Description du projet
Un bond en avant dans les technologies de manipulation
La dextérité complexe des mains humaines constitue un défi pour la robotique. Les machines conventionnelles ne parviennent pas encore à reproduire la dextérité et l’adaptabilité de l’homme lorsqu’il s’agit de manipuler des objets variés dans des environnements complexes. Afin de palier cette lacune, le projet MANiBOT, financé par l’UE, entend développer des robots mobiles bi-manuels dotés de capacités de manipulation inégalées. Avec pour objectif de combler le fossé entre les aptitudes humaines et robotiques en matière de manipulation d’objets, le projet se veut un phare de l’innovation. Face à la complexité de la manutention d’objets divers dans des environnements en constante évolution, il entend ouvrir une nouvelle ère de robots mobiles bi-manuels capables de prouesses semblables à celles de l’homme. Les résultats du projet seront testés dans le cadre de quatre cas d’utilisation dans les secteurs du commerce de détail et des transports, pour des tâches telles que le réapprovisionnement des rayons et la manutention des bagages.
Objectif
The MANiBOT research aims at bi-manual mobile robots, able to perform a wide variety of manipulation tasks with highly diverse objects, possibly partly or fully unknown beforehand, in a human-like manner and performance. To achieve this, we advance and fuse all necessary technologies, from multimodal perception, cognition and control, to novel cognitive mechatronics. We develop new environment understanding and object/pose recognition methods, empowered through adaptive, context-aware fusion of vision, proximity and tactile sensing and emphasizing on adequate efficiency for fast and effective manipulation, even of objects without precise model, including deformable ones, and in diverse, challenging environments with human presence. We also develop a novel suite of manipulation primitives including non-prehensile manipulations, which along with bi-manual manipulation will allow the transfer of diverse objects with various sizes, weights, shapes, materials and rigidities from a mobile robot, with performance close to that of humans, even upon significant spatial constraints. The above are fused through a novel approach for robot cognitive functions based on multi-level robot cycles that allow learning, composing and swiftly adapting robot behaviors for complex manipulations, covering key topics of sequential manipulation of multiple objects to achieve complex goals. We push the limits of physical intelligence of bimanual mobile robots by coupling our methods with novel cognitive mechatronics, fusing advanced tactile and proximity sensors with a bi-manual mobile manipulator, optimized for energy efficiency and increased autonomy, including HRI capabilities for trustworthy and efficient operation. Our outcomes will be evaluated in four use cases, in three pilot sites (TRL5), in challenging environments where the handling of abundance of different objects is needed; in retail/supermarkets and transport/airports, for shelves restocking and baggage handling operations.
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HORIZON-RIA - HORIZON Research and Innovation ActionsCoordinateur
57001 Thermi Thessaloniki
Grèce