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ICRA15 WS on Dynamic Locomotion and Balancing of Humanoids: State of the Art and Challenges

Posted in Events

Zhibin Li
Department of Advanced Robotics at the Istituto Italiano di Tecnologia (IIT)

Katja Mombaur
Interdisciplinary Center for Scientific Computing at Heidelberg University

Tomomichi Sugihara
Department of Adaptive Machine Systems at Osaka University

This workshop is organized to serve three goals with respect to humanoid locomotion and balancing. The first goal is to bring together the researchers working on humanoid locomotion and balancing to present and discuss the recent advancement of their recent work. A lot of novel advancements are, for example, expected to be made and demonstrated by the groups from European projects and teams participating in DRC. The timing of this workshop is perfectly aligned with the DRC finals, thus provides a good opportunity to present the very recent developments in the area of humanoid locomotion in more realistic conditions.  

The second goal is to introduce the up-to-date findings from biomechanical studies of human movement in order to understand better the biological motor control skills, and most interestingly, to propose mathematical models of human locomotion. This will provide insights for developing new control algorithms for controlling and optimizing the walking of humanoids more effectively.

The third goal is to inspire the integration of control principles and algorithms developed in actively powered humanoids and the passive dynamic walkers, and therefore, to bridge the gap between these two research paradigms. It is to be foreseen that collaboration among researchers from these two paradigms will emerge and the complementary advantages of these two control methodologies will eventually be adopted and integrated to create a more robust and efficient dynamic locomotion for humanoid robots.

As a follow-up event after the workshop, the preparation of a special issue for a prestigious robotics journal will be started shortly. To conclude, with this workshop we aim at:

  • Demonstrating the recent developments in humanoid locomotion in real world scenarios (including the effort made inside DRC), which provides the opportunity of presenting and discussing recent results in this cutting edge and challenging area of  humanoid robotics research.
  • Advancing the state of the art in humanoid locomotion and balance control by fostering collaboration among researchers working on different areas of locomotion control, e.g. powered bipeds and passive walkers, classical position controlled humanoids and those powered by torque/impedance controlled actuators and/or intrinsically elastic actuators.

A full day workshop is proposed which will cover a broad spectrum of presentations related to the scientific developments in the locomotion and balancing of humanoids. The scientific and technological topics of the workshop are summarized as follows:

  1. Humanoid balance control and push recovery
  2. Locomotion in unstructured terrains
  3. Adaptive/Reactive bipedal gait generators
  4. Impedance regulation in locomotion
  5. Compliant and torque control based locomotion
  6. Gait reflexive behaviours
  7. Human inspired locomotion gaits
  8. Adaptive path and footstep planning
  9. Passive and under-actuated locomotion
  10. Affordances for locomotion and balance control



08:30 – 10:00 3 talks
10:00 – 10:30 coffee break
10:30 – 12:00 3 talks
12:00 – 13:30 Lunch
13:30 – 14:30 2 talks
14:30 – 14:40 poster teaser
14:40 – 15:00 poster session
15:00 – 15:30 coffee break
15:30 – 15:50 poster session
15:50 – 16:50 2 talks
16:50 – 17:00 Final discussion


List of confirmed speakers:

  1. Baek-Kyu Cho (Kookmin University, South Korea)
    "Bipedal Walking in Team DRC-Hub"
  2. Patrick Wensing (Ohio State University (OSU), USA)
    "Exploiting SLIP-Based Models to Maintain Dynamic Balance"
  3. Tomomichi Sugihara (Osaka University, Japan)
    "To Combine the Stand-still and Maneuvering"
  4. Kenji Hashimoto (Waseda University, Japan)
    "Waseda's Biped Walking Technology on Rough Terrain"
  5. Rong Xiong (Zhejiang University, China)
    "Torque Controlled Jumping Robot: Modelling and Control Strategies"
  6. Olivier Stasse (LAAS-CNRS, Toulouse, France)
    "Vision-guided Motion Primitives for Humanoid Reactive Walking"
  7. Katja Mombaur (University of Heidelberg, Germany)
    "Using Model-based Optimization to Improve Stability of Dynamic Humanoid Locomotion"
  8. Art Kuo (University of Michigan, USA)
    "Control of Dynamic Bipedal Locomotion"   PDFicon.png
  9. Zhibin Li (Istituto Italiano di Tecnologia (IIT), Italy)
    "Humanoid Balance Recovery with the Use of Human Footwear"
  10. Thomas Buschmann (Technical University of Munich (TUM), Germany / Google, USA)
    "Towards Flexible and Robust Biped Walking Control"


Poster and Live Demo Session:

  1. Oscar E. Ramos (Duke University, USA)
    "Generalizations of the Capture Point to Nonlinear Curves on Uneven Terrain"
  2. Nicolas Van der Noot (Universite catholique de Louvain (UCL), Belgium / EPFL, Switzerland)
    "Porting Reflex-Based Muscles Control to Real Humanoid Robots"
  3. Vittorio Lippi (Universitätsklinik Freiburg, Germany)
    "Coupling Forces in Human-like Posture Control"
  4. Cenk Oguz Saglam (University of California, Santa Barbara, USA)
    "Quantification and Optimization of Bipedal Locomotion on Rough Terrain"
  5. Mingguo Zhao (Tsinghua University, China)
    "A Simple Biped Dynamics Walking Method Based on Hip Actuation"
    with real demo of powered passive dynamic walker
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