ICAR 2021 20th International Conference on Advanced Robotics
December 6-10, 2021. Ljubljana, Slovenia
   
2021 20th International Conference on Advanced Robotics (ICAR)
December 6-10, 2021, Ljubljana, Slovenia

Program at a Glance    Tuesday    Wednesday    Thursday    Friday    Author Index    Keyword Index  

Last updated on November 16, 2021. This conference program is tentative and subject to change

Technical Program for Wednesday December 8, 2021

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WeM1T1
Soft Robotics Regular Session
 
09:30-09:45, Paper WeM1T1.1 
Bioinspired Soft Bendable Peristaltic Pump Exploiting Ballooning for High Volume Throughput

Costi, LeoneUniversity of Cambridge
Hughes, JosieMIT
Iida, FumiyaUniversity of Cambridge
 
09:45-10:00, Paper WeM1T1.2 
A Soft Pneumatic Robotic Glove for Hand Rehabilitation after Stroke

Phuong, Le HoaiHoChi Minh City University of Technology
Do, Phuoc ThienHo Chi Minh City Uinversity of Technology
Vo Dinh, ThaiBach Khoa University
 
10:00-10:15, Paper WeM1T1.3 
A Low-Cost Compact Soft Tactile Sensor with a Multimodal Chip

Al, Gorkem AnilUniversity of Bath
Martinez-Hernandez, UrielUniversity of Bath
 
10:15-10:30, Paper WeM1T1.4 
Simultaneous Contact Point and Surface Normal Estimation During Soft Finger Contact

Sloth, ChristofferUniversity of Southern Denmark
Iturrate, IńigoUniversity of Southern Denmark
 
10:30-10:45, Paper WeM1T1.5 
Simulation, Design and Control of a Soft Robotic Arm with Integrated Bending Sensing

Willis, BenUniversity of York
Liu, PengchengUniversity of York
 
WeM1T2
Industrial Robotics 1 Regular Session
Chair: Gašpar, TimotejJožef Stefan Institute
 
09:30-09:45, Paper WeM1T2.1 
Time-Optimal Trajectory Planning for Anti-Sloshing 2-Dimensional Motions of an Industrial Robot

Di Leva, RobertoUniversity of Bologna
Carricato, MarcoUniversity of Bologna
Gattringer, HubertJohannes Kepler University Linz
Mueller, AndreasJohannes Kepler University
 
09:45-10:00, Paper WeM1T2.2 
Three-Dimensional Trajectory Recognition Technology for the Junction Trace of a Material Assembly Used in Footwear Manufacturing Automation

Mai, C. C.National Tsing Hua University
Huang, C. K.Industrial Technology Research Institute
HoCheng, H.National Tsing Hua University
 
10:00-10:15, Paper WeM1T2.3 
Modular ROS-Based Software Architecture for Reconfigurable, Industry 4.0 Compatible Robotic Workcells

Simonič, MihaelJožef Stefan Institute
Pahic, RokJozef Stefan Institute
Gašpar, TimotejJožef Stefan Institute
Abdolshah, SaeedTechnical University of Munich
Haddadin, SamiTechnical University of Munich
Catalano, Manuel GiuseppeIstituto Italiano Di Tecnologia
Wörgötter, FlorentinUniversity of Göttingen
Ude, AlesJozef Stefan Institute
 
10:15-10:30, Paper WeM1T2.4 
Mechanical Shock Testing of Incremental and Absolute Position Encoders

Allione, FedericoUniversity of Genova , Italian Institute of Technology IIT
Singh, Bajwa Roodra PratapItalian Institute of Technology
Gkikakis, Antonios EmmanouilIstituto Italiano Di Tecnologia
Featherstone, RoyIstituto Italiano Di Tecnologia
 
10:30-10:45, Paper WeM1T2.5 
Innovations in Robotic Cow Milking Systems

Monov, VladimirIICT-BAS
Karastoyanov, DimitarIICT-BAS
 
WeM1T3
Mobile Robots Regular Session
Chair: Costante, GabrieleUniversity of Perugia
 
09:30-09:45, Paper WeM1T3.1 
Terrain Adaption Controller for a Walking Excavator Robot Using Deep Reinforcement Learning

Babu, AjishGerman Research Center for Artificial Intelligence (DFKI)
Kirchner, FrankUniversity of Bremen
 
09:45-10:00, Paper WeM1T3.2 
Motion Generation of Crawling-Like Locomotion Robot Composed of Two Identical Units with Passive Wobbling Mass and Its Extension to Paper Feeding

Asano, FumihikoJapan Advanced Institute of Science and Technology
 
10:00-10:15, Paper WeM1T3.3 
Preliminary Study on the Crawler Unit of a Novel Self-Reconfigurable Hybrid Platform for Inspection

Leggieri, SergioDept. of Advanced Robotics, Italian Institute of Technology
Canali, CarloIstituto Italiano Di Tecnologia, Via Morego, 30, 16163 Genova
Cannella, FerdinandoIstituto Italiano Di Tecnologia
Lee, JinohGerman Aerospace Center (DLR)
Caldwell, Darwin G.Istituto Italiano Di Tecnologia
 
10:15-10:30, Paper WeM1T3.4 
A Fuzzy Logic Shared Steering Control Approach for Semi-Autonomous Vehicle

Hamdan, AliUniversity of Technologie of Compičgne, Heudiasyc
Talj, ReineUniversité De Technologie De Compičgne
Cherfaoui, VéroniqueUniversité De Technologie De Compiegne (UTC)
 
10:30-10:45, Paper WeM1T3.5 
Monocular Reactive Collision Avoidance Based on Force Fields for Enhancing the Teleoperation of MAVs

Brilli, RaffaeleUniversity of Perugia
Pozzi, MariaUniversity of Siena
Giorgetti, FolcoUniversity of Perugia
Fravolini, Mario LucaUniversity of Perugia
Valigi, PaoloUniversita' Di Perugia
Prattichizzo, DomenicoUniversity of Siena
Costante, GabrieleUniversity of Perugia
 
WeM2T1
MPC & Dynamic Control Regular Session
Chair: Falotico, EgidioScuola Superiore Sant'Anna
 
11:15-11:30, Paper WeM2T1.1 
Independently Commanding Size, Shape and Orientation of Robot Endpoint Stiffness in Tele-Impedance by Virtual Ellipsoid Interface

Peternel, LukaDelft University of Technology
Beckers, NiekDelft University of Technology
Abbink, David A.Delft University of Technology
 
11:30-11:45, Paper WeM2T1.2 
Model Predictive Control with Torque Constraints for Velocity-Driven Robotic Manipulator

Mironov, KonstantinMoscow Institute of Physics and Technology
Mambetov, RuslanFEFU
Panov, AleksandrMoscow Institute of Physics and Technology
Pushkarev, DaniilCenter for Cognitive Modelling, Moscow Institute of Physics And
 
11:45-12:00, Paper WeM2T1.3 
Hierarchical Nonlinear Model Predictive Control for an Autonomous Racecar

Wohner, BenediktTechnical University of Munich
Sevilla, FranciscoTechnical University of Munich
Grueter, BenediktTechnical University of Munich
Diepolder, JohannesTechnical University of Munich
Afonso, RubensAeronautics Institute of Technology
Holzapfel, FlorianTechnische Universität München
 
12:00-12:15, Paper WeM2T1.4 
Control of Absolute Motion While Balancing in 2D

Featherstone, RoyIstituto Italiano Di Tecnologia
 
12:15-12:30, Paper WeM2T1.5 
Open-Loop Model-Free Dynamic Control of a Soft Manipulator for Tracking Tasks

Centurelli, AndreaScuola Superiore Sant Anna
Rizzo, AlessandroPolitecnico Di Torino
Tolu, SilviaTechnical University of Denmark
Falotico, EgidioScuola Superiore Sant'Anna
 
WeM2T2
Medical Robotics 1 Regular Session
Chair: Savarimuthu, Thiusius RajeethUniversity of Southern Denmark
 
11:15-11:30, Paper WeM2T2.1 
Semi-Autonomous Cooperative Tasks in a Multi-Arm Robotic Surgical Domain

Deniša, MihaJožef Stefan Institute
Schwaner, Kim LindbergUniversity of Southern Denmark
Iturrate, IńigoUniversity of Southern Denmark
Savarimuthu, Thiusius RajeethUniversity of Southern Denmark
 
11:30-11:45, Paper WeM2T2.2 
The EU Proposal for Regulating AI: Foreseeable Impact on Medical Robotics

Fiazza, Maria-CamillaUniversity of Verona
 
11:45-12:00, Paper WeM2T2.3 
Real-Time Segmentation of Surgical Tools and Needle Using a Mobile-U-Net

Andersen, Jakob Kristian HolmUniversity of Southern Denmark
Schwaner, Kim LindbergUniversity of Southern Denmark
Savarimuthu, Thiusius RajeethUniversity of Southern Denmark
 
12:00-12:15, Paper WeM2T2.4 
Design and Preliminary Characterisation of a New Soft Steerable Sheath for Cardiovascular Interventions

Sridhar, AdityaKU Leuven
Ourak, MouloudUniversity of Leuven
Valdivielso Dorronsoro, IratiKU Leuven
Vander Poorten, Emmanuel BKU Leuven
 
12:15-12:30, Paper WeM2T2.5 
New Techniques for Stereotactic Neurosurgery Based on Mask with Customized Dental Bite

Patuzzo, MirkoUniversity of Bologna
Sancisi, NicolaUniversity of Bologna
Parenti Castelli, VincenzoUniversity of Bologna
 
WeM2T3
Teleoperation & Haptics Regular Session
Chair: Peternel, LukaDelft University of Technology
 
11:15-11:30, Paper WeM2T3.1 
GraspLook: A VR-Based Telemanipulation System with R-CNN-Driven Augmentation of Virtual Environment

Ponomareva, PolinaSkolkovo Institute of Science and Technology
Trinitatova, DariaSkolkovo Institute of Science and Technology
Fedoseev, AlekseySkolkovo Institute of Science AndTechnology
Kalinov, IvanSkolkovo Institute of Science and Technology
Tsetserukou, DzmitrySkolkovo Institute of Science and Technology
 
11:30-11:45, Paper WeM2T3.2 
Design and Evaluation of Haptic Interface Wiggling Method for Remote Commanding of Variable Stiffness Profiles

Schol, JasperDelft University of Technology
Hofland, JelleHeemskerk Innovative Technology
Heemskerk, CockHeemkerk Innovative Technology
Abbink, David A.Delft University of Technology
Peternel, LukaDelft University of Technology
 
11:45-12:00, Paper WeM2T3.3 
A Semi-Autonomous Tele-Impedance Method Based on Vision and Voice Interfaces

Huang, Yu-ChihDelft University of Technology
Abbink, David A.Delft University of Technology
Peternel, LukaDelft University of Technology
 
12:00-12:15, Paper WeM2T3.4 
Energy-Aware Adaptive Impedance Control Using Offline Task-Based Optimization

Gerlagh, BartUniversity of Twente
Califano, FedericoUniversity of Twente
Stramigioli, StefanoUniversity of Twente
Roozing, WesleyUniversity of Twente
 
12:15-12:30, Paper WeM2T3.5 
Human Intention Estimation and Goal-Driven Variable Admittance Control in Manual Guidance Applications

Bazzi, DavidePolitecnico Di Milano
Tomasi, AndreaPolitecnico Di Milano
Zanchettin, Andrea MariaPolitecnico Di Milano
Rocco, PaoloPolitecnico Di Milano
 
WeWT1
Conference Opening Plenary Session
 
WePT1
Plenary Lecture 1 Plenary Session
Chair: Lenarcic, JadranJozef Stefan Institute
 
WeA1T1
Learning 1 Regular Session
Chair: Nemec, BojanJozef Stefan Institute
 
15:15-15:30, Paper WeA1T1.1 
Augmenting Loss Functions of Feedforward Neural Networks with Differential Relationships for Robot Kinematic Modelling

Cursi, FrancescoImperial College London
Chappell, DigbyImperial College London
Kormushev, PetarImperial College London
 
15:30-15:45, Paper WeA1T1.2 
Intention Recognition with Recurrent Neural Networks for Dynamic Human-Robot Collaboration

Mavsar, MatijaJozef Stefan Institute
Deniša, MihaJožef Stefan Institute
Nemec, BojanJozef Stefan Institute
Ude, AlesJozef Stefan Institute
 
15:45-16:00, Paper WeA1T1.3 
Real-Time Collision Risk Estimation Based on Stochastic Reachability Spaces

Patil, UnmeshINRIA, Grenoble
Renzaglia, AlessandroINRIA
Paigwar, AnshulInstitut National De Recherche En Informatique Et En Automatique
Laugier, ChristianINRIA
 
WeA1T2
Medical Robotics 2 Regular Session
Chair: Deniša, MihaJožef Stefan Institute
 
15:15-15:30, Paper WeA1T2.1 
Autonomy in Robotic Prostate Biopsy through AI-Assisted Fusion

Palladino, LuigiUniversitŕ Degli Studi Di Verona
Maris, Bogdan MihaiUniversity of Verona
Antonelli, AlessandroUrology Department, Hospital Borgo Trento of Verona
Fiorini, PaoloUniversity of Verona
 
15:30-15:45, Paper WeA1T2.2 
Geometric Calibration of a New Miniaturized Endoscopic Ultrasound Probe

Cavalcanti Santos, JoaoUniversity of Montpellier, LIRMM
Lavenir, LucasLIRMM, University of Montpellier
Zemiti, NabilLIRMM, Université Montpellier II - CNRS UMR 5506
Poignet, PhilippeLIRMM University of Montpellier CNRS
Venail, FredericInstitute of Neurosciences and University of Montpellier
 
15:45-16:00, Paper WeA1T2.3 
Robot Assisted Electrical Impedance Tomography System for Minimally Invasive Surgery

Cheng, ZhuoqiUniversity of Southern Denmark
Dall'Alba, DiegoUniversity of Verona
Fiorini, PaoloUniversity of Verona
Savarimuthu, Thiusius RajeethUniversity of Southern Denmark
 
WeA1T3
Optimization Regular Session
Chair: Merlet, Jean-PierreINRIA
 
15:15-15:30, Paper WeA1T3.1 
Mixing Neural Networks and the Newton Method for the Kinematics of Simple Cable-Driven Parallel Robots with Sagging Cables

Ben Yahia, IchrakINRIA
Merlet, Jean-PierreINRIA
Papegay, YvesINRIA
 
15:30-15:45, Paper WeA1T3.2 
Optimization of Robot Configurations for Motion Planning in Industrial Riveting

Girgin, HakanEPFL, Idiap Research Institute
Lembono, Teguh SantosoIdiap Research Institute
Cirligeanu, RaduROMAERO
Calinon, SylvainIdiap Research Institute
 
15:45-16:00, Paper WeA1T3.3 
Fast and Reliable Stand-Up Motions for Humanoid Robots Using Spline Interpolation and Parameter Optimization

Stelter, SebastianUniversity of Hamburg
Bestmann, MarcUniversity of Hamburg
Hendrich, NormanUniversity of Hamburg
Zhang, JianweiUniversity of Hamburg
 
WeA2T1
Policy Learning Regular Session
Chair: Gams, AndrejJozef Stefan Institute
 
16:15-16:30, Paper WeA2T1.1 
Real-Time Temporal Adaptation of Dynamic Movement Primitives for Moving Targets

S Anand, AkhilNTNU
Oestvik, AndreasSINTEF Digital / Norwegian University of Science and Technology
Grřtli, Esten IngarSINTEF Digital
Vagia, MarialenaNorwegian University of Science and Technology
Gravdahl, Jan TommyNorwegian University of Science and Technology
 
16:30-16:45, Paper WeA2T1.2 
Accelerated Robot Skill Acquisition by Reinforcement Learning-Aided Sim-To-Real Domain Adaptation

Loncarevic, ZvezdanJozef Stefan Institute
Ude, AlesJozef Stefan Institute
Gams, AndrejJozef Stefan Institute
 
16:45-17:00, Paper WeA2T1.3 
Learning to Drive (L2D) As a Low-Cost Benchmark for Real-World Reinforcement Learning

Viitala, AriAalto University
Boney, RinuAalto University
Zhao, YiAalto University
Ilin, AlexanderAalto University
Kannala, JuhoAalto University
 
17:00-17:15, Paper WeA2T1.4 
Bayesian Optimization for Efficient Tuning of Visual Servo and Computed Torque Controllers in a Reinforcement Learning Scenario

Godinho Ribeiro, EduardoUniversity of Săo Paulo
de Queiroz Mendes, RaulUniversity of Săo Paulo
Terra, Marco HenriqueUniversity of Sao Paulo
Grassi Junior, ValdirUniversity of Săo Paulo
 
17:15-17:30, Paper WeA2T1.5 
Improving Multi-Goal and Target-Driven Reinforcement Learning with Supervised Auxiliary Task

Horita, Luiz Ricardo TakeshiUniversity of Sao Paulo
Nakamura, Angelica Tiemi MizunoUniversity of Sao Paulo
Wolf, Denis FernandoUniversity of Sao Paulo
Grassi Junior, ValdirUniversity of Săo Paulo
 
WeA2T2
Industrial Robotics 2 Regular Session
Chair: Ude, AlesJozef Stefan Institute
 
16:15-16:30, Paper WeA2T2.1 
A Task Modelling Formalism for Industrial Mobile Robot Applications

Lager, AndersABB AB
Papadopoulos, Alessandro VittorioMälardalen University
Spampinato, GiacomoMälardalen University
Nolte, ThomasMälardalen University
 
16:30-16:45, Paper WeA2T2.2 
Design of a Modular Robotic Workcell Platform Enabled by Plug & Produce Connectors

Radanovič, PrimožJožef Stefan Institute
Jereb, JakaJozef Stefan Institute
Kovac, IgorTU Graz
Ude, AlesJozef Stefan Institute
 
16:45-17:00, Paper WeA2T2.3 
Towards Technical Maturity for Industrial Deployment of Robot Demonstrators

Tirmizi, AsadFlanders Make
Lanz, MinnaDepartment of Mechanical Engineering and Industrial Systems
Dianatfar, MortezaTampere University of Technology
Pieters, Roel S.Tampere University
Pitkäaho, TomiCentria University of Applied Sciences
Kaarlela, Tero HeikkiCentria University of Applied Sciences
Pieskä, Sakari AnteroCentria University of Applied Sciences
Kousi, NikiLaboratory for Manufacturing Systems and Automation
Zoga, DiamantiaLaboratory for Manufacturing Systems and Automation (LMS) - Univ
Valjus, VeikkoFastems
Deniša, MihaJožef Stefan Institute
Ude, AlesJozef Stefan Institute
 
17:00-17:15, Paper WeA2T2.4 
A Warehouse Scheduling Using Genetic Algorithm and Collision Index

Ha, Won YongNew York University
Cui, LeileiNew York University
Jiang, Zhong-PingNew York University
 
17:15-17:30, Paper WeA2T2.5 
Achieving Reliable Communication between Kafka and ROS through Bridge Codes

Lourenço, Luan LucasRobotizando - Federal University of Santa Catarina
Oliveira, George S.Federal University of Santa Catarina - UFSC
Della Mea Plentz, PatriciaFederal University of Santa Catarina
Röning, Juha JaakkoUniversity of Oulu
 
WeA2T3
Learning 2 Regular Session
Chair: Gadd, MatthewUniversity of Oxford
 
16:15-16:30, Paper WeA2T3.1 
Learning-Based Matching of 3D Submaps from Dense Stereo for Planetary-Like Environments

Liao, Hsuan-ChengDENSO AUTOMOTIVE Deutschland GmbH
Giubilato, RiccardoGerman Aerospace Center (DLR)
Stuerzl, WolfgangDLR, Institute of Robotics and Mechatronics
Triebel, RudolphGerman Aerospace Center (DLR)
 
16:30-16:45, Paper WeA2T3.2 
Optimal Control Combining Emulation and Imitation to Acquire Physical Assistance Skills

Razmjoo Fard, AmirrezaIdiap Research Institute
Lembono, Teguh SantosoIdiap Research Institute
Calinon, SylvainIdiap Research Institute
 
16:45-17:00, Paper WeA2T3.3 
Contrastive Learning for Unsupervised Radar Place Recognition

Gadd, MatthewUniversity of Oxford
De Martini, DanieleUniversity of Oxford
Newman, PaulOxford University
 
17:00-17:15, Paper WeA2T3.4 
A Social Human-Robot Interaction Simulator for Reinforcement Learning Systems

Ribeiro Belo, José PedroUniversity of Săo Paulo
Romero, Roseli Ap. FrancelinUniversidade De Sao Paulo
 
17:15-17:30, Paper WeA2T3.5 
Applying Machine Learning in Designing Distributed Auction for Multi-Agent Task Allocation with Budget Constraints

Luo, ChenSyracuse University
Huang, QinweiSyracuse University
Kong, FanxinSyracuse University
Khan, SimonAFRL
Qiu, QinruSyracuse University

 
 

 
 

 

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