[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


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.

• 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


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

• 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.

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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