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Project number: CZ.02.1.01/0.0/0.0/17_049/0008425
Programme: Operational Programme Research, Development and Education
Period: 2018 - 2022
Name of applicant: VŠB – Technical University of Ostrava
Research organizations: VŠB-Technical University Ostrava, Fraunhofer Institute for Machine Tools and Forming Technology (Chemnitz, Germany)
Partners, corporations: SIEMENS, s.r.o., Brose CZ spol. s.r.o., HELLA AUTOTECHNIK NOVA, s.r.o., VOP CZ, s.p., Moravskoslezské inovační centrum Ostrava, a.s., Moravskoslezský automobilový klastr, z.s., Varroc Lighting Systems, s.r.o., Continental Automotive Czech Republic s.r.o., Brano a.s.

Project Goals

The basic idea of ​​the project is to create a human resources platform (researchers with administrative support) of research facilities (joint laboratories) and technical means - HW and SW of Infrastructure, for long-term sustainable research oriented to Industry 4.0 and robotics in Ostrava agglomeration. The long-term inter-sector cooperation of research organizations (VŠB-TUO, Franhofer Institute) and partners from the application sphere (SIEMENS, HELLA, BROSE, VOP, MSIC, MSAK and others) is essential. This creates the structure of research, technological development and innovation.

Brief Project Description - Abstract

The aim of the proposed project "Industry Research Platform 4.0 and Robotics in the Ostrava Agglomeration" is to intensify long-term interdisciplinary cooperation by supporting the creation of new and the development of existing interdisciplinary partnerships and cooperation of research organizations with the application sphere within the framework of jointly conducted research focused on Industry 4.0 and Robotics. As part of the implementation of the project, new and strengthened existing instruments and forms of bi-directional transmission of the unique knowledge and experience of the involved entities - research organizations and industrial partners will be created. Part of the project plan is also the fulfilment of the specific objective of SO2 PA1 OP RDE - Capacity building and strengthening of the long-term cooperation of research organizations with the application sphere – by creating a network of research workplaces for the implementation of joint interdisciplinary and intersectoral research.

These newly built capacities will form the platform infrastructure for the research of control, information and communication technologies oriented towards Industry 4.0 and Robotics. This is a unique instrumental infrastructure and SW means enabling a common interdisciplinary and intersectoral research of new principles and verification of new concepts applicable in the area of Industry 4.0 and Robotics. Within the project, positions will be created for researchers from research organizations using these capacities and their instrumental infrastructure and SW resources to carry out joint research of new principles and concepts in collaboration with existing researchers of research institutes and industrial partners involved in the project. The results of joint research in the form of proven new concepts implemented in practice by industrial partners will strengthen the competitiveness and innovation potential of these partners, which is the main impact of this project.

Research Intents solved by the Department of Robotics


2.1  Research of physical principles, technical and programme resources for on-line optimization of the robot trajectory in a dynamically changing environment with obstacles.

2.1.1  Research of suitable physical principles of sensors for space analysis and evaluation of mutual object spacing.
2.1.2  Finding new mathematical procedures for processing and interpreting spatial data for collision-free movement of the robot arm, including a tool or other manipulation object, in environments with dynamically changing obstacles.
2.1.3  Research of appropriate principles of collision-free trajectory determination and securing safe stopping of the robot before a collision with an obstacle or any part of the body of the operator.
2.1.4  Research of possibilities of integrating automatic trajectory correction into robot software. Implementation of a functional sample of equipment and verification of functionality with industrial partners of the project.

2.2  Research of technical instruments for assisted assembly with a collaborative robot.

2.2.1  Research of technical and programme instruments of HMI interface for guiding collaborative robots via contact or contactless interface.
2.2.2  Research of suitable physical principles of sensors to find the exact position and orientation of the manipulation object in the gripper.
2.2.3  Integration of a manual guidance system with collision control into robot software. Implementation of a functional sample of equipment and verification of functionality with industrial partners of the project.

2.3  Research of technical and programme instruments for inspection of 3D shapes of components during production and manipulation.

2.3.1  Research of appropriate physical principles and sensory systems to inspect the shapes of complex spatial components and to control the relative positioning and orientation of functional surfaces.
2.3.2  Research of mathematical methods of spatial point cloud processing with respect to the required evaluation speed during robotic manipulation with the object.
2.3.3  Research of suitable algorithms to compare product shapes with their CAD models. Search 3D model(s) on the base its 3D Point Cloud data.


  • prof. Dr. Ing. Petr Novák
  • doc. Ing. Dalibor Lukáš, Ph.D.,
  • doc. Ing. Zdenko Bobovský, Ph.D.

Achieved Results

The results achieved while solving the Research Intent 2 (Autonomous and Collaborative Robots) were published in scientific articles and on conferences, see the following list:


Articles In Foreign Journals

LUKÁŠ, Dalibor and KOT, Tomáš. Hierarchical Real-Time Optimal Planning of Collision-Free Trajectories of Collaborative Robots. Journal of Intelligent & Robotic Systems. 2023, 107, article number 57. Scopus, WoS, OBD, [Q3]

VYSOCKÝ, Aleš, POŠTULKA, Tomáš, CHLEBEK, Jakub, KOT, Tomáš, MASLOWSKI, Jan and GRUSHKO, Stefan. Hand Gesture Interface for Robot Path Definition in Collaborative Applications: Implementation and Comparative Study. Sensors. 2023, 23(9), 4219. Scopus, WoS, OBD, [Q2]

OŠČÁDAL, Petr, KOT, Tomáš, SPURNÝ, Tomáš, SUDER, Jiří, VOCETKA, Michal, DOBEŠ, Libor and BOBOVSKÝ, Zdenko. Camera Arrangement Optimization for Workspace Monitoring in Human–Robot Collaboration. Sensors. 2023. 23(1), 295. Scopus, WoS, OBD, [Q2]


Articles In Foreign Journals

KOT, Tomáš, WIERBICA, Rostislav, OŠČÁDAL, Petr, SPURNÝ, Tomáš and BOBOVSKÝ, Zdenko. Using Elastic Bands for Collision Avoidance in Collaborative Robotics. IEEE Access. 2022. vol 10, pp. 106972-106987. ISSN 2169-3536. Scopus, WoS, OBD, [Q2]

VYSOCKÝ, Aleš, GRUSHKO, Stefan, SPURNÝ, Tomáš, PASTOR, Robert and KOT, Tomáš. Generating Synthetic Depth Image Dataset for Industrial Applications of Hand Localization. IEEE Access. 2022, vol. 10, pp. 99734-99744. ISSN 2169-3536. Scopus, WoS, OBD, [Q2]

OŠČÁDAL, Petr, SPURNÝ, Tomáš, KOT, Tomáš, GRUSHKO, Stefan, SUDER, Jiří, HECZKO, Dominik, NOVÁK, Petr and BOBOVSKÝ, Zdenko. Distributed Camera Subsystem for Obstacle Detection. Sensors. 2022, 22(12), 4588. Scopus, WoS, OBD, [Q2]

HECZKO, Dominik, OŠČÁDAL, Petr, KOT, Tomáš, BOLESLAVSKÝ, Adam, KRYS, Václav, BÉM, Jan, VIRGALA, Ivan and BOBOVSKÝ, Zdenko. Finding the Optimal Pose of 2D LLT Sensors to Improve Object Pose Estimation. Sensors. 2022, 22(4), 1536. ISSN 1424-8220. Scopus, WoS, OBD, [Q2]

Contributions In International Conferences Or Workshops

VYSOCKÝ, Aleš, GRUSHKO, Stefan, PASTOR, Robert and NOVÁK, Petr. Simulation Environment for Neural Network Dataset Generation. In International Conference on Modelling and Simulation for Autonomous Systems (MESAS). 2022. ISBN 978-3-030-98260-7. Scopus, WoS, OBD


Articles In Czech Journals

GRUSHKO, Stefan, VYSOCKÝ, Aleš, SUDER, Jiří, GLOGAR, L and BOBOVSKÝ, Zdenko. Improving Human Awareness During Collaboration With Robot: Review. MM Science Journal. 2021, issue December, pp. 5475-5480. ISSN 1803-3126. Scopus, OBD

Articles In Foreign Journals

GRUSHKO, Stefan, VYSOCKÝ, Aleš, HECZKO, Dominik and BOBOVSKÝ, Zdenko. Intuitive Spatial Tactile Feedback for Better Awareness about Robot Trajectory during Human-Robot Collaboration. Sensors. 2021, 21(17), 5748. Scopus, WoS, OBD, [Q2]

KOT, Tomáš, BOBOVSKÝ, Zdenko, HECZKO, Dominik, VYSOCKÝ, Aleš, VIRGALA, Ivan and PRADA, Erik. Using Virtual Scanning to Find Optimal Configuration of a 3D Scanner Turntable for Scanning of Mechanical Parts. Sensors. 2021, 21(16), 5343. Scopus, WoS, OBD, [Q2]

GRUSHKO, Stefan, VYSOCKÝ, Aleš, OŠČÁDAL, Petr, VOCETKA, Michal, NOVÁK, Petr and BOBOVSKÝ, Zdenko. Improved Mutual Understanding for Human-Robot Collaboration: Combining Human-Aware Motion Planning with Haptic Feedback Devices for Communicating Planned Trajectory. Sensors. 2021, vol. 21, issue 11, 3673. Scopus, WoS, OBD, [Q2]

SINČÁK, P.j., VIRGALA, Ivan, KELEMEN, Michal, PRADA, Erik, BOBOVSKÝ, Zdenko and KOT, Tomáš. Chimney sweeping robot based on a pneumatic actuator. Applied sciences. 2021, 11(11), 4872. Scopus, WoS, OBD, [Q3]

HECZKO, Dominik, OŠČÁDAL, Petr, KOT, Tomáš, HUCZALA, Daniel, SEMJON, Ján and BOBOVSKÝ, Zdenko. Increasing the Reliability of Data Collection of Laser Line Triangulation Sensor by Proper Placement of the Sensor. Sensors. 2021. 21(8), 2890. Scopus, WoS, OBD, [Q2]

STRAKOVÁ, Erika, LUKÁŠ, Dalibor, BOBOVSKÝ, Zdenko, KOT, Tomáš, MIHOLA, Milan and NOVÁK, Petr. Matching Point Clouds with STL Models by Using the Principle Component Analysis and a Decomposition into Geometric Primitives. Applied sciences. 2021. 11(5), 2268. Scopus, WoS, OBD, [Q3]


Articles In Czech Journals

JHA, Vyomkesh Kumar, GRUSHKO, Stefan, MLOTEK, Jakub, KOT, Tomáš, KRYS, Václav, OŠČÁDAL, Petr and BOBOVSKÝ, Zdenko. A Depth Image Quality Benchmark of Three Popular Low-Cost Depth Cameras. MM Science Journal. 2020, issue December, pp. 4194-4200. WoS, OBD

GRUSHKO, Stefan, VYSOCKÝ, Aleš, JHA, Vyomkesh Kumar, PASTOR, Robert, BOBOVSKÝ, Zdenko, PRADA, Erik and MIKOVÁ, Lubica. Tuning Perception and Motion Planning Parameters for Moveit! Framework. MM Science Journal. 2020, issue November, pp. 4154-4163. Scopus, WoS, OBD

Articles In Foreign Journals

OŠČÁDAL, Petr, HUCZALA, Daniel, BÉM, Jan, KRYS, Václav and BOBOVSKÝ, Zdenko. Smart Building Surveillance System as Shared Sensory System for Localization of AGVs. Applied sciences. 2020. 10(23). Scopus, WoS, OBD, [Q3]

GRUSHKO, Stefan, SPURNÝ, Tomáš and ČERNÝ, Martin. Control Methods for Transradial Prostheses Based on Remnant Muscle Activity and Its Relationship with Proprioceptive Feedback. Sensors. 2020, vol. 20, issue 17. e-ISSN 1424-4822. Scopus, WoS, OBD, [Q2]

OŠČÁDAL, Petr, HECZKO, Dominik, VYSOCKÝ, Aleš, MLOTEK, Jakub, NOVÁK, Petr, VIRGALA, Ivan, SUKOP, Marek and BOBOVSKÝ, Zdenko. Improved Pose Estimation of Aruco Tags Using a Novel 3D Placement Strategy. Sensors. 2020. 20(17), 4825. Scopus, WoS, OBD, [Q2]

VYSOCKÝ, Aleš, GRUSHKO, Stefan, OŠČÁDAL, Petr, KOT, Tomáš, BABJAK, Ján, JÁNOŠ, Rudolf, SUKOP, Marek and BOBOVSKÝ, Zdenko. Analysis of Precision and Stability of Hand Tracking with Leap Motion Sensor. Sensors. 2020, 20, 4088. Scopus, WoS, OBD, [Q2]

Contributions In International Conferences Or Workshops

PASTOR, Robert, HUCZALA, Daniel, VYSOCKÝ, Aleš, OŠČÁDAL, Petr, MLOTEK, Jakub, HECZKO, Dominik, ZEMAN, Zdeněk and ŠIROKÝ, Petr. Modular Rover Design for Exploration and Analytical Tasks. In Lecture Notes in Computer Science. 2020. pp. 203-215. ISBN 9783030438890. ISSN 0302-2974. Scopus, WoS, OBD