GeRT

Generalising Robot Manipulation Task

 Coordinatore DEUTSCHES ZENTRUM FUER LUFT - UND RAUMFAHRT EV 

 Organization address address: Muenchnerstr. 20
city: Wessling
postcode: D-82234

contact info
Titolo: Ms.
Nome: Dunja
Cognome: Grote
Email: send email
Telefono: +49 8153 283337
Fax: +49 8153 281972

 Nazionalità Coordinatore Germany [DE]
 Totale costo 3˙691˙311 €
 EC contributo 2˙822˙797 €
 Programma FP7-ICT
Specific Programme "Cooperation": Information and communication technologies
 Code Call FP7-ICT-2009-4
 Funding Scheme CP
 Anno di inizio 2010
 Periodo (anno-mese-giorno) 2010-03-01   -   2013-02-28

 Partecipanti

# participant  country  role  EC contrib. [€] 
1    DEUTSCHES ZENTRUM FUER LUFT - UND RAUMFAHRT EV

 Organization address address: Muenchnerstr. 20
city: Wessling
postcode: D-82234

contact info
Titolo: Ms.
Nome: Dunja
Cognome: Grote
Email: send email
Telefono: +49 8153 283337
Fax: +49 8153 281972

DE (Wessling) coordinator 0.00
2    OREBRO UNIVERSITY

 Organization address address: FAKULTETSGATAN
city: OEREBRO
postcode: 70182

contact info
Titolo: Prof.
Nome: Silvia
Cognome: Coradeschi
Email: send email
Telefono: +46 19 303298
Fax: +46 19 303463

SE (OEREBRO) participant 0.00
3    TECHNISCHE UNIVERSITAET DARMSTADT

 Organization address address: Karolinenplatz
city: DARMSTADT
postcode: 64289

contact info
Titolo: Prof.
Nome: Jan
Cognome: Peters
Email: send email
Telefono: +49 6151 163606

DE (DARMSTADT) participant 0.00
4    THE UNIVERSITY OF BIRMINGHAM

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

contact info
Titolo: Mr.
Nome: Robert
Cognome: Fekete
Email: send email
Telefono: +44 121 415 8202
Fax: +44 121 414 6056

UK (BIRMINGHAM) participant 0.00

Mappa


 Word cloud

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

grasp    robot    machine    then    grasping    gert    objects    robots    perhaps    position    cope    novelty    before    prototypes    jar    off    object    drink    mug    ability    glass    manipulation    programs    fifty    pouring   

 Obiettivo del progetto (Objective)

In order to work naturally in human environments robots of the future will need to be much more flexible and robust in the face of novelty than those of today. In GeRT we will develop new methods to cope with novelty in manipulation tasks. Humans cope seamlessly with novel objects: we do not think of grasping a new cup, or screwing the lid off a jar we haven't seen before as challenging. This kind of everyday novelty is hard for a robot. The most advanced robots can perform a task such as making a drink, which involves grasping, pouring and twisting off a cap from a jar. But the rules must be precisely programmed. The ability to manipulate fifty different objects means writing fifty different programs. When the robot encounters an object it hasn't seen before, it can't grasp the object. If one object in a task changes then the program for the whole task may need to be rewritten. If we substitute a mug for a glass in a task that involved pouring liquid from the mug or glass into another object, the pouring position changes, as changes the grasping position. Perhaps we would grasp the mug by the handle, and then tip it sideways to pour. All of this means that if robots are ever going to be useful in natural settings where manipulation is involved that they need ways of generalising on the fly to cope with novel objects, and perhaps novel tasks. Our approach is to take a small set of existing robot programs, for a certain robot manipulation task, such as serving a drink and to give the robot the ability to adapt them to a novel version of the task. These programs constitute a database of prototypes representing that class of task. When confronted with a novel instance of the same task the robot needs establishing correspondences between objects and actions in the prototypes and their counterparts in the novel scenario. To achieve that, GeRT will use a variety of techniques from machine perception, machine learning and Artificial Intelligence such as automated planning.

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