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RoboTac 2021
IEEE/RSJ International Workshop
September 27,  2021

 New Advances in Tactile Sensation, Interactive Perception, Control, and Learning 
A Soft Robotic Perspective on Grasp, Manipulation, & HRI

Important Dates

  • Paper Submission Deadline: August 1

  • Notification of Acceptance: August 15

  • Camera-Ready Deadline: September 1 

  • Workshop day: September 27

Call for Contribution

Paper submission guidelines

We welcome submissions regarding any robotics application where tactile sensing modalities are used. As we aim to encourage meaningful discussion in the tactile perception and learning domain, work that is unpublished, recently published or under review can be accepted for presentation depending on the novelty, significance and contributions of the work to the workshop theme.

We solicit contributions in the form of extended abstracts (min 2 pages, max 4 pages) in IEEE paper format (author information available here), to be presented at the workshop as posters. Outstanding contributions will be selected for oral presentations.

Accepted papers and eventual supplementary material will be made available on the workshop website. However, this does not constitute an archival publication and no formal workshop proceedings will be made available, meaning contributors are free to publish their work in archival journals or conference.

Please submit your contribution via Easychair

 

Award: The outstanding posters and demos will receive awards.

Keynote Speakers

(Confirmed)

Lynette Jones
Lynette Jones

Massachusetts Institute of Technology (MIT), USA

Allison Okamura
Allison Okamura

Stanford University, USA

Katherine Kuchenbecker
Katherine Kuchenbecker

Max Planck Institute for Intelligent Systems, Germany

Robert Howe
Robert Howe

Harvard University, USA

Antonio Bicchi
Antonio Bicchi

University of Pisa, Italian Institute of Technology, Italy

Kevin Lynch
Kevin Lynch

Northwestern University, USA

Peter Allen
Peter Allen

Columbia University, USA

Vincent Hayward
Vincent Hayward

Sorbonne University, France

Henrik Jörntell
Henrik Jörntell

University of Lund, Sweden

Chris Atkeson
Chris Atkeson

Carnegie Mellon University (CMU), USA

Yon Visell
Yon Visell

University of California, Santa Barbara, USA

Domenico Prattichizzo
Domenico Prattichizzo

University of Siena, Italy

Tansu Celikel
Tansu Celikel

Radboud University, Netherlands

Carmel Majidi
Carmel Majidi

Carnegie Mellon University (CMU), USA

Giorgio Cannata
Giorgio Cannata

University of Genova, Italy

Benjamin Tee
Benjamin Tee

National University of Singapore (NUS), Singapore

Firat Guder
Firat Guder

Imperial College London, UK

Salvatore Pirozzi
Salvatore Pirozzi

University of Campania Luigi Vanvitelli, Italy

Organizers

Mohsen Kaboli
Mohsen Kaboli

BMW Group, Germany Radboud University, Netherlands

Tapo Bhattacharjee
Tapo Bhattacharjee

Cornell University, USA

Etienne Burdet
Etienne Burdet

Imperial College London, UK

Vincent Hayward
Vincent Hayward

Sorbonne University, France

Henrik Jörntell
Henrik Jörntell

Lund University, Sweden

Objectives 

The sense of touch is a crucial capability for us to cope with manipulation related challenges in everyday life.

It enables grasping, manipulation, learning, and decision-making based on the information we get from the hundreds of mechanoreceptors distributed over our skin. This sense of touch is a capability, which robotic systems of the future need to provide in order to be able to safely collaborate and physically interact with humans. Tactile sensing is also essential to perform a variety of other tasks including industrial applications, consumer services, and other highly dynamic environments such as assistance and care for elderly, housekeeping, etc. 

 For many such applications, tactile sensation, interactive perception, and learning play a crucial role. Soft, compliant, and highly integrated systems, often also suitable for large areas (sensor skins), are becoming increasingly relevant and are considered the future of robotic manipulation and interaction. These systems provide the necessary prerequisites for ubiquitous robotics and the integration of tactile sensors into existing robotic systems. This enables safe interaction and co-existence between humans and robots including novel assistive robotic devices. Thus, this year’s workshop puts an emphasis on materials, technologies, method and control strategies  for grasp and manipulation in soft robotic systems.

 

Similar to the sense of touch in humans, robot sensation and the resulting capabilities do not end at the fingertip. Rather, robot sensation can be viewed as a complex process which is based on the interplay of a variety of components.

 

In this workshop we bring together well-established speakers as well as young talents across all technical disciplines that tactile sensing comprises. We provide a platform for researchers working in diverse fields of robotics such as material and technology development, perception, haptics and also high level tasks such as manipulation and control strategies and learning, to get an insight into the vast expanse of work done in the respective fields. The idea is to connect excellent researchers from different domains to foster fresh ideas through interdisciplinary discussions while paving the way for future collaborations.

   Topics of interest (but not limited to)

 

   Human Sense of Touch  

  • Touch physiology from skin to brain

  • Haptic Perception 

  • Action and Perception Loop

  • Perception for Learning

 

   Tactile Sensing Technologies

  • Conformable and compliant materials

  • Features enabled by conformable sensors

  • Biomimetics

  • Sensor effects

  • Integration and read-out strategies

  • Self-healing properties and strategies

  • Sensor skins: design, fabrication and integration strategies

  • Integration strategies for sensors in robotics

  • Enabling technologies for fully integrated robotic systems

   

    Tactile Interactive Perception and Predictive Coding

  • Exploitation of contact constraints

  • Novel contact models

  • Object perception for the exploitation of contact

  • Tactile information processing

  • Tactile feature extraction / feature learning 

  • Tactile-based object modelling 

  • Tactile object localization

  • Tactile shape reconstruction and recognition

  • Tactile object classification

  • Tactile exploration

  • Trends in combining of vision and touch sensing

  • Roles of vision and touch sensing in different object perception tasks

  • Modelling and representation of sensing modalities

  • Integration of visio-tactile sensing modalities

  •             

 

    Tactile Grasp, Manipulation, & HRI (Soft and conventional Robotic Systems)

  • Linear/rotational slip detection 

  • Grasping planning

  • Grasp stability assessment

  • Soft manipulation

  • In-hand/whole body manipulation

  • Tactile planning interplay between touch sensing and vision

  • Tactile knowledge/skill transfer  

  • Tactile transfer learning

  • The meaning and function of different sensing modalities in object manipulation

  • Sensing and planning in object manipulation

  • Multi-robot manipulation and coordination

  • Control strategy for object manipulation and collaborative assembly

  • Learning object manipulation skills from human demonstration

  • Novel approaches to grasp and manipulation planning

  • Whole-body, multi-contact planning and control

  • Design and characterisations of contact-exploiting, compliant hands

Intended audience 

 

In our proposed workshop we will discuss the most recent approaches in the area of tactile perception and learning in especially soft robotic systems. This is a topic that is not widely represented in the general IROS-2021 conference. The goal of this workshop is to disseminate results and benefits of novel approaches to a wider audience looking for emerging new technologies. We intend to invite well-known experts in these areas to attract a larger set of IROS-2021 attendees and simultaneously be a platform for more junior researchers. This workshop is intended for roboticists working in the areas of tactile sensation, perception, manipulation, and learning in the field of robotics. It is especially aimed at roboticists interested in improving the reliability and autonomy of robotic systems. We hope to bring together outstanding senior and young researchers as well as graduate students to discuss current trends, problems, and opportunities in tactile perception and learning in robotics.

Sponsored by

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