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IROS 2018 Second Half-Day Workshop:
“Humanoid Robot Falling: Fall Detection, Damage Prevention, and Recovery Actions.”
Day: Monday, October 1, 2018 (AM), Madrid Spain.
Room: TBD
Time: 9:00-13:30
Web-page: https://iros2018wsfallingrobots.wordpress.com
IROS 2018: https://www.iros2018.org
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Call for Poster Contribution The workshop is soliciting posters for a poster session and a 5-min spotlight talk for all participants. To participate, please submit a poster title and 1-2 page(s) draft in standard IROS paper format (double column style) (in PDF format, max 5MB) via email to: Dr. Dimitrios Kanoulas (Dimitrios.Kanoulas@iit.it), titled: “Falling Robots WS Poster, IROS 2018”. All contributions will undergo a brief review by the organizers, and the authors will be notified.
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Important Dates
— Poster abstract submission: September 5, 2018 (AoE)
— Notification of acceptance: September 10, 2018 (AoE)
— Workshop: Monday, October 1, 2018 (morning)
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Objectives
Research on humanoid robots has focused mainly on reliable perception, planning, and control methods for completing challenging tasks. The DARPA Robotics Challenge 2015 showed that when the tether is removed, legged robots may inevitable fall over during a task in an unstructured environment; either when they walk on a flat or rough terrain, or when they are cutting a wall with a drill, opening a door, and turning a valve. In a lot of cases if a humanoid robot falls over, it may end up with a serious damage for itself or the environment. If not, the robot in a real world scenario should recover, stand up, and complete the task. Being able to detect such a fall, apply the appropriate actions to prevent a big damage both on the robot and the environment around it, and recover if possible, are necessary for a real world application, where humanoid robots will need to deal with even rougher terrain and more complicated manipulation tasks under significant uncertainty either for static or dynamically changing environments.
This workshop will provide a platform for researchers from all areas in robotics to disseminate and exchange ideas, evaluating their advantages and drawbacks. This will include from the mechanical design and biomechanics to the perception, planning, and whole-body control methods on real robots and simulations for fall detection, damage prevention, and recovery actions in a falling over scenario. The aim is to foster collaboration among researchers that are working on humanoid robots to advance the very limited state-of-the-art work in this area.
This half-day workshop consists of a mixture of presentations on topics including design, sensing, perception, planning, biomechanics, and motion generation for humanoid robots designed to work indoors and outdoors. To stimulate interaction, we also organize a poster session to encourage the participation of young researchers and promote the discussion with the speakers and the audience. Moreover we allocate adequate time for questions and discussion to make the workshop as interactive as possible.
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Topics of interest
— mechanical design for a falling scenario and soft robotics
— robotic simulation for falling
— exteroceptive and proprioceptive perception for fall detection
— fall planning and recovery
— damage prevention control
— collision avoidance and self-collision avoidance
— reactive behaviors and emergency behaviors
— biomechanical analysis of human fall detection
— whole-body control fall/recovery strategies
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Organizers
— Dr. Dimitrios Kanoulas, HHCM, Istituto Italiano di Tecnologia (IIT) [Italy].
— Dr. Jinoh Lee, ADVR, Istituto Italiano di Tecnologia (IIT) [Italy].
— Dr. Abderrahmane Kheddar, CNRS & CNRS-AIST Joint Robotic Laboratory (JRL) [France].
— Dr. Yohei Kakiuchi, JSK Robotics Laboratory, Univ. of Tokyo [Japan].
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Invited Speakers
— Dr. Abderrahmane Kheddar — CNRS & CNRS-AIST, France.
— Prof. Amy Laviers — Univ. of Illinois at Urbana-Champaign, USA.
— Dr. Shuuji Kajita — AIST, Japan.
— Dr. Jinoh Lee — IIT, Italy.
— Dr. Yohei Kakiuchi — JSK, Japan.
— Prof. Zhangguo Yu and Prof. Qiang Huang, Beijing Inst. of Tech., China
— Prof. Sven Behnke — Univ. of Bonn, Germany.
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Support
This proposed workshop is supported by the IEEE-RAS and RSJ Technical Committees on:
1) IEEE RAS Technical Committee on Humanoids Robotics as confirmed as confirmed by the Technical Committee co-chairs Katsu Yamane, Giorgio Metta, and Tomomichi Sugihara.
2) IEEE RAS Technical Committee on Algorithms for Planning and Control of Robot Motion as confirmed by the Technical Committee co-chairs Sertac Karaman and Lydia Tapia.
3) IEEE RAS Technical Committee on Robotics and Automation in Nuclear Facilities, as confirmed by the Technical Committee co-chairs William R. Hamel, Hajime Asama, Raja Chatila, and Yoshihiko Nakamura.
4) IEEE RAS Technical Committee on Whole-Body Control, as confirmed by the Technical Committee co-chairs Federico Moro, Jaeheung Park, and Luis Sentis.
5) RSJ Special Interest Group on Humanoid Robotics, as confirmed by Tomomichi Sugihara.
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Acknowledgement
This workshop is supported by: 1) the ICT-23-2014 CogIMon European Commission H2020 project (no. 644727): https://cogimon.eu , 2) the ICT-23-2014 COMANOID European Commission H2020 project (no. 645097): www.comanoid.eu
We would also like to thank Prof. Ambarish Goswami who, as in our previous workshop event on this topic, helped a lot on the organization.
IROS 2018 Half-Day Workshop [Room 4.R4, 9am] 