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Cognitive Interaction in Motion

Objective

Compliant control in humans is exploited in a variety of sophisticated skills. These include solitary actions such as soft catching, sliding, pushing large objects as well as joint actions performed in teams such as mainpulation of large scale objects or mutual adaptation through phyiscal coupling for learning, in walking or in execution of joint tasks. We refer to this advanced ability of organizing versatile motion under varying contact and impedance as cognitive compliant interaction in motion. The CogIMon project aims at a step-change in human-robot interaction toward the systemic integration of robust, dependable interaction capabilities for teams of humans and compliant robots, in particular the compliant humanoid COMAN. We focus on interaction that requires active and adaptive regulation of motion and behavior of both the human(s) and the robot(s) and involves whole-body variable impedance actuation, adaptability, prediction, and flexibility. This goal shall be achieved through sophisticated real-world robot demonstrations of interactive compliant soft catching and throwing, interaction with COMANS under changing contact and team constellation, and in model-driven fully engineering multi-arm handling shared by Kuka LWR robots and humans working along. Key advancements towords this goal are targeted in mechatronics and whole-body motion control, in model-driven software engineering, in estimating and predicting motion for kinematic motion tracking data, in devising force and impedance primitives and architectures for respective technology combinations.

Field of science

  • /engineering and technology/electrical engineering, electronic engineering, information engineering/electronic engineering/robotics/autonomous robots
  • /natural sciences/computer and information sciences/software
  • /engineering and technology/mechanical engineering/mechatronics
  • /medical and health sciences/clinical medicine/physiotherapy
  • /engineering and technology/electrical engineering, electronic engineering, information engineering/electronic engineering/automation and control systems
  • /natural sciences/mathematics/applied mathematics/dynamical systems

Call for proposal

H2020-ICT-2014-1
See other projects for this call

Funding Scheme

RIA - Research and Innovation action

Coordinator

TECHNISCHE UNIVERSITAET BRAUNSCHWEIG
Address
Universitaetsplatz 2
38106 Braunschweig
Germany
Activity type
Higher or Secondary Education Establishments
EU contribution
€ 587 602

Participants (8)

ECOLE POLYTECHNIQUE FEDERALE DE LAUSANNE
Switzerland
EU contribution
€ 0
Address
Batiment Ce 3316 Station 1
1015 Lausanne
Activity type
Higher or Secondary Education Establishments
FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA
Italy
EU contribution
€ 1 120 000
Address
Via Morego 30
16163 Genova
Activity type
Research Organisations
THE UNIVERSITY OF BIRMINGHAM

Participation ended

United Kingdom
EU contribution
€ 301 369,25
Address
Edgbaston
B15 2TT Birmingham
Activity type
Higher or Secondary Education Establishments
FONDAZIONE SANTA LUCIA
Italy
EU contribution
€ 826 625
Address
Via Ardeatina 306
00179 Roma
Activity type
Research Organisations
IMPERIAL COLLEGE OF SCIENCE TECHNOLOGY AND MEDICINE
United Kingdom
EU contribution
€ 831 813
Address
South Kensington Campus Exhibition Road
SW7 2AZ London
Activity type
Higher or Secondary Education Establishments
EBERHARD KARLS UNIVERSITAET TUEBINGEN
Germany
EU contribution
€ 793 750
Address
Geschwister-scholl-platz
72074 Tuebingen
Activity type
Higher or Secondary Education Establishments
UNIVERSITAET BIELEFELD
Germany
EU contribution
€ 749 148
Address
Universitaetsstrasse 25
33615 Bielefeld
Activity type
Higher or Secondary Education Establishments
THE UNIVERSITY OF EDINBURGH
United Kingdom
EU contribution
€ 477 818,75
Address
Old College, South Bridge
EH8 9YL Edinburgh
Activity type
Higher or Secondary Education Establishments