Thursday, December 9, 2021
WEDNESDAY, DECEMBER 8, 2021
THURSDAY, DECEMBER 9, 2021
FRIDAY, DECEMBER 10, 2021
Central European Time CET
Design
9:30-10:45, Chair: Michael Sfakiotakis
9:30-9:45 – (143) A Single-Chip Multimodal Tactile Sensor for a Robotic Gripper; Gorkem Anil Al*, Bilal El Achab Oussallam, Uriel Martinez-Hernandez (United Kingdom)
9:45-10:00 – (42) Bio-Inspired Design of Artificial Striated Muscles Composed of Sarcomere-Like Contraction Units; Luiza Labazanova*, Zeyu Wu, Zhengping Gu, David Navarro-Alarcon (China)
10:00-10:15 – (228) Development of a Low-Inertia 5-DOF Hybrid Manipulator for Moxibustion; Juzhong Zhang*, Zhisen Wang, Yuyi Chu, Qing Zha, Liming Cai, TingFeng Ye, Yuanyuan Qin, Yang Hongbo (China)
10:15-10:30 – (150) Development and Initial Evaluation of a Multi-Purpose Spraying Robot Prototype; Christos Chrysoulakis, John Fasoulas, Michael Sfakiotakis* (Greece)
10:30-10:45 – (22) A Low-Cost 3D Printed Mini Underwater Vehicle: Design and Fabrication; Marios Vasileiou*, Nikolaos Manos, Ergina Kavallieratou (Greece)
Walking
9:30-10:45, Chair: Fumihiko Asano
9:30-9:45 – (209) A Unified Framework for Walking and Running of Bipedal Robots; Mahrokh Ghoddousi Boroujeni, Elham Daneshmand, Ludovic Righetti, Majid Khadiv* (Germany)
9:45-10:00 – (102) Entrainment-Based Control for Underactuated Compass-Like Biped Robot; Cong Yan*, Haosong Chen, Yanqiu Zheng, Longchuan Li, Isao Tokuda, Fumihiko Asano (Japan)
10:00-10:15 – (184) Adaptive Artificial Time Delay Control for Bipedal Walking with Robustification to State-Dependent Constraint Forces; Amisha Bhaskar, Swati Dantu, Spandan Roy*, Jinoh Lee, Simone Baldi (India)
10:15-10:30 – (54) Ultrahigh-Speed Strict Stealth Walking Based on Simultaneous Control of Horizontal and Vertical Ground Reaction Forces; Fumihiko Asano*, Runyu Liu (Japan)
10:30-10:45 – (224) Adaptive Walking Pattern Generation with Damaged Legs for the Six-Legged Robot LAURON V; Carsten Plasberg*, Dominik Julian Kogel, Arne Roennau, Rüdiger Dillmann (Germany)
Mobile Robot Learning
9:30-10:45, Chair: Zhibin Li
9:30-9:45 – (222) Learning Autonomous Mobility Using Real Demonstration Data Jiacheng Gu*,Zhibin Li (United Kingdom)
9.45-10:00 – (23) A Support Vector Machine-Based Truck Discretionary Lane Changing Decision Model; Qi Zeng, Wu Guangqiang*, Mao Libo (China)
10:00-10:15 – (99) Causal Analysis for Understanding Vehicle Behavior Affected by Multiple Factors; Ranulfo Bezerra*, Kazunori Ohno, Shotaro Kojima, Satoshi Tadokoro (Japan)
10:15-10:30 – (74) Operational Design Domain Monitoring at Runtime for 2D Laser-Based Localization Algorithms Zayed Alsayed*, Paulo Resende, Benazouz Bradai (France)
10:30-10:45 – (67) Reward Signal Design for Autonomous Racing; Benjamin Evans*, Herman Engelbrecht, Hendrik Willem Jordaan (South Africa)
11:00-11:30 P L E N A R Y – 2
Tamim Asfour, Karlsruhe Institute of Technology, Germany, CURRICULUM VITAE
Engineering Humanoids with Motion Intelligence
Abstract: The goal of humanoid robotics research is understanding human performance and intelligence to build versatile robot systems that assist and empower humans in a wide variety of tasks. Engineering humanoid robots that are able to learn from humans and sensorimotor experience, to predict the consequences of actions and exploit the interaction with the world to extend their cognitive horizon remains a research grand challenge. Currently, we are experiencing AI systems with superhuman performance in games, image and speech processing. However, the generation of robot behaviors with human-like motion intelligence and performance has yet to be achieved. In this talk, I will present recent progress towards engineering humanoid robots that link perception and action, integrate software and hardware, learn from humans and interaction with the world to generate intelligent behavior. I will show the ARMAR humanoid robots performing complex tasks in household and industrial environments. The talk will conclude with a discussion of fundamental challenges in the field.
Chair: Aleš Ude
Learning 3
11:45-13:00, Chair: Bojan Nemec
11:45-12:00 – (97) Distributed Active Learning for Semantic Segmentation on Walking Robots; Lennart Puck*, Niklas Spielbauer, Daniel Schaeble, Tristan Schnell, Timothee Buettner, Arne Roennau, Rüdiger Dillmann (Germany)
12:00-12:15 – (176) Sparse Gaussian Processes-Based Black-Box Data-Efficient Policy Search for Robotics; Chunyan Rong*, Jingyi Huang, Andre Rosendo (China)
12:15-12:30 – (198) Exploiting Conversational Topic Awareness for Interactive Robots; Sarwar Hussain Paplu*, Mohammed Nazrul Islam Arif, Nishan Tamang, Karsten Berns (Germany)
12:30-12:45 – (122) A New Phase Determination Algorithm for Iterative Learning of Human-Robot Collaboration; Mihael Simonič*, Miha Deniša, Ales Ude, Bojan Nemec (Slovenia)
12:45-13:00 – (39) Keyword-Based Technology Radar Based on IEEE Conference Papers on Human-Robot Interaction; Sascha Wischniewski*, Eva Heinold, Patricia Helen Rosen (Germany)
Vision 1
11:45-13:00, Chair: Guillaume Caron
11:45-12:00 – (121) PVENet: Point Voxel Encoder Network for Real-Time Classification of Lidar Point Cloud Segments; Christian Bader*, Sebastian Dingler, Volker Schwieger (Germany)
12:00-12:15 – (100) Automated Laser Alignment and Image Processing Based Robotic Carrom Player; Harshith Kumar, Anirudh Raghavan, Rohith Srinivasan, Sourik Dey, Chandar T S* (India)
12:15-12:30 – (114) Direct 3D Model-Based Tracking in Omnidirectional Images Robust to Large Inter-Frame Motion; Seif Guerbas*, Nathan Crombez, Guillaume Caron, El Mustapha Mouaddib (France)
12:30-12:45 – (220) Comparative Quantitative Analysis of Robotic Ultrasound Image Calibration Methods; Ruixuan Li, Yuyu Cai, Kenan Niu*, Emmanuel B Vander Poorten (Belgium)
12:45-13:00 – (202) CNN-Based Omnidirectional Object Detection for HermesBot Autonomous Delivery Robot with Preliminary Frame Classification; Saian Protasov, Pavel Karpyshev*, Ivan Kalinov, Pavel Kopanev, Nikita Mikhailovskiy, Alexander Sedunin, Dzmitry Tsetserukou (Russia)
UAVs
11:45-13:00, Chair: Xiaomei Wang
11:45-12:00 – (206) Diminishing Domain Bias by Leveraging Domain Labels in Object Detection on UAVs; Benjamin Kiefer*, Martin Messmer, Andreas Zell (Germany)
12:00-12:15 – (5) Modeling and Control of Soft Robotic Tail Based Aerial Maneuvering (STAM) System: Towards Agile Self-Righting with a Soft Tail; Jawad Mehmood Butt*,Xiangyu CHU,Hao Zheng,Xiaomei WANG,Ka-Wai Kwok,K. W. Samuel Au (China)
12:15-12:30 – (55) UAV Path Planning Using Global and Local Map Information with Deep Reinforcement Learning; Mirco Theile*, Harald Bayerlein, Richard Nai, David Gesbert, Marco Caccamo (Germany)
12:30-12:45 – (84) Sliding Mode Control with Adaptive Gain of Quadrotor with Rigid Manipulator; Hardy Azmir Bin Anuar*, Franck Plestan, Abdelhamid Chriette, Olivier Kermorgant (France)
12:45-13.00 – (26) GNSS-Denied Geolocalization of UAVs by Visual Matching of Onboard Camera Images with Orthophotos; Jouko Kinnari*, Francesco Verdoja, Ville Kyrki (Finland)
Wearable Robotics
14:15-15:30, Chair: Gordon Cheng
14:15-14:30 – (193) Using Robot Skin to Support Physical Therapy Routines with a Lightweight Upper-Limb Exoskeleton; Natalia Paredes-Acuña*, Nicolas Berberich, Emmanuel Dean-Leon, Gordon Cheng (Germany)
14:30-14:45 – (194) Preliminary Analysis and Design of a Passive Upper Limb Exoskeleton; Greta Vazzoler*, Pietro Bilancia, Giovanni Berselli, Marco Fontana, Antonio Frisoli (Italy)
14:45-15:00 – (172) Wrist Exoskeleton Design for Pronation and Supination Using Mirrored Movement Control; Paula Villa Fulton*, Simone Löhlein, Natalia Paredes-Acuña, Nicolas Berberich, Gordon Cheng (Germany)
15:00-15:15 – (186) A Robust Control Strategy for Sensorless Under-Tendon-Driven Prosthetic Hands; Julio Fajardo*, Diego Cardona, Guillermo José Maldonado Caballeros, Victor Ferman, Eric Rohmer (Guatemala)
15:15-15:30 – (24) Modular Quasi-Passive Mechanism for Energy Storage Applications: Towards Lightweight High-Performance Exoskeleton; Luka Miskovic*, Miha Dežman, Tadej Petric (Slovenia)
Planning 1
14:15-15:30, Chair: Markus Ryll
14:15-14:30 – (117) When to Terminate: Path Non-existence Verification Improves Sampling-Based Motion Planning; Jesper Karlsson, Anastasiia Varava, Cristian Ioan Vasile, Sertac Karaman, Danica Kragic, Daniela Rus, Jana Tumova* (Sweden)
14:30-14:45 – (70) Learning the Subsystem of Local Planning for Autonomous Racing; Benjamin Evans*, Herman Engelbrecht, Hendrik Willem Jordaan (South Africa)
14:45-15:00 – (43) Generic Trajectory Planning Algorithm for Urban Autonomous Driving; Thibaud Duhautbout*, Reine TALJ, Véronique Cherfaoui, Francois Aioun, Franck Guillemard (France)
15:00-15:15 – (162) A Caster-Wheel-Aware MPC-Based Motion Planner for Mobile Robotics; Jon Arrizabalaga*, Niels van Duijkeren, Ralph Lange, Markus Ryll (Sweden)
15:15:15:30 – (145) Decision Making for Autonomous Vehicles at Signalized Intersection under Uncertain Traffic Signal Phase and Timing Information; Junior Anderson Rodrigues da Silva*, Denis Fernando Wolf, Valdir Grassi Junior (Brazil)
Skill Learning
14:15-15:30, Chair: Sylvain Calinon
14:15-14:30 – (28) CoLoss-GAN: Collision-Free Human Trajectory Generation with GAN and a Collision Loss; Martin Moder*, Josef Pauli (Germany)
14:30-14:45 – (105) Trajectory Prediction with Compressed 3D Environment Representation Using Tensor Train Decomposition; Lara Brudermüller*, Teguh Santoso Lembono, Suhan Shetty, Sylvain Calinon (Switzerland)
14:45-15:00 – (132) Towards Hierarchical Task Decomposition Using Deep Reinforcement Learning for Pick and Place Subtasks; Luca Marzari*, Ameya Pore, Diego Dall’Alba, Gerardo Aragon-Camarasa, Alessandro Farinelli, Paolo Fiorini (Italy)
15:00-15:15 – (88) Analysing Autonomous Open-Ended Learning of Skills with Different Interdependent Subgoals in Robots; Alejandro Romero*, Gianluca Baldassarre, Richard Duro, Vieri Giuliano Santucci (Spain)
15:15-15:30 – (148) Similarity-Aware Skill Reproduction Based on Multi-Representational Learning from Demonstration; Brendan Hertel*, S. Reza Ahmadzadeh (USA)
15:45-16:15 P L E N A R Y – 3
Arianna Menciassi, Sant’Anna School on Advanced Studies, Pisa, Italy, CURRICULUM VITAE
Robotic technologies for targeted therapy: challenges and opportunities
Abstract: Targeted therapy was born as a response to the quest for precision, reliability, repeatability and minimal access, both in surgery and in therapeutic procedures. After introducing some definitions for setting the stage in the field, this talk will deal with different approaches and robot architecture for reaching the interventional area and for bringing the therapeutic actions where needed. Robotics and image-guided solutions naturally answer the quest for improving accuracy and reliability. Articulated robots, able to enter the human body through a minimal access or a natural orifice have been developed by exploiting smart transmission mechanisms. In parallel, soft robotic technologies have evolved to answer the quest for safe interaction and improved flexibility. The quest for minimal invasiveness in surgery and therapy has steered the research interest towards wireless energy delivery methods. Ultrasound and magnetic fields have the potential to change the paradigm of targeted therapy, by reaching in a scarless way all human body organs and by triggering different effects, from dragging to propulsion and ablation. This talk aims to present the above mentioned trends, with the support of specific examples coming from the speaker experience and her collaboration network.
Chair: Paolo Fiorini
