Call for Contributions
On Criteria, Metrics and Experiments for Design, Selection and Comparison
ICRA 2018, 21-25 May, Brisbane, Australia
This full-day ICRA workshop targets to answer the question: “What torque
controlled actuator do I need for this robot/device/application?”
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. Yet, the choice of actuator relies heavily on the intuition and
skills of a designer than on any rigorously grounding theory.
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
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
Call for Contributions:
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 in IEEE workshop page
layout. The PDF files must be submitted online through EasyChair using
the following link:
All accepted abstracts will be made available on this site with open access.
The workshop scope includes but is not limited to the following topics
- Methods for quantitative assessment of speed and force/torque control
accuracy, bandwidth and amplitude range along with energy efficiency,
peak power capacity, power density, backdrivability and impact resilience.
- Proposals and examples of benchmark experiments and metrics for
force/torque controlled actuation technologies.
- Integrated Force/Torque sensor design – integration, assurance of
specification and best practices.
- Metrics, criteria and techniques for fair application oriented
comparisons and selection of hydraulic, pneumatic or electrical
actuators across physical domains.
- Hardware designs for testbeds allowing standardized actuator evaluation.
- Normalization and similarity techniques for the metric generalization.
- Application specific design requirements and specification guidelines
for Force/Torque enabled drives in in Cobots, Humanoids, exoskeletons,
robotic prostheses, orthoses and rehabilitation devices and their
implications for actuator design.
- Novel force/torque enabled actuators, including variable stiffness,
transmission and damping actuators with a focus on their design criteria
and design optimizations.
Participants are strongly encouraged to contribute hardware
demonstrations. The hardware demonstrations will supplement the oral
workshop presentations and foster understanding of the presented
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.
Please submit proposals for contributed hardware demonstrators through
our contact form.
The proposal should comprise a brief description of your demonstrator
hardware, the experiment to be shown and specify the technical
requirements needed (voltage, power ratings of the power supply etc.).
submission deadline: March 11
Acceptance notification: March 31
Invited Speakers: (in alphabetic order)
Alin Albu-Schäffer - German Aerospace Center (DLR), Germany
Yasutaka Fujimoto - Yokohama National University, Japan
Masayuki Inaba - University of Tokyo, Japan
Daniel E. Koditschek - University of Pennsylvania, USA
Nic Radford - Houston Mechatronics, USA
Hae-Won Park - University of Illinois Urbana Champaign, USA
Bram Vanderborght - Vrije Universiteit Brussel, Belgium
Arne Wahrburg - ABB Robotics & Automation, Germany
Jörn Malzahn - Istituto Italiano di Tecnologia, Italy
Patrick Wensing, University of Notre Dame, USA
Navvab Kashiri - Istituto Italiano di Tecnologia, Italy
Sehoon Oh, Daegu Gyeongbuk Institute of Science and Technology, Korea
Nikos Tsagarakis - Istituto Italiano di Tecnologia, Italy
Navvab Kashiri (B.Sc.Eng., M.Sc.Eng., Ph.D.)
Senior Post-doctoral Researcher
Istituto Italiano di Tecnologia (IIT)
Department of Advanced Robotics
Humanoids & Human Centred Mechatronics Lab
Phone: +39 010 71781 582
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