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Memory of Motion

Objective

What if we could generate complex movements for a robot with any combination of arms and legs interacting with a dynamic environment in real-time? MEMMO has the ambition to create such a motion-generation technology that will revolutionize the motion capabilities of robots and unlock a large range of industrial and service applications. Based on optimal-control theory, we develop a unified yet tractable approach to motion generation for complex robots with arms and legs. The approach relies on three innovative components.
1) a massive amount of pre-computed optimal motions are generated offline and compressed into a ``memory of motion''.
2) these trajectories are recovered during execution and adapted to new situations with real-time model predictive control. This allows generalization to dynamically changing environments.
3) available sensor modalities (vision, inertial, haptic) are exploited for feedback control which goes beyond the basic robot state with a focus on robust and adaptive behavior.

To demonstrate the generality of the approach, MEMMO is organized around 3 relevant industrial applications, where MEMMO technologies have a huge innovation potential. For each application, we will demonstrate the proposed technology in relevant industrial or medical environments, following specifications designed by the end-users partners of the project.
1) A high-performance humanoid robot will perform advanced locomotion and industrial tooling tasks in a 1:1 scale demonstrator of a real aircraft assembly.
2) An advanced exoskeleton paired with a paraplegic patient will demonstrate dynamic walking on flat floor, slopes and stairs, in a rehabilitation center under medical surveillance.
3) A challenging inspection task in a real construction site will be performed with a quadruped robot. While challenging, these demonstrators are feasible, as assessed by preliminary results obtained by MEMMO partners, that are all experts or stakeholders of their domain.

Call for proposal

H2020-ICT-2017-1
See other projects for this call

Coordinator

CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE CNRS
Address
Rue Michel Ange 3
75794 Paris
France
Activity type
Other
EU contribution
€ 913 750

Participants (10)

FONDATION DE L'INSTITUT DE RECHERCHE IDIAP
Switzerland
EU contribution
€ 668 780
Address
Rue Marconi 19
1920 Martigny
Activity type
Research Organisations
THE UNIVERSITY OF EDINBURGH
United Kingdom
EU contribution
€ 492 971,25
Address
Old College, South Bridge
EH8 9YL Edinburgh
Activity type
Higher or Secondary Education Establishments
MAX-PLANCK-GESELLSCHAFT ZUR FORDERUNG DER WISSENSCHAFTEN EV
Germany
EU contribution
€ 472 917,50
Address
Hofgartenstrasse 8
80539 Munchen
Activity type
Research Organisations
THE CHANCELLOR, MASTERS AND SCHOLARS OF THE UNIVERSITY OF OXFORD
United Kingdom
EU contribution
€ 354 067,50
Address
Wellington Square University Offices
OX1 2JD Oxford
Activity type
Higher or Secondary Education Establishments
PAL ROBOTICS SL
Spain
EU contribution
€ 258 750
Address
Calle Pujades 77 79 4O 4A
08005 Barcelona
Activity type
Private for-profit entities (excluding Higher or Secondary Education Establishments)
AIRBUS
France
EU contribution
€ 0
Address
2 Rond Point Emile Dewoitine
31700 Blagnac
Activity type
Private for-profit entities (excluding Higher or Secondary Education Establishments)
WANDERCRAFT
France
EU contribution
€ 562 500
Address
88 Rue De Rivoli
75004 Orsay
Activity type
Private for-profit entities (excluding Higher or Secondary Education Establishments)
FEDERATION DES APAJH
France
EU contribution
€ 68 750
Address
33 Av Du Maine
75015 Paris
Activity type
Other
COSTAIN GROUP PLC
United Kingdom
EU contribution
€ 50 000
Address
Vanwall Business Park Costain House
SL64UB Maidenhead Berkshire
Activity type
Private for-profit entities (excluding Higher or Secondary Education Establishments)
UNIVERSITA DEGLI STUDI DI TRENTO
Italy
EU contribution
€ 122 332,50
Address
Via Calepina 14
38122 Trento
Activity type
Higher or Secondary Education Establishments