Humanoids 2019 IEEE-RAS International Conference on Humanoid Robots October 15-17, 2019 @ Toronto, Canada
   
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Last updated on October 22, 2019. This conference program is tentative and subject to change

Technical Program for Wednesday October 16, 2019

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WePlenary_2 Plenary, Toronto I and II Add to My Program 
Plenary: Michiel Van De Panne  
 
Chair: Kulic, DanaUniversity of Waterloo
 
WeOral1_2 Regular, Toronto I and II Add to My Program 
Walking and Locomotion  
 
Chair: Stasse, OlivierCNRS
Co-Chair: Sreenath, KoushilUniversity of California, Berkeley
 
09:50-10:00, Paper WeOral1_2.1 Add to My Program
Footstep Planning for Autonomous Walking Over Rough Terrain
Griffin, Robert J.Institute for Human and Machine Cognition (IHMC)
Wiedebach, GeorgInstitute for Human and Machine Cognition
McCrory, StephenInstitute for Human and Machine Cognition
Bertrand, SylvainInstitute for Human and Machine Cognition
Lee, InhoIHMC
Pratt, JerryInst. for Human and Machine Cognition
 
10:00-10:10, Paper WeOral1_2.2 Add to My Program
Position-Based Lateral Balance Control for Knee-Stretched Biped Robot
Kajita, ShuujiNational Inst. of AIST
Benallegue, MehdiAIST Japan
Cisneros Limon, RafaelNational Institute of Advanced Industrial Science and Technology
Sakaguchi, TakeshiAIST
Morisawa, MitsuharuNational Inst. of AIST
Kaminaga, HiroshiNational Inst. of AIST
Kumagai, IoriNational Inst. of AIST
Kaneko, KenjiNational Inst. of AIST
Kanehiro, FumioNational Inst. of AIST
 
10:10-10:20, Paper WeOral1_2.3 Add to My Program
Dynamic Walking on Compliant and Uneven Terrain Using DCM and Passivity-Based Whole-Body Control
Mesesan, GeorgeGerman Aerospace Center (DLR)
Englsberger, JohannesDLR (German Aerospace Center)
Garofalo, GianlucaGerman Aerospace Center (DLR)
Ott, ChristianGerman Aerospace Center (DLR)
Albu-Schäffer, AlinDLR - German Aerospace Center
 
10:20-10:30, Paper WeOral1_2.4 Add to My Program
Multi-Contacts Force-Reactive Walking Control During Physical Human-Humanoid Interaction
Kobayashi, TaisukeNara Institute of Science and Technology
Dean-Leon, EmmanuelTechnischen Universitaet Muenchen
Guadarrama-Olvera, Julio RogelioTechnical University of Munich
Bergner, FlorianTechnical University of Munich
Cheng, GordonTechnical University of Munich
 
10:30-10:40, Paper WeOral1_2.5 Add to My Program
Full-Body Optimal Control Toward Versatile and Agile Behaviors in a Humanoid Robot
Ishihara, KojiATR Computational Neuroscience Labs
Itoh, TakeshiATR Computational Neuroscience Laboratories
Morimoto, JunATR Computational Neuroscience Labs
 
WeInteractive1_2 Interactive, Toronto I and II Add to My Program 
Interactive Session I  
 
Chair: Tsagarakis, NikosIstituto Italiano Di Tecnologia
 
11:10-12:00, Paper WeInteractive1_2.1 Add to My Program
A Cerebellar Internal Models Control Architecture for Online Sensorimotor Adaptation of a Humanoid Robot Acting in a Dynamic Environment
Capolei, Marie ClaireTechnical University of Denmark
Andersen, Nils AxelTechnical University of Denmark
Lund, Henrik HautopTechnical University of Denmark
Falotico, EgidioScuola Superiore Sant'Anna
Tolu, SilviaTechnical University of Denmark
 
11:10-12:00, Paper WeInteractive1_2.2 Add to My Program
Quintic Spline Collocation for Real-Time Biped Walking-Pattern Generation with Variable Torso Height
Seiwald, PhilippTechnical University of Munich
Sygulla, FelixTechnical University of Munich
Staufenberg, Nora-SophieTechnical University of Munich
Rixen, DanielTechnische Universität München
 
11:10-12:00, Paper WeInteractive1_2.3 Add to My Program
Formal Connections between Template and Anchor Models Via Approximate Simulation
Kurtz, VincentUniversity of Notre Dame
Rodrigues da Silva, RafaelUniversity of Notre Dame
Wensing, Patrick M.University of Notre Dame
Lin, HaiUniversity of Notre Dame
 
11:10-12:00, Paper WeInteractive1_2.4 Add to My Program
On Force Synergies in Human Grasping Behavior
Starke, JuliaKarlsruhe Institute of Technology
Chatzilygeroudis, KonstantinosEPFL
Billard, AudeEPFL
Asfour, TamimKarlsruhe Institute of Technology (KIT)
 
11:10-12:00, Paper WeInteractive1_2.5 Add to My Program
Self-Repair and Self-Extension by Tightening Screws Based on Precise Calculation of Screw Pose of Self-Body with CAD Data and Graph Search with Regrasping a Driver
Murooka, TakayukiThe University of Tokyo
Okada, KeiThe University of Tokyo
Inaba, MasayukiThe University of Tokyo
 
11:10-12:00, Paper WeInteractive1_2.6 Add to My Program
Introduction to New Adaptive Passive Joint Mechanism with Independent Joint Operation
Baek, SunhyukKorea University
Jeong, HyunhwanKorea University
 
11:10-12:00, Paper WeInteractive1_2.7 Add to My Program
Combining Cartesian Trajectories with Joint Constraints for Human-Like Robot-Human Handover
Rasch, RobinBielefeld University of Applied Sciences
Wachsmuth, SvenBielefeld University
König, MatthiasBielefeld University of Applied Sciences
 
11:10-12:00, Paper WeInteractive1_2.8 Add to My Program
Response Obligation Estimation That Considers Users' Repetitive Utterances Using Knowledge-Guided Random Forest
Funakoshi, KotaroHonda Research Inst. Japan Co., Ltd
Yamagami, RyotaFujikoshi
Sugano, ShigekiWaseda University
Nakano, MikioHonda Research Institute Japan
 
11:10-12:00, Paper WeInteractive1_2.10 Add to My Program
Reflex-Based Motion Strategy of Musculoskeletal Humanoids under Environmental Contact Using Muscle Relaxation Control
Kawaharazuka, KentoThe University of Tokyo
Tsuzuki, KeiUniversity of Tokyo
Onitsuka, MoritakaThe University of Tokyo
Koga, YuyaThe University of Tokyo
Omura, YusukeThe University of Tokyo
Asano, YukiThe University of Tokyo
Okada, KeiThe University of Tokyo
Kawasaki, KojiThe University of Tokyo
Inaba, MasayukiThe University of Tokyo
 
11:10-12:00, Paper WeInteractive1_2.11 Add to My Program
Deep Network Uncertainty Maps for Indoor Navigation
Verdoja, FrancescoAalto University
Lundell, JensAalto University
Kyrki, VilleAalto University
 
11:10-12:00, Paper WeInteractive1_2.12 Add to My Program
Push Recovery by Angular Momentum Control During 3D Bipedal Walking Based on Virtual-Mass-Ellipsoid Inverted Pendulum Model
Guan, KaixuanThe University of Tokyo
Yamamoto, KoUniversity of Tokyo
Nakamura, YoshihikoUniversity of Tokyo
 
11:10-12:00, Paper WeInteractive1_2.13 Add to My Program
Multi-Contact Stability of Humanoids Using ZMP and CWC
Wang, ZhentingOsaka University
Harada, KensukeOsaka University
Wan, WeiweiOsaka University
 
11:10-12:00, Paper WeInteractive1_2.14 Add to My Program
Bipedal Locomotion Planning for a Humanoid Robot Supported by Arm Contacts Based on Geometrical Feasibility
Kumagai, IoriNational Inst. of AIST
Morisawa, MitsuharuNational Inst. of AIST
Benallegue, MehdiAIST Japan
Kanehiro, FumioNational Inst. of AIST
 
11:10-12:00, Paper WeInteractive1_2.15 Add to My Program
A Novel Hierarchical Control Strategy for Biped Robot Walking on Uneven Terrain
Dong, ChenchengBeijing Institute of Technology
Chen, XuechaoBeijing Insititute of Technology
Yu, ZhangguoBeijing Institute of Technology
Huang, ZelinBeijing Institute of Technology
Li, QingqingBeijing Institute of Technology
Zhou, QinqinBeijing Institute of Technology
Huang, QiangBeijing Institute of Technology
 
11:10-12:00, Paper WeInteractive1_2.16 Add to My Program
Control of a High Performance Bipedal Robot Using Viscoelastic Liquid Cooled Actuators
Ahn, JunhyeokUniversity of Texas at Austin
Kim, DonghyunMassachusetts Institute of Technology
Bang, Seung HyeonUniversity of Texas at Austin
Paine, NicholasThe University of Texas at Austin
Sentis, LuisThe University of Texas at Austin
 
11:10-12:00, Paper WeInteractive1_2.17 Add to My Program
Robotic Manipulation Planning for Shaping Deformable Linear Objects with Environmental Contacts
Zhu, JihongLIRMM
Navarro, BenjaminUniversity of Montpellier
Passama, RobinLIRMM (CNRS, Université Montpellier 2)
Fraisse, PhilippeLIRMM
Crosnier, AndréLIRMM
Cherubini, AndreaLIRMM - Universite De Montpellier CNRS
 
11:10-12:00, Paper WeInteractive1_2.18 Add to My Program
Impact-Aware Humanoid Robot Motion Generation with a Quadratic Optimization Controller
Wang, YuquanCNRS-UM LIRMM
Tanguy, ArnaudCNRS-UM LIRMM
Gergondet, PierreCNRS
Kheddar, AbderrahmaneCNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/CRT
 
11:10-12:00, Paper WeInteractive1_2.19 Add to My Program
Learning Task Constraints from Demonstration for Hybrid Force/Position Control
Conkey, AdamUniversity of Utah
Hermans, TuckerUniversity of Utah
 
WeOral2_2 Regular, Toronto I and II Add to My Program 
Optimization and Learning  
 
Chair: Mombaur, KatjaHeidelberg University
Co-Chair: Ayusawa, KoAIST
 
13:20-13:30, Paper WeOral2_2.1 Add to My Program
Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning
Yeganegi, Mohammad HasanK. N. Toosi University of Technology
Khadiv, MajidMax Planck Institute for Intelligent Systems
Moosavian, S. Ali A.K. N. Toosi Univ. of Technology
Zhu, Jia-JieMax Planck Institute for Intelligent Systems
Del Prete, AndreaMax Planck Institute for Intelligent Systems
Righetti, LudovicNew York University
 
13:30-13:40, Paper WeOral2_2.2 Add to My Program
Humanoid Whole-Body Movement Optimization from Retargeted Human Motions
Gomes, WaldezINRIA
Radhakrishnan, VishnuInria
Penco, LuigiINRIA
Modugno, ValerioSapienza Universitą Di Roma
Mouret, Jean-BaptisteInria
Ivaldi, SerenaINRIA
 
13:40-13:50, Paper WeOral2_2.3 Add to My Program
Cost Function Evaluation for Optimizing Design and Actuation of an Active Exoskeleton to Ergonomically Assist Lifting Motions
Harant, MonikaHeidelberg University
Millard, MatthewUniversity of Heidelberg
Sarabon, NejcUniversity of Primorska, Faculty of Health Sciences
Mombaur, KatjaHeidelberg University
 
13:50-14:00, Paper WeOral2_2.4 Add to My Program
A Weakly Supervised Strategy for Learning Object Detection on a Humanoid Robot
Maiettini, ElisaICub Facility, Istituto Italiano Di Tecnologia and DIBRIS, Unive
Pasquale, GiuliaIstituto Italiano Di Tecnologia
Tikhanoff, VadimItalian Institute of Technology
Rosasco, LorenzoIstituto Italiano Di Tecnologia & MassachusettsInstitute OfTechn
Natale, LorenzoIstituto Italiano Di Tecnologia
 
14:00-14:10, Paper WeOral2_2.5 Add to My Program
Whole-Body Posture Generation by Adjusting Tool Force with CoG Movement: Application to Soil Digging
Murooka, TakayukiThe University of Tokyo
Shigematsu, RikuThe University of Tokyo
Kojima, KunioThe University of Tokyo
Sugai, FumihitoThe University of Tokyo
Kakiuchi, YoheiThe University of Tokyo
Okada, KeiThe University of Tokyo
Inaba, MasayukiThe University of Tokyo
 
WeKeynote1_2 Keynote, Toronto I and II Add to My Program 
Keynote: Learning
Donghuei Lee & Takamitsu Matsubara
 
 
Chair: Asfour, TamimKarlsruhe Institute of Technology (KIT)
 
WeInteractive2_2 Interactive, Toronto I and II Add to My Program 
Interactive Session II  
 
Chair: Roa, Maximo A.DLR - German Aerospace Center
 
15:30-16:20, Paper WeInteractive2_2.1 Add to My Program
A Control Approach for the Variable-Height Inverted Pendulum Based on Sliding Mode Control with Input Saturation
Garcia Chavez, Gabriel EnriqueNational University of Engineering
 
15:30-16:20, Paper WeInteractive2_2.2 Add to My Program
Resource-Aware Object Classification and Segmentation for Semi-Autonomous Grasping with Prosthetic Hands
Hundhausen, FelixKarlsruhe Institute of Technology
Megerle, DenisKarlsruhe Institute of Technology
Asfour, TamimKarlsruhe Institute of Technology (KIT)
 
15:30-16:20, Paper WeInteractive2_2.3 Add to My Program
Online Learning of Feed-Forward Models for Task-Space Variable Impedance Control
Jacob Mathew, MichaelUniversity of Birmingham
Sidhik, SaifUniversity of Birmingham
Sridharan, MohanUniversity of Birmingham
Azad, MortezaUniversity of Birmingham
Hayashi, AkinobuHonda Research Institute Europe GmbH
Wyatt, JeremyUniversity of Birmingham
 
15:30-16:20, Paper WeInteractive2_2.4 Add to My Program
Autonomous Learning of Assembly Tasks from the Corresponding Disassembly Tasks
Simonič, MihaelJo˛ef Stefan Institute
ˇlajpah, LeonJo˛ef Stefan Institute
Ude, AlesJozef Stefan Institute
Nemec, BojanJozef Stefan Institute
 
15:30-16:20, Paper WeInteractive2_2.5 Add to My Program
Absolute Humanoid Localization and Mapping Based on IMU Lie Group and Fiducial Markers
Fourmy, MedericLAAS, CNRS
Atchuthan, DineshLAAS, CNRS
Flayols, ThomasLAAS, CNRS
Mansard, NicolasCNRS
Solą, JoanInstitut De Robņtica I Informątica Industrial
 
15:30-16:20, Paper WeInteractive2_2.6 Add to My Program
Data-Driven Model Predictive Control for the Contact-Rich Task of Food Cutting
Mitsioni, IoannaKTH Royal Institute of Technology
Karayiannidis, YiannisChalmers University of Technology & KTH Royal Institute of Techn
Stork, Johannes A.Örebro University
Kragic, DanicaKTH
 
15:30-16:20, Paper WeInteractive2_2.7 Add to My Program
An Adaptive, Humanlike Robot Hand with Selective Interdigitation: Towards Robust Grasping and Dexterous, In-Hand Manipulation
Kontoudis, GeorgeVirginia Tech
Liarokapis, MinasThe University of Auckland
Vamvoudakis, Kyriakos G.Georgia Inst. of Tech
 
15:30-16:20, Paper WeInteractive2_2.8 Add to My Program
Virtual Reality Teleoperation of a Humanoid Robot Using Markerless Human Upper Body Pose Imitation
Hirschmanner, MatthiasTU Wien
Tsiourti, ChristianaTU Wien
Patten, TimothyTU Wien
Vincze, MarkusVienna University of Technology
 
15:30-16:20, Paper WeInteractive2_2.9 Add to My Program
Collision Preventing Phase-Progress Control for Velocity Adaptation in Human-Robot Collaboration
Zardykhan, DinmukhamedTechnical University of Munich
Svarny, PetrCTU in Prague, FEE
Hoffmann, MatejFaculty of Electrical Engineering, Czech Technical University In
Shahriari, ErfanTechnical University of Munich
Haddadin, SamiTechnical University of Munich
 
15:30-16:20, Paper WeInteractive2_2.10 Add to My Program
Generative Adversarial Imitation Learning with Deep P-Network for Robotic Cloth Manipulation
Tsurumine, YoshihisaNara Institute of Science and Technology
Cui, YunduanNara Institute of Science and Technology
Yamazaki, KimitoshiShinshu University
Matsubara, TakamitsuNara Institute of Science and Technology
 
15:30-16:20, Paper WeInteractive2_2.11 Add to My Program
Automated Design of Simple and Robust Manipulators for Dexterous In-Hand Manipulation Tasks Using Evolutionary Strategies
Meixner, AndreKarlsruhe Institute of Technology
Hazard, ChristopherCarnegie Mellon University
Pollard, Nancy SCarnegie Mellon University
 
15:30-16:20, Paper WeInteractive2_2.12 Add to My Program
Terrain Segmentation and Roughness Estimation Using RGB Data: Path Planning Application on the CENTAURO Robot
Suryamurthy, VivekanandanDelft University of Technology
Raghavan, Vignesh SushruthaIstituto Italiano Di Tecnologia
Laurenzi, ArturoIstituto Italiano Di Tecnologia
Tsagarakis, NikosIstituto Italiano Di Tecnologia
Kanoulas, DimitriosIstituto Italiano Di Tecnologia
 
15:30-16:20, Paper WeInteractive2_2.13 Add to My Program
Detection, Tracking and 3D Modeling of Objects with Sparse RGB-D SLAM and Interactive Perception
Almeida, DiogoRoyal Institute of Technology, KTH
Ataer-Cansizoglu, EsraMitsubishi Electric Research Labs
Corcodel, Radu IoanMitsubishi Electric Research Laboratories
 
15:30-16:20, Paper WeInteractive2_2.14 Add to My Program
Optimal Trajectory for Active Safe Falls in Humanoid Robots
Rossini, LucaPolitecnico Di Milano
Henze, BerndGerman Aerospace Center (DLR)
Braghin, FrancescoPolitecnico Di Milano
Roa, Maximo A.DLR - German Aerospace Center
 
15:30-16:20, Paper WeInteractive2_2.15 Add to My Program
Using Virtual Reality to Examine the Neural and Physiological Anxiety-Related Responses to Balance-Demanding Target-Reaching Leaning Tasks
Kaur, RachneetUniversity of Illinois at Urbana Champaign
Sun, RongyiUniversity of Illinois at Urbana-Champaign
Ziegelman, LiranUniversity of Illinois at Urbana-Champaign
Sowers, RichardUniversity of Illinois at Urbana-Champaign
Hernandez, Manuel E.University of Illinois at Urbana Champaign
 
15:30-16:20, Paper WeInteractive2_2.16 Add to My Program
Mechanistic Properties of Five-Bar Parallel Mechanism for Leg Structure Based on Spring Loaded Inverted Pendulum
Shin, HirofumiHonda R&D Co., Ltd
Ishikawa, TetsuyaHonda R&D Co., Ltd
Kamioka, TakumiHonda R&D Co., Ltd
Hosoda, KohOsaka University
Yoshiike, TakahideHonda Research Institute Japan
 
15:30-16:20, Paper WeInteractive2_2.17 Add to My Program
Magnetic 3-Axis Soft and Sensitive Fingertip Sensors Integration for the iCub Humanoid Robot
Holgado, Alexis CarlosWaseda University
Piga, NicolaIstituto Italiano Di Tecnologia, Universitą Di Genova
Tomo, Tito PradhonoWaseda University
Vezzani, GiuliaIstituto Italiano Di Tecnologia of Genova, Universita` Degli Stu
Schmitz, AlexanderWaseda University
Natale, LorenzoIstituto Italiano Di Tecnologia
Sugano, ShigekiWaseda University
 
15:30-16:20, Paper WeInteractive2_2.18 Add to My Program
Biped Locomotion with Arm Swinging and Pelvis Rotation Generated with the Relative Angular Acceleration
Miyata, AkinoriTokyo City University
Miyahara, ShoTokyo City University
Nenchev, DragomirTokyo City University
 
15:30-16:20, Paper WeInteractive2_2.19 Add to My Program
Experimental Evaluation and Modeling of Passive Falls in Humanoid Robots
Olivieri, NicolaPolitecnico Di Milano
Henze, BerndGerman Aerospace Center (DLR)
Braghin, FrancescoPolitecnico Di Milano
Roa, Maximo A.DLR - German Aerospace Center
 
15:30-16:20, Paper WeInteractive2_2.20 Add to My Program
Autonomous Bimanual Functional Regrasping of Novel Object Class Instances
Pavlichenko, DmytroUniversity of Bonn
Rodriguez, DiegoUniversity of Bonn
Lenz, ChristianUniversity of Bonn
Schwarz, MaxUniversity Bonn
Behnke, SvenUniversity of Bonn
 
WeOral3_2 Regular, Toronto I and II Add to My Program 
Whole Body Control  
 
Chair: Pratt, JerryInst. for Human and Machine Cognition
Co-Chair: Ivaldi, SerenaINRIA
 
16:20-16:30, Paper WeOral3_2.1 Add to My Program
Feedback Control for Autonomous Riding of Hovershoes by a Cassie Bipedal Robot
Zhang, BikeUniversity of California, Berkeley
Chen, ShuxiaoUniversity of California, Berkeley
Rogers, JonathanUniversity of California, Berkeley
Sreenath, KoushilUniversity of California, Berkeley
 
16:30-16:40, Paper WeOral3_2.2 Add to My Program
Model Decoupling and Control of the Wheeled Humanoid Robot Moving in Sagittal Plane
Zhou, HaitaoHarbin Institute of Technology
Li, XuHarbin Institute of Technology
Feng, HaiboHarbin Institute of Technology
Li, Jia ChenHarbin Institute of Technology
Zhang, SongyuanHarbin Institute of Technology
Fu, YiliHarbin Institute of Technology
 
16:40-16:50, Paper WeOral3_2.3 Add to My Program
2D Push Recovery and Balancing of the EVE R3 - a Humanoid Robot with Wheel-Base, Using Model Predictive Control and Gain Scheduling
Gupta, NikhilFlorida State University
Smith, JesperHalodi Robotics AS
Shrewsbury, BrandonTexas A&M University
Bųrnich, BerntHalodi Robotics
 
16:50-17:00, Paper WeOral3_2.4 Add to My Program
Ankle-Hip-Stepping Stabilizer on Tendon-Driven Humanoid Kengoro by Integration of Muscle-Joint-Work Space Controllers for Knee-Stretched Humanoid Balance
Asano, YukiThe University of Tokyo
Nakashima, ShinsukeThe University of Tokyo
Yanokura, IoriUniversity of Tokyo
Onitsuka, MoritakaThe University of Tokyo
Kawaharazuka, KentoThe University of Tokyo
Tsuzuki, KeiUniversity of Tokyo
Koga, YuyaThe University of Tokyo
Omura, YusukeThe University of Tokyo
Okada, KeiThe University of Tokyo
Inaba, MasayukiThe University of Tokyo
 
17:00-17:10, Paper WeOral3_2.5 Add to My Program
Deploying the NASA Valkyrie Humanoid for IED Response: An Initial Approach and Evaluation Summary
Jorgensen, Steven JensThe University of Texas at Austin
Lanighan, MichaelTRACLabs
Bertrand, SylvainInstitute for Human and Machine Cognition
Watson, AndrewJacobs Engineering, NASA
Altemus, JosephJacobs Technology
Askew, Roger, ScottNASA
Bridgwater, LyndonNASA
Domingue, BeauNASA, METECS
Kendrick, CharlieNASA, CACI
Lee, Jason H.NASA
Paterson, MarkNASA, METECS
Sanchez, JairoNASA Johnson Space Center
Beeson, PatrickTRACLabs Inc
Gee, SethTRACLabs, Inc
Hart, StephenTRACLabs, Inc
Huaman, AnaGeorgia Institute of Technology
Griffin, Robert J.Institute for Human and Machine Cognition (IHMC)
Lee, InhoIHMC
McCrory, StephenInstitute for Human and Machine Cognition
Sentis, LuisThe University of Texas at Austin
Pratt, JerryInst. for Human and Machine Cognition
Mehling, JoshuaNASA
 
WeKeynote2_2 Keynote, Toronto I and II Add to My Program 
Keynote: Whole Body Control
Ludovic Righetti & Jaeheung Park
 
 
Chair: Kheddar, AbderrahmaneCNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/CRT

 
 

 
 

 

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