[robotics-worldwide] RSS Workshop on Advances in Simulation of Robot and Task Dynamics

Evan Drumwright edrumwri at gmail.com
Thu Jun 5 20:55:33 PDT 2008

Advances in Simulation of Robot and Task Dynamics
Robotics: Science and Systems 2008 Workshop
Zürich, Switzerland
June, 28  2008

Detailed program:  http://www.cs.memphis.edu/rss08-workshop/

Evan Drumwright, University of Memphis, USA, edrmwrgh at memphis.edu
Kurt Anderson, Rennselaer Polytechnic Institute, USA, anderk5 at rpi.edu
Roy Featherstone, Australian National University, Australia,
roy.featherstone at anu.edu.au

Fast algorithms for simulating robot dynamics using multibody
mechanics have existed for decades. However, simulated robots are
typically restricted to performing free-space motion or locomotive
tasks; only within the past few years has simulation of grasping been
achieved. Roboticists have yet to simulate performance of tasks that
theoretically should be capable of simulation with rigid body dynamics
alone, like some part assembly tasks; rigid body dynamics by itself is
inadequate to simulate many other tasks, like welding, driving screws,
cutting, and drilling.

The problems with the state-of-the-art are twofold. First, the
numerous approximations employed- whether due to computational
complexity requirements or modeling limitations- generally result in
algorithms that are surprisingly brittle; significant parameter tuning
is generally necessary to yield a stable simulation. Second, the
predominant use of only rigid body dynamics strongly limits the types
of tasks that can be simulated. Constraining the efforts to resolve
these problems is hampered by the requirements to adhere to physical
reality (as much as possible) and present low computational demands.

The purpose of this workshop is to inform roboticists of recent
advances that permit dynamic simulation of robots performing tasks
with greater robustness, accuracy, and speed than previously
available. This workshop will also survey work from the fields of
Mechanical Engineering, Computer Graphics, and Robotics toward
simulation of a wide range of tasks by robots.

Time	        Talk title	                                             Speaker
02:00	Welcome and Organizers' Introduction	     TBA

02:15	Efficient Dynamics of Flexible Bodies       Miguel A. Otaduy
                by Decoupling Global and Local

02:45	Aspects of Robot Dynamics Simulation    Roy Featherstone

03:15	Iterative Numerical Methods to Solve       Michael Moeller and
Christoph Glocker
                Normal Cone Inclusions	

03:45	Coffee Break	

04:00	A Robust Algorithm for Modeling              Evan Drumwright
                Contact in Dynamic Robotic Simulation

04:30	TBA	Oussama Khatib

05:00	Adaptive Flexible Body Divide and           Kurt Anderson
                Conquer Algorithm for the Efficient
                Modeling of Complex Systems	

05:30	Discussions (all participants) and
                closing remarks

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