CODYCO

CoDyCo
Titre :	Whole-body Compliant Dynamical Contacts in Cognitive Humanoids
Budget :	4 349 k€
Subventions :	FP7-ICT (3 175 k€)
Sous-programme :	Cognitive Systems and Robotics
Type de contrat :	Collaborative project
Début :	1er mars 2013
Fin :	28 février 2017
Retour à la liste des projets du programme

CoDyCo est l'acronyme du projet européen Whole-body Compliant Dynamical Contacts in Cognitive Humanoids, qui a pour référence sur le service CORDIS 600716.

Note : les éléments ci-dessus ont été traduits de la description du projet sur CORDIS.

English description

Note : Les objectifs suivants sont repris de la fiche du projet sur Cordis

Objective

The aim of CoDyCo is to advance the current control and cognitive understanding about robust, goaldirectedwhole-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.First, CoDyCo will advance the state-of-the-art in the way robots coordinate physical interaction andphysical mobility. Traditional industrial applications involve robots with limited mobility. Consequently,interaction (e.g. manipulation) was treated separately from whole-body posture (e.g. balancing), assumingthe robot firmly connected to the ground. Foreseen applications involve robots with augmented autonomyand physical mobility. Within this novel context, physical interaction influences stability and balance. Toallow robots to surpass barriers between interaction and posture control, CoDyCo will be grounded inprinciples governing whole-body coordination with contact dynamics.Second, CoDyCo will go beyond traditional approaches in dealing with all perceptual and motor aspectsof physical interaction, unpredictability included. Recent developments in compliant actuation and touchsensing allow safe and robust physical interaction from unexpected contact including humans. The nextadvancement for cognitive robots, however, is the ability not only to cope with unpredictable contact, butalso to exploit predictable contact in ways that will assist in goal achievement.Third, the achievement of the project objectives will be validated in real-world scenarios with the iCubhumanoid robot engaged in whole-body goal-directed tasks. The evaluations will show the iCub exploitingrigid supportive contacts, learning to compensate for compliant contacts, and utilizing assistive physicalinteraction.

 

Les partenaires du projet

Coordinateur du projet

• Fondazione istituto italiano di tecnologia - Gênes (Italie)

Partenaires

• Université de technologie de Darmstadt - Darmstadt (Allemagne)
• Université Paris-6 - Paris (Île-de-France, France)
• INRIA - Nancy (France)
• Institut Jozef Stefan - Ljubljana (Slovénie)
• Université de Birmingham - Birmingham (Royaume-Uni)
• Centre national de la recherche scientifique (CNRS) - Paris (Île-de-France, France)

Financement

• Coût total du projet : 4 349 193 €
• Subvention de la Commission européenne (programme FP7-ICT) : 3 174 999 €

Dates importantes

• Date de début : 1^er mars 2013
• Date de fin : 28 février 2017