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 Thursday December 9, 2021

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ThM1T1
Design Regular Session
Chair: Sfakiotakis, MichaelHellenic Mediterranean University
 
09:30-09:45, Paper ThM1T1.1 
A Single-Chip Multimodal Tactile Sensor for a Robotic Gripper

Al, Gorkem AnilUniversity of Bath
El Achab Oussallam, BilalUniversity of Bath
Martinez-Hernandez, UrielUniversity of Bath
 
09:45-10:00, Paper ThM1T1.2 
Bio-Inspired Design of Artificial Striated Muscles Composed of Sarcomere-Like Contraction Units

Labazanova, LuizaThe Hong Kong Polytechnic University
Wu, ZeyuThe HongKong Polytechnic University
Gu, ZhengpingDelft University of Technology
Navarro-Alarcon, DavidThe Hong Kong Polytechnic University
 
10:00-10:15, Paper ThM1T1.3 
Development of a Low-Inertia 5-DOF Hybrid Manipulator for Moxibustion

Wang, ZhisenSuzhou Institute of Biomedical Engineering and Technology Chines
Zhang, JuzhongSuzhou Institute of Biomedical Engineering and Technology, Chine
Chu, YuyiSuzhou Institute of Biomedical Engineering and Technology, Chine
Zha, QingSuzhou Institute of Biomedical Engineering and Technology, Chines
Cai, LimingSuzhou Institute of Biomedical Engineering and Technology, Chine
Ye, TingFengShanghai University
Qin, YuanyuanSuzhou Hospital of Traditional Chinese Medicine
Dong, HongliSuzhou Hospital of Traditional Chinese Medicine
Hongbo, YangSuzhou Institute of Biomedical Engineering and Technology, Chine
 
10:15-10:30, Paper ThM1T1.4 
Development and Initial Evaluation of a Multi-Purpose Spraying Robot Prototype

Chrysoulakis, ChristosHellenic Mediterranean University
Fasoulas, JohnHellenic Mediterranean University
Sfakiotakis, MichaelHellenic Mediterranean University
 
10:30-10:45, Paper ThM1T1.5 
A Low-Cost 3D Printed Mini Underwater Vehicle: Design and Fabrication

Vasileiou, MariosUniversity of the Aegean
Manos, NikolaosUniversity of the Aegean
Kavallieratou, ErginaUniversity of the Aegean
 
ThM1T2
Walking Regular Session
Chair: Asano, FumihikoJapan Advanced Institute of Science and Technology
 
09:30-09:45, Paper ThM1T2.1 
A Unified Framework for Walking and Running of Bipedal Robots

Ghoddousi Boroujeni, MahrokhEPFL
Daneshmand, ElhamMax Planck Institute
Righetti, LudovicNew York University
Khadiv, MajidMax Planck Institute for Intelligent Systems
 
09:45-10:00, Paper ThM1T2.2 
Entrainment-Based Control for Underactuated Compass-Like Biped Robot

Yan, CongJapan Advanced Institute of Science and Technology
Chen, HaosongJapan Advanced Institute of Science and Technology
Zheng, YanqiuJapan Advanced Institute of Science and Technology
Li, LongchuanRitsumeikan University
Tokuda, IsaoRitsumeikan University
Asano, FumihikoJapan Advanced Institute of Science and Technology
 
10:00-10:15, Paper ThM1T2.3 
Adaptive Artificial Time Delay Control for Bipedal Walking with Robustification to State-Dependent Constraint Forces

Bhaskar, AmishaNetaji Subhas University of Technology
Dantu, SwatiInternational Institute of Information Technology, Hyderabad
Roy, SpandanInternational Institute of Information Technology, Hyderabad (II
Lee, JinohGerman Aerospace Center (DLR)
Baldi, SimoneTU Delft
 
10:15-10:30, Paper ThM1T2.4 
Ultrahigh-Speed Strict Stealth Walking Based on Simultaneous Control of Horizontal and Vertical Ground Reaction Forces

Asano, FumihikoJapan Advanced Institute of Science and Technology
Liu, RunyuJapan Advanced Institute of Science and Technology
 
10:30-10:45, Paper ThM1T2.5 
Adaptive Walking Pattern Generation with Damaged Legs for the Six-Legged Robot LAURON V

Plasberg, CarstenFZI Forschungszentrum Informatik
Kogel, Dominik JulianFZI Forschungszentrum Informatik
Roennau, ArneFZI Forschungszentrum Informatik, Karlsruhe
Dillmann, R黡igerKarlsruhe Institute of Technology (KIT)
 
ThM1T3
Mobile Robot Learning Regular Session
Chair: Li, ZhibinUniversity of Edinburgh
 
09:30-09:45, Paper ThM1T3.1 
Learning Autonomous Mobility Using Real Demonstration Data

Gu, JiachengUniversity of Edinburgh
Li, ZhibinUniversity of Edinburgh
 
09:45-10:00, Paper ThM1T3.2 
A Support Vector Machine-Based Truck Discretionary Lane Changing Decision Model

Zeng, QiTongji University
Guangqiang, WuTongji University
Libo, MaoTongji University
 
10:00-10:15, Paper ThM1T3.3 
Causal Analysis for Understanding Vehicle Behavior Affected by Multiple Factors

Bezerra, RanulfoTohoku University
Ohno, KazunoriTohoku University
Kojima, ShotaroTohoku University
Tadokoro, SatoshiTohoku University
 
10:15-10:30, Paper ThM1T3.4 
Operational Design Domain Monitoring at Runtime for 2D Laser-Based Localization Algorithms

Alsayed, ZayedVALEO DAR
Resende, PauloValeo
Bradai, BenazouzValeo
 
10:30-10:45, Paper ThM1T3.5 
Reward Signal Design for Autonomous Racing

Evans, BenjaminStellenbosch University
Engelbrecht, HermanStellenbosch University
Jordaan, Hendrik WillemStellenbosch University
 
ThP2T1
Plenary Lecture 2 Plenary Session
Chair: Ude, AlesJozef Stefan Institute
 
ThM2T1
Learning 3 Regular Session
Chair: Nemec, BojanJozef Stefan Institute
 
11:45-12:00, Paper ThM2T1.1 
Distributed Active Learning for Semantic Segmentation on Walking Robots

Puck, LennartFZI Forschungszentrum Informatik
Spielbauer, NiklasFZI Forschungszentrum Informatik
Schaeble, DanielFZI Forschungszentrum Informatik
Schnell, TristanFZI Forschungszentrum Informatik
Buettner, TimotheeFZI Research Center for Information Technology
Roennau, ArneFZI Forschungszentrum Informatik, Karlsruhe
Dillmann, R黡igerFZI - Forschungszentrum Informatik - Karlsruhe
 
12:00-12:15, Paper ThM2T1.2 
Sparse Gaussian Processes-Based Black-Box Data-Efficient Policy Search for Robotics

Rong, ChunyanShanghaitech University
Huang, JingyiShanghaiTech University
Rosendo, AndreShanghaiTech University
 
12:15-12:30, Paper ThM2T1.3 
Exploiting Conversational Topic Awareness for Interactive Robots

Paplu, Sarwar HussainTU Kaiserslautern
Arif, Mohammed Nazrul IslamTechnische Universit鋞 Kaiserslautern
Tamang, NishanTechnische Universit鋞 Kaiserslautern
Berns, KarstenUniversity of Kaiserslautern
 
12:30-12:45, Paper ThM2T1.4 
A New Phase Determination Algorithm for Iterative Learning of Human-Robot Collaboration

Simonič, MihaelJo瀍f Stefan Institute
Deni歛, MihaJo瀍f Stefan Institute
Ude, AlesJozef Stefan Institute
Nemec, BojanJozef Stefan Institute
 
12:45-13:00, Paper ThM2T1.5 
Keyword-Based Technology Radar Based on IEEE Conference Papers on Human-Robot Interaction

Wischniewski, SaschaFederal Institute for Occupational Safety and Health (BAuA)
Heinold, EvaFederal Institute for Occupational Safety and Health (BAuA)
Rosen, Patricia HelenFederal Institute for Occupational Safety and Health
 
ThM2T2
Vision 1 Regular Session
 
11:45-12:00, Paper ThM2T2.1 
PVENet: Point Voxel Encoder Network for Real-Time Classification of Lidar Point Cloud Segments

Bader, ChristianDaimler Truck AG
Dingler, SebastianDaimler Truck AG
Schwieger, VolkerUniversity of Stuttgart
 
12:00-12:15, Paper ThM2T2.2 
Automated Laser Alignment and Image Processing Based Robotic Carrom Player

Kumar, HarshithPES University
Raghavan, AnirudhPES University
Srinivasan, RohithPES University
Dey, SourikPES University
T S, ChandarPES University
 
12:15-12:30, Paper ThM2T2.3 
Direct 3D Model-Based Tracking in Omnidirectional Images Robust to Large Inter-Frame Motion

Guerbas, SeifUniversity of Jules Verne
Crombez, NathanUniversit De Technologie De Belfort-Montb閘iard
Caron, GuillaumeUniversit De Picardie Jules Verne
Mouaddib, El MustaphaUniversit of Picardie Jules Verne
 
12:30-12:45, Paper ThM2T2.4 
Comparative Quantitative Analysis of Robotic Ultrasound Image Calibration Methods

Li, RuixuanKU Leuven
Cai, YuyuKU LEUVEN
Niu, KenanKU Leuven
Vander Poorten, Emmanuel BKU Leuven
 
12:45-13:00, Paper ThM2T2.5 
CNN-Based Omnidirectional Object Detection for HermesBot Autonomous Delivery Robot with Preliminary Frame Classification

Protasov, SaianSkolkovo Institute of Science and Technology
Karpyshev, PavelSkolkovo Institute of Science and Technology
Kalinov, IvanSkolkovo Institute of Science and Technology
Kopanev, PavelSkolkovo Institute of Science and Technology
Mikhailovskiy, NikitaSkolkovo Institute of Science and Technology
Sedunin, AlexanderSkolkovo Institute of Science and Technologies
Tsetserukou, DzmitrySkolkovo Institute of Science and Technology
 
ThM2T3
UAVs Regular Session
Chair: Wang, XiaomeiThe University of Hong Kong
 
11:45-12:00, Paper ThM2T3.1 
Diminishing Domain Bias by Leveraging Domain Labels in Object Detection on UAVs

Kiefer, BenjaminUniversity of Tuebingen
Messmer, MartinUniversity of Tuebingen
Zell, AndreasUniversity of T黚ingen
 
12:00-12:15, Paper ThM2T3.2 
Modeling and Control of Soft Robotic Tail Based Aerial Maneuvering (STAM) System: Towards Agile Self-Righting with a Soft Tail

Butt, Jawad MehmoodThe Chinese University of Hong Kong
Chu, XiangyuThe Chinese University of Hong Kong
Zheng, HaoThe Chinese University of Hong Kong
Wang, XiaomeiThe University of Hong Kong
Kwok, Ka-WaiThe University of Hong Kong
Au, K. W. SamuelThe Chinese University of Hong Kong
 
12:15-12:30, Paper ThM2T3.3 
UAV Path Planning Using Global and Local Map Information with Deep Reinforcement Learning

Theile, MircoTechnical University of Munich
Bayerlein, HaraldEURECOM
Nai, RichardTechnical University of Munich
Gesbert, DavidEURECOM
Caccamo, MarcoTechnical University of Munich
 
12:30-12:45, Paper ThM2T3.4 
Sliding Mode Control with Adaptive Gain of Quadrotor with Rigid Manipulator

Bin Anuar, Hardy AzmirEcole Centrale De Nantes
Plestan, FranckEcole Centrale De Nantes-CNRS
Chriette, AbdelhamidEcole Centrale De Nantes
Kermorgant, Olivier蒫ole Centrale Nantes
 
12:45-13:00, Paper ThM2T3.5 
GNSS-Denied Geolocalization of UAVs by Visual Matching of Onboard Camera Images with Orthophotos

Kinnari, JoukoSaab Finland Oy
Verdoja, FrancescoAalto University
Kyrki, VilleAalto University
 
ThA1T1
Wearable Robotics Regular Session
Chair: Cheng, GordonTechnical University of Munich
 
14:15-14:30, Paper ThA1T1.1 
Using Robot Skin to Support Physical Therapy Routines with a Lightweight Upper-Limb Exoskeleton

Paredes-Acu馻, NataliaTechnical University of Munich
Berberich, NicolasTechnical University of Munich
Dean, EmmanuelChalmers University of Technology
Cheng, GordonTechnical University of Munich
 
14:30-14:45, Paper ThA1T1.2 
Preliminary Analysis and Design of a Passive Upper Limb Exoskeleton

Vazzoler, GretaScuola Superiore Sant'Anna
Bilancia, PietroUniversity of Modena and Reggio Emilia
Berselli, GiovanniUniversit Di Genova
Fontana, MarcoScuola Superiore Sant'Anna
Frisoli, AntonioTeCIP Institute, Scuola Superiore Sant'Anna
 
14:45-15:00, Paper ThA1T1.3 
Wrist Exoskeleton Design for Pronation and Supination Using Mirrored Movement Control

Villa Fulton, PaulaTechnical University of Munich
L鰄lein, Simone VeraTechnical University of Munich
Paredes-Acu馻, NataliaTechnical University of Munich
Berberich, NicolasTechnical University of Munich
Cheng, GordonTechnical University of Munich
 
15:00-15:15, Paper ThA1T1.4 
A Robust Control Strategy for Sensorless Under-Tendon-Driven Prosthetic Hands

Fajardo, JulioUniversidad Galileo
Cardona, DiegoGalileo University
Maldonado Caballeros, Guillermo JosGalileo University
Ferman, VictorUniversity of Campinas - UNICAMP
Rohmer, EricState University of Campinas - UNICAMP
 
15:15-15:30, Paper ThA1T1.5 
Modular Quasi-Passive Mechanism for Energy Storage Applications: Towards Lightweight High-Performance Exoskeleton

Miskovic, LukaJo瀍f Stefan Institute
De瀖an, MihaJo瀍f Stefan Institute
Petric, TadejJozef Stefan Institute
 
ThA1T2
Planning 1 Regular Session
Chair: Ryll, MarkusTechnical University Munich
 
14:15-14:30, Paper ThA1T2.1 
When to Terminate: Path Non-Existence Verification Improves Sampling-Based Motion Planning

Karlsson, JesperKTH Royal Institute of Technology
Varava, AnastasiiaKTH, the Royal Institute of Technology
Vasile, Cristian IoanLehigh University
Karaman, SertacMassachusetts Institute of Technology
Kragic, DanicaKTH
Rus, DanielaMIT
Tumova, JanaKTH Royal Institute of Technology
 
14:30-14:45, Paper ThA1T2.2 
Learning the Subsystem of Local Planning for Autonomous Racing

Evans, BenjaminStellenbosch University
Engelbrecht, HermanStellenbosch University
Jordaan, Hendrik WillemStellenbosch University
 
14:45-15:00, Paper ThA1T2.3 
Generic Trajectory Planning Algorithm for Urban Autonomous Driving

Duhautbout, ThibaudStellantis
Talj, ReineUniversit De Technologie De Compi鑗ne
Cherfaoui, V閞oniqueUniversit De Technologie De Compiegne (UTC)
Aioun, FrancoisPSA Peugeot Citroen, Velizy, France
Guillemard, FranckPSA Peugeot Citroen, Velizy, France
 
15:00-15:15, Paper ThA1T2.4 
A Caster-Wheel-Aware MPC-Based Motion Planner for Mobile Robotics

Arrizabalaga, JonKungliga Tekniska H鰃skolan
van Duijkeren, NielsRobert Bosch GmbH
Lange, RalphRobert Bosch GmbH
Ryll, MarkusTechnical University Munich
 
15:15-15:30, Paper ThA1T2.5 
Decision Making for Autonomous Vehicles at Signalized Intersection under Uncertain Traffic Signal Phase and Timing Information

Rodrigues da Silva, Junior AndersonUniversity of S鉶 Paulo
Grassi Junior, ValdirUniversity of S鉶 Paulo
Wolf, Denis FernandoUniversity of Sao Paulo
 
ThA1T3
Skill Learning Regular Session
Chair: Calinon, SylvainIdiap Research Institute
 
14:15-14:30, Paper ThA1T3.1 
CoLoss-GAN: Collision-Free Human Trajectory Generation with GAN and a Collision Loss

Moder, MartinUniversity Duisburg-Essen
Pauli, JosefUniversit鋞 Duisburg-Essen
 
14:30-14:45, Paper ThA1T3.2 
Trajectory Prediction with Compressed 3D Environment Representation Using Tensor Train Decomposition

Bruderm黮ler, LaraIdiap Research Institute
Lembono, Teguh SantosoIdiap Research Institute
Shetty, SuhanIdiap Research Institute, Martigny
Calinon, SylvainIdiap Research Institute
 
14:45-15:00, Paper ThA1T3.3 
Towards Hierarchical Task Decomposition Using Deep Reinforcement Learning for Pick and Place Subtasks

Marzari, LucaUniversity of Verona
Pore, AmeyaUniversity of Verona
Dall'Alba, DiegoUniversity of Verona
Aragon-Camarasa, GerardoUniversity of Glasgow
Farinelli, AlessandroUniversity of Verona
Fiorini, PaoloUniversity of Verona
 
15:00-15:15, Paper ThA1T3.4 
Analysing Autonomous Open-Ended Learning of Skills with Different Interdependent Subgoals in Robots

Romero, AlejandroUniversity of Coruna
Baldassarre, GianlucaNational Research Council of Italy
Duro, RichardUniversity of Coruna
Santucci, Vieri GiulianoConsiglio Nazionale Delle Ricerche
 
15:15-15:30, Paper ThA1T3.5 
Similarity-Aware Skill Reproduction Based on Multi-Representational Learning from Demonstration

Hertel, BrendanUniversity of Masssachusetts - Lowell
Ahmadzadeh, S. RezaUniversity of Massachusetts Lowell
 
ThP3T1
Plenary Lecture 3 Plenary Session
Chair: Fiorini, PaoloUniversity of Verona
 
ThA2T1
Planning, Modeling and Control of Collaborative Mobile Manipulators in
Uncertain Environments
Regular Session
Chair: Hofbaur, MichaelJoanneum Research
Organizer: Costanzo, MarcoUniversit Degli Studi Della Campania Luigi Vanvitelli
Organizer: Marino, AlessandroUniversity of Cassino and Southern Lazio
Organizer: Pierri, FrancescoUniversit Della Basilicata
 
16:30-16:45, Paper ThA2T1.1 
Periodic DMP Formulation for Quaternion Trajectories (I)

Abu-Dakka, FaresAalto University
Saveriano, MatteoUniversity of Innsbruck
Peternel, LukaDelft University of Technology
 
16:45-17:00, Paper ThA2T1.2 
Vision Based Robot-To-Robot Object Handover (I)

Sileo, MonicaUniversity of Basilicata
Nigro, MichelangeloUniversity of Basilicata
Bloisi, DomenicoUniversity of Basilicata
Pierri, FrancescoUniversit Della Basilicata
 
17:00-17:15, Paper ThA2T1.3 
A Formal Verification Approach for Robotic Workflows (I)

Rathmair, MichaelJOANNEUM RESEARCH Forschungsgesellschaft mbH - ROBOTICS
Haspl, ThomasJOANNEUM RESEARCH Forschungsgesellschaft MbH
Komenda, TitanillaFraunhofer Austria Research GmbH
Reiterer, BernhardJOANNEUM RESEARCH Forschungsgesellschaft MbH
Hofbaur, MichaelJoanneum Research
 
17:15-17:30, Paper ThA2T1.4 
Robotic Weight-Based Object Relocation in Clutter Via Tree-Based Q-Learning Approach Using Breadth and Depth Search Techniques (I)

Golluccio, GiacomoUniv. of Cassino and Southern Lazio
Di Vito, DanieleUniv. of Cassino and Southern Lazio
Marino, AlessandroUniversity of Cassino and Southern Lazio
Antonelli, GianlucaUniversity of Cassino and Southern Lazio
 
ThA2T2
Control Regular Session
Chair: 巐ajpah, LeonJo瀍f Stefan Institute
 
16:30-16:45, Paper ThA2T2.1 
Backstepping-Based Integral Sliding Mode Control with Time Delay Estimation for Autonomous Underwater Vehicles

Nejatbakhsh Esfahani, HosseinNorwegian University of Science and Technology
Aminian, BehdadNTNU
Gr鴗li, Esten IngarSINTEF Digital
Sebastien, GrosNTNU
 
16:45-17:00, Paper ThA2T2.2 
Towards an Open-Source Hardware Agnostic Framework for Robotic End-Effectors Control

Torielli, DavideHumanoids and Human Centered Mechatronics (HHCM), Istituto Itali
Bertoni, LianaItalian Institute of Technology
Tsagarakis, NikosIstituto Italiano Di Tecnologia
Muratore, LucaIstituto Italiano Di Tecnologia
 
17:00-17:15, Paper ThA2T2.3 
An Integrated Approach for Motion Law Optimization in Partially Compliant Slider-Crank Mechanisms

Baggetta, MarioUniversity of Genoa
Bilancia, PietroUniversity of Modena and Reggio Emilia
Pellicciari, MarcelloUniversity of Modena and Reggio Emilia
Berselli, GiovanniUniversit Di Genova
 
17:15-17:30, Paper ThA2T2.4 
Body Attitude Regulator Applied to Ground Robots with Active Flippers

Santos Rocha, Filipe AugustoCOPPE / Federal University of Rio De Janeiro (UFRJ)
Freitas, GustavoFederal University of Minas Gerais
Costa, RamonFederal University of Rio De Janeiro
 
ThA2T3
Grasping Regular Session
Chair: Pieters, Roel S.Tampere University
 
16:30-16:45, Paper ThA2T3.1 
Estimating a Garment Grasping Point for Robot

Shehawy, HassanPolitecnico Di Milano
Rocco, PaoloPolitecnico Di Milano
Zanchettin, Andrea MariaPolitecnico Di Milano
 
16:45-17:00, Paper ThA2T3.2 
Automatic Dataset Generation from CAD for Vision-Based Grasping

Ahmad, SaadTampere University
Samarawickrama, KulunuTampere Uiversity
Rahtu, EsaUniversity of Oulu
Pieters, Roel S.Tampere University
 
17:00-17:15, Paper ThA2T3.3 
Towards a Generic Grasp Planning Pipeline Using End-Effector Specific Primitive Grasping Actions

Bertoni, LianaItalian Institute of Technology
Torielli, DavideHumanoids and Human Centered Mechatronics (HHCM), Istituto Itali
Zhang, YifangIstituto Italiano Di Tecnologia
Tsagarakis, NikosIstituto Italiano Di Tecnologia
Muratore, LucaIstituto Italiano Di Tecnologia
 
17:15-17:30, Paper ThA2T3.4 
Automatic Generation of Realistic Training Data for Learning Parallel-Jaw Grasping from Synthetic Stereo Images

Droegemueller, JustusTechnical University Braunschweig
Garcia Briones, Carlos XavierTechnical University of Munich
Gambaro, Elena FrancescaRoboception GmbH
Suppa, MichaelRoboception GmbH
Steil, Jochen J.Technische Universit鋞 Braunschweig
Roa, Maximo A.DLR - German Aerospace Center

 
 

 
 

 

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