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Final Call for Papers
*** IROS-2005 Workshop on Morphology, Control, and Passive Dynamics ***
Edmonton, Canada -- August 2, 2005
http://www.mae.cornell.edu/paul/MCPD.html
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--> Submission deadline: May 22 <--
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OVERVIEW:
Robotics has been mainly focused on controller design, and has made
various significant advances on this frontier. However, although every
working roboticist soon confronts the reality that the design of the
mechanical
structure greatly affects its control, the theoretical investigation of
the relationship between the robot mechanical structure and its resulting
controllability has largely been ignored. This is not simply a peripheral
oversight, but a fundamental gap in the field of robotics. The design of
more versatile robots, which can rival the performance of biological
systems,
can only be done with a greater theoretical understanding of how the
physical structure affects its controllability. The IROS-2005 Workshop on
Morphology, Control and Passive Dynamics thus aims to inspire research,
collaboration and scientific discourse along these lines, in an attempt to
approach one of the most interesting and challenging frontiers of robotics
today.
TOPICS:
Currently, the common modus operandi in robotics is to design robots based
on serial link chains with actuated rotary or prismatic joints, and apply
well-known control methods. However, such designs represent a small
fraction of the space of possible robotic structures. One variation on
such structures are passive dynamic walkers and brachiators. These robots
while based on serial link chains, eliminate joint actuators and use only
the power of gravity to generate appropriate joint trajectories. Other
variations are hybrid structures which include both active and passive
joints, compliant structures which include passive compliance in series or
in parallel with joints, and tensegrity robots based on
disconnected rigid elements connected by a network of tensile elements. In
all these more bio-inspired robotic structures, the issue of robot
mechanical design becomes very important as it greatly influences the
dynamics of the structure and its resulting control.
The field of robotic mechanical design has advanced so far based on
intuition, creativity and human ingenuity. However, as a science and
technology that can begin to rival the performance of biological systems,
further theoretical groundwork is required in understanding the
relationship between a mechanical structure, its dynamics and its control.
The goal of the workshop is thus to lay the foundations for a new research
effort in this direction. One avenue of investigation will be based on
morphological computation, the insight that a mechanical structure can
perform
computation. This insight may prove useful in theoretically representing
the complex interactions in the dynamics of morphologies, and their
relationship to the computational structure of the controller. However,
other avenues of research are also encouraged as the over-arching goal of
the workshop is to inspire work on this topic from various perspectives,
in a common effort to address this challenging problem.
The list of topics includes, but is not limited to:
- Interaction of Morphology and Control
- Passive Dynamics
- Hybrid Passive and Active Robots
- Morphological Computation
- Design and Control of Robots with Compliance
- Design and Control of Redundant Robots
- Design and Control of Underactuated Robots
- Legged Robots
- Snake Robots
- Prosthetics
SUBMISSIONS:
We solicit submissions of full length papers (6-8 pages) or
short papers (3-5 pages) which report original results and insights on the
relationship between robot mechanical structure, dynamics and control. We
also accept one-page poster submissions. All submissions should be sent
electronically to [cp228 @ cornell . edu] in PDF format. They should
arrive no later than May 22, 2005.
IMPORTANT DATES:
Paper Submission deadline: May 22, 2005
Acceptance Notification: June 10, 2005
Camera Ready Submission deadline: July 1, 2005
Workshop: August 2, 2005
Organizers:
Chandana Paul (Cornell University)
Andy Ruina (Cornell University)
Max Lungarella (University of Tokyo)
Manoj Srinivasan (Cornell University)
Fumiya Iida (University of Zurich)
Program Committee:
Koh Hosoda (Osaka University, Japan)
Fumiya Iida (University of Zurich, Switzerland)
Yasuo Kuniyoshi (University of Tokyo, Japan)
Hod Lipson (Cornell University, USA)
Max Lungarella (University of Tokyo, Japan)
Gorachand Nandi (Indian Inst. of Information Technology, India)
Chandana Paul (Cornell University, USA)
Rolf Pfeifer (University of Zurich, Switzerland)
Andy Ruina (Cornell University, USA)
Andre Seyfarth (University of Jena, Germany)
Manoj Srinivasan (Cornell University, USA)
Russ Tedrake (Massachusetts Institute of Technology, USA)
Martijn Wisse (Carnegie Mellon University, USA)
Hiroshi Yokoi (University of Tokyo, Japan)
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Apologies for cross-posting. Please forward this announcement to all
those who might be interested. Thank you.
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-- Max Lungarella, PhD Dept. of Mechano-Informatics School of Information Sci. & Tech. The Univ. of Tokyo, Japan http://www.isi.imi.i.u-tokyo.ac.jp
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