KoroiBot

Improving humanoid walking capabilities by human-inspired mathematical models, optimization and learning

 Coordinatore RUPRECHT-KARLS-UNIVERSITAET HEIDELBERG 

 Organization address address: Speyerer Str. 6
city: Heidelberg
postcode: 69115

contact info
Titolo: Prof.
Nome: Katja
Cognome: Mombaur
Email: send email
Telefono: +49 6221548867
Fax: +49 6221548810

 Nazionalità Coordinatore Germany [DE]
 Totale costo 5˙493˙477 €
 EC contributo 4˙159˙999 €
 Programma FP7-ICT
Specific Programme "Cooperation": Information and communication technologies
 Code Call FP7-ICT-2013-10
 Funding Scheme CP
 Anno di inizio 2013
 Periodo (anno-mese-giorno) 2013-10-01   -   2016-09-30

 Partecipanti

# participant  country  role  EC contrib. [€] 
1    RUPRECHT-KARLS-UNIVERSITAET HEIDELBERG

 Organization address address: Speyerer Str. 6
city: Heidelberg
postcode: 69115

contact info
Titolo: Prof.
Nome: Katja
Cognome: Mombaur
Email: send email
Telefono: +49 6221548867
Fax: +49 6221548810

DE (Heidelberg) coordinator 0.00
2    CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE

 Organization address address: RUE MICHEL -ANGE
city: PARIS
postcode: 75794

contact info
Titolo: Mr.
Nome: Patrick
Cognome: MOUNAUD
Email: send email
Telefono: +33 561336352
Fax: +33 562172901

FR (PARIS) participant 0.00
3    EBERHARD KARLS UNIVERSITAET TUEBINGEN

 Organization address address: GESCHWISTER-SCHOLL-PLATZ
city: TUEBINGEN
postcode: 72074

contact info
Titolo: Prof.
Nome: Martin
Cognome: Giese
Email: send email
Telefono: +49 70712989124
Fax: +49 70714790

DE (TUEBINGEN) participant 0.00
4    FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA

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

contact info
Titolo: Dr.
Nome: Chiara
Cognome: Andreoli
Email: send email
Telefono: +39 010 71 781 854
Fax: +39 010 71 708 17

IT (GENOVA) participant 0.00
5    Karlsruher Institut fuer Technologie

 Organization address address: Kaiserstrasse
city: Karlsruhe
postcode: 76131

contact info
Titolo: Ms.
Nome: Diana
Cognome: Kreidler
Email: send email
Telefono: +49 72160843547
Fax: +49 7216084077

DE (Karlsruhe) participant 0.00
6    TECHNISCHE UNIVERSITEIT DELFT

 Organization address address: Stevinweg
city: DELFT
postcode: 2628 CN

contact info
Nome: Lily
Cognome: Tunggal
Email: send email
Telefono: +31 152788684

NL (DELFT) participant 0.00
7    WEIZMANN INSTITUTE OF SCIENCE

 Organization address address: Herzel Street
city: REHOVOT
postcode: 76100

contact info
Titolo: Ms.
Nome: Talia
Cognome: Tzahor
Email: send email
Telefono: +972 8 934 4026
Fax: +972 8 934 4165

IL (REHOVOT) participant 0.00

Mappa


 Word cloud

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

human    humanoid    walk       humanoids    software    robots    learning    hardware    optimization    koroibot    problem    walking    nthe    gaits    humans    mathematical    principles    fashion    versatile    ability    models    motion    techniques    performance   

 Obiettivo del progetto (Objective)

The goal of the KoroiBot project is to enhance the ability of humanoid robots to walk in a dynamic and versatile fashion in the way humans do. Research and innovation work in KoroiBot will mainly target novel motion control methods for existing hardware, but it will also derive optimized design principles for next generation robots.nBy doing so, KoroiBot addresses the ambitious goals set for the humanoid robots of the 21st century which are supposed to work and replace humans e.g. in households, disaster sites or space missions but which still lack the very fundamental ability to walk in a human-like fashion. Compared to all the intelligence that humanoids have to acquire to perform these tasks, the demand for an improved walking performance seems simple, but it is in fact very challenging, and the motion abilities of contemporary humanoids are still far behind their human role models. Human gaits are at the same time efficient, robust and versatile but gaits of humanoids or bipedal robots are at best good in one of these areas. This problem is not only linked to the present hardware, but also to a large extent to the control principles and the software used.nThe KoroiBot project will address this problem by developing novel software techniques for increased walking performance and evaluating them on the partners's existing humanoids. To fully demonstrate the capabilities of the software, a prototype design of a new robot will be developed to be exploited by our industrial end users after the end of the project.nThe new software technologies are based on mathematical models and methods, in particular optimization, and learning from biology, that will help to increase humanoid walking performance. Especially for humanoid robots with their redundant DoF, optimization is the solution to make the redundancy a benefit rather than a burden.nThe KoroiBot methodology is based on the following pillars:n• Investigation of human walking by experiments, extraction, motion primitives mathematical models as well as an identification of walking principlesn• Development of adequate transfer rulesn• Development of novel optimization and learning based control approaches for walking for humanoids, assembly of a walking alphabet;n• Integration of these techniques on several robots.nWe study different walking tasks in this project: walking on level ground and uneven terrain, on balance bars and step stone bridges, in interactions with other people, as well as multi-contact walking with additional hand supports and push recovery. This is only possible by a truly interdisciplinary approach combining expertise in humanoid robotics, mathematics, cognitive sciences and biomechanical modeling.nBeyond the scope of humanoids, the methods can be useful for the design and control of exoskeletons and intelligent prostheses, in functional electrical stimulation of hemiplegic or paraplegic patients, biped-based novel transportation systems or in computer animations and games.

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