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FP7

H2R

Project ID: 600698
Financé au titre de

Integrative approach for the emergence of human-like robot locomotion

De 2013-02-01 à 2016-01-31, projet clôturé | H2R Site web

Détails concernant le projet

Coût total:

EUR 4 009 400

Contribution de l'UE:

EUR 3 050 000

Coordonné à/au(x)/en:

Spain

Appel à propositions:

FP7-ICT-2011-9See other projects for this call

Régime de financement:

CP - Collaborative project (generic)

Description

In healthy humans, walking emerges naturally from a hierarchical organization and combination of motor control mechanisms. Artificial bipeds have not reached performance comparable to human behaviour. Major drawbacks of these bipeds and control concepts are related to their stability and energy consumption. The goal of <a href="http://www.h2rproject.eu/" target="_blank">H2R</a> project is to demonstrate human-like gait and posture in a controlled compliant biped robot as a result of a hierarchical organization and combination of the most relevant motor control mechanisms found in humans. The behaviour-based control architecture will be combined with novel learning schemes and prediction strategies in which biomechanical, neuromotor and cognitive key features of human walking are transferred to the machine.

Objectif

The development of a robotic humanoid is one of the recurrent human dreams of all ages. Environments in which humans operate or live are specially made for and structured to their locomotion and manipulation capabilities. In healthy humans, walking emerges naturally from a hierarchical organization and combination of motor control mechanisms. Artificial bipeds have not reached performance comparable to human behaviour. Major drawbacks of these bipeds and control concepts are related to their stability and energy consumption.
The goal of H2R project is to demonstrate human-like gait and posture in a controlled compliant biped robot as a result of a hierarchical organization and combination of the most relevant motor control mechanisms found in humans. This will be done integrating the human-like mechanical principles and control strategies currently applied in the three actual prototypes ESBiRRo, Veronica and Posturob, into a behavior-based hierarchical architecture proposed by the iB2C approach. This process will result in a novel reflex-based controlled passive walker, built around the ESBiRRo platform.
H2R biped, will allow, to some extent, capturing human functional morphology and passive dynamics features. The behaviour-based control structure will allow for hierarchical strategies and combination of feed-forward and feedback control, thus supporting spinal motor patterns for bilateral synchronization of gait phases and stabilization by means of spinal reflexes. The system will include human-like vestibular and visual sensory systems, to allow for supraspinal postural reflexes. The behaviour-based control architecture will be combined with novel learning schemes and prediction strategies in which biomechanical, neuromotor and cognitive key features of human walking are transferred to the machine.

Coordinateur

AGENCIA ESTATAL CONSEJO SUPERIOR DEINVESTIGACIONES CIENTIFICAS
Spain

Contribution de l'UE: EUR 1 234 246


CALLE SERRANO 117
28006 MADRID
Spain
Activity type: Research Organisations
Contact administratif: Alberto Sereno Alvarez
Tél.: +34 91 5668852
Fax: +34 91 5668913

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Participants

VRIJE UNIVERSITEIT BRUSSEL
Belgium

Contribution de l'UE: EUR 441 200


PLEINLAAN 2
1050 BRUSSEL
Belgium
Activity type: Higher or Secondary Education Establishments
Contact administratif: Nik Claesen
Tél.: +3226292210
Fax: +3226293640

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UNIVERSITAETSKLINIKUM FREIBURG
Germany

Contribution de l'UE: EUR 435 800


HUGSTETTER STRASSE 49
79106 FREIBURG
Germany
Activity type: Higher or Secondary Education Establishments
Contact administratif: Gerhard Henninger
Tél.: +49 761 27019200
Fax: +49 761 270 1889

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UNIVERSITAETSMEDIZIN GOETTINGEN - GEORG-AUGUST-UNIVERSITAET GOETTINGEN - STIFTUNG OEFFENTLICHEN RECHTS
Germany

Contribution de l'UE: EUR 288 000


Robert-Koch-Strasse 40
37075 GOETTINGEN
Germany
Activity type: Higher or Secondary Education Establishments
Contact administratif: Christiane Hennecke
Tél.: +49 551 398770
Fax: +49 551 3922593

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TECHNISCHE UNIVERSITAET KAISERSLAUTERN
Germany

Contribution de l'UE: EUR 475 856


GOTTLIEB-DAIMLER-STRASSE Geb. 47
67663 KAISERSLAUTERN
Germany
Activity type: Higher or Secondary Education Establishments
Contact administratif: Berthold Klein
Tél.: +49 631 205 3602
Fax: +49 631 205 4380

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TECHNAID SL
Spain

Contribution de l'UE: EUR 174 898


CALLE DOCTOR ESQUERDO 39
28028 MADRID
Spain
Activity type: Private for-profit entities (excluding Higher or Secondary Education Establishments)
Contact administratif: Javier O Roa Romero
Tél.: +34607337611
Fax: +34918719974

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