Cognitive Interaction in Motion - CogIMon

CogIMon is a EU-funded research project in the Horizon 2020 Work Programme. The robotics project is part of the Industrial Leadership pillar and hosted by the section for Information and Communication Technologies.


Compliant control in humans is exploited in a variety of sophisticated skills. These include solitary actions such as soft catching, sliding, pushing large objects as well as joint actions performed in teams such as mainpulation of large scale objects or mutual adaptation through phyiscal coupling for learning, in walking or in execution of joint tasks. We refer to this advanced ability of organizing versatile motion under varying contact and impedance as cognitive compliant interaction in motion. The CogIMon project aims at a step-change in human-robot interaction toward the systemic integration of robust, dependable interaction capabilities for teams of humans and compliant robots, in particular the compliant humanoid COMAN. We focus on interaction that requires active and adaptive regulation of motion and behavior of both the human(s) and the robot(s) and involves whole-body variable impedance actuation, adaptability, prediction, and flexibility. This goal shall be achieved through sophisticated real-world robot demonstrations of interactive compliant soft catching and throwing, interaction with COMANS under changing contact and team constellation, and in model-driven fully engineering multi-arm handling shared by Kuka LWR robots and humans working along.

Key advancements towords this goal are targeted in mechatronics and whole-body motion control, in model-driven software engineering, in estimating and predicting motion for kinematic motion tracking data, in devising force and impedance primitives and architectures for respective technology combinations.


The CogIMon project aims at high impact in society. Human motions, robotics, software development and learning are the main scientific areas. CogIMon aims at changing the way robots interact with humans by introducing more flexible, compliant, learning and user friendly robots.

The project fosters dissemination activities in the following areas:

  • Peer-reviewed publications are made available on the publication page of the  CogIMon website.
  • Dissemination events as keynote talks, conference talks, media events and others are announced in the news section or via Twitter.
  • The CogIMon project commits to a number of public deliverables that are periodically published online on the deliverable page.
  • The project commits to the publication of source code and data.
  • Images and dissemination videos are made available on the project website.