[robotics-worldwide] [meetings] IROS19 workshop on Articulated Actuation towards Human Capabilities for Robots

Wesley Roozing w.roozing at utwente.nl
Wed Jul 17 22:45:06 PDT 2019

We are pleased to announce our IROS 2019 workshop:
"Articulated Actuation towards Human Capabilities for Robots"

Despite great strides in design and control of robotic systems leading
to excellent force/impedance control, robotic systems as a whole are
still vastly outperformed by their biological counterparts. The complex
musculoskeletal system found in animals, comprised of rigid and soft
structures, enables passive and active actuation synergies bestowing
them with capabilities unattainable by current robots.

This workshop will explore what is needed to reach such a level of
capability, by considering how design and control can be integrated.
Firstly, it will study the biomechanical properties of prime examples
from the animal kingdom. Secondly, it will ask how systems that exhibit
desirable dynamics can be synthesised, and what those dynamics are for
the capabilities that we want the robots to exhibit. Lastly, it will
explore how such designed dynamics can be harnessed and exploited in
control to obtain synergetic behaviour that displays capabilities
matching or outperforming those of biological systems.

The workshop will take place on Monday November 4th, at IROS 2019,
Macau. We invite extended abstract contributions (see below).

Website: https://urldefense.proofpoint.com/v2/url?u=https-3A__www.ram.ewi.utwente.nl_iros19-2Darticulated-2Dactuation_&d=DwIDaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=5bT--1eJNFRGjMNAENbK3oGoEkyBGqXCIx-rttP5B6U&s=pvhJIc-MWfYHFRmhbLyT8wpl9wKD1IlgNCg_ceXy4_Y&e= 

*Topics of Interest*

- Biomechanics of animal locomotion and their basic principles
- Bio-inspired musculoskeletal systems comprised of soft and compliant
- Efficient novel compliant actuation topologies with large energy
storage capacity
- Parallelism in actuation and multi-articulated actuation
- Design optimisation of compliant actuation topologies
- Switchable springs and variable recruitment actuation
- Variable stiffness and damping actuation
- Efficient actuation and motion control
- Excitation control of intrinsic resonance modes
- Synergetic control of intrinsic dynamics
- Model-based optimization techniques for complex systems to achieve
natural motions


Wesley Roozing, University of Twente, The Netherlands
Navvab Kashiri, Italian Institute of Technology, Italy
Tom Verstraten, Vrije Universiteit Brussel, Belgium
Bram Vanderborght, Vrije Universiteit Brussel, Belgium
Nikos Tsagarakis, Italian Institute of Technology, Italy
Stefano Stramigioli, University of Twente, The Netherlands

*Call for Contributions*

We invite extended abstracts (2 pages max) following the IEEE RAS paper
template. An optional accompanying video is suggested and can also be
provided as a weblink (e.g., youtube). Contributions must be sent as PDF
to w.roozing «at» utwente.nl. Accepted contributions will be allocated a
slot in the lightning talks session, followed by a poster presentation.

*Important Dates*

Abstract submission deadline: September 1st, 2019
Acceptance notification: September 16th, 2019
Workshop: November 4th, 2019

On behalf of the organisers,
Kind regards,
Wesley Roozing
Robotics and Mechatronics (RaM)
University of Twente, The Netherlands

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