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Robots Understanding Their Actions by Imagining Their Effects

Robots Understanding Their Actions by Imagining Their Effects

Objective

"Today's robots are good at executing programmed motions, but they do not understand their actions in the sense that they could automatically generalize them to novel situations or recover from failures. IMAGINE seeks to enable robots to understand the structure of their environment and how it is affected by its actions. ""Understanding"" here means the ability of the robot (a) to determine the applicability of an action along with parameters to achieve the desired effect, and (b) to discern to what extent an action succeeded, and to infer possible causes of failure and generate recovery actions.

The core functional element is a generative model based on an association engine and a physics simulator. ""Understanding"" is given by the robot's ability to predict the effects of its actions, before and during their execution. This allows the robot to choose actions and parameters based on their simulated performance, and to monitor their progress by comparing observed to simulated behavior.

This scientific objective is pursued in the context of recycling of electromechanical appliances. Current recycling practices do not automate disassembly, which exposes humans to hazardous materials, encourages illegal disposal, and creates significant threats to environment and health, often in third countries. IMAGINE will develop a TRL-5 prototype that can autonomously disassemble prototypical classes of devices, generate and execute disassembly actions for unseen instances of similar devices, and recover from certain failures. For robotic disassembly, IMAGINE will develop a multi-functional gripper capable of multiple types of manipulation without tool changes.

IMAGINE raises the ability level of robotic systems in core areas of the work programme, including adaptability, manipulation, perception, decisional autonomy, and cognitive ability. Since only one-third of EU e-waste is currently recovered, IMAGINE addresses an area of high economical and ecological impact.
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Coordinator

UNIVERSITAET INNSBRUCK

Address

Innrain 52
6020 Innsbruck

Austria

Activity type

Higher or Secondary Education Establishments

EU Contribution

€ 744 250

Participants (6)

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GEORG-AUGUST-UNIVERSITAT GOTTINGENSTIFTUNG OFFENTLICHEN RECHTS

Germany

EU Contribution

€ 689 000

KARLSRUHER INSTITUT FUER TECHNOLOGIE

Germany

EU Contribution

€ 667 500

INSTITUT NATIONAL DES SCIENCES APPLIQUEES DE RENNES

France

EU Contribution

€ 628 550

AGENCIA ESTATAL CONSEJO SUPERIOR DEINVESTIGACIONES CIENTIFICAS

Spain

EU Contribution

€ 500 625

BOGAZICI UNIVERSITESI

Turkey

EU Contribution

€ 365 750

ELECTROCYCLING GMBH

Germany

EU Contribution

€ 201 375

Project information

Grant agreement ID: 731761

Status

Ongoing project

  • Start date

    1 January 2017

  • End date

    28 February 2021

Funded under:

H2020-EU.2.1.1.

  • Overall budget:

    € 3 797 050

  • EU contribution

    € 3 797 050

Coordinated by:

UNIVERSITAET INNSBRUCK

Austria