On Criteria, Metrics and Experiments for Design, Selection and Comparison.

This workshop has been proposed the IEEE International Conference on Robotics and Automation (ICRA) 2018 in Brisbane and is accepted!

The workshop will be held on Monday 21 May 2018. Details about the exact date and location of the workshop follow.

Call for Abstracts

The workshop is soliciting contributed papers presented to all participants during interactive sessions. The organizers are happy to receive extended abstract submissions of 1-2 pages (read more…)

Submission deadline: 28 Feb 2018
Author notification: 31 Mar 2018

All accepted abstracts will be made available on this site with open access.

 Hardware Demonstrators

Participants are strongly encouraged to contribute hardware demonstrations. The hardware demonstrations will supplement the oral workshop presentations and foster understanding of the presented theoretical concepts.
For the demonstrating researches, the workshop offers a unique platform and the rare chance to demonstrate their working systems to experts exclusively working in their field (read more).

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About

Future robots are supposed to dynamically locomote in unstructured environments and physically interact with their surroundings — including humans. The recent development in design and control of torque controlled actuators has already lead to remarkable advancements in safety, robustness and interaction performance for robots and assistive robotic devices. Examples are Industrial Cobots, Whole-body loco-manipulation of Humanoids, exoskeletons, robotic prostheses, orthoses and rehabilitation devices.

Answering the question: ”What torque controlled actuator do I need for this robot/device/application?“ still relies more heavily on the intuition and skills of a designer than on any rigorously grounding theory. Literature lacks proper metrics to guide this process. Conventional notions (power-density, peak torque, etc.) are inadequate for new applications that are dominated by physical interaction. To catalyze technological breakthroughs, the workshop program targets new methods to formulate foundational answers to the following open research questions:

  • How should we characterize the force/torque control bandwidth?
  • What minimum bandwidth does the application demand?
  • How could we measure backdrivability?
  • How should we characterize impact resilience?
  • How to describe the actuator power requirements for our application?
  • What stiffness should be chosen for my application?
  • How to compute the efficiency of an actuator interacting with the environment?

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