[robotics-worldwide] ICRA 2012 Workshop: Variable Stiffness Actuators moving the Robots of Tomorrow
R.Carloni at ewi.utwente.nl
R.Carloni at ewi.utwente.nl
Mon Mar 19 12:35:27 PDT 2012
ICRA 2012 WORKSHOP: Variable Stiffness Actuators moving the Robots of Tomorrow
Raffaella Carloni, University of Twente, The Netherlands
Bram Vanderborght, Vrije Universiteit Brussels, Belgium
Alin Albu-Schäffer, Deutschen Zentrums für Luft- und Raumfahrt, Germany
Antonio Bicchi, University of Pisa, Italy
In emerging robotic applications, in which robots need to cooperate closely with humans, traditional rigid structures and stiff actuation systems should be properly modeled and controlled in order to achieve adaptability, compliancy and safety. An alternative design approach is to build actuators with physically adjustable compliance and damping, able to store and release mechanical energy, to react softly when touching the environment, and intrinsically safe, just like human muscles do. Robots and biomechatronic systems can be given similar capabilities as humans by implementing variable impedance actuators, characterized by the property that their apparent output stiffness, and thus the stiffness of the actuated joint, can be changed independently from the actuator output position. Variable impedance actuators realize robust, energy-efficient and highly dynamic systems, which permit the embodiment of natural characteristics, found in biological systems, and implementable into a new generation of robots. This full-day workshop covers the challenges related to the technological realization and the functionalities of such actuation systems, in terms of both mechanical design and control, by mostly focusing on complex robotic and biomechatronic applications, such as robotic manipulation, bipedal and multi-legged locomotion, prosthetics (hands, arms and legs), rehabilitation devices and social robots (humanoids).
LIST OF TOPICS
Mechanical design of variable impedance actuators, Motion and stiffness control for variable impedance actuators, Mechanical-control co-design, Safety analysis and injury indices in human-robot interaction, Mechanical design of complex robotic and biomechatronic systems based on variable impedance actuations systems (hands, arms, legs, etc.), Control strategies for high dynamic behaviors of complex systems based on variable impedance actuations systems (throwing, running, drumming, etc.), Impedance observers, Standardization of the description of variable impedance actuators (data sheets), Energy efficiency, Robustness.
CONFIRMED INVITED SPEAKERS
- Alin Albu-Schäffer, Deutschen Zentrums für Luft- und Raumfahrt, Germany
- Antonio Bicchi, University of Pisa, Italy
- Etienne Burdet, Imperial College, United Kingdom
- Raffaella Carloni, University of Twente, The Netherlands
- Clément Gosselin, Université Laval, Canada
- Neville Hogan, Massachusetts Institute of Technology, USA
- Jonathan W. Hurst, Oregon State University, USA
- Nikolaos G. Tsagarakis, Italian Institute of Technology, Italy
- Bram Vanderborght, Vrije Universiteit Brussels, Belgium
- Sethu Vijayakumar, University of Edinburgh, United Kingdom
CALL FOR ABSTRACTS/POSTERS
- We invite submission of abstracts (one A4, in pdf).
- Authors of accepted abstracts will be given the opportunity to present their work during the poster session, preceded with a two-minutes presentation describing their poster.
- Please email your abstract to Raffaella Carloni (r.carloni at utwente.nl<mailto:r.carloni at utwente.nl>) by 8 April, 2012.
- 8 April, 2012: Abstract submission deadline
- 15 April, 2012: Notification of acceptance
- 14 May, 2012: Full day ICRA workshop
Raffaella Carloni, Ph.D.
University of Twente
Tel. +31 (0) 53 489 2817
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