Workshop IEEE IROS 2016

Towards a unified workflow for multi contact motion on legged robots:

Challenges in planning, optimization and control


Abstract

Early contributions on multi contact locomotion for legged robots have underlined the complexity of planning, then controlling robot motions in cluttered environments. In both the robotics and computer-graphics community, a large variety of approaches have been recently proposed to tackle the problem, thus often targeting one specific aspect: 1) the planning of a feasible path for the robot; 2) the optimization of its trajectory; or 3) the feedback control of the robot during the execution of a dynamic motion. Integrating these different aspects is not only an engineering issue. It raises scientific questions in terms of robustness of the algorithms and performance requirements. The objective of this workshop is to gather people working in these fields and propose a debate on the combination of these various aspects into a functional workflow for robot motions in cluttered environments. Renowned speakers from the robotics and computer graphics field will present their work, and recommend the reading of selected papers prior the conference. This will provide the audience with the ability to prepare their venue and ask relevant questions that will be analyzed by student groups and discussed during dedicated debate sessions.

The proposition of workshop has been accepted for IEEE/RSJ IROS 2016 (Daejeon, Korea).


Ask questions on twitter during the presentations!

https://twitter.com/mcontactiros16 (@mcontactiros16)


Workshop schedule for Friday, october 14th:

8:30 Introduction to the workshop

8:40 Multi contact motion planning

  • 8:40 :Multi­contact motion planning for humanoid robots: from theory to experiments
    Adrien Escande, CNRS/AIST, JRL, Tsukuba, Japan
  • 09:20 : Interactively planning feasible contact sequences and trajectories for legged robots
    Steve Tonneau, CNRS/LAAS, Toulouse, France
  • 09:50 Topic debate on multi contact planning

10:10 - 10:30 Coffee Break

10:30: Multi contact trajectory generation

  • 10:30 : Exploiting the momentum equations for (convex) multi-contact planning
    Ludovic Righetti,Max-Planck-Institute for Intelligent Systems , Tübingen , Germany
  • 11:10 : Dynamic Multi-Contact Humanoid Locomotion via Unified Virtual Constraints and Direct Collocation based Optimization
    Ayonga Hereid, Georgia Institute of Technology
  • 11:50 : Data-guided Model Predictive Control Based on Smoothed Contact Dynamics
    Daseong Han, Handong Global University, Gyeongbuk, South Korea
  • 12:30 Topic debate on trajectory generation

12:50-14:00 Lunch break

14:00 : Trajectory generation and control for real robots

  • 14:00: Planning with the Help of Environment and Constraints.
    Antonio Bicchi, University of Pisa, Italy
  • 14:40 : Planning and execution of whole­body environment and object manipulation with a life­sized humanoid robot.
    Shunichi Nozawa, The university of Tokyo, Japan

15:20 : Topic debate on multi contact robot control

15:40-16:00 Coffee Break

16:00 :Final debate, workshop conclusion


References for the talks:

Multi contact motion planning:

Multi contact trajectory generation, part 1

  • Herzog A., Schaal, S., Righetti, L., Structured contact force optimization for kino-dynamic motion generation, https://arxiv.org/abs/1605.08571
  • Ponton B., Herzog A., Schaal, S., Righetti, L., A Convex Model of Momentum Dynamics for Multi-Contact Motion Generation, http://arxiv.org/abs/1607.08644
  • Hereid, A., Cousineau E. A., Hubicki C. M., and Ames A. D., ''3D Dynamic Walking with Underactuated Humanoid Robots: A Direct Collocation Framework for Optimizing Hybrid Zero Dynamics. 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016, 1447-1454

Multi contact trajectory generation, part 2

Trajectory generation and control for real robots

  • E. Farnioli, Gabiccini, M., and Bicchi, A., Optimal Contact Force Distribution for Compliant Humanoid Robots in Whole-Body Loco-Manipulation Tasks, in IEEE International Conference on Robotics and Automation (ICRA2015), Seattle, USA, 25 - 30 May, 2015, pp. 5675 - 5681. http://www.centropiaggio.unipi.it/sites/default/files/2015_fgb_2015.pdf
  • M. Bonilla, Farnioli, E., Pallottino, L., and Bicchi, A., Sample-Based Motion Planning for Robot Manipulators with Closed Kinematic Chains, in IEEE International Conference on Robotics and Automation (ICRA2015), Seattle, USA, 25 - 30 May, 2015, pp. 2522 - 2527. http://www.centropiaggio.unipi.it/sites/default/files/bfpb_icra15.pdf
  • Shunichi Nozawa, Masaki Murooka, Shintaro Noda, Kei Okada,, Masayuki Inaba. Description and Execution of Humanoid's Object Manipulation based on Object-environment-robot Contact States , in Proceedings of The 201 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2608 - 2615, 2013.
  • Masaki Murooka, Shintaro Noda, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba. Manipulation Strategy Decision and Execution Based on Strategy Proving Operation for Carrying Large and Heavy Objects. in Proceedings of The 2014 IEEE International Conference on Robotics and Automation, pp.3425-3432, 2014.

Organizers:

Steve Tonneau -- LAAS-CNRS, France

Timothy Bretl -- University of Illinois, USA

Nicolas Mansard -- LAAS-CNRS, France

Igor Mordatch -- University of California, Berkeley, USA

Sponsors:

This workshop is supported by the following sponsors:

the IEEE-RAS Technical Commitee On Model-based Optimization in Robotics;

the IEEE-RAS Technical Commitee On Technical Committee on Humanoid Robotics;

the IEEE-RAS Technical Commitee On Whole-Body Control;