WS#17 The New Frontiers of Advanced Humanoid and Legged Robots

Francesco Ferro (PAL Robotics), Andrija Feher (Synapticon), Matthias Reichenbach (Mercedes-Benz AG), Wesley Roozing (Topic Group on Mechatronics, University of Twente), Navvab Kashiri (Topic Group on Mechatronics, Leonardo)Hegelsaal

Questions to be answered

What are legs good for? When are they useful or needed?
What are the safety requirements for humanoids to work around humans, and how do we achieve them in legged systems?
Where are the capability gaps and are they primarily mechatronic, control, or cognitive in nature?
How can the energy efficiency / operation time of humanoid robots be increased?
What are the actuation requirements for humanoids, and how can mechatronics innovation reduce the cost of humanoid platforms?

Description

This workshop will deliver valuable insights into the latest technological advancements in humanoid and other legged robots, highlighting the rapidly developing sector of humanoid bipedal systems. It will cover recent breakthroughs in mechatronics which are driving the emergence of market-ready humanoid robots, and a vision of the potential future of humanoid robots.

Attendees will have the chance to connect with leading experts, researchers, and industry professionals in the field of humanoid and legged robots. The aim is to foster collaborations, partnerships, and knowledge exchange. The workshop is designed to be highly interactive, with both a panel discussion and breakout discussions. Discussions will focus on the practical applications of humanoid robots, such as their roles in risky environments and performing heavy work, and the technological gaps that need to be addressed to apply humanoids in such roles.

Through alignment with its partner workshop “Applications for Humanoid Robots in Europe” (WS#18), the two workshops will cover both the technological and application/market aspects of humanoid robots.

Organisation of the WS

14:00 - 14:03 Introduction by organisers
14:03 - 14:13 Bioinspired Humanoids robots to benefit society (Francesco Ferro - PAL Robotics, Spain; Alessandro di Nuovo - Sheffield Hallam University, United Kingdom)
14:13 - 14:23 Challenges and Benefits of Physically Elastic Humanoid Robots and their link to skills and applications (Sebastian Wolf - DLR, Germany)
14:23 - 14:33 The Future of Robot Form & Function: Exploring the Anatomy and Evolution of Humanoid Robots (Parker Conroy - Apptronik, USA)
14:33 - 14:43 Combining model-based control and machine learning to achieve more versatile humanoid robots (Christian Ott - TU Wien, Austria)
14:43 - 14:53 Making autonomous bipedals stable and safe: Tackling the safety and real-world interfacing challenges of physical AI (Nikolai Ensslen - Synapticon, Germany)
14:53 - 15:18 Panel discussion - Fed by mentimeter and questions from audience (NA)
15:18 - 15:20 Survey - prioritisation of technical challenges and solutions (NA)
15:20 - 15:20 Closing

Keynote 1: Francesco Ferro (PAL Robotics), Alessandro di Nuovo (Sheffield)
Title: Bioinspired Humanoids robots to benefit society
Abstract: Bioinspired humanoid robots leverage neuroscience, biomechanics, and AI to enhance movement, perception, and interaction. The PRIMI Project develops neuro-inspired control systems, enabling robots to adapt, learn, and respond dynamically. PAL Robotics advances this field with humanoids like Kangaroo, designed for agile locomotion using bioinspired balance and control, and TALOS, a full-size humanoid enabling safe human-robot collaboration in industrial and research settings. These robots mimic human motion and cognitive functions, benefiting rehabilitation, assistive robotics, and automation. This presentation explores how bioinspired humanoids improve healthcare, workplace safety, and adaptive robotics, fostering a more efficient and human-centric society.

Keynote 2: Sebastian Wolf (DLR)
Title: Challenges and Benefits of Physically Elastic Humanoid Robots and their link to skills and applications

Abstract: Recent advancements in humanoid robotics have introduced a new era of physically elastic designs, offering both unprecedented capabilities and unique challenges. Firstly a brief introduction is given to the differences between physically elastic actuation, torque-sensor based actuation and quasi-direct drives. The presentation explores the innovative engineering behind compliant humanoid robots such as neoDavid, focusing on their elastic actuators and control systems. It addresses the practical applications and technical obstacles and provides insights into the future of humanoid robotics.

Keynote 3: Parker Conroy (Apptronik)

Title: The Future of Robot Form & Function: Exploring the Anatomy and Evolution of Humanoid Robots

Abstract: Recent breakthroughs in AI have accelerated the development of general-purpose, humanoid robots, and innovative companies are ready to deploy humanoid systems in both factory floors and logistics warehouses worldwide. As we look to a future with humanoids working not only in industrial environments, but eventually the home, what are the considerations for form and function to create a truly flexible, dexterous, and intelligent robot that can work alongside people? Please join us for this informative session for a presentation on various form factors, from legged solutions to wheeled base options and their applications, as well as safety considerations for humanoid robots, and how advancements in design, hardware, and software will converge to bring these new, physical AI agents into the world.

Keynote 4: Christian Ott (TU Wien)

Title: Combining model-based control and machine learning to achieve more versatile humanoid robots

Abstract: Traditionally, control methods for bipedal humanoid robots were designed mostly based on template models in combination with whole-body control techniques to address the mismatch between templates and the multi-body dynamics. A major step in the development was the use of the centroidal dynamics instead of templates and the application of model predictive control techniques. Recently, machine learning based locomotion based on reinforcement learning techniques has become an alternative promising technology for humanoids, inspired by the results obtained with quadruped robots. In this talk, I will highlight our recent results in the attempt to combine the complementary strengths of model based control and RL as a tool to refine the control policies. Our initial results have been obtained for bipedal walking, but could likely be extended to more versatile dynamic motions, such as jumping and running.

Keynote 5: Nikolai Ensslen (Synapticon)
Title: Making autonomous bipedals stable and safe: Tackling the safety and real-world interfacing challenges of physical AI
Abstract: t.b.a.