VRIC11 Workshop on "Haptics for Telepresence, Teleoperation and Collaborative Environments"
IEEE Technical Committee on Haptics
13th Virtual Reality International Conference, April 6-8, 2011, Laval, France
Call for papers:
While haptic sense provides the most natural way to interact and physically feel the environment, it also has an important role in communication and collaboration between users through co-located and remote configurations.
This special function of haptics supports low level exchanges during closely coupled tasks and enables improved interpersonal awareness, social presence and affective communication through the last Information and Communication Technologies (ICT) and Computer Supported Cooperative Work systems (CSCW). This highly multidisciplinary field is quickly expanding and involves numerous research challenges including hardware, software, perceptual and social issues.
This workshop intends to foster discussions and exchanges among participants and exhibit recent and original contributions in the field of haptics for Telepresence, Teleportation and Collaborative Environments (e.g., CVE, CSCW, Groupware). The workshop addresses the following topics:
Program: (Thursday, April 7)
8h30 - Registration
Session Chair: Mehdi AMMI, CNRS/LIMSI, Univ. Paris-Sud 11, France
9h - Conference introduction: Haptics for Telepresence, Teleoperation and Collaborative Environments, Mehdi AMMI, CNRS/LIMSI, Univ. Paris-Sud 11, Haptic-SIG, France
9h30 - P23: Software Architecture for a Multimodal Platform Applied to Cooperative Manipulation Tasks, WIRZ Raul, CERRADA Pablo, BARRIO Jorge, FERRE Manuel, AYESTARAN Marta , UPM-CSIC, Spain
10h00 - P27: SMS Text Based Affective Haptic Application, Kazi Masudul ALAM, Abdulmotaleb SADDIK EL, Sandro HARDY, Akther AYSHA, Multimedia Communications Research Laboratory, MCRLab, University of Ottawa, Canada
10h30 - P8: Design of haptic interaction elements of consumer products, Monica Bordegoni, Umberto Cugini, Francesco Ferrise, Politecnico di Milano, Italy
11h - Coffee Break & VRIC Posters Presentation
12h30 - Lunch
14h - VRIC Keynote Speaker (Plenary Session): Abderrahmane Kheddar: Human-Humanoid Haptic Joint Actions, AIST Joint Robotic Laboratory, UMI3218/CRT, Tsukuba, Japan
Session Chair: Jerome Peret, Haption, France
15h30 - P25: Modeling an active virtual object for gesture analysis using a haptic interface, Diana HERRERA, Jean-Loup FLORENS, Laboratoire ICA, Grenoble INP, France
17h - P30: TSF: A Versatile New Tissue Simulation Framework, Greg Ruthenbeck, Fabian Lim, Karen Reynolds, Flinders University, Australia
16h - Coffee Break & VRIC Posters Presentation
17h30 - Panel
18h - End of Symposium
Title: Human-Humanoid Haptic Joint Actions
Speaker:Abderrahmane KHEDDAR, AIST Joint Robotic Laboratory, UMI3218/CRT, Tsukuba, Japan
Abstract: In this talk I will focus on the algorithmic programming of haptic joint actions between a human and a real robot (with a focus on humanoids) or between a human and a virtual avatar with a focus on legged animates. In both cases we examine a speculative model and control framework for human-robot haptic joint (i.e. collaborative) actions in which the roles the human-humanoid play as leaders or followers is not predetermined prior to tasks executions. In this proposed scheme, role switching is made by a homotopy: that is, a time-variant, continuous or set-value, weighting interpolation function between the two extreme (leader of follower) behaviors for each individual. The role of each individual is changeable anytime with any plausible dynamic all along task execution. The formalism allows arbitrary functions for each partner's leader and follower control laws. This approach is then assessed through learning techniques and implemented on the humanoid robot HRP-2 in a lifting task study. We will then address the problems raised in haptic joint actions when walking and the difficulty inherent to step planning. At last perspectives in which a humanoid robot is used in a telepresence haptic joint action and as a potential haptic probe are presented.
Biography: Abderrahmane KHEDDAR received the ingénieur degree from the Institut National d'Informatique (INI), Algiers, the DEA (Master by research) and Ph.D. degree in robotics, both from the University of Paris 6, Paris. He is presently Directeur de Recherche at CNRS and the Director of the CNRS-AIST Joint Robotic Laboratory, UMI3218/CRT, Tsukuba, Japan, that he created in December 2008 by promoting the formal joint associated laboratory he was codirecting with Dr. Yokoi (2003-2008) into a full fledged international mixed unit (JRU). He is also heading a new team called "Interactive Digital Humans" IDH that he created at CNRS-UM2 LIRMM at Montpellier. Prior to that, he was successively an assistant professor (1998-2002) and then a tenured full professor (2003-2008) at the University of Évry. His research interests include haptics and humanoids. He is a founding member and a senior advisor of the IEEE/RAS chapter on haptics and is with the editorial board of the IEEE Transactions on Robotics and the Journal of Intelligent and Robotic Systems; he was a founding member of the IEEE Transactions on Haptics and served in its editorial board during three years (2007-2010). He co-chaired the 2001 IEEE RO-MAN workshop, chaired the 2006 EuroHaptics conference for its first edition in France, and organized several conference workshops (IROS 2004, RO-MAN 2009, RO-MAN 2010, RSS 2010). He is a member of the IEEE and OHBM. He was the coordinator of two CNRS national specific research actions (haptics and collision detection) and is involved in the VERE FP7 IP, coordinated the FP6 ROBOT@CWE STREP, and was involved in Touch-HapSys 5th PC, FP6 ImmerSence IP, FP6 INTUITION NoE, FP6 PEACH CA. He has more then 180 scientific publications as book chapters, journals, and major international conferences. His recent work in multi-contact planning was advertised by the New Scientist, and Reuters.