Work plan

Unbenanntes Dokument

DEXMART 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

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  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

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  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

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  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

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  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

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  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


     Component level
     System level
     Application scenario


     Evaluation of the experimental results

Work package 7: Dissemination, Exploitation and Training

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     Web site
     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

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  Decision making management

  Administrative coordination

  Reporting procedures

  Financial management

Double strike in one day 16.12.2013

What an incredible coincidence: two Ex-DEXMARTians were awarded on the very same day!

Best scientific computer science PhD thesis of 2012 01.08.2013

Prize for Sven Schmidt-Rohr of Karlsruhe University, Germany