2019 IEEE/RSJ International Conference on
Intelligent Robots and Systems
November 4-8, 2019, Macau
  
Program at a Glance    Monday    Tuesday    Wednesday    Thursday    Friday    Author Index    Keyword Index    My Program  

Last updated on October 25, 2019. This conference program is tentative and subject to change

Technical Program for Thursday November 7, 2019

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ThP3 Plenary session, L3-RA to RC Add to My Program 
Plenary III: ImPACT Tough Robotics Challenge - a National Project of Japan
Cabinet Office on Disaster Robotics -By SATOSHI TADOKORO
 
 
Chair: Balaguer, CarlosUniversidad Carlos III De Madrid
 
ThP4 Plenary session, L3-RA to RC Add to My Program 
Plenary IV: Haptic Intelligence -By KATHERINE J. KUCHENBECKER  
 
Chair: Okamura, Allison M.Stanford University
 
ThAT1 Regular session, L1-R1 Add to My Program 
Sensor Fusion and Sensor-Based Control  
 
Chair: Kudoh, ShunsukeThe University of Electro-Communications
Co-Chair: Liu, YongZhejiang University
 
11:00-11:15, Paper ThAT1.1 Add to My Program
The Road Is Enough! Extrinsic Calibration of Non-Overlapping Stereo Camera and LiDAR Using Road Information
Jeong, JinyongKAIST
Cho, YounghunKAIST
Kim, AyoungKorea Advanced Institute of Science Technology
 
11:15-11:30, Paper ThAT1.2 Add to My Program
LIC-Fusion: LiDAR-Inertial-Camera Odometry
Zuo, XingxingZhejiang University
Geneva, PatrickUniversity of Delaware
Lee, WoosikUniversity of Delaware
Liu, YongZhejiang University
Huang, GuoquanUniversity of Delaware
 
11:30-11:45, Paper ThAT1.3 Add to My Program
3D Point Cloud Data Acquisition Using a Synchronized In-Air Imaging Sonar Sensor Network
Kerstens, RobinUniversity of Antwerp
Laurijssen, DennisUniversity of Antwerp
Schouten, GirmiUniversity of Antwerp
Steckel, JanUniversity of Antwerp
 
11:45-12:00, Paper ThAT1.4 Add to My Program
Transferable Trial-Minimizing Progressive Peg-In-Hole Model
Ding, JunfengShanghai Jiao Tong University
Wang, ChenShanghai Jiao Tong University
Lu, CewuShangHai Jiao Tong University
 
12:00-12:15, Paper ThAT1.5 Add to My Program
End-To-End Sensorimotor Control Problems of AUVs with Deep Reinforcement Learning
Hui, WuTsinghua University
Song, ShijiTsinghua University
Hsu, Ya-ChuTsinghua University
You, KeyouTsinghua University
Wu, ChengTsinghua University
 
12:15-12:30, Paper ThAT1.6 Add to My Program
Precision Pouring into Unknown Containers by Service Robots
Dong, ChenyuThe University of Electro-Communications
Takizawa, MasaruThe University of Electro-Communications
Kudoh, ShunsukeThe University of Electro-Communications
Suehiro, TakashiThe University of Electro-Communications
 
ThAT2 Regular session, L1-R2 Add to My Program 
Deep Learning with Visual Method  
 
Chair: Belter, DominikPoznan University of Technology
Co-Chair: Khorrami, FarshadNew York University Tandon School of Engineering
 
11:00-11:15, Paper ThAT2.1 Add to My Program
Resolving Elevation Ambiguity in 1-D Radar Array Measurements Using Deep Learning
Unnikrishnan, JayakrishnanQualcomm
Niesen, UrsQualcomm
 
11:15-11:30, Paper ThAT2.2 Add to My Program
Double Refinement Network for Efficient Monocular Depth Estimation
Durasov, NikitaSamsung AI Center Moscow, EPFL
Romanov, MikhailSamsung AI Center Moscow
Bubnova, ValeriyaSamsung AI Center Moscow
Bogomolov, PavelSamsung AI Center Moscow
Konushin, AntonSamsung AI Center Moscow
 
11:30-11:45, Paper ThAT2.3 Add to My Program
3D LiDAR and Stereo Fusion Using Stereo Matching Network with Conditional Cost Volume Normalization
Wang, Tsun-HsuanNational Tsing Hua University
Hu, Hou-NingNational Tsing Hua University
Lin, Chieh HubertNational Tsing Hua University
Tsai, Yi-HsuanNEC Labs America
Chiu, Wei-ChenNational Chiao Tung University
Sun, MinNational Tsing Hua University
 
11:45-12:00, Paper ThAT2.4 Add to My Program
Generate What You Can't See - a View-Dependent Image Generation
Piaskowski, KarolPoznan University of Technology
Staszak, RafalPoznan University of Technology
Belter, DominikPoznan University of Technology
 
12:00-12:15, Paper ThAT2.5 Add to My Program
DLD: A Deep Learning Based Line Descriptor for Line Feature Matching
Lange, ManuelUniversity of Tuebingen
Schweinfurth, FabianWilhelm-Schickard-Institut Tübingen
Schilling, AndreasUniversität Tübingen
 
12:15-12:30, Paper ThAT2.6 Add to My Program
Adaptive Adversarial Videos on Roadside Billboards: Dynamically Modifying Trajectories of Autonomous Vehicles
Patel, NamanNew York University Tandon School of Engineering
Krishnamurthy, PrashanthNew York University Tandon School of Engineering
Garg, SiddharthNYU
Khorrami, FarshadNew York University Tandon School of Engineering
 
ThAT3 Regular session, L1-R3 Add to My Program 
Physical Human-Robot Interaction I  
 
Chair: Luo, RenNational Taiwan University
Co-Chair: Saint-Bauzel, LudovicSorbonne Université
 
11:00-11:15, Paper ThAT3.1 Add to My Program
A Capability-Aware Role Allocation Approach to Industrial Assembly Tasks
Lamon, EdoardoIstituto Italiano Di Tecnologia
De Franco, AlessandroIstituto Italiano Di Tecnologia
Peternel, LukaTU Delft
Ajoudani, ArashIstituto Italiano Di Tecnologia
 
11:15-11:30, Paper ThAT3.2 Add to My Program
Specifying and Synthesizing Human-Robot Handovers
Kshirsagar, AlapCornell University
Kress-Gazit, HadasCornell University
Hoffman, GuyCornell University
 
11:30-11:45, Paper ThAT3.3 Add to My Program
Underactuated Gripper with Forearm Roll Estimation for Human Limbs Manipulation in Rescue Robotics
Gandarias, Juan M.University of Malaga
Pastor, FranciscoUniversidad De Málaga
Muñoz-Ramírez, AntonioUniversity of Malaga
García-Cerezo, AlfonsoUniversity of Malaga
Gomez de Gabriel, Jesus ManuelUniversidad De Malaga
 
11:45-12:00, Paper ThAT3.4 Add to My Program
An Experimental Study of Parameters Influencing Physical Human-Robot Negotiation in Comanipulative Tracking Task
Roche, LucasUniversité Pierre Et Marie Curie
Monachan, AnishSorbonne Université
Saint-Bauzel, LudovicSorbonne Université
 
12:00-12:15, Paper ThAT3.5 Add to My Program
Prediction of Human Arm Target for Robot Reaching Movements
Talignani Landi, ChiaraUniversity of Modena and Reggio Emilia
Cheng, YujiaoUniversity of California, Berkeley
Ferraguti, FedericaUniversità Degli Studi Di Modena E Reggio Emilia
Bonfe, MarcelloUniversity of Ferrara
Secchi, CristianUniv. of Modena & Reggio Emilia
Tomizuka, MasayoshiUniversity of California
 
12:15-12:30, Paper ThAT3.6 Add to My Program
Human Intention Inference and On-Line Human Hand Motion Prediction for Human-Robot Collaboration
Luo, RenNational Taiwan University
Mai, Li-CongNational Taiwan University
 
ThAT4 Regular session, L1-R4 Add to My Program 
Tendon/Wire Mechanism  
 
Chair: Lau, DarwinThe Chinese University of Hong Kong
Co-Chair: Li, YangminThe Hong Kong Polytechnic University
 
11:00-11:15, Paper ThAT4.1 Add to My Program
Effect of Vibration on Twisted String Actuation through Conduit at High Bending Angles
Lee, Dong hyeeKorea University of Technology and Education
Gaponov, IgorInnopolis University
Ryu, Jee-HwanKorea Univ. of Tech. and Education
 
11:15-11:30, Paper ThAT4.2 Add to My Program
Single Motor-Based Bidirectional Twisted String Actuation with Variable Radius Pulleys
Khan, Muhammad ArshadKorea University of Technology and Education
Suthar, BhivrajKOREATECH
Gaponov, IgorInnopolis University
Ryu, Jee-HwanKorea Univ. of Tech. and Education
 
11:30-11:45, Paper ThAT4.3 Add to My Program
Improved Mechanical Design and Simplified Motion Planning of Hybrid Active and Passive Cable-Driven Segmented Manipulator with Coupled Motion
Liu, TianliangHarbin Institute of Technology
Mu, ZonggaoHarbin Institute of Technology
Xu, WenfuHarbin Institute of Technology
Yang, TaiweiHarbin Institute of Technology, Shenzhen
You, KailingHarbin Institute of Technology, Shenzhen
Fu, HaimingHarbin Institute of Technology, Shenzhen
Li, YangminThe Hong Kong Polytechnic University
 
11:45-12:00, Paper ThAT4.4 Add to My Program
A Mechanical Approach to Suppress the Oscillation of a Long Continuum Robot Flying with Water Jets
Yamaguchi, TomokaTohoku University
Ambe, YuichiTohoku University
Ando, HisatoTohoku University
Konyo, MasashiTohoku University
Tadakuma, KenjiroTohoku University
Maruyama, ShigenaoNational Institute of Technology, Hachinohe College
Tadokoro, SatoshiTohoku University
 
12:00-12:15, Paper ThAT4.5 Add to My Program
Generalized Ray-Based Lattice Generation and Graph Representation of Wrench-Closure Workspace for Arbitrary Cable-Driven Robots (I)
Abbasnejad, GhasemThe Hong Kong University of Science and Technology
Eden, Jonathan PaulThe University of Melbourne
Lau, DarwinThe Chinese University of Hong Kong
 
ThAT5 Regular session, L1-R5 Add to My Program 
Compliance and Impedance Control  
 
Chair: Catalano, Manuel GiuseppeIstituto Italiano Di Tecnologia
Co-Chair: Jiang, XinHarbin Institute of Technology Shenzhen Graduate School
 
11:00-11:15, Paper ThAT5.1 Add to My Program
Port-Hamiltonian Passivity-Based Control on SE(3) of a Fully-Actuated UAV for Aerial Physical Interaction Near-Hovering
Rashad, Ramy Abdelmonem MohamedUniversity of Twente
Califano, FedericoUniversity of Twente
Stramigioli, StefanoUniversity of Twente
 
11:15-11:30, Paper ThAT5.2 Add to My Program
A Comparison of Action Spaces for Learning Manipulation Tasks
Varin, PatrickHarvard University
Grossman, LevHarvard University
Kuindersma, ScottHarvard University
 
11:30-11:45, Paper ThAT5.3 Add to My Program
Global Vision-Based Impedance Control for Robotic Wall Polishing
Zhou, YangThe Chinese University of Hong Kong
Yue, LinzhuChinese University of Hong Kong
Gui, LinhaiThe Chinese University of Hong Kong
Li, XiangTsinghua University
Sun, GuangliThe Chinese University of Hong Kong
Jiang, XinHarbin Institute of Technology Shenzhen Graduate School
Liu, YunhuiChinese University of Hong Kong
 
11:45-12:00, Paper ThAT5.4 Add to My Program
Online Optimal Impedance Planning for Legged Robots
Angelini, FrancoUniversity of Pisa
Xin, GuiyangThe University of Edinburgh
Wolfslag, WouterUniversity of Edinburgh
Tiseo, CarloUniversity of Edinburgh
Mistry, MichaelUniversity of Edinburgh
Garabini, ManoloUniversità Di Pisa
Bicchi, AntonioUniversità Di Pisa
Vijayakumar, SethuUniversity of Edinburgh
 
12:00-12:15, Paper ThAT5.5 Add to My Program
Stiffness Bounds for Resilient and Stable Physical Interaction of Articulated Soft Robots
Mengacci, RiccardoUniversità Di Pisa
Angelini, FrancoUniversity of Pisa
Catalano, Manuel GiuseppeIstituto Italiano Di Tecnologia
Grioli, GiorgioIstituto Italiano Di Tecnologia
Bicchi, AntonioUniversità Di Pisa
Garabini, ManoloUniversità Di Pisa
 
12:15-12:30, Paper ThAT5.6 Add to My Program
Robust, Compliant Assembly with Elastic Parts and Model Uncertainty
Wirnshofer, FlorianSiemens AG
Schmitt, Philipp SebastianSiemens Corporate Technology
Meister, PhilineSiemens
v. Wichert, GeorgSiemens AG
Burgard, WolframUniversity of Freiburg
 
ThAT6 Regular session, L1-R6 Add to My Program 
Aerial Robotics VIII  
 
Chair: Chirarattananon, PakpongCity University of Hong Kong
Co-Chair: Waibel, AlexKarlsruhe Institute of Technology
 
11:00-11:15, Paper ThAT6.1 Add to My Program
An Interactive Indoor Drone Assistant
Fuhrmann, TinoKarlsruhe Institute of Technology
David, SchneiderKarlsruhe Institute of Technology
Altenberg, FelixKarlsruhe Institute of Technology
Nguyen, Xuan TungKarlsruhe Institute of Technology
Blasen, SimonKarlsruhe Institute of Technology
Constantin, StefanKarlsruhe Institute of Technology
Waibel, AlexKarlsruhe Institute of Technology
 
11:15-11:30, Paper ThAT6.2 Add to My Program
Development of Micro Ultrasonic Actuator and Micro Rotor Blade for Micro Aerial Vehicle
Kai Chiang, Eric TanToyohashi University of Technology
Mashimo, TomoakiToyohashi University of Technology
 
11:30-11:45, Paper ThAT6.3 Add to My Program
Cooperative Audio-Visual System for Localizing Micro Aerial Robots
Rosa, Jose EduardoInstituto Superior Tecnico
Basiri, MeysamIST-ID, Instituto Superior Tecnico
 
11:45-12:00, Paper ThAT6.4 Add to My Program
Design and Take-Off Flight of a Samara-Inspired Revolving-Wing Robot
Bai, SongnanCity University of Hong Kong
Chirarattananon, PakpongCity University of Hong Kong
 
12:00-12:15, Paper ThAT6.5 Add to My Program
The "Smellicopter, " a Bio-Hybrid Odor Localizing Nano Air Vehicle
Anderson, MelanieUniversity of Washington
Sullivan, JosephUniversity of Washington
Brink, KevinAFRL
Talley, JenniferAFRL
Fuller, SawyerUniversity of Washington
Daniel, ThomasUniversity of Washington
 
ThAT7 Regular session, L1-R7 Add to My Program 
Visual Learning  
 
Chair: Liu, WenyinGuangdong University of Technology
Co-Chair: Nagahama, KotaroShinshu University
 
11:00-11:15, Paper ThAT7.1 Add to My Program
Self-Supervised 3D Shape and Viewpoint Estimation from Single Images for Robotics
Mees, OierAlbert-Ludwigs-Universität
Tatarchenko, MaximUniversity of Freiburg
Brox, ThomasUniversity of Freiburg
Burgard, WolframUniversity of Freiburg
 
11:15-11:30, Paper ThAT7.2 Add to My Program
Inferring Distributions Over Depth from a Single Image
Yang, GengshanCMU
Hu, PeiyunCMU
Ramanan, DevaCarnegie Mellon University
 
11:30-11:45, Paper ThAT7.3 Add to My Program
The RGB-D Triathlon: Towards Agile Visual Toolboxes for Robots
Cermelli, FabioPolitecnico Di Torino
Mancini, MassimilianoSapienza University of Rome
Ricci, ElisaUniversity of Trento
Caputo, BarbaraSapienza University
 
11:45-12:00, Paper ThAT7.4 Add to My Program
EV-IMO: Motion Segmentation Dataset and Learning Pipeline for Event Cameras
Mitrokhin, AntonUniversity of Maryland, College Park
Ye, ChengxiUniversity of Maryland
Fermuller, CorneliaUniversity of Maryland
Aloimonos, YiannisUniversity of Maryland
Delbruck, TobiInstitute of Neuroinformatics, University of Zurich/ETH
 
12:00-12:15, Paper ThAT7.5 Add to My Program
An Object Attribute Guided Framework for Robot Learning Manipulations from Human Demonstration Videos
Zhang, QixiangGuangdong University of Technology
Chen, JunhongGuangdong University of Technology
Liang, DayongGuangdong University of Technology
Liu, HuapingTsinghua University
Zhou, XiaojingGuangdong University of Technology
Ye, ZihanGuangdong University of Technology
Liu, WenyinGuangdong University of Technology
 
12:15-12:30, Paper ThAT7.6 Add to My Program
Learning from Demonstration Based on a Mechanism to Utilize an Object’s Invisibility
Nagahama, KotaroShinshu University
Yamazaki, KimitoshiShinshu University
 
ThAT8 Regular session, LG-R8 Add to My Program 
Intelligent Transportation Systems  
 
Chair: Jang, InmoThe University of Manchester
Co-Chair: Yang, MingShanghai Jiao Tong University
 
11:00-11:15, Paper ThAT8.1 Add to My Program
Learning Generative Socially-Aware Models of Pedestrian Motion
Blaiotta, ClaudiaBosch Center for Artificial Intelligence
 
11:15-11:30, Paper ThAT8.2 Add to My Program
Sharing Is Caring: Socially-Compliant Autonomous Intersection Negotiation
Buckman, NoamMassachusetts Institute of Technology
Pierson, AlyssaMassachusetts Institute of Technology
Schwarting, WilkoMassachusetts Institute of Technology (MIT)
Karaman, SertacMassachusetts Institute of Technology
Rus, DanielaMIT
 
11:30-11:45, Paper ThAT8.3 Add to My Program
Two-View Fusion Based Convolutional Neural Network for Urban Road Detection
Gu, ShuoNanjing University of Science and Technology
Zhang, YigongNanjing University of Science and Technology
Yang, JianNanjing University of Science & Technology
Alvarez, JoseNVIDIA
Kong, HuiNanjing University of Science and Technology
 
11:45-12:00, Paper ThAT8.4 Add to My Program
Conditional Generative Neural System for Probabilistic Trajectory Prediction
Li, JiachenUniversity of California, Berkeley
Ma, HengboUniversity of California, Berkeley
Tomizuka, MasayoshiUniversity of California
 
12:00-12:15, Paper ThAT8.5 Add to My Program
Probabilistic Risk Metrics for Navigating Occluded Intersections
McGill, StephenUniversity of Pennsylvania
Rosman, GuyMassachusetts Institute of Technology
Ort, TeddyMassachusetts Institute of Technology
Pierson, AlyssaMassachusetts Institute of Technology
Gilitschenski, IgorMassachusetts Institute of Technology
Araki, BrandonMIT
Fletcher, LukeBoeing
Karaman, SertacMassachusetts Institute of Technology
Rus, DanielaMIT
Leonard, JohnMIT
 
12:15-12:30, Paper ThAT8.6 Add to My Program
Anonymous Hedonic Game for Task Allocation in a Large-Scale Multiple Agent System (I)
Jang, InmoThe University of Manchester
Shin, Hyo-SangCranfield University
Tsourdos, AntoniosCranfield University
 
ThAT9 Regular session, LG-R9 Add to My Program 
Cognitive Human-Robot Interaction I  
 
Chair: Knoll, AloisTech. Univ. Muenchen TUM
Co-Chair: Losey, DylanStanford University
 
11:00-11:15, Paper ThAT9.1 Add to My Program
Semantic Mates: Intuitive Geometric Constraints for Efficient Assembly Specifications
Wildgrube, FabianFortiss - An-Institut Technische Universität München
Perzylo, Alexander CliffordFortiss - An-Institut Technische Universität München
Rickert, MarkusFortiss, An-Institut Technische Universität München
Knoll, AloisTech. Univ. Muenchen TUM
 
11:15-11:30, Paper ThAT9.2 Add to My Program
A Behavior Tree Cognitive Assistant System for Emergency Medical Services
Shu, SileUniversity of Virginia
Preum, Sarah MasudUniversity of Virginia
Pitchford, HaydonUniversity of Virginia
Williams, RonaldUniversity of Virginia
Stankovic, JohnUniversity of Virginia
Alemzadeh, HomaUniversity of Virginia
 
11:30-11:45, Paper ThAT9.3 Add to My Program
Enabling Human-Like Task Identification from Natural Conversation
Pramanick, PradipTCS Research & Innovation
Sarkar, ChayanTCS Research & Innovation
P, BalamuralidharTata Consultancy Services Ltd
Kattepur, AjayTata Consultancy Services
Bhattacharya, IndrajitTCS Research & Innovation
Pal, ArpanTcs Innovation Labs, Kolkata
 
11:45-12:00, Paper ThAT9.4 Add to My Program
Torso-Mounted Vibrotactile Interface to Experimentally Induce Illusory Own-Body Perceptions
Fadaei Jouybari, AtenaEPFL
Rognini, GiulioEPFL
Hara, MasayukiSaitama University
Bleuler, HannesEPFL (Ecole Polytechnique Fédérale De Lausanne)
Blanke, OlafEPFL
 
12:00-12:15, Paper ThAT9.5 Add to My Program
Gaze-Based Intention Anticipation Over Driving Manoeuvres in Semi-Autonomous Vehicles
Wu, MinUniversity of Oxford
Louw, TyronUniversity of Leeds
Lahijanian, MortezaUniversity of Colorado Boulder
Ruan, WenjieUniversity of Oxford
Huang, XiaoweiUniversity of Liverpool
Merat, NatashaUniversity of Leeds
Kwiatkowska, MartaUniversity of Oxford
 
12:15-12:30, Paper ThAT9.6 Add to My Program
A Probabilistic Approach to Human-Robot Communication
Cha, ElizabethUniversity of Southern California
Meschke, EmilyUniversity of Southern California
Fong, TerrenceNASA Ames Research Center (ARC)
Mataric, MajaUniversity of Southern California
 
ThAT10 Regular session, LG-R10 Add to My Program 
Visual SLAM II  
 
Chair: Montiel, J.M.MI3A. Universidad De Zaragoza
Co-Chair: Zelek, John S.University of Waterloo
 
11:00-11:15, Paper ThAT10.1 Add to My Program
FA-Harris: A Fast and Asynchronous Corner Detector for Event Cameras
Li, RuoxiangNational University of Defense Technology
Shi, DianxiNational Innovation Institute of Defense Technology
Zhang, YongjunNational Innovation Institute of Defense Technology
Li, KaiyueNational University of Defense Technology
Li, RuihaoNational Innovation Institute of Defense
 
11:15-11:30, Paper ThAT10.2 Add to My Program
Rapid and Robust Monocular Visual-Inertial Initialization with Gravity Estimation Via Vertical Edges
Li, JinyuZhejiang University
Bao, HujunZhejiang University
Zhang, GuofengZhejiang University
 
11:30-11:45, Paper ThAT10.3 Add to My Program
A Unified Formulation for Visual Odometry
Younes, GeorgesUniversity of Waterloo, American University of Beirut
Asmar, DanielAmerican University of Beirut
Zelek, John S.University of Waterloo
 
11:45-12:00, Paper ThAT10.4 Add to My Program
An Efficient and Accurate Algorithm for the Perspective-N-Point Problem
Zhou, LipuCarnegie Mellon University
Kaess, MichaelCarnegie Mellon University
 
12:00-12:15, Paper ThAT10.5 Add to My Program
ORBSLAM-Atlas: A Robust and Accurate Multi-Map System
Elvira, RichardUniversidad De Zaragoza
Tardos, Juan D.Universidad De Zaragoza
Montiel, J.M.MI3A. Universidad De Zaragoza
 
12:15-12:30, Paper ThAT10.6 Add to My Program
Sparse Depth Enhanced Direct Thermal-Infrared SLAM Beyond the Visible Spectrum
Shin, Young-SikKAIST
Kim, AyoungKorea Advanced Institute of Science Technology
 
ThAT11 Regular session, LG-R11 Add to My Program 
Medical Robot: Laparoscopic  
 
Chair: Lueth, Tim C.Technical University of Munich
Co-Chair: Kim, ChunwooKorea Institute of Science and Technology (KIST)
 
11:00-11:15, Paper ThAT11.1 Add to My Program
An Asynchronous Multi-Body Simulation Framework for Real-Time Dynamics, Haptics and Learning with Application to Surgical Robots
Munawar, AdnanWorcester Polytechnic Institute
Fischer, Gregory ScottWorcester Polytechnic Institute, WPI
 
11:15-11:30, Paper ThAT11.2 Add to My Program
PnS: A Perspective-N-Spheres Algorithm for Laparoscope Calibration in Minimally Invasive Surgery
Arico, MarioSorbonne Université, CNRS, INSERM, ISIR-Agathe
Morel, GuillaumeSorbonne Université, CNRS, INSERM
 
11:30-11:45, Paper ThAT11.3 Add to My Program
Development of Novel Bevel-Geared 5mm Articulating Wrist for Micro-Laparoscopy Instrument
Kim, JongwooBiorobotics Laboratory, Seoul National University
Han, Hyung TaegKIST
Kang, SungchulKorea Inst. of Science & Technology
Kim, ChunwooKorea Institute of Science and Technology (KIST)
 
11:45-12:00, Paper ThAT11.4 Add to My Program
Towards a Generic in Vivo in Situ Camera Lens Cleaning Module for Laparoscopic Surgery
Liu, XiaolongUniversity of Tennessee, Knoxville
Liu, HuiUniversity of Tennessee Knoxville
Tan, JindongUniversity of Tennessee, Knoxville
 
12:00-12:15, Paper ThAT11.5 Add to My Program
3D Printed Single Incision Laparoscopic Manipulator System Adapted to the Required Forces in Laparoscopic Surgery
Brecht, Sandra V.Technische Universität München
Stock, MatthiasTechnische Universität München
Stolzenburg, Jens-UweUniversity Leipzig
Lueth, Tim C.Technical University of Munich
 
ThAT12 Cutting Edge Forum, LG-R12 Add to My Program 
Human Movement Understanding for Intelligent Robots and Systems  
 
Chair: Demircan, EmelCalifornia State University Long Beach
Co-Chair: Yoshikawa, TaizoHonda R&D Japan
 
11:00-11:15, Paper ThAT12.1 Add to My Program
Human Movement Understanding for Intelligent Robots and Systems
Demircan, EmelCalifornia State University Long Beach
Petric, TadejJozef Stefan Institute
Yoshikawa, TaizoHonda R&D Japan
Fraisse, PhilippeLIRMM
 
ThAT13 Regular session, LG-R13 Add to My Program 
Legged Robots III  
 
Chair: Sun, XiaoWaseda University
Co-Chair: Lin, Pei-ChunNational Taiwan University
 
11:00-11:15, Paper ThAT13.1 Add to My Program
On the Effect of Semielliptical Foot Shape on the Energetic Efficiency of Passive Bipedal Gait
Smyrli, AikateriniNational Technical University of Athens
Ghiassi, MehdiU. of Duisburg-Essen
Kecskemethy, AndrésUniversity Duisburg-Essen
Papadopoulos, EvangelosNational Technical University of Athens
 
11:15-11:30, Paper ThAT13.2 Add to My Program
Robust Legged Robot State Estimation Using Factor Graph Optimization
Wisth, DavidUniversity of Oxford
Camurri, MarcoUniversity of Oxford
Fallon, MauriceUniversity of Oxford
 
11:30-11:45, Paper ThAT13.3 Add to My Program
Implementing Regularized Predictive Control for Simultaneous Real-Time Footstep and Ground Reaction Force Optimization
Bledt, GerardoMassachusetts Institute of Technology (MIT)
Kim, SangbaeMassachusetts Institute of Technology
 
11:45-12:00, Paper ThAT13.4 Add to My Program
Moving Onto High Steps for a Four-Limbed Robot with Torso Contact
Matsuzawa, TakashiWaseda University
Matsubara, TakanobuWaseda University
Namura, KeisukeWaseda University
Sun, XiaoWaseda University
Imai, AsakiWaseda University
Okawara, MasahiroWaseda University
Kimura, ShunsukeWaseda University
Kumagai, KengoWaseda University
Yamaguchi, KokiWASEDA University
Naito, HiroshiWaseda University
Sato, TakehiroWaseda University
Terae, KotaWaseda University
Murakami, MasatsuguWaseda University
Yoshida, ShunyaWaseda University
Takanishi, AtsuoWaseda University
Hashimoto, KenjiMeiji University
 
12:00-12:15, Paper ThAT13.5 Add to My Program
Clock-Torqued Rolling SLIP Model and Its Application to Variable-Speed Running in a Hexapod Robot (I)
Lu, Wei-ChunNational Taiwan University
Yu, Ming-YuanUniversity of Michigan
Lin, Pei-ChunNational Taiwan University
 
ThAT14 Regular session, LG-R14 Add to My Program 
Marine Robots I  
 
Chair: Stilwell, DanielVirginia Tech
Co-Chair: Aguiar, A. PedroFaculty of Engineering, University of Porto (FEUP)
 
11:00-11:15, Paper ThAT14.1 Add to My Program
Roboat: An Autonomous Surface Vehicle for Urban Waterways
Wang, WeiMassachusetts Institute of Technology
Gheneti, BantiMassachusetts Institute of Technology
Mateos, LuisMIT
Duarte, FábioMassachusetts Institute of Technology
Ratti, CarloMassachusetts Institute of Technology
Rus, DanielaMIT
 
11:15-11:30, Paper ThAT14.2 Add to My Program
Control and Perception Framework for Deep Sea Mining Exploration
Sartore, CarlottaUniversity of Genova
Campos, RicardUniversity of Girona
Quintana Plana, JosepCoronis Computing S.L
Simetti, EnricoUniversity of Genova - ISME: Interuniversity Research Center On
Garcia, RafaelUniversity of Girona
Casalino, GiuseppeUniversity of Genova
 
11:30-11:45, Paper ThAT14.3 Add to My Program
Online Planning for Autonomous Underwater Vehicles Performing Information Gathering Tasks in Large Subsea Environments
Yetkin, HarunBartin University
McMahon, JamesThe Naval Research Laboratory
Topin, NicholayCarnegie Mellon University
Wolek, ArturUniversity of Maryland
Waters, ZacharyUS Naval Research Laboratory
Stilwell, DanielVirginia Tech
 
11:45-12:00, Paper ThAT14.4 Add to My Program
Performance Guarantees for Receding Horizon Search with Terminal Cost
Biggs, BenjaminVirginia Polytechnic Institute and State University
Stilwell, DanielVirginia Tech
Yetkin, HarunBartin University
McMahon, JamesThe Naval Research Laboratory
 
12:00-12:15, Paper ThAT14.5 Add to My Program
Robust Moving Path Following Control for Robotic Vehicles: Theory and Experiments
Reis, MatheusUniversity of Porto
Jain, R. PraveenFaculty of Engineering (FEUP), University of Porto
Aguiar, A. PedroFaculty of Engineering, University of Porto (FEUP)
Sousa, JoãoUniversidade Porto - Faculdade Engenharia
 
12:15-12:30, Paper ThAT14.6 Add to My Program
Towards Autonomous Industrial-Scale Bathymetric Surveying
Torroba Balmori, IgnacioKTH Royal Institute of Technology
Bore, NilsKTH Royal Institute of Technology
Folkesson, JohnKTH
 
ThAT15 Regular session, LG-R15 Add to My Program 
Behavior-Based Systems  
 
Chair: Natale, LorenzoIstituto Italiano Di Tecnologia
Co-Chair: Petillot, Yvan R.Heriot-Watt University
 
11:00-11:15, Paper ThAT15.1 Add to My Program
Reactive Interaction through Body Motion and the Phase-State-Machine
Deimel, RaphaelTU Berlin
 
11:15-11:30, Paper ThAT15.2 Add to My Program
Learning Generalisable Coupling Terms for Obstacle Avoidance Via Low-Dimensional Geometric Descriptors
Pairet, ÈricEdinburgh Centre for Robotics
Ardón, PaolaEdinburgh Centre for Robotics
Mistry, MichaelUniversity of Edinburgh
Petillot, Yvan R.Heriot-Watt University
 
11:30-11:45, Paper ThAT15.3 Add to My Program
Analysis and Exploitation of Synchronized Parallel Executions in Behavior Trees
Colledanchise, MicheleIIT - Italian Institute of Technology
Natale, LorenzoIstituto Italiano Di Tecnologia
 
11:45-12:00, Paper ThAT15.4 Add to My Program
A Behavior Driven Approach for Sampling Rare-Event Situations for Autonomous Vehicles
Sarkar, AtrishaUniversity of Waterloo
Czarnecki, KrzysztofUniversity of Waterloo
 
12:00-12:15, Paper ThAT15.5 Add to My Program
Constructing a Highly Interactive Vehicle Motion Dataset
Zhan, WeiUniveristy of California, Berkeley
Sun, LitingUniversity of California, Berkeley
Wang, DiXi'an Jiaotong University
Jin, YinghanZhejiang University
Tomizuka, MasayoshiUniversity of California
 
12:15-12:30, Paper ThAT15.6 Add to My Program
Introducing a Scalable and Modular Control Framework for Low-Cost Monocular Robots in Hazardous Environments
Taylor, HazelThe University of Manchester
Dondrup, ChristianHeriot-Watt University
Lohan, Katrin SolveigHeriot-Watt University
 
ThAT16 Regular session, LG-R16 Add to My Program 
Grasping and Object Tracking  
 
Chair: Lan, XuguangXi'an Jiaotong University
Co-Chair: Roa, Maximo A.DLR - German Aerospace Center
 
11:00-11:15, Paper ThAT16.1 Add to My Program
Task-Oriented Grasping in Object Stacking Scenes with CRF-Based Semantic Model
Yang, ChenjieXi'an Jiaotong University
Lan, XuguangXi'an Jiaotong University
Zhang, HanboXi'an Jiaotong University
Zheng, NanningXi'an Jiaotong University
 
11:15-11:30, Paper ThAT16.2 Add to My Program
A Multi-Task Convolutional Neural Network for Autonomous Robotic Grasping in Object Stacking Scenes
Zhang, HanboXi'an Jiaotong University
Lan, XuguangXi'an Jiaotong University
Bai, SiteXi'an Jiaotong University
Wan, LipengXi'an Jiaotong University
Yang, ChenjieXi'an Jiaotong University
Zheng, NanningXi'an Jiaotong University
 
11:30-11:45, Paper ThAT16.3 Add to My Program
Occlusion-Robust Deformable Object Tracking without Physics Simulation
Chi, ChengUniversity of Michigan
Berenson, DmitryUniversity of Michigan
 
11:45-12:00, Paper ThAT16.4 Add to My Program
LDLS: 3-D Object Segmentation through Label Diffusion from 2-D Images
Wang, BrianCornell University
Chao, Wei-LunCornell University
Wang, YanCornell
Hariharan, BharathCornell University
Weinberger, KilianCornell University
Campbell, MarkCornell University
 
12:00-12:15, Paper ThAT16.5 Add to My Program
Curved-Voxel Clustering for Accurate Segmentation of 3D LiDAR Point Clouds with Real-Time Performance
Park, SeungcheolSeoul National University
Wang, Shu YuSeoul National University
Lim, HunjungSamsunh
Kang, USeoul National University
 
ThAT17 Regular session, LG-R17 Add to My Program 
Rehabilitation Robotics II  
 
Chair: Dubey, RajivUniversity of South Florida
Co-Chair: Liarokapis, MinasThe University of Auckland
 
11:00-11:15, Paper ThAT17.1 Add to My Program
Cable-Driven 4-DOF Upper Limb Rehabilitation Robot
Shi, KeSoutheast University
Song, AiguoSoutheast University
Li, YeSoutheast University
Chen, DapengSoutheast University
Li, HuijunSoutheast University
 
11:15-11:30, Paper ThAT17.2 Add to My Program
Design and Control of a Multifunctional Ankle Exoskeleton Powered by Magnetorheological Actuators to Assist Walking, Jumping and Landing
Khazoom, CharlesUniversité De Sherbrooke
Veronneau, CatherineUniversite De Sherbrooke
Lucking Bigué, Jean-PhilippeUniversité De Sherbrooke
Grenier, JordaneSafran Electronics & Defense
Girard, AlexandreUniversité De Sehrbrooke
Plante, Jean-SebastienUniversité De Sherbrooke
 
11:30-11:45, Paper ThAT17.3 Add to My Program
A Soft Exoglove Equipped with a Wearable Muscle-Machine Interface Based on Forcemyography and Electromyography
Dwivedi, AnanyUniversity of Auckland
Gerez, LucasThe University of Auckland
Hasan, WarisUniversity of Auckland
Yang, Chi-HungUniversity of Auckland
Liarokapis, MinasThe University of Auckland
 
11:45-12:00, Paper ThAT17.4 Add to My Program
Applying the Interaction of Walking-Emotion to an Assistive Device for Rehabilitation and Exercise
Zhuang, Jyun RongGraduate School of Information, Production and Systems, Waseda U
Wu, Guan YuGraduate School of Information, Production and Systems, Waseda U
Lee, Hee-hyolWaseda University
Tanaka, EiichiroWaseda University
 
12:00-12:15, Paper ThAT17.5 Add to My Program
Upper Limb Motion Simulation Algorithm for Prosthesis Prescription and Training
Menychtas, DimitriosUniversity of South Florida
Carey, StephanieUniversity of South Florida
Alqasemi, RedwanUniversity of South Florida
Dubey, RajivUniversity of South Florida
 
ThAT18 Regular session, LG-R18 Add to My Program 
Multi-Robot Systems I  
 
Chair: Fricke, George MatthewThe University of New Mexico
Co-Chair: Liu, Yen-ChenNational Cheng Kung University
 
11:00-11:15, Paper ThAT18.1 Add to My Program
Multi-Robot Assembly Sequencing Via Discrete Optimization
Culbertson, PrestonStanford University
Bandyopadhyay, SaptarshiCalifornia Institute of Technology
Schwager, MacStanford University
 
11:15-11:30, Paper ThAT18.2 Add to My Program
Ignorance Is Not Bliss: An Analysis of Central-Place Foraging Algorithms
Aggarwal, AbhinavUniversity of New Mexico
Gupta, DikshaUniversity of New Mexico
Vining, WilliamUniversity of New Mexico
Fricke, George MatthewThe University of New Mexico
Moses, MelanieUniversity of New Mexico
 
11:30-11:45, Paper ThAT18.3 Add to My Program
Resilience by Reconfiguration: Exploiting Heterogeneity in Robot Teams
Ramachandran, Ragesh KumarUniversity Southern California
Preiss, JamesUSC
Sukhatme, GauravUniversity of Southern California
 
11:45-12:00, Paper ThAT18.4 Add to My Program
Centralized Control Architecture for Cooperative Object Transportation Using Multiple Omnidirectional AGVs
Huzaefa, FirhanNational Cheng Kung University
Liu, Yen-ChenNational Cheng Kung University
 
12:00-12:15, Paper ThAT18.5 Add to My Program
Distance-Based Cooperative Relative Localization for Leader-Following Control of MAVs
Nguyen, Thien-MinhNanyang Technological University
Qiu, ZhirongNanyang Technological University
Nguyen, Thien HoangNanyang Technological University
Cao, MuqingNanyang Technological University
Xie, LihuaNanyangTechnological University
 
12:15-12:30, Paper ThAT18.6 Add to My Program
Range-Limited, Distributed Algorithms on Higher-Order Voronoi Partitions in Multi-Robot Systems
Kong, LingxuanThe Australian National University
Liu, QingchenAustralian National Uniersity
Yu, Changbin (Brad)The Australian National University
 
ThAT19 Regular session, LG-R19 Add to My Program 
Manipulation Planning I  
 
Chair: Stoyanov, TodorÖrebro University
Co-Chair: Dogar, Mehmet RUniversity of Leeds
 
11:00-11:15, Paper ThAT19.1 Add to My Program
Towards an Autonomous Unwrapping System for Intralogistics
Gabellieri, ChiaraUniversity of Pisa
Palleschi, AlessandroUniversity of Pisa
Mannucci, AnnaUniversità Di Pisa
Pierallini, MicheleCentro Di Ricerca E. Piaggio - Università Di Pisa
Stefanini, ElisaCentro Di Ricerca E. Piaggio - Università Di Pisa
Catalano, Manuel GiuseppeIstituto Italiano Di Tecnologia
Caporale, DaniloCentro Di Ricerca E. Piaggio
Settimi, AlessandroUniversità Di Pisa
Stoyanov, TodorÖrebro University
Magnusson, MartinÖrebro University
Garabini, ManoloUniversità Di Pisa
Pallottino, LuciaUniversità Di Pisa
 
11:15-11:30, Paper ThAT19.2 Add to My Program
Criteria for Maintaining Desired Contacts for Quasi-Static Systems
Hou, YifanCarnegie Mellon University
Mason, Matthew T.Carnegie Mellon University
 
11:30-11:45, Paper ThAT19.3 Add to My Program
Learning Physics-Based Manipulation in Clutter: Combining Image-Based Generalization and Look-Ahead Planning
Bejjani, WissamUniversity of Leeds
Dogar, Mehmet RUniversity of Leeds
Leonetti, MatteoUniversity of Leeds
 
11:45-12:00, Paper ThAT19.4 Add to My Program
Homography-Based Deep Visual Servoing Methods for Planar Grasps
Wang, Austin S.Carnegie Mellon University
Zhang, WumingCarnegie Mellon University, School of Computer Science
Troniak, DanielCarnegie Mellon University
Jacky, LiangCarnegie Mellon University
Kroemer, OliverCarnegie Mellon University
 
12:00-12:15, Paper ThAT19.5 Add to My Program
Object Rearrangement with Nested Nonprehensile Manipulation Actions
Song, ChangkyuRutgers University
Boularias, AbdeslamRutgers University
 
12:15-12:30, Paper ThAT19.6 Add to My Program
Robust Deformation Model Approximation for Robotic Cable Manipulation
Jin, ShiyuUniversity of California, Berkeley
Wang, ChanghaoUniversity of California, Berkeley
Tomizuka, MasayoshiUniversity of California
 
ThAT20 Regular session, LG-R20 Add to My Program 
Soft Robot: Modeling, Control, and Learning  
 
Chair: Xie, ShaneUniversity of Leeds
Co-Chair: Nakamura, TaroChuo University
 
11:00-11:15, Paper ThAT20.1 Add to My Program
Local Online Motor Babbling: Learning Motor Abundance of a Musculoskeletal Robot Arm
Liu, ZinanTechnische Universitaet Darmstadt Fachbereich Informatik Fachgeb
Hitzmann, ArneOsaka University
Ikemoto, ShuheiOsaka University
Stark, SvenjaTechnical University Darmstadt
Peters, JanTechnische Universität Darmstadt
Hosoda, KohOsaka University
 
11:15-11:30, Paper ThAT20.2 Add to My Program
Iterative Learning Control for Fast and Accurate Position Tracking with an Articulated Soft Robotic Arm
Hofer, MatthiasETH Zurich
Spannagl, LukasETH Zurich
D'Andrea, RaffaelloETHZ
 
11:30-11:45, Paper ThAT20.3 Add to My Program
Coupling Disturbance Compensated MIMO Control of Parallel Ankle Rehabilitation Robot Actuated by Pneumatic Muscles
Zuo, JieWuhan University of Technology
Meng, WeiWuhan University of Technology
Liu, QuanWuhan University of Technology
Ai, QingsongWuhan University of Technology
Xie, ShaneUniversity of Leeds
Zhou, ZudeWuhan University of Technology
 
11:45-12:00, Paper ThAT20.4 Add to My Program
Proposal of a Peristaltic Motion Type Duct Cleaning Robot for Traveling in a Flexible Pipe
Ito, FumioChuo University
Kawaguchi, TakahikoChuo University
Kamata, MasashiChuo University
Yamada, YasuyukiChuo University
Nakamura, TaroChuo University
 
12:00-12:15, Paper ThAT20.5 Add to My Program
Dynamic Control for Soft Robots with Internal Constraints in the Presence of Obstacles
Della Santina, CosimoMassachusetts Institute of Technology
Bicchi, AntonioUniversità Di Pisa
Rus, DanielaMIT
 
12:15-12:30, Paper ThAT20.6 Add to My Program
Closed-Form Equations and Experimental Verification for Soft Robot Arm Based on Cosserat Theory
Niu, LizhouHarbin Institute of Technology
Ding, LiangHarbin Institute of Technology
Gao, HaiboHarbin Institute of Technology
Su, YangHarbin Institute of Technology
Deng, ZongquanHarbin Institute of Technology
Liu, ZhenHarbin Institute of Technology
 
ThAWL , L3-RA to RC Add to My Program 
Award Luncheon  
 
 
ThBT1 Regular session, L1-R1 Add to My Program 
Sensor Fusion I  
 
Chair: Chen, ShengyongTianjin University of Technology
Co-Chair: Huang, GuoquanUniversity of Delaware
 
14:45-15:00, Paper ThBT1.1 Add to My Program
Robust High Accuracy Visual-Inertial-Laser SLAM System
Wang, ZengyuanZhejiang University of Technology
Zhang, JianhuaCollege of Computer Science and Technology, Zhejiang University
Chen, ShengyongZhejiang University of Technology
Yuan, CongerZhejiang University of Technology
Zhang, JingqianZhejiang University of Technology
Zhang, JianweiUniversity of Hamburg
 
15:00-15:15, Paper ThBT1.2 Add to My Program
Covariance Pre-Integration for Delayed Measurements in Multi-Sensor Fusion
Allak, ErenAlpen-Adria-Universität Klagenfurt
Jung, RolandAlpen-Adria-Universität Klagenfurt
Weiss, StephanAlpen-Adria-Universität Klagenfurt
 
15:15-15:30, Paper ThBT1.3 Add to My Program
Real-Time Dense Depth Estimation Using Semantically-Guided LIDAR Data Propagation and Motion Stereo
Hirata, AtsukiThe University of Tokyo
Ishikawa, RyoichiThe University of Tokyo
Roxas, MenandroThe University of Tokyo
Oishi, TakeshiThe University of Tokyo
 
15:30-15:45, Paper ThBT1.4 Add to My Program
Non-Parametric Mixed-Manifold Products Using Multiscale Kernel Densities
Fourie, DehannMassachusetts Institute of Technology and Woods Hole Oceanograph
Vaz Teixeira, PedroMassachusetts Institute of Technology
Leonard, JohnMIT
 
15:45-16:00, Paper ThBT1.5 Add to My Program
Perception System Design for Low-Cost Commercial Ground Robots: Sensor Configurations, Calibration, Localization, and Mapping
Chen, YimingAlibaba DAMO
Zhang, MingmingAlibaba AI Labs
Hong, DongshengAlibaba Inc
Deng, ChengchengAlibaba
Li, MingyangAlibaba
 
16:00-16:15, Paper ThBT1.6 Add to My Program
Visual-Inertial Localization with Prior LiDAR Map Constraints
Zuo, XingxingZhejiang University
Geneva, PatrickUniversity of Delaware
Yang, YulinUniversity of Delaware
Ye, WenlongZhejiang University
Liu, YongZhejiang University
Huang, GuoquanUniversity of Delaware
 
ThBT2 Regular session, L1-R2 Add to My Program 
Learning for Localization  
 
Chair: Brock, OliverTechnische Universität Berlin
Co-Chair: Dörr, StefanFraunhofer Institute for Manufacturing Engineering and Automation IPA
 
14:45-15:00, Paper ThBT2.1 Add to My Program
Deep Sensor Fusion for Real-Time Odometry Estimation
Valente, MichelleMines Paristech
Joly, CyrilMines ParisTech, PSL Research University
de La Fortelle, ArnaudMINES ParisTech - PSL Research University
 
15:00-15:15, Paper ThBT2.2 Add to My Program
Angle of Arrival Estimation Based on Channel Impulse Response Measurements
Ledergerber, Anton JosefETH Zurich
Hamer, MichaelETH Zurich
D'Andrea, RaffaelloETHZ
 
15:15-15:30, Paper ThBT2.3 Add to My Program
State Representation Learning with Robotic Priors for Partially Observable Environments
Morik, MarcoTechnische Universität Berlin
Rastogi, DivyamTU Berlin
Jonschkowski, RicoGoogle
Brock, OliverTechnische Universität Berlin
 
15:30-15:45, Paper ThBT2.4 Add to My Program
One-Shot Object Localization Using Learnt Visual Cues Via Siamese Networks
Gubbi Venkatesh, SagarIndian Institute of Science
Amrutur, BharadwajIndian Institute of Science
 
15:45-16:00, Paper ThBT2.5 Add to My Program
Deep Learning-Based Mutual Detection and Collaborative Localization for Mobile Robot Fleets Using Solely 2D LIDAR Sensors
Dietrich, RobinUniversity of Stuttgart, Fraunhofer IPA
Dörr, StefanFraunhofer Institute for Manufacturing Engineering and Automatio
 
16:00-16:15, Paper ThBT2.6 Add to My Program
RGB-To-TSDF: Direct TSDF Prediction from a Single RGB Image for Dense 3D Reconstruction
Kim, HanjunSeoul National University
Moon, JiyounSeoul National University
Lee, Beom-HeeSeoul National University
 
ThBT3 Regular session, L1-R3 Add to My Program 
Physical Human-Robot Interaction II  
 
Chair: Lou, YunjiangHarbin Institute of Technology, Shenzhen
Co-Chair: Zefran, MilosUniversity of Illinois at Chicago
 
14:45-15:00, Paper ThBT3.1 Add to My Program
Mathematic Modeling and Optimal Design of a Magneto-Rheological Clutch for the Compliant Actuator in Physical Robot Interactions
Chen, GuangzengHarbin Institute of Technology, Shenzhen
Lou, YunjiangHarbin Institute of Technology Shenzhen
Shang, TongyiHarbin Institute of Technology, Shenzhen
 
15:00-15:15, Paper ThBT3.2 Add to My Program
Collaborative Robot Assistant for the Ergonomic Manipulation of Cumbersome Objects
Zanchettin, Andrea MariaPolitecnico Di Milano
Lotano, ElioPolitecnico Di Milano
Rocco, PaoloPolitecnico Di Milano
 
15:15-15:30, Paper ThBT3.3 Add to My Program
Fast Handovers with a Robot Character: Small Sensorimotor Delays Improve Perceived Qualities
Pan, MatthewWalt Disney Imagineering
Knoop, EspenThe Walt Disney Company
Bächer, MoritzDisney Research
Niemeyer, GünterDisney Research
 
15:30-15:45, Paper ThBT3.4 Add to My Program
Obstacle Avoidance Using a Capacitive Skin for Safe Human-Robot Interaction
M'colo, Kamal-EdineUniversity of Montpellier
Bruno, LuongFOGALE
Crosnier, AndréLIRMM
Christian, NeelFOGALE
Fraisse, PhilippeLIRMM
 
15:45-16:00, Paper ThBT3.5 Add to My Program
Complex Stiffness Model of Physical Human-Robot Interaction: Implications for Control of Performance Augmentation Exoskeletons
He, BinghanThe University of Texas at Austin
Huang, HuangUniversity of Texas at Austin
Thomas, GrayUniversity of Texas at Austin
Sentis, LuisThe University of Texas at Austin
 
16:00-16:15, Paper ThBT3.6 Add to My Program
A Multimodal Human-Robot Interaction Manager for Assistive Robots
Abbasi, BaharehUniversity of Illinois at Chicago
Monaikul, NatawutUniversity of Illinois at Chicago
Rysbek, ZhanibekUniversity of Illinois at Chicago
Di Eugenio, BarbaraUniversity of Illinois at Chicago
Zefran, MilosUniversity of Illinois at Chicago
 
ThBT4 Regular session, L1-R4 Add to My Program 
Parallel Robots  
 
Chair: Yuan, JianjunShanghai University, China
Co-Chair: Zanotto, DamianoStevens Institute of Technology
 
14:45-15:00, Paper ThBT4.1 Add to My Program
Kinematics, Design and Experimental Validation of a Novel Parallel Robot for Two-Fingered Dexterous Manipulation
Haouas, WissemFemto-St
Laurent, Guillaume J.Univ. Bourgogne Franche-Comté, ENSMM
Thibaud, SébastienENSMM
Dahmouche, RedwanUniversité De Franche Comté
 
15:00-15:15, Paper ThBT4.2 Add to My Program
Influence of Parameters Uncertainties on the Positioning of Cable-Driven Parallel Robots
Merlet, Jean-PierreINRIA
 
15:15-15:30, Paper ThBT4.3 Add to My Program
A New Time-Varying Feedback RISE Control of PKMs: Theory and Application
Saied, HusseinUnivesity of Montpellier, LIRMM
Chemori, AhmedCnrs / Lirmm
Bouri, MohamedEPFL
El Rafei, MaherLebanese University, Faculty of Engineering, CRSI
Francis, ClovisLebanese University
Pierrot, FrançoisCnrs - Lirmm
 
15:30-15:45, Paper ThBT4.4 Add to My Program
Tracking Control of Fully-Constrained Cable-Driven Parallel Robots Using Adaptive Dynamic Programming
Li, ShuaiStevens Institute of Technology
Zanotto, DamianoStevens Institute of Technology
 
15:45-16:00, Paper ThBT4.5 Add to My Program
Optimization Based Trajectory Planning of Mobile Cable-Driven Parallel Robots
Rasheed, TahirIRCCyN - ECN - IRT JV
Long, PhilipNortheastern Univeristy
Suarez Roos, AdolfoIRT Jules Verne
Caro, StéphaneCNRS/LS2N
 
16:00-16:15, Paper ThBT4.6 Add to My Program
Inverse Kinematics and Sensitivity Minimization of an N-Stack Stewart Platform
Balaban, DavidUniversity of Massachusetts Amherst
Cooper, JohnNASA
Komendera, ErikVirginia Polytechnic Institute and State University
 
ThBT5 Regular session, L1-R5 Add to My Program 
Optimal Control I  
 
Chair: Nadubettu Yadukumar, ShishirIndian Institute of Science
Co-Chair: Yang, InsoonSeoul National University
 
14:45-15:00, Paper ThBT5.1 Add to My Program
Trajectory Planning for a Bat-Like Flapping Wing Robot
Hoff, JonathanUniversity of Illinois at Urbana-Champaign
Syed, Usman AhmedUniversity of Illinois at Urbana Champaign
Ramezani, AlirezaCalifornia Institute of Technology
Hutchinson, SethGeorgia Institute of Technology
 
15:00-15:15, Paper ThBT5.2 Add to My Program
Risk-Aware Motion Planning and Control Using CVaR-Constrained Optimization
Hakobyan, AstghikSeoul National University
Kim, Gyeong ChanSeoul National University
Yang, InsoonSeoul National University
 
15:15-15:30, Paper ThBT5.3 Add to My Program
Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation
Sleiman, Jean-PierreETH Zurich
Carius, JanETH Zurich
Grandia, RubenETH Zurich
Wermelinger, MartinETH Zurich
Hutter, MarcoETH Zurich
 
15:30-15:45, Paper ThBT5.4 Add to My Program
Learning Q-Network for Active Information Acquisition
Jeong, HeejinUniversity of Pennsylvania
Schlotfeldt, BrentUniversity of Pennsylvania
Hassani, HamedUniversity of Pennsylvania
Morari, ManfredETH Zurich
Lee, DanielCornell Tech
Pappas, George J.University of Pennsylvania
 
15:45-16:00, Paper ThBT5.5 Add to My Program
Chance-Constrained Trajectory Optimization for Non-Linear Systems with Unknown Stochastic Dynamics
Celik, Mevlüt OnurUniversität Tübingen
Abdulsamad, HanyTechnische Universität Darmstadt
Peters, JanTechnische Universität Darmstadt
 
16:00-16:15, Paper ThBT5.6 Add to My Program
PD Based Robust Quadratic Programs for Robotic Systems
Nadubettu Yadukumar, ShishirIndian Institute of Science
Veer, SushantUniversity of Delaware
 
ThBT6 Regular session, L1-R6 Add to My Program 
Model Learning for Control I  
 
Chair: Sharf, InnaMcGill University
Co-Chair: Howard, MatthewKing's College London
 
14:45-15:00, Paper ThBT6.1 Add to My Program
Time Series Motion Generation Considering Long Short-Term Motion
Fujimoto, KazukiSaitama University
Sakaino, ShoUniversity of Tsukuba
Tsuji, ToshiakiSaitama University
 
15:00-15:15, Paper ThBT6.2 Add to My Program
Learning Singularity Avoidance
Manavalan, JeevanKing's College London
Howard, MatthewKing's College London
 
15:15-15:30, Paper ThBT6.3 Add to My Program
Learning-Based Model Predictive Control for Autonomous Racing
Kabzan, JurajETH Zurich/APTIV
Hewing, LukasETH Zurich
Liniger, AlexanderETH Zurich
Zeilinger, Melanie N.ETH Zurich
 
15:30-15:45, Paper ThBT6.4 Add to My Program
Data-Driven Model Predictive Control for Trajectory Tracking with a Robotic Arm
Carron, AndreaETH Zurich
Arcari, ElenaETH Zurich
Wermelinger, MartinETH Zurich
Hewing, LukasETH Zurich
Hutter, MarcoETH Zurich
Zeilinger, Melanie N.ETH Zurich
 
15:45-16:00, Paper ThBT6.5 Add to My Program
Cascaded Gaussian Processes for Data-Efficient Robot Dynamics Learning
Rezaei-Shoshtari, SahandMcGill University
Meger, David PaulMcGill University
Sharf, InnaMcGill University
 
16:00-16:15, Paper ThBT6.6 Add to My Program
Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems
Taylor, AndrewCalifornia Institute of Technology
Dorobantu, VictorCalifornia Institute of Technology
Le, Hoang M.California Institute of Technology
Yue, YisongCalifornia Institute of Technology
Ames, AaronCalifornia Institute of Technology
 
ThBT7 Regular session, L1-R7 Add to My Program 
Vision-Based Navigation I  
 
Chair: Sattar, JunaedUniversity of Minnesota
Co-Chair: Quan, QuanBeihang University
 
14:45-15:00, Paper ThBT7.1 Add to My Program
Active Infrared Coded Target Design and Pose Estimation for Multiple Objects
Yan, XudongBeihang University
Deng, HengBeihang University
Quan, QuanBeihang University
 
15:00-15:15, Paper ThBT7.2 Add to My Program
Robust Real-Time RGB-D Visual Odometry in Dynamic Environments Via Rigid Motion Model
Lee, SangilSeoul National Univ
Son, Clark YoungdongSeoul National University
Kim, H. JinSeoul National University
 
15:15-15:30, Paper ThBT7.3 Add to My Program
Visual-Inertial On-Board Throw-And-Go Initialization for Micro Air Vehicles
Scheiber, MartinUniversität Klagenfurt
Delaune, JeffJet Propulsion Laboratory
Brockers, RolandCalifornia Institute of Technology
Weiss, StephanAlpen-Adria-Universität Klagenfurt
 
15:30-15:45, Paper ThBT7.4 Add to My Program
DeepVIO: Self-Supervised Deep Learning of Monocular Visual Inertial Odometry Using 3D Geometric Constraints
Han, LimingCloudMinds Technologies Inc
Lin, YiminCloudMinds Technologies Inc
Du, GuoguangCloudMinds Technologies Inc
Lian, ShiguoCloudMinds Technologies Inc
 
15:45-16:00, Paper ThBT7.5 Add to My Program
Line-Based Absolute and Relative Camera Pose Estimation in Structured Environments
Li, HaoangThe Chinese University of Hong Kong
Zhao, JiReadSense Ltd
Bazin, Jean-CharlesKAIST
Chen, WenThe Chinese University of Hong Kong
Chen, KaiWuhan University
Liu, YunhuiChinese University of Hong Kong
 
16:00-16:15, Paper ThBT7.6 Add to My Program
Extending Monocular Visual Odometry to Stereo Camera Systems by Scale Optimization
Mo, JiaweiUniversity of Minnesota, Twin Cities
Sattar, JunaedUniversity of Minnesota
 
ThBT8 Regular session, LG-R8 Add to My Program 
Simulation and Animation  
 
Chair: Voyles, RichardPurdue University
Co-Chair: Lee, DongjunSeoul National University
 
14:45-15:00, Paper ThBT8.1 Add to My Program
DESK: A Robotic Activity Dataset for Dexterous Surgical Skills Transfer to Medical Robots
Madapana, NaveenIndian Institute of Technology Guwahati
Rahman, Md MasudurPurdue University - West Lafayette
Sanchez-Tamayo, NataliaPurdue University
Balakuntala Srinivasa Murthy, Mythra VarunPurdue University
Gonzalez, GlebysPurdue University
Padmakumar Bindu, JyothsnaPurdue University
Venkatesh, L.N VishnunandanPurdue University
Zhang, XingguangPurdue University
Barragan, Juan AntonioPurdue University
Low, ThomasSRI International
Voyles, RichardPurdue University
Xue, YexiangPurdue University
Wachs, JuanPurdue University
 
15:00-15:15, Paper ThBT8.2 Add to My Program
Research on Finite Ground Effect of a Rotor
Wang, XinkuangNanjing University of Science and Technology
Liu, YongNanjing University of Science and Technology
Huang, ChengweiNanjing University of Science and Technology
 
15:15-15:30, Paper ThBT8.3 Add to My Program
FlightGoggles: Photorealistic Sensor Simulation for Perception-Driven Robotics Using Photogrammetry and Virtual Reality
Guerra, WinterMIT
Tal, EzraMIT
Murali, VarunMassachusetts Institute of Technology
Ryou, GilhyunMassachusetts Institute of Technology
Karaman, SertacMassachusetts Institute of Technology
 
15:30-15:45, Paper ThBT8.4 Add to My Program
A Model for Simulating the Robotic Pushing of Dirt
Rodriguez, SamuelTexas Wesleyan University
Su, ZixiuTexas Wesleyan University
Yu, JiazhenTexas Wesleyan University
 
15:45-16:00, Paper ThBT8.5 Add to My Program
Ergodic Flocking
Veitch, ConanUNBC
Render, DuncanUniversity of Northern British Columbia
Aravind, AlexUniversity of Northern British Columbia
 
16:00-16:15, Paper ThBT8.6 Add to My Program
Passive Model Reduction and Switching for Fast Soft Object Simulation with Intermittent Contacts
Yoon, JaeminSeoul National University
Hong, IlKwonSeoul National University
Lee, DongjunSeoul National University
 
ThBT9 Regular session, LG-R9 Add to My Program 
Cognitive Human-Robot Interaction II  
 
Chair: Kim, KeehoonKorea Institute of Science and Technology
Co-Chair: Losey, DylanStanford University
 
14:45-15:00, Paper ThBT9.1 Add to My Program
The Stability of Human Supervisory Control Operator Behavioral Models Using Hidden Markov Models
Zhu, HaibeiDuke University
Cummings, M. L.Duke
 
15:00-15:15, Paper ThBT9.2 Add to My Program
Measuring Engagement Elicited by Eye Contact in Human-Robot Interaction
Kompatsiari, KyveliIstituto Italiano Di Tecnologia
Ciardo, FrancescaDr
De Tommaso, DavideIstituto Italiano Di Tecnologia
Wykowska, AgnieszkaIstituto Italiano Di Tecnologia
 
15:15-15:30, Paper ThBT9.3 Add to My Program
Can User-Centered Reinforcement Learning Allow a Robot to Attract Passersby without Causing Discomfort?
Ozaki, YasunoriNTT Corporation
Ishihara, TatsuyaNTT
Matsumura, NarimuneNTT
Nunobiki, TadashiNTT
 
15:30-15:45, Paper ThBT9.4 Add to My Program
Hierarchical Segmentation of Continuous Motions through sEMG Signal Analysis
Park, SeongsikPOSTECH
Lee, DonghyeonPohang University of Science and Technology(POSTECH)
Chung, Wan KyunPOSTECH
Kim, KeehoonKorea Institute of Science and Technology
 
15:45-16:00, Paper ThBT9.5 Add to My Program
Robots That Take Advantage of Human Trust
Losey, DylanStanford University
Sadigh, DorsaStanford University
 
16:00-16:15, Paper ThBT9.6 Add to My Program
Multimodal Uncertainty Reduction for Intention Recognition in Human-Robot Interaction
Trick, SusanneTechnische Universität Darmstadt
Koert, DorotheaTechnische Universitaet Darmstadt
Peters, JanTechnische Universität Darmstadt
Rothkopf, ConstantinFrankfurt Institute for Advanced Studies
 
ThBT10 Regular session, LG-R10 Add to My Program 
Mapping I  
 
Chair: Ramos, FabioUniversity of Sydney, NVIDIA
Co-Chair: Krajník, TomášCzech Technical University
 
14:45-15:00, Paper ThBT10.1 Add to My Program
Spatiotemporal Learning of Directional Uncertainty in Urban Environments with Kernel Recurrent Mixture Density Networks
Zhi, WeimingUniversity of Sydney
Senanayake, RansaluUniversity of Sydney
Ott, LionelUniversity of Sydney
Ramos, FabioUniversity of Sydney, NVIDIA
 
15:00-15:15, Paper ThBT10.2 Add to My Program
Dense 3D Reconstruction for Visual Tunnel Inspection Using Unmanned Aerial Vehicle
Pahwa, Ramanpreet SinghInstitute for Infocomm Research, Singapore
Yanting, Kennard ChanNTU
Bai, JiaminI2R
Saputra, Vincensius BillyNational University of Singapore
Do, Minh N.UIUC
Foong, ShaohuiSingapore University of Technology and Design
 
15:15-15:30, Paper ThBT10.3 Add to My Program
Predictive and Adaptive Maps for Long-Term Visual Navigation in Changing Environments
Halodová, LucieCzech Technical University
Dvořáková, EliškaArtificial Intelligence Center, Faculty of Electrical Engineerin
Majer, FilipFEE, Czech Technical University
Vintr, TomasFEE, Czech Technical University in Prague
Mozos, OscarTechnical University of Cartagena
Dayoub, FerasQueensland University of Technology
Krajník, TomášCzech Technical University
 
15:30-15:45, Paper ThBT10.4 Add to My Program
Lane Marking Learning Based on Crowdsourced Data
Pannen, DavidBMW Group
Liebner, MartinBMW Group
Burgard, WolframUniversity of Freiburg
 
15:45-16:00, Paper ThBT10.5 Add to My Program
Crowd-Sourced Semantic Edge Mapping for Autonomous Vehicles
Herb, MarkusAUDI AG
Weiherer, TobiasAUDI AG
Navab, NassirTU Munich
Tombari, FedericoTechnische Universität München
 
16:00-16:15, Paper ThBT10.6 Add to My Program
Warped Hypertime Representations for Long-Term Autonomy of Mobile Robots
Krajník, TomášCzech Technical University
Vintr, TomasFEE, Czech Technical University in Prague
Molina, SergiUniversity of Lincoln
Pulido Fentanes, JaimeUniversity of Lincoln
Cielniak, GrzegorzUniversity of Lincoln
Mozos, OscarTechnical University of Cartagena
Broughton, GeorgeCzech Technical University
Duckett, TomUniversity of Lincoln
 
ThBT11 Regular session, LG-R11 Add to My Program 
Medical Robot: Microsurgery  
 
Chair: Kang, JinThe Johns Hopkins University
Co-Chair: Belharet, KarimHautes Etudes d'Ingénieur - HEI Campus Centre
 
14:45-15:00, Paper ThBT11.1 Add to My Program
Permanent Magnets Based Actuator for Microrobots Navigation
Abbes, ManelUniversity of Orleans - University of Sousse
Belharet, KarimHautes Etudes d'Ingénieur - HEI Campus Centre
Mekki, HassenUniversity of Sousse
Poisson, GérardUniversité D'Orléans
 
15:00-15:15, Paper ThBT11.2 Add to My Program
Optical Coherence Tomography Guided Robotic Device for Autonomous Needle Insertion in Cornea Transplant Surgery
Guo, ShoujingJohns Hopkins University
Sarfaraz, NicolasMechanical Engineering, University of Maryland
Gensheimer, WilliamWarfighter Eye Center, MGMCSC, Joint Base Andrews
Krieger, AxelUniversity of Maryland
Kang, JinThe Johns Hopkins University
 
15:15-15:30, Paper ThBT11.3 Add to My Program
Toward Improving Patient Safety and Surgeon Comfort in a Synergic Robot-Assisted Eye Surgery: A Comparative Study
Ebrahimi, AliJohns Hopkins University
Alambeigi, FarshidUniversity of Texas at Austin
Zimmer-Galler, IngridJohns Hopkins University
Gehlbach, PeterJohns Hopkins Medical Institute
Taylor, Russell H.The Johns Hopkins University
Iordachita, Ioan IulianJohns Hopkins University
 
15:30-15:45, Paper ThBT11.4 Add to My Program
A Novel Semi-Autonomous Control Framework for Retina Confocal Endomicroscopy Scanning
Li, ZhaoshuoJohns Hopkins University
Shahbazi, MahyaJohns Hopkins University
Patel, NiravkumarJohns Hopkins University
O' Sullivan, EimearImperial College of London
Zhang, HaojieImperial College London
Vyas, KhushiImperial College London
Chalasani, PreethamJohns Hopkins University
Gehlbach, PeterJohns Hopkins Medical Institute
Iordachita, Ioan IulianJohns Hopkins University
Yang, Guang-ZhongImperial College London
Taylor, Russell H.The Johns Hopkins University
 
15:45-16:00, Paper ThBT11.5 Add to My Program
A Compact Laser-Steering End-Effector for Transoral Robotic Surgery
Bothner, Simon AntoniEPFL
York, PeterHarvard University
Song, PhillipMassachusetts Eye and Ear Institute
Wood, RobertHarvard University
 
16:00-16:15, Paper ThBT11.6 Add to My Program
Electrical Bio-Impedance Proximity Sensing for Vitreo-Retinal Micro-Surgery
Schoevaerdts, LaurentUniveristy KULeuven
Borghesan, GianniKU Leuven
Ourak, MouloudUniversity of Leuven
Reynaerts, DominiekDept. Mechanical Engineering, K.U.Leuven
Vander Poorten, Emmanuel BKU Leuven
 
ThBT12 Regular session, LG-R12 Add to My Program 
Force and Tactile Sensing I  
 
Chair: Park, Yong-LaeSeoul National University
Co-Chair: Zwiener, AdrianUniversity of Tuebingen
 
14:45-15:00, Paper ThBT12.1 Add to My Program
ARMCL: ARM Contact Point Localization Via Monte Carlo Localization
Zwiener, AdrianUniversity of Tuebingen
Hanten, RichardUniversity of Tübingen
Schulz, CorneliaUniversity of Tübingen
Zell, AndreasUniversity of Tübingen
 
15:00-15:15, Paper ThBT12.2 Add to My Program
Force Sensitive Robotic End-Effector Using Embedded Fiber Optics andDeep Learning Characterization for Dexterous Remote Manipulation
Kim, Jae InSeoul National University
Kim, DongWookSeoul National University
Krebs, MatthewArgonne National Laboratory
Park, Young SooArgonne National Laboratory
Park, Yong-LaeSeoul National University
 
15:15-15:30, Paper ThBT12.3 Add to My Program
Predicting Grasp Success with a Soft Sensing Skin and Shape-Memory Actuated Gripper
Zimmer, JulianKarlsruhe Institute of Technology
Hellebrekers, TessCarnegie Mellon University
Asfour, TamimKarlsruhe Institute of Technology (KIT)
Majidi, CarmelCarnegie Mellon University
Kroemer, OliverCarnegie Mellon University
 
15:30-15:45, Paper ThBT12.4 Add to My Program
Formation of PVDF Piezoelectric Film on 3D Bellows Surface of Robotic Suction Cup for Providing Force Sensing Ability -Feasibility Study on Two Methods of Dip-Coating and Lamination
Aoyagi, SeijiKansai University
Morita, TatsukiKansai University
Shintani, TakutoKansai University
Takise, HirokiKansai University
Takahashi, TomokazuKansai University
Suzuki, MasatoKansai University
 
15:45-16:00, Paper ThBT12.5 Add to My Program
Effective Estimation of Contact Force and Torque for Vision-Based Tactile Sensors with Helmholtz-Hodge Decomposition
Zhang, YazhanThe Hong Kong University of Science and Technology
Kan, ZichengThe Hong Kong University of Science and Technology
Yang, YangThe Hong Kong University of Science and Technology
Alexander, TseHKUST Robotics Institute
Wang, Michael YuHong Kong University of Science & Technology
 
16:00-16:15, Paper ThBT12.6 Add to My Program
Haptic Perception of Liquids Enclosed in Containers
Matl, CarolynUniversity of California, Berkeley
Matthew, Robert, PeterUC Berkeley
Bajcsy, RuzenaUniv of California, Berkeley
 
ThBT13 Regular session, LG-R13 Add to My Program 
Hydraulic/Pneumatic Actuators  
 
Chair: Takanishi, AtsuoWaseda University
Co-Chair: Pucci, DanieleItalian Institute of Technology
 
14:45-15:00, Paper ThBT13.1 Add to My Program
Miniaturization of MR Safe Pneumatic Rotational Stepper Motors
Groenhuis, VincentUniversity of Twente
Siepel, Françoise JUniversity of Twente
Stramigioli, StefanoUniversity of Twente
 
15:00-15:15, Paper ThBT13.2 Add to My Program
Closed-Loop Force Control of a Pneumatic Gripper Actuated by Two Pressure Regulators
Romeo, Rocco AntonioIstituto Italiano Di Tecnologia
Fiorio, LucaIstituto Italiano Di Tecnologia
Avila-Mireles, Edwin JohnatanIstituto Italiano Di Tecnologia
Cannella, FerdinandoIstituto Italiano Di Tecnologia
Metta, GiorgioIstituto Italiano Di Tecnologia (IIT)
Pucci, DanieleItalian Institute of Technology
 
15:15-15:30, Paper ThBT13.3 Add to My Program
Experimental Validation of Hydraulic Interlocking Drive System for Biped Humanoid Robot
Shimizu, JuriWaseda University
Otani, TakuyaWaseda University
Mizukami, HidekiWaseda University
Hashimoto, KenjiMeiji University
Takanishi, AtsuoWaseda University
 
15:30-15:45, Paper ThBT13.4 Add to My Program
Energy Harvesting across Temporal Temperature Gradients Using Vaporization
Xiao, CharlesUniversity of California, Santa Barbara
Naclerio, NicholasUniversity of California, Santa Barbara
Hawkes, Elliot WrightUniversity of California, Santa Barbara
 
15:45-16:00, Paper ThBT13.5 Add to My Program
Kinematic Modeling of a Soft Pneumatic Actuator Using Cubic Hermite Splines
Wiese, MatsLeibniz Universität Hannover
Rüstmann, KennethLeibniz Universität Hannover, Institute of Assembly Technology
Raatz, AnnikaLeibniz Universität Hannover
 
16:00-16:15, Paper ThBT13.6 Add to My Program
High-Speed Humanoid Robot Arm for Badminton Using Pneumatic-Electric Hybrid Actuators
Mori, ShotaroThe University of Tokyo
Tanaka, KazutoshiUniversity of Tokyo
Nishikawa, SatoshiUniversity of Tokyo
Niiyama, RyumaUniversity of Tokyo
Kuniyoshi, YasuoThe University of Tokyo
 
ThBT14 Regular session, LG-R14 Add to My Program 
Marine Robots II  
 
Chair: Quattrini Li, AlbertoDartmouth College
Co-Chair: Schwertfeger, SörenShanghaiTech University
 
14:45-15:00, Paper ThBT14.1 Add to My Program
Real-Time Model-Based Image Color Correction for Underwater Robots
Roznere, MonikaDartmouth College
Quattrini Li, AlbertoDartmouth College
 
15:00-15:15, Paper ThBT14.2 Add to My Program
Passive Inverted Ultra-Short Baseline (piUSBL) Localization: An Experimental Evaluation of Accuracy
Rypkema, Nicholas RahardiyanMassachusetts Institute of Technology
Schmidt, HenrikMassachusetts Institute of Technology
 
15:15-15:30, Paper ThBT14.3 Add to My Program
Concurrent Flow-Based Localization and Mapping in Time-Invariant Flow Fields
Song, ZhuoyuanUniversity of Hawaii at Manoa
Mohseni, KamranUniversity of Florida at Gainesville
 
15:30-15:45, Paper ThBT14.4 Add to My Program
Adaptive Navigation Scheme for Optimal Deep-Sea Localization Using Multimodal Perception Cues
Gomez Chavez, ArturoJacobs University Bremen GGmbH
Xu, QingwenShanghaiTech University
Mueller, Christian AtanasJacobs University
Schwertfeger, SörenShanghaiTech University
Birk, AndreasJacobs University
 
15:45-16:00, Paper ThBT14.5 Add to My Program
Duckiepond: An Open Education and Research Environment for a Fleet of Autonomous Maritime Vehicles
Lin, Ni-ChingNational Chiao Tung University
Hsiao, YuChiehNational Chiao Tung University
Huang, Yi-WeiNational Chiao Tung University
Hung, ChingTangNational Taiwan University
Chuang, Tzu-KuanNational Chiao Tung University
Chen, Pin-WeiNational Chiao Tung University
Huang, Jui-TeNational Chiao Tung University
Hsu, Chao-ChunNational Chiao Tung University
Censi, AndreaETH Zürich & NuTonomy
Benjamin, MichaelMassachusetts Institute of Technology
Chen, Chi-FangNational Taiwan University
Wang, Hsueh-ChengNational Chiao Tung University, Taiwan
 
16:00-16:15, Paper ThBT14.6 Add to My Program
Experimental Comparison of Open Source Visual-Inertial-Based State Estimation Algorithms in the Underwater Domain
Joshi, BharatUniversity of South Carolina
Rahman, SharminUniversity of South Carolina
Kalaitzakis, MichailUniversity of South Carolina
Cain, BrennanUniversity of South Carolina
Johnson, JamesUniversity of South Carolina
Xanthidis, MariosUniversity of South Carolina
Karapetyan, NareUniversity of South Carolina
Hernandez, AlanMiraCosta College
Quattrini Li, AlbertoDartmouth College
Vitzilaios, NikolaosUniversity of South Carolina
Rekleitis, IoannisUniversity of South Carolina
 
ThBT15 Regular session, LG-R15 Add to My Program 
Collision Avoidance I  
 
Chair: Zachmann, GabrielUniversity of Bremen
Co-Chair: Xu, TiantianChinese Academy of Sciences
 
14:45-15:00, Paper ThBT15.1 Add to My Program
Rapid Collision Detection for Multicopter Trajectories
Bucki, NathanUniversity of California, Berkeley
Mueller, Mark WilfriedUniversity of California, Berkeley
 
15:00-15:15, Paper ThBT15.2 Add to My Program
Fast Time-Optimal Avoidance of Moving Obstacles for High-Speed MAV Flight
Beul, MariusUniversity of Bonn
Behnke, SvenUniversity of Bonn
 
15:15-15:30, Paper ThBT15.3 Add to My Program
Continuous-Time Collision Avoidance for Trajectory Optimization in Dynamic Environments
Merkt, Wolfgang XaverThe University of Edinburgh
Ivan, VladimirUniversity of Edinburgh
Vijayakumar, SethuUniversity of Edinburgh
 
15:30-15:45, Paper ThBT15.4 Add to My Program
SIMDop: SIMD Optimized Bounding Volume Hierarchies for Collision Detection
Tan, ToniUniversity of Bremen
Weller, RenéUniversity of Bremen
Zachmann, GabrielClausthal University
 
15:45-16:00, Paper ThBT15.5 Add to My Program
Model Predictive Contouring Control for Collision Avoidance in Unstructured Dynamic Environments
Brito, BrunoTU Delft
Floor, BoazDelft University of Technology
Ferranti, LauraDelft University of Technology
Alonso-Mora, JavierDelft University of Technology
 
16:00-16:15, Paper ThBT15.6 Add to My Program
LSwarm: Efficient Collision Avoidance for Large Swarms with Coverage Constraints in Complex Urban Scenes
Arul, Senthil HariharanUniversity of Maryland, College Park
Sathyamoorthy, Adarsh JaganUniversity of Maryland
Patel, ShivangUniversity of Maryland, College Park
Otte, Michael W.University of Maryland
Xu, HuanUniversity of Maryland
Lin, Ming C.University of North Carolina
Manocha, DineshUniversity of Maryland
 
ThBT16 Regular session, LG-R16 Add to My Program 
Haptics and Bio-Inspired  
 
Chair: Lelevé, ArnaudINSA De Lyon (Institut National Des Sciences Appliquees), Universite De Lyon
Co-Chair: Ishii, HiroyukiWaseda University
 
14:45-15:00, Paper ThBT16.1 Add to My Program
Position-Based Control of Under-Constrained Haptics: A System for the Dexmo Glove
Friston, SebastianUniversity College London
Griffith, EliasUniversity of Liverpool
Swapp, DavidUniversity College London
Marshall, AlanUniversity of Liverpool
Steed, AnthonyUniversity College London
 
15:00-15:15, Paper ThBT16.2 Add to My Program
On the Feasibility of Multi-Degree-Of-Freedom Haptic Devices Using Passive Actuators
Lacki, MaciejOntario Tech University
Rossa, CarlosOntario Tech University
 
15:15-15:30, Paper ThBT16.3 Add to My Program
Identification of Rat Ultrasonic Vocalizations from Mix Sounds of a Robotic Rat in Non-Silent Environments
Li, ChangBeijing Institute of Technology
Shi, QingBeijing Institute of Technology
Gao, ZihangBeijing Institute of Technology
Ishii, HiroyukiWaseda University
Takanishi, AtsuoWaseda University
Huang, QiangBeijing Institute of Technology
Fukuda, ToshioMeijo University
 
15:30-15:45, Paper ThBT16.4 Add to My Program
Component Modularized Design of Musculoskeletal Humanoid Platform Musashi to Investigate Learning Control Systems
Kawaharazuka, KentoThe University of Tokyo
Makino, ShogoThe University of Tokyo
Tsuzuki, KeiUniversity of Tokyo
Onitsuka, MoritakaThe University of Tokyo
Nagamatsu, YuyaThe University of Tokyo
Shinjo, KokiThe University of Tokyo
Makabe, TasukuThe University of Tokyo
Asano, YukiThe University of Tokyo
Okada, KeiThe University of Tokyo
Kawasaki, KojiThe University of Tokyo
Inaba, MasayukiThe University of Tokyo
 
15:45-16:00, Paper ThBT16.5 Add to My Program
Development of a Location Finding System for Minute Sound Source by Using Human Acoustic System with Stochastic Resonance
Tsujita, KatsuyoshiOsaka Institute of Technology
 
16:00-16:15, Paper ThBT16.6 Add to My Program
A Multi-Trainee Architecture for Haptic Hands-On Training
Licona, Angel RicardoUniversite De Lyon, INSA Lyon, Ampere
Lelevé, ArnaudINSA De Lyon (Institut National Des Sciences Appliquees), Univer
Pham, Minh TuINSA De Lyon (Institut National Des Sciences Appliquees)
Eberard, DamienINSA De Lyon (Institut National Des Sciences Appliquees)
 
ThBT17 Regular session, LG-R17 Add to My Program 
Prosthetics and Exoskeletons I  
 
Chair: Suzuki, KenjiUniversity of Tsukuba
Co-Chair: Catalano, Manuel GiuseppeIstituto Italiano Di Tecnologia
 
14:45-15:00, Paper ThBT17.1 Add to My Program
A Gear-Driven Prosthetic Hand with Major Grasp Functions for Toddlers
Jing, XiaobeiThe University of Electro-Communications, Shenzhen Institutes Of
Yong, XuThe University of Electro-Communications, Shenzhen Institutes Of
Shi, YuankangThe University of Electro-Communications
Yabuki, YoshikoThe University of Electro-Communications
Jiang, YinlaiThe University of Electro-Communications
Yokoi, HiroshiThe University of Electro-Communications
Li, GuanglinShenzhen Institutes of Advanced Technology Chinese
 
15:00-15:15, Paper ThBT17.2 Add to My Program
A Variable Stiffness Elbow Joint for Upper Limb Prosthesis
Lemerle, SimonUniversity of Pisa
Grioli, GiorgioIstituto Italiano Di Tecnologia
Bicchi, AntonioUniversità Di Pisa
Catalano, Manuel GiuseppeIstituto Italiano Di Tecnologia
 
15:15-15:30, Paper ThBT17.3 Add to My Program
Robust and Adaptive Lower Limb Prosthesis Stance Control Via Extended Kalman Filter-Based Gait Phase Estimation
Thatte, NitishCarnegie Mellon University
Shah, TanviCarnegie Mellon University
Geyer, HartmutCarnegie Mellon University
 
15:30-15:45, Paper ThBT17.4 Add to My Program
Feasibility of Gait Entrainment to Hip Mechanical Perturbation for Locomotor Rehabilitation
Lee, JongwooMassachusetts Institute of Technology (MIT)
Goetz, DevonMIT
Huber, MeghanMassachusetts Institute of Technology
Hogan, NevilleMassachusetts Institute of Technology
 
15:45-16:00, Paper ThBT17.5 Add to My Program
MRLift: A Semi-Active Lower Back Support Exoskeleton Based on MR Fluid and Force Retention Technology
Hassan, ModarUniversity of Tsukuba
Kennard, MaxwellUniversity of Tsukuba
Yagi, KeisukeIbaraki University
Kadone, HidekiUniversity of Tsukuba
Mochiyama, HiromiUniversity of Tsukuba
Suzuki, KenjiUniversity of Tsukuba
 
ThBT18 Regular session, LG-R18 Add to My Program 
Multi-Robot Systems II  
 
Chair: Secchi, CristianUniv. of Modena & Reggio Emilia
Co-Chair: Amato, NancyUniversity of Illinois
 
14:45-15:00, Paper ThBT18.1 Add to My Program
Understanding Multi-Robot Systems: On the Concept of Legibility
Capelli, BeatriceUniversity of Modena and Reggio Emilia
Villani, ValeriaUniversity of Modena and Reggio Emilia
Secchi, CristianUniv. of Modena & Reggio Emilia
Sabattini, LorenzoUniversity of Modena and Reggio Emilia
 
15:00-15:15, Paper ThBT18.2 Add to My Program
Interaction Templates for Multi-Robot Systems
Motes, JamesTexas A&M University
Sandstrom, ReadTexas A&M University
Adams, WillUniversity of Texas at Austin
Ogunyale, TobiGeorgia State University
Thomas, ShawnaTexas A&M University
Amato, NancyUniversity of Illinois
 
15:15-15:30, Paper ThBT18.3 Add to My Program
Minimum k-Connectivity Maintenance for Robust Multi-Robot Systems
Luo, WenhaoCarnegie Mellon University
Sycara, KatiaCarnegie Mellon University
 
15:30-15:45, Paper ThBT18.4 Add to My Program
Submodular Optimization for Coupled Task Allocation and Intermittent Deployment Problems
Liu, JunVirginia Tech
Williams, RyanVirginia Polytechnic Institute and State University
 
15:45-16:00, Paper ThBT18.5 Add to My Program
Cannot Avoid Penalty for Fluctuating Order Arrival Rate? Let's Minimize
Agarwal, MarichiTCS Research & Innovation
Sarkar, ChayanTCS Research & Innovation
 
16:00-16:15, Paper ThBT18.6 Add to My Program
Adaptive Risk-Based Replanning for Human-Aware Multi-Robot Task Allocation with Local Perception
Talebpour, ZeynabÉcole Polytechnique Fédérale De Lausanne
Martinoli, AlcherioEPFL
 
ThBT19 Regular session, LG-R19 Add to My Program 
Manipulation Planning II  
 
Chair: Likhachev, MaximCarnegie Mellon University
Co-Chair: Stork, Johannes A.Örebro University
 
14:45-15:00, Paper ThBT19.1 Add to My Program
Sampling-Based Motion Planning for Aerial Pick-And-Place
Kim, HyoinSeoul National University
Seo, HoseongSeoul National University
Kim, JongChanSeoul National University
Kim, H. JinSeoul National University
 
15:00-15:15, Paper ThBT19.2 Add to My Program
Force-And-Motion Constrained Planning for Tool Use
Holladay, RachelMassachusetts Institute of Technology
Lozano-Perez, TomasMIT
Rodriguez, AlbertoMassachusetts Institute of Technology
 
15:15-15:30, Paper ThBT19.3 Add to My Program
Object Placement Planning and Optimization for Robot Manipulators
Haustein, Joshua AlexanderKTH Royal Institute of Technology
Hang, KaiyuYale University
Stork, Johannes AndreasÖrebro University
Kragic, DanicaKTH
 
15:30-15:45, Paper ThBT19.4 Add to My Program
Bidirectional Heuristic Search for Motion Planning with an Extend Operator
Cheng, AllenThe Robotics Institute, Carnegie Mellon University
Saxena, Dhruv MauriaThe Robotics Institute, Carnegie Mellon University
Likhachev, MaximCarnegie Mellon University
 
15:45-16:00, Paper ThBT19.5 Add to My Program
Pixels to Plans: Learning Non-Prehensile Manipulation by Imitating a Planner
Tosun, TarikSamsung AI Center NY
Mitchell, EricSamsung AI Center NY
Eisner, BenjaminSamsung AI Center NY
Huh, JinwookUniversity of Pennsylvania
Lee, BhoramUniversity of Pennsylvania
Lee, DaewonSamsung AI Center New York
Isler, VolkanUniversity of Minnesota
Seung, SebastianSamsung AI Center NY
Lee, DanielCornell Tech
 
16:00-16:15, Paper ThBT19.6 Add to My Program
Exploiting Linearity in Dynamics Solvers for the Design of Composable Robotic Manipulation Architectures
Schneider, SvenBonn-Rhein-Sieg University
Bruyninckx, HermanUniversity of Leuven
 
ThBT20 Regular session, LG-R20 Add to My Program 
Soft Sensors and Actuators I  
 
Chair: Renaud, PierreICube AVR
Co-Chair: Vanderborght, BramVrije Universiteit Brussel
 
14:45-15:00, Paper ThBT20.1 Add to My Program
Deep Neural Network Approach in Electrical Impedance Tomography-Based Real-Time Soft Tactile Sensor
Park, HyunkyuKorea Advanced Institute of Science and Technology
Lee, HyosangMax Planck Institute for Intelligent Systems
Park, KyungseoKAIST
Mo, SangwooKAIST
Kim, JungKAIST
 
15:00-15:15, Paper ThBT20.2 Add to My Program
Modeling and Identification for the Design of a Rotary Soft Actuator Based on Wren Mechanism
Gayral, ThibaultICube
Rubbert, LennartINSA - Strasbourg
Renaud, PierreICube AVR
 
15:15-15:30, Paper ThBT20.3 Add to My Program
Modular Volumetric Actuators Using Motorized Auxetics
Lipton, JeffreyUniversity of Washington
Chin, LillianMassachusetts Institute of Technology
Miske, JacobMIT
Rus, DanielaMIT
 
15:30-15:45, Paper ThBT20.4 Add to My Program
Novel Lockable and Stackable Compliant Actuation Unit for Modular +SPEA Actuators
Mathijssen, GlennVrije Universiteit Brussel
Furnémont, RaphaëlVrije Universiteit Brussel
Saerens, EliasVrije Universiteit Brussel
Garabini, ManoloUniversità Di Pisa
Catalano, Manuel GiuseppeIstituto Italiano Di Tecnologia
Lefeber, DirkVrije Universiteit Brussel
Bicchi, AntonioUniversità Di Pisa
Vanderborght, BramVrije Universiteit Brussel
 
15:45-16:00, Paper ThBT20.5 Add to My Program
Modelling of Uniaxial EGaIn-Based Strain Sensors for Proprioceptive Sensing of Soft Robots
Al-Azzawi, AbdullahAustralian Centre for Field Robotics (ACFR), the University of S
Boudali, A. MounirUniversity of Sydney
Kong, HeUniversity of Sydney
Goktogan, Ali HaydarAustralian Centre for Field Robotics (ACFR)
Sukkarieh, SalahUniversity of Sydney
 
16:00-16:15, Paper ThBT20.6 Add to My Program
Modeling Novel Soft Mechanosensors Based on Air-Flow Measurements
Escaida Navarro, StefanInria
Goury, OlivierInria - Lille Nord Europe
Zheng, GangINRIA
Morales Bieze, Thor EnriqueUniversity of Lille
Duriez, ChristianINRIA
 
ThCT1 Regular session, L1-R1 Add to My Program 
Sensor Fusion II  
 
Chair: Oh, Jun HoKorea Advanced Inst. of Sci. and Tech
Co-Chair: Ogata, KunihiroNational Institute of Advanced Industrial Science and Technology (AIST)
 
16:45-17:00, Paper ThCT1.1 Add to My Program
Outlier-Robust Manifold Pre-Integration for INS/GPS Fusion
Ch'ng, Shin-FangThe University of Adelaide
Khosravian, AlirezaUniversity of Adelaide
Doan, Anh-DzungThe University of Adelaide
Chin, Tat-JunThe University of Adelaide
 
17:00-17:15, Paper ThCT1.2 Add to My Program
A Robust Position and Posture Measurement System Using Visual Markers and an Inertia Measurement Unit
Ogata, KunihiroNational Institute of Advanced Industrial Science and Technology
Tanaka, HideyukiNational Institute of AIST
Matsumoto, YoshioAIST
 
17:15-17:30, Paper ThCT1.3 Add to My Program
Joint Velocity and Acceleration Estimation in Serial Chain Rigid Body and Flexible Joint Manipulators
Baradaran Birjandi, Seyed AliTechnical University of Munich
Kuehn, JohannesTechnical University of Munich
Haddadin, SamiTechnical University of Munich
 
17:30-17:45, Paper ThCT1.4 Add to My Program
Biped Robot Pelvis Kinematics Estimation Based on the Touch-Point Updating Method
Bae, HyoInKAIST, HuboLab
Oh, JaesungKAIST
Joe, Hyun MinKorea Advanced Institute of Science and Technology
Oh, Jun HoKorea Advanced Inst. of Sci. and Tech
 
17:45-18:00, Paper ThCT1.5 Add to My Program
A Joint Optimization Approach of LiDAR-Camera Fusion for Accurate Dense 3D Reconstructions
Zhen, WeikunCarnegie Mellon University
Hu, YaoyuCarnegie Mellon University
Liu, JingfengCarnegie Mellon University
Scherer, SebastianCarnegie Mellon University
 
18:00-18:15, Paper ThCT1.6 Add to My Program
Fusion of Passive Ferromagnetic Sensors with the Navigational Data for the Improvement of the Detection of Underwater Metal-Containing Objects
Frolov, DmitryRussian State Scientific Center for Robotics and Technical Cyber
Gromoshinskiy, DmitryRTC
Smirnova, EkaterinaRTC
Korsakov, AntonRussian State Scientific Center for Robotics and Technical Cyber
Bakshiev, AlexanderRTC
 
ThCT2 Regular session, L1-R2 Add to My Program 
Learning for Mobile System  
 
Chair: Beetz, MichaelUniversity of Bremen
Co-Chair: Boedecker, JoschkaUniversity of Freiburg
 
16:45-17:00, Paper ThCT2.1 Add to My Program
Task-Motion Planning with Reinforcement Learning for Adaptable Mobile Service Robots
Jiang, YuqianUniversity of Texas at Austin
Yang, FangkaiSchlumberger Ltd
Zhang, ShiqiSUNY Binghamton
Stone, PeterUniversity of Texas at Austin
 
17:00-17:15, Paper ThCT2.2 Add to My Program
Inverse Optimal Planning for Air Traffic Control
Tolstaya, EkaterinaUPenn
Ribeiro, AlejandroUniversity of Pennsylvania
Kumar, VijayUniversity of Pennsylvania
Kapoor, AshishMicroSoft
 
17:15-17:30, Paper ThCT2.3 Add to My Program
Self-Specialization of General Robot Plans Based on Experience
Koralewski, SebastianUniversity of Bremen
Kazhoyan, GayaneUniversity of Bremen
Beetz, MichaelUniversity of Bremen
 
17:30-17:45, Paper ThCT2.4 Add to My Program
Hierarchical Reinforcement Learning for Quadruped Locomotion
Jain, DeepaliRobotics at Google
Iscen, AtilGoogle
Caluwaerts, KenGoogle
 
17:45-18:00, Paper ThCT2.5 Add to My Program
Learning Safe Unlabeled Multi-Robot Planning with Motion Constraints
Khan, ArbaazUniversity of Pennsylvania
Zhang, ChiUniversity of Pennsylvania
Li, ShuoUniversity of Pennsylvania
Wu, JiayueUniversity of Pennsylvania
Schlotfeldt, BrentUniversity of Pennsylvania
Tang, SarahUniversity of Pennsylvania
Ribeiro, AlejandroUniversity of Pennsylvania
Bastani, OsbertUniversity of Pennsylvania
Kumar, VijayUniversity of Pennsylvania
 
18:00-18:15, Paper ThCT2.6 Add to My Program
Dynamic Input for Deep Reinforcement Learning in Autonomous Driving
Huegle, MariaUniversity of Freiburg
Kalweit, GabrielUniversity of Freiburg
Mirchevska, BrankaBMWGroup
Werling, MoritzKarlsruhe Institute of Technology
Boedecker, JoschkaUniversity of Freiburg
 
ThCT3 Regular session, L1-R3 Add to My Program 
Physical Human-Robot Interaction III  
 
Chair: He, WeiUniversity of Science and Technology Beijing
Co-Chair: Rozo, LeonelBosch Center for Artificial Intelligence
 
16:45-17:00, Paper ThCT3.1 Add to My Program
Adaptive Neural Admittance Control for Collision Avoidance in Human-Robot Collaborative Tasks
Yu, XinboUniversity of Science and Technology Beijing
He, WeiUniversity of Science and Technology Beijing
Xue, ChengqianUniversity of Science and Technology Beijing
Li, BinUniversity of Science and Technology Beijing
Cheng, LongChinese Academy of Sciences
Yang, ChenguangUniversity of the West of England
 
17:00-17:15, Paper ThCT3.2 Add to My Program
Safe Physical HRI: Toward a Unified Treatment of Speed and Separation Monitoring Together with Power and Force Limiting
Svarny, PetrCTU in Prague, FEE
Tesař, MichaelCzech Institute of Informatics, Robotics and Cybernetics, CTU
Behrens, Jan KristofCzech Institute of Informatics, Robotics and Cybernetics, Czech
Hoffmann, MatejFaculty of Electrical Engineering, Czech Technical University In
 
17:15-17:30, Paper ThCT3.3 Add to My Program
An Evaluation of Robot-To-Human Handover Configurations for Commercial Robots
Rasch, RobinBielefeld University of Applied Sciences
Wachsmuth, SvenBielefeld University
König, MatthiasBielefeld University of Applied Sciences
 
17:30-17:45, Paper ThCT3.4 Add to My Program
Interactive Trajectory Adaptation through Force-Guided Bayesian Optimization
Rozo, LeonelBosch Center for Artificial Intelligence
 
17:45-18:00, Paper ThCT3.5 Add to My Program
Collision Detection and Isolation on a Robot Using Joint Torque Sensing
Bimbo, JoaoIstituto Italiano Di Tecnologia
Pacchierotti, ClaudioCentre National De La Recherche Scientifique (CNRS)
Tsagarakis, NikosIstituto Italiano Di Tecnologia
Prattichizzo, DomenicoUniversità Di Siena
 
ThCT4 Regular session, L1-R4 Add to My Program 
Compliant Structures  
 
Chair: Oh, SehoonDGIST (Daegu Gyeongbuk Institute of Science and Technology)
Co-Chair: Aktas, BuseHarvard University
 
16:45-17:00, Paper ThCT4.1 Add to My Program
Relaxing the Conservatism of Passivity Condition for Impedance Controlled Series Elastic Actuators
Lee, HyunwookDGIST
Lee, JinohFondazione Istituto Italiano Di Tecnologia (IIT)
Ryu, Jee-HwanKorea Univ. of Tech. and Education
Oh, SehoonDGIST (Daegu Gyeongbuk Institute of Science and Technology)
 
17:00-17:15, Paper ThCT4.2 Add to My Program
Flexure Mechanisms with Variable Stiffness and Damping Using Layer Jamming
Aktas, BuseHarvard University
Howe, Robert D.Harvard University
 
17:15-17:30, Paper ThCT4.3 Add to My Program
Six DoF Pose Estimation for a Tendon-Driven Continuum Mechanism without a Deformation Model
Deutschmann, BastianGerman Aerospace Center
Chalon, MaximeGerman Aerospace Center (DLR)
Reinecke, JensDLR
Maier, MaximilianGerman Aerospace Center
Ott, ChristianGerman Aerospace Center (DLR)
 
17:30-17:45, Paper ThCT4.4 Add to My Program
Employing Magnets to Improve the Force Exertion Capabilities of Adaptive Robot Hands in Precision Grasps
Gerez, LucasThe University of Auckland
Gao, GengUniversity of Auckland
Liarokapis, MinasThe University of Auckland
 
17:45-18:00, Paper ThCT4.5 Add to My Program
Theoretical Foundation for Design of Friction-Tunable Soft Finger with Wrinkle’s Morphology
Trinh, HiepRyukoku University
Ho, VanJapan Advanced Institute of Science and Technology
Shibuya, KojiRyukoku University
 
ThCT5 Regular session, L1-R5 Add to My Program 
Optimal Control II  
 
Chair: Manchester, ZacharyStanford University
Co-Chair: Park, Hae-WonKorea Advanced Institute of Science and Technology
 
16:45-17:00, Paper ThCT5.1 Add to My Program
Time-Optimal Trajectory Generation for Dynamic Vehicles: A Bilevel Optimization Approach
Tang, GaoDuke University
Sun, WeidongDuke University
Hauser, KrisDuke University
 
17:00-17:15, Paper ThCT5.2 Add to My Program
Do Intermediate Gaits Matter When Rapidly Accelerating?
Fisher, CallenUniversity of Cape Town
Hubicki, ChristianFlorida State University
Patel, AmirUniversity of Cape Town
 
17:15-17:30, Paper ThCT5.3 Add to My Program
QpSWIFT : A Real-Time Sparse Quadratic Program Solver for Robotic Applications
Pandala, AbhishekUniversity of Illinois at Urbana–Champaign
Ding, YanranUniversity of Illinois at Urbana-Champaign
Park, Hae-WonKorea Advanced Institute of Science and Technology
 
17:30-17:45, Paper ThCT5.4 Add to My Program
Real-Time Quad-Rotor Path Planning Using Convex Optimization and Compound State-Triggered Constraints
Szmuk, MichaelAmazon
Malyuta, DanyloUniversity of Washington
Reynolds, Taylor PatrickUniversity of Washington
Mceowen, Margaret SkyeUniversity of Washington
Acikmese, BehcetUniversity of Washington
 
17:45-18:00, Paper ThCT5.5 Add to My Program
ALTRO: A Fast Solver for Constrained Trajectory Optimization
Howell, TaylorStanford University
Jackson, BrianStanford University
Manchester, ZacharyStanford University
 
ThCT6 Regular session, L1-R6 Add to My Program 
Model Learning for Control II  
 
Chair: Sun, YuUniversity of South Florida
Co-Chair: Kumon, MakotoKumamoto University
 
16:45-17:00, Paper ThCT6.1 Add to My Program
Learning Real-World Robot Policies by Dreaming
Piergiovanni, AjIndiana University
Wu, AlanIndiana University Bloomington
Ryoo, Michael S.Indiana University Bloomington
 
17:00-17:15, Paper ThCT6.2 Add to My Program
Accurate Pouring Using Model Predictive Control Enabled by Recurrent Neural Network
Chen, TianzeUniversity of South Florida
Huang, YongqiangUniversity of South Florida
Sun, YuUniversity of South Florida
 
17:15-17:30, Paper ThCT6.3 Add to My Program
Dynamic Task Control Method of a Flexible Manipulator Using a Deep Recurrent Neural Network
Kawaharazuka, KentoThe University of Tokyo
Ogawa, ToruPreferred Networks, Inc
Nabeshima, CotaPreferred Networks, Inc
 
17:30-17:45, Paper ThCT6.4 Add to My Program
Analyzing Liquid Pouring Sequences Via Audio-Visual Neural Networks
Wilson, JustinUniversity of North Carolina at Chapel Hill
Sterling, AustonUNC Chapel Hill
Lin, Ming C.University of North Carolina
 
17:45-18:00, Paper ThCT6.5 Add to My Program
Aerodynamic Model Identification of a Quadrotor Subject to Rotor Failures in the High-Speed Flight Regime
Sun, SihaoDelft University of Technology
de Visser, CoenTU Delft
 
18:00-18:15, Paper ThCT6.6 Add to My Program
Deep Lagrangian Networks for End-To-End Learning of Energy-Based Control for Under-Actuated Systems
Lutter, MichaelTechnische Universitaet Darmstadt
Listmann, Kim DanielABB AG
Peters, JanTechnische Universität Darmstadt
 
ThCT7 Regular session, L1-R7 Add to My Program 
Vision-Based Navigation II  
 
Chair: Indelman, VadimTechnion - Israel Institute of Technology
Co-Chair: Yang, YezhouArizona State University
 
16:45-17:00, Paper ThCT7.1 Add to My Program
GAPLE: Generalizable Approaching Policy LEarning for Robotic Object Searching in Indoor Environment
Ye, XinArizona State University
Lin, ZheAdobe Systems, Inc
Lee, Joon-YoungAdobe Research
Zhang, JianmingAdobe Inc
Zheng, ShibinArizona State University
Yang, YezhouArizona State University
 
17:00-17:15, Paper ThCT7.2 Add to My Program
Deep Visual MPC-Policy Learning for Navigation
Hirose, NoriakiStanford University
Xia, FeiStanford University
Martín-Martín, RobertoStanford University
Sadeghian, AmirStanford University
Savarese, SilvioStanford University
 
17:15-17:30, Paper ThCT7.3 Add to My Program
Data Association Aware Semantic Mapping and Localization Via a Viewpoint-Dependent Classifier Model
Tchuiev, VladimirTechnion Israel Institute of Technology
Feldman, YuriTechnion
Indelman, VadimTechnion - Israel Institute of Technology
 
17:30-17:45, Paper ThCT7.4 Add to My Program
A GPS-Aided Omnidirectional Visual-Inertial State Estimator in Ubiquitous Environments
Yu, YangHong Kong University of Science and Technology
Gao, WenliangHong Kong University of Science and Technology
Liu, ChengjuTongji University
Shen, ShaojieHong Kong University of Science and Technology
Liu, MingHong Kong University of Science and Technology
 
17:45-18:00, Paper ThCT7.5 Add to My Program
Gaze Training by Modulated Dropout Improves Imitation Learning
Chen, YuyingHong Kong University of Science and Technology
Liu, CongcongHong Kong University of Science and Technology
Tai, LeiHong Kong University of Science and Technology
Liu, MingHong Kong University of Science and Technology
Shi, Bertram EmilHong Kong University of Science and Technology
 
18:00-18:15, Paper ThCT7.6 Add to My Program
LiDAR-Flow: Dense Scene Flow Estimation from Sparse LiDAR and Stereo Images
Battrawy, RamyDFKI
Schuster, RenéDFKI
Wasenmüller, OliverGerman Research Center for Artificial Intelligence (DFKI)
Rao, QingBMW AG
Stricker, DidierGerman Research Center for Artificial Intelligence
 
ThCT8 Regular session, LG-R8 Add to My Program 
Control and Programming  
 
Chair: Kroeger, TorstenKarlsruher Institut Für Technologie (KIT)
Co-Chair: Wang, Yu-PingTsinghua University
 
16:45-17:00, Paper ThCT8.1 Add to My Program
Toward Achieving Formal Guarantees for Human-Aware Controllers in Human-Robot Interaction
Schlossman, RachelUniversity of Texas at Austin
Kim, MinKyuKorea Institute of Science and Technology
Topcu, UfukThe University of Texas at Austin
Sentis, LuisThe University of Texas at Austin
 
17:00-17:15, Paper ThCT8.2 Add to My Program
Robot-Based Machining of Unmodeled Objects Via Feature Detection in Dense Point Clouds
Hartmann, DennisKarlsruhe Institute of Technology (KIT)
Mende, MichaelKarlsruhe Institute of Technology (KIT)
Stogl, DenisKarlsruhe Institute of Technology (KIT)
Hein, BjörnKarlsruhe University of Applied Science
Kroeger, TorstenKarlsruher Institut Für Technologie (KIT)
 
17:15-17:30, Paper ThCT8.3 Add to My Program
MPERL : Hardware and Software Co-Design for Robotic Manipulators
Pirron, MarcusMPI-SWS
Zufferey, DamienMPI-SWS
 
17:30-17:45, Paper ThCT8.4 Add to My Program
Arguing Security of Autonomous Robots
Hochgeschwender, NicoGerman Aerospace Center (DLR)
Cornelius, GaryUniversity of Luxembourg
Voos, HolgerUniversity of Luxembourg
 
17:45-18:00, Paper ThCT8.5 Add to My Program
MuSe: Multi-Sensor Integration Strategies Applied to Sequential Monte Carlo Methods
Hanten, RichardUniversity of Tübingen
Schulz, CorneliaUniversity of Tübingen
Zwiener, AdrianUniversity of Tuebingen
Zell, AndreasUniversity of Tübingen
 
18:00-18:15, Paper ThCT8.6 Add to My Program
TZC: Efficient Inter-Process Communication for Robotics Middleware with Partial Serialization
Wang, Yu-PingTsinghua University
Tan, WendeTsinghua University
Hu, Xu-QiangTsinghua University
Manocha, DineshUniversity of Maryland
Hu, Shi-MinTsinghua University
 
ThCT9 Regular session, LG-R9 Add to My Program 
Cognitive Human-Robot Interaction III  
 
Chair: Alami, RachidCNRS
Co-Chair: Muradore, RiccardoUniversity of Verona
 
16:45-17:00, Paper ThCT9.1 Add to My Program
Situation Awareness for Proactive Robots in HRI
Hewa Pelendage, Chapa SirithungeUniversity of Moratuwa
Bandara, RavinduUniversity of Moratuwa
Jayasekara, A.G.B.P.University of Moratuwa
Dedduwa Pathirana, ChandimaUniversity of Moratuwa
 
17:00-17:15, Paper ThCT9.2 Add to My Program
Older People Prefrontal Cortex Activation Estimates Their Perceived Difficulty of a Humanoid-Mediated Conversation
Keshmiri, SoheilAdvanced Telecommunications Research Institute International (AT
Sumioka, HidenobuATR
Yamazaki, RyujiAdvanced Telecommunications Research Institute
Ishiguro, HiroshiOsaka University
 
17:15-17:30, Paper ThCT9.3 Add to My Program
Cognitive Robotic Architecture for Semi-Autonomous Execution of Manipulation Tasks in a Surgical Environment
De Rossi, GiacomoUniversity of Verona
Minelli, MarcoUniversity of Modena and Reggio Emilia
Sozzi, AlessioUniversity of Ferrara
Piccinelli, NicolaUniversity of Verona
Ferraguti, FedericaUniversità Degli Studi Di Modena E Reggio Emilia
Setti, FrancescoUniversity of Verona
Bonfe, MarcelloUniversity of Ferrara
Secchi, CristianUniv. of Modena & Reggio Emilia
Muradore, RiccardoUniversity of Verona
 
17:30-17:45, Paper ThCT9.4 Add to My Program
Simulation-Based Physics Reasoning for Consistent Scene Estimation in an HRI Context
Sallami, YoanLAAS-CNRS
Lemaignan, SéverinUniversity of the West of England
Clodic, AurélieLaas - Cnrs
Alami, RachidCNRS
 
17:45-18:00, Paper ThCT9.5 Add to My Program
Decoding the Perceived Difficulty of Communicated Contents by Older People: Toward Conversational Robot-Assistive Elderly Care
Keshmiri, SoheilAdvanced Telecommunications Research Institute International (AT
Sumioka, HidenobuATR
Yamazaki, RyujiAdvanced Telecommunications Research Institute
Ishiguro, HiroshiOsaka University
 
18:00-18:15, Paper ThCT9.6 Add to My Program
Map Based Human Motion Prediction for People Tracking
Beck, FlorianVienna University of Technology
Bader, MarkusVienna University of Technology
 
ThCT10 Regular session, LG-R10 Add to My Program 
Mapping II  
 
Chair: Stachniss, CyrillUniversity of Bonn
Co-Chair: Munich, Mario EnriqueIRobot
 
16:45-17:00, Paper ThCT10.1 Add to My Program
ReFusion: 3D Reconstruction in Dynamic Environments for RGB-D Cameras Exploiting Residuals
Palazzolo, EmanueleUniversity of Bonn
Behley, JensUniversity of Bonn
Lottes, PhilippUniversity of Bonn
Giguère, PhilippeUniversité Laval
Stachniss, CyrillUniversity of Bonn
 
17:00-17:15, Paper ThCT10.2 Add to My Program
GPU Accelerated Robust Scene Reconstruction
Dong, WeiCarnegie Mellon University
Park, JaesikPOSTECH
Yang, YiCarnegie Mellon University
Kaess, MichaelCarnegie Mellon University
 
17:15-17:30, Paper ThCT10.3 Add to My Program
View Management for Lifelong Visual Maps
Banerjee, NandanIRobot Corporation
Connolly, RyanDuke University
Lisin, DimitriIRobot
Briggs, JimmyIRobot
Munich, Mario EnriqueIRobot
 
17:30-17:45, Paper ThCT10.4 Add to My Program
Online and Consistent Occupancy Grid Mapping for Planning in Unknown Environments
Sodhi, PalomaCarnegie Mellon University
Ho, Bing-JuiCarnegie Mellon University
Kaess, MichaelCarnegie Mellon University
 
17:45-18:00, Paper ThCT10.5 Add to My Program
Information Filter Occupancy Mapping Using Decomposable Radial Kernels
Guo, SiweiUniversity of California San Diego
Atanasov, NikolayUniversity of California, San Diego
 
18:00-18:15, Paper ThCT10.6 Add to My Program
TerrainFusion: Real-Time Digital Surface Model Reconstruction Based on Monocular SLAM
Wang, WeiNorthwestern Polytechnical University
Zhao, YongNorthwestern Polytechnic University
Han, PengchengNorthwestern Polytechnical University
Zhao, PengchengNorthwestern Polytechnical University
Bu, ShuhuiNorthwestern Polytechnical University
 
ThCT11 Regular session, LG-R11 Add to My Program 
Medical Robot: Vision  
 
Chair: Guo, YaoImperial College London
Co-Chair: Li, ZhengThe Chinese University of Hong Kong
 
16:45-17:00, Paper ThCT11.1 Add to My Program
Robust Non-Rigid Point Set Registration Algorithm Considering Anisotropic Uncertainties Based on Coherent Point Drift
Min, ZheThe Chinese University of Hong Kong
Jin, PanThe Chinese University of Hong Kong
Zhang, AngThe Chinese University of Hong Kong
Meng, Max Q.-H.The Chinese University of Hong Kong
 
17:00-17:15, Paper ThCT11.2 Add to My Program
Multicamera 3D Reconstruction of Dynamic Surgical Cavities: Non-Rigid Registration and Point Classification
Su, Yun-HsuanUniversity of Washington
Huang, KevinTrinity College
Hannaford, BlakeUniversity of Washington
 
17:15-17:30, Paper ThCT11.3 Add to My Program
Shared Autonomy of a Flexible Manipulator in Constrained Endoluminal Surgical Tasks
Ma, XinChinese Univerisity of HongKong
Wang, PengThe Chinese University of Hong Kong
Ye, MinXinThe Chinese University of HongKong
Chiu, WAI, YAN PhilipChinese University of Hong Kong
Li, ZhengThe Chinese University of Hong Kong
 
17:30-17:45, Paper ThCT11.4 Add to My Program
Deep Learning Based Robotic Tool Detection and Articulation Estimation with Spatio-Temporal Layers
Colleoni, EmanuelePolitecnico Di Milano
Moccia, SaraUniversità Politecnica Delle Marche
Du, XiaofeiUCL
De Momi, ElenaPolitecnico Di Milano
Stoyanov, DanailUniversity College London
 
17:45-18:00, Paper ThCT11.5 Add to My Program
Vision-Based Virtual Fixtures Generation for Robotic-Assisted Polyp Dissection Procedures
Moccia, RoccoUniversità Degli Studi Di Napoli, Federico II
Selvaggio, MarioUniversità Degli Studi Di Napoli Federico II
Villani, LuigiUniv. Napoli Federico II
Siciliano, BrunoUniv. Napoli Federico II
Ficuciello, FannyUniversità Di Napoli Federico II
 
18:00-18:15, Paper ThCT11.6 Add to My Program
Unsupervised Task Segmentation Approach for Bimanual Surgical Tasks Using Spatiotemporal and Variance Properties
Tsai, Ya-YenImperial College London
Guo, YaoImperial College London
Yang, Guang-ZhongImperial College London
 
ThCT12 Regular session, LG-R12 Add to My Program 
Force and Tactile Sensing II  
 
Chair: Sferrazza, CarmeloETH Zurich
Co-Chair: Cheng, GordonTechnical University of Munich
 
16:45-17:00, Paper ThCT12.1 Add to My Program
Pressure-Driven Body Compliance Using Robot Skin
Guadarrama-Olvera, Julio RogelioTechnical University of Munich
Dean-Leon, EmmanuelTechnischen Universitaet Muenchen
Bergner, FlorianTechnical University of Munich
Cheng, GordonTechnical University of Munich
 
17:00-17:15, Paper ThCT12.2 Add to My Program
Tactile-Based Insertion for Dense Box-Packing
Dong, SiyuanMIT
Rodriguez, AlbertoMassachusetts Institute of Technology
 
17:15-17:30, Paper ThCT12.3 Add to My Program
Transfer Learning for Vision-Based Tactile Sensing
Sferrazza, CarmeloETH Zurich
D'Andrea, RaffaelloETHZ
 
17:30-17:45, Paper ThCT12.4 Add to My Program
Bi-Modal Hemispherical Sensor: A Unifying Solution for Three Axis Force and Contact Angle Measurement
Chuah, Meng Yee (Michael)Agency for Science, Technology and Research (A*STAR)
Epstein, LindsayMassachusetts Institute of Technology
Kim, DonghyunMassachusetts Institute of Technology
Romero, JuanUniversity of California, Berkeley
Kim, SangbaeMassachusetts Institute of Technology
 
17:45-18:00, Paper ThCT12.5 Add to My Program
A 2-Piece Six-Axis Force/torque Sensor Capable of Measuring Loads Applied to Tools of Complex Shapes
Noh, YohanBrunel University London
Lindenroth, LukasKing's College London
Wang, ShuangyiKing's College London
Housden, Richard JamesKing's College London
van Wingerden, Anne-SophieWilliams College
Li, WanlinQueen Mary University of London
Rhode, KawalKing's College London
 
18:00-18:15, Paper ThCT12.6 Add to My Program
Evaluation of a Large-Scale Event-Driven Robot Skin
Bergner, FlorianTechnical University of Munich
Dean-Leon, EmmanuelTechnischen Universitaet Muenchen
Guadarrama-Olvera, Julio RogelioTechnical University of Munich
Cheng, GordonTechnical University of Munich
 
ThCT13 Regular session, LG-R13 Add to My Program 
Industrial Robots & Actuators  
 
Chair: Harada, KensukeOsaka University
Co-Chair: Carmichael, MarcCentre for Autonomous Systems
 
16:45-17:00, Paper ThCT13.1 Add to My Program
Learning Based Robotic Bin-Picking for Potentially Tangled Objects
Matsumura, RyoOsaka University
Domae, YukiyasuThe National Institute of Advanced Industrial Science and Techno
Wan, WeiweiOsaka University
Harada, KensukeOsaka University
 
17:00-17:15, Paper ThCT13.2 Add to My Program
An Efficient Scheduling Algorithm for Multi-Robot Task Allocation in Assembling Aircraft Structures
Tereshchuk, VeniaminUniversity of Washington
Stewart, JohnUniversity of Washington
Bykov, NikolayUniversity of Washington
Pedigo, SamuelThe Boeing Company
Devasia, SantoshUniversity of Washington
Banerjee, AshisUniversity of Washington
 
17:15-17:30, Paper ThCT13.3 Add to My Program
Design of a Growing Robot Inspired by Plant Growth
Yan, TongxiMIT
Teshigawara, SeiichiMassachusetts Institute of Technology
Asada, HarryMIT
 
17:30-17:45, Paper ThCT13.4 Add to My Program
DISR: Deep Infrared Spectral Restoration Algorithm for Robot Sensing and Intelligent Visual Tracking Systems
Liu, HaiCity University of Hong Kong
Li, You-FuCity University of Hong Kong
Su, DanCity University of Hong Kong
Zhang, ZhaoliCentral China Normal Univeristy
Liu, SannyuyaCentral China Normal Univeristy
Liu, TingtingCity University of Hong Kong