Organizers: | Serena Ivaldi (INRIA & TU-Darmstadt), Lorenzo Jamone (IST Lisbon), Bruno Siciliano (CREATE, Univ. Naples) |
Conference: | ICRA 2015 |
Location: | Seattle, Washington State Convention Center |
Date: | May, 30th, 2015 -- 8:30AM - 12:00AM -- Room WSCC 6A |
Robots interacting physically with humans and their environment, need the capability to detect contacts and control the interaction forces. Force and tactile sensing have become crucial for this task. The recent advances in sensing technologies have enabled novel applications, and such sensors are rapidly being integrated in several robotics platforms, to advance control, manipulation, learning and interaction capabilities.
The goal of this workshop is to highlight recent applications of tactile and force sensors, as well as presenting the state of art of such sensor technologies for robotics applications and discussing future directions of research for a pervasive use of such sensors.
This workshop is a forum to foster the dialogue between industry and academia, to present to the community the recent advances in sensing technologies, in the research and applications of such sensors for the new generation of robots.
Topics include but are not limited to:
time | speaker |
---|---|
8.30 -> 8.50 | Welcome |
8.50 -> 9.15 | Alin Albu Schaeffer: Synergy of Tactile and Force Sensing for Grasping and Safe Human Robot interaction |
9.15 -> 9.40 | Alex Schmitz & Shigeki Sugano: Tactile Sensing in TWENDY-ONE and new, soft, tri-axial force skin sensors |
9.40 -> 10.00 | Poster/demo spotlight presentations |
10.00 -> 11.00 | Coffee break with posters & demos |
11.00 -> 11.25 | Robert Platt: Tactile sensing for category-level manipulation |
11.25 -> 11.50 | Felix Duvallet: Tactile and force sensing to support teaching of compliant manipulation |
11.50 -> 12.00 | Discussion & conclusion |
Title: Tactile sensing for category-level manipulation
Abstract: In robot manipulation, we often know the general class of an object to be manipulated without knowing instance-level information. For example, we may know that we want to grasp a tea kettle without knowing its exact model and geometry. The main reason this is challenging is that it requires us to reason about how to grasp or manipulate independently of object geometry. It forces us to build grasping and manipulation skills that are somewhat general-purpose. In this talk, I will summarize recent efforts in my group to tackle this challenge. Specifically, I will discuss methods of using 1) range data to localize potential grasp poses and 2) tactile data to localize an object held in the robot hand. We envision an integrated grasping and insertion system that is robust without specific information about the object instance and I will introduce a category-level assembly challenge task.
Title: Synergy of Tactile and Force Sensing for Grasping and Safe Human Robot interaction
Abstract: Soft robotics, based on force and torque sensing, became finally industrial reality, after decades of intensive research. However, without the sense of touch, dexterity and safety of robots still remains far beyond human performance. While many prototypes and even commercial products for tactile sensors are available today, a similar breakthrough as for force/torque sensing cannot be recognized yet. The presentation will address hardware issues in the development of DLR tactile and force sensors as well as several approaches of using and integrating those sensors in the area of dexterous grasping and safe physical human-robot interaction.
Title: Tactile and force sensing to support teaching of compliant manipulation
Abstract: Teaching tasks that require careful measurement of force to drive control is difficult and requires the design of novel interfaces and controllers for learning from human demonstration. This talk will illustrate through a few examples how tactile and force sensors can be used to support teaching of compliant manipulation skills. We will emphasize the importance to provide demonstration through kinesthetic teaching to enable the teacher to perceive the interaction forces. We present results on teaching compliant control of the end-effector in a classical peg and hole insertion task and of the hand and fingers for fine exploration of unknown objects and dexterous object manipulation.
Title: Tactile Sensing in TWENDY-ONE and new, soft, tri-axial force skin sensors
Abstract: TWENDY-ONE possesses shock absorbing skin and tactile sensors in its arms and torso in order to facilitate a safe interaction with the environment. Moreover, each hand has 241 distributed tactile sensors, a soft skin and small-sized six-axis force/torque sensors in the fingertips. These features, combined with a high number of actuated joints, passive degrees of freedom, and an optimized shape make the hand well suited for grasping and manipulation. This talk will present two results that have been obtained with the hand: the hand has been used for in-hand manipulation as well as tactile object recognition. Furthermore, this talk will show new tactile sensors that are currently being developed in the Sugano Lab: they are soft, about 7mm thick, include the digitization electronics, and enable to measure normal as well as shear forces.
We solicit contributions in the form of extended abstracts (max 2 pages) in ICRA paper format, to be presented at the workshop as posters. Outstanding contributions may be selected for oral presentations. Preliminary works on tactile and force sensing are welcome, as well as early developments of sensors prototypes.
Deadline for submission: March 31
Notification of Acceptance: April 9
To submit your contribution, please email a single PDF file (possibly with a link to a video) to by March 31. serena.ivaldi@inria.fr
We invite researchers from industry or academia to show their sensors and make live demonstrations!
We solicit contributions in the form of demonstrations of new sensors, devices and new applications of force and tactile sensing.
The demos will be described in a spotlight presentations. Selected demos and sensors will also feature in a technical session.
Live demonstrations will have a dedicated space during the workshop (tables, chairs and tv screens).
Candidates are expected to send us a short paper (max 2 pages) describing the device/sensor, the setup and the demo that will be shown, as long as with their list of requirements in terms of space and power supply.
Deadline for submission: March 31
Notification of acceptance: April 6
To submit your contribution, please email a single PDF file (possibly with a link to a video) to by March 31. serena.ivaldi@inria.fr
This workshop is in held in close collaboration with the EU Projects CODYCO, SAPHARI, RODYMAN, POETICON++ and the project LIMOMAN.
The workshop received support by the RAS TC on Whole-body control and the RAS TC on Humanoid robots.