[robotics-worldwide] Call for participation: ICRA 2013 Workshop on high-performance hydraulic robots (FR-WS-14)

Claudio Semini claudio.semini at iit.it
Mon May 6 08:10:19 PDT 2013

*Call for Participation to the ICRA 2013 workshop on high-performance 
hydraulic robots*
date: Friday, 10th of May 2013  (8:50-18:00)
location: Forum 1 (Stadthalle, ground floor)

Design and Control of High-Performance Hydraulic Robots:
Recent Advances and Perspectives


Organizers: Claudio Semini, Jonas Buchli, Jerry Pratt, Ludovic Righetti 
and Samer Alfayad

List of Speakers:
-Claudio Semini, IIT, Italy
-Jonas Buchli, ETHZ, Switzerland
-Ludovic Righetti, MPI IS, Germany
-Ioannis Poulakakis, University of Delaware, USA
-Nick Payton, IHMC, USA
-Hui Chai and Yi-bin Li, Shandong University, China
-Pranav Bhounsule, Disney Research, USA
-Sang-ho Hyon, Ritsumeikan University, Japan
-Arno Stienen, University of Twente, the Netherlands
-Samer Alfayad, TUM/UVSQ, Germany/France

Interactive workshop/tutorial session (11:30 - 12:45):
- "Mechanical Design of the FastRunner Leg", Ionut Mihai Constantin 
Olaru, Chris Schmidt-Wetekam, Nicholas Payton, Gray Thomas, Johnny 
Godowski, Jerry Pratt and Sebastien Cotton; Bio-Inspired Robotic Lab at 
the Florida Institute for Human and Machine Cognition (IHMC).
- "Mechanical and Control Design Issues in Hydraulic Compliance 
Control", Thiago Boaventura, Claudio Semini, Jonas Buchli and Darwin G. 
Caldwell; Advanced Robotics Department, Istituto Italiano di Tecnologia 
(IIT) and Agile & Dexterous Robotics Lab, ETH Zurich (for J. Buchli).
- "Design of Backdrivable Mechanisms with Electro-Hydrostatic 
Actuators", Hiroshi Kaminaga and Yoshihiko Nakamura; Department of 
Mechano-Informatics, Graduate School of Information Science and 
Technology, The University of Tokyo.
- "Application of Hydraulic Actuators to Robot platforms", Kitak Ahn, 
Seongcheol Jang, Hyoungkwon Kim, Jaejun Park and Sungmoo Ryew; Research 
Institute in KNR systems Inc.

Legged machines are expected to demonstrate superior mobility on rough 
terrain when compared to the more traditional wheeled and tracked 
vehicles. The agility, balancing and climbing skills of humans and 
animals are proof of this potential and usually the main motivation of 
the researchers in this field. Despite these efforts, however, the state 
of the art in the field of legged robots is still far from such 
performance. A major reason for this gap is the lack of robots with 
powerful actuation that is robust against the impacts associated to 
legged locomotion, can be torque-controlled and is compact, yet fast and 
strong. Hydraulic actuation systems meet these requirements and indeed 
most of the high-performance robots to date are driven by hydraulics.
This full-day workshop aims to bring together key researchers of 
academia and industry to discuss and assess the state of the art in the 
design and control of high-performance hydraulic robots and robotic 
devices. Furthermore, we intend to challenge the wide-spread fear and 
skepticism of roboticians that hydraulic actuation is dirty, constantly 
leaking and difficult to control. Discussion rounds about the challenges 
in the design and control of hydraulic robots will complete the workshop.

List of Topics
- Design of legged robots with hydraulic actuation
- Design of hydraulic actuators and power systems for robotic systems
- Design of rehabilitation devices with hydraulic actuation
- Torque control of hydraulic actuators
- Balancing of hydraulic legged robots
- Highly dynamic motions of hydraulic robots
- Rough terrain locomotion of hydraulic robots
- Whole body control of hydraulic robots
- Solutions towards energy efficient hydraulic actuation

Claudio Semini (on behalf of the organizing committee)
Claudio Semini, PhD
Italian Institute of Technology (IIT)
Advanced Robotics Department
Via Morego 30, 16163 Genoa, Italy
phone: +39 010 71781 912
email: claudio.semini at iit.it
web: www.semini.ch or

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