The 11th International Conference on Ubiquitous Robots and Ambient Intelligence [URAI 2014]
November 12~15, 2014 / Double Tree Hotel by Hilton, Kuala Lumpur, Malaysia
Darwin Caldwell (Istituto Italiano di Tecnologia(IIT), Italy)
Presentation Title : Actuation and Power Technologies for Dynamic Motion and Locomotion in Legged Robots
Abstract : The world (both natural and man-made) is a complex, unstructured, and dynamically changing environment, in which animals (and humans) roam, with consummate ease, across varying terrain (grasslands, forest, mountains, rocks, marshes, rivers, beaches) easily changing their gait, behaviours and motions to run faster or climbing to evade predators and catch prey. At the same time they avoid injury to themselves, limit damage to the environment and perform both simple and complex tasks involving coordination of the arms, body and legs. While wheeled and tracked vehicles are able to work in some of these terrains, particularly those that have smoothed and/or flattened surfaces, there are many scenarios where only animal/human-like levels of agility, compliance, and dexterity are sufficient. The research needed to solve the problem of operation in these complex, unstructured domains raises many fundamental robotic questions in areas such as: robot design, actuation, power and energy efficiency, motion and locomotion control, gait generation, perception, sensing, etc.
In recent years there have been a number of high performance legged robots such as Big Dog, Atlas, WildCat, Asimo, HRP and Hubo. At IIT, research in recent years has led to the development of the quadruped HyQ and humanoid robots such as iCub, cCub, COMAN and most recently WALKMAN.
This presentation will provide an insight into some of the core technologies needed in the development of dynamic, high performance bipeds and quadrupeds, with a focus ranging from the systems design, through the power and actuation technology (exploring the benefits of compliance and torque control), to gait and locomotion strategies.
Biography : Darwin G Caldwell is a founding Director at the Italian Institute of Technology in Genoa, Italy, and a Honorary Professor at the Universities of Sheffield, Manchester, Bangor, Kings College, London and Tianjin University China. His research interests include innovative actuators, humanoid and quadrupedal robotics and locomotion (iCub, cCub, HyQ and COMAN), haptic feedback, force augmentation exoskeletons, dexterous manipulators, biomimetic systems, rehabilitation and surgical robotics, telepresence and teleoperation procedures. He is the author or co-author of over 450 academic papers, and 17 patents and has received awards and nominations from several international journals and conference including; IMechE Best Paper Award 2009, Ind. Robot Journal 2010, ICRA (2007), IROS (2007, 2012, 2013), ICAR (2003), Humanoids (2008, 2012), CASE (2008), ICMA (2011), Robio (2013) IFAC IAV, MMVR (2011), ACHI (2010), WorldHaptics (2007) and Virtual Concepts (2006). He is Editor for Frontiers in Robotics and AI, secretary of the IEEE/ASME Trans. on Mechatronics and on the editorial board of the International Journal of Social Robotics and Industrial Robot.
Abderrahmane KHEDDAR (CNRS-AIST JRL, Japan) and (CNRS-UM2 LIRMM-IDH, France)
Presentation Title (Tentative) : OMNITASK HUMANOID ROBOTS
Abstract : In this talk, I will address some perspectives in humanoid robotics usage in three potential applications demanding a large variety of skills, which one expects to be fulfilled by humanoid robotics. First, humanoid robots are believed to be an advantageous solution in disaster situations such as that exemplified by the Fukushima nuclear disaster, which inspired the DARPA robotics challenge. Second, humanoids are envisioned to be home companion robots to assist frail and aging persons; in this part, I will report on our contribution the Aldebaran Romeo 2 national project www. www.projetromeo.com and the RoboHow.Cog EU project www.robohow.eu. Third, humanoid robot can serve as collaborative workers, I termed “Comanoids”, that are partners in some large industrial assembly plants where wheeled and rail-ported robots are not possible to be used. These three applications have different business plans and also different requirements in terms of hardware and perception capabilities that are correlated with the large variety of task skills and dexterity required. We discuss how our current research in multi-contact planning and human-humanoid haptic joint actions could serve the purpose for some of the requirements. I will exemplify my talk with some video demonstrators using the HRP-2 humanoid robot.
Biography : Abderrahmane KHEDDAR received the BSCS degree (french qualification: ingénieur) from the Institut National d’Informatique (INI), Algiers, the MSc and PhD degrees in robotics, both from the University of Pierre and Marie Curie, Paris 6. He is presently Directeur de Recherche at CNRS www.cnrs.fr. He is the Director of the CNRS-AIST Joint Robotic Laboratory (JRL), UMI3218/CRT, Tsukuba, Japan; and the leader of the Interactive Digital Humans (IDH) team at CNRS-UM2 LIRMM at Montpellier, France. His research interests include humanoid robotics, haptics, and recently thought-based control using brain machine interfaces. He is a founding member of the IEEE/RAS chapter on haptics (acting also as a senior advisor), the co-chair and co-founding member of the IEEE/RAS Technical committee on model-based optimization. He is presently Editor of the IEEE Transactions on Robotics, and associate editor of the MIT Press PRESENCE journal, and the Journal of Intelligent and Robotic Systems, and Frontiers in Bionics; he is a founding member of the IEEE Transactions on Haptics and served in its editorial board during three years (2007-2010). He also coordinated or acted as a PI for several EU projects.