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FourByThree

Highly customizable robotic solutions for effective and safe human robot collaboration in manufacturing applications

Total Cost €

EC-Contrib. €

Partnership

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Outcomes and
results

FourByThree project word cloud

Explore the words cloud of the FourByThree project. It provides you a very rough idea of what is the project "FourByThree" about.

flexibility sharing plan elaborated accuracy efficient human modularity integrators collaborating dexterity isolated expensive modular safety lack worker outlined efficiency safe workers proposes adapt possibility responsive demonstrated fundamental standard workspace acronym capacity foci fourbythree collision integrate floor technologies feasible behaviours solutions compromised environment final exerted appeared perception force automating model robotic scenarios factory humans generation robots industrial degree manufacturing actors usability configurations vicinity physical marked business robot solving outlines refers answer claiming suitable

Project "FourByThree" data sheet

The following table provides information about the project.

Coordinator	FUNDACION TEKNIKER Organization address address: CALLE INAKI GOENAGA 5 city: EIBAR GUIPUZCOA postcode: 20600 website: www.tekniker.es 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	Spain [ES]
Project website	http://www.fourbythree.eu
Total cost	6˙859˙721 €
EC max contribution	6˙305˙517 € (92%)
Programme	1. H2020-EU.2.1.5.1. (Technologies for Factories of the Future)
Code Call	H2020-FoF-2014
Funding Scheme	IA
Starting year	2014
Duration (year-month-day)	from 2014-12-01 to 2017-11-30

Partnership

Take a look of project's partnership.

#	participants	country	role	EC contrib. [€]
1	FUNDACION TEKNIKER FUNDACION TEKNIKER Organization address address: CALLE INAKI GOENAGA 5 city: EIBAR GUIPUZCOA postcode: 20600 website: www.tekniker.es contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	ES (EIBAR GUIPUZCOA)	coordinator	1˙001˙240.00
2	DEUTSCHES FORSCHUNGSZENTRUM FUR KUNSTLICHE INTELLIGENZ GMBH DEUTSCHES FORSCHUNGSZENTRUM FUR KUNSTLICHE INTELLIGENZ GMBH Organization address address: TRIPPSTADTER STRASSE 122 city: KAISERSLAUTERN postcode: 67663 website: www.dfki.de contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	DE (KAISERSLAUTERN)	participant	922˙770.00
3	CONSIGLIO NAZIONALE DELLE RICERCHE CONSIGLIO NAZIONALE DELLE RICERCHE Organization address address: PIAZZALE ALDO MORO 7 city: ROMA postcode: 185 website: www.cnr.it contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	IT (ROMA)	participant	744˙785.00
4	ZENTRUM FÜR MECHATRONIK UND AUTOMATISIERUNGSTECHNIK GEMEINNÜTZIGE GMBH ZENTRUM FÜR MECHATRONIK UND AUTOMATISIERUNGSTECHNIK GEMEINNÜTZIGE GMBH Organization address address: GEWERBEPARK ESCHBERGER WEG 9 city: SAARBRÜCKEN postcode: 66121 website: www.mechatronikzentrum.de contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	DE (SAARBRÜCKEN)	participant	684˙582.00
5	STICHTING STODT PRAKTIJKCENTRUM VOOR GEAVANCEERDE TECHNOLOGIE STICHTING STODT PRAKTIJKCENTRUM VOOR GEAVANCEERDE TECHNOLOGIE Organization address address: De Gieterij 212 city: HENGELO postcode: 7553 VZ website: n.a. contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	NL (HENGELO)	participant	554˙322.00
6	FRAUNHOFER GESELLSCHAFT ZUR FOERDERUNG DER ANGEWANDTEN FORSCHUNG E.V. FRAUNHOFER GESELLSCHAFT ZUR FOERDERUNG DER ANGEWANDTEN FORSCHUNG E.V. Organization address address: HANSASTRASSE 27C city: MUNCHEN postcode: 80686 website: www.fraunhofer.de contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	DE (MUNCHEN)	participant	504˙420.00
7	QUEEN MARY UNIVERSITY OF LONDON QUEEN MARY UNIVERSITY OF LONDON Organization address address: 327 MILE END ROAD city: LONDON postcode: E1 4NS website: http://www.qmul.ac.uk contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	UK (LONDON)	participant	342˙266.00
8	KING'S COLLEGE LONDON KING'S COLLEGE LONDON Organization address address: STRAND city: LONDON postcode: WC2R 2LS website: www.kcl.ac.uk contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	UK (LONDON)	participant	295˙735.00
9	Deltatron Oy Deltatron Oy Organization address address: Soidintie 14 city: Helsinki postcode: 700 website: www.deltatron.fi contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	FI (Helsinki)	participant	265˙125.00
10	PILZ INDUSTRIEELEKTRONIK SL PILZ INDUSTRIEELEKTRONIK SL Organization address address: C/CAMI RAL 130 city: GRANOLLERS postcode: 8401 website: http://www.pilz.es contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	ES (GRANOLLERS)	participant	227˙272.00
11	ALFA PRECISION CASTING SA ALFA PRECISION CASTING SA Organization address address: TORREKUA 3 city: EIBAR GIPUZKOA postcode: 20600 website: www.alfalan.es contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	ES (EIBAR GIPUZKOA)	participant	174˙818.00
12	EFS- GESELLSCHAFT FÜR HEBE- UND HANDHABUNGSTECHNIK MBH EFS- GESELLSCHAFT FÜR HEBE- UND HANDHABUNGSTECHNIK MBH Organization address address: LANDTURMSTRASSE 15 city: NORDHEIM postcode: 74226 website: n.a. contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	DE (NORDHEIM)	participant	171˙682.00
13	INGENIERIA Y SERVICIOS DE AUTOMATIZACION Y ROBOTICA KOMAT SL INGENIERIA Y SERVICIOS DE AUTOMATIZACION Y ROBOTICA KOMAT SL Organization address address: SOSTOA-TARREN 16AC city: EIBAR postcode: 20600 website: n.a. contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	ES (EIBAR)	participant	158˙786.00
14	WOLL MASCHINENBAU GMBH WOLL MASCHINENBAU GMBH Organization address address: KRUGHUTTER STRASSE 93 city: SAARBRUCKEN postcode: 66128 website: n.a. contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	DE (SAARBRUCKEN)	participant	134˙275.00
15	ANTPROJECT TVIP SL ANTPROJECT TVIP SL Organization address address: PORTUETXE 23 B OFICINA 3-16 CEMEI SAN SEBASTIAN city: DONOSTIA postcode: 20018 website: n.a. contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	ES (DONOSTIA)	participant	123˙436.00
16	GROUND TRUTH ROBOTICS GMBH GROUND TRUTH ROBOTICS GMBH Organization address address: ROBERT-HOOKE-STRASSE 1 city: BREMEN postcode: 28359 website: n.a. contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	DE (BREMEN)	participant	0.00
17	PREMIUM AEROTEC GmbH PREMIUM AEROTEC GmbH Organization address address: HAUNSTETTER 225 city: AUGSBURG postcode: 86179 website: n.a. contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	DE (AUGSBURG)	participant	0.00

Map

Project objective

Industrial robots have demonstrated their capacity to answer the needs of many industrial applications, offering a high degree of dexterity, accuracy and efficiency. However, when the application requires the collaboration between the robot and the worker, including workspace sharing, it is not feasible to use standard industrial robots due to safety being compromised Recently, new robotic products have appeared on the marked claiming to be safe when used in the vicinity of humans, offering the possibility to control the force exerted in case of collision. However they lack the flexibility (in terms of possible physical configurations) or are very expensive. Furthermore, even these robots are offered as isolated products without rich perception capabilities or adequate responsive behaviours that have to be developed by the system integrators for any new manufacturing process. FourByThree proposes the development of a new generation of modular industrial robotic solutions that are suitable for efficient task execution in collaboration with humans in a safe way and are easy to use and program by the factory worker. Consortium partners in this proposal have already achieved relevant results in different technologies that are fundamental to solving the outlined problem of automating the factory floor by means of modular robots, collaborating with human workers. The approach is to adapt those results, make them more reliable and integrate them in order to achieve the final goal of the project. The acronym of the proposal refers to the two main foci of the proposal: the FOUR main characteristics of FourByThree (Modularity, Safety, Usability, Efficiency) and the THREE main actors (Humans, Robots, Environment) in the manufacturing scenarios. The proposal outlines a Business Model and a Business Plan that will be further elaborated through the project.

Deliverables

List of deliverables.
Final report on experiments in Pilots	Documents, reports	2019-03-07 16:22:46
Design for Human-Robot Collaborative assembly	Documents, reports	2019-03-06 12:33:06
Robot prototypes	Demonstrators, pilots, prototypes	2019-03-06 10:30:35
Periodical reports on experiments (IV)	Documents, reports	2019-01-09 15:29:12
Report on Communication and Dissemination activities I	Documents, reports	2019-03-06 10:30:29
Definition of experiment and validation procedure	Documents, reports	2019-01-09 15:29:11
Website	Websites, patent fillings, videos etc.	2019-01-09 15:29:11
Dissemination material	Websites, patent fillings, videos etc.	2019-02-22 11:32:35
Human centered design of safe human robot collaborative working environment	Documents, reports	2019-01-09 15:29:10
Periodical reports on experiments (I)	Documents, reports	2019-01-09 15:29:10
Scenario analysis and specification and configuration of the scenarios at the end users	Documents, reports	2019-03-04 17:20:37
System Architecture	Documents, reports	2019-01-09 15:29:11
Periodical reports on experiments (II)	Documents, reports	2019-01-09 15:29:11
Guidelines for collaborative workspaces definition workspace	Documents, reports	2019-03-06 09:59:41
Periodical reports on experiments (III)	Documents, reports	2019-02-25 12:37:46
Report on Communication and Dissemination activities II	Documents, reports	2019-02-25 12:37:46

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

Publications

List of publications.
year	authors and title	journal	last update
2017	Jelizaveta Konstantinova, Agostino Stilli, Kaspar Althoefer Fingertip Fiber Optical Tactile Array with Two-Level Spring Structure published pages: 2337, ISSN: 1424-8220, DOI: 10.3390/s17102337	Sensors 17/10	2019-05-27
2016	Marta Cialdea Mayer, Andrea Orlandini, Alessandro Umbrico Planning and execution with flexible timelines: a formal account published pages: , ISSN: 0001-5903, DOI: 10.1007/s00236-015-0252-z	Acta Informatica Acta Informatica	2019-05-27
2016	Jose de Gea Fernandez Marc Ronthaler EU Projekt FourByThree - Auf dem Weg zu eigensicheren Robotern published pages: 33-36, ISSN: 2364-9208, DOI:	Industrie 4.0 Management Bimonthly	2019-05-27
2017	Stefania Pellegrinelli, Nicola Pedrocchi, Lorenzo Molinari Tosatti, Anath Fischer, Tullio Tolio Multi-robot spot-welding cells for car-body assembly: Design and motion planning published pages: 97-116, ISSN: 0736-5845, DOI: 10.1016/j.rcim.2016.08.006	Robotics and Computer-Integrated Manufacturing 44	2019-05-27
2017	Loris Roveda, Giacomo Pallucca, Nicola Pedrocchi, Francesco Braghin, Lorenzo Molinari Tosatti Iterative Learning Procedure with Reinforcement for High-Accuracy Force Tracking in Robotized Tasks published pages: 1-1, ISSN: 1551-3203, DOI: 10.1109/TII.2017.2748236	IEEE Transactions on Industrial Informatics	2019-05-27
2017	R. MÃ¼ller; M. Vette; A. Geenen Sealing process on a large floor grid crossbeam assembly by human-robot-cooperation published pages: , ISSN: , DOI:	20th IFAC World Congress	2019-05-27
2017	Christian Vogel, Christoph Walter, Norbert Elkmann Safeguarding and Supporting Future Human-robot Cooperative Manufacturing Processes by a Projection- and Camera-based Technology published pages: 39-46, ISSN: 2351-9789, DOI: 10.1016/j.promfg.2017.07.127	Procedia Manufacturing 11	2019-05-27
2017	Nicola Gigante, Marta Cialdea Mayer, Angelo Montanari, Andrea Orlandini Complexity of Timeline-based Planning published pages: , ISSN: , DOI:	Proc. Of the 27th International Conference on Automated Planning and Scheduling (ICAPS 2017).	2019-05-27
2016	G. Bernardi, A. Cesta, A. Orlandini and A. Umbrico, Dynamic Task Planning for Safe Human Robot Collaboration published pages: , ISSN: , DOI:	Proc. Of the ICAPS Workshop on Planning, Scheduling and Dependability in Safe Human-Robot Interaction (SafePlan) 1/12	2019-05-27
2017	Luca Simoni, Manuel Beschi, Giovanni Legnani, Antonio Visioli Modelling the temperature in joint friction of industrial manipulators published pages: 1-22, ISSN: 0263-5747, DOI: 10.1017/S0263574717000509	Robotica	2019-05-27
2017	Rainer MÃ¼ller, Matthias Vette, Aaron Geenen Skill-based Dynamic Task Allocation in Human-Robot-Cooperation with the Example of Welding Application published pages: 13-21, ISSN: 2351-9789, DOI: 10.1016/j.promfg.2017.07.113	Procedia Manufacturing 11	2019-05-27
2016	Vogel, C Projection-based sensor system for providing safety and interaction capabilities in human-robot cooperative applications published pages: , ISSN: , DOI:	ERF 2016, 3rd Workshop on Hybrid Production Systems	2019-05-27
2016	Loris Roveda, Nicola Pedrocchi, Federico Vicentini, Lorenzo Molinari Tosatti An interaction controller formulation to systematically avoid force overshoots through impedance shaping method with compliant robot base published pages: 42-53, ISSN: 0957-4158, DOI: 10.1016/j.mechatronics.2016.08.001	Mechatronics 39	2019-05-27
2017	IÃ±aki Maurtua, Izaskun FernÃ¡ndez, Alberto Tellaeche, Johan Kildal, Loreto Susperregi, Aitor Ibarguren, Basilio Sierra Natural multimodal communication for humanâ€“robot collaboration published pages: 172988141771604, ISSN: 1729-8814, DOI: 10.1177/1729881417716043	International Journal of Advanced Robotic Systems 14/4	2019-05-27
2016	JOSÃ‰ DE GEA FERNÃ‰NDEZ, HOLGER SPRENGEL, MARTIN MALLWITZ, MICHAEL ZIPPER, BINGBIN YU, VINZENZ BARGSTEN Designing Modular Series-Elastic Actuators for Safe Human-Robot Collaboration in Industrial Setting published pages: 135-142, ISSN: , DOI: 10.1142/9789813149137_0019	CLAWAR, 2016 1/12	2019-05-27
2017	Agostino Stilli, Helge A. Wurdemann, Kaspar Althoefer A Novel Concept for Safe, Stiffness-Controllable Robot Links published pages: 16-22, ISSN: 2169-5172, DOI: 10.1089/soro.2016.0015	Soft Robotics 4/1	2019-05-27
2017	Konstantinova, J; Cotugno, G; Stilli, A; Noh, Y; Althoefer, K Object Classification Using Hybrid Fiber Optical Force/Proximity Sensor published pages: , ISSN: , DOI:	IEEE Sensors conference 1/12	2019-05-27
2016	Stilli, A. Cremoni, H. A. Wurdemann, K. Althoefer A Novel Inflatable and Stiffness-Controllable Endoscope for Minimal Invasive Surgery published pages: , ISSN: , DOI:		2019-05-27
2015	C. Vogel, J. Saenz, N. Elkmann, Tutorial session: Real-world applications of human-robot interaction published pages: , ISSN: , DOI:	ICRA 2015	2019-05-27
2016	I. Maurtua, I. Fernandez, J. Kildal, L. Susperregi, A. Tellaeche, A. Ibarguren Interacting with collaborating robots in industrial environments: a semantic approach published pages: , ISSN: , DOI:	SafePlan Workshop (ICAPS), 2016 1/12	2019-05-27
2016	A. Ataka, A. Shiva, A. Shafti, H. A. Wurdemann, K. Althoefer, Real-Time Obstacle Avoidance for Continuum Manipulator: Towards Safer Application in Human Environments published pages: , ISSN: , DOI:	26th International Conference on Automated Planning and Scheduling ICAPS 2016 - London, United Kingdom	2019-05-27
2016	JOHAN KILDAL, IÃ‘AKI MAURTUA Revisiting the End Userâ€™s Perspective in Collaborative Human-Robot Interaction published pages: 196-204, ISSN: , DOI: 10.1142/9789813149137_0025	Workshop on Collaborative Robots for Industrial Applications, CLAWAR 12	2019-05-27
2015	E. M. Sanfilippo1, C. Masolo, and D. Porello Design knowledge representation: An ontological perspective published pages: , ISSN: , DOI:	AIDE2015	2019-05-27
2016	Loris Roveda, Nicola Pedrocchi, Federico Vicentini, Lorenzo Molinari Tosatti Industrial compliant robot bases in interaction tasks: a force tracking algorithm with coupled dynamics compensation published pages: 1-15, ISSN: 0263-5747, DOI: 10.1017/S0263574716000461	Robotica	2019-05-27
2017	Amedeo Cesta, Lorenzo Molinari Tosatti, Andrea Orlandini, Nicola Pedrocchi, Stefania Pellegrinelli, Tullio Tolio, Alessandro Umbrico Planning and Execution with Robot Trajectory Generation in Industrial Human-Robot Collaboration published pages: , ISSN: , DOI:	Proc. Of 4th Italian Workshop on Artificial Intelligence and Robotics (AIRO 2017)	2019-05-27
2017	Ali Shafti, Roger B. Ribas Manero, Amanda M. Borg, Kaspar Althoefer, Matthew J. Howard Embroidered Electromyography: A Systematic Design Guide published pages: 1472-1480, ISSN: 1534-4320, DOI: 10.1109/TNSRE.2016.2633506	IEEE Transactions on Neural Systems and Rehabilitation Engineering 25/9	2019-05-27
2016	Emilio M. Sanfilippo, Stefano Borgo What are features? An ontology-based review of the literature published pages: 9-18, ISSN: 0010-4485, DOI: 10.1016/j.cad.2016.07.001	Computer-Aided Design 80	2019-05-27
2017	S. M. Hadi Sadati, S. Elnaz Naghibi, Ali Shiva, Yohan Noh, Aditya Gupta, Ian D. Walker, Kaspar Althoefer, Thrishantha Nanayakkara A Geometry Deformation Model for Braided Continuum Manipulators published pages: , ISSN: 2296-9144, DOI: 10.3389/frobt.2017.00022	Frontiers in Robotics and AI 4	2019-05-27
2017	Rainer Mueller, Matthias Vette, Aaron Geenen, Tobias Masiak Improving Working Conditions in Aircraft Productions using Human-Robot-Collaboration in a Collaborative Riveting Process published pages: , ISSN: , DOI: 10.4271/2017-01-2096	SAE Technical Paper Series	2019-05-27
2017	Loris Roveda, NiccolÃ³ Iannacci, Lorenzo Molinari Tosatti Discrete-Time Formulation for Optimal Impact Control in Interaction Tasks published pages: , ISSN: 0921-0296, DOI: 10.1007/s10846-017-0683-6	Journal of Intelligent & Robotic Systems	2019-05-27
2017	Stefania Pellegrinelli, Andrea Orlandini, Nicola Pedrocchi, Alessandro Umbrico, Tullio Tolio Motion planning and scheduling for human and industrial-robot collaboration published pages: 1-4, ISSN: 0007-8506, DOI: 10.1016/j.cirp.2017.04.095	CIRP Annals 66/1	2019-05-27
2016	Stefania Pellegrinelli, Federico Lorenzo Moro, Nicola Pedrocchi, Lorenzo Molinari Tosatti, Tullio Tolio A probabilistic approach to workspace sharing for humanâ€“robot cooperation in assembly tasks published pages: 57-60, ISSN: 0007-8506, DOI: 10.1016/j.cirp.2016.04.035	CIRP Annals - Manufacturing Technology 65/1	2019-05-27
2017	R. MÃ¼ller; M. Vette; A. Geenen; T. Masiak; A. Kanso Methodology for design of mechatronic robotic manipulators based on suitability for modern application scenarios published pages: 13266-13272, ISSN: , DOI:	20th World Congress The International Federation of Automatic Control Toulouse, France 1/12	2019-05-27
2016	Loris Roveda, Niccolo Iannacci, Federico Vicentini, Nicola Pedrocchi, Francesco Braghin, Lorenzo Molinari Tosatti Optimal Impedance Force-Tracking Control Design With Impact Formulation for Interaction Tasks published pages: 130-136, ISSN: 2377-3766, DOI: 10.1109/LRA.2015.2508061	IEEE Robotics and Automation Letters 1/1	2019-05-27
2017	IÃ±aki Maurtua, Aitor Ibarguren, Johan Kildal, Loreto Susperregi, Basilio Sierra Humanâ€“robot collaboration in industrial applications published pages: 172988141771601, ISSN: 1729-8814, DOI: 10.1177/1729881417716010	International Journal of Advanced Robotic Systems 14/4	2019-05-27

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