[robotics-worldwide] IEEE Humanoids Workshop on Optimal Control and Path Planning for Humanoid and Industrial Robots

Katja Mombaur katja.mombaur at iwr.uni-heidelberg.de
Wed Sep 26 07:26:03 PDT 2012

**Call for Participation **

**   Workshop - Generating Optimal Paths in Humanoid and Industrial 

**IEEE Humanoids 2012 Nov 29, 2012 in Osaka**


Humanoid and industrial robots are required to perform motions in more 
and more complex and constantly changing environments. The generation of 
the best possible robot motion that does not violate any constraints 
imposed by the environment is a challenging and important problem in 
both humanoid and industrial robotics. There are two different 
algorithmic approaches that both address this problem from different 
perspectives, namely path planning and numerical optimal control. Path 
planning is mainly interested in the determination of a feasible path in 
very complex environments based on geometric and kinematic models. 
Numerical optimal control techniques are capable to generate optimal 
trajectories for robot manipulators or humanoid robots taking into 
account the dynamics; however the treatment of a large number of 
environmental constraints giving rise to many local minima makes the 
problems very hard, if not impossible, to solve. The goal of this 
workshop is to gather researchers working in path planning with 
researchers working in optimal control, in order to give an overview of 
the state of the art and to discuss the issues related to combining 
algorithms from both fields. The workshop is organized within the 
European FP7 project ECHORD-GOP (Generating Optimal Paths).


  * Efficient numerical algorithms for optimal control and path planning
  * Algorithmic approaches and software frameworks to combine them
  * Handling different types of constraints: robot dynamics, complex
    obstacle dynamic as well as time varying constraints imposed by the
  * Applications of optimal control and path planning in humanoid
    robotics: walking, grasping, manipulation
  * Other interesting robotic applications
  * Modeling robots and their environment in the context of optimal
    control and path planning
  * Online optimization

Confirmed speakers:

  * James Kuffner, CMU & Google, USA
  * Abderrahmane Kheddar, CNRS / AIST Tsukuba, Japan
  * Kensuke Harada, AIST Tsukuba, Japan
  * Serena Ivaldi. ISIR Paris, France
  * Mike Stilman, Georgia Tech, USA
  * Chris Atkeson, CMU, USA
  * Francesco Nori, IIT, Genova, Italy
  * Nicolas Perrin, IIT, Genova, Italy
  * Jean-Paul Laumond, LAAS-CNRS, France
  * Katja Mombaur, University of Heidelberg, Germany

Katja Mombaur, Martin Felis, IWR, Universität Heidelberg, Germany

Forient Lamiraux, Antonio El Khoury, LAAS-CNRS, Toulouse

More information at

http://www.humanoidrobots.org/humanoids2012/    > Workshops/Tutorials   
 >  WS 2

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