Workshop Schedule
Program at a Glance
October 22 (Thursday) |
October 23 (Friday) |
9.15 - 9.30 Opening ceremony |
9.00 - 10.00 Keynote speaker - Jan Peters |
9.30 - 10.30 Keynote speaker - Paolo Robuffo Giordano |
10.00 - 10.30 Coffee break |
10.30 - 11.00 Coffee break |
10.30 - 12.00 Session 3: Robot Control |
11.00 - 12.00 Session 1: Robots in Application Scenarios |
12.00 - 13.30 Lunch break |
12.00 - 13.30 Lunch break |
13.30 - 14.30 Keynote speaker - Franka Emika |
13.30 - 14.30 Keynote speaker - Arash Ajoudani |
14.30 - 15.00 Coffee break |
14.30 - 15.00 Coffee break |
15.00 - 16.20 Session 4: Learning from Humans |
15.00 - 15.40 Session 2: Cognitive Control |
16.20 - 16.40 Best paper award & next edition announcement |
15.40 - 16.40 Keynote speaker - Sylvain Calinon |
16.40 - 16.45 Closing |
Keynote presentations details (45 min. oral presentation + 15 min. Q&A for each talk)
Keynote 1 (Day 1, 9.30 - 10.30): Human-assisted robotics
Speaker: Paolo Robuffo Giordano
Short Bio: Paolo Robuffo Giordano is a CNRS senior research scientist head of the Rainbow group at IRISA/Inria, Rennes, France. He holds a PhD degree in Systems Engineering obtained in 2008 at the University of Rome “La Sapienza”. From January 2007 to July 2007 and from November 2007 to October 2008, he was a research scientist at the Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Germany, and from October 2008 to November 2012 he was a senior research scientist at the Max Planck Institute for Biological Cybernetics and scientific leader of the group “Human-Robot Interaction”. His scientific interests include motion control for mobile robots and mobile manipulators, visual control of robots, active sensing, bilateral teleoperation, shared control, multi-robot estimation and control, aerial robotics.
Keynote 2 (Day 1, 13.30 - 14.30): Robotics-based synthesis of human ergonomics in human-robot collaboration tasks
Speaker: Arash Ajoudani
Short Bio: Arash Ajoudani is a tenured senior scientist at the Italian Institute of Technology (IIT), where he leads the Human-Robot Interfaces and physical Interaction (HRI²) laboratory. He received his PhD degree in Robotics and Automation from University of Pisa and IIT in July 2014. His PhD thesis was a finalist for the Georges Giralt PhD award 2015 - best European PhD thesis in robotics. He is a recipient of the European Research Council (ERC) starting grant 2019. He was a winner of the Amazon Research Awards 2019, the winner of the Solution Award 2019 (Premio Innovazione Robotica at MECSPE2019), the winner of the KUKA Innovation Award 2018, the winner of the Werob best poster award 2018, a finalist for the best conference paper award at Humanoids 2018, a finalist for the best interactive paper award at Humanoids 2016, a finalist for the best oral presentation award at Automatica (SIDRA) 2014, the winner of the best student paper award and a finalist for the best conference paper award at ROBIO 2013, and a finalist for the best manipulation paper award at ICRA 2012. He is the coordinator of the Horizon-2020 project SOPHIA with a consortium of 12 partners from the leading European research and industrial organisations. He has contributed to several successful European projects (H2020 and FP7) such as WALKMAN, WearHap, SOMA, and SoftPro. He is the author of the book "Transferring Human Impedance Regulation Skills to Robots" in the Springer Tracts in Advanced Robotics (STAR), and several publications in journals, international conferences, and book chapters. He is currently serving as the executive manager of the IEEE-RAS Young Reviewers' Program (YRP), and as chair and representative of the IEEE-RAS Young Professionals Committee. He has been serving as a member of scientific advisory committee and as an associate editor for several international journals and conferences such as IEEE RAL, Biorob, ICORR, etc. His main research interests are in physical human-robot interaction and cooperation, robotic manipulation, robust and adaptive control, assistive robotics, and tele-robotics.
Keynote 3 (Day 1, 15.40 - 16.40): Robot learning from few demonstrations by exploiting the structure and geometry of data
Speaker: Sylvain Calinon
Short Bio: Dr Sylvain Calinon is a Senior Researcher at the Idiap Research Institute, heading the Robot Learning & Interaction Group. He is also a Lecturer at the Ecole Polytechnique Federale de Lausanne (EPFL). From 2009 to 2014, he was a Team Leader at the Italian Institute of Technology. From 2007 to 2009, he was a Postdoc in the Learning Algorithms and Systems Laboratory, EPFL, where he obtained his PhD in 2007. His research interests cover robot learning, optimal control and human-robot collaboration. Please visit Dr Calinon's website for further information.
Keynote 4 (Day 2, 09.00 - 10.00): Robot Skill Learning - Quo Vadis?
Speaker: Jan Peters
Short Bio: an Peters is a full professor (W3) for Intelligent Autonomous Systems at theComputer Science Department of the Technische Universitaet Darmstadt and at the same time a senior research scientist and group leader at the Max-Planck Institute for Intelligent Systems, where he heads the interdepartmental Robot Learning Group. Jan Peters has received the Dick Volz Best 2007 US PhD Thesis Runner-Up Award, the Robotics: Science & Systems - Early Career Spotlight, the INNS Young Investigator Award, and the IEEE Robotics & Automation Society's Early Career Award as well as numerous best paper awards. In 2015, he received an ERC Starting Grant and in 2019, he was appointed as an IEEE Fellow.
Despite being a faculty member at TU Darmstadt only since 2011, Jan Peters has already nurtured a series of outstanding young researchers into successful careers. These include new faculty members at leading universities in the USA, Japan, Germany and Holland, postdoctoral scholars at top computer science departments (including MIT, CMU, and Berkeley) and young leaders at top AI companies (including Amazon, Google and Facebook).
Jan Peters has studied Computer Science, Electrical, Mechanical and Control Engineering at TU Munich and FernUni Hagen in Germany, at the National University of Singapore (NUS) and the University of Southern California (USC). He has received four Master's degrees in these disciplines as well as a Computer Science PhD from USC. Jan Peters has performed research in Germany at DLR, TU Munich and the Max Planck Institute for Biological Cybernetics (in addition to the institutions above), in Japan at the Advanced Telecommunication Research Center (ATR), at USC and at both NUS and Siemens Advanced Engineering in Singapore.
Keynote 5 (Day 2, 13.30 - 14.30): The Franka Emika Robot System - A Power Tool for Research and Industry!
Speaker: Kamal Mohy El Dine and Marco Morganti
Short Bio: Dr. Kamal Mohy El Dine is a robotics engineer specialized in control and software. He is a full time employee in the control and algorithms group at Franka Emika GmbH. His focus is on design and development of real time compliant control algorithms and safety features for collaborative robots. He obtained his Ph.D. in control of robotic mobile manipulators in 2019 from the Pascal institute of the Clermont-Auvergne University in France.
Marco Morganti is a robotics engineer at Franka Emika GmbH. He studied Automation Engineering (B.Eng.) at the University of Bologna and Robotics (M.Sc.) at the Technical University of Munich where he graduated in 2018. He did his master's thesis on the topic of fault detection, isolation and recovery for free-floating robotic manipulators at the Robotics Institute of the German Aerospace Center (DLR). At Franka Emika he works on control development and testing.
Keynote 1 (Day 1, 9.30 - 10.30): Human-assisted robotics
Speaker: Paolo Robuffo Giordano
Short Bio: Paolo Robuffo Giordano is a CNRS senior research scientist head of the Rainbow group at IRISA/Inria, Rennes, France. He holds a PhD degree in Systems Engineering obtained in 2008 at the University of Rome “La Sapienza”. From January 2007 to July 2007 and from November 2007 to October 2008, he was a research scientist at the Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Germany, and from October 2008 to November 2012 he was a senior research scientist at the Max Planck Institute for Biological Cybernetics and scientific leader of the group “Human-Robot Interaction”. His scientific interests include motion control for mobile robots and mobile manipulators, visual control of robots, active sensing, bilateral teleoperation, shared control, multi-robot estimation and control, aerial robotics.
Keynote 2 (Day 1, 13.30 - 14.30): Robotics-based synthesis of human ergonomics in human-robot collaboration tasks
Speaker: Arash Ajoudani
Short Bio: Arash Ajoudani is a tenured senior scientist at the Italian Institute of Technology (IIT), where he leads the Human-Robot Interfaces and physical Interaction (HRI²) laboratory. He received his PhD degree in Robotics and Automation from University of Pisa and IIT in July 2014. His PhD thesis was a finalist for the Georges Giralt PhD award 2015 - best European PhD thesis in robotics. He is a recipient of the European Research Council (ERC) starting grant 2019. He was a winner of the Amazon Research Awards 2019, the winner of the Solution Award 2019 (Premio Innovazione Robotica at MECSPE2019), the winner of the KUKA Innovation Award 2018, the winner of the Werob best poster award 2018, a finalist for the best conference paper award at Humanoids 2018, a finalist for the best interactive paper award at Humanoids 2016, a finalist for the best oral presentation award at Automatica (SIDRA) 2014, the winner of the best student paper award and a finalist for the best conference paper award at ROBIO 2013, and a finalist for the best manipulation paper award at ICRA 2012. He is the coordinator of the Horizon-2020 project SOPHIA with a consortium of 12 partners from the leading European research and industrial organisations. He has contributed to several successful European projects (H2020 and FP7) such as WALKMAN, WearHap, SOMA, and SoftPro. He is the author of the book "Transferring Human Impedance Regulation Skills to Robots" in the Springer Tracts in Advanced Robotics (STAR), and several publications in journals, international conferences, and book chapters. He is currently serving as the executive manager of the IEEE-RAS Young Reviewers' Program (YRP), and as chair and representative of the IEEE-RAS Young Professionals Committee. He has been serving as a member of scientific advisory committee and as an associate editor for several international journals and conferences such as IEEE RAL, Biorob, ICORR, etc. His main research interests are in physical human-robot interaction and cooperation, robotic manipulation, robust and adaptive control, assistive robotics, and tele-robotics.
Keynote 3 (Day 1, 15.40 - 16.40): Robot learning from few demonstrations by exploiting the structure and geometry of data
Speaker: Sylvain Calinon
Short Bio: Dr Sylvain Calinon is a Senior Researcher at the Idiap Research Institute, heading the Robot Learning & Interaction Group. He is also a Lecturer at the Ecole Polytechnique Federale de Lausanne (EPFL). From 2009 to 2014, he was a Team Leader at the Italian Institute of Technology. From 2007 to 2009, he was a Postdoc in the Learning Algorithms and Systems Laboratory, EPFL, where he obtained his PhD in 2007. His research interests cover robot learning, optimal control and human-robot collaboration. Please visit Dr Calinon's website for further information.
Keynote 4 (Day 2, 09.00 - 10.00): Robot Skill Learning - Quo Vadis?
Speaker: Jan Peters
Short Bio: an Peters is a full professor (W3) for Intelligent Autonomous Systems at theComputer Science Department of the Technische Universitaet Darmstadt and at the same time a senior research scientist and group leader at the Max-Planck Institute for Intelligent Systems, where he heads the interdepartmental Robot Learning Group. Jan Peters has received the Dick Volz Best 2007 US PhD Thesis Runner-Up Award, the Robotics: Science & Systems - Early Career Spotlight, the INNS Young Investigator Award, and the IEEE Robotics & Automation Society's Early Career Award as well as numerous best paper awards. In 2015, he received an ERC Starting Grant and in 2019, he was appointed as an IEEE Fellow.
Despite being a faculty member at TU Darmstadt only since 2011, Jan Peters has already nurtured a series of outstanding young researchers into successful careers. These include new faculty members at leading universities in the USA, Japan, Germany and Holland, postdoctoral scholars at top computer science departments (including MIT, CMU, and Berkeley) and young leaders at top AI companies (including Amazon, Google and Facebook).
Jan Peters has studied Computer Science, Electrical, Mechanical and Control Engineering at TU Munich and FernUni Hagen in Germany, at the National University of Singapore (NUS) and the University of Southern California (USC). He has received four Master's degrees in these disciplines as well as a Computer Science PhD from USC. Jan Peters has performed research in Germany at DLR, TU Munich and the Max Planck Institute for Biological Cybernetics (in addition to the institutions above), in Japan at the Advanced Telecommunication Research Center (ATR), at USC and at both NUS and Siemens Advanced Engineering in Singapore.
Keynote 5 (Day 2, 13.30 - 14.30): The Franka Emika Robot System - A Power Tool for Research and Industry!
Speaker: Kamal Mohy El Dine and Marco Morganti
Short Bio: Dr. Kamal Mohy El Dine is a robotics engineer specialized in control and software. He is a full time employee in the control and algorithms group at Franka Emika GmbH. His focus is on design and development of real time compliant control algorithms and safety features for collaborative robots. He obtained his Ph.D. in control of robotic mobile manipulators in 2019 from the Pascal institute of the Clermont-Auvergne University in France.
Marco Morganti is a robotics engineer at Franka Emika GmbH. He studied Automation Engineering (B.Eng.) at the University of Bologna and Robotics (M.Sc.) at the Technical University of Munich where he graduated in 2018. He did his master's thesis on the topic of fault detection, isolation and recovery for free-floating robotic manipulators at the Robotics Institute of the German Aerospace Center (DLR). At Franka Emika he works on control development and testing.
Detailed Schedule of Technical Sessions (15 min. oral presentation + 5 min. Q&A for each paper)
Session 1 (Day 1, 11:00 - 12:00): Robots in Application Scenarios (Chair: Roberto Meattini)
- Reproducible Pruning System on Dynamic Natural Plants for Field Agricultural Robots, Sunny Kumar Katyara, Fanny Ficuciello, Darwin Caldwell, Fei Chen and Bruno Siciliano
- Robotic Muscular Assistance-As-Needed for Physical and Training/Rehabilitation Tasks: Design and Experimental Validation of a Closed-Loop Myoelectric Control in Grounded and Wearable Applications, Roberto Meattini, Davide Chiaravalli, Mohssen Hosseini, Gianluca Palli, Jamie Paik and Claudio Melchiorri
- The i-Walk Assistive Robot: A multimodal intelligent robotic rollator providing cognitive and mobility assistance to the elderly and motor-impaired, George Moustris, Nikolaos Kardaris, Antigoni Tsiami, Georgia Chalvatzaki, Petros Koutras, Athanasios Dometios, Paris Oikonomou, Costas Tzafestas, Petros Maragos, Eleni Efthimiou, Xanthi Papageorgiou, Stavroula-Evita Fotinea, Yiannis Koumpouros, Anna Vacalopoulou, Alexandra Karavasili, Alexandros Nikolakakis, Konstantinos Karaiskos and Panagiotis Mavridis
Session 2 (Day 1, 15:00 - 15:40): Cognitive Control (Chair: Antonio Rodríguez Sánchez)
- Toward a Cognitive Control Framework for Explainable Robotics, Riccardo Caccavale and Alberto Finzi
- Balancing Exploration and Exploitation: A Neurally Inspired Mechanism to Learn Sensorimotor Contingencies, Quentin Houbre, Alexandre Angleraud and Roel Pieters
Session 3 (Day 2, 10:30 - 12:00): Robot Control (Chair: Matteo Saveriano)
- A dynamic architecture for task assignment and scheduling for collaborative robotic cells, Andrea Pupa, Chiara Talignani Landi, Mattia Bertolani and Cristian Secchi
- Singularity avoidance in human-robot collaboration with performance constraints, Fotios Dimeas
- Shared Control Active Perception for Human-Assisted Navigation, Marco Cognetti, Marco Aggravi, Claudio Pacchierotti, Paolo Salaris and Paolo Robuffo Giordano
- A Safety and Passivity Filter for Robot Teleoperation Systems, Gennaro Notomista and Xiaoyi Cai
Session 4 (Day 2, 15:00 - 16:20): Learning from Humans (Chair: Erwan Renaudo)
- Modeling Human Motor Skills to Enhance Robots’ Physical Interaction, Giuseppe Averta, Visar Arapi, Antonio Bicchi, Cosimo Della Santina and Matteo Bianchi
- Careful with That! Observation of Human Movements to Estimate Objects Properties, Linda Lastrico, Alessandro Carfì, Alessia Vignolo, Alessandra Sciutti, Fulvio Mastrogiovanni and Francesco Rea
- Learning Descriptor of Constrained Task from Demonstration, Xiang Zhang, Matteo Saveriano and Justus Piater
- Leveraging Reinforcement Learning for Human Motor Skill Acquisition, Keya Ghonasgi, Reuth Mirsky, Bharath Masetty, Sanmit Narvekar, Adrian Haith, Peter Stone and Ashish Deshpande