Servicio de Información Comunitario sobre Investigación y Desarrollo - CORDIS

FP7 CoDyCo project logo

CoDyCo

Project ID: 600716
Financiado con arreglo a

Whole-body Compliant Dynamical Contacts in Cognitive Humanoids

Desde 2013-03-01 hasta 2017-02-28, proyecto cerrado | CoDyCo Sitio web

Detalles del proyecto

Coste total:

EUR 4 349 193

Aportación de la UE:

EUR 3 174 999

Coordinado en:

Italy

Convocatoria de propuestas:

FP7-ICT-2011-9See other projects for this call

Régimen de financiación:

CP - Collaborative project (generic)

Description

The aim of <a href="http://www.codyco.eu/" target="_blank">CoDyCo</a> is to improve the current control and cognitive understanding about robust, goal-directed whole-body motion interaction with multiple contacts. CoDyCo will go beyond traditional approaches: proposing methodologies for performing coordinated interaction tasks with complex systems; combining planning and compliance to deal with predictable and unpredictable events and contacts; validating theoretical progresses in real-world interaction scenarios. CoDyCo will advance the state-of-the-art in the way robots coordinate physical interaction and physical mobility. 

Objetivo

The aim of CoDyCo is to advance the current control and cognitive understanding about robust, goaldirectedwhole-body motion interaction with multiple contacts. CoDyCo will go beyond traditional approaches: (1) proposing methodologies for performing coordinated interaction tasks with complex systems; (2) combining planning and compliance to deal with predictable and unpredictable events and contacts; (3) validating theoretical advances in real-world interaction scenarios.First, CoDyCo will advance the state-of-the-art in the way robots coordinate physical interaction andphysical mobility. Traditional industrial applications involve robots with limited mobility. Consequently,interaction (e.g. manipulation) was treated separately from whole-body posture (e.g. balancing), assumingthe robot firmly connected to the ground. Foreseen applications involve robots with augmented autonomyand physical mobility. Within this novel context, physical interaction influences stability and balance. Toallow robots to surpass barriers between interaction and posture control, CoDyCo will be grounded inprinciples governing whole-body coordination with contact dynamics.Second, CoDyCo will go beyond traditional approaches in dealing with all perceptual and motor aspectsof physical interaction, unpredictability included. Recent developments in compliant actuation and touchsensing allow safe and robust physical interaction from unexpected contact including humans. The nextadvancement for cognitive robots, however, is the ability not only to cope with unpredictable contact, butalso to exploit predictable contact in ways that will assist in goal achievement.Third, the achievement of the project objectives will be validated in real-world scenarios with the iCubhumanoid robot engaged in whole-body goal-directed tasks. The evaluations will show the iCub exploitingrigid supportive contacts, learning to compensate for compliant contacts, and utilizing assistive physicalinteraction.

Coordinador

FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA
Italy

Aportación de la UE: EUR 930 115


VIA MOREGO 30
16163 GENOVA
Italy
Activity type: Research Organisations
Contacto administrativo: Chiara Andreoli
Tel.: +3901071781854
Fax: +390107170817
Correo electrónico

Participantes

TECHNISCHE UNIVERSITAET DARMSTADT
Germany

Aportación de la UE: EUR 645 543


Karolinenplatz 5
64289 DARMSTADT
Germany
Activity type: Higher or Secondary Education Establishments
Contacto administrativo: Jan Peters
Tel.: +49 6151 167351
Fax: +49 6151 167374
Correo electrónico
UNIVERSITE PIERRE ET MARIE CURIE - PARIS 6
France

Aportación de la UE: EUR 424 805


Place Jussieu 4
75252 PARIS
France
Activity type: Higher or Secondary Education Establishments
Contacto administrativo: Ella Bouquet
Tel.: +33 144279777
Fax: +33 144277467
Correo electrónico
INSTITUT NATIONAL DE RECHERCHE ENINFORMATIQUE ET AUTOMATIQUE
France

Aportación de la UE: EUR 107 913


DOMAINE DE VOLUCEAU ROCQUENCOURT
78153 LE CHESNAY CEDEX
France
Activity type: Research Organisations
Contacto administrativo: Armelle Demange
Tel.: +33383593010
Correo electrónico
INSTITUT JOZEF STEFAN
Slovenia

Aportación de la UE: EUR 444 983


Jamova 39
1000 LJUBLJANA
Slovenia
Activity type: Research Organisations
Contacto administrativo: Jadran Lenarčič
Tel.: +386 1 477 3513
Correo electrónico
THE UNIVERSITY OF BIRMINGHAM
United Kingdom

Aportación de la UE: EUR 621 640


Edgbaston
B15 2TT BIRMINGHAM
United Kingdom
Activity type: Higher or Secondary Education Establishments
Contacto administrativo: Erica Conway
Tel.: +441214158202
Fax: +441214146056
Correo electrónico
CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE
France

Aportación de la UE: EUR 0


Rue Michel -Ange 3
75794 PARIS
France
Activity type: Research Organisations
Contacto administrativo: Louis Avigdor
Tel.: +33 1 42349417
Fax: +33 1 42349508
Correo electrónico
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