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Emergence of Cognitive Grasping through Emulation, Introspection, and Surprise
01.03.2008 - 31.05.2012
Forschungsförderungsprojekt
The aim of GRASP is the design of a cognitive system capable of performing tasks in open-ended environments, dealing with uncertainty and novel situations. The design of such a system must take into account three important facts: i)~it has to be based on solid theoretical basis, and ii)~it has to be extensively evaluated on suitable and measurable basis, thus iii)~allowing for self-understanding and self-extension. We have decided to study the problem of object manipulation and grasping, by providing theoretical and measurable basis for system design that are valid in both human and artificial systems. We believe that this is of utmost importance for the design of artificial cognitive systems that are to be deployed in real environments and interact with humans and other artificial agents. Such systems need the ability to exploit the innate knowledge and self-understanding to gradually develop cognitive capabilities. To demonstrate the feasibility of our approach, we will instantiate, implement and evaluate our theories on robot systems with different emobodiments and levels of complexity. These systems will operate in real-world scenarios, with and without human intervention and tutoring. GRASP will develop means for robotic systems to reason about graspable targets, to explore and investigate their physical properties and finally to make artificial hands grasp any object. We will use theoretical, computational and experimental studies to model skilled sensorimotor behavior based on known principles governing grasping and manipulation tasks performed by humans. Therefore, GRASP sets out to integrate a large body of findings from disciplines such as neuroscience, cognitive science, robotics, multi-modal perception and machine learning to achieve a core capability: Grasping any object by building up relations between task setting, embodied hand actions, object attributes, and contextual knowledge.
Personen
Projektleiter_in
Markus Vincze
(E376)
Projektmitarbeiter_innen
Aitor Aldoma-Buchaca
(E376)
Andreas Baldinger
(E376)
Dzemaludin Efendic
(E376)
David Fischinger
(E376)
Leonidas Lefakis
(E376)
Sven Olufs
(E376)
Manuel Pascual Garcia-Tubio
(E376)
Ekaterina Potapova
(E376)
Johann Prankl
(E376)
Mario Richtsfeld
(E376)
Lech Szumilas
(E376)
Karthik Mahesh Varadarajan
(E376)
Walter Wohlkinger
(E376)
Michael Zillich
(E376)
Institut
E376 - Institut für Automatisierungs- und Regelungstechnik
Förderungmittel
European Commission (EU)
6.RP: IST - Technologien der Informationsgesellschaft
6.Rahmenprogramm für Forschung
Europäische Kommission - Rahmenprogamme
Europäische Kommission
Ausschreibungskennung FP7 1st Call
Antragsnummer 215821
Forschungsschwerpunkte
Cognitive and adaptive Automation and Robotics: 100%
Schlagwörter
Deutsch
Englisch
Greiffen mit Robotern
Robot grasping
Bildverarbeitung
Image Processing
Vorhersage von Greifpunkten
Prediction of grasp points
Simulation von Greifprozessen
Grasp simulation
Kognitives Greifsystem
Cognitive grasping system
Externe Partner_innen
Technische Universität München
Universität Karlsruhe (Technische Hochschule)
LAPPEENRANNAN TEKNILLINEN YLIOPISTO
Kungliga Tekniska Hoegskolan
Universitat Jaume I, Castelon del la Plana
Otto Bock Healthcare Products GmbH
Foundation for Research and Technology Hellas
Publikationen
Publikationsliste