RSS 2009 Workshop (1/2-Day)
"Creative Manipulation: Examples using the WAM"
When:
Monday, June 29, 2009
8:30 AM to 12 PM
Where:
Robotics: Science and Systems Conference
University of Washington, Seattle, WA.
http://www.roboticsconference.org
Description:
This workshop is intended to foster the sharing of various algorithmic approaches to the open Whole-Arm Manipulator (WAM) platform. Several users will present their recent research on the WAM platform including videos clips, novel algorithmic implementations, and current challenges. The Whole-Arm Manipulator is one of the most open, soft manipulation systems available for advanced robotics research and pHRI (physical human-robot interaction). It was designed specifically for robotics researchers and allows users unprecedented access to realtime joint torques so they can apply novel computed-torque algorithms. It also supports high-level control of Cartesian trajectories and force/torques. Different research teams from a dozen countries have used the WAM platform in unique and innovative ways. We invite all people interested in dexterous manipulation, mobile manipulation, and human-interactive robotics to join us.
Organizers:
Bill Townsend — Barrett Technology
Yoky Matsuoka — University of Washington
Confirmed Speakers:
Rui Cortesão University of Coimbra
Rodney Grupen University of Massachusetts
Simon Leonard University of British Columbia
Jan Peters Max Planck Institute
Joshua Smith Intel Labs Seattle
Siddhartha Srinivasa Intel Labs Pittsburgh
Greg Starr University of New Mexico
Alexander Stoytchev Iowa State University
Schedule:
RSS Workshop – "Creative Manipulation: Examples Using the WAM"
There will be 15 minutes for each presentation, with 5 minutes for Q&A.
Easels will also be available for (optional) posters.
8:30-8:40
Opening remarks by Brian Zenowich of Barrett Technology
8:40-9:00
Rui Cortesão – Control design for surgical robotics: comanipulation paradigm at UCoimbra
9:00-9:20
Rod Grupen – A decade of learning with dual-WAM Dexter at UMass
9:20-9:40
Simon Leonard – openman: An open source C++ implementation of a toolbox for
control and simulations of manipulators at UAlberta, UBC, and JHU
9:40-10:00
Jan Peters – Towards motor skill learning at the Max-Planck Institute
10:00-10:30
Coffee Break
10:30-10:50
Joshua Smith – Realtime sensing and interaction at Intel Labs Seattle
10:50-11:10
Siddhartha Srinivasa – "Quality of Life" robotics at Intel Labs Pittsburgh
11:10-11:30
Greg Starr – WAM control using MATLAB at U of New Mexico
11:30-11:50
Alexander Stoytchev – Developmental robotics at Iowa State University
11:50-12:00
Conclusion: Improving the user experience over the next year.
