The main results achieved by the project can be summarized as follows:
- A hierarchical framework for semantic modelling of the end user’s home, along with metric mapping, has been developed. Methods for reconstruction, recognition and state tracking of domestic objects, both large environment objects and small household ones have been developed.
- Methods for human detection, person identification and pose tracking have been developed, as well as for action recognition and monitoring of complex activities, aiming to assess user behaviour and identify abnormalities relevant to the target use cases.
- The high-level robot behaviour policies in the scope of the project’s use cases have been defined and a POMDP-based approach for the RAMCIP robot cognitive functions was developed.
- Touch-screen, speech and gestures modalities, the robot’s AR display and the methods for robot affective input and output have been implemented. The Communication Decision Maker (CDM) module, orchestrating the UIs was developed.
- Methods enabling safe, human-aware navigation of the RAMCIP platform, as well as the safe reaching and grasping of target objects have been researched and developed.
- Control schemes for physical HRI, with respect to ensuring the user safety, were developed. Unintentional contact controllers were also established, targeted at reducing the interaction force via increasing the robotic system compliance.
- New H/W components have been developed for the RAMCIP robot, while developing the second robot version (V2), including a new mobile platform, smaller and more appealing than the initial one, more complex user interface with tablet PC, loudspeakers, microphone and light sensor integrated into one part as well as further elaborated robot arm and hand modules.
- The final (V2) integrated RAMCIP robot has been developed.
- The RAMCIP robot has been evaluated at the two project pilot sites; in Barcelona, the robot was evaluated with 12 different end users, at their real homes.
- Several horizontal activities for diffusing project objectives, concepts and achievements to key stakeholders, and the general public have taken place, including RAMCIP robot demonstration during 2018 in major exhibitions, including Hannover Messe and Automatica.
- The RAMCIP research efforts have led to scientific publications in highly-ranked scientific conferences and journals, as well as to a series of open datasets.
