Special Sessions
Advanced Control of Underactuated and Flexible Robotic Systems
Organized by Michael Ruderman (University of Agder, Norway) and Anton Shiriaev (NTNU, Norway and Sirius University, Russia)
Flexible robotic and mechatronic systems become generally distinguished by the presence of non-rigid components in design intentionally used for accommodating various specifications and requirements. Some examples of such systems are confined to mechanisms and structures with non-negligible elasticities present in robot links, gear-box transmissions, or realized by spring-loaded joints. Other examples appear due to modelling physical contact interfaces established between a rigid robot with the compliant passive environment in contact or objects to manipulate, or due to inherent properties of feedback control systems tuned to emulate such compliance in contact, even though a robot and an external environment/object are both rigid. For a large set of case studies, dynamics of such robots can be well approximated by ODEs, derived as equations of motion of controlled mechanical systems with one or several passive degrees of freedom, which are commonly referred to as underactuated mechanical systems. As known, the use and the applicability of classical methods in solving motion planning and motion control tasks for underactuated systems are often limited, forming a spectrum of challenges, and calling for new research efforts.
The session aims to address these challenges by providing an opportunity for researchers to present, illustrate and discuss new approaches, novel arguments, and recent breakthroughs in the topic both in general and for targeted systems and case studies.
Topics of interest include, but are not limited to:
- Modelling of compliant and flexible robotic mechanisms and structures
- Force control methods for manipulation and haptics
- Motion and trajectory planning for underactuated systems
- Controller design for underactuated systems
- Modelling of underactuated or constrained dynamics of robots
- Advanced motion control of lightweight robotic systems
Advanced Motion Control Techniques for Precision Mechatronic Systems
Organized by Takenori Atsumi (Chiba Institute of Technology, Tsudanuma), Shota Yabui (Tokyo City University), Wataru Ohnishi (The University of Tokyo), and Kazuaki Ito (Gifu University)
Varieties of mechatronic applications require advanced motion control techniques, realized by integrating smart control strategies, high precision sensing, and innovative actuators. Advanced motion control methodologies and/or techniques for fast and precise control of motion (position, velocity, and force) in various industrial mechatronic systems will bring innovative solutions and high quality of life.
The scope of this special session is to bring together prominent researchers in the field of motion control, and to create an atmosphere that attracts, triggers discussion between, and encourages future collaborations between contributors and attendants from both academia and industry in the fields of modeling and control of precision motion systems and the wider control community.
Topics of interest include, but are not limited to:
- High precision actuators and sensors in motion control systems
- High precision positioning techniques in industrial mechatronic systems
- Nanoscale servo systems in industrial applications
- Mass storage control systems
- Innovative control strategies in advanced motion control
- Modeling and compensation techniques for nonlinearities in industrial mechatronic systems
- Robust and/or adaptive controller algorithms, sensor fusion, and novel mechanical design
Data Robotics and Internet of Production
Organized by Seiichiro Katsura (Keio University), Matthias Brockmann (RWTH Aachen University), Takahiro Endo (Kyoto University), and Issei Takeuchi (Tokyo Automatic Machinery Works)
Data robotics and Internet of production is a key technology for the development of future robots and intelligent machines. Especially, data applications based on AI techniques are expected.
The scope of this special session is to present the most innovative results to the large audience of AMC 2022.
Topics of interest include, but are not limited to:
- AI-Based Motion Control
- Haptics and Human Support
- Human-Robot Interaction
- Recognition of Human Motion
- Intelligent Manufacturing System
- Database and Monitoring
- Data Acquisition and Interface
Intelligent Sensing Applications for Human Assistive Systems
Organized by Naoki Motoi (Kobe University), Sota Shimizu (Shibaura Institute of Technology), Hiroshi Igarashi (Tokyo Denki University), and Shin-ichi Ito (Tokushima University)
The recent advances of sensing technology are expected to contribute to intelligent systems in future human assistive applications. The sensory factors may involve broad functions in system integration, therefore the session focuses on human factors, IoT, and human assistive systems. For example, human intention is expected to be estimated by several physical information. Furthermore, how to apply the detected sensor information is a key for the assistive systems, e.g. power assist wheeled chairs, human life support, remote control systems.
This session aims to discuss new trends of sensing and its applications for emerging system functions, mobility, and robotics.
Topics of interest include, but are not limited to:
- Innovative Sensing Instruments
- Sensor-based Assistive Control for Robotic Systems
- Sensor-based Human Assistive Applications/Devices
- Signal Processing for Sensing Applications
- Human-Machine Interactions
Robot Environment Interaction
Organized by Emre Sariyildiz (University of Wollongong), Barkan Ugurlu (Ozyegin University), Tarik Uzunovic (University of Sarajevo), Takahiro Nozaki (Keio University), Ronnapee Chaichaowarat (Chulalongkorn University), and Tomoyuki Shimono (Yokohama National University)
For the requirements of fast-changing and diversified demands both in the 4th revolution of industry and the super mature society, the research and development of new technology to physically support human activities have become more important. From such a background, future robots should realize more dexterous and flexible motion and should perform interactive tasks in the dynamic and unconstructed environment. To accomplish this target, the wide-range various research on robot environment interaction from elemental technology such as sensors, actuators, and motion control to the application technology such as system design and integration, prototyping, validation in medical and rehabilitation fields have been expected.
This special session aims to bring wide variety of researchers together to discuss recent advances in the field of robot environment interaction.
Topics of interest include, but are not limited to:
- Soft sensors and actuators
- Compliant and soft robotics
- Explicit and implicit force control
- Motion control for assistive devices
- Medical and rehabilitation robotics
- Human-robot collaboration
- Physical robot-environment interaction
