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TOMSY

Project ID: 270436
Funded under

TOpology based Motion SYnthesis for dexterous manipulation

From 2011-04-01 to 2014-03-31, closed project | TOMSY Website

Project details

Total cost:

EUR 3 958 935

EU contribution:

EUR 3 000 000

Coordinated in:

Sweden

Call for proposal:

FP7-ICT-2009-6See other projects for this call

Funding scheme:

CP - Collaborative project (generic)

Description

The goal of <a href="http://tomsy.eu/" target="_blank">TOMSY</a> is to enable a generational leap in the techniques and scalability of motion synthesis systems. Motion synthesis is a key component of future robotic and cognitive systems to enable their physical interaction with humans and physical manipulation of their environment. Existing motion synthesis algorithms are severely limited in their ability to cope with real-world objects such as flexible objects or objects with many degrees of freedom. TOMSY propose to solve these problems by learning and exploiting appropriate topological representations and testing them on challenging domains of flexible, multi-object manipulation and close contact robot control and computer animation. The results of this project provide the necessary key technologies for future robots and computer vision systems to enable fluent interaction with their environment.

Objective

The goal of the proposed research is to enable a generational leap in the techniques and scalability of motion synthesis systems. Motion synthesis is a key component of future robotic and cognitive systems to enable their physical interaction with humans and physical manipulation of their environment. Existing motion synthesis algorithms are severely limited in their ability to cope with real-world objects such as flexible objects or objects with many degrees of freedom. The high dimensionality of the state and action space of such objects defies existing methods for perception, control and planning and leads to poor generalisability of solutions in such domains. These limitations are a core obstacle of current robotic research.We propose to solve these problems by learning and exploiting appropriate topological representations and testing them on challenging domains of flexible, multi-object manipulation and close contact robot control and computer animation. Topological representations describe motion in terms of more abstract, more appropriate, and better generalizing features: for instance, an embracing motion can better be described, controlled and planned in coordinates quantifying the `wrappedness' of arms or fingers around the object (as opposed to joint angle coordinates). Such topological representations exist on different levels of abstraction and reduce the dimensionality of the state and action spaces. This proposal investigates existing topological metrics (similar to the mentioned `wrappedness') and uses data driven methods to discover new mappings that capture key invariances. Given topological representations, we will develop methods for sensing, control and planning using on these representations.This proposal, for the first time, aims to achieve this at all the three levels of sensing, representation and action generation -- by developing novel object-action representations for sensing based on manipulation manifolds and refining metamorphic manipulator design in a complete cycle. The methods and hardware developed will be tested on challenging real world robotic manipulation problems ranging from domains with many rigid objects to articulated carton folding or origami and all the way to full body humanoid interactions with flexible objects. The results of this project provide the necessary key technologies for future robots and computer vision systems to enable fluent interaction with their environment -- as well as provide answers to the basic scientific question of the `right' representation in sensorimotor control.

Coordinator contact

Danica KRAGIC, (Project Coordinator)
Tel.: +46 8 790 6729
Fax: +4687230302
E-mail

Coordinator

KUNGLIGA TEKNISKA HOEGSKOLAN
Sweden

EU contribution: EUR 689 250


CSC, CVAP/CAS, Teknikringen 14
10044 Stockholm
Sweden
Activity type: Higher or Secondary Education Establishments
Administrative contact: Jeanna Ayoubi
Tel.: +4687908204
Fax: +4687230302
E-mail

Participants

FREIE UNIVERSITAET BERLIN
Participation ended
Germany

EU contribution: EUR 106 005


Kaiserswertherstrasse
14195 BERLIN
Germany
Activity type: Higher or Secondary Education Establishments
Administrative contact: Markus Jornitz
Tel.: +49 30 83852993
Fax: +49 30 83853448
E-mail
UNIVERSITAET STUTTGART
Germany

EU contribution: EUR 283 995


KEPLERSTRASSE
70174 STUTTGART
Germany
Activity type: Higher or Secondary Education Establishments
Administrative contact: Michael Matthiesen
Tel.: +49 711 68588414
Fax: +49 71168578414
E-mail
UNIVERSIDAD DE GRANADA
Spain

EU contribution: EUR 434 000


CUESTA DEL HOSPICIO
18071 GRANADA
Spain
Activity type: Higher or Secondary Education Establishments
Administrative contact: Eduardo Ros
Tel.: +34958246128
Fax: +34958248993
E-mail
THE UNIVERSITY OF EDINBURGH
United Kingdom

EU contribution: EUR 890 750


OLD COLLEGE, SOUTH BRIDGE
EH8 9YL EDINBURGH
United Kingdom
Activity type: Higher or Secondary Education Establishments
Administrative contact: Gordon Marshall
Tel.: +44 131 651 4386
Fax: +44 131 651 4028
E-mail
KING'S COLLEGE LONDON
United Kingdom

EU contribution: EUR 596 000


Strand
WC2R 2LS LONDON
United Kingdom
Activity type: Higher or Secondary Education Establishments
Administrative contact: Paul Labbett
Tel.: +442078488184
Fax: +442078488187
E-mail
Record Number: 97863 / Last updated on: 2016-04-01