Applications of Dual Quaternion Algebra to Robotics @ICAR19
Workshop SummaryThe first workshop on Applications of Dual Quaternion Algebra to Robotics brought together more than 60 delegates from across different research labs and backgrounds to disseminate and share new perspectives and ideas for applications, projects and collaborations around geometric control, planning and learning based on quaternion and dual quaternion algebra!
We hope all participants have enjoyed the talks from invited speakers and have had the opportunity to network with like-minded professionals from senior researchers to grad students. We are delighted to have organized such a successful event and would like to thank the speakers and the authors. For future information on similar events and to create a larger community on the field, please REGISTER HERE.Accepted extended abstracts providing some guidance on the future directions of the field can be found below:
- Human Gesture Recognition using Dual Quaternion Algebra
- Wrench Control based on Dual Quaternion Algebra
- Multi-DoF Time Domain Passivity Approach Based Drift Compensation for Telemanipulation
- Constraint-based Gait Control Using Differential Inequalities
- Manipulation Task Planning and Motion Control Using Task Relaxations
- Task-Space Impedance Controller Using Dual Quaternion Logarithm
- Bimanual Mobile Manipulation Using the Cooperative Dual Task-Space Framework and Vector Fields Inequalities
- Distributed Coverage of Boundaries for Multi-robot Systems Using Dual Quaternion Algebra
Call for Workshop Extended AbstractsFollowing recent advances and extensive use of quaternion and dual quaternion algebra in robotics, we are happy to announce the 1st Workshop on Applications of Dual Quaternion Algebra to Robotics which will be taking place at the International Conference on Advanced Robotics (ICAR) 2019, in Belo Horizonte, Brazil on the 5th of December 2019. We hope to provide an engaging atmosphere to disseminate new ideas and, encourage intellectual exchange and networking through discussions and collaborations within the robotics community.
- Short-paper Submission Deadline: 8th November
- Short-paper Acceptance Announcement: 12th November
- Workshop: 5th December
MotivationDual quaternion algebra has proven to be a very powerful mathematical tool to represent both physical phenomena, such as rigid motions, twists, and wrenches, in addition to several mathematical objects such as Plücker lines, planes, points, spheres, cylinders, etc. in a straightforward way, which is useful when describing geometrical tasks directly in the task-space. Thanks to those advantages, there has been an increasing interest in the study of kinematic and dynamic representations of robotic systems using dual quaternion algebra. Those works comprise rigid motion stabilization, tracking, and multiple body coordination, kinematic control of manipulators with single and multiple arms, algorithms for inverse dynamics analysis and, also, applications to human-robot interaction and surgical robotics. This workshop has three main objectives: (i) to consolidate such contributions through talks from academic leaders across different fields of applications; (ii) introduce novel theories and applications in such emerging field through talks from applicants and (iii) provide a proper forum for discussion of benefits, drawbacks and ongoing works with respect to dual quaternion algebra within the robotics community.
- Luis F. C. Figueredo - University of Leeds - lfc[dot]figueredo[at]gmail[dot]com
- Bruno V. Adorno - Federal University of Minas Gerais - adorno[at]ufmg[dot]br
- João Y. Ishihara - University of Brasilia - ishihara[at]ene[dot]unb[dot]br
- Hugo T. Kussaba - University of Brasilia - hugo[dot]kussaba[at]unb[dot]br