Call For Contributions

IROS 2015 Workshop:

“Perception and Planning for Legged Robot Locomotion in Challenging Domains”

Hamburg, Germany – October 02, 2015.


IROS 2015:


Call for Poster Contribution
The workshop is soliciting posters for an interactive session and a 2-min teaser talk for all participants.  To participate, please submit a poster title and one page abstract (in PDF format) via email to:  Dr. Dimitrios Kanoulas ( by September 1, 2015 (AoE).  All contributions will undergo a brief review by the organizers, and the authors will be notified of acceptance by September 5, 2015.


Important Dates
Poster abstract submission:  September 1, 2015 (AoE).
Notification of acceptance:    September 5, 2015 (AoE).
Workshop:                             October 2, 2015.


Recent advancements in control and actuation allowed legged robots to locomote on very uneven and rough terrain, assuming that either the environment is mostly known or well structured, or proprioception is sufficient for achieving balance. In real-world unstructured environments these assumptions may not hold. Exteroceptive perception is crucial for detecting foothold and handhold affordances in the environment, and generating agile motions accordingly. One of the DARPA Robotics Challenge tasks this year was to locomote on flat, but uneven surfaces. In a real-world disaster scenario, legged robots will need to deal with even rougher terrain under significant uncertainty either for static or dynamically changing environments.

This workshop will provide a platform for researchers from perception and planning in legged robotics to disseminate and exchange ideas, evaluating their advantages and drawbacks. This will include methods for detecting footholds and handholds on uneven and rough surfaces for legged robots including bipeds and quadrupeds, often also using arms. The goal is to show various ways from sensing the environment to finding contacts and planning the body and limb trajectories for achieving agile and robust locomotion. The aim is to foster collaboration among researchers that are working on perception and planning for legged robots to advance the state of the art in robot locomotion.

This full day workshop consists of a mixture of presentations on topics including sensing, perception, planning, and motion generation for various types of legged robots designed to work indoors and outdoors. To stimulate interaction, we also organize a poster session to encourage the participation of young researchers and promote the discussion with the speakers and the audience. Moreover we allocate adequate time for questions and discussion to make the workshop as interactive as possible.


Dr. Dimitrios Kanoulas Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT) [Italy].
Dr. Ioannis Havoutis, IDIAP Research Institute [Switzerland].
Prof. Maurice FallonSchool of Informatics, University of Edinburgh [UK].
Dr. Eiichi YoshidaNational Institute of Advanced Industrial Science and Technology (AIST) [Japan].


Invited Speakers
1.   Sven Behnke — University of Bonn, Germany.
Title: “Hybrid wheeled-legged locomotion in semi-structured environments.”
2.   Ioannis Havoutis — IDIAP Research Institute, Switzerland.
Title: “Planning and Perception on HyQ: Real-Time and On-Board”
3.   Jonas Buchli — ETH Zurich, Switzerland.
Title: “Optimal and learning control for gait free legged locomotion”
4.   Shuyun Chung, Oussama Khatib — Stanford University, USA.
Title: “SupraPeds: Extended Humanoid Support for Challenging Environments.”
5.   Maurice Fallon — University of Edinburgh, UK.
Title: “Continuous Locomotion with Stereo Fusion and Online Footstep Optimization.”
6.   Nicolas Mansard, Olivier Stasse — LAAS-CNRS, France.
Title: “Perception for multi-contact locomotion on the HRP-2 robot.”
7.   Philipp Karkowski, Maren Bennewitz — University of Bonn, Germany.
Title: “Efficient height map learning for traversability estimation and footstep planning.”
8.   Katja Mombaur — Heidelberg University, Germany.
Title: “Model-based Optimization for Humanoid Walking on Challenging Terrain.”
9.   Alexander Stumpf, S. Kohlbrecher, Oskar von Stryk — TU Darmstadt, Germany.
Title: “A Common Perception and Planning Approach for Different Humanoid Robots with Application to the DRC.”
10. Katie Byl — University of California, Santa Barbara (UCSB), USA.
Title: “Mobility Challenges: Agility and Robustness – with Application to RoboSimian and the DRC.”
11. Peter Fankhauser, Marco Hutter — ETH Zurich, Switzerland.
Title: “Localization and terrain mapping on StarlETH.”


This proposed workshop is supported by:

  1. The IEEE RAS Technical Committee on Algorithms for Planning and Control of Robot Motion as confirmed by the Technical Committee co-chairs: Ron Alterovitz, Kostas Bekris, Juan Cortes, and Hanna Kurniawati
  2. The IEEE RAS Technical Committee on Humanoids Robotics as confirmed by the Technical Committee co-chairs: Aude Billard, Eiichi Yoshida, and James Kuffner
  3. The IEEE RAS Technical Committee on Robotics and Automation in Nuclear Facilities as confirmed by the Technical Committee co-chairs: Yoshihiko Nakamura, William Hamel, Raja Chatila, and Hajime Asama.


This work is supported by the FP7-ICT-2013-10 WALK- MAN European Commission project.


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