Soft Robotics
9:30-10:45, Chair: Uriel Martinez-Hernandez 

9:30-9:45 – (219) Bioinspired Soft Bendable Peristaltic Pump Exploiting Ballooning for High Volume Throughput; Leone Costi*, Fumiya Iida, Josie Hughes (United Kingdom)

9:45-10:00 – (63) A Soft Pneumatic Robotic Glove for Hand Rehabilitation after Stroke; Le Hoai Phuong*, Phuoc Thien Do, Thai Vo Dinh (Vietnam)

10:00-10:15 – (136) A Low-Cost Compact Soft Tactile Sensor with a Multimodal Chip; Gorkem Anil Al*, Uriel Martinez-Hernandez (United Kingdom)

10:15-10:30 – (195) Simultaneous Contact Point and Surface Normal Estimation During Soft Finger Contact; Christoffer Sloth*, Iñigo Iturrate (Denmark)

10:30-10-45 – (75) Simulation, Design and Control of a Soft Robotic Arm with Integrated Bending Sensing; Ben Willis, Pengcheng Liu* (United Kingdom)

Industrial Robotics 1
9:30-10:45, Chair: Gašpar Timotej

9:30-9:45 – (191) Time-Optimal Trajectory Planning for Anti-Sloshing 2-Dimensional Motions of an Industrial Robot; Roberto Di Leva*, Marco Carricato, Hubert Gattringer, Andreas Mueller (Italy)

9:45-10:00 – (77) Three-Dimensional Trajectory Recognition Technology for the Junction Trace of a Material Assembly Used in Footwear Manufacturing Automation; Huang C. K.* (Taiwan)

10:00-10:15 – (68) Modular ROS-Based Software Architecture for Reconfigurable, Industry 4.0 Compatible Robotic Workcells; Mihael Simonič*, Rok Pahic, Timotej Gašpar, Saeed Abdolshah, Sami Haddadin, Manuel Giuseppe Catalano, Florentin Wörgötter, Ales Ude (Slovenia)

10:15-10:30 – (44) Mechanical Shock Testing of Incremental and Absolute Position Encoders; Federico Allione*, Bajwa Roodra Pratap Singh, Antonios Emmanouil Gkikakis, Roy Featherstone (Italy)

10:30-10:45 – (50) Innovations in Robotic Cow Milking Systems; Vladimir Monov, Dimitar Karastoyanov* (Bulgaria) 

MPC & Dynamic Control
11:15-12:30, Chair: Egidio Falotico

11:15-11:30 – (2) Independently Commanding Size, Shape and Orientation of Robot Endpoint Stiffness in Tele-Impedance by Virtual Ellipsoid Interface; Luka Peternel, Niek Beckers*, David A. Abbink (Netherlands)

11:30-11:45 – (139) Model Predictive Control with Torque Constraints for Velocity-Driven Robotic Manipulator; Konstantin Mironov*, Ruslan Mambetov, Aleksandr Panov, Daniil Pushkarev (Russia)

11:45 – 12:00 – (179) Hierarchical Nonlinear Model Predictive Control for an Autonomous Racecar; Benedikt Wohner*, Francisco Sevilla, Benedikt Grueter, Johannes Diepolder, Rubens Afonso, Florian Holzapfel (Germany)

12:00-12:15 – (137) Control of Absolute Motion While Balancing in 2D; Roy Featherstone* (Italy)

12:15-12:30 – (204) Open-Loop Model-Free Dynamic Control of a Soft Manipulator for Tracking Tasks; Andrea Centurelli, Alessandro Rizzo, Silvia Tolu, Egidio Falotico* (Italy)

Medical Robotics 1
11:15-12:30, Chair: T. R. Savarimuthu

11:15-11:30 – (128) Semi-Autonomous Cooperative Tasks in a Multi-Arm Robotic Surgical Domain; Miha Deniša*, Kim Lindberg Schwaner, Iñigo Iturrate, Thiusius Rajeeth Savarimuthu (Slovenia)

11:30-11:45 – (171) Autonomy in Robotic Prostate Biopsy through AI-Assisted Fusion; Luigi Palladino*, Bogdan Mihai Maris, Alessandro Antonelli, Paolo Fiorini (Italy)

11:45-12:00 – (213) Real-Time Segmentation of Surgical Tools and Needle Using a Mobile-U-Net; Jakob Kristian Holm Andersen*, Kim Lindberg Schwaner, Thiusius Rajeeth Savarimuthu (Denmark)

12:00-12:15 – (189) Design and Preliminary Characterisation of a New Soft Steerable Sheath for Cardiovascular Interventions; Aditya Sridhar*, Mouloud OURAK, Irati Valdivielso Dorronsoro, Emmanuel B Vander Poorten (Belgium)

12:15-12:30 – (247) New Techniques for Stereotactic Neurosurgery Based on Mask with Customized Dental Bite; Mirko Patuzzo, Nicola Sancisi, Vincenzo Parenti Castelli* (Italy)

Oussama Khatib, Stanford University, USA, CURRICULUM VITAE
The Era of Human-Robot Collaboration: Deep Sea Exploration

Abstract: Robotics is undergoing a major transformation in scope and dimension with accelerating impact on the economy, production, and culture of our global society. The emerging robots will provide increased support in domestic, health, manufacturing, and service applications, as well as in agriculture, mining, underwater, hostile environments. Combining the cognitive abilities and experience of the human with the strength, dependability, reach, and endurance of robots will fuel a wide range of new robotic applications. The discussion focuses on the development of this new generation of collaborative robots. The work will be illustrated on diverse applications including Ocean One, a bimanual humanoid robotic diver designed to bring intuitive haptic physical interaction to oceanic environments.

Chair: Jadran Lenarčič

Learning 1 
15:15-16:00, Chair: Bojan Nemec

15:15-15:30 – (32) Augmenting Loss Functions of Feedforward Neural Networks with Differential Relationships for Robot Kinematic Modelling; Francesco Cursi*, Digby Chappell, Petar Kormushev (Italy)

15:30-15:45 – (127) Intention Recognition with Recurrent Neural Networks for Dynamic Human-Robot Collaboration; Matija Mavsar*, Miha Deniša,Bojan Nemec, Aleš Ude (Slovenia)

15:45-16:00 – (113) Real-Time Collision Risk Estimation Based on Stochastic Reachability Spaces; Unmesh Patil*, Alessandro Renzaglia, Anshul Paigwar, Christian Laugier (France)

Medical Robotics 2
15:15-16.00, Chair: Miha Deniša

15:15-15:30 – (246) The EU Proposal for Regulating AI: Foreseeable
Impact on Medical Robotics; Maria-Camilla Fiazza* (Italy)

15:30-15:45 – (51) Geometric Calibration of a New Miniaturized Endoscopic Ultrasound Probe; Joao Cavalcanti Santos*, Lucas Lavenir, Nabil Zemiti, Philippe Poignet, Frederic Venail (France)

15:45-16:00 – (205) Robot Assisted Electrical Impedance Tomography System for Minimally Invasive Surgery; Zhuoqi Cheng*, Diego Dall’Alba, Paolo Fiorini, Thiusius Rajeeth Savarimuthu (Denmark) 

Policy Learning
16:15-17:30, Chair: Andrej Gams

16:15-16:30 – (87) Real-Time Temporal Adaptation of Dynamic Movement Primitives for Moving Targets; Akhil S Anand*, Andreas Oestvik, Esten Ingar Grøtli, Marialena Vagia, Jan Tommy Gravdahl (Norway)

16:30-16:45 – (116) Accelerated Robot Skill Acquisition by Reinforcement Learning-Aided Sim-To-Real Domain Adaptation; Zvezdan Loncarevic*, Aleš Ude, Andrej Gams (Slovenia)

16:45-17:00 – (20) Learning to Drive (L2D) as a Low-Cost Benchmark for Real-World Reinforcement Learning; Ari Viitala, Rinu Boney*, Yi Zhao, Alexander Ilin, Juho Kannala (Finland)

17:00-17:15 – (230) Bayesian Optimization for Efficient Tuning of Visual Servo and Computed Torque Controllers in a Reinforcement Learning Scenario; Eduardo Ribeiro*, Mendes Raul, Marco Henrique Terra, Valdir Grassi Junior (Brazil)

17:15-17:30 – (177) Improving Multi-Goal and Target-Driven Reinforcement Learning with Supervised Auxiliary Task; Luiz Ricardo Takeshi Horita*, Angelica Tiemi Mizuno Nakamura, Denis Fernando Wolf, Valdir Grassi Junior (Brazil)

Industrial Robotics 2
16:15-17:30, Chair: Aleš Ude

16:15-16:30 – (10) A Task Modelling Formalism for Industrial Mobile Robot Applications; Anders Lager, Alessandro Vittorio Papadopoulos*, Giacomo Spampinato, Thomas Nolte (Sweden)

16:30-16:45 – (104) Design of a Modular Robotic Workcell Platform Enabled by Plug & Produce Connectors; Primož Radanovič*, Jaka Jereb, Igor Kovac, Ales Ude (Slovenia)

16:45-17:00 – (167) Towards Technical Maturity for Industrial Deployment of Robot Demonstrators; Asad Tirmizi*, Minna Lanz, Morteza Dianatfar, Roel S. Pieters, Tomi Pitkäaho, Tero Heikki Kaarlela, Sakari Antero Pieskä, NIKI KOUSI, Diamantia Zoga, Veikko Valjus, Miha Deniša, Ales Ude (Belgium)

17:00-17:15 – (157) A Warehouse Scheduling Using Genetic Algorithm and Collision Index; Won Yong Ha* (USA)

17:15-17:30 – (163) Achieving Reliable Communication between Kafka and ROS through Bridge Codes; Luan Lucas Lourenço*, George S. Oliveira, Patricia Della Mea Plentz, Juha Jaakko Röning (Brazil)