Plug & Work robots help companies – final project video

Small and medium enterprises in Europe often refrain from using advanced robot technology. The EU-project Factory-in-a-Day aimed at changing this by developing a robotic system that is to set up, operational in 24 hours and is flexible, leasable and cheap.

“We achieved to reduce the cost and time of installation significantly, but the installation in one day turned out to be a long-term goal. With the current technology, the goal of one day is too ambitious”, explains Prof. Martijn Wisse, from TU Delft /coordinator of Factory-in-a-day.

Nevertheless, the project funded in the Factories-of-the-future scheme of Framework Programme 7 of the European Union, achieved a number of notable technological results. “We combined hardware developments, like 3-D printing, with software developments, which are mostly open- source, and business innovations”, states Prof. Wisse in a video that the project made, in order to present its results from the work of the past years:

The project achieved some impressive results, which were also demonstrated at an event in the Delft Science Center by the end of September 2017. Among them is a demonstrator that combined the work of several partners, called Giftbot. The idea behind the demonstrator is a business of shipping small order gift boxes. In this demonstrator, a robot arm (UR5), covered with a robotic skin which was developed by partner Technical University of Munich, placed different items in boxes. The software integration and the flexible motion planning were done by TU Delft, and the gripper for grasping the different objects was designed by Materialise.

The reviewers were happy with the results of Factory-in-a-day and they especially mentioned the great team effort and the huge improvements since the beginning of the project, in terms of pushing forward the technological developments.

“One thing we achieved within Factory-in-a-day is that we combined different worlds. We managed to bridge people from different disciplines. For instance, in one of our demonstrators, which was focused very much on mechanical engineering, we integrated a ROS-based software element, something we did not imagine to happen in the beginning, since changing people’s mindsets is not an easy task“, explains Martijn Wisse.

One other important result in terms providing long-term sustainability is the follow-up project of Factory-in-a-day called ROS-in ( This project in the H2020 funding scheme is focusing on making ROS industrial the open-source industrial standard by providing funding for projects.

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Usage of ATF and IPDE applied on a Pick&Place example

ROSPick&Place application

The EU project Factory-in-a-Day focuses on Plug & Work robots with the goal to remove the primary obstacles for robot automation, which are time and cost for installation. This document demonstrates two emerged tools, Automated Test Framework (ATF) and Integration Platform and Deployment Environment (IPDE), in a Pick&Place use-case. The document can be downloaded here.


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Video on automating polishing software

In Factory-in-a-day we developed a software for automating polishing, using software development platforms ROS, VTK and MySQL. In the Automated Polishing Software, the to-be polished work piece’s geometry is loaded and the properties of the workpiece are defined and analyzed.

Watch the whole process on our videos page.

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Philips video on Factory-in-a-day achievements

Factory-in-day is in the final months of the project’s runtime, in the video below our partner Philips offers a first summary of what they learned from participating in Factory-in-a-day.





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New video on robot programming

This video from the project Factory-in-a-day day, shows robot programming by using path planning with the software HPP on a Kawada Nextage robot. The software HPP is a C++ Software Developement Kit implementing path planning for kinematic chains in environments cluttered with obstacles.


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Presentation at ICINCO 2017

The paper “Robustness to Inertial Parameter Errors for Legged Robots Balancing on Level Ground” by Nirmal Giftsun, Andrea Del Prete and Florent Lamiraux (all LAAAS-CNRS) will be presented at the 14th International Conference on Informatics in Control, Automation and Robotics (ICINCO) 2017 in Madrid/ Spain. The presentation is on Friday, July 28, in the track ICINCO 17-8C.

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IROS Workshop on Semantic Policy and Action Representations for Autonomous Robots (SPAR)

iros_logoFactory-in-a-day is supporting the 2nd Workshop on “Semantic Policy and Action Representations for Autonomous Robots (SPAR)”, a full day workshop on September 24th, 2017 as part of the IROS 2017 conference. This workshop will take place in Vancouver, Canada.

Service and industrial robots are expected to be more autonomous and work effectively around/ alongside humans. This implies that robots should have special capabilities, such as interpreting and understanding human intentions in different domains. The major challenge is to find appropriate mechanisms to explain the observed raw sensor signals such as poses, velocities, distances, forces, etc., in a way that robots are able to make informative and high-level descriptive models out of that. These models will for instance permit the understanding of, what is the meaning of the observations/demonstrations, infer how they could generate/produce a similar behavior in other conditions/domains?, and more importantly, allow robots to communicate with the user/operator about why they infer that behavior. One promising way to achieve that is using high-level semantic representations.

All details on the workshop website:

The Call for papers/posters for the workshop is also open, details for the application can be found here: call4Posters_demonstrations17.

Deadline is: 25th July 2017

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Presentation at ICAR 2017

icar2017headerThe paper ” Performance Study of Single-Query Motion Planning for Grasp Execution Using Various Manipulators” by Jonathan Meijer, Qujiang Lei and Martijn Wisse (all TU Delft) will be presented at 18th International Conference on Advanced Robotics – ICAR. It will take place in Hong Kong from July 10 -12 2017, hosted by The Chinese University of Hong Kong and The Hong Kong Science and Technology Park.

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Presentations at AIM 2017

aim2017logoThere will be two presentations of our partner TU Delft at the AIM 2017, the IEEE International Conference on Advanced Intelligent Mechatronics, which will take place in Munich, Germany from 3 to 7 July, 2017.



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Presentations at ICRA 2017

There are several presentations related to the Factory-in-a-day project at the ICRA conference in Singapore:

– May 30:icra_logo_4_0
10:15h/TUA 7.5: Florian Bergner, Emmanuel Dean-Leon and Gordon Cheng (all TUM): “Efficient Event-Driven Reactive Control for Large-Scale Robot Skin”
16.45h/TUD11.5: Emmanuel Dean-Leon, Brennand Pierce, Florian Bergner, Philipp Mittendorfer, Karinne Ramirez-Amaro, Wolfgang Burger, Gordon Cheng (all TUM): “TOMM: Omnidirectional Mobile Manipulator”

– May 31:
14:30/WeC7.1: Joseph Mirabel and Florent Lamiraux (LAAS-CNRS): “Manipulation planning: Addressing the crossed foliation issue”

16:10h/WeD2.2: Ruben Burger, Mukunda Bharatheesha, Robert Babuska (all Delft University of Technology), Marc van Eert (Technolution B. V,): “Automated Tuning and Configuration of Path Planning Algorithms”


Workshop presentation on May 29:
The robotic sense of touch

Workshop presentation on June 2nd:
IC3 – Industry of the future: Collaborative, Connected

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