Service Communautaire d'Information sur la Recherche et le Développement - CORDIS

Whole-body Compliant Dynamical Contacts in Cognitive Humanoids

De 2013-03-01 à 2017-02-28, projet clôturé | CoDyCo Site web

Détails concernant le projet

Coût total:

EUR 4 349 193

Contribution de l'UE:

EUR 3 174 999

Coordonné à/au(x)/en:

Italy

Appel à propositions:

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

Régime de financement:

CP - Collaborative project (generic)

Description

The aim of <a href="http://www.codyco.eu/" target="_blank">CoDyCo</a> is to improve the current control and cognitive understanding about robust, goal-directed whole-body motion interaction with multiple contacts. CoDyCo will go beyond traditional approaches: proposing methodologies for performing coordinated interaction tasks with complex systems; combining planning and compliance to deal with predictable and unpredictable events and contacts; validating theoretical progresses in real-world interaction scenarios. CoDyCo will advance the state-of-the-art in the way robots coordinate physical interaction and physical mobility. 

Objectif

The aim of CoDyCo is to advance the current control and cognitive understanding about robust, goaldirectedwhole-body motion interaction with multiple contacts. CoDyCo will go beyond traditional approaches: (1) proposing methodologies for performing coordinated interaction tasks with complex systems; (2) combining planning and compliance to deal with predictable and unpredictable events and contacts; (3) validating theoretical advances in real-world interaction scenarios.First, CoDyCo will advance the state-of-the-art in the way robots coordinate physical interaction andphysical mobility. Traditional industrial applications involve robots with limited mobility. Consequently,interaction (e.g. manipulation) was treated separately from whole-body posture (e.g. balancing), assumingthe robot firmly connected to the ground. Foreseen applications involve robots with augmented autonomyand physical mobility. Within this novel context, physical interaction influences stability and balance. Toallow robots to surpass barriers between interaction and posture control, CoDyCo will be grounded inprinciples governing whole-body coordination with contact dynamics.Second, CoDyCo will go beyond traditional approaches in dealing with all perceptual and motor aspectsof physical interaction, unpredictability included. Recent developments in compliant actuation and touchsensing allow safe and robust physical interaction from unexpected contact including humans. The nextadvancement for cognitive robots, however, is the ability not only to cope with unpredictable contact, butalso to exploit predictable contact in ways that will assist in goal achievement.Third, the achievement of the project objectives will be validated in real-world scenarios with the iCubhumanoid robot engaged in whole-body goal-directed tasks. The evaluations will show the iCub exploitingrigid supportive contacts, learning to compensate for compliant contacts, and utilizing assistive physicalinteraction.

Coordinateur

FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA
Italy

Contribution de l'UE: EUR 930 115


VIA MOREGO 30
16163 GENOVA
Italy
Activity type: Research Organisations
Contact administratif: Chiara Andreoli
Tél.: +3901071781854
Fax: +390107170817
E-mail

Participants

TECHNISCHE UNIVERSITAT DARMSTADT
Germany

Contribution de l'UE: EUR 645 543


KAROLINENPLATZ 5
64289 DARMSTADT
Germany
Activity type: Higher or Secondary Education Establishments
Contact administratif: Jan Peters
Tél.: +49 6151 167351
Fax: +49 6151 167374
E-mail
UNIVERSITE PIERRE ET MARIE CURIE - PARIS 6
France

Contribution de l'UE: EUR 424 805


Place Jussieu 4
75252 PARIS
France
Activity type: Higher or Secondary Education Establishments
Contact administratif: Ella Bouquet
Tél.: +33 144279777
Fax: +33 144277467
E-mail
INSTITUT NATIONAL DE RECHERCHE ENINFORMATIQUE ET AUTOMATIQUE
France

Contribution de l'UE: EUR 107 913


DOMAINE DE VOLUCEAU ROCQUENCOURT
78153 LE CHESNAY CEDEX
France
Activity type: Research Organisations
Contact administratif: Armelle Demange
Tél.: +33383593010
E-mail
INSTITUT JOZEF STEFAN
Slovenia

Contribution de l'UE: EUR 444 983


Jamova 39
1000 LJUBLJANA
Slovenia
Activity type: Research Organisations
Contact administratif: Jadran Lenarčič
Tél.: +386 1 477 3513
E-mail
THE UNIVERSITY OF BIRMINGHAM
United Kingdom

Contribution de l'UE: EUR 621 640


Edgbaston
B15 2TT BIRMINGHAM
United Kingdom
Activity type: Higher or Secondary Education Establishments
Contact administratif: Erica Conway
Tél.: +441214158202
Fax: +441214146056
E-mail
CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE CNRS
France

Contribution de l'UE: EUR 0


RUE MICHEL ANGE 3
75794 PARIS
France
Activity type: Research Organisations
Contact administratif: Louis Avigdor
Tél.: +33 1 42349417
Fax: +33 1 42349508
E-mail