{"id":305,"date":"2017-02-08T21:25:55","date_gmt":"2017-02-08T19:25:55","guid":{"rendered":"http:\/\/members.loria.fr\/SIvaldi\/?page_id=305"},"modified":"2018-07-25T18:22:52","modified_gmt":"2018-07-25T16:22:52","slug":"codyco-2013-2017","status":"publish","type":"page","link":"https:\/\/members.loria.fr\/SIvaldi\/projets\/codyco-2013-2017\/","title":{"rendered":"CODYCO (2013-2017)"},"content":{"rendered":"<p style=\"text-align: center\">\n<!-- iframe plugin v.6.0 wordpress.org\/plugins\/iframe\/ -->\n<iframe loading=\"lazy\" src=\"https:\/\/www.youtube.com\/embed\/B-MIaXad508\" width=\"560\" height=\"315\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\" scrolling=\"yes\" class=\"iframe-class\"><\/iframe>\n<\/p>\n<h3><a href=\"https:\/\/team.inria.fr\/larsen\/files\/2017\/02\/CODYCOlogo.png\"><img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-1156 aligncenter\" src=\"https:\/\/team.inria.fr\/larsen\/files\/2017\/02\/CODYCOlogo.png\" alt=\"CODYCOlogo\" width=\"113\" height=\"118\" \/><\/a><\/h3>\n<h3 style=\"text-align: center\"><a href=\"http:\/\/codyco.eu\/\"><strong>Whole-Body Compliant Dynamical Contacts for Cognitive Humanoids<\/strong><\/a><\/h3>\n<p style=\"text-align: center\">(EU FP7 STREP, call ICT; 01\/03\/2013 \u2013 28\/02\/2017)<\/p>\n<p>The aim of CoDyCo is to advance the current control and cognitive understanding about robust, goal- directed whole-body motion interaction with multiple contacts. CoDyCo will go beyond traditional approaches: (1) proposing methodologies for performing coordinated interaction tasks with complex systems; (2) combining planning and compliance to deal with predictable and unpredictable events and contacts; (3) validating theoretical advances in real-world interaction scenarios with the <a href=\"http:\/\/www.icub.org\/\">iCub<\/a> humanoid robot engaged in whole-body goal-directed tasks. The evaluations will show the iCub exploiting rigid supportive contacts, learning to compensate for compliant contacts, and utilizing assistive physical interaction.<\/p>\n<h3>Our team<\/h3>\n<p><a href=\"https:\/\/members.loria.fr\/SIvaldi\/\">Serena Ivaldi<\/a>, Valerio Modugno (PhD, La Sapienza Univ. Rome), Oriane Dermy (PhD), Anthony Voilqu\u00e9 (master M2, 2016), Ugo Chervet (master M2, 2016)<\/p>\n<h3>Partners<\/h3>\n<ul>\n<li>Italian Institute of Technology (Francesco Nori \u2013 coordinator)<\/li>\n<li>University of Birmingham (Mike Mistry)<\/li>\n<li>Universit\u00e9 Pierre et Marie Curie (Vincent Padois)<\/li>\n<li>Josef Stefan Institute (Jan Babic)<\/li>\n<li>TU Darmstadt (Jan Peters)<\/li>\n<\/ul>\n<h3>Highlights<\/h3>\n<p><a href=\"http:\/\/members.loria.fr\/SIvaldi\/wp-content\/blogs.dir\/70\/files\/sites\/70\/2017\/02\/raising_robot.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-462\" src=\"http:\/\/members.loria.fr\/SIvaldi\/wp-content\/blogs.dir\/70\/files\/sites\/70\/2017\/02\/raising_robot-190x300.jpg\" alt=\"\" width=\"190\" height=\"300\" srcset=\"https:\/\/members.loria.fr\/SIvaldi\/wp-content\/blogs.dir\/70\/files\/sites\/70\/2017\/02\/raising_robot-190x300.jpg 190w, https:\/\/members.loria.fr\/SIvaldi\/wp-content\/blogs.dir\/70\/files\/sites\/70\/2017\/02\/raising_robot-647x1024.jpg 647w, https:\/\/members.loria.fr\/SIvaldi\/wp-content\/blogs.dir\/70\/files\/sites\/70\/2017\/02\/raising_robot.jpg 681w\" sizes=\"auto, (max-width: 190px) 100vw, 190px\" \/><\/a><br \/>\nPhysical human-robot interaction for lifting iCub from a chair &#8211; from Romano et al. (2017)<\/p>\n<p><a href=\"https:\/\/team.inria.fr\/larsen\/files\/2017\/02\/construction_phases_bar.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-1152\" src=\"https:\/\/team.inria.fr\/larsen\/files\/2017\/02\/construction_phases_bar-300x200.jpg\" alt=\"construction_phases_bar\" width=\"300\" height=\"200\" \/><\/a><br \/>\nCooperative assembly task between humans and the humanoid robot iCub &#8211; from <a href=\"https:\/\/hal.inria.fr\/hal-01322231\/document\">Ivaldi et al. (2016)<\/a><\/p>\n<p><a href=\"http:\/\/members.loria.fr\/SIvaldi\/wp-content\/blogs.dir\/70\/files\/sites\/70\/2017\/02\/Untitled.png\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-463\" src=\"http:\/\/members.loria.fr\/SIvaldi\/wp-content\/blogs.dir\/70\/files\/sites\/70\/2017\/02\/Untitled-224x300.png\" alt=\"\" width=\"224\" height=\"300\" srcset=\"https:\/\/members.loria.fr\/SIvaldi\/wp-content\/blogs.dir\/70\/files\/sites\/70\/2017\/02\/Untitled-224x300.png 224w, https:\/\/members.loria.fr\/SIvaldi\/wp-content\/blogs.dir\/70\/files\/sites\/70\/2017\/02\/Untitled.png 484w\" sizes=\"auto, (max-width: 224px) 100vw, 224px\" \/><\/a><br \/>\nTrajectory optimization for whole-body motions, such as stand-up from a chair, ensuring that constraints are never violated &#8211; from Modugno et al. (2017)<\/p>\n<p><a href=\"https:\/\/team.inria.fr\/larsen\/files\/2017\/02\/icub.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-1158\" src=\"https:\/\/team.inria.fr\/larsen\/files\/2017\/02\/icub-300x200.jpg\" alt=\"icub\" width=\"300\" height=\"200\" \/><\/a><br \/>\nLearning task priorities for optimizing\u00a0whole-body motions while ensuring that constraints are never violated &#8211; from <a href=\"https:\/\/hal.inria.fr\/hal-01377690\/document\">Modugno et al. (2016)<\/a><\/p>\n<h3>Main publications<\/h3>\n<ul>\n<li>Romano, F.; Nava, G.; Azad, M.; Camernik, J.; Dafarra, S.; Dermy, O.; Latella, C.; Lazzaroni, M.; Lober, R.; Lorenzini, M.; Pucci, D.; Sigaud, O.; Traversaro, S.; Babic, J.; Ivaldi, S.; Mistry, M.; Padois, V.; Nori, F.; (2017) <strong>The CoDyCo Project achievements and beyond: Towards Human Aware Whole-body Controllers for Physical Human Robot Interaction.<\/strong> IEEE Robotics and Automation Letters.<\/li>\n<li>Dermy, O.; Paraschos, A.; Ewerton, M.; Peters, J.; Charpillet, F.; Ivaldi, S. (2017)\u00a0<strong>Prediction of intention during interaction with iCub with Probabilistic Movement Primitives.<\/strong>\u00a0Frontiers in Robotics &amp; AI, 4:45, doi: 10.3389\/frobt.2017.00045.<\/li>\n<li>Padois, V.; Ivaldi, S.; Babic, J,; Mistry, M.; Peters, J.; Nori, F. (2016) <strong>Whole-body multi-contact motion in Humans and Humanoids: Advances of the CoDyCo European project.<\/strong> Robotics and Autonomous Systems.<\/li>\n<li>Ivaldi, S.; Lefort, S.; Peters, J.; Chetouani, M.; Provasi, J.; Zibetti, E. (2016) <strong>Towards engagement models that consider individual factors in HRI: on the relation of extroversion and negative attitude towards robots to gaze and speech during a human-robot assembly task.<\/strong> Int. Journal of Social Robotics.<\/li>\n<li>Ivaldi, S.; Babic, J.; Mistry, M.; Murphy, R. (2016) <strong>Special Issue on Whole-body control of contacts and dynamics for humanoid robots. <\/strong>Autonomous Robots, vol. 40, n.3, pp. 425-428.<\/li>\n<li>Modugno, V.; Chervet, U.; Oriolo, G.; Ivaldi, S. (2016) <strong>Learning soft task priorities for safe control of humanoid robots with constrained stochastic optimization.<\/strong> Proc. IEEE\/RAS International Conf. on Humanoid Robots (HUMANOIDS).<\/li>\n<li>Modugno, V.; Neumann, G.; Rueckert, E.; Oriolo, G.; Peters, J.; Ivaldi, S. (2016) <strong>Learning soft task priorities for control of redundant robots.<\/strong> Proc. IEEE International Conf. on Robotics and Automation (ICRA).<\/li>\n<li>Calandra, C.; Ivaldi, S.; Deisenroth, M.P.; Peters, J. (2015) <strong>Learning Torque Control in Presence of Contacts using Tactile Sensing from Robot Skin.<\/strong> Proc. IEEE\/RAS International Conf. on Humanoid Robots (HUMANOIDS).<\/li>\n<li>Calandra, R.; Ivaldi, S.; Deisenroth, M.P.; Rueckert, E.; Peters, J. (2015). <strong>Learning Inverse Dynamics Models with Contacts<\/strong>, Proc. IEEE International Conference on Robotics and Automation (ICRA).<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Whole-Body Compliant Dynamical Contacts for Cognitive Humanoids (EU FP7 STREP, call ICT; 01\/03\/2013 \u2013 28\/02\/2017) The aim of CoDyCo is to advance the current control and cognitive understanding about robust, goal- directed whole-body motion interaction with multiple contacts. CoDyCo will go beyond traditional approaches: (1) proposing methodologies for performing coordinated interaction tasks with complex systems; [&hellip;]<\/p>\n","protected":false},"author":53,"featured_media":0,"parent":22,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-305","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/members.loria.fr\/SIvaldi\/wp-json\/wp\/v2\/pages\/305","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/members.loria.fr\/SIvaldi\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/members.loria.fr\/SIvaldi\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/members.loria.fr\/SIvaldi\/wp-json\/wp\/v2\/users\/53"}],"replies":[{"embeddable":true,"href":"https:\/\/members.loria.fr\/SIvaldi\/wp-json\/wp\/v2\/comments?post=305"}],"version-history":[{"count":15,"href":"https:\/\/members.loria.fr\/SIvaldi\/wp-json\/wp\/v2\/pages\/305\/revisions"}],"predecessor-version":[{"id":585,"href":"https:\/\/members.loria.fr\/SIvaldi\/wp-json\/wp\/v2\/pages\/305\/revisions\/585"}],"up":[{"embeddable":true,"href":"https:\/\/members.loria.fr\/SIvaldi\/wp-json\/wp\/v2\/pages\/22"}],"wp:attachment":[{"href":"https:\/\/members.loria.fr\/SIvaldi\/wp-json\/wp\/v2\/media?parent=305"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}