CORBYS

Project Objectives

CORBYS > Project Overview > Project Objectives

Objectives

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1. Sensing systems for assessing dynamic robot environments including humans

CORBYS will focus on robotic systems that have a symbiotic relationship with humans. This objective concerns the development of a perception system for assessing the physical and mental state of the environment including humans. The perception system will include multimodal sensory feedback together with the BCI (Brain Computer Interface) detection of cognitive processes that are important for human motor control and learning.

2. Self-awareness as a basis for adaptation of robot behaviour

In CORBYS a robot that is aware of both situations that are internal to itself, and, the effects of external events on itself will be considered as a self-aware robot. A Situation Assessment Architecture is being developed which will make a self-aware robot capable of sensing both its own internal state and the environment; reacting appropriately to such inputs, and inferring the implications of the resulting actions. This architecture will be supported by ontological representation of the robot’s various sensors and actuators, as well as semantic-cognitive modelling of the actors’ behaviour within the interactive environment to support reflexive and reflective robot responses that are continuously re-optimised through experiential learning to responsively re-adapt the robot performance; this is supported by advanced FPGA Technology.

3. Anticipation in the context of a human-robot synergy

The CORBYS cognitive framework for the anticipation of human behaviour and the creation of synergy with this behaviour in the context of robot assistance will be developed based on biologically inspired information-theoretic principles. Information-theoretic tools will be developed to extract the intended human purpose from the limited-information observed behaviours. This will allow the measurement and analysis of anticipatory information flow between human and robot to identify whether additional help is needed or the human can be “weaned off” the robot.

4. Cognitive robot control

The CORBYS objective is to establish generic control approaches, applicable to a wide range of robotic systems that will allow inclusion of cognitive structures such as perception, attention, anticipation and reasoning into control structures of existing and future robotic systems. A cognitive control framework as a basis for control systems will be developed as well as approaches for simulation and methods for evaluation of performances of cognitive controlled robotic systems. The developed theory will be tested on real-world robotic systems, novel robotic gait rehabilitation system and an existing autonomous robotic system for investigation of of hazardous environment.

5. Cognitive mobile robot-assisted gait rehabilitation

The objective is to develop a robotic gait rehabilitation system in which the gait rehabilitation will be significantly improved through several innovative system features. The system will combine a mobile platform together with a powered orthosis. Proper selection of actuated/free degrees of freedom on both orthosis and platform will provide patients practicing of natural dynamically balanced walking which is of the highest importance for achieving optimal gait rehabilitation as representing the most important feature of human walking. The system will, due to high-level cognitive skills, according to sensory information be aware of patient’s physical and mental state, current rehabilitation stage, rehabilitation progress and will be able to anticipate the user’s intentions and adapt its action to further the patient’s movement. The system will support patients in practicing specific task oriented motions as the task oriented gait rehabilitation and active participation are recognised as key factors in any kind of rehabilitation.