RSS 2015 workshop
Towards a Unifying Framework for Whole-body and Manipulation Control
July 17th, 2015 - Rome, Italy
Organizers:
- Francesco Nori.
- Robotics Brain and Cognitive Sciences Department, Istituto Italiano di Tecnologia.
- Maximo A. Roa.
- DLR German Aerospace Center, Institute of Robotics and Mechatronics. 
- Daniele Pucci.
- Robotics Brain and Cognitive Sciences Department, Istituto Italiano di Tecnolgia. .
- Edoardo Farnioli.
- Advanced Robotics Department, Istituto Italiano di Tecnolgia.
- Marco Gabiccini.
- Department of Mechanical, Nuclear and Production Engineering, University of Pisa.
- Antonio Bicchi.
- Istituto Italiano di Tecnolgia and Research Center "E. Piaggio'', University of Pisa.
Related IEEE technical committees:
- TC on "Humanoid Robotics"
- TC on "Whole-Body Control"
- TC on "Robotic Hands, Grasping and Manipulation"
- TC on "Mobile Manipulation"
Abstract:
Manipulation and whole-body motion control are two of the most active research areas in the robotic community. Interestingly enough, there are structural similari- ties between the mathematical models of a robotic hand manipulating an object and a humanoid robot in contact with the environment. For instance, both systems are redun- dant, underactuated, and constrained by the interaction with the environment. Despite these similarities, manipulation and whole-body control have developed along different directions by two hardly connected communities. The relevant differences arise in the modelling of the contacts (e.g. soft-finger contacts vs. rigid contacts), in the adopted stability criteria (e.g. force closure vs. zero moment point conditions), and in the sim- plified models used for control design (e.g. quasi-static manipulation vs. linear inverted pendulum model).
The goal of the present workshop is to invite experts in manipulation and whole-body control to discuss similarities and differences in their respective research areas. Speakers will be invited to discuss the possibility of developing a unique framework that allows both manipulation and whole-body motion control.
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 |
F. Nori - IIT - pdf |
09:00-09:30 |
A. Del Prete - LAAS, CNRS - pdf |
09:30-10:00 |
K. Hauser - Duke University - pdf |
10:00 - 10:30
|
Coffee break
|
10:30-11:00 |
M. Ciocarlie - Columbia University - pdf |
11:00-11:30 |
S. Kim - MIT - pdf |
11:30-12:00 |
A. Bicchi - University of Pisa, IIT - pdf |
12:00-14:30
|
Lunch break RSS2015-WholeBody |
14:30-15:00 |
S. Shaal - USC, Max-Planck-Insitute - pdf |
15:00-15:30 |
E. Todorov - Washington University - pdf |
15:30-16:00
|
Coffee break
|
16:00-16:30 |
Q.-C. Pham - NTU - pdf |
16:30-17:00 |
D. Prattichizzo - University of Siena - pdf |
17:00-17:30 |
M. A. Roa - DLR - pdf |
17:30-17:45
|
Round table |
Related EU projects: