[robotics-worldwide] [meetings] RSS workshop on Whole-body and Manipulation Control

Francesco Nori Francesco.Nori at iit.it
Thu Jul 16 06:16:57 PDT 2015


Towards a Unifying Framework for Whole-body and Manipulation Control
Full-day Workshop @ RSS 2015
July 17th, 2015 - Rome, Italy
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https://www.codyco.eu/index.php/45-workshop-rss2015

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ABSTRACT:
Manipulation and whole-body motion control are two of the most active research areas in the robotic community. Interestingly enough, there are structural similari- ties between the mathematical models of a robotic hand manipulating an object and a humanoid robot in contact with the environment. For instance, both systems are redun- dant, underactuated, and constrained by the interaction with the environment. Despite these similarities, manipulation and whole-body control have developed along different directions by two hardly connected communities. The relevant differences arise in the modelling of the contacts (e.g. soft-finger contacts vs. rigid contacts), in the adopted stability criteria (e.g. force closure vs. zero moment point conditions), and in the sim- plified models used for control design (e.g. quasi-static manipulation vs. linear inverted pendulum model).

The goal of the present workshop is to invite experts in manipulation and whole-body control to discuss similarities and differences in their respective research areas. Speakers will be invited to discuss the possibility of developing a unique framework that allows both manipulation and whole-body motion control.

Topics:
• Contacts planning and control
• Whole-body task control
• Compliant whole-body movements
• Dynamics in humanoid robots
• Machine learning and optimization methods for contact planning and control

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SPEAKERS:

08:45-09:00 F. Nori - IIT
09:00-09:30 A. Del Prete - LAAS, CNRS
09:30-10:00 K. Hauser - Duke University

10:30-11:00 M. Ciocarlie - Columbia University
11:00-11:30 S. Kim - MIT
11:30-12:00 A. Bicchi - University of Pisa, IIT

14:30-15:00 S. Shaal - USC, Max-Planck-Insitute
15:00-15:30 E. Todorov - Washington University

16:00-16:30 Q.-C. Pham - NTU
16:30-17:00 D. Prattichizzo - University of Siena
17:00-17:30 M. A. Roa - DLR

17:30-17:45 Round table

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ORGANIZERS:
• Francesco Nori - Robotics Brain and Cognitive Sciences Department, Istituto Italiano di Tecnologia.
• Maximo A. Roa - DLR German Aerospace Center, Institute of Robotics and Mechatronics. 
• Daniele Pucci - Robotics Brain and Cognitive Sciences Department, Istituto Italiano di Tecnolgia. .
• Edoardo Farnioli - Advanced Robotics Department, Istituto Italiano di Tecnolgia.
• Marco Gabiccini - Department of Mechanical, Nuclear and Production Engineering, University of Pisa.
• Antonio Bicchi -  Istituto Italiano di Tecnolgia and Research Center "E. Piaggio'', University of Pisa.

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Francesco Nori   Robotics Brain Cognitive Science Department
Cognitive Humanoids Lab      Istituto Italiano di Tecnologia
Via Morego, 30                           16163 Genova, Italy
http://people.liralab.it/iron/         francesco.nori at iit.it
Phone: (+39) 010 71 781 420           Fax: +39 010 71 70 817
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