Program

Monday – May 29, 2017

08:30– 08:45 Welcome [slides]

Session 1 [Chair: Dr. Dimitrios Kanoulas]
08:45 – 09:10  Maurice Fallon — Univ. of Oxford, UK.
Title: “Multi-sensor Perception for Robust Localization of Humanoids and Quadrupeds”
Abstract and Bio: here [slides].

09:10 – 09:35 Andrea Del Prete (Nicolas Mansard, Olivier Stasse) — LAAS-CNRS, France.
Title: “Robust Optimization and Motion Memory for Reliable Robotics”
Abstract and Bio: here [slides].

09:35 – 10:00 Marco Hutter — ETH Zurich, Switzerland.
Title: ”Autonomous Legged Locomotion on Industrial Sites – ANYmal at the ARGOS competition”
Abstract and Bio: here [slides].

10:00 – 10:45   Coffee Break & Poster Session 1
1. N. Smit-Anseeuw, A. Nash, R. Vasudevan, and C. David Remy
“Safe Online Learning Using Barrier Functions” [Abstract, slides]
2. A. Winkler and J. Buchli
“Quadruped Motion Generation through Optimization” [Abstract, slides]
3. M. Khan, M. Ilyas
“A Quadruped Robot made of a Bio Sourced Material” [Abstract, slides]
4. C. Mastalli, M. Focchi, I. Havoutis,A. Radulescu, D. Caldwell, C. Semini
“Trajectory Optimization and Dynamic Walking Adaptation for Rough Terrain Locomotion” [Abstract, slides]
5. J. Machowinski, A. Boeckmann, S. Arnold, C. Hertzberg, S. Planthaber
“Climbing Steep Inclines with a Six-Legged Robot using Locomotion Planning” [Abstract, slides]
6. A. Radulescu, I. Havoutis, D. Caldwell, C. Semini
“Whole-body Trajectory Optimization for Non-periodic Dynamic Motions in Legged Systems” [Abstract, slides]
7. D. Kanoulas, A. Toumpa, C. Zhou, D. Caldwell, and N. Tsagarakis
“Vision-Based Footstep Localization for Rough Terrain Locomotion” [Abstract, slides]

Session 2 [Chair: Dr. Ioannis Havoutis]
10:45 – 11:10  Ludovic Righetti — MPI, Germany.
Title: “Towards more robust planning and control of contacts for locomotion”
Abstract and Bio: here [slides].

11:10 – 11:35  Diego Pardo — ETH Zurich, Switzerland.
Title: “Motion planning and control of legged robots:  Optimization-based approaches demonstrated on a real hydraulically actuated quadruped robot”
Abstract and Bio: here [slides].

11:35 – 12:00  Francesco Nori — IIT, Italy.
Title: “iCub Whole-Body Control Through Force Regulation with Distributed Tactile Sensing”
Abstract and Bio: here [slides].

12:00 – 13:30   Lunch Break

Session 3 [Chair: Prof. Maurice Fallon]
13:30 – 13:55   Taskin Padir — Northeastern Univ, USA .
Title: “Compositional Autonomy for Humanoid Robots”
Abstract and Bio: here [slides].

13:55 – 14:20   Maren Bennewitz — University of Bonn, Germany.
Title: “Perception and Motion Planning for Humanoids in 3D Environments”
Abstract and Bio: here [slides].

14:20 – 14:45  Alex Stumpf — TU Darmstadt, Germany.
Title: “Towards Capable Open Source ROS-Frameworks for Real-Time Perception, World Modeling and Footstep Planning for Humanoid and Legged Robots”
Abstract and Bio: here [slides].

14:45 – 15:30   Coffee Break & Poster Session 2
8. A. Short and T. Bandyopadhyay
“Legged Motion Planning in Complex 3D Environments” [Abstract, slides]
9. M. Wang, M.Wonsick, V. Dimitrov, X. Long, T. Padir,
“In-situ Terrain Estimation and Stability Analysis for Bipedal Humanoid Robots” [Abstract, slides]
10. O. Urbann and I. Schwarz
“An Alternative Derivation of the Linear Inverted Pendulum Model” [Abstract, slides]
11. S. Nobili, M. Camurri, C. Semini, and M. Fallon
“Multi-sensor Perception for Robust Localization of Dynamic Robots” [Abstract, slides]
12. M. Camurri, M. Fallon, V. Barasuol, D. Caldwell, and C. Semini
“State Estimation in the Loop for Accurate Base Pose and Velocity Tracking of Dynamic Legged Robots” [Abstract, slides]
13. M. Shafiee-Ashtiani, A. Yousefi-Koma, M. Shariat-Panahi, M. Khadiv
“Robust bipedal Locomotion Control based on Model Predictive Control and Divergent Component of Motion” [Abstract, slides]
14. Y. Hu, K. Mombaur
“Whole-body walking motion generation with optimal control” [Abstract, slides]

Session 4:  [Chair: Dr. Andrea Del Prette]
15:30 – 15:55  Patrick Wensing — MIT, USA.
Title: “Real-time planning and control for the MIT Cheetah”
Abstract and Bio: here [slides].

15:55 – 16:20  Evangelos Papadopoulos — NTUA, Greece.
Title: “Legged Robot Control Using Passive Dynamics and Active Compliance”
Abstract and Bio: here [slides].

16:20 – 16:45   Luis Sentis — Univ. of Texas at Austin, USA.
Title: “Uncertainty in Human-Centered Robots”
Abstract and Bio: here [slides].

16:45 – 17:00  Closing Remarks