CoDyCo
Whole-body Compliant Dynamical Contacts in Cognitive Humanoids
| Coordinatore | FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA
Organization address
address: VIA MOREGO 30 contact info |
| 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
| # | ||||
|---|---|---|---|---|
| 1 |
FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA
Organization address
address: VIA MOREGO 30 contact info |
IT (GENOVA) | coordinator | 0.00 |
| 2 |
CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE
Organization address
address: Rue Michel -Ange 3 contact info |
FR (PARIS) | participant | 0.00 |
| 3 |
INSTITUT JOZEF STEFAN
Organization address
address: Jamova 39 contact info |
SI (LJUBLJANA) | participant | 0.00 |
| 4 |
TECHNISCHE UNIVERSITAET DARMSTADT
Organization address
address: Karolinenplatz 5 contact info |
DE (DARMSTADT) | participant | 0.00 |
| 5 |
THE UNIVERSITY OF BIRMINGHAM
Organization address
address: Edgbaston contact info |
UK (BIRMINGHAM) | participant | 0.00 |
| 6 |
UNIVERSITE PIERRE ET MARIE CURIE - PARIS 6
Organization address
address: Place Jussieu 4 contact info |
FR (PARIS) | participant | 0.00 |
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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.