Organizers

Shinichi Hirai Department of Robotics Ritsumeikan Univ. Kusatsu, Shiga 525-8577, Japan Phone: +81-77-561-2879 Fax: +81-77-561-2665 e-mail: hirai at se dot ritsumei doc ac dot jp URL: http://www.ritsumei.ac.jp/~hirai/

Penglin Zhang School of Remote Sensing and Information Engineering Wuhan Univ. China Phone: +81-77-561-2665 Fax: +81-77-561-2665 e-mail: zpl at se dot ritsumei dot ac dot jp URL: http://www.ritsumei.ac.jp/~zpl/

Abstract

Researches on deformable soft objects such as biological tissue, food dough, thread, and wire harness are now one of emerging issues in virtual reality, computer vision, medical engineering, and robotics. We have to tackle many topics including geometric and mechanical modeling of deformable soft objects, their model identification, and control of their deformation to treat the deformable soft objects in engineering. This workshop focuses on the current researches on modeling, identification, and control of deformable soft objects. Topics are 1) geometric/mechanical modeling of deformable soft objects, in robotics, automation science, and medical engineering, 2) identification of deformation model parameters, 3) realtime simulation of object deformation, 4) control of object deformation in robotics and automation, 5) manipulation and handling of deformable soft objects, and other related issues.

Topics of Interests

The workshop will consist of several invited talks and paper presentations. Interested authors are welcome to submit their contributions. Topics of interests include but are not limited to:

• Geometric/mechanical modeling of deformable soft objects.
• Identification of deformation model parameters.
• Realtime simulation of object deformation.
• Control of object deformation in robotics and automation.
• Manipulation and handling of deformable soft objects.

Day and Location

The workshop will be held in conjunction with IROS2007 IEEE International Conference on Intelligent Robots and Systems Oct.29 - Nov.2, 2007, San Diego, U.S.A.

The workshop is scheduled for Nov. 2 (Friday).

Call for Contributions

The workshop will consist of several invited talks and paper presentations. Interested authors are welcome to submit their contributions. Paper contributions should be submitted by email to one of the organizers. Papers should be in PDF format and prepared following the IROS2007 final camera ready format, with a maximum length of 10 pages. The detailed information on the paper format is available from the IROS2007 page. Timeliness in exchanging on-going research results and ideas is one of the driving factors of workshops. Therefore, submission of even preliminary or informal work is encouraged. Also, extended versions of IROS’07 papers can be considered. Finally, state-of-the-art surveys in the above topical areas are welcome. Contributions will be selected by the workshop organizers, based on their quality and relevance to the workshop theme.

Program

Modeling of Soft Material Objects

Professor Hiroyuki Fujioka (Tokyo Denki University)

Contour and Shape Modeling of Wet Material Objects using Periodic and Closed Spline Surfaces

Dr. Zhang Peng-lin (Wuhan Univ. and Ritsumeikan Univ.)

A Method for Non-rigid 3D Deformation Fields Measurement: Application to Human Calf MR Volumetric Images

Modeling of Deformable Linear Objects

Professor Hidefumi Wakamatsu (Osaka University)

Modeling of Linear and Belt Object Deformation Based on Differential Geometry

Dr. Hans Fuhan Shi and Professor Shahram Payandeh (Simon Fraser University)

Rope Knotting and Unkotting with Haptic Feedback

Identification of Deformation

Professor Hiroshi Noborio (Osaka Electro-Communication University)

Modeling and Identification of Rheological Deformation

Dr. Yasuyo Kita (AIST)

On Compression Model for Integrative Analysis of Different View Breast Xrays

Control of Deformable Soft Objects

Dr. Satoshi Yamaguchi and Professor Hiromi T. Tanaka (Ritsumeikan Univ.)

Toward Real-time Volume-based Haptic Communication with Realistic Sensation

Dr. Mizuho Shibata (Ritsumeikan Univ.)

Control of Loosely Coupled Joint by Soft Actuators via Deformable Cartilage

Detailed program with the list of speakers and schedule.

Registration

is available through IROS 2007 web site