[robotics-worldwide] [meetings] CALL FOR PARTICIPATION - IROS WORKSHOP : From Active Impedance to Intrinsically Compliant and Variable Impedance Actuators:Pros, Cons and Trade-offs

Nikolaos Tsagarakis nikos.tsagarakis at iit.it
Sat Sep 13 02:44:39 PDT 2014

IROS 2014 Full-day Workshop: From Active Impedance to Intrinsically Compliant and Variable Impedance Actuators: Pros, Cons and Trade-offs
Date:                     September 14, 2014
Place:      Chicago, Palmer House, Hilton Hotel<http://www3.hilton.com/en/hotels/illinois/palmer-house-a-hilton-hotel-CHIPHHH/index.html>,  Third Floor, (Salon 7)
Time:       08:30  - 17:30

Workshop Organizers
Nikos Tsagarakis        (Istituto Italiano di Tecnologia)
Bram Vanderborght       (Vrije Universiteit Brussel, BE)
Luis Sentis             (Uni. Of Texas)

Workshop Overview
Emerging robots will need to operate within unstructured environments, collaborate and physical interact with humans. To deal with these new application demands,  robots should demonstrate Natural Motion performance which is characterized by enhanced power, strength, velocity, efficiency and ultimately compliant and adaptable physical interaction capabilities.  New actuation technologies are therefore needed to improve the performance and overall body capabilities of existing robotic systems and enable them to demonstrate these Natural Motion  performance characteristics. Recent developments in design and control of active or intrinsically controlled variable Impedance Actuators have demonstrated remarkable advancements in physical robustness, interaction and peak power performance. This workshop attempts to cover the recent advancements in robotic actuation from the foundation principles to the implementation, control and application requirements aiming to answer tomorrow's needs. It also  aims at fostering collaboration among researchers that are working on soft and variable impedance actuation principles and welcoming them to join  the Natural Motion Initiative (NMI)community(www.naturalmotioninitiative.org) which targets to form the instrument for sharing knowledge, expertise and results on compliant actuation technologies and the design and control of next generation of Natural Motion capable robots.

Workshop Program

8:30-8:35                                                                                       Welcome and Workshop Agenda / Introduction
8:35-09:00              Bram Vanderborght (Vrije Universiteit Brussel, BE):             Novel concepts for series-parallel elastic actuation.
09:00-09:30             Alin Albu Schaeffer  (DLR, DE):                                         Passive impedance design and control concepts for manipulation and locomotion
09:30-10:00             Masayuki Inaba (Uni. of Tokyo, JP):                             Actuation Systems of JSK humanoids

10:00-10:30             Coffee Break

10:30-11:00             Nikos Tsagarakis (Istituto Italiano di Tecnologia, IT):         Compliant Actuation Arrangements for Efficient Mobility
11:00-11:30             Stefano Stramigioli  (Uni. Of Twente, NL):                      A Novel Variable Stiffness actuator with absolute zero stiffness capability
11:30-12:00             Sangbae Kim (MIT, US):                                                  Less is more: high force proprioceptive actuator

12:00-13:30             Lunch Break

13:30-14:00             Luis Sentis (Uni. Of Texas, US):                                        Design and Control Considerations for High Performance Series Elastic Actuators
14:00-14:30             Jonas Buchli (ETH Zurich, CH):                                  Versatile and robust robotic behavior through active impedance, model based and learning control
14:30-15:00             Jonathan Hurst  (Oregon State University, US):                  Holistic design: We don't need stronger actuators, we need smarter passive dynamics

15:00-15:30             Coffee Break

15:30-16:15             Teaser/Poster Session
            Tomoyuki Noda and Jun Morimoto (ATR Computational Neuroscience Laboratories)
            Nested Chamber Design for Modularized Pneumatic Artificial Muscle Transmitted via Bowden Cable

                  Wyatt Felt and C. David Remy (University of Michigan)
                  Smart Braid: Air Muscles that Measure Force and Displacement

            Bo Han, Matteo Zoppi, and Rezia Molfino (University of Genova)
            Biphasic Media Variable Impedance Actuation Control and Prototype

            Yoshihiro Nakata, Tomoyuki Noda, Jun Morimoto and Hiroshi Ishiguro (Osaka University and ATR Computational Neuroscience Laboratories
            Design of an Integrated Pneumatic-Electromagnetic Hybrid Linear Actuator

            Igor Gaponov, Dmitry Popov and Jee-Hwan Ryu (Korea University of Technology and Education)
            Twisted String Actuators: Outline, Applications, and Challenges

            Luca Fiorio, Francesco Romano, Alberto Parmiggiani, Giulio Sandini and Francesco Nori (Istituto Italiano di Tecnologia)
            An implementation of muscle-like passive noise rejection (PNR) in variable stiffness actuators (VSA): the PNR-VSA solution

                  Hideyuki Ryu, Yoshihiro Nakata, Yuya Okadome, Yutaka Nakamura and Hiroshi Ishiguro (Osaka University)
            A Physically Connected Actuator Network: A Self-organizing Mechanism for Robotic Musculoskeletal Systems

            Ioannis Sarakolgou, Nikos Tsagarakis, Darwin Caldell (Istituto Italiano di Tecnologia)
            A Hybrid Actuator for Variable Damping and Braking

16:15-16:45             Antonio Bicchi (University of Pisa, IT):                        Natural Motion Initiative: Crowdsourcing the Exploration of Variable Stiffness Actuation Applications
16:45-17:15             Giorgio Grioli (Qbrobotics, IT):
17:15-17:30             Closing Remarks

Full details about the workshop can be also found at: http://mech.vub.ac.be/IROSWSActuators/Index.htm

Thank you very much for your attention. Looking forward to meeting you in Chicago.

Nikos Tsagarakis on behalf of the organizers

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