Industrial robotics in Europe – Status quo, ongoing challenges and future prospects BRUNO SICILIANO

www.prisma.unina.it

Università di Napoli Federico II Industrial robotics in Europe – Status quo, ongoing challenges and future prospects

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 City    

1,200,000 inhabitants Pole of Mediterranean culture Historical and holiday sites 5 universities + several science institutions

 University  Founded in 1224 by Emperor Federico II (oldest public university in Europe)  100,000 students  School of Engineering founded in 1811 by King Murat (oldest in Italy)  15,000 students (5,000 graduate) Re-Industrialisation of the European Union 2016

Bratislava • 25 May 2016

The PRISMA Team Industrial robotics in Europe – Status quo, ongoing challenges and future prospects

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Bruno Siciliano • Luigi Villani • Vincenzo Lippiello • Alberto Finzi • Silvia Rossi Fanny Ficuciello • Fabio Ruggiero • Agostino De Santis • Antoine Petit Jun Nishiyama • Alejandro Donaire • Alejandro Gutierrez • Mariacarla Staffa • Daniela D'Auria Luca Buonocore • Jonathan Cacace • Diana Serra • Riccardo Caccavale Andrea Fontanelli • Valeria Federico • Jonathan van der Meer Re-Industrialisation of the European Union 2016

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Our Research Portfolio Industrial robotics in Europe – Status quo, ongoing challenges and future prospects

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Aerial Robotics Assistive Robotics

Funding of 8.5 M€ 

Cognitive Control of Robotic Systems Dual-Arm/Hand Manipulation Force Control

Human−Robot Interaction Inspection Robotics

Lightweight Flexible Arms

Mobile Dynamic Non-prehensile Manipulation Motion Generation and Biomechanical Analysis for Human Figures Redundant Manipulators

Robotic Surgery Technology

Sensory-Motor Synergies of Anthropomorphic Hands Service Robotics Visual Servoing Re-Industrialisation of the European Union 2016

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World Statistics Industrial robotics in Europe – Status quo, ongoing challenges and future prospects

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Data up to 12/2013 (2014 report by International Federation of Robotics)     

1.3÷1.6 million of robots at work worldwide Most successful year for industrial robots since 1961 Total market of 9.5 billion $ (+12%) Estimated market of 29 billion $ Largest markets: Japan, China, USA, Korea, Germany (70%)

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Robots for Non-industrial Applications Industrial robotics in Europe – Status quo, ongoing challenges and future prospects

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 Service robots for professional use  Military applications and hostile environments  21.000 new installations in 2013

 Service robots for personal/domestic use  2,700,000 robots for domestic applications  1,200,000 robots for entertainment

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Market Prospects Industrial robotics in Europe – Status quo, ongoing challenges and future prospects

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From Factories to Our Homes Industrial robotics in Europe – Status quo, ongoing challenges and future prospects

Industry

Field

Service

Automotive Chemical Electronics Food

Aerial Space Underwater Search and rescue

Domestic Edutainment Rehabilitation Medical

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Level of Autonomy Re-Industrialisation of the European Union 2016

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Springer Handbook of Robotics Industrial robotics in Europe – Status quo, ongoing challenges and future prospects

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B. Siciliano & O. Khatib (Editors) A

PROSE Awards for Excellence in Physical Sciences & Mathematics + Engineering & Technology Robotics (February 2009) Foundations (D. Orin)

9 B

D

C

Sensing and Perception (H. Christensen)

Robot Structures (F. Park)

F

Manipulation and Interfaces (M. Kaneko) 7

9

E

Mobile and Distributed Robotics (R. Chatila) 9

8

VII G

Field and Service Robotics (A. Zelinsky)

Human-Centered and Human-Centered and Life-Like Life-Like Robotics Robotics (D.(Rus) Rus) 14

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2nd Edition Industrial robotics in Europe – Status quo, ongoing challenges and future prospects

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To appear in Summer 2016 Multimedia portal: http://handbookofrobotics.org

A

Robotics Foundations (D. Orin) 14 B

D

C

Sensing and Perception (H. Christensen)

Design (F. Park)

F

Manipulation and Interfaces (M. Kaneko) 8

12

E

Moving in the Environment (R. Chatila) 9

9

VII G Human-Centered

Robots at Work (A. Zelinsky)

Robots Humans andand Life-Like Robotics (D. Rus) (Rus)

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Development of Robotics in Last 15 Years Industrial robotics in Europe – Status quo, ongoing challenges and future prospects

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Industrial Robotics Evolution Industrial robotics in Europe – Status quo, ongoing challenges and future prospects

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Mobile manipulators

Innovation

3rd Robotics wave

Compliant robots Industrial robots - PC - Off-line programming

- Mechatronics

- Combined mobility & manipulation - Intelligence - Intuitive operation

2nd Robotics wave

- Safety - Simple programming & operation

1st Robotics wave

Time Re-Industrialisation of the European Union 2016

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Human–Robot Interaction Industrial robotics in Europe – Status quo, ongoing challenges and future prospects

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Mobile Manipulation Industrial robotics in Europe – Status quo, ongoing challenges and future prospects

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8x Re-Industrialisation of the European Union 2016

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Intuitive Operation Industrial robotics in Europe – Status quo, ongoing challenges and future prospects

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Smartphone

Scalability Arm as haptic input device Re-Industrialisation of the European Union 2016

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Use-Case Driven R&D Work Industrial robotics in Europe – Status quo, ongoing challenges and future prospects

Shelf logistics (collect empty SLCs, fill shelf with full SLCs)

Transport parts / SLCs between workstations and to/from part supermarket

Unloading machines and putting parts into bins

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Simple assembly (pre-assembly)

In almost all use cases: Sharing workspace and cooperating with ordinary workers!

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The EuRoC Project Industrial robotics in Europe – Status quo, ongoing challenges and future prospects

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European Robotics Challenges Industrial robotics in Europe – Status quo, ongoing challenges and future prospects

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 The project has launched three industry-relevant challenges aimed at sharpening the focus of European manufacturing through a number of application experiments, while adopting an innovative approach which ensures benchmarking and performance evaluation  Within an open call framework, three stages of increasing complexity and financial support for competing teams level the playing field for new contestants, attract new developers and new end users toward customisable robot applications, and provide sustainable solutions for future challenges

Reconfigurable Interactive Manufacturing Cell Re-Industrialisation of the European Union 2016

Shop Floor Logistics and Manipulation

Plant Inspection and Servicing Bratislava • 25 May 2016

Motivations Industrial robotics in Europe – Status quo, ongoing challenges and future prospects

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 European robotics industry needs competitive solutions to keep or gain global leadership in robotics products and services  Robotic products and services are based on the product visions and sector-overarching strategic application scenarios of the robotics industry and the manufacturing industry  Robotics and manufacturing communities need to become aware of the core RTD issues to be solved to effectively realise these application scenarios  Competitive solutions are in the longer term created in close collaboration among end users (SME/industry), system integrators (SME/industry), technology suppliers (industry/SME) and research experts (academia), i.e. all the actors along the value chain  Developing suitable benchmarks and supporting comparative performance evaluation will facilitate the development of new approaches, products and services  Needs for particular standards should come from industry, yet academia has to be involved in the definition of benchmarks  Showcase potential of challenges in Europe, increase public awareness, demonstrate the stimulating factors of such initiatives, set the scene for more open innovation programmes Re-Industrialisation of the European Union 2016

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Production Challenge (Co-workers) Industrial robotics in Europe – Status quo, ongoing challenges and future prospects

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Reconfigurable Interactive Manufacturing Cell  Motivation: to develop a new generation of flexible, adaptable, collaborative robotic work cell  RTD issues: multi-role multi-arm cooperative robot systems, perception and cognitive skills, safe and effective human−robot collaboration  Research experts: CREATE-PRISMA Lab, CNRS-LAAS, DLR, IPA  Technology supplier: Open, as IPA can provide support to a range of different robot models and components  System integrator: IPA / Open, as teams can recruit their own system integrator  Platform host: IPA  Benchmark environment: ARENA 2036  research factory with multiple robot cell setups for different production operations, as well as a mechanical workshop and an electronics lab for engineering of different tools and grippers Re-Industrialisation of the European Union 2016

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Logistics Challenge (Mobile Manipulation) Industrial robotics in Europe – Status quo, ongoing challenges and future prospects

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Shop Floor Logistics and Manipulation  Motivation: value creation beyond mere logistics of goods  RTD issues: navigation on dynamic shop floor, coping with uncertainties by means of 3D vision and compliant manipulation and grasping, true mobile manipulation to improve cycle time  Research experts: DLR, KUKA Roboter, CNRS-LAAS  Technology supplier: KUKA Roboter (omniRob with Light-weight robot)  System integrator: KUKA Roboter, KUKA Systems  Platform host: DLR  Benchmark environment: realistic factory set-up with elements from manufacturing of real end users

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Services Challenge (Aerial Robotics) Industrial robotics in Europe – Status quo, ongoing challenges and future prospects

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Plant Servicing and Inspection  Motivation: inspection through micro aerial robots (MAV) opens absolutely new applications in servicing of large plants and infrastructures  RTD issues: highly reliable vision-only navigation, dynamic control of MAVs in challenging industrial environments, high-level task allocation by mission expert, e.g. "follow this wall"  Research experts: ETHZ, CREATE-PRISMA Lab, DLR  Technology supplier: Ascending Technologies  System integrator: Alstom Inspection Robotics  Platform host: ETHZ  Benchmark environment: realistic set-up on an industrial infrastructure, e.g. pipework and infrastructure for energy-/fuel-/operating material supply, tanks and storages

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Competition Chart Industrial robotics in Europe – Status quo, ongoing challenges and future prospects

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Cumulative sum of € 7M grant money available to the Challengers 

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Calls Statistics Industrial robotics in Europe – Status quo, ongoing challenges and future prospects

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Comparison of applicant numbers per challenge Challenge 1

Challenge 2

Challenge 3

Actual submitted proposals 2/11 SMEs End Users 6/8 SMEs System Integrators

1/12 SMEs End Users

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8/14 SMEs End Users 1/1 SME Technology Developer Bratislava • 25 May 2016

The 15 (out of 103) Selected Challengers Industrial robotics in Europe – Status quo, ongoing challenges and future prospects

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Challenge 1 (Production)  PIROS: Cooperative, safe and reconfigurable robotic companion for CNC pallets load/unload stations  FLA2IR: FLexible Automotive Assembly with Industrial Co-WorkeRs  ITRXcell: FLEXICOIL – Learning-based approach for robotized coils winding in the electric machines manufacturing industry  NimbRo: Manufacturing: robolink® feeder – Flexible energy chain assembly automation with a lightweight cable-driven robot  EUSMART: Reconfigurable assembly cell for highly dexterous and intelligent operations Re-Industrialisation of the European Union 2016

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The 15 Selected Challengers Industrial robotics in Europe – Status quo, ongoing challenges and future prospects

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Challenge 2 (Logistics)  RSAII: FLECOOP – Flexible robotized unitary picking in collaborative environments for order preparation in distribution centers  MTC-LU-UoB-Airbus: Joint robot−human logistics and assembly in aerospace  AutoMAP: AUTOnomous mobile MAniPulation system  TIMAIRIS: Autonomous blank feeding for packaging machines  NimbRo Logistics: KittingBot – Mobile manipulation for part sequencing and kitting in automotive logistics

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The 15 Selected Challengers Industrial robotics in Europe – Status quo, ongoing challenges and future prospects

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Challenge 3 (Services)  TUM Flyers: Vision-based MAV navigation for systematic inspection of structures  GRVC-CATEC: ARCOW – Aerial Robot CO-Worker in plant servicing  NimbRo Copter: ChimneySpector – Inside/outside chimney and smoke pipe inspection by aerial robots  Eiffel Team: Autonomous damage inspection in power substation  BladeHunters: EOLO – Wind generator remote inspection system

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Open Problems in Mobile Manipulation Industrial robotics in Europe – Status quo, ongoing challenges and future prospects

Transformable and scalable logistics     

to model and recognise industrial objects to be manipulated to detect and avoid obstacles in 3D to navigate in dynamically changing industrial environments to navigate in narrow production spaces with a mobile manipulator to pick and place various objects of interest

Beyond logistics    

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Industrial requirements  Setup time  Cycle time  Dependability  Technology Readiness  Cost

to develop generic manipulation skills utilising active compliance needed by numerous higher level manipulation tasks to solve application-specific, higher-level, value-creating manipulation tasks to integrate sensing of the environment with reactive planning to link the visual quality control process intelligently with planning

Mission instruction, planning and control    

to realise intuitive and efficient ways for humans to instruct robots to enable workers to handle basic problems to provide interfaces to warehouse management systems  “task planning” to control the complex kinematic chains of mobile manipulators (from wheels to fingers)

Safety 

humans and robots sharing workspaces

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Core Technologies for Mobile Manipulation Industrial robotics in Europe – Status quo, ongoing challenges and future prospects

Safety

End effectors

Real-time communication

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Planning

Power and methods should Learning be used? Which concrete technologies

How to Materials

manageintegrate ment them

Navigation

into a complete system?

How to achieve reliability? System architecture

Sensors Control

Further R&D is needed! Actuation Locomotion

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System engineering tools

Human– machine interface

Sensing & Perception

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Technology Combinations Industrial robotics in Europe – Status quo, ongoing challenges and future prospects

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Mobile manipulation in human workspace  The goal is to develop systems which can support a human worker with manipulation tasks  For seamless and flexible operation, the system has to be able to execute complex manipulation tasks in unstructured and dynamic environments  Need to bring together technology targets in motion planning + safety + collaboration and interaction + learning and adaptation  Development of new safety concepts for human−robot interaction based on existing industrial standards and regulations

Analysis of workspace sharing systems  The goal is to define ergonomics requirements for safe human−robot interaction  Functioning as guidance for development of the mobile manipulator and workspace for collaborative manufacturing. The design process will be validated against the defined  Serving as one of the objectives to be optimised with motion planning, through e.g. use of intrinsic kinematic redundancy or task redundancy of the manipulator arm  Relevant technology targets are collaboration and interaction + cognitive abilities + sophisticated sensing Re-Industrialisation of the European Union 2016

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Technology Combinations [cont’d] Industrial robotics in Europe – Status quo, ongoing challenges and future prospects

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Rapid deployment in industry  The goal is to quickly deploy robotic systems in realistic industrial environments  Current deployment strategies rely on a long set-up process by experienced system operators and are generally not automated  A key will be reducing the time and effort spent by operators in configuring a perception system to operate in a new application domain or a new operational environment  The major technological advance is expected to come from better learning capabilities and more robust solutions for interpretation, as well as synergies with more robust mapping and localisation systems in semi-structured dynamic environments  Important directions to investigate include limiting dependence on costly infrastructure solutions, increased transferability of experience, life-long learning as well as learning by demonstration

Robotics 2020 Multi-Annual Roadmap For Robotics in Europe Horizon 2020 Re-Industrialisation of the European Union 2016

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The Bottom Line Industrial robotics in Europe – Status quo, ongoing challenges and future prospects

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 Research is important  Many of the technologies identified in the European Strategic Research Agenda are needed to realise mobile manipulation for the factory of the future  Develop use-case driven work  Reach out new market domains

 Integration is important  Use standard platforms to avoid re-invention of the wheel  Combine innovative technologies according to systems engineering approach  Safety and dependability are key abilities

 Challenges and competitions are important  Drive innovation  Better awareness  Benchmarking Re-Industrialisation of the European Union 2016

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Thank You very much indeed for Your kind attention 

Questions? [email protected]