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

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

Technical Program for Friday December 10, 2021

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Mechanics Regular Session
Chair: Kashiri, NavvabIstituto Italiano Di Tecnologia
09:30-09:45, Paper FrM1T1.1 
Effect of Geometrical Parameters on PneuNet Bending Performance

Tennakoon, Chanuka LihiniUniversity of Moratuwa
Kulasekera, Asitha LakruwanDepartment of Mechanical Engineering, University of Moratuwa
Chathuranga, Damith SureshUniversity of Moratuwa
Gopura, R.A.R.C.Department of Mechanical Engineering
09:45-10:00, Paper FrM1T1.2 
Analysis of Passive-Dynamic Motion on Vibrating Tilted Stage of Two Regular Polygonal Objects of Different Sizes and Shapes

Asano, FumihikoJapan Advanced Institute of Science and Technology
Tokuda, IsaoRitsumeikan University
Xiang, YuxuanJapan Advanced Institute of Science and Technology
Yan, CongJapan Advanced Institute of Science and Technology
Li, LongchuanRitsumeikan University
10:00-10:15, Paper FrM1T1.3 
Data-Driven Sensor Fault Diagnosis Based on Nonlinear Additive Models and Local Fault Sensitivity

Cartocci, NicholasUniversity of Perugia
Crocetti, FrancescoUniversity of Perugia
Costante, GabrieleUniversity of Perugia
Valigi, PaoloUniversita' Di Perugia
Napolitano, MarcelloWest Virginia University
Fravolini, Mario LucaUniversity of Perugia
10:15-10:30, Paper FrM1T1.4 
Towards a Twisted String Actuated Haptic Device: Experimental Testing of a 2-D Virtual Environment and Teleoperation Interface

Feenstra, LindaUniversity of Technology, 5600 MB Eindhoven
Scarcia, UmbertoUniversity of Bologna
Zanella, RiccardoUniversita' Degli Studi Di Bologna
Meattini, RobertoUniversity of Bologna
Chiaravalli, DavideAlma Mater Studiorum, University of Bologna
Palli, GianlucaUniversity of Bologna
Melchiorri, ClaudioUniversity of Bologna
10:30-10:45, Paper FrM1T1.5 
Thermal Control for Peak Operation of Electric Robotic Actuators

Singh, AkashUniversity of Genova
Kashiri, NavvabIstituto Italiano Di Tecnologia
Tsagarakis, NikosIstituto Italiano Di Tecnologia
Humanoids Regular Session
Chair: Marchionni, LucaPal Robotics SL
09:30-09:45, Paper FrM1T2.1 
Development of a Shoulder Joint for Humanoid Robotics Application

Otarbay, ZhenisNazarbayev University
Yessirkepov, SharafatdinNazarbayev University
Ishuov, TimurNazarbayev University
Folgheraiter, MicheleNazarbayev University
09:45-10:00, Paper FrM1T2.2 
A Novel Approach to Model the Kinematics of Human Fingers Based on an Elliptic Multi-Joint Configuration

Wu, ZeyuThe HongKong Polytechnic University
Labazanova, LuizaThe Hong Kong Polytechnic University
Zhou, PengThe Hong Kong Polytechnic University
Navarro-Alarcon, DavidThe Hong Kong Polytechnic University
10:00-10:15, Paper FrM1T2.3 
Comparison of Position and Torque Whole-Body Control Schemes on the Humanoid Robot TALOS

Ramuzat, NoëlieLAAS-CNRS, AIRBUS Operation SAS
Buondonno, GabrieleLAAS-CNRS
Boria, SébastienAIRBUS Operation SAS
Stasse, OlivierCNRS
10:15-10:30, Paper FrM1T2.4 
Control of Humanoid in Multiple Fixed and Moving Unilateral Contacts

Roux, JulienLIRMM, CNRS - Université De Montpellier, France
Samadi, SaeidUniversity of Montpellier
Kuroiwa, EisokuThe University of Tokyo
Yoshiike, TakahideHonda Research Institute Japan
Kheddar, AbderrahmaneCNRS-AIST
10:30-10:45, Paper FrM1T2.5 
ICP Localization and Walking Experiments on a TALOS Humanoid Robot

Lasguignes, ThibaudLAAS, CNRS
Maroger, IsabelleLAAS CNRS
Fallon, MauriceUniversity of Oxford
Ramezani, MiladCSIRO
Marchionni, LucaPal Robotics SL
Stasse, OlivierCNRS
Mansard, NicolasCNRS
Watier, BrunoLAAS, CNRS, Université Toulouse 3
Human-Robot Collaboration 1 Regular Session
Chair: Petrovic, IvanUniversity of Zagreb
09:30-09:45, Paper FrM1T3.1 
An Electromyography Based Shared Control Framework for Intuitive Robotic Telemanipulation

Shieff, DashaThe University of Auckland
Turner, AmberThe University of Auckland
Dwivedi, AnanyUniversity of Auckland
Gorjup, GalThe University of Auckland
Liarokapis, MinasThe University of Auckland
09:45-10:00, Paper FrM1T3.2 
Mobile and Adaptive User Interface for Human Robot Collaboration in Assembly Tasks

Dmitrii, MonakhovTampere University
Latokartano, Jyrki MatiasTampere University
Lanz, MinnaDepartment of Mechanical Engineering and Industrial Systems
Pieters, Roel S.Tampere University
Kamarainen, Joni-KristianTampere University of Technology
10:00-10:15, Paper FrM1T3.3 
Human Localization in Warehouse Environments Based on a Wearable Camera Sensor Suite and Dynamic Ultra-Wide Band Nodes

Popović, GoranUniversity of Zagreb
Cvišić, IgorUniversity of Zagreb, Faculty of Electrical Engineering and Comp
Markovic, IvanUniversity of Zagreb Faculty of Electrical Engineering and Compu
Petrovic, IvanUniversity of Zagreb
10:15-10:30, Paper FrM1T3.4 
Building a Drone Operator Digital Twin Using a Brain-Computer Interface for Emotion Recognition

Ramos, Diana Cristina TeixeiraCapgemini Engineering
Gonçalves, GilFaculdade De Engenharia Da Universidade Do Porto
Pinto Faria, Ricardo AndréCapgemini Engineering
Pedroso Sanches, MatheusCapgemini Engineering
10:30-10:45, Paper FrM1T3.5 
A Hardware-In-The-Loop Simulator for Physical Human-Aerial Manipulator Cooperation

Cuniato, EugenioETH Zurich
Cacace, JonathanUniversity of Naples
Selvaggio, MarioUniversità Degli Studi Di Napoli Federico II
Ruggiero, FabioUniversità Di Napoli Federico II
Lippiello, VincenzoUniversity of Naples FEDERICO II
SLAM Regular Session
Chair: Munih, MarkoUniversity of Ljubljana
11:15-11:30, Paper FrM2T1.1 
UWB-Radio Distance Measurements Error Mitigation Due to Tag Orientation in Localization Systems

Krapež, PeterUniversity of Ljubljana, Faculty of Electrical Engineering
Munih, MarkoUniversity of Ljubljana
11:30-11:45, Paper FrM2T1.2 
Resource-Aware Online Parameter Adaptation for Computationally-Constrained Visual-Inertial Navigation Systems

Mathur, PranayBITS Pilani, K.K Birla Goa Campus
Khedekar, Nikhil VijayUniversity of Nevada, Reno
Alexis, KostasNTNU - Norwegian University of Science and Technology
11:45-12:00, Paper FrM2T1.3 
GOLN: Graph Object-Based Localization Network

Felicioni, SimoneUniversity of Perugia - Department of Engineering
Legittimo, MarcoUniversity of Perugia
Fravolini, Mario LucaUniversity of Perugia
Costante, GabrieleUniversity of Perugia
12:00-12:15, Paper FrM2T1.4 
Towards a Mobile Robot Localization Benchmark with Challenging Sensordata in an Industrial Environment

Spiess, FlorianHochschule Für Angewandte Wissenschaften Würzburg Schweinfurt
Friesslich, JonasUniversity of Applied Sciences Wuerzburg-Schweinfurt
Bluemm, DanielUniversity of Applied Sciences Würzburg-Schweinfurt
Mast, FabioUniversity of Applied Sciences Würzburg-Schweinfurt
Vinokour, DmitrijFriedrich-Alexander-Universität Erlangen-Nürnberg
Kounev, SamuelJulius-Maximilians-Universität (JMU)
Kaupp, TobiasUniversity of Applied Sciences Würzburg-Schweinfurt
Strobel, NorbertUniversity of Appplied Sciences Wuerzburg-Schweinfurt (FHWS)
12:15-12:30, Paper FrM2T1.5 
Init-LOAM: LiDAR-Based Localization and Mapping with a Static Self-Generated Initial Map

Oelsch, MartinTechnical University of Munich
Karimi, MojtabaTechnical University of Munich
Steinbach, EckehardTechnical University of Munich
Swarms Regular Session
11:15-11:30, Paper FrM2T2.1 
Collaborative Overtaking of Multi-Vehicle Systems in Dynamic Environments: A Distributed Artificial Potential Field Approach

Xie, SongtaoThe University of Manchester
Hu, JunyanThe University of Manchester
Ding, ZhengtaoUniversity of Manchester
Arvin, FarshadThe University of Manchester
11:30-11:45, Paper FrM2T2.2 
Adaptive Sliding Mode Control for Autonomous Vehicle Platoon under Unknown Friction Forces

Yadav, Rishabh DevInternational Institute of Information Technology Hyderabad
Sankaranarayanan, Viswa NarayananInternational Institute of Information Technology, Hyderabad (II
Roy, SpandanInternational Institute of Information Technology, Hyderabad (II
11:45-12:00, Paper FrM2T2.3 
Vehicle Swarm Platooning As Differential Game

Yildiz, AykutTed University
B. Jond, HosseinVSB-Technical University of Ostrava
12:00-12:15, Paper FrM2T2.4 
A Hybrid Control Approach on Handling Orientation Constraints and Tracking Errors in Formation Control for Multiple Nonholonomic Mobile Manipulators

Recker, TobiasLeibniz University Hanover
Heinrich, MalteLeibniz University Hannover
Raatz, AnnikaLeibniz Universität Hannover
12:15-12:30, Paper FrM2T2.5 
Planar Pushing Manipulation with a Group of Mobile Robots

Bertoncelli, FilippoUniversity of Modena and Reggio Emilia
Sabattini, LorenzoUniversity of Modena and Reggio Emilia
Human-Robot Collaboration 2 Regular Session
Chair: Petric, TadejJozef Stefan Institute
11:15-11:30, Paper FrM2T3.1 
Multi-View Human Parsing for Human-Robot Collaboration

Terreran, MatteoUniversity of Padova
Barcellona, LeonardoUniversity of Padova
Evangelista, DanieleUniversità Degli Studi Di Padova
Ghidoni, StefanoUniversity of Padova
11:30-11:45, Paper FrM2T3.2 
Gaze Controlled Safe HRI for Users with SSMI

Vinay Krishna Sharma, Vinay KrishnaIndian Institute of Science
Biswas, PradiptaIndian Institute of Science
11:45-12:00, Paper FrM2T3.3 
An Actor-Critic Strategy for a Safe and Efficient Human Robot Collaboration

Gabrielli, GuglielmoUniversity of Modena and Reggio Emilia
Secchi, CristianUniv. of Modena & Reggio Emilia
12:00-12:15, Paper FrM2T3.4 
Explainable Reinforcement Learning for Human-Robot Collaboration

Iucci, AlessandroEricsson, KTH
Hata, Alberto YukinobuEricsson Telecomunicações S/A
Terra, AhmadEricsson AB
Inam, RafiaEricsson AB
Leite, IolandaKTH Royal Institute of Technology
12:15-12:30, Paper FrM2T3.5 
Humans Prefer Collaborating with a Robot Who Leads in a Physical Human-Robot Collaboration Scenario

Kropivsek Leskovar, RebekaJožef Stefan Institute
Petric, TadejJozef Stefan Institute
Manipulation Regular Session
Chair: Aksoy, Eren ErdalHalmstad University
14:00-14:15, Paper FrA1T1.1 
Dual-Arm In-Hand Manipulation with Parallel Grippers Using Tactile Feedback

Costanzo, MarcoUniversità Degli Studi Della Campania Luigi Vanvitelli
De Maria, GiuseppeUniversità Degli Studi Della Campania Luigi Vanvitelli
Natale, CiroUniversità Degli Studi Della Campania "Luigi Vanvitelli"
14:15-14:30, Paper FrA1T1.2 
Simultaneous Tactile Localization and Reconstruction of an Object During Robotic Manipulation

Perdereau, VéroniqueSorbonne University
14:30-14:45, Paper FrA1T1.3 
Learning Coarsened Dynamic Graph Representations for Deformable Object Manipulation

Marchetti, Giovanni LucaKTH Royal Institute of Technology
Moletta, MarcoKTH Royal Institute of Technology
Tegnér, GustafKTH Royal Institute of Technology
Shi, PeiyangKTH Royal Institute of Technology
Varava, AnastasiiaKTH, the Royal Institute of Technology
Kravchenko, AlexanderKTH Royal Institute of Technology
Kragic, DanicaKTH
14:45-15:00, Paper FrA1T1.4 
A Robotic In-Hand Manipulation Dictionary Based on Human Data

Hammoud, AliSorbonne University
Diouf, AliouneSorbonne University
Perdereau, VéroniqueSorbonne University
15:00-15:15, Paper FrA1T1.5 
A Variational Graph Autoencoder for Manipulation Action Recognition and Prediction

Akyol, GamzeIstanbul Technical University
Sariel, SanemIstanbul Technical University
Aksoy, Eren ErdalHalmstad University
Planning 2 Regular Session
14:00-14:15, Paper FrA1T2.1 
Safe-Planner: A Single-Outcome Replanner for Computing Strong Cyclic Policies in Fully Observable Non-Deterministic Domains

Mokhtari, VahidKU Leuven - University
Sathya, Ajay SureshaKU Leuven
Tsiogkas, NikolaosKU Leuven
Decré, WilmKatholieke Universiteit Leuven
14:15-14:30, Paper FrA1T2.2 
Trajectory Planning Using Mixed Reality: An Experimental Validation

Piccinelli, MarcoUniversity of Verona
Gagliardo, AndreaUniversity of Verona
Castellani, UmbertoUniversity of Verona
Muradore, RiccardoUniversity of Verona
14:30-14:45, Paper FrA1T2.3 
Multi-Hypothesis Evasive Maneuvers for Safe Autonomous Navigation

Iberraken, DimiaInstitut Pascal UMR CNRS 6602
Adouane, LounisInstitut Pascal, UMR CNRS 6602
14:45-15:00, Paper FrA1T2.4 
A Framework for Tasks Allocation and Scheduling in Precision Agriculture Settings

Santilli, MatteoRoma Tre University
Carpio, Renzo FabrizioRoma Tre University
Gasparri, AndreaUniversità Degli Studi Roma Tre
15:00-15:15, Paper FrA1T2.5 
Efficient Coverage Path Planning in Initially Unknown Environments Using Graph Representation

Saha, OlimpiyaUniversity of Nebraska at Omaha
Ganapathy, ViswanathLG Electronics
Heydari, JavadLG Electronics
Ren, GuohuaLG Electronics
Shah, MohakLG Electronics
Human-Robot Collaboration 3 Regular Session
Chair: Mihelj, MatjažUniversity of Ljubljana
14:00-14:15, Paper FrA1T3.1 
Enabling the Digital Thread for Product Aware Human and Robot Collaboration - an Agent-Oriented System Architecture

David, JoeTampere University
Lobov, AndreiNorwegian University of Science and Technology
Järvenpää, EevaTampere University
Lanz, MinnaDepartment of Mechanical Engineering and Industrial Systems
14:15-14:30, Paper FrA1T3.2 
Neural Networks Based Human Intent Prediction for Collaborative Robotics Applications

Formica, FedericoPolitecnico Di Milano
Vaghi, StefanoPolitecnico Di Milano
Lucci, NiccolòPolitecnico Di Milano
Zanchettin, Andrea MariaPolitecnico Di Milano
14:30-14:45, Paper FrA1T3.3 
Collaborative Architecture for Human-Robot Assembly Tasks Using Multimodal Sensors

Male, JamesUniversity of Bath
Martinez-Hernandez, UrielUniversity of Bath
14:45-15:00, Paper FrA1T3.4 
A Tactile Sensor-Based Architecture for Collaborative Assembly Tasks with Heavy-Duty Robots

Grella, FrancescoUniversity of Genova
Canale, RobertoUniversità Di Genova
Baldini, GiuliaUniversità Di Genova
Sagar, KeerthiUniversity of Genoa, Italy
Wang, Si AoUniversity of Genoa
Albini, AlessandroUniversity of Oxford
Jilich, MichalUniversity of Genova
Cannata, GiorgioUniversity of Genova
Zoppi, MatteoUniversity of Genoa
15:00-15:15, Paper FrA1T3.5 
Effect of Speed, Speed Differences, and Motion Type on Perceived Safety of Collaborative Robots

Šlajpah, SebastjanUniversity of Ljubljana
Rakinić, KristinaUniveristy of Ljubljana, Faculty of ART
Nikolovska, KristinaUniveristy of Ljubljana, Faculty of Electrical Engineering
Komidar, LukaUniveristy of Ljubljana, Faculty of Electrical Engineering
Podlesek, AnjaUniveristy of Ljubljana, Faculty of ART
Zager Kocjan, GajaUniversity of Ljubljana, Faculty of Arts
Munih, MarkoUniversity of Ljubljana
Mihelj, MatjažUniversity of Ljubljana
Kinematics Regular Session
Chair: Tittel, SvenTU Braunschweig
15:45-16:00, Paper FrA2T1.1 
Analytical Solution for the Inverse Kinematics Problem of the Franka Emika Panda Seven-DOF Light-Weight Robot Arm

Tittel, SvenTU Braunschweig
16:00-16:15, Paper FrA2T1.2 
A Task Space Decomposition Algorithm for the Inverse Kinematics of Functionally Redundant Manipulators

Žlajpah, LeonJožef Stefan Institute
Mueller, AndreasJohannes Kepler University
16:15-16:30, Paper FrA2T1.3 
Algebraic Input-Output Angle Equation Derivation Algorithm for the Six Distinct Angle Pairings in Arbitrary Planar 4R Linkages

Rotzoll, MirjaCarleton University
Bucciol, QuinnCarleton University
Hayes, JohnCarleton University
16:30-16:45, Paper FrA2T1.4 
Algebraic Differential Kinematics of Planar 4R Linkages

Hayes, JohnCarleton University
Rotzoll, MirjaCarleton University
Iraei, Atena ElnazCarleton University
Nichol, AliaCarleton University
Bucciol, QuinnCarleton University
Vision 2 Regular Session
15:45-16:00, Paper FrA2T2.1 
Assessing the Feasibility of Monocular Visual Simultaneous Localizationand Mapping for Live Sewer Pipes: A Field Robotics Study

Evans, MathewUniversity of Sheffield
Aitken, Jonathan MaxwellUniversity of Sheffield
Anderson, SeanUniversity of Sheffield
16:00-16:15, Paper FrA2T2.2 
Adaptive Lidar Scan Frame Integration: Tracking Known MAVs in 3D Point Clouds

Qingqing, LiUniversity of Turku
Yu, XianjiaUniversity of Turku
Peña Queralta, JorgeUniversity of Turku
Westerlund, TomiUniversity of Turku
16:15-16:30, Paper FrA2T2.3 
A High-Level Track Fusion Scheme for Circular Quantities

Kohnert, SörenAugsburg University of Applied Sciences
Stolle, ReinhardAugsburg University of Applied Sciences
16:30-16:45, Paper FrA2T2.4 
Beyond Visible Light: Usage of Long Wave Infrared for Object Detection in Maritime Environment

Nirgudkar, ShaileshUniversity of Massachusetts Lowell
Robinette, PaulUniversity of Massachusetts Lowell
16:45-17:00, Paper FrA2T2.5 
A Novel Approach for Porcupine Crab Identification and Processing Based on Point Cloud Segmentation

Wu, HaodongMemorial University
Zou, TingMemorial University
Burke, HeatherMemorial University of Newfoundland
King, StephenMemorial University of Newfoundland
Burke, BrianNunavut Fisheries Association (NFA)
Modelling Regular Session
Chair: Canali, CarloIstituto Italiano Di Tecnologia, Via Morego, 30, 16163 Genova
15:45-16:00, Paper FrA2T3.1 
A High-Accuracy, Low-Budget Sensor Glove for Trajectory Model Learning

Denz, RobinUniversity to Luebeck
Demirci, RabiaUniversity to Luebeck
Cansev, Mehmet EgeFriedrich-Alexander-Universität Erlangen-Nürnberg
Bliek, AdnaFriedrich-Alexander Universität Erlangen-Nürnberg
Beckerle, BeckerleFAU Erlangen-Nürnberg
Rueckert, ElmarMontanuniversitaet Leoben
Rottmann, NilsUniversity of Luebeck
16:00-16:15, Paper FrA2T3.2 
Static Elasticity Compensation Via Recursive Artificial Neural Network for Long-Reach Cable-Driven Hyper-Redundant Manipulators

Ludovico, DanieleIstituto Italiano Di Tecnologia
Pistone, AlessandroIstituto Italiano Di Tecnologia
De Mari Casareto Dal Verme, LorenzoUniversity of Genova, Italian Institute of Technology
Guardiani, PaoloIstituto Italiano Di Tecnologia
Caldwell, Darwin G.Istituto Italiano Di Tecnologia
Canali, CarloIstituto Italiano Di Tecnologia, Via Morego, 30, 16163 Genova
16:15-16:30, Paper FrA2T3.3 
Control-Oriented Modeling of an Underwater Biofouling Prevention Robot

Ohrem, Sveinung JohanSINTEF Ocean AS
Amundsen, HermanSINTEF Ocean
Kelasidi, EleniSINTEF Ocean
16:30-16:45, Paper FrA2T3.4 
EMMA: Earthworm Mimetic Manipulator Architecture for Access-Constrained Environments

Kannapan, PreetiRedwire Space Inc
Garmire, DavidUniversity of Michigan, Ann Arbor
Gregg, Robert D.University of Michigan
16:45-17:00, Paper FrA2T3.5 
Design and Experimental Study of BLDC Motor Immersion Cooling for Legged Robots

Zhu, TaoyuanminUniversity of California, Los Angeles
Ahn, Min SungUniversity of California, Los Angeles
Hong, DennisUCLA
Conference Closing Plenary Session




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