CoDyCo

Whole-body Compliant Dynamical Contacts in Cognitive Humanoids

 Coordinatore FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA 

 Organization address address: VIA MOREGO 30
city: GENOVA
postcode: 16163

contact info
Titolo: Ms.
Nome: Chiara
Cognome: Andreoli
Email: send email
Telefono: 3901070000000
Fax: 390107000000

 Nazionalità Coordinatore Italy [IT]
 Totale costo 4˙194˙984 €
 EC contributo 3˙174˙999 €
 Programma FP7-ICT
Specific Programme "Cooperation": Information and communication technologies
 Code Call FP7-ICT-2011-9
 Funding Scheme CP
 Anno di inizio 2013
 Periodo (anno-mese-giorno) 2013-03-01   -   2017-02-28

 Partecipanti

# participant  country  role  EC contrib. [€] 
1    FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA

 Organization address address: VIA MOREGO 30
city: GENOVA
postcode: 16163

contact info
Titolo: Ms.
Nome: Chiara
Cognome: Andreoli
Email: send email
Telefono: 3901070000000
Fax: 390107000000

IT (GENOVA) coordinator 0.00
2    CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE

 Organization address address: Rue Michel -Ange 3
city: PARIS
postcode: 75794

contact info
Titolo: Mr.
Nome: Louis
Cognome: Avigdor
Email: send email
Telefono: +33 1 42349417
Fax: +33 1 42349508

FR (PARIS) participant 0.00
3    INSTITUT JOZEF STEFAN

 Organization address address: Jamova 39
city: LJUBLJANA
postcode: 1000

contact info
Titolo: Prof.
Nome: Jadran
Cognome: Lenar?i?
Email: send email
Telefono: +386 1 477 3513

SI (LJUBLJANA) participant 0.00
4    TECHNISCHE UNIVERSITAET DARMSTADT

 Organization address address: Karolinenplatz 5
city: DARMSTADT
postcode: 64289

contact info
Titolo: Prof.
Nome: Jan
Cognome: Peters
Email: send email
Telefono: +49 6151 167351
Fax: +49 6151 167374

DE (DARMSTADT) participant 0.00
5    THE UNIVERSITY OF BIRMINGHAM

 Organization address address: Edgbaston
city: BIRMINGHAM
postcode: B15 2TT

contact info
Titolo: Ms.
Nome: Erica
Cognome: Conway
Email: send email
Telefono: 441214000000
Fax: 441214000000

UK (BIRMINGHAM) participant 0.00
6    UNIVERSITE PIERRE ET MARIE CURIE - PARIS 6

 Organization address address: Place Jussieu 4
city: PARIS
postcode: 75252

contact info
Titolo: Ms.
Nome: Ella
Cognome: Bouquet
Email: send email
Telefono: +33 144279777
Fax: +33 144277467

FR (PARIS) participant 0.00

Mappa


 Word cloud

Esplora la "nuvola delle parole (Word Cloud) per avere un'idea di massima del progetto.

unpredictable    predictable    body    achievement    codyco    cognitive    involve    physical    contacts    robots    compliant    interaction    posture    contact    robot    mobility    world    scenarios    real   

 Obiettivo del progetto (Objective)

The aim of CoDyCo is to advance the current control and cognitive understanding about robust, goaldirectednwhole-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.nFirst, CoDyCo will advance the state-of-the-art in the way robots coordinate physical interaction andnphysical mobility. Traditional industrial applications involve robots with limited mobility. Consequently,ninteraction (e.g. manipulation) was treated separately from whole-body posture (e.g. balancing), assumingnthe robot firmly connected to the ground. Foreseen applications involve robots with augmented autonomynand physical mobility. Within this novel context, physical interaction influences stability and balance. Tonallow robots to surpass barriers between interaction and posture control, CoDyCo will be grounded innprinciples governing whole-body coordination with contact dynamics.nSecond, CoDyCo will go beyond traditional approaches in dealing with all perceptual and motor aspectsnof physical interaction, unpredictability included. Recent developments in compliant actuation and touchnsensing allow safe and robust physical interaction from unexpected contact including humans. The nextnadvancement for cognitive robots, however, is the ability not only to cope with unpredictable contact, butnalso to exploit predictable contact in ways that will assist in goal achievement.nThird, the achievement of the project objectives will be validated in real-world scenarios with the iCubnhumanoid robot engaged in whole-body goal-directed tasks. The evaluations will show the iCub exploitingnrigid supportive contacts, learning to compensate for compliant contacts, and utilizing assistive physicalninteraction.

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