[robotics-worldwide] [meetings] Schedule of WS on Whole-Body Control for Robots in the Real World at IROS14

Federico Moro Federico.Moro at iit.it
Fri Sep 12 09:21:51 PDT 2014


Workshop on Whole-Body Control for Robots in the Real World @IROS14, Chicago

WBC-WS Website: http://www.walk-man.eu/news/events/item/iros14-ws-ijhr-si-on-whole-body-control-for-robots-in-the-real-world.html
Contact: federico.moro at iit.it

Submitted contributions are available online on the WBC-WS Website.
Oral presentations will be video recorded and made available online on the WBC-WS Website.

Federico L. Moro (Istituto Italiano di Tecnologia (IIT), Italy)
Michael Gienger (Honda Research Institute (HRI) Europe, Germany)
Oussama Khatib (Stanford University, USA)
Eiichi Yoshida (CNRS-AIST JRL, Japan)

Sept 18th, 2014

Salon 12
Palmer House A Hilton Hotel
17 E Monroe St, Chicago, IL 60603, USA

08.45 - 09.00	Introduction
09.00 - 09.30	Christian Ott (DLR) - Practical Experiences with the Torque-Controlled Humanoid Robot TORO
09.30 - 10.00	Yoshihiko Nakamura (Univ. of Tokyo) - On Reuse of Human Motion for Robot Control
10.00 - 10.30	Patrick M. Wensing and David E. Orin (OSU) - Centroidal Dynamics for Whole-Body Humanoid Control
10.30 - 11.00	Coffee Break
11.00 - 11.30	Siyuan Feng (CMU) - Full-Body Control for the Atlas Robot
11.30 - 12.00	Federico L. Moro (IIT) - An Attractor-based Whole-Body Motion Control (WBMC) System - Tests with the COMAN Robot
12.00 - 12.30	Russ Tedrake (MIT) - Optimization-based estimation, planning, and control
12.30 - 13.30	Lunch Break
13.30 - 14.15	Interactive Session
14.15 - 14.45	Andrea Del Prete (LAAS-CNRS) - Joint-Torque Control with Electric Motors and Harmonic Drives
14.45 - 15.15	Silvio Traversaro  (IIT) - Whole-body Dynamic Computations on the iCub Humanoid
15.15 - 15.45	Coffee Break
15.45 - 16.15	Luis Sentis (UT Austin) - Middleware for Rapid Application Programming
16.15 - 16.45	Mitsuharu Morisawa (AIST) - Locomotion and Manipulation in Unknown Environment by HRP-2
16.45 - 17.15	Ludovic Righetti (MPI) - Experiments with Hierarchical Inverse Dynamics Control on a Torque-Controlled Humanoid
17.15 - 18.00	Round table

Interactive Session:
- Hongkai Dai, Andres Valenzuela, Russ Tedrake - Whole-body Motion Planning with Simple Dynamics and Full Kinematics
- Michele Focchi, Andrea Del Prete, Ioannis Havoutis, Claudio Semini, Roy Featherstone, Darwin G. Caldwell - High-slope Terrain Locomotion for Torque-Controlled Quadruped Robots
- Gerardo Jarquin, Gustavo Arechavaleta, Adrien Escande, Eiichi Yoshida - Time-Constrained Whole Body Control With Smooth Task Transitions
- Yisoo Lee, Hyeonjun Park, Ji-Hun Bae, Moon-Hong Baeg, Jaeheung Park - Experimental Results of Whole-body Control Framework on Torque Controlled Humanoid Legged Robot and Dual Arm-Hand Manipulator
- Alessio Rocchi, Enrico Mingo Hoffman, Edoardo Farnioli, Nikos G. Tsagarakis - A Whole-Body Stack-of-Tasks compliant control for the Humanoid Robot COMAN
- Jesper Smith, Sylvain Bertrand, Peter Neuhaus, Matthew Johnson, Jerry Pratt, and the IHMC team - Momentum-based whole-body control framework – Application to the humanoid robots Atlas and Valkyrie
- Wael Suleiman - Inverse Kinematics: New Method for Minimum Jerk Trajectory generation
- Hilario Tome, Luca Marchionni, Adolfo Rodriguez Tsouroukdissian - Whole body control using Robust & Online hierarchical quadratic optimization


Dr. Federico L. Moro, Ph.D.
Post Doc Researcher

Istituto Italiano di Tecnologia (IIT)
Department of Advanced Robotics
Humanoids & Human Centred Mechatronics Lab

Phone: +39 010 71781 846
Fax: +39 010 71781 232
E-mail: federico.moro at iit.it
Personal Page: http://www.iit.it/en/people/federico-moro

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