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A Robotic Sense of Movement

De 2009-12-01 à 2013-05-31, projet clôturé | RoboSoM Site web

Détails concernant le projet

Coût total:

EUR 2 170 862

Contribution de l'UE:

EUR 1 659 000

Coordonné à/au(x)/en:

Italy

Appel à propositions:

FP7-ICT-2009-4See other projects for this call

Régime de financement:

CP - Collaborative project (generic)

Description

New design model based on the human sense of movement
The objective of <a href="http://www.robosom.eu" target="_blank">RoboSoM</a> is to investigate and to apply new approaches to the design and development of humanoid robots with advanced perception and action capabilities, showing robust, adaptive, predictive and effective behaviour in the real world. The expected robot behaviour is the capability to follow a visual target by coordinating eye, head, and leg movements, with head stabilization, walking smoothly and effectively in an unstructured environment, with a robust reactive behaviour, improved by predictions.

Objectif

The proposal objective is to investigate new approaches to the design and development of humanoid robots with advanced perception and action capabilities, showing robust, adaptive, predictive and effective behaviour in the real world. The proposed new approaches are strongly based on the concept of human sense of movement by Alain Berthoz, a key partner in this proposal. There are two main ideas related to this concept, which are relevant to robotics: 1) the vestibular unified reference frame, as set by the vestibular system in the centre of the head; 2) Expected Perception (EP), or the capability to make predictions of consequences of actions, which is at the basis of the human predictive control. The expected robot behaviour is the capability to follow a visual target by coordinating eye, head, and leg movements, with head stabilization, walking smoothly and effectively in an unstructured environment, with a robust reactive behaviour, improved by predictions. This behaviour is a fundamental, but quite novel, capability for humanoid robots, and it may result in a truly robust and effective behaviour in many helpful tasks in real-world scenarios. The proposed project will use the existing and fully operational biped humanoid robotic platform named Sabian, available at SSSA. It is a copy of the Wabian robot developed at WUT. The legs have functional hip and waiste DOF that allow to de-couple the leg and head movements. This unique feature guarantees a truly human-like walking behaviour with head stabilization. IST has developed and has in its lab the same head as the Sabian robot. It is strong belief of proposers that the service robotics markets needs a new generation of robotic systems with a better behaviour in real world, in terms of sensory-motor performance, adaptability, robustness, and that understanding the principles underlying the biological brain sense of movement can lead to the design of robots that represent one important step in this direction.

Informations connexes

Documents et Publications

Coordonnées du coordinateur

Paolo DARIO, (Project Coordinator)
Tél.: +39-050883420
Fax: +39-050-883497
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Coordinateur

SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA
Italy

Contribution de l'UE: EUR 618 302


PIAZZA MARTIRI DELLA LIBERTA 33
56127 PISA
Italy
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Activity type: Higher or Secondary Education Establishments
Contact administratif: Paolo Dario
Tél.: +39050883420
Fax: +39050883497
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Participants

CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE CNRS
France

Contribution de l'UE: EUR 349 400


RUE MICHEL ANGE 3
75794 PARIS
France
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Activity type: Research Organisations
Contact administratif: Yurii Riabykin
Tél.: +33149604102
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WASEDA UNIVERSITY
Japan

Contribution de l'UE: EUR 300 500


1-104 TOTSUKA MACHI, SHINJUKU-KU
169-8050 TOKYO
Japan
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Activity type: Higher or Secondary Education Establishments
Contact administratif: Katsuhiko Shirai
Tél.: +81332034141
Fax: +81352699061
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INSTITUTO SUPERIOR TECNICO
Portugal

Contribution de l'UE: EUR 390 798


AVENIDA ROVISCO PAIS 1
1049-001 LISBOA
Portugal
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Activity type: Higher or Secondary Education Establishments
Contact administratif: José Santos-Victor
Tél.: +351 218418294
Fax: +351 218418291
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UNIVERSITE PARIS DIDEROT - PARIS 7
France

Contribution de l'UE: EUR 0


RUE THOMAS MANN 5
75205 PARIS
France
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Activity type: Higher or Secondary Education Establishments
Contact administratif: Aurelie Caulier
Tél.: +33157275471
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COLLEGE DE FRANCE
France

Contribution de l'UE: EUR 0


PLACE MARCELIN BERTHELOT 11
75005 PARIS
France
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Activity type: Higher or Secondary Education Establishments
Contact administratif: Bruno Jeanne
Tél.: +33144271313
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