Our publications

SHERLOCK publishes a new scientific publication about A Real Application of an Autonomous Industrial Mobile Manipulator within Industrial Context

A REAL APPLICATION OF AN AUTONOMOUS INDUSTRIAL MOBILE MANIPULATOR IN INDUSTRIAL CONTEXT

Jose Luis Outón, Ibon Merino, Iván Villaverde, Aitor Ibarguren, Héctor Herrero, Paul Daelman, Basilio Sierra

2021

In modern industry, there are still a large number of low added-value processes that can be automated or semi-automated with safe cooperation between robots and human operators. The European SHERLOCK project aims to integrate an autonomous industrial mobile manipulator (AIMM) to perform cooperative tasks between a robot and a human. To be able to do this, AIMMs need to have a variety of advanced cognitive skills like autonomous navigation, smart perception and task management. In this paper, we report the project’s tackle in a paradigmatic industrial application combining accurate autonomous navigation with deep learning-based 3D perception for pose estimation to locate and manipulate different industrial objects in an unstructured environment. The proposed method presents a combination of different technologies fused in an AIMM that achieve the proposed objective with a success rate of 83.33% in tests carried out in a real environment.

                           Read more here.

SHERLOCK is working on anperator - mobile robot collaboration for synchronized part movement

OPERATOR – MOBILE ROBOT COLLABORATION FOR SYNCHRONIZED PART MOVEMENT

Aswin K Ramasubramanian, Nikolaos Papakostas

2021

Mobile robotic platforms have become increasingly popular. Commercially available versions of mobile robots are designed to support human operators in typical production environments. They may be used for transferring parts from one place to another, as well as for assisting the operator in a series of tasks, by utilizing the dexterity of their arm and end effector. This paper focuses on the development of a novel approach that allows the handling and transportation of parts through the simultaneous operation of human operators and mobile robots. In particular, a straightforward, easy to implement control strategy is used to adapt the operation of the mobile robot to the tasks carried out by the operator. This paper discusses also the advantages of introducing mobile robots in typical industrial environments and compares their potential against fully automated robotic solutions.

                           Read more here.

SHERLOCK is using human activity recognition sensors

ON USING HUMAN ACTIVITY RECOGNITION SENSORS TO IMPROVE THE PERFORMANCE OF COLLABORATIVE MOBILE MANIPULATORS; REVIEW AND OUTLOOK

Aswin K Ramasubramanian, Syed M. Aiman, Nikolaos Papakostas

2021

The operation of mobile manipulators in a collaborative environment needs to be adapted to the characteristics and skills of human operators. Human activity recognition, utilizing wearable sensors and vision systems, could be used to fine-tune the performance of the mobile manipulator so that human operators be better assisted. The goal is to develop a sense of safety and trust between the human and the manipulator in order to improve the ergonomics of the operator within the collaborative workspace. This paper reviews the technologies that can be used for activity tracking together with gait recognition as a biometric tool. These technologies could potentially allow the mobile robotic manipulator to dynamically adapt to the motion, skills, and intentions of the human operator and to the requirements of the task in action. This paper also proposes the idea of combining a gait recognition model and activity tracking towards improving the performance of mobile collaborative robots.

                           Read more here.

Scientific publication: ual Arm Co-Manipulation Architecture

DUAL ARM CO-MANIPULATION ARCHITECTURE WITH ENHANCED HUMAN-ROBOT COMMUNICATION FOR LARGE PART MANIPULATION

Aitor Ibarguren, Iveta Eimontaite, José Luis Outón, Sarah Fletcher

October 2020

The emergence of collaborative robotics has had a great impact on the development of robotic solutions for cooperative tasks nowadays carried out by humans, especially in industrial environments where robots can act as assistants to operators. Even so, the coordinated manipulation of large parts between robots and humans gives rise to many technical challenges, ranging from the coordination of both robotic arms to the human-robot information exchange. This paper presents a novel architecture for the execution of trajectory driven collaborative tasks, combining impedance control and trajectory coordination in the control loop, as well as adding mechanisms to provide effective robot-to-human feedback for successful and satisfactory task completion. The obtained results demonstrate the validity of the proposed architecture as well as its suitability for the implementation of collaborative robotic systems.

                           Read more here.

Paper: Dual Arm Co-Manipulation Architecture

CONTROL STRATEGIES FOR DUAL ARM CO-MANIPULATION OF FLEXIBLE OBJECTS IN INDUSTRIAL ENVIRONMENTS

Aitor Ibarguren, Paul Daelman, Miguel Prada

June 2020

The introduction of collaborative robots had a great impact in the development of robotic solutions for cooperative tasks typically performed by humans, especially in industrial environments where robots can act as assistants of operators. Even so, the coordinated manipulation of large and deformable parts between dual-arm robots and humans rises many technical challenges, ranging from the coordination of both robotic arms to the detection of the forces applied by the operator. This paper presents a novel control architecture for the execution of trajectory driven collaborative tasks, combining impedance control and trajectory coordination in the control loop. The obtained results demonstrate the validity of the implemented control architecture as well as its suitability for the implementation of collaborative cyber-physical systems.

                           Read more here.

SHERLOCK publishes a new paper on Dual Arm Co-Manipulation Architecture with Enhanced Human–Robot Communication for Large Part Manipulation

ONLINE PREDICTION FOR SAFE HUMAN-ROBOT COLLABORATION: A MODEL OF THE HUMAN ARM

Binchi Jacopo, Mangeruca Leonardo, Rucco Matteo, Orlando Ferrante, Minissale Alfio, Abba Fabio Francesco

2020

With the advent of new technologies and the transition of production to industry 4.0, a more flexible approach to manufacturing is pursued to achieve higher productivity. This transformation leads to overcoming traditional safety procedures and the development of new safety-assuring technologies for the minimization of risks connected with human-robot collaboration. In this work, we focus on the prediction of movements of operators’ upper torso and arms by developing a method which combines data-driven methodologies with formal methods. The approach is based on a predictive model of human motion compared against the planned robot trajectory and online monitoring of satisfaction of safety requirements with formal methods.

                           Read more here.

SHERLOCK publishes a new paper on PRELIMINARY DEVELOPMENT OF THE PSYCHOLOGICAL FACTORS ASSESSMENT FRAMEWORK

PRELIMINARY DEVELOPMENT OF THE PSYCHOLOGICAL FACTORS ASSESSMENT FRAMEWORK

Eimontaite Iveta, Fletcher Sarah

17 April 2020

Robots, although not new in manufacturing, are still only just being directly integrated with human operators. Although timely and measured human factors integration in technology development can increase its acceptance, the impacts on manufacturing operators are still largely unknown. The proposed work described in this paper discusses the SHERLOCK project approach to human factors integration that aims to develop a standardised tool for evaluating the impacts of robotics in manufacturing. This analysis will enable the development of the framework, which will allow quicker assessment of psychological factors and recommendations for operator needs and requirements in a variety of manufacturing applications.

                                  Read more here.

SHERLOCK publishes a paper on AN APPROACH FOR MONITORING THE EXECUTION OF HUMAN-BASED ASSEMBLY OPERATIONS USING MACHINE LEARNING

AN APPROACH FOR MONITORING THE EXECUTION OF HUMAN-BASED ASSEMBLY OPERATIONS USING MACHINE LEARNING

George Andrianakos, Nikos Dimitropoulos, George Michalos, Sotirios Makris

18 February 2020

Sensing systems have been introduced safeguarding the operators, while primitive workflow monitoring systems, primarily based on operator’s feedback, enhance the dynamic behaviour of the system. This paper presents an approach to automatically monitor the execution of human-based assembly operations using vision sensors and machine learning techniques. A reference example based on the assembly of a water pump is showcasing the effectiveness of the proposed approach in real-life application.

                                  Read more here.

SHERLOCK publishes a new paper on 2D FEATURES-BASED DETECTOR AND DESCRIPTOR SELECTION SYSTEM FOR HIERARCHICAL RECOGNITION OF INDUSTRIAL PARTS

2D FEATURES-BASED DETECTOR AND DESCRIPTOR SELECTION SYSTEM FOR HIERARCHICAL RECOGNITION OF INDUSTRIAL PARTS

Ibon Merino, Jon Azpiazu, Anthony Remazeilles, Basilio Sierra

5 December 2019

Detection and description of key points from an image is a well-studied problem in Computer Vision. Some methods like SIFT, SURF or ORB are computationally really efficient. This paper proposes a solution for a particular case study on object recognition of industrial parts based on hierarchical classification. Reducing the number of instances leads to better performance, indeed, that is what the use of the hierarchical classification is looking for.

Read more here.

SHERLOCK publishes a new paper on BOUNDED COLLISION FORCE BY THE SOBOLEV NORM

BOUNDED COLLISION FORCE BY THE SOBOLEV NORM

Kevin Haninger, Dragoljub Surdilovic

12 August 2019

A robot making contact with an environment or human presents potential safety risks, including excessive collision force. Here, the Sobolev norm is adapted to be a system norm, giving rigorous bounds on the maximum force on a stiffness element in a general dynamic system, allowing the study of collision with more accurate models and feedback control.

Read more here.

SHERLOCK publishes a new paper on WHAT DYNAMICS SHOULD IMPEDANCE-CONTROLLED ROBOTS RENDER?

WHAT DYNAMICS SHOULD IMPEDANCE-CONTROLLED ROBOTS RENDER?

Kevin Haninger, Dragoljub Surdilovic, Arturo Bastidas Cruz

24 May 2019

While impedance control is the standard framework for physically interactive robots, the design choice of what dynamics should be rendered requires additional information (assumptions on environment, in-situ data). The range of dynamics which can be rendered by a robot is informed by its mechatronic design (actuators, physical compliance, inner loop control), and these mechanical design decisions must be made in advance. How can a mechatronic design be evaluated when the system objectives and environment dynamics are not quantified?

Read more here.