Program

The conference workshop aims at boosting research related to every facet of compliant, whole-body manipulation of robotic systems – both from a robotics/control perspective and from the cognitive point of view. The combination of the two complementary research fields is necessary to break down the barriers towards safe and capable universal service robots. For this reason, the workshop will have a diverse schedule with moderated discussions, involving several renowned scientists from both research areas.

Time Talk
09:00 – 09:10 Opening and Introduction: Daniel Leidner and Alexander Dietrich
09:10 – 09:30 Talk 1: Alin Albu-Schaeffer (DLR, TUM)
Intelligent compliant, whole-body-controlled robots for society and space
09:30 – 10:30

09:30 – 09:45
(12 + 3 min)

09:45 – 10:00
(12 + 3 min)

10:00 – 10:10
(8 + 2 min)

10:10 – 10:20
(8 + 2 min)

10:20 – 10:30
(8 + 2 min)

Contributed Papers:

Bojan Nemec ( Jožef Stefan Institute)
Compliant control for efficient robot sensory-motor learning [pdf]

Nadia Figueroa ( École Polytechnique Fédérale de Lausanne)
Modeling Compositions of Impedance-based Primitives via Dynamical Systems [pdf]

Alessandro Massimo Giordano (Technical University of Munich)
Momentum-based whole-body control strategies for space robots[pdf]

Philipp Ruppel (University of Hamburg)
Compliant Whole-Body Robot Control with Kinematic and Dynamic Constraints [pdf]

Kristin Bussmann (German Aerospace Center)
Adding Cognition to Compliant Whole-Body Control in Space Exploration Scenarios[pdf]

10:30 – 11:00 Coffee Break & On-line Poll
11:00 – 11:25 Talk 2: Kei Okada (University of Tokyo)
Knowledge-based whole-body manipulation control and control-based knowledge acquisition
11:25 – 11:50 Talk 3: Leonel Rozo (Istituto Italiano di Tecnologia)
Robot learning from few demonstrations by exploitingthe structure and geometry of data
11:50 – 12:00 On-line Poll Conclusions: Daniel Leidner
12:00 – 12:25 Talk 4: Stefano Stramigioli (Universiteit Twente)
Energy-Awareness: An Answer to the Question of Natural and Safe Physical Interaction
12:25 – 12:30 Discussion: Moderated by the organizers
Challenges, promissing applications and future topics