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Program Overview

The workshop format will include talks by researchers covering topics that are essential for addressing the workshop central topics:


prioritization schemes that allow priority rearrangement
• Niels Dehio (Karlsruhe Institute of Technology)
Title: "Generalizing strict and soft priorities"
• Jaeheung Park (Seoul National University)
Title: "Continuous Task Transition Approach for Robots with Prioritized Tasks"
• Adrien Escande (CNRS/AIST)
Title: "Mathematical aspects of switching priorities in stack of tasks"


learning time-(in-)dependent priorities
• Sylvain Calinon (Idiap Research Institute)
Title: "Handling task prioritization as a product of Gaussians"


(planning) smooth contact transitions
• Daniele Pucci (IIT)
Title: "Beyond Torque Control: Towards Jerk Control of Humanoid Robots via Contact Parametrisation"
• Marco Hutter / Dario Bellicoso (ETH Zürich)
Title: "Whole-Body Control and Hierarchical-Optimization for Torque-Controlled Quadrupedal Robots"
• Alin Albu-Schäffer / Bernd Henze (DLR)
Title: "Multi-Priority Control of Humanoid Robots"

 

The workshop will take place in Room 518b on Friday, May 24, 2019, AM: 8:30-12:30.

Tentative Time Schedule
08:30 - 08:40 10 Min Opening and Introduction
08:40 - 09:00 15 Min Talk + 5 Min Discussion Talk 1 - Niels Dehio
09:00 - 09:30 25 Min Talk + 5 Min Discussion Talk 2 - Jaeheung Park
09:30 - 10:00 25 Min Talk + 5 Min Discussion Talk 3 - Adrien Escande
10:00 - 10:30 Coffee Break Poster Presentation
10:30 - 11:00 25 Min Talk + 5 Min Discussion Talk 4 - Sylvain Calinon
11:00 - 11:25 20 Min Talk + 5 Min Discussion Talk 5 - Daniele Pucci
11:25 - 11:50 20 Min Talk + 5 Min Discussion Talk 6 - Marco Hutter / Dario Bellicoso
11:50 - 12:20 25 Min Talk + 5 Min Discussion Talk 7 - Alin Albu-Schäffer / Bernd Henze
12:20 - 12:30 10 Min Discussion