CoDyCo

Whole-body Compliant Dynamical Contacts in Cognitive Humanoids

Coordinatore	FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA    more  Organization address address: VIA MOREGO 30 city: GENOVA postcode: 16163 contact info Titolo: Ms. Nome: Chiara Cognome: Andreoli Email: send email Telefono: 3901070000000 Fax: 390107000000
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

#	participant	country	role	EC contrib. [€]
1	FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA  Organization address address: VIA MOREGO 30 city: GENOVA postcode: 16163 contact info Titolo: Ms. Nome: Chiara Cognome: Andreoli Email: send email Telefono: 3901070000000 Fax: 390107000000	IT (GENOVA)	coordinator	0.00
2	CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE  Organization address address: Rue Michel -Ange 3 city: PARIS postcode: 75794 contact info Titolo: Mr. Nome: Louis Cognome: Avigdor Email: send email Telefono: +33 1 42349417 Fax: +33 1 42349508	FR (PARIS)	participant	0.00
3	INSTITUT JOZEF STEFAN  Organization address address: Jamova 39 city: LJUBLJANA postcode: 1000 contact info Titolo: Prof. Nome: Jadran Cognome: Lenar?i? Email: send email Telefono: +386 1 477 3513	SI (LJUBLJANA)	participant	0.00
4	TECHNISCHE UNIVERSITAET DARMSTADT  Organization address address: Karolinenplatz 5 city: DARMSTADT postcode: 64289 contact info Titolo: Prof. Nome: Jan Cognome: Peters Email: send email Telefono: +49 6151 167351 Fax: +49 6151 167374	DE (DARMSTADT)	participant	0.00
5	THE UNIVERSITY OF BIRMINGHAM  Organization address address: Edgbaston city: BIRMINGHAM postcode: B15 2TT contact info Titolo: Ms. Nome: Erica Cognome: Conway Email: send email Telefono: 441214000000 Fax: 441214000000	UK (BIRMINGHAM)	participant	0.00
6	UNIVERSITE PIERRE ET MARIE CURIE - PARIS 6  Organization address address: Place Jussieu 4 city: PARIS postcode: 75252 contact info Titolo: Ms. Nome: Ella Cognome: Bouquet Email: send email Telefono: +33 144279777 Fax: +33 144277467	FR (PARIS)	participant	0.00

Mappa

 Word cloud

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

 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.