2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics July 11-15, 2022  |  Sapporo, Hokkaido, Japan
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Last updated on June 27, 2022. This conference program is tentative and subject to change

Technical Program for Wednesday July 13, 2022

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WeA01 Room A (Hybrid)
Dynamics and Aerial Robots Regular Session
Chair: Shimonomura, KazuhiroRitsumeikan University
Co-Chair: Vejdani, Hamid RezaLawrence Technological University
09:30-09:45, Paper WeA01.1 
A Control Design for Paddle Juggling Based on Discrete System with Racket Tracking Errors

Nakashima, Akira (Nanzan University), Maki, Daisuke (Nanzan Univeristy), Sasayama, Taiki (Nanzan University), Sakamoto, Noboru (Nanzan University)
09:45-10:00, Paper WeA01.2 
Robustness Analysis of Minimally-Actuated Flapping Wing Systems Due to Aerodynamic Modeling Uncertainty

Vejdani, Hamid Reza (Lawrence Technological University), Fan, Xiaozhou (Brown University), Breuer, Kenneth (Brown University)
10:00-10:15, Paper WeA01.3 
Exploration of UAV Rope Handling and Flight in Narrow Space Strategies, Using a Three-Arm Aerial Manipulator System

Yamada, Toshiki (Ritsumeikan University), Tsuji, Takayoshi (Ritsumeikan University), Paul, Hannibal (Ritsumeikan University), Rosales Martinez, Ricardo (Ritsumeikan University), Ladig, Robert (Ritsumeikan University), Shimonomura, Kazuhiro (Ritsumeikan University)
10:15-10:30, Paper WeA01.4 
An Unmanned Aerial-Surface Vehicle Hybrid Outfitted with a Transformable Housing

Tsai, Chung-Hsuan (Japan Advanced Institute of Science and Technology), Chong, Nak Young (Japan Advanced Institute of Science and Technology), Elibol, Armagan (Japan Advanced Institute of Science and Technology)
10:30-10:45, Paper WeA01.5 
Active Translatory Drive System with Docking Capability for UAV Power Line Inspection

Wang, Yuyan (Ritsumeikan University), Paul, Hannibal (Ritsumeikan University), Miyazaki, Ryo (Ritsumeikan University), Rosales Martinez, Ricardo (Ritsumeikan University), Kominami, Takamasa (Ritsumeikan University), Ladig, Robert (Ritsumeikan University), Shimonomura, Kazuhiro (Ritsumeikan University)
10:45-11:00, Paper WeA01.6 
Design and Analysis of a Gravitic Tether-Based Grappler for Aerial Payload Deployment

Lim, Ryan Jon Hui (Singapore University of Technology & Design), Lim, Kristabel (Singapore University of Technology & Design), Foong, Shaohui (Singapore University of Technology and Design)
11:00-11:15, Paper WeA01.7 
Comparative Study of Co-Design Strategies for Mission-Specific Design of Quadcopters Using Differential Flatness and Bayesian Optimization

Wauters, Jolan (Ghent University), Lefebvre, Tom (Ghent University), Crevecoeur, Guillaume (Ghent University)
11:15-11:30, Paper WeA01.8 
A Localization and Trajectory Planning Method for UAVs with Visual-Inertial Odometry

Xu, Wenbo (Institute of Automation, Chinese Academy of Sciences), Lin, Ziyue (Institute of Automation, Chinese Academy of Sciences), Wang, Wei (Institute of Automation, Chinese Academy of Sciences)
WeA02 Room B (Hybrid)
Automotive Regular Session
Chair: Liu, TaoZhejiang University
Co-Chair: Hey, JonathanSIMTech, A*STAR
09:30-09:45, Paper WeA02.1 
Minimal Energy Transient Motion Control of Electrical Connected Vehicles

Hua, Lingyun (Michigan State University), Wei, Wenpeng (Michigan State University), Dourra, Hussein (Magna International), Zhu, Guoming George (Michigan State University)
09:45-10:00, Paper WeA02.2 
Learning-Based Safe Motion Control of Vehicle Ski-Stunt Maneuvers

Han, Feng (Rutgers University), Yi, Jingang (Rutgers University)
10:00-10:15, Paper WeA02.3 
Robust Control of an Off-Road Single-Wheel Module Using Sliding Mode Control and Fuzzy Logic Control

Ghasemi, Masood (The University of Alabama at Birmingham), Gorsich, David (The U.S. Army Ground Vehicle Systems Center), Vantsevich, Vladimir (University of Alabama at Birmingham), Moradi, Lee (The University of Alabama at Birmingham), Paldan, Jesse (The University of Alabama at Birmingham), Cole, Michael (U.S. Army Ground Vehicle Systems Center), Goryca, Jill (The U.S. Army Ground Vehicle Systems Center), Singh, Amandeep (The U.S. Army Ground Vehicle Systems Center)
10:15-10:30, Paper WeA02.4 
On LIDAR Map Combination: A Graph Slam Module to Generate Accurate and Largescale Maps for Autonomous Driving

Aldibaja, Mohammad (Kanazawa Univ), Suganuma, Naoki (Kanazawa Univ), Yanase, Ryo (Kanazawa Univ), Yoneda, Keisuke (Kanazawa Uneversity), Cao, Lu (Kanazawa University)
10:30-10:45, Paper WeA02.5 
Autonomous Navigation Strategy for Orchards Relying on Sensor-Based Nonlinear Model Predictive Control

Villemazet, Antoine (LAAS -CNRS ; Universite De Toulouse III), Durand-Petiteville, Adrien (Federal University of Pernambuco UFPE), Cadenat, Viviane (University of Toulouse)
10:45-11:00, Paper WeA02.6 
Fault Detection and Isolation for Four-Wheel-Driven Omnidirectional Automated Guided Vehicles with Actuator Faults

Ngo, Van Tam (National Cheng Kung University), Tsai, Cheng-Tzung (National Cheng Kung University), Liu, Yen-Chen (National Cheng Kung University)
11:00-11:15, Paper WeA02.7 
Control Design of a Hydraulic Cooling Fan Drive for Off-Road Vehicle Diesel Engine with a Power Split Hydraulic Transmission

Wang, Feng (Zhejiang University), Hong, Junyi (Zhejiang University), Xu, Bing (ZheJiang University), Fiebig, Wieslaw (Wroclaw University of Science and Technology)
11:15-11:30, Paper WeA02.8 
Passive Offset Adjusting Wheel Mechanism

Hodo, Kanako  (Hosei Univ), Yamada, Yasuyuki (HOSEI University)
WeA03 Room C (Hybrid)
Control Application III Regular Session
Chair: Marzouk, AmrSimon Fraser University
Co-Chair: Al-Rubaiai, MohammedToyota
09:30-09:45, Paper WeA03.1 
Semi-Autonomous Bulldozer Blade Control Using Real-Time Terrain Mapping

Mononen, Teemu (Tampere University), Kolu, Antti (Tampere University of Technology), Mattila, Jouni (Tampere University of Technology)
09:45-10:00, Paper WeA03.2 
Bode-Based Speed Proportional Integral and Notch Filter Tuning of a Permanent Magnet Synchronous Machine Driven Flexible System

Ramos Garces, Santiago (University of Antwerp), Ben yahya, Abdelmajid (University of Antwerp), Van Oosterwyck, Nick (University of Antwerp), Jacques, Dries (University of Antwerp), Derammelaere, Stijn (University of Antwerp, Faculty of Applied Engineering)
10:00-10:15, Paper WeA03.3 
Modeling and Synchronized Control of a Dual-Drive ``Checkerboard" Gantry with Composite Adaptive Feedforward and RISE Feedback

Wan, Yunfei (Southwest Jiaotong University), Chen, Silu (Nignbo Institute of Materials Technology and Engineering, CAS), Yuan, Liming (Zhejiang Key Lab of Robotics and Intelligent Manufacturin), Zhang, Chi (Ningbo Institute of Material Technology and Engineering, CAS), Zhang, Yong (Key Laboratory of Maglev Train and Maglev Technology of Ministry), Yang, Guilin (Ningbo Institute of Material Technology and Engineering, Chines)
10:15-10:30, Paper WeA03.4 
An OPC UA Client/Gateway-Based Digital Twin Architecture of a SCADA System with Embedded System Connections

Abdelsattar, Ahmad (Simon Fraser University), Park, Edward J. (Simon Fraser University), Marzouk, Amr (Simon Fraser University)
10:30-10:45, Paper WeA03.5 
Rewrite Rules for Automated Depth Reduction of Encrypted Control Expressions with Somewhat Homomorphic Encryption

Kosieradzki, Shane (Georgia Institution of Technology), Qiu, Yingxin (Georgia Institute of Technology), Kogiso, Kiminao (The University of Electro-Communications), Ueda, Jun (Georgia Institute of Technology)
10:45-11:00, Paper WeA03.6 
Learning and Generalizing Variable Impedance Manipulation Skills from Human Demonstrations

Zhang, Yan (Xi' an Jiaotong University), Zhao, Fei (Xi'an Jiaotong University), Liao, Zhiwei (Xi'an Jiaotong University)
11:00-11:15, Paper WeA03.7 
Control, Sensor Calibration, and Parasitic Torque Cancellation of a Dual-Rotor Haptic Actuator

Oldiges, Andrew (University of Pittsburgh), Bajaj, Nikhil (University of Pittsburgh)
11:15-11:30, Paper WeA03.8 
Strain-Based Pinch Force Control for Soft Object Manipulation

Inoue, Takahiro (School of Science and Engineering, Tokyo Denki University), Mizutani, Yusuke (Tsubakimoto Chain Co)
WeA04 Room D (Hybrid)
Medical Robotics and Mechatronics II Regular Session
Chair: Oldham, KennUniversity of Michigan
Co-Chair: Zhang, JuanjuanNankai University
09:30-09:45, Paper WeA04.1 
3D Human Head Parametric Estimation and EEG Localization with 2D Azimuthal Equidistant Map Projection

M, Souganttika (Singapore University of Technology and Design), Halim, James (Singapore University of Technology & Design), Foong, Shaohui (Singapore University of Technology and Design), Ng, Hwee Lee (Chan), Kang, Corrine (Changi General Hospital), Maryam, Siti (Changi General Hospital), Chan, Faith (Changi General Hospital)
09:45-10:00, Paper WeA04.2 
Fast Surgical Instruments Identification System to Facilitate Robot Picking

Song, Rongzihan (Nanyang Technological University), Lim, Pius, Zhen Ye (Nanyang Technological University), Causo, Albert (Nanyang Technological University), Gnanaprakasam, Naveen (Nanyang Technological University), Lin, Zhiping (Nanyang Technological University), Chen, I-Ming (Nanyang Technological University)
10:00-10:15, Paper WeA04.3 
Design and Characterization of AWARD: An Active Wearable Assistive and Resistive Device

Tsabedze, Thulani (University of Nevada, Reno), Trinh, Jennifer (University of Nevada, Reno), Alomran, Ammar (University of Nevada, Reno), Clayton, Jennifer (University of Nevada, Reno), Zhang, Jun (University of Nevada Reno)
10:15-10:30, Paper WeA04.4 
Multiphysical Analytical Modeling and Design of a Magnetically Steerable Robotic Catheter for Treatment of Peripheral Artery Disease

Liu, Yang (The University of Texas at Austin), G. Mohanraj, Tarunraj (The University of Texas at Austin), Rajebi, Mohammad (Virtual Radiologic), Zhou, Lei (The University of Texas at Austin), Alambeigi, Farshid (University of Texas at Austin)
10:30-10:45, Paper WeA04.5 
Optics and Actuation Co-Design for an Implantable Reflectance Confocal Microscope with Large Working Distance

Sahraeibelverdi, Tayebeh (University of Michigan), Shirazi, Ahmad (University of Michigan -Annarbor), Lee, Miki (University of Michigan - Ann Arbor), Li, Haijun (University of Michigan - Ann Arbor), Birla, Mayur (University of Michigan), Kwon, Samuel (University of Michigan -Annarbor), Wang, Thomas D. (University of Michigan - Ann Arbor), Oldham, Kenn (University of Michigan)
10:45-11:00, Paper WeA04.6 
Isolation of Parasites by Micropipette Aspiration

Kemp, Andrew Fraser (Massey University), Lofroth, Matthew (Massey University), Barnes, Victor (Massey University), Pita, Anthony (Massey University), Hayman, David T S (Massey University), Avci, Ebubekir (Massey University)
11:00-11:15, Paper WeA04.7 
Long Range Localization in Real-Time Tracking of Magnet Position Using Attentive Sensing Channels

Nguyen, Ngoc Thi (Singapore University of Technology and Design), Jiang, Qianfeng (Singapore University of Technology & Design), Syafiq, Muhammad (Singapore University of Technology & Design), Wong, Billy (Singapore University of Technology & Design), Foong, Shaohui (Singapore University of Technology and Design)
11:15-11:30, Paper WeA04.8 
Integral-Free Spatial Orientation Estimation Method and Wearable Rotation Measurement Device for Robot-Assisted Catheter Intervention

Hooshiar, Amir (McGill University), Sayadi, Amir (McGill Universiity), Dargahi, Javad (Concordia University), Najarian, Siamak (University of British Columbia)
Lunch Break
WeLPl Room A (Hybrid)
Plenary Talk II: Marcia K. O’Malley - Restoring Human Productivity with
Intelligent Mechatronic Systems
Plenary Session
Chair: Niitsuma, MihokoChuo University
WeM01 Room A (Hybrid)
IS2: New Progress in Advanced Mechatronics Invited Session
Chair: Yu, PanBeijing University of Technology
Co-Chair: Kou, MiyamotoShimizu Corporation
14:20-14:35, Paper WeM01.1 
Disturbance Estimation Based Robust Model Predictive Position Tracking Control for Magnetic Levitation System (I)

Yan, Xiaodong (Zhejiang University of Technology), Huang, Meiqin (Zhejiang University of Technology), Wang, Junxiao (Zhejiang University of Technology), Xu, Jianming (Zhejiang University of Technology)
14:35-14:50, Paper WeM01.2 
Compensation for Unknown Nonlinearities and Parameter Optimization in a Modified Repetitive-Control System (I)

Jia, Fengyi (Hunan University of Science and Technology), Zhou, Lan (Hunan University of Science and Technology), Liao, Changchao (Hunan University of Science and Technology), She, Jinhua (Tokyo University of Technology)
14:50-15:05, Paper WeM01.3 
Two Age Groups Comparison on Impression Evaluation of Distance and Communication with Two Different Appearance Mobile Robots (I)

Uchikawa, Otono (Chuo University), Niitsuma, Mihoko (Chuo University)
15:05-15:20, Paper WeM01.4 
What-You-See-Is-What-You-Get Indoor Localization for Physical Human-Robot Interaction Experiments (I)

Vincze, David (Chuo University), Niitsuma, Mihoko (Chuo University)
15:20-15:35, Paper WeM01.5 
Error-Driven-Based Performance Analysis of Nonlinear Equivalent-Input-Disturbance Approaches (I)

Yu, Pan (Beijing University of Technology), Liu, Kang Zhi (Chiba University, Chiba, Japan), Liu, Xudong (Beijing Aerospace Automatic Control Institute), She, Jinhua (Tokyo University of Technology), Li, Xiaoli (Beijing University of Technology)
15:35-15:50, Paper WeM01.6 
Wind-Load Estimation with Equivalent-Input-Disturbance Approach (I)

Kou, Miyamoto (Shimizu Corporation), Sato, Daiki (Tokyo Institute of Technology), She, Jinhua (Tokyo University of Technology), Chen, Yinli (Tokyo University of Science), Nakano, Satoshi (Nagoya Institute of Technology)
WeM02 Room B (Hybrid)
Modeling and Design III Regular Session
Chair: Massenio, Paolo RobertoPolytechnic University of Bari
Co-Chair: Chaichaowarat, RonnapeeChulalongkorn University
14:20-14:35, Paper WeM02.1 
Design of a Soft Rat Robot Based on Pneumatic Actuators

Li, Yuanzhong (Waseda University), Takanishi, Atsuo (Waseda University), Ishii, Hiroyuki (Waseda University)
14:35-14:50, Paper WeM02.2 
Design and Testing of Single-Body 2-DOF Magnetic Levitator for Non-Contact Object Transportation

Jung, Jae Woo (Yonsei University), Kim, Eun Kyu (Yonsei University), Yoon, Hyeong Min (Yonsei University), Yoon, Jun Young (Yonsei University)
14:50-15:05, Paper WeM02.3 
Topology Design of Time Sensitive Networks in a Smart Factory

Li, You-Ru (Others), Hou, Pin-Chun (National Chung Cheng University), Hou, Ting-Chao (National Chung Cheng University)
15:05-15:20, Paper WeM02.4 
Nonlinear Hybrid Layer Model with Flux Leakage Adaptation for Iron-Cored Linear Permanent-Magnet Synchronous Motors

Jung, Sang Won (Yonsei University), Kim, Jae Hyun (Yonsei University), Yoon, Jun Young (Yonsei University)
15:20-15:35, Paper WeM02.5 
Toward a Plug-And-Work Reconfigurable Cobot

Romiti, Edoardo (Istituto Italiano Di Tecnologia), Malzahn, Jörn (Istituto Italiano Di Tecnologia), Kashiri, Navvab (Istituto Italiano Di Tecnologia), Iacobelli, Francesco (Fondazione Istituto Italiano Di Tecnologia), Ruzzon, Marco (Fondazione Istituto Italiano Di Tecnologia), Laurenzi, Arturo (Istituto Italiano Di Tecnologia), Muratore, Luca (Istituto Italiano Di Tecnologia), Mingo, Enrico (PAL Robotics), Margan, Alessio (Istituto Italiano Di Tecnologia), Baccelliere, Lorenzo (Istituto Italiano Di Tecnologia), Cordasco, Stefano (Istituto Italiano Di Tecnologia (IIT)), Tsagarakis, Nikos (Istituto Italiano Di Tecnologia)
15:35-15:50, Paper WeM02.6 
Where to Install the Manipulator: Optimal Installation Pose Planning Based on Whale Algorithm

Qin, Xinyu (Shanghai Jiao Tong University), Zhang, Heng (Shanghai Jiao Tong University), Zhou, Tieliang (Shanghai Huadian Heavy Industries), Xiong, Zhenhua (Shanghai Jiao Tong University)
WeM03 Room C (Hybrid)
Novel Industry Applications of Mechatronics Regular Session
Chair: Ramirez-Alpizar, Ixchel GeorginaNational Institute of Advanced Industrial Science and Technology
Co-Chair: Oka, KoichiKochi Univerisity of Technology
14:20-14:35, Paper WeM03.1 
Motion Planning for Closed-Chain Constraints Based on Probabilistic Roadmap with Improved Connectivity

Jang, Keunwoo (Seoul National University), Baek, Jiyeong (Seoul National University), Park, Suhan (Seoul National University), Park, Jaeheung (Seoul National University)
14:35-14:50, Paper WeM03.2 
Fixed Stiffness-Damping Control of a Magnetic Levitation Bending Testing Device

Ren, Mengyi (Kochi University of Technology), Oka, Koichi (Kochi Univerisity of Technology)
14:50-15:05, Paper WeM03.3 
Grinded Surface Roughness Prediction Using Data-Driven Models with Contact Force Information

Lai, Jing Yu (National Taiwan University), Lin, Pei-Chun (National Taiwan University)
15:05-15:20, Paper WeM03.4 
Development of a Small Wireless Magnetic Wall-Climbing Robot for Polishing Steel Structures

Kokita, Shogo (Waseda University), Shirai, Kentaro (Komatsu Ltd), Ishii, Hiroyuki (Waseda University)
15:20-15:35, Paper WeM03.5 
Analysis and Inference of Stream of Dimensional Errors in Multistage Machining Process Based on an Improved Semiparametric Model

Sun, Hao (Huazhong University of Science and Technology), Zhao, Shengqiang (Huazhong University of Science and Technology), Zhang, Teng (Huazhong University of Science and Technology), Peng, Fangyu (Huazhong University of Science and Technology), Zhou, Lin (Wuhan Digital Design and Manufacturing Innovation Center), Yan, Rong (Huazhong University of Science and Technology)
15:35-15:50, Paper WeM03.6 
A Simplified Scan Sequence Optimization Approach for PBF Additive Manufacturing of Complex Geometries

He, Chuan (University of Michigan, Ann Arbor), Ramani, Keval (University of Michigan), Tsai, Yueh-Lin (Home), Okwudire, Chinedum (University of Michigan)
WeM04 Room D (Hybrid)
Machine Learning II Regular Session
Chair: Kamezaki, MitsuhiroWaseda University
Co-Chair: Merzouki, RochdiCRIStAL, CNRS UMR 9189, University of Lille1
14:20-14:35, Paper WeM04.1 
Learning and Predictive Control for Droplet-Based Additive Manufacturing

Inyang-Udoh, Uduak (Purdue University), Chen, Alvin (Rensselaer Polytechnic Institute), Mishra, Sandipan (RPI)
14:35-14:50, Paper WeM04.2 
Jellyfish Grasping and Transportation with a Wire-Driven Gripper and Deep Learning Based Recognition

Nate, Issei (Ritsumeikan University), Wang, Zhongkui (Ritsumeikan University), Watanabe, Yosuke (Yamagata University), Shiblee, MD Nahin Islam (Yamagata University), Kawakami, Masaru (Yamagata University), Furukawa, Hidemitsu (Yamagata University), Hirai, Shinichi (Ritsumeikan Univ)
14:50-15:05, Paper WeM04.3 
A Foreknowledge Perception Method of Multi-Stages Machining Accuracy in Aviation Turbine Shafts Based on Hidden Markov Model and Neural Networks

Zhao, Shengqiang (Huazhong University of Science and Technology), Sun, Hao (Huazhong University of Science and Technology), Zhang, Teng (Huazhong University of Science and Technology), Peng, Fangyu (Huazhong University of Science and Technology), Yan, Rong (Huazhong University of Science and Technology), Zhou, Lin (Wuhan Digital Design and Manufacturing Innovation Center), Zhang, Hua (Huazhong University of Science and Technology)
15:05-15:20, Paper WeM04.4 
Deep Robust Control of a Mechatronic System with Parametric Uncertainties

Baimukashev, Daulet (Nazarbayev University), Rzagaliyev, Yerzhan (Nazarbayev University), Rubagotti, Matteo (Nazarbayev University), Varol, Huseyin Atakan (Nazarbayev University)
15:20-15:35, Paper WeM04.5 
Analytic Deep Neural Network Based Robot Control

Nguyen, Huu-Thiet (Nanyang Technological University), Cheah, C. C. (Nanyang Technological University)
15:35-15:50, Paper WeM04.6 
Machine Hearing for Industrial Acoustic Monitoring Using Cochleagram and Spiking Neural Network

Zhang, Yu (Loughborough University), Dora, Shirin (Ulster University, (Magee Campus)), Martínez-García, Miguel (Loughborough University), Bhattacharya, Saugat (Ulster University)
WeM05 Room E (Virtual only)
Dynamics and Control II Regular Session
Chair: Hung, Shao-KangNational Chiao Tung University
Co-Chair: Amari, NabilJunia Hei Campus ChÂteauroux
14:20-14:35, Paper WeM05.1 
A Tethered Façade Cleaning Robot Based on a Dual Rope Windlass Climbing Mechanism: Design and Experiments

Chae, Hobyeong (Hanyang University), Moon, Yecheol (Hanyang University), Lee, KyungUk (Hanyang University), Park, SungJun (Hanyang University), Kim, Hwa Soo (Kyonggi University), Seo, TaeWon (Hanyang University)
14:35-14:50, Paper WeM05.2 
Stepping Motion of a Legged Microrobot Actuated between Resonance Frequencies

Ye, Chi-Kao (National Yang Ming Chiao Tung University), Chen, Cheng-Lung (National Yang Ming Chiao Tung University), Hung, Shao-Kang (National Chiao Tung University)
14:50-15:05, Paper WeM05.3 
An Integral Design for High Performance Sensor-Less Collision Detection of Serial Robots

Wu, Jianhua (Shanghai Jiao Tong University), Liao, Zixuan (Shanghai Jiao Tong University), Han, Yong (Shanghai Jiao Tong University), Xiong, Zhenhua (Shanghai Jiao Tong University)
15:05-15:20, Paper WeM05.4 
Quadratic Programming-Based Task Scaling for Safe and Passive Robot Arm Teleoperation

Lee, Donghyeon (Pohang University of Science and Technology(POSTECH)), Ko, Dongwoo (Postech), Chung, Wan Kyun (POSTECH), Kim, Keehoon (POSTECH, Pohang University of Science and Technology)
15:20-15:35, Paper WeM05.5 
Development of a Dynamic Model of the 11-Linkage and Closed-Chain Leg-Wheel Module

Liu, Yu-Ju (National Taiwan University), Lin, Pei-Chun (National Taiwan University)
WeP01 Room A (Hybrid)
Actuators I Regular Session
Chair: Chen, WenjieAnhui University
Co-Chair: Ahmad, BelalFEMTO-ST Institute
16:10-16:25, Paper WeP01.1 
Development of Operation Support System Based on Integration of Haptic and Image Information for Ultrasound Probe Manipulation

Miyoshi, Yuki (Yokohama National University), Shimono, Tomoyuki (Yokohama National University), Ohnishi, Kouhei (Keio Univ), Matsunaga, Takuya (Keio University), Mizoguchi, Takahiro (Kanagawa Academy of Science and Technology), Kokubun, Genki (Motion Lib. Inc), Yukinari, Tsuyoshi (Saginuma Clinic), Ui, Megumi (Saginuma Clinic)
16:25-16:40, Paper WeP01.2 
Magnetic Actuation of a Dynamically Reconfigurable Microswarm for Enhanced Ultrasound Imaging Contrast

Wang, Qianqian (Southeast University), Yang, Shihao (The Chinese University of Hong Kong), Zhang, Li (The Chinese University of Hong Kong)
16:40-16:55, Paper WeP01.3 
Proposal for "Ajisai": A Soft Robotics Structure That Expresses Force and Deformation in Color  ~Visualization of the Grasping State of a Robot Hand~

Hyodo, Haruka (HOSEI University), Yamada, Yasuyuki (HOSEI University)
16:55-17:10, Paper WeP01.4 
Development of a ‘Calf Muscle Pump’ Inspired Reconfigurable Soft Pump Module Using Permanent Magnetic Elastomer

Zhang, Peizhi (Waseda University), Wang, Qichen (WASEDA University), Kamezaki, Mitsuhiro (Waseda University), He, Zhuoyi (Waseda University), Iwamoto, Yuhiro (Nagoya Institute of Technology), Ido, Yasushi (Nagoya Institute of Technology), Sakamoto, Hiroyuki (Nippon Paint Holdings Co. Ltd), Sugano, Shigeki (Waseda University)
17:10-17:25, Paper WeP01.5 
Design and Backdrivability Modeling of a Portable High Torque Robotic Knee Prosthesis with Intrinsic Compliance for Agile Activities

Zhu, Junxi (North Carolina State University), Jiao, Chunhai (City College of New York), Dominguez, Israel (North Carolina State University), Yu, Shuangyue (City University of New York, City College), Su, Hao (North Carolina State University)
17:25-17:40, Paper WeP01.6 
Model-Based Parameter Analysis of Dielectric Elastomer Loudspeakers

Moretti, Giacomo (Saarland University), Rizzello, Gianluca (Saarland University)
WeP02 Room B (Hybrid)
Identification Regular Session
Chair: Oboe, RobertoUniversity of Padova
Co-Chair: Lou, YunjiangHarbin Institute of Technology, Shenzhen
16:10-16:25, Paper WeP02.1 
A DOB-Based Parameter Identification Method for Series Elastic Actuators without Load-Side Encoder

Budau Petrea, Razvan Andrei (University of Padova), Oboe, Roberto (University of Padova)
16:25-16:40, Paper WeP02.2 
Practical Approach to Characterize Realistic Motor Dynamics for Robotic Simulation Independent of the Use Case

Schmidt, Annika (Technical University of Munich (TUM)), Gumpert, Thomas (German Aerospace Center (DLR)), Schreiber, Stefan (Technical University of Munich), Albu-Schäffer, Alin (DLR - German Aerospace Center)
16:40-16:55, Paper WeP02.3 
Towards Sensorless Configuration Estimation in Multi-DoF Soft Robotic Structures Driven by Rolled Dielectric Elastomer Actuators

Prechtl, Johannes (Saarland University), Baltes, Matthias (Intelligent Materials Systems Lab, Center for Mechatronics and A), Kunze, Julian (Saarland University), Seelecke, Stefan (Universitat Des Saarlandes), Rizzello, Gianluca (Saarland University)
16:55-17:10, Paper WeP02.4 
Modelling and Observation of Rate-Dependent Hysteresis and Creep Phenomena in Magneto-Rheological Clutch

Chen, Guangzeng (Harbin Institute of Technology, Shenzhen), Xiong, Xiaogang (Harbin Institute of Technology, Shenzhen), Lou, Yunjiang (Harbin Institute of Technology, Shenzhen), Li, Zhibin (Shenzhen Polytechnic)
17:10-17:25, Paper WeP02.5 
Beta Mixture Model for the Uncertainties in Robotic Haptic Object Identification

Xia, Yu (University of Melbourne), Mohammadi, Alireza (The University of Melbourne), Peng, Liuhua (The University of Melbourne), Tan, Ying (The University of Melbourne), Chen, Bernard (Monash University), Choong, Peter (The University of Melbourne), Oetomo, Denny (The University of Melbourne)
17:25-17:40, Paper WeP02.6 
Formulation of Space Debris Nutation Motion by Quaternions and Estimation of Attitude Motion Using Kalman Filter

Yamamoto, Takayuki (Osaka Institute of Technology), Miyazaki, Kanta (Osaka Institute of Technology), Tsujita, Katsuyoshi (Osaka Institute of Technology)
WeP03 Room C (Hybrid)
Manipulation and Planning Regular Session
Chair: Park, JaeheungSeoul National University
Co-Chair: Zheng, RonghaoZhejiang University
16:10-16:25, Paper WeP03.1 
Food Arrangement Framework for Cooking Robots

Nagahama, Hoshito (Osaka University), Ramirez-Alpizar, Ixchel Georgina (National Institute of Advanced Industrial Science and Technology), Harada, Kensuke (Osaka University)
16:25-16:40, Paper WeP03.2 
Impedance Adaptation by Reinforcement Learning with Contact Dynamic Movement Primitives

Chang, Chunyang (Agile Robots), Haninger, Kevin (Fraunhofer IPK), Shi, Yunlei (Universität Hamburg), Yuan, Chengjie (Technische Universität München), Chen, Zhaopeng (University of Hamburg), Zhang, Jianwei (University of Hamburg)
16:40-16:55, Paper WeP03.3 
Balance between Efficient and Effective Learning: Dense2Sparse Reward Shaping for Robot Manipulation with Environment Uncertainty

Dong, Kun (Institute of Intelligent Machines, Hefei Institute of Physical S), Luo, Yongle (Institute of Intelligent Machines, Hefei Institute of Physical S), Cheng, Erkang (Nullmax Inc), Sun, Zhiyong (The University of Hong Kong), Zhao, Lili (Institute of Intelligent Machines, Hefei Institute of Physical S), Zhang, Qiang (Institute of Intelligent Machines, Hefei Institutes of Physical), Zhou, Chao (Institute of Plasma Physics, Hefei Institute of Physical Science), Song, Bo (Hefei Institutes of Physical Science, Chinese Academy of Science)
16:55-17:10, Paper WeP03.4 
Behavior Tree-Based Task Planning for Multiple Mobile Robots Using a Data Distribution Service

Jeong, Seungwoo (Yonsei University), Ga, Taekwon (Yonsei University), Jeong, Inhwan (Hyundai Robotics), Choi, Jongeun (Yonsei University)
17:10-17:25, Paper WeP03.5 
Multi-Vehicle Motion Planning with Posture Constraints in Real World

Xu, Gang (Zhejiang University), Chen, Yansong (Zhejiang University), Cao, Junjie (Institute of Cyber Systems and Control, Zhejiang University), Zhu, Deye (Zhejiang University), Liu, Weiwei (Zhejiang University), Liu, Yong (Zhejiang University)
WeP04 Room D (Hybrid)
Rehabilitation Robotics Regular Session
Chair: Tanaka, TakayukiHokkaido University
Co-Chair: Sharma, NitinNorth Carolina State University
16:10-16:25, Paper WeP04.1 
Kinect-Based 3D Human Motion Acquisition and Evaluation System for Remote Rehabilitation and Exercise

You, Yu (Waseda University), Wang, Taiqi (Waseda University), Osawa, Keisuke (Kyushu University), Shimodozono, Megumi (Kagoshima University), Tanaka, Eiichiro (Waseda University)
16:25-16:40, Paper WeP04.2 
A Trajectory-Adaptive Walking Assistance Strategy Based on Functional Electrical Stimulation for Exoskeleton to Help Stroke Patients Restore Natural Gait

Ji, Fengrui (Tianjin University), Qiu, Shiyin (Tianjin University), Liu, Yuan (Tianjin University), Wei, Jinze (Tianjin University), Zhang, Yujian (Tianjin University), Ming, Dong (Tianjin University)
16:40-16:55, Paper WeP04.3 
Joint Synergy-Based Rehabilitative Exoskeleton for Rodents

Miyamoto, Takayuki (University of Tsukuba), Ccorimanya Atoccza, Luis Pagriel (University of Tsukuba), Hassan, Modar (University of Tsukuba), Puentes, Sandra (University of Tsukuba), Suzuki, Kenji (University of Tsukuba)
16:55-17:10, Paper WeP04.4 
A Proposal of Individualization of Guidance Force Field to Improve Maneuverability of Power Assist Systems

Matsuda, Junki (Hokkaido University), Tanaka, Takayuki (Hokkaido University)
17:10-17:25, Paper WeP04.5 
Development of a 3-Layer Mechanism Passive-Type Assistive Suit for Lower Back and Upper Arm

Wan, Chi Lok (Waseda University), Ishioka, Toshifumi (Asahicho Co., Ltd), Kanda, Chiaki (Asahicho Co., Ltd), Osawa, Keisuke (Kyushu University), Kodama, Kenji (Asahicho Co., Ltd), Tanaka, Eiichiro (Waseda University)
17:25-17:40, Paper WeP04.6 
Design and Control of a SEA Driven Knee Exoskeleton for Walking Assistance

Dong, Yunfei (Wuhan University of Technology), Ai, Qingsong (Wuhan University of Technology), Haojie, Liu (Wuhan University of Technology), Meng, Wei (Wuhan University of Technology), Cheng, Wenyi (Yangxin People's Hospital)
WeP05 Room E (Virtual only)
Modeling and Design IV Regular Session
Chair: Belzile, BrunoETS Montreal
Co-Chair: Huang, Hen-WeiMIT
16:10-16:25, Paper WeP05.1 
Absolute Distance Measurement by a Decentralized and Distributed Multi-Lasertracker-System

Friedrich, Ferdinand (University of Augsburg), Brandl, Julius (University of Augsburg), Ament, Christoph (Augsburg University)
16:25-16:40, Paper WeP05.2 
Electromagnetic Tracking System Design for Location and Orientation Estimation

Wu, Yi-Chin (National Taiwan University), Ma, Hsi Yen (National Taiwan University), Kuo, Zhong-Hsiang (National Taiwan University), Teng, Megan (National Taiwan University), Lin, Chun-Yeon (National Taiwan University)
16:40-16:55, Paper WeP05.3 
Efficient ODE Substructure Identification of the Acrobot under Partial Observability Using Neural Networks and Direct Multiple Shooting

Vantilborgh, Victor (Ghent University), Lefebvre, Tom (Ghent University), Crevecoeur, Guillaume (Ghent University)
16:55-17:10, Paper WeP05.4 
Flexible Modeling of High-Definition Matrix Headlights

Waldner, Mirko (TU Dortmund University), Müller, Nathalie (TU Dortmund University), Bertram, Torsten (Technische Universität Dortmund)
17:10-17:25, Paper WeP05.5 
Affordable Pipetting Robot: Gripper Design for Automatic Changing of Micropipette and Liquid Volume Control

Chaichaowarat, Ronnapee (Chulalongkorn University), Sirichatchaikul, Athikom (Chulalongkorn University), Iamkaew, Wynn (Chulalongkorn University), Phondee, Nichapat (Chulalongkorn University)
17:25-17:40, Paper WeP05.6 
ARIES: Cylindrical Pendulum Actuated Explorer Sphere

Belzile, Bruno (ETS Montreal), St-Onge, David (Ecole De Technologie Superieure)
WeEPl Room A (Hybrid)
Plenary Talk III: Aude Billard - Fast and Reactive Control Methods Plenary Session
Chair: Tsuji, ToshiakiSaitama University




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