Call For Contribution

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ICRA 2016 Half-Day Workshop:

“Legged Robot Falling: Fall Detection, Damage Prevention, and Recovery Actions.”

Stockholm, Sweden – Friday, May 20, 2016.

Web-page: https://icra2016wsfallingrobots.wordpress.com/

ICRA 2016: http://www.icra2016.org/

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Call for Poster Contribution
The workshop is soliciting posters for an interactive session and a 2-min teaser talk for all participants.  To participate, please submit a poster title and an abstract (in PDF format) via email to:  Dr. Dimitrios Kanoulas (Dimitrios.Kanoulas@iit.it) by March 15, 2016 (AoE).  All contributions will undergo a brief review by the organizers, and the authors will be notified of acceptance by March 30, 2016.

Call for Video Contribution
The workshop is soliciting videos related to the workshop’s topics of interest (see below), including legged robots falling and/or recovering actions.  All accepted videos will be shown during the workshop and will be available on the workshop’s web-page.  To participate, please upload your video on youtube (max ~1 min long) and submit the link and a video description (in PDF format) via email to:  Dr. Dimitrios Kanoulas (Dimitrios.Kanoulas@iit.it) by March 15, 2016 (AoE).  All contributions will undergo a brief review by the organizers, and the authors will be notified of acceptance by March 30, 2016.

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Important Dates

Poster abstract submission:  March 15, 2016 (AoE).
Notification of acceptance:   March 30, 2016 (AoE).
Workshop:                             May 20, 2016.

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Objectives and Motivation

A compilation of robots falling down at the DARPA Robotics Challenge: https://youtu.be/g0TaYhjpOfo

When a legged robot is functioning without a safety crane, the dramatic scenario of falling is always possible and inevitable. The research that has been done in the direction of fall detection, damage prevention, and recovery actions is very limited due to the fact that during experimental testing robots were always attached to safety cranes, while simulation machines were not still able to be used for such a realistic scenario. The DARPA Robotics Challenge 2015, where most of the legged robots fell during a real world task and only one managed to recover from its fall, raised many questions that this workshop will try to answer. From one side robots were unable to detect falls and consequently to apply damage prevention strategies; from the other side they were unable to apply any autonomous recovery actions. This half-day workshop will try to bring together researchers that have worked in this area from the robotic control, planning, and perception point of view to the biomechanical analysis of human falls. A poster/video session along with the invited talks will foster interactions between established experts in the field and early-career researchers, while this timely workshop topic is expected to be one of the new hot topics in the field of robotics.

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Topics of Interest:

  • mechanical design for a falling scenario and soft robotics
  • robotic simulation for falling and raising up actions
  • exteroceptive and proprioceptive perception for fall detection and recovery actions
  • fall planning and recovery
  • damage prevention control
  • collision avoidance and self-collision avoidance
  • reactive behaviors and emergency behaviors
  • biomechanical analysis of human fall detection
  • whole-body control strategies for fall/recovery actions

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Invited Speakers:

 

 

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Organizers:

— Dr. Dimitrios Kanoulas, Istituto Italiano di Tecnologia (IIT) [Italy]
— Dr. Seungkook Yun, SRI International [USA]
— Prof. Sung-Hee Lee, KAIST [Korea]

Special thanks to Dr. Ambarish Goswami (Honda Research Institute, USA) for his priceless help.

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Support of an IEEE RAS Technical Committee:

This proposed half-day workshop is supported by:
1) IEEE RAS Technical Committee on Humanoids Robotics as confirmed as confirmed by the Technical Committee co-chairs Aude Billard, Eiichi Yoshida, and James Kuffner.
2) IEEE RAS Technical Committee on Algorithms for Planning and Control of Robot Motion as confirmed by the Technical Committee co-chairs Fabrizio Flacco, Sertac Karaman, Hanna Kurniawati, and Lydia Tapia.
3) IEEE RAS Technical Committee on Whole-Body Control as confirmed by the Technical Committee co-chairs Federico Moro, Luis Sentis, and Jaeheung Park.

Acknowledgement
This work is supported by the FP7-ICT-2013-10 WALK- MAN European Commission project.

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