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RADHAR

Project ID: 248873
Funded under

Robotic ADaptation to Humans Adapting to Robots

From 2010-08-01 to 2013-07-31, closed project | RADHAR Website

Project details

Total cost:

EUR 3 292 071

EU contribution:

EUR 2 418 212

Coordinated in:

Belgium

Call for proposal:

FP7-ICT-2009-4See other projects for this call

Funding scheme:

CP - Collaborative project (generic)

Description

Intelligent Robotic wheelchair - Shared autonomy between human and the wheelchair
The success of airplanes autopilots in reducing navigational complexity and improving safety explains the strong interest to introduce navigational assistance in other transportation means as well. However, implementing robotic navigation correction on a large scale also represents a potential safety risk for millions of users. For this reason, a thorough understanding of driver behaviour is imperative, besides pervasive environment perception. <a href="http://www.radhar.eu/" target="_blank">RADHAR </a>proposes a framework to seamlessly fuse the inherently uncertain information from both environment perception and the driver’s steering signals by estimating the trajectory the robot should execute, and to adopt this fused information for safe navigation with a level of autonomy adjusted to the user’s capabilities and desires.

Objective

The first autopilots in airplanes can be traced back to the beginning of the twentieth century. These devices greatly reduced the pilot's workload by taking over parts of the navigation. The success of autopilots in reducing navigational complexity and improving safety explains the recent interest to introduce navigational assistance in other transportation means as well. However, implementing robotic navigation correction on a large scale also represents a potential safety risk for its users. For example, some plane crashes have been attributed to the incorrect estimation by pilots of the state of the plane's automatic pilot, an effect known as mode confusion.RADHAR therefore proposes a novel framework to design human-aware adaptive autonomy that avoids mode confusion by embedding a thorough understanding of diver behaviour and estimated intention into the decision making. Through lifelong, unsupervised learning, the robot will fuse the inherently uncertain information from environment and driver perception sensors; autonomously estimate the user model and intention and calculate a human-friendly trajectory. Since human characteristics vary over time a continuous interaction between two learning systems will emerge, hence RADHAR: Robotic ADaptation to Humans Adapting to Robots. In order to apply this framework to realistic real-world scenarios, sensor models will be developed to build 3D models of the environment with estimation of dynamic obstacles' motion and terrain traversability. To verify driver model assumptions such as focus-of-attention, the driver's posture and facial expression will be estimated with a camera and a haptic interface. The framework will be demonstrated on a wheelchair platform that navigates in an everyday environment with everyday objects. Tests on various levels of autonomy can be performed easily and safely on wheelchairs. Evaluation will happen by a diverse and challenging population of wheelchair users who currently drive unsafely.

Coordinator contact

Joris DE SCHUTTER, (Professor)
Tel.: +32 16 32 2479
Fax: +32 16 32 2987
E-mail

Coordinator

KATHOLIEKE UNIVERSITEIT LEUVEN
Belgium

EU contribution: EUR 808 645


Minderbroedersstraat 8A-bus5105
3000 Leuven
Belgium
Activity type: Higher or Secondary Education Establishments
Administrative contact: Tine Heylen
Tel.: +32 16 326520
Fax: +32 16 326515
E-mail

Participants

PROFACTOR GMBH
Austria

EU contribution: EUR 384 513


IM STADTGUT
4407 STEYR-GLEINK
Austria
Activity type: Private for-profit entities (excluding Higher or Secondary Education Establishments)
Administrative contact: Andrea Möslinger
Tel.: +43 7252 885 110
Fax: +43 7252 885 102
E-mail
INTEGRATED MICROSYSTEMS AUSTRIA GMBH
Austria

EU contribution: EUR 133 786


VIKTOR KAPLAN STRASSE
2700 WIENER NEUSTADT
Austria
Activity type: Private for-profit entities (excluding Higher or Secondary Education Establishments)
Administrative contact: Kaan Özer
Tel.: +43 2622 2285912
Fax: +43 2622 2285955
E-mail
Windekind, centrum voor buitengewone zorg voor kinderen en jongeren met een motorische of neuromotorische en/of verstandelijke handicap vzw
Belgium

EU contribution: EUR 84 928


Schapenstraat
3000 Leuven
Belgium
Activity type: Higher or Secondary Education Establishments
Administrative contact: Anne Gelin
Tel.: +32-16-241116
Fax: +32-16-297743
E-mail
NATIONAAL MULTIPLE SCLEROSE CENTRUM VZW
Belgium

EU contribution: EUR 72 063


Vanheylenstraat
1820 Melsbroek
Belgium
Activity type: Other
Administrative contact: Marc JANS
Tel.: +32 2 5978700
Fax: +32 2 7515245
E-mail
PERMOBIL NV
Belgium

EU contribution: EUR 74 325


E3 LAAN
9800 DEINZE
Belgium
Activity type: Private for-profit entities (excluding Higher or Secondary Education Establishments)
Administrative contact: Sandra Van Hove
Tel.: 0032 9 381 09 50
Fax: 0032 9 381 09 51
E-mail
EIDGENOESSISCHE TECHNISCHE HOCHSCHULE ZURICH
Switzerland

EU contribution: EUR 405 186


Raemistrasse
8092 ZUERICH
Switzerland
Activity type: Higher or Secondary Education Establishments
Administrative contact: Luc Van Gool
Tel.: 0041446326578
Fax: 0041446321199
E-mail
ALBERT-LUDWIGS-UNIVERSITAET FREIBURG
Germany

EU contribution: EUR 399 800


FAHNENBERGPLATZ
79085 FREIBURG
Germany
Activity type: Higher or Secondary Education Establishments
Administrative contact: Wolfram Burgard
Tel.: +497612038026
Fax: +497612038007
E-mail
PERMOBIL AKTIEBOLAG
Sweden

EU contribution: EUR 54 966


Per Uddens vag
861 23 Timra
Sweden
Activity type: Private for-profit entities (excluding Higher or Secondary Education Establishments)
Administrative contact: Ake Melander
Tel.: +4660595900
Fax: +4660595900
E-mail
Record Number: 95581 / Last updated on: 2016-04-01