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Work plan

 

 

Work package 1: Observation and learning from humans

  Motion capture of humans manipulating objects

	Set up of a sensory environment for observation of manipulation tasks
	Human model and definition of best skeletal model of the hand and marker set selection
	Kinematic modelling of the human handAcquisition and fusion of kinetostatic data

  Natural motion/grasp/manipulation analysis using multimodal sensory data

	Natural motion acquisition and representation and behaviour modelling
	Analysis of relevant features for observation of dual-hand and multi-strategy manipulation
	Observation and classification in different granularity: from fingertips to observation of the body

  Observation and deduction of manipulation goals

	Observation and deduction of bimanual manipulation goals
	Analysis of the information exchanged during object handling

Work package 2: Scene, Objects and Dexterous Manipulation Representation

  Scene models and representations

	Multimodal object exploration
	Development of obstacle representations to integrate with the capability map of the robot
	Representation of scene dynamics

Low-level representations to derive/deduce control parameters from task description

  Task models and representation

	Classification of primitive actions
	Taxonomy of bimanual grasping and manipulation

Analysis of well established performance indices for robots to establish the capability map

Mapping of the kinematic capabilities of a robot to the task workspace

Probabilistic representation of manipulation goals and strategies of manipulation activities

Human-robot interactive task modelling

Work package 3: Artificial Cognitive System for Dual-Arm/Hand Manipulation

  Execution reasoning for dual-arm manipulation tasks

	Task dependent decomposition of manipulation activities into atomic dual-arm manipulation actions
	Scene analysis and task reasoning component
	Task dependent decision functions (e.g. ranking) of activity repertoire

Reasoning to plan a task globally

  Adaptive planning of dual-arm manipulation actions

	Adaptation of established grasp and path planning techniques to accept context information from task planners
	Real-time planning

Planning for human aware manipulation

Adaptive low-level reference trajectory generation

Probabilistic representation of manipulation goals and strategies of manipulation activities

Human-robot interactive task modelling

  Dual-arm manipulation task coordination

	Concurrent scheduling of task-dependent and persistent manipulation constraints
	Online monitoring of consistency between manipulation, task and goals
	Online time planning and monitoring of control sequences

  Learning of new actions and enrichment of the knowledge base

	Clustering of manipulation activities by structural, kinematical or/and topological abstraction
	Improving manipulation planner by learning

Work package 4: Dual-Arm/Hand Control

  Control issues at actuation level

	Control of smart actuators
	Integration of sensory information

  Control issues at execution level

	Real-time estimation of contact/environment compliance
	Finger control strategies

Coordinated control for single-hand manipulation

Coordinated control for dual-arm/hand manipulation

Coordinated control for manipulation of objects commonly held by humans and robots

Safe interaction control for human aware manipulation

 Control issues at coordination and organisation levels

	Control law selection and phase transition control for dual-arm/hand system
	Control law selection and task planning for the hand

  Control architecture and hardware

	Control architecture for the hand
	Control architecture for the manipulation system

Work package 5: Towards the Next Generation of Robotic Hands

  Tactile, force and displacement sensors

	Design of miniaturised force/tactile sensors
	Design of displacement sensors
	Design of joint torque sensors

Integration of the sensors in the mechanical structure of the hand and on the soft cover

  Actuators based on smart materials and structure

	Compliant actuation and transmission in robot hands/arms
	Actuator concept

Actuator design and manufacturing

Actuator modelling and simulation

Actuator testing

  Finger soft covers

	Selection and characterisation of materials
	Definition of the construction procedure, design of proper tools
	Modelling of the compliant pads

  New finger kinematical design and realisation 1:1 with human finger

	Definition of the kinematical structure
	Definition of the degree of freedom

  Design, integration and production of the hand, actuation, control sub-systems within the arm

	Definition of the structure
	Production of hand prototypes
	Design and integration

Work package 6: Benchmarking and Experiments

  Control issues at actuation Specification of benchmarks

	Component level
	System level
	Application scenario

  Setting up of test-beds and integration of RTD results

	Dexterous hands
	Robotic arms

Observation and motion capture of humans and robots manipulating objects

  Experiments

	Component level
	System level
	Application scenario

  Analysis

Evaluation of the experimental results

Work package 7: Dissemination, Exploitation and Training

  Dissemination

	Web site
	Newsletter

Dissemination material

Scientific and technical papers publications

Conferences, special workshops and exhibitions

Interfacing with other projects

  Training activities

	Internal workshops
	Website tutorials

  Exploitation, management of knowledge and IPR issues

Work package 8: Management

  Decision making management

  Administrative coordination

  Reporting procedures

  Financial management