Workshop’s Program

Traditional robotic systems and 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. The workshop is organized around 10 talks from renewed researchers in the fields of robotics, control, and numerical simulation, an interactive poster and video session, concluded by an open panel discussion. Instrumental for the workshop’s goal is the panel discussion, which will first jointly define the most relevant set of challenges that need to be overcome to turn impact-aware robitics into a viable innovative technology as well as highlighting the most promising application domains which will benefit from this technology the most.


IROS 2021 workshops will be offered online as prerecorded talks followed by a 2 hours live session within the conference platform (gCon), which will be used for live interaction with the audience (poster presentations and round table discussion with interaction with the audience).

For this Impact-Aware Robotics workshop, the assigmed 2-hours time slot is scheduled for

 October 1, 2021  5:00-7:00 PDT | 14:00–16:00 CEST | 20:00-22:00 UTC+08:00

The preliminary scedule for the online session is the following:

  • Introduction (15 minutes)
  • Poster session (45 minutes)
  • Round table discussion (1 hour)

The introduction will provide aim and scope of the workshop, also providing a summary of all contributions. The invited talks will be available on the conference platform since the first day of IROS and therefore it is expected that the audience has already took the time to look at the invited talks, prior the beginning of the live session.

The list of accepted workshop contributions for the poster session can be found below, after the list of invited talks. For conference/workshop registraction, which give access to the online conference platform (gCon), check IROS 2021 registration webpage.

List of speakers and titles of the talks

  • Sam Burden, On infinitesimal contraction analysis for mechanical systems subject to unilateral constraints
  • 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

The recorded speaker talks can be found on this page

List of accepted contribution for the poster session

The following posters will be presented during the online poster session in separate breakout rooms

Making of a jumping robot

Authors: Adrià Roig, Luca Marchionni, Narcis Miguel, Pierre Fernbach, Sai Kishor

Multi-Mode Trajectory Optimization for Impact-Aware Catching of Large-Momentum Objects

Authors: Lei Yan, Theodoros Stouraitis, João Moura, and Sethu Vijayakumar

PokeRRT: A Kinodynamic Planning Approach for Poking Manipulation

Authors: Anuj Pasricha, Yi-Shiuan Tung, Bradley Hayes, and Alessandro Roncone

Toward Context-aware Contact Classification Using Physics-based Semantic Knowledge

Authors: Sissy Friedrich, Adrian S. Bauer, David Spieler, Daniel Leidner

Control of dual-arm system for swift grabbing with impact and tossing of an object

Authors: Michael Bombile, Aude Billard

Model-Based Visual Object Tracking with Impact Collision Models

Authors: Maarten Jongeneel, Sander Dingemans, Nathan van de Wouw, Alexandre Bernardino, Alessandro Saccon

Invariant Filtering for Bipedal Walking on Dynamic Rigid Surfaces with Orientation-based Measurement Model

Authors: Yuan Gao, Yan Gu