[robotics-worldwide] SAPHARI project
Alessandro De Luca
deluca at dis.uniroma1.it
Tue Nov 1 15:03:59 PDT 2011
We are glad to announce that the European Collaborative Project FP7-ICT 287513 SAPHARI started officially on November 1, 2011.
This four-year project is devoted to the Safe and Autonomous Physical Human-Aware Robot Interaction.
Additional information can be found in the project web site http://www.saphari.eu.
New PhD and post-doc positions related to SAPHARI will soon be open. Please stay tuned or contact in advance one of the partners.
Alessandro De Luca, SAPHARI Project Coordinator
Alin Albu-Schaeffer, SAPHARI Scientific Co-Coordinator
DIS, Universita' di Roma "La Sapienza" (UNIROMA1)
Institute of Robotics and Mechatronics (DLR)
European Aeronautic Defence and Space Company (EADS)
Fondazione Istituto Italiano di Tecnologia (IIT)
Fraunhofer-Institute of Optronics, System Technologies and Image Exploitation (IOSB)
KUKA Laboratories GmbH (KUKA)
Centre National de la Recherche Scientifique (LAAS-CNRS)
Technical University of Munich (TUM)
Universita' di Napoli Federico II (UNINA)
Università di Pisa (UNIPI)
SAPHARI Project Abstract
Recent progress in physical Human-Robot Interaction (pHRI) showed that active and safe workspace sharing becomes possible in principle. Inspired by these results, SAPHARI will perform a fundamental paradigm shift in robot development in the sense that we place the human as the centre of the entire design. We address all essential aspects of safe, intuitive physical interaction between humans and complex, human-like robotic systems in a strongly interconnected manner. While encompassing safety issues based on biomechanical analysis, human-friendly hardware design, and interaction control strategies, the project will develop and validate perceptive and cognitive key components that enable robots to track, understand and predict human motions in a weakly structured dynamic environment in real time. Apart from developing the necessary capabilities for interactive autonomy, we will tightly incorporate the human safety also at the cognitive level. This will enable the robots to react or physically interact with humans in a safe and autonomous way. Biomechanical knowledge and biologically motivated variable compliance actuators will be used to design bimanual manipulation systems close to human properties and performance. Planning motions and tasks of such complex systems in real-time require new concepts, including tight coupling of control and planning, that lead to new reactive action generation behaviours. Moreover, self explaining interaction and communication frameworks will be developed to enhance the system usability. The project focuses on two industrial use cases that explicitly require contacts and force exchange in human-robot co-work, as well as on professional service scenarios in hospitals, in which a medical staff and an assisting robot interact closely during daily work. Results of this project are expected to strongly impact all applications where interactive robots can assist humans and release them from dangerous or routine tasks.
Alessandro De Luca
Dipartimento di Informatica e Sistemistica "A. Ruberti"
Universita' di Roma "La Sapienza"
Via Ariosto 25
00185 Roma, Italy
tel: +39 06 77274052
fax: +39 06 77274033
email: deluca at dis.uniroma1.it
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