Program

walkman-master-logo-364x120px.pngThe workshop will take place on October 14 in Room #112 at the IROS 2016 conference site.

08:30 – 08:45 Introduction

08:45 – 09:15 The importance of force control for multi-contact behaviors
Ludovic Righetti, Movement Generation and Control Group, MPI Tübingen
(PDF download)

09:15 – 09:45 Actuation Technologies that Enable Paraplegics to Walk Again
Kyoungchul Kong, Robotic Systems Control Laboratory, Sogang University

09:45 – 10:00 Poster teasers (3 min each)

Kevin Haninger and Masayoshi Tomizuka: Modelling, Robustness and Passivity for Torque Control of Flexible-Joint Robots
(PDF download)

Danny Drieß, Peter Englert and Marc Toussaint: Constrained Bayesian Optimization of Combined Interaction Force/Task Space Controllers for Manipulations
(PDF download)

Chan Lee, Jihoo Kwak and Sehoon Oh: Wire-tension Control for Human Assistive System using Compact Planetary Geared Elastic Actuator

 

Gray Thomas and Luis Sentis: Identification of Frequency-Domain Uncertainty for Series Elastic Actuators
(PDF download)

Wesley Roozing, Jörn Malzahn, Darwin G. Caldwell and Nikos G. Tsagarakis: Comparison of Open-Loop and Closed-Loop Disturbance Observers for Series Elastic Actuators

10:00 – 10:30  Coffee Break with Posters

10:30 – 11:00 High-Performance Torque Control on Hydraulic Legged Robots
Claudio Semini, Dynamic Legged Systems Lab, IIT Genoa
(download slidesdownload short paper)

11:00 – 11:30 Cartesian contact force and torque estimation for redundant manipulators
Arne Wahrburg, ABB Research Center Germany.
(PDF download)

11:30 – 12:00 Series Elastic Actuation for the Next Generation of Space Robots
Joshua Mehling, NASA Johnson Space Center

12:00 – 13:30 Lunch break

13:30 – 14:00 Obstacles in Design and Control of Torque Controlled Robot Joints: Experiences and Solutions
Jörn Malzahn, Humanoids & Human Centered Mechatronics Lab, IIT Genoa
(PDF download)

14:00 – 14:30 Enhancing Bandwidth and Power Density of Series Elastic Actuators using Elastomers and Convective Cooling
Nicholas Paine, Apptronik Inc., Austin, Texas

14:30 – 15:00 Series elastic actuator modules for legs and arms
Marco Hutter, Robotic Systems Lab, ETH Zürich

15:00 – 15:30 Hardware Demonstrations

15:30 – 16:00 Coffee Break

16:00-16:30 Compliant Robots: Torque Sensing Versus Intrinsic Compliance
Alin Albu-Schäffer, German Aerospace Center

16:30 – 17:00 Mechatronics Development for Force Sensitive Electro-Hydrostatic Actuators!
Hiroshi Kaminaga, Nakamura and Takano Laboratory, University of Tokyo
(PDF download)

17:00 – 18:00 Wrap-Up: What we learned: unveiled secrets, solved and open challenges, conclusions and future directions

 18:00 End of the Workshop

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HyQ 2 Max