2017 IEEE/RSJ International Conference
on Intelligent Robots and Systems
Vancouver, BC, Canada
September 24-28, 2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems
September 24–28, 2017, Vancouver, BC, Canada

Program at a Glance    Sunday    Monday    Tuesday    Wednesday    Thursday    Author Index    Keyword Index    My Program  

Last updated on September 24, 2017. This conference program is tentative and subject to change

Technical Program for Tuesday September 26, 2017

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TuAT1 , Room 109 Add to My Program 
Deep Learning in Robotics and Automation IV  
Chair: Englot, BrendanStevens Inst. of Tech
Co-Chair: Chen, ZetaoETH Zurich
10:30-10:45, Paper TuAT1.1 Add to My Program
Deep Predictive Policy Training Using Reinforcement Learning
Ghadirzadeh, AliKTH Royal Inst. of Tech
Maki, AtsutoKTH Royal Inst. of Tech
Kragic, DanicaKTH
Björkman, MårtenKTH
10:45-11:00, Paper TuAT1.2 Add to My Program
Transform Invariant Auto-Encoder
Matsuo, TadashiRitsumeikan Univ
Fukuhara, HiroyaRitsumeikan Univ
Shimada, NobutakaRitsumeikan Univ
11:00-11:15, Paper TuAT1.3 Add to My Program
Sensor Fusion for Robot Control through Deep Reinforcement Learning
Bohez, StevenGhent Univ. - Imec
Verbelen, TimGhent Univ. - Imec
De Coninck, EliasGhent Univ. - Imec
Vankeirsbilck, BertGhent Univ. - Imec
Simoens, PieterGhent Univ. - Imec
Dhoedt, BartGhent Univ. - Imec
11:15-11:30, Paper TuAT1.4 Add to My Program
Deep Reinforcement Learning with Successor Features for Navigation across Similar Environments
Zhang, JingweiAlbert Ludwigs Univ. of Freiburg
Springenberg, Jost TobiasAlbert-Ludwigs Univ. Freiburg
Boedecker, JoschkaUniv. of Freiburg
Burgard, WolframUniv. of Freiburg
11:30-11:45, Paper TuAT1.5 Add to My Program
Toward Autonomous Mapping and Exploration for Mobile Robots through Deep Supervised Learning
Bai, ShiStevens Inst. of Tech
Chen, FanfeiStevens Inst. of Tech
Englot, BrendanStevens Inst. of Tech
11:45-12:00, Paper TuAT1.6 Add to My Program
Exercise Motion Classification from Large-Scale Wearable Sensor Data Using Convolutional Neural Networks
Um, Terry TaewoongUniv. of Waterloo
Babakeshizadeh, VahidChief Algorithms Officer, PUSH Design Solutions Inc
Kulic, DanaUniv. of Waterloo
TuAT2 , Room 111 Add to My Program 
Biologically-Inspired Robots II  
Chair: Shen, YantaoUniv. of Nevada, Reno
Co-Chair: Choi, Hyouk RyeolSungkyunkwan Univ
10:30-10:45, Paper TuAT2.1 Add to My Program
The Deformable Quad-Rotor: Design, Kinematics and Dynamics Characterization, and Flight Performance Validation
Zhao, NaUniv. of Nevada, Reno
Luo, YudongUniv. of Nevada, Reno
Deng, HongbinBeijing Inst. of Tech
Shen, YantaoUniv. of Nevada, Reno
10:45-11:00, Paper TuAT2.2 Add to My Program
Motion Evaluation of a Modified Multi-Link Robotic Rat
Li, ChangBeijing Inst. of Tech
Shi, QingBeijing Inst. of Tech
Li, KangBeijing Inst. of Tech
Zou, MingjieBeijing Inst. of Tech
Ishii, HiroyukiWaseda Univ
Takanishi, AtsuoWaseda Univ
Huang, QiangBeijing Inst. of Tech
Fukuda, ToshioMeijo Univ
11:00-11:15, Paper TuAT2.3 Add to My Program
A Frog-Inspired Swimming Robot Based on Dielectric Elastomer Actuators
Tang, YuchengNanjing Univ. of Science & Tech. & National Univ
Qin, LeiNational Univ. of Singapore
Li, XiaoningNanjing Univ. of Science and Tech
Chew, Chee MengNational Univ. of Singapore
Zhu, JianNational Univ. of Singapore
11:15-11:30, Paper TuAT2.4 Add to My Program
Study on Quadruped Bounding with a Passive Compliant Spine
Phan, Luong TinSungkyunkwan Univ
Lee, Yoon HaengSungkyunkwan Univ
Lee, Young HunSungkyunkwan Univ
Lee, HyunyongSungskyunkwan Univ
Kang, HansolSungkyunkwan Univ
Choi, Hyouk RyeolSungkyunkwan Univ
11:30-11:45, Paper TuAT2.5 Add to My Program
CSMA/CA-Based Electrocommunication System Design for Underwater Robot Groups
Zhang, HanPeking Univ
Wang, WeiMassachusetts Inst. of Tech
Zhou, YangGuangxi Univ. of Science and Tech
Wang, ChenPeking Univ
Fan, RuifengPeking Univ
Xie, GuangmingPeking Univ
11:45-12:00, Paper TuAT2.6 Add to My Program
Design, Modeling and Experimental Validation of a Scissor Mechanisms Enabled Compliant Modular Earthworm-Like Robot
Luo, YudongUniv. of Nevada, Reno
Zhao, NaUniv. of Nevada, Reno
Wang, HeshengShanghai Jiao Tong Univ
Kim, KwangUniv. of Nevada Reno
Shen, YantaoUniv. of Nevada, Reno
TuAT3 , Room 116 Add to My Program 
Perception for Grasping and Manipulation I  
Chair: Hlavac, VaclavCzech Tech. Univ. in Prague
Co-Chair: Pfanne, MartinDLR German Aerospace Center
10:30-10:45, Paper TuAT3.1 Add to My Program
State Estimation for Deformable Objects by Point Registration and Dynamic Simulation
Tang, TeUniv. of California, Berkeley
Fan, YongxiangUniv. of California, Berkeley
Lin, Hsien-ChungUniv. of California, Berkeley
Tomizuka, MasayoshiUniv. of California
10:45-11:00, Paper TuAT3.2 Add to My Program
Associating Grasp Configurations with Hierarchical Features in Convolutional Neural Networks
Ku, Li YangUmass Amherst
Learned-Miller, ErikUniv. of Massachusetts, Amherst
Grupen, RodUniv. of Massachusetts
11:00-11:15, Paper TuAT3.3 Add to My Program
Shape Completion Enabled Robotic Grasping
Varley, JacobColumbia Univ
DeChant, ChadColumbia Univ
Richardson, AdamColumbia Univ
Ruales, JoaquínColumbia Univ
Allen, PeterColumbia Univ
11:15-11:30, Paper TuAT3.4 Add to My Program
Improved Object Pose Estimation Via Deep Pre-Touch Sensing
Lancaster, PatrickUniv. of Washington
Yang, BolingUniv. of Washington
Smith, Joshua R.Univ. of Washington
11:30-11:45, Paper TuAT3.5 Add to My Program
Estimating Contact Forces from Postural Measures in a Class of Under-Actuated Robotic Hands
Della Santina, CosimoUniv. of Pisa
Piazza, CristinaUniv. Di Pisa
Santaera, GaspareUniv. of Pisa, Centro Di Ricerca "E. Piaggio"
Grioli, GiorgioIstituto Italiano Di Tecnologia
Catalano, Manuel GiuseppeIstituto Italiano Di Tecnologia
Bicchi, AntonioIstituto Italiano Di Tecnologia
11:45-12:00, Paper TuAT3.6 Add to My Program
EKF-Based In-Hand Object Localization from Joint Position and Torque Measurements
Pfanne, MartinDLR German Aerospace Center
Chalon, MaximeGerman Aerospace Center (DLR)
TuAT4 , Room 114 Add to My Program 
Localization I  
Chair: Das, ArunUniv. of Waterloo
Co-Chair: Suh, Il HongHanyang Univ
10:30-10:45, Paper TuAT4.1 Add to My Program
Unified Image Retrieval and Keypoint Matching by Local Geometric Consistency and Non-Linear Diffusion
Lee, SehyungHanyang Univ
Lim, JongwooHanyang Univ
Suh, Il HongHanyang Univ
10:45-11:00, Paper TuAT4.2 Add to My Program
Localization of RW-UAVs Using Particle Filtering Over Distributed Microphone Arrays
Lauzon, Jean-SamuelUniv. De Sherbrooke
Grondin, FrancoisUniv. De Sherbrooke
Létourneau, DominicUniv. De Sherbrooke
Lussier Desbiens, AlexisUniv. De Sherbrooke
Michaud, FrancoisUniv. De Sherbrooke
11:00-11:15, Paper TuAT4.3 Add to My Program
Unscented Kalman Filtering on Lie Groups
Brossard, MartinMines ParisTech
Bonnabel, SilvereMines ParisTech
Condomines, Jean-PhilippeENAC Univ
11:15-11:30, Paper TuAT4.4 Add to My Program
Sampling-Based Methods for Visual Navigation in 3D Maps by Synthesizing Depth Images
Neubert, PeerChemnitz Univ. of Tech
Schubert, StefanChemnitz Univ. of Tech
Protzel, PeterChemnitz Univ. of Tech
11:30-11:45, Paper TuAT4.5 Add to My Program
Iterative Weighted 2D Orientation Averaging That Minimizes Arc-Length between Vectors
Kazakova, VeraUniv. of Central Florida
Wu, AnnieUniv. of Central Florida
11:45-12:00, Paper TuAT4.6 Add to My Program
A Framework for Enhanced Localization of Marine Mammals Using Auto-Detected Video and Wearable Sensor Data Fusion
Gabaldon, JoaquinUniv. of Michigan Ann Arbor
Zhang, DingUniv. of Michigan, Ann Arbor
Barton, KiraUniv. of Michigan at Ann Arbor
Johnson-Roberson, MatthewUniv. of Michigan
Shorter, AlexUniv. of Michigan
TuAT5 , Room 118 Add to My Program 
Medical Robots and Systems II  
Chair: Desai, Jaydev P.Georgia Inst. of Tech
Co-Chair: Hannaford, BlakeUniv. of Washington
10:30-10:45, Paper TuAT5.1 Add to My Program
A Skull-Mounted Robotic Headframe for a Neurosurgical Robot
Sheng, JunGeorgia Inst. of Tech
Desai, Jaydev P.Georgia Inst. of Tech
10:45-11:00, Paper TuAT5.2 Add to My Program
Preliminary Study on Magnetic Tracking Based Navigation for Wire-Driven Flexible Robot
Zhang, ChangchunHarbin Inst. of Tech. (Shenzhen)
Lu, YiHarbin Inst. of Tech
Qiu, XiaoxiaoHarbin Inst. of Tech. (Shenzhen)
Song, ShuangHarbin Inst. of Tech. Shenzhen Graduate School
Liu, LiSchool of Biomedical Engineering, Health Science Center, Shenzhe
Meng, Max Q.-H.The Chinese Univ. of Hong Kong
11:00-11:15, Paper TuAT5.3 Add to My Program
3D Printing of Improved Needle Grasping Instrument for Flexible Robotic Surgery
Seneci, Carlo AlbertoImperial Coll. London
Gras, GauthierImperial Coll. London
Wisanuvej, PiyamateImperial Coll. London
Shang, JianzhongImperial Coll. London
Yang, Guang-ZhongImperial Coll. London
11:15-11:30, Paper TuAT5.4 Add to My Program
Force Sensing in Continuum Manipulators Using Fiber Bragg Grating Sensors
Khan, FouziaUniv. of Twente
Roesthuis, RoyUniv. of Twente
Misra, SarthakUniv. of Twente
11:30-11:45, Paper TuAT5.5 Add to My Program
Continuum Robots for Multi-Scale Motion: Micro-Scale Motion through Equilibrium Modulation
Del Giudice, GiuseppeVanderbilt Univ
Wang, LongVanderbilt Univ
Shen, Jin-HuiVanderbilt Univ
Joos, KarenVanderbilt Univ
Simaan, NabilVanderbilt Univ
11:45-12:00, Paper TuAT5.6 Add to My Program
Integrated Asymmetric Stop Operator Based Model for Strain Stress Hysteresis Characteristics of Cable Driven Robots Loaded Longitudinally
Omar, AljanaidehUniv. of Washington
Miyasaka, MuneakiUniv. of Washington
Hannaford, BlakeUniv. of Washington
TuAT6 , Room 121 Add to My Program 
Telerobotics and Teleoperation I  
Chair: Hauser, KrisDuke Univ
Co-Chair: Bohren, JonathanHoneybee Robotics, Ltd
10:30-10:45, Paper TuAT6.1 Add to My Program
Teleoperating Robots from Arbitrary Viewpoints in Surgical Contexts
Draelos, MarkDuke Univ
Keller, BrentonDuke Univ
Toth, CynthiaDuke Univ
Kuo, AnthonyDuke Univ
Hauser, KrisDuke Univ
Izatt, JosephDuke Univ
10:45-11:00, Paper TuAT6.2 Add to My Program
Robot Team Teleoperation for Cooperative Manipulation Using Wearable Haptics
Musić, SelmaTech. Univ. München
Salvietti, GionataUniv. of Siena
Budde genannt Dohmann, PabloTech. Univ. Munich
Chinello, FrancescoAarhus Univ
Prattichizzo, DomenicoUniv. of Siena
Hirche, SandraTech. Univ. München
11:00-11:15, Paper TuAT6.3 Add to My Program
Tele-Impedance with Force Feedback under Communication Time Delay
Laghi, MarcoIstituito Italiano Di Tecnologia / Univ. Di Pisa
Ajoudani, ArashAdvanced Robotics Department
Catalano, Manuel GiuseppeIstituto Italiano Di Tecnologia
Bicchi, AntonioIstituto Italiano Di Tecnologia
11:15-11:30, Paper TuAT6.4 Add to My Program
Interactive Scene Segmentation for Efficient Human-In-The-Loop Robot Manipulation
Butler, Daniel J.Univ. of Washington, Seattle, WA, USA
Elliott, SarahUniv. of Washington
Cakmak, MayaUniv. of Washington
11:30-11:45, Paper TuAT6.5 Add to My Program
An Assisted Bilateral Control Strategy for 3D Pose Estimation of Visual Features
Battilani, NicolaUniv. of Modena and Reggio Emilia
Spica, RiccardoStanford Univ
Robuffo Giordano, PaoloCentre National De La Recherche Scientifique (CNRS)
Secchi, CristianUniv. of Modena & Reggio Emilia
11:45-12:00, Paper TuAT6.6 Add to My Program
A Preliminary Study of an Intent-Recognition-Based Traded Control Architecture for High Latency Telemanipulation
Bohren, JonathanHoneybee Robotics, Ltd
Whitcomb, LouisThe Johns Hopkins Univ
TuAT7 , Room 122 Add to My Program 
Autonomous Vehicle Navigation II  
Chair: Manocha, DineshUniv. of North Carolina at Chapel Hill
Co-Chair: Borges, Paulo Vinicius KoerichCSIRO
10:30-10:45, Paper TuAT7.1 Add to My Program
Robust Attitude Estimation Method for Underwater Vehicles with External and Internal Magnetic Noise Rejection Using Adaptive Indirect Kalman Filter
Widy, AndreasHKUST
Woo, Kam TimThe Hong Kong Univ. of Science and Tech
10:45-11:00, Paper TuAT7.2 Add to My Program
Real-Time Autonomous Ground Vehicle Navigation in Heterogeneous Environments Using a 3D LiDAR
Pfrunder, AndreasETH Zurich
Borges, Paulo Vinicius KoerichCSIRO
Rechy Romero, AdrianCSIRO
Catt, GavinCSIRO
Elfes, AlbertoCSIRO
11:00-11:15, Paper TuAT7.3 Add to My Program
Neural Network Modeling for Steering Control of an Autonomous Vehicle
Garimella, GowthamJohns Hopkins Univ
Funke, JosephStanford Univ
Wang, ChuangZoox
Kobilarov, MarinJohns Hopkins Univ
11:15-11:30, Paper TuAT7.4 Add to My Program
Active Online Visual-Inertial Navigation and Sensor Calibration Via Belief Space Planning and Factor Graph Based Incremental Smoothing
Ben Elisha, YairTech. - Israel Inst. of Tech
Indelman, VadimTech. - Israel Inst. of Tech
11:30-11:45, Paper TuAT7.5 Add to My Program
Deriving Overtaking Strategy from Nonlinear Model Predictive Control for a Race Car
Buyval, AlexanderInnopolis Univ
Gabdullin, AidarInnopolis Unversity
Mustafin, RuslanInnopolis Univ
Shimchik, IlyaInnopolis Univ
11:45-12:00, Paper TuAT7.6 Add to My Program
AutonoVi: Autonomous Vehicle Planning with Dynamic Maneuvers and Traffic Constraints
Best, AndrewUniv. of North Carolina at Chapel Hill
Narang, SahilUniv. of North Carolina at Chapel Hill
Barber, DanielUniv. of Central Florida
Manocha, DineshUniv. of North Carolina at Chapel Hill
TuAT8 , Room 202 Add to My Program 
Field Robotics  
Chair: Nagatani, KeijiTohoku Univ
Co-Chair: La, HungUniv. of Nevada at Reno
10:30-10:45, Paper TuAT8.1 Add to My Program
Design and Development of a Tethered Mobile Robot to Traverse on Steep Slope Based on an Analysis of Its Slippage and Turnover
Nagatani, KeijiTohoku Univ
Tatano, SoTohoku Univ
Ikeda, KeisukeTohoku Univ
Watanabe, AtsushiTohoku Univ
Kuri, MiwaTohoku Univ
10:45-11:00, Paper TuAT8.2 Add to My Program
Industrial-Scale Autonomous Wheeled-Vehicle Path Following by Combining Iterative Learning Control with Feedback Linearization
Dekker, Lukas G.Queen's Univ
Marshall, Joshua A.Queen's Univ
Larsson, JohanÖrebro Univ
11:00-11:15, Paper TuAT8.3 Add to My Program
Autonomous Navigation and Mapping for Inspection of Penstocks and Tunnels with MAVs
Ozaslan, TolgaUniv. of Pennsylvania
Loianno, GiuseppeUniv. of Pennsylvania
Keller, JamesUniv. of Pennsylvania
Taylor, Camillo JoseUniv. of Pennsylvania
Kumar, VijayUniv. of Pennsylvania
11:15-11:30, Paper TuAT8.4 Add to My Program
Planning and Control for Autonomous Excavation
Jud, DominicETH Zurich
Hottiger, GabrielETH Zurich
Leemann, PhilippETH Zurich
Hutter, MarcoETH Zurich
11:30-11:45, Paper TuAT8.5 Add to My Program
Structured Light-Based Hazard Detection for Planetary Surface Navigation
Nefian, AraNASA Ames Res. Center
Wong, UlandNASA Ames Res. Center
Dille, MichaelSGT Inc. / NASA Ames Res. Center
Bouyssounouse, XavierNASA Ames Res. Center
Edwards, LaurenceNASA Ames Res. Center
To, VinhStinger Ghaffarian Tech
Deans, MatthewNASA Ames Res. Center
Fong, TerrenceNASA Ames Res. Center (ARC)
11:45-12:00, Paper TuAT8.6 Add to My Program
A Multi-Functional Inspection Robot for Civil Infrastructure Evaluation and Maintenance
Spencer, GibbUniv. of Nevada, Reno
Le, TuanUniv. of Nevada, Reno
La, HungUniv. of Nevada at Reno
Schmid, RyanUniv. of Nevada, Reno
Tony, BerendsenUniv. of Nevada, Reno
TuAT9 , Room 204 Add to My Program 
Search and Rescue Robots  
Chair: Suzumori, KoichiTokyo Inst. of Tech
Co-Chair: Endo, GenTokyo Inst. of Tech
10:30-10:45, Paper TuAT9.1 Add to My Program
Geometric and Visual Terrain Classification for Autonomous Mobile Navigation
Schilling, FabianKTH Royal Inst. of Tech
Chen, XiKTH
Folkesson, JohnKTH
Jensfelt, PatricKTH - Royal Inst. of Tech
10:45-11:00, Paper TuAT9.2 Add to My Program
Modeling Structure and Aerosol Concentration with Fused Radar and LiDAR Data in Environments with Changing Visibility
Fritsche, PaulLeibniz Univ. Hannover
Wagner, BernardoLeibniz Univ. Hannover
11:00-11:15, Paper TuAT9.3 Add to My Program
Challenges in Visual and Inertial Information Gathering for a Sprawling Posture Robot
Parsapour, MahsaEPFL
Melo, KamiloEPFL
Horvat, TomislavEPFL
Ijspeert, AukeEPFL
11:15-11:30, Paper TuAT9.4 Add to My Program
Towards Autonomous Locomotion: Slithering Gait Design of Snake-Like Robot for Target Observation and Tracking
Bing, ZhenshanTech. Univ. of Munich
Cheng, LongTech. Univ. of Munich
Huang, KaiSun Yat-Sen Univ
Jiang, ZhuangyiTech. Univ. of Munich
Chen, GuangTech. Univ. of Munich
Roehrbein, FlorianTech. Univ. of Munich
Knoll, AloisTech. Univ. Muenchen TUM
11:30-11:45, Paper TuAT9.5 Add to My Program
A Semi-Autonomous Compound Motion Pattern Using Multi-Flipper and Multi-Arm for Unstructured Terrain Traversal
Chen, KuiWaseda Univ
Kamezaki, MitsuhiroWaseda Univ
Katano, TakahiroWaseda Univ
Kaneko, TaiseiWaseda Univ
Azuma, KohgaWaseda Univ
Ishida, TatsuzoWaseda Univ
Seki, MasatoshiKikuchi Seisakusho Co., Ltd
Ken, IchiryuKikuchi Seisakusho Co., Ltd
Sugano, ShigekiWaseda Univ
11:45-12:00, Paper TuAT9.6 Add to My Program
Development of a 20-M-Long Giacometti Arm with Balloon Body Based on Kinematic Model with Air Resistance
Takeichi, MasashiTokyo Inst. of Tech
Suzumori, KoichiTokyo Inst. of Tech
Endo, GenTokyo Inst. of Tech
Nabae, HiroyukiTokyo Inst. of Tech
TuAT10 , Room 205 Add to My Program 
Cellular Robots I  
Chair: Yim, MarkUniv. of Pennsylvania
Co-Chair: Guan, YishengGuangdong Univ. of Tech
10:30-10:45, Paper TuAT10.1 Add to My Program
Variable Topology Truss: Design and Analysis
Spinos, AlexanderUniv. of Pennsylvania
Carroll, DevinUniv. of Pennsylvania
Kientz, TerryUniv. of Pennsylvania
Yim, MarkUniv. of Pennsylvania
10:45-11:00, Paper TuAT10.2 Add to My Program
Generating Gaits for Simultaneous Locomotion and Manipulation
Whitman, JulianCarnegie Mellon Univ
Su, ShuangCarnegie Mellon Univ
Coros, StelianCarnegie Mellon Univ
Ansari, AlexanderCarnegie Mellon Univ
Choset, HowieCarnegie Mellon Univ
11:00-11:15, Paper TuAT10.3 Add to My Program
Design and Testing of FERVOR: FlexiblE and Reconfigurable Voxel-Based Robot
Cramer, NicholasStinger Ghaffarian Tech. Inc
Tebyani, MaryamUniv. of California, Santa Cruz
Stone, KatelynUniv. of California, Santa Cruz
Cellucci, DanielCornell Univ
Cheung, Kenneth C.National Aeronautics and Space Administration (NASA)
Swei, SeanNASA Ames Res. Center
Teodorescu, MirceaUCSC
11:15-11:30, Paper TuAT10.4 Add to My Program
A Decentralized Algorithm for Assembling Structures with Modular Robots
Saldana, David JulianUniv. Federal De Minas Gerais
Teles Gabrich, BrunoUniv. of Pennsylvania
Whitzer, MichaelUniv. of Pennsylvania
Prorok, AmandaUniv. of Pennsylvania
Campos, Mario MontenegroUniv. Federal De Minas Gerais
Yim, MarkUniv. of Pennsylvania
Kumar, VijayUniv. of Pennsylvania
11:30-11:45, Paper TuAT10.5 Add to My Program
Fabric-Based Actuator Modules for Building Soft Pneumatic Structures with High Payload-To-Weight Ratio
Khin, Phone MayNational Univ. of Singapore
Yap, Hong KaiNational Univ. of Singapore
Ang Jr, Marcelo HNational Univ. of Singapore
Yeow, Chen-HuaNational Univ. of Singapore
11:45-12:00, Paper TuAT10.6 Add to My Program
A Vision-Based Scheme for Kinematic Model Construction of Re-Configurable Modular Robots
Lin, KeweiGuangdong Univ. of Tech
Rojas, JuanGuangdong Univ. of Tech
Guan, YishengGuangdong Univ. of Tech
TuAT11 , Room 207 Add to My Program 
Social HRI  
Chair: Fu, Li-ChenNational Taiwan Univ
Co-Chair: Jagersand, MartinUniv. of Alberta
10:30-10:45, Paper TuAT11.1 Add to My Program
Investigation of Human-Robot Comfort with a Small Unmanned Aerial Vehicle Compared to a Ground Robot
Acharya, UrjaUniv. of Nebraska, Lincoln
Bevins, AlishaUniv. of Nebraska, Lincoln
Duncan, BrittanyUniv. of Nebraska, Lincoln
10:45-11:00, Paper TuAT11.2 Add to My Program
A Study on the Social Acceptance of a Robot in a Multi-Human Interaction Using an F-Formation Based Motion Model
Yang, Shih-AnNational Taiwan Univ
Gamborino, EdwinnNational Taiwan Univ
Yang, Chun-TangNational Taiwan Univ
Fu, Li-ChenNational Taiwan Univ
11:00-11:15, Paper TuAT11.3 Add to My Program
Incremental Learning for Robot Perception through HRI
Valipour, SepehrUniv. of Alberta
Perez Quintero, Camilo AlfonsoUniv. of Alberta
Jagersand, MartinUniv. of Alberta
11:15-11:30, Paper TuAT11.4 Add to My Program
Postural Optimization for an Ergonomic Human-Robot Interaction
Busch, BaptisteINRIA
Maeda, Guilherme JorgeTech. Univ. Darmstadt
Mollard, YoanInria
Demangeat, MarieInria
Lopes, ManuelInst. Superior Tecnico
11:30-11:45, Paper TuAT11.5 Add to My Program
A Simple Bi-Layered Architecture to Enhance the Liveness of a Robot
Takimoto, YusukeKeio Univ
Hasegawa, KomeiKeio Univ
Sono, TaichiKeio Univ
Imai, MichitaKeio Univ
11:45-12:00, Paper TuAT11.6 Add to My Program
``Me and You Together'': Movement Impact in Multi-User Collaboration Tasks
Faria, MiguelINESC-ID and Inst. Superior Técnico, Tech. Univ. Of
Silva, RuiCarnegie Mellon Univ. and Inst. Superior Tecnico
Alves-Oliveira, PatríciaINESC-ID & Inst. Superior Técnico, Univ. of Lisbon
Melo, Francisco S.Inst. Superior Tecnico
Paiva, AnaINESC-ID and Inst. Superior Técnico, Tech. Of
TuAT12 , Room 208 Add to My Program 
Motion Control II  
Chair: Secchi, CristianUniv. of Modena & Reggio Emilia
Co-Chair: Kinugawa, JunTohoku Univ
10:30-10:45, Paper TuAT12.1 Add to My Program
Learning to Navigate Cloth Using Haptics
Clegg, AlexanderGeorgia Inst. of Tech
Yu, WenhaoGeorgia Inst. of Tech
Erickson, ZackoryGeorgia Inst. of Tech
Tan, JieGeorgia Inst. of Tech
Liu, KarenGeorgia Tech
Turk, GregGeorgia Inst. of Tech
10:45-11:00, Paper TuAT12.2 Add to My Program
A Passive Integration Strategy for Rendering Rotational Rigid-Body Dynamics on a Robotic Simulator
De Stefano, MarcoDLR - German Aerospace Center
Artigas, JordiDLR - German Aerospace Center
Secchi, CristianUniv. of Modena & Reggio Emilia
11:00-11:15, Paper TuAT12.3 Add to My Program
Applicability Analysis of Generalized Inverse Kinematics Algorithms with Respect to Manipulator Geometric Uncertainties
Wang, YuquanRoyal Inst. of Tech. (KTH)
Wang, LihuiKTH Royal Inst. of Tech
11:15-11:30, Paper TuAT12.4 Add to My Program
Disturbance-Observer-Based PD Control of Electro-Hydrostatically Actuated Flexible Joint Robots
Lee, WoongyongPOSTECH
Kim, Min JunDLR
Chung, Wan KyunPOSTECH
11:30-11:45, Paper TuAT12.5 Add to My Program
Control Method of Power-Assisted Cart with One Motor, a Differential Gear, and Brakes Based on Motion State of the Cart
Seino, AkiraTohoku Univ
Wakabayashi, YutaTohoku Univ
Kinugawa, JunTohoku Univ
Kosuge, KazuhiroTohoku Univ
11:45-12:00, Paper TuAT12.6 Add to My Program
Formalization and Analysis of Jacobian Matrix in Screw Theory and Its Application in Kinematic Singularity
Wu, AixuanCapital Normal Univ
Shi, ZhipingCapital Normal Univ
Yang, XiumeiCapital Normal Univ
Guan, YongCapital Normal Univ
Li, Yong-DongBeihang Univ
Song, XiaoyuPortland State Univ
TuAT13 , Room 211 Add to My Program 
Motion and Path Planning II  
Chair: Ruml, WheelerUniv. of New Hampshire
Co-Chair: Gupta, KamalSimon Fraser Univ
10:30-10:45, Paper TuAT13.1 Add to My Program
Efficient Humanoid Motion Planning on Uneven Terrain Using Paired Forward-Inverse Dynamic Reachability Maps
Yang, YimingUniv. of Edinburgh
Merkt, Wolfgang XaverThe Univ. of Edinburgh
Ferrolho, HenriqueFaculty of Engineering of the Univ. of Porto
Ivan, VladimirUniv. of Edinburgh
Vijayakumar, SethuUniv. of Edinburgh
10:45-11:00, Paper TuAT13.2 Add to My Program
Repetition Sampling for Efficiently Planning Similar Constrained Manipulation Tasks
Lehner, PeterGerman Aerospace Center (DLR)
Albu-Schäffer, AlinDLR - German Aerospace Center
11:00-11:15, Paper TuAT13.3 Add to My Program
Efficient Path Planning in Belief Space for Safe Navigation
Schirmer, RobertRobert Bosch GmbH
Biber, PeterRobert Bosch GmbH
Stachniss, CyrillUniv. of Bonn
11:15-11:30, Paper TuAT13.4 Add to My Program
An Effort Bias for Sampling-Based Motion Planning
Kiesel, ScottUniv. of New Hampshire
Gu, TianyiUniv. of New Hampshire
Ruml, WheelerUniv. of New Hampshire
11:30-11:45, Paper TuAT13.5 Add to My Program
Search-Based Motion Planning for Quadrotors Using Linear Quadratic Minimum Time Control
Liu, SikangUniv. of Pennsylvania
Atanasov, NikolayUniv. of Pennsylvania
Mohta, KartikUniv. of Pennsylvania
Kumar, VijayUniv. of Pennsylvania
11:45-12:00, Paper TuAT13.6 Add to My Program
Planning High-Speed Safe Trajectories in Confidence-Rich Maps
Heiden, EricUniv. of Southern California
Hausman, KarolUniv. of Southern California
Sukhatme, GauravUniv. of Southern California
Agha-mohammadi, Ali-akbarQualcomm Res
TuAT14 , Room 217 Add to My Program 
Soft Material Robotics III  
Chair: Hirai, ShinichiRitsumeikan Univ
Co-Chair: Liu, HongbinKing's Coll. London
10:30-10:45, Paper TuAT14.1 Add to My Program
A Prestressed Soft Gripper: Design, Modeling, Fabrication, and Tests for Food Handling
Wang, ZhongkuiRitsumeikan Univ
Hirai, ShinichiRitsumeikan Univ
10:45-11:00, Paper TuAT14.2 Add to My Program
Visual Servoing Control of Soft Robots Based on Finite Element Model
Zhang, ZhongkaiINRIA, Univ. of Lille, France
Morales Bieze, Thor EnriqueUniv. of Lille
Dequidt, JeremieUniv. of Lille 1
Kruszewski, AlexandreEc. Centrale De Lille
Duriez, ChristianINRIA
11:00-11:15, Paper TuAT14.3 Add to My Program
Design and Prototyping of a Soft Magnetic Anchored and Guidance Endoscope System
Cheng, TrumanThe Chinese Univ. of Hong Kong
Ng, Sze HangThe Chinese Univ. of Hong Kong
Chiu, WAI, YAN PhilipChinese Univ. of Hong Kong
Li, ZhengThe Chinese Univ. of Hong Kong
11:15-11:30, Paper TuAT14.4 Add to My Program
Model-Free Control for Soft Manipulators Based on Reinforcement Learning
You, XuankeUniv. of Science and Tech. of China
Zhang, YixiaoUniv. of Science and Tech. of China
Chen, XiaotongUniv. of Science and Tech. of China
Liu, XinghuaUniv. of Science and Tech. of China
Wang, ZhanchiUniv. of Science and Tech. of China
Jiang, HaoUniv. of Science and Tech. of China
Chen, XiaopingUniv. of Science and Tech. of China
11:30-11:45, Paper TuAT14.5 Add to My Program
Model-Less Feedback Control for Soft Manipulators
Jin, YusongUniv. of Science and Tech. of China
Wang, YufeiUniv. of Science and Tech. of China
Chen, XiaotongUniv. of Science and Tech. of China
Wang, ZhanchiUniv. of Science and Tech. of China
Liu, XinghuaUniv. of Science and Tech. of China
Jiang, HaoUniv. of Science and Tech. of China
Chen, XiaopingUniv. of Science and Tech. of China
11:45-12:00, Paper TuAT14.6 Add to My Program
Intrinsic Force Sensing Capabilities in Compliant Robots Comprising Hydraulic Actuation
Lindenroth, LukasKing's Coll. London
Duriez, ChristianINRIA
Back, JungwhanKing's Coll. London
Rhode, KawalKing's Coll. London
Liu, HongbinKing's Coll. London
TuAT15 , Room 215 Add to My Program 
Visual Servoing  
Chair: Chaumette, FrancoisInria Rennes-Bretagne Atlantique
Co-Chair: Marchand, EricUniv. De Rennes 1, IRISA, INRIA Rennes
10:30-10:45, Paper TuAT15.1 Add to My Program
Characterisation and Image-Based Flight Control of an Autonomous Free Fall Skydiving Robot
Alatorre Troncoso, DavidUniv. of Nottingham
Branson, DavidUniv. of Nottingham
10:45-11:00, Paper TuAT15.2 Add to My Program
Visual Servoing from Lines Using a Planar Catadioptric System
Marchand, EricUniv. De Rennes 1, IRISA, INRIA Rennes
Fasquelle, BenjaminENS Rennes
11:00-11:15, Paper TuAT15.3 Add to My Program
Strain Estimation of Moving Tissue Based on Automatic Motion Compensation by Ultrasound Visual Servoing
Patlan Rosales, Pedro AlfonsoINRIA Rennes - Bretagne Atlantique, Univ. De Rennes I
Krupa, AlexandreINRIA Rennes - Bretagne Atlantique
11:15-11:30, Paper TuAT15.4 Add to My Program
Active Vision for Pose Estimation Applied to Singularity Avoidance in Visual Servoing
Agravante, Don JovenINRIA Rennes - Bretagne Atlantique
Chaumette, FrancoisInria Rennes-Bretagne Atlantique
11:30-11:45, Paper TuAT15.5 Add to My Program
Pose Induction for Visual Servoing to a Novel Object Instance
Kumar, GouravInternational Inst. of Information Tech. Hyderabad, In
Pandya, HaritIIIT Hyderabad
Gaud, AyushInternational Inst. of Information Tech. Hyderabad
Krishna, MadhavaIIIT Hyderabad
11:45-12:00, Paper TuAT15.6 Add to My Program
Combining Line Segments and Points for Appearance-Based Indoor Navigation by Image Based Visual Servoing
Bista, Suman RajInria Rennes Bretagne Atlantique
Robuffo Giordano, PaoloCentre National De La Recherche Scientifique (CNRS)
Chaumette, FrancoisInria Rennes-Bretagne Atlantique
TuAT16 , Room 220 Add to My Program 
Micro/Nano Robotics III  
Chair: Hwang, GilguengCNRS, Univ. Paris-Sud, Univ. of Paris-Saclay
Co-Chair: Rabenorosoa, KantyUniv. Bourgogne Franche-Comté, CNRS
10:30-10:45, Paper TuAT16.1 Add to My Program
3000 Hz Cell Manipulation in a Microfluidic Channel
Tsai, Chia-Hung DylanOsaka Univ
Teramura, KaoruOsaka Univ
Hosokawa, NaoyaOsaka Univ
Takayama, ToshioTokyo Inst. of Tech
Kaneko, MakotoOsaka Univ
10:45-11:00, Paper TuAT16.2 Add to My Program
Automated Cell Transportation for Batch-Cell Manipulation
Wang, XuefengNankai Univ
Liu, YaoweiNankai Univ
Li, ShibaoNankai Univ
Cui, MaoshengTianjin Animal Science
Sun, MingzhuNankai Univ
Zhao, XinNankai Univ
11:00-11:15, Paper TuAT16.3 Add to My Program
On-Chip Fabrication of Movable Toroidal Cell Structures Using Photo-Crosslinkable Biodegradable Hydrogel
Takeuchi, MasaruNagoya Univ
Nakamura, YukiMeijo Univ
Ichikawa, AkihikoMeijo Univ
Hasegawa, AkiyukiMeijo Univ
Hasegawa, YasuhisaNagoya Univ
Fukuda, ToshioMeijo Univ
11:15-11:30, Paper TuAT16.4 Add to My Program
Realtime Vision Based Dynamic Power Management of In-Plane Magnetic Mobile Microrobots for Avoidance of Excessive Surface Stiction
Dorazio, SilviaC2N-CNRS
Couraud, LaurentC2N
Ollivier, YannickLPN-CNRS
Hwang, GilguengCNRS, Univ. Paris-Sud, Univ. of Paris-Saclay
11:30-11:45, Paper TuAT16.5 Add to My Program
Depth Estimation of Optically Transparent Laser-Driven Microrobots
Grammatikopoulou, MariaImperial Coll. London
Zhang, LinImperial Coll. London
Yang, Guang-ZhongImperial Coll. London
11:45-12:00, Paper TuAT16.6 Add to My Program
Preliminary Results on OCT-Based Position Control of a Concentric Tube Robot
Baran, YannFEMTO-ST Inst. Bourgogne Franche Comté - CNRS/ENSMM
Rabenorosoa, KantyUniv. Bourgogne Franche-Comté, CNRS
Laurent, Guillaume J.Univ. Bourgogne Franche-Comté, ENSMM
Rougeot, PatrickUniv. of Franche-Comté, FEMTO-ST Inst
Andreff, NicolasUniv. De Franche Comté
Tamadazte, BrahimCnrs, Ufc/ensmm/utbm
TuAT17 , Room 221 Add to My Program 
Chair: De Luca, AlessandroSapienza Univ. of Rome
Co-Chair: Wensing, PatrickUniv. of Notre Dame
10:30-10:45, Paper TuAT17.1 Add to My Program
Classification Error Correction: A Case Study in Brain-Computer Interfacing
Poonawala, Hasan A.Univ. of Texas at Austin
Alshiekh, MohammedUniv. of Texas at Austin
Niekum, ScottUniv. of Texas at Austin
Topcu, UfukUniv. of Pennsylvania
10:45-11:00, Paper TuAT17.2 Add to My Program
Elastic Rod Dynamics: Validation of a Real-Time Implicit Approach
Till, JohnUniv. of Tennessee, Knoxville
Rucker, CalebUniv. of Tennessee
11:00-11:15, Paper TuAT17.3 Add to My Program
Periodic Trajectories of Mobile Robots
Nilles, AlexandraUniv. of Illinois - Champaign-Urbana
Becerra, IsraelCentro De Investigacion En Matematicas
LaValle, Steven MUniv. of Illinois
11:15-11:30, Paper TuAT17.4 Add to My Program
A Friction Model with Velocity, Temperature and Load Torque Effects for Collaborative Industrial Robot Joints
Gao, LimingShanghai Jiao Tong Univ
Yuan, JianjunShanghai Jiao Tong Univ. China
Han, ZhedongShanghai Jiao Tong Univ
Wang, ShuaiShanghai JiaoTong Univ
Wang, NingShanghai Jiao Tong Univ
11:30-11:45, Paper TuAT17.5 Add to My Program
Payload Estimation Based on Identified Coefficients of Robot Dynamics --With an Application to Collision Detection
Gaz, Claudio RobertoSapienza Univ. of Rome
De Luca, AlessandroSapienza Univ. of Rome
11:45-12:00, Paper TuAT17.6 Add to My Program
Linear Matrix Inequalities for Physically-Consistent Inertial Parameter Identification: A Statistical Perspective on the Mass Distribution
Wensing, PatrickUniv. of Notre Dame
Kim, SangbaeMassachusetts Inst. of Tech
Slotine, Jean-Jacques E.Massachusetts Inst. of Tech
TuAT18 , Room 223 Add to My Program 
Human Factors and Human Performance Augmentation  
Chair: Gosselin, ClementUniv. Laval
Co-Chair: Morales Saiki, Luis YoichiNagoya Univ
10:30-10:45, Paper TuAT18.1 Add to My Program
Visual Perception of Limb Stiffness
Huber, MeghanMassachusetts Inst. of Tech
Folinus, CharlotteMassachusetts Inst. of Tech
Hogan, NevilleMassachusetts Inst. of Tech
10:45-11:00, Paper TuAT18.2 Add to My Program
Analysis of Navigational Habituation
Morales Saiki, Luis YoichiNagoya Univ
Even, JaniATR
Abdur-Rahim, JamilahEuroMov Univ. Montpellier
Watanabe, AtsushiTohoku Univ
11:00-11:15, Paper TuAT18.3 Add to My Program
User-Robot Collaborative Excitation for PAM Model Identification in Exoskeleton Robots
Hamaya, MasashiATR Computational Neuroscience Labs / Osaka Univ
Matsubara, TakamitsuNAIST/ATR
Noda, TomoyukiATR Computational Neuroscience Lab
Teramae, TatsuyaATR Computational Neuroscience Lab
Morimoto, JunATR Computational Neuroscience Labs
11:15-11:30, Paper TuAT18.4 Add to My Program
Passive Knee Exoskeleton Using Torsion Spring for Cycling Assistance
Chaichaowarat, RonnapeeTohoku Univ
Paez Granados, Diego FelipeTohoku Univ
Kinugawa, JunTohoku Univ
Kosuge, KazuhiroTohoku Univ
11:30-11:45, Paper TuAT18.5 Add to My Program
An Anticipative Kinematic Limitation Avoidance Algorithm for Collaborative Robots: Three-Dimensional Case
Lebel, PhilippeUniv. Laval
Gosselin, ClementUniv. Laval
Campeau-Lecours, AlexandreUniv. Laval
11:45-12:00, Paper TuAT18.6 Add to My Program
Sequential Recognition of In-Hand Object Shape Using a Collection of Neural Forests
Vasquez, AlexSorbone Univ. UPMC Univ. Paris 06
Dapogny, ArnaudUPMC
Bailly, KevinSorbonne Univ. UPMC Univ. Paris 06, CNRS
Perdereau, VéroniqueUniv. Pierre Et Marie Curie - Paris 6
TuPP Plenary session, Ballroom Add to My Program 
A Quest for Visual Intelligence, Fei-Fei Li, Stanford University/Google  
Chair: Hutchinson, SethUniv. of Illinois
TuKA1 Keynote session, Room 211 Add to My Program 
Representations vs Algorithms: Symbols and Geometry in Robotics, Nicholas
Roy, MIT
Chair: Little, James J.UBC
TuKA2 Keynote session, Room 109 Add to My Program 
Cooperating without Communicating: Achieving Teaming by Observation, Lynne
Parker, University of Tennessee
Chair: Lynch, KevinNorthwestern Univ
TuKA3 Keynote session, Room 118 Add to My Program 
Robotics As the Path to Intelligence, Oliver Brock, Technical University of
Chair: Vaughan, RichardSimon Fraser Univ
TuKB1 Keynote session, Room 211 Add to My Program 
Studies on Interactive Robots - Principles of Conversation, Hiroshi
Ishiguro, Advanced Telecommunications Research Institute International
Chair: Croft, ElizabethUniv. of British Columbia
TuKB2 Keynote session, Room 109 Add to My Program 
Mechanics of Tactile Perception and Haptic Interface Design, Vincent
Hayward, Institut Des Systèmes Intelligents Et De Robotique (ISIR)
Chair: Song, Jae-BokKorea Univ
TuKB3 Keynote session, Room 118 Add to My Program 
Static and Dynamic Multi-Camera Clusters for Localization and Mapping,
Steven Waslander, University of Waterloo
Chair: Dudek, GregoryMcGill Univ
TuAmPo , Ballroom Foyer Add to My Program 
Tuesday Posters AM  
Chair: Lim, AngelicaSoftBank Robotics Europe
10:00-10:30, Paper TuAmPo.1 Add to My Program
How Much Energy Can Really Be Saved Using Series Elastic Actuators?
Bolivar, EdgarUniv. of Texas at Dallas
Rezazadeh, SiavashUniv. of Texas at Dallas
Gregg, Robert D.Univ. of Texas at Dallas
10:00-10:30, Paper TuAmPo.2 Add to My Program
Unsupervised Generative Network to Enable Real-Time Color Correction of Monocular Underwater Images
Li, JieUniv. of Michigan
Skinner, Katherine A.Univ. of Michigan
Eustice, RyanUniv. of Michigan
Johnson-Roberson, MatthewUniv. of Michigan
10:00-10:30, Paper TuAmPo.3 Add to My Program
Design and Development of a Holonomic and Power Efficient Multi-Rotor UAV
Hedayatpour, MojtabaUniv. of Regina
Mehrandezh, MehranUniv. of Regina
Janabi-Sharifi, FarrokhRyerson Univ
10:00-10:30, Paper TuAmPo.4 Add to My Program
Bayesian Optimization with Automatic Prior Selection for Damage Recovery in Multiple Contexts
Pautrat, RemiInria Nancy Grand-Est
Chatzilygeroudis, KonstantinosInria Nancy Grand-Est
Mouret, Jean-BaptisteInria
10:00-10:30, Paper TuAmPo.5 Add to My Program
Quadruped Robots Benefit from Compliant Leg Designs
Willems, BrechtGhent Univ
Degrave, JonasGhent Univ
Dambre, JoniGhent Univ
Wyffels, FrancisGhent Univ
10:00-10:30, Paper TuAmPo.6 Add to My Program
The Elastomeric Passive Transmission: A Low-Cost, 3D-Printed Transmission for Tendon-Driven Robotics and Prosthetics
O'Brien, KevinCornell Univ
Levine, DavidUniv. of Pennsylvania
Shepherd, RobertCornell Univ
10:00-10:30, Paper TuAmPo.7 Add to My Program
Robot Behavior Follows Maslow’s Theory of Motivation
Hopper, DouglasColorado State Univ.
10:00-10:30, Paper TuAmPo.8 Add to My Program
Experiments on Robot Navigation among Humans As Dynamic Obstacles in Indoor Environments
Hekmati, AlirezaSimon Fraser Univ
Gupta, KamalSimon Fraser Univ
10:00-10:30, Paper TuAmPo.9 Add to My Program
Online Visual Water Differentiation Using Unmanned Aerial Vehicles
Medeiros, ThomasUniv. of the Pacific
Watts-Willis, TristanUniv. of the Pacific
Basha, ElizabethUniv. of the Pacific
10:00-10:30, Paper TuAmPo.10 Add to My Program
Preliminary Evaluation of Radio-Based Wireless Communication Performance for Multi-Robot Applications
Liu, YangCase Western Res. Univ
Lee, KijuCase Western Res. Univ
10:00-10:30, Paper TuAmPo.11 Add to My Program
Crowdsourcing Swarms As Assembly Controllers
Lin, LillianUniv. of Houston
Shahrokhi, ShivaUniv. of Houston
Becker, AaronUniv. of Houston
10:00-10:30, Paper TuAmPo.12 Add to My Program
A Binaural Beamforming Approach to Resolve Complex Auditory Scenes for Humanoid Robots
Ilievski, MarkoUniv. of Lethbridge
Rea, FrancescoIstituto Italiano Di Tecnologia
Sandini, GiulioItalian Inst. of Tech
Tata, MatthewUniv. of Lethbridge
10:00-10:30, Paper TuAmPo.13 Add to My Program
Exploration and Mapping with a Particle Swarm Controlled by Uniform Inputs on a Magnetic Setup
Bao, DanielUniv. of Houston
Mahadev, ArunUniv. of Houston
Becker, AaronUniv. of Houston
10:00-10:30, Paper TuAmPo.14 Add to My Program
Cooperative Manipulation in Marine Environments in the Presence of Faults
Oh, HyunjooUniv. of Pennsylvania
Kularatne, DhanushkaDrexel Univ
Hsieh, M. AniUniv. of Pennsylvania
10:00-10:30, Paper TuAmPo.15 Add to My Program
Point-Cloud-Based Aerial Fragmentation Analysis for Application in the Minerals and Aggregates Industries
Bamford, ThomasUniv. of Toronto
Esmaeili, KamranUniv. of Toronto
Schoellig, Angela P.Univ. of Toronto
10:00-10:30, Paper TuAmPo.16 Add to My Program
Deploying Sensor Modules with Remotely Operated Underwater Robots for Marine Data Collection
Lonsford, JarrettUniv. of Houston
Becker, AaronUniv. of Houston
10:00-10:30, Paper TuAmPo.17 Add to My Program
Marine Data-Ferrying Using Swarms of Autonomous Underwater Robots to Network Sensor Modules with a Surface Ship
Dodge, AustinUniv. of Houston
Becker, AaronUniv. of Houston
10:00-10:30, Paper TuAmPo.18 Add to My Program
Optimization of an MRI Controllable Gauss Gun
Garcia Gonzalez, JavierUniv. of Houston
Becker, AaronUniv. of Houston
10:00-10:30, Paper TuAmPo.19 Add to My Program
Whole Body Control Architecture for Posture, Balance, and Gait Control of Quadruped Robots
Cho, JungsooSogang Univ
Choi, JungsuSogang Univ
Seo, YeongsikSogang Univ
Kong, KyoungchulSogang Univ
10:00-10:30, Paper TuAmPo.20 Add to My Program
Robust LiDAR-Based Localization on the Basis of Accurate Modeling of Optical Characteristics
Kim, JiwoongKorea Univ
Chung, WoojinKorea Univ
10:00-10:30, Paper TuAmPo.21 Add to My Program
Towards an Autonomous Fetch, Delivery, and Handover System with a Mobile Manipulator
Hegedus, Michael JamesSimon Fraser Univ
Gupta, KamalSimon Fraser Univ
Mehrandezh, MehranUniv. of Regina
10:00-10:30, Paper TuAmPo.22 Add to My Program
Automatic Vessel Detection Technology for Laparoscopic Surgery Images Including Surgical Instruments
Jo, KyungminAsan Medical Center
Choi, BareumAsan Medical Center
Choi, JaesoonAsan Medical Center
10:00-10:30, Paper TuAmPo.23 Add to My Program
Real-Time Vision-Based Autonomous 3D Navigation for MAVs in GPS-Denied Environments
Bi, YingcaiNational Univ. of Singapore
Lan, MengluNational Univ. of Singapore
Li, JiaxinNational Univ. of Singapore
Chen, Ben M.National Univ. of Singapore
10:00-10:30, Paper TuAmPo.24 Add to My Program
Self-Growing Personalized Knowledge Graph for Human-AI Interactions
Yang, HuaIntel Labs
Wang, ZhigangIntel Labs
Zhang, YiminIntel Corp
10:00-10:30, Paper TuAmPo.25 Add to My Program
RONNY Boards the Elevator: Toward Multi-Floor Navigation
Stephens, Trevor KeithUniv. of Minnesota
ONeill, JohnUniv. of Minnesota
10:00-10:30, Paper TuAmPo.26 Add to My Program
Reconstruction Via Detection: Efficient and Automatic Reconstruction from Unorganized 3D Scans
Birdal, TolgaTech. Univ. of Munich
Ilic, SlobodanTech. Univ. Munchen
10:00-10:30, Paper TuAmPo.27 Add to My Program
Efficient Line Segment Merging Algorithm for Detecting Quadrangles
Im, Hyun-SooChungbuk National Univ
Kim, Gon-WooChungbuk National Univ
10:00-10:30, Paper TuAmPo.28 Add to My Program
Design of a Tendon-Based Haptic Mechanism for Underwater Manipulators
Lee, GihyeonSeoul National Univ. of Science and Tech. (SEOULTECH)
Kim, JinhyunSeoul National Univ. of Science and Tech
10:00-10:30, Paper TuAmPo.29 Add to My Program
Passively Adaptive Wheel-Based Mobile Platform for High-Speed Stair Climbing
Kim, YoungsooSeoul National Univ
Kim, KijungSeoul National Univ
Kim, Hwa SooKyonggi Univ
Kim, JongwonSeoul National Univ
10:00-10:30, Paper TuAmPo.30 Add to My Program
Hybrid Rocker-Bogie Based Mobile Robot Equipped with a Slide Joint for Efficient Stair Climbing
Kim, KijungSeoul National Univ
Kim, YoungsooSeoul National Univ
Hong, HeeseungSeoul National Univ
Kim, Hwa SooKyonggi Univ
Kim, JongwonSeoul National Univ
10:00-10:30, Paper TuAmPo.31 Add to My Program
De-Palletizing Method of Maximizing Number of Packages That Robot Handles Simultaneously for Complex Stacked Packages on RBPs
Eto, HarunaToshiba Corp
Nakamoto, HideichiToshiba Corp
Sonoura, TakafumiToshiba Corp
Tanaka, JunyaToshiba Corp
Ogawa, AkihitoTOSHIBA Corp
10:00-10:30, Paper TuAmPo.32 Add to My Program
A Basic Automation Approach for Hybrid Aerial/Terrestrial Robot
Premachandra, ChinthakaShibaura Inst. of Tech
Otsuka, MasahiroTokyo Univ. of Science
10:00-10:30, Paper TuAmPo.33 Add to My Program
Affordance Learning and Reasoning Based on Vision-Speech Association in Developmental Robotics
Yi, Chang'anFoshan Univ
Min, HuaqingSouth China Univ. of Tech
Zhu, JinhuiSouth China Univ. of Tech
Yin, PengshuaiSouth China Univ. of Tech
10:00-10:30, Paper TuAmPo.34 Add to My Program
Autonomous Robotic Capturing of Space Non-Cooperative Targets
Jia, GuangluHarbin Inst. of Tech. (Shenzhen)
Huang, HailinHarbin Inst. of Tech
Li, GuotaoHarbin Inst. of Tech. Shenzhen Graduate School
Li, BingShenzhen Graduate School, Harbin Inst. of Tech
10:00-10:30, Paper TuAmPo.35 Add to My Program
Novel 6-Bar Linkage Finger Clamping Device for Large Clamping Variance
Jeon, Young JaeSeoul National Univ. Mechanical Engineering
Chu, KyungsungSeoul National Univ
Kim, KijungSeoul National Univ
Kim, JehyeokSeoul National Univ
Kim, JongwonSeoul National Univ
10:00-10:30, Paper TuAmPo.36 Add to My Program
Verification of UAV with Spokeless Two-Wheeled Cage for Bridge Inspections
Yamada, MoyuruFujitsu Lab. LTD
Nakao, ManabuFujitsu Lab
Hada, YoshiroFUJITSU Lab. LTD
Sawasaki, NaoyukiFujitsu Lab
10:00-10:30, Paper TuAmPo.37 Add to My Program
Experimental Validation of Connected Cruise Control Using Ground Robots
Qin, Wubing B.Univ. of Michigan
Wang, ZizhaoUniv. of Michigan-Ann Arbor
Orosz, GaborUniv. of Michigan
10:00-10:30, Paper TuAmPo.38 Add to My Program
Parallel Mechanism Based Specimen Stage Design and Kinematic Analysis
Lee, Sang-ChulKorea Basic Science Inst
Jeong, JongmanKorea Basic Science Inst
Kim, Jin-GyuKorea Basic Science Inst
10:00-10:30, Paper TuAmPo.39 Add to My Program
A Low-Cost Vision-Based Real-Time Heart Rate Detection Method on Companion Robot Platform
Wu, HanPeking Univ
Wang, TaoPeking Univ
Dai, TuoPeking Univ
10:00-10:30, Paper TuAmPo.40 Add to My Program
Development of a Spherical, Jumping and Rolling Robot for Children with Developmental Disorder
Mizumura, YujiroWaseda Univ
Ishibashi, KeitaroWaseda Univ
Yamada, SoichiWaseda Univ
Takanishi, AtsuoWaseda Univ
Ishii, HiroyukiWaseda Univ
10:00-10:30, Paper TuAmPo.41 Add to My Program
Parallel Imprecise Computation to Time-Dependent Planning
Chishiro, HiroyukiAdvanced Inst. of Industrial Tech
10:00-10:30, Paper TuAmPo.42 Add to My Program
Towards Efficient Biased Searching for RRT-Based Algorithms Using Reinforcement Learning
Deng, HaoShenzhen Inst. of Advanced Tech. CAS
Xiong, JingChinese Acad. of Sciences
Xia, ZeyangChinese Acad. of Sciences
10:00-10:30, Paper TuAmPo.43 Add to My Program
Accuracy and Reliability of Stochastic Estimation of Upper Limb 3-D Mechanical Impedance
Jo, HyunkyeongUNIST
Kang, Sang HoonUlsan National Inst. of Science and Tech. / Nort
10:00-10:30, Paper TuAmPo.44 Add to My Program
A Lower-Body Powered Exoskeleton for Paretic Population in Low-Income Countries
Aftab, ZohaibUniv. of Central Punjab, Lahore Pakistan
Waheed, MajeedUcp
Ali, FahadUcp
Mushtaq, Fawaducp
10:00-10:30, Paper TuAmPo.45 Add to My Program
Predictive Coding for Dynamic Visual Processing: Development of Functional Hierarchy in a Multiple Spatio-Temporal Scales RNN Model
Choi, MinkyuKAIST
Hwang, JungsikKorea Advanced Inst. of Science and Tech
Tani, JunOkinawa Inst. of Science and Tech
Ahmadi, AhmadrezaKAIST
10:00-10:30, Paper TuAmPo.46 Add to My Program
Virtual Ground Robot Driven by Reaction Force Sensing Series Elastic Actuator
Lee, HyunwookDGIST
Kwak, Su-HuiDGIST
Oh, SehoonDGIST (Daegu Gyeongbuk Inst. of Science and Tech
10:00-10:30, Paper TuAmPo.47 Add to My Program
An Interactive Robotic System for Promoting Social Engagement
Bevill, RachaelThe George Washington Univ
Javed, HifzaGeorge Washington Univ
Jeon, MyounghoonMichigan Tech. Univ
Howard, AyannaGeorgia Inst. of Tech
Park, Chung HyukGeorge Washington Univ
TuPmPo , Ballroom Foyer Add to My Program 
Tuesday Posters PM  
Chair: Lim, AngelicaSoftBank Robotics Europe
16:00-16:30, Paper TuPmPo.1 Add to My Program
A Flexible Tele-Manipulation System
Dehghan, MasoodNational Univ. of Singapore
Perez Quintero, Camilo AlfonsoUniv. of Alberta
Jagersand, MartinUniv. of Alberta
16:00-16:30, Paper TuPmPo.2 Add to My Program
Mobile Personal Space: A Personal Space Robot to Assist People with Social Anxiety
Terada, KazunoriGifu Univ
Hara, TomohitoGifu Univ
16:00-16:30, Paper TuPmPo.3 Add to My Program
Design of a Parallel Structure Gripper with an Angular Error Measurement System for Square Peg-In-Hole Task
Kim, JehyeokSeoul National Univ
Kim, KeonwooSeoul National Univ
Kim, JongwonSeoul National Univ
16:00-16:30, Paper TuPmPo.4 Add to My Program
Manipulation of Delicate Objects: A Soft Touch Helps!
Strazzulla, IlariaScuola Superiore Sant'Anna
Morachioli, AnnagiuliaIstituto Di Biorobotica
Bonsignorio, Fabio PaoloHeron Robots Srl and the Biorobotics Insitute Scuola Superiore S
Dario, PaoloScuola Superiore Sant'Anna
16:00-16:30, Paper TuPmPo.5 Add to My Program
Data Collection Planning with Limited Budget for Dubins Airplane
Váňa, PetrCzech Tech. Univ. in Prague
Faigl, JanCzech Tech. Univ. in Prague
Sláma, JakubCzech Tech. Univ. in Prague
Pěnička, RobertCzech Tech. Univ. in Prague
16:00-16:30, Paper TuPmPo.6 Add to My Program
Caging Grasp Synthesis and Verification for Partially Deformable 3D Objects with Narrow Parts
Varava, AnastasiiaKTH, the Royal Inst. of Tech
Kragic, DanicaKTH
Pokorny, Florian T.KTH Royal Inst. of Tech
16:00-16:30, Paper TuPmPo.7 Add to My Program
Exploring a “route Map” Model of Navigation Inspired by the Mammalian Brain
Mitchinson, BenUniv. of Sheffield
Pearson, MartinBristol Robotics Lab
Prescott, Tony JUniv. of Sheffield
16:00-16:30, Paper TuPmPo.8 Add to My Program
Online Construction of Communication Maps for Robust Multirobot Deployments
Quattrini Li, AlbertoUniv. of South Carolina
Penumarthi, Phani KrishnaUniv. of South Carolina
Banfi, JacopoPol. Di Milano
Basilico, NicolaUniv. of Milan
Amigoni, FrancescoPol. Di Milano
Rekleitis, IoannisUniv. of South Carolina
O'Kane, JasonUniv. of South Carolina
Nelakuditi, SrihariUniv. of South Carolina
16:00-16:30, Paper TuPmPo.9 Add to My Program
Distributed Relative Localization Using Ultra-Wideband Ranging
Taylor, ChrisGeorge Mason Univ
Sofge, DonaldNaval Res. Lab
Lofaro, DanielGeorge Mason Univ
16:00-16:30, Paper TuPmPo.10 Add to My Program
Haptic Object Recognition: A Recurrent Approach
Liu, ChangTsinghua Univ
Sun, FuchunTsinghua Univ
Yuille, AlanJohns Hopkins Univ
16:00-16:30, Paper TuPmPo.11 Add to My Program
An Analysis of a Delay-Conscious Communication Model for Mobile Robot Navigation
Tanaka, MamikoTokyo Woman's Christian Univ
Kato, YukaTokyo Woman's Christian Univ
16:00-16:30, Paper TuPmPo.12 Add to My Program
SafeArm: A Framework to Make Robots Safe to Humans
Du, YuyangIntel Labs
Yan, ShoumengIntel
Wang, DaweiIntel Labs
16:00-16:30, Paper TuPmPo.13 Add to My Program
Noise Robust 2D Sound Source Localization Using Multiple Microphone Arrays in Bird Song Scene Analysis
Gabriel, DanielTokyo Inst. of Tech
Kojima, RyosukeTokyo Inst. of Tech
Hoshiba, KotaroTokyo Inst. of Tech
Nakadai, KazuhiroHonda Res. Inst. Japan Co., Ltd
16:00-16:30, Paper TuPmPo.14 Add to My Program
RNN-Based Visual Obstacle Avoidance with a CPG Controlled Hexapod Walking Robot
Cizek, PetrCzech Tech. Univ. in Prague, Faculty of Electrical Engi
Faigl, JanCzech Tech. Univ. in Prague
16:00-16:30, Paper TuPmPo.15 Add to My Program
Bioinspired Vision-Only Attitude Rate Estimation for Micro Aerial Robots Using Machine Learning
Mérida Floriano, MacarenaUniv. Pablo De Olavide
Caballero, FernandoUniv. of Seville
García Morales, DianaCSIC
Casares, FernandoCSIC
Merino, LuisPablo De Olavide Univ
16:00-16:30, Paper TuPmPo.16 Add to My Program
Development of Soft Perching System Using Tilting Mechanism for Wall-Climbing Drone
Myeong, WancheolKAIST
Song, SeungwonKAIST
Jung, KwangyikKorea Advanced Inst. of Science and Tech
Myung, HyunKAIST (Korea Adv. Inst. Sci. & Tech
16:00-16:30, Paper TuPmPo.17 Add to My Program
Regulating Priority in Mixed Initiative Human-Robot Collaboration
Owan, ParkerUniv. of Washington
Garbini, JosephU. of Washington
Devasia, SantoshUniv. of Washington
16:00-16:30, Paper TuPmPo.18 Add to My Program
Stochastic Search Methods for Mobile Manipulator Calibration
Amoako-Frimpong, SamuelMarquette Univ
Medeiros, HenryMarquette Univ
Marvel, JeremyNational Inst. of Standards and Tech
Bostelman, RogerNational Inst. of Standards and Tech
16:00-16:30, Paper TuPmPo.19 Add to My Program
Collection of Advective, Diffusive Harmful Algae or Microplastics Using a Robot Swarm with and without Agent-Specific Partitions
Schroeder, AdamUniv. of Toledo
Trease, BrianUniv. of Toledo
Arsie, AlessandroPennsylvania State Univ
16:00-16:30, Paper TuPmPo.20 Add to My Program
Anomaly Detection for Vision-Based Target Tracking Using Unmanned Aerial Vehicles
Reznichenko, YevgeniyMarquette Univ
Medeiros, HenryMarquette Univ
16:00-16:30, Paper TuPmPo.21 Add to My Program
Closing the Gap in the Theory of PRM-Based Planners
Solovey, KirilTel Aviv Univ
Kleinbort, MichalTel Aviv Univ
16:00-16:30, Paper TuPmPo.22 Add to My Program
Open Dataset for On-Road Vehicle Tracking in Beijing Highway
Fang, YongkunPeking Univ
Wang, ChaoPeking Univ
Zhao, HuijingPeking Univ
Zha, HongbinPeking Univ
16:00-16:30, Paper TuPmPo.23 Add to My Program
Mapping ADL Motion Capture Data to BLUE SABINO Exoskeleton Kinematics and Dynamics
Bitikofer, Christopher BitikoferUniv. of Idaho
Perry, Joel C.Univ. of Idaho
Wolbrecht, EricUniv. of Idaho
16:00-16:30, Paper TuPmPo.24 Add to My Program
Object Tracking with Sparse and Noisy Data Using Singular Spectrum Analysis
Raschpichler, ColeBritish Columbia Inst. of Tech
Calderbank, TerryBritish Columbia Inst. of Tech
Baryshnikov, VasiliyBritish Columbia Inst. of Tech
Jenks, AndrewBritish Columbia Inst. of Tech
Nakamura, TakashiBritish Columbia Inst. of Tech
16:00-16:30, Paper TuPmPo.25 Add to My Program
Robustness Margins and Robust Guided Policy Search for Deep Reinforcement Learning
Summers, TylerUniv. of Texas at Dallas
Ogunmolu, OlalekanUniv. of Texas at Dallas
Gans, Nicholas (Nick)Univ. Texas at Dallas
16:00-16:30, Paper TuPmPo.26 Add to My Program
Inferring Intent in Human-In-The-Loop Output-Tracking Tasks
Warrier, Rahul BalakrishnaUniv. of Washington, Seattle
Devasia, SantoshUniv. of Washington
16:00-16:30, Paper TuPmPo.27 Add to My Program
One-Actuator Wheeled Robot Moving Like a Snakeboard and Its Propelling Experiments
Ito, SatoshiGifu Univ
Nohara, ShumpeiGifu Univ
Masuda, YuyaGifu Univ
Yabuki, JunGifu Univ
Morita, RyosukeGifu Univ
16:00-16:30, Paper TuPmPo.28 Add to My Program
Data Driven Teleoperated Sanding for Health Risk Mitigation
Piaskowy, W. TonyUniv. of Washington
Garbini, JosephU. of Washington
Devasia, SantoshUniv. of Washington
Devine, CameronUniv. of Washington
McCann, LanceUniv. of Washington, Boeing
Aubin, JackThe Boeing Company
16:00-16:30, Paper TuPmPo.29 Add to My Program
Autonomous Surveillance Route Solutions from Minimal Human-Robot Interaction
Reardon, Christopher M.U.S. Army Res. Lab
Han, FeiColorado School of Mines
Zhang, HaoColorado School of Mines
Fink, JonathanARL
16:00-16:30, Paper TuPmPo.30 Add to My Program
Human Upper-Body Pose Estimation Using Fully Convolutional Network and Joint Heatmap
Koo, JungmoKAIST(Korea Advanced Inst. of Science and Tech
Lee, Seung HeeKAIST
Kim, HyungjinKAIST(Korea Advanced Insititute of Science and Tech
Jung, KwangyikKorea Advanced Inst. of Science and Tech
Oh, TaekjunKAIST
Myung, HyunKAIST (Korea Adv. Inst. Sci. & Tech
16:00-16:30, Paper TuPmPo.31 Add to My Program
Fog Robotics: An Introduction
Gudi, Siva Leela Krishna ChandUniv. of Tech. Sydney
Ojha, SumanUniv. of Tech. Sydney
Clark, JesseUniv. of Tech. Sydney
Johnston, BenjaminUniv. of Tech. Sydney
Williams, Mary-AnneUniv. of Tech. Sydney
16:00-16:30, Paper TuPmPo.32 Add to My Program
Cross Domain Transfer Learning Using Target Apprentice
Joshi, GirishUniv. of Illinois Urbana Champaign
Chowdhary, GirishUniv. of Illinois at Urbana Champaign
16:00-16:30, Paper TuPmPo.33 Add to My Program
Autonomous Vehicles Moving As a Human Group
Zanlungo, FrancescoAdvanced Telecommunications Res. Inst
Yucel, ZeynepATR
Ferreri, FlorentATR
Even, JaniATR
Morales Saiki, Luis YoichiNagoya Univ
Kanda, TakayukiATR
16:00-16:30, Paper TuPmPo.34 Add to My Program
Shape Sensing for Flexible Medical Instruments Using Fiber Bragg Grating Sensors in Multicore Optical Fibers
Khan, FouziaUniv. of Twente
Denasi, AlperUniv. of Twente
Misra, SarthakUniv. of Twente
16:00-16:30, Paper TuPmPo.35 Add to My Program
Dynamic Dumbbell - Novel Training Machine
Lee, ChanDGIST (Daegu Gyeongbuk Inst. of Science and Tech
Oh, SehoonDGIST (Daegu Gyeongbuk Inst. of Science and Tech
16:00-16:30, Paper TuPmPo.36 Add to My Program
Estimation of Actuation and Power Requirements for Wearable Powered Exoskeletons Using Robotics Tools
Aftab, ZohaibUniv. of Central Punjab, Lahore Pakistan
Ali, AsadUCP
16:00-16:30, Paper TuPmPo.37 Add to My Program
Locomotion Algorithm for Variable Topology Truss
Park, SuminSeoul National Univ
Kim, JehyeokSeoul National Univ
Seo, TaeWonYeungnam Univ
Yim, MarkUniv. of Pennsylvania
Kim, JongwonSeoul National Univ
16:00-16:30, Paper TuPmPo.38 Add to My Program
Distributed and Parallel Processing in Robot-Cloud System Using ROS-Compliant FPGA Component
Ohkawa, TakeshiUtsunomiya Univ
Sugata, YuheiUtsunomiya Univ
Ootsu, KanemitsuUtsunomiya Univ
Yokota, TakashiUtsunomiya Univ
16:00-16:30, Paper TuPmPo.39 Add to My Program
Development of Dual Mode Aerial Manipulator
Jeong, JongminYonsei Univ
Kim, JaeseungYonsei Univ
Lee, DonghyunYonsei Univ
Park, Jin BaeYonsei Univ
Sinha, SudiptaMicrosoft Res
Ikeuchi, KatsushiMicrosoft
16:00-16:30, Paper TuPmPo.40 Add to My Program
Direct-Drive Linear Actuators for a Lower Extremity Exoskeleton
Ruddy, Bryan P.Univ. of Auckland
Laven, Robin C.Univ. of Auckland
Greenslade, MacUniv. of Auckland
Taberner, Andrew J.Univ. of Auckland
16:00-16:30, Paper TuPmPo.41 Add to My Program
Real-Time Analysis of Tissue Trauma Using Mechanical Measures
Jones, DominicUniv. of Leeds
Alazmani, AliUniv. of Leeds
Culmer, Peter RobertUniv. of Leeds
16:00-16:30, Paper TuPmPo.42 Add to My Program
New Deep Learning Based Hybrid Method for Elderly Fall Detection
Kumar, SachinUniv. of Delhi
16:00-16:30, Paper TuPmPo.43 Add to My Program
Hybrid Adaptive Control of Industrial Robots for Surface Exploration of Arbitrary Objects
Nakhaeinia, DanialUniv. of Ottawa
Payeur, PierreUniv. of Ottawa
Laganiere, RobertUniv. of Ottawa
16:00-16:30, Paper TuPmPo.44 Add to My Program
Functional Attribute Estimation Using Local Evidences and Semi-Global Surface Structure
Akizuki, ShuichiChukyo Univ
Iizuka, MasakiChukyo Univ
Kozai, KentaroChukyo Univ
Hashimoto, ManabuGraduate School of Computer and Cognitive Sciences, ChukyoUniver
TuBT1 , Room 109 Add to My Program 
Learning from Demonstration I  
Chair: Burgard, WolframUniv. of Freiburg
Co-Chair: Asfour, TamimKarlsruhe Inst. of Tech. (KIT)
14:30-14:45, Paper TuBT1.1 Add to My Program
Metric Learning for Generalizing Spatial Relations to New Objects
Mees, OierAlbert-Ludwigs-Univ
Abdo, NicholaUniv. of Freiburg
Mazuran, MladenUniv. of Freiburg
Burgard, WolframUniv. of Freiburg
14:45-15:00, Paper TuBT1.2 Add to My Program
Learning Manipulability Ellipsoids for Task Compatibility in Robot Manipulation
Rozo, LeonelIstituto Italiano Di Tecnologia
Jaquier, NoémieIdiap Res. Inst
Calinon, SylvainIdiap Res. Inst
Caldwell, Darwin G.Istituto Italiano Di Tecnologia
15:00-15:15, Paper TuBT1.3 Add to My Program
Demonstration-Free Contextualized Probabilistic Movement Primitives, Further Enhanced with Obstacle Avoidance
Colomé, AdriàInst. De Robòtica I Informàtica Industrial (CSIC-UPC), Q28180
Torras, CarmeCsic - Upc
15:15-15:30, Paper TuBT1.4 Add to My Program
Learning Mobile Manipulation Actions from Human Demonstrations
Welschehold, TimAlbert-Ludwigs-Univ. Freiburg
Dornhege, ChristianUniv. of Freiburg
Burgard, WolframUniv. of Freiburg
15:30-15:45, Paper TuBT1.5 Add to My Program
Task-Oriented Generalization of Dynamic Movement Primitive
Zhou, YouKarlsruhe Inst. of Tech. (KIT)
Asfour, TamimKarlsruhe Inst. of Tech. (KIT)
15:45-16:00, Paper TuBT1.6 Add to My Program
Detecting Insertion Tasks Using Convolutional Neural Networks During Robot Teaching-By-Demonstration
Roberge, EtienneÉcole De Tech. Supérieure
Duchaine, VincentEc. De Tech. Superieure
TuBT2 , Room 111 Add to My Program 
Biologically-Inspired Robots III  
Chair: Niemeyer, GünterDisney Res
Co-Chair: Bae, JoonbumUNIST
14:30-14:45, Paper TuBT2.1 Add to My Program
Skimming and Steering of a Non-Tethered Miniature Robot on the Water Surface Using Marangoni Propulsion
Kwak, BokeonUlsan National Inst. of Science and Tech. (UNIST)
Bae, JoonbumUNIST
14:45-15:00, Paper TuBT2.2 Add to My Program
Falling with Style: Sticking the Landing by Controlling Spin During Ballistic Flight
Pope, MorganDisney Res
Niemeyer, GünterDisney Res
15:00-15:15, Paper TuBT2.3 Add to My Program
Planar Hopping Control Strategy for Tail-Actuated SLIP Model Traversing Varied Terrains
Yu, HaitaoHarbin Inst. of Tech
Li, CaoBeijing Inst. of Astronautical Systems Engineering
Yuan, BaofengBeijing Inst. of Spacecraft System Engineering
Gao, HaiboHarbin Inst. of Tech
Deng, ZongquanHarbin Inst. of Tech
15:15-15:30, Paper TuBT2.4 Add to My Program
Development of a Flapping Wing Micro Air Vehicle Capable of Autonomous Hovering with Onboard Measurements
Ryu, SeungwanSeoul National Univ
Kim, H. JinSeoul National Univ
15:30-15:45, Paper TuBT2.5 Add to My Program
Trajectory Tracking Using Motion Primitives for the Purcell’s Swimmer
Kadam, SudinIndian Inst. of Tech. Bombay
Joshi, KedarIIT Bombay
Gupta, NamanIndian Inst. of Tech. Bombay
Katdare, PulkitIIT Bombay
Banavar, Ravi NI. I. T. Bombay
15:45-16:00, Paper TuBT2.6 Add to My Program
Efficient Topological Distances and Comparable Metric Ranges
Haque, MusadJohns Hopkins Univ. Applied Physics Lab
Abbas, WaseemVanderbilt Univ
Rafter, AbigailVanderbilt Univ
Adams, JulieOregon State Univ
TuBT3 , Room 116 Add to My Program 
Perception for Grasping and Manipulation II  
Chair: Brock, OliverTech. Univ. Berlin
Co-Chair: Jenkins, Odest ChadwickeUniv. of Michigan
14:30-14:45, Paper TuBT3.1 Add to My Program
Active End-Effector Pose Selection for Tactile Object Recognition through Monte Carlo Tree Search
Zhang, Mabel M.Univ. of Pennsylvania
Atanasov, NikolayUniv. of Pennsylvania
Daniilidis, KostasUniv. of Pennsylvania
14:45-15:00, Paper TuBT3.2 Add to My Program
Task-Oriented Grasping with Semantic and Geometric Scene Understanding
Detry, RenaudJet Propulsion Lab
Papon, JeremieJet Propulsion Lab
Matthies, LarryJet Propulsion Lab
15:00-15:15, Paper TuBT3.3 Add to My Program
Model-Free Approach to Garments Unfolding Based on Detection of Folded Layers
Stria, JanCzech Tech. Univ. in Prague
Petrik, VladimirCzech Tech. Univ. in Prague
Hlavac, VaclavCzech Tech. Univ. in Prague
15:15-15:30, Paper TuBT3.4 Add to My Program
SUM: Sequential Scene Understanding and Manipulation
Sui, ZhiqiangUniv. of Michigan
Zhou, ZhemingUniv. of Michigan
Zeng, ZhenUniv. of Michigan
Jenkins, Odest ChadwickeUniv. of Michigan
15:30-15:45, Paper TuBT3.5 Add to My Program
Cross-Modal Interpretation of Multi-Modal Sensor Streams in Interactive Perception Based on Coupled Recursion
Martín-Martín, RobertoTech. Univ. Berlin
Brock, OliverTech. Univ. Berlin
15:45-16:00, Paper TuBT3.6 Add to My Program
Flexible User Specification of Perceptual Landmarks for Robot Manipulation
Huang, JustinUniv. of Washington
Cakmak, MayaUniv. of Washington
TuBT4 , Room 114 Add to My Program 
Localization II  
Chair: Alejo, DavidUniv. Pablo De Olavide
Co-Chair: Ito, SeigoToyota Central R&d Labs., Inc
14:30-14:45, Paper TuBT4.1 Add to My Program
Look No Further: Adapting the Localization Sensory Window to the Temporal Characteristics of the Environment
Bruce, JakeQueensland Univ. of Tech
Jacobson, AdamQueensland Univ. of Tech
Milford, Michael JQueensland Univ. of Tech
14:45-15:00, Paper TuBT4.2 Add to My Program
SPAD DCNN: Localization with Small Imaging LIDAR and DCNN
Ito, SeigoToyota Central R&d Labs., Inc
Hiratsuka, ShigeyoshiToyota Central R&d Labs., Inc
Ohta, MitsuhikoToyota Central R&d Labs., Inc
Matsubara, HiroyukiToyota Central R&d Labs., Inc
Ogawa, MasaruToyota Central R&d Labs., Inc
15:00-15:15, Paper TuBT4.3 Add to My Program
Robust LiDAR-Based Localization in Architectural Floor Plans
Boniardi, FedericoUniv. of Freiburg
Caselitz, TimUniv. of Freiburg
Kuemmerle, RainerKUKA Roboter GmbH
Burgard, WolframUniv. of Freiburg
15:15-15:30, Paper TuBT4.4 Add to My Program
The Datum Particle Filter: Localization for Objects with Coupled Geometric Datums
Chen, ShiyuanCarnegie Mellon Univ
Saund, BradCarnegie Mellon
Simmons, ReidCarnegie Mellon Univ
15:30-15:45, Paper TuBT4.5 Add to My Program
Probabilistic Normal Distributions Transform Representation for Accurate 3D Point Cloud Registration
Hong, HyunkiSeoul National Univ
Lee, Beom-HeeSeoul National Univ
15:45-16:00, Paper TuBT4.6 Add to My Program
Topological Localization Using Wi-Fi and Vision Merged into FABMAP Framework
Nowakowski, MathieuMINES ParisTech - PSL Res. Univ
Joly, CyrilMines ParisTech, PSL Res. Univ
Dalibard, SebastienSoftBank Robotics Europe
Garcia, NicolasSoftbank Robotics Europe
Moutarde, FabienMINES ParisTech - PSL Res. Univ
TuBT5 , Room 118 Add to My Program 
Legged Robots I  
Chair: Fearing, RonaldUniv. of California at Berkeley
Co-Chair: Degani, AmirTech. - Israel Inst. of Tech
14:30-14:45, Paper TuBT5.1 Add to My Program
Repetitive Extreme-Acceleration (14-G) Spatial Jumping with Salto-1P
Haldane, DuncanUniv. of California, Berkeley
Yim, Justin K.Univ. of California, Berkeley
Fearing, RonaldUniv. of California at Berkeley
14:45-15:00, Paper TuBT5.2 Add to My Program
Swing Leg Retraction Using Virtual Apex Method for the ParkourBot Climbing Robot
Nir, OmerTech. – Israel Inst. of Tech
Gaathon, AdarTech. - Israel Inst. of Tech
Degani, AmirTech. - Israel Inst. of Tech
15:00-15:15, Paper TuBT5.3 Add to My Program
Dynamic Locomotion and Whole-Body Control for Quadrupedal Robots
Bellicoso, C. DarioETH Zurich
Jenelten, FabianETH Zurich
Fankhauser, PéterETH Zurich
Gehring, ChristianETH Zurich
Hwangbo, JeminSwiss Federal Inst. of Tech. Zurich
Hutter, MarcoETH Zurich
15:15-15:30, Paper TuBT5.4 Add to My Program
NABi-S: A Compliant Robot with a CPG for Locomotion
Pogue, AlexandraUCLA
Bianes, AlanaUCLA
Hong, DennisUCLA
Iwasaki, TetsuyaUCLA
15:30-15:45, Paper TuBT5.5 Add to My Program
Model Predictive Control Based Framework for CoM Control of a Quadruped Robot
Horvat, TomislavEPFL
Melo, KamiloEPFL
Ijspeert, AukeEPFL
15:45-16:00, Paper TuBT5.6 Add to My Program
Standing Posture Control for a Low-Cost Commercially Available Hexapod Robot
Tikam, MayurUniv. of Pretoria, CSIR South Africa
Withey, DanielCSIR
Theron, Nicolaas JohannesUniv. of Pretoria
TuBT6 , Room 121 Add to My Program 
Telerobotics and Teleoperation II  
Chair: Ryu, Jee-HwanKorea Univ. of Tech. and Education
Co-Chair: Robuffo Giordano, PaoloCentre National De La Recherche Scientifique (CNRS)
14:30-14:45, Paper TuBT6.1 Add to My Program
Human-In-The-Loop Optimisation: Mixed Initiative Grasping for Optimally Facilitating Post-Grasp Manipulative Actions
Ghalamzan Esfahani, Amir MasoudUniv. of Birmingham
Abi-Farraj, FirasCNRS-Irisa
Robuffo Giordano, PaoloCentre National De La Recherche Scientifique (CNRS)
Stolkin, RustamUniv. of Birmingham
14:45-15:00, Paper TuBT6.2 Add to My Program
User Study on Remotely Controlled UAVs with Focus on Interfaces and Data Link Quality
Riestock, MaikOtto-Von-Guericke-Univ. Magdeburg
Engelhardt, FrankOtto-Von-Guericke-Univ. Magdeburg
Zug, SebastianOtto-Von-Guericke-Univ. Magdeburg
Hochgeschwender, NicoBonn-Rhein-Sieg Univ. of Applied Sciences, Germany
15:15-15:30, Paper TuBT6.4 Add to My Program
Teleoperation in Cluttered Environments Using Wearable Haptic Feedback
Bimbo, JoaoIstituto Italiano Di Tecnologia
Pacchierotti, ClaudioCentre National De La Recherche Scientifique (CNRS)
Aggravi, MarcoUniv. of Siena
Tsagarakis, NikosIstituto Italiano Di Tecnologia
Prattichizzo, DomenicoUniv. of Siena
15:30-15:45, Paper TuBT6.5 Add to My Program
Baxter's Homunculus: Virtual Reality Spaces for Teleoperation in Manufacturing
Lipton, JeffreyMIT
Fay, AidanMit Csail
Rus, DanielaMIT
15:45-16:00, Paper TuBT6.6 Add to My Program
A Motion Transmission Model for Multi-DOF Tendon-Driven Mechanisms with Hysteresis and Coupling: Application to a Da Vinci Instrument
Anooshahpour, FarshadWestern Univ
Yadmellat, PeymanThe Univ. of Western Ontario
Polushin, Ilia G.Western Univ
Patel, Rajnikant V.The Univ. of Western Ontario
15:45-16:00, Paper TuBT6.6 Add to My Program
Towards Mobile Mixed-Reality Interaction with Multi-Robot Systems
Frank, JaredNYU Tandon School of Engineering
Krishnamoorthy, SaiNYU Tandon School of Engineering
Kapila, VikramNYU Tandon School of Engineering
TuBT7 , Room 122 Add to My Program 
Autonomous Vehicle Navigation III  
Chair: Morales Saiki, Luis YoichiNagoya Univ
Co-Chair: Matteucci, MatteoPol. Di Milano
14:30-14:45, Paper TuBT7.1 Add to My Program
On the Uncertainty Propagation: Why Uncertainty on Lie Groups Preserves Monotonicity?
Kim, YoungjiKorea Advanced Inst. of Science and Tech
Kim, AyoungKorea Advanced Inst. of Science Tech
14:45-15:00, Paper TuBT7.2 Add to My Program
Outdoor Person Following at Higher Speeds Using a Skid-Steered Mobile Robot
Huskić, GoranUniv. of Tübingen
Buck, SebastianUniv. of Tübingen
Ibargüen González, Luis AzareelEberhard Karls Univ. Tübingen
Zell, AndreasUniv. of Tübingen
15:00-15:15, Paper TuBT7.3 Add to My Program
A Novel Insect-Inspired Optical Compass Sensor for a Hexapod Walking Robot
Dupeyroux, JulienAix-Marseille Univ
Diperi, JulienAix-Marseille Univ. Biorobotic Dept. CNRS, ISM UMR 7287
Boyron, MarcAix-Marseille Univ. Biorobotic Dept. CNRS, ISM UMR 7287
Viollet, StephaneAix-Marseille Univ
Serres, JulienCNRS/ Univ. De La Mediterranée
15:15-15:30, Paper TuBT7.4 Add to My Program
Decentralized Navigation of Multiple Agents Based on ORCA and Model Predictive Control
Cheng, HuiSun Yat-Sen Univ
Zhu, QiyuanSun YatSen Univ
Liu, ZhongchangSun Yat-Sen Univ
Xu, TianyeSUN YAT-SEN Univ
Lin, LiangSun Yat-Sen Univ
15:30-15:45, Paper TuBT7.5 Add to My Program
Autonomous Predictive Driving for Blind Intersections
Yoshihara, YukiNagoya Univ
Morales Saiki, Luis YoichiNagoya Univ
Akai, NaokiNagoya Univ
Takeuchi, EijiroNagoya Univ
Ninomiya, YoshikiToyota Central R & D Labs., Inc
15:45-16:00, Paper TuBT7.6 Add to My Program
Mesh-Based 3D Textured Urban Mapping
Romanoni, AndreaPol. Di Milano
Fiorenti, DanielePol. Di Milano
Matteucci, MatteoPol. Di Milano
TuBT8 , Room 202 Add to My Program 
Aerial Systems: Perception and Autonomy I  
Chair: Merino, LuisPablo De Olavide Univ
Co-Chair: Caballero, FernandoUniv. of Seville
14:30-14:45, Paper TuBT8.1 Add to My Program
Linear Velocity from Commotion Motion
Dong, WenboUniv. of Minnesota
Isler, VolkanUniv. of Minnesota
14:45-15:00, Paper TuBT8.2 Add to My Program
Sense and Avoid Based on Visual Pose Estimation for Small UAS
Kang, ChangkooVirginia Tech
Davis, JasonVirginia Tech
Woolsey, CraigVirginia Tech
Choi, SeongimVirginia Tech
15:00-15:15, Paper TuBT8.3 Add to My Program
Onboard Real-Time Dense Reconstruction of Large-Scale Environments for UAV
Vempati, Anurag SaiETH Zurich, Disney Res. Zurich
Gilitschenski, IgorETH Zurich
Nieto, JuanETH Zürich
Beardsley, PaulDisney Res. Zurich
Siegwart, RolandETH Zurich
15:15-15:30, Paper TuBT8.4 Add to My Program
Wire Detection Using Synthetic Data and Dilated Convolutional Networks for Unmanned Aerial Vehicles
Madaan, RatneshCarnegie Mellon Univ
Maturana, DanielCarnegie Mellon Univ
Scherer, SebastianCarnegie Mellon Univ
15:30-15:45, Paper TuBT8.5 Add to My Program
Multi-Modal Mapping and Localization of Unmanned Aerial Robots Based on Ultra-Wideband and RGB-D Sensing
Perez Grau, Francisco JavierCenter for Advanced Aerospace Tech
Caballero, FernandoUniv. of Seville
Merino, LuisPablo De Olavide Univ
Viguria, AntidioCenter for Advanced Aerospace Tech. (CATEC)
15:45-16:00, Paper TuBT8.6 Add to My Program
Autonomous Meta-Classifier for Surface Hardness Classification from UAV Landings
Basha, ElizabethUniv. of the Pacific
Watts-Willis, TristanUniv. of the Pacific
Detweiler, CarrickUniv. of Nebraska-Lincoln
TuBT9 , Room 204 Add to My Program 
AI-Based Methods  
Chair: Hannaford, BlakeUniv. of Washington
Co-Chair: Inamura, TetsunariNational Inst. of Informatics
14:30-14:45, Paper TuBT9.1 Add to My Program
On-Line Simultaneous Learning and Recognition of Everyday Activities from Virtual Reality Performances
Bates, TamasTech. Univ. of Munich
Ramirez-Amaro, KarinneInst. for Cognitive Systems. Tech. Univ. München
Inamura, TetsunariNational Inst. of Informatics
Cheng, GordonTech. Univ. of Munich
14:45-15:00, Paper TuBT9.2 Add to My Program
Learning Magnetic Field Distortion Compensation for Robotic Systems
Christensen, LeifDFKI
Krell, Mario MichaelUniv. of Bremen
Kirchner, FrankUniv. of Bremen
15:00-15:15, Paper TuBT9.3 Add to My Program
Multi Vehicle Routing with Nonholonomic Constraints and Dense Dynamic Obstacles
Mansouri, MasoumehÖrebro Univ
Lagriffoul, FabienÖrebro Univ
Pecora, FedericoÖrebro Univ
15:15-15:30, Paper TuBT9.4 Add to My Program
Feeling the Force: Integrating Force and Pose for Fluent Discovery through Imitation Learning to Open Medicine Bottles
Gao, FengUniv. of California, Los Angeles
Edmonds, MarkUniv. of California, Los Angeles
Liu, HangxinUniv. of California, Los Angeles
Zhu, YixinUniv. of California, Los Angeles
Qi, SiyuanUniv. of California, Los Angeles
Rothrock, BrandonJet Propulsion Lab. California Inst. of Tech
Zhu, Song-ChunUCLA
15:30-15:45, Paper TuBT9.5 Add to My Program
Improving Control Precision and Motion Adaptiveness for Surgical Robot with Recurrent Neural Network
Li, YangmingUniv. of Washington
Li, ShuaiHong Kong Pol. Univ
Caballero, DavidUniv. of Washington
Miyasaka, MuneakiUniv. of Washington
Lewis, AndrewApplied Dexterity
Hannaford, BlakeUniv. of Washington
15:45-16:00, Paper TuBT9.6 Add to My Program
Deep Semantic Classification for 3D LiDAR Data
Dewan, AyushUniv. of Freibug
Oliveira, GabrielUniv. of Freiburg
Burgard, WolframUniv. of Freiburg
TuBT10 , Room 205 Add to My Program 
Cellular Robots II  
Chair: Shell, DylanTexas A&M Univ
Co-Chair: Nelson, CarlUniv. of Nebraska-Lincoln
14:30-14:45, Paper TuBT10.1 Add to My Program
Modular Robot Connector Area of Acceptance from Configuration Space Obstacles
Eckenstein, NickUniv. of Pennsylvania
Yim, MarkUniv. of Pennsylvania
14:45-15:00, Paper TuBT10.2 Add to My Program
Adaptive Locomotion Learning in Modular Self-Reconfigurable Robots: A Game Theoretic Approach
Dutta, AyanUniv. of Nebraska at Omaha
Dasgupta, Prithviraj (Raj)Univ. of Nebraska, Omaha
Nelson, CarlUniv. of Nebraska-Lincoln
15:00-15:15, Paper TuBT10.3 Add to My Program
Evolutionary Cost-Optimal Composition Synthesis of Modular Robots Considering a Given Task
Icer, EsraTech. Univ. München
Hassan, HebaGerman Univ. in Cairo
El-Ayat, KhaledAmerican Univ. Cairo
Althoff, MatthiasTech. Univ. München
15:15-15:30, Paper TuBT10.4 Add to My Program
Shape Control of Compliant, Articulated Meshes: Towards Modular Active-Cell Robots (MACROs)
Nawroj, AhsanYale Univ
Dollar, AaronYale Univ
15:30-15:45, Paper TuBT10.5 Add to My Program
Rearranging Agents in a Small Space Using Global Controls
Zhang, YinanDartmouth Coll
Chen, XiaoleiDartmouth Coll
Qi, HangDartmouth Coll
Balkcom, DevinDartmouth Coll
15:45-16:00, Paper TuBT10.6 Add to My Program
Predictive Routing for Autonomous Mobility-On-Demand Systems with Ride-Sharing
Alonso-Mora, JavierDelft Univ. of Tech
Wallar, AlexanderMassachusetts Inst. of Tech
Rus, DanielaMIT
TuBT11 , Room 207 Add to My Program 
Physical HRI  
Chair: Demiris, YiannisImperial Coll. London
Co-Chair: Secchi, CristianUniv. of Modena & Reggio Emilia
14:30-14:45, Paper TuBT11.1 Add to My Program
Improving Transparency in Physical Human-Robot Interaction Using an Impedance Compensator
Lee, Kyeong HaSungkyunkwan Univ
Baek, Seung GukSungkyunkwan Univ
Lee, Hyuk JinSungKyunKwan Univ
Choi, Hyouk RyeolSungkyunkwan Univ
Moon, HyungpilSungkyunkwan Univ
Koo, Ja ChoonSungkyunkwan Univ
14:45-15:00, Paper TuBT11.2 Add to My Program
Modeling Human Reaching Phase in Human-Human Object Handover with Application in Robot-Human Handover
Parastegari, SinaUniv. of Illinois at Chicago
Abbasi, BaharehUniv. of Illinois at Chicago
Noohi, EhsanUniv. of Illinois at Chicago
Zefran, MilosUniv. of Illinois at Chicago
15:00-15:15, Paper TuBT11.3 Add to My Program
Personalized Robot-Assisted Dressing Using User Modeling in Latent Spaces
Zhang, FanImperial Coll. London
Cully, AntoineImperial Coll. London
Demiris, YiannisImperial Coll. London
15:15-15:30, Paper TuBT11.4 Add to My Program
Variable Admittance Control Preventing Undesired Oscillating Behaviors in 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
Bonfe, MarcelloUniv. of Ferrara
Fantuzzi, CesareUniv. Di Modena E Reggio Emilia
15:30-15:45, Paper TuBT11.5 Add to My Program
Adaptive Indirect Control through Communication in Collaborative Human-Robot Interaction
Silva, RuiCarnegie Mellon Univ. and Inst. Superior Tecnico
Faria, MiguelINESC-ID and Inst. Superior Técnico, Tech. Of
Melo, Francisco S.Inst. Superior Tecnico
Veloso, ManuelaCarnegie Mellon Univ
15:45-16:00, Paper TuBT11.6 Add to My Program
Impedance Control with Structural Compliance and a Sensorless Strategy for Contact Tasks
Kim, DongwonUniv. of Michigan
Kang, Sang HoonUlsan National Inst. of Science and Tech. / Nort
Gu, Gwang MinKAIST
Jin, MaolinKorea Inst. of Robot and Convergence
TuBT12 , Room 208 Add to My Program 
Medical Robots and Systems III  
Chair: Tan, JindongUniv. of Tennessee, Knoxville
Co-Chair: Gans, Nicholas (Nick)Univ. Texas at Dallas
14:30-14:45, Paper TuBT12.1 Add to My Program
Distal Proprioceptive Sensor for Motion Feedback in Endoscope-Based Modular Robotic Systems
Gafford, JoshuaHarvard Univ
Aihara, HiroyukiBrigham and Women's Hospital
Thompson, ChristopherBrigham and Women's Hospital
Wood, RobertHarvard Univ
Walsh, Conor JamesHarvard Univ
14:45-15:00, Paper TuBT12.2 Add to My Program
Spatial Semg Pattern-Based Finger Motion Estimation in a Small Area Using a Microneedle-Based High-Density Interface
Kim, MinjaePOSTECH
Chung, Wan KyunPOSTECH
15:00-15:15, Paper TuBT12.3 Add to My Program
Magnetic Hammer Actuation for Tissue Penetration Using Millirobots
Leclerc, JulienUniv. of Houston
Ramakrishnan, AshwinUniv. of Houston
Tsekos, NikolaosUniv. of Houston
Becker, AaronUniv. of Houston
15:15-15:30, Paper TuBT12.4 Add to My Program
Semiautonomous Electrosurgery for Tumor Resection Using a Multi-Degree of Freedom Electrosurgical Tool and Visual Servoing
Opfermann, JustinChildren's National Medical Center
Leonard, SimonThe Johns Hopkins Univ
Decker, RyanChildren's National Medical Center
Uebele, NicholasJohns Hopkins Univ
Bayne, ChristopherChildren's National Medical Center
Joshi, ArjunGeorge Washington Univ
Krieger, AxelUniv. of Maryland
15:30-15:45, Paper TuBT12.5 Add to My Program
Soft-NeuroAdapt: A 3-DOF Neuro-Adaptive Patient Pose Correction System for Frameless and Maskless Cancer Radiotherapy
Ogunmolu, OlalekanUniv. of Texas at Dallas
Kulkarni, AdwaitUniv. of Texas at Dallas
Tadesse, YonasUniv. of Texas at Dallas
Gu, XuejunUniv. of Texas at Dallv
Jiang, SteveUniv. of Texas Southwestern Medical Center
Gans, Nicholas (Nick)Univ. Texas at Dallas
15:45-16:00, Paper TuBT12.6 Add to My Program
A Novel Laparoscopic Camera Robot with In-Vivo Lens Cleaning and Debris Prevention Modules
Yazdanpanah Abdolmalaki, RezaUniv. of Tennessee, Knoxville
Liu, XiaolongUniv. of Tennessee, Knoxville
Li, NingThe Univ. of Tennessee
Tan, JindongUniv. of Tennessee, Knoxville
TuBT13 , Room 211 Add to My Program 
Motion and Path Planning III  
Chair: Arslan, OmurUniv. of Pennsylvania
Co-Chair: Shkurti, FlorianMcGill Univ
14:30-14:45, Paper TuBT13.1 Add to My Program
An Optimization Approach to Trajectory Generation for Autonomous Vehicle Following
Fassbender, DennisUniv. of the Bundeswehr Munich
Heinrich, Benjamin C.Univ. of the Bundeswehr Munich
Luettel, ThorstenUniv. of the Bundeswehr Muenchen
Wuensche, Hans JUniBw Munich
14:45-15:00, Paper TuBT13.2 Add to My Program
Gradient-Based Online Safe Trajectory Generation for Quadrotor Flight in Complex Environments
Gao, FeiHong Kong Univ. of Science and Tech
Lin, YiHong Kong Univ. of Science and Tech
Shen, ShaojieHong Kong Univ. of Science and Tech
15:00-15:15, Paper TuBT13.3 Add to My Program
Optimal Control-Based Online Maneuver Planning for Cooperative Lane Change of Connected and Automated Vehicles
Li, BaiZhejiang Univ
Zhang, YouminConcordia Univ
Ge, YumingChina Acad. of Information and Communications Tech
Shao, ZhijiangZhejiang Univ
Li, PuDepartment of Simulation and Optimal Processes, Inst. of Aut
15:15-15:30, Paper TuBT13.4 Add to My Program
High Precision Trajectory Planning on Freeform Surfaces for Robotic Manipulators
Salles de Freitas, RenanFederal Univ. of Rio De Janeiro
Elael de Melo Soares, EduardoFederal Univ. of Rio De Janeiro
Costa, RamonFederal Univ. of Rio De Janeiro
Bellinati de Carvalho, BrenoEnergia Sustentável Do Brasil
15:30-15:45, Paper TuBT13.5 Add to My Program
A Kinodynamic Steering-Method for Legged Multi-Contact Locomotion
Fernbach, PierreCnrs - Laas
Tonneau, SteveCnrs - Laas
Del Prete, AndreaCNRS
Taïx, MichelLAAS-CNRS/Univ. Paul Sabatier
15:45-16:00, Paper TuBT13.6 Add to My Program
Sensory Steering for Sampling-Based Motion Planning
Arslan, OmurUniv. of Pennsylvania
Pacelli, VincentUniv. of Pennsylvania
Koditschek, DanielUniv. of Pennsylvania
TuBT14 , Room 217 Add to My Program 
Soft Material Robotics IV  
Chair: de Almeida, AnibalIROS 2012 General Chair
Co-Chair: Tavakoli, MahmoudUniv. of Coimbra
14:30-14:45, Paper TuBT14.1 Add to My Program
Design of a Soft, Parallel End-Effector Applied to Robot-Guided Ultrasound Interventions
Lindenroth, LukasKing's Coll. London
Soor, AvinashKing's Coll. London
Hutchinson, JackKing's Coll. London
Shafi, AmberKing's Coll. London
Back, JungwhanKing's Coll. London
Rhode, KawalKing's Coll. London
Liu, HongbinKing's Coll. London
14:45-15:00, Paper TuBT14.2 Add to My Program
Development of a Soft-Inflatable Exosuit for Knee Rehabilitation
Sridar, SaivimalArizona State Univ
Pham, Huy NguyenArizona State Univ
Zhu, MengjiaArizona State Univ
Lam, QuocArizona State Univ
Polygerinos, PanagiotisArizona State Univ
15:00-15:15, Paper TuBT14.3 Add to My Program
A Move-And-Hold Pneumatic Actuator Enabled by Self-Softening Variable Stiffness Materials
Buckner, TrevorPurdue Univ
White, EdwardPurdue Univ
Yuen, Michelle Ching-SumPurdue Univ
Kramer, RebeccaPurdue Univ
Bilodeau, Raymond AdamPurdue Univ
15:15-15:30, Paper TuBT14.4 Add to My Program
Soft-Matter Sensor for Proximity, Tactile and Pressure Detection
Rocha, RuiUniv. of Coimbra
Lopes, Pedro Filipe AlhaisISR-UC Inst. of Systems and Robotics - Univ. of Coimbra
Tavakoli, MahmoudUniv. of Coimbra
de Almeida, AnibalIROS 2012 General Chair
Majidi, CarmelCarnegie Mellon Univ
15:30-15:45, Paper TuBT14.5 Add to My Program
Fabrication, Modeling, and Control of Plush Robots
Bern, JamesCarnegie Mellon Univ
Kumagai, GraceUniv. of Toronto
Coros, StelianCarnegie Mellon Univ
15:45-16:00, Paper TuBT14.6 Add to My Program
Multi-Objective Optimization for Stiffness and Position Control in a Soft Robot Arm Module
Ansari, YasminScuola Superiore Sant Anna
Manti, MariangelaScuola Superiore Sant'Anna, Pisa, Italy
Falotico, EgidioScuola Superiore Sant'Anna
Cianchetti, MatteoScuola Superiore Sant'Anna
Laschi, CeciliaScuola Superiore Sant'Anna
TuBT15 , Room 215 Add to My Program 
Visual Tracking  
Chair: Jagersand, MartinUniv. of Alberta
Co-Chair: Meger, David PaulMcGill Univ
14:30-14:45, Paper TuBT15.1 Add to My Program
On-Road Vehicle Tracking Using Part-Based Particle Filter
Fang, YongkunPeking Univ
Wang, ChaoPeking Univ
Zhao, HuijingPeking Univ
Zha, HongbinPeking Univ
14:45-15:00, Paper TuBT15.2 Add to My Program
Visual Coordination Task for Human-Robot Collaboration
Khatib, MaramSapienza Univ. of Rome
Al Khudir, KhaledSapienza Univ. of Rome
De Luca, AlessandroSapienza Univ. of Rome
15:00-15:15, Paper TuBT15.3 Add to My Program
Robust Visual Tracking with a Freely-Moving Event Camera
Glover, ArrenIstituto Italiano Di Tecnologia
Bartolozzi, ChiaraIstituto Italiano Di Tecnologia
15:15-15:30, Paper TuBT15.4 Add to My Program
RGB-D SLAM in Dynamic Environments Using Static Point Weighting
Li, ShileTech. Univ. München
Lee, DongheuiTech. Univ. of Munich
15:30-15:45, Paper TuBT15.5 Add to My Program
Modular Tracking Framework: A Fast Library for High Precision Tracking
Singh, AbhineetUniv. of Alberta
Jagersand, MartinUniv. of Alberta
15:45-16:00, Paper TuBT15.6 Add to My Program
Model-Based Visual Tracking of Orbiting Satellites Using Edges
Lourakis, ManolisInst. of Computer Science - FOundation for Res. Andtechn
Zabulis, XenophonFORTH
TuBT16 , Room 220 Add to My Program 
Space Robotics  
Chair: Kazanzides, PeterJohns Hopkins Univ
Co-Chair: Baker, WilliamHouston Mechatronics Inc
14:30-14:45, Paper TuBT16.1 Add to My Program
Supervisory Control of a Humanoid Robot in Microgravity for Manipulation Tasks
Farrell, LoganNASA: Johnson Space Center
Strawser, PhilipNASA
Hambuchen, KimberlyNASA Johnson Space Center
Baker, WilliamHouston Mechatronics Inc
Badger, JuliaNASA Johnson Space Center
14:45-15:00, Paper TuBT16.2 Add to My Program
An Approach to Autonomous Science by Modeling Geological Knowledge in a Bayesian Framework
Arora, AkashUniv. of Sydney
Fitch, RobertUniv. of Tech. Sydney
Sukkarieh, SalahUniv. of Sydney
15:00-15:15, Paper TuBT16.3 Add to My Program
Planetary Robotic Exploration Driven by Science Hypotheses for Geologic Mapping
Candela, AlbertoCarnegie Mellon Univ
Thompson, DavidJet Propulsion Lab. / California Inst. of Tech
Noe Dobrea, EldarPlanetary Science Inst
Wettergreen, DavidCarnegie Mellon Univ
15:15-15:30, Paper TuBT16.4 Add to My Program
Science-Aware Exploration Using Entropy-Based Planning
Gautam, ShivamCarnegie Mellon Univ
Sinha Roy, BishwamoyCarnegie Mellon Univ
Candela, AlbertoCarnegie Mellon Univ
Wettergreen, DavidCarnegie Mellon Univ
15:30-15:45, Paper TuBT16.5 Add to My Program
Augmented Virtuality for Model-Based Teleoperation
Vagvolgyi, BalazsJohns Hopkins Univ
Niu, WenlongNational Space Science Center, Univ. of Chinese Acad. Of
Chen, ZihanJohns Hopkins Univ
Wilkening, PaulJohns Hopkins Univ
Kazanzides, PeterJohns Hopkins Univ
15:45-16:00, Paper TuBT16.6 Add to My Program
Solving Pose Ambiguity of Planar Visual Marker by Wavelike Two-Tone Patterns
Tanaka, HideyukiNational Inst. of AIST
Ogata, KunihiroNational Inst. of Advanced Industrial Science and Tech
Matsumoto, YoshioAIST
TuBT17 , Room 221 Add to My Program 
Formal Methods for Robotics  
Chair: Petersen, Henrik GordonUniv. of Southern Denmark
Co-Chair: Vasile, Cristian IoanMassachusetts Inst. of Tech
14:30-14:45, Paper TuBT17.1 Add to My Program
Reinforcement Learning with Temporal Logic Rewards
Li, XiaoBoston Univ
Vasile, Cristian IoanMassachusetts Inst. of Tech
Belta, CalinBoston Univ
14:45-15:00, Paper TuBT17.2 Add to My Program
Sampling-Based Synthesis of Maximally-Satisfying Controllers for Temporal Logic Specifications
Vasile, Cristian IoanMassachusetts Inst. of Tech
Raman, VasumathiCalifornia Inst. of Tech
Karaman, SertacMassachusetts Inst. of Tech
15:00-15:15, Paper TuBT17.3 Add to My Program
A Framework for Handling and Combining Inaccuracy Propagation in Robot Subtasks for Industrial Assembly
Buch, Jacob PørksenUniv. of Southern Denmark
Petersen, Henrik GordonUniv. of Southern Denmark
15:15-15:30, Paper TuBT17.4 Add to My Program
Mining the Usage Patterns of ROS Primitives
Santos, AndréUniv. of Minho
Cunha, AlcinoUniv. of Minho
Macedo, NunoUniv. of Minho
Arrais, RafaelInesc Tec
Neves dos Santos, FilipeInesc Tec
15:30-15:45, Paper TuBT17.5 Add to My Program
Space-Efficient Filters for Mobile Robot Localization from Discrete Limit Cycles
Alam, TauhidulFlorida International Univ
Bobadilla, LeonardoFlorida International Univ
Shell, DylanTexas A&M Univ
15:45-16:00, Paper TuBT17.6 Add to My Program
Automatic Property Checking of Robotic Applications
Miyazawa, AlvaroUniv. of York
Ribeiro, PedroUniv. of York
Li, WeiUniv. of York
Cavalcanti, AnaUniv. of York
Timmis, JonUniv. of York
TuBT18 , Room 223 Add to My Program 
Physically Assistive Devices  
Chair: Hirata, YasuhisaTohoku Univ
Co-Chair: Kaneko, MakotoOsaka Univ
14:30-14:45, Paper TuBT18.1 Add to My Program
A Five Degree-Of-Freedom Body-Machine Interface for Children with Severe Motor Impairments
Chau, SherylMichigan State Univ
Aspelund, SandersMichigan State Univ
Mukherjee, RanjanMichigan State Univ
Lee, Mei-HuaMichigan State Univ
Ranganathan, RajivMichigan State Univ
Kagerer, FlorianMichigan State Univ
14:45-15:00, Paper TuBT18.2 Add to My Program
Development of a Soft Robotic Glove with High Gripping Force Using Force Distributing Compliant Structures
Kim, Yong-JaeKorea Univ. of Tech. and Education
Jeong, YongJunDepartment of Electrical, Electronics Engineering & Communicatio
Jeon, Hyeong-SeokKorea Univ. of Tech. and Education
Lee, Deok-WonKorea Univ. of Tech. and Education
Kim, Jong-InKorea Univ. of Tech. and Education
15:00-15:15, Paper TuBT18.3 Add to My Program
Quantifying Performance of Bipedal Standing with Multi-Channel EMG
Sui, YananCalifornia Inst. of Tech
Kim, Kun hoCalifornia Inst. of Tech
Burdick, JoelCalifornia Inst. of Tech
15:15-15:30, Paper TuBT18.4 Add to My Program
Variable Viscoelastic Joint System and Its Application to Exoskeleton
Okui, ManabuChuo Univ
Iikawa, ShingoChuo Univ
Yamada, YasuyukiChuo Univ
Nakamura, TaroChuo Univ
15:30-15:45, Paper TuBT18.5 Add to My Program
A Phantom-Sensation Based Paradigm for Continuous Vibrotactile Wrist Guidance in 2D Space
Salazar Luces, Jose VictorioTohoku Univ
Okabe, KeisukeTohoku Univ
Murao, YoshikiTohoku Univ
Hirata, YasuhisaTohoku Univ
15:45-16:00, Paper TuBT18.6 Add to My Program
An Active Neck Brace Controlled by a Joystick to Assist Head Motion
Zhang, HaohanColumbia Univ
Agrawal, SunilColumbia Univ
TuBF Forum, Room 201 Add to My Program 
Forum II: Entrepreneurship Forum & Start-Up Competition  
TuCT1 , Room 109 Add to My Program 
Learning from Demonstration II  
Chair: Oh, SonghwaiSeoul National Univ
Co-Chair: Asfour, TamimKarlsruhe Inst. of Tech. (KIT)
16:30-16:45, Paper TuCT1.1 Add to My Program
Looking High and Low: Learning Place-Dependent Gaussian Mixture Height Models for Terrain Assessment
Berczi, Laszlo-PeterUniv. of Toronto
Barfoot, TimothyUniv. of Toronto
16:45-17:00, Paper TuCT1.2 Add to My Program
Scalable Robust Learning from Demonstration with Leveraged Deep Neural Networks
Choi, SungjoonSeoul National Univ
Lee, KyungjaeSeoul National Univ
Oh, SonghwaiSeoul National Univ
17:00-17:15, Paper TuCT1.3 Add to My Program
Adversarially Robust Policy Learning through Active Construction of Physically-Plausible Perturbations
Mandlekar, Ajay UdayStanford Univ
Zhu, YukeStanford Univ
Garg, AnimeshStanford Univ
Fei-Fei, LiStanford Univ
Savarese, SilvioStanford Univ
17:15-17:30, Paper TuCT1.4 Add to My Program
Learning a Unified Control Policy for Safe Falling
C V Kumar, VisakGeorgia Inst. of Tech
Ha, SehoonDisney Res
Liu, KarenGeorgia Tech
17:30-17:45, Paper TuCT1.5 Add to My Program
Learning to Fly by Crashing
Gandhi, DhirajCarnegie Mellon Univ
Pinto, Lerrel JosephCarnegie Mellon Univ
Gupta, AbhinavCarnegie Mellon Univ
17:45-18:00, Paper TuCT1.6 Add to My Program
Learning Externally Modulated Dynamical Systems
Sommer, NicolasEc. Pol. Federale De Lausanne (EPFL)
Kronander, KlasLearning Algorithms and Systems Lab. EPFL
Billard, AudeEPFL
TuCT2 , Room 111 Add to My Program 
Biologically-Inspired Robots IV  
Chair: Jayaram, KaushikHarvard Univ
Co-Chair: Guan, YishengGuangdong Univ. of Tech
16:30-16:45, Paper TuCT2.1 Add to My Program
A High Speed Motion Capture Method and Performance Metrics for Studying Gaits on an Insect-Scale Legged Robot
Goldberg, BenjaminHarvard Univ
Doshi, NeelHarvard
Jayaram, KaushikHarvard Univ
Koh, Je-SungHarvard Univ
Wood, RobertHarvard Univ
16:45-17:00, Paper TuCT2.2 Add to My Program
When Joggers Meet Robots: A Preliminary Study on Foot Strike Patterns
Liu, George H. Z.The Univ. of Hong Kong
Chen, Michael Z. Q.Nanjing Univ. of Science and Tech
Chen, YonghuaThe Univ. of Hong Kong
Huang, LixiThe Univ. of Hong Kong
17:00-17:15, Paper TuCT2.3 Add to My Program
FLEGX: A Bioinspired Design for a Jumping Humanoid Leg
D'Imperio, MariapaolaIstituto Italiano Di Tecnologia
Ludovico, DanielePol. Di Torino
Pizzamiglio, CristianoPol. Di Torino/DIMEAS
Canali, CarloDepartment of Advanced Robotics, Istituto Italiano Di Tecnologia
Caldwell, Darwin G.Istituto Italiano Di Tecnologia
Cannella, FerdinandoIstituto Italiano Di Tecnologia
17:15-17:30, Paper TuCT2.4 Add to My Program
A 3-D Bio-Inspired Odor Source Localization and Its Validation in Realistic Environmental Conditions
Rahbar, FaezehEPFL
Marjovi, AliEPFL
Kibleur, PierreEPFL
Martinoli, AlcherioEPFL
17:30-17:45, Paper TuCT2.5 Add to My Program
Morphological Optimization for Tensegrity Quadruped Locomotion
Hustig-Schultz, DawnUniv. of California, Santa Cruz
SunSpiral, VytasSGT Inc. / NASA Ames Res. Center
Teodorescu, MirceaUCSC
17:45-18:00, Paper TuCT2.6 Add to My Program
Collision Selective LGMDs Neuron Models Research Benefits from a Vision-Based Autonomous Micro Robot
Fu, QinbingUniv. of Lincoln
Hu, ChengUniv. of Lincoln
Liu, TianUniv. of Lincoln
Yue, ShigangUniv. of Lincoln
TuCT3 , Room 116 Add to My Program 
Manipulation Planning  
Chair: O'Kane, JasonUniv. of South Carolina
Co-Chair: Behnke, SvenUniv. of Bonn
16:30-16:45, Paper TuCT3.1 Add to My Program
A Probabilistic Planning Framework for Planar Grasping under Uncertainty
Zhou, JiajiCarnegie Mellon Univ
Paolini, RobertCarnegie Mellon Univ
Johnson, AaronCarnegie Mellon Univ