[robotics-worldwide] [meetings] Call for Participation - IROS 2014 Full-day workshop Real-time Motion Generation and Control: Constraint-based Robot Programming

andrea zanchettin andreamaria.zanchettin at polimi.it
Sat Sep 13 01:31:01 PDT 2014

IROS 2014 Full-day Workshop - Call for Participation

Real-time Motion Generation and Control: Constraint-based Robot

Chicago, Illinois, USA
September 18, 2014

Palmer House a Hilton Hotel (Salon 2)
17 East Monroe Street, Chicago, Illinois, 60603


The new generation of robots, such as redundant manipulators, mobile
manipulators and eventually humanoids, is challenging the robotics
community to provide robust, reliable and fast motion planning and control
algorithms to better integrate such robots in highly unstructured
environments. These new robots are expected to promptly react to
unpredictable modifications of the environment, as we, humans, do.
Integration of planning and control capabilities into a unique holistic
and real-time framework is then the challenge to be address in current and
future robotic research. A relatively new and lively research trend
focused on such hyper-redundant robotic systems relies on declarative and
constraint-based task and motion specification. The availability of
sophisticated solvers and real-time capable numerical algorithms seems to
open the door to a new paradigm in motion planning and control. Most of
these approaches are also essential for autonomous execution of complex
tasks requiring reactive on-line motion generation to enable-for
instance-safe robot motions during interactions with humans. As many of
the approaches are separated from each other, a
unifying holistic concept is still missing. It especially requires
systematic combinations of higher level constraints enabling cognitive
capabilities and underlying lower-level constraints for fast robot
reactions. This workshop is intended to encourage discussion between
robotic researchers actively working in constraint-based motion planning
and control, covering various aspects of this problem.

Program and invited speakers
0830 Welcome from the organizers
0845 Andrea Del Prete (LAAS-CNRS, France)
          "Hierarchy of tasks: towards real-time inverse dynamics and optimal control"
0910 Kris Hauser (Duke University, US)
          "Cooperative Motion Planning for Safe Human-Controlled Robots"
0935 Nicolas Lauzier (Robotiq, Canada)
          "Hand Guiding with Industrial Robots"
1000 Break
1030 Sami Haddadin (Leibniz Universitaet Hannover, Germany)
          "Dynamic and Safe Motion Planning for Human Environments"
1055 Dmitry Berenson (Worcester Polytechnic Institute, US)
          "Motion Planning for Manipulation with Hard and Soft Constraints"
1120 Erwin Aertbelien (KU Leuven, Belgium)
          "A Language for Constraint-based Task Specification"
1145 Luis Sentis (University of Texas at Austin, US)
          "Human-centered control for compliant humanoid robots"
1210 Lunch
1330 Oral presentations (see below)
1510 Break
1540 Oliver Brock (TU Berlin, Germany)
          "Motion Generation for Mobile Manipulation – Keepin’ it Real"
1605 Mohammad Khansari (Stanford University, US)
          "From 'Real-time motion generation' to 'Unified motion and variable impedance control'"
1630 Fabrizio Flacco (University of Rome, Italy)
          "Path Constrained Redundancy Resolution: the Saturation in the Null Space Algorithm"
1655 Panel discussion
1730 End of the workshop

Oral presentations
1330 Gianluca Antonelli, Signe Moe, Kristin Y. Pettersen
          "Incorporating set-based control within the singularity-robust multiple task-priority inverse kinematics"
1350 Michael J. Kuhlman, Joe Hays, Donald Sofge, Satyandra K. Gupta
          "Central Pattern Generator Based Omnidirectional Locomotion for Quadrupedal Robotics"
1410 Patrick MacAlpine, Eric Price, Peter Stone
          "SCRAM: Scalable Collision-avoiding Role Assignment with Minimal-makespan for Formational Positioning"
1430 Jane Shi, Gurdayal S. Koonjul
          "Real-Time Grasp Planning with Environment Constraints"
1450 Jarvis Schultz, Todd D. Murphey
          "Real-Time Trajectory Generation for a Planar Crane using Discrete Mechanics"

Organizing Committee
Gianni Borghesan, Katholieke Universiteit Leuven, Belgium
Torsten Kroeger, Google, USA
Andrea Maria Zanchettin, Politecnico di Milano, Italy


Andrea Zanchettin, PhD
Assistant Professor

Politecnico di Milano
Dipartimento di Elettronica, Informazione e Bioingegneria
via Ponzio 34/5 - 20133 Milano (Italy)
Email: andreamaria.zanchettin at polimi.it
Webpage: http://home.deib.polimi.it/zanchettin
Lab: http://merlin.elet.polimi.it/
IEEE RAS TC: http://www.robotmotion.org/
Office: (+39 02 2399) 4037
Skype: andrea.zanchettin

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