2017 IEEE International Conference on Robotics and Automation
May 29 - June 3, 2017, Marina Bay Sands Convention Centre, Singapore

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Last updated on September 21, 2017. This conference program is tentative and subject to change

Technical Program for Tuesday May 30, 2017

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TUOR Opening, Grand ballroom Add to My Program 
Opening Ceremony  
 
 
TUPL Plenary Session, Grand ballroom Add to My Program 
Modeling the Possibilities: From the Chalkboard to the Race Track to the
World Beyond - J Christian Gerdes (Stanford University, USA)
 
 
 
TUA1 Regular Session, Rm. 4011 Add to My Program 
Actuators 1  
 
Chair: Cho, Kyu-JinSeoul National Univ. Biorobotics Lab
Co-Chair: Tsukagoshi, HideyukiTokyo Inst. of Tech
 
09:55-10:00, Paper TUA1.1 Add to My Program
A Structure Preserving Nondimensionalization of Hydraulic Rotational Joints
Sakai, SatoruShinshu Univ
 
10:00-10:05, Paper TUA1.2 Add to My Program
Mechanical Design of a Compact Serial Variable Stiffness Actuator (SVSA) Based on Lever Mechanism
Sun, JiantaoWuhan Univ
Zhang, YubingWuhan Univ
Zhang, CongWuhan Univ
Guo, ZhaoWuhan Univ
Xiao, XiaohuiWuhan Univ
 
10:05-10:10, Paper TUA1.3 Add to My Program
Toward Compliant, Fast, High-Precision, and Low-Cost Manipulator with Hydraulic Hybrid Servo Booster
Hyon, Sang-HoRitsumeikan Univ
 
10:10-10:15, Paper TUA1.4 Add to My Program
Design of a Structure-Controlled Variable Stiffness Actuator Based on Rotary Flexure Hinges
Li, XiongSIMTech
Chen, WenjieSingapore Inst. of Manufacturing Tech
Lin, WeiSIMTech, A*STAR
 
10:15-10:20, Paper TUA1.5 Add to My Program
Intrinsically Backdrivable Hydraulic Servovalve for Interactive Robot Control
Yoo, SunkyumPOSTECH
Lee, WoongyongPOSTECH
Chung, Wan KyunPOSTECH
 
10:20-10:25, Paper TUA1.6 Add to My Program
A Hybrid Actuator with Rigid and Soft Components
Chen, YaohuiMonash Univ
Le, SingMonash Univ
Tan, Qiao ChuMonash Univ
Lau, OscarMonash Univ
Wan, FangNA
Song, ChaoyangMonash Univ
 
10:25-10:30, Paper TUA1.7 Add to My Program
Scalable Pneumatic and Tendon Driven Robotic Joint Inspired by Jumping Spiders
Sprowitz, AlexanderMax Planck Inst. for Intelligent Systems
Goettler, ChantalMax Planck Inst. for Intelligent Systems Stuttgart
Sinha, AyushIndian Inst. of Tech. Kanpur
Caer, CorentinHoras Mann School, NY
Oztekin, Mehmet UgurMiddle East Tech. Univ
Petersen, Kirstin HagelskjaerCornell Univ
Sitti, MetinMax-Planck Inst. for Intelligent Systems
 
10:30-10:35, Paper TUA1.8 Add to My Program
Position-Based PD Control Design for Hydraulic Robots Using Passive Subsystems in Multi-Time Scales
Lee, WoongyongPOSTECH
Chung, Wan KyunPOSTECH
 
TUA2 Regular Session, Rm. 4111 Add to My Program 
Optimization and Optimal Control  
 
Chair: Abbott, JakeUniv. of Utah
Co-Chair: Hirata, YasuhisaTohoku Univ
 
09:55-10:00, Paper TUA2.1 Add to My Program
Fast Second-Order Cone Programming for Safe Mission Planning
Zhong, KaiUniv. of Texas at Austin
Jain, PrateekMicrosoft
Kapoor, AshishMicroSoft
 
10:00-10:05, Paper TUA2.2 Add to My Program
Exact and Efficient Hamilton-Jacobi Guaranteed Safety Analysis Via System Decomposition
Chen, MoUC Berkeley
Herbert, SylviaUC Berkeley
Tomlin, ClaireUC Berkeley
 
10:05-10:10, Paper TUA2.3 Add to My Program
An Efficient Optimal Planning and Control Framework for Quadrupedal Locomotion
Farshidian, FarbodETH Zurich
Neunert, MichaelETH Zurich
Winkler, Alexander, WayneETH Zurich
Rey, Gonzalo JavierMoog Inc
Buchli, JonasETH Zurich
 
10:10-10:15, Paper TUA2.4 Add to My Program
Weighted-D^2 Sampling-Based Initialization and Guaranteed Sensor Coverage
Deshpande, AjayMIT
 
10:15-10:20, Paper TUA2.5 Add to My Program
A KITE in the Wind: Smooth Trajectory Optimization in a Moving Reference Frame
Dugar, VishalCarnegie Mellon Univ
Choudhury, SanjibanCarnegie Mellon Univ
Scherer, SebastianCarnegie Mellon Univ
 
10:20-10:25, Paper TUA2.6 Add to My Program
Computing Minimum-Power Dipole Solutions for Interdipole Forces Using Nonlinear Constrained Optimization with Application to Electromagnetic Formation Flight
Abbott, JakeUniv. of Utah
Brink, JosephUniv. of Utah
Osting, BraxtonUniv. of Utah
 
10:25-10:30, Paper TUA2.7 Add to My Program
Implicit Robot Force Control Based on Set Invariance
Parigi-Polverini, MatteoPol. Di Milano
Nicolis, DavidePol. Di Milano
Zanchettin, Andrea MariaPol. Di Milano
Rocco, PaoloPol. Di Milano
 
10:30-10:35, Paper TUA2.8 Add to My Program
A New Framework for Optimal Path Planning of Rectangular Robots Using a Weighted L_p Norm
Hyun, Nak-seung PatrickGeorgia Inst. of Tech
Vela, PatricioGeorgia Inst. of Tech
Verriest, ErikGeorgia Tech
 
TUA3 Regular Session, Rm. 4311/4312 Add to My Program 
Computer Vision 1  
 
Chair: Xiao, JingUNC Charlotte
Co-Chair: Li, You-FuCity Univ. of Hong Kong
 
09:55-10:00, Paper TUA3.1 Add to My Program
DAP3D-Net: Where, What and How Actions Occur in Videos?
Liu, LiNorthumbria Univ
Zhou, YiNorthumbria Univ
Shao, LingUniv. of East Anglia
 
10:00-10:05, Paper TUA3.2 Add to My Program
LS-ELAS: Line Segment Based Efficient Large Scale Stereo Matching
Ait Jellal, RadouaneUniv. of Tuebingen, Germany
Lange, ManuelUniv. of Tuebingen
Wassermann, BenjaminUniv. of Tübingen
Schilling, AndreasUniv. Tübingen
Zell, AndreasUniv. of Tübingen
 
10:05-10:10, Paper TUA3.3 Add to My Program
Growth Measurement of Tomato Fruit Based on Whole Image Processing
Fukui, RuiThe Univ. of Tokyo
Schneider, JulienEc. Pol. Fédérale De Lausanne
Nishioka, TsurugiUniv. of Tokyo
Warisawa, Shin'ichiThe Univ. of Tokyo
Yamada, IchiroUniv. of Tokyo
 
10:10-10:15, Paper TUA3.4 Add to My Program
Development of Precise Mobile Gaze Tracking System Based on Online Sparse Gaussian Process Regression and Smooth-Pursuit Identification
Su, DanCity Univ. of Hong Kong
Li, You-FuCity Univ. of Hong Kong
 
10:15-10:20, Paper TUA3.5 Add to My Program
A Comparative Analysis of Tightly-Coupled Monocular, Binocular, and Stereo VINS
Paul, Mrinal KantiUniv. of Minnesota - Twin Cities
Wu, KejianUniv. of Minnesota
Hesch, Joel A.Google Inc
Nerurkar, EshaUniv. of Minnesota
Roumeliotis, StergiosUniv. of Minnesota
 
10:20-10:25, Paper TUA3.6 Add to My Program
SE3-Nets: Learning Rigid Body Motion Using Deep Neural Networks
Byravan, ArunkumarUniv. of Washington
Fox, DieterUniv. of Washington
 
10:25-10:30, Paper TUA3.7 Add to My Program
Probabilistic Articulated Real-Time Tracking for Robot Manipulation
Garcia Cifuentes, CristinaMax Planck Inst. for Intelligent Systems
Issac, JanMax Planck Inst. for Intelligent Systems
Wüthrich, ManuelMax-Planck-Inst. for Intelligent Systems
Schaal, StefanMPI Intelligent Systems & Univ. of Southern California
Bohg, JeannetteMax-Planck Inst. for Intelligent Systems
 
10:30-10:35, Paper TUA3.8 Add to My Program
Self-Supervised Learning of Dense Visual Descriptors
Schmidt, TannerUniv. of Washington
Newcombe, RichardUniv. of Washington
Fox, DieterUniv. of Washington
 
TUA4 Regular Session, Rm. 4411/4412 Add to My Program 
ITS Perception & Planning  
 
Chair: De Souza, Alberto F.Univ. Federal Do Espírito Santo
Co-Chair: Posner, IngmarOxford Univ
 
09:55-10:00, Paper TUA4.1 Add to My Program
Evaluation of Automated Vehicles in the Frontal Cut-In Scenario - an Enhanced Approach Using Piecewise Mixture Models
Huang, ZhiyuanUniv. of Michigan, Ann Arbor
Zhao, DingUniv. of Michigan, Ann Arbor
Lam, HenryUniv. of Michigan, Ann Arbor
LeBlanc, DaveUniv. of Michigan, Ann Arbor
Peng, HueiUniv. of MIchigan
 
10:00-10:05, Paper TUA4.2 Add to My Program
Find Your Own Way: Weakly-Supervised Segmentation of Path Proposals for Urban Autonomy
Barnes, DanUniv. of Oxford
Maddern, WillUniv. of Oxford
Posner, IngmarOxford Univ
 
10:05-10:10, Paper TUA4.3 Add to My Program
Ego-Centric Traffic Behavior Understanding through Multi-Level Vehicle Trajectory Analysis
Xu, DonghaoPeking Univ
He, XuPeking Univ
Zhao, HuijingPeking Univ
Cui, JinshiPeking Univ
Zha, HongbinPeking Univ
Guillemard, FranckPSA Peugeot Citroen, Velizy, France
Geronimi, StephanePSA Peugeot Citroen, Velizy, France
Aioun, FrancoisPSA Peugeot Citroen, Velizy, France
 
10:10-10:15, Paper TUA4.4 Add to My Program
Embedding Structured Contour and Location Prior in Siamesed Fully Convolutional Networks for Road Detection
Gao, JunyuNorthwestern Pol. Univ
Wang, QiNorthwestern Pol. Univ
Yuan, YuanNorthwestern Pol. Univ
 
10:15-10:20, Paper TUA4.5 Add to My Program
A Model-Predictive Motion Planner for the IARA Autonomous Car
Cardoso, ViniciusUniv. Federal Do Espirito Santo
Oliveira, JosiasUniv. Federal Do Espírito Santo
Teixeira, ThomasUniv. Federal Do Espírito Santo
Badue, ClaudineUniv. Federal Do Espírito Santo
Wall Mutz, FilipeUniv. Federal Do Espírito Santo
Oliveira-Santos, ThiagoUniv. Federal Do Espirito Santo - UFES
Veronese, LucasUniv. Técnica Federico Santa María
De Souza, Alberto F.Univ. Federal Do Espírito Santo
 
10:20-10:25, Paper TUA4.6 Add to My Program
Vehicle Tracking Using Extended Object Methods: An Approach for Fusing Radar and Laser
Scheel, AlexanderUlm Univ
Reuter, StephanUniv. Ulm, Inst. Für Mess-, Regel Undmikrotechnik
Dietmayer, KlausUniv. of Ulm
 
10:25-10:30, Paper TUA4.7 Add to My Program
An Online Probabilistic Road Intersection Detector
Ballardini, Augusto LuisUniv. Degli Studi Milano Bicocca
Cattaneo, DanieleUniv. Degli Studi Milano Bicocca
Fontana, SimoneUniv. of Milano Bicocca
Sorrenti, Domenico G.Univ. Di Milano - Bicocca
 
10:30-10:35, Paper TUA4.8 Add to My Program
Risk Assessment for Automatic Lane Change Maneuvers on Highways
Noh, SamyeulElectronics and Telecommunications Res. Inst. (ETRI)
An, KyounghwanETRI
 
TUA5 Regular Session, Rm. 4511/4512 Add to My Program 
Multi-Robot Systems 1  
 
Chair: Lopez-Nicolas, GonzaloUniv. De Zaragoza
Co-Chair: Kyriakopoulos, KostasNational Tech. Univ. of Athens
 
09:55-10:00, Paper TUA5.1 Add to My Program
Detachable Modular Robot Capable of Cooperative Climbing and Multi Agent Exploration
Turlapati, Sri HarshaIIIT Hyderabad
Srivastava, AnkurMotilal Nehru National Inst. of Tech
Krishna, MadhavaIIIT Hyderabad
Shah, Suril VijaykumarIndian Inst. of Tech. Jodhpur
 
10:00-10:05, Paper TUA5.2 Add to My Program
Formation of Differential-Drive Vehicles with Field-Of-View Constraints for Enclosing a Moving Target
Lopez-Nicolas, GonzaloUniv. De Zaragoza
Aranda, MiguelUniv. De Zaragoza
Mezouar, YoucefSIGMA-Clermont
 
10:05-10:10, Paper TUA5.3 Add to My Program
Safe Decentralized and Reconfigurable Multi-Agent Control with Guaranteed Convergence
Vrohidis, ConstantinosNational Tech. Univ. of Athens
Bechlioulis, CharalamposNational Tech. Univ. of Athens
Kyriakopoulos, KostasNational Tech. Univ. of Athens
 
10:10-10:15, Paper TUA5.4 Add to My Program
Distributed Multi-Robot Coordination for Dynamic Perimeter Surveillance in Uncertain Environments
Jahn, AlexanderFederal Univ. of Minas Gerais
Javanmard Alitappeh, RezaUniv. Federal De Minas Gerais
Saldana, David JulianUniv. Federal De Minas Gerais
Pimenta, LucianoUniv. Federal De Minas Gerais
Santos, André G.Federal Univ. of Viçosa
Campos, Mario MontenegroUniv. Federal De Minas Gerais
 
10:15-10:20, Paper TUA5.5 Add to My Program
Distributed Data Gathering with Buffer Constraints and Intermittent Communication
Guo, MengDuke Univ
Zavlanos, Michael M.Duke Univ
 
10:20-10:25, Paper TUA5.6 Add to My Program
Decentralized Non-Communicating Multiagent Collision Avoidance with Deep Reinforcement Learning
Chen, YufanMassachusetts Inst. of Tech
Liu, MiaoMIT
Everett, MichaelMassachusetts Inst. of Tech
How, Jonathan PatrickMassachusetts Inst. of Tech
 
10:25-10:30, Paper TUA5.7 Add to My Program
Decentralized Matroid Optimization for Topology Constraints in Multi-Robot Allocation Problems
Williams, RyanVirginia Pol. Inst. and State Univ
Gasparri, AndreaUniv. Degli Studi Roma Tre
Ulivi, GiovanniUniv. Di Roma Tre
 
10:30-10:35, Paper TUA5.8 Add to My Program
Formations for Resilient Robot Teams
Guerrero-Bonilla, LuisUniv. of Pennsylvania
Prorok, AmandaUniv. of Pennsylvania
Kumar, VijayUniv. of Pennsylvania
 
TUA6 Regular Session, Rm. 4611/4612 Add to My Program 
Learning and Adaptive Systems 1  
 
Chair: Lin, Hsiu-ChinUniv. of Edinburgh
Co-Chair: Schoellig, Angela P.Univ. of Toronto
 
09:55-10:00, Paper TUA6.1 Add to My Program
Learning Task Constraints in Operational Space Formulation
Lin, Hsiu-ChinUniv. of Edinburgh
Ray, PrabhakarKing's Coll. London
Howard, MatthewKing's Coll. London
 
10:00-10:05, Paper TUA6.2 Add to My Program
Autonomous Interpretation of Demonstrations for Modification of Dynamical Movement Primitives
Karlsson, MartinLund Univ
Johansson, RolfLund Univ
Robertsson, AndersLTH, Lund Univ
 
10:05-10:10, Paper TUA6.3 Add to My Program
Learning Multimodal Models for Robot Dynamics with a Mixture of Gaussian Process Experts
McKinnon, ChristopherUniv. of Toronto
Schoellig, Angela P.Univ. of Toronto
 
10:10-10:15, Paper TUA6.4 Add to My Program
A Learning-Based Shared Control Architecture for Interactive Task Execution
Abi-Farraj, FirasCNRS-Irisa
Osa, TakayukiTech. Univ. of Darmstadt
Pedemonte, NicolòCNRS at Irisa and Inria Rennes Bretagne Atlantique
Peters, JanTech. Univ. Darmstadt
Neumann, GerhardTU Darmstadt
Robuffo Giordano, PaoloCentre National De La Recherche Scientifique (CNRS)
 
10:15-10:20, Paper TUA6.5 Add to My Program
Learning from the Hindsight Plan -- Episodic MPC Improvement
Tamar, AvivUC Berkeley
Thomas, GarrettUC Berkeley
Zhang, TianhaoUniv. of California, Berkeley
Levine, SergeyUC Berkeley
Abbeel, PieterUC Berkeley
 
10:20-10:25, Paper TUA6.6 Add to My Program
High-Precision Trajectory Tracking in Changing Environments through L1 Adaptive Feedback and Iterative Learning
Pereida Perez, KarimeUniv. of Toronto
Duivenvoorden, Rikky Ricardo Petrus RufinoUniv. of Toronto
Schoellig, Angela P.Univ. of Toronto
 
10:25-10:30, Paper TUA6.7 Add to My Program
A Systematic Approach for Minimizing Physical Experiments to Identify Optimal Trajectory Parameters for Robots
Kabir, Ariyan MUniv. of Southern California
Langsfeld, JoshuaUniv. of Maryland
Zhuang, CunboUniv. of Maryland, Coll. Park
Kaipa, Krishnanand N.Old Dominion Univ
Gupta, Satyandra K.Univ. of Southern California
 
10:30-10:35, Paper TUA6.8 Add to My Program
Comparing Human-Centric and Robot-Centric Sampling for Robot Deep Learning from Demonstrations
Laskey, MichaelUniv. of California, Berkeley
Chuck, CalebUniv. of California, Berkeley
Lee, JonathanUniv. of California Berkeley
Mahler, JeffreyUniv. of California, Berkeley
Krishnan, SanjayUniv. of California Berkeley
Jamieson, KevinUC Berkeley
Dragan, AncaUniv. of California Berkeley
Goldberg, KenUC Berkeley
 
TUA7 Regular Session, Rm. 4711/4712 Add to My Program 
Force and Tactile Sensing 1  
 
Chair: Cheng, GordonTech. Univ. Munich
Co-Chair: Nori, FrancescoIstituto Italiano Di Tecnologia
 
09:55-10:00, Paper TUA7.1 Add to My Program
Multi-Label Tactile Property Analysis
Liu, HuapingTsinghua Univ
 
10:00-10:05, Paper TUA7.2 Add to My Program
Reliable Object Handover through Tactile Force Sensing and Effort Control in the Shadow Robot Hand
Gómez Eguíluz, AugustoUniv. of Ulster
Rano, InakiUlster Univ
Coleman, SonyaUniv. of Ulster
McGinnity, MartinUniv. of Ulster
 
10:05-10:10, Paper TUA7.3 Add to My Program
Touch Based Localization of Parts for High Precision Manufacturing
Saund, BradCarnegie Mellon
Chen, ShiyuanCarnegie Mellon Univ
Simmons, ReidCarnegie Mellon Univ
 
10:10-10:15, Paper TUA7.4 Add to My Program
Passivity-Based Stability in Explicit Force Control of Robots
Balachandran, RibinDLR
Jorda, MikaelStanford Univ
Artigas, JordiDLR - German Aerospace Center
Ryu, Jee-HwanKorea Univ. of Tech. and Education
Khatib, OussamaStanford Univ
 
10:15-10:20, Paper TUA7.5 Add to My Program
Efficient Event-Driven Reactive Control for Large Scale Robot Skin
Bergner, FlorianTech. Univ. of Munich
Dean-Leon, EmmanuelTech. Univ. Muenchen
Cheng, GordonTech. Univ. Munich
 
10:20-10:25, Paper TUA7.6 Add to My Program
Skin Normal Force Calibration Using Vacuum Bags
Kangro, JoanItalian Inst. of Tech
Traversaro, SilvioIstituto Italiano Di Tecnologia
Pucci, DanieleItalian Inst. of Tech
Nori, FrancescoIstituto Italiano Di Tecnologia
 
10:25-10:30, Paper TUA7.7 Add to My Program
A Highly Sensitive Multimodal Capacitive Tactile Sensor
Le, Thuy Hong LoanEc. De Tech. Superieure
Maslyczyk, AlexisEc. De Tech. Superieur MTL
Roberge, Jean-PhilippeÉcole De Tech. Supérieure
Duchaine, VincentEc. De Tech. Superieure
 
10:30-10:35, Paper TUA7.8 Add to My Program
Incipient Slip Detection and Recovery for Controllable Gecko-Inspired Adhesion
Wu, Xin AliceStanford Univ
Christensen, DavidStanford Univ
Suresh, SrinivasanStanford Univ
Jiang, HaoStanford Univ
Roderick, William Robert ThomasStanford Univ
Cutkosky, MarkStanford Univ
 
TUA8 Regular Session, Rm. 4613/4713 Add to My Program 
Haptics and Haptic Interfaces  
 
Chair: Okamura, Allison M.Stanford Univ
Co-Chair: Konyo, MasashiTohoku Univ
 
09:55-10:00, Paper TUA8.1 Add to My Program
Effects of Discretization on the K-Width of Series Elastic Actuators
Losey, DylanRice Univ
O'Malley, MarciaRice Univ
 
10:00-10:05, Paper TUA8.2 Add to My Program
WRAP: Wearable, Restricted-Aperture Pneumatics for Haptic Guidance
Raitor, MichaelStanford Univ
Walker, JulieStanford Univ
Okamura, Allison M.Stanford Univ
Culbertson, HeatherStanford Univ
 
10:05-10:10, Paper TUA8.3 Add to My Program
Blindfolded Robotic Teleoperation Using Spatial Force Feedback to the Toe
Hagengruber, AnnetteGerman Aerospace Center
Hoeppner, HannesDLR - German Aerospace Center
Vogel, JoernGerman Aerospace Center
 
10:10-10:15, Paper TUA8.4 Add to My Program
Proton 2: Increasing the Sensitivity and Portability of a Visuo-Haptic Surface Interaction Recorder
Burka, AlexUniv. of Pennsylvania
Rajvanshi, AbhinavUniv. of Pennsylvania
Allen, SarahUniv. of Pennsylvania
Kuchenbecker, Katherine J.Univ. of Pennsylvania
 
10:15-10:20, Paper TUA8.5 Add to My Program
On the Passivity of Mechanical Integrators in Haptic Rendering
Kim, MyungsinSeoul National Univ
Kim, JuhyeokSeoul National Univ
Lee, YongjunSeoul National Univ
Lee, DongjunSeoul National Univ
 
10:20-10:25, Paper TUA8.6 Add to My Program
A Practically Linear Relation between Time Delay and the Optimal Settling Time of a Haptic Device
Hulin, ThomasGerman Aerospace Center (DLR)
 
10:25-10:30, Paper TUA8.7 Add to My Program
Collision Representation Using Vibrotactile Cues to Bimanual Impact Localization for Mobile Robot Operations
Gongora Flores, Daniel MarcellTohoku Univ
Nagano, HikaruTohoku Univ
Suzuki, YosukeKanazawa Univ
Konyo, MasashiTohoku Univ
Tadokoro, SatoshiTohoku Univ
 
10:30-10:35, Paper TUA8.8 Add to My Program
Variable Damping Force Tunnel for Gait Training Using ALEX III
Stegall, PaulUniv. of Pennsylvania
Zanotto, DamianoStevens Inst. of Tech
Agrawal, SunilColumbia Univ
 
TUA9 Regular Session, Rm. 4811/4812 Add to My Program 
TRO Session - Perception and Planning  
 
Chair: Park, FrankSeoul National Univ
Co-Chair: Cadena Lerma, CesarETH Zurich
 
09:55-10:10, Paper TUA9.1 Add to My Program
Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age (I)
Cadena Lerma, CesarETH Zurich
Carlone, LucaMassachusetts Inst. of Tech
Carrillo, HenryUniv. Sergio Arboleda
Latif, YasirUniv. of Adelaide
Scaramuzza, DavideUniv. of Zurich
Neira, JoséUniv. De Zaragoza
Reid, IanUniv. of Adelaide
Leonard, JohnMIT
 
10:10-10:25, Paper TUA9.2 Add to My Program
Optimal Multi-Robot Path Planning on Graphs: Complete Algorithms and Effective Heuristics (I)
Yu, JingjinRutgers Univ
LaValle, Steven MUniv. of Illinois
 
10:25-10:40, Paper TUA9.3 Add to My Program
Learning the Problem-Optimum Map: Analysis and Application to Global Optimization in Robotics (I)
Hauser, KrisDuke Univ
 
10:40-10:55, Paper TUA9.4 Add to My Program
Rapidly-Exploring Random Cycles: Persistent Estimation of Spatio-Temporal Fields with Multiple Sensing Robots (I)
Lan, XiaodongBoston Univ
Schwager, MacStanford Univ
 
10:55-11:10, Paper TUA9.5 Add to My Program
Sequential Action Control: Closed-Form Optimal Control for Nonlinear and Nonsmooth Systems (I)
Ansari, AlexanderCarnegie Mellon Univ
Murphey, ToddNorthwestern Univ
 
TUA10 Regular Session, Rm. 4911/4912 Add to My Program 
Rehabilitation Robotics  
 
Chair: Lee, HyunglaeArizona State Univ
Co-Chair: Park, JaeheungSeoul National Univ
 
09:55-10:00, Paper TUA10.1 Add to My Program
A Rehabilitation Exercise Robot for Treating Low Back Pain
Choi, WonjeSeoul National Univ
Won, JongseokSeoul National Univ
Cho, HyunbumGraduate School of Convergence Science and Tech. Seoul Nat
Park, JaeheungSeoul National Univ
 
10:00-10:05, Paper TUA10.2 Add to My Program
A Novel Framework for Optimizing Motor (Re)-Learning with a Robotic Exoskeleton
Agarwal, PriyanshuUniv. of Texas at Austin
Deshpande, AshishUniv. of Texas
 
10:05-10:10, Paper TUA10.3 Add to My Program
A 3 Wire Body Weight Support System for a Large Treadmill
Sabetian, PouyaUniv. of Utah
Hollerbach, JohnUniv. of Utah
 
10:10-10:15, Paper TUA10.4 Add to My Program
Design and Validation of a Torque Dense, Highly Backdrivable Powered Knee-Ankle Orthosis
Zhu, HanqiUniv. of Texas at Dallas
Doan, JackUniv. of Texas at Dallas
Stence, CalvinThe Univ. of Texas at Dallas
Lv, GeUniv. of Texas at Dallas
Elery, TobyUniv. of Texas at Dallas
Gregg, Robert D.Univ. of Texas at Dallas
 
10:15-10:20, Paper TUA10.5 Add to My Program
Design and Validation of a Multi-Axis Robotic Platform for the Characterization of Ankle Neuromechanics
Nalam, VarunArizona State Univ
Lee, HyunglaeArizona State Univ
 
10:20-10:25, Paper TUA10.6 Add to My Program
A Robotic Orthosis with a Cable Differential Mechanism
Park, JaehwanKorea Inst. of Science and Tech
Park, SeunghanKorea Inst. of Science and Tech
Park, Chan HoKorea Inst. of Science and Tech
Jung, SeungminKorea Inst. of Science and Tech
Kim, ChankyuKorea Inst. of Science and Tech
Park, Jong HyeonHanyang Univ
Choi, JunhoKorea Inst. of Science and Tech
 
10:25-10:30, Paper TUA10.7 Add to My Program
Stability of the Human Ankle in Relation to Environmental Mechanics
Lee, HyunglaeArizona State Univ
Hanzlick, HarrisonArizona State Univ
Murphy, HunterArizona State Univ
 
10:30-10:35, Paper TUA10.8 Add to My Program
Learning by Demonstration for Planning Activities of Daily Living in Rehabilitation and Assistive Robotics
Lauretti, ClementeUniv. Campus Bio-Medico Di Roma
Cordella, FrancescaUniv. Campus Biomedico of Rome
Guglielmelli, EugenioUniv. Campus Bio-Medico
Zollo, LoredanaUniv. Campus Bio-Medico
 
TUA11 Regular Session, Rm. 4813/4913 Add to My Program 
Intelligent and Flexible Automation  
 
Chair: Zhu, QinghuaGuangDong Univ. of Tech
Co-Chair: Sung, CynthiaUniv. of Pennsylvania
 
09:55-10:00, Paper TUA11.1 Add to My Program
Static and Dynamic Partitions of Inequalities and Their Application in Supervisor Simplification
Chen, ChenXidian Univ
Hu, HesuanNanyang Tech. Univ
Liu, YangNanyang Tech. Univ
 
10:00-10:05, Paper TUA11.2 Add to My Program
Close-Down Process Scheduling of Wafer Residence Time-Constrained Multi-Cluster Tools
Zhu, QinghuaGuangDong Univ. of Tech
Zhou, MengChuNew Jersey Inst. of Tech
Qiao, YanMacau Univ. of Science and Tech
Wu, NaiqiGuangdong Univ. of Tech
 
10:05-10:10, Paper TUA11.3 Add to My Program
Constraint-Based Sample Propagation for Improved State Estimation in Robotic Assembly
Nottensteiner, KorbinianGerman Aerospace Center (DLR)
Hertkorn, Katharina-
 
10:10-10:15, Paper TUA11.4 Add to My Program
Error Robust and Efficient Assembly Sequence Planning with Haptic Rendering Models for Rigid and Non-Rigid Assemblies
Andre, RobertTech. Univ. Chemnitz
Thomas, UlrikeTech. Univ. of Chemnitz
 
10:15-10:20, Paper TUA11.5 Add to My Program
CoSTAR: Instructing Collaborative Robots with Behavior Trees and Vision
Paxton, ChrisJohns Hopkins Univ
Hundt, AndrewJohns Hopkins Univ
Jonathan, FelixJohns Hopkins Univ
Guerin, KelleherJohns Hopkins Univ
Hager, GregoryJohns Hopkins Univ
 
10:20-10:25, Paper TUA11.6 Add to My Program
Planning Cuts for Mobile Robots with Bladed Tools
Lipton, JeffreyMIT
Manchester, ZacharySchool of Engineering and Applied Sciences, Harvard Univ
Rus, DanielaMIT
 
10:25-10:30, Paper TUA11.7 Add to My Program
Self-Folded Soft Robotic Structures with Controllable Joints
Sung, CynthiaUniv. of Pennsylvania
Lin, RheaMassachusetts Inst. of Tech. Computer Science and Arti
Miyashita, ShuheiUniv. of York
Yim, SehyukKIST
Kim, SangbaeMassachusetts Inst. of Tech
Rus, DanielaMIT
 
10:30-10:35, Paper TUA11.8 Add to My Program
Automatic Virtual Metrology and Target Value Adjustment for Mass Customization
Tieng, HaoNational Cheng Kung Univ
Chen, Chun-FangNational Cheng Kung Univ
Cheng, Fan-TienNational Cheng Kung Univ
Yang, Haw-ChingNational Kaohsiung First Univ. of Sci. and Tech
 
TUA12 Invited Presentation, Rm. 4211/4212 Add to My Program 
Special Session - Intelligent Manufacturing and Automation  
 
 
TUA13 Forum, Sands N Add to My Program 
Industry Forum 1  
 
 
TUA14 Forum, Sands O Add to My Program 
Innovation & Entrepreneur-Ship Forum 1  
 
 
TUB1 Regular Session, Rm. 4011 Add to My Program 
Actuators 2  
 
Chair: Suzumori, KoichiTokyo Inst. of Tech
Co-Chair: Soh, Gim SongSingapore Univ. of Tech. and Design
 
11:30-11:35, Paper TUB1.1 Add to My Program
A New Design Concept of Magnetically Levitated 4 Pole Hybrid Mover Driven by Linear Motor
Bucak, MirsadYildiz Tech. Univ
Bozkurt, Ahmet FevziYildiz Tech. Univ
Erkan, KadirYildiz Tech. Univ
Uvet, HuseyinYildiz Tech. Univ
 
11:35-11:40, Paper TUB1.2 Add to My Program
Soft Sheet Actuator Generating Traveling Waves Inspired by Gastropod's Locomotion
Watanabe, MasahiroTokyo Inst. of Tech
Tsukagoshi, HideyukiTokyo Inst. of Tech
 
11:40-11:45, Paper TUB1.3 Add to My Program
Modified Nonlinear Pressure Estimator of Pneumatic Actuator for Force Controller Design
Hong, Yun-PyoKorea Advanced Inst. of Science and Tech
Kim, SoohyunKAIST(Korea Advanced Inst. of Science and Tech
Kim, Kyung-SooKAIST(Korea Advanced Inst. of Science and Tech
 
11:45-11:50, Paper TUB1.4 Add to My Program
Design and Development of a Magneto-Rheological Linear Clutch for Force Controlled Human Safe Robots
Wilson, AchuSastra Robotics India Pvt Ltd
 
11:50-11:55, Paper TUB1.5 Add to My Program
Underactuated Four-Fingered Hand with Five Electro Hydrostatic Actuators in Cluster
Ko, TianyiThe Univ. of Tokyo
Kaminaga, HiroshiThe Univ. of Tokyo
Nakamura, YoshihikoUniv. of Tokyo
 
11:55-12:00, Paper TUB1.6 Add to My Program
Pneumatic Reel Actuator: Design, Modeling, and Implementation
Hammond, ZacharyStanford Univ
Usevitch, NathanStanford
Hawkes, Elliot WrightUniv. of California, Santa Barbara
Follmer, SeanStanford Univ
 
12:00-12:05, Paper TUB1.7 Add to My Program
Deep Reinforcement Learning for Tensegrity Robot Locomotion
Zhang, MarvinUC Berkeley
Geng, XinyangUC Berkeley
Bruce, JonathanUniv. of California Santa Cruz, Univ. Space Res
Caluwaerts, KenAutodesk
Vespignani, MassimoUsra / Nasa Arc-Ti
SunSpiral, VytasSGT Inc. / NASA Ames Res. Center
Abbeel, PieterUC Berkeley
Levine, SergeyUC Berkeley
 
12:05-12:10, Paper TUB1.8 Add to My Program
Development of Giacometti Arm with Balloon Body
Takeichi, MasashiTokyo Inst. of Tech
Suzumori, KoichiTokyo Inst. of Tech
Endo, GenTokyo Inst. of Tech
Nabae, HiroyukiTokyo Inst. of Tech
 
TUB2 Regular Session, Rm. 4111 Add to My Program 
Motion Planning and Optimization  
 
Chair: Hauser, KrisDuke Univ
Co-Chair: Pham, Quang-CuongNanyang Tech. Univ
 
11:30-11:35, Paper TUB2.1 Add to My Program
T-LQG: Closed-Loop Belief Space Planning Via Trajectory-Optimized LQG
Rafieisakhaei, MohammadhusseinTexas A&M Univ
Chakravorty, SumanTexas A&M Univ
Kumar, P. R.Texas A&M Univ
 
11:35-11:40, Paper TUB2.2 Add to My Program
Real-Time Distributed Receding Horizon Motion Planning and Control for Mobile Multi-Robot Dynamic Systems
Mendes Filho, José MagnoENSTA ParisTech, CEA Tech
Lucet, EricCEA Tech. - Interactive Robotics Lab
Filliat, DavidENSTA ParisTech
 
11:40-11:45, Paper TUB2.3 Add to My Program
Approximately Optimal Continuous-Time Motion Planning and Control Via Probabilistic Inference
Mukadam, MustafaGeorgia Inst. of Tech
Cheng, Ching-anGeorgia Inst. of Tech
Yan, XinyanGeorgia Inst. of Tech
Boots, ByronGeorgia Inst. of Tech
 
11:45-11:50, Paper TUB2.4 Add to My Program
Online Optimal Active Sensing Control
Salaris, PaoloINRIA -- Sophia Antipolis
Spica, RiccardoStanford Univ
Robuffo Giordano, PaoloCentre National De La Recherche Scientifique (CNRS)
Rives, PatrickINRIA
 
11:50-11:55, Paper TUB2.5 Add to My Program
On the Structure of the Time-Optimal Path Parameterization Problem with Third-Order Constraints
Pham, HungNanyang Tech. Univ
Pham, Quang-CuongNanyang Tech. Univ
 
11:55-12:00, Paper TUB2.6 Add to My Program
Multiscale Abstraction, Planning and Control Using Diffusion Wavelets for Stochastic Optimal Control Problems
Ha, Jung-SuKAIST
Choi, Han-LimKAIST
 
12:00-12:05, Paper TUB2.7 Add to My Program
Differential Dynamic Programming with Nonlinear Constraints
Xie, ZhaomingGeorgia Inst. of Tech
Liu, KarenGeorgia Tech
Hauser, KrisDuke Univ
 
12:05-12:10, Paper TUB2.8 Add to My Program
SLIP-Model-Based Dynamic Gait Generation in a Leg-Wheel Transformable Robot with Force Control
Lin, Yun-MengNational Taiwan Univ
Lin, Hung-ShengNational Taiwan Univ
Lin, Pei-ChunNational Taiwan Univ
 
TUB3 Regular Session, Rm. 4311/4312 Add to My Program 
Computer Vision 2  
 
Chair: Zell, AndreasUniv. of Tübingen
Co-Chair: Fukui, RuiThe Univ. of Tokyo
 
11:30-11:35, Paper TUB3.1 Add to My Program
Visibility Enhancement for Underwater Visual SLAM Based on Underwater Light Scattering Model
Cho, YounggunKorea Advanced Inst. of Science and Tech
Kim, AyoungKorea Advanced Inst. of Science Tech
 
11:35-11:40, Paper TUB3.2 Add to My Program
Multi-Sensor Payload Detection and Acquisition for Truck-Trailer AGVs
Buck, SebastianUniv. of Tübingen
Hanten, RichardUniv. of Tübingen
Bohlmann, KarstenEberhard-Karls-Univ. Tübingen
Zell, AndreasUniv. of Tübingen
 
11:40-11:45, Paper TUB3.3 Add to My Program
Reconstructing Vehicles from a Single Image: Shape Priors for Road Scene Understanding
Jatavallabhula, Krishna MurthyInternational Inst. of Information Tech. Hyderabad
Gottipati, Sai KrishnaInternational Inst. of Information Tech. Hyderabad
Chhaya, FalakInternational Inst. of Information Tech. - Hyderabad, I
Krishna, MadhavaIIIT Hyderabad
 
11:45-11:50, Paper TUB3.4 Add to My Program
Catenary-Based Visual Servoing for Tethered Robots
Laranjeira, MatheusUniv. De Toulon
Dune, ClaireUniv. De Toulon
Hugel, VincentUniv. of Toulon
 
11:50-11:55, Paper TUB3.5 Add to My Program
Robustifying Correspondence Based 6D Object Pose Estimation
Hietanen, Antti EerikkiTampere Univ. of Tech
Halme, JussiTampere Univ. of Tech
Buch, Anders GlentUniv. of Southern Denmark
Latokartano, Jyrki MatiasTampere Univ. of Tech
Kamarainen, Joni-KristianTampere Univ. of Tech
 
11:55-12:00, Paper TUB3.6 Add to My Program
Driving in the Matrix: Can Virtual Worlds Replace Human-Generated Annotations for Real World Tasks?
Johnson-Roberson, MatthewUniv. of Michigan
Barto, CharlesUniv. of Michigan
Mehta, RounakUniv. of Michigan
Nittur Sridhar, SharathUniv. of Michigan
Rosaen, KarlUniv. of Michigan
Vasudevan, RamUniv. of Michigan
 
12:00-12:05, Paper TUB3.7 Add to My Program
Machine Learning and Coresets for Automated Real-Time Video Segmentation of Laparoscopic and Robot-Assisted Surgery
Volkov, MikhailMIT
Hashimoto, DanielMGH
Rosman, GuyMassachusetts Inst. of Tech
Meireles, OzananMGH
Rus, DanielaMIT
 
12:05-12:10, Paper TUB3.8 Add to My Program
Accurate Angular Velocity Estimation with an Event Camera
Gallego, GuillermoUniv. of Zurich
Scaramuzza, DavideUniv. of Zurich
 
TUB4 Regular Session, Rm. 4411/4412 Add to My Program 
Autonomous Agent  
 
Chair: Verginis, ChristosElectrical Engineering, KTH Royal Inst. of Tech
Co-Chair: Liu, Yen-ChenNational Cheng Kung Univ
 
11:30-11:35, Paper TUB4.1 Add to My Program
Multi-Objective Search for Optimal Multi-Robot Planning with Finite LTL Specifications and Resource Constraints
Schillinger, PhilippBosch Center for Artificial Intelligence
Bürger, MathiasUniv. of Stuttgart
Dimarogonas, Dimos V.Royal Inst. of Tech
 
11:35-11:40, Paper TUB4.2 Add to My Program
Dynamic Coverage Control for Mobile Robot Network with Limited and Nonidentical Sensory Ranges
Li, Wei-TaoNational Cheng Kung Univ
Liu, Yen-ChenNational Cheng Kung Univ
 
11:40-11:45, Paper TUB4.3 Add to My Program
Decentralized Motion Planning with Collision Avoidance for a Team of UAVs under High Level Goals
Verginis, ChristosElectrical Engineering, KTH Royal Inst. of Tech
Xu, ZiweiKTH Royal Inst. of Tech
Dimarogonas, Dimos V.Royal Inst. of Tech
 
11:45-11:50, Paper TUB4.4 Add to My Program
A Layered HMM for Predicting Motion of a Leader in Multi-Robot Settings
Solaimanpour, SinaUniv. of Georgia
Doshi, PrashantUniv. of Georgia
 
11:50-11:55, Paper TUB4.5 Add to My Program
An Aspect Representation for Object Manipulation Based on Convolutional Neural Networks
Ku, Li YangUmass Amherst
Learned-Miller, ErikUniv. of Massachusetts, Amherst
Grupen, RodUniv. of Massachusetts
 
11:55-12:00, Paper TUB4.6 Add to My Program
Algorithm for Optimal Chance Constrained Linear Assignment
Yang, FanStony Brook Univ
Chakraborty, NilanjanStony Brook Univ
 
12:00-12:05, Paper TUB4.7 Add to My Program
An Adaptable, Probabilistic, Next Best View Algorithm for Reconstruction of Unknown 3D Objects
Jonathan Daudelin, JonathanCornell Univ
Campbell, MarkCornell Univ
 
12:05-12:10, Paper TUB4.8 Add to My Program
A Hybrid Method for Online Trajectory Planning of Mobile Robots in Cluttered Environments
Campos Macías, Leobardo EmmanuelIntel Tecnología De México
Gómez-Gutiérrez, DavidIntel Tecnología De México
Aldana-López, RodrigoIntel Labs
De La Guardia, RafaelIntel Tecnologia De Mexico, S.A. De C.V
Parra-Vilchis, Jose I.Intel Tecnologia De Mexico, S.A. De C.V
 
TUB5 Regular Session, Rm. 4511/4512 Add to My Program 
Multi-Robot Systems 2  
 
Chair: Lauri, MikkoUniv. of Hamburg
Co-Chair: Valente, AnnaSUPSI-ISTePS
 
11:30-11:35, Paper TUB5.1 Add to My Program
Tunneling-Based Self-Reconfiguration of Heterogeneous Sliding Cube-Shaped Modular Robots in Environments with Obstacles
Kawano, HiroshiNTT Corp
 
11:35-11:40, Paper TUB5.2 Add to My Program
Distributed Fixed-Time Cooperative Tracking Control for Multi-Robot Systems
Ning, BodaSwinburne Univ. of Tech
Jin, JiongSwinburne Univ. of Tech
Zuo, ZongyuBeihang Univ
Zheng, JinchuanSwinburne Univ. of Tech
Han, Qing-LongSwinburne Univ. of Tech
 
11:40-11:45, Paper TUB5.3 Add to My Program
Hybrid System for Target Tracking in Triangulation Graphs
Laguna, GuillermoIowa State Univ
Bhattacharya, SourabhIowa State Univ
 
11:45-11:50, Paper TUB5.4 Add to My Program
Smooth Joint Motion Planning for High Precision Reconfigurable Robot Manipulators
Baraldo, StefanoScuola Univ. Professionale Della Svizzera Italiana
Valente, AnnaSUPSI-ISTePS
 
11:50-11:55, Paper TUB5.5 Add to My Program
Multi-Robot Active Information Gathering with Periodic Communication
Lauri, MikkoUniv. of Hamburg
Heinänen, EeroTampere Univ. of Tech
Frintrop, SimoneUniv. of Hamburg
 
11:55-12:00, Paper TUB5.6 Add to My Program
Bipartite Graph Matching-Based Coordination Mechanism for Multi-Robot Path Planning under Communication Constraints
Dutta, AyanUniv. of Nebraska at Omaha
Dasgupta, Prithviraj (Raj)Univ. of Nebraska, Omaha
 
12:00-12:05, Paper TUB5.7 Add to My Program
Scalable Accelerated Decentralized Multi-Robot Policy Search in Continuous Observation Spaces
Omidshafiei, ShayeganMassachusetts Inst. of Tech
Amato, ChristopherNortheastern Univ
Liu, MiaoMIT
Everett, MichaelMassachusetts Inst. of Tech
How, Jonathan PatrickMassachusetts Inst. of Tech
Vian, JohnThe Boeing Company
 
12:05-12:10, Paper TUB5.8 Add to My Program
Semantic-Level Decentralized Multi-Robot Decision-Making Using Probabilistic Macro-Observations
Omidshafiei, ShayeganMassachusetts Inst. of Tech
Liu, Shih-YuanU.C. Berkeley
Everett, MichaelMassachusetts Inst. of Tech
Lopez, BrettMassachusetts Inst. of Tech
Amato, ChristopherNortheastern Univ
Liu, MiaoMIT
How, Jonathan PatrickMassachusetts Inst. of Tech
Vian, JohnThe Boeing Company
 
TUB6 Regular Session, Rm. 4611/4612 Add to My Program 
Learning and Adaptive Systems 2  
 
Chair: Parker, LynneUniv. of Tennessee
Co-Chair: Howard, MatthewKing's Coll. London
 
11:30-11:35, Paper TUB6.1 Add to My Program
Preference Learning on the Execution of Collaborative Human-Robot Tasks
Munzer, ThibautINRIA
Toussaint, MarcUniv. of Stuttgart
Lopes, ManuelInst. Superior Tecnico
 
11:35-11:40, Paper TUB6.2 Add to My Program
Learning Composable Models of Parameterized Skills
Kaelbling, LeslieMIT
Lozano-Perez, TomasMIT
 
11:40-11:45, Paper TUB6.3 Add to My Program
Self-Supervised Learning of Tool Affordances from 3D Tool Representation through Parallel SOM Mapping
Mar, TanisIstituto Italiano Di Tecnologia
Tikhanoff, VadimItalian Inst. of Tech
Metta, GiorgioIstituto Italiano Di Tecnologia (IIT)
Natale, LorenzoIstituto Italiano Di Tecnologia
 
11:45-11:50, Paper TUB6.4 Add to My Program
Constrained Bayesian Optimization of Combined Interaction Force/Task Space Controllers for Manipulations
Drieß, DannyUniv. of Stuttgart
Englert, PeterU Stuttgart
Toussaint, MarcUniv. of Stuttgart
 
11:50-11:55, Paper TUB6.5 Add to My Program
Learning to Gather Information Via Imitation
Choudhury, SanjibanCarnegie Mellon Univ
Kapoor, AshishMicroSoft
Ranade, GireejaMicrosoft Res
Dey, DebadeeptaMicrosoft
 
11:55-12:00, Paper TUB6.6 Add to My Program
Design and Optimal Control of Under-Actuated Cable-Driven Micro-Macro Robots
Barbazza, LucaUniv. of Padua
Zanotto, DamianoStevens Inst. of Tech
Rosati, GiulioUniv. of Padua
Agrawal, SunilColumbia Univ
 
12:00-12:05, Paper TUB6.7 Add to My Program
A Sample-Efficient Black-Box Optimizer to Train Policies for Human-In-The-Loop Systems with User Preferences
Thatte, NitishCarnegie Mellon Univ
Duan, HeleiCarnegie Mellon Univ
Geyer, HartmutCarnegie Mellon Univ
 
12:05-12:10, Paper TUB6.8 Add to My Program
Apprenticeship Learning in an Incompatible Feature Space
Masuyama, GakutoChuo Univ
Umeda, KazunoriChuo Univ
 
TUB7 Regular Session, Rm. 4711/4712 Add to My Program 
Force and Tactile Sensing 2  
 
Chair: Schmitz, AlexanderWaseda Univ
Co-Chair: Lepora, NathanUniv. of Bristol
 
11:30-11:35, Paper TUB7.1 Add to My Program
Development of an Optical Fiber-Based Sensor for Grasping and Axial Force Sensing
Soltani Zarrin, PouyaCSTAR
Escoto, AbelardoLawson Health Res. Inst
Xu, RanWestern Univ
Patel, Rajnikant V.The Univ. of Western Ontario
Naish, Michael D.The Univ. of Western Ontario
Trejos, Ana LuisaThe Univ. of Western Ontario
 
11:35-11:40, Paper TUB7.2 Add to My Program
Sensorless Kinesthetic Teaching of Robotic Manipulators Assisted by Observer-Based Force Control
Capurso, MartinoPol. Di Milano
Ghazaei Ardakani, M. MahdiLund Univ
Johansson, RolfLund Univ
Robertsson, AndersLTH, Lund Univ
Rocco, PaoloPol. Di Milano
 
11:40-11:45, Paper TUB7.3 Add to My Program
Shape-Independent Hardness Estimation Using Deep Learning and a GelSight Tactile Sensor
Yuan, WenzhenMIT
Chenzhuo, ZhuTsinghua Univ
Owens, AndrewMIT
Srinivasan, MandayamMIT
Adelson, EdwardMIT
 
11:45-11:50, Paper TUB7.4 Add to My Program
Accurate Contact Localization and Indentation Depth Prediction with an Optics-Based Tactile Sensor
Piacenza, PedroColumbia Univ
Dang, WeipengColumbia Univ. in the City of New York
Hannigan, EmilyColumbia Univ
Espinal, JeremyColumbia Secondary School
Hussain, IkramColumbia Univ
Kymissis, IoannisColumbia Univ
Ciocarlie, MateiColumbia Univ
 
11:50-11:55, Paper TUB7.5 Add to My Program
Low-Cost 3-Axis Soft Tactile Sensors for the Human-Friendly Robot Vizzy
Paulino, TiagoInst. Superior Tecnico
Ribeiro, PedroInst. Superior Tecnico
Neto, MiguelINESC-Microsistemas E Nanotecnologias and IN
Cardoso, SusanaINESC-Microsistemas E Nanotecnologias and IN
Schmitz, AlexanderWaseda Univ
Santos-Victor, JoséInst. Superior Técnico - Lisbon
Bernardino, AlexandreIST - Técnico Lisboa
Jamone, LorenzoQueen Mary Univ. London
 
11:55-12:00, Paper TUB7.6 Add to My Program
Bio-Inspired Ciliary Force Sensor for Robotic Platforms
Ribeiro, PedroInst. Superior Tecnico
Khan, Mohammed AsadullahKAUST
Alfadhel, AhmedKAUST
Kosel, JurgenKAUST
Franco, FernandoInesc-Mn, Ist
Cardoso, SusanaINESC-Microsistemas E Nanotecnologias and IN
Bernardino, AlexandreIST - Técnico Lisboa
Schmitz, AlexanderWaseda Univ
Santos-Victor, JoséInst. Superior Técnico - Lisbon
Jamone, LorenzoQueen Mary Univ. London
 
12:00-12:05, Paper TUB7.7 Add to My Program
Exploiting Sensor Symmetry for Generalized Tactile Perception in Biomimetic Touch
Ward-Cherrier, BenjaminUniv. of Bristol
Cramphorn, LukeBristol Univ
Lepora, NathanUniv. of Bristol
 
12:05-12:10, Paper TUB7.8 Add to My Program
Exploratory Tactile Servoing with Active Touch
Lepora, NathanUniv. of Bristol
Aquilina, KirstyUniv. of Bristol
Cramphorn, LukeBristol Univ
 
TUB8 Regular Session, Rm. 4613/4713 Add to My Program 
Human-Robot Interaction 1  
 
Chair: Cheng, GordonTech. Univ. of Munich
Co-Chair: Secchi, CristianUniv. of Modena & Reggio Emilia
 
11:30-11:35, Paper TUB8.1 Add to My Program
Safe Navigation and Experimental Evaluation of a Novel Tire Workshop Assistant Robot
Levratti, AlessioUniv. of Modena and Reggio Emilia
Riggio, GiuseppeUniv. of Modena and Reggio Emilia
De Vuono, AntonioCORGHI S.p.a
Fantuzzi, CesareUniv. Di Modena E Reggio Emilia
Secchi, CristianUniv. of Modena & Reggio Emilia
 
11:35-11:40, Paper TUB8.2 Add to My Program
Using Intentional Contact to Achieve Tasks in Tight Environments
Guadarrama-Olvera, Julio RogelioTech. Univ. of Munich
Dean-Leon, EmmanuelTech. Univ. Muenchen
Cheng, GordonTech. Univ. Munich
 
11:40-11:45, Paper TUB8.3 Add to My Program
Reducing Errors in Object-Fetching Interactions through Social Feedback
Whitney, DavidBrown Univ
Rosen, EricBrown Univ
MacGlashan, JamesBrown Univ
Wong, Lawson L.S.Brown Univ
Tellex, StefanieBrown
 
11:45-11:50, Paper TUB8.4 Add to My Program
Transparent Role Assignment and Task Allocation in Human Robot Collaboration
Roncone, AlessandroYale Univ
Mangin, OlivierYale Univ
Scassellati, BrianYale
 
11:50-11:55, Paper TUB8.5 Add to My Program
Simulating Gait Assistance of a Hip Exoskeleton: Case Studies for Ankle Pathologies
Lim, BokmanSamsung Electronics Co., Ltd
Hyung, SeungYongSamsung Electronics Co., Ltd
Lee, JusukSamsung Electronics Co., Ltd
Seo, KeehongSamsung Electronics Co., Ltd
Jang, JunwonSamsung Electronics Co., Ltd
Shim, YoungboSamsung Electronics
 
11:55-12:00, Paper TUB8.6 Add to My Program
Mobile Robot Companion for Walking Training of Stroke Patients in Clinical Post-Stroke Rehabilitation
Gross, Horst-MichaelIlmenau Univ. of Tech
Meyer, SibylleSIBIS Inst. for Social Res. Berlin
Scheidig, AndreaIlmenau Tech. Univ
Eisenbach, MarkusIlmenau Univ. of Tech
Mueller, SteffenIlmenau Univ. of Tech
Trinh, Thanh QuangIlmenau Univ. of Tech
Wengefeld, TimIlmenau Univ. of Tech
Bley, AndreasMetraLabs GmbH
Martin, ChristianMetraLabs GmbH
Fricke, ChristaSIBIS Inst. for Social Res. Berlin
 
12:00-12:05, Paper TUB8.7 Add to My Program
Development of a Block Machine for Volleyball Attack Training
Sato, KosukeUniv. of Tsukuba
Watanabe, KeitaJapan Volleyball Association
Mizuno, ShuichiJapan Volleyball Association
Manabe, MasayoshiJapan Volleyball Association
Yano, HiroakiUniv. of Tsukuba
Iwata, HirooUniv. of Tsukuba
 
12:05-12:10, Paper TUB8.8 Add to My Program
Hierarchical Cascade Controller for Assistance Modulation in a Soft Wearable Arm Exoskeleton
Dinh, Binh KhanhNanyang Tech. Univ
Xiloyannis, MicheleNanyang Tech. Univ
Antuvan, Chris WilsonNanyang Tech. Univ
Cappello, LeonardoWyss Inst. for Biologically Inspired Engineering
Masia, LorenzoNanyang Tech. Univ
 
TUB9 Regular Session, Rm. 4811/4812 Add to My Program 
Multilegged Robots  
 
Chair: Semini, ClaudioIstituto Italiano Di Tecnologia
Co-Chair: Kottege, NavindaCSIRO
 
11:30-11:35, Paper TUB9.1 Add to My Program
The Multilegged Autonomous Explorer (MAX)
Elfes, AlbertoCSIRO
Steindl, Ryan JamesCSIRO
Talbot, FletcherCSIRO
Kendoul, FaridCSIRO
Sikka, PavanCSIRO
Lowe, TomCSIRO
Bjelonic, MarkoETH Zurich
Kottege, NavindaCSIRO
Dungavell, RossCSIRO
Bandyopadhyay, TirthankarCSIRO
Hoerger, MarcusUniv. of Queensland
Tam, BenjaminCSIRO
Rytz, DavidCSIRO
 
11:35-11:40, Paper TUB9.2 Add to My Program
Empirical Validation of a Spined Sagittal-Plane Quadrupedal Model
Duperret, JeffreyUniv. of Pennsylvania
Koditschek, DanielUniv. of Pennsylvania
 
11:40-11:45, Paper TUB9.3 Add to My Program
A Testbed That Evolves Hexapod Controllers in Hardware
Heijnen, HuubScape Tech. Ltd
Howard, DavidCSIRO
Kottege, NavindaCSIRO
 
11:45-11:50, Paper TUB9.4 Add to My Program
Between-Leg Coupling Schemes for Passively-Adaptive Non-Redundant Legged Robots
Kanner, OrenYale Univ
Rojas, NicolasImperial Coll. London
Dollar, AaronYale Univ
 
11:50-11:55, Paper TUB9.5 Add to My Program
Quasi-Static and Dynamic Mismatch for Door Opening and Stair Climbing with a Legged Robot
Topping, ThomasUPenn
Kenneally, GavinUniv. of Pennsylvania
Koditschek, DanielUniv. of Pennsylvania
 
11:55-12:00, Paper TUB9.6 Add to My Program
Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots
Camurri, MarcoIstituto Italiano Di Tecnologia
Fallon, MauriceUniv. of Edinburgh
Bazeille, StephaneEc. Des Mines De Nantes
Radulescu, AndreeaIstituto Italiano Di Tecnologia
Barasuol, VictorIstituto Italiano Di Tecnologia
Caldwell, Darwin G.Istituto Italiano Di Tecnologia
Semini, ClaudioIstituto Italiano Di Tecnologia
 
12:00-12:05, Paper TUB9.7 Add to My Program
Trajectory and Foothold Optimization Using Low-Dimensional Models for Rough Terrain Locomotion
Mastalli, CarlosIstituto Italiano Di Tecnologia
Focchi, MicheleFondazione Istituto Italiano Di Tecnologia
Havoutis, IoannisIdiap Res. Inst
Radulescu, AndreeaIstituto Italiano Di Tecnologia
Calinon, SylvainIdiap Res. Inst
Buchli, JonasETH Zurich
Caldwell, Darwin G.Istituto Italiano Di Tecnologia
Semini, ClaudioIstituto Italiano Di Tecnologia
 
12:05-12:10, Paper TUB9.8 Add to My Program
Trajectory Optimization through Contacts and Automatic Gait Discovery for Quadrupeds
Neunert, MichaelETH Zurich
Farshidian, FarbodETH Zurich
Winkler, Alexander, WayneETH Zurich
Buchli, JonasETH Zurich
 
TUB10 Regular Session, Rm. 4911/4912 Add to My Program 
Medical Robots and Systems 1  
 
Chair: Dario, PaoloScuola Superiore Sant'Anna
Co-Chair: Walsh, Conor JamesHarvard Univ
 
11:30-11:35, Paper TUB10.1 Add to My Program
Biologically-Inspired Auditory Perception During Robotic Bone Milling
Dai, YuNankai Univ
Xue, YuanTianjin Medical Univ. General Hospital
Zhang, JianxunNankai Univ
Li, JianminTianjin Univ
 
11:35-11:40, Paper TUB10.2 Add to My Program
A High-Force, High-Stroke Distal Robotic Add-On for Endoscopy
Gafford, JoshuaHarvard Univ
Wood, RobertHarvard Univ
Walsh, Conor JamesHarvard Univ
 
11:40-11:45, Paper TUB10.3 Add to My Program
Deployable Stabilization Mechanisms for Endoscopic Procedures
Ranzani, TommasoHarvard School of Engineering and Applied Science, Wyss Inst
Russo, SheilaHarvard Univ. School of Engineering and Applied Sciences
Schwab, FabianSwiss Federal Inst. of Tech. in Zurich
Walsh, Conor JamesHarvard Univ
Wood, RobertHarvard Univ
 
11:45-11:50, Paper TUB10.4 Add to My Program
Magnetically Actuated Soft Capsule Endoscope for Fine-Needle Aspiration Biopsy
Son, DonghoonCarnegie Mellon Univ
Dogan, Mustafa DogaBogazici Univ
Sitti, MetinMax-Planck Inst. for Intelligent Systems
 
11:50-11:55, Paper TUB10.5 Add to My Program
Preliminary Results on Energy Efficient 3D Prosthetic Walking with a Powered Compliant Transfemoral Prosthesis
Huihua, ZhaoGeorgia Inst. of Tech
Ambrose, EricGeorgia Inst. of Tech
Ames, AaronGeorgia Inst. of Tech
 
11:55-12:00, Paper TUB10.6 Add to My Program
A Rolling-Diaphragm Hydrostatic Transmission for Remote MR-Guided Needle Insertion
Burkhard, NatalieStanford Univ
Frishman, SamuelStanford Univ
Gruebele, AlexanderStanford Univ
Whitney, John PeterNortheastern Univ
Goldman, Roger E.Stanford Hospital and Clinics
Daniel, BruceStanford Univ. Department of Radiology
Cutkosky, MarkStanford Univ
 
12:00-12:05, Paper TUB10.7 Add to My Program
First Demonstration of Simultaneous Localization and Propulsion of a Magnetic Capsule in a Lumen Using a Single Rotating Magnet
Popek, KatieUniv. of Utah
Hermans, TuckerUniv. of Utah
Abbott, JakeUniv. of Utah
 
12:05-12:10, Paper TUB10.8 Add to My Program
Efficient Proximity Queries for Continuum Robots on Parallel Computing Hardware
Leibrandt, KonradImperial Coll. London
Yang, Guang-ZhongImperial Coll. London
 
TUB11 Regular Session, Rm. 4813/4913 Add to My Program 
Design and Manufacturing  
 
Chair: Wakamatsu, HidefumiGrad. School of Eng., Osaka Univ
Co-Chair: Censi, AndreaMIT
 
11:30-11:35, Paper TUB11.1 Add to My Program
A Virtual Paper Model of a Three Piece Brassiere Cup to Improve the Efficiency of Cup Design Process
Wakamatsu, HidefumiGrad. School of Eng., Osaka Univ
Morinaga, EijiOsaka Univ
Arai, EijiGraduate School of Eng., Osaka Univ
Kubo, TakahiroWacoal Holdings Corp
 
11:35-11:40, Paper TUB11.2 Add to My Program
RoboFDM: A Robotic System for Support-Free Fabrication Using FDM
Wu, ChenmingTsinghua Univ
Dai, ChengkaiDelft Univ. of Tech
Guoxin, FangDelft Univ. of Tech
Liu, Yong-JinTsinghua Univ
Wang, Charlie C.L.Delft Univ. of Tech
 
11:40-11:45, Paper TUB11.3 Add to My Program
An Improved Toolpath Generation Algorithm for Fused Filament Fabrication
Lensgraf, SamuelTulane Univ
Mettu, RamgopalTulane Univ
 
11:45-11:50, Paper TUB11.4 Add to My Program
Interactive, Iterative Robot Design
Canaday, BradleyThe George Washington Univ
Zapolsky, SamuelGeorge Washington Univ
Drumwright, EvanToyota Res. Inst
 
11:50-11:55, Paper TUB11.5 Add to My Program
Computational Abstractions for Interactive Design of Robotic Devices
Desai, RutaCarnegie Mellon Univ
Yuan, YeCarnegie Mellon Univ
Coros, StelianCarnegie Mellon Univ
 
11:55-12:00, Paper TUB11.6 Add to My Program
Adaptive Task Scheduling for an Assembly Task Coworker Robot Based on Incremental Learning of Human's Motion Patterns
Kinugawa, JunTohoku Univ
Kanazawa, AkiraTohoku Univ
Arai, ShogoTohoku Univ
Kosuge, KazuhiroTohoku Univ
 
12:00-12:05, Paper TUB11.7 Add to My Program
PaintPots: Low Cost, Accurate, Highly Customizable Potentiometers for Position Sensing
Tosun, TarikUniv. of Pennsylvania
Edgar, DanielUniv. of Pennsylvania
Liu, ChaoUniv. of Pennsylvania
Tsabedze, ThulaniUniv. of Pennsylvania
Yim, MarkUniv. of Pennsylvania
 
12:05-12:10, Paper TUB11.8 Add to My Program
Uncertainty in Monotone Co-Design Problems
Censi, AndreaMIT
 
TUB12 Invited Presentation, Rm. 4211/4212 Add to My Program 
Special Session - Medical and Micro Robotics  
 
 
TUB13 Forum, Sands N Add to My Program 
Industry Forum 2  
 
 
TUB14 Forum, Sands O Add to My Program 
Innovation & Entrepreneur-Ship Forum 2  
 
 
TUKAN Keynote session, Grand ballroom Add to My Program 
EndoMaster: A Surgical Robot’s Journey from the Research Lab to the
Operating Theatre - Louis Phee (Nanyang Technological University,
Singapore)
 
 
 
TUKBN Keynote session, Grand ballroom Add to My Program 
Capturing Vivid 3D Models of the World from Video - Lourdes Agapito
(University College London, UK)
 
 
 
TUC1 Regular Session, Rm. 4011 Add to My Program 
Actuators 3  
 
Chair: Tsagarakis, NikosIstituto Italiano Di Tecnologia
Co-Chair: Braun, DavidSingapore Univ. of Tech. and Design
 
14:45-14:50, Paper TUC1.1 Add to My Program
Enhancing Joint Torque Control of Series Elastic Actuators with Physical Damping
Kim, Min JunDLR
Werner, AlexanderGerman Aerospace Center (DLR)
Loeffl, FlorianGerman Aerospace Center (DLR)
Ott, ChristianGerman Aerospace Center (DLR)
 
14:50-14:55, Paper TUC1.2 Add to My Program
Efficiently Tunable Positive-Negative Stiffness Actuator
Dahiya, AbhinavSingapore Univ. of Tech. and Design
Braun, DavidSingapore Univ. of Tech. and Design
 
14:55-15:00, Paper TUC1.3 Add to My Program
Analytical Conditions for the Design of Variable Stiffness Mechanisms
Chong, Tze HaoSingapore Univ. of Tech. and Design
Chalvet, VincentSingapore Univ. of Tech. and Design
Braun, DavidSingapore Univ. of Tech. and Design
 
15:00-15:05, Paper TUC1.4 Add to My Program
A Self-Adaptive Variable Impedance Actuator Based on Intrinsic Non-Linear Compliance and Damping Principles
Kashiri, NavvabIstituto Italiano Di Tecnologia
Caldwell, Darwin G.Istituto Italiano Di Tecnologia
Tsagarakis, NikosIstituto Italiano Di Tecnologia
 
15:05-15:10, Paper TUC1.5 Add to My Program
Tank Based Unified Torque/Impedance Control for a Pneumatically Actuated Antagonistic Robot Joint
Tödtheide, AlexanderLeibniz Univ. Hannover, Inst. of Automatic Control
Shahriari, ErfanLeibniz Univ. of Hanover
Haddadin, SamiLeibniz Univ. Hanover
 
15:10-15:15, Paper TUC1.6 Add to My Program
A Geometrically-Amplified In-Plane Piezoelectric Actuator for Mesoscale Robotic Systems
York, PeterHarvard Univ
Wood, RobertHarvard Univ
 
15:15-15:20, Paper TUC1.7 Add to My Program
Modeling and Inverse Compensation of Hysteresis in Super-Coiled Polymer Artificial Muscles
Zhang, JunUniv. of California San Diego
Iyer, KaushikUniv. of California San Diego
Simeonov, AnthonyUniv. of California San Diego
Yip, Michael C.Univ. of California, San Diego
 
15:20-15:25, Paper TUC1.8 Add to My Program
On the Sensor Design of Torque Controlled Actuators: A Comparison Study of Strain Gauge and Encoder Based Principles
Kashiri, NavvabIstituto Italiano Di Tecnologia
Malzahn, JörnIstituto Italiano Di Tecnologia
Tsagarakis, NikosIstituto Italiano Di Tecnologia
 
TUC2 Regular Session, Rm. 4111 Add to My Program 
Planning  
 
Chair: Soh, Gim SongSingapore Univ. of Tech. and Design
Co-Chair: Okada, KeiThe Univ. of Tokyo
 
14:45-14:50, Paper TUC2.1 Add to My Program
Planning Method for a Wrapping-With-Fabric Task Using Regrasping
Hayashi, NaohiroThe Univ. of Electro-Communications
Suehiro, TakashiThe Univ. of Electro-Communications
Kudoh, ShunsukeThe Univ. of Electro-Communications
 
14:50-14:55, Paper TUC2.2 Add to My Program
Online Estimation of Object-Environment Constraints for Planning of Humanoid Motion on a Movable Object
Nozawa, ShunichiThe Univ. of Tokyo
Noda, ShintaroThe Univ. of Tokyo
Murooka, MasakiThe Univ. of Tokyo
Okada, KeiThe Univ. of Tokyo
Inaba, MasayukiThe Univ. of Tokyo
 
14:55-15:00, Paper TUC2.3 Add to My Program
A General Formal Framework for Multi-Agent Meeting Problems
Izmirlioglu, YusufSabanci Univ
Pehlivan, Bahadir AliSabanci Univ
Turp, MisraSabanci Univ
Erdem, EsraSabanci Univ
 
15:00-15:05, Paper TUC2.4 Add to My Program
Towards Robotic MAGMaS: Multiple Aerial-Ground Manipulator Systems
Staub, NicolasLAAS-CNRS
Mohammadi, MostafaUniv. of Siena
Bicego, DavideLAAS-CNRS
Prattichizzo, DomenicoUniv. Di Siena
Franchi, AntonioLAAS-CNRS
 
15:05-15:10, Paper TUC2.5 Add to My Program
Plan Explicability and Predictability for Robot Task Planning
Zhang, Yu (Tony)Arizona State Univ
Sreedharan, SarathArizona State Univ
Kulkarni, AnaghaArizona State Univ
Chakraborti, TathagataArizona State Univ
Zhuo, Hankz HankuiSun Yat-Sen Univ
Kambhampati, SubbaraoArizona State Univ
 
15:10-15:15, Paper TUC2.6 Add to My Program
Optimal Path Planning and Coverage Control for Multi-Robot Persistent Coverage in Environments with Obstacles
Palacios-Gasos, Jose ManuelUniv. De Zaragoza
Talebpour, ZeynabÉcole Pol. Fédérale De Lausanne
Montijano, EduardoUniv. De Zaragoza
Sagues, CarlosUniv. De Zaragoza
Martinoli, AlcherioEPFL
 
15:15-15:20, Paper TUC2.7 Add to My Program
Sampling-Based Approximate Optimal Temporal Logic Planning
Li, LeningWorcester Pol. Inst
Fu, JieWorcester Pol. Inst
 
15:20-15:25, Paper TUC2.8 Add to My Program
Toward Robust, Whole-Hand Caging Manipulation with Underactuated Hands
Ma, RaymondYale Univ
Bircher, WalterYale Univ
Dollar, AaronYale Univ
 
TUC3 Regular Session, Rm. 4311/4312 Add to My Program 
Computer Vision 3  
 
Chair: Russo, PaoloSapienza Univ. of Rome
Co-Chair: Fox, DieterUniv. of Washington
 
14:45-14:50, Paper TUC3.1 Add to My Program
Lidar-Histogram for Fast Road and Obstacle Detection
Chen, LiangNanjing Univ. of Science and Tech
Yang, JianNANJING Univ. OF SCIENCE & Tech
Kong, HuiNanjing Univ. of Science and Tech
 
14:50-14:55, Paper TUC3.2 Add to My Program
Semi-Supervised Vision-Language Mapping Via Variational Learning
Shen, YumingUniv. of East Anglia
Zhang, LiNorthumbria Univ
Shao, LingUniv. of East Anglia
 
14:55-15:00, Paper TUC3.3 Add to My Program
Vote3Deep: Fast Object Detection in 3D Point Clouds Using Efficient Convolutional Neural Networks
Engelcke, MartinUniv. of Oxford
Rao, DushyantUniv. of Sydney
Wang, Dominic ZengUniv. of Oxford
Tong, Chi HayOxbotica
Posner, IngmarOxford Univ
 
15:00-15:05, Paper TUC3.4 Add to My Program
A Deep Representation for Depth Images from Synthetic Data
Carlucci, Fabio MariaSapienza Univ. of Rome
Russo, PaoloSapienza Univ. of Rome
Caputo, BarbaraSapienza Univ
 
15:05-15:10, Paper TUC3.5 Add to My Program
A Deep Learning Approach to Traffic Lights: Detection, Tracking, and Classification
Behrendt, KarstenRobert Bosch LLC
Novak, LiborCzech Tech. Univ. in Prague
Botros, RamiRobert Bosch
 
15:10-15:15, Paper TUC3.6 Add to My Program
A Dataset for Developing and Benchmarking Active Vision
Ammirato, PhilUNC-Chapel Hill
Poirson, PatrickUNC-Chapel Hill
Park, EunbyungUNC-Chapel Hill
Kosecka, JanaGeorge Mason Univ
Berg, AlexanderUNC Chapel Hill
 
15:15-15:20, Paper TUC3.7 Add to My Program
Multi-View Self-Supervised Deep Learning for 6D Pose Estimation in the Amazon Picking Challenge
Zeng, AndyPrinceton Univ
Yu, Kuan-TingMIT
Song, ShuranPrinceton Univ
Suo, DanielPrinceton Univ
Walker, EdPrinceton Univ
Rodriguez, AlbertoMassachusetts Inst. of Tech
Xiao, JianxiongPrinceton Univ
 
15:20-15:25, Paper TUC3.8 Add to My Program
Self-Paced Cross-Modality Transfer Learning for Efficient Road Segmentation
Wang, WeiyueUniv. of Southern California
Wang, NaiyanTuSimple
Wu, XiaominChina Univ. of Petroleum
You, SuyaUniv. of Southern California
Neumann, UlrichUniv. of Southern California
 
TUC4 Regular Session, Rm. 4411/4412 Add to My Program 
Autonomous Vehicle  
 
Chair: Seo, Seung-WooSeoul National Univ
Co-Chair: Ji, YonghoonThe Univ. of Tokyo
 
14:45-14:50, Paper TUC4.1 Add to My Program
Predictive Positioning and Quality of Service Ridesharing for Campus Mobility on Demand Systems
Miller, JustinMIT
How, Jonathan PatrickMassachusetts Inst. of Tech
 
14:50-14:55, Paper TUC4.2 Add to My Program
Toward Human-Like Lane Following Behavior in Urban Environment with a Learning-Based Behavior-Induction Potential Map
Guo, ChunzhaoToyota Central R&D Labs. Inc
Owaki, TakashiToyota Central R&D Labs., Inc
Kidono, KiyosumiToyota Central R&D Labs., Inc
Machida, TakashiToyota Central R&D Labs., Inc
Terashima, RyutaToyota Central R&D Labs., Inc
Kojima, YoshikoToyota Central R&D Labs., Inc
 
14:55-15:00, Paper TUC4.3 Add to My Program
Global Outer-Urban Navigation with OpenStreetMap
Suger, BenjaminUniv. of Freiburg
Burgard, WolframUniv. of Freiburg
 
15:00-15:05, Paper TUC4.4 Add to My Program
Accurate Stereo Visual Odometry with Gamma Distributions
Gomez-Ojeda, RubenUniv. of Málaga
Moreno, Francisco-AngelUniv. of Malaga
González-Jiménez, JavierUniv. of Málaga
 
15:05-15:10, Paper TUC4.5 Add to My Program
Direct Visual-Inertial Navigation with Analytical Preintegration
Eckenhoff, KevinUniv. of Delaware
Geneva, PatrickUniv. of Delaware
Huang, GuoquanUniv. of Delaware
 
15:10-15:15, Paper TUC4.6 Add to My Program
A Learning-Based Framework for Handling Dilemmas in Urban Automated Driving
Lee, Sang-HyunSeoul National Univ
Seo, Seung-WooSeoul National Univ
 
15:15-15:20, Paper TUC4.7 Add to My Program
Automated Generation of Diverse and Challenging Scenarios for Test and Evaluation of Autonomous Vehicles
Mullins, GalenUniv. of Maryland
Stankiewicz, PaulJohns Hopkins Univ. Applied Physics Lab
Gupta, Satyandra K.Univ. of Southern California
 
15:20-15:25, Paper TUC4.8 Add to My Program
Lane-Change Detection Based on Vehicle-Trajectory Prediction
Woo, HanwoolThe Univ. of Tokyo
Ji, YonghoonThe Univ. of Tokyo
Kono, HitoshiThe Univ. of Tokyo
Tamura, YusukeThe Univ. of Tokyo
Kuroda, YasuhideMazda
Sugano, TakashiMazda
Yamamoto, YasunoriMazda
Yamashita, AtsushiThe Univ. of Tokyo
Asama, HajimeThe Univ. of Tokyo
 
TUC5 Regular Session, Rm. 4511/4512 Add to My Program 
Distributed Robot Systems 1  
 
Chair: Robuffo Giordano, PaoloCentre National De La Recherche Scientifique (CNRS)
Co-Chair: Schwager, MacStanford Univ
 
14:45-14:50, Paper TUC5.1 Add to My Program
A Distributed Algorithm for Mapping the Graphical Structure of Complex Environments with a Swarm of Robots
Caccavale, AdamStanford Univ
Schwager, MacStanford Univ
 
14:50-14:55, Paper TUC5.2 Add to My Program
Bearing Rigidity Maintenance for Formations of Quadrotor UAVs
Schiano, FabrizioUniv. of Rennes 1 - INRIA Rennes Bretagne Atlantique
Robuffo Giordano, PaoloCentre National De La Recherche Scientifique (CNRS)
 
14:55-15:00, Paper TUC5.3 Add to My Program
A Portable, 3D-Printing Enabled Multi-Vehicle Platform for Robotics Research and Education
Yu, JingjinRutgers Univ
Han, Shuai DavidRutgers Univ
Tang, Wei NeoRutgers Univ
Rus, DanielaMIT
 
15:00-15:05, Paper TUC5.4 Add to My Program
Minimum-Violation Scltl Motion Planning for Mobility-On-Demand
Vasile, Cristian IoanMassachusetts Inst. of Tech
Tumova, JanaRoyal Inst. of Tech
Karaman, SertacMassachusetts Inst. of Tech
Belta, CalinBoston Univ
Rus, DanielaMIT
 
15:05-15:10, Paper TUC5.5 Add to My Program
Distributed Aggregation for Modular Robots in the Pivoting Cube Model
Claici, SebastianMassachusetts Inst. of Tech
Romanishin, JohnMIT
Lipton, JeffreyMIT
Bonardi, StephaneEPFL Ec. Pol. Federal De Lausanne
Gilpin, KyleMassachusetts Inst. of Tech
Rus, DanielaMIT
 
15:10-15:15, Paper TUC5.6 Add to My Program
Duckietown: An Open, Inexpensive and Flexible Platform for Autonomy Education and Research
Paull, LiamMassachusetts Inst. of Tech
Tani, JacopoMIT
Ahn, HeejinMIT
Alonso-Mora, JavierMIT
Carlone, LucaMassachusetts Inst. of Tech
Čáp, MichalCTU in Prague
Dusek, JeffHarvard Univ
Fang, YajunMIT
Chen, YufanMassachusetts Inst. of Tech
Choi, Changhyun1981
Hoehener, DanielMassachusetts Inst. of Tech
Liu, Shih-YuanU.C. Berkeley
Novitzky, MichaelMassachusetts Inst. of Tech
Franzoni Okuyama, IgorAERONAUTICS Inst. OF Tech
Pazis, JasonDuke Univ
Rosman, GuyMassachusetts Inst. of Tech
Varricchio, ValerioMassachusetts Inst. of Tech
Wang, Hsueh-ChengNational Chiao Tung Univ. Taiwan
Yershov, DmitryMassachusetts Inst. of Tech
Zhao, HangMIT
Benjamin, MichaelMassachusetts Inst. of Tech
Carr, ChrisMIT
Zuber, Maria T.Massachusetts Inst. of Tech
Karaman, SertacMassachusetts Inst. of Tech
Frazzoli, EmilioMassachusetts Inst. of Tech
Del Vecchio, DomitillaMIT
Rus, DanielaMIT
How, Jonathan PatrickMassachusetts Inst. of Tech
Leonard, JohnMIT
Censi, AndreaMIT
 
15:15-15:20, Paper TUC5.7 Add to My Program
Decentralized Coordinated Motion for a Large Team of Robots Preserving Connectivity and Avoiding Collisions
Li, AnqiCarnegie Mellon Univ
Luo, WenhaoCarnegie Mellon Univ
Nagavalli, SasankaCarnegie Mellon Univ
Sycara, KatiaCarnegie Mellon Univ
 
15:20-15:25, Paper TUC5.8 Add to My Program
Intercepting Rogue Robots: An Algorithm for Capturing Multiple Evaders with Multiple Pursuers
Pierson, AlyssaBoston Univ
Wang, ZijianStanford Univ
Schwager, MacStanford Univ
 
TUC6 Regular Session, Rm. 4611/4612 Add to My Program 
Learning and Adaptive Systems 3  
 
Chair: Masuyama, GakutoChuo Univ
Co-Chair: Havoutis, IoannisIdiap Res. Inst
 
14:45-14:50, Paper TUC6.1 Add to My Program
Efficient Learning of Constraints and Generic Null Space Policies
Armesto, LeopoldoUniv. Pol. De Valencia Q4618002B
Bosga, JorrenUniv. of Edinburgh
Ivan, VladimirUniv. of Edinburgh
Vijayakumar, SethuUniv. of Edinburgh
 
14:50-14:55, Paper TUC6.2 Add to My Program
From Perception to Decision: A Data-Driven Approach to End-To-End Motion Planning for Autonomous Ground Robots
Pfeiffer, MarkETH Zurich
Schaeuble, MichaelETHZ
Nieto, JuanETH Zürich
Siegwart, RolandETH Zurich
Cadena Lerma, CesarETH Zurich
 
14:55-15:00, Paper TUC6.3 Add to My Program
Supervisory Teleoperation with Online Learning and Optimal Control
Havoutis, IoannisIdiap Res. Inst
Calinon, SylvainIdiap Res. Inst
 
15:00-15:05, Paper TUC6.4 Add to My Program
Rapidly Exploring Learning Trees
Shiarlis, KyriacosUniv. of Amsterdam
Teixeira de Sousa Messias, João VicenteUniv. of Amsterdam
Whiteson, ShimonUniv. of Oxford
 
15:05-15:10, Paper TUC6.5 Add to My Program
Hitting the Sweet Spot: Automatic Optimization of Energy Transfer During Tool-Held Hits
Vogel, JoernGerman Aerospace Center
Takemura, NaohiroCenter for Information and Neural Networks (CINET)
Hoeppner, HannesDLR - German Aerospace Center
van der Smagt, PatrickTUM
Ganesh, GowrishankarCentre National De La Recherche Scientifique (CNRS)
 
15:10-15:15, Paper TUC6.6 Add to My Program
Virtual vs. Real: Trading Off Simulations and Physical Experiments in Reinforcement Learning with Bayesian Optimization
Marco, AlonsoMax Planck Inst. for Intelligent Systems
Berkenkamp, FelixETH Zurich
Hennig, PhilippMPI Intelligent Systems
Schoellig, Angela P.Univ. of Toronto
Krause, AndreasETH Zurich
Schaal, StefanMPI Intelligent Systems & Univ. of Southern California
Trimpe, SebastianMax Planck Inst. for Intelligent Systems
 
15:15-15:20, Paper TUC6.7 Add to My Program
COCoMoPL: A Novel Approach for Humanoid Walking Generation Combining Optimal Control, Movement Primitives and Learning and Its Transfer to the Real Robot HRP-2
Clever, DeboraABB Corp. Res. Center
Harant, MonikaHeidelberg Univ
Mombaur, KatjaHeidelberg Univ
Naveau, MaximilienLAAS/CNRS
Stasse, OlivierCNRS
Endres, DominikPhilipps-Univ. Marburg
 
15:20-15:25, Paper TUC6.8 Add to My Program
Repeatable Folding Task by Humanoid Robot Worker Using Deep Learning
Yang, Pin-ChuWaseda Univ
Sasaki, KazumaWaseda Univ
Suzuki, KanataWaseda Univ
Kase, KeiWaseda Univ
Sugano, ShigekiWaseda Univ
Ogata, TetsuyaWaseda Univ
 
TUC7 Regular Session, Rm. 4711/4712 Add to My Program 
Grasping 1  
 
Chair: Shapiro, AmirBen Gurion Univ. of the Negev
Co-Chair: Natale, LorenzoIstituto Italiano Di Tecnologia
 
14:45-14:50, Paper TUC7.1 Add to My Program
A Grasping Approach Based on Superquadric Models
Vezzani, GiuliaIstituto Italiano Di Tecnologia of Genova, Univ. Degli Stu
Pattacini, UgoIstituto Italiano Di Tecnologia
Natale, LorenzoIstituto Italiano Di Tecnologia
 
14:50-14:55, Paper TUC7.2 Add to My Program
Control of Linear and Rotational Slippage Based on Six-Axis Force/Tactile Sensor
Cirillo, AndreaSeconda Univ. Degli Studi Di Napoli
Cirillo, PasqualeSeconda Univ. Degli Studi Di Napoli
De Maria, GiuseppeSeconda Univ. Degli Studi Di Napoli
Natale, CiroSeconda Univ. Degli Studi Di Napoli
Pirozzi, SalvatoreSeconda Univ. Degli Studi Di Napoli
 
14:55-15:00, Paper TUC7.3 Add to My Program
Grasp Quality Evaluation Done Right: How Assumed Contact Force Bounds Affect Wrench-Based Quality Metrics
Krug, RobertOerebro Univ
Bekiroglu, YaseminABB Corp. Res
Roa, Maximo A.German Aerospace Center, DLR
 
15:00-15:05, Paper TUC7.4 Add to My Program
Supervision Via Competition: Robot Adversaries for Learning Tasks
Pinto, Lerrel JosephCarnegie Mellon Univ
Davidson, JamesGoogle Inc
Gupta, AbhinavCarnegie Mellon Univ
 
15:05-15:10, Paper TUC7.5 Add to My Program
A Hybrid Deep Architecture for Robotic Grasp Detection
Guo, DiTsinghua Univ
Sun, FuchunTsinghua Univ
Liu, HuapingTsinghua Univ
Kong, TaoTsinghua Univ
Fang, BinTsinghua Univ
Xi, NingMichigan State Univ
 
15:10-15:15, Paper TUC7.6 Add to My Program
A Cloud Robot System Using the Dexterity Network and Berkeley Robotics and Automation As a Service (Brass)
Tian, NanUniv. of California, Berkeley
Matl, MatthewUniv. of California, Berkeley
Mahler, JeffreyUniv. of California, Berkeley
Zhu, Yu XiangCarnegie Mellon Univ
Staszak, SamanthaUniv. of California, Berkeley
Correa, ChristopherUniv. of California at Berkeley
Zheng, StevenUC Berkeley
Li, QiangCloudMinds Tech
Zhang, Robert ZheCloudMinds Tech
Goldberg, KenUC Berkeley
 
15:15-15:20, Paper TUC7.7 Add to My Program
Modeling Grasp Motor Imagery through Deep Conditional Generative Models
Veres, MatthewUniv. of Guelph
Moussa, MedhatGuelph
Taylor, GrahamUniv. of Guelph
 
15:20-15:25, Paper TUC7.8 Add to My Program
Caging Polygonal Objects Using Equilateral Three-Finger Hands
Bunis, Hallel A.Tech. - Israel Inst. of Tech
Rimon, ElonTech. - Israel Inst. of Tech
Shapiro, AmirBen Gurion Univ. of the Negev
Golan, YoavBen Gurion Univ
 
TUC8 Regular Session, Rm. 4613/4713 Add to My Program 
Human-Robot Interaction 2  
 
Chair: Ayusawa, KoAIST
Co-Chair: Valls Miro, JaimeUniv. of Tech. Sydney
 
14:45-14:50, Paper TUC8.1 Add to My Program
Show, Attend and Interact: Perceivable Human-Robot Social Interaction through Neural Attention Q-Network
Qureshi, AhmedOsaka Univ
Nakamura, YutakaOsaka Univ
Yoshikawa, YuichiroOsaka Univ
Ishiguro, HiroshiOsaka Univ
 
14:50-14:55, Paper TUC8.2 Add to My Program
Two-Eye Model-Based Gaze Estimation from a Kinect Sensor
Zhou, XiaolongZhejiang Univ. of Tech
Cai, HaibinUniv. of Portsmouth
Li, You-FuCity Univ. of Hong Kong
Liu, HonghaiUniv. of Portsmouth
 
14:55-15:00, Paper TUC8.3 Add to My Program
ModLight: Designing a Modular Light Signaling Tool for Human-Robot Interaction
Cha, ElizabethUniv. of Southern California
Trehon, TusharPES Inst. of Tech
Wathieu, LancelotGeorgetown Univ
Wagner, ChristianUniv. of Southern California
Shukla, AnuragUniv. of Southern California
Mataric, MajaUniv. of Southern California
 
15:00-15:05, Paper TUC8.4 Add to My Program
Towards Real-Time 3D Sound Sources Mapping with Linear Microphone Arrays
Su, DaobiligeUniv. of Tech. Sydney
Vidal-Calleja, Teresa A.Univ. of Tech. Sydney
Valls Miro, JaimeUniv. of Tech. Sydney
 
15:05-15:10, Paper TUC8.5 Add to My Program
Learning Social Affordance Grammar from Videos: Transferring Human Interactions to Human-Robot Interactions
Shu, TianminUniv. of California, Los Angeles
Gao, XiaofengFudan Univ
Ryoo, Michael S.Indiana Univ. Bloomington
Zhu, Song-ChunUCLA
 
15:10-15:15, Paper TUC8.6 Add to My Program
Emotional Intelligence in Robots: Recognizing Human Emotions from Daily-Life Gestures
Loghmani, Mohammad RezaVienna Univ. of Tech
Rovetta, StefanoUniv. of Genoa
Venture, GentianeTokyo Univ. of Agriculture and Tech
 
15:15-15:20, Paper TUC8.7 Add to My Program
Modeling Cooperative Navigation in Dense Human Crowds
Vemula, AnirudhCarnegie Mellon Univ
Muelling, KatharinaCarnegie Mellon Univ
Oh, JeanCarnegie Mellon Univ
 
15:20-15:25, Paper TUC8.8 Add to My Program
Coordination Dynamics in Multi-Human Multi-Robot Teams
Iqbal, TariqUniv. of California San Diego
Riek, Laurel D.Univ. of California San Diego
 
TUC9 Regular Session, Rm. 4811/4812 Add to My Program 
Best Conference Paper Award  
 
Chair: Hollerbach, JohnUniv. of Utah
Co-Chair: Khatib, OussamaStanford Univ
 
14:45-14:50, Paper TUC9.1 Add to My Program
The Robotarium: A Remotely Accessible Swarm Robotics Research Testbed
Pickem, DanielGeorgia Inst. of Tech
Glotfelter, PaulGeorgia Inst. of Tech
Wang, LiGeorgia Inst. of Tech
Mote, MarkGeorgia Inst. of Tech
Ames, AaronGeorgia Inst. of Tech
Feron, EricGeorgia Inst. of Tech
Egerstedt, MagnusGeorgia Inst. of Tech
 
14:50-14:55, Paper TUC9.2 Add to My Program
Design, Development and Experimental Assessment of a Robotic End-Effector for Non-Standard Concrete Applications
Kumar, NitishAgile & Dexterous Robotics Lab, ETH Zurich
Hack, NormanETH Zurich
Doerfler, KathrinETH Zurich, Inst. for Tech. in Architecture
Walzer, Alexander NikolasGramazio Kohler Res. NCCR Digital Fabrication, ETH Zurich
Rey, Gonzalo JavierMoog Inc
Gramazio, FabioETH Zurich
Kohler, Matthias DanielETH Zurich
Buchli, JonasETH Zurich
 
14:55-15:00, Paper TUC9.3 Add to My Program
Information Theoretic MPC for Model-Based Reinforcement Learning
Williams, GradyGeorgia Inst. of Tech
Wagener, NolanGeorgia Tech
Goldfain, BrianGeorgia Inst. of Tech
Drews, PaulGeorgia Inst. of Tech
Rehg, JamesGeorgia Inst. of Tech
Boots, ByronGeorgia Inst. of Tech
Theodorou, EvangelosGeorgia Inst. of Tech
 
15:00-15:05, Paper TUC9.4 Add to My Program
Probabilistic Data Association for Semantic SLAM
Bowman, SeanUniv. of Pennsylvania
Atanasov, NikolayUniv. of Pennsylvania
Daniilidis, KostasUniv. of Pennsylvania
Pappas, George J.Univ. of Pennsylvania
 
15:05-15:10, Paper TUC9.5 Add to My Program
Estimating Unknown Object Dynamics in Human-Robot Manipulation Tasks
Cehajic, DenisTech. Univ. of Munich (TUM)
Budde genannt Dohmann, PabloTech. Univ. Munich
Hirche, SandraTech. Univ. München
 
TUC10 Regular Session, Rm. 4911/4912 Add to My Program 
Medical Robots and Systems 2  
 
Chair: Liu, YunhuiChinese Univ. of Hong Kong
Co-Chair: Kiguchi, KazuoKyushu Univ
 
14:45-14:50, Paper TUC10.1 Add to My Program
A Framework for Sensorless and Autonomous Probe-Tissue Contact Management in Robotic Endomicroscopic Scanning
Varghese, Rejin JohnImperial Coll. London
Berthet-Rayne, PierreImperial Coll. London
Giataganas, PetrosImperial Coll. London
Vitiello, ValentinaUniv. Coll. London
Yang, Guang-ZhongImperial Coll. London
 
14:50-14:55, Paper TUC10.2 Add to My Program
Controlling the Stormram 2: An MRI-Compatible Robotic System for Breast Biopsy
Abdelaziz, Mohamed Essam Mohamed KassemImperial Coll. London
Groenhuis, VincentUniv. of Twente
Veltman, JeroenZGT
Siepel, FrançoiseUniv. of Twente
Stramigioli, StefanoUniv. of Twente
 
14:55-15:00, Paper TUC10.3 Add to My Program
RAFS: A Computer-Assisted Robotic System for Minimally Invasive Joint Fracture Surgery, Based on Pre and Intra-Operative Imaging
Dagnino, GiulioBristol Robotics Lab. - UWE
Georgilas, IoannisUniv. of the West of England
Morad, SamirImperial Coll. London
Gibbons, PeterUniv. of the West of England
Tarassoli, PayamUniv. Hospitals Bristol
Atkins, RogerBristol Royal Infirmary
Dogramadzi, SanjaUniv. of the West of England
 
15:00-15:05, Paper TUC10.4 Add to My Program
EEG-Controlled Meal Assistance Robot with Camera-Based Automatic Mouth Position Tracking and Mouth Open Detection
Perera, Chamika JanithUniv. of Moratuwa , Sri Lanka
Lalitharatne, Thilina DulanthaUniv. of Moratuwa
Kiguchi, KazuoKyushu Univ
 
15:05-15:10, Paper TUC10.5 Add to My Program
Towards Active Variable Stiffness Manipulators for Surgical Robots
Le Huu, MinhRRC-NTU-Singapore
Do, ThanhnhoNtu
Cao, LinNanyang Tech. Univ
Phee, LouisNanyang Tech. Univ
 
15:10-15:15, Paper TUC10.6 Add to My Program
Effects of Exoskeleton Weight and Inertia on Human Walking
Jin, XinColumbia Univ
Cai, YushengColumbia Univ
Prado, AntonioColumbia Univ
Agrawal, SunilColumbia Univ
 
15:15-15:20, Paper TUC10.7 Add to My Program
Enhancing Seated Stability Using Trunk Support Trainer (TruST)
Khan, MoizColumbia Univ
Santamaria, VictorTeachers Coll. Columbia Univ
Kang, JiyeonColumbia Univ
Bradley, BrianColumbia Univ
Dutkowsky, JosephColumbia Univ. Medical Center
Gordon, Andrew M.Teachers Coll. Columbia Univ
Agrawal, SunilColumbia Univ
 
15:20-15:25, Paper TUC10.8 Add to My Program
Developing a Compact Robotic Needle Driver for MRI-Guided Breast Biopsy in Tight Environments
Navarro-Alarcon, DavidThe Chinese Univ. of Hong Kong
Singh, SatwinderThe Chinese Univ. of Hong Kong
Zhang, TianxueTHE CHINESE Univ. OF HONGKONG
Chung, Hayley LouiseTime Medical Limited
Ng, Kwun WangThe Chinese Univ. of Hong Kong
Chow, Man KiuThe Chinese Univ. of Hong Kong
Liu, YunhuiChinese Univ. of Hong Kong
 
TUC11 Regular Session, Rm. 4813/4913 Add to My Program 
Industrial Robots  
 
Chair: Hamel, William R.Univ. of Tennessee
Co-Chair: Wu, LiaoQueensland Univ. of Tech
 
14:45-14:50, Paper TUC11.1 Add to My Program
Real Time Welding Parameter Prediction for Desired Character Performance
Dong, HangDalian Univ. of Tech
Cong, MingDalian Univ. of Tech
Liu, YukangThe MathWorks
Zhang, YumingUniv. of Kentucky
Chen, HepingTexas State Univ
 
14:50-14:55, Paper TUC11.2 Add to My Program
An Ultra-Compact Infinitely Variable Transmission for Robotics
Kernbaum, AlexanderCase Western Res. Univ
Kitchell, MurphySRI International
Crittenden, MaxSRI International
 
14:55-15:00, Paper TUC11.3 Add to My Program
Toward Controlling a KUKA LBR IIWA for Interactive Tracking
Chawda, VinayThe Walt Disney Company
Niemeyer, GünterDisney Res
 
15:00-15:05, Paper TUC11.4 Add to My Program
Quick Positional Health Assessment for Industrial Robot Prognostics and Health Management (PHM)
Qiao, GuixiuNational Inst. of Standards and Tech
Schlenoff, CraigNIST
Weiss, BrianNational Inst. of Standards and Tech
 
15:05-15:10, Paper TUC11.5 Add to My Program
Automatic Robot Taping with Force Feedback
Yuan, QilongFoshan Univ
Lembono, TeguhSingapore Univ. of Tech. and Design
Chen, I-MingNanyang Tech. Univ
Nelson Landén, SimonKTH
Malmgren, VictorRoyal Inst. of Tech. (KTH)
 
15:10-15:15, Paper TUC11.6 Add to My Program
Dexterity Analysis of Three 6-DOF Continuum Robots Combining Concentric Tube Mechanisms and Cable Driven Mechanisms
Wu, LiaoQueensland Univ. of Tech
Crawford, RossQueensland Univ. of Tech
Roberts, JonathanQueensland Univ. of Tech
 
15:15-15:20, Paper TUC11.7 Add to My Program
Compensation of Load Dynamics for Admittance Controlled Interactive Industrial Robots Using a Quaternion-Based Kalman Filter
Farsoni, SaverioDepartment of Engineering - Univ. of Ferrara
Talignani Landi, ChiaraUniv. of Modena and Reggio Emilia
Ferraguti, FedericaUniv. Degli Studi Di Modena E Reggio Emilia
Secchi, CristianUniv. of Modena & Reggio Emilia
Bonfe, MarcelloUniv. of Ferrara
 
15:20-15:25, Paper TUC11.8 Add to My Program
Comparative Study of Serial-Parallel Delta Robots with Full Orientation Capabilities
Brinker, JanRWTH Aachen Univ
Funk, NilsRWTH Aachen
Ingenlath, PhilippRWTH Aachen Univ
Takeda, YukioTokyo Inst. of Tech
Corves, BurkhardRWTH Aachen Univ
 
TUC12 Invited Presentation, Rm. 4211/4212 Add to My Program 
Special Session - Human Centric Robotics  
 
 
TUC13 Forum, Sands N Add to My Program 
Industry Forum 3  
 
 
TUC14 Forum, Sands O Add to My Program 
Innovation & Entrepreneur-Ship Forum 3  
 
 
TUD1 Regular Session, Rm. 4011 Add to My Program 
Actuators 4  
 
Chair: Kong, KyoungchulSogang Univ
Co-Chair: Haddadin, SamiLeibniz Univ. Hanover
 
16:25-16:30, Paper TUD1.1 Add to My Program
Biomimetic Robotic Joint Mechanism Driven by Soft Linear Actuators
Cho, Kyeong HoSungKyunKwan Univ
Song, Min-GeunSungkyunkwan Univ
Jung, HosangSungkyunkwan Univ
Yang, Sang YulSungkyunkwan Univ
Rodrigue, HugoSungkyunkwan Univ
Moon, HyungpilSungkyunkwan Univ
Koo, Ja ChoonSungkyunkwan Univ
Choi, Hyouk RyeolSungkyunkwan Univ
 
16:30-16:35, Paper TUD1.2 Add to My Program
Electric Phase-Change Actuator with Inkjet Printed Flexible Circuit for Printable and Integrated Robot Prototyping
Nakahara, KenichiThe Univ. of Tokyo
Narumi, KoyaThe Univ. of Tokyo
Niiyama, RyumaUniv. of Tokyo
Kawahara, YoshihiroThe Univ. of Tokyo
 
16:35-16:40, Paper TUD1.3 Add to My Program
Multi-Objective Design Optimization of a Soft, Pneumatic Robot
Bodily, DanielBrigham Young Univ
Allen, Thomas FCalifornia Inst. of Tech
Killpack, MarcBrigham Young Univ
 
16:40-16:45, Paper TUD1.4 Add to My Program
Design of a Compact Rotary Series Elastic Actuator for Improved Actuation Transparency and Mechanical Safety
Woo, HanseungSogang Univ
Na, ByeonghunSogang Univ
Kong, KyoungchulSogang Univ
 
16:45-16:50, Paper TUD1.5 Add to My Program
A Robotic Manipulator Design with Novel Soft Actuators
Chen, XiaojiaoThe Univ. of Hong Kong
Peng, JingUniv. of Hong Kong
Zhou, JianshuThe Univ. of Hong Kong
Chen, YonghuaThe Univ. of Hong Kong
Wang, Michael YuHong Kong Univ. of Science & Tech
Wang, ZhengThe Univ. of Hong Kong
 
16:50-16:55, Paper TUD1.6 Add to My Program
Serially Actuated Locomotion for Soft Robots in Tube-Like Environments
Gilbertson, MarkUniv. of Minnesota
McDonald, GillianUniv. of Minnesota
Korinek, GabrielUniv. of Minnesota
Van de Ven, JamesUniv. of Minnesota
Kowalewski, TimothyUniv. of Minnesota
 
16:55-17:00, Paper TUD1.7 Add to My Program
Force Measurement towards the Instability Theory of Soft Pneumatic Actuators
Sun, YiNational Univ. of Singapore
Liang, XinquanNational Univ. of Singapore
Yap, Hong KaiNational Univ. of Singapore
Cao, JiaweiNUS
Ang Jr, Marcelo HNational Univ. of Singapore
Yeow, Chen-HuaNational Univ. of Singapore
 
17:00-17:05, Paper TUD1.8 Add to My Program
A Self-Locking-Type Expansion Mechanism to Achieve High Holding Force and Pipe-Passing Capability for a Pneumatic In-Pipe Robot
Yamamoto, TomonariTohoku Univ
Konyo, MasashiTohoku Univ
Tadakuma, KenjiroTohoku Univ
Tadokoro, SatoshiTohoku Univ
 
TUD2 Regular Session, Rm. 4111 Add to My Program 
Collision Avoidance  
 
Chair: Manocha, DineshUniv. of North Carolina at Chapel Hill
Co-Chair: Oriolo, GiuseppeSapienza Univ. of Rome
 
16:25-16:30, Paper TUD2.1 Add to My Program
Human Body Part Multicontact Recognition and Detection Methodology
Kim, Kwan SukUniv. of Texas at Austin
Sentis, LuisThe Univ. of Texas at Austin
 
16:30-16:35, Paper TUD2.2 Add to My Program
The Admissible Gap (AG) Method for Reactive Collision Avoidance
Mujahed, MuhannadUniv. of Paderborn
Mertsching, BärbelUniv. of Paderborn
 
16:35-16:40, Paper TUD2.3 Add to My Program
Collision Avoidance with Limited Field of View Sensing: A Velocity Obstacle Approach
Roelofsen, StevenEPFL
Gillet, DenisSwiss Federal Inst. of Tech. in Lausanne (EPFL)
Martinoli, AlcherioEPFL
 
16:40-16:45, Paper TUD2.4 Add to My Program
Parallel Autonomy in Automated Vehicles: Safe Motion Generation with Minimal Intervention
Schwarting, WilkoMassachusetts Inst. of Tech. (MIT)
Alonso-Mora, JavierMIT
Paull, LiamMassachusetts Inst. of Tech
Karaman, SertacMassachusetts Inst. of Tech
Rus, DanielaMIT
 
16:45-16:50, Paper TUD2.5 Add to My Program
Parallel Collision Check for Sensor Based Real-Time Motion Planning
Cefalo, MassimoSapienza Univ. of Rome
Magrini, EmanueleSapienza Univ. of Rome
Oriolo, GiuseppeSapienza Univ. of Rome
 
16:50-16:55, Paper TUD2.6 Add to My Program
Efficient Probabilistic Collision Detection for Non-Convex Shapes
Park, Jae SungUniv. of North Carolina at Chapel Hill
Park, ChonhyonUniv. of North Carolina at Chapel Hill
Manocha, DineshUniv. of North Carolina at Chapel Hill
 
16:55-17:00, Paper TUD2.7 Add to My Program
Fast, On-Line Collision Avoidance for Dynamic Vehicles Using Buffered Voronoi Cells
Zhou, DingjiangBoston Univ
Wang, ZijianStanford Univ
Schwager, MacStanford Univ
Bandyopadhyay, SaptarshiCalifornia Inst. of Tech
 
17:00-17:05, Paper TUD2.8 Add to My Program
Dynamical System Based Robotic Motion Generation with Obstacle Avoidance
Stavridis, SotirisAristotle Univ. of Thessaloniki
Papageorgiou, DimitriosAristotle Univ. of Thessaloniki
Doulgeri, ZoeAristotle Univ. of Thessaloniki
 
TUD3 Regular Session, Rm. 4311/4312 Add to My Program 
Computer Vision 4  
 
Chair: Ren, HongliangFaculty of Engineering, National Univ. of Singapore
Co-Chair: Berger, KaiJPL
 
16:25-16:30, Paper TUD3.1 Add to My Program
Depth from Stereo Polarization in Specular Scenes for Urban Robotics
Berger, KaiJPL
Voorhies, RandolphUniv. of Southern California
Matthies, LarryJet Propulsion Lab
 
16:30-16:35, Paper TUD3.2 Add to My Program
Compressive Tracking with Locality Sensitive Histograms Features
Chan, SixianZhejiang Univ. of Tech
Zhou, XiaolongZhejiang Univ. of Tech
Zhang, ZhuoZhejiang Univ. of Tech
Chen, ShengyongZhejiang Univ. of Tech
 
16:35-16:40, Paper TUD3.3 Add to My Program
Detecting, Localizing, and Recognizing Trees with a Monocular MAV: Towards Preventing Deforestation
Shah, UtsavInternational Inst. of Information Tech
Khawad, RishabhInternational Inst. of Information Tech. Hyderabad
Krishna, MadhavaIIIT Hyderabad
 
16:40-16:45, Paper TUD3.4 Add to My Program
Combined Image and World-Space Tracking in Traffic Scenes
Osep, AljosaRWTH Aachen Univ
Mehner, WolfgangRWTH Aachen Univ
Mathias, MarkusRWTH Aachen
Leibe, BastianRWTH Aachen Univ
 
16:45-16:50, Paper TUD3.5 Add to My Program
Visual Tracking of Multiple Moving Targets in 2D Ultrasound Guided Robotic Percutaneous Interventions
Kaya, MertOzyegin Univ
Senel, EnesOzyegin Univ
Ahmad, AwaisOzyegin Univ
Bebek, OzkanOzyegin Univ
 
16:50-16:55, Paper TUD3.6 Add to My Program
Deep Representation of Industrial Components Using Simulated Images
Kim, Seong-heumKAIST
Choe, GyeongminKAIST
Ahn, ByungtaeKAIST
Kweon, In SoKAIST
 
16:55-17:00, Paper TUD3.7 Add to My Program
6-DoF Object Pose from Semantic Keypoints
Pavlakos, GeorgiosUniv. of Pennsylvania
Zhou, XiaoweiUniv. of Pennsylvania
Chan, AaronUniv. of Pennsylvania
Derpanis, KonstantinosRyerson Univ
Daniilidis, KostasUniv. of Pennsylvania
 
17:00-17:05, Paper TUD3.8 Add to My Program
Mixtures of Lightweight Deep Convolutional Neural Networks: Applied to Agricultural Robotics
McCool, Christopher StevenQueensland Univ. of Tech
Perez, TristanQueensland Univ. of Tech
Upcroft, BenQueensland Univ. of Tech
 
TUD4 Regular Session, Rm. 4411/4412 Add to My Program 
Visual-Based Navigation  
 
Chair: Christensen, Henrik IskovUC San Diego
Co-Chair: Barfoot, TimothyUniv. of Toronto
 
16:25-16:30, Paper TUD4.1 Add to My Program
Falling in Line: Visual Route Following on Extreme Terrain for a Tethered Mobile Robot
McGarey, PatrickUniv. of Toronto
Polzin, MaxEidgenoessische Tech. Hochschule Zurich
Barfoot, TimothyUniv. of Toronto
 
16:30-16:35, Paper TUD4.2 Add to My Program
Reducing Drift in Visual Odometry by Inferring Sun Direction Using a Bayesian Convolutional Neural Network
Peretroukhin, ValentinUniv. of Toronto
Clement, LeeUniv. of Toronto
Kelly, JonathanUniv. of Toronto
 
16:35-16:40, Paper TUD4.3 Add to My Program
DeepVO: Towards End-To-End Visual Odometry with Deep Recurrent Convolutional Neural Networks
Wang, SenUniv. of Oxford
Clark, RonaldUniv. of Oxford
Wen, HongkaiUniv. of Oxford
Trigoni, NikiUniv. of Oxford
 
16:40-16:45, Paper TUD4.4 Add to My Program
Point and Line Feature-Based Observer Design on SL(3) for Homography Estimation and Its Application to Image Stabilization
Hua, Minh-DucI3s Uns-Cnrs Umr7271
Trumpf, JochenThe Australian National Univ
Hamel, TarekUNSA-CNRS
Mahony, RobertAustralian National Univ
Morin, PascalUPMC
 
16:45-16:50, Paper TUD4.5 Add to My Program
Visual Servoing Using Model Predictive Control to Assist Multiple Trajectory Tracking
Cazy, NicolasInria Rennes-Bretagne Atlantique
Wieber, Pierre-BriceINRIA Rhône-Alpes
Robuffo Giordano, PaoloCentre National De La Recherche Scientifique (CNRS)
Chaumette, FrancoisInria Rennes-Bretagne Atlantique
 
16:50-16:55, Paper TUD4.6 Add to My Program
Visual Triage: A Bag-Of-Words Experience Selector for Long-Term Visual Route Following
MacTavish, KirkUniv. of Toronto
Paton, MichaelUniv. of Toronto
Barfoot, TimothyUniv. of Toronto
 
16:55-17:00, Paper TUD4.7 Add to My Program
Satellite Image-Based Localization Via Learned Embeddings
Kim, Dong-KiCarnegie Mellon Univ
Walter, MatthewToyota Tech. Inst. at Chicago
 
17:00-17:05, Paper TUD4.8 Add to My Program
Direct Visual Odometry in Low Light Using Binary Descriptors
Alismail, HatemCarnegie Mellon Univ
Kaess, MichaelCarnegie Mellon Univ
Browning, BrettCarnegie Mellon Univ
Lucey, SimonCarnegie Mellon Univ
 
TUD5 Regular Session, Rm. 4511/4512 Add to My Program 
Distributed Robot Systems 2  
 
Chair: Pappas, George J.Univ. of Pennsylvania
Co-Chair: Lengiewicz, JakubInst. of Fundamental Tech. Res. Pol. Acad. of Sciences
 
16:25-16:30, Paper TUD5.1 Add to My Program
Rate Impact Analysis in Robotic System
Sharma, NishantUniv. of Nebraska Lincoln
Elbaum, SebastianUniv. of Nebraska - Lincoln
Detweiler, CarrickUniv. of Nebraska-Lincoln
 
16:30-16:35, Paper TUD5.2 Add to My Program
Achieving the Desired Dynamic Behavior in Multi-Robot Systems Interacting with the Environment
Sabattini, LorenzoUniv. of Modena and Reggio Emilia
Secchi, CristianUniv. of Modena & Reggio Emilia
Fantuzzi, CesareUniv. Di Modena E Reggio Emilia
 
16:35-16:40, Paper TUD5.3 Add to My Program
Distributed Computation of Forces in Modular-Robotic Ensembles As Part of Reconfiguration Planning
Holobut, PawelInst. of Fundamental Tech. Res. Pol. Acad
Lengiewicz, JakubInst. of Fundamental Tech. Res. Pol. Acad
 
16:40-16:45, Paper TUD5.4 Add to My Program
Distributed Cooperative Object Parameter Estimation and Manipulation without Explicit Communication
Marino, AlessandroUniv. Degli Studi Di Salerno
Muscio, GiuseppeUniv. Degli Studi Della Basilicata
Pierri, FrancescoUniv. Della Basilicata
 
16:45-16:50, Paper TUD5.5 Add to My Program
Active Target Tracking with Self-Triggered Communications
Zhou, LifengVirginia Tech
Tokekar, PratapVirginia Tech
 
16:50-16:55, Paper TUD5.6 Add to My Program
Multi-Robot Coordination through Dynamic Voronoi Partitioning for Informative Adaptive Sampling in Communication-Constrained Environments
Kemna, StephanieUniv. of Southern California
Rogers III, John G.US Army Res. Lab
Nieto-Granda, CarlosGeorgia Inst. of Tech
Young, StuartArmy Res. Lab
Sukhatme, GauravUniv. of Southern California
 
16:55-17:00, Paper TUD5.7 Add to My Program
Modular Robot Using Helical Magnet for Bonding and Transformation
Suzuki, YosukeKanazawa Univ
Tsutsui, YuheiThe Univ. of Electro-Communications
Yaegashi, MasatoThe Univ. of Electro-Communications
Kobayashi, SatoshiUniv. of Tsukuba
 
17:00-17:05, Paper TUD5.8 Add to My Program
Resilient Flocking for Mobile Robot Teams
Saulnier, KelseyUniv. of Pennsylvania
Saldana, David JulianUniv. Federal De Minas Gerais
Prorok, AmandaUniv. of Pennsylvania
Pappas, George J.Univ. of Pennsylvania
Kumar, VijayUniv. of Pennsylvania
 
TUD6 Regular Session, Rm. 4611/4612 Add to My Program 
Learning and Adaptive Systems 4  
 
Chair: Ogata, TetsuyaWaseda Univ
Co-Chair: Levine, SergeyUC Berkeley
 
16:25-16:30, Paper TUD6.1 Add to My Program
Combining Self-Supervised Learning and Imitation for Vision-Based Rope Manipulation
Nair, AshvinUC Berkeley
Chen, DianUniv. of California, Berkeley
Agrawal, PulkitUC Berkeley
Isola, PhillipUC Berkeley
Abbeel, PieterUC Berkeley
Malik, JitendraUC Berkeley
Levine, SergeyUC Berkeley
 
16:30-16:35, Paper TUD6.2 Add to My Program
Learning to Jump in Granular Media: Unifying Optimal Control Synthesis with Gaussian Process-Based Regression
Chang, AlexanderGEORGIA Inst. OF Tech
Hubicki, ChristianGeorgia Inst. of Tech
Aguilar, JeffreyGeorgia Inst. of Tech
Goldman, DanielGeorgia Inst. of Tech
Ames, AaronGeorgia Inst. of Tech
Vela, PatricioGeorgia Inst. of Tech
 
16:35-16:40, Paper TUD6.3 Add to My Program
Learning to Push by Grasping: Using Multiple Tasks for Effective Learning
Pinto, Lerrel JosephCarnegie Mellon Univ
Gupta, AbhinavCarnegie Mellon Univ
 
16:40-16:45, Paper TUD6.4 Add to My Program
Learning Modular Neural Network Policies for Multi-Task and Multi-Robot Transfer
Devin, ColineUniv. of California, Berkeley
Gupta, AbhishekUC Berkeley
Darrell, TrevorUC Berkeley
Abbeel, PieterUC Berkeley
Levine, SergeyUC Berkeley
 
16:45-16:50, Paper TUD6.5 Add to My Program
Incorporating Side-Channel Information into Convolutional Neural Networks for Robotic Tasks
Zhou, YilunDuke Univ
Hauser, KrisDuke Univ
 
16:50-16:55, Paper TUD6.6 Add to My Program
Learning Feedback Terms for Reactive Planning and Control
Rai, AksharaÉCOLE Pol. FÉDÉRALE DE LAUSANNE EPFL
Sutanto, GiovanniUniv. of Southern California
Schaal, StefanMPI Intelligent Systems & Univ. of Southern California
Meier, FranziskaUniv. of Southern California
 
16:55-17:00, Paper TUD6.7 Add to My Program
An Approach for Imitation Learning on Riemannian Manifolds
Zeestraten, Martijn J.A.Istituto Italiano Di Tecnologia
Havoutis, IoannisIdiap Res. Inst
Silvério, JoãoIstituto Italiano Di Tecnologia
Calinon, SylvainIdiap Res. Inst
Caldwell, Darwin G.Istituto Italiano Di Tecnologia
 
17:00-17:05, Paper TUD6.8 Add to My Program
A Method for Derivation of Robot Task-Frame Control Authority from Repeated Sensory Observations
Peternel, LukaIstituto Italiano Di Tecnologia
Rozo, LeonelIstituto Italiano Di Tecnologia
Caldwell, Darwin G.Istituto Italiano Di Tecnologia
Ajoudani, ArashAdvanced Robotics Department
 
TUD7 Regular Session, Rm. 4711/4712 Add to My Program 
Grasping 2  
 
Chair: Zheng, YuUniv. of Michigan-Dearborn
Co-Chair: Chen, ZhaopengInst. of Robotics and Mechatronics, GermanAerospaceCenter, DLR
 
16:25-16:30, Paper TUD7.1 Add to My Program
Computing the Best Grasp in a Discrete Point Set
Zheng, YuUniv. of Michigan-Dearborn
 
16:30-16:35, Paper TUD7.2 Add to My Program
A Novel Actuation Configuration of Robotic Hand and the Mechanical Implementation Via Postural Synergies
Liu, YuanState Key Lab. of Robotics and System, Harbin Inst. Of
Jiang, LiHarbin Inst. of Tech
Fan, ShaoweiHarbin Inst. of Tech
Yang, DapengHarbin Inst. of Tech
Zhao, JingdongHarbin Inst. of Tech
Liu, HongHarbin Inst. of Tech
 
16:35-16:40, Paper TUD7.3 Add to My Program
Grasp Quality Evaluation and Planning for Objects with Negative Curvature
Liu, ShuoUniv. of California, Merced
Hu, ZheDorabot Inc
Zhang, HaoDorabot Inc
Kwon, MinguDorabot Inc
Wang, ZhikangDorabot Inc
Xu, YiDorabot Inc
Carpin, StefanoUniv. of California, Merced
 
16:40-16:45, Paper TUD7.4 Add to My Program
Hierarchical Salient Object Detection for Assisted Grasping
Klein, Dominik AlexanderFraunhofer FKIE
Illing, BorisFraunhofer FKIE
Gaspers, BastianFraunhofer FKIE
Schulz, DirkFKIE
Cremers, ArminUniv. of Bonn
 
16:45-16:50, Paper TUD7.5 Add to My Program
Grasp Stability Assessment through Unsupervised Feature Learning of Tactile Images
Cockburn, Deen StephenÉcole De Tech. Supérieure
Roberge, Jean-PhilippeÉcole De Tech. Supérieure
Le, Thuy Hong LoanEc. De Tech. Superieure
Maslyczyk, AlexisEc. De Tech. Superieur MTL
Duchaine, VincentEc. De Tech. Superieure
 
16:50-16:55, Paper TUD7.6 Add to My Program
A Framework for Optimal Grasp Contact Planning
Hang, KaiyuKTH Royal Inst. of Tech
Stork, Johannes AndreasKTH Royal Inst. of Tech
Pollard, Nancy SCarnegie Mellon Univ
Kragic, DanicaKTH