SAPHARI
Safe and Autonomous Physical Human-Aware Robot Interaction
| Coordinatore | UNIVERSITA DEGLI STUDI DI ROMA LA SAPIENZA
Organization address
address: Via Ariosto 25 contact info |
| Nazionalità Coordinatore | Italy [IT] |
| Totale costo | 11˙568˙420 € |
| EC contributo | 8˙297˙474 € |
| Programma | FP7-ICT
Specific Programme "Cooperation": Information and communication technologies |
| Code Call | FP7-ICT-2011-7 |
| Funding Scheme | CP |
| Anno di inizio | 2011 |
| Periodo (anno-mese-giorno) | 2011-11-01 - 2015-10-31 |
Partecipanti
| # | ||||
|---|---|---|---|---|
| 1 |
UNIVERSITA DEGLI STUDI DI ROMA LA SAPIENZA
Organization address
address: Via Ariosto 25 contact info |
IT (Roma) | coordinator | 0.00 |
| 2 |
Nome Ente NON disponibile
Organization address
address: VIALE BENEDUCE contact info |
IT (CASERTA) | participant | 0.00 |
| 3 |
CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE
Organization address
address: Rue Michel -Ange contact info |
FR (PARIS) | participant | 0.00 |
| 4 |
DEUTSCHES ZENTRUM FUER LUFT - UND RAUMFAHRT EV
Organization address
address: Linder Hoehe contact info |
DE (KOELN) | participant | 0.00 |
| 5 |
EUROPEAN AERONAUTIC DEFENCE AND SPACE COMPANY EADS FRANCE SAS
Organization address
address: Boulevard de Montmorency contact info |
FR (PARIS) | participant | 0.00 |
| 6 |
FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA
Organization address
address: VIA MOREGO contact info |
IT (GENOVA) | participant | 0.00 |
| 7 |
FRAUNHOFER-GESELLSCHAFT ZUR FOERDERUNG DER ANGEWANDTEN FORSCHUNG E.V
Organization address
address: Hansastrasse contact info |
DE (MUNCHEN) | participant | 0.00 |
| 8 |
KUKA Laboratories GmbH
Organization address
address: Zugspitzstrasse contact info |
DE (Augsburg) | participant | 0.00 |
| 9 |
TECHNISCHE UNIVERSITAET MUENCHEN
Organization address
address: Arcisstrasse contact info |
DE (MUENCHEN) | participant | 0.00 |
| 10 |
UNIVERSITA DEGLI STUDI DI NAPOLI FEDERICO II.
Organization address
address: Corso Umberto I contact info |
IT (NAPOLI) | participant | 0.00 |
| 11 |
UNIVERSITA DI PISA
Organization address
address: Lungarno Pacinotti contact info |
IT (PISA) | participant | 0.00 |
| 12 |
UNIVERSITAET BREMEN
Organization address
address: Bibliothekstrasse contact info |
DE (BREMEN) | participant | 0.00 |
| 13 |
UNIVERSITE PAUL SABATIER TOULOUSE III
Organization address
address: ROUTE DE NARBONNE contact info |
FR (TOULOUSE) | participant | 0.00 |
Mappa
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Obiettivo del progetto (Objective)
Recent progress in physical Human-Robot Interaction (pHRI) showed that active and safe workspace sharing becomes possible in principle. Inspired by these results, SAPHARI will perform a fundamental paradigm shift in robot development in the sense that we place the human as the centre of the entire design. We address all essential aspects of safe, intuitive physical interaction between humans and complex, human-like robotic systems in a strongly interconnected manner. While encompassing safety issues based on biomechanical analysis, human-friendly hardware design, and interaction control strategies, the project will develop and validate perceptive and cognitive key components that enable robots to track, understand and predict human motions in a weakly structured dynamic environment in real-time. Apart from developing the necessary capabilities for interactive autonomy, we will tightly incorporate the human safety also at the cognitive level. This will enable the robots to react or physically interact with humans in a safe and autonomous way. Biomechanical knowledge and biologically motivated variable compliance actuators will be used to design bimanual manipulation systems close to human properties and performance. Planning motions and tasks of such complex systems in real-time require new concepts, including tight coupling of control and planning, that lead to new reactive action generation behaviours. Moreover, self explaining interaction and communication frameworks will be developed to enhance the system usability. The project focuses on two industrial use cases that explicitly require contacts and force exchange in human-robot co-work, as well as on professional service scenarios in hospitals, in which a medical staff and an assisting robot interact closely during daily work. Results of this project are expected to strongly impact all applications where interactive robots can assist humans and release them from dangerous or routine tasks.