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DPI2011-25892

Financiado

APRENDIZAJE DE AFFORDANCS PARA EL CONTROL DE ROBOTS POR INTENCIONES

ONE OF THE MAIN SOCIAL CHALLENGES IN THE NEAR FUTURE FOR THE SPANISH SOCIETY IS TO FACE THE INCREASE OF DEPENDENT PEOPLE DUE TO AGING OR ILLNESS. ACCORDING TO INE STATISTICS, ONE PER CENT OF THE POPULATION SUFFER IMPAIRMENTS RELAT... ver más

01/01/2011

UNIZAR

61K€

Presupuesto del proyecto: 61K€

Líder del proyecto

UNIVERSIDAD DE ZARAGOZA. OFICINA DE TRANSFERE... No se ha especificado una descripción o un objeto social para esta compañía.

Sin perfil tecnológico

Financiación concedida El organismo AGENCIA ESTATAL DE INVESTIGACIÓN notifico la concesión del proyecto el día 2011-01-01 No tenemos la información de la convocatoria

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Información adicional privada

No hay información privada compartida para este proyecto. Habla con el coordinador.

Participantes

UNIZAR

Lider

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Líder del proyecto

UNIVERSIDAD DE ZARAGOZA. OFICINA DE TRANSFERE... No se ha especificado una descripción o un objeto social para esta compañía.

Sin perfil tecnológico

Presupuesto del proyecto 61K€

Descripción del proyecto ONE OF THE MAIN SOCIAL CHALLENGES IN THE NEAR FUTURE FOR THE SPANISH SOCIETY IS TO FACE THE INCREASE OF DEPENDENT PEOPLE DUE TO AGING OR ILLNESS. ACCORDING TO INE STATISTICS, ONE PER CENT OF THE POPULATION SUFFER IMPAIRMENTS RELATED TO THE MOTOR SYSTEM AND OVER 400.000 PEOPLE HAVE SOME TYPE OF LIMITATION ON THE UPPER LIMB. ROBOTICS IS ONE OF THE MOST PROMISING TECHNOLOGIES TO IMPROVE THE QUALITY OF LIVE OF IMPAIRED PEOPLE, SINCE ROBOTS CAN HELP TO RESTORE OR SUBSTITUTE MOTOR FUNCTIONS. THE LONG-TERM VISION OF SUCH A SYSTEM WOULD BE A ROBOTIC DEVICE CONTROLLED BY THE USER IN A NATURAL WAY TO EXECUTE DAILY ACTIONS. FOR CERTAIN TARGET POPULATIONS WITH SEVERE MOTOR IMPAIRMENTS, BRAIN-COMPUTER INTERFACES (BCI) SEEM THE MOST APPROPRIATE INTERFACE. UNFORTUNATELY, THE CONTROL OF A ROBOTIC ARM WITH A BCI INTERFACE IS STILL AN OPEN CHALLENGE. IN THIS CONTEXT, THE OBJECTIVE OF LAICO IS TO EQUIP A ROBOTIC ARM WITH THE REQUIRED A PRIORI KNOWLEDGE EMBEDDED IN EVERY DAY TASKS THAT ALLOW A SEAMLESS INTERACTION WITH A HUMAN USING A NON-INVASIVE BCI. THE PROJECT DRAWS INSPIRATION FROM HUMAN MOTOR CONTROL WHICH, ACCORDING TO NEUROSCIENCE STUDIES, RESULTS FROM THE INTERPLAY OF TWO FUNCTIONALLY SEPARABLE SYSTEMS: AN INTENTIONAL SYSTEM THAT IMPLEMENTS THE GOALS AND INTENTIONS AND AN ENVIRONMENTALLY-GUIDED EXECUTION SYSTEM THAT CONTROLS THE INTERACTION WITH THE ENVIRONMENT. THE KEY NOVELTY OF THE PROJECT IS TO USE THIS TWO-LEVEL ARCHITECTURE WITH AN INTELLIGENT ARM THAT INTERPRETS THE ENVIRONMENT IN A SIMILAR WAY TO THE EXECUTION LEVEL IN HUMANS. ONE SUCH A SYSTEM WILL CREATE AN IMPLICIT COMMUNICATION CHANNEL THROUGH THE ENVIRONMENT PROPERTIES THAT WILL IN TURN SIMPLIFY THE CONTROL OF THE ROBOT BY RELYING ON ITS OWN LEARNED BEHAVIORS TO SOLVE THE TASKS. THE MAIN CHALLENGES OF THE PROJECT ARE: 1) TO DEVELOP THE MODELS AND LEARNING ALGORITHMS THAT WILL INTERPRET THE ENVIRONMENT IN TERMS OF ROBOT ACTIONS AND CONSEQUENCES, A.K.A. AFFORDANCES; 2) TO DEVELOP MOTION PRIMITIVES THAT ALLOW TO EXPLOIT THIS AFFORDANCE KNOWLEDGE; AND 3) TO CREATE AN INTENTIONAL LEVEL BASED ON A BCI SYSTEM TO SPECIFY THE GOALS AND INTENTIONS OF THE USER AND EXPLOIT THE ROBOTIC DEVICE. TO ILLUSTRATE THE ADVANTAGES OF SUCH A SCHEME, LAICO WILL BUILD A FULLY OPERATIONAL PROTOTYPE OF A BRAIN-CONTROLLED ROBOTIC ARM BASED ON THE TWO LEVEL ARCHITECTURE. THE DEMONSTRATOR WILL BE ABLE TO OPERATE IN REALISTIC CONDITIONS TO EXECUTE SIMPLE EVERY DAY TASKS SUCH AS POURING WATER OR ANSWERING THE PHONE WHILE CONTROLLED THROUGH THE BCI SYSTEM. THE PROJECT FOLLOWS A TYPE A PROJECT FOR YOUNG RESEARCHERS AND ESTABLISHES A NEW LINE OF RESEARCH WITHIN THE ROBOTICS, PERCEPTION AND REAL TIME GROUP AT THE UNIVERSITY OF ZARAGOZA. IT CONTINUES THE RESEARCH ACTIVITIES STARTED BY THE PRINCIPAL INVESTIGATOR WHILE WORKING FOR THREE YEARS AS A RESEARCHER AT THE INSTITUTO SUPERIOR TECNICO IN LISBON. THE RESEARCH TEAM COMBINES THE EXPERTISE AND KNOWLEDGE OF FOUR DIFFERENT INSTITUTIONS THE ROBOTICS GROUP AT THE UNIVERSITY OF ZARAGOZA, THE CENTRO UNIVERSITARIO DE LA DEFENSA OF ZARAGOZA, THE INRIA IN BORDEAUX, FRANCE AND THE MAX-PLANK INSTITUTE IN TUBINGEN, GERMANY. THE SYNERGY OF THE MEMBERS OF THE TEAM IS A KEY ASSET OF THE PROPOSAL, SINCE THEY HAVE BEEN ACTIVELY COLLABORATING DURING THE LAST YEARS ON THE FIELDS OF ROBOT LEARNING AND HUMANOID ROBOTS, BAYESIAN STATISTICS, REINFORCEMENT LEARNING AND CONTROL PROBLEMS. PRENDIZAJE AUTOMATICO\ROBOTS INTELIGENTES

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