

Process perception modules – Final prototype

Robot-Human Communication Module - First prototype

SHERLOCK Online task planning module – Final Prototype

SHERLOCK tools for AR/VR enabled operator training

SOFITEC – Co-Manipulation Of Large Parts By Dual-Arm Mobile Manipulator

VDL – Reconfigurable Industrial Collaborative Modules Assembly

VR based tools for evaluation of HRC operations – Final prototype

VR based tools for evaluation of HRC operations – First prototype

Workspace monitoring and digital twin – First prototype

Result items:

Autonomous learning and programming methods – Final Prototype

Autonomous learning and programming methods – First Prototype

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

Data Management Plan

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

Human Robot Interaction modules – Final prototype

Human Robot Interaction modules – First prototype

Indirect human robot interaction and awareness – Final prototype

Indirect human robot interaction and awareness – First prototype

Online safety assessment module – Final Prototype

Online safety module – First Prototype

Process perception modules – Final prototype

Process perception modules – First prototype

SHERLOCK Online task planning module – Final Prototype

SHERLOCK Online task planning module – First Prototype

SHERLOCK public web portal

SHERLOCK soft robotics collaborative production station – Initial version

SHERLOCK tools for AR/VR enabled operator training

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

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

VR based tools for evaluation of HRC operations – Final prototype

VR based tools for evaluation of HRC operations – First prototype

Workspace monitoring and digital twin – Final prototype

Workspace monitoring and digital twin – First prototype

Result items:

Preliminary development of the Psychological Factors Assessment Framework

What dynamics should impedance-controlled robots render?

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

2d Image Features Detector and Descriptor Selection Expert System

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

An admittance based hierarchical control framework for dual-arm cobots

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

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

An outlook on future hybrid assembly systems - the Sherlock approach

Automatic simulation-based design and validation of robotic gripper fingers

Bounded Collision Force by the Sobolev Norm

Contact Information Flow and Design of Compliance

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

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

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

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

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

Human Robot Collaboration in Industrial Environments

Human–Robot Collaboration Using Visual Cues for Communication

Impedance Adaptation by Reinforcement Learning with Contact Dynamic Movement Primitives

Minimum directed information: A design principle for compliant robots

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

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

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

Operator - mobile robot collaboration for synchronized part movement

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

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

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

Realistic simulation of robotic grasping tasks: review and application

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

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

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

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

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

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

Result items:

Data Management Plan

Project type - instrument

Project clusters

Project clusters are groups of projects that cooperate by organising events, generating joint papers, etc...

Technologies and enablers

MiE SRIA R&I Priorities

Demonstrators, pilots, prototypes

Result items:

CALPAK – Assembly Of Solar Thermal Collectors

FIDIA – Exoskeleton Assisted Machine Production

SOFITEC – Co-Manipulation Of Large Parts By Dual-Arm Mobile Manipulator

VDL – Reconfigurable Industrial Collaborative Modules Assembly

Result items:

Autonomous learning and programming methods – Final Prototype

Autonomous learning and programming methods – First Prototype

Human Robot Interaction modules – Final prototype

Human Robot Interaction modules – First prototype

Indirect human robot interaction and awareness – Final prototype

Indirect human robot interaction and awareness – First prototype

Online safety assessment module – Final Prototype

Online safety module – First Prototype

Process perception modules – Final prototype

Process perception modules – First prototype

Robot-Human Communication Module - First prototype

SHERLOCK Online task planning module – Final Prototype

SHERLOCK Online task planning module – First Prototype

SHERLOCK tools for AR/VR enabled operator training

VR based tools for evaluation of HRC operations – Final prototype

VR based tools for evaluation of HRC operations – First prototype

Workspace monitoring and digital twin – Final prototype

Workspace monitoring and digital twin – First prototype

Result items:

Autonomous learning and programming methods – Final Prototype

Autonomous learning and programming methods – First Prototype

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

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

Human Robot Interaction modules – Final prototype

Human Robot Interaction modules – First prototype

Indirect human robot interaction and awareness – Final prototype

Indirect human robot interaction and awareness – First prototype

Online safety assessment module – Final Prototype

Online safety module – First Prototype

Process perception modules – Final prototype

Process perception modules – First prototype

SHERLOCK Online task planning module – Final Prototype

SHERLOCK Online task planning module – First Prototype

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

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

VR based tools for evaluation of HRC operations – Final prototype

VR based tools for evaluation of HRC operations – First prototype

Workspace monitoring and digital twin – Final prototype

Workspace monitoring and digital twin – First prototype

EU-Programme-Call

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

Contacts

Not specified (see website if available)

“ROS drivers suite” for COMAU robots

ROS, which stands for Robotic Operating System, is an open-source robotics middleware. Nowadays, it is increasingly being used in research as well as industrial applications due to the flexibility it offers. ROS provides peer-to-peer communication among various devices, is lightweight and supports multiple programming languages.

SHERLOCK consists of 19 hardware and software modules. Following a versatile approach, communication among the modules is being achieved via ROS, either using existing ROS interfaces or building them from scratch.

In this context, LMS developed the necessary drivers that provide ROS support for the COMAU AURA and Racer5L cobots, enabling their communication with the rest of the SHERLOCK ecosystem.

The developed “ROS drivers suite” offers the following main features:

Asynchronous robot control
I/O control
Fieldbus control
Synchronous robot control (sensor tracking)

Asynchronous robot control: The robot publishes its state to the ROS driver with a frequency of 100Hz. During this operation, two ROS action servers are responsible for moving the robot, one for joint space trajectories and one for cartesian space trajectories. The desired trajectory is sent from the ROS application (e.g., MoveIt) as a goal for the robot. Functionalities such as validation that the goal is inside the robot limits and that it is ready to receive a new goal are also implemented.

I/O control: This part of the “ROS drivers suite” is responsible to enable/disable the hard-wired I/Os of the robot. A dedicated ROS service offers control over the physical of virtual GPIO pins of the controller while providing feedback regarding their state.

Fieldbus control: This part of the “ROS drivers suite” is responsible to control devices connected to the robot controller via Fieldbus (PROFINET, PROFIBUS, Ethernet IP), as well as monitor their state.

Synchronous robot control (sensor tracking): The difference of the synchronous robot control compared to the asynchronous one is that in the synchronous control, the robot is correcting its trajectory in real-time based on feedback received from dedicated sensors (force/torque sensors, vision systems etc.) The control loop frequency can be as high as 500 Hz, ensuring quick and smooth corrections. The user (ROS application) can move from asynchronous to synchronous robot control mode at any time.

“ROS drivers suite” includes two more applications. The “COMAU robot simulator” which allows the user to perform a simulation for a given application without the need of a physical robot, and the “MoveIt interface” which enables the on-the-fly trajectory planning (either in physical or virtual application).

It is worth noting that, apart from the AURA and the Racer5L robots, this “ROS drivers suite” supports a variety of COMAU robots that use the C5G controller, such as NJ4 110-2.2, NJ4 170-2.9, NJ 220-2.7, Racer 5-0.80, Racer 7-1.4.

For more information, you may visit the website of the project.

Photos --> link 1

Nikos Dimitropoulos
19/05/21 - 10:50

COMAU Racer5 Cobot released to the market!

SHERLOCK is pleased to announce the first, early, commercially exploitable result of the project, COMAU Racer5 Cobot, a new paradigm in collaborative robotics, designed and commercialized by COMAU.

COMAU, a well-known Italian robotics manufacturer and industrial partner of SHERLOCK, just released to the market their newly developed low-payload collaborative robot.

Driven by the requirements of the industrial use cases of SHERLOCK, aligned with the market needs, COMAU developed within the project a low payload collaborative robot with payload of 5Kg.

It is currently the only collaborative robot able to automatically switch from industrial robot speed to collaborative speed. This feature allows it to work in full -industrial- speed when the operator is far away from the robot while reducing its speed to lower -collaborative- speed when the operator enters its working area. Thus, increased flexibility and productivity, as well as reduction of cycle time, can be achieved.

Moreover, Racer5 cobot offers an intuitive, non-intrusive programming framework. The operator is able to effortlessly move the end effector and teach robot motion using hand guidance.

Racer5 cobot is a certified product, complying with all the safety derivatives relevant with human-robot collaboration.

For more information, you may visit our website.

Photos --> link1, link2

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