banner Humanoids 2014

Alberto Parmiggiani(1), Masayuki Inaba(2), Nikos Tsagarakis(3)

(1) iCub Facility - Istituto Italiano di Tecnologia (IIT)
Via Morego, 30 - 16163 Genoa, Italy

(2) JSK Robotics Laboratory - Department of Mechano-Informatics - University of Tokyo
Eng. Building No. 2 7-3-1, Hongo, Bunkyo-ku, Tokyo, Japan

(3) Advanced Robotics - Istituto Italiano di Tecnologia (IIT)
Via Morego, 30 - 16163 Genoa, Italy



Background

Humanoid robot technology has made significant progresses in the past years. Research prototypes are now beginning to demonstrate relevant tasks and significant autonomy levels. Nevertheless to be even more helpful, robots need to improve their capability of interacting physically with humans, and with unstructured environments. This, in turn, poses new challenges in the design of safe, dependable, robust and effective robotic systems.

Because of the high overall complexity, the design of humanoids requires special attention. Indeed scaling platforms from a few degrees of freedom to many, and combining all sub-modules poses significant systems integration problems. Furthermore some humanoids are beginning to equip series elastic actuators and variable impedance actuators, thus adding further complexity. This workshop will present the challenges and potential solutions concerning humanoid robot design. We will discuss the state of the art and focus on new trends, such as compliant actuation, improved design for better maintenance, new actuation principles, and methodologies for defining and evaluating performance requirements.

Objectives

This workshop has two main goals. The first goal is to bring together researchers working on hardware design of humanoid robots, (along with related compliant and flexible whole-body control issues) and to present a complete overview of their recent activities. In particular we welcome contributions that demonstrate the performance of new robotic machines with a high number of DOF capable of performing complex manipulation and locomotion tasks.

Moreover the first announcement of the DARPA Robotics Challenge (DRC) set off the development of several new humanoid robots that were demonstrated at the DRC trials in December 2013. We believe this workshop will be a good occasion to present some of these systems and the design approaches that were followed to develop them.

The second goal is to foster collaboration among researchers that are working on different platforms to advance the state of the art in humanoids design. To conclude, with this workshop we aim at:

  • Demonstrating the recent developments in humanoid robot design, giving the opportunity of presenting and discussing recent results in this hot research area for robotics.
  • Advancing the state of the art in humanoid robot design by fostering collaboration among researchers working on different platforms with different research focuses (e.g. dexterous manipulation, whole body torque control, locomotion, etc.).

Intended audience

People directly involved in the design, control and systems integration of humanoid robots. This community comprises: roboticists, mechanical engineers and experts in mechatronics systems.



Schedule

The workshop will take place November 18, 2014 at the International Conference on Humanoid Robotics.

Time Title Speaker
9:00 Workshop introduction
9:10 Modular Humaniod Robotics Eric Meyhofer (CMU - USA) pdf
9:40 TBA Kenji Hashimoto (Waseda Univ. - Japan)
10:00 iCub mechatronics: current status and recent advances Alberto Parmiggiani (IIT – Italy) pdf
10:20 Design of Robust and Force Sensitive Hydraulic Actuator for Humanoid Robot Systems Hiroshi Kaminaga (Univ. Tokyo - Japan) pdf
10:40 Coffee break
11:00 TBA Christian Ott (DLR - Germany) pdf
11:40 Herbert: Design and Realisation Brennand Pierce (TUM- Germany) pdf
12:00 Design Specifications and Compliant Actuation Concepts of WALK-MAN Humanoid Nikos Tsagarakis (IIT – Italy) pdf
12:20 Hominid Robot Charlie and Humanoid Robot AILA: Mechatronic Design and Control Approaches Jose De Gea Fernandez (DFKI – Bremen) pdf
12:40 open discussion