*Call for Contributions*
Workshop on “*Modeling and Control of Dynamic Legged Locomotion: Insights
from Template (Simplified) Models*”, as part of the IROS 2018 conference,
to be held on October 1st, 2018 in Madrid, Spain.
Workshop website: https://urldefense.proofpoint.com/v2/url?u=https-3A__iros18wsdll.netlify.com&d=DwIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=6QA7lLkBbEP0HOb32yepeikruPS6oiUGv_OTstBz90s&s=bB-rNnoBqLIXNoFXr7XJ62KIbJn6QtfopwtWjaLnEhI&e=
- Mohammad Shahbazi, IIT, IT
- Hartmut Geyer, CMU, US
- Shuuji Kajita, AIST, JP
- Nikos Tsagarakis, IIT, IT
- Submission deadline: August 26, 2018 (Anywhere on Earth)
- Notification of acceptance: September 2, 2018
- Final submission: September 10, 2018
- Workshop day: October 1, 2018
We encourage 1-2 pages extended abstract of relevant work that has been
previously published, or is to be presented at the main conference. The
accepted abstracts will be posted on the workshop website and will not
appear in the official IEEE proceedings. The reviewing process is single
blind and will be carried out by the workshop organizers. The accepted
abstracts will have the opportunity to be presented in an interactive
poster session. Additionally, each selected poster will have a short
spotlight talk in the lightning session of the workshop.
Please prepare your abstract using this template
<https://urldefense.proofpoint.com/v2/url?u=https-3A__iros18wsdll.netlify.com_media_Template.zip&d=DwIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=6QA7lLkBbEP0HOb32yepeikruPS6oiUGv_OTstBz90s&s=j-QBPeHk9bJhQszP24-oFQQanRsDUsYl9XkuORlY9Fk&e=> and submit it to the
workshop email address [hidden email].
Modeling and control of dynamic legged locomotion are more difficult than
the traditional types of locomotion in that, a dynamically stable locomotor
renders the stability only cyclically. This feature requires a larger
prediction horizon for control and stability analysis, which complicates
matters. Researchers have approached this class of problems from different
points of view, which may be categorized into methods using the "true"
model of the system and methods that consider a template (simplified)
model. The study of legged locomotion using template models, such as LIP,
SLIP, Compass Gait, and Cart-Table models, provides insight into the
fundamental principles that underlie legged locomotion. The resulting
platform-independent reductive models typically admit analytical
representations that are more tractable than the original higher-order
robot models. Significant achievements in the locomotion skills of dynamic
robots have been made following both perspectives briefly mentioned above.
However, there is still much to be done to meet the agility, efficiency and
speed demonstrated by animals and humans, when it comes to accommodating
real world environments. Are we prepared for the next Fukushima-like
incidents? The workshop will discuss recent achievements in dynamic legged
locomotion in robotics and biomechanics communities, with a focus on the
role of simplified models.
*Topics of Interest*
The questions to be addressed in this workshop include, but are not limited
- What is the state-of-the-art in dynamic gait template models and their
- What is the state-of-the-art in control of legged robots based on the
- How are issues like kinematic singularity addressed when mapping
template behaviors into real robots?
- What are alternatives to template-based control of dynamic legged
locomotion and how do these alternatives compare in terms of performance?
- Does the study of gait templates inform a better understanding of
locomotion in animals?
- What next milestones are required for template-based approaches to
advance the understanding and control of legged locomotion?
Accordingly, the workshop is envisioned to cover the following topics:
- Bioinspired dynamic locomotion gaits
- Mathematical modeling of human/animals locomotion templates
(event-driven cyclic hybrid systems)
- Efficient solutions to dynamics and optimization-based control of such
- Comparisons of different approaches to control of dynamic gaits
- Adaptive/Reactive gait generation for dynamic bipeds/quadrupeds
- Natural dynamics exploitation in gait design and control
*Invited Speakers* (in alphabetical order)
- Alin Albu-Schäffer, DLR, GE
- Jonathan E Clark, FSU, US
- Avik De (Daniel E Koditschek), UPenn, US
- Roy Featherstone, IIT, IT
- Shuuji Kajita, AIST, JP
- Sangbae Kim, MIT, US
- William Martin (Hartmut Geyer), CMU, US
- Uluc Saranli, METU, TR
- Andre Seyfarth, TU Darmstadt, GE
- Tomomichi Sugihara, Osaka University, JP
This workshop is supported by the following IEEE Robotics and Automation’s
- Human Movement Understanding
- Bio Robotics
- Wearable Robotics
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