[robotics-worldwide] [meetings] Call for participation: ICRA'14 3rd Workshop on Hydraulic Robots (SuWT7, 1/June)

Claudio Semini claudio.semini at iit.it
Thu May 29 22:55:31 PDT 2014


*Call for Participation to the ICRA 2014 third Workshop on Hydraulic Robots*
-date: Sunday, 1st of June 2014  (9:00-16:30)
-location: Hong Kong Convention and Exhibition Centre (HKCEC), room S229

Title: Hydraulic Robots with Torque Control for Inverse Dynamics and 
Active Compliance

http://www.iit.it/advr-events/icra-2014-workshop-on-hydraulic-robots.html
************************************************************************

Organizers: 	Claudio Semini (Istituto Italiano di Tecnologia, IIT, Italy)
		Michele Focchi (Istituto Italiano di Tecnologia, IIT, Italy)
		Thiago Boaventura (ETH Zurich, Switzerland)
		Jonas Buchli (ETH Zurich, Switzerland)

Final Schedule:
-----------------
  9:00 - 9:30 Introduction and talk by Claudio Semini (IIT, Italy)
9:30 - 10:00 Talk by Jonas Buchli (ETHZ Zurich, Switzerland)
10:00 - 10:30 Talk by Thiago Boaventura (ETHZ Zurich, Switzerland)
   coffee break
10:50 - 11:20 Talk by Michele Focchi (IIT, Italy)
11:20 - 11:50 Talk by Scott Kuindersma (MIT, USA)
11:50 - 12:30 Poster/Interactive session with teasers in the first 15min
   lunch break
14:00 - 14:30 Talk by Jouni Mattila (Tampere University of Technology, 
Finland)
14:30 - 15:00 Talk by Hyungpil Moon (SungKyunKwan University, South Korea)
15:00 - 15:30 Discussion round
   coffee break
15:50 - 16:20 Talk by Ian Whiting (MOOG Controls Ltd., UK)
16:20 - 16:30 Concluding remarks

talk abstracts and info on the posters can be found on the workshop's 
website (see link above).

Abstract
--------
This full-day workshop will bring together key researchers of academia 
and industry to discuss the implementation and limitations of 
high-performance torque control, inverse dynamics and active compliance 
control of robots with hydraulic actuation. Inverse dynamics control and 
active compliance (or better impedance) are prime examples to illustrate 
the benefits of torque control, which is a key technology for versatile 
service and field robots. Several companies, mostly funded through US 
defense grants (e.g. Boston Dynamics and Sarcos Raytheon), are 
developing robots and exoskeletons with impressive performance. Most of 
them have torque control and hydraulic actuation and impressively 
demonstrate the advantages of this technology combination. Recently, 
also academic groups developed robots based on this technology (e.g. the 
quadruped robot HyQ). Our workshop is part of an academic and civil use 
oriented program focusing on the research, dissemination and application 
of this critical technology.

This is the 3rd edition of the workshop series on high-performance 
hydraulic robots.
  The first 2 workshops were held at ICRA2013 and IROS2013:
http://www.iit.it/advr-events/icra-2013-ws-on-hydraulic-robots.html
http://www.humanoidsystems.org/conference/iros2013ws/

List of Topics
--------------
- Torque control on hydraulic robots
- Leg/arm impedance control
- Limitations on achievable impedance parameters in real implementations
- Different torque measurement approaches (strain gages, pressure 
difference, SEA)
- Applications of active compliance
- Inverse dynamics model-based control
- Feedback linearisation for hydraulic actuators
- Balancing of hydraulic legged robots
- Highly dynamic motions of hydraulic robots
- Whole body control of hydraulic robots
- Torque control in rehabilitation devices

Best,
Claudio Semini (on behalf of the organizing committee)

-- 
Claudio Semini, PhD
Head of Dynamic Legged Systems Lab
Istituto Italiano di Tecnologia (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
www.iit.it/people/claudio-semini.html


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