Robotic manipulation: mechatronic tools, modeling, identification and control


  • Mourad Benoussaad
  • Mathieu Grossard
  • Micky Rakotondrabe

The workshop will run on 11 July 2020 from 13:00 until 17:00 Berlin time (1pm until 5pm CEST/UTC+2h). A recording of the workshop (excluding the presentation by Mathieu Grossard) will also be available for streaming from 12 July until 31 August 2020 for registered participants.


  • Fabio Ruggeiro, University of Naples Federico II, Italy
  • Markus Grebenstein, DLR Institute of Robotics and Mechatronics, Germany
  • Arash Ajoudani, Istituto Italiano di Tecnologia, Italy
  • Mathieu Grossard, Commisariat de l'Energie Atomique Paris, France
  • Mourad Benoussaad, National School of Engineering in Tarbes, France
  • Chee Pin Tan, Monash University, Malaysi
  • Micky Rakotondrabe, National School of Engineering in Tarbes, France


The objective of this workshop is to give an overview of issues and current techniques in robotic manipulation and grasping. We focus here on manipulation devices composed of robotic arms and/or multifingered gripper to perform assembly tasks, to handle tools, to manipulate versatile objects (biological or not) and to interact with humans. There are several possible applications; such as automotive industry, cobotics, medical (surgery and assistance), watch industry...
The presenters of the workshop will present innovative techniques to ensure an efficient and robust robotic manipulation and grasping task covering several complementary needed aspects such as mechanism design, mechatronics, modelling, parameters estimation and control. The aim is to exchange expertise on mechatronic tools, modeling, identification and control used in robotic manipulation tasks and to initiate collaborations between researchers of robotics manipulation community. The workshop is a half-day workshop.


(for abstracts of the talks see the external web site of the workshop)

13:00 Introduction to the workshop    

13:10 Mechatronic tools and robotic hardware for manipulation task, Markus Grebenstein

13:40 Considering flexibilities in the design and control of robotic manipulators, Mathieu Grossard

14:10 Smart materials based mechatronic systems for robotic manipulation, Micky Rakotondrabe

14:40 State estimation for hand-based manipulation and grasping, Chee Pin Tan

15:10 Coffee break (let’s take it together) and free questions to all speakers    

15:30 Nonprehensile Dynamic Manipulation, Fabio Ruggiero

16:00 From visuospatial cognition to robotic manipulation through exploration, Arash Ajoudani

16:30 Modeling and control of the whole human-robot system for interaction and co-manipulation, Mourad Benoussaad

(live sessions will be held between the talks and in the coffee break)