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Cognitive Interaction in Motion

Obiettivo

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.

Invito a presentare proposte

H2020-ICT-2014-1
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Meccanismo di finanziamento

RIA - Research and Innovation action

Coordinatore

TECHNISCHE UNIVERSITAET BRAUNSCHWEIG
Indirizzo
Universitaetsplatz 2
38106 Braunschweig
Germania
Tipo di attività
Higher or Secondary Education Establishments
Contributo UE
€ 587 602

Partecipanti (8)

ECOLE POLYTECHNIQUE FEDERALE DE LAUSANNE
Svizzera
Contributo UE
€ 0
Indirizzo
Batiment Ce 3316 Station 1
1015 Lausanne
Tipo di attività
Higher or Secondary Education Establishments
FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA
Italia
Contributo UE
€ 1 120 000
Indirizzo
Via Morego 30
16163 Genova
Tipo di attività
Research Organisations
THE UNIVERSITY OF BIRMINGHAM

Partecipazione conclusa

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