PROJECT INFORMATION Emergence of Cognitive Grasping through Emulation, Introspection and Surprise www.grasp-project.eu

CONSORTIUM

• The aim of GRASP is the design of a cognitive system capable of performing grasping and manipulation tasks in open-ended environments, dealing with novelty, uncertainty and unforeseen situations. • To meet the aim of the project, studying the problem of object manipulation and grasping will provide a theoretical and measurable basis for system design that is valid in both human and artificial systems. • To demonstrate the feasibility of our approach, we will instantiate, implement and evaluate our theories and hypotheses on robot systems with different embodiments and complexity. • GRASP goes beyond the classical perceive-act or act-perceive approach and implements a predict-act perceive paradigm that originates from findings of human brain research and results of mental training in humans where the self-knowledge is retrieved through different emulation principles. • The knowledge of grasping in humans can be used to provide the initial model of the grasping process that then has to be grounded through introspection to the specific embodiment.

• To achieve open-ended cognitive behaviour, we use surprise to steer the generation of grasping knowledge and modeling.

Universität Karlsruhe (TH)

Karlsruhe, Germany Dr. T. Asfour Prof. R. Dillmann http://wwwiaim.ira.uka.de http://www.uni-karlsruhe.de

COORDINATOR: Kungliga Tekniska Högskolan

Stockholm, Sweden

Dr. Danica Kragic

Dr. Patric Jensfelt http://www.nada.kth.se/cvap http://www.cas.kth.se

Techniche Universität München Munich, Germany Prof. D. Burschka http://www6.in.tum.de/burschka/

PROJECT OBJECTIVES

1. Theory of Grasp Modeling - We study the requirements and effects of the agent's embodiment on the situatedness, awareness, task and environment understanding and thus provide the means for adaptation and self-reasoning. 2. Self- and Context-Awareness - We investigate how an agent benefits from using tutor based and autonomous exploration together with physical modeling of the world to learn more about the possibilities and constraints offered by its embodiment. 3. Curiosity and Surprise Driven Behaviour - We will show how the detection of an unexpected event or action is exploited to efficiently add new values, categories or dimensions to the grasping ontology while at the same time exploiting surprise to bootstrap the learning process. Expectations are derived from the prediction of agent behaviour using the experiences gained from self-awareness or introspection.

4. Inferring new Grasping Strategies - We will use the ontology and acquired general knowledge to generate expectations for grasping and manipulation tasks as means of correction between the predicted and the actual state. This will allow adaptation to new objects and situations without the need for extensive re-programming.

5. Exploitation to Future Prosthesis, Industrial and Service Markets - We set out to exploit the theoretical findings by investigating the grasp mapping to different artificial hands. The objective is to learn how kinematical design and the number of DOFs influence dexterity and how to optimize the graspable sub-set of all possible grasps while minimizing DOFs.

RESEARCH APPROACH AND WORKPACKAGES

1. Learning to Observe Human Grasping and Consequences of Grasping 2. Representations and Ontology for Learning and Abstraction of Grasping 3. Self-experience of Grasping and Multimodal Grounding 4. Perceiving Grasping Context and Interlinking Contextual Knowledge 5. Surprise: Detecting the Unexpected and Learning from it 6. Introspection and Prediction through Simulation 7. Cognitive Robotic Grasping Integration and Applications Ludwig-Maximilians-Universität

Munich, Germany Prof. H. Deubel http://www.psy.uni-muenchen.de/

Lappeenranta University of Technology

Lappeenranta, Finland Dr. V. Kyrki Prof. H. Handroos http://www.it.lut.fi/

Technische Universität Wien

Vienna, Austria Prof. M. Vincze http://www.acin.tuwien.ac.at/

Foundation for Research

and Technology - Hellas, Greece Prof. A. Argyros Dr. M. Lourakis http://www.ics.forth.gr/

Universitat Jaume I

Castellón, Spain Dr. A. Morales Prof. P. Sanz http://www.icc.uji.es/

Otto Bock

Vienna, Austria Dr. H. Dietl http://www.ottobock.at/

CONTACT: Danica Kragic

www.csc.kth.se/~danik

Tel: +468 790 6729 Fax: +468 7230302