MEMMO SIGNED
Memory of Motion
Total Cost €
0EC-Contrib. €
0Partnership
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0MEMMO project word cloud
Explore the words cloud of the MEMMO project. It provides you a very rough idea of what is the project "MEMMO" about.
Project "MEMMO" data sheet
The following table provides information about the project.
| Coordinator |
CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE CNRS
Organization address contact info |
| Coordinator Country | France [FR] |
| Project website | https://www.memmo-project.eu |
| Total cost | 4˙157˙151 € |
| EC max contribution | 3˙964˙818 € (95%) |
| Programme |
1. H2020-EU.2.1.1. (INDUSTRIAL LEADERSHIP - Leadership in enabling and industrial technologies - Information and Communication Technologies (ICT)) |
| Code Call | H2020-ICT-2017-1 |
| Funding Scheme | RIA |
| Starting year | 2018 |
| Duration (year-month-day) | from 2018-01-01 to 2021-12-31 |
Partnership
Take a look of project's partnership.
| # | ||||
|---|---|---|---|---|
| 1 | CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE CNRS | FR (PARIS) | coordinator | 913˙750.00 |
| 2 | FONDATION DE L'INSTITUT DE RECHERCHE IDIAP | CH (MARTIGNY) | participant | 668˙780.00 |
| 3 | MAX-PLANCK-GESELLSCHAFT ZUR FORDERUNG DER WISSENSCHAFTEN EV | DE (MUENCHEN) | participant | 595˙250.00 |
| 4 | WANDERCRAFT | FR (ORSAY) | participant | 562˙500.00 |
| 5 | THE UNIVERSITY OF EDINBURGH | UK (EDINBURGH) | participant | 492˙971.00 |
| 6 | THE CHANCELLOR, MASTERS AND SCHOLARS OF THE UNIVERSITY OF OXFORD | UK (OXFORD) | participant | 354˙067.00 |
| 7 | PAL ROBOTICS SL | ES (BARCELONA) | participant | 258˙750.00 |
| 8 | FEDERATION DES APAJH | FR (PARIS) | participant | 68˙750.00 |
| 9 | COSTAIN GROUP PLC | UK (MAIDENHEAD BERKSHIRE) | participant | 50˙000.00 |
| 10 | AIRBUS | FR (BLAGNAC) | participant | 0.00 |
Map
Project objective
What if we could generate complex movements for a robot with any combination of arms and legs interacting with a dynamic environment in real-time? MEMMO has the ambition to create such a motion-generation technology that will revolutionize the motion capabilities of robots and unlock a large range of industrial and service applications. Based on optimal-control theory, we develop a unified yet tractable approach to motion generation for complex robots with arms and legs. The approach relies on three innovative components. 1) a massive amount of pre-computed optimal motions are generated offline and compressed into a ``memory of motion'. 2) these trajectories are recovered during execution and adapted to new situations with real-time model predictive control. This allows generalization to dynamically changing environments. 3) available sensor modalities (vision, inertial, haptic) are exploited for feedback control which goes beyond the basic robot state with a focus on robust and adaptive behavior.
To demonstrate the generality of the approach, MEMMO is organized around 3 relevant industrial applications, where MEMMO technologies have a huge innovation potential. For each application, we will demonstrate the proposed technology in relevant industrial or medical environments, following specifications designed by the end-users partners of the project. 1) A high-performance humanoid robot will perform advanced locomotion and industrial tooling tasks in a 1:1 scale demonstrator of a real aircraft assembly. 2) An advanced exoskeleton paired with a paraplegic patient will demonstrate dynamic walking on flat floor, slopes and stairs, in a rehabilitation center under medical surveillance. 3) A challenging inspection task in a real construction site will be performed with a quadruped robot. While challenging, these demonstrators are feasible, as assessed by preliminary results obtained by MEMMO partners, that are all experts or stakeholders of their domain.
Deliverables
| Data management plan | Open Research Data Pilot | 2019-09-05 12:46:18 |
| Preliminary Locomotion Dataset | Other | 2019-09-05 12:46:18 |
| Demonstrators and benchmarking criteria | Documents, reports | 2019-09-05 12:46:18 |
| Web site of the project | Websites, patent fillings, videos etc. | 2019-09-05 12:46:18 |
| Management handbook | Documents, reports | 2019-09-05 12:46:18 |
| Exoskeleton gait dataset | Other | 2019-09-05 12:46:18 |
Take a look to the deliverables list in detail: detailed list of MEMMO deliverables.
Publications
| year | authors and title | journal | last update |
|---|---|---|---|
| 2019 |
Geisert, Mathieu; Yates, Thomas; Orgen, Asil; Fernbach, Pierre; Havoutis, Ioannis Contact Planning for the ANYmal Quadruped Robot using an Acyclic Reachability-Based Planner published pages: , ISSN: , DOI: |
Towards Autonomous Robotic Systems Conference (TAROS) 2019, Jul 2019, London, United Kingdom 20 | 2019-10-03 |
| 2018 |
Romeo Orsolino, Michele Focchi, Carlos Mastalli, Hongkai Dai, Darwin G. Caldwell, Claudio Semini Application of Wrench-Based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots published pages: 3363-3370, ISSN: 2377-3766, DOI: 10.1109/lra.2018.2836441 |
IEEE Robotics and Automation Letters 3/4 | 2019-06-03 |
| 2018 |
Focchi, Michele and Orsolino, Romeo G and Camurri, Marco and Barasuol, Victor and Mastalli, Carlos and Caldwell, Darwin and Semini, Claudio Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality published pages: , ISSN: , DOI: |
Springer Track in Advanced Robotics series, 2018 | 2019-06-03 |
| 2019 |
Shamel Fahmi, Carlos Mastalli, Michele Focchi, Claudio Semini Passive Whole-body Control for Quadruped Robots: Experimental Validation over Challenging Terrain published pages: 1-1, ISSN: 2377-3766, DOI: 10.1109/lra.2019.2908502 |
IEEE Robotics and Automation Letters | 2019-06-03 |
| 2018 |
Fanny Ficuciello, Pietro Falco, Sylvain Calinon A Brief Survey on the Role of Dimensionality Reduction in Manipulation Learning and Control published pages: 2608-2615, ISSN: 2377-3766, DOI: 10.1109/LRA.2018.2818933 |
IEEE Robotics and Automation Letters 3/3 | 2019-04-18 |
| 2018 |
Henrique Ferrolho, Wolfgang Merkt, Yiming Yang, Vladimir Ivan, Sethu Vijayakumar Whole-Body End-Pose Planning for Legged Robots on Inclined Support Surfaces in Complex Environments published pages: , ISSN: , DOI: |
Proc. IEEE-RAS International Conference on Humanoid Robots (Humanoids 2018) | 2019-05-03 |
| 2018 |
Chuanyu Yang, Kai Yuan, Wolfgang Merkt, Sethu Vijayakumar, Taku Komura, Zhibin Li Learning Whole-body Motor Skills for Humanoids published pages: , ISSN: , DOI: |
Proc. IEEE-RAS International Conference on Humanoid Robots (Humanoids 2018) | 2019-05-03 |
| 2018 |
Wolfgang Merkt, Vladimir Ivan, and Sethu Vijayakumar Leveraging Precomputation with Problem Encoding for Warm-Starting Trajectory Optimization in Complex Environments published pages: , ISSN: , DOI: |
Proc. IEEE International Conf. on Intelligent Robots (IROS 2018) | 2019-05-03 |
| 2018 |
Leopoldo Armesto, João Moura, Vladimir Ivan, Mustafa Suphi Erden, Antonio Sala, Sethu Vijayakumar Constraint-aware learning of policies by demonstration published pages: 27836491878435, ISSN: 0278-3649, DOI: 10.1177/0278364918784354 |
The International Journal of Robotics Research | 2019-05-03 |
| 2018 |
Rohan Budhiraja, Justin Carpentier, Carlos Mastalli and Nicolas Mansard Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics published pages: , ISSN: , DOI: |
2018 International Conference on Humanoid Robots | 2019-04-18 |
| 2018 |
Yiming Yang, Wolfgang Merkt, Vladimir Ivan, Sethu Vijayakumar Planning in Time-Configuration Space for Efficient Pick-and-Place in Non-Static Environments with Temporal Constraints published pages: , ISSN: , DOI: |
Proc. IEEE-RAS International Conference on Humanoid Robots (Humanoids 2018) | 2019-05-03 |
| 2019 |
Justin Carpentier, Guilhem Saurel, Gabriele Buondonno, Joseph Mirabel, Florent Lamiraux, Olivier Stasse and Nicolas Mansard The Pinocchio C++ library – A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives published pages: , ISSN: , DOI: |
IEEE/SICE International Symposium on System Integrations (SII 2019) | 2019-04-18 |
| 2018 |
Julian Viereck, Jules Kozolinsky, Alexander Herzog, Ludovic Righetti Learning a Structured Neural Network Policy for a Hopping Task published pages: 4092-4099, ISSN: 2377-3766, DOI: 10.1109/LRA.2018.2861466 |
IEEE Robotics and Automation Letters 3/4 | 2019-04-18 |
| 2018 |
Joao Silverio, Sylvain Calinon, Leonel Rozo, Darwin G. Caldwell Learning Task Priorities From Demonstrations published pages: 1-17, ISSN: 1552-3098, DOI: 10.1109/TRO.2018.2878355 |
IEEE Transactions on Robotics | 2019-04-18 |
| 2018 |
Daniel F. N. Gordon, Graham Henderson, Sethu Vijayakumar Effectively Quantifying the Performance of Lower-Limb Exoskeletons Over a Range of Walking Conditions published pages: , ISSN: 2296-9144, DOI: 10.3389/frobt.2018.00061 |
Frontiers in Robotics and AI 5 | 2019-05-03 |
| 2019 |
Rohan Budhiraja, Justin Carpentier, Nicolas Mansard Dynamics Consensus between Centroidal and Whole-Body Models for Locomotion of Legged Robots published pages: , ISSN: , DOI: |
IEEE International Conference on Robotics and Automation 2019 | 2019-04-02 |
| 2018 |
Steve Tonneau, Pierre Fernbach, Andrea Del Prete, Julien Pettré, Nicolas Mansard 2PAC published pages: 1-14, ISSN: 0730-0301, DOI: 10.1145/3213773 |
ACM Transactions on Graphics 37/5 | 2019-04-02 |
| 2018 |
Justin Carpentier, Nicolas Mansard Analytical Derivatives of Rigid Body Dynamics Algorithms published pages: , ISSN: , DOI: |
Robotics: Science and Systems (RSS 2018) | 2019-04-02 |
| 2018 |
Justin Carpentier, Nicolas Mansard Multicontact Locomotion of Legged Robots published pages: 1441-1460, ISSN: 1552-3098, DOI: 10.1109/TRO.2018.2862902 |
IEEE Transactions on Robotics 34/6 | 2019-04-02 |
| 2018 |
Dinesh Atchuthan, Angel Santamaria-Navarro, Nicolas Mansard, Olivier Stasse, Joan Solà Odometry Based on Auto-Calibrating Inertial Measurement Unit Attached to the Feet published pages: , ISSN: , DOI: |
European Control Conference (ECC 2018) | 2019-04-02 |
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