4th IEEE International Conference on Soft Robotics April 12-16, 2021 at Yale University, USA
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Last updated on March 31, 2021. This conference program is tentative and subject to change

Technical Program for Wednesday April 14, 2021

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Wed3O Room T1
Application and Deployment Oral
11:25-11:40, Paper Wed3O.1 
A Soft Approach to the Exoskeleton Wearable Device for Temporomandibular Disorder (TMD)

Zhang, RunzhiThe University of Hong Kong
Chen, XiaojiaoThe University of Hong Kong
Li, JingThe University of Hong Kong
Duanmu, DehaoThe University of Hong Kong
Yi, JuanThe University of Hong Kong
Lam, JamesUniversity of Hong Kong
Wang, ZhengThe University of Hong Kong
11:40-11:55, Paper Wed3O.2 
Smooth and Inclined Surface Locomotion and Obstacle Scaling of a C-Legged Miniature Modular Robot

Mahkam, NimaBilkent University
Yilmaz, Talip BatuhanBilkent University
Ozcan, OnurBilkent University
11:55-12:10, Paper Wed3O.3 
RoBoa: Construction and Evaluation of a Steerable Vine Robot for Search and Rescue Applications

Auf der Maur, PascalETH Zurich
Djambazi, BetimETH Zurich
Haberthür, YvesETH Zürich
Hoermann, PatriciaETH Zürich
Kübler, AlexanderETH Zürich
Lustenberger, MichaelETH Zürich
Sigrist, SamuelETH Zürich
Vigen, OdaETH
Förster, JulianETH Zurich
Achermann, FlorianETH Zurich, ASL
Hampp, EliasETH Zurich
Katzschmann, Robert KevinETH Zurich
Siegwart, RolandETH Zurich
12:10-12:25, Paper Wed3O.4 
A Soft Robotic Sleeve for Safer Colonoscopy Procedures

McCandless, MaxBoston University
Gerald, ArincheyanBoston University
Carroll, AshlynBoston University
Aihara, HiroyukiBrigham and Women's Hospital
Russo, SheilaBoston University
Wed5O Room T1
Fluidic Actuation Oral
12:50-13:05, Paper Wed5O.1 
Rapidly Reconfigurable Inextensible Inflatables

Baines, Robert LawrenceYale University
Patiballa, Sree KalyanYale University
Kramer-Bottiglio, RebeccaYale University
13:05-13:20, Paper Wed5O.2 
Micro Elastic Pouch Motors: Elastically Deformable and Miniaturized Soft Actuators Using Liquid-To-Gas Phase Change

Hirai, SeiyaKeio University
Nagatomo, TatsuhoKeio University
Hiraki, TakefumiUniversity of Tsukuba
Ishizua, HirokiOsaka University
Kawahara, YoshihiroThe University of Tokyo
Miki, NorihisaKeio University
13:20-13:35, Paper Wed5O.3 
Eversion Robotic Mechanism with Hydraulic Skeleton to Realize Steering Function

Takahashi, TomoyaTohoku University
Tadakuma, KenjiroTohoku University
Watanabe, MasahiroTohoku University
Takane, EriTohoku University
Hookabe, NatsumiThe University of Tokyo
Kajihara, HiroshiHokkaido University
Yamasaki, TakeshiYamashina Institute for Ornithology
Konyo, MasashiTohoku University
Tadokoro, SatoshiTohoku University
13:35-13:50, Paper Wed5O.4 
Transfer Learning for Accurate Modeling and Control of Soft Actuators

Wiese, MatsLeibniz Universität Hannover
Runge, GundulaInstitute of Assembly Technology, Leibniz Universität Hannover
Cao, Benjamin-HieuLeibniz Universität Hannover
Raatz, AnnikaLeibniz Universität Hannover
Wed6O Room T1
Best Paper Award Nominees Oral
14:00-14:15, Paper Wed6O.1 
Co-Learning of Task and Sensor Placement for Soft Robotics

Spielberg, AndrewMassachusetts Institute of Technology
Amini, AlexanderMassachusetts Institute of Technology
Chin, LillianMassachusetts Institute of Technology
Matusik, WojciechMIT
Rus, DanielaMIT
14:15-14:30, Paper Wed6O.2 
Distributed Sensor Networks Deployed Using Soft Growing Robots

Gruebele, AlexanderStanford University
Zerbe, AndrewStanford University
Coad, Margaret M.Stanford University
Okamura, Allison M.Stanford University
Cutkosky, MarkStanford University
14:30-14:45, Paper Wed6O.3 
Flexoskeleton Fingers: 3D Printed Reconfigurable Ridges Enabling Multi-Functional and Low-Cost Underactuated Grasping

Yu, QifanUniversity of California, San Diego
Jiang, MingsongUcsd
Gravish, NickUC San Diego
14:45-15:00, Paper Wed6O.4 
Bistable Actuation in Multi-DoF Soft Robotic Modules Driven by Rolled Dielectric Elastomer Actuators

Prechtl, JohannesSaarland University
Kunze, JulianSaarland University
Bruch, DanielSaarland University
Seelecke, StefanUniversitat Des Saarlandes
Rizzello, GianlucaSaarland University
Wed8O Room T1
Biological Inspiration Oral
15:25-15:40, Paper Wed8O.1 
A Biorobotic Simulator of Vocal Folds for the Reproduction and Analysis of Electroglottographic Signals

Conte, AriannaBioRobotics Institute, Scuola Superiore Sant'Anna
Maselli, MartinaScuola Superiore Sant'Anna
Nacci, AndreaENT, Audiology and Phoniatrics Unit, University Hospital of Pisa
Manti, MariangelaScuola Superiore Sant'Anna, Pisa
Galli, JacopoInstitute of Otorhinolaryngology, Department of Head and Neck Su
Paludetti, GaetanoInstitute of Otorhinolaryngology, Department of Head and Neck Su
Ursino, FrancescoNational Institute for Research in Phoniatrics, University of Pi
Cianchetti, MatteoScuola Superiore Sant'Anna
15:40-15:55, Paper Wed8O.2 
Feasibility Study on Botanical Robotics: Ophiocordyceps-Like Biodegradable Laminated Foam-Based Soft Actuators with Germination Ability

Yamada, YasuyukiHOSEI University
15:55-16:10, Paper Wed8O.3 
Support Localization Strategy for Growing Robots Aided by Light Perception Inspired by Climbing Plants

Del Dottore, EmanuelaIstituto Italiano Di Tecnologia
Mondini, AlessioIstituito Italiano Di Tecnologia
Mazzolai, BarbaraIstituto Italiano Di Tecnologia
16:10-16:25, Paper Wed8O.4 
Wet Adhesion of Soft Curved Interfaces with Micro Pattern

Nguyen, Van PhoJapan Advanced Institute of Science and Technology (JAIST)
Ho, VanJapan Advanced Institute of Science and Technology
Interactive Poster Session Interactive
16:30-17:30, Paper Wed9Pos.1 
Extending the Reach of Single-Chamber Inflatable Soft Robots Using Magnetorheological Fluids

John G., WilliamsonUniversity of Tulsa
Schell, CarolineUniversity of Tulsa
Keller, MichaelThe University of Tulsa
Schultz, JoshuaUniversity of Tulsa
16:30-17:30, Paper Wed9Pos.2 
Stability Recognition with Active Vibration for Bracing Behaviors and Motion Extensions Using Environment in Musculoskeletal Humanoids

Kawaharazuka, KentoThe University of Tokyo
Nishiura, ManabuUniversity of Tokyo
Nakashima, ShinsukeThe University of Tokyo
Toshimitsu, YasunoriUniversity of Tokyo
Omura, YusukeThe University of Tokyo
Koga, YuyaThe University of Tokyo
Asano, YukiThe University of Tokyo
Okada, KeiThe University of Tokyo
Kawasaki, KojiThe University of Tokyo
Inaba, MasayukiThe University of Tokyo
16:30-17:30, Paper Wed9Pos.3 
Jamming Joints for Stiffness and Posture Control with an Anthropomorphic Hand

Gilday, KieranUniversity of Cambridge
Hughes, JosieMIT
Iida, FumiyaUniversity of Cambridge
16:30-17:30, Paper Wed9Pos.4 
Model-Free Reinforcement Learning with Ensemble for a Soft Continuum Robot Arm

Morimoto, RyotaUniversity of Tokyo
Nishikawa, SatoshiUniversity of Tokyo
Niiyama, RyumaUniversity of Tokyo
Kuniyoshi, YasuoThe University of Tokyo
16:30-17:30, Paper Wed9Pos.5 
Imitation Learning Based Soft Robotic Grasping Control without Precise Estimation of Target Posture

Diaz Cortes, David SantiagoKorea Advanced Institute of Science and Technology
Hwang, GeonwooKorea Advanced Institute of Science and Technology
Kyung, Ki-UkKorea Advanced Institute of Science & Technology (KAIST)
16:30-17:30, Paper Wed9Pos.6 
Development of 3D Printed Structure That Visualizes Bending and Compression Deformations for Soft-Bodied Robots

Hanaoka, KoheiShinshu University
Shimizu, MasahiroOsaka University
Umedachi, TakuyaShinshu University
16:30-17:30, Paper Wed9Pos.7 
Soft Robotic Compliant Two-Finger Gripper Mechanism for Adaptive and Gentle Food Handling

Milojevic, AndrijaLappeenranta University of Technology
Linß, SebastianTechnische Universität Ilmenau
Handroos, HeikkiLappeenranta University of Technology
16:30-17:30, Paper Wed9Pos.8 
Variable Compliance and Geometry Regulation of Soft-Bubble Grippers with Active Pressure Control

Joonhigh, SihahDrexel University, Toyota Research Institute
Kuppuswamy, NaveenToyota Research Institute
Beaulieu, AndrewToyota Research Institute
Alspach, AlexToyota Research Institute
Tedrake, RussMassachusetts Institute of Technology
16:30-17:30, Paper Wed9Pos.9 
Underwater Soft Robot Modeling and Control with Differentiable Simulation

Du, TaoMIT
Hughes, JosieMIT
Wah, SebastienMIT
Matusik, WojciechMIT
Rus, DanielaMIT
16:30-17:30, Paper Wed9Pos.10 
Multi-Scale Motion of Soft Continuum Robots Using Tendons, Eccentric Rods, and a Cam

Ahmed, ShahriorLouisiana State University
Gilbert, Hunter B.Louisiana State University
16:30-17:30, Paper Wed9Pos.11 
Gaussian Process Dynamics Models for Soft Robots with Shape Memory Actuators

Sabelhaus, Andrew P.Carnegie Mellon University
Majidi, CarmelCarnegie Mellon University
16:30-17:30, Paper Wed9Pos.12 
Inter Operable Models for Dynamics and Shape Tracking of Soft Fingers

Mbakop, SteeveYncrea Hauts-De-France
Tagne, GillesYncréa Hauts De France / ISEN Lille
Frouin, Marc-HenriNiryo
Merzouki, RochdiCRIStAL, CNRS UMR 9189, University of Lille1
16:30-17:30, Paper Wed9Pos.13 
Configuration Tracking for Soft Continuum Robotic Arms Using Inverse Dynamic Control of a Cosserat Rod Model

Doroudchi, AzadehArizona State University
Berman, SpringArizona State University
16:30-17:30, Paper Wed9Pos.14 
Modular Simulation Framework for Electro-Ribbon Actuators

Castro, BrunoUniversity of Bristol
Rossiter, JonathanUniversity of Bristol
Taghavi, MajidUniversity of Bristol
Diteesawat, Richard SuphapolUniversity of Bristol
16:30-17:30, Paper Wed9Pos.15 
Passive Flow Control for Series Inflatable Actuators: Application on a Wearable Soft-Robot for Posture Assistance

Paez-Granados, DiegoEPFL - Swiss Federal School of Technology in Lausanne
Yamamoto, TakehiroUniversity of Tsukuba
Kadone, HidekiUniversity of Tsukuba
Suzuki, KenjiUniversity of Tsukuba
16:30-17:30, Paper Wed9Pos.16 
Shape Change Propagation through Soft Curved Materials for Dynamically-Tuned Paddling Robots

Jiang, YuhaoArizona State University
Sharifzadeh, MohammadArizona State University
Aukes, DanielArizona State University
16:30-17:30, Paper Wed9Pos.17 
Robotic Learning from Advisory and Adversarial Interactions Using a Soft Wrist

Hamaya, MasashiOMRON SINIC X Corporation
Tanaka, KazutoshiOMRON SINIC X Corporation
Shibata, YoshiyaOMRON Corpration
von Drigalski, Felix Wolf Hans ErichOMRON SINIC X Corporation
Nakashima, ChisatoOMRON Corp
Ijiri, YoshihisaOMRON Corp
16:30-17:30, Paper Wed9Pos.18 
Tendon-Driven Compliant Prosthetic Wrist Consisting of Three Rows Based on the Concept of Tensegrity Structure

Lee, GeonHanyang University
Hong, Geun YoungHanyang University
Choi, YoungjinHanyang University
16:30-17:30, Paper Wed9Pos.19 
Development of a Variable-Softness Robot by Using Thermoresponsive Hydrogels for Haptic Interaction with Humans

Yasuda, MotokiUniversity of Tsukuba
Ota, ArisaUniversity of Tsukuba
Tanaka, FumihideUniversity of Tsukuba
16:30-17:30, Paper Wed9Pos.20 
DroneTrap: Drone Catching in Midair by Soft Robotic Hand with Color-Based Force Detection and Hand Gesture Recognition

Fedoseev, AlekseySkolkovo Institute of Science AndTechnology
Serpiva, ValeriiSkolkovo Institute of Science and Technology
Karmanova, EkaterinaSkolkovo Institute of Science and Technology
Altamirano Cabrera, MiguelSkolkovo Institute of Science and Technology (Skoltech), Moscow,
Shirokun, VladimirSkolkovo Institute of Science and Technology
Vasilev, IakovSkolkovo Institute of Science and Technology
Savushkin, StanislavSkolkovo Institute of Science and Technology
Tsetserukou, DzmitrySkolkovo Institute of Science and Technology
16:30-17:30, Paper Wed9Pos.21 
Grasp Planning with a Soft Reconfigurable Gripper Exploiting Embedded and Environmental Constraints

Turco, EnricoIstituto Italiano Di Tecnologia
Bo, ValerioIstituto Italiano Di Tecnologia
Pozzi, MariaUniversity of Siena
Rizzo, AlessandroPolitecnico Di Torino
Prattichizzo, DomenicoUniversity of Siena
16:30-17:30, Paper Wed9Pos.22 
A Study on Soft Material Parameter Determination by Iterative Force-Displacement Curve Fitting

Li, YuwenShanghai University
Tang, YongShanghai University
Shi, HangShanghai University
16:30-17:30, Paper Wed9Pos.23 
3D Printable Sensorized Soft Gelatin Hydrogel for Multi-Material Soft Structures

Hardman, DavidUniversity of Cambridge
Hughes, JosieMIT
George Thuruthel, ThomasBio-Inspired Robotics Lab, University of Cambridge
Gilday, KieranUniversity of Cambridge
Iida, FumiyaUniversity of Cambridge
16:30-17:30, Paper Wed9Pos.24 
Evaluation on Swimming Efficiency of an Eel-Inspired Soft Robot with Partially Damaged Body

Nguyen, DinhJapan Advanced Institute of Science and Technology
Ho, VanJapan Advanced Institute of Science and Technology
16:30-17:30, Paper Wed9Pos.25 
Modularized Genotype Combination to Design Multiobjective Soft-Bodied Robots

Kimura, TomoyaThe University of Tokyo
Niiyama, RyumaUniversity of Tokyo
Kuniyoshi, YasuoThe University of Tokyo
16:30-17:30, Paper Wed9Pos.26 
Free Tendons for Travelling Wave Generation in Elastomer Membranes

Wharton, PeterUniversity of Bristol
Conn, AndrewUniversity of Bristol
Gadelha, HermesDepartment of Engineering, University of Bristol, UK
16:30-17:30, Paper Wed9Pos.27 
Design of Lightweight and Extensible Tendon-Driven Continuum Robots Using Origami Patterns

Xu, YuntiUniversity of Toronto
Peyron, QuentinUniversity of Toronto Mississauga
Kim, JongwooThe Hospital for Sick Children, University of Toronto
Burgner-Kahrs, JessicaUniversity of Toronto
16:30-17:30, Paper Wed9Pos.28 
Vacuum Induced Tube Pinching Enables Reconfigurable Flexure Joints with Controllable Bend Axis and Stiffness

Jiang, MingsongUcsd
Yu, QifanUniversity of California, San Diego
Gravish, NickUC San Diego
16:30-17:30, Paper Wed9Pos.29 
Lobster-Inspired Finger Surface Design for Grasp Learning with Enhanced Robustness

Jiang, HaiyangSouthern University of Science and Technology
Jing, YonglinSouthern University of Science and Technology
Guo, NingSouthern University of Science and Technology
Guo, WeijieSouthern University of Science and Technology
Wan, FangAncora Spring Inc
Song, ChaoyangSouthern University of Science and Technology
16:30-17:30, Paper Wed9Pos.30 
Co-Optimization of Morphology and Actuation Parameters of Multi-Sectional FREEs for Trajectory Matching

Xu, WenjunPeng Cheng Laboratory
Liu, ShengkaiBeijing Institute of Technology
Kong, WenchaoPeng Cheng Laboraory
Wang, ChaoPeng Cheng Laboratory
Deng, HaoPeng Cheng Laboratory
Mei, TaoPeng Cheng Laboratory
16:30-17:30, Paper Wed9Pos.31 
Material Characterization for Magnetic Soft Robots

da Veiga, TomasUniversity of Leeds
Chandler, James HenryUniversity of Leeds
Pittiglio, GiovanniUniversity of Leeds
Lloyd, Peter RobertUniversity of Leeds
Holdar, MohammadUniversity of Leeds
Onaizah, OnaizahUniversity of Leeds
Alazmani, AliUniversity of Leeds
Valdastri, PietroUniversity of Leeds
16:30-17:30, Paper Wed9Pos.32 
Analysis of Soft Kirigami Unit Cells for Tunable Stiffness Architectures

Joe, SeonggunIstituto Italiano Di Tecnologia
Totaro, MassimoIstituto Italiano Di Tecnologia
Beccai, LuciaIstituto Italiano Di Tecnologia
16:30-17:30, Paper Wed9Pos.33 
Multilayer Extending Actuator for Soft Robotic Applications

Ambrose, JonathanNational University of Singapore
Yeow, Chen-HuaNational University of Singapore
16:30-17:30, Paper Wed9Pos.34 
Worm-Like Mobile Robot Based on a Tensegrity Structure

Boehm, ValterOTH Regensburg
Schorr, PhilippTU Ilmenau
Schale, FlorianIlmenau University of Technology
Kaufhold, TobiasTU Ilmenau
Zentner, LenaTU Ilmenau
Zimmermann, KlausTU Ilmenau, Germany
16:30-17:30, Paper Wed9Pos.35 
Volumetrically Enhanced Soft Actuator with Proprioceptive Sensing

Wang, BaiyueSouthern University of Science and Technology
Guo, WeijieSouthern University of Science and Technology
Feng, ShihaoSouthern University of Science and Technology
Wan, FangAncora Spring Inc
Song, ChaoyangSouthern University of Science and Technology
16:30-17:30, Paper Wed9Pos.36 
ReSoft Gripper: A Reconfigurable Soft Gripper with Monolithic Fingers and Differential Mechanism for Versatile and Delicate Grasping

Mathew, Anup TeejoKhalifa University
Hussain, IrfanKhalifa University
Stefanini, CesareScuola Superiore Sant'Anna
Hmida, Ikhlas Mohamed BenKhalifa University
Renda, FedericoKhalifa University of Science and Technology
16:30-17:30, Paper Wed9Pos.37 
Fabrication and Characterization of I-Cord Knitted SMA Actuators

Kim, Christopher Yoon JaeUniversity of Pennsylvania
Chien, AthenaRice University
Tippur, MeghaMassachusetts Institute of Technology
Sung, CynthiaUniversity of Pennsylvania
16:30-17:30, Paper Wed9Pos.38 
2D Printing of Piezoresistive Auxetic Silicone Sensor Structures

Clemens, FrankEMPA - Swiss Federal Laboratories for Materials Science and Tech
Melnykowycz, MarkEmpa
Bär, FlorianEmpa
Goldenstein, DanielEmpa
Georgopoulou, AntoniaEmpa – Swiss Federal Laboratories for Materials Science and Tech
16:30-17:30, Paper Wed9Pos.39 
Graded Stiffness Continuum Polymer Waveguide Skin with Hysteresis Compensation and Fault-Tolerance

Lo Preti, MatteoIstituto Italiano di Tecnologia
Totaro, MassimoIstituto Italiano di Tecnologia
Falotico, EgidioScuola Superiore Sant'Anna
Crepaldi, MarcoIstituto Italiano di Tecnologia
Beccai, LuciaIstituto Italiano di Tecnologia
16:30-17:30, Paper Wed9Pos.40 
A Polyurethane-Based Electrospun Nanofiber Bundle Soft Actuator: Fabrication, Modeling, and Control

D'Anniballe, RiccardoUniversity of Groningen
Paoletta, GiovanniUniversity of Bologna
Carloni, RaffaellaUniversity of Groningen
16:30-17:30, Paper Wed9Pos.41 
Using Redundant and Disjoint Time-Variant Soft Robotic Sensors for Accurate Static State Estimation

George Thuruthel, ThomasBio-Inspired Robotics Lab, University of Cambridge
Hughes, JosieMIT
Georgopoulou, AntoniaEmpa – Swiss Federal Laboratories for Materials Science and Tech
Clemens, FrankEMPA - Swiss Federal Laboratories for Materials Science and Tech
Iida, FumiyaUniversity of Cambridge
16:30-17:30, Paper Wed9Pos.42 
A Novel Contractile Vacuum Actuator and Multi-Actuator Development for Knee Extension Assist

Weerasooriya, Lahiru S.University of Moratuwa
Gammanpila, Bhagya C.University of Moratuwa
Thebuwana acharige, OsandaUniversity of Moratuwa
Kulasekera, Asitha LakruwanDepartment of Mechanical Engineering, University of Moratuwa
Arumathanthri, Rancimal BinoyUniversity of Moratuwa
Chathuranga, Damith SureshUniversity of Moratuwa
16:30-17:30, Paper Wed9Pos.43 
Capacitive Sensor Measurement Rate Improves by Pre-Stretching

Porte, ElzeYale University
Sipple, ThomasYale University
Sanchez Botero, LinaYale University
Shah, Dylan S.Yale University
Kramer-Bottiglio, RebeccaYale University
16:30-17:30, Paper Wed9Pos.44 
Au/Pt Double-Layer Electrodes and Expanding Internal Chamber for Improving Air-Hose-Free Thin McKibben Muscles

Kodaira, AkioTokyo Institute of Technology
Nabae, HiroyukiTokyo Institute of Technology
Horiuchi, TetsuyaNational Institute of Advanced Industrial Science and Technology
Asaka, KinjiNational Institute of Advanced Industrial Scince and Technology
Endo, GenTokyo Institute of Technology
Suzumori, KoichiTokyo Institute of Technology
16:30-17:30, Paper Wed9Pos.45 
A Soft Durometer for Tactile Sensing

Oliveira, MarcosNortheastern University
Vaidya, AkshayNortheastern
Padir, TaskinNortheastern University
Felton, SamuelNortheastern University




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