WP2 will advance interaction capability and contribute to configurability and dependability by establishing a systems engineering process for the integration and verification of software and hardware components, both in the real-world and in simulation. This will be achieved through step-changes in system development and integration methods. The key technology to be pushed forward is model-driven software development (MDSD) using domain-specific (modeling) languages for architectures composed of motion and force primitives with explicit support for safe interaction, which we consider a system-level challenge requiring integration at multiple levels.