Wspólnotowy Serwis Informacyjny Badan i Rozwoju - CORDIS

FP7 CoDyCo project logo

CoDyCo

Project reference: 600716
Funded under

Whole-body Compliant Dynamical Contacts in Cognitive Humanoids

From 2013-03-01 to 2017-02-28, ongoing project

Project details

Total cost:

EUR 4 349 193

EU contribution:

EUR 3 174 999

Coordinated in:

Italy

Call for proposal:

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

Funding scheme:

CP - Collaborative project (generic)
The aim of CoDyCo 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. 

Objective

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.

Related information

Open Access

Coordinator

FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA
Italy

EU contribution: EUR 930 115


VIA MOREGO 30
16163 GENOVA
Italy
Administrative contact: Chiara Andreoli
Tel.: +3901071781854
Fax: +390107170817
E-mail

Participants

TECHNISCHE UNIVERSITAT DARMSTADT
Germany

EU contribution: EUR 645 543


Karolinenplatz 5
64289 DARMSTADT
Germany
Administrative contact: Jan Peters
Tel.: +49 6151 167351
Fax: +49 6151 167374
E-mail
UNIVERSITE PIERRE ET MARIE CURIE - PARIS 6
France

EU contribution: EUR 424 805


PLACE JUSSIEU 4
75252 PARIS
France
Administrative contact: Ella Bouquet
Tel.: +33 144279777
Fax: +33 144277467
E-mail
INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE
France

EU contribution: EUR 107 913


Domaine de Voluceau, Rocquencourt
78153 LE CHESNAY Cedex
France
Administrative contact: Armelle Demange
Tel.: +33383593010
E-mail
INSTITUT JOZEF STEFAN
Slovenia

EU contribution: EUR 444 983


Jamova 39
1000 LJUBLJANA
Slovenia
Administrative contact: Jadran Lenarčič
Tel.: +386 1 477 3513
E-mail
THE UNIVERSITY OF BIRMINGHAM
United Kingdom

EU contribution: EUR 621 640


Edgbaston
B15 2TT BIRMINGHAM
United Kingdom
Administrative contact: Erica Conway
Tel.: +441214158202
Fax: +441214146056
E-mail
CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE
France

EU contribution: EUR 0


Rue Michel -Ange 3
75794 PARIS
France
Administrative contact: Louis Avigdor
Tel.: +33 1 42349417
Fax: +33 1 42349508
E-mail
Record Number: 108499 / Last updated on: 2016-04-01