Workshop on
"From human-robot interaction to collaborative control: a human centered perspective"

The workshop

This workshop, entitled 'From human-robot interaction to collaborative control: a human centered perspective', is a full-day workshop that will take place during the IROS'2021 conference, held in Prague, Czech Republic (Online) from 27th September to 1st of October 2021.

. Date of workshop: a pre-recorded video available during the whole conference

. Live slot for live interaction: September 27, 4pm-6pm (CEST)
(This live session will include panel discussions, round tables and Q&A session

This workshop is within activities of and suppported by the following technical committees of IEEE RAS, such as:
- Human-Robot Interaction & Coordination
- Rehabilitation and Assistive Robotics
- Robotic Hands, Manipulation and Grasping
- Wearable Robotics


The objective of this workshop is to exchange expertise and give an overview of issues, current techniques and progress in robotic interacting with human under different aspects. The workshop should gather recent works progress and some perspectives on the interaction and collaboration between human and robot. This human-robot interaction commonly leads to a collaborative action to achieve a more complex task by ensuring a human safety.

We focus here on human-robot interaction and collaboration to perform several tasks such as co-manipulation, co-assembly, handling tools, manipulating versatile objects (biological or not) and to interact with other humans. These challenging tasks present several common issues which are re-lated to the robot force control, the interaction measurement, the interaction stability, the human safe-ty. Beyond these, additional issues, specific to the task type and applications, can also be found, such as:

- nature of collaboration and level of leadership between the human and the robot,
- communication with human and interpretation of its intention,
- consideration of human condition and ergonomics improvement,
- ...

These presented works may have several applications, such as automotive industry, cobotics, medical (surgery), exoskeleton for assistance, watch industry, military...

Motivation and objectives

Due to the presence of the human in the robotic process, human-robot interaction and collaboration introduce complexity, raise additional challenges and reveal new research axes that were not found in a standard robotics. However, the efficiency of human-robot interaction and collaboration is es-sential in several applications, such as in rehabilitation and assistive robotics and in industry of future (mainly industry 4.0), where humans and machines have to share the space and resources whilst working together to success complex industrial tasks. To this target, we witness several published approaches and research projects in term of collaborative controls these last years, some of which considered the human state and its anticipatory behavior.

The aim of this workshop is to exchange expertise on robotics that interacts with human under different aspects, and issues. It aims to initiate collaborations between researchers in this filed. It should also allow specialists presenting their different approaches and initiating collaborations and joint projects.

List of topics

Several topics about human-robot interaction and collaborative control are concerned, some of them are listed below:

- Human-robot interaction and collaboration
- Physical human-robot interaction (pHRI) and collaboration (pHRC)
- Active and collaborative exoskeleton
- Sensing and control for human-robot interaction
- Passivity-based control in pHRI
- Human motion analysis for interaction
- Human-based robot learning
- Human model-based control in pHRI

To attend the workshop

The IROS 2021 conference is fully online as for the workshop. The presentation of each speakers will be available through the conference website. However, a live slot is planned on September 27, 4pm-6pm (CEST) and can be joined through a link comminated by the conference.

The speakers

The list of speakers is a balanced mixture of known senior researchers and young talented researchers in this research field, which should ensure the highest quality content. Moreover, the speakers address different aspects and bring different approaches in this domain, which reflect the state of art. Therefore, the current workshop should initiate collaborations between researchers of this community. The list of confirmed speakers is summarized as follows:

- Aude Billard, EPFL Switzerland,
- Alessandro De Luca, Sapienza Universitŕ di Roma Italy,
- Federica Ferraguti, UNIMORE University Italy,
- Kyoungchul Kong, Korea Advanced Institute of Science and Technology (KAIST),
- Dana Kulic, University of Waterloo Canada,
- Andrea Zanchettin, Politecnico di Milano Italy,
- Toshiaki Tsuji,Saitama University Japan,
- Arash Ajourdani, Istituto Italiano di Tecnologia Italy,
- Mourad Benoussaad and Micky Rakotondrabe, National School of Engineering in Tarbes France,

More details on each presentation can be found in the "Speakers and talks" section.

The organizers

Associate Professor, National School of Engineering in Tarbes (ENIT)

MAVRICS research group (Methodologies for the Design and the Automatic control of Mechatronic and Robotic Systems for Interaction)
Laboratoire Génie de Production (LGP),
University of Toulouse
47, Avenue d'Azereix
65000 Tarbes - FRANCE

Phone: +33 567 450 111

Email: mourad.benoussaad 'at' enit 'dot' fr

Senior Researcher, Italian Institute of Technology

IIT Central Research Labs Genova
Italian Institute of Technology
Via Morego 30
16163 Genoa - ITALY

Phone: +39 010 2896 466

Email: arash.ajoudani 'at' iit 'dot' it
Homepage: HERE

Dr Toshiaki TSUJI,
Senior Researcher, Saitama University

Tsuji laboratory,
Saitama University
Saitama - JAPAN

Phone: +39 010 2896 466

Email: tsuji 'at' ees.saitama-u 'dot'
Homepage: HERE

Full Professor, National School of Engineering in Tarbes (ENIT)

MAVRICS research group (Methodologies for the Design and the Automatic control of Mechatronic and Robotic Systems for Interaction)
Laboratoire Génie de Production (LGP),
University of Toulouse
47, Avenue d'Azereix
65000 Tarbes - FRANCE

Phone: +33 562 442 763

Email: mrakoton 'at' enit 'dot' fr



Webmaster: Micky Rakotondrabe