CogLaboration. Project summary
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The project aims to develop a cognitive system for fluid human-robot object exchange. A consortium was formed with partners responsible for various tasks like computer vision, robotics, and evaluation. The project will last 3 years, be funded by the EU, and align with their strategic research agenda. Work packages include understanding human-human exchange cognition, developing scene understanding modules, a neuroscience-based control architecture, and integrating the system onto a prototype robot. Dissemination will occur through a website, social media, and project management contacts.
CogLaboration. Project summary
- 1. PROJECT SUMMARY ICT-2011-7-2.1 287888
- 2. Index 1. Consortium 2. Project overview • Project Fiche • Main concepts 3. Work packages 4. Dissemination tools ICT-2011-7-2.1 2 287888
- 3. Index • Consortium • Project overview • Project Fiche • Main concepts 3. Work packages 4. Dissemination tools ICT-2011-7-2.1 3 287888
- 4. Consortium • Project Coordinator • Partners ICT-2011-7-2.1 4 287888
- 5. Consortium • Roles – Treelogic – SSSA • Project Coordinator • Hand control algorithms • Computer vision developer • Robotic hand developer • Semantic technologies expert – RURobots – Tecnalia • SW methodology provider • Technical Manager • Scenario provider • Cognitive system designer • Exploitation expert • Robotic system integrator – UOB • Quality Manager • H-H object exchange principles • Evaluation procedure ICT-2011-7-2.1 5 287888
- 6. Index • Consortium • Project overview • Project Fiche • Main concepts 3. Work packages 4. Dissemination tools ICT-2011-7-2.1 6 287888
- 7. Project overview Project Fiche • Funded the European Union Seventh Framework Programme. FP7-ICT-7-2.1 (No. 287888) • Duration: – 36 months (November 2011 – October 2014) • Consortium – Treelogic (Coordinator) – Tecnalia (Technical Manager) – University of Birmingham (Quality Manager) – Scuola Superiore Sant’Anna – RURobots • EUROP SRA alignment ICT-2011-7-2.1 7 287888
- 8. Project overview Main concepts • CogLaboration aims: – To understand the cognition of H-H object exchange – To work in weakly controlled and natural tasks – To design physical sensing devices in a robotic hand – To implement artificial cognitive systems – To handle efficient and fluid Human-Robot object exchange • Challenges – The adaptation of robot’s motion based on the human’s actions. – Getting the cognition of exchange beyond the kinematics and dynamics. • Where will the exchange take place? • How will the object be presented in the hand-over? • Proactive behavior for human intentions ICT-2011-7-2.1 8 287888
- 9. Project overview Main concepts • Scientific objectives: – To design a model of the cognition of fluent object exchange. How? • Describing detailed scenarios and types of human users • Specifying basic performance and cognitive components of object exchange • Modeling how intentions can be detected and recognized • Modeling how gestures can be used to coordinate actions – To describe the basic cognitive capacities needed for fluent object exchange. How? • Modeling the evolution of visual focus of attention • Modeling the typical pose, reach and grasp motions • Identifying the forces applied onto the object • Identifying failure, rescue and restore strategies ICT-2011-7-2.1 9 287888
- 10. Project overview Main concepts • Technical objectives: – To develop a set of vision modules • Characterizing objects and human postures – To design a robotic hand • Equipped with compliant sensory fingers • Level of sensitivity in accordance to the required force magnitude – To assemble the robotic hand with a robotic arm • Human arm-like kinematics – To implement a control architecture based on cognitive neuroscience • Implementing arm motor algorithms with real-time continuous tuning • Implementing hand grasp/actions control algorithms ICT-2011-7-2.1 10 287888
- 11. Index 1. Consortium 2. Project overview • Project Fiche • Main concepts • Work packages • Dissemination tools ICT-2011-7-2.1 11 287888
- 12. Work packages WP1 Project Management WP6 Artificial Cognitive System WP3 Scene and Situation Understanding Evaluation WP4 Control Architectures based on Cognitive Neuroscience WP5 Artificial Cognitive System Integration WP7 Dissemination and Exploitation ICT-2011-7-2.1 12 287888
- 13. Work packages WP2 – Cognitive Principles of H-H Object Exchange • Objective – Understand the HH object exchange cognitive process to identify and model critical parameters. – Execute behavioral studies in different conditions • Outcomes – Set of quantitative requirements • Arm & hand trajectories, velocity & acceleration • Force variation during handover – Qualitative user feedback – Identification of the perception cues – Characterization of non verbal communication flow ICT-2011-7-2.1 13 287888
- 14. Work packages WP3 – Scene and situation understanding • Objective – Provide to the Artificial Cognitive System all the visual information to trigger control actions according to neuroscience model – Achieving a visual understanding from the object and the human body • Outcomes – Object recognition and tracking module – Pose estimation and hand tracking – Handling knowledgebase ICT-2011-7-2.1 14 287888
- 15. Work packages WP4 – Neuroscience-based control architecture • Objective – Design a bio-inspired controller focusing on object exchange to provide a human-like motion behaviour – Implement a hierarchical decision-making process • Outcomes – Hand motion control system – Cognitive Architecture able to • Recognize the intended human motion and define the suitable robot trajectory (low frequency) • Locally adapt the defined motion pattern to the observed human behavior (high frequency) ICT-2011-7-2.1 15 287888
- 16. Work packages WP5 – Artificial cognitive systems integration • Objective – Provide the physical systems – Software and hardware integration • Outcomes – Physical prototype – Hand sensory system • Hardware integration • Software integration ICT-2011-7-2.1 16 287888
- 17. Index 1. Consortium 2. Project overview • Project Fiche • Main concepts • Work packages • Dissemination tools ICT-2011-7-2.1 17 287888
- 18. Dissemination tools Public Website • http://coglaboration.eu Twitter • https://twitter.com/coglaboration SlideShare • http://www.slideshare.net/coglaboration Project Management Office • info@coglaboration.eu ICT-2011-7-2.1 18 287888
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