Friday, December 10, 2021
WEDNESDAY, DECEMBER 8, 2021
THURSDAY, DECEMBER 9, 2021
FRIDAY, DECEMBER 10, 2021
Central European Time CET
Mechanics
9:30-10:45, Chair: Navvab Kashiri
9:30-9:45 – (237) Effect of Geometrical Parameters on PneuNet Bending Performance; Chanuka Lihini Tennakoon*, Asitha Lakruwan Kulasekera, Damith Suresh Chathuranga, R.A.R.C. Gopura (Sri Lanka)
9:45-10:00 – (21) Analysis of Passive-Dynamic Motion on Vibrating Tilted Stage of Two Regular Polygonal Objects of Different Sizes and Shapes; Fumihiko Asano*, Isao Tokuda, Yuxuan Xiang, Cong Yan, Longchuan Li (Japan)
10:00-10:15 – (178) Data-Driven Sensor Fault Diagnosis Based on Nonlinear Additive Models and Local Fault Sensitivity; Nicholas Cartocci*, Francesco Crocetti, Gabriele Costante, Paolo Valigi, Marcello Napolitano, Mario Fravolini (Italy)
10:15-10:30 – (180) Towards a Twisted String Actuated Haptic Device: Experimental Testing of a 2-D Virtual Environment and Teleoperation Interface; Linda Feenstra, Umberto Scarcia, Riccardo Zanella, Roberto Meattini, Davide Chiaravalli*, Gianluca Palli, Claudio Melchiorri (Italy)
10:30-10:45 – (216) Thermal Control for Peak Operation of Electric Robotic Actuators; Akash Singh*, Navvab Kashiri, Nikos Tsagarakis (Italy)
Humanoids
9:30-10:45, Chair: Luca Marchionni
9:30-9:45 – (11) Development of a Shoulder Joint for Humanoid Robotics Application; Zhenis Otarbay, Sharafatdin Yessirkepov, Timur Ishuov, Michele Folgheraiter* (Kazakhstan)
9:45-10:00 – (103) A Novel Approach to Model the Kinematics of Human Fingers Based on an Elliptic Multi-Joint Configuration: Zeyu Wu*, Luiza Labazanova, Peng Zhou, David Navarro-Alarcon (China)
10:00-10:15 – (56) Comparison of Position and Torque Whole-Body Control Schemes on the Humanoid Robot TALOS; Noëlie Ramuzat*, Gabriele Buondonno, Sébastien Boria, Olivier Stasse (France)
10:15-10:30 – (140) Control of Humanoid in Multiple Fixed and Moving Unilateral Contacts; Julien Roux*, Saeid Samadi, Eisoku Kuroiwa, Takahide Yoshiike, Abderrahmane Kheddar (France)
10:30-10:45 (126) ICP Localization and Walking Experiments on a TALOS Humanoid Robot; Thibaud Lasguignes*, Isabelle Maroger, Maurice Fallon, Milad Ramezani, Luca Marchionni, Olivier Stasse, Nicolas Mansard, Bruno Watier (France)
Human-Robot Collaboration 1
9:30-10:45, Chair: Ivan Petrović
9:30-9:45 – (30) An Electromyography Based Shared Control Framework for Intuitive Robotic Telemanipulation; Dasha Shieff, Amber Turner, Anany Dwivedi, Gal Gorjup, Minas Liarokapis* (New Zealand)
9:45-10:00 – (16) Mobile and Adaptive User Interface for Human Robot Collaboration in Assembly Tasks; Monakhov Dmitrii*, Jyrki Matias Latokartano, Minna Lanz, Roel S. Pieters, Joni-Kristian Kamarainen (Finland)
10:00-10:15 – (96) Human Localization in Warehouse Environments Based on a Wearable Camera Sensor Suite and Dynamic Ultra-Wide Band Nodes; Goran Popović*, Igor Cvišić, Ivan Markovic, Ivan Petrovic (Croatia)
10:15-10:30 – (133) Building a Drone Operator Digital Twin using a Brain-Computer Interface for Emotion Recognition; Diana Cristina Teixeira Ramos*, Gil Gonçalves, Ricardo André Pinto Faria, Matheus Pedroso Sanches (Portugal)
10:30:10:45 – (59) A Hardware-In-The-Loop Simulator for Physical Human-Aerial Manipulator Cooperation; Eugenio Cuniato*, Jonathan Cacace, Mario Selvaggio, Fabio Ruggiero, Vincenzo Lippiello (Switzerland)
SLAM
11:15-12:30, Chair: Marko Munih
11:15-11:30 – (118) UWB-Radio Distance Measurements Error Mitigation Due to Tag Orientation in Localization Systems; Peter Krapež*, Marko Munih (Slovenia)
11:30-11:45 – (91) Resource-Aware Online Parameter Adaptation for Computationally-Constrained Visual-Inertial Navigation Systems; Pranay Mathur*, Nikhil Vijay Khedekar, Kostas Alexis (India)
11:45-12:00 – (185) GOLN: Graph Object-Based Localization Network; Simone Felicioni*, Marco Legittimo, Mario Fravolini, Gabriele Costante (Italy)
12:00-12:12 – (3) Towards a Mobile Robot Localization Benchmark with Challenging Sensordata in an Industrial Environment; Florian Spiess*, Jonas Friesslich, Daniel Bluemm, Fabio Mast, Dmitrij Vinokour, Samuel Kounev, Tobias Kaupp, Norbert Strobel (Germany)
12:15-12:30 – (78) Init-LOAM: LiDAR-based Localization and Mapping with a Static Self-Generated Initial Map; Martin Oelsch*, Mojtaba Karimi, Eckehard Steinbach (Germany)
Swarms
11:15-12:30, Chair: Lorenzo Sabattini
11:15-11:30 – (82) Collaborative Overtaking of Multi-Vehicle Systems in Dynamic Environments: A Distributed Artificial Potential Field Approach; Xie Songtao, Junyan Hu*, Zhengtao Ding, Farshad Arvin (United Kingdom)
11:30-11:45 – (190) Adaptive Sliding Mode Control for Autonomous Vehicle Platoon under Unknown Friction Forces; Rishabh Dev Yadav, Viswa Narayanan Sankaranarayanan, Spandan Roy* (India)
11:45-12:00 – (45) Vehicle Swarm Platooning As Differential Game; Aykut Yildiz*, Hossein Barghi Jond (Turkey)
12:00-12:15 – (36) A Hybrid Control Approach on Handling Orientation Constraints and Tracking Errors in Formation Control for Multiple Nonholonomic Mobile Manipulators; Tobias Recker*, Malte Heinrich, Annika Raatz (Germany)
12:15-12:30 – (125) Planar Pushing Manipulation with a Group of Mobile Robots; Filippo Bertoncelli*, Lorenzo Sabattini (Italy)
Human-Robot Collaboration 2
11:15-12:30, Chair: Tadej Petrič
11:15-11:30 – (240) Multi-View Human Parsing for Human-Robot Collaboration; Matteo Terreran*, Leonardo Barcellona, Daniele Evangelista, Stefano Ghidoni (Italy)
11:30-11:45 – (158) Gaze Controlled Safe HRI for Users with SSMI; Vinay Krishna Sharma, Pradipta Biswas* (India)
11:45-12:00 – (79) An Actor-Critic Strategy for a Safe and Efficient Human Robot Collaboration; Guglielmo Gabrielli, Cristian Secchi* (Italy)
12:00-12:15 – (146) Explainable Reinforcement Learning for Human-Robot Collaboration; Alessandro Iucci*, Alberto Yukinobu Hata, Ahmad Terra,Rafia Inam,Iolanda Leite (Sweden)
12:15-12:30 – (124) Humans Prefer Collaborating with a Robot Who Leads in a Physical Human-Robot Collaboration Scenario; Rebeka Kropivsek Leskovar*, Tadej Petric (Slovenia)
Manipulation
14:00-15:15, Chair: Eren Erdal Aksoy
14:00-14:15 – (38) Dual-Arm In-Hand Manipulation with Parallel Grippers Using Tactile Feedback; Marco Costanzo, Giuseppe De Maria, Ciro Natale* (Italy)
14:15-14:30 – (154) Simultaneous Tactile Localization and Reconstruction of an Object During Robotic Manipulation; Ghani Kissoum*, Véronique Perdereau (France)
14:30-14:45 – (149) Learning Coarsened Dynamic Graph Representations for Deformable Object Manipulation; Giovanni Luca Marchetti, Marco Moletta, Gustaf Tegnér*, Peiyang Shi, Anastasiia Varava, Alexander Kravchenko, Danica Kragic (Sweden)
14:45-15:00 – (46) A Robotic In-Hand Manipulation Dictionary Based on Human Data; Ali Hammoud*, Alioune Diouf, Véronique Perdereau (France)
15:00-15:15 – (238) A Variational Graph Autoencoder for Manipulation Action Recognition and Prediction; Gamze Akyol*, Sanem Sariel, Eren Erdal Aksoy (Turkey)
Planning 2
14:00-15:15, Chair: Andrea Gasparri
14:00-14:15 – (141) Safe-Planner: A Single-Outcome Replanner for Computing Strong Cyclic Policies in Fully Observable Non-Deterministic Domains; Vahid Mokhtari*, Ajay Suresha Sathya, Nikolaos Tsiogkas, Wilm Decré (Belgium)
14:15-14-30 – (182) Trajectory Planning Using Mixed Reality: An Experimental Validation; Marco Piccinelli*, Andrea Gagliardo, Umberto Castellani, Riccardo Muradore (Italy)
14:30-14:45 – (229) Multi-Hypothesis Evasive Maneuvers for Safe Autonomous Navigation; Dimia Iberraken*, Lounis Adouane (France)
14:45-15:00 – (130) A Framework for Tasks Allocation and Scheduling in Precision Agriculture Settings; Matteo Santilli, Renzo Fabrizio Carpio*, Andrea Gasparri (Italy)
15:00-15:15 – (153) Efficient Coverage Path Planning in Initially Unknown Environments Using Graph Representation; Olimpiya Saha*, Viswanath Ganapathy, Javad Heydari, Guohua Ren, Mohak Shah (USA)
Human-Robot Collaboration 3
14:00-15:15, Chair: Matjaž Mihelj
14:00-14:15 – (210) Enabling the Digital Thread for Product Aware Human and Robot Collaboration – an Agent-Oriented System Architecture; Joe David*, Andrei Lobov, Eeva Järvenpää, Minna Lanz (Finland)
14:15-14:30 – (164) Neural Networks based Human Intent Prediction for Collaborative Robotics Applications; Federico Formica, Stefano Vaghi, Niccolò Lucci*, Andrea Maria Zanchettin (Italy)
14:30-14:45 – (95) Collaborative Architecture for Human-Robot Assembly Tasks Using Multimodal Sensors; James Male*, Uriel Martinez-Hernandez (United Kingdom)
14:45-15:00 – (226) A Tactile Sensor-Based Architecture for Collaborative Assembly Tasks with Heavy-Duty Robots; Francesco Grella*, Keerthi Sagar, Si Ao Wang, Alessandro Albini, Michal Jilich, Giorgio Cannata, Matteo Zoppi (Italy)
15:00-15:15 – (66) Effect of Speed, Speed Differences, and Motion Type on Perceived Safety of Collaborative Robots; Sebastjan Šlajpah*, Kristina Rakinić, Kristina Nikolovska, Luka Komidar, Anja Podlesek, Gaja Zager Kocjan, Marko Munih, Matjaž Mihelj (Slovenia)
Kinematics
15:45-17:00, Chair: Sven Tittel
15:45-16:00 – (214) Analytical Solution for the Inverse Kinematics Problem of the Franka Emika Panda Seven-DOF Light-Weight Robot Arm; Sven Tittel* (Germany)
16:00-16:15 – (1) A Task Space Decomposition Algorithm for the Inverse Kinematics of Functionally Redundant Manipulators; Leon Žlajpah*, Andreas Mueller (Slovenia)
16:15-16:30 – (17) Algebraic Input-Output Angle Equation Derivation Algorithm for the Six Distinct Angle Pairings in Arbitrary Planar 4R Linkages; Mirja Rotzoll*, Quinn Bucciol, John Hayes (Canada)
16:30-16:45 – (93) Algebraic Differential Kinematics of Planar 4R Linkages; John Hayes*, Mirja Rotzoll, Atena Elnaz Iraei, Alia Nichol, Quinn Bucciol (Canada)
16:45-17:00 – (234) – RPV-SLAM: Range-augmented Panoramic Visual SLAM for Mobile Mapping System with Panoramic Camera and Tilted LiDAR; Jungwon Kang, Yujia Zhang, Zhen Liu, Andrew Sit, Gunho Sohn* (Canada)
Vision 2
15:45-17:00, Chair: Mathew Evans
15:45-16:00 – (41) Assessing the Feasibility of Monocular Visual Simultaneous Localizationand Mapping for Live Sewer Pipes: A Field Robotics Study; Mathew Evans*, Jonathan Maxwell Aitken, Sean Anderson (United Kingdom)
16:00-16:15 – (168) Adaptive Lidar Scan Frame Integration: Tracking Known MAVs in 3D Point Clouds; Li Qingqing*, Xianjia Yu, Jorge Peña Queralta, Tomi Westerlund (Finland)
16:15-16:30 – (86) A High-Level Track Fusion Scheme for Circular Quantities; Sören Kohnert*, Reinhard Stolle (Germany)
16:30-16:45 – (98) Beyond Visible Light: Usage of Long Wave Infrared for Object Detection in Maritime Environment; Shailesh Nirgudkar*, Paul Robinette (USA)
16:45-17:00 – (225) A Novel Approach for Porcupine Crab Identification and Processing Based on Point Cloud Segmentation; Haodong Wu, Ting Zou*, Heather Burke, Stephen King, Brian Burke (Canada)
Modelling
15:45-17:00, Chair: Carlo Canali
15:45-16:00 – (108) A High-Accuracy, Low-Budget Sensor Glove for Trajectory Model Learning; Robin Denz*, Rabia Demirci, Mehmet Ege Cansev, Adna Bliek, Beckerle Beckerle, Elmar Rueckert, Nils Rottmann (Germany)
16:00-16:15 – (196) Static Elasticity Compensation Via Recursive Artificial Neural Network for Long-Reach Cable-Driven Hyper-Redundant Manipulators; Daniele Ludovico*, Alessandro Pistone, Lorenzo De Mari Casareto Dal Verme, Paolo Guardiani, Darwin G. Caldwell, Carlo Canali (Italy)
16:15-16:30 – (15) Control-Oriented Modeling of an Underwater Biofouling Prevention Robot; Sveinung Johan Ohrem*, Herman Biørn Amundsen, Eleni Kelasidi (Norway)
16:30-16:45 – (29) EMMA: Earthworm Mimetic Manipulator Architecture for Access-Constrained Environments; Preeti Kannapan*, David Garmire, Robert D. Gregg (USA)
16:45-17:00 – (48) Design and Experimental Study of BLDC Motor Immersion Cooling for Legged Robots; Taoyuanmin Zhu*, Min Sung Ahn, Dennis Hong (USA)
17:00-17:05 SEE YOU NEXT TIME… PRESENTATION OF ICAR 2023