[robotics-worldwide] [meetings] IROS 2017 Workshop on Frontiers in Contact-rich Robotic Interaction: Modeling, Optimization and Control Synthesis

Michael Posa michael.a.posa at gmail.com
Fri Jul 14 13:02:36 PDT 2017

Frontiers in Contact-rich Robotic Interaction: Modeling, Optimization and
Control Synthesis
IROS 2017 Workshop
Vancouver, BC, Canada. September 28, 2017

We invite contributions to the IROS 2017 Workshop on Frontiers in
Contact-rich Robotic Interaction: Modeling, Optimization and Control
Synthesis. This workshop will bring together researchers to address three
major challenges:

   1. high-fidelity yet tractable computational solutions to rigid body
   frictional contacts modeling and soft material,
   2. optimization-based motion planning without full mode scheduling,
   3. control synthesis for contact-rich interaction with visual and
   tactile feedback

Participants are encouraged to submit a one-page extended abstract in IROS
two-column format. Early ideas, experimental results and open research
questions are encouraged. Authors of accepted abstracts will be asked to
present posters during the poster sessions. Please submit abstracts (in PDF
format) via email to Jiaji Zhou (jiajiz at cs.cmu.edu) by August 15, 2017.

Workshop website: https://urldefense.proofpoint.com/v2/url?u=https-3A__contactrobotics.wordpress.com_&d=DwIBaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=LmxCBWoKBnAemzHD8zuBofhsHK7idCCFhmC6SeEm_yw&s=gOsbQ6NB8r1Yxkat4rU-28Cc1YpTgpIRecnywidnTRU&e= 

Mastering physical interaction with frictional contact is essential to
autonomous robotic manipulation and locomotion in a complex, cluttered and
dynamically changing environment.

A common manipulation pipeline often consists of two stages. The first
stage is to plan a collision free path to a pre-action pose followed by an
open-loop action. The second stage is to adjust the in-hand pose with
pick-and-place actions or fingertip motions. Contacts with the environment
are minimized during the process. In sharp contrast, humans actively
embrace environment contacts using compliant motions under rich feedback to
guide manipulation, reduce uncertainty, and achieve dexterity.

Similarly, robust treatment of the changing contacts between legged robots
and the ground remains a basic challenge for the field. For walking and
running robots to successfully navigate complex and uncertain environments,
they must intelligently manage and leverage these environmental contacts.

The stiffness and discontinuities inherent in models of impacts and
frictional contact create significant problems for many traditional
approaches to simulation, planning, and control and planning. These
challenges have resulted in robotic approaches that seek to avoid, rather
than leverage, contact and that are brittle to any unexpected contact. Many
current techniques for both manipulation and locomotion therefore result in
motions that are not nearly as dynamic or reliable as human activity.

Todd Murphey, Northwestern
Jeff Trinkle, Rensselaer Polytechnic Institute
Aaron Johnson, Carnegie Mellon University
Alberto Rodriguez, Massachusetts Institute of Technology
Kris Hauser, Duke
Russ Tedrake, Massachusetts Institute of Technology
Ludovic Righetti, Max Planck Institute
Nathan Ratliff, Lula Robotics
Jeannette Bohg, Max Planck Institute

Important Dates:
Abstract submission: August 15, 2017
Workshop: September 28, 2017

Jiaji Zhou, Carnegie Mellon University
Michael Posa, Massachusetts Institute of Technology/University of
Matthew Mason, Carnegie Mellon University

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