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SARAFun

Smart Assembly Robot with Advanced FUNctionalities

Total Cost €

EC-Contrib. €

Partnership

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Outcomes and
results

SARAFun project word cloud

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

manual actual significantly integration fast tactile pilot learning interaction generate shown conceptual standardized accomplished reasoning performed made sensing time insertion folding abb workplaces consuming performing observing inherently execute successful force human while fingers augmenting understand arm hardware gripping handling workers robots fitting robot aided setup dual perform cognitive sensory modelled instructor relying internal formed sarafun feedback assembly parts industrial programming expert analyze performance manufacturing automation reduce executing edge frida printable 3d integrate suffers physical cutting gradually day transferred programmed until bi exception collaborative vision safe manner plan skills

Project "SARAFun" data sheet

The following table provides information about the project.

Coordinator	ABB POWER GRIDS SWEDEN AB Organization address address: Kopparbergsvagen 2 city: VASTERAS postcode: 72183 website: www.abb.com/se 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	Sweden [SE]
Project website	http://www.sarafun.eu
Total cost	4˙037˙266 €
EC max contribution	4˙037˙265 € (100%)
Programme	1. H2020-EU.2.1.1.5. (Advanced interfaces and robots: Robotics and smart spaces)
Code Call	H2020-ICT-2014-1
Funding Scheme	RIA
Starting year	2015
Duration (year-month-day)	from 2015-03-01 to 2018-02-28

Partnership

Take a look of project's partnership.

#	participants	country	role	EC contrib. [€]
1	ABB POWER GRIDS SWEDEN AB ABB POWER GRIDS SWEDEN AB Organization address address: Kopparbergsvagen 2 city: VASTERAS postcode: 72183 website: www.abb.com/se contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	SE (VASTERAS)	coordinator	1˙054˙747.00
2	ETHNIKO KENTRO EREVNAS KAI TECHNOLOGIKIS ANAPTYXIS ETHNIKO KENTRO EREVNAS KAI TECHNOLOGIKIS ANAPTYXIS Organization address address: CHARILAOU THERMI ROAD 6 KM city: THERMI THESSALONIKI postcode: 57001 website: www.certh.gr contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	EL (THERMI THESSALONIKI)	participant	976˙875.00
3	LUNDS UNIVERSITET LUNDS UNIVERSITET Organization address address: Paradisgatan 5c city: LUND postcode: 22100 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.	SE (LUND)	participant	569˙500.00
4	KUNGLIGA TEKNISKA HOEGSKOLAN KUNGLIGA TEKNISKA HOEGSKOLAN Organization address address: BRINELLVAGEN 8 city: STOCKHOLM postcode: 100 44 website: www.kth.se contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	SE (STOCKHOLM)	participant	564˙612.00
5	FUNDACION TECNALIA RESEARCH & INNOVATION FUNDACION TECNALIA RESEARCH & INNOVATION Organization address address: PARQUE CIENTIFICO Y TECNOLOGICO DE BIZKAIA, ASTONDO BIDEA, EDIFICIO 700 city: DERIO BIZKAIA postcode: 48160 website: www.tecnalia.com contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	ES (DERIO BIZKAIA)	participant	462˙500.00
6	UNIVERSITAET BIELEFELD UNIVERSITAET BIELEFELD Organization address address: UNIVERSITAETSSTRASSE 25 city: BIELEFELD postcode: 33615 website: www.uni-bielefeld.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 (BIELEFELD)	participant	409˙031.00

Map

Project objective

While Industrial robots are very successful in many areas of industrial manufacturing, assembly automation still suffers from complex time consuming programming and the need of dedicated hardware. ABB has developed FRIDA (Friendly Robot for Industrial Dual Arm Assembly), a collaborative inherently safe assembly robot that is expected to reduce integration costs significantly by offering a standardized hardware setup and simple fitting of the robot into existing workplaces. Internal Pilot testing at ABB has however shown that when FRIDA is programmed with traditional methods the programming time even for simple assembly tasks will remain very long. The SARAFun project has been formed to enable a non-expert user to integrate a new bi-manual assembly task on a FRIDA robot in less than a day. This will be accomplished by augmenting the FRIDA robot with cutting edge sensory and cognitive abilities as well as reasoning abilities required to plan and execute an assembly task. The overall conceptual approach is that the robot should be capable of learning and executing assembly tasks in a human like manner. Studies will be made to understand how human assembly workers learn and perform assembly tasks. The human performance will be modelled and transferred to the FRIDA robot as assembly skills. The robot will learn assembly tasks, such as insertion or folding, by observing the task being performed by a human instructor. The robot will then analyze the task and generate an assembly program, including exception handling, and design 3D printable fingers tailored for gripping the parts at hand. Aided by the human instructor, the robot will finally learn to perform the actual assembly task, relying on sensory feedback from vision, force and tactile sensing as well as physical human robot interaction. During this phase the robot will gradually improve its understanding of the assembly at hand until it is capable of performing the assembly in a fast and robust manner.

Deliverables

List of deliverables.
Tactile sensor integration	Demonstrators, pilots, prototypes	2019-10-08 16:55:45
SARAFun system specifications and conceptual architecture, final version	Documents, reports	2019-10-08 16:55:45
Preliminary lab setup methodology, s/w and h/w Robot extensions validation	Documents, reports	2019-10-08 16:55:52
Ethics and Safety Manual for SARAFun technology, final version	Documents, reports	2019-09-09 12:29:21
Assembly key-frame extraction using visual feedback	Documents, reports	2019-09-09 12:29:22
A BT implementation controlling the execution of ABB FRIDA in a task, final version	Documents, reports	2019-09-09 12:29:21
End-user requirements, use cases and application scenarios	Documents, reports	2019-09-09 12:29:21
Integrated SARAFun bi-manual robot	Demonstrators, pilots, prototypes	2019-09-09 12:29:21
Preliminary Ethics and Safety Manual for SARAFun technology	Documents, reports	2019-09-09 12:29:21
Adaptive learning Control of Bimanual Folding Assembly	Documents, reports	2019-09-09 12:29:21
Data Management Plan	Open Research Data Pilot	2019-09-09 12:29:21
SARAFun consolidated evaluation and lessons learned	Documents, reports	2019-09-09 12:29:21
A BT implementation controlling the execution of ABB FRIDA in a task, preliminary version	Documents, reports	2019-09-09 12:29:21
Preliminary SARAFun system specifications and conceptual architecture	Documents, reports	2019-09-09 12:29:21
Website and Social Media Presence Launch	Documents, reports	2019-09-09 12:29:21
SARAFun use cases deployment and execution	Demonstrators, pilots, prototypes	2019-09-09 12:29:21
Lab setup methodology, s/w and h/w Robot extensions validation	Documents, reports	2019-09-09 12:29:21
Draft Data Management Plan	Documents, reports	2019-09-09 12:29:21

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

Publications

List of publications.
year	authors and title	journal	last update
2017	Sotiris Stavridis, Dimitrios Papageorgiou, Zoe Doulgeri Dynamical System Based Robotic Motion Generation With Obstacle Avoidance published pages: 712-718, ISSN: 2377-3766, DOI: 10.1109/LRA.2017.2651172	IEEE Robotics and Automation Letters 2/2	2019-09-09
2017	Maj Stenmark Intuitive Instruction of Industrial Robots : A Knowledge-Based Approach published pages: , ISSN: , DOI:		2019-09-09
2016	Ludwig Jacobsson, Jacek Malec, Klas Nilsson Modularization of skill ontologies for industrial robots published pages: , ISSN: , DOI:	ISR 2016: 47st International Symposium on Robotics	2019-09-09
2018	Martin Karlsson, Anders Robertsson, Rolf Johansson Convergence of Dynamical Movement Primitives with Temporal Coupling published pages: , ISSN: , DOI:	2018 European Control Conference	2019-09-09
2017	Martin Karlsson On Motion Control and Machine Learning for Robotic Assembly published pages: , ISSN: , DOI:		2019-09-09
2015	Maj Stenmark Bilingual robots : Extracting robot program statements from Swedish natural language instructions published pages: 137-146, ISSN: , DOI: 10.3233/978-1-61499-589-0-137	13th Scandinavian Conference on Artificial Intelligence, SCAI 2015	2019-09-09
2016	Andreas Doumanoglou, Rigas Kouskouridas, Sotiris Malassiotis, Tae-Kyun Kim Recovering 6D Object Pose and Predicting Next-Best-View in the Crowd published pages: , ISSN: , DOI:	The IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2016	2019-09-09
2016	Martin Meier, Florian Patzelt, Robert Haschke and Helge J. Ritter Tactile Convolutional Networks for Online Slip and Rotation Detection published pages: , ISSN: , DOI:	ICANN 2016: 25th International Conference on Artificial Neural Networks	2019-09-09
2016	Abdelrahem Atawnih, Dimitrios Papageorgiou, Zoe Doulgeri Kinematic control of redundant robots with guaranteed joint limit avoidance published pages: 122-131, ISSN: 0921-8890, DOI: 10.1016/j.robot.2016.01.006	Robotics and Autonomous Systems 79	2019-09-09
2018	Martin Karlsson, Anders Robertsson, Rolf Johansson Detection and Control of Contact Force Transients in Robotic Manipulation without a Force Sensor published pages: , ISSN: , DOI:	2018 IEEE International Conference on Robotics and Automation (ICRA)	2019-09-09
2017	Fredrik Bagge Carlson Modeling and Estimation Topics in Robotics published pages: , ISSN: , DOI:		2019-09-09
2016	Meier, M., Walck, G., Haschke, R., & Ritter, H. J. Distinguishing Sliding from Slipping during Object Pushing published pages: , ISSN: , DOI:	International Conference on Intelligent Robots and Systems (IROS 2016)	2019-09-09
2018	Mohammadali Honarpardaz Finger Design Automation for Industrial Robots: A Generic and Agile Approach published pages: , ISSN: , DOI:		2019-09-09
2015	Maj Stenmark High-level task descriptions for industrial robots published pages: , ISSN: , DOI: 10.3233/978-1-61499-589-0-191	13th Scandinavian Conference on Artificial Intelligence, SCAI 2015	2019-09-09
2018	Fredrik Bagge Carlson, Anders Robertsson, Rolf Johansson Identification of LTV Dynamical Models with Smooth or Discontinuous Time Evolution by means of Convex Optimization published pages: , ISSN: , DOI:	IEEE--Institute of Electrical and Electronics Engineers Inc.	2019-09-09
2016	Maj Stenmark, Elin A. Topp From Demonstrations to Skills for High-Level Programming of Industrial Robots published pages: , ISSN: , DOI:	The 2016 AAAI Fall Symposium Series: Artificial Intelligence for Human-Robot Interaction	2019-09-09
2017	Maj Stenmark, Mathias Haage, Elin A. Topp, and Jacek Malec Making Robotic Sense of Incomplete Human Instructions in High-level Programming for Industrial Robotic Assembly published pages: , ISSN: , DOI:	2017, Association for the Advancement of Artificial Intelligence	2019-09-09
2016	Meier, M., Haschke, R., & Ritter, H. J. Learning Convolutional Filters for Tactile Manipulation published pages: , ISSN: , DOI:	DGR Days 2016, (Deutsche Gesellschaft fuer Robotik)	2019-09-09
2017	Martin Karlsson, Fredrik Bagge Carlson, Anders Robertsson, Rolf Johansson Two-Degree-of-Freedom Control for Trajectory Tracking and Perturbation Recovery during Execution of Dynamical Movement Primitives * *The authors are members of the LCCC Linnaeus Center and the ELLIIT Excellence Center at Lund University. The research leading to these results has received funding from the European Communityâ€™s Framework Programme Horizon 2020 - under grant agreement No 644938 - SARAFun. published pages: 1923-1930, ISSN: 2405-8963, DOI: 10.1016/j.ifacol.2017.08.383	IFAC-PapersOnLine 50/1	2019-09-09
2016	Patrice Senot, Loic Damm, Michele Tagliabue, Joseph McIntyre Physiological Mechanisms for Stabilizing the Limb when Acting Against Physical Constraints. published pages: , ISSN: , DOI:	Proceedings of the 38th Annual International Conference of the IEEE Engineering in Medicine & Biology Society	2019-09-09
2017	Christos Papadopoulos, Ioannis Mariolis, Angeliki Topalidou-Kyniazopoulou, Grigorios Piperagkas, Dimosthenis Ioannidis, Dimitrios Tzovaras An Advanced Human-Robot Interaction Interface for Teaching Collaborative Robots New Assembly Tasks published pages: 180-190, ISSN: , DOI: 10.1007/978-3-319-66471-2_20	Interactive Collaborative Robotics: Second International Conference, ICR 2017	2019-09-09
2017	George S. Kanakis, George A. Rovithakis, Zoe Doulgeri On Prescribed Contact Establishment * *This work is funded by the EU Horizon 2020 research and innovation programme under grant agreement No 644938, project SARAFun.The authors are with the Center for Research and Technology Hellas (CERTH), 57001 Thessaloniki, Greece and with the Aristotle University of Thessaloniki, Dept. of Electrical and Computer Engineering, 54124, Thessaloniki, Greece published pages: 4831-4836, ISSN: 2405-8963, DOI: 10.1016/j.ifacol.2017.08.970	IFAC-PapersOnLine 50/1	2019-09-09
2017	Mathias Haage, Grigoris Piperagkas, Christos Papadopoulos, Ioannis Mariolis, Jacek Malec, Yasemin Bekiroglu, Mikael Hedelind, Dimitrios Tzovaras Teaching Assembly by Demonstration Using Advanced Human Robot Interaction and a Knowledge Integration Framework published pages: 164-173, ISSN: 2351-9789, DOI: 10.1016/j.promfg.2017.07.221	Procedia Manufacturing 11	2019-09-09
2015	Maj Stenmark, Jacek Malec Connecting natural language to task demonstrations and low-level control of industrial robots published pages: , ISSN: , DOI:	Proceedings of the Workshop on Multimodal and Semantics for Robotics Systems (MuSRobS)	2019-09-09
2016	M. Honarpardaz, M. Tarkian, J. Ã–lvander, X. Feng Finger design automation for industrial robot grippers: A review published pages: , ISSN: 0921-8890, DOI: 10.1016/j.robot.2016.10.003	Robotics and Autonomous Systems	2019-09-09
2016	Mohammadali Honarpardaz, Mehdi Tarkian, Johan Ã–lvander, Xiaolong Feng, Daniel Sirkett, Rasmus SjÃ¶gren, Joakim Elf Generic Automated Multi-function Finger Design published pages: , ISSN: , DOI:	International Conference of Mechanical Engineering and Automation Systems	2019-09-09
2017	Mathias Haage, Jacek Malec, Anders Nilsson, Maj Stenmark, Elin Anna Topp Semantic Modelling of Hybrid Controllers for Robotic Cells published pages: 292-299, ISSN: 2351-9789, DOI: 10.1016/j.promfg.2017.07.108	Procedia Manufacturing 11	2019-09-09
2017	Maj Stenmark, Mathias Haage, Elin Anna Topp Simplified Programming of Re-usable Skills on a Safe Industrial Robot: Prototype and Evaluation published pages: , ISSN: , DOI:	Proceedings of the 2017 ACM/IEEE International Conference on Human-Robot Interaction	2019-09-09
2017	Florian T. Pokorny, Yasemin Bekiroglu, Karl Pauwels, Judith Butepage, Clara Scherer, Danica Kragic A database for reproducible manipulation research: CapriDB â€“ Capture, Print, Innovate published pages: 491-498, ISSN: 2352-3409, DOI: 10.1016/j.dib.2017.02.015	Data in Brief 11	2019-09-09
2017	Grigorios S. Piperagkas, Ioannis Mariolis, Dimosthenis Ioannidis, Dimistrios Tzovaras Key-frame Extraction With Semantic Graphs in Assembly Processes published pages: 1264-1271, ISSN: 2377-3766, DOI: 10.1109/LRA.2017.2662064	IEEE Robotics and Automation Letters 2/3	2019-09-09
2017	M. Honarpardaz, M. Tarkian, J. Ã–lvander, X. Feng Experimental verification of design automation methods for robotic finger published pages: 89-101, ISSN: 0921-8890, DOI: 10.1016/j.robot.2017.04.011	Robotics and Autonomous Systems 94	2019-09-09

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