CFP IROS-2005 Workshop on Morphology, Control and Passive Dynamics

Please note the new deadline : June 1, 2005
========================================================================== Call for Papers
*** IROS-2005 Workshop on Morphology, Control and Passive Dynamics *** Edmonton, Canada -- August 2, 2005 ========================================================================= --> Submission deadline: June 1 <--
=========================================================================Please forward this announcement to all those who might be interested. Thank you.
Robotics has been mainly focused on controller design, and has made various 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 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.
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 which are 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 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
We solicit submissions of papers 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.
Paper Submission deadline: June 1, 2005 Acceptance Notification: June 10, 2005 Camera Ready Submission deadline: July 1, 2005 Workshop: August 2, 2005
Chandana Paul (Cornell University) Andy Ruina (Cornell University) Max Lungarella (Univ. of Tokyo) Manoj Srinivasan (Cornell University) Fumiya Iida (Univ. 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)
=======================================================================Apologies for cross-posting. Please forward this announcement to all those who might be interested. Thank you. ======================================================================
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