Invited Speakers

The organizers thank the following invited speakers for confirming their contribution to the workshop:

Alin Albu-Schäffer

Department of Robotic Systems, DLR Institute of Robotics and Mechatronics

Compliant Robots: Torque Sensing Versus Intrinsic Compliance

Marco Hutter

Robotic Systems Lab, ETH Zürich

Series elastic actuator modules for legs and armsANYdriveComp_hutter

In this talk I will present our work on the series elastic actuation units ANYdrive. These torque controllable robot joints have been developed with a strong focus on compact and integrated design. I will outline some of the challenges during the development, show their performance … (read more)

Hiroshi Kaminaga

Nakamura and Takano Laboratory, The University of Tokyoabstract.jpg

Mechatronics Development for Force Sensitive Electro-Hydrostatic Actuators

In Nakamura Lab., we have been working on development of force sensitive robot systems using hydraulic actuation.  Electronics and firmware development still is a challenging task in development of actuator systems and robot systems using such actuators.  In the talk, I will … (read more)

Kyoungchul Kong

Robotic Systems Control Laboratory, Sogang Universitykong_image-1

Actuation Technologies that Enable Paraplegics to Walk Again

Mechatronic technologies are steadily penetrating in our daily lives.  We are surrounded by mechatronic products and interact with them in many ways.  In particular, mechatronic devices may potentially improve the quality of life of complete/incomplete paraplegics. Robotic assistance technologies for the complete and incomplete paraplegics require different technologies in actuation, sensing, and controls.  In this talk, actuation technologies … (read more)

Jörn Malzahn

Humanoids and Human Centered Mechatronics Lab, IIT Genoa

walk-man.jpgDesign and Control of Torque Controlled Walk-Man Actuators: Experiences and Solutions

The talk will detail the challenges discovered and solved during the design and development of the Walk-Man Humanoid actuators. A central topic will be the sensor design iteration to minimize the impact of assembly tolerances, clearances and cross couplings on the torque sensing results. Beyond that, the talk will include a discussion of criteria to… (read more)

Joshua Mehling

NASA Johnson Space Center

Series Elastic Actuation for the Next Generation of Space Robotsr2ISS_cropped-1.jpg

 Looking toward the future of deep space exploration, culminating in human missions to Mars, robots will play a critical role in building and maintaining habitats, ensuring crew health, and increasing the efficiency and effectiveness of scientific studies.  Like those targeting many terrestrial applications, these robots must be capable of operating in human-engineered, but perhaps unstructured environments while also maintaining  … (read more)

Ludovic Righetti

Movement Generation and Control Group, MPI Tübingen

The importance of force control for multi-contact behaviorsSarcos_walking_flat_small-1.jpg

The development of algorithms capable of exploiting both contact interactions and robot dynamics to achieve complex tasks often relies on the assumption that robots behave as ideal torque sources. High performance torque-controlled capabilities are therefore very important to enable the use of such algorithms. In this talk, I will show our recent results on the control of both contact interactions and robot motion based on force control. I will … (read more)

Claudio Semini

Dynamic Legged Systems Lab, Istituto Italiano di Tecnologiahyq2max_small

High-Performance Torque Control on Hydraulic Legged Robots

This talk will give an overview of the mechatronics and control required to achieve high-performance torque control with hydraulic actuation. In particular, I will focus on different sensors, hydraulic components, model-based control, active impedance, and inverse dynamics. Experimental results are shown … (read more)

Nicholas Paine

Apptronik Inc., Austin, Texas

Enhancing Bandwidth and Power Density of Series Elastic Actuators using Elastomers and Convective Coolingvlca_paine-1

Limited output impedance and low power and torque density are common problems today with many series-elastic-actuated (SEA) robots.  In this talk, we will present one solution to these problems, namely, the adoption of new materials and thermal management techniques for SEAs.  We will discuss… (read more)

Arne Wahrburg

ABB Research Center Germany

Cartesian contact fYuMi_with_external_force-1orce and torque estimation for redundant manipulators

Cartesian Contact Force and Torque Estimation (CCFE) is a key technology enabling force controlled robotic applications without the need for costly additional sensing. In this talk, different approaches to CCFE based on motor signals (currents, angles, speeds) are presented. Special emphasis is put onto … (read more)