Website: http://coglaboration.eu

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
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3. Index
• Consortium
• Project overview
• Project Fiche
• Main concepts
3. Work packages
4. Dissemination tools
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4. Consortium
• Project Coordinator
• Partners
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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
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6. Index
• Consortium
• Project overview
• Project Fiche
• Main concepts
3. Work packages
4. Dissemination tools
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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
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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
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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
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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
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11. Index
1. Consortium
2. Project overview
• Project Fiche
• Main concepts
• Work packages
• Dissemination tools
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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
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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
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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
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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)
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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
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17. Index
1. Consortium
2. Project overview
• Project Fiche
• Main concepts
• Work packages
• Dissemination tools
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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
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19. ICT-2011-7-2.1
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