The International Symposium on Robotics Research
October 6-10, 2019, Hanoi, Vietnam

The International Symposium on Robotics Research
October 6-10, 2019, Hanoi, Vietnam

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

Last updated on October 13, 2019. This conference program is tentative and subject to change

Technical Program for Monday October 7, 2019

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MoWelcome  La Veranda
Welcome Welcome
MoDistinguished1  La Veranda
Oussama Khatib

Daniela Rus
Soft Capable Robots
Distinguished Talk
Chair: Siegwart, RolandETH Zurich
Co-Chair: Nakamura, YoshihikoUniversity of Tokyo
MoOral1  La Veranda
Control Regular Session
Chair: Bicchi, AntonioUniversità Di Pisa
Co-Chair: Hollerbach, JohnUniversity of Utah
10:10-10:15, Paper MoOral1 .1 
Asymmetric Dual-Arm Task Execution Using an Extended Relative Jacobian
Almeida, DiogoRoyal Institute of Technology, KTH
Karayiannidis, YiannisChalmers University of Technology & KTH Royal Institute of Techn
10:15-10:20, Paper MoOral1 .2 
Consensus-Based ADMM for Task Assignment in Multi-Robot Teams
Haksar, Ravi N.Stanford University
Shorinwa, OlaStanford University
Washington, PatrickStanford University
Schwager, MacStanford University
10:20-10:25, Paper MoOral1 .3 
Rapidly-Exploring Quotient-Space Trees: Motion Planning Using Sequential Simplifications
Orthey, AndreasUniversity Stuttgart
Toussaint, MarcUniversity of Stuttgart
10:25-10:30, Paper MoOral1 .4 
Optimally Convergent Trajectories for Navigation
Kong, NathanCarnegie Mellon University
Johnson, AaronCarnegie Mellon University
10:30-10:35, Paper MoOral1 .5 
Towards Online Observability-Aware Trajectory Optimization for Landmark-Based Estimators
Frey, Kristoffer M.Massachusetts Institute of Technology
Steiner, TedMassachusetts Institute of Technology
How, Jonathan PatrickMassachusetts Institute of Technology
10:35-10:40, Paper MoOral1 .6 
Joint Space Stiffness and Damping for Cartesian and Null Space Impedance Control of Redundant Robotic Manipulators
Saldarriaga, CarlosStony Brook University
Chakraborty, NilanjanStony Brook University
Kao, IminSUNY at Stony Brook
10:40-10:45, Paper MoOral1 .7 
On the Use of Cayley Transform for Kinematic Shape Reconstruction of Soft Continuum Robots
Grazioso, StanislaoUniversity of Naples Federico II
Di Gironimo, GiuseppeUniversity of Napoli Federico II
Siciliano, BrunoUniv. Napoli Federico II
10:45-10:50, Paper MoOral1 .8 
Compliance Optimization Considering Dynamics for Whole-Body Control of a Humanoid
Yamamoto, KoUniversity of Tokyo
Nakamura, YoshihikoUniversity of Tokyo
10:50-10:55, Paper MoOral1 .9 
Composition of Templates for Transitional Pedipulation Behaviors
Topping, TurnerUniversity of Pennsylvania
Vasilopoulos, VasileiosUniversity of Pennsylvania
De, AvikHarvard University
Koditschek, DanielUniversity of Pennsylvania
10:55-11:00, Paper MoOral1 .10 
Probabilistic Mapping of Tissue Elasticity for Robot-Assisted Medical Ultrasound
Napoli, MichaelUniversity of Rochester
Goswami, SoumyaUniversity of Rochester
McAleavey, StephenUniversity of Rochester
Doyley, MarvinUniversity of Rochester
Howard, ThomasUniversity of Rochester
MoInteractive1  Thang Long Hall
Control - Interactive Interactive Session
MoDistinguished2  La Veranda
Alin Albu-Schäffer
Nonlinear Elastic Resonance Modes for Efficient
Locomotion: From Biology to Robots and Back
Distinguished Talk
Chair: Goldberg, KenUC Berkeley
MoLunchBreak  Restaurant Sofitel Legend Metropole Hotel
Monday Lunch Break Lunch
MoDistinguishedT3  La Veranda
Ken Goldberg
Robo-Exoticism: Art, History, and Our All Too Human

Antonio Bicchi
SymBionics, or about Being a

Siddhartha Srinivasa
Manipulation Challenges for the
Next 20 Years
Distinguished Talk
Chair: Brock, OliverTechnische Universität Berlin
MoOral2  La Veranda
Grasping and Manipulation Regular Session
Chair: Rodriguez, AlbertoMassachusetts Institute of Technology
Co-Chair: Dogar, Mehmet RUniversity of Leeds
16:10-16:15, Paper MoOral2 .1 
Certified Grasping
Aceituno-Cabezas, BernardoMassachusetts Institute of Technology (MIT)
Ballester, JoseMassachusetts Institute of Technology
Rodriguez, AlbertoMassachusetts Institute of Technology
16:15-16:20, Paper MoOral2 .2 
KPAM: KeyPoint Affordances for Category-Level Robotic Manipulation
Manuelli, LucasMassachusetts Institute of Technology
Gao, WeiMassachusetts Institute of Technology
Florence, PeterMIT
Tedrake, RussMassachusetts Institute of Technology
16:20-16:25, Paper MoOral2 .3 
Aerial Manipulation and Grasping by the Versatile Multilinked Aerial Robot DRAGON
Zhao, MojuThe University of Tokyo
Okada, KeiThe University of Tokyo
Inaba, MasayukiThe University of Tokyo
16:25-16:30, Paper MoOral2 .4 
Towards Assistive Robotic Pick and Place in Open World Environments
Wang, DianNortheastern University
Kohler, ColinNortheastern University
ten Pas, AndreasNortheastern University
Wilkinson, AlexanderUniversity of Massachusetts Lowell
Liu, MaozhiNortheastern University
Yanco, HollyUMass Lowell
Platt, RobertNortheastern University
16:30-16:35, Paper MoOral2 .5 
Inferring Occluded Geometry Improves Performance When Retrieving an Object from Dense Clutter
Price, AndrewGeorgia Institute of Technology
Jin, LinyiUniversity of Michigan
Berenson, DmitryUniversity of Michigan
16:35-16:40, Paper MoOral2 .6 
Robot-Assisted Feeding: Generalizing Skewering Strategies across Food Items on a Plate
Feng, RyanUniversity of Washington
Kim, YoungsunUniversity of Washington
Lee, GilwooUniversity of Washington
Gordon, EthanUniversity of Washington
Schmittle, MattUniversity of Washington
Kumar, ShivaumUniversity of Washington
Bhattacharjee, TapomayukhUniversity of Washington
Srinivasa, SiddharthaUniversity of Washington
16:40-16:45, Paper MoOral2 .7 
Manipulation with Suction Cups Using External Contacts
Cheng, XianyiCarnegie Mellon University
Hou, YifanCarnegie Mellon University
Mason, Matthew T.Carnegie Mellon University
16:45-16:50, Paper MoOral2 .8 
Combining Coarse and Fine Physics for Manipulation Using Parallel-In-Time Integration
Agboh, Wisdom C.University of Leeds
Ruprecht, DanielUniversity of Leeds
Dogar, Mehmet RUniversity of Leeds
16:50-16:55, Paper MoOral2 .9 
REACH: Reducing False Negatives in Robot Grasp Planning with a Robust Efficient Area Contact Hypothesis Model
Danielczuk, MichaelUC Berkeley
Xu, JingyiTechnical University of Munich
Mahler, JeffreyUniversity of California, Berkeley
Matl, MatthewUniversity of California, Berkeley
Chentanez, NuttapongUniversity of California at Berkeley
Goldberg, KenUC Berkeley
16:55-17:00, Paper MoOral2 .10 
A Billion Ways to Grasp: An Evaluation of Grasp Sampling Schemes on a Dense, Physics-Based Grasp Data Set
Eppner, ClemensNVIDIA
Mousavian, ArsalanNVIDIA
Fox, DieterUniversity of Washington
MoInteractive2  Thang Long Hall
Grasping and Manipulation - Interactive Interactive Session




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