When one sees videos of recent robots achieving multi-contact manipulation or locomotion, one wonders why they are slow when they come to contacts? The main reason in all cases is simple: robots fear impacts. Unlike humans, most of the robots can not mitigate high impulse by design. Rather than being rigidly mounted on a fixed-base, under-actuated robots have to balance themselves using contacts that (i) can only provide unilateral supporting forces, (ii) include limited contact areas, e.g., a partial foothold, and (iii) can change over time. Thus to enable:
- swift motion while physically interacting with the environment with multiple complex impacts,
- exploiting energetic contact transitions for robot manipulation and locomotion.
- How to perform timely impact/collision detection?
- How to properly model the frictional impact dynamics?
- How to improve the floating-base state estimates?
- How to improve the hardware design to mitigate high external impulses?
- How to balance the under-actuated floating-base while executing high dynamic motion?
- How to introduce impact-awareness to high dynamic motion control and planning?
Live Streamingstarts on June 4th, 09:00am (GMT+8 schedule), that is 03:00am in (CEST schedule), and June 3rd, 06:00pm in (PDT schedule). The workshop spans different time zones here.
In line with the regulations of ICRA 2021, we keep all the presentation replays for half a year’s time until Dec 14th, 2021. After that, the following replay...
Please do not miss the live streaming options!
On June 4th, we will organize the workshop from 09:00am to 05:00pm in time zone: GMT +8.
About: deformable material, disturbance compensation, and environmental compliance
For all the participants/audience, there is the opportunity to ask questions before the workshop!