R5-COP - Reconfigurable ROS-based Resilient Reasoning Robotic Cooperating Systems

Reseach leader:Smrľ Pavel
Team leaders:Zemčík Pavel
Team members:Beran Vítězslav, Senčuch Daniel (FIT VUT), Svoboda Petr (FIT VUT), ©paněl Michal, Tichý Andrej (FIT VUT), Vojvoda Jakub (FIT VUT)
Agency:Artemis Joint Undertaking
Code:7H14003, 621447
Start:2014-02-01
End:2017-01-31
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Keywords:robotics, flexible adaptation, human-robot cooperation, modular robotic systems
Annotation:
European manufacturing industry faces increasing product variances resulting as a consequence of frequent innovation, short product life cycles, small series production, and shrinking production cycles. At the same time, production cost must be continuously reduced. Agile, transformable and reusable automation and robotics is a key enabler to manage those trends. However, few robotic components are designed for easy adaptation and reuse. To overcome those shortcomings, R5-COP focuses on agile manufacturing paradigms and specifically on modular robotic systems. Based on existing and newly developed methods for a formal modelling of hardware and software components, R5-COP will support model-based design, engineering, validation, and fast commissioning. Furthermore, using existing interface and middle ware standards such as ROS, R5-COP will strongly facilitate integration of components from various suppliers. The proposed modular approach will not only be more flexible than state-of-the-art solutions, but will also reduce design, set up, and maintenance costs. Flexible use of robots naturally includes their close cooperation with humans. Therefore, robustness and safety are crucial requirements which will be assured by dedicated verification and validation methodologies. The formal specification framework will support component suppliers in efficiently verifying and certifying their modules. R5-COP will help to identify and develop reconfigurable key hardware and software components, and to show the feasibility and capability of the approach in living labs in manufacturing and service demonstrator environments.
Project description:
The main objective of the R5-COP project is to provide the means for a fast and flexible adaptation of robots to quickly changing environments and conditions to enable a safe and direct human-robot cooperation and interaction at an industrial scale. To overcome the shortcomings of existing robotic solutions, the concepts for achieving the following objectives are focused on modular robotic systems:
  1. Enabling fast and flexible re-composition of software and hardware components of robotic systems, and ensuring their robust and safe operation through modular design of the components with formalized specifications and standardized interfaces
  2. Enabling standardized yet simple design and implementation of software components through using ROS industrial (http://www.rosindustrial.org/) for soft- ware deployment and SDKs for software development (generic skill programming), respectively
  3. Enabling standardized yet flexible (re)configuration using ontologies of configurable components for modeling hardware, and modeling applications on an app or skill level
  4. Ensuring robust perception using advanced reconfigurable sensor systems modules
  5. Supporting component and system certification for safe human-robot cooperation using dedicated V&V techniques
  6. Identifying, modeling, developing, and evaluating key hardware and software components using dedicated use-cases on joint project demonstrators from industrial and service domains

Publications

2016MATERNA Zdeněk, KAPINUS Michal, ©PANĚL Michal, BERAN Vítězslav and SMR® Pavel. Simplified Industrial Robot Programming: Effects of Errors onMultimodal Interaction in WoZ experiment. In: Robot and Human Interactive Communication (RO-MAN). New York City: Institute of Electrical and Electronics Engineers, 2016, pp. 1-6. ISBN 978-1-5090-3929-6.

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