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Cognitive Interaction in Motion

Cognitive Interaction in Motion

Objective

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.

Coordinator

TECHNISCHE UNIVERSITAET BRAUNSCHWEIG

Address

Universitaetsplatz 2
38106 Braunschweig

Germany

Activity type

Higher or Secondary Education Establishments

EU Contribution

€ 587 602

Participants (8)

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ECOLE POLYTECHNIQUE FEDERALE DE LAUSANNE

Switzerland

FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA

Italy

EU Contribution

€ 1 120 000

THE UNIVERSITY OF BIRMINGHAM

United Kingdom

EU Contribution

€ 301 369,25

FONDAZIONE SANTA LUCIA

Italy

EU Contribution

€ 826 625

IMPERIAL COLLEGE OF SCIENCE TECHNOLOGY AND MEDICINE

United Kingdom

EU Contribution

€ 831 813

EBERHARD KARLS UNIVERSITAET TUEBINGEN

Germany

EU Contribution

€ 793 750

UNIVERSITAET BIELEFELD

Germany

EU Contribution

€ 749 148

THE UNIVERSITY OF EDINBURGH

United Kingdom

EU Contribution

€ 477 818,75

Project information

Grant agreement ID: 644727

Status

Closed project

  • Start date

    1 February 2015

  • End date

    31 May 2019

Funded under:

H2020-EU.2.1.1.5.

  • Overall budget:

    € 6 974 131,75

  • EU contribution

    € 5 688 126

Coordinated by:

TECHNISCHE UNIVERSITAET BRAUNSCHWEIG

Germany