Humanoids 2013 workshop


Torque-Controlled Humanoids

Full-day Workshop @ Humanoids 2013 

October 15, 2013 - Atlanta, Georgia, USA

Download program with abstracts (pdf).

NEWS: Slides of the presentations are available!

Important Dates

  • Poster Submission Deadline: September 22, 2013
  • Notification of Acceptance: September 30, 2013
  • Workshop Date: October 15, 2013
  • Conference Dates: October 15-17, 2013



In the last ten years we have witnessed a shift in humanoid robotics, from position control to torque control. Humanoids are supposed to be capable of dynamic, high-speed motions. They also need to be sensitive enough to handle fragile objects. Moreover, we want humanoids to be safe, so that they can cooperate with humans. Torque control allows these robots to meet all these demanding requirements.

The aim of this full-day workshop is to advance the current approaches on whole-body motion and force control. The goal is to get an accurate picture of the state of the art and to understand the challenges of the current research. Possible discussions may regard the hardware limitations of current humanoid platforms, and the open-source software implementations of whole-body control frameworks (e.g. iTasc, Stack of Task, Whole-Body Control Framework).


  • Whole-body motion/force control
  • Open-source software control frameworks
  • Low-level joint torque control
  • Robot dynamics modeling
  • Whole-body dynamics identification
  • Force/torque sensing
  • Control of underactuated systems
  • Model predictive control for humanoids
  • Impedance and hybrid control
  • Physical human-robot interaction
  • Walking and running
  • Nonholonomic motion planning


08:45 - 09:00 Introduction - Andrea Del Prete, Luis Sentis.
09:00 – 09:30 Twan Koolen (MIT, US) –Whole-body control based on centroidal  momentum and motion constraints
09:30 – 10:00 Sami Haddadin (DLR, Germany) - "Intrinsically Elastic Actuation: A Novel Paradigm for High-Performance Torque Controlled Robots"
 10:00 - 10:30   Coffee break 
10:30 - 11:00 Andrea Del Prete (IIT, Italy) – “Prioritized Optimal Control" 
11:00 – 11:30 Federico Moro(IIT, Italy) – “An Attractor-based Whole-Body Motion Control (WBMC) System for Humanoid Robots”
11:30 – 12:00 Azamat Shakhimardanov (University of Leuven, Belgium) – “Vereshchagin’s algorithm for the linear-time hybrid dynamics and control with weighted or prioritized partial motion constraints in tree-structured kinematic chains”
12:00 – 13:30  Lunch break 
13:30 - 14:00 Thiago Boaventura (ETH, Switzerland) – “Torque and Impedance Control for Articulated Robots”
 14:00 – 14:30  Luis Sentis (University of Texas, US) – “Programming and controlling humanoid robots with multicontact constraints
14:30 – 15:00  Poster session 
15:00 – 15:30  Coffee break 
15:30 – 16:00  Tamim Asfour (KIT, Germany) – “Unifying force-based representations for the design of high performance humanoid robots"
16:00 - 16:30 Tom Erez (University of Washington, US) – “An integrated system for Model Predictive Control of humanoid robots”
16:30 - 17:00 Michael Mistry (University of Birmingham, UK) – “Exploiting Redundancy to Optimize the Task Space” 
17:00 - 17:30 Round table and discussion  


Additional information