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 Wednesday May 31, 2017

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WePL Plenary Session, Grand ballroom Add to My Program 
Nobel Turing Challenge: Grand Challenge of AI, Robotics, and Systems
Biology - Hiroaki Kitano (Sony Computer Science Laboratories, Inc.,
Japan)
 
 
 
WeA1 Regular Session, Rm. 4011 Add to My Program 
Kinematics and Dynamics  
 
Chair: Mochiyama, HiromiUniv. of Tsukuba
Co-Chair: Takeda, YukioTokyo Inst. of Tech
 
09:30-09:35, Paper WeA1.1 Add to My Program
Inverse Kinematics with Strict Nonholonomic Constraints on Mobile Manipulator
Lee, Kang KyuKAIST Hubolab
Oh, JaesungKAIST
Sim, OkkeeKAIST
Bae, HyoInKAIST, HuboLab
Oh, Jun HoKorea Advanced Inst. of Sci. and Tech
 
09:35-09:40, Paper WeA1.2 Add to My Program
On Orientation Control of Functional Redundant Robots
Žlajpah, LeonJožef Stefan Inst
 
09:40-09:45, Paper WeA1.3 Add to My Program
Recursive Second-Order Inverse Dynamics for Serial Manipulators
Mueller, AndreasJohannes Kepler Univ
 
09:45-09:50, Paper WeA1.4 Add to My Program
Multi-Arm Snake-Like Robot
Krieger, Yannick S.Tech. Univ. München
Roppenecker, Daniel B.Tech. Univ. München
Kuru, IsmailTech. Univ. München
Lueth, Tim C.Tech. Univ. München
 
09:50-09:55, Paper WeA1.5 Add to My Program
Position Analysis of Spherical Linkages Via Angle-Bound Smoothing
Porta, Josep MCSIC-UPC
Thomas, FedericoCSIC-UPC
 
09:55-10:00, Paper WeA1.6 Add to My Program
O(log N) Algorithm for Forward Kinematics under Asynchronous Sensory Input
Wakatabe, RyoThe Univ. of Tokyo
Kuniyoshi, YasuoThe Univ. of Tokyo
Cheng, GordonTech. Univ. Munich
 
10:00-10:05, Paper WeA1.7 Add to My Program
Real-Time Shape Estimation of Kirchhoff Elastic Rod Based on Force/Torque Sensor
Takano, RyoUniv. of Tsukuba
Mochiyama, HiromiUniv. of Tsukuba
Takesue, NaoyukiTokyo Metropolitan Univ
 
10:05-10:10, Paper WeA1.8 Add to My Program
Parallel Dynamics Computation Using Prefix Sum Operations
Yang, YajueCity Univ. of Hong Kong
Wu, YuanqingUniv. of Bologna
Pan, JiaThe City Univ. of Hong Kong
 
WeA2 Regular Session, Rm. 4111 Add to My Program 
Mapping 1  
 
Chair: Neira, JoséUniv. De Zaragoza
Co-Chair: Ramos, FabioUniv. of Sydney
 
09:30-09:35, Paper WeA2.1 Add to My Program
Dense Monocular Reconstruction Using Surface Normals
Weerasekera, Chamara SarojThe Univ. of Adelaide
Latif, YasirUniv. of Adelaide
Garg, RaviThe Univ. of Adelaide
Reid, IanUniv. of Adelaide
 
09:35-09:40, Paper WeA2.2 Add to My Program
Learning Highly Dynamic Environments with Stochastic Variational Inference
Senanayake, RansaluUniv. of Sydney
O'Callaghan, Simon TimothyUniv. of Sydney
Ramos, FabioUniv. of Sydney
 
09:40-09:45, Paper WeA2.3 Add to My Program
Robust Stereo Matching with Surface Normal Prediction
Zhang, ShuangliZhejiang Univ
Xie, WeijianZhejiang Univ
Zhang, GuofengZhejiang Univ
Bao, HujunZhejiang Univ
Kaess, MichaelCarnegie Mellon Univ
 
09:45-09:50, Paper WeA2.4 Add to My Program
Robot Mapping and Localisation in Metal Water Pipes Using Hydrophone Induced Vibration and Map Alignment by Dynamic Time Warping
Ma, KeUniv. OF SHEFFIELD
Schirru, MicheleUniv. OF SHEFFIELD
Zahraee, AliUniv. OF SHEFFIELD
Dwyer-Joyce, RobUniv. OF SHEFFIELD
Boxall, JobyUniv. OF SHEFFIELD
Dodd, Tony JThe Univ. of Sheffield
Collins, RichardUniv. OF SHEFFIELD
Anderson, SeanUniv. of Sheffield
 
09:50-09:55, Paper WeA2.5 Add to My Program
Incremental Contour-Based Topological Segmentation for Robot Exploration
Fermín-León, LeonardoSimón Bolívar Univ
Neira, JoséUniv. De Zaragoza
Castellanos, Jose A.Univ. of Zaragoza
 
09:55-10:00, Paper WeA2.6 Add to My Program
Semantic Classification by Reasoning on the Whole Structure of Buildings Using Statistical Relational Learning Techniques
Luperto, MatteoPol. Di Milano
Riva, AlessandroPol. Di Milano
Amigoni, FrancescoPol. Di Milano
 
10:00-10:05, Paper WeA2.7 Add to My Program
SkiMap: An Efficient Mapping Framework for Robot Navigation
De Gregorio, DanieleAlma Mater Studiorum Univ. of Bologna
Di Stefano, LuigiUniv. of Bologna
 
10:05-10:10, Paper WeA2.8 Add to My Program
Multirobot Online Construction of Communication Maps
Banfi, JacopoPol. Di Milano
Quattrini Li, AlbertoUniv. of South Carolina
Basilico, NicolaUniv. of Milan
Rekleitis, IoannisUniv. of South Carolina
Amigoni, FrancescoPol. Di Milano
 
WeA3 Regular Session, Rm. 4311/4312 Add to My Program 
Visual Learning  
 
Chair: Zhang, HaoColorado School of Mines
Co-Chair: Asfour, TamimKarlsruhe Inst. of Tech. (KIT)
 
09:30-09:35, Paper WeA3.1 Add to My Program
Sequence-Based Multimodal Apprenticeship Learning for Robot Perception and Decision Making
Han, FeiColorado School of Mines
Yang, XueVanderbilt Univ
Zhang, YuASU
Zhang, HaoColorado School of Mines
 
09:35-09:40, Paper WeA3.2 Add to My Program
Minimum Uncertainty Latent Variable Models for Robot Recognition of Sequential Human Activities
Han, FeiColorado School of Mines
Reardon, Christopher M.U.S. Army Res. Lab
Parker, LynneUniv. of Tennessee
Zhang, HaoColorado School of Mines
 
09:40-09:45, Paper WeA3.3 Add to My Program
Learning a Deep Network with Spherical Part Model for 3D Hand Pose Estimation
Chen, Tzu-YangNational Taiwan Univ
Ting, Pai-WenNational Taiwan Univ
Wu, Min-YuNational Taiwan Univ
Fu, Li-ChenNational Taiwan Univ
 
09:45-09:50, Paper WeA3.4 Add to My Program
Visual Stability Prediction for Robotic Manipulation
Li, WenbinMax Planck Inst. for Informatics
Leonardis, AlesUniv. of Birmingham
Fritz, MarioMax-Planck-Inst. for Informatics
 
09:50-09:55, Paper WeA3.5 Add to My Program
Semantics-Aware Visual Localization under Challenging Perceptual Conditions
Naseer, TayyabUniv. of Freiburg
Oliveira, GabrielUniv. of Freiburg
Brox, ThomasUniv. of Freiburg
Burgard, WolframUniv. of Freiburg
 
09:55-10:00, Paper WeA3.6 Add to My Program
Simultaneous Feature and Body-Part Learning for Real-Time Robot Awareness of Human Behaviors
Han, FeiColorado School of Mines
Yang, XueVanderbilt Univ
Reardon, Christopher M.U.S. Army Res. Lab
Zhang, YuASU
Zhang, HaoColorado School of Mines
 
10:00-10:05, Paper WeA3.7 Add to My Program
Visual Closed-Loop Control for Pouring Liquids
Schenck, ConnorUniv. of Washington
Fox, DieterUniv. of Washington
 
10:05-10:10, Paper WeA3.8 Add to My Program
Unsupervised Linking of Visual Features to Textual Descriptions in Long Manipulation Activities
Aksoy, Eren ErdalKarlsruhe Inst. of Tech. (KIT)
Ovchinnikova, EkaterinaKarlsruhe Inst. of Tech. (KIT)
Orhan, AdilKarlsruhe Inst. for Tech. (KIT)
Yang, YezhouArizona State Univ
Asfour, TamimKarlsruhe Inst. of Tech. (KIT)
 
WeA4 Regular Session, Rm. 4411/4412 Add to My Program 
Sensor and Robtoic Networks  
 
Chair: Beetz, MichaelUniv. of Bremen
Co-Chair: Matsuno, FumitoshiKyoto Univ
 
09:30-09:35, Paper WeA4.1 Add to My Program
Distributed Consistent Data Association Via Permutation Synchronization
Leonardos, SpyridonUniv. of Pennsylvania
Zhou, XiaoweiUniv. of Pennsylvania
Daniilidis, KostasUniv. of Pennsylvania
 
09:35-09:40, Paper WeA4.2 Add to My Program
A Cloud Service for Robotic Mental Simulations
Bozcuoglu, Asil KaanUniv. of Bremen
Beetz, MichaelUniv. of Bremen
 
09:40-09:45, Paper WeA4.3 Add to My Program
Mobile Robots for Learning Spatio-Temporal Interpolation Models in Sensor Networks - the Echo State Map Approach
Schaffernicht, ErikÖrebro Univ. AASS Res. Center
Hernandez Bennetts, Victor ManuelÖrebro Univ
Lilienthal, Achim J.Örebro Univ
 
09:45-09:50, Paper WeA4.4 Add to My Program
Unsupervised Camera Localization in Crowded Spaces
Alahi, AlexandreStanford
Wilson, JudsonStanford
Fei-Fei, LiStanford Univ
Savarese, SilvioStanford Univ
 
09:50-09:55, Paper WeA4.5 Add to My Program
Automated Sequencing of Swarm Behaviors for Supervisory Control of Robotic Swarms
Nagavalli, SasankaCarnegie Mellon Univ
Chakraborty, NilanjanStony Brook Univ
Sycara, KatiaCarnegie Mellon Univ
 
09:55-10:00, Paper WeA4.6 Add to My Program
Persistent Surveillance of Events with Unknown, Time-Varying Statistics
Baykal, CenkMassachusetts Inst. of Tech
Rosman, GuyMassachusetts Inst. of Tech
Claici, SebastianMassachusetts Inst. of Tech
Rus, DanielaMIT
 
10:00-10:05, Paper WeA4.7 Add to My Program
Decentralized Navigation for Heterogeneous Swarm Robots with Limited Field of View
Maeda, RyumaKyoto Univ
Endo, TakahiroKyoto Univ
Matsuno, FumitoshiKyoto Univ
 
10:05-10:10, Paper WeA4.8 Add to My Program
Distributed Voronoi Neighbor Identification from Inter-Robot Distances
Elwin, MatthewNorthwestern Univ
Freeman, RandyNorthwestern Univ
Lynch, KevinNorthwestern Univ
 
WeA5 Regular Session, Rm. 4511/4512 Add to My Program 
Aerial Robot 1  
 
Chair: Yim, WoosoonUniv. of Nevada, Las Vegas
Co-Chair: Stramigioli, StefanoUniv. of Twente
 
09:30-09:35, Paper WeA5.1 Add to My Program
Application of Substantial and Sustained Force to Vertical Surfaces Using a Quadrotor
Wopereis, Han WillemUniv. of Twente
Hoekstra, Jim JohanUniv. of Twente
Post, Tjark HarrieUniv. of Twente
Folkertsma, Gerrit AdriaanUniv. of Twente
Stramigioli, StefanoUniv. of Twente
Fumagalli, MatteoAalborg Univ
 
09:35-09:40, Paper WeA5.2 Add to My Program
Three Dimensional Moving Path Following for Fixed-Wing Unmanned Aerial Vehicles
Oliveira, TiagoAcad. Da Força Aérea
Aguiar, A. PedroFaculty of Engineering, Univ. of Porto (FEUP)
Encarnação, PedroUniv. Católica Portuguesa
 
09:40-09:45, Paper WeA5.3 Add to My Program
Modeling and Control of a Saucer Type Coanda Effect UAV
Lee, JamesonUniv. of Nevada Las Vegas
Song, SeungHwanSungkyunkwanUniversity
Shon, Hyun WookSungkyunkwan Univ
Choi, Hyouk RyeolSungkyunkwan Univ
Yim, WoosoonUniv. of Nevada, Las Vegas
 
09:45-09:50, Paper WeA5.4 Add to My Program
Implementation of a Parametrized Infinite-Horizon Model Predictive Control Scheme with Stability Guarantees
Muehlebach, MichaelETH
Sferrazza, CarmeloETH Zurich
D'Andrea, RaffaelloETHZ
 
09:50-09:55, Paper WeA5.5 Add to My Program
A Global Controller for Flying Wing Tailsitter Vehicles
Ritz, RobinETH Zürich
D'Andrea, RaffaelloETHZ
 
09:55-10:00, Paper WeA5.6 Add to My Program
Short-Term UAV Path-Planning with Monocular-Inertial SLAM in the Loop
Alzugaray, IgnacioETH Zürich
Teixeira, LucasETH Zurich
Chli, MargaritaETH Zurich
 
10:00-10:05, Paper WeA5.7 Add to My Program
Control of Statically Hoverable Multi-Rotor Aerial Vehicles and Application to Rotor-Failure Robustness for Hexarotors
Michieletto, GiuliaUniv. of Padova
Ryll, MarkusLab. for Analysis and Architecture of Systems
Franchi, AntonioLAAS-CNRS
 
10:05-10:10, Paper WeA5.8 Add to My Program
Efficient Aerial-Aquatic Locomotion with a Single Propulsion System
Tan, Yu HerngNational Univ. of Singapore
Siddall, RobertImperial Coll. London
Kovac, MirkoImperial Coll. London
 
WeA6 Regular Session, Rm. 4611/4612 Add to My Program 
Cognitive Robotics  
 
Chair: Asada, MinoruOsaka Univ
Co-Chair: Mastrogiovanni, FulvioUniv. of Genoa
 
09:30-09:35, Paper WeA6.1 Add to My Program
Gesture-Based Robot Control: Design Challenges and Evaluation with Humans
Coronado-ZuÑiga, Luis EnriqueUniv. of Genova
Villalobos, JessicaUniv. of Genoa
Bruno, BarbaraUniv. of Genova
Mastrogiovanni, FulvioUniv. of Genoa
 
09:35-09:40, Paper WeA6.2 Add to My Program
Learning Individual Motion Preferences from Audience Feedback of Motion Sequences
Tay, JunyunCarnegie Mellon Univ
Veloso, ManuelaCarnegie Mellon Univ
Chen, I-MingNanyang Tech. Univ
 
09:40-09:45, Paper WeA6.3 Add to My Program
Semantic Web-Mining and Deep Vision for Lifelong Object Discovery
Young, JayUniv. of Birmingham
Kunze, LarsUniv. of Birmingham
Basile, ValerioInria
Cabrio, ElenaInst. National De Recherche En Informatique Et En Automatique
Hawes, NickUniv. of Birmingham
Caputo, BarbaraSapienza Univ
 
09:45-09:50, Paper WeA6.4 Add to My Program
Predicting Task Intent from Surface Electromyography Using Layered Hidden Markov Models
Razin, YosefGeorgia Inst. of Tech
Pluckter, KevinGeorgia Inst. of Tech
Ueda, JunGeorgia Inst. of Tech
Feigh, KarenGeorgia Inst. of Tech
 
09:50-09:55, Paper WeA6.5 Add to My Program
Deep Visual Foresight for Planning Robot Motion
Finn, ChelseaUC Berkeley
Levine, SergeyUC Berkeley
 
09:55-10:00, Paper WeA6.6 Add to My Program
Deep Multimodal Embedding: Manipulating Novel Objects with Point-Clouds, Language and Trajectories
Sung, JaeyongCornell Univ
Lenz, IanCornell Univ
Saxena, AshutoshCornell Univ
 
10:00-10:05, Paper WeA6.7 Add to My Program
Learning to Represent Haptic Feedback for Partially-Observable Tasks
Sung, JaeyongCornell Univ
Salisbury, KennethStanford Univ
Saxena, AshutoshCornell Univ
 
10:05-10:10, Paper WeA6.8 Add to My Program
Learning to Guide Task and Motion Planning Using Score-Space Representation
Kim, BeomjoonMassachusetts Inst. of Tech
Kaelbling, LeslieMIT
Lozano-Perez, TomasMIT
 
WeA7 Regular Session, Rm. 4711/4712 Add to My Program 
Grippers and Other End-Effectors  
 
Chair: Lin, WeiSIMTech, A*STAR
Co-Chair: Hirai, ShinichiRitsumeikan Univ
 
09:30-09:35, Paper WeA7.1 Add to My Program
Design of a Novel Variable Stiffness Gripper Using Permanent Magnets
H. Memar, AmirhosseinUniv. at Buffalo SUNY
Mastronarde, NicholasUniv. at Buffalo
Esfahani, EhsanUniv. at Buffalo, State Univ. of New York
 
09:35-09:40, Paper WeA7.2 Add to My Program
Force and Moment Constraints of a Curved Surface Gripper and Wrist for Assistive Free Flyers
Estrada, MatthewStanford Univ
Jiang, HaoStanford Univ
Noll, BessieStanford Univ
Hawkes, Elliot WrightUniv. of California, Santa Barbara
Pavone, MarcoStanford Univ
Cutkosky, MarkStanford Univ
 
09:40-09:45, Paper WeA7.3 Add to My Program
Design of Parallel-Jaw Gripper Tip Surfaces for Robust Grasping
Guo, MenglongUniv. of California Berkeley
Gealy, David V.Univ. of California Berkeley
Liang, JackyUniv. of California, Berkeley
Mahler, JeffreyUniv. of California, Berkeley
Goncalves, AimeeUniv. of California, Berkeley
McKinley, StephenUniv. of California-Berkeley
Aparicio Ojea, JuanSiemens
Goldberg, KenUC Berkeley
 
09:45-09:50, Paper WeA7.4 Add to My Program
Vision-Based Model Predictive Control for Within-Hand Precision Manipulation with Underactuated Grippers
Calli, BerkYale Univ
Dollar, AaronYale Univ
 
09:50-09:55, Paper WeA7.5 Add to My Program
Optimal Design of a Soft Robotic Gripper with High Mechanical Advantage for Grasping Irregular Objects
Liu, Chih-HsingNational Cheng Kung Univ
Chiu, Chen-HuaNational Cheng Kung Univ
 
09:55-10:00, Paper WeA7.6 Add to My Program
Design and Analysis of a Soft-Fingered Hand with Contact Feedback
Ho, VanRyukoku Univ
Hirai, ShinichiRitsumeikan Univ
 
10:00-10:05, Paper WeA7.7 Add to My Program
Reliable Grasping of Three-Dimensional Untethered Mobile Magnetic Microgripper for Autonomous Pick-And-Place
Zhang, JiachenUniv. of Toronto
Onaizah, OnaizahUniv. of Toronto
Middleton, Kevin Andrew JamesUniv. of Toronto
You, LiDanUniv. of Toronto
Diller, Eric D.Univ. of Toronto
 
10:05-10:10, Paper WeA7.8 Add to My Program
Variable-Grasping-Mode Underactuated Soft Gripper with Environmental Contact–based Operation
Nishimura, ToshihiroKanazawa Univ
Mizushima, KaoriKanazawa Univ
Suzuki, YosukeKanazawa Univ
Tsuji, TokuoKanazawa Univ
Watanabe, TetsuyouKanazawa Univ
 
WeA8 Regular Session, Rm. 4613/4713 Add to My Program 
Physical Human-Robot Interaction  
 
Chair: Albu-Schäffer, AlinDLR - German Aerospace Center
Co-Chair: Kinugawa, JunTohoku Univ
 
09:30-09:35, Paper WeA8.1 Add to My Program
A Framework for Robot-Assisted Doffing of Personal Protective Equipment
Umali, AntonioWorcester Pol. Inst
Berenson, DmitryUniv. of Michigan
 
09:35-09:40, Paper WeA8.2 Add to My Program
A System for Learning Continuous Human-Robot Interactions from Human-Human Demonstrations
Vogt, DavidTU Bergakademie Freiberg
Stepputtis, SimonArizona State Univ
Grehl, SteveTU Bergakademie Freiberg
Jung, BernhardTU Bergakademie Freiberg
Ben Amor, HeniArizona State Univ
 
09:40-09:45, Paper WeA8.3 Add to My Program
A Study of Bidirectionally Telepresent Tele-Action During Robot-Mediated Handover
Li, JianqiaoDuke Univ
Li, ZhiWorcester Pol. Inst
Hauser, KrisDuke Univ
 
09:45-09:50, Paper WeA8.4 Add to My Program
A Game-Theoretic Approach for Adaptive Action Selection in Close Proximity Human-Robot-Collaboration
Gabler, VolkerTech. Univ. München
Stahl, Tim NikolausTech. Univ. München
Huber, GeroldTech. Univ. of Munich
Oguz, OzgurTech. Univ. of Munich
Wollherr, DirkTech. Univ. München
 
09:50-09:55, Paper WeA8.5 Add to My Program
An EMG-Driven Assistive Hand Exoskeleton for Spinal Cord Injury Patients: Maestro
Yun, YoungmokThe Univ. of Texas at Austin
Dancausse, SarahEc. Nationale D'ingénieurs De Saint-Etienne
Esmatloo, PariaThe Univ. of Texas at Austin
Serrato, AlfredoThe Univ. of Texas at Austin
Merring, CurtisSeton Brain and Spine Inst
Deshpande, AshishUniv. of Texas
Agarwal, PriyanshuUniv. of Texas at Austin
 
09:55-10:00, Paper WeA8.6 Add to My Program
Admittance Control Parameter Adaptation for Physical Human-Robot Interaction
Talignani Landi, ChiaraUniv. of Modena and Reggio Emilia
Ferraguti, FedericaUniv. Degli Studi Di Modena E Reggio Emilia
Sabattini, LorenzoUniv. of Modena and Reggio Emilia
Secchi, CristianUniv. of Modena & Reggio Emilia
Fantuzzi, CesareUniv. Di Modena E Reggio Emilia
 
10:00-10:05, Paper WeA8.7 Add to My Program
Interactive Force Control of an Elastically Actuated Bi-Articular Two-Link Manipulator
Lee, ChanDGIST (Daegu Gyeongbuk Inst. of Science and Tech
Oh, SehoonDGIST (Daegu Gyeongbuk Inst. of Science and Tech
 
10:05-10:10, Paper WeA8.8 Add to My Program
Dance Teaching by a Robot: Combining Cognitive and Physical Human–Robot Interaction for Supporting the Skill Learning Process
Paez Granados, Diego FelipeTohoku Univ
Yamamoto, Breno AkihiroUniv. Federal De Uberlândia
Kinugawa, JunTohoku Univ
Kosuge, KazuhiroTohoku Univ
 
WeA9 Regular Session, Rm. 4811/4812 Add to My Program 
TRO Session - Actuation, Locomotion, Grasping  
 
Chair: Wensing, PatrickMassachusetts Inst. of Tech
Co-Chair: Tao, Pey YuenSIMTech
 
09:30-09:45, Paper WeA9.1 Add to My Program
Proprioceptive Actuator Design in the MIT Cheetah: Impact Mitigation and High-Bandwidth Physical Interaction for Dynamic Legged Robots (I)
Wensing, PatrickMassachusetts Inst. of Tech
Wang, AlbertMassachusetts Inst. of Tech
Seok, SangOkMIT
Otten, DavidMIT
Lang, JeffreyMIT
Kim, SangbaeMassachusetts Inst. of Tech
 
09:45-10:00, Paper WeA9.2 Add to My Program
Energy Efficient Monopod Running with Large Payload Based on Open Loop Parallel Elastic Actuation (I)
Guenther, FabianSwiss Federal Inst. of Tech. Zurich
Iida, FumiyaUniv. of Cambridge
 
10:00-10:15, Paper WeA9.3 Add to My Program
Stabilizing Series-Elastic Point-Foot Bipeds Using Whole-Body Operational Space Control (I)
Kim, DonghyunUniv. of Texas at Austin
Zhao, YeHarvard Univ
Thomas, GrayUniv. of Texas at Austin
Fernandez, Benito R.The Univ. of Texas at Austin
Sentis, LuisThe Univ. of Texas at Austin
 
10:15-10:30, Paper WeA9.4 Add to My Program
Comparative Design, Scaling, and Control of Appendages for Inertial Reorientation (I)
Libby, TomUniv. of California, Berkeley
Johnson, AaronCarnegie Mellon Univ
Chang-Siu, EvanUniv. of California, Berkeley
Full, RobertUniv. of California at Berkeley
Koditschek, DanielUniv. of Pennsylvania
 
10:30-10:45, Paper WeA9.5 Add to My Program
Hierarchical Fingertip Space: A Unified Framework for Grasp Planning and In-Hand Grasp Adaptation (I)
Hang, KaiyuKTH Royal Inst. of Tech
Li, MiaoWuhan Univ
Stork, Johannes AndreasKTH Royal Inst. of Tech
Bekiroglu, YaseminABB Corp. Res
Pokorny, Florian T.KTH Royal Inst. of Tech
Billard, AudeEPFL
Kragic, DanicaKTH
 
WeA10 Regular Session, Rm. 4911/4912 Add to My Program 
Medical Robots and Systems 4  
 
Chair: Takanishi, AtsuoWaseda Univ
Co-Chair: Webster III, Robert JamesVanderbilt Univ
 
09:30-09:35, Paper WeA10.1 Add to My Program
An Intervening Ethical Governor for a Robot Mediator in Patient-Caregiver Relationship: Implementation and Evaluation
Shim, JaeeunGeorgia Inst. of Tech
Arkin, RonaldGeorgia Tech
Pettinati, MichaelGeorgia Inst. of Tech
 
09:35-09:40, Paper WeA10.2 Add to My Program
Autonomous Retroflexion of a Magnetic Flexible Endoscope
Slawinski, PiotrVanderbilt Univ
Taddese, AddisuVanderbilt Univ
Musto, KyleVanderbilt Univ
Obstein, KeithVanderbilt Univ
Valdastri, PietroVanderbilt Univ
 
09:40-09:45, Paper WeA10.3 Add to My Program
Toward Monocular Camera-Guided Retinal Vein Cannulation with an Actively Stabilized Handheld Robot
Mukherjee, ShohinCarnegie Mellon Univ
Yang, SungwookKorea Inst. of Science and Tech
MacLachlan, Robert A.Carnegie Mellon Univ
Lobes, Louis A.Dept. of Ophthalmology, Univ. of Pittsburgh Medical Center,
Martel, Joseph N.Univ. of Pittsburgh
Riviere, Cameron N.Carnegie Mellon Univ
 
09:45-09:50, Paper WeA10.4 Add to My Program
Through the Eustachian Tube and Beyond: A New Miniature Robotic Endoscope to See into the Middle Ear
Fichera, LorisVanderbilt Univ
Dillon, Neal PVanderbilt Univ
Zhang, DongqingVanderbilt Univ
Godage, Isuru S.Vanderbilt Univ
Siebold, Michael AVanderbilt Univ
Hartley, BryanVanderbilt Univ. Medical Center
Noble, JackVanderbilt Univ
Russell, Paul T.Vanderbilt Univ. Medical Center
Labadie, Robert FVanderbilt Univ
Webster III, Robert JamesVanderbilt Univ
 
09:50-09:55, Paper WeA10.5 Add to My Program
A Balloon Endomicroscopy Scanning Device for Diagnosing Barrett’s Oesophagus
Zuo, SiyangTianjin Univ
Hughes, MichaelImperial Coll. London
Yang, Guang-ZhongImperial Coll. London
 
09:55-10:00, Paper WeA10.6 Add to My Program
A Curved-Drilling Approach in Core Decompression of the Femoral Head Osteonecrosis Using a Continuum Manipulator
Alambeigi, FarshidJohns Hopkins Univ
Wang, YuBeihang Univ
Sefati, ShahriarJohns Hopkins Univ
Gao, CongTsinghua Univ
Murphy, Ryan JosephJohns Hopkins Univ. Applied Physics Lab
Iordachita, Ioan IulianJohns Hopkins Univ
Taylor, Russell H.The Johns Hopkins Univ
Khanuja, HarpalDepartment of Orthopedic Surgery, Johns Hopkins Medical School
Armand, MehranJohns Hopkins Univ. Applied Physics Lab
 
10:00-10:05, Paper WeA10.7 Add to My Program
A Single-Port Robotic System for Transanal Micro-Surgery – Design and Validation
Shang, JianzhongImperial Coll. London
Leibrandt, KonradImperial Coll. London
Giataganas, PetrosImperial Coll. London
Vitiello, ValentinaUniv. Coll. London
Seneci, Carlo AlbertoImperial Coll. London
Wisanuvej, PiyamateImperial Coll. London
Liu, JindongImperial Coll. London
Gras, GauthierImperial Coll. London
Clark, JamesHamlyn Centre for Robotic Surgery
Darzi, AraImperial Coll. London
Yang, Guang-ZhongImperial Coll. London
 
10:05-10:10, Paper WeA10.8 Add to My Program
Development and Experimental Evaluation of Concurrent Control of a Robotic Arm and Continuum Manipulator for Osteolytic Lesion Treatment
Wilkening, PaulJohns Hopkins Univ
Alambeigi, FarshidJohns Hopkins Univ
Murphy, Ryan JosephJohns Hopkins Univ. Applied Physics Lab
Taylor, Russell H.The Johns Hopkins Univ
Armand, MehranJohns Hopkins Univ. Applied Physics Lab
 
WeA11 Regular Session, Rm. 4813/4913 Add to My Program 
Automation  
 
Chair: Lumia, RonUniv. of New Mexico
Co-Chair: Johansson, RolfLund Univ
 
09:30-09:35, Paper WeA11.1 Add to My Program
Design of a Flexure-Based Micro-Motion Stage with Constant Output Force
Wang, PiyuUniv. of Macau
Xu, QingsongUniv. of Macau
 
09:35-09:40, Paper WeA11.2 Add to My Program
Iteratively Learned and Temporally Scaled Force Control with Application to Robotic Assembly in Unstructured Environments
Bös, JohannesInst. for Mechatronic System in Mechanical Engineering, TU D
Wahrburg, ArneABB AG, Corp. Res. Germany
Listmann, Kim DanielAbb Ag
 
09:40-09:45, Paper WeA11.3 Add to My Program
A Probabilistic Data-Driven Model for Planar Pushing
Bauza Villalonga, MariaMassachusetts Inst. of Tech
Rodriguez, AlbertoMassachusetts Inst. of Tech
 
09:45-09:50, Paper WeA11.4 Add to My Program
A Distributed Approach to Automated Manufacturing Systems with Complex Structures Using Petri Nets
Yang, YanXidian Univ
Hu, HesuanNanyang Tech. Univ
Liu, YangNanyang Tech. Univ
 
09:50-09:55, Paper WeA11.5 Add to My Program
UAV-Based Crop and Weed Classification for Smart Farming
Lottes, PhilippUniv. of Bonn
Khanna, RaghavETH Zurich
Pfeifer, JohannesETH Zurich
Siegwart, RolandETH Zurich
Stachniss, CyrillUniv. of Bonn
 
09:55-10:00, Paper WeA11.6 Add to My Program
NimbRo Picking: Versatile Part Handling for Warehouse Automation
Schwarz, MaxUniv. Bonn
Milan, AntonUniv. of Adelaide
Lenz, ChristianUniv. of Bonn
Munoz, AuraUniv. of Bonn
Periyasamy, Arul SelvamUniv. of Bonn
Schreiber, MichaelUniv. of Bonn
Schüller, SebastianUniv. of Bonn
Behnke, SvenUniv. of Bonn
 
10:00-10:05, Paper WeA11.7 Add to My Program
Planning and Executing Optimal Non-Entangling Paths for Tethered Underwater Vehicles
McCammon, SethOregon State Univ
Hollinger, GeoffreyOregon State Univ
 
10:05-10:10, Paper WeA11.8 Add to My Program
Peduncle Detection of Sweet Pepper for Autonomous Crop Harvesting - Combined Colour and 3D Information
Sa, InkyuETH Zurich
Lehnert, ChristopherQueensland Univ. of Tech
English, AndrewQueensland Univ. of Tech
McCool, Christopher StevenQueensland Univ. of Tech
Dayoub, FerasQueensland Univ. of Tech
Upcroft, BenQueensland Univ. of Tech
Perez, TristanQueensland Univ. of Tech
 
WeA12 Forum, Rm. 4211/4212 Add to My Program 
Government Forum 1  
 
 
WeA13 Forum, Sands N Add to My Program 
Industry Forum 5  
 
 
WeA14 Forum, Sands O Add to My Program 
Innovation & Entrepreneur-Ship Forum 5  
 
 
WeB1 Regular Session, Rm. 4011 Add to My Program 
Compliance  
 
Chair: Harada, KensukeOsaka Univ
Co-Chair: Ott, ChristianGerman Aerospace Center (DLR)
 
11:05-11:10, Paper WeB1.1 Add to My Program
A Sliding Mode Controller Design for the Robust Position Control Problem of Series Elastic Actuators
Sariyildiz, EmreNational Univ. of Singapore
Wang, HuimingChongqing Univ. of Posts and Telecommunications
Yu, HaoyongNational Univ. of Singapore
 
11:10-11:15, Paper WeB1.2 Add to My Program
Realizing Natural Springy Motion of a Robotic Leg by Cancelling the Undesired Damping Factors
Cho, JungsooSogang Univ
Kong, KyoungchulSogang Univ
 
11:15-11:20, Paper WeB1.3 Add to My Program
3DFlex: A Rapid Prototyping Approach for Multi-Material Compliant Mechanisms in Millirobots
St. Pierre, RyanUniv. of Maryland
Paul, NoahUniv. of Maryland
Bergbreiter, SarahUniv. of Maryland, Coll. Park
 
11:20-11:25, Paper WeB1.4 Add to My Program
Compliant, Bi-Stable Mechanisms with Multiple Stiffnessess through Controlled Spring Buckling
LaFerriere, BrianWashington State Univ
Schlect, CarsonWashington State Univ
Swensen, JohnWashington State Univ
 
11:25-11:30, Paper WeB1.5 Add to My Program
Passive Hierarchical Impedance Control Via Energy Tanks
Dietrich, AlexanderGerman Aerospace Center (DLR)
Wu, XuweiTech. Univ. of Munich
Bussmann, KristinGerman Aerospace Center (DLR)
Ott, ChristianGerman Aerospace Center (DLR)
Albu-Schäffer, AlinDLR - German Aerospace Center
Stramigioli, StefanoUniv. of Twente
 
11:30-11:35, Paper WeB1.6 Add to My Program
Eigenmodes of Nonlinear Dynamics: Definition, Existence, and Embodiment into Legged Robots with Elastic Elements
Lakatos, DominicGerman Aerospace Center (DLR)
Friedl, WernerGerman AerospaceCenter (DLR)
Albu-Schäffer, AlinDLR - German Aerospace Center
 
11:35-11:40, Paper WeB1.7 Add to My Program
On the Role of Stiffness Design for Fingertip Trajectories of Underactuated Modular Soft Hands
Hussain, IrfanUniv. of Siena, SIRS Lab
Salvietti, GionataUniv. of Siena
Malvezzi, MonicaUniv. of Siena
Prattichizzo, DomenicoUniv. Di Siena
 
11:40-11:45, Paper WeB1.8 Add to My Program
Legged Elastic Multibody Systems: Adjusting Limit Cycles to Close-To-Optimal Energy Efficiency
Stratmann, PhilippTech. Univ. of Munich
Lakatos, DominicGerman Aerospace Center (DLR)
Özparpucu, Mehmet CanGerman Aerospace Center
Albu-Schäffer, AlinDLR - German Aerospace Center
 
WeB2 Regular Session, Rm. 4111 Add to My Program 
Mapping 2  
 
Chair: Magnusson, MartinÖrebro Univ
Co-Chair: Valls Miro, JaimeUniv. of Tech. Sydney
 
11:05-11:10, Paper WeB2.1 Add to My Program
AtomMap: A Probabilistic Amorphous 3D Map Representation for Robotics and Surface Reconstruction
Fridovich-Keil, DavidUniv. of California, Berkeley
Nelson, ErikCarnegie Mellon Univ
Zakhor, AvidehUniv. of California, Berkeley
 
11:10-11:15, Paper WeB2.2 Add to My Program
Bayesian Generalized Kernel Inference for Occupancy Map Prediction
Doherty, KevinStevens Inst. of Tech
Wang, JinkunStevens Inst. of Tech
Englot, BrendanStevens Inst. of Tech
 
11:15-11:20, Paper WeB2.3 Add to My Program
Deliberative Object Pose Estimation in Clutter
Narayanan, VenkatramanCarnegie Mellon Univ
Likhachev, MaximCarnegie Mellon Univ
 
11:20-11:25, Paper WeB2.4 Add to My Program
Coupling Conditionally Independent Submaps for Large-Scale 2.5D Mapping with Gaussian Markov Random Fields
Sun, LiyeUniv. of Tech. Sydney
Vidal-Calleja, Teresa A.Univ. of Tech. Sydney
Valls Miro, JaimeUniv. of Tech. Sydney
 
11:25-11:30, Paper WeB2.5 Add to My Program
Automatic Room Segmentation from Unstructured 3D Data of Indoor Environments
Ambrus, RaresRoyal Inst. of Tech. (KTH) Stockholm Sweden
Claici, SebastianMassachusetts Inst. of Tech
Wendt, Axel JoergRobert Bosch LLC, Res. and Tech. Center
 
11:30-11:35, Paper WeB2.6 Add to My Program
Warped Gaussian Processes Occupancy Mapping with Uncertain Inputs
Ghaffari Jadidi, MaaniUniv. of Tech. Sydney
Valls Miro, JaimeUniv. of Tech. Sydney
Dissanayake, GaminiUniv. of Tech. Sydney
 
11:35-11:40, Paper WeB2.7 Add to My Program
3D Map Merging on Pose Graphs
Bonanni, Taigo MariaDept. of Computer, Automation and Management Engineering A. Rube
Della Corte, BartolomeoSapienza Univ. of Rome
Grisetti, GiorgioSapienza Univ. of Rome
 
11:40-11:45, Paper WeB2.8 Add to My Program
Enabling Flow Awareness for Mobile Robots in Partially Observable Environments
Kucner, Tomasz PiotrÖrebro Univ
Magnusson, MartinÖrebro Univ
Schaffernicht, ErikÖrebro Univ. AASS Res. Center
Hernandez Bennetts, Victor ManuelÖrebro Univ
Lilienthal, Achim J.Örebro Univ
 
WeB3 Regular Session, Rm. 4311/4312 Add to My Program 
Visual Localization  
 
Chair: Metta, GiorgioIstituto Italiano Di Tecnologia (IIT)
Co-Chair: Olson, EdwinUniv. of Michigan
 
11:05-11:10, Paper WeB3.1 Add to My Program
Efficient Descriptor Learning for Large Scale Localization
Loquercio, AntonioETH Zuerich
Dymczyk, Marcin TomaszETH Zurich, Autonomous Systems Lab
Zeisl, BernhardGoogle
Lynen, SimonETH Zurich
Gilitschenski, IgorETH Zurich
Siegwart, RolandETH Zurich
 
11:10-11:15, Paper WeB3.2 Add to My Program
FLAG: Feature-Based Localization between Air and Ground
Wang, XipengUniv. of Michigan
Vozar, SteveUniv. of Michigan
Olson, EdwinUniv. of Michigan
 
11:15-11:20, Paper WeB3.3 Add to My Program
Action Recognition: From Static Datasets to Moving Robots
Rezazadegan, FahimehQueensland Univ. of Tech. (QUT)
Shirazi, SarehQUT
Upcroft, BenQueensland Univ. of Tech
Milford, Michael JQueensland Univ. of Tech
 
11:20-11:25, Paper WeB3.4 Add to My Program
Visual Place Recognition with Probabilistic Voting
Gehrig, MathiasETH Zurich
Stumm, ElenaETH Zurich
Hinzmann, TimoSwiss Federal Inst. of Tech. / ETH Zurich
Siegwart, RolandETH Zurich
 
11:25-11:30, Paper WeB3.5 Add to My Program
Map Quality Evaluation for Visual Localization
Merzic, HamzaHerr
Stumm, ElenaETH Zurich
Dymczyk, Marcin TomaszETH Zurich, Autonomous Systems Lab
Siegwart, RolandETH Zurich
Gilitschenski, IgorETH Zurich
 
11:30-11:35, Paper WeB3.6 Add to My Program
Incremental Robot Learning of New Objects with Fixed Update Time
Camoriano, RaffaelloIstituto Italiano Di Tecnologia, Genoa , Italy, and Univ. D
Pasquale, GiuliaIstituto Italiano Di Tecnologia
Ciliberto, CarloIstituto Italiano Di Tecnologia
Natale, LorenzoIstituto Italiano Di Tecnologia
Rosasco, LorenzoIstituto Italiano Di Tecnologia & MassachusettsInstitute Oftechn
Metta, GiorgioIstituto Italiano Di Tecnologia (IIT)
 
11:35-11:40, Paper WeB3.7 Add to My Program
Temporal Persistence Modeling for Object Search
Toris, RussellFetch Robotics
Chernova, SoniaGeorgia Inst. of Tech
 
11:40-11:45, Paper WeB3.8 Add to My Program
Deep Learning Features at Scale for Visual Place Recognition
Chen, ZetaoQueensland Univ. of Tech
Jacobson, AdamQueensland Univ. of Tech
Sünderhauf, NikoQueensland Univ. of Tech
Upcroft, BenQueensland Univ. of Tech
Liu, LingqiaoUniv. of Adelaide
Shen, ChunhuaThe Univ. of Adelaide
Reid, IanUniv. of Adelaide
Milford, Michael JQueensland Univ. of Tech
 
WeB4 Regular Session, Rm. 4411/4412 Add to My Program 
Sensor Fusion and Control  
 
Chair: Miezal, MarkusUniv. of Kaiserslautern
Co-Chair: Zhang, FuminGeorgia Inst. of Tech
 
11:05-11:10, Paper WeB4.1 Add to My Program
A Stable Adaptive Attitude Estimator on SO(3) for True-North Seeking Gyrocompass Systems: Theory and Preliminary Simulation Evaluation
Spielvogel, Andrew RobertJohns Hopkins Univ
Whitcomb, LouisThe Johns Hopkins Univ
 
11:10-11:15, Paper WeB4.2 Add to My Program
Ground Substrate Classification for Adaptive Quadruped Locomotion
Li, XiaoqiInst. of Automation, Chinese Acad. of Science
Wang, WeiChinese Acad. of Sciences
Yi, JianqiangChinese Acad. of Sciences
 
11:15-11:20, Paper WeB4.3 Add to My Program
Monocular Vision-Based Human Following on Miniature Robotic Blimp
Yao, NingshiGeorgia Inst. of Tech
Anaya, EmilyUniv. of Wisconsin-Madison
Tao, QiuyangGeorgia Inst. of Tech
Cho, SungjinGeorgia Inst. of Tech
Zheng, HongruiGeorgia Inst. of Tech
Zhang, FuminGeorgia Inst. of Tech
 
11:20-11:25, Paper WeB4.4 Add to My Program
Daily Activity Recognition with Inertial Ring and Bracelet: An Unsupervised Approach
Moschetti, AlessandraScuola Superiore Sant'Anna
Fiorini, LauraThe BioRobotics Inst. Scuola Superiore Sant'Anna
Esposito, DarioThe BioRobotics Inst. Scuola Superiore Sant'Anna
Dario, PaoloScuola Superiore Sant'Anna
Cavallo, FilippoScuola Superiore Sant'Anna - Pisa
 
11:25-11:30, Paper WeB4.5 Add to My Program
Real-Time Inertial Lower Body Kinematics and Ground Contact Estimation at Anatomical Foot Points for Agile Human Locomotion
Miezal, MarkusUniv. of Kaiserslautern
Taetz, BertramUniv. of Kaiserslautern
Bleser, GabrieleUniv. of Kaiserslautern
 
11:30-11:35, Paper WeB4.6 Add to My Program
Photometric Patch-Based Visual-Inertial Odometry
Zheng, XingUC Riverside
Moratto, ZacharyGoogle Inc
Li, MingyangGoogle
Mourikis, AnastasiosUniv. of California, Riverside
 
11:35-11:40, Paper WeB4.7 Add to My Program
Robust Sensor Fusion for Finding HRI Partners in a Crowd
Pourmehr, ShokoofehSimon Fraser Univ
Thomas, JackSimon Fraser Univ
Bruce, JakeSimon Fraser Univ
Wawerla, JensSimon Fraser Univ
Vaughan, RichardSimon Fraser Univ
 
11:40-11:45, Paper WeB4.8 Add to My Program
Ergodic Exploration Using Binary Sensing for Non-Parametric Shape Estimation
Abraham, IanNorthwestern Univ
Prabhakar, AhalyaNorthwestern Univ
Hartmann, MitraNorthwestern Univ
Murphey, ToddNorthwestern Univ
 
WeB5 Regular Session, Rm. 4511/4512 Add to My Program 
Aerial Robot 2  
 
Chair: Franchi, AntonioLAAS-CNRS
Co-Chair: Scaramuzza, DavideUniv. of Zurich
 
11:05-11:10, Paper WeB5.1 Add to My Program
Stability of Load Lifting by a Quadrotor under Attitude Control Delay
Ótão Pereira, Pedro MiguelKTH Royal Inst. of Tech
Dimarogonas, Dimos V.Royal Inst. of Tech
 
11:10-11:15, Paper WeB5.2 Add to My Program
Safe Certificate-Based Maneuvers for Teams of Quadrotors Using Differential Flatness
Wang, LiGeorgia Inst. of Tech
Ames, AaronGeorgia Inst. of Tech
Egerstedt, MagnusGeorgia Inst. of Tech
 
11:15-11:20, Paper WeB5.3 Add to My Program
Crazyswarm: A Large Nano-Quadcopter Swarm
Preiss, JamesUSC
Hoenig, WolfgangUniv. of Southern California
Sukhatme, GauravUniv. of Southern California
Ayanian, NoraUniv. of Southern California
 
11:20-11:25, Paper WeB5.4 Add to My Program
UAV with Two Passive Rotating Hemispherical Shells for Physical Interaction and Power Tethering in a Complex Environment
Salaan, Carl JohnTohoku Univ
Tadakuma, KenjiroTohoku Univ
Okada, YoshitoTohoku Univ
Takane, EriTohoku Univ
Ohno, KazunoriTohoku Univ
Tadokoro, SatoshiTohoku Univ
 
11:25-11:30, Paper WeB5.5 Add to My Program
Thrust Mixing, Saturation, and Body-Rate Control for Accurate Aggressive Quadrotor Flight
Faessler, MatthiasUniv. of Zurich
Falanga, DavideUniv. of Zurich
Scaramuzza, DavideUniv. of Zurich
 
11:30-11:35, Paper WeB5.6 Add to My Program
Inverse Trajectory Generation for Aerial Videography with Real-Time Obstacle Avoidance and Viewpoint Optimization
Naegeli, TobiasETH
Alonso-Mora, JavierMIT
Domahidi, AlexanderEmbotech GmbH
Rus, DanielaMIT
Hilliges, OtmarETH Zurich
 
11:35-11:40, Paper WeB5.7 Add to My Program
Piccolissimo: The Smallest Micro Aerial Vehicle
Piccoli, MatthewUniv. of Pennsylvania
Yim, MarkUniv. of Pennsylvania
 
11:40-11:45, Paper WeB5.8 Add to My Program
Observability-Aware Trajectory Optimization for Self-Calibration with Application to UAVs
Hausman, KarolUniv. of Southern California
Preiss, JamesUSC
Sukhatme, GauravUniv. of Southern California
Weiss, StephanAlpen Adria Univ
 
WeB6 Regular Session, Rm. 4611/4612 Add to My Program 
Policy Search  
 
Chair: Chatila, RajaISIR
Co-Chair: Martinez-Cantin, RubenCentro Univ. De La Defensa
 
11:05-11:10, Paper WeB6.1 Add to My Program
PLATO: Policy Learning Using Adaptive Trajectory Optimization
Kahn, GregoryUniv. of California, Berkeley
Zhang, TianhaoUniv. of California, Berkeley
Levine, SergeyUC Berkeley
Abbeel, PieterUC Berkeley
 
11:10-11:15, Paper WeB6.2 Add to My Program
Bayesian Optimization with Adaptive Kernels for Robot Control
Martinez-Cantin, RubenCentro Univ. De La Defensa
 
11:15-11:20, Paper WeB6.3 Add to My Program
Target-Driven Visual Navigation in Indoor Scenes Using Deep Reinforcement Learning
Zhu, YukeStanford Univ
Mottaghi, RoozbehAllen Inst. for AI
Kolve, EricAllen Inst. for Artificial Intelligence
Lim, JosephStanford
Gupta, AbhinavCarnegie Mellon Univ
Fei-Fei, LiStanford Univ
Farhadi, AliUniv. of Washington
 
11:20-11:25, Paper WeB6.4 Add to My Program
A Robust Stability Approach to Robot Reinforcement Learning Based on a Parameterization of Stabilizing Controllers
Friedrich, Stefan RolandTech. Univ. München
Buss, MartinTech. Univ. München
 
11:25-11:30, Paper WeB6.5 Add to My Program
Reset-Free Guided Policy Search: Efficient Deep Reinforcement Learning with Stochastic Initial States
Montgomery, WilliamUniv. of Washington
Ajay, AnuragUniv. of California, Berkeley
Finn, ChelseaUC Berkeley
Abbeel, PieterUC Berkeley
Levine, SergeyUC Berkeley
 
11:30-11:35, Paper WeB6.6 Add to My Program
Path Integral Guided Policy Search
Chebotar, YevgenUniv. of Southern California
Kalakrishnan, MrinalGoogle Inc
Yahya, AliX
Li, AdrianX
Schaal, StefanMPI Intelligent Systems & Univ. of Southern California
Levine, SergeyUC Berkeley
 
11:35-11:40, Paper WeB6.7 Add to My Program
Deep Reinforcement Learning for Robotic Manipulation with Asynchronous Off-Policy Updates
Gu, ShixiangUniv. of Cambridge
Holly, EthanGoogle
Lillicrap, TimothyGoogle DeepMind
Levine, SergeyUC Berkeley
 
11:40-11:45, Paper WeB6.8 Add to My Program
Optimized Vehicle-Specific Trajectories for Cooperative Process Estimation by Sensor-Equipped UAVs
Euler, JulianeTU Darmstadt
von Stryk, OskarTech. Univ. Darmstadt
 
WeB7 Regular Session, Rm. 4711/4712 Add to My Program 
Robotic Manipulation  
 
Chair: Dillmann, RüdigerKarlsruhe Inst. of Tech. (KIT)
Co-Chair: Sitti, MetinMax-Planck Inst. for Intelligent Systems
 
11:05-11:10, Paper WeB7.1 Add to My Program
Design and Actuation of a Magnetic Millirobot under a Constant Unidirectional Magnetic Field
Erin, OnderCarnegie Mellon Univ. Max Planck Inst
Giltinan, JoshuaCarnegie Mellon Univ
Tsai, LukeCarnegie Mellon Univ
Sitti, MetinMax-Planck Inst. for Intelligent Systems
 
11:10-11:15, Paper WeB7.2 Add to My Program
Efficient Kinematic Planning for Mobile Manipulators with Non-Holonomic Constraints Using Optimal Control
Giftthaler, MarkusSwiss Federal Inst. of Tech. (ETH) Zurich, Switzerland
Farshidian, FarbodETH Zurich
Sandy, TimothyETH Zürich
Stadelmann, LukasETH Zürich
Buchli, JonasETH Zurich
 
11:15-11:20, Paper WeB7.3 Add to My Program
Empirical Evaluation of Common Contact Models for Planar Impact
Fazeli, NimaMassachusetts Inst. of Tech
Donlon, ElliottMIT
Drumwright, EvanToyota Res. Inst
Rodriguez, AlbertoMassachusetts Inst. of Tech
 
11:20-11:25, Paper WeB7.4 Add to My Program
Optimal, Sampling-Based Manipulation Planning
Schmitt, Philipp SebastianSiemens Corp. Tech
Neubauer, WernerSiemens AG
Feiten, WendelinSiemens AG
Wurm, Kai M.Siemens AG Corp. Tech
v. Wichert, GeorgSiemens AG
Burgard, WolframUniv. of Freiburg
 
11:25-11:30, Paper WeB7.5 Add to My Program
Design of a Simplified Compliant Anthropomorphic Robot Hand
Wiste, TuomasELI Beamlines
Goldfarb, MichaelVanderbilt Univ
 
11:30-11:35, Paper WeB7.6 Add to My Program
Integrating Motion and Hierarchical Fingertip Grasp Planning
Haustein, Joshua AlexanderKTH Royal Inst. of Tech
Hang, KaiyuKTH Royal Inst. of Tech
Kragic, DanicaKTH
 
11:35-11:40, Paper WeB7.7 Add to My Program
Analyzing Achievable Stiffness Control Bounds of Robotic Hands with Compliantly Coupled Finger Joints
Rao, PrashantThe Univ. of Texas at Austin
Thomas, GrayUniv. of Texas at Austin
Sentis, LuisUniv. of Texas at Austin
Deshpande, AshishUniv. of Texas
 
11:40-11:45, Paper WeB7.8 Add to My Program
A Two-Fingered Robot Gripper with Large Object Reorientation Range
Bircher, WalterYale Univ
Dollar, AaronYale Univ
Rojas, NicolasImperial Coll. London
 
WeB8 Regular Session, Rm. 4613/4713 Add to My Program 
Humanoid Robots 1  
 
Chair: Grizzle, J.WUniv. of Michigan
Co-Chair: Yamamoto, KoUniv. of Tokyo
 
11:05-11:10, Paper WeB8.1 Add to My Program
Robust Walking by Resolved Viscoelasticity Control Explicitly Considering Structure-Variability of a Humanoid
Yamamoto, KoUniv. of Tokyo
 
11:10-11:15, Paper WeB8.2 Add to My Program
Context-Driven Movement Primitive Adaptation
Wilbers, DanielTech. Univ. Darmstadt
Lioutikov, RudolfTech. Univ. Darmstadt
Peters, JanTech. Univ. Darmstadt
 
11:15-11:20, Paper WeB8.3 Add to My Program
Supervised Learning for Stabilizing Underactuated Bipedal Robot Locomotion, with Outdoor Experiments on the Wave Field
Da, XingyeUniv. of Michigan, Ann Arbor
Hartley, RossUniv. of Michigan
Grizzle, J.WUniv. of Michigan
 
11:20-11:25, Paper WeB8.4 Add to My Program
Dynamic Manipulability of the Center of Mass: A Tool to Study, Analyse and Measure Physical Ability of Robots
Azad, MortezaUniv. of Birmingham
Babic, JanJozef Stefan Inst
Mistry, MichaelUniv. of Edinburgh
 
11:25-11:30, Paper WeB8.5 Add to My Program
A Study of Nonlinear Forward Models for Dynamic Walking
You, YangweiIstituto Italiano Di Tecnologia
Zhou, ChengxuFondazione Istituto Italiano Di Tecnologia
Li, ZhibinUniv. of Edinburgh
Tsagarakis, NikosIstituto Italiano Di Tecnologia
 
11:30-11:35, Paper WeB8.6 Add to My Program
Invariant Funnels for Underactuated Dynamic Walking Robots: New Phase Variable and Experimental Validation
Tang, Justin Z.Univ. of Sydney
Boudali, A. MounirUniv. of Sydney
Manchester, IanUniv. of Sydney
 
11:35-11:40, Paper WeB8.7 Add to My Program
Robust Bipedal Locomotion Control Based on Model Predictive Control and Divergent Component of Motion
Shafiee-Ashtiani, MiladCenter of Advanced Systems and Tech. (CAST) School of Mec
Yousefi-Koma, AghilFaculty of Mechanical Engineering, Univ. of Tehran
Shariat-Panahi, MasoudSchool of Mechanical Engineering, Coll. of Engineering, Univ
 
11:40-11:45, Paper WeB8.8 Add to My Program
The Significance of Robotic Gait Selection: A Case Study on the Robot RAMone
Smit-Anseeuw, NilsUniv. of Michigan
Gleason, RodneyUniv. of Michigan
Vasudevan, RamUniv. of Michigan
Remy, C. DavidUniv. of Michigan
 
WeB9 Regular Session, Rm. 4811/4812 Add to My Program 
Biologically-Inspired Robots 1  
 
Chair: Rano, InakiUlster Univ
Co-Chair: Tang, FengzhenShenyang Inst. of Automation, Chinese Acad. of Sciences
 
11:05-11:10, Paper WeB9.1 Add to My Program
Path Following for a Biomimetic Underwater Vehicle Based on ADRC
Wang, RuiInst. of Automation, Chinese Acad. of Sciences
Wang, ShuoChinese Acad. of Sciences
Wang, YuInst. of Automation Chinese Acad. of Sciences
Tang, ChongInst. of Automation Chinese Acad. of Sciences
 
11:10-11:15, Paper WeB9.2 Add to My Program
A Drift Diffusion Model of Biological Source Seeking for Mobile Robots
Rano, InakiUlster Univ
Khamassi, MehdiCnrs / Upmc
Wong-Lin, KongFattUniv. of Ulster
 
11:15-11:20, Paper WeB9.3 Add to My Program
Closed-Loop Path Following of Traveling Wave Rectilinear Motion through Obstacle-Strewn Terrain
Chang, AlexanderGEORGIA Inst. OF Tech
Vela, PatricioGeorgia Inst. of Tech
 
11:20-11:25, Paper WeB9.4 Add to My Program
High Speed Trajectory Control Using an Experimental Maneuverability Model for an Insect-Scale Legged Robot
Goldberg, BenjaminHarvard Univ
Doshi, NeelHarvard
Wood, RobertHarvard Univ
 
11:25-11:30, Paper WeB9.5 Add to My Program
Learning Multisensory Cue Integration on Mobile Robots
Zhang, ChongHKUST
Triesch, JochenFrankfurt Inst. for Advanced Studies
Shi, Bertram EmilHong Kong Univ. of Science and Tech
 
11:30-11:35, Paper WeB9.6 Add to My Program
Adaptive Lévy Taxis for Odor Source Localization in Realistic Environmental Conditions
Emery, Romain Jean-PaulEPFL
Rahbar, FaezehEPFL
Marjovi, AliEPFL
Martinoli, AlcherioEPFL
 
11:35-11:40, Paper WeB9.7 Add to My Program
From Rousettus Aegyptiacus Landing to Robotic Landing: Regulation of CG-CP Distance Using a Nonlinear Closed-Loop Feedback
Syed, Usman AhmedUniv. of Illinois at Urbana Champaign
Ramezani, AlirezaUniv. of Illinois-Urbana-Champaign
Chung, Soon-JoCaltech
Hutchinson, SethUniv. of Illinois
 
11:40-11:45, Paper WeB9.8 Add to My Program
A Prey-Predator Model for Efficient Robot Tracking
Tang, FengzhenShenyang Inst. of Automation, Chinese Acad. of Scie
Si, BailuChinese Acad. of Sciences
Ji, DaxiongZhejiang Univ
 
WeB10 Regular Session, Rm. 4911/4912 Add to My Program 
Medical Robots and Systems 5  
 
Chair: Meng, Max Q.-H.The Chinese Univ. of Hong Kong
Co-Chair: Luo, RenNational Taiwan Univ
 
11:05-11:10, Paper WeB10.1 Add to My Program
In Vivo Tracking and Measurement of Pollen Tube Vesicle Motion
Hu, ChengzhiETH Zurich
Zhang, QiShenzhen Inst. of Advanced Tech
Vogler, HannesInst. of Plant Biology and Zurich-Basel Plant Science Center
Burri, Jan ThomasETH Zurich
Shamsudhin, NaveenETHZ
Grossniklaus, UeliInst. of Plant Biology and Zurich-Basel Plant Science Center
Nelson, Bradley J.ETH Zurich
 
11:10-11:15, Paper WeB10.2 Add to My Program
Development of a Tele-Nursing Mobile Manipulator for Remote Care-Giving in Quarantine Areas
Li, ZhiWorcester Pol. Inst
Moran, PeterDuke Univ
Dong, QingyuanDuke Univ
Shaw, RyanDuke Univ
Hauser, KrisDuke Univ
 
11:15-11:20, Paper WeB10.3 Add to My Program
Autonomous Scanning for Endomicroscopic Mosaicing and 3D Fusion
Zhang, LinImperial Coll. London
Ye, MenglongImperial Coll. London
Giataganas, PetrosImperial Coll. London
Hughes, MichaelImperial Coll. London
Yang, Guang-ZhongImperial Coll. London
 
11:20-11:25, Paper WeB10.4 Add to My Program
Introducing BigMag – a Novel System for 3D Magnetic Actuation of Flexible Surgical Manipulators
Sikorski, JakubUniv. of Twente
Dawson, ImroUniv. of Twente
Denasi, AlperTech. Univ. Eindhoven
Hekman, Edsko E.G.Univ. of Twente
Misra, SarthakUniv. of Twente
 
11:25-11:30, Paper WeB10.5 Add to My Program
Experimental Validation of the Pseudo-Rigid-Body Model of the MRI-Actuated Catheter
Greigarn, TipakornCase Western Res. Univ
Jackson, RussellCase Western Res. Univ
Liu, TaomingCase Western Res. Univ
Cavusoglu, M. CenkCase Western Res. Univ
 
11:30-11:35, Paper WeB10.6 Add to My Program
Robot Assisted Tapping Control for Therapeutical Percussive Massage Applications
Luo, RenNational Taiwan Univ
Tsai, Chin PoNational Taiwan Univ
Hsieh, Kai ChunNational Taiwan Univ
 
11:35-11:40, Paper WeB10.7 Add to My Program
Visual Servoing Controller for Time-Invariant 3D Path Following with Remote Centre of Motion Constraint
Dahroug, BassemFemto-St
Tamadazte, BrahimCnrs, Ufc/ensmm/utbm
Andreff, NicolasUniv. De Franche Comté
 
11:40-11:45, Paper WeB10.8 Add to My Program
Analysis of Joint and Hand Impedance During Teleoperation and Free-Hand Task Execution
Buzzi, JacopoPol. Di Milano
Gatti, CeciliaPol. Di Milano
Ferrigno, GiancarloPol. Di Milano
De Momi, ElenaPol. Di Milano
 
WeB11 Regular Session, Rm. 4813/4913 Add to My Program 
Service Robotics 1  
 
Chair: Shen, ShaojieHong Kong Univ. of Science and Tech
Co-Chair: Valdivia y Alvarado, PabloSingapore Univ. of Tech. and Design, MIT
 
11:05-11:10, Paper WeB11.1 Add to My Program
Deep Fruit Detection in Orchards
Bargoti, SuchetThe Univ. of Sydney
Underwood, James PatrickThe Univ. of Sydney
 
11:10-11:15, Paper WeB11.2 Add to My Program
The Robotanist: A Ground-Based Agricultural Robot for High-Throughput Crop Phenotyping
Mueller-Sim, TimCarnegie Mellon Univ
Jenkins, MerrittCarnegie Mellon Univ
Abel, JustinCarnegie Mellon Univ
Kantor, GeorgeCarnegie Mellon Univ
 
11:15-11:20, Paper WeB11.3 Add to My Program
Autonomous Sweet Pepper Harvesting for Protected Cropping Systems
Lehnert, ChristopherQueensland Univ. of Tech
English, AndrewQueensland Univ. of Tech
McCool, Christopher StevenQueensland Univ. of Tech
Tow, Adam Michael WillemQueensland Univ. of Tech
Perez, TristanQueensland Univ. of Tech
 
11:20-11:25, Paper WeB11.4 Add to My Program
Counting Apples and Oranges with Deep Learning: A Data Driven Approach
Chen, Steven WUniv. of Pennsylvania
Skandan, ShreyasUniv. of Pennsylvania
Dcunha, Sandeep1997
Das, JnaneshwarUniv. of Pennsylvania
Qu, ChaoUniv. of Pennsylvania
Taylor, Camillo JoseUniv. of Pennsylvania
Kumar, VijayUniv. of Pennsylvania
 
11:25-11:30, Paper WeB11.5 Add to My Program
Improving Octree-Based Occupancy Maps Using Environment Sparsity with Application to Aerial Robot Navigation
Chen, JingHong Kong Univ. of Science and Tech
Shen, ShaojieHong Kong Univ. of Science and Tech
 
11:30-11:35, Paper WeB11.6 Add to My Program
Feasibility Study of IoRT Platform ``Big Sensor Box''
Kurazume, RyoKyushu Univ
Pyo, YoonseokKyushu Univ
Nakashima, KazutoKyushu Univ
Tsuji, TokuoKanazawa Univ
Kawamura, AkihiroKyushu Univ
 
11:35-11:40, Paper WeB11.7 Add to My Program
Autonomous Robotic System Using Non-Destructive Evaluation Methods for Bridge Deck Inspection
Le, TuanUniv. of Nevada, Reno
Spencer, GibbUniv. of Nevada, Reno
Pham, NhanUniv. of Nevada
La, HungUniv. of Nevada at Reno
Logan, FalkUniv. of Nevada, Reno
Tony, BerendsenUniv. of Nevada, Reno
 
11:40-11:45, Paper WeB11.8 Add to My Program
High-Precision Microinjection of Microbeads into C. Elegans Trapped in a Suction Microchannel
Nakajima, MasahiroNagoya Univ
Ayamura, YukiNagoya Univ
Takeuchi, MasaruNagoya Univ
Hisamoto, NaokiNagoya Univ
Pastuhov, StrahilNagoya Univ
Hasegawa, YasuhisaNagoya Univ
Fukuda, ToshioMeijo Univ
Huang, QiangBeijing Inst. of Tech
 
WeB12 Forum, Rm. 4211/4212 Add to My Program 
Government Forum 2  
 
 
WeB13 Forum, Sands N Add to My Program 
Industry Forum 6  
 
 
WeB14 Forum, Sands O Add to My Program 
Innovation & Entrepreneur-Ship Forum 6  
 
 
WeKAN Keynote session, Grand ballroom Add to My Program 
Industry 4.0: Automation and Robotics - Peter Luh (University of
Connecticut, US)
 
 
 
WeKBN Keynote session, Grand ballroom Add to My Program 
Research at the Intersection between Robots and Play: Designing Robots for
Children’s Healthcare - Ayanna Howard (Georgia Tech, USA)
 
 
 
WeC1 Regular Session, Rm. 4011 Add to My Program 
Tendon/Wire Robotics  
 
Chair: Agrawal, SunilColumbia Univ
Co-Chair: Campolo, DomenicoNanyang Tech. Univ
 
14:30-14:35, Paper WeC1.1 Add to My Program
Wire-Tension Control Using Compact Planetary Geared Elastic Actuator
Kwak, JihooDGIST (Daegu Gyeongbuk Inst. of Science of Tech
Lee, ChanDGIST (Daegu Gyeongbuk Inst. of Science and Tech
Kim, Jun-YoungKyungpook National Univ. Hospital
Kim, Shin-YoonKyungpook National Univ. Hospital
Oh, SehoonDGIST (Daegu Gyeongbuk Inst. of Science and Tech
 
14:35-14:40, Paper WeC1.2 Add to My Program
A Feasibility Study on Tension Control of Bowden-Cable Based on a Dual-Wire Scheme
Jeong, UseokSeoul National Univ
Cho, Kyu-JinSeoul National Univ. Biorobotics Lab
 
14:40-14:45, Paper WeC1.3 Add to My Program
Design of a 6-DOF Collaborative Robot Arm with Counterbalance Mechanisms
Lee, Won-BumKorea Univ. Intelligence Robotics Lab
Lee, Sang-DuckKorea Univ
Song, Jae-BokKorea Univ
 
14:45-14:50, Paper WeC1.4 Add to My Program
Position and Orientation Control of Passive Wire-Driven Motion Support System Using Servo Brakes
Hirata, YasuhisaTohoku Univ
Shirai, RyoTohoku Univ
Kosuge, KazuhiroTohoku Univ
 
14:50-14:55, Paper WeC1.5 Add to My Program
Using Compliant Leg Design for Impact Attenuation of Airdrop Landings of Quadruped Robots
Song, YeehoCooper Union for the Advancement of Science and Art
Luchtenburg, DirkCooper Union for the Advancement of Science and Art
 
14:55-15:00, Paper WeC1.6 Add to My Program
Passive Returning Mechanism for Twisted String Actuators
Usman, MuhammadKorea Univ. of Tech. and Education
Suthar, BhivrajKOREATECH
Seong, HyeonseokKorea Univ. of Tech
Hawkes, Elliot WrightUniv. of California, Santa Barbara
Gaponov, IgorKorea Univ. of Tech. and Education
Ryu, Jee-HwanKorea Univ. of Tech. and Education
 
15:00-15:05, Paper WeC1.7 Add to My Program
Designing Anthropomorphic Robot Hand with Active Dual-Mode Twisted String Actuation Mechanism and Tiny Tension Sensors
Jeong, Seok-HwanKAIST
Kim, Kyung-SooKAIST(Korea Advanced Inst. of Science and Tech
Kim, SoohyunKAIST(Korea Advanced Inst. of Science and Tech
 
15:05-15:10, Paper WeC1.8 Add to My Program
Performance Evaluation of a New Design of Cable-Suspended Camera System
Abdolshah, SaeedUniv. of Padova
Zanotto, DamianoStevens Inst. of Tech
Rosati, GiulioUniv. of Padua
Agrawal, SunilColumbia Univ
 
WeC2 Regular Session, Rm. 4111 Add to My Program 
Motion and Path Planning 1  
 
Chair: Lee, Daniel D.Univ. of Pennsylvania
Co-Chair: Kaelbling, LeslieMIT
 
14:30-14:35, Paper WeC2.1 Add to My Program
Path Following Control of Skid-Steered Wheeled Mobile Robots at Higher Speeds on Different Terrain Types
Huskić, GoranUniv. of Tübingen
Buck, SebastianUniv. of Tübingen
Zell, AndreasUniv. of Tübingen
 
14:35-14:40, Paper WeC2.2 Add to My Program
Adaptive Motion Planning with High-Dimensional Mixture Models
Huh, JinwookUniv. of Pennsylvania
Lee, BhoramUniv. of Pennsylvania
Lee, Daniel D.Univ. of Pennsylvania
 
14:40-14:45, Paper WeC2.3 Add to My Program
On-Line Trajectory Planning with Time-Variant Motion Constraints for Industrial Robot Manipulators
Zhao, RanUniv. of Nottingham
Ratchev, SvetanThe Univ. of Nottingham
 
14:45-14:50, Paper WeC2.4 Add to My Program
Focused Model-Learning and Planning for Non-Gaussian Continuous State-Action Systems
Wang, ZiMassachusetts Inst. of Tech
Jegelka, StefanieMIT
Kaelbling, LeslieMIT
Lozano-Perez, TomasMIT
 
14:50-14:55, Paper WeC2.5 Add to My Program
Dynamic Risk Tolerance: Motion Planning by Balancing Short-Term and Long-Term Stochastic Dynamic Predictions
Chiang, Hao-TienUniv. of New Mexico
HomChaudhuri, Baisravan HomChaudhuriUniv. of New Mexico
P. Vinod, AbrahamUniv. of New Mexico
Oishi, MeekoUniv. of New Mexico
Tapia, LydiaUniv. of New Mexico
 
14:55-15:00, Paper WeC2.6 Add to My Program
Densification Strategies for Anytime Motion Planning Over Large Dense Roadmaps
Choudhury, ShushmanCarnegie Mellon Univ
Salzman, OrenTel-Aviv Univ
Choudhury, SanjibanCarnegie Mellon Univ
Srinivasa, SiddharthaCarnegie Mellon Univ
 
15:00-15:05, Paper WeC2.7 Add to My Program
Stochastic Functional Gradient for Motion Planning in Continuous Occupancy Maps
Francis, GiladThe Univ. of Sydney
Ott, LionelUniv. of Sydney
Ramos, FabioUniv. of Sydney
 
15:05-15:10, Paper WeC2.8 Add to My Program
Consistent Sparsification for Efficient Decision Making under Uncertainty in High Dimensional State Spaces
Elimelech, KhenTech. – Israel Inst. of Tech
Indelman, VadimTech. - Israel Inst. of Tech
 
WeC3 Regular Session, Rm. 4311/4312 Add to My Program 
Visual Servoing  
 
Chair: Corke, PeterQUT
Co-Chair: Chaumette, FrancoisInria Rennes-Bretagne Atlantique
 
14:30-14:35, Paper WeC3.1 Add to My Program
A Unified Leader-Follower Scheme for Mobile Robots with Uncalibrated On-Board Camera
Guo, DejunUniv. of Utah
Wang, HeshengShanghai Jiao Tong Univ
Chen, WeidongShanghai Jiao Tong Univ
Liu, MingCity Univ. of Hong Kong
Xia, ZeyangShenzhen Inst. of Advanced Tech. CAS
Leang, Kam K.Univ. of Utah
 
14:35-14:40, Paper WeC3.2 Add to My Program
Visual Servoing through Mirror Reflection
Marchand, EricUniv. De Rennes 1, IRISA, INRIA Rennes
Chaumette, FrancoisInria Rennes-Bretagne Atlantique
 
14:40-14:45, Paper WeC3.3 Add to My Program
A Robotic Control Framework for 3-D Quantitative Ultrasound Elastography
Patlan Rosales, Pedro AlfonsoINRIA Rennes - Bretagne Atlantique, Univ. De Rennes I
Krupa, AlexandreINRIA Rennes - Bretagne Atlantique
 
14:45-14:50, Paper WeC3.4 Add to My Program
Towards Markerless Visual Servoing of Grasping Tasks for Humanoid Robots
Vicente, PedroInst. for Systems and Robotics (ISR-Lisboa-LARSyS), Inst
Jamone, LorenzoQueen Mary Univ. London
Bernardino, AlexandreIST - Técnico Lisboa
 
14:50-14:55, Paper WeC3.5 Add to My Program
Exploring Convolutional Networks for End-To-End Visual Servoing
Saxena, AseemDucere Tech. Pvt. Ltd
Pandya, HaritIIIT Hyderabad
Kumar, GouravInternational Inst. of Information Tech. Hyderabad, In
Gaud, AyushInternational Inst. of Information Tech. Hyderabad
Krishna, MadhavaIIIT Hyderabad
 
14:55-15:00, Paper WeC3.6 Add to My Program
Image-Based Visual Servoing with Unknown Point Feature Correspondence
McFadyen, AaronQueensland Univ. of Tech
Jabeur, MarwenUniv. of Stuttgart
Corke, PeterQUT
 
15:00-15:05, Paper WeC3.7 Add to My Program
Visual Servoing in an Optimization Framework for the Whole-Body Control of Humanoid Robots
Agravante, Don JovenINRIA Rennes - Bretagne Atlantique
Claudio, GiovanniINRIA
Spindler, FabienINRIA
Chaumette, FrancoisInria Rennes-Bretagne Atlantique
 
15:05-15:10, Paper WeC3.8 Add to My Program
Determining the Singularities for the Observation of Three Image Lines
Briot, SébastienIRCCyN
Martinet, PhilippeEc. Centrale De Nantes
Chaumette, FrancoisInria Rennes-Bretagne Atlantique
 
WeC4 Regular Session, Rm. 4411/4412 Add to My Program 
Slam 1  
 
Chair: Scherer, SebastianCarnegie Mellon Univ
Co-Chair: Gallego, GuillermoUniv. of Zurich
 
14:30-14:35, Paper WeC4.1 Add to My Program
PennCOSYVIO: A Challenging Visual Inertial Odometry Benchmark
Pfrommer, BerndUniv. of Pennsylvania
J Sanket, NitinUniv. OF PENNSYLVANIA
Daniilidis, KostasUniv. of Pennsylvania
Cleveland, JonasUniv. of Pennnsylvania
 
14:35-14:40, Paper WeC4.2 Add to My Program
MSGD: Scalable Back-End for Indoor Magnetic Field-Based GraphSLAM
Gao, ChaoUniv. of Cambridge
Harle, Robert KeithUniv. of Cambridge
 
14:40-14:45, Paper WeC4.3 Add to My Program
Multi-UAV Collaborative Monocular SLAM
Schmuck, PatrikETH Zurich
Chli, MargaritaETH Zurich
 
14:45-14:50, Paper WeC4.4 Add to My Program
Direct Monocular Odometry Using Points and Lines
Yang, ShichaoCarnegie Mellon Univ
Scherer, SebastianCarnegie Mellon Univ
 
14:50-14:55, Paper WeC4.5 Add to My Program
4D Crop Monitoring: Spatio-Temporal Reconstruction for Agriculture
Dong, JingGeorgia Inst. of Tech
Burnham, John GaryUniv. of Georgia
Boots, ByronGeorgia Inst. of Tech
Rains, GlenUniv. of Georgia
Dellaert, FrankGeorgia Inst. of Tech
 
14:55-15:00, Paper WeC4.6 Add to My Program
Attention and Anticipation in Fast Visual Inertial Navigation
Carlone, LucaMassachusetts Inst. of Tech
Karaman, SertacMassachusetts Inst. of Tech
 
15:00-15:05, Paper WeC4.7 Add to My Program
Active Exposure Control for Robust Visual Odometry in HDR Environments
Zhang, ZichaoRobotics and Perception Group, Univ. of Zurich
Forster, ChristianUniv. of Zurich
Scaramuzza, DavideUniv. of Zurich
 
15:05-15:10, Paper WeC4.8 Add to My Program
EVO: A Geometric Approach to Event-Based 6-DOF Parallel Tracking and Mapping in Real-Time
Rebecq, HenriRobotics and Perception Group, Univ. of Zürich
Horstschäfer, TimoUniv. of Zurich
Gallego, GuillermoUniv. of Zurich
Scaramuzza, DavideUniv. of Zurich
 
WeC5 Regular Session, Rm. 4511/4512 Add to My Program 
Aerial Robot 3  
 
Chair: Lussier Desbiens, AlexisUniv. De Sherbrooke
Co-Chair: Tadakuma, KenjiroTohoku Univ
 
14:30-14:35, Paper WeC5.1 Add to My Program
Bringing Mobile Robot Olfaction to the Next Dimension - UAV-Based Remote Sensing of Gas Clouds and Source Localization
Neumann, Patrick PaulBundesanstalt Für Materialforschung Und -Prüfung (BAM)
Kohlhoff, HaraldBundesanstalt Für Materialforschung Und -Prüfung (BAM)
Hüllmann, DinoBundesanstalt Für Materialforschung Und -Prüfung (BAM)
Lilienthal, Achim J.Örebro Univ
Kluge, MartinBundesanstalt Für Materialforschung Und -Prüfung (BAM)
 
14:35-14:40, Paper WeC5.2 Add to My Program
Design and Experiments for a Transformable Solar-UAV
D'Sa, RubenUniv. of Minnesota
Henderson, TravisCse, Umn
Jenson, DevonCse, Umn
Calvert, MichaelCse, Umn
Heller, ThaineCse, Umn
Schulz, BobbyCse, Umn
Kilian, JackCse, Umn
Papanikolopoulos, NikosUniv. of Minnesota
 
14:40-14:45, Paper WeC5.3 Add to My Program
Design and Implementation of a Quadrotor Tail-Sitter VTOL UAV
Lyu, XiminHong Kong Univ. of Science and Tech
Gu, HaoweiHong Kong Univ. of Science and Tech
Wang, YaHKUST
Li, ZexiangHong Kong Univ. of Science and Tech
Shen, ShaojieHong Kong Univ. of Science and Tech
Zhang, FuHong Kong Univ. of Science and Tech
 
14:45-14:50, Paper WeC5.4 Add to My Program
Sampling-Based Motion Planning for Active Multirotor System Identification
Bähnemann, Rik Marian KaiETH Zürich
Burri, MichaelETH Zuerich
Galceran, EnricETH Zurich
Siegwart, RolandETH Zurich
Nieto, JuanETH Zürich
 
14:50-14:55, Paper WeC5.5 Add to My Program
Model-Based Transition Optimization for a VTOL Tailsitter
Verling, SebastianETH Zurich
Stastny, ThomasSwiss Federal Inst. of Tech. (ETH Zurich)
Bättig, GregoryETH
Alexis, KostasUniv. of Nevada, Reno
Siegwart, RolandETH Zurich
 
14:55-15:00, Paper WeC5.6 Add to My Program
Model-Based Wind Estimation for a Hovering VTOL Tailsitter UAV
Demitri, YoussefETH Zurich - ASL
Verling, SebastianETH Zurich
Stastny, ThomasSwiss Federal Inst. of Tech. (ETH Zurich)
Melzer, AmirETH Zurich
Siegwart, RolandETH Zurich
 
15:00-15:05, Paper WeC5.7 Add to My Program
Design of a Passive Vertical Takeoff and Landing Aquatic UAV
Peloquin, Richard-AlexandreUniv. De Sherbrooke
Thibault, DominikUniv. of Sherbrooke
Lussier Desbiens, AlexisUniv. De Sherbrooke
 
15:05-15:10, Paper WeC5.8 Add to My Program
Probabilistic Air Flow Modelling Using Turbulent and Laminar Characteristics for Ground and Aerial Robots
Hernandez Bennetts, Victor ManuelÖrebro Univ
Kucner, Tomasz PiotrÖrebro Univ
Schaffernicht, ErikÖrebro Univ. AASS Res. Center
Neumann, Patrick PaulBundesanstalt Für Materialforschung Und -Prüfung (BAM)
Fan, HanÖrebro Univ
Lilienthal, Achim J.Örebro Univ
 
WeC6 Regular Session, Rm. 4611/4612 Add to My Program 
RGB-D Perception  
 
Chair: Umeda, KazunoriChuo Univ
Co-Chair: Drummond, TomMonash Univ
 
14:30-14:35, Paper WeC6.1 Add to My Program
Joint Pose and Principal Curvature Refinement Using Quadrics
Spek, AndrewMonash Univ
Drummond, TomMonash Univ
 
14:35-14:40, Paper WeC6.2 Add to My Program
De-Noising, Stabilizing and Completing 3D Reconstructions On-The-Go Using Plane Priors
Dzitsiuk, MaksymTech. Univ. of Munich
Sturm, JürgenMetaio GmbH
Maier, RobertComputer Vision Group, Tech. Univ. München
Ma, LingniTech. Univ. München
Cremers, DanielTech. Univ. of Munich
 
14:40-14:45, Paper WeC6.3 Add to My Program
Fast Task-Specific Target Detection Via Graph Based Constraints Representation and Checking
Luan, WentaoUniv. of Maryland
Yang, YezhouArizona State Univ
Fermuller, CorneliaUniv. of Maryland
Baras, JohnUniv. of Maryland
 
14:45-14:50, Paper WeC6.4 Add to My Program
Fast Odometry and Scene Flow from RGB-D Cameras Based on Geometric Clustering
Jaimez, MarianoUniv. of Malaga
Kerl, ChristianTech. Univ. Munich
Gonzalez, JavierUniv. of Malaga
Cremers, DanielTech. Univ. of Munich
 
14:50-14:55, Paper WeC6.5 Add to My Program
Tracking Objects with Point Clouds from Vision and Touch
Izatt, GregoryMIT
Mirano, GeronimoMIT
Adelson, EdwardMIT
Tedrake, RussMassachusetts Inst. of Tech
 
14:55-15:00, Paper WeC6.6 Add to My Program
RISAS: A Novel Rotation, Illumination, Scale Invariant Appearance and Shape Feature
Wu, KanzhiUniv. of Tech. Sydney
Li, XiaoyangZhejiang Univ
Ranasinghe, RavindraUniv. of Tech. Sydney
Dissanayake, GaminiUniv. of Tech. Sydney
Liu, YongZhejiang Univ
 
15:00-15:05, Paper WeC6.7 Add to My Program
An Analytical Lidar Sensor Model Based on Ray Path Information
Schaefer, AlexanderFreiburg Univ
Luft, LukasFreiburg Univ
Burgard, WolframUniv. of Freiburg
 
15:05-15:10, Paper WeC6.8 Add to My Program
Learning Depth-Aware Deep Representations for Robotic Perception
Porzi, LorenzoUniv. of Perugia
Rota Bulò, SamuelFondazione Bruno Kessler
Peñate-Sánchez, AdriánInst. De Robòtica I Informàtica Industrial, CSIC-UPC
Ricci, ElisaUniv. of Perugia
Moreno-Noguer, FrancescCSIC
 
WeC7 Regular Session, Rm. 4711/4712 Add to My Program 
Manipulation Planning 1  
 
Chair: Lamiraux, FlorentCNRS
Co-Chair: Lynch, KevinNorthwestern Univ
 
14:30-14:35, Paper WeC7.1 Add to My Program
Manipulation Planning: Addressing the Crossed Foliation Issue
Mirabel, JosephLAAS-CNRS
Lamiraux, FlorentCNRS
 
14:35-14:40, Paper WeC7.2 Add to My Program
Noninteracting Constrained Motion Planning and Control for Robot Manipulators
Bonilla, ManuelIstituto Italiano Di Tecnologia
Pallottino, LuciaUniv. Di Pisa
Bicchi, AntonioIstituto Italiano Di Tecnologia
 
14:40-14:45, Paper WeC7.3 Add to My Program
Multi-Bound Tree Search for Logic-Geometric Programming in Cooperative Manipulation Domains
Toussaint, MarcUniv. of Stuttgart
Lopes, ManuelInst. Superior Tecnico
 
14:45-14:50, Paper WeC7.4 Add to My Program
Open World Assistive Grasping Using Laser Selection
Gualtieri, MarcusNortheastern Univ
Kuczynski, JamesUniv. of Massachusetts Lowell
Shultz, AbrahamUniv. of Massachusets Lowell
ten Pas, AndreasNortheastern Univ
Platt, RobertNortheastern Univ
Yanco, HollyUMass Lowell
 
14:50-14:55, Paper WeC7.5 Add to My Program
C-LEARN: Learning Geometric Constraints from Demonstrations for Multi-Step Manipulation in Shared Autonomy
Pérez-D'Arpino, ClaudiaMassachusetts Inst. of Tech
Shah, Julie A.MIT
 
14:55-15:00, Paper WeC7.6 Add to My Program
Planning and Control for Dynamic, Nonprehensile, and Hybrid Manipulation Tasks
Woodruff, JamesNorthwestern Univ
Lynch, KevinNorthwestern Univ
 
15:00-15:05, Paper WeC7.7 Add to My Program
Parts Assembly Planning under Uncertainty with Simulation-Aided Physical Reasoning
Kim, Sung-KyunCarnegie Mellon Univ
Likhachev, MaximCarnegie Mellon Univ
 
15:05-15:10, Paper WeC7.8 Add to My Program
Feasibility Evaluation of Object Manipulation by a Humanoid Robot Based on Recursive Estimation of the Object's Physical Properties
Murooka, MasakiThe Univ. of Tokyo
Nozawa, ShunichiThe Univ. of Tokyo
Kakiuchi, YoheiThe Univ. of Tokyo
Okada, KeiThe Univ. of Tokyo
Inaba, MasayukiThe Univ. of Tokyo
 
WeC8 Regular Session, Rm. 4613/4713 Add to My Program 
Humanoid Robots 2  
 
Chair: Mombaur, KatjaHeidelberg Univ
Co-Chair: Sugihara, TomomichiGraduate School of Engineering, Osaka Univ
 
14:30-14:35, Paper WeC8.1 Add to My Program
Real-Time Pursuit-Evasion with Humanoid Robots
Cognetti, MarcoSapienza Univ. of Rome
De Simone, DanieleSapienza Univ. of Rome
Patota, FedericoSapienza Univ. Di Roma
Scianca, NicolaSapienza Univ. of Rome
Lanari, LeonardoSapienza Univ. Di Roma
Oriolo, GiuseppeSapienza Univ. of Rome
 
14:35-14:40, Paper WeC8.2 Add to My Program
Passivity-Based Control of Underactuated Biped Robots within Hybrid Zero Dynamics Approach
Sadeghian, HamidUniv. of Isfahan
Ott, ChristianGerman Aerospace Center (DLR)
Garofalo, GianlucaGerman Aerospace Center (DLR)
Cheng, GordonTech. Univ. Munich
 
14:40-14:45, Paper WeC8.3 Add to My Program
Control of Humanoid Robot Motions with Impacts: Numerical Experiments with Reference Spreading Control
Rijnen, MarkTech. Univ. Eindhoven
Mooij, Eric Bernard CornelisTU/e
Traversaro, SilvioIstituto Italiano Di Tecnologia
Nori, FrancescoIstituto Italiano Di Tecnologia
van de Wouw, NathanEindhoven Univ. of Tech
Saccon, AlessandroEindhoven Univ. of Tech
Nijmeijer, HendrikEindhoven Univ. of Tech
 
14:45-14:50, Paper WeC8.4 Add to My Program
Dynamic Multi-Contact Transitions for Humanoid Robots Using Divergent Component of Motion
Mesesan, GeorgeGerman Aerospace Center (DLR)
Englsberger, JohannesDLR (German Aerospace Center)
Henze, BerndGerman Aerospace Center (DLR)
Ott, ChristianGerman Aerospace Center (DLR)
 
14:50-14:55, Paper WeC8.5 Add to My Program
Smooth-Path-Tracking Control of a Biped Robot at Variable Speed Based on Dynamics Morphing
Atsuta, HiroshiOsaka Univ
Nozaki, HarukiOsaka Univ
Sugihara, TomomichiGraduate School of Engineering, Osaka Univ
 
14:55-15:00, Paper WeC8.6 Add to My Program
Experimental Evaluation of Deadbeat Running on the ATRIAS Biped
Martin, WilliamCarnegie Mellon Univ. Robotics Inst
Wu, AlbertCarnegie Mellon Univ
Geyer, HartmutCarnegie Mellon Univ
 
15:00-15:05, Paper WeC8.7 Add to My Program
Influence of Compliance Modulation on Human Locomotion
Hu, YueHeidelberg Univ
Mombaur, KatjaHeidelberg Univ
 
15:05-15:10, Paper WeC8.8 Add to My Program
Singularity-Tolerant Inverse Kinematics for Bipedal Robots: An Efficient Use of Computational Power to Reduce Energy Consumption
Faraji, SalmanEPFL
Ijspeert, AukeEPFL
 
WeC9 Regular Session, Rm. 4811/4812 Add to My Program 
Biologically-Inspired Robots 2  
 
Chair: Bae, JoonbumUNIST
Co-Chair: Zhang, JinhuaXi'an Jiaotong Univ
 
14:30-14:35, Paper WeC9.1 Add to My Program
Smooth Gait Transition of Body Shape and Locomotion Speed Based on CPG Control for Snake-Like Robot
Bing, ZhenshanTech. Univ. of Munich
Cheng, LongTech. Univ. of Munich
Huang, KaiSun Yat-Sen Univ
Zhou, MingchuanTech. Univ. München
Knoll, AloisTech. Univ. Muenchen TUM
 
14:35-14:40, Paper WeC9.2 Add to My Program
Design and Control of an Inchworm-Inspired Soft Robot with Omega-Arching Locomotion
Guo, HuaxiaXi'an Jiaotong Univ
Zhang, JinhuaXi'an Jiaotong Univ
Wang, TaoXi'an Jiaotong Univ
Li, YuanjieXi'an Jiaotong Univ
Hong, JunXi'an Jiaotong Univ
Li, YueXi'an Jiaotong Univ
 
14:40-14:45, Paper WeC9.3 Add to My Program
Guidelines for the Design and Control of Bio-Inspired Hovering Robots
Vejdani, Hamid RezaBrown Univ
 
14:45-14:50, Paper WeC9.4 Add to My Program
Implementing Caterpillar Inspired Roll Control of a Spherical Robot
Roy Chowdhury, AbhraSingapore Univ. of Tech. and Development
Vibhute, AkashSavioke
Soh, Gim SongSingapore Univ. of Tech. and Design
Foong, ShaohuiSingapore Univ. of Tech. and Design
Wood, KristinSingapore Univ. of Tech. and Design
 
14:50-14:55, Paper WeC9.5 Add to My Program
Design of Hair-Like Appendages and Their Coordination Inspired by Water Beetles for Steady Swimming on the Water Surface
Kwak, BokeonUlsan National Inst. of Science and Tech. (UNIST)
Bae, JoonbumUNIST
 
14:55-15:00, Paper WeC9.6 Add to My Program
Development and Validation of Modeling Framework for Interconnected Tendon Systems in Robotic and Human Fingers
Niehues, TaylorUniv. of Texas at Austin
King, RaymondOculus VR
Deshpande, AshishUniv. of Texas
Keller, SeanOculus
 
15:00-15:05, Paper WeC9.7 Add to My Program
Mechanical Specialization of Robotic Limbs
Cahill, NathanArizona State Univ
Ren, YiArizona State Univ
Sugar, ThomasArizona State Univ
 
15:05-15:10, Paper WeC9.8 Add to My Program
VAMOS: Hypocycloid Mechanism for Efficient Bio-Inspired Robotic Gaits
Knoop, EspenThe Walt Disney Company
Conn, AndrewUniv. of Bristol
Rossiter, JonathanUniv. of Bristol
 
WeC10 Regular Session, Rm. 4911/4912 Add to My Program 
Surgical Robotics 1  
 
Chair: Solis, JorgeKarlstad Univ. / Waseda Univ
Co-Chair: Mattos, LeonardoIstituto Italiano Di Tecnologia
 
14:30-14:35, Paper WeC10.1 Add to My Program
Pose Optimization of a C-Arm Imaging Device to Reduce Intraoperative Radiation Exposure of Staff and Patient During Interventional Procedures
Loy Rodas, NicolasICube, Univ. of Strasbourg, CNRS, IHU Strasbourg
Bert, JulienLaTIM, INSERM, CHRU Brest
Visvikis, DimitrisLaTIM, INSERM, CHRU Brest
de Mathelin, MichelUniv. of Strasbourg
Padoy, NicolasUniv. of Strasbourg
 
14:35-14:40, Paper WeC10.2 Add to My Program
Preoperative Planning for the Multi-Arm Surgical Robot Using PSO-GP-Based Performance Optimization
Zhang, FanImperial Coll. of Science, Tech. and Medicine
Yan, ZhiyuanState Key Lab. of Robotics and System, Harbin Inst. Of
Du, ZhijiangHarbin Inst. of Tech
 
14:40-14:45, Paper WeC10.3 Add to My Program
Magnetic Laser Scanner for Endoscopic Microsurgery
Acemoglu, AlperenIstituto Italiano Di Tecnologia
Mattos, LeonardoIstituto Italiano Di Tecnologia
 
14:45-14:50, Paper WeC10.4 Add to My Program
MagNex - Expendable Robotic Surgical Tooltip
Chandrasekaran, KarthikIndian Inst. of Tech. Madras
Sathuluri, AkhilIndian Inst. of Tech. Madras
Thondiyath, AsokanIIT Madras
 
14:50-14:55, Paper WeC10.5 Add to My Program
Modeling and Analysis of a Laparoscopic Camera's Interaction with Abdomen Tissue
Yazdanpanah Abdolmalaki, RezaUniv. of Tennessee, Knoxville
Liu, XiaolongUniv. of Tennessee, Knoxville
Tan, JindongUniv. of Tennessee, Knoxville
 
14:55-15:00, Paper WeC10.6 Add to My Program
Implicit Gaze-Assisted Adaptive Motion Scaling for Highly Articulated Instrument Manipulation
Gras, GauthierImperial Coll. London
Leibrandt, KonradImperial Coll. London
Wisanuvej, PiyamateImperial Coll. London
Giataganas, PetrosImperial Coll. London
Seneci, Carlo AlbertoImperial Coll. London
Ye, MenglongImperial Coll. London
Shang, JianzhongImperial Coll. London
Yang, Guang-ZhongImperial Coll. London
 
15:00-15:05, Paper WeC10.7 Add to My Program
A Continuum Robot and Control Interface for Surgical Assist in Fetoscopic Interventions
Dwyer, GeorgeUniv. Coll. London
Chadebecq, FrançoisUniv. Coll. London
Tella Amo, MarcelUCL
Bergeles, ChristosUniv. Coll. London
Maneas, EfthymiosDepartment of Medical Physics and Biomedical Engineering, Univ
Pawar, VijayUniv. Coll. London
Vander Poorten, Emmanuel BKatholieke Univ. Leuven
Deprest, JanUniv. Hospital Leuven
Ourselin, SebastienUniv. Coll. London
De Coppi, PaoloUCL
Vercauteren, TomUniv. Coll. London (UCL)
Stoyanov, DanailUniv. Coll. London
 
15:05-15:10, Paper WeC10.8 Add to My Program
Utilizing Elasticity of Cable Driven Surgical Robot to Estimate Cable Tension and External Force
Haghighipanah, MohammadUniv. of Washington
Miyasaka, MuneakiUniv. of Washington
Hannaford, BlakeUniv. of Washington
 
WeC11 Regular Session, Rm. 4813/4913 Add to My Program 
Service Robotics 2  
 
Chair: Luh, PeterUniv. of Connecticut
Co-Chair: Melchiorri, ClaudioUniv. of Bologna
 
14:30-14:35, Paper WeC11.1 Add to My Program
Improving the Reliability of Service Robots in the Presence of External Faults by Learning Action Execution Models
Mitrevski, AlexBonn-Rhein-Sieg Univ
Kuestenmacher, AnastassiaBonn-Rhein-Sieg Univ. of Applied
Thoduka, SantoshBonn-Rhein-Sieg Univ
Plöger, Paul G.Hochschule Bonn Rhein Sieg
 
14:35-14:40, Paper WeC11.2 Add to My Program
Deploying Social Robots As Teaching Aid in Pre-School K2 Classes: A Proof-Of-Concept Study
Causo, AlbertNanyang Tech. Univ
Zin Win, PhyoNanyang Tech. Univ
Guo, PengshengNational Tech. Univ
Chen, I-MingNanyang Tech. Univ
 
14:40-14:45, Paper WeC11.3 Add to My Program
Instruction Completion through Instance-Based Learning and Semantic Analogical Reasoning
Nyga, DanielUniv. of Bremen
Picklum, MareikeUniv. of Bremen
Koralewski, SebastianUniv. of Bremen
Beetz, MichaelUniv. of Bremen
 
14:45-14:50, Paper WeC11.4 Add to My Program
What No Robot Has Seen before - Probabilistic Interpretation of Natural-Language Object Descriptions
Nyga, DanielUniv. of Bremen
Picklum, MareikeUniv. of Bremen
Beetz, MichaelUniv. of Bremen
 
14:50-14:55, Paper WeC11.5 Add to My Program
Control of Liquid Handling Robotic Systems: A Feed-Forward Approach to Suppress Sloshing
Moriello, LorenzoUniv. of Bologna
Biagiotti, LuigiUniv. of Modena and Reggio Emilia
Melchiorri, ClaudioUniv. of Bologna
Paoli, AndreaUniv. of Lincoln
 
14:55-15:00, Paper WeC11.6 Add to My Program
Informative Planning and Online Learning with Sparse Gaussian Processes
Ma, Kai-ChiehUniv. of Southern California
Liu, LantaoUniv. of Southern California
Sukhatme, GauravUniv. of Southern California
 
15:00-15:05, Paper WeC11.7 Add to My Program
Optimizing Guidance for an Active Shooter Event
Luh, PeterUniv. of Connecticut
Gunn, Sean1994
Lu, XuesongUniv. of Connecticut
Hotaling, BrockVerbi, INC
 
15:05-15:10, Paper WeC11.8 Add to My Program
Design and Analysis of 6-DOF Triple Scissor Extender Robots with Applications in Aircraft Assembly
Gonzalez, DanielMassachusetts Inst. of Tech
Asada, HarryMIT
 
WeC12 Forum, Rm. 4211/4212 Add to My Program 
Government Forum 3  
 
 
WeD1 Regular Session, Rm. 4011 Add to My Program 
Soft Robotics 1  
 
Chair: Sugano, ShigekiWaseda Univ
Co-Chair: Cagneau, BarthélemyUniv. De Versailles Saint-Quentin En Yvelines
 
16:05-16:10, Paper WeD1.1 Add to My Program
3D-Printed Ionic Polymer Metal Composite Soft Crawling Robot
Carrico, JamesUniv. of Utah
Kim, KwangUniv. of Nevada Reno
Leang, Kam K.Univ. of Utah
 
16:10-16:15, Paper WeD1.2 Add to My Program
A Versatile Conducting Interpenetrating Polymer Network for Sensing and Actuation
Peng, Chia-JuNational Central Univ
Nguyen, Tien AnhLISV Lab. Univ. De Versailles Saint-Quentin-En-Yveli
Rohtlaid, KätlinUniv. of Cergy-Pontoise - LPPI
Plesse, CedricLPPI - Univ. of Cergy-Pontoise
Chen, Shih-JuiNational Central Univ
Chassagne, LucUniv. of Versailles
Cagneau, BarthélemyUniv. De Versailles Saint-Quentin En Yvelines
 
16:15-16:20, Paper WeD1.3 Add to My Program
Asymmetric Stable Deformations in Inflated Dielectric Elastomer Actuators
Hines, LindseyMax-Planck Inst. for Intelligent Systems
Petersen, Kirstin HagelskjaerCornell Univ
Sitti, MetinMax-Planck Inst. for Intelligent Systems
 
16:20-16:25, Paper WeD1.4 Add to My Program
Networked Soft Actuators with Large Deformations
Chen, FeifeiNational Univ. of Singapore
Cao, JiaweiNUS
Zhang, LeiNational Univ. of Singapore
Zhang, HongyingNational Univ. of Singapore
Wang, Michael YuHong Kong Univ. of Science & Tech
Zhu, JianNational Univ. of Singapore
Zhang, YunfengNational Univ. of Singapore
 
16:25-16:30, Paper WeD1.5 Add to My Program
Design, Modeling and Control of a SMA-Actuated Biomimetic Robot with Novel Functional Skin
Ortega Alcaide, JoanUniv. of Colorado
Pearson, LeviUniv. of Colorado at Boulder
Rentschler, MarkUniv. of Colorado at Boulder
 
16:30-16:35, Paper WeD1.6 Add to My Program
A High Speed Soft Robot Based on Dielectric Elastomer Actuators
Duduta, MihaiHarvard Univ
Clarke, DavidHarvard Univ
Wood, RobertHarvard Univ
 
16:35-16:40, Paper WeD1.7 Add to My Program
Tunable Friction through Constrained Inflation of an Elastomeric Membrane
Becker, KaitlynHarvard Univ
Bartlett, NicholasHarvard Univ
Malley, MelindaHarvard Univ
Kjeer, PeterHarvard Univ
Wood, RobertHarvard Univ
 
16:40-16:45, Paper WeD1.8 Add to My Program
Printed Paper Robot Driven by Electrostatic Actuator
Shigemune, HirokiWaseda Univ
Maeda, ShingoShibaura Inst. of Tech
Cacucciolo, VitoScuola Superiore Sant'Anna
Iwata, YoshitakaWaseda Univ
Iwase, EijiWaseda Univ
Hashimoto, ShujiWaseda Univ
Sugano, ShigekiWaseda Univ
 
WeD2 Regular Session, Rm. 4111 Add to My Program 
Motion and Path Planning 2  
 
Chair: Wolpert, NicolaHFT Stuttgart
Co-Chair: Yu, HaoyongNational Univ. of Singapore
 
16:05-16:10, Paper WeD2.1 Add to My Program
Collision Detection for 3D Rigid Body Motion Planning with Narrow Passages
Schneider, DanielHFT Stuttgart
Schömer, ElmarMainz Univ
Wolpert, NicolaHFT Stuttgart
 
16:10-16:15, Paper WeD2.2 Add to My Program
Automated Tuning and Configuration of Path Planning Algorithms
Burger, RubenDelft Univ. of Tech
Bharatheesha, MukundaDelft Univ. of Tech
van Eert, MarcTech
Babuska, RobertDelft Univ. of Tech
 
16:15-16:20, Paper WeD2.3 Add to My Program
Perfect Tracking Control Using a Phase Plane for a Wheeled Inverted Pendulum under Hardware Constraints
Nakamura, RyosukeHitachi, Ltd
Amino, AzusaHitachi Ltd
 
16:20-16:25, Paper WeD2.4 Add to My Program
Maximizing Mutual Information for Multipass Target Search in Changing Environments
Kuhlman, Michael J.Univ. of Maryland
Otte, Michael W.MIT
Sofge, DonaldNaval Res. Lab
Gupta, Satyandra K.Univ. of Southern California
 
16:25-16:30, Paper WeD2.5 Add to My Program
Efficient Multi-Agent Global Navigation Using Interpolating Bridges
Liang, HeUniv. of North Carolina at Chapel Hill
Pan, JiaThe City Univ. of Hong Kong
Manocha, DineshUniv. of North Carolina at Chapel Hill
 
16:30-16:35, Paper WeD2.6 Add to My Program
Accelerating Energy-Aware Spatiotemporal Path Planning for the Lunar Poles
Cunningham, ChristopherCarnegie Mellon Univ
Amato, JoeWorcester Pol. Inst
Jones, HeatherCarnegie Mellon Univ
Whittaker, WilliamCarnegie Mellon Univ
 
16:35-16:40, Paper WeD2.7 Add to My Program
Adaptive Trajectory Control of Off-Road Mobile Robots: A Multi-Model Observer Approach
Deremetz, MathieuIRSTEA Clermont Ferrand
Lenain, RolandIrstea
Thuilot, BenoitClermont-Ferrand Univ
Rousseau, VincentIRSTEA
 
16:40-16:45, Paper WeD2.8 Add to My Program
Smooth Extensions of Feedback Motion Planners Via Reference Governors
Arslan, OmurUniv. of Pennsylvania
Koditschek, DanielUniv. of Pennsylvania
 
WeD3 Regular Session, Rm. 4311/4312 Add to My Program 
Visual Tracking  
 
Chair: Sattar, JunaedUniv. of Minnesota
Co-Chair: Najjaran, HomayounUniv. of British Columbia
 
16:05-16:10, Paper WeD3.1 Add to My Program
Non-Vector Space Visual Servoing for Robotic Manipulation in Six Dimensional Workspace
Liu, ChichengTsinghua Univ
Chen, RuiTsinghua Univ
Xu, JingTsinghua Univ
Zhao, JianguoColorado State Univ
Chen, HepingTexas State Univ
Xi, NingMichigan State Univ
Chen, KenTsinghua Univ
 
16:10-16:15, Paper WeD3.2 Add to My Program
Illumination Insensitive Efficient Second-Order Minimization for Planar Object Tracking
Chen, LinZhejiang Univ
Zhou, FanZhejiang Univ
Shen, YuHiScene Information Tech
Tian, XiangZhejiang Univ
Ling, HaibinTemple Univ
Chen, YaowuZhejiang Univ
 
16:15-16:20, Paper WeD3.3 Add to My Program
Correlation Filter-Based Self-Paced Object Tracking
Huang, WenhuiShandong Univ
Gu, JasonDalhousie Univ
Ma, XinShandong Univ
Li, YibinShandong Univ
 
16:20-16:25, Paper WeD3.4 Add to My Program
Real-Time Visual Tracking Via an Enhanced Robust Kernelized Correlation Filter
Wang, XiaoliangBeijing Inst. of Tech
O'Brien, MarieThe Univ. of British Columbia
Xiang, ChangleBeijing Inst. of Tech
Xu, BinBeijing Inst. of Tech
Najjaran, HomayounUniv. of British Columbia
 
16:25-16:30, Paper WeD3.5 Add to My Program
Multi-Robot Control and Tracking Framework for Bio-Hybrid Systems with Closed-Loop Interaction
Bonnet, FrankEc. Pol. Fédérale De Lausanne
Cazenille, LeoUniv. Paris Diderot
Gribovskiy, AlexeyEc. Pol. Fédérale De Lausanne
Halloy, JoséUniv. Paris Diderot Paris VII
Mondada, FrancescoEPFL
 
16:30-16:35, Paper WeD3.6 Add to My Program
Mixed-Domain Biological Motion Tracking for Underwater Human-Robot Interaction
Islam, Md JahidulUniv. of Minnesota-Twin Cities
Sattar, JunaedUniv. of Minnesota
 
16:35-16:40, Paper WeD3.7 Add to My Program
Event-Based Feature Tracking with Probabilistic Data Association
Zhu, Alex ZihaoUniv. of Pennsylvania
Atanasov, NikolayUniv. of Pennsylvania
Daniilidis, KostasUniv. of Pennsylvania
 
16:40-16:45, Paper WeD3.8 Add to My Program
Co-Fusion: Real-Time Segmentation, Tracking and Fusion of Multiple Objects
Runz, MartinUniv. Coll. London
Agapito, LourdesUniv. Coll. London
 
WeD4 Regular Session, Rm. 4411/4412 Add to My Program 
Slam 2  
 
Chair: Indelman, VadimTech. - Israel Inst. of Tech
Co-Chair: Stachniss, CyrillUniv. of Bonn
 
16:05-16:10, Paper WeD4.1 Add to My Program
Towards Efficient Inference Update through Planning Via JIP Joint Inference and Belief Space Planning
Farhi, Elad I.Tech. - Israel Inst. of Tech
Indelman, VadimTech. - Israel Inst. of Tech
 
16:10-16:15, Paper WeD4.2 Add to My Program
Nonmyopic Data Association Aware Belief Space Planning for Robust Active Perception
Pathak, ShashankTech. Israel Inst. of Tech
Thomas, AntonyTech. Israel Inst. of Tech. Israel Inst. of T
Indelman, VadimTech. - Israel Inst. of Tech
 
16:15-16:20, Paper WeD4.3 Add to My Program
MonoRGBD-SLAM: Simultaneous Localization and Mapping Using Both Monocular and RGBD Cameras
Yousif, KhalidRMIT Univ
Taguchi, YuichiMitsubishi Electric Res. Labs
Ramalingam, SrikumarUniv. of Utah
 
16:20-16:25, Paper WeD4.4 Add to My Program
PL-SLAM: Real-Time Monocular Visual SLAM with Points and Lines
Pumarola, AlbertInst. De Robòtica I Informàtica Industrial (IRI)
Vakhitov, AlexanderSkolkovo Inst. of Science and Tech
Agudo, AntonioInst. De Robòtica I Informàtica Industrial (CSIC-UPC)
Sanfeliu, AlbertoUniv. Pol. De Cataluyna
Moreno-Noguer, FrancescCSIC
 
16:25-16:30, Paper WeD4.5 Add to My Program
O-POCO: Online POint Cloud COmpression Mapping for Visual Odometry and SLAM
Contreras-Toledo, Luis AngelUniv. of Bristol
Mayol, WalterioUniv. of Bristol
 
16:30-16:35, Paper WeD4.6 Add to My Program
ROS2D: Image Feature Detector Using Rank Order Statistics
Yousif, KhalidRMIT Univ
Taguchi, YuichiMitsubishi Electric Res. Labs
Ramalingam, SrikumarUniv. of Utah
Bab-hadiashar, AlirezaRMIT Univ
 
16:35-16:40, Paper WeD4.7 Add to My Program
Illumination Change Robustness in Direct Visual SLAM
Park, SeonwookETH Zurich
Schöps, ThomasETH Zurich
Pollefeys, MarcETH Zurich
 
16:40-16:45, Paper WeD4.8 Add to My Program
Cyrillic Manual Alphabet Recognition in RGB and RGB-D Data for Sign Language Interpreting Robotic System (SLIRS)
Tazhigaliyeva, NazgulNazarbayev Univ
Kalidolda, NazerkeNazarbayev Univ
Imashev, AlfarabiNazarbayev Univ. National Lab. Astana
Islam, ShynggysNazarbayev Univ
Aitpayev, KairatNational Lab. Astana
Parisi, German IgnacioUniv. of Hamburg
Sandygulova, AnaraNazarbayev Univ
 
WeD5 Regular Session, Rm. 4511/4512 Add to My Program 
Aerial Robot 4  
 
Chair: Alexis, KostasUniv. of Nevada, Reno
Co-Chair: Shen, ShaojieHong Kong Univ. of Science and Tech
 
16:05-16:10, Paper WeD5.1 Add to My Program
Orientation Filter and Angular Rates Estimation in Monocopter Using Accelerometers and Magnetometer with Extended Kalman Filter
Lembono, TeguhSingapore Univ. of Tech. and Design
Low, Jun EnSingapore Univ. of Tech. & Design
Win, Luke Soe ThuraSingapore Univ. of Tech. & Design
Foong, ShaohuiSingapore Univ. of Tech. and Design
Tan, U-XuanSingapore Univ. of Tech. and Design
 
16:10-16:15, Paper WeD5.2 Add to My Program
High Altitude Monocular Visual-Inertial State Estimation: Initialization and Sensor Fusion
Liu, TianboHong Kong Univ. of Science and Tech
Shen, ShaojieHong Kong Univ. of Science and Tech
 
16:15-16:20, Paper WeD5.3 Add to My Program
Real-Time Monocular Dense Mapping on Aerial Robots Using Visual-Inertial Fusion
Yang, ZhenfeiHong Kong Univ. of Science and Tech
Gao, FeiHong Kong Univ. of Science and Tech
Shen, ShaojieHong Kong Univ. of Science and Tech
 
16:20-16:25, Paper WeD5.4 Add to My Program
Real-Time Local 3D Reconstruction for Aerial Inspection Using Superpixel Expansion
Teixeira, LucasETH Zurich
Chli, MargaritaETH Zurich
 
16:25-16:30, Paper WeD5.5 Add to My Program
Uncertainty-Aware Receding Horizon Exploration and Mapping Using Aerial Robots
Papachristos, ChristosUniv. of Nevada Reno
Khattak, ShehryarUniv. of Nevada, Reno
Alexis, KostasUniv. of Nevada, Reno
 
16:30-16:35, Paper WeD5.6 Add to My Program
Autonomous Swing-Angle Estimation for Stable Slung-Load Flight of Multi-Rotor UAVs
Lee, Seung JaeSeoul National Univ
Kim, H. JinSeoul National Univ
 
16:35-16:40, Paper WeD5.7 Add to My Program
Active Estimation of Mass Properties for Safe Cooperative Lifting
Corah, MicahCarnegie Mellon Univ
Michael, NathanCarnegie Mellon Univ
 
16:40-16:45, Paper WeD5.8 Add to My Program
Model-Based Global Localization for Aerial Robots Using Edge Alignment
Qiu, KejieThe Hong Kong Univ. of Science and Tech
Liu, TianboHong Kong Univ. of Science and Tech
Shen, ShaojieHong Kong Univ. of Science and Tech
 
WeD6 Regular Session, Rm. 4611/4612 Add to My Program 
Semantic Understanding  
 
Chair: Morbidi, FabioUniv. De Picardie Jules Verne
Co-Chair: Little, James J.UBC
 
16:05-16:10, Paper WeD6.1 Add to My Program
MF3D: Model-Free 3D Semantic Scene Parsing
Tung, FrederickUniv. of British Columbia
Little, James J.UBC
 
16:10-16:15, Paper WeD6.2 Add to My Program
What Can I Do Around Here? Deep Functional Scene Understanding for Cognitive Robot
Ye, ChengxiUniv. of Maryland
Yang, YezhouArizona State Univ
Mao, RenUniv. of Maryland Coll. Park
Fermuller, CorneliaUniv. of Maryland
Aloimonos, YiannisUniv. of Maryland
 
16:15-16:20, Paper WeD6.3 Add to My Program
Semantic Analysis of Manipulation Actions Using Spatial Relations
Ziaeetabar, FatemehGeorg August Univ. 3-BCCN
Aksoy, Eren ErdalKarlsruhe Inst. for Tech. (KIT)
Wörgötter, FlorentinUniv. of Göttingen
Tamosiunaite, MinijaUniv. of Goettingen
 
16:20-16:25, Paper WeD6.4 Add to My Program
Analyzing Modular CNN Architectures for Joint Depth Prediction and Semantic Segmentation
Hosseini Jafari, OmidTU Dresden
Groth, OliverDresden Univ. of Tech
Kirillov, AlexanderTU Dresden
Yang, Michael YingUniv. of Twente
Rother, CarstenTU Dresden
 
16:25-16:30, Paper WeD6.5 Add to My Program
SemanticFusion: Dense 3D Semantic Mapping with Convolutional Neural Networks
McCormac, JohnImperial Coll. London
Handa, AnkurIIIT Hyderabad
Davison, Andrew JImperial Coll. London
Leutenegger, StefanImperial Coll. London
 
16:30-16:35, Paper WeD6.6 Add to My Program
Online Learning for Scene Segmentation with Laser-Constrained CRFs
De Alvis, CharikaUniv. of Sydney
Ott, LionelUniv. of Sydney
Ramos, FabioUniv. of Sydney
 
16:35-16:40, Paper WeD6.7 Add to My Program
AdapNet: Adaptive Semantic Segmentation in Adverse Environmental Conditions
Valada, AbhinavUniv. of Freiburg
Vertens, JohanUniv. of Freiburg
Dhall, AnkitVIT Univ. Chennai
Burgard, WolframUniv. of Freiburg
 
16:40-16:45, Paper WeD6.8 Add to My Program
Phase Correlation for Dense Visual Compass from Omnidirectional Camera-Robot Images
Morbidi, FabioUniv. De Picardie Jules Verne
Caron, GuillaumeUniv. De Picardie Jules Verne
 
WeD7 Regular Session, Rm. 4711/4712 Add to My Program 
Manipulation Planning 2  
 
Chair: Leitner, JurgenAustralian Centre for Robotic Vision / Queensland Univ. of Tech
Co-Chair: Su, Hai-JunThe Ohio State Univ
 
16:05-16:10, Paper WeD7.1 Add to My Program
A Robust Control Scheme for 3D Manipulation of a Microparticle with Electromagnetic Coil System
Ma, WeichengCity Univ. of Hong Kong
Li, JunyangCity Univ. of Hong Kong
Niu, FuzhouUniv. of Science and Tech. of China
Ouyang, BoCity Univ. of Hong Kong
Ji, HaiboUniv. of Science and Tech. of China
Sun, DongCity Univ. of Hong Kong
 
16:10-16:15, Paper WeD7.2 Add to My Program
Toward Improving Path Following Motion: Hybrid Continuum Robot Design
Amanov, ErnarLeibniz Univ. Hannover
Granna, JosephineLeibniz Univ. Hannover
Burgner-Kahrs, JessicaGottfried Wilhelm Leibniz Univ. Hannover
 
16:15-16:20, Paper WeD7.3 Add to My Program
The Manifold Particle Filter for State Estimation on High-Dimensional Implicit Manifolds
Koval, MichaelCarnegie Mellon Univ
Klingensmith, MattCarnegie Mellon Univ
Srinivasa, SiddharthaCarnegie Mellon Univ
Pollard, Nancy SCarnegie Mellon Univ
Kaess, MichaelCarnegie Mellon Univ
 
16:20-16:25, Paper WeD7.4 Add to My Program
Unobservable Monte Carlo Planning for Nonprehensile Rearrangement Tasks
King, JenniferCarnegie Mellon Univ
Ranganeni, VinithaCarnegie Mellon Univ
Srinivasa, SiddharthaCarnegie Mellon Univ
 
16:25-16:30, Paper WeD7.5 Add to My Program
Essential Properties of Numerical Integration for Time-Optimal Path-Constrained Trajectory Planning
Shen, PeiyaoNankai Univ
Zhang, XueboNankai Univ
Fang, YongchunNankai Univ
 
16:30-16:35, Paper WeD7.6 Add to My Program
A Comparison of Autoregressive Hidden Markov Models for Modeling Mass-Dependent Mode Switches in Manipulation Tasks
Kroemer, OliverUniv. of Southern California
Peters, JanTech. Univ. Darmstadt
 
16:35-16:40, Paper WeD7.7 Add to My Program
The ACRV Picking Benchmark: A Robotic Shelf Picking Benchmark to Foster Reproducible Research
Leitner, JurgenAustralian Centre for Robotic Vision / Queensland Univ. Of
Tow, Adam Michael WillemQueensland Univ. of Tech
Sünderhauf, NikoQueensland Univ. of Tech
Dean, Jake EdwardQueensland Univ. of Tech
Durham, Joseph W.Kiva Systems
Cooper, MatthewQueensland Univ. of Tech
Eich, MarkusQueensland Univ. of Tech
Lehnert, ChristopherQueensland Univ. of Tech
Mangels, RubenQUT
McCool, Christopher StevenQueensland Univ. of Tech
Kujala, Peter T.Queensland Univ. of Tech
Nicholson, Lachlan JamesQueensland Univ. of Tech. (QUT)
Pham, TrungThe Univ. of Adelaide
Sergeant, JamesQueensland Univ. of Tech
Wu, LiaoQueensland Univ. of Tech
Zhang, FangyiQueensland Univ. of Tech
Upcroft, BenQueensland Univ. of Tech
Corke, PeterQUT
 
16:40-16:45, Paper WeD7.8 Add to My Program
Feature Selection for Learning Versatile Manipulation Skills Based on Observed and Desired Trajectories
Kroemer, OliverUniv. of Southern California
Sukhatme, GauravUniv. of Southern California
 
WeD8 Regular Session, Rm. 4613/4713 Add to My Program 
Humanoid Robots 3  
 
Chair: Ott, ChristianGerman Aerospace Center (DLR)
Co-Chair: Kheddar, AbderrahmaneCNRS-AIST JRL (Joint Robotics Lab. UMI3218/CRT
 
16:05-16:10, Paper WeD8.1 Add to My Program
Overlap-Based ICP Tuning for Robust Localization of a Humanoid Robot
Nobili, SimonaUniv. of Edinburgh
Scona, RalucaUniv. of Edinburgh
Caravagna, MarcoUniv. of Edinburgh
Fallon, MauriceUniv. of Edinburgh
 
16:10-16:15, Paper WeD8.2 Add to My Program
Control Walking Speed by Approximate-Kinetic-Model-Based Self-Adaptive Control on Underactuated Compass-Like Bipedal Walker
Xiao, XuanTsinghua Univ
Ma, OuNew Mexico State Univ
Asano, FumihikoJapan Advanced Inst. of Science and Tech
 
16:15-16:20, Paper WeD8.3 Add to My Program
Stability Regions for Standing Balance of Biped Humanoid Robots
Kim, Jung HoonKorea Inst. of Science and Tech
Lee, JongwooKorea Inst. of Science and Tech
Oh, YonghwanKorea Inst. of Science & Tech. (KIST)
 
16:20-16:25, Paper WeD8.4 Add to My Program
Humanoid Whole-Body Planning for Loco-Manipulation Tasks
Ferrari, PaoloSapienza Univ. of Rome
Cognetti, MarcoSapienza Univ. of Rome
Oriolo, GiuseppeSapienza Univ. of Rome