ICRA 2013 workshop
Whole-body Compliant Dynamical Contacts for Humanoid Robotics
May 10th, 2013 - Karlsruhe, Germany
Organizers:
- Serena Ivaldi (Institut des Systemes Intelligents et de Robotique, CNRS UMR 7222 & University Pierre et Marie Curie, Paris, France)
- Tadej Petric (Jozef Stefan Institute, Ljubljana, Slovenia)
- Jan Babic (Jozef Stefan Institute, Ljubljana, Slovenia)
- Mike Mistry (University of Birmingham, UK)
Program (pdf) and schedule of the day!
Titles and abstracts of their presentations as well as the slides can be found in the detailed program here.
Abstract:
For complex systems, such as humanoid robots, to persist and act in natural environments like humans do, contacts and physical interaction become necessary and unavoidable. Robots may exploit predictable contacts to aid in goal achievement, as well as learn dynamics of contact in order to generalize over novel tasks and domains. Critically, robots should also be robust enough to cope with unpredictable contacts, via safe control mechanisms and compliance.
The aim of this full-day workshop is to advance the current control approaches and understanding about robust, goal-directed whole-body motion interaction through multiple contacts.
Topics:
- Contacts planning and control
- Whole-body task control
- Compliant whole-body movements
- Dynamics in humanoid robots
- Machine learning and optimization methods for contact planning and control
Confirmed speakers:
- Oussama Khatib (Stanford University, USA)
- Abderrhamane Kheddar (CNRS-AIST, Japan)
- Christian Ott (DLR, Germany)
- Jan Peters (Technische Universitaet Darmstadt,Germany)
- Ludovic Righetti (University of Southern California,USA & Max Planck Institute, Germany)
- Vincent Padois (ISIR, CNRS UMR 7222 & University Pierre et Marie Curie, Paris, France)
- Francesco Nori (Istituto Italiano di Tecnologia,Genova, Italy)
- Jaeheung Park (Seoul National University, Korea)
- Sang-Ho Hyon (Ritsumeikan University and ATR, Japan)
- Nicolas Mansard (LAAS/CNRS, France)
Topics:
- Contacts planning and control
- Whole-body task control
- Compliant whole-body movements
- Dynamics in humanoid robots
- Machine learning and optimization methods for contact planning and control
Program for the day:
|
Time |
Talk |
|
08:45 - 09:00 |
Introduction Serena Ivaldi, Tadej Petric, Jan Babic, Mike Mistry |
|
09:00 – 09:30 |
Whole-body motion with the iCub Francesco Nori |
|
09:30 – 10:00 |
|
|
10:00 - 10:30
|
Coffee break
|
|
10:30 - 11:00 |
Hybrid Drive for Torque-Controlled Exoskeleton and Humanoid robots Sang-Ho Hyon |
|
11:00 – 11:30 |
Jan Peters |
|
11:30 – 12:00 |
Active sensing strategies for contact with compliant whole-body control framework Jaeheung Park |
|
12:00 - 14:30
|
Lunch break |
|
14:30 – 15:00 |
Multi-contact non-gaited planning: from contact points to motion Abderrhamane Kheddar |
|
15:00 – 15:30 |
Exploiting and controlling contact interactions for locomotion and manipulation tasks Ludovic Righetti |
|
15:30 – 16:00
|
Coffee break
|
|
16:00 – 16:30 |
Constraint-Consistent Whole-Body Robot Formulation Oussama Khatib |
|
16:30 – 17:00 |
Nicolas Mansard |
|
17:00 – 17:30 |
Extending nullspace compliance control to multiple hierarchical subtasks Christian Ott |
|
17:30 - 17:45 |
Discussion and conclusion Serena Ivaldi, Tadej Petric, Jan Babic, Mike Mistry |