Descripción del proyecto
Movimiento robótico: un puente entre la teoría y la práctica
Imagine un mundo en el que los robots ayudan a las personas corriendo por terrenos rocosos, levantando sofás para alcanzar objetos y utilizando destornilladores mientras hacen equilibrios en lo alto de las escaleras. Uno de los mayores obstáculos para lograr este objetivo es la falta de un marco teórico coherente para la locomoción y manipulación robóticas. El objetivo del proyecto CONT-ACT, financiado por el Consejo Europeo de Investigación, es crear un método integral que sitúe la interacción por contacto y el uso de la información sensorial en el núcleo de la generación y el control del movimiento robótico. Mediante el desarrollo de una arquitectura basada en controladores predictivos en tiempo real que aprovechan al máximo las interacciones de contacto y el análisis de la información sensorial durante las interacciones de contacto, su equipo pretende avanzar en la teoría general del movimiento robótico que permite mejorar de manera constante el rendimiento.
Objetivo
What are the algorithmic principles that would allow a robot to run through a rocky terrain, lift a couch while reaching for an object that rolled under it or manipulate a screwdriver while balancing on top of a ladder? Answering this seemingly naïve question resorts to understanding the fundamental principles for robot locomotion and manipulation, which is very challenging. However, it is a necessary step towards ubiquitous robots capable of helping humans in an uncountable number of tasks. The fundamental aspect of both locomotion and manipulation is that the dynamic interaction of the robot with its environment through the creation of physical contacts is at the heart of the tasks. The planning of such interactions in a general manner is an unsolved problem. Moreover, it is not clear how sensory information (e.g. tactile and force sensors) can be included to improve the robustness of robot behaviors. Most of the time, it is simply discarded. CONT-ACT has the ambition to develop a consistent theoretical framework for motion generation and control where contact interaction is at the core of the approach and an efficient use of sensory information drives the development of high performance, adaptive and robust planning and control methods. CONT-ACT develops an architecture based on real-time predictive controllers that fully exploit contact interactions. In addition, the structure of sensory information during contact interactions is experimentally analyzed to create sensor representations adapted for control. It is then possible to learn predictive models in sensor space that are used to create very reactive controllers. The robot constantly improves its performance as it learns better sensory models. It is a step towards a general theory for robot movement that can be used to control any robot with legs and arms for both manipulation and locomotion tasks and that allows robots to constantly improve their performances as they experience the world.
Ámbito científico
- natural sciencescomputer and information sciencesartificial intelligencemachine learningunsupervised learning
- natural sciencescomputer and information sciencesartificial intelligencemachine learningreinforcement learning
- engineering and technologyelectrical engineering, electronic engineering, information engineeringelectronic engineeringsensors
Programa(s)
Régimen de financiación
ERC-STG - Starting GrantInstitución de acogida
80539 Munchen
Alemania