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Cognitive Interaction in Motion

Ziel

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.

Aufforderung zur Vorschlagseinreichung

H2020-ICT-2014-1
Andere Projekte für diesen Aufruf anzeigen

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TECHNISCHE UNIVERSITAET BRAUNSCHWEIG
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Universitaetsplatz 2
38106 Braunschweig
Deutschland

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Higher or Secondary Education Establishments
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€ 587 602

Beteiligte (8)

ECOLE POLYTECHNIQUE FEDERALE DE LAUSANNE
Schweiz
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Batiment Ce 3316 Station 1
1015 Lausanne

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FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA
Italien
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€ 1 120 000
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Via Morego 30
16163 Genova

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THE UNIVERSITY OF BIRMINGHAM

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United Kingdom
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€ 301 369,25
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Edgbaston
B15 2TT Birmingham

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FONDAZIONE SANTA LUCIA
Italien
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€ 826 625
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Via Ardeatina 306
00179 Roma

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IMPERIAL COLLEGE OF SCIENCE TECHNOLOGY AND MEDICINE
United Kingdom
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€ 831 813
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South Kensington Campus Exhibition Road
SW7 2AZ London

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EBERHARD KARLS UNIVERSITAET TUEBINGEN
Deutschland
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Geschwister-scholl-platz
72074 Tuebingen

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UNIVERSITAET BIELEFELD
Deutschland
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Universitaetsstrasse 25
33615 Bielefeld

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THE UNIVERSITY OF EDINBURGH
United Kingdom
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€ 477 818,75
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Old College, South Bridge
EH8 9YL Edinburgh

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