Call For Contributions


IROS 2021 Workshop on Impact-Aware Robotics

Day: October 1, 2021

Time: 5:00-7:00 PDT | 14:00–16:00 CEST | 20:00-22:00 UTC+08:00

Venue: online


IROS 2021:

Early Registration deadline is September 5, 2021 (


Call for Videos and Posters Contribution

The workshop is soliciting contributions in the form of posters with the possibility of additional video material (to be posted in the workshop website) and presented by the authors during a 45 minutes interactive poster session, open to all registered participants.

To participate, please submit max 2 page extended abstract (PDF file in the IEEE IROS 2021 template format) via email to Yan Gu (, Alessandro Saccon (, and Abder Kheddar ( All contributions will undergo a review by the program committee, and the authors will be notified about acceptance. The authors of selected extended abstract papers will also be invited to submit an extended version to as a special issue to the IEEE TRO journal.

Important Dates

Abstract submission: August 26, 2021

Notification of acceptance: August 30, 2021

Poster submission deadline: September 5, 2021

Workshop: October 1, 2021 (45 minutes poster session)


Traditional robotic systems and robot control strategies fear impacts: contact is either totally avoided or established at almost zero speed. In impact-aware manipulation and locomotion, contact is intentionally established at non-negligible speed, reducing execution time and energy consumption. This workshop is intended to cover the various aspects defining impact-aware robotics, such as modeling, planning, control, learning, sensing, and design, where object-environment dynamic interactions and corresponding sudden velocity jumps and vibrations are specifically addressed. More specifically, the workshop will provide the audience with an overview on control strategies for robot manipulation and locomotion involving dynamic interaction between the robot and the environment; new developments in modeling and simulation of robot dynamics with impact, friction, and flexibility effects; experimental validation of robot-object-environment dynamic models; contact detection and robot-object velocity estimation in the presence of impacts; impact-resilient robot design, including damping of mechanical vibrations due to intentional collisions.

Topics of interest

  • Design and Control
    • mechatronical design
    • optimization-based co-design
    • model predictive and optimization-based control
    • whole-body control
  • Path Planning, Perception, and Sensing
    • optimization-based and perceptive motion planning
    • sensor fusion under uncertainty
  • Real-World Applications
    • Logistics Applications
    • Manufacturing Applications
    • Other (emerging) applications

Organizers and Program Committee:

Invited Speakers

  • Sam Burden, TBA
  • Bernard Brogliato, On the control of juggling nonsmooth Lagrangian systems
  • Kevin Green, Embracing Ground Uncertainty in Control of Agile Bipedal Robots
  • Kaveh Akbari Hamed, Hierarchical and Nonlinear Feedback Control of Legged Robots: From Hybrid Systems to Planning and Robust Control
  • Yildirim Hurmuzlu, A new method in solving multi-contact impact problems of kinematic chains
  • Aaron Johnson, Transparency and Proprioceptive Contact Localization
  • Karen Liu, Optimizing Physical Contact for Motor Control: Turning a Challenge into a Solution
  • Hae-Won Park, Optimization-based Design, Control, and Estimation for Dynamic Legged Locomotion
  • Michael Posa, Perspectives on multi-contact robotics: deep learning, impact-invariant control, and modeling non-uniqueness


This proposed workshop is supported by the IEEE RAS Technical Committees on:

  • Humanoid Robotics
  • Mechanisms and Design
  • Model-based Optimization for Robotics
  • Robot Learning
  • Whole-Body Control


This proposed workshop is partially supported by the H2020-ICT-09-2019-2020 project I.AM. (GA 871899),