Project objectives and results
The main goal of the PROJECT IGRAMO (Improving GRAsping Movements by predictions based on Observation) was aimed at designing and developing an autonomous robotic system for handling objects. In such a system, a virtual robotic agent learns how to manipulate different objects by observing a human handling the same set of objects. The project developed new management paradigms, based on multiagent systems (MAS) concepts for the coordination of the robotic arm with a multi-fingered gripper. In the project, fingers and a camera are modeled as independent rational autonomous agents working together to coordinate and plan movements in a discreet state space. Fingers using various coordination and collaborative techniques (e.g. coordination graphs, methods of negotiating and resolving conflicts), cooperate with other gripper fingers and with the camera in the realization of the task: bringing a convex object of manipulation from the starting position to the target position, surrounding it, capturing it and transporting it in a coordinated and collaborative way, and at the same time avoiding obstacles that are on the way. The improvement of the efficiency of the execution of capture tasks is noticable. The developed MAS paradigm promises certain benefits not only when managing multi-fingered grippers, but also entire production systems made up of robots and manipulators.
Kratke činjenice
Lokacija: Stockholm/Zagreb
Vrijeme trajanja: 1.2.2009. – 1.2.2011.
Program: Unity through knowledge fund (UKF)
Iznos projekta (HRK): 458.934,00
Iznos koji je dala donatorska organizacija (HRK): 458.934,00
Suvoditelj projekta: prof. dr. sc. Bojan Jerbić
Vodeći partner: KTH Royal Institute of Technology
Izvor financiranja: UKF grant
The project was co-financed by the European Union from the European Regional Development Fund
The website was co-financed by the European Union from the European Regional Development Fund.
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