Experiences of Research on Robot Assistance for Industrial Environments (ERRA)

ICRA 2014, Hong Kong, China, May 31

 

Important Dates:

Submission Deadline:

April 15, 2014

Tutorial Date: Saturday,

May 31, 2014

Conference Dates:

Saturday-Thursday,

May 31-June 5, 2014

 

Associated Project:

Skill Assistance with Robot for Manual Welding

 

Organizing Laboratories and Institutes:

Learning Algorithms and Systems Laboratory (LASA), École Polytechnique Fédérale de Lausanne

Department of Mechanical and Manufacturing Engineering (AALBORG), Aalborg University

Centre for Robot Technology (DTI), Danish Technological Institute

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Thanks a lot to our speakers and participants, for their great talks, for their comments, for the lively panel discussion and for their presence! Here are some photos from the workshop. Please check the tab "Photos" for others.

 

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This is a full-day tutorial that will take place on May 31, during the IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, from May 31 to June 5, 2014.

Objective

This full day tutorial aims at presenting the recent research experiences on industrially oriented robotics assistance, basically from the laboratories of the organizers at LASA-EPFL, AALBORG, and DTI. The researches in these three labs exemplify robotics assistance for industrial settings from three different perspectives: assistance for manipulation (welding) (LASA), assistance for easy programming (assembly and part feeding) (AALBORG), and assistance for flexible assembly (for SMEs with robotic coworker systems) (DTI). The tutorial will be supplemented with presentation of research from other laboratories. Some of these presentations will be invited others will be selected among the submissions.

The relevant research at LASA-EPFL focuses on robotic assistance for tool manipulation, specifically assistance for manual welding. The research aims at answering the questions of what is a skilled manipulation in welding and how, when, and how much a person should be assisted with a robot for a good quality performance. The research at AALBORG focuses on developing interactive manipulation systems for industrial tasks such as part feeding and assembly. The group at AALBORG has developed the concept of task-level-programming that integrates pre-defined skill modules of the robot with kinesthetic teaching by the operators. Different versions of their system are experimented on the factory floor for various part feeding and assembly tasks. At DTI, research is focused on development of industrially suitable, easily instructable platforms for flexible assembly. A key objective is to meet the flexibility requirements of SME production. A flexible skill-based instruction system has been developed. In this system, a wide range of technologies, such as collision-free motion planning, computer vision, 3D perception and advanced GUIs, serve as building blocks to create a user friendly robotic coworker system. The system has been evaluated on basis of a wide range of real assembly cases and in continuous collaboration with more than 20 Danish and international companies.

As the organizers, we will present three detailed core tutorials about the above mentioned research. Besides, there will be reputable invited speakers in the field and selected oral and poster presentations. The presentations will be followed by a panel discussion featuring all the speakers, oral and poster presenters. In all these talks the following questions will be addressed:

  1. What are the example tasks from industry that assistive schemes can be applied to?
  2. What are the requirements for an assistance scheme to be usable in industry?
  3. What kind of assistance is needed in what kind of tasks?
  4. What are the challenges in developing an assistive system? (For specific applications, what are the bottle necks?)
  5. Can we propose a specific knowledge of robotic assistance in industry? What can be the items of describing a robotics assistance scheme/system for industry?
  6. To what extent can we generalize the specific knowledge for a specific application to other applications?

Based on the discussions that will arise, we will aim to propose a classification of modalities of robotic assistance in industrial settings and delineate open issues for future research and collaboration between research and industry. For this attempt, the experiences derived from our previous workshops – “Robotic Assistance Technologies in Industrial Settings” at IROS 2013 and “Collaborative Robotics in Industry: From needs and challenges to a new production equipment market” at EuRobotics Forum 2013 – will also be combined.

List of Topics

The list of topics that characterize the content of the workshop are as follows:

Organizing and Invited Speakers

Our invited speakers are among the top researchers in the field and from some of the most prominent robotics institutes and companies. Please click on the "Abstract" and "Biography" icons to view the related information.

Mustafa Suphi Erden

Title of Tutorials:

  • Identification of welding skills: variance and impedance measurements while welding

  • Assisting manual welding with robot

Abstract: (Click)

Biography: (Click)

Ole Madsen

Title of Tutorials:

  • Skill-based human-robot interface for instructing industrial tasks using kinesthetic teaching

  • Experience from industrial implementations – how far can we get?

Abstract: (Click)

Biography: (Click)

Anders Billesø Beck

Title of Tutorial:

Development of the Robot CoWorker platform — cost-effective automation solutions for the needs of the high-mix/low-volume assembly industry

Abstract: (Click)

Biography: (Click)

Etienne Burdet

Title of Talk:

Learning appropriate visual and haptic cues for micromanipulation

Abstract: (Click)

Biography: (Click)

Henrik Christenson

Title of Talk:

Collaborative robotics for automotive assembly

Abstract: (Click)

Biography: (Click)

Mikael Hedelind

Title of Talk:

Safe industrial robots in a mixed production setting

Abstract: (Click)

Biography: (Click)

Frédéric Colledani

Title of Talk:

Force Controlled Robotics Design: from Tele-Robotics to Intelligent Assist Devices and Collaborative Robotics

Abstract: (Click)

Biography: (Click)

 

Call for Papers

The organizers invite submissions of 6-10 pages research papers to be orally presented during the tutorial in 15 minutes talks and 4-8 pages research papers to be presented as posters during the tutorial, all written in the paper style of the conference. The papers will be reviewed and selected for presentation.

The papers can be submitted by e-mail to mustafasuphi.erden@epfl.ch.

Submission Deadline: April 15, 2014 Extended: April 30, 2014 (Wednesday)

Prospective Date for Notification of Acceptance: May 1, 2014 May 5, 2014

Program of the Tutorial

Time Slots

Speaker

Topic

Type

09:00-09:05

Organizers

Introduction

 

09:05-09:30

Mustafa Suphi Erden

Identification of welding skills: impedance measurements while welding

Tutorial

09:30-10:00

Mustafa Suphi Erden

Assisting manual welding with robot

Tutorial

10:00-10:30

Etienne Burdet

Learning appropriate visual and haptic cues for micromanipulation

Invited talk

10:30-10:50

Coffee Break

 

 

10:50-11:20

Henrik Christenson

Collaborative robotics for automotive assembly

Invited talk

11:20-11:50

Ole Madsen

Skill-based human-robot interface for instructing industrial tasks using kinesthetic teaching

Tutorial

11:50-12:20

Ole Madsen

Experience from industrial implementations – how far can we get?

Tutorial

12:20-14:00

Lunch Break

 

 

14:00-14:30

Mikael Hedelind

Safe industrial robots in a mixed production setting

Invited talk

14:30-15:00

Thomas Sølund

Development of the Robot CoWorker platform – cost-effective automation solutions for the needs of the high-mix/low-volume assembly industry – Part I

Tutorial

15:00-15:30

Thomas Sølund

Development of the Robot CoWorker platform – cost-effective automation solutions for the needs of the high-mix/low-volume assembly industry – Part II

Tutorial

15:30-15:50

Coffee Break

 

 

15:50-16:20

Frédéric Colledani

Force controlled robotics design: from tele-robotics to intelligent assist devices and collaborative robotics

Invited talk

16:20-16:40

Emanuele Magrini

Human-Robot Collaboration using Estimated Contact Forces, Emanuele Magrini, Fabrizio Flacco, Alessandro De Luca

Selected Oral Pres.

16:40-17:00

Kelleher R. Guerin

Exploring Virtual Reality for Flexible Industrial HRI, Kelleher R. Guerin, Haluk Tokgozoglu, Jonathan Bohren, Gregory D. Hager

Selected Oral Pres.

17:00-17:28

Panel

Organizers/Invited Speakers/Presenters/Audiance

Discussion

17:28-17:30

Organizers

Conclusion

 

Organizers

Mustafa Suphi Erden (Contact Person, e-mail: mustafasuphi.erden@epfl.ch)

Ecole Polytechnique Federale de Lausanne, Learning Algorithms and Systems Laboratory

Ole Madsen

Aalborg Universit, Department of Mechanical and Manufacturing Engineering (AALBORG)

Anders Billesø Beck

Danish Technological Institute (DTI), Centre for Robot Technology