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Welcome to Napoli!• city
• 1 200 000 inhabitants• 1,200,000 inhabitants• pole of Mediterranean culture• historical and holiday sites• 5 universities + several science institutions
• UniNa• founded in 1224 by Emperor Federico IIfounded in 1224 by Emperor Federico II
(3rd oldest after Bologna and Padova)• 100,000 students• School of Engineering founded in 1811g g
by King Murat (oldest in Italy)15,000 students(4,500 graduate)
the PRISMA team• 6 Research groups (Napoli, Cassino, Salerno, Basilicata, Napoli 2, Roma 3)
• 4 Professors + 5 Associate Professors + 3 Assistant Professors• 6 PostDoc + 20 PhD + 20 MS + 3 TechEng• 25 years of research activity25 years of research activity• 1.5 MEuro financial support a year• Collaboration with 30 foreign institutions
120 i d i it d t lk• 120 seminars and invited talks• 12 books + 15 volumes + 160 journal papers + 500 conference papers
research portfolio• Aerial Robotics• Dual-Arm/Hand Manipulationp• Control of Discrete Event Systems• Dynamic Parameter Identification• Fault Diagnosis and Fault Tolerant ControlFault Diagnosis and Fault Tolerant Control• Force Control• Human−Robot Interaction• Lightweight Flexible Arms and Space RoboticsLightweight Flexible Arms and Space Robotics• Mobile Multirobot Systems• Mobile Robots• Novel Actuation and Sensing Systems for Robotic ApplicationsNovel Actuation and Sensing Systems for Robotic Applications• Redundant Manipulators• Service Robotics• Supervisory Control of Petri NetsSupervisory Control of Petri Nets• Underwater Robotics• Visual Servoing
robots!!!Marsoceanshospitalsfactories tomorrowfactoriesschoolshomes
tomorrow
...
today intelligenttodaypersonal
pervasivedisappearing
ubiquitous
what is a robot? Robot (robota = subordinate work)
O f h b i ' t t biti h b t i One of human beings' greatest ambitions has been to give life to their artifacts (mythology)
Man and woman in the street continue to imagine the robotMan and woman in the street continue to imagine the robot as an android who can speak, walk, see, and hear (science fiction)Th b t i hi th t i d d tl f it The robot is seen as a machine that, independently of its exterior, is able to modify the environment in which it operates (reality)p ( y)
what is robotics?Intelligent connection of perception to action
CONTROL ACTUATORS
SENSORS
visual data
haptical dataarm/hand
motor commands
control
historyNEED for NEED for useful useful
hihiHumans’Humans’ 1960-1980
y
machinesmachinesHumans Humans DREAM of DREAM of replicating replicating themselvesthemselves Industrial
Robotics
Manufacturing Applications
1960 1980
1980-2000
Th e ima g e c an no t be di sp lay ed . Y o ur co mpu te r m ay n ot h av e e no u gh m emo ry to o pe n t he imag e , o r t he imag e ma y ha ve b ee n co rru p te d. R es tar t y ou r co mpu te r, an d the n op e n t he fi le ag ain . If th e r ed x st ill ap pe ar s, yo u may h av e t o de let e the ima ge a nd th en i ns ert it ag ai n.
Field Robotics
Spatial Applications
1990-2010
1800
1920
Medical ApplicationsService
Robotics
1990 2010
2000 20202005
Personal RoboticsHumanoid
2000-20201200
15001550 ?Humanoid
Robotics1550
1750?
from factories to our homesindustry servicefield
t bil ti d tiautomobilechemicalelectronic
food
aeronauticsaerospace
subsearescue
domesticedutainmentrehabilitation
medicine
level of autonomy
dexterityyfrom artificial hand ... ... to bimanual manipulation
explorationfrom rover ... ... to quadruped
assistancefrom domestic ...
... to rehabilitation
medicinefrom laparoscopic surgery ... ... to diagnostic endoscopy
biological inspirationg«la scienza m’interessa proprio nel mio sforzo per uscire da una conoscenza antropomorfa; ma nello stesso tempo sono convinto che la nostra immaginazione non può essere che antropomorfa Italo Calvinoimmaginazione non può essere che antropomorfa» Italo Calvino
human knowledge Humanoids
Bi l R b iZoomorphic
Biology
BiomechanicsNeurosciences
Robotics
MechanicsControl
Prostheses
Psychology Sensors
Cyborg
model validation Micro/Nano
companionfrom humanoids ...
... to pets
wearablefrom endoskeletons ... ... to exoskeletons
human–robot interaction
new emerging areasg g• by dawn of new millennium, robotics has undergone a
major transformation in scope and dimensionsmajor transformation in scope and dimensions• maturity of field and advances in its related technologies
• expansion into challenges of human world (human-centered and life-like robotics)• new generation of robots expected
to safely and dependably co-habitatto safely and dependably co habitatwith humans in homes, workplaces,and communities, providing supportin services, entertainment, education,healthcare, manufacturing,and assistance
disappearingintegration of robotics, telematics and domotics …
gm
ents
nviro
nmge
nt e
nin
telli
g
looking beyondg yresearch challenges
biomechanics roboethicsbiomechanicshapticsneurosciences
roboethicshuman-centered ethics guiding design, construction and use of
b tvirtual prototypinganimationsurgery
robots
g ysensor networks...
outreach toward new communitiesgrowing connection with robotics research core
Springer Handbook of Roboticsg
A 6 years of work 10000+ emails
B. Siciliano & O. Khatib (Editors)PROSE Awards for Excellence in Physical Sciences &
RoboticsFoundations
9
6 years of work7 parts64 chapters165 authors
10000+ emails1600 pages950 illustrations5500 references
PROSE Awards for Excellence in Physical Sciences & Mathematics + Engineering & Technology
Robot Sensing and Manipulation Mobile andB
9
C D E
RobotStructures
Sensing andPerception
pand
InterfacesDistributed Robotics
9 7 9 8
Field andService Robotics
Human-Centeredand Life-Like
Robotics
VII Human-Centered and
Life-Like
GF
Service Robotics Robotics(Rus)
Life-Like Robotics
14 8
industrial robots• 12/2009 source: World Robotics
• 1 1 million industrial robots operating in the world• ~1.1 million industrial robots operating in the world• total market value of robot units: US$ 3.8 billion (-39%)• estimated market for robot systems: US$ 12 billion
• BUT ... strong recovery in 2010: impulse from China, Korea & other South-east Asian countries (27% increase)
manufacturinggEurope is losing ground
service industrial robots• professional service robots
• military and field robots are dominating• military and field robots are dominating• 76.600 new units installed in 2009
• personal/domestic service robots: huge increase in units• 5.6 million domestic service robots (+20.7%)• 3.1 million entertainment and leisure robots (+20.3%)
research areasNSF/WTEC report
Basic U.S. Europe Japan/Korea
Mobility ** *** ***
Perception **** *** ***
Autonomy **** *** ***
HRI *** *** ***
Manipulation ** ** **
A li tiApplications
Industrial * ** ***
Service ** **** ***Service ** **** ***
Personal **** ** ****
research agendag• U.S.
• first industrial robots designed and built• first industrial robots designed and built• matured elsewhere, despite entrepreneurial culture• most robotics research is funded through military, space and
itsecurity programs
• Japan• strategy for creating new industries includes robotics as one of thestrategy for creating new industries includes robotics as one of the
seven areas of emphasis• close collaboration between government, academia and industry• robot manufacturers:• robot manufacturers:
• can rely on public opinion that robots are widely accepted by society – seen as useful helpers (co-workers to their human counterparts), not as job-killers
• they have a strong home market with the highest density of robots cover a larger spectrum of robots
• are typically part of huge vertically integrated industrial conglomerates that can build up massive R&D and commercial power
research agenda [cont’d]g• Korea
• of the 10 next generation growth engines robotics is one of them• of the 10 next generation growth engines, robotics is one of them• close collaboration between government, academia and industry
• Europe• robotics industry is strong, but still quite fragmented and dispersed• industry observers agree on the following global trends in the
industryindustry• due to saturation in the classical (automotive) markets, all major
manufacturers will need to identify new areas to maintain growth• the rapid development in technology areas that are the basis for robotics –
mechatronics comp ters sensors programming h man interfaces bearsmechatronics, computers, sensors, programming, human interfaces – bears huge potential for totally new application scenarios
• these developments may also result in a dramatic redistribution of the market share of robot manufacturers in future application scenarios
market trends
one case study …y• today: still strong dependency on the automotive industry
KUKA AG 1,266 € (million) *
Robotics 474.4 € (million) * Systems 837.5 € (million) *Robotics 474.4 € (million) Systems 837.5 € (million)
Automotive 50 % General Industry 50 % Automotive 90 % General Industry 10 %
• difficulties to compete on price level• technology leadership is required• new application areas promise higher margins
k i f h l f* from annual report 2008
key requirement: faster technology transfers
the European challengeg• benefits of tighter academia (A)–industry (I) cooperation
• exploiting the full potential of excellent European robotics research• exploiting the full potential of excellent European robotics research• achieving faster technology transfers• increasing European competitiveness (especially vs. Japan)• expanding industrial activities• reaching a world-wide leadership position
gaps between A & Ig• implementing this know-how transfer in concrete measures
and actions is a great challengeand actions is a great challenge• it is important to recognise that there has always been
excellent R&D performed at both A and I, and that cooperation has taken place between privileged A and I
• however, there is an “obvious and significant discrepancy between the state of the art in robotics research vs actualbetween the state of the art in robotics research vs. actual utilized technology ― if direct contact between researchers (who usually write papers) and industrial engineers (who normally do not read papers) is to be promoted, then results have to be put in a truly industrial perspective”
• so the main question is: how can effective and efficient A/Iso, the main question is: how can effective and efficient A/I cooperation be achieved?
a few success stories• 7-axis light-weight robot
• designed and built @ DLR a KUKA product now• designed and built @ DLR, a KUKA product now• weighs 14 Kg and lifts up to 13 Kg• easy to be moved around• innovative joints and actuator solutions• gravity compensation• force control with joint and wrist F/T sensorsj• safe human-robot interaction (SME robotic cell)• service and space robotics applications• other features like interfaces with popular• other features, like interfaces with popular
packages (Microsoft Robotics Studio)• used in Justin humanoid manipulator @ DLR
(2 LWR + torso + sensorized head)(2 LWR + torso + sensorized head)• mounted on both mobile base (Automatica 2008)
and as biped (Automatica 2010)
a few success stories [cont’d]• force control system
• developed @ ABB Corporate Research in• developed @ ABB Corporate Research in cooperation with several Universities
• motion instructions using F/T sensori ti d il d t h l f t d• innovative and agile product, helps faster and more efficient programming
• promises to be standard very soon
• automatic identification of robot payloads• algorithms developed @ UniNa and
implemented in COMAU C4G controllerp CO U C G• better dynamic performance in fast motion• collision detection algorithms based on
measurements of internal variablesmeasurements of internal variables• real-time motion trajectory planning satisfying
user and dynamic constraints
a few success stories [cont’d]• parallel kinematic machine
• modular and scalable desktop robot designed• modular and scalable desktop robot designed @ LundTech, an ABB product now
• professional ball joints and drive technologyd i d f l d l t• down-sized for classroom use and low cost
• open source real-time Java control software• interfaces to Microsoft Robotics Studio
• force/torque sensors• DLR compliant F/T sensor, used for medical
and industrial applications (SCHUNK product)and industrial applications (SCHUNK product)• SMErobot F/T sensor, designed to meet
industrial and price requirements• strong link between JR3 and UCoimbra• strong link between JR3 and UCoimbra
resulting in several developments in terms of software, interfaces and robot controller
lessons learned• cooperation resulted in the recognition of new problem
areas on the part of A which in turn encouraged creativeareas on the part of A, which in turn encouraged creative thinking in the direction of new potential “neighbouring” applications on the part of I (market-orientation vs. long-term orientation)
• this continued result-oriented dialogue also led to build up of trust between A and I which opened up lines ofof trust between A and I, which opened up lines of communication at more confidential levels (protection of IPR vs. public sharing)
• this step-by-step interaction and exchange of ideas is the most promising path to meet the ever-changing demands of I on one hand and fulfill the problem-solving drive of p gresearch of A on the other hand (practical product development vs. ‘visionary’ methodology/theory)
joint roadmappingj gStrategic Research Agenda (SRA) presented in Brussels
(July 2009)(July 2009)
http://www.robotics-platform.eu
development process• market sectors
industrial professional i
domestic i
security space
surveillance exploration• product visions grouped by application scenarios
service servicey p
worker co-worker logistics surveillance& intervention
exploration& inspection
edutainment
technologies for product visions gmostly driven
by others driven by robotics and others mostly driven by roboticsby others y by robotics
definition 2010: state of the art / short term developmentdrivers of technology European strengths and weaknesses
p2015: mid-term development2020+: long-term goals
the eight SRA commandmentsg• take advantage of robotics technology in all aspects of life
t th h ll f t i t ti• master the challenge of system integration• create a European robotics supply chain• focus on the right research and technologies• focus on the right research and technologies• create new markets through SME support and technology
transfer• support cross-fertilisation to maximise the impact of R&D• enhance robotics training and education• avoid ethical, legal, and societal issues becoming barriers
a parallel effortRoadmap for US Robotics (lead by Henrik Christensen)
tightening the chord between A & Ig gEuropean Clearing House for Open Robotics Development
(2009 2012)(2009–2012)• New funding concept
• Actual research done by ~50 small-scale experiments (12-18
http://www.echord.info
months, ~300 K€)• Quotes for equipment and calls for experiment proposals launched
by ECHORD in three successive rounds
• Evaluation of experiment proposals by independent experts• Final decision about experiments with EC
gaps within robotics marketg
industrial
converging
robotics market
technologies need cross-fertilisation
bridging the gapscommunicate requirements
g g g
industry
independent
market knowledge
entrepreneurship kill innovation in robotics
market relevant research and development in robotics
independent expertsskills
common terminology
innovation in robotics through knowledge transfer
new business creation
academia
http://www.eurobotics-project.eu
academia
communicate abilitiestransfer skills
face of European robotics• image of European research does not represent the
quality and quantity of work donequality and quantity of work done• European robotics is underrepresented in the media ―
seen most often• humanoid robots from Asia• service robots from America• robots in films (from America)• robots in films (from America)• e.g., Wikipedia: <5% of depicted robots are European
dissemination• establish a brand
• bring together stakeholders & communicate a common• bring together stakeholders & communicate a common vision/standpoint
• accessibility through central contact point
• make material accessible for media to publish• actively promote European robotics by increasing visibility
• in the media• in the media• at events• in schools
enhancing the dialogueg g• currently, robots are information islands, without any
standardization of data communication programmingstandardization of data communication, programming languages, or even terminology
• initiatives are growing to share advanced training• industrial internships for PhDs and professors• scientific internship for industry people
• science journalists do not know about European robotics• science journalists do not know about European robotics• create a press centre and web portal for European robotics
• Grand Challenges and robot competitions have proven to g p pwork
• the universities' evaluation procedures lead to too many, too fragmented too expensive and too inaccessibletoo fragmented, too expensive, and too inaccessible publications• citations are easier to count than industrial usefulness
research funding in Europeg• Framework Programmes for
research and technologicalresearch and technological development (FP)
• 7th Framework Programme (FP7): chief instrument for funding research over the period 2007 to 20132013
FP7 breakdown• five building blocks
i f ti d• information and communication technologies (ICT)theme is the largest in Cooperation (over 9 billion € in FP7)billion € in FP7)
• ~600 million to robotics!
robotics & cognitive systemsg yFP5 (1998–2002)
cognitive visioncognitive vision9 projects
FP6 (2002–2006) cognitive systems + advanced robotics
40 projects
FP7 (2007 d )FP7 (2007–onwards) cognitive systems, interaction, robotics
69 projects so far69 projects so far
cognition perception cognition for human
FP7 ICT Call 1 − robotics projects (82 M€, started 2008)
ALEAR
g& language emergence
GRASP
dexterous manipulation
CHIROPING
p p& sensors
DIPLECS
cog t o o u aassistance
medical –rehab./surgery ALEAR
ITALKROSSI
GRASP
CHRISDEXMART
CHIROPING
EYESHOTSLIREC n
DIPLECS
CogXROBOTCASTMIMICS
HRISEARISEP
OE
LIRECSEMAINEPINVIEW
al in
tera
ctio
n
SFSPARK IIREPLICATOR
ETIC
ON
PROMETHEUSCoFRIENDSCOVIS CLASSIC m
ultim
oda
HMI
autonomous robots
scene understanding
sensor network
EMIME
spoken language
PASCAL 2machine learning
Co3AUVsmonitoring
FP7 ICT Call 3 − robotics projects (73 M€, started 2009)
SCANDLEg
surveillancesecurity
FILOSESHOALSFLY
ECHORD
industry/manufacturing
environmentalmodelling search & rescue
ECHORDBRICS
ROSETTAIM_CLEVERHANDLE
ECCEROBOT mobile manipulation
manipulationsorting objects prostethics
social communicative skills (multimodal sorting objects
assembly
service EUROPA
HUMOUR
STIFF
prostethics
HUMANOBS
interaction /TV-host)
robotics& HRI
guidancedelivery
HUMOUR
rehabilitationmotor skills
ROBOSKIN
programming by demo/touch baseddelivery
transportmotor skillslearning
demo/touch-based social interaction
multimodal language haptics + vision bio-inspired locomotionmotor control
FP7 ICT Call 4 − robotics projects (80 M€, started 2010)
ROBOSOM
NIFTI
IUROAMARSIRADHAR dexterous
manipulation
TRIDENT
THE
HUMAVIPS
ALIZ-eAIROBOTS
TRIDENT
FIRST-MMCOGNITO
GARNICS
GERTHUMAVIPS
ROBOEARTH
TACOaudiovisual
VANAHEIM MASH
WWW shared DBperception
navigationHRI
euROBOTICS sensor network/human action recognition
robots actions perceptionvision
FP7 ICT Call 6 − robotics projects (80 M€, to start in 2011)
• new approaches towards understanding and solving key pp g g yissues related to the engineering of artificial cognitivesystemsnew ways of designing and implementing complete robotic• new ways of designing and implementing complete robotic systems
• a framework to facilitate cross-fertilisation betweenacademic and industrial research efforts in robotics
• coordinated co-operation and communication within a ltidi i li tifi i l iti t hmultidisciplinary artificial cognitive systems research
community in Europe
http://cordis europa eu/fp7/ict/cognition/projects en htmlhttp://cordis.europa.eu/fp7/ict/cognition/projects_en.html
the ICT Work Programme 2011g• Challenge 2: Cognitive Systems and Robotics
t t t• target outcomesa) robotic systems operating in real-world environmentsb) cognition and control in complex systemsc) gearing up and accelerating cross-fertilisation between academic
and industrial robotics researchd) fostering communication and co-operation between robotics andd) fostering communication and co operation between robotics and
cognitive systems research communitiese) speeding up progress towards smarter robots through targeted
competitionsp
ftp://ftp.cordis.europa.eu/pub/fp7/docs/wp/cooperation/ict/c-wp-201101_en.pdf
ICT Call 7• opened on 28 September, closed on 18 January 2011
• 73 M€• 73 M€• target outcomes a), d)
• Call 9 in 2011• 82 M€
t t t b) ) )• target outcomes b), c), e)
other funding opportunitiesg• cross thematic calls between NMP and ICT “Factories of the
Future”Future• taking rapid measures to help the industry• focusing on long term growth which lies with research conducted
th h i d t d i R&D j tthrough industry driven R&D projects
• recent call, closed on 2 December• 160 M€• 160 M€• cooperative machines and open architecture control system• robots for automation of post-production and other auxiliary
processes• virtual factories and enterprises• digital factories ... target outcomes a), b), c)
http://www.robotics-platform.eu/cms/index.php?idcatart=309&client=1&lang=1
a future challenge (?)g ( )• European Challenges and Flagships
(2020 and beyond)(2020 and beyond)• ISTAG Working Group on FET (July 2009)
http://cordis.europa.eu/fp7/ict/istag/home_en.htmldid t FET F i iti ti “R b t C i f Citi ” (l d• candidate FET-F initiative on “Robot Companions for Citizens” (lead
by Paolo Dario)• supportive action on “Embodied Intelligence” (lead by Antonio Bicchi)• competitors: BRAIN, SUPERCOMP, ...• call for Concerted Actions (10 M€, July 2010)• budget for FP8 yet to be allocated at policy-makers tableg y p y• cooperation/separation with ICT (?)
robots arerobots arewith us,,within uswithin us
and among usg
good luck with your studies [ : ]g y
“Divenire” Fabrizio Bosco 2007Divenire , Fabrizio Bosco, 2007
