Team, Visitors, External Collaborators
Overall Objectives
Research Program
Highlights of the Year
New Software and Platforms
New Results
Bilateral Contracts and Grants with Industry
Partnerships and Cooperations
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Section: Research Program

Main Vision

The vision of Rainbow (and foreseen applications) calls for several general scientific challenges: (i) high-level of autonomy for complex robots in complex (unstructured) environments, (ii) forward interfaces for letting an operator giving high-level commands to the robot, (iii) backward interfaces for informing the operator about the robot `status', (iv) user studies for assessing the best interfacing, which will clearly depend on the particular task/situation. Within Rainbow we plan to tackle these challenges at different levels of depth:

Figure 1. An illustration of the prototypical activities foreseen in Rainbow in which a human operator is in partial (and high-level) control of single/multiple complex robots performing semi-autonomous tasks

Figure 1 depicts in an illustrative way the prototypical activities foreseen in Rainbow. On the righthand side, complex robots (dual manipulators, humanoid, single/multiple mobile robots) need to perform some task with high degree of autonomy. On the lefthand side, a human operator gives some high-level commands and receives a visual/haptic feedback aimed at informing her/him at best of the robot status. Again, the main challenges that Rainbow will tackle to address these issues are (in order of relevance): (i) methods and algorithms, mostly based on first-principle modeling and, when possible, on numerical methods for online/reactive trajectory generation, for enabling the robots with high autonomy; (ii) design and implementation of visual/haptic cues for interfacing the human operator with the robots, with a special attention to novel combinations of grounded/ungrounded (wearable) haptic devices; (iii) user and acceptability studies.