[robotics-worldwide] CfP: Workshop on "Torque-Controlled Humanoids" @ Humanoids 2013, Atlanta, Georgia

andrea.delprete andre.delprete at gmail.com
Thu Sep 5 11:08:42 PDT 2013


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CALL FOR PAPERS

Humanoids 2013, Atlanta, Georgia, USA
Workshop on "Torque-Controlled Humanoids"

http://www.codyco.eu/index.php/workshop-humanoids2013

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IMPORTANT DATES

• Submission Deadline: September 15, 2013
• Notification of Acceptance: September 25, 2013
• Workshop Date: October 15, 2013
• Conference Dates: October 15-17, 2013

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ORGANIZERS

• Andrea Del Prete, Istituto Italiano di Tecnologia, Genova, Italy
• Luis Sentis, Department of Mechanical Engineering, University of Texas, Austin

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OBJECTIVE

In the last ten years we have witnessed a shift in humanoid robotics, from position
control to torque control. Humanoids are supposed to be capable of dynamic, high-speed
motions. They also need to be sensitive enough to handle fragile objects. Moreover, we
want humanoids to be safe, so that they can cooperate with humans. Torque control
allows these robots to meet all these demanding requirements.
The aim of this full-day workshop is to advance the current approaches on wholebody
motion and force control. The goal is to get an accurate picture of the state of the
art and to understand the challenges of the current research. Possible discussions may
regard the hardware limitations of current humanoid platforms, and the dierent opensource
software implementations of whole-body control frameworks (e.g. iTasc, Stack of
Task, Whole-Body Control Framework).

In this workshop, invited speakers will give a (30 minutes) presentation on these topics. 
Accepted papers will be presented in a poster session. The talks will be followed by a one-hour 
panel discussion featuring the invited speakers and supplementary invited panelists.

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SUBMISSION

The organizers invite submissions of 1-2 page research papers, to be presented during the workshop 
in a 30-minute poster session. The papers will be reviewed and selected for presentation.

The papers can be submitted by e-mail to:
andrea.delprete at iit.it

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LIST OF TOPICS

The list of topics that characterize the content of the workshop are as follows:

• Whole-body motion/force control
* Open-source software control frameworks
* Low-level joint torque control
* Robot dynamics modeling
* Whole-body dynamics identification
* Force/torque sensing
* Control of underactuated systems
* Model predictive control for humanoids
* Impedance and hybrid control
• Physical human-robot interaction
* Walking and running
* Nonholonomic motion planning

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INVITED SPEAKERS (preliminary list)

* Luis Sentis (University of Texas, USA)

* Sami Haddadin (DLR, Germany)

* Tamim Asfour (KIT, Germany)

* Tom Erez (University of Washington, US)

* Francesco Nori (Istituto Italiano di Tecnologia, Genova, Italy)

* Twan Koolen (IHMC, US)



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