Project description Cognitive Systems and RoboticsThe goal of TOMSY 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. Show the project objective Hide the project 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. Fields of science natural sciencesmathematicspure mathematicstopologynatural sciencescomputer and information sciencesartificial intelligencecomputer visionengineering and technologyelectrical engineering, electronic engineering, information engineeringelectronic engineeringrobotics Programme(s) FP7-ICT - Specific Programme "Cooperation": Information and communication technologies Topic(s) ICT-2009.2.1 - Cognitive Systems and Robotics Call for proposal FP7-ICT-2009-6 See other projects for this call Funding Scheme CP - Collaborative project (generic) Coordinator Contact Danica KRAGIC Ms Coordinator KUNGLIGA TEKNISKA HOEGSKOLAN EU contribution € 689 250,00 Address BRINELLVAGEN 8 100 44 Stockholm Sweden See on map Region Östra Sverige Stockholm Stockholms län Activity type Higher or Secondary Education Establishments Administrative Contact Jeanna Ayoubi (Ms.) Links Contact the organisation Opens in new window Website Opens in new window Total cost No data Participants (5) Sort alphabetically Sort by EU Contribution Expand all Collapse all FREIE UNIVERSITAET BERLIN Participation ended Germany EU contribution € 106 005,00 Address KAISERSWERTHER STRASSE 16-18 14195 Berlin See on map Region Berlin Berlin Berlin Activity type Higher or Secondary Education Establishments Administrative Contact Markus Jornitz (Mr.) Links Contact the organisation Opens in new window Website Opens in new window Total cost No data UNIVERSITY OF STUTTGART Germany EU contribution € 283 995,00 Address KEPLERSTRASSE 7 70174 Stuttgart See on map Region Baden-Württemberg Stuttgart Stuttgart, Stadtkreis Activity type Higher or Secondary Education Establishments Administrative Contact Michael Matthiesen (Mr.) Links Contact the organisation Opens in new window Website Opens in new window Total cost No data UNIVERSIDAD DE GRANADA Spain EU contribution € 434 000,00 Address CUESTA DEL HOSPICIO SN 18071 Granada See on map Region Sur Andalucía Granada Activity type Higher or Secondary Education Establishments Administrative Contact Eduardo Ros (Prof.) Links Contact the organisation Opens in new window Website Opens in new window Total cost No data KING'S COLLEGE LONDON United Kingdom EU contribution € 596 000,00 Address STRAND WC2R 2LS London See on map Region London Inner London — West Westminster Activity type Higher or Secondary Education Establishments Administrative Contact Paul Labbett (Mr.) Links Contact the organisation Opens in new window Website Opens in new window Total cost No data THE UNIVERSITY OF EDINBURGH United Kingdom EU contribution € 890 750,00 Address OLD COLLEGE, SOUTH BRIDGE EH8 9YL Edinburgh See on map Region Scotland Eastern Scotland Edinburgh Activity type Higher or Secondary Education Establishments Administrative Contact Gordon Marshall (Mr.) Links Contact the organisation Opens in new window Website Opens in new window Total cost No data