[robotics-worldwide] [meetings] Call for participation: IEEE ICRA 2014 WS on "Task-based optimal design of robots"

Fulvio Mastrogiovanni fulvio.mastrogiovanni at unige.it
Tue May 27 01:23:03 PDT 2014

We apologize in advance if you receive multiple copies of this CFP. 

IEEE ICRA 2014 Workshop on "Task-based optimal design of robots"
Hong Kong, China, May 31, 2014



Real-world robot tasks, to be executed in unstructured and highly dynamic
environments, often require the optimization of some component of the
whole robot architecture in order to maximize a given measure of
performance (e.g., related to computational or energetic parameters). This
is even more important when task-dependent functional requirements (e.g.,
related to safety or other operating conditions) must be guaranteed.

This Workshop aims at bridging two important, partly overlapping and
constantly evolving fields of research, namely optimal robot design and
task-based design of robots. The former features a wide adoption of
optimization and search techniques in order to design robot parts,
especially for what concerns their dimensioning, according to a number of
optimality criteria. The latter, also known as task-oriented robot design,
deals with a wider set of goals, including the choice between different
kinds of mechanical designs and control architectures, the selection of
the proper number of degrees of freedom as well as the kind of joints to
be used, the adoption of a suitable locomotion system and part shape, just
to name but few.

Task-based design often precedes optimization. Although formal methods
exist to determine the most appropriate type of mechanism for the task at
hand, these are seldom applied to robot design and, in most cases, critical
choices are based more on the experience of the designer and on empirical
considerations rather than on a formal analysis of requirements and
constraints. However, when considered as distinct design phases, we argue
that a sequential approach cannot lead but to a suboptimal design.

The main objective of this Workshop is to foster the current debate in the
application of optimization and search techniques to task-based robot
design, in order to learn and spread good practices across the Robotics
research community. The Workshop will try to address the following

. What are the most relevant robot design problems to address in the
upcoming few years?
. What are promising modeling methods to formalize such problems?
. Are there good practices to formalize a robot design problem as a well
known optimization problem?
. Are the existing performance measures suitable or is there a need for
the introduction of new ones?
. Are there prototypical problems which robot design problems can be
reduced to?
. Is it possible to identify benchmarking test cases?
. How to ensure and validate the consistency of the models from the early
stages of the design process?


We have an exciting program divided in four Sections.
The first and the second are related to the design and synthesis of robots
and mechanisms, whereas the third and the fourth are related to
control-oriented design, with a specific emphasis on motion, performance
and safety issues.

W. Z. Guo, F. Mastrogiovanni

Session 1 - Design and synthesis of robots and mechanisms - Part 1

V. C. Moulianitis, N.A. Aspragathos, A. I. Synodinos, C. D. Valsamos
Task-based optimal design of serial metamorphic manipulators

B. K. Rout, R. K. Mittal
Selection of optimal parameters and tolerance of 2-DOF RR planar manipulator
with payload

A. Cosgun, H. Lipkin, H. I. Christensen
Price-based optimization of serial robot manipulators under payload and
workspace constraints

S. Singh, E. Signla
Realization of task-based designs involving D-H parameters using the
concept of modularity

Session 2 - Design and synthesis of robots and mechanisms - Part 2

C. Germain, S. Briot, S. Caro, J-B. Izard, C. Baradat
Task-oriented design of a high-speed parallel robot for pick-and-place

F. Gao, W. Z. Guo
Type synthesis of parallel robot mechanisms

F. Xie, X-J. Liu
Performance indices for the optimal design of parallel robot

Y. Lou, S. Zhang, B. Liao
Parasitic motion based optimal design of parallel manipulators

J. Kim, H. Oh, H-P. Nguyen, F. C. Park, J. Kim
Optimal design of robot arm structures for realistic skinning

Session 3 - Control-oriented design: motion, performance, safety - Part 1

W. J. Wolfslag, M. C. Plooij, I. Staal, M. Wisse
Incorporating tasks in the dynamics of robotic arms

K. Hauser, Y. Zhang
Planning-aided robot design: unified optimization of form, physics and

J. Huang, W. Z. Guo, F. Gao
Time-variant NURBS oriented motion design for robot path planning

Z. Ma, J. Su
Performance evaluation of visual servoing based on complete feature set

Session 4 - Control-oriented design: motion, performance, safety - Part 2

D. Anghinolfi, G. Cannata, F. Mastrogiovanni, C. Nattero, M. Paolucci
Algorithms for automated robot skin layout design

16:10-16:30 A. Alamdari, V. N. Krovi
Kinetostatic optimization for an adjustable four-bar based articulated
leg-wheel subsystem

S. Jun, X. Zhou, D. Ramsey, V. N. Krovi
Quantitative kinetostatic design process for articulated knee exoskeleton

G. Kenneally, D. E. Koditschek
Kinematic leg design in an electromechanical robot

D. Shin
Safety vs. performance: design optimization of hybrid actuation for human
friendly robots

See you in Hong Kong!

Cristiano, Henry and Fulvio

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