French-German-Japanese Conference on Humanoid and Legged Robots

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1 OPTIMIZATION IN ROBOTICS AND BIOMECHANICS O R B HLR 2014 French-German-Japanese Conference on Humanoid and Legged Robots

2 r 3 rs Pr r t t 3 t t s s r rs t2 t 3 t t s s r rs t2 r r tt s s r r t3 s rt t r r t r r st P 1 r r st 2 s t 2 r ss

3 t t r t t r s t t r s ss r r r s r sr P r s t3 str t r ts s s s s 1 t r s r2 r 2 r s r r r rs s t s s r t t t r r st r s r t ts t r rt t s s r ts r 1 t t r t r s r r s r r t s s s r str r ts 3 r s s t s t r t s r r st t s 1 s t s t s r s t r t t r r s r rs r r r 2 t t t s s ss s t t s r t t ts st r t s t r ts r2 t rr s t r s r r ts t s s r r ts s r r ts t t2 2s s r st ss r t t t tr r t s r r t t s r r ts r ts r t s r t s t t t 3 t t s r r ts t s r t t s s r s2st s s t rts r s ss 2 t t t t r s 2 r t rt ts t t

4 r Pr r Monday, May 12 Alte Aula/Bel Etage, Grabengasse 1 Tuesday, May 13 IWH, Hauptstrasse 242 Wednesday, May 14 IWH, Hauptstrasse :00 Introduction HLR-14, Hall, 08:45-09:00 Eiichi YOSHIDA Hall, 09:00-09:30 Rüdiger DILLMANN Hall, 09:00-09:30 10:00 Guided Touristic Tour Meeting-Point: Hercules - Fountain (Fischmarkt), 09:00-11:00 Thomas BUSCHMANN Hall, 09:30-10:00 Serena IVALDI Hall, 10:00-10:30 Aurelien IBANEZ Hall, 09:30-10:00 Christian OTT Hall, 10:00-10:30 11:00 12:00 Coffee Break Hall, 10:30-11:00 Tandem Talk Katja MOMBAUR, Olivier STASSE Hall, 11:00-12:00 Pierre-Brice WIEBER Hall, 12:00-12:30 Coffee Break Hall, 10:30-11:00 Sven BEHNKE Hall, 11:00-11:30 Zhonghai CHEN Hall, 11:30-12:00 Felix BURGET Hall, 12:00-12:30 13:00 Lunch Hall, 12:30-14:00 Lunch Hall, 12:30-14:00 14:00 Juan-Jose ALCARAZ Hall, 14:00-14:30 Ulrich RÖMER Hall, 14:00-14:30 15:00 16:00 17:00 Introduction, Alte Aula, 14:30-14:45 Plenary Session Japan Yoshihiko NAKAMURA Alte Aula, 14:45-15:30 Plenary Session France Abderhamane KHEDDAR Alte Aula, 15:30-16:15 Short Break, Alte Aula, 16:15-16:25 Plenary Session Germany Tamim ASFOUR Alte Aula, 16:25-17:10 Shuuji KAJITA Hall, 14:30-15:00 Oskar VON STRYK Hall, 15:00-15:30 Poster Teasers, Workshop Room, 15:30-15:40 Poster Session and Coffee Workshop Room, 15:40-17:00 Karsten BERNS Hall, 17:00-17:30 Sophie SAKKA Hall, 14:30-15:00 Poster Teasers, Workshop Room, 15:00-15:10 Poster Session and Coffee Workshop Room, 15:10-16:30 Robot Demo Hall, 15:10-16:30 Common Project and Conference Planning Hall, 16:30-17:00 18:00 Welcome Reception Bel Etage, 17:10-19:00 Diego TORICELLI Hall, 17:30-18:00 David GALDEANO Hall, 18:00-18:30 19:00 20:00 Internal Project Meetings Starting time: 19:30 Conference Dinner Location: Haus Buhl Hauptstrasse Heidelberg, Starting time: 20:00

5 r ss r ss st rt t r ss t t r 2 t r st s t r t r t s ss t r st s s rs r rt t tr2 r2 t t t rr t st t t rt t s r 2 s t r ts r t s t r r t r r t t t t t rs t2 r s t s t r t r r t ss t t s t r s r2 r t r 1 s t P r2 t t t t t s rs t2 2 t t r ts t t s t st rts r 2 t r ts s 2 r rt s s ss s t 2 t t s t2 t r ts r t t 2 s t ss t s s t t s t 2 s 2 t s s r s t 2 2s 2 s2 2 rs t s t s tr s t st 2 r t rs t2 2 r t r t r t s r t t 2 Pr r s s s Pr ss r t rt t r t s rs t2 2 r t r r r r 2 t rs t2 r t s t r t s r s s t s2st s t r t t r t s r s rr t s r s r s r r s r s s Pr s t r r s r r 2 r r st s t Pr ss r s rs tät ü

6 r ss P r2 r t t r t s r ts rr t r r t s t r ss t r r t s r t t r t s s r t s rst r ss t s r 3 t s r r s r r t t t tr s 1 t t r t ss t r t r tr t r t s r s r 2s t t r st t t s t t t t tr t r2 r t s 2 t 3 t r P s s s s 1 t s s s s r t P s rt t t st t s s t t s t t t s t rt r s 2 str t s ts q r s s t2 s r t r r s t r r r t r t t r 1 t r t tr s rt t t s str t t rt t s s r s t r r t t s ss rt t t r ss s t t r st r tr t r s t r 2 r t t s t t ts s 1 t t s t s r t t s t Pr r rr rr r t r r q t é r r t st t t t r t q rs t P r s r t s t r t rs t2 P rr r r P r s s r s t 2 r t r r t t r t r t t t r t r2 s s s t t r t t s t t t t r r s r s r t r sts t s s r t 2 t t s tr s r t r s s r t t r t s t s s s r s r t r r t tt s t 3 t s r s t 2 t r t r s t s t s ss t t r t Pr ss P r t r t t t 2st s r t rs s s r t r s t s t s s r ts t r r r t r 2 rs

7 r ss P r2 r 2 t s r t ss st ts t r s r sr st t t 2 r 2 t s s s t r r ts 2 r 1 t t s ss st ts r r t s r ts rs t r s st rs rs st t r s r t s t rst r ss r t r r ss t r s t r t r ts t r r 1 r s t t s s 2 r ts t t s 2 q r t t r t s t 1 r t t r t s r s r t t t t t s r t r t s rt t t s ss t tr s r t t r t t r r s r r s t s r r ts r s r t t r r r r 2 r r ts r r t s tr t t rs 3 r t t r s rt r t t s t r s st rs Pr r s Pr ss r t t st t t r t r t s t s t t r sr st t t 2 s r t s 2st s t P r r s s r rr t r s r t r st s r r r t s 2 s r s r t s r t s s r s 1t r s t r t t t r t s t t 2s s t s t r r r r t t r s s2st t r t s r st t r s r t r ts ts t s r s t t r t r t 2st s r ts P P r P r t s ss t t r r s t s t s s r r t tt ts r t 1 t r t r ss t t s r t r r t rs t s s r s t r 3 r r tt s s r t r t r s r t s s 2s

8

9 r st t t s r s ss t t rs t2 r ss r t t t rs t2 r ss r r s t r t s ss s ts r r t r t s ss s t s r tstr ss r r r s s tstr ss r t P t t r r s t 1t t t r 2 r t t 3 tt r s r t r r s tr 2 t r 2 r s2 t r 2 tr s s tt r

10 r s r s tr rt s r 2 t 2 r s 2 t t r ss s ts r r P rt t s 2 t t 2 s r s s s t r s t s tt t r t s t r t t r s r r s t s 2 t r s r2 t rt ts r str 2 r t r st ts 2 r s r rs r t r r t r s r t r s t 1 rt r s t t t t r rr t r r s s s t rr t t r t r ts t t tr s t t r s t st r s ss s s s t2 rt t s r s ss r s r s r t s t r s t r st ts P rt ts r r t rt t t t s st r t r s r2 s t 1 t r t

11 r s s s 2 s s t r st t t s 2stè s t ts t t q r r s 1 st tr r s s t s rs t2 r 2 t t r t r t t r t t s r t r2 r t 3 t s t r t r ts r st r2 r t t r r 2 t t 3 t t s s r r s t2 r 2 r tt r r ts r Pr t tr 1 r t 3 t r r t tr P rr r P P r r ô s r t s r 3 r st P t s r ss r ss rst st s s r t s r t s r s st r s s ss s r t r s s r t 2st s t 3 t t s r rs t2 r st t r 2 t r t s r t tt r r t r q r ss r s r r s 2 r t 2 2 tr r t s rt t t q rs té t r r 2 s r tr t rst t s s r rs t2 s rs t r r 2 r s s t r r r t 1 2 tr t át 2 ót

12 r s 2 tr r ts rt s t P ré st t t s 2stè s t ts t t q r Pr r ss t t r s ü r st t t r t r t s s t 2st s r sr st t t 2 r 2 t r s ts t t t rq tr r t r st t s tr s t r r r s t r r 2 rst st s t r t r t t r ts t r r rts t t rs r t r2 2 r ts st t t r t r t r st t t t s t t 2st s rs t2 r 2 2 t P t 1 ts rs t2 r r r 2 t t t t t q st t t r t s t 2 r é t q t s 2 r r 2 t 3 t t r r s r s r Ö st t t r s r sr st t t 2 r 2

13 r s P st r ss t 2 2 Pr s t s rs t tr t r t r t 3 t t s s r rs t2 r 2 r t r r t s2st t r s r r ts t s r r 2 P r st P t r t P ré Ö st t t ür rt ss s t rs t2 r st t r 2 P t ss 2s s ts r t s t r t t 3 t t s s r rs t2 r 2 r t s r r 2st r P st r tr s r r 3 r s rs täts r r rs tät r r r 2 t r r t r t r r st 1 tt r r t r s 1 st tr r s s r r st rt t s rs t2 r 2 st r t r r r Ö r r st t rt s P P r r s r sr st t t 2 r 2 r t r s t r t st r s r t t t r s t r s s

14 t t ss t r tr t tt r s t t t t r t2 t t 3 t t s s r rs t2 r 2 r s r t t s s r s r ts P P P r r s r sr st t t 2 r 2 r t t t s r str ts rt s Ö t t 3 t t s s r rs t2 r 2 P r tr rt 1 r s P r P r st t t s 2stè s t ts t t q r r Pr t tr r t t t t s t 3 t t s s r rs t2 r 2 t r t r r t r t t rst t Ü t s s r rs t2 s rs t r r 2 t s r r t r st 3 t s 2 rt s s rs r t tt r s t tr t st t t t r ts 2 r t r t t P t P t 3 t t s s r rs t2 r 2

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16 Foto: Benjamin Reh / Roboter: Nao, Aldebaran

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