[robotics-worldwide] [meetings] CfP: IROS Workshop on Compliant Manipulation: Challenges in Learning and Control

Klas Kronander klas.kronander at epfl.ch
Wed May 7 14:46:55 PDT 2014


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Call for contributions
IROS 2014 workshop on Compliant Manipulation: Challenges in Learning and 
Control
Chicago, September 18 2014
website: http://lasa.epfl.ch/workshopIROS14/
contact: klas.kronander at epfl.ch
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IMPORTANT DATES
Submission of extended abstracts: June 22, 2014
Notification of acceptance:       July 15, 2014
Submission of final versions:     August 15, 2014
Workshop:                         September 18, 2014

ABSTRACT
Robust and versatile compliant manipulation skills are a necessity for 
robots interacting with the real world. Despite significant progress in 
design of passively compliant mechanisms and active compliance control 
algorithms, today's best robots are still far behind humans in terms of 
manipulation performance and versatility. While using compliant 
joints/control as opposed to traditional position-control offers the 
possibility to perform more complex tasks, it also makes the task 
specification a much more challenging problem.

Learning is often advocated as a means of dealing with the complexity of 
control and planning tasks in robotics. Various forms of learning such 
as Learning from Demonstration and Reinforcement Learning have been 
integrated in robotics for a long time with great success in many 
applications. This workshop will focus on how different forms of 
learning can be used to advance the state of the art in compliant 
manipulation.

The goal of this full day workshop is to bring together experts in the 
yet largely disconnected fields of control/design and robot task 
learning, and to foster increased knowledge exchange and collaboration 
between these communities. Additionally, the workshop will pinpoint open 
challenges in compliant manipulation. The speakers include experts from 
learning and control in robots and humans. In addition to invited talks, 
contributions will be presented in interactive poster sessions.

SPEAKERS
Neville Hogan, MIT
Jonas Buchli, ETH Zurich
Yoshihiko Nakamura, University of Tokyo
Etienne Burdet, Imperial College London
Sylvain Calinon, IDIAP research institute
Matthew Howard, Kings College

CONTRIBUTING
We solicit extended abstracts to be presented as interactive posters in 
the workshop. Authors of selected contributions will be given the 
oppurtunity to present their work as talks.

Submissions should be in regular IROS two-column format and may not 
exceed 4 pages. Please send submissions in PDF-format to 
klas.kronander at epfl.ch before June 22.

Possible topics for contributions include (but are not limited to):
-  Novel architectures for control of compliant manipulation
-  Passively compliant systems
-  Impedance and interaction control
-  Task transfer: Learning by demonstration and interaction
-  Task transfer: Reinforcement learning
-  Novel task representations suitable for learning and control
-  Adaptive control for manipulation
-  Biologically inspired control algorithms for manipulation

We specifically encourage contributions that bridge the gap between the 
task representation and control layers typically found in today's 
architectures for robotic manipulation.

ORGANIZERS
Klas Kronander, EPFL
Aude Billard, EPFL
Etienne Burdet, Imperial College London
Jonas Buchli,  ETHZ

This workshop is supported by the Swiss National Centre of Competence in 
Research Robotics, www.nccr-robotics.ch.


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