D2.1 Requirements and Specification - CORBYS

D2.1 Requirements and Specification
9.1 EVALUATION METHODOLOGY, BENCHMARKING, METRICS, PROCEDURES AND ETHICAL ASSURANCE (TASK 9.1, UR) ............... 94
9.2 TRAINING ON CORBYS SYSTEM (TASK 9.2, IRSZR) ................................................................................................. 96
9.3 CONTINUOUS ASSESSMENT OF THE TECHNOLOGY UNDER THE DEVELOPMENT (TASK 9.3, IRSZR) ....................................... 97
9.4 EVALUATION OF THE RESEARCHED METHODS ON THE SECOND DEMONSTRATOR (TASK 9.4, UB) ........................................ 98
9.5 EVALUATION AND FEEDBACK TO DEVELOPMENT (TASK 9.5, NRZ) ................................................................................ 99
10 STATE‐OF‐THE‐ART IN SENSORS AND PERCEPTION (SINTEF) ....................................................................... 101
10.1 INTRODUCTION TO SENSORS AND PERCEPTION ....................................................................................................... 101
10.2 SENSOR PRINCIPLES FOR PERCEPTION IN HUMAN‐ROBOT INTERACTION ........................................................................ 101
10.3 INTERPRETATION OF MULTIPLE SENSOR SIGNALS ..................................................................................................... 109
10.4 SUMMARY ON TECHNOLOGY GAPS AND PRIORITIES FOR DEVELOPMENT IN CORBYS ...................................................... 111
11 STATE‐OF‐THE‐ART IN SITUATION ASSESSMENT (UR) ................................................................................. 112
11.1 INTRODUCTION ................................................................................................................................................ 112
11.2 SITUATION ASSESSMENT .................................................................................................................................... 113
11.3 RELEVANT APPROACHES .................................................................................................................................... 116
11.4 SUMMARY ON TECHNOLOGY GAPS AND PRIORITIES FOR DEVELOPMENT IN CORBYS ...................................................... 120
12 STATE‐OF‐THE‐ART IN BEHAVIOUR GENERATION, ANTICIPATION AND INITIATION (UH) ............................. 120
12.1 INTRODUCTORY COMMENTS .............................................................................................................................. 120
12.2 INFORMATION‐THEORETIC PRINCIPLES ................................................................................................................. 122
12.3 SELF‐ORGANISED BEHAVIOUR AND GOAL GENERATION ........................................................................................... 125
12.4 BEHAVIOUR ANTICIPATION, GENERATION AND INITIATION ....................................................................................... 128
12.5 TECHNOLOGICAL GAPS ...................................................................................................................................... 130
13 STATE‐OF‐THE‐ART IN ARCHITECTURES FOR COGNITIVE ROBOT CONTROL (UB) .......................................... 131
13.1 ARCHITECTURES FOR COGNITIVE CONTROL OF ROBOTIC SYSTEMS ............................................................................... 132
13.2 COGNITIVE ARCHITECTURES USED FOR CONTROLLING DIFFERENT ROBOTIC SYSTEMS ....................................................... 135
13.3 CORBYS ENABLING POTENTIAL AND CONSTRAINTS (CURRENT GAPS/SHORTCOMINGS) ................................................... 143
14 STATE‐OF‐THE‐ART IN SMART INTEGRATED ACTUATORS (SCHUNK) ........................................................... 143
14.1 INTRODUCTION TO SMART INTEGRATED ACTUATORS ............................................................................................... 143
14.2 BASIC ACTUATOR TECHNOLOGIES ........................................................................................................................ 143
14.3 CONTROL TECHNIQUES, INTERFACING, STANDARDISED DRIVE MODULES ...................................................................... 145
14.4 CORBYS ENABLING POTENTIAL AND CONSTRAINTS (CURRENT GAPS/SHORTCOMINGS) ................................................... 146
14.5 TECHNOLOGY INNOVATION REQUIREMENTS GAPS FILTER ELEMENTS ........................................................................... 146
15 STATE‐OF‐THE‐ART IN NON‐INVASIVE BRAIN COMPUTER INTERFACE (BBT) ................................................ 147
15.1 INVASIVE VS. NON‐INVASIVE BCI TECHNOLOGY AND ROBOTICS ................................................................................ 147
15.2 HARDWARE FOR NON‐INVASIVE BRAIN‐COMPUTER INTERFACES ............................................................................... 149
15.3 SOFTWARE FOR NON‐INVASIVE BRAIN‐COMPUTER INTERFACES ................................................................................ 152
15.4 THE ROLE OF EEG ARTEFACTS IN NON‐INVASIVE BCIS ............................................................................................ 155
15.5 DECODING THE COGNITIVE PROCESS REQUIRED IN CORBYS .................................................................................... 157
16 STATE‐OF‐THE‐ART IN GAIT REHABILITATION SYSTEMS (VUB) .................................................................... 163
16.1 GAIT REHABILITATION ....................................................................................................................................... 163
16.2 GAIT REHABILITATION ROBOTS ............................................................................................................................ 165
16.3 ROBOT CONTROL STRATEGIES FOR GAIT ASSISTANCE ................................................................................................ 170
17 STATE‐OF‐THE‐ART IN ROBOTIC SYSTEMS FOR EXAMINING HAZARDOUS ENVIRONMENTS ......................... 174
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