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 Thursday October 17, 2019

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ThPlenary2_3 Plenary, Toronto I and II Add to My Program 
Plenary: Carme Torras  
Chair: Venture, GentianeTokyo University of Agriculture and Technology
ThOral4_3 Regular, Toronto I and II Add to My Program 
Grasping and Manipulation  
Chair: Della Santina, CosimoMassachusetts Institute of Technology
Co-Chair: Hermans, TuckerUniversity of Utah
09:50-10:00, Paper ThOral4_3.1 Add to My Program
Dual-Arm In-Hand Manipulation Using Visual Feedback
Cruciani, SilviaKTH Royal Institute of Technology
Hang, KaiyuYale University
Smith, Claes ChristianKTH Royal Institute of Technology
Kragic, DanicaKTH
10:00-10:10, Paper ThOral4_3.2 Add to My Program
Designing Grasping Tools for Robotic AssemblyBased on Shape Analysis of Parts
Nakayama, KentoOsaka University
Wan, WeiweiOsaka University
Harada, KensukeOsaka University
10:10-10:20, Paper ThOral4_3.3 Add to My Program
Visuo-Haptic Grasping of Unknown Objects Based on Gaussian Process Implicit Surfaces and Deep Learning
Ottenhaus, SimonKarlsruhe Institute of Technology (KIT)
Renninghoff, DanielKarlsruhe Institute of Technology (KIT)
Grimm, RaphaelKarlsruhe Institute of Technology (KIT)
Ferreira, FabioKarlsruhe Institute of Technology
Asfour, TamimKarlsruhe Institute of Technology (KIT)
10:20-10:30, Paper ThOral4_3.4 Add to My Program
Leveraging Multimodal Haptic Sensory Data for Robust Cutting
Zhang, KevinCarnegie Mellon University
Sharma, MohitCarnegie Mellon University
Veloso, ManuelaCarnegie Mellon University
Kroemer, OliverCarnegie Mellon University
10:30-10:40, Paper ThOral4_3.5 Add to My Program
Manipulation Planning Using Environmental Contacts to Keep Objects Stable under External Forces
Chen, LipengUniversity of Leeds
Figueredo, Luis Felipe CruzUniversity of Leeds
Dogar, Mehmet RUniversity of Leeds
ThInteractive3_3 Interactive, Toronto I and II Add to My Program 
Interactive Session III  
Chair: Gams, AndrejJozef Stefan Institute
11:10-12:00, Paper ThInteractive3_3.1 Add to My Program
Active Learning of Probabilistic Movement Primitives
Conkey, AdamUniversity of Utah
Hermans, TuckerUniversity of Utah
11:10-12:00, Paper ThInteractive3_3.2 Add to My Program
Stabilization of an Inverted Pendulum Via Human Brain Inspired Controller Design
Jafari, HedyehLuleå University of Technology
Nikolakopoulos, GeorgeLuleå University of Technology
Gustafsson, ThomasLuleå University of Technology
11:10-12:00, Paper ThInteractive3_3.3 Add to My Program
Active Vision for Extraction of Physically Plausible Support Relations
Grotz, MarkusKarlsruhe Institute of Technology (KIT)
Sippel, DavidKarlsruhe Institute of Technology
Asfour, TamimKarlsruhe Institute of Technology (KIT)
11:10-12:00, Paper ThInteractive3_3.4 Add to My Program
Combined Task and Motion Planning for a Dual-Arm Robot to Use a Suction Cup Tool
Chen, HaoOsaka University
Wan, WeiweiOsaka University
Harada, KensukeOsaka University
11:10-12:00, Paper ThInteractive3_3.5 Add to My Program
Placing Objects with Prior In-Hand Manipulation Using Dexterous Manipulation Graphs
Haustein, Joshua AlexanderKTH Royal Institute of Technology
Cruciani, SilviaKTH Royal Institute of Technology
Asif, RizwanNational University of Science and Technology
Hang, KaiyuYale University
Kragic, DanicaKTH
11:10-12:00, Paper ThInteractive3_3.6 Add to My Program
Analysis of Affective Human Motion During Functional Task Performance: An Inverse Optimal Control Approach
Carreno, PamelaUniversity of Waterloo
Harada, TatsukiTokyo University of Agriculture and Technology
Lin, Jonathan Feng-ShunUniversity of Waterloo
Kulic, DanaUniversity of Waterloo
Venture, GentianeTokyo University of Agriculture and Technology
11:10-12:00, Paper ThInteractive3_3.7 Add to My Program
Performance Indicators for Stability of Slackline Balancing
Stein, KevinUniversity of Heidelberg
Mombaur, KatjaHeidelberg University
11:10-12:00, Paper ThInteractive3_3.8 Add to My Program
Deep Correspondence Learning for Effective Robotic Teleoperation Using Virtual Reality
Gaurav, SanketUniversity of Illinois at Chicago
Al-Qurashi, ZainabUIC
Barapatre, AmeyUniversity of Illinois at Chicago
Maratos, George PeterUniversity of Illinois at Chicago
Sarma, TejasUniversity of Illinois at Chicago
Ziebart, BrianUniv of Illinois at Chicago
11:10-12:00, Paper ThInteractive3_3.9 Add to My Program
Online Processing for Speech-Driven Gesture Motion Generation in Android Robots
Ishi, Carlos ToshinoriATR
Mikata, RyusukeATR
Minato, TakashiATR
Ishiguro, HiroshiOsaka University
11:10-12:00, Paper ThInteractive3_3.10 Add to My Program
Learning and Adaptation of Inverse Dynamics Models: A Comparison
Hitzler, KevinKarlsruhe Institute of Technology (KIT)
Meier, FranziskaFacebook
Schaal, StefanMPI Intelligent Systems & University of Southern California
Asfour, TamimKarlsruhe Institute of Technology (KIT)
11:10-12:00, Paper ThInteractive3_3.11 Add to My Program
Development of a Humanoid Dual Arm System for a Single-Wheeled Balancing Mobile Robot
Shu, RobertoCarnegie Mellon University
Hollis, RalphCarnegie Mellon University
11:10-12:00, Paper ThInteractive3_3.12 Add to My Program
Robotic Ankle Mechanism Capable of Kicking While Jumping and Running and Adaptable to Change in Running Speed
Mineshita, HirokiWaseda University
Otani, TakuyaWaseda University
Hashimoto, KenjiMeiji University
Sakaguchi, MasanoriWaseda University
Kawakami, YasuoWaseda University
Lim, Hun-okKanagawa University
Takanishi, AtsuoWaseda University
11:10-12:00, Paper ThInteractive3_3.13 Add to My Program
Sensor-Based Whole-Body Planning/Replanning for Humanoid Robots
Ferrari, PaoloSapienza University of Rome
Cognetti, MarcoCentre National De La Recherche Scientifique (CNRS)
Oriolo, GiuseppeSapienza University of Rome
11:10-12:00, Paper ThInteractive3_3.14 Add to My Program
As Symmetric As Possible : Shape Completion with Non-Rigid Registration Leveraging Generalized Cylinder Decomposition
Oishi, ShujiNational Institute of Advanced Industrial Science and Technology
Yokozuka, MasashiNat. Inst. of Advanced Industrial Science and Technology
Banno, AtsuhikoNational Instisute of Advanced Industrial Science and Technology
11:10-12:00, Paper ThInteractive3_3.15 Add to My Program
Employing IMU and ArUco Marker Based Tracking to Decode the Contact Forces Exerted by Adaptive Hands
Elangovan, NathanUniversity of Auckland
Dwivedi, AnanyUniversity of Auckland
Gerez, LucasThe University of Auckland
Chang, Che-MingUniversity of Auckland
Liarokapis, MinasThe University of Auckland
11:10-12:00, Paper ThInteractive3_3.16 Add to My Program
Trunk Pitch Oscillations for Joint Load Redistribution in Humans and Humanoid Robots
Drama, ÖzgeMax Planck Institute of Intelligent Systems
Badri-Spröwitz, AlexanderMax Planck Institute for Intelligent Systems
11:10-12:00, Paper ThInteractive3_3.17 Add to My Program
A Deep Reinforcement Learning Based Approach towards Generating Human Walking Behavior with a Neuromuscular Model
Sadanandan Anand, AkhilFraunhofer - IPA
Zhao, GuopingTechnical University of Darmstadt
Roth, HubertUniversity Siegen
Seyfarth, AndreTU Darmstadt
11:10-12:00, Paper ThInteractive3_3.18 Add to My Program
Motion Planning through Demonstration to Deal with Complex Motions in Assembly Process
Wang, YanOsaka University
Harada, KensukeOsaka University
Wan, WeiweiOsaka University
11:10-12:00, Paper ThInteractive3_3.19 Add to My Program
Development of a 3-Axis Human Fingertip Tactile Sensor Based on Distributed Hall Effect Sensors
Kristanto, HarrisWaseda University
Sathe, PrathameshWaseda University
Schmitz, AlexanderWaseda University
Hsu, ChinchengWaseda University
Tomo, Tito PradhonoWaseda University
Somlor, SophonWaseda University
Sugano, ShigekiWaseda University
11:10-12:00, Paper ThInteractive3_3.21 Add to My Program
Multicontact Biped Walking with Hand Motion/Force Control and CoM/VRP and Trunk Compliance for Disturbance Accommodation
Iizuka, RyoTokyo City University
Miyahara, ShoTokyo City University
Nenchev, DragomirTokyo City University
ThOral5_3 Regular, Toronto I and II Add to My Program 
Mechanism Design  
Chair: Sentis, LuisThe University of Texas at Austin
Co-Chair: Yamamoto, KoUniversity of Tokyo
13:20-13:30, Paper ThOral5_3.1 Add to My Program
Exoskeleton Arm Pronation/Supination Assistance Mechanism with a Guided Double Rod System
De˛man, MihaJo˛ef Stefan Institute
Asfour, TamimKarlsruhe Institute of Technology (KIT)
Ude, AlesJozef Stefan Institute
Gams, AndrejJozef Stefan Institute
13:30-13:40, Paper ThOral5_3.2 Add to My Program
Parallel Link-Based Light-Weight Leg Design for Bipedal Robots
Tazaki, YuichiKobe University
13:40-13:50, Paper ThOral5_3.3 Add to My Program
Design of a Flexible Articulated Robotic Hand for a Humanoid Robot
Tian, LiNANYANG Technological University
Liu, JingNanyang Technological University
Thalmann, Nadia MagnenatNanyang Technological University
Thalmann, DanielNanyang Technological University
Zheng, JianminNanyang Technological University
13:50-14:00, Paper ThOral5_3.4 Add to My Program
Exploiting Adaptability in Soft Feet for Sensing Contact Forces
Mura, DomenicoUniversity of Pisa
Della Santina, CosimoMassachusetts Institute of Technology
Piazza, CristinaUniversitą Di Pisa
Frizza, IreneUniversity of Pisa
Morandi, CeciliaUniversity of Pisa
Garabini, ManoloUniversitą Di Pisa
Grioli, GiorgioIstituto Italiano Di Tecnologia
Catalano, Manuel GiuseppeIstituto Italiano Di Tecnologia
14:00-14:10, Paper ThOral5_3.5 Add to My Program
A Robot Design Method for Weight Saving Aimed at Dynamic Motions: Design of Humanoid JAXON3-P and Realization of Jump Motions
Kojima, KunioThe University of Tokyo
Kojio, YutaThe University of Tokyo
Ishikawa, TatsuyaUniversity of Tokyo
Sugai, FumihitoThe University of Tokyo
Kakiuchi, YoheiThe University of Tokyo
Okada, KeiThe University of Tokyo
Inaba, MasayukiThe University of Tokyo
ThInteractive4_3 Interactive, Toronto I and II Add to My Program 
Interactive Session IV  
Chair: Suleiman, WaelUniversity of Sherbrooke
14:10-15:00, Paper ThInteractive4_3.1 Add to My Program
Closed-Chain Pose Estimation from Wearable Sensors
Joukov, VladimirUniversity of Waterloo
Lin, Jonathan Feng-ShunUniversity of Waterloo
Kulic, DanaUniversity of Waterloo
14:10-15:00, Paper ThInteractive4_3.2 Add to My Program
Modification of Muscle Antagonistic Relations and Hand Trajectory on the Dynamic Motion of Musculoskeletal Humanoid
Koga, YuyaThe University of Tokyo
Kawaharazuka, KentoThe University of Tokyo
Onitsuka, MoritakaThe University of Tokyo
Makabe, TasukuThe University of Tokyo
Tsuzuki, KeiUniversity of Tokyo
Omura, YusukeThe University of Tokyo
Asano, YukiThe University of Tokyo
Okada, KeiThe University of Tokyo
Inaba, MasayukiThe University of Tokyo
14:10-15:00, Paper ThInteractive4_3.3 Add to My Program
Affordance Action Learning with State Trajectory Representation for Robotic Manipulation
Li, ZijiaUniversity of Tokyo
Okada, KeiThe University of Tokyo
Inaba, MasayukiThe University of Tokyo
14:10-15:00, Paper ThInteractive4_3.4 Add to My Program
Design and Assessment of a Single-Size Semi-Soft Assistive Mitten for People with Cervical Spinal Cord Injuries
Kaneishi, DaisukeUniversity of California, Berkeley
Leu, Jessica En ShiuanUniversity of California, Berkeley
O'Donnell, Julia AUniversity of California Berkeley
Affleck, CampbellUC Berkeley
Matthew, Robert, PeterUC Berkeley
McPherson, AndrewUniversity of California Berkeley
Tomizuka, MasayoshiUniversity of California
Stuart, HannahUC Berkeley
14:10-15:00, Paper ThInteractive4_3.5 Add to My Program
Unified Foothold Selection and Motion Planning for Legged Systems in Real-Time
Crews, StevenCarnegie Mellon University
Agrawal, SapanVisvesvaraya National Institute of Technology, Nagpur
Travers, MatthewCarnegie Mellon University
14:10-15:00, Paper ThInteractive4_3.6 Add to My Program
COMTEST Project: A Complete Modular Test Stand for Human and Humanoid Posture Control and Balance
Lippi, VittorioTU Berlin
Mergner, ThomasNeurology, University Clinics, Freiburg
Seel, ThomasTU Berlin
Maurer, ChristophUniversity of Freiburg Medical Center
14:10-15:00, Paper ThInteractive4_3.7 Add to My Program
Feature Space Exploration for Motion Classification Based on Multi-Modal Sensor Data for Lower Limb Exoskeletons
Daab, TilmanKarlsruhe Institute of Technology
Patzer, IsabelKarlsruhe Institute of Technology (KIT)
Mikut, RalfKarlsruhe Institute of Technology
Asfour, TamimKarlsruhe Institute of Technology (KIT)
14:10-15:00, Paper ThInteractive4_3.8 Add to My Program
Integration of Dual-Arm Manipulation in a Passivity Based Whole-Body Controller for Torque-Controlled Humanoid Robots
Garcia-Haro, Juan MiguelCarlos III University of Madrid
Henze, BerndGerman Aerospace Center (DLR)
Mesesan, GeorgeGerman Aerospace Center (DLR)
Martinez, SantiagoUniversidad Carlos III De Madrid
Ott, ChristianGerman Aerospace Center (DLR)
14:10-15:00, Paper ThInteractive4_3.9 Add to My Program
Gait Generation Using Intrinsically Stable MPC in the Presence of Persistent Disturbances
Smaldone, Filippo MariaSapienza Universitą Di Roma
Scianca, NicolaSapienza University of Rome
Modugno, ValerioSapienza Universitą Di Roma
Lanari, LeonardoSapienza University of Rome
Oriolo, GiuseppeSapienza University of Rome
14:10-15:00, Paper ThInteractive4_3.10 Add to My Program
Vertical COM Motion Generation to Reduce Slipping and Mechanical Work During Walking
Park, SuminSeoul National University
Park, JaeheungSeoul National University
14:10-15:00, Paper ThInteractive4_3.11 Add to My Program
QP-Based Task-Space Hybrid / Parallel Control for Multi-Contact Motion in a Torque-Controlled Humanoid Robot
Cisneros Limon, RafaelNational Institute of Advanced Industrial Science and Technology
Benallegue, MehdiAIST Japan
Morisawa, MitsuharuNational Inst. of AIST
Kanehiro, FumioNational Inst. of AIST
14:10-15:00, Paper ThInteractive4_3.12 Add to My Program
Online DCM Trajectory Generation for Push Recovery of Torque-Controlled Humanoid Robots
Shafiee-Ashtiani, MiladIstituto Italiano Di Tecnologia
Romualdi, GiulioFondazione Istituto Italiano Di Tecnologia
Dafarra, StefanoIstituto Italiano Di Tecnologia
Andrade Chavez, Francisco JavierInstituto Italiano Di Tecnologia
Pucci, DanieleItalian Institute of Technology
14:10-15:00, Paper ThInteractive4_3.13 Add to My Program
Whole-Body Geometric Retargeting for Humanoid Robots
Darvish, KouroshItalian Institute of Technology
Tirupachuri, YeshasviItalian Institute of Technology
Romualdi, GiulioFondazione Istituto Italiano Di Tecnologia
Rapetti, LorenzoIIT
Ferigo, DiegoIstituto Italiano Di Tecnologia
Andrade Chavez, Francisco JavierInstituto Italiano Di Tecnologia
Pucci, DanieleItalian Institute of Technology
14:10-15:00, Paper ThInteractive4_3.14 Add to My Program
State of the Art of Assessment Metrics for Humanoid Robot Locomotion
Aller, FelixUniversity of Heidelberg
Pinto Fernandez, DavidCSIC
Torricelli, DiegoConsejo Superior De Investigaciones Cientķficas
Pons, Jose LuisSpanish Research Council, CSIC
Mombaur, KatjaHeidelberg University
14:10-15:00, Paper ThInteractive4_3.15 Add to My Program
Learning Object-Action Relations from Bimanual Human Demonstration Using Graph Networks
Dreher, Christian R. G.Karlsruhe Institute of Technology (KIT)
Waechter, MirkoKarlsruhe Institute of Technology (KIT)
Asfour, TamimKarlsruhe Institute of Technology (KIT)
14:10-15:00, Paper ThInteractive4_3.16 Add to My Program
IMU-Based State Estimation for a Legged Robot with Multiple Flexibilities
Vigne, MatthieuMINES ParisTech, PSL Research University
El Khoury, AntonioWandercraft
Di Meglio, FlorentCAS - Centre Automatique Et Systčmes - MINES ParisTech, PSL Rese
Petit, NicolasEcole Des Mines De Paris
14:10-15:00, Paper ThInteractive4_3.17 Add to My Program
Online Identification of Interaction Behaviors from Haptic Data During Collaborative Object Transfer
Kucukyilmaz, AyseUniversity of Lincoln
Issak, IllimarUniversity of Lincoln
ThOral6_3 Regular, Toronto I and II Add to My Program 
Perception and Interaction  
Chair: Sandini, GiulioItalian Institute of Technology
Co-Chair: Behnke, SvenUniversity of Bonn
15:30-15:40, Paper ThOral6_3.1 Add to My Program
Building a Library of Tactile Skills Based on FingerVision
Belousov, BorisTechnische Universität Darmstadt
Sadybakasov, AlymbekTechnische Universität Darmstadt
Wibranek, BastianTechnische Universität Darmstadt
Veiga, Filipe FernandesMIT
Tessmann, OliverTechnische Universität Darmstadt
Peters, JanTechnische Universität Darmstadt
15:40-15:50, Paper ThOral6_3.2 Add to My Program
Motion Retargeting and Control for Teleoperated Physical Human-Robot Interaction
Kaplish, AkshitUniversity of Washington, Seattle
Yamane, KatsuHonda
15:50-16:00, Paper ThOral6_3.3 Add to My Program
What Kinds of Robot's Touch Will Match Expressed Emotions?
Zheng, XiqianOsaka University
Shiomi, MasahiroATR
Minato, TakashiATR
Ishiguro, HiroshiOsaka University
16:00-16:10, Paper ThOral6_3.4 Add to My Program
Refining 6D Object Pose Predictionsusing Abstract Render-And-Compare
Periyasamy, Arul SelvamUniversity of Bonn
Schwarz, MaxUniversity Bonn
Behnke, SvenUniversity of Bonn
16:10-16:20, Paper ThOral6_3.5 Add to My Program
Learning of Complex-Structured Tasks from Verbal Instruction
Nicolescu, MonicaUniversity of Nevada, Reno
Arnold, NatalieUniveristy of Nevada, Reno
Blankenburg, JanelleUniversity of Nevada, Reno
Feil-Seifer, DavidUniversity of Nevada, Reno
Banisetty, Santosh BalajeeUniversity of Nevada, Reno
Nicolescu, MirceaUniversity of Nevada, Reno
Palmer, AndrewUniversity of Nevada, Reno
Monteverde, ThorUniversity of Nevada, Reno
ThKeynote3_3 Keynote, Toronto I and II Add to My Program 
Keynote: Human-Robot Interaction
Arash Ajoudani & Goldie Nejat
Chair: Yamane, KatsuHonda
ThAward_Ceremony_3 Award, Toronto I and II Add to My Program 
Award Ceremony  
Chair: Ott, ChristianGerman Aerospace Center (DLR)




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