Baymax is a humanoid character in the recent Disney feature animation "Big Hero 6." It is a healthcare robot with an inflatable body, capable of walking and physically interacting with people. However, in the real world, it is not an easy robot to build. For interactions with humans, a soft body structure will be more advantageous with increased human safety. For walking or manipulation, on the other hand, a rigid body structure with well-defined joints will be more practical since it not only facilitates precise control but also provides structural strength to support its body weight and certain payloads. In order to design a humanoid with these conflicting mechanical properties, we need to explore and integrate various solutions. In this workshop, we will discuss topics related to building robots like Baymax with special features including, but not limited to, safe human-robot interactions, torque controls on joints or limbs, compliant joint mechanisms, inflatable body structures, and soft skin sensors and muscle actuators.

The workshop's topics include, but are not limited to:



09:20 - 09:30 Katsu Yamane Disney Research Welcome and Introduction
09:30 - 10:00 Chris Atkeson Carnegie Mellon University Soft Lightweight Robots
10:00 - 10:30 Nikos Tsagarakis Italian Institute of Technology Compliant Actuation Technologies for Humanoid Robots with Enhanced Physical Interaction Performance: Application to COMAN and WALK-MAN Humanoids
10:30 - 11:00 Manuel Catalano Italian Institute of Technology Muscles for Robots: Understanding, Designing and Controlling Natural Machine Motion
11:00 - 11:10 Break
11:10 - 11:40 BaekKyu Cho Kookmin University Summary of Team DRC-HUBO@UNLV in DRC Finals
11:40 - 12:10 Albert Wang Massachusetts Institute of Technology MIT Hermes (TBD)
12:10 - 12:40 Yong-Lae Park Carnegie Mellon University Soft Robotic Skin: Highly Deformable Sensing Materials for Future Soft Robots
12:40 - 13:40 Lunch Break
13:40 - 14:10 Minoru Asada Osaka University Affetto will be able to empathize with humans based on soft robotics
14:10 - 14:40 Ikuo Mizuuchi Tokyo University of Agriculture and Technology Compressor-Embedded Pneumatic-Driven Musculoskeletal Robots
14:40 - 15:10 Levi Rupert Brigham Young University Training Up Baymax: Progress and Future Directions for Soft Humanoid Robot Control
15:10 - 15:20 Break
15:20 - 15:50 Joohyung Kim Disney Research Building a Toy-sized Humanoid Robot Based on an Animation Character
15:50 - 16:50 Katsu Yamane Disney Research Discussion / Brain Storming on Technical Challenges
16:50 - 17:00 End

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