ECCEROBOT

The project can be split into the following work packages:

Work package 1 - Management

1. Provision of efficient and effective consortium co-ordination, management, and administration
2. Provision of efficient and effective scientific and technical coordination and management

Work package 2 - Robot body, actuators, and infrastructure

1. Design, manufacture, and assembly of the planned series of compliant ECCEROBOT platforms.
2. Optimisation of final design for deskilled manufacture and improved performance.
3. Ad-hoc supply of test rigs as required by other partner for evaluation work.

Work package 3 - Sensor and sensory infrastructure

1. To design, develop, and supply adequate sensor suite for the basic robot chassis.
2. To design, develop, and supply a suitable distributed support infrastructure for the sensors.
3. To design, develop, and supply signal conditioning and low-level integration for single sensors and unimodal arrays.
4. To unite sensory system and physics-based simulation to accelerate the development of the artificial "cognitive" system.

Work package 4 - Engineering analysis and control theory

1. Develop appropriate mathematical models of ECCEROBOT system dynamics
2. Create a classical engineering model-based system analysis and synthesis of controllers.
3. Evaluate performance in tasks where the classical engineering approach is applicable.
4. Establish the limits of the classical engineering approach and identify tasks and situations requiring an alternative  Cognitively-based approach
5. Working within the framework defined by TUM in WP7, provide the basis for a “synergetic” approach
   that uses classical methods at some control levels, and an alternative cognitively-based approach at others

Work package 5 - Physics based simulation and internal modelling for control

1. To develop ECCEOS physics based simulations of CRONOS2/ECCE1, ECCE2, and ECCE3 robots and components
2. To perform motion capture on CRONOS2/ECCE1, ECCE2, and ECCE3 robots as required
3. To develop SLAM-based visual system for inserting body, surfaces, and objects into physics based world model
4. To connect robot proprioceptors to ECCEOS for real time configuration and feedback
5. To develop and test internal model based control for CRONOS2/ECCE1, ECCE2, and ECCE3 robots
6. To integrate the internal model based controller into the architectural framework defined by TUM in WP7 Task 7.4..

Work package 6 - Sensory motor strategies for control and cognition

1. perform extensive quantitative analyses of the causal interaction between morphology, control, and robot behaviour
2. provide a quantitative understanding of how morphology induces information structure, guides information flow, and simplifies control
3. extend the notion of forward model to incorporate body dynamics
4. develop an explicit quantitative framework that unifies morphology, control, and behavioural processes on the basis of their informational dependencies

Work package 7 - Architecture, standards, integration, and evaluation

1. Establish a set of design tools, and familiarise partners with their use.
2. Monitor quality and conformance to standards
3. Design, develop, and supply power, bus, and actuator electronics
4. Design integration architecture and software
5. Carry out integration testing
6. Carry out final evaluation

Work package 8 - Knowledge Transfer and Dissemination

1. Effective dissemination of knowledge and scientific results both inside and outside the consortium
2. Management of IPR and potential exploitation issues.
3. Video and text documentation, archiving, and dissemination of the novel constructional techniques developed in the project