IEEE-RAS International Conference on Humanoid Robots November 15-17, 2017, Birmingham, UK

2017 IEEE-RAS International Conference on Humanoid Robots
November 15-17, 2017, Birmingham, UK

Last updated on November 22, 2017. This conference program is tentative and subject to change

Technical Program for Friday November 17, 2017

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FrAS The House
Learning Regular
Chair: Ude, AlesJozef Stefan Inst
Co-Chair: Jamone, LorenzoQueen Mary Univ. London
09:00-09:10, Paper FrAS.1 
Opening a Lockbox through Physical Exploration
Baum, ManuelTU Berlin
Bernstein, MatthewUniv. Stuttgart
Martín-Martín, RobertoTech. Univ. Berlin
Höfer, SebastianAmazon Development Center Germany GmbH
Kulick, JohannesUniv. Stuttgart
Toussaint, MarcUniv. of Stuttgart
Kacelnik, AlexUniv. of Oxford
Brock, OliverTech. Univ. Berlin
09:10-09:20, Paper FrAS.2 
Trial-And-Error Learning of Repulsors for Humanoid QP-Based Whole-Body Control
Spitz, JonathanTech
Bouyarmane, KarimUniv. De Lorraine
Ivaldi, SerenaINRIA
Mouret, Jean-BaptisteInria
09:20-09:30, Paper FrAS.3 
A Deep Probabilistic Framework for Heterogeneous Self-Supervised Learning of Affordances
Dehban, AtabakInst. Superior Tecnico
Jamone, LorenzoQueen Mary Univ. London
Kampff, AdamSainsbury Wellcome Centre
Santos-Victor, JoséInst. Superior Técnico - Lisbon
09:30-09:40, Paper FrAS.4 
Robots Learning from Robots: A Proof of Concept Study for Co-Manipulation Tasks
Peternel, LukaIstituto Italiano Di Tecnologia
Ajoudani, ArashIstituto Italiano Di Tecnologia
09:40-09:50, Paper FrAS.5 
Learning Human-Robot Collaboration Insights through the Integration of Muscle Activity in Interaction Motion Models
Chen, LongxinGuangdong Univ. of Tech
Wu, HongminGuangdong Univ. of Tech
Duan, ShuangdaGDUT
Guan, YishengGuangdong Univ. of Tech
Rojas, JuanGuangdong Univ. of Tech
09:50-10:00, Paper FrAS.6 
Uncertainty Averse Pushing with Model Predictive Path Integral Control
Arruda, Ermano ArdilesUniv. of Birmingham
Mathew, Michael JacobUniv. of Birmingham
Kopicki, MarekUniv. of Birmingham
Mistry, MichaelUniv. of Edinburgh
Azad, MortezaUniv. of Birmingham
Wyatt, JeremyUniv. of Birmingham
FrPL The House
Plenary 2 Plenary
FrS1L The House
Spotlights 3 Regular
FrBP The Suites
Interactive 3 Interactive
Chair: Park, JaeheungSeoul National Univ
11:45-12:50, Paper FrBP.1 
Human Motion Reproduction by Torque-Based Humanoid Tracking Control for Active Assistive Device Evaluation
Ito, TakahiroUniv. of Tsukuba
Ayusawa, KoAIST
Yoshida, EiichiNational Inst. of AIST
Kobayashi, HiroshiTokyo Univ. of Science
11:45-12:50, Paper FrBP.2 
Collision Avoidance Based on Separating Planes for Feet Trajectory Generation
Brossette, StanislasINRIA Rhône-Alpes
Wieber, Pierre-BriceINRIA Rhône-Alpes
11:45-12:50, Paper FrBP.3 
Analysis of Position Tracking in Torque Control of Humanoid Robots Considering Joint Elasticity and Time Delay
Jung, JaesugGraduate School of Convergence Science and Tech. Seoul Nat
Hwang, SoonwookGraduate School of Convergence Science and Tech. Seoul Nat
Lee, YisooSeoul National Univ
Sim, JaehoonGraduate School of Convergence Science and Tech. Seoul Nat
Park, JaeheungSeoul National Univ
11:45-12:50, Paper FrBP.4 
When to Make a Step? Tackling the Timing Problem in Multi-Contact Locomotion by TOPP-MPC
Caron, StephaneLirmm Cnrs
Pham, Quang-CuongNTU Singapore
11:45-12:50, Paper FrBP.5 
Multi-Level Motion Analysis for Physical Exercises Assessment in Kinaesthetic Rehabilitation
Devanne, MaximeIMT Atlantique Bretagne Pays De La Loire
Nguyen, Sao MaiInst. Mines Telecom
11:45-12:50, Paper FrBP.6 
Parameter Optimization for Passive Spinal Exoskeletons Based on Experimental Data and Optimal Control
Harant, MonikaHeidelberg Univ
Sreenivasa, ManishUniv. of Heidelberg
Millard, MatthewUniv. of Heidelberg
Sarabon, NejcUniv. of Primorska, Faculty of Health Sciences
Mombaur, KatjaHeidelberg Univ
11:45-12:50, Paper FrBP.7 
A Pilot Study on Using an Intelligent Life-Like Robot As a Companion for Elderly Individuals with Dementia and Depression
Abdollahi, HojjatUniv. of Denver
Mollahosseini, AliUniv. of Denver
Lane, JoshuaPurdue Univ
Mahoor, MohammadUniv. of Denver
11:45-12:50, Paper FrBP.8 
Gait Generation Via Intrinsically Stable MPC for a Multi-Mass Humanoid Model
Scianca, NicolaSapienza Univ. of Rome
Modugno, ValerioSapienza Univ. Di Roma
Lanari, LeonardoSapienza Univ. of Rome
Oriolo, GiuseppeSapienza Univ. of Rome
11:45-12:50, Paper FrBP.9 
Compositional Autonomy for Humanoid Robots with Risk-Aware Decision-Making
Long, XianchaoNortheastern Univ
Long, PhilipNortheastern Univ
Padir, TaskinNortheastern Univ
11:45-12:50, Paper FrBP.10 
Quantifying Balance Capabilities Using Momentum Gain
DeHart, Brandon JUniv. of Waterloo
Kulic, DanaUniv. of Waterloo
11:45-12:50, Paper FrBP.11 
Real-Time Evolutionary Model Predictive Control Using a Graphics Processing Unit
Hyatt, PhillipBrigham Young Univ
Killpack, MarcBrigham Young Univ
11:45-12:50, Paper FrBP.12 
Real-Time Motion Planning of Legged Robots: A Model Predictive Control Approach
Farshidian, FarbodETH Zurich
Jelavic, EdoSwiss Federal Inst. of Tech. Zurich
Satapathy, AsutoshETH Zurich
Giftthaler, MarkusSwiss Federal Inst. of Tech. (ETH) Zurich, Switzerland
Buchli, JonasETH Zurich
11:45-12:50, Paper FrBP.13 
A Distributed Control Architecture for Collaborative Multi-Robot Task Allocation
Blankenburg, JanelleUniv. of Nevada, Reno
Banisetty, Santosh BalajeeUniv. of Nevada, Reno
Hoseini Alinodehi, Seyed PouryaUniv. of Nevada, Reno
Fraser, LukeUniv. of Nevada, Reno
Feil-Seifer, DavidUniv. of Nevada, Reno
Nicolescu, MonicaUniv. of Nevada, Reno
Nicolescu, MirceaUniv. of Nevada, Reno
11:45-12:50, Paper FrBP.14 
Legged Mechanism Design with Momentum Gains
DeHart, Brandon JUniv. of Waterloo
Kulic, DanaUniv. of Waterloo
11:45-12:50, Paper FrBP.15 
Biped Walking Pattern Generation Based on Spatially Quantized Dynamics
Kajita, ShuujiNational Inst. of AIST
Benallegue, MehdiAIST Japan
Cisneros Limon, RafaelNational Inst. of Advanced Industrial Science and Tech
Sakaguchi, TakeshiAIST
Nakaoka, Shin'ichiroAIST
Morisawa, MitsuharuNational Inst. of AIST
Kaneko, KenjiNational Inst. of AIST
Kanehiro, FumioNational Inst. of AIST
11:45-12:50, Paper FrBP.16 
Database-Driven Approach for Biosignal-Based Robot Control with Collaborative Filtering
Furukawa, Jun-ichiroATR Computational Neuroscience Labs / Osaka Univ
Takai, AsukaAdvanced Telecommunications Res. Inst. International
Morimoto, JunATR Computational Neuroscience Labs
11:45-12:50, Paper FrBP.17 
Combining Deep Learning for Visuomotor Coordination with Object Identification to Realize a High-Level Interface for Robot Object-Picking
Eppe, ManfredUniv. of Hamburg
Kerzel, MatthiasUni Hamburg
Griffiths, SaschaUniv. Hamburg
Ng, Hwei GeokUniv. of Hamburg
Wermter, StefanUniv. of Hamburg
11:45-12:50, Paper FrBP.18 
MPC Strategy for Dynamic Stabilization of Preplanned Walking Gaits
Castano, Juan AlejandroInst. Italiano Di Tecnologia
Zhou, ChengxuFondazione Istituto Italiano Di Tecnologia
Kryczka, PrzemyslawIstituto Italiano Di Tecnologia
Tsagarakis, NikosIstituto Italiano Di Tecnologia
11:45-12:50, Paper FrBP.19 
A Comparison of Distance Measures for Learning Nonparametric Motor Skill Libraries
Stark, SvenjaTech. Univ. Darmstadt
Peters, JanTech. Univ. Darmstadt
Rueckert, ElmarTech. Univ. Darmstadt
11:45-12:50, Paper FrBP.20 
Model-Predictive Control in Multi-Contact Based on Stability Polyhedrons
Audren, HervéCNRS-AIST-JRL
Kheddar, AbderrahmaneCNRS-AIST JRL (Joint Robotics Lab. UMI3218/CRT
11:45-12:50, Paper FrBP.21 
Biomimetic Upper Limb Mechanism of Humanoid Robot for Shock Resistance Based on Viscoelasticity
Zhang, ZezhengBeijing Inst. of Tech
Liu, HuaxinBeijing Inst. of Tech
Yu, ZhangguoBeijing Inst. of Tech
Chen, XuechaoBeijing Insititute of Tech
Huang, QiangBeijing Inst. of Tech
Zhou, QinqinBeijing Inst. of Tech
Cai, ZhaoyangBeijing Inst. of Tech
Guo, XinxinBeijing Inst. of Tech
Zhang, WeiminBeijing Inst. of Tech
11:45-12:50, Paper FrBP.22 
Estimating Tactile Data for Adaptive Grasping of Novel Objects
Hyttinen, EmilKTH
Detry, RenaudJet Propulsion Lab
Kragic, DanicaKTH
11:45-12:50, Paper FrBP.23 
Human-Robot Interaction Assessment Using Dynamic Engagement Profiles
Poltorak, NicoleUniv. of Southern Denmark
Drimus, AlinUniv. of Southern Denmark
11:45-12:50, Paper FrBP.24 
Post-Impact Adaptive Compliance for Humanoid Falls Using Predictive Control of a Reduced Model
Samy, VincentCnrs-Um Lirmm
Caron, StephaneLirmm Cnrs
Bouyarmane, KarimUniv. De Lorraine
Kheddar, AbderrahmaneCNRS-AIST JRL (Joint Robotics Lab. UMI3218/CRT
11:45-12:50, Paper FrBP.25 
Rapid State Machine Assembly for Modular Robot Control Using Meta-Scripting, Templating and Code Generation
Ridge, BarryJožef Stefan Inst
Gašpar, TimotejJožef Stefan Inst
Ude, AlesJozef Stefan Inst
FrCS The House
Systems Integration Regular
Chair: Kanehiro, FumioNational Inst. of AIST
14:30-14:40, Paper FrCS.1 
NimbRo-OP2: Grown-Up 3D Printed Open Humanoid Platform for Research
Ficht, GrzegorzUniv. of Bonn
Allgeuer, PhilippUniv. of Bonn
Farazi, HafezUniv. of Bonn
Behnke, SvenUniv. of Bonn
14:40-14:50, Paper FrCS.2 
Ubot-7: A Dynamically Balancing Mobile Manipulator with Series Elastic Actuators
Ruiken, DirkUniv. of Massachusetts
Cummings, JonathanUniv. of Massachuetts-Amherst
Savaria, UdayUniv. of Massachusetts
Sup, FrankUniv. of Massachusetts - Amherst
Grupen, RodUniv. of Massachusetts
14:50-15:00, Paper FrCS.3 
Complementary Integration Framework for Localization and Recognition of a Humanoid Robot Based on Task-Oriented Frequency and Accuracy Requirements
Kumagai, IoriNational Inst. of Advanced Industrial Science and Tech
Sugai, FumihitoThe Univ. of Tokyo
Nozawa, ShunichiThe Univ. of Tokyo
Kakiuchi, YoheiThe Univ. of Tokyo
Okada, KeiThe Univ. of Tokyo
Inaba, MasayukiThe Univ. of Tokyo
Kanehiro, FumioNational Inst. of AIST
15:00-15:10, Paper FrCS.4 
TALOS: A New Humanoid Research Platform Targeted for Industrial Applications
Stasse, OlivierCNRS
Flayols, ThomasLaas, Cnrs
Budhiraja, RohanLaas, Cnrs
Giraud--Esclasse, KévinCnrs, Laas
Carpentier, JustinLAAS-CNRS
Mirabel, JosephLAAS-CNRS
Del Prete, AndreaCNRS
Soueres, PhilippeLAAS-CNRS
Mansard, NicolasCNRS
Lamiraux, FlorentCNRS
Laumond, Jean-PaulLAAS-CNRS
Marchionni, LucaPal Robotics SL
Tomé, HilarioPal Robotics, S.L
Ferro, FrancescoPal Tech
15:10-15:20, Paper FrCS.5 
Humanoid Robot Performing Jump-And-Hit Motions Using Structure-Integrated Pneumatic Cable Cylinders
Tanaka, KazutoshiUniv. of Tokyo
Nishikawa, SatoshiUniv. of Tokyo
Niiyama, RyumaUniv. of Tokyo
Kuniyoshi, YasuoThe Univ. of Tokyo
15:20-15:30, Paper FrCS.6 
Design of a Force Sensing Hand for the R1 Humanoid Robot
Vazhapilli Sureshbabu, AnandIstituto Italiano Di Tecnologia
Maggiali, MarcoItalian Inst. of Tech
Metta, GiorgioIstituto Italiano Di Tecnologia (IIT)
Parmiggiani, AlbertoFondazione Istituto Italiano Di Tecnologia (IIT)
FrS2L The House
Spotlights 4 Regular
FrDP The Suites
Interactive 4 Interactive
Chair: Sentis, LuisThe Univ. of Texas at Austin
Co-Chair: Ivaldi, SerenaINRIA
16:25-17:30, Paper FrDP.1 
Investigations of Viscoelastic Liquid Cooled Actuators Applied for Dynamic Motion Control of Legged Systems
Kim, DonghyunUniv. of Texas at Austin
Campbell IV, OrionUniv. of Texas at Austin
Ahn, JunhyeokUniv. of Texas at Austin
Sentis, LuisThe Univ. of Texas at Austin
Paine, NicholasThe Univ. of Texas at Austin
16:25-17:30, Paper FrDP.2 
Walking Control for Feasibility at Limit of Kinematics Based on Virtual Leader-Follower
Sato, Robson KenjiOsaka Univ
Sugihara, TomomichiGraduate School of Engineering, Osaka Univ
16:25-17:30, Paper FrDP.3 
Adaptive Step Duration in Biped Walking: A Robust Approach to Nonlinear Constraints
Bohorquez, NestorINRIA
Wieber, Pierre-BriceINRIA Rhône-Alpes
16:25-17:30, Paper FrDP.4 
Strong Recursive Feasibility in Model Predictive Control of Biped Walking
Ciocca, MatteoINRIA
Fraichard, ThierryINRIA
Wieber, Pierre-BriceINRIA Rhône-Alpes
16:25-17:30, Paper FrDP.5 
Robot Control for Dummies: Insights and Examples Using OpenSoT
Mingo Hoffman, EnricoFondazione Istituto Italiano Di Tecnologia
Rocchi, AlessioIstituto Italiano Di Tecnologia
Laurenzi, ArturoIstituto Italiano Di Tecnologia
Tsagarakis, NikosIstituto Italiano Di Tecnologia
16:25-17:30, Paper FrDP.6 
Hybrid Position/Force Control for Biped Robot Stabilization with Integrated Center of Mass Dynamics
Sygulla, FelixTech. Univ. of Munich
Wittmann, RobertTech. Univ. München
Seiwald, PhilippTech. Univ. of Munich
Hildebrandt, Arne-ChristophTech. Univ. München
Wahrmann, DanielTech. Univ. München
Rixen, DanielTech. Univ. München
16:25-17:30, Paper FrDP.7 
Analyzing Children's Expectations from Robotic Companions in Educational Settings
Blancas, MariaSPECS
Vouloutsi, VasilikiUniv. Pompeu Fabra
Fernando, SamuelThe Univ. of Sheffield
Sanchez Fibla, MartiUniv. Pompeu Fabra (UPF)
Zucca, RiccardoUniv. Pompeu Fabra
Prescott, Tony JUniv. of Sheffield
Verschure, PaulCatalan Inst. of Advanced Studies (ICREA), Foundation &Univ
16:25-17:30, Paper FrDP.8 
A Pilot Study on the Ebear Socially Assistive Robot: Implication for Interacting with Elderly People with Moderate Depression
Kargar B., Amir H.Univ. of Denver
Mahoor, MohammadUniv. of Denver
16:25-17:30, Paper FrDP.9 
Safe Trajectory Optimization for Whole-Body Motion of Humanoids
Modugno, ValerioSapienza Univ. Di Roma
Nava, GabrieleIstituto Italiano Di Tecnologia
Pucci, DanieleItalian Inst. of Tech
Nori, FrancescoGoogle DeepMind
Oriolo, GiuseppeSapienza Univ. of Rome
Ivaldi, SerenaINRIA
16:25-17:30, Paper FrDP.10 
Deep Reinforcement Learning for Conversational Robots Playing Games
Cuayahuitl, HeribertoUniv. of Lincoln
16:25-17:30, Paper FrDP.11 
Sensing Device Simulating Human Buttock for the Validation of Robotic Devices for Nursing Care
Ogata, KunihiroNational Inst. of Advanced Industrial Science and Tech
Kajitani, IsamuNational Inst. of AIST
Homma, KeikoNational Inst. of Advanced Industrial Scienceand Tech
Matsumoto, YoshioAIST
16:25-17:30, Paper FrDP.12 
A Geometric Approach for Learning Compliant Motions from Demonstration
Suomalainen, Markku HeikkiAalto Univ
Kyrki, VilleAalto Univ
16:25-17:30, Paper FrDP.13 
Real-Time Collision Detection Based on One Class SVM for Safe Movement of Humanoid Robot
Narukawa, KanameHonda R&D
Yoshiike, TakahideHonda Res. Inst. Japan
Tanaka, KentaHonda R&D
Kuroda, MitsuhideHonda R&D Co., Ltd
16:25-17:30, Paper FrDP.14 
Electrical Stimulation Feedback for Gait Control of Walking Simulator
Li, MengzeNagoya Univ
Yuan, ZhaofanNagoya Univ
Aoyama, TadayoshiNagoya Univ
Hasegawa, YasuhisaNagoya Univ
16:25-17:30, Paper FrDP.15 
Towards Intuitive Rigid-Body Physics through Parameter Search
Felip, JavierIntel Labs
Gonzalez-Aguirre, DavidIntel Labs
Tickoo, OmeshIntel Labs
16:25-17:30, Paper FrDP.16 
Learning Inverse Dynamics Models in O(n) Time with LSTM Networks
Rueckert, ElmarTech. Univ. Darmstadt
Nakatenus, MoritzTech. Univ. Darmstadt
Tosatto, SamueleTech. Univ. Darmstadt
Peters, JanTech. Univ. Darmstadt
16:25-17:30, Paper FrDP.17 
A Two-Staged Residual for Resilient External Torque Estimation with Series Elastic Actuators
Lee, ChanDGIST (Daegu Gyeongbuk Inst. of Science and Tech
Lee, JinohFondazione Istituto Italiano Di Tecnologia (IIT)
Malzahn, JörnIstituto Italiano Di Tecnologia
Tsagarakis, NikosIstituto Italiano Di Tecnologia
Oh, SehoonDGIST (Daegu Gyeongbuk Inst. of Science and Tech
16:25-17:30, Paper FrDP.18 
Robot and 3D-Sensor Calibration Using a Planar Part of a Robot Hand
Kita, YasuyoInst. of Advanced Industrial Sci. & Tech
Goi, YousukeY-Tec Corp
Kawai, YoshihiroNational Inst. Ofadvancedindustrialscienceandtechnology (AIS
16:25-17:30, Paper FrDP.19 
Tilt Estimator for 3D Non-Rigid Pendulum Based on a Tri-Axial Accelerometer and Gyrometer
Benallegue, MehdiAIST Japan
Benallegue, AbdelazizUniv. of Versailles St Quentin En Yvelines
Chitour, YacineUniv. of Paris Sud
16:25-17:30, Paper FrDP.20 
Model Predictive Control of Biped Walking with Bounded Uncertainties
Villa, Nahuel A.INRIA
Wieber, Pierre-BriceINRIA Rhône-Alpes
16:25-17:30, Paper FrDP.21 
Feedback Design for Multi-Contact Push Recovery Via LMI Approximation of the Piecewise-Affine Quadratic Regulator
Han, WeiqiaoMassachusetts Inst. of Tech
Tedrake, RussMassachusetts Inst. of Tech
16:25-17:30, Paper FrDP.22 
Gaussian Process Based Model Predictive Controller for Imitation Learning
Joukov, VladimirUniv. of Waterloo
Kulic, DanaUniv. of Waterloo
16:25-17:30, Paper FrDP.23 
Understanding Movements of Hand-Over between Two Persons to Improve Humanoid Robot Systems
Rasch, RobinBielefeld Univ. of Applied Sciences
Wachsmuth, SvenBielefeld Univ
König, MatthiasBielefeld Univ. of Applied Sciences
FrES The House
Perception Regular
Co-Chair: Stasse, OlivierCNRS
17:30-17:40, Paper FrES.1 
Interactive Data Collection for Deep Learning Object Detectors on Humanoid Robots
Maiettini, ElisaIcub Facility, Istituto Italiano Di Tecnologia and DIBRIS, Univ
Pasquale, GiuliaIstituto Italiano Di Tecnologia
Rosasco, LorenzoIstituto Italiano Di Tecnologia & MassachusettsInstitute Oftechn
Natale, LorenzoIstituto Italiano Di Tecnologia
17:40-17:50, Paper FrES.2 
Graph-Based Visual Semantic Perception for Humanoid Robots
Grotz, MarkusKarlsruhe Inst. of Tech. (KIT)
Kaiser, PeterKarlsruhe Inst. of Tech. (KIT)
Aksoy, Eren ErdalKarlsruhe Inst. of Tech. (KIT)
Paus, FabianKarlsruhe Inst. of Tech. (KIT)
Asfour, TamimKarlsruhe Inst. of Tech. (KIT)
17:50-18:00, Paper FrES.3 
Tactile-Based Object Center of Mass Exploration and Discrimination
Yao, KunpengTech. Univ. of Munich
Kaboli, MohsenTech. Univ. of Munich (TUM)
Cheng, GordonTech. Univ. of Munich
18:00-18:10, Paper FrES.4 
Robot Introspection with Bayesian Nonparametric Vector Autoregressive Hidden Markov Models
Wu, HongminGuangdong Univ. of Tech
Lin, HongbinGuangdong Univ. of Tech
Guan, YishengGuangdong Univ. of Tech
Harada, KensukeOsaka Univ
Rojas, JuanGuangdong Univ. of Tech
18:10-18:20, Paper FrES.5 
Experimental Evaluation of Simple Estimators for Humanoid Robot
Flayols, ThomasLaas, Cnrs
Del Prete, AndreaCNRS
Wensing, PatrickUniv. of Notre Dame
Mifsud, AlexisLAAS-CNRS
Benallegue, MehdiAIST Japan
Stasse, OlivierCNRS




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