Prof. Alin Albu-Schäffer (DLR, TUM)
Intelligent, whole-body-controlled robots for society and space
The talk will address the cognition-enabled whole-body framework on Rollin’ Justin and the lessons learned from applications such as window wiping or sweeping the floor with a broom. Moreover, an overview on the integrations on further systems will be given, including the biped TORO, the robotic wheelchair EDAN, and the intrinsically compliant humanoid robot David of the DLR.
Dr. Leonel Rozo (Istituto Italiano di Tecnologia)
Manipulability Transfer: Learning and Tracking of Manipulability Ellipsoids
Humans naturally vary their body posture in order to quickly move along specific directions or apply high forces on the environment. Such posture changes are strongly linked to the specific requirements of the task at hand. Posture variation also has a significant role in robot manipulation (e.g., pushing/pulling objects, reaching tasks). In this context, this talk will present a novel framework for transferring manipulability ellipsoids to robots.
Prof. Kei Okada (University of Tokyo)
Knowledge-based humanoid whole-body manipulation control and control-based knowledge acquisition
This talk discusses an entire system framework of whole-body manipulation, including realtime control, offline motion generation, task-level planning and its relation to the knowledge description. Moreover, the question will be addressed how this knowledge can be obtained based on online experience and offline learning. The presented algorithms are deployed on various humanoid robots.
Prof. Dr. Ir. Stefano Stramigioli (Universiteit Twente)
Energy-Awareness: An Answer to the Question of Natural and Safe Physical Interaction
The talk will address control for physical interaction. What are the shortcomings and needs for a natural and safe interaction? A brief overview will be given of some of the concepts needed to answer these questions and some mathematical arguments for the proposed paradigm which will treat energy and interaction as a core these in what it is called by the presenter, Energy-Aware Robotics.