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IROS 2016 WORKSHOP
The next generation of industrial robots is envisioned to share workspaces with humans and physically interact with human collaborators in the dynamic environments of highly customized small batch sized production. Moreover, there exists the vision of robotic assistants and assistive robotic devices that help us in our everyday life and ensure individual mobility along with PROGRAM | IROS 2016 WORKSHOP The 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 TOPICS | IROS 2016 WORKSHOP Force/Torque sensing technologies Force/Torque sensor design - integration, comparisons and best practices Hydraulic, pneumatic or electrical motor technology advancements Applications of force/torque enabled actuators to rehabilitation and assistance systems, whole body control of legged and humanoid robots, robots for manipulation and surgery Application specific design criteria and ORGANIZERS | IROS 2016 WORKSHOP Jörn Malzahn, Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT) (Photo: Körber-Stiftung / David Ausserhofer) Sangbae Kim, Department of Mechanical Engineering, Massachusetts Institute of Technology (MIT) Nicholas Paine, Human Centered Robotics Lab, University of Texas at Austin Nikolaos Tsagarakis, Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT)CLAUDIO SEMINI
Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia High-Performance Torque Control on Hydraulic Legged Robots (download short paper) (download slides) 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 controlHIROSHI KAMINAGA
Nakamura and Takano Laboratory, The University of Tokyo Mechatronics Development for Force Sensitive Electro-Hydrostatic Actuators (download slides) 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 usingARNE WAHRBURG
Arne Wahrburg obtained his PhD in the area of model-based fault diagnosis from TU Darmstadt in 2013. Since then, he has been with the Robotics and Manufacturing group at ABB Corporate Research in Germany, working on robot motion and force control as a Senior Scientist. In 2015, he received the VDI/VDE Eugen-Hartmann-Award and his work onLUDOVIC RIGHETTI
Ludovic Righetti leads the Movement Generation and Control group at the Max-Planck Institute for Intelligent Systems (Tübingen, Germany) since September 2012 and holds a W2 group leader position since October 2015. Before, he was a postdoctoral fellow at the University of Southern California between March 2009 and August 2012.JÖRN MALZAHN
Jörn Malzahn has conducted his doctoral degree in the field of compliant and elastic link robots at the University of Dortmund in Germany. He received the degree with distinction (summa cum laude) and the Körber foundation considered his work as a finalist for the awardof
MARCO HUTTER
Marco Hutter is assistant professor for Robotic Systems at ETH Zurich and Branco Weiss Fellow. After studying mechanical engineering, he conducted his doctoral degree in robotics at ETH with focus on design, actuation, and control of dynamic legged robotic systems. Marco is part of the national competence centers for robotics (NCCR roboticsIROS 2016 WORKSHOP
The next generation of industrial robots is envisioned to share workspaces with humans and physically interact with human collaborators in the dynamic environments of highly customized small batch sized production. Moreover, there exists the vision of robotic assistants and assistive robotic devices that help us in our everyday life and ensure individual mobility along with PROGRAM | IROS 2016 WORKSHOP The 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 TOPICS | IROS 2016 WORKSHOP Force/Torque sensing technologies Force/Torque sensor design - integration, comparisons and best practices Hydraulic, pneumatic or electrical motor technology advancements Applications of force/torque enabled actuators to rehabilitation and assistance systems, whole body control of legged and humanoid robots, robots for manipulation and surgery Application specific design criteria and ORGANIZERS | IROS 2016 WORKSHOP Jörn Malzahn, Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT) (Photo: Körber-Stiftung / David Ausserhofer) Sangbae Kim, Department of Mechanical Engineering, Massachusetts Institute of Technology (MIT) Nicholas Paine, Human Centered Robotics Lab, University of Texas at Austin Nikolaos Tsagarakis, Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT)CLAUDIO SEMINI
Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia High-Performance Torque Control on Hydraulic Legged Robots (download short paper) (download slides) 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 controlHIROSHI KAMINAGA
Nakamura and Takano Laboratory, The University of Tokyo Mechatronics Development for Force Sensitive Electro-Hydrostatic Actuators (download slides) 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 usingARNE WAHRBURG
Arne Wahrburg obtained his PhD in the area of model-based fault diagnosis from TU Darmstadt in 2013. Since then, he has been with the Robotics and Manufacturing group at ABB Corporate Research in Germany, working on robot motion and force control as a Senior Scientist. In 2015, he received the VDI/VDE Eugen-Hartmann-Award and his work onLUDOVIC RIGHETTI
Ludovic Righetti leads the Movement Generation and Control group at the Max-Planck Institute for Intelligent Systems (Tübingen, Germany) since September 2012 and holds a W2 group leader position since October 2015. Before, he was a postdoctoral fellow at the University of Southern California between March 2009 and August 2012.JÖRN MALZAHN
Jörn Malzahn has conducted his doctoral degree in the field of compliant and elastic link robots at the University of Dortmund in Germany. He received the degree with distinction (summa cum laude) and the Körber foundation considered his work as a finalist for the awardof
MARCO HUTTER
Marco Hutter is assistant professor for Robotic Systems at ETH Zurich and Branco Weiss Fellow. After studying mechanical engineering, he conducted his doctoral degree in robotics at ETH with focus on design, actuation, and control of dynamic legged robotic systems. Marco is part of the national competence centers for robotics (NCCR roboticsMARCO HUTTER
Marco Hutter is assistant professor for Robotic Systems at ETH Zurich and Branco Weiss Fellow. After studying mechanical engineering, he conducted his doctoral degree in robotics at ETH with focus on design, actuation, and control of dynamic legged robotic systems. Marco is part of the national competence centers for robotics (NCCR roboticsKYOUNGCHUL KONG
Robotic Systems Control Laboratory, Sogang University 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.JOSHUA MEHLING
NASA Johnson Space Center. Series Elastic Actuation for the Next Generation of Space Robots. Lo oking 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 TECHNICAL COMMITTEES The organizers greatly acknowledge the endorsement of the workshop by the following IEEE technical committees: IEEE RAS Haptics IEEE RAS Human Robot Interaction and Coordination IEEE RAS Humanoid Robotics IEEE RAS Mechanisms and Design IEEE RAS Rehabilitation and Assistive Robotics IEEE IES Sensors and Actuators IEEE RAS Whole BodyLUDOVIC RIGHETTI
Ludovic Righetti leads the Movement Generation and Control group at the Max-Planck Institute for Intelligent Systems (Tübingen, Germany) since September 2012 and holds a W2 group leader position since October 2015. Before, he was a postdoctoral fellow at the University of Southern California between March 2009 and August 2012. CALL FOR CONTRIBUTIONS Interactive Contributions. The workshop is soliciting contributed papers presented to all participants during interactive sessions. The organizers are happy to receive extended abstract submissions of 2-6 pages in standard IEEE conference page layout. The PDF files must be submitted online through EasyChair using the following link:NICHOLAS PAINE
Apptronik Inc., Austin, Texas Enhancing Bandwidth and Power Density of Series Elastic Actuators using Elastomers and Convective Cooling 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 thermalIROS 2016 WORKSHOP
The next generation of industrial robots is envisioned to share workspaces with humans and physically interact with human collaborators in the dynamic environments of highly customized small batch sized production. Moreover, there exists the vision of robotic assistants and assistive robotic devices that help us in our everyday life and ensure individual mobility along with PROGRAM | IROS 2016 WORKSHOP The 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 TOPICS | IROS 2016 WORKSHOP Force/Torque sensing technologies Force/Torque sensor design - integration, comparisons and best practices Hydraulic, pneumatic or electrical motor technology advancements Applications of force/torque enabled actuators to rehabilitation and assistance systems, whole body control of legged and humanoid robots, robots for manipulation and surgery Application specific design criteria andHIROSHI KAMINAGA
Nakamura and Takano Laboratory, The University of Tokyo Mechatronics Development for Force Sensitive Electro-Hydrostatic Actuators (download slides) 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 ORGANIZERS | IROS 2016 WORKSHOP Jörn Malzahn, Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT) (Photo: Körber-Stiftung / David Ausserhofer) Sangbae Kim, Department of Mechanical Engineering, Massachusetts Institute of Technology (MIT) Nicholas Paine, Human Centered Robotics Lab, University of Texas at Austin Nikolaos Tsagarakis, Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT)CLAUDIO SEMINI
Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia High-Performance Torque Control on Hydraulic Legged Robots (download short paper) (download slides) 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 controlKYOUNGCHUL KONG
Robotic Systems Control Laboratory, Sogang University 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.LUDOVIC RIGHETTI
Ludovic Righetti leads the Movement Generation and Control group at the Max-Planck Institute for Intelligent Systems (Tübingen, Germany) since September 2012 and holds a W2 group leader position since October 2015. Before, he was a postdoctoral fellow at the University of Southern California between March 2009 and August 2012.JÖRN MALZAHN
Jörn Malzahn has conducted his doctoral degree in the field of compliant and elastic link robots at the University of Dortmund in Germany. He received the degree with distinction (summa cum laude) and the Körber foundation considered his work as a finalist for the awardof
MARCO HUTTER
Marco Hutter is assistant professor for Robotic Systems at ETH Zurich and Branco Weiss Fellow. After studying mechanical engineering, he conducted his doctoral degree in robotics at ETH with focus on design, actuation, and control of dynamic legged robotic systems. Marco is part of the national competence centers for robotics (NCCR roboticsIROS 2016 WORKSHOP
The next generation of industrial robots is envisioned to share workspaces with humans and physically interact with human collaborators in the dynamic environments of highly customized small batch sized production. Moreover, there exists the vision of robotic assistants and assistive robotic devices that help us in our everyday life and ensure individual mobility along with PROGRAM | IROS 2016 WORKSHOP The 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 TOPICS | IROS 2016 WORKSHOP Force/Torque sensing technologies Force/Torque sensor design - integration, comparisons and best practices Hydraulic, pneumatic or electrical motor technology advancements Applications of force/torque enabled actuators to rehabilitation and assistance systems, whole body control of legged and humanoid robots, robots for manipulation and surgery Application specific design criteria andHIROSHI KAMINAGA
Nakamura and Takano Laboratory, The University of Tokyo Mechatronics Development for Force Sensitive Electro-Hydrostatic Actuators (download slides) 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 ORGANIZERS | IROS 2016 WORKSHOP Jörn Malzahn, Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT) (Photo: Körber-Stiftung / David Ausserhofer) Sangbae Kim, Department of Mechanical Engineering, Massachusetts Institute of Technology (MIT) Nicholas Paine, Human Centered Robotics Lab, University of Texas at Austin Nikolaos Tsagarakis, Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT)CLAUDIO SEMINI
Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia High-Performance Torque Control on Hydraulic Legged Robots (download short paper) (download slides) 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 controlKYOUNGCHUL KONG
Robotic Systems Control Laboratory, Sogang University 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.LUDOVIC RIGHETTI
Ludovic Righetti leads the Movement Generation and Control group at the Max-Planck Institute for Intelligent Systems (Tübingen, Germany) since September 2012 and holds a W2 group leader position since October 2015. Before, he was a postdoctoral fellow at the University of Southern California between March 2009 and August 2012.JÖRN MALZAHN
Jörn Malzahn has conducted his doctoral degree in the field of compliant and elastic link robots at the University of Dortmund in Germany. He received the degree with distinction (summa cum laude) and the Körber foundation considered his work as a finalist for the awardof
MARCO HUTTER
Marco Hutter is assistant professor for Robotic Systems at ETH Zurich and Branco Weiss Fellow. After studying mechanical engineering, he conducted his doctoral degree in robotics at ETH with focus on design, actuation, and control of dynamic legged robotic systems. Marco is part of the national competence centers for robotics (NCCR robotics PROGRAM | IROS 2016 WORKSHOP The 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 KyoungchulJOSHUA MEHLING
NASA Johnson Space Center. Series Elastic Actuation for the Next Generation of Space Robots. Lo oking 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 terrestrialINVITED 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 arms In this talk I will present ourNICHOLAS PAINE
Apptronik Inc., Austin, Texas Enhancing Bandwidth and Power Density of Series Elastic Actuators using Elastomers and Convective Cooling 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 CALL FOR CONTRIBUTIONS Interactive Contributions. The workshop is soliciting contributed papers presented to all participants during interactive sessions. The organizers are happy to receive extended abstract submissions of 2-6 pages in standard IEEE conference page layout. The PDF files must be submitted online through EasyChair using the following link:IROS 2016 WORKSHOP
The next generation of industrial robots is envisioned to share workspaces with humans and physically interact with human collaborators in the dynamic environments of highly customized small batch sized production. Moreover, there exists the vision of robotic assistants and assistive robotic devices that help us in our everyday life and ensure individual mobility along with PROGRAM | IROS 2016 WORKSHOP The 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 ORGANIZERS | IROS 2016 WORKSHOP Jörn Malzahn, Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT) (Photo: Körber-Stiftung / David Ausserhofer) Sangbae Kim, Department of Mechanical Engineering, Massachusetts Institute of Technology (MIT) Nicholas Paine, Human Centered Robotics Lab, University of Texas at Austin Nikolaos Tsagarakis, Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT) TECHNICAL COMMITTEES The organizers greatly acknowledge the endorsement of the workshop by the following IEEE technical committees: IEEE RAS Haptics IEEE RAS Human Robot Interaction and Coordination IEEE RAS Humanoid Robotics IEEE RAS Mechanisms and Design IEEE RAS Rehabilitation and Assistive Robotics IEEE IES Sensors and Actuators IEEE RAS Whole BodyCLAUDIO SEMINI
Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia High-Performance Torque Control on Hydraulic Legged Robots (download short paper) (download slides) 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 controlARNE WAHRBURG
Arne Wahrburg obtained his PhD in the area of model-based fault diagnosis from TU Darmstadt in 2013. Since then, he has been with the Robotics and Manufacturing group at ABB Corporate Research in Germany, working on robot motion and force control as a Senior Scientist. In 2015, he received the VDI/VDE Eugen-Hartmann-Award and his work onHIROSHI KAMINAGA
Nakamura and Takano Laboratory, The University of Tokyo Mechatronics Development for Force Sensitive Electro-Hydrostatic Actuators (download slides) 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 usingKYOUNGCHUL KONG
Robotic Systems Control Laboratory, Sogang University 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.MARCO HUTTER
Marco Hutter is assistant professor for Robotic Systems at ETH Zurich and Branco Weiss Fellow. After studying mechanical engineering, he conducted his doctoral degree in robotics at ETH with focus on design, actuation, and control of dynamic legged robotic systems. Marco is part of the national competence centers for robotics (NCCR roboticsLUDOVIC RIGHETTI
Ludovic Righetti leads the Movement Generation and Control group at the Max-Planck Institute for Intelligent Systems (Tübingen, Germany) since September 2012 and holds a W2 group leader position since October 2015. Before, he was a postdoctoral fellow at the University of Southern California between March 2009 and August 2012.IROS 2016 WORKSHOP
The next generation of industrial robots is envisioned to share workspaces with humans and physically interact with human collaborators in the dynamic environments of highly customized small batch sized production. Moreover, there exists the vision of robotic assistants and assistive robotic devices that help us in our everyday life and ensure individual mobility along with PROGRAM | IROS 2016 WORKSHOP The 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 ORGANIZERS | IROS 2016 WORKSHOP Jörn Malzahn, Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT) (Photo: Körber-Stiftung / David Ausserhofer) Sangbae Kim, Department of Mechanical Engineering, Massachusetts Institute of Technology (MIT) Nicholas Paine, Human Centered Robotics Lab, University of Texas at Austin Nikolaos Tsagarakis, Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT) TECHNICAL COMMITTEES The organizers greatly acknowledge the endorsement of the workshop by the following IEEE technical committees: IEEE RAS Haptics IEEE RAS Human Robot Interaction and Coordination IEEE RAS Humanoid Robotics IEEE RAS Mechanisms and Design IEEE RAS Rehabilitation and Assistive Robotics IEEE IES Sensors and Actuators IEEE RAS Whole BodyCLAUDIO SEMINI
Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia High-Performance Torque Control on Hydraulic Legged Robots (download short paper) (download slides) 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 controlARNE WAHRBURG
Arne Wahrburg obtained his PhD in the area of model-based fault diagnosis from TU Darmstadt in 2013. Since then, he has been with the Robotics and Manufacturing group at ABB Corporate Research in Germany, working on robot motion and force control as a Senior Scientist. In 2015, he received the VDI/VDE Eugen-Hartmann-Award and his work onHIROSHI KAMINAGA
Nakamura and Takano Laboratory, The University of Tokyo Mechatronics Development for Force Sensitive Electro-Hydrostatic Actuators (download slides) 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 usingKYOUNGCHUL KONG
Robotic Systems Control Laboratory, Sogang University 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.MARCO HUTTER
Marco Hutter is assistant professor for Robotic Systems at ETH Zurich and Branco Weiss Fellow. After studying mechanical engineering, he conducted his doctoral degree in robotics at ETH with focus on design, actuation, and control of dynamic legged robotic systems. Marco is part of the national competence centers for robotics (NCCR roboticsLUDOVIC RIGHETTI
Ludovic Righetti leads the Movement Generation and Control group at the Max-Planck Institute for Intelligent Systems (Tübingen, Germany) since September 2012 and holds a W2 group leader position since October 2015. Before, he was a postdoctoral fellow at the University of Southern California between March 2009 and August 2012.HIROSHI KAMINAGA
Nakamura and Takano Laboratory, The University of Tokyo Mechatronics Development for Force Sensitive Electro-Hydrostatic Actuators (download slides) 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 TOPICS | IROS 2016 WORKSHOP Force/Torque sensing technologies Force/Torque sensor design - integration, comparisons and best practices Hydraulic, pneumatic or electrical motor technology advancements Applications of force/torque enabled actuators to rehabilitation and assistance systems, whole body control of legged and humanoid robots, robots for manipulation and surgery Application specific design criteria andNICHOLAS PAINE
Apptronik Inc., Austin, Texas Enhancing Bandwidth and Power Density of Series Elastic Actuators using Elastomers and Convective Cooling 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 CALL FOR CONTRIBUTIONS Interactive Contributions. The workshop is soliciting contributed papers presented to all participants during interactive sessions. The organizers are happy to receive extended abstract submissions of 2-6 pages in standard IEEE conference page layout. The PDF files must be submitted online through EasyChair using the following link:JOSHUA MEHLING
NASA Johnson Space Center. Series Elastic Actuation for the Next Generation of Space Robots. Lo oking 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 terrestrialIROS 2016 WORKSHOP
The next generation of industrial robots is envisioned to share workspaces with humans and physically interact with human collaborators in the dynamic environments of highly customized small batch sized production. Moreover, there exists the vision of robotic assistants and assistive robotic devices that help us in our everyday life and ensure individual mobility along with PROGRAM | IROS 2016 WORKSHOP The 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 ORGANIZERS | IROS 2016 WORKSHOP Jörn Malzahn, Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT) (Photo: Körber-Stiftung / David Ausserhofer) Sangbae Kim, Department of Mechanical Engineering, Massachusetts Institute of Technology (MIT) Nicholas Paine, Human Centered Robotics Lab, University of Texas at Austin Nikolaos Tsagarakis, Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT) TECHNICAL COMMITTEES The organizers greatly acknowledge the endorsement of the workshop by the following IEEE technical committees: IEEE RAS Haptics IEEE RAS Human Robot Interaction and Coordination IEEE RAS Humanoid Robotics IEEE RAS Mechanisms and Design IEEE RAS Rehabilitation and Assistive Robotics IEEE IES Sensors and Actuators IEEE RAS Whole BodyCLAUDIO SEMINI
Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia High-Performance Torque Control on Hydraulic Legged Robots (download short paper) (download slides) 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 controlARNE WAHRBURG
Arne Wahrburg obtained his PhD in the area of model-based fault diagnosis from TU Darmstadt in 2013. Since then, he has been with the Robotics and Manufacturing group at ABB Corporate Research in Germany, working on robot motion and force control as a Senior Scientist. In 2015, he received the VDI/VDE Eugen-Hartmann-Award and his work onHIROSHI KAMINAGA
Nakamura and Takano Laboratory, The University of Tokyo Mechatronics Development for Force Sensitive Electro-Hydrostatic Actuators (download slides) 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 usingKYOUNGCHUL KONG
Robotic Systems Control Laboratory, Sogang University 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.MARCO HUTTER
Marco Hutter is assistant professor for Robotic Systems at ETH Zurich and Branco Weiss Fellow. After studying mechanical engineering, he conducted his doctoral degree in robotics at ETH with focus on design, actuation, and control of dynamic legged robotic systems. Marco is part of the national competence centers for robotics (NCCR roboticsLUDOVIC RIGHETTI
Ludovic Righetti leads the Movement Generation and Control group at the Max-Planck Institute for Intelligent Systems (Tübingen, Germany) since September 2012 and holds a W2 group leader position since October 2015. Before, he was a postdoctoral fellow at the University of Southern California between March 2009 and August 2012.IROS 2016 WORKSHOP
The next generation of industrial robots is envisioned to share workspaces with humans and physically interact with human collaborators in the dynamic environments of highly customized small batch sized production. Moreover, there exists the vision of robotic assistants and assistive robotic devices that help us in our everyday life and ensure individual mobility along with PROGRAM | IROS 2016 WORKSHOP The 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 ORGANIZERS | IROS 2016 WORKSHOP Jörn Malzahn, Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT) (Photo: Körber-Stiftung / David Ausserhofer) Sangbae Kim, Department of Mechanical Engineering, Massachusetts Institute of Technology (MIT) Nicholas Paine, Human Centered Robotics Lab, University of Texas at Austin Nikolaos Tsagarakis, Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT) TECHNICAL COMMITTEES The organizers greatly acknowledge the endorsement of the workshop by the following IEEE technical committees: IEEE RAS Haptics IEEE RAS Human Robot Interaction and Coordination IEEE RAS Humanoid Robotics IEEE RAS Mechanisms and Design IEEE RAS Rehabilitation and Assistive Robotics IEEE IES Sensors and Actuators IEEE RAS Whole BodyCLAUDIO SEMINI
Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia High-Performance Torque Control on Hydraulic Legged Robots (download short paper) (download slides) 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 controlARNE WAHRBURG
Arne Wahrburg obtained his PhD in the area of model-based fault diagnosis from TU Darmstadt in 2013. Since then, he has been with the Robotics and Manufacturing group at ABB Corporate Research in Germany, working on robot motion and force control as a Senior Scientist. In 2015, he received the VDI/VDE Eugen-Hartmann-Award and his work onHIROSHI KAMINAGA
Nakamura and Takano Laboratory, The University of Tokyo Mechatronics Development for Force Sensitive Electro-Hydrostatic Actuators (download slides) 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 usingKYOUNGCHUL KONG
Robotic Systems Control Laboratory, Sogang University 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.MARCO HUTTER
Marco Hutter is assistant professor for Robotic Systems at ETH Zurich and Branco Weiss Fellow. After studying mechanical engineering, he conducted his doctoral degree in robotics at ETH with focus on design, actuation, and control of dynamic legged robotic systems. Marco is part of the national competence centers for robotics (NCCR roboticsLUDOVIC RIGHETTI
Ludovic Righetti leads the Movement Generation and Control group at the Max-Planck Institute for Intelligent Systems (Tübingen, Germany) since September 2012 and holds a W2 group leader position since October 2015. Before, he was a postdoctoral fellow at the University of Southern California between March 2009 and August 2012.HIROSHI KAMINAGA
Nakamura and Takano Laboratory, The University of Tokyo Mechatronics Development for Force Sensitive Electro-Hydrostatic Actuators (download slides) 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 TOPICS | IROS 2016 WORKSHOP Force/Torque sensing technologies Force/Torque sensor design - integration, comparisons and best practices Hydraulic, pneumatic or electrical motor technology advancements Applications of force/torque enabled actuators to rehabilitation and assistance systems, whole body control of legged and humanoid robots, robots for manipulation and surgery Application specific design criteria andNICHOLAS PAINE
Apptronik Inc., Austin, Texas Enhancing Bandwidth and Power Density of Series Elastic Actuators using Elastomers and Convective Cooling 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 CALL FOR CONTRIBUTIONS Interactive Contributions. The workshop is soliciting contributed papers presented to all participants during interactive sessions. The organizers are happy to receive extended abstract submissions of 2-6 pages in standard IEEE conference page layout. The PDF files must be submitted online through EasyChair using the following link:JOSHUA MEHLING
NASA Johnson Space Center. Series Elastic Actuation for the Next Generation of Space Robots. Lo oking 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 terrestrialIROS 2016 WORKSHOP
The next generation of industrial robots is envisioned to share workspaces with humans and physically interact with human collaborators in the dynamic environments of highly customized small batch sized production. Moreover, there exists the vision of robotic assistants and assistive robotic devices that help us in our everyday life and ensure individual mobility along with PROGRAM | IROS 2016 WORKSHOP The 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 ORGANIZERS | IROS 2016 WORKSHOP Jörn Malzahn, Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT) (Photo: Körber-Stiftung / David Ausserhofer) Sangbae Kim, Department of Mechanical Engineering, Massachusetts Institute of Technology (MIT) Nicholas Paine, Human Centered Robotics Lab, University of Texas at Austin Nikolaos Tsagarakis, Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT) TECHNICAL COMMITTEES The organizers greatly acknowledge the endorsement of the workshop by the following IEEE technical committees: IEEE RAS Haptics IEEE RAS Human Robot Interaction and Coordination IEEE RAS Humanoid Robotics IEEE RAS Mechanisms and Design IEEE RAS Rehabilitation and Assistive Robotics IEEE IES Sensors and Actuators IEEE RAS Whole BodyCLAUDIO SEMINI
Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia High-Performance Torque Control on Hydraulic Legged Robots (download short paper) (download slides) 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 controlMARCO HUTTER
Robotic Systems Lab, ETH Zürich Series elastic actuator modules for legs and arms 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 thedevelopment,
HIROSHI KAMINAGA
Nakamura and Takano Laboratory, The University of Tokyo Mechatronics Development for Force Sensitive Electro-Hydrostatic Actuators (download slides) 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 usingARNE WAHRBURG
ABB Research Center Germany Cartesian contact force and torque estimation for redundant manipulators (download slides) 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.KYOUNGCHUL KONG
Robotic Systems Control Laboratory, Sogang University 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.LUDOVIC RIGHETTI
Movement Generation and Control Group, MPI Tübingen The importance of force control for multi-contact behaviors (download slides) 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 veryIROS 2016 WORKSHOP
The next generation of industrial robots is envisioned to share workspaces with humans and physically interact with human collaborators in the dynamic environments of highly customized small batch sized production. Moreover, there exists the vision of robotic assistants and assistive robotic devices that help us in our everyday life and ensure individual mobility along with PROGRAM | IROS 2016 WORKSHOP The 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 ORGANIZERS | IROS 2016 WORKSHOP Jörn Malzahn, Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT) (Photo: Körber-Stiftung / David Ausserhofer) Sangbae Kim, Department of Mechanical Engineering, Massachusetts Institute of Technology (MIT) Nicholas Paine, Human Centered Robotics Lab, University of Texas at Austin Nikolaos Tsagarakis, Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT) TECHNICAL COMMITTEES The organizers greatly acknowledge the endorsement of the workshop by the following IEEE technical committees: IEEE RAS Haptics IEEE RAS Human Robot Interaction and Coordination IEEE RAS Humanoid Robotics IEEE RAS Mechanisms and Design IEEE RAS Rehabilitation and Assistive Robotics IEEE IES Sensors and Actuators IEEE RAS Whole BodyCLAUDIO SEMINI
Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia High-Performance Torque Control on Hydraulic Legged Robots (download short paper) (download slides) 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 controlMARCO HUTTER
Robotic Systems Lab, ETH Zürich Series elastic actuator modules for legs and arms 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 thedevelopment,
HIROSHI KAMINAGA
Nakamura and Takano Laboratory, The University of Tokyo Mechatronics Development for Force Sensitive Electro-Hydrostatic Actuators (download slides) 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 usingARNE WAHRBURG
ABB Research Center Germany Cartesian contact force and torque estimation for redundant manipulators (download slides) 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.KYOUNGCHUL KONG
Robotic Systems Control Laboratory, Sogang University 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.LUDOVIC RIGHETTI
Movement Generation and Control Group, MPI Tübingen The importance of force control for multi-contact behaviors (download slides) 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 veryHIROSHI KAMINAGA
Nakamura and Takano Laboratory, The University of Tokyo Mechatronics Development for Force Sensitive Electro-Hydrostatic Actuators (download slides) 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 TOPICS | IROS 2016 WORKSHOP Force/Torque sensing technologies Force/Torque sensor design - integration, comparisons and best practices Hydraulic, pneumatic or electrical motor technology advancements Applications of force/torque enabled actuators to rehabilitation and assistance systems, whole body control of legged and humanoid robots, robots for manipulation and surgery Application specific design criteria andNICHOLAS PAINE
Apptronik Inc., Austin, Texas Enhancing Bandwidth and Power Density of Series Elastic Actuators using Elastomers and Convective Cooling 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 CALL FOR CONTRIBUTIONS Interactive Contributions. The workshop is soliciting contributed papers presented to all participants during interactive sessions. The organizers are happy to receive extended abstract submissions of 2-6 pages in standard IEEE conference page layout. The PDF files must be submitted online through EasyChair using the following link:JOSHUA MEHLING
NASA Johnson Space Center. Series Elastic Actuation for the Next Generation of Space Robots. Lo oking 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 terrestrialSkip to content
IROS 2016 WORKSHOP
THE MECHATRONICS BEHIND FORCE/TORQUE CONTROLLED ROBOT ACTUATION: SECRETS & CHALLENGES (OCTOBER 14, ROOM #112)Menu
* Home
* Objectives
* Topics
* Organizers
* Invited Speakers
* Alin Albu-Schäffer* Marco Hutter
* Hiroshi Kaminaga
* Kyoungchul Kong
* Jörn Malzahn
* Joshua Mehling
* Nicholas Paine
* Ludovic Righetti
* Claudio Semini
* Arne Wahrburg
* Call for Contributions* Program
* Technical CommitteesMOTIVATION
Walk-Man – Photos: A. Abrusci / D. Farina, Istituto Italiano di Tecnologia THE NEXT GENERATION of industrial robots is envisioned to share workspaces with humans and physically interact with human collaborators in the dynamic environments of highly customized small batch sized production. Moreover, there exists the vision of robotic assistants and assistive robotic devices that help us in our everyday life and ensure individual mobility along with a high standard of living including autonomy in high ages. The demographic change in today’s industrial societies and the associated social and economic challenges turn this vision into a true need ofaction.
A KEY ENABLER for this new generation of robots and assistive robotic devices is the broad availability of robust and affordable force/torque enabled robotic actuators, which pave the way for the advanced control concepts required to: * solve dexterous manipulation of arbitrary or possibly delicate objects with a priori unknown shapes, weights, friction and stiffnessproperties;
* allow whole body robotic locomotion or robotic system assisted human locomotion in unstructured, dynamic and possibly cluttered environments as well as stairs and ladders while exploiting multiplecontacts;
* realize intuitive, safe and dependable physical interaction of robots and assistive robotic devices with untrained human users.Advertisements
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