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This page lists the tutorials that will be held during the IROS 2021 on-line conference.

Interaction control in human, for robot and with robot

Sept 27, 14:30–18:00 CEST

Yanan Li*, Atsushi Takagi, Jonathan Eden, Etienne Burdet


This tutorial will give attendees a presentation in the contemporary computational neuroscience and robotics aspects of human-robot interaction, necessary for developing efficient robots to work in physical contact with their environment and humans. The target audience includes researchers and postgraduate students who are interested in these topics or who are developing robots interacting with humans in applications ranging from physical training (for sport and neurorehabilitation), to shared driving and cobots for manufacturing. It will also be useful for psychologists who want to learn the robotic modelling for this fundamental aspect of human motor control.

Cybersecurity in Robotics

Sept 27, 14:30–18:00 CEST

Quanyan Zhu*, Stefan Rass, Bernhard Dieber, Víctor Mayoral Vilches


Contemporary robotic systems are vulnerable to diverse attack patterns, and a posteriori hardening is at least challenging, if not impossible at all. This tutorial aims to stipulate the inclusion of security in robotics from the earliest design phases onward and with a special focus on the cost-benefit tradeoff that can otherwise be an inhibitor for the fast development of affordable systems. We aim to introduce new quantitative methods of security management and design, extending known vulnerability scoring systems to the distinguished setting of robotic systems, and accounting for the highly distributed nature of robots as an interplay of potentially very many components. A powerful quantitative approach to model-based security is offered by game theory, providing a rich spectrum of techniques to optimize security against various kinds of attacks. Such a multiperspective view on security is necessary to address the heterogeneity and complexity of robotic systems.

Improving the Software Quality of ROS Applications with HAROS

Sept 27, 14:30–16:30 CEST

André Santos*, Nuno Macedo


This tutorial is targeted at ROS roboticists (i.e., developers of robotics software), first and foremost, but also at software engineers (researchers or otherwise) interested in the domain of robotics software. Our main goal is to reinforce the idea that software for robotic systems is becoming progressively more complex, despite the existence of established software ecosystems like ROS. Ensuring that the software works as intended is a crucial (but not trivial) task, but proper quality assurance processes are rarely seen in the open-source robotics community. There are several capable tools to improve ROS software and detect a variety of issues early in the development process; HAROS is among such tools and offers a variety of analyses integrated in a unified interface. Furthermore, over the past five years, it has been gaining traction among the ROS community, namely in the ROS-Industrial and ROS Quality Assurance groups. The main value, and outcome, for the participants is to learn how to use automated analysis tools specifically targeting ROS software, how to interpret analysis results and how to integrate such tools and workflows within their own projects. This is particularly relevant if advanced robots are to be marketable, and eventually certified, in safety-critical contexts.

Ethical and Legal Assessments Related to Robots and Systems

Sept 27, 14:30–18:00 CEST

Jim Torresen*, Diana Saplacan, Tobias Mahler, Eduard Fosch-Villaronga


Artificial Intelligence (AI) technologies, including robots, pose challenges and opportunities for health- and home care. Amongst the relevant and essential aspects currently discussed are privacy, cybersecurity, safety, diversity, and inclusion considerations. It is also important to determine what legal frameworks need to be followed to ensure user safety in highly robotic environments. The tutorial will overview the most pressing ethical and legal challenges surrounding the development and use of robots in human environments. The tutorial aims to raise awareness about these topics and engage with the community to think about ways to reduce the unfavorable impact on society. We will use the findings in an earlier launched review supplemented with recent work and initiatives in this respect. The tutorial will illustrate the challenges related to privacy, security, safety, and diversity through several examples from the University of Oslo and Leiden University.


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