Descrizione del progetto
Movimento dei robot: un ponte fra teoria e pratica
Immaginiamo un mondo in cui i robot aiutano gli esseri umani correndo su terreni rocciosi, sollevando divani mentre raggiungono gli oggetti e usando cacciaviti stando in equilibrio in cima alle scale. Uno dei maggiori ostacoli al conseguimento di questo obiettivo è la mancanza di un quadro teorico coerente per la locomozione e la manipolazione dei robot. Il progetto CONT-ACT, finanziato dal Consiglio europeo della ricerca, si propone di elaborare un approccio completo che pone l’interazione con il contatto e l’uso delle informazioni sensoriali al centro della generazione e del controllo del movimento dei robot. Sviluppando un’architettura basata su controllori predittivi in tempo reale che sfruttano appieno le interazioni di contatto e analizzando le informazioni sensoriali durante tali interazioni, il progetto cerca di far progredire la teoria generale del movimento dei robot per consentire un costante miglioramento delle prestazioni.
Obiettivo
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.
Campo scientifico
- 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
Programma(i)
Argomento(i)
Meccanismo di finanziamento
ERC-STG - Starting GrantIstituzione ospitante
80539 Munchen
Germania