FACT

The focus of FACT is on providing safe and flexible feedback in unforeseen situations, enhancement of human-robot cooperation and learning from experience. 

The project will develop a robot that intelligently assists workers during production and the interaction is based on visual feedback and natural communication. 

This kind of robots can be used as a Third hand for fetching, arranging and accurately positioning components of a larger assembly while the worker puts the parts together at the desired location. In a more complex scenario, the worker can:
- Instruct the robot by speaking to it and instruct what it needs help with. The robot approaches the work cell, aligns it body so that it can assist the human and performs a joint manipulation task together with the human.
- The robot observes the human performing a task and detects using a sensory feedback that human needs help, approaches the work cell and performs a joint manipulation task together with the human.

There are three parts in the project:
Learning from Collaboration in Object Handling and Manipulations Tasks

• Transformed Predictive Space Representation
• Learning grasping modulated by task and grasp-relevant features
• Task Sequencing, Global and Local Planning

Natural and Embodied Interaction

• A model for shared attention and mutual gaze
• A model for situated deictic utterance interpretation
• A framework for incremental dialogue and actuation

Exploitation of Human Motion Patterns and Interacting via Mobility

• Human motion tracking and recognition of basic interaction cues
• Recognition of spatio-temporally situated human activities
• Long-term learning of the spatio-temporal activity models

A central idea of the project is to run activities around the project to ensure that there are several forms of interaction between researchers and other stakeholders to stimulate ow of ideas, innovation and dissemination.One of the key mechanisms in FACT will be internships. The aim is that the doctoral students in this project will spend part of their time on company internships to ensure a good understanding of the problem domain and facilitate efficient integration of research results. We will define master thesis projects focused centered around FACT topics. The thesis projects will play an important rule in exploring new areas and developing demonstrators.

Staff:
Danica Kragic Jensfelt (Project leader)

PhD Students:

Funding: SSF (Stiftelsen för Strategisk Forskning) (GMT14-0082 )

Duration: 2015-12-01 - 2020-12-31