[robotics-worldwide] Call for contributions and participation: IEEE Humanoids 2011 Workshop

Katja Mombaur katja.mombaur at iwr.uni-heidelberg.de
Wed Oct 5 00:51:26 PDT 2011

                  Call for contributions and participation:
                  **   IEEE Humanoids 2011 Workshop **
Dynamic Modeling and Optimal Control of Humanoid Robots
                     Oct. 26, 2011 in Bled, Slovenia
Organizers: Katja Mombaur, University of Heidelberg, Germany
Wael Suleiman, University of Sherbrooke, Canada

The goal of this workshop is to gather specialists of dynamic modeling 
and optimal control problems and efficient feedback control for humanoid 

Humanoid robots are highly complex dynamical systems which are subject 
to many constraints determined by their geometries, their actuators, 
their control systems -  in particular their stability control - as well 
as their environment. Controlling humanoid robots is a particularly 
challenging task. The goal in humanoid robotics today is often not only 
to determine a feasible motion for a given robot, but to find the best 
possible motion in the given situation. The optimization criterion 
depends on the circumstances -- e.g. the fastest, highest, most 
efficient, smoothest or most natural motion (i.e. resembling the human 
role model) will be desired. When performed already during the design 
process, also design variables can be chosen in an optimal manner. On 
the other hand, such optimization processes do not only appear off-line 
-- i.e. in the planning process of a motion -- but also online, asking 
for an optimal reaction of the robot to a perturbation.

Topics of this workshop include but are not limited to:

    * Modeling dynamic motions of humanoid robots
    * Optimal control techniques and available tools for off-line
      optimization of humanoid robot motions
    * Efficient stability control of humanoid robots
    * Real-time optimization and model predictive control
    * Hierarchical problem formulation for optimization problems in
      humanoid robots
    * Optimization of walking motions for different objective functions
    * Optimization of reaching motions
    * Optimization of interaction between humanoid robots and between
      humans and humanoids
    * Optimization of dynamic object manipulation
    * Biologically inspired optimization criteria for humanoid robots
    * Imitation of human motions on humanoids

List of confirmed speakers :

    * Chris Atkeson, CMU, USA
    * Karim Bouyarmane, CNRS-AIST, JRL, Tsukuba, Japan
    * Olivier Bruneau, LISV-UVSQ, Paris, France
    * Thomas Buschmann, TU München, Germany,
    * James Kuffner, CMU, USA
    * Katja Mombaur, University of Heidelberg, Germany
    * Thomas Moulard, LAAS-CNRS, Toulouse, France
    * Christian Ott, DLR, Munich, Germany
    * Katayon Radkhah, Darmstadt University of Technology, Germany

If you wish to give a presentation at this workshop, please submit a 
talk title and an abstract of 20 lines to
katja.mombaur at iwr.uni-heidelberg.de 
<mailto:katja.mombaur at iwr.uni-heidelberg.de> until October 10, 2011.
For participation, please register at the conference web page 

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