Technical Program
ISRR 2015 is structured in mini-symposia, interactive sessions and “Best Of 2014” sessions.
Each Symposium includes two invited talks and presentations of reviewed papers submitted to the Conference.
Interactive Sessions will be introduced orally and followed by one-to-one discussion at screens.
The“Greatest Hits” sessions include invited presentations of top-quality work who has recently received recognition with awards or other distinctions
[Download Programme at a Glance]
Programme at a Glance
Date | 09.00-10.15 | 10.15-10.40 | 11.10-12.25 | 12.25-12.50 | 12.50-13.50 | 13.50-15.30 | 16.00-17.40 | 18.00-19.30 |
---|---|---|---|---|---|---|---|---|
Sat. 12 | Flying Robots |
Soft Robotics and Natural Machine Motion | Lunch Break | Free | Hands and Haptics | Blue-Sky Robotics: the IFRR vision | ||
Sun. 13 | Greatest Hits Part I |
Multi-Robot Systems |
Interactive Session | Lunch Break | Cruise & Dinner | |||
Mon. 14 | Cognitive Robotics and Learning | Humanoids and Legged Locomotion | Lunch Break | IIT Visit & Banquet | ||||
Tue. 15 | Robot Planning and Navigation |
Greatest Hits Part II |
Robot Planning | Lunch Break | Knowledge-Based Robotics |
Interactive Session |
Full Programme
Saturday, September 12
8.50 -9.00 Welcome Address
9.00 -10.40 Flying Robots
Chairs: Robert Mahony and Paolo Robuffo Giordano
9.00 Keynote talk: R. Mahony and P. Robuffo Giordano
pdf
Aerial Robotic Vehicles: Shared Autonomy and Formations
9.30 R. Siddall, G. Kennedy, M. Kovac
pdf
High-Power Propulsion Strategies for Aquatic Take-off in Robotics
9.45 R. Ritz, R. D'Andrea
pdf
A Global Strategy for Tailsitter Hover Control
10.00 T. Do, S. Roumeliotis, L. Carrillo-Arce
pdf
Autonomous Flights through Image-defined Paths
10.15 E. Helbling, S. B. Fuller, R. J. Wood
pdf
Altitude Estimation and Control of an Insect-Scale Robot with an Onboard Proximity Sensor
10.20 T. Alhinai, A. P. Braithwaite, M. Kovac
pdf
Tensile Web Construction and Perching with Nano Aerial Vehicles
10.25 F. Tan, W. Lohmiller, J-J. Slotine
pdf
Analytical SLAM Without Linearization
10.30 G. Costante, J. Delmerico, M. Werlberger, P. Valigi, D. Scaramuzza
pdf
Online Perception-Aware Planning
10.35 G. Huang, J. Leonard
pdf
Optimal-State-Constraint EKF for Visual-Inertial Navigation
10.40 - 11.10 Coffee Break
11.10 - 12.50 Soft Robotics and Natural Machine Motion
Chairs: Fumiya Iida and Sangbae Kim
11.10 Keynote talks: F. Ida and S. Kim
pdf
F. Ida Toward dynamic mobile robot: design considerations for future robots for mobile applications
11.40 F. Renda, G. Serchi, F. Boyer, C. Laschi, J. Dias, L. Seneviratne
pdf
A Multi-Soft-Body Dynamic Model for Underwater Soft Robotics
11.55 A. Kupcsik, D. Hsu, W. S. Lee
pdf
Learning Dynamic Human-Robot Object Handover from Human Feedback
12.10 A. J. Ijspeert
pdf
Decoding the neural mechanisms underlying locomotion using mathematical models and bio-inspired robots: from lamprey to human locomotion
12.25 S. S. Cheng, Y. Kim, J. P. Desai
pdf
Towards Real-Time SMA Control for a Neurosurgical Robot: MINIR-II
12.30 F. Hammond, Y. Wu, H. Asada
pdf
Variable Stiffness Pneumatic Structures for Wearable Supernumerary Robotic Devices
12.35 C. Phillips-Grafflin, D. Berenson
pdf
Reproducing Expert-Like Motion in Deformable Environments Using Active Learning and IOC
12.40 T. Tosun, G. Jing, H. Kress-Gazit, M. Yim
pdf
Computer-Aided Compositional Design and Verification for Modular Robots
12.45 C. Sung, D. Rus
pdf
Automated Fabrication of Foldable Robots Using Thick Materials
12.50 - 13.50 Lunch
13.50 - 16.00 Free
16.00 - 17.40 Hands and Haptics
Chairs: Matei Ciocarlie and Domenico Prattichizzo
16.00 Keynote talk: M. Ciociarlie
pdf
Robotic Grasping: Versatility vs. Complexity
16.15 Keynote talk: D. Prattichizzo
pdf
The Robotic Sixth Finger: A Wearable Compensatory Tool to Regain Grasping Capabilities in Paretic Hands
16.30 H. Dai, A. Majumdar, R. Tedrake
pdf
Synthesis and Optimization of Force Closure Grasps via Sequential Semidefinite Programming
16.45 A. ten Pas, R. Platt
pdf
Using Geometry to Detect Grasp Poses in 3D Point Clouds
17.00 R. Ying, J. Weisz, P. K. Allen
pdf
Grasping with your brain: a brain-computer interface for fast grasp selection
17.15 Y. Asano
pdf
Spine Balancing Strategy Using Muscle ZMP on Musculoskeletal Humanoid Kenshiro
17.20 L. Jentoft, Q. Wan, R. Howe
pdf
How to Think about Grasping Systems - Basis Grasps and Variation Budgets
17.25 O. Tokatli, V. Patoglu
pdf
Using Fractional Order Elements for Haptic Rendering
17.30 Y. Wu, M. Carricato
pdf
Design of a Novel 3-DoF Serial-Parallel Kinematic Wrist: A Symmetric Space Approach
17.35 A. C. Huaman Quispe, H. Ben Amor, H. Christensen
pdf
A Taxonomy of Benchmark Tasks for Robot Manipulation
17.40-18.00 Coffee Break
18.00 - 19.30 Blue-Sky Robotics: an IFRR Vision
Sunday, September 13
9.00- 10.15 Greatest Hits - Part I
9.00 D. Rus
Printable Robots
9.15 S. Vijayakumar
pdf
An Approximate Inference Approach to Temporal Optimization for Robotics
9.30 S. Haddadin
On Physical Interaction Between Humans and Robots: From Basic Principles to Real-World Applications
9.45 N. Bradley
Magnetically Guided Medical Therapies
10.00 T. Kawahara
pdf
High-Speed Microrobotic Platform for Mechanical Manipulation of Single Microorganism
10.15 - 10.40 Multi-Robot Systems
10.15 V. Indelman
Towards Cooperative Multi-Robot Belief Space Planning in Unknown Environments
10.20 J. A. DeCastro, J. Alonso-Mora, V. Raman, D. Rus, H. Kress-Gazit
pdf
Collision-Free Reactive Mission and Motion Planning for Multi-Robot Systems
10.25 R. K. Ramachandran, K. Elamvazhuthi, S. Berman
pdf
An Optimal Control Approach to Mapping GPS-Denied Environments using a Stochastic Robotic Swarm
10.30 J. Yu, D. Rus
pdf
An Effective Algorithmic Framework for Near Optimal Multi-Robot Path Planning
10.35 P. Dames, P. Tokekar, V. Kumar
pdf
Detecting, Localizing, and Tracking an Unknown Number of Moving Targets Using a Team of Mobile Robots
10.40 - 11.10 Coffee Break
11.10 - 12.50 Interactive Session
Sala Ginestra
Flying Robots
E. Helbling, S. B. Fuller, R. J. Wood:
pdf
Altitude Estimation and Control of an Insect-Scale Robot with an Onboard Proximity Sensor
T. Alhinai, A. P. Braithwaite, M. Kovac:
pdf
Tensile Web Construction and Perching with Nano Aerial Vehicles
F. Tan, W. Lohmiller, J-J. Slotine:
pdf
Analytical SLAM Without Linearization
G. Costante, J. Delmerico, M. Werlberger, P. Valigi, D. Scaramuzza:
pdf
Online Perception-Aware Planning
G. Huang, J. Leonard:
pdf
Optimal-State-Constraint EKF for Visual-Inertial Navigation
Soft Robotics and Natural Machine Motion
S. S. Cheng, Y. Kim, J. P. Desai:
pdf
Towards Real-Time SMA Control for a Neurosurgical Robot: MINIR-II
F. Hammond, Y. Wu, H. Asada:
pdf
Variable Stiffness Pneumatic Structures for Wearable Supernumerary Robotic Devices
C. Phillips-Grafflin, D. Berenson:
pdf
Reproducing Expert-Like Motion in Deformable Environments Using Active Learning and IOC
T. Tosun, G. Jing, H. Kress-Gazit, M. Yim:
pdf
Computer-Aided Compositional Design and Verification for Modular Robots
C. Sung, D. Rus:
pdf
Automated Fabrication of Foldable Robots Using Thick Materials
Sala Pitosforo
Hands and Haptics
Y. Asano:
pdf
Spine Balancing Strategy Using Muscle ZMP on Musculoskeletal Humanoid Kenshiro
L. Jentoft, Q. Wan, R. Howe:
pdf
How to Think about Grasping Systems - Basis Grasps and Variation Budgets
O. Tokatli, V. Patoglu:
pdf
Using Fractional Order Elements for Haptic Rendering
Y. Wu, M. Carricato:
pdf
Design of a Novel 3-DoF Serial-Parallel Kinematic Wrist: A Symmetric Space Approach
A. C. Huaman Quispe, H. Ben Amor, H. Christensen:
pdf
A Taxonomy of Benchmark Tasks for Robot Manipulation
Multi-Robot Systems
V. Indelman:
pdf
Towards Cooperative Multi-Robot Belief Space Planning in Unknown Environments
J. A. DeCastro, J. Alonso-Mora, V. Raman, D. Rus, H. Kress-Gazit:
pdf
Collision-Free Reactive Mission and Motion Planning for Multi-Robot Systems
R. K. Ramachandran, K. Elamvazhuthi, S. Berman:
pdf
An Optimal Control Approach to Mapping GPS-Denied Environments using a Stochastic Robotic Swarm
J. Yu, D. Rus:
pdf
An Effective Algorithmic Framework for Near Optimal Multi-Robot Path Planning
P. Dames, P. Tokekar, V. Kumar:
pdf
Detecting, Localizing, and Tracking an Unknown Number of Moving Targets Using a Team of Mobile Robots
12.50 - 13.50 Lunch
13.50 Cruise and Dinner
Monday, September 14
9.00 - 10.40 Cognitive Robotics and Learning
Chairs: Tamim Asfour and Fabio Ramos
9.00 Keynote talk: T. Asfour
Taxonomy for Whole-Body Loco-Manipulation Actions
9.15 Keynote talk: F. Ramos
pdf
Online Learning for Continuous Environment Representations
9.30 C. Li, J. Bohren, G. Hager
pdf
Bridging the Robot Perception Gap With Mid-Level Vision
9.45 A. Valada, L. Spinello, W. Burgard
pdf
Deep Feature Learning for Acoustics-based Terrain Classification
10.00 K. Beomjoon, A. Kim, H. Dai, L. Kaelbling, T. Lozano-Pérez
pdf
Generalizing over Uncertain Dynamics for Online Trajectory Generation
10.15 P. Englert, M. Toussaint
pdf
Inverse KKT - Learning Cost Functions of Manipulation Tasks from Demonstrations
10.20 J. Oberlin, S. Tellex
pdf
Autonomously Acquiring Instance-Based Object Models from Experience
10.25 S. Krishnan, A. Garg, S. Patil, C. Lea, G. Hager, P. Abbeel, K. Goldberg
pdf
Transition State Clustering: Unsupervised Surgical Trajectory Segmentation For Robot Learning
10.30 S. Calinon
pdf
Robot learning with task-parameterized generative models
10.35 L. Y. Ku, E. G. Learned-Miller, R. A. Grupen
pdf
Modeling Objects as Aspect Transition Graphs to Support Manipulation
10.40 - 11.10 Coffee Break
11.10 - 12.50 Humanoids and Legged Locomotion
Chairs: Nikos Tsagarakis and Jean-Paul Laumond
Compliant Actuation Arrangements for Energy Efficient Leg mobility
11.25 Keynote talk: J.-P. Laumond
How does geometry reveal the role of vision in locomotor trajectories formation?
11.40 R. Featherstone
pdf A New Simple Model of Balancing in the Plane
11.55 M. Focchi, V. Barasuol, M. Frigerio, D. G. Caldwell, C. Semini
12.10 N. Perrin, D. Lau, V. Padois
pdf Effective Generation of Dynamically Balanced Locomotion with Multiple Non-coplanar Contacts
pdf The Yoyo-Man
12.30 C. O. Saglam, K. Byl
pdf Quantifying and Optimizing Robustness of Bipedal Walking Gaits on Rough Terrain
12.35 G. Maeda, G. Neumann, M. Ewerton, R. Lioutikov, J. Peters
pdf A Probabilistic Framework for Semi-Autonomous Robots Based on Interaction Primitives with Phase Estimation
12.40 A. De, D. E. Koditschek
12.45 S. Tonneau, N. Mansard, C. Park, D. Manocha, F. Multon, J. Pettré
pdf A Reachability-based planner for sequences of acyclic contacts in cluttered environments
12.50 - 13.50 Lunch
13.50 IIT Visit & Banquet
Tuesday, September 15
9.00- 10.40 Robot Planning and Navigation
Chairs: Eiichi Yoshida and Nancy Amato
9.00 Keynote talk:N. Amato
pdf
A General Region-Based Framework for Collaborative Planning
9.15 Keynote talk: E. Yoshida
pdf
Planning and navigation: recent topics and perspectives
9.30 C. Richter, W. R. Vega-Brown, N. Roy
pdf
Bayesian Learning for Safe High-Speed Navigation in Unknown Environments
9.45 L. Janson, E. Schmerling, M. Pavone
pdf
Monte Carlo Motion Planning for Robot Trajectory Optimization Under Uncertainty
10.00 M. Gabiccini, A. Artoni, G. Pannocchia, J. Gillis
pdf
A Computational Framework for Environment-Aware Robotic Manipulation Planning
10.15 M. A. Hsieh, H. Hajieghrary, D. Kularatne, E. Forgoston, I. B. Schwartz, P. A. Yecko
pdf
Small and Adrift with Self-Control: Using the Environment to Improve Autonomy
10.20 I. R. Manchester, J. Z. Tang, J.-J. Slotine
pdf
Unifying Classical and Optimization-Based Methods for Robot Tracking Control with Control Contract Metrics
10.25 S. Bai, J. Wang, B. Englot
pdf
Inference-Enabled Information-Theoretic Exploration of Continuous Action Spaces
10.30 M. Mazuran, F. Boniardi, W. Burgard, G. D. Tipaldi
pdf
Relative Topometric Localization in Globally Inconsistent Maps
10.35 T. M. Caldwell, N. Correll
pdf
Fast Sample-Based Planning of Dynamic Systems by Zero-Control Linearization-Based Steering
10.40 - 11.10 Coffee Break
11.10 - 12.25 Greatest Hits - Part II
11.10 K. Okada
Hypothesis and Verification in Daily Assistive Robots
11.25 M. Yim
Self-Assembly of a Swarm of Autonomous Boats into Floating Structures
11.40 R. J. Webster III
Design, Estimation, and Planning: Fundamentally Coupled Problems for Continuum Robots
11.55 D. Fox
DynamicFusion: Reconstruction and tracking of non-rigid scenes in real-time
12.10 P. Dupont
Core Technologies for MRI-powered Robots
12.25 - 12.50 Robot Planning
12.25 C. Potthast, A. Breitenmoser, F. Sha, G. Sukhatme
pdf
Active Multi-View Object Recognition and Online Feature Selection
12.30 D. Kottas, S. Roumeliotis
pdf
An iterative Kalman smoother for robust 3D localization and mapping
12.35 L. Janson, B. Ichter, M. Pavone
pdf
Deterministic Sampling-Based Motion Planning: Optimality, Complexity, and Performance
12.40 R. Gill, D. Kulic, C. Nielsen
pdf
Path Following for Mobile Manipulators
12.45 X. Yan, V. Indelman, B. Boots
pdf
Incremental Sparse GP Regression for Continuous-time Trajectory Estimation & Mapping
12.50 - 13.50 Lunch
13.50 - 15.30 Knowledge-Based Robotics
Chairs: Ashutosh Saxena and Michael Beetz
13.50 Keynote talk: A. Saxena
pdf
RoboBrain: Knowledge Engine for Robots
14.05 Keynote talk: M. Beetz
OpenEASE: A Cloud-based Knowledge Processing Service for Robots and Robotics Researchers
14.20 S. Tang, V. Kumar
pdf
A Complete Algorithm for Generating Safe Trajectories for Multi-Robot Teams
14.35 U. B. Rongala, A. Mazzoni, D. Camboni, M. C. Carrozza, C. Oddo
pdf
Neuromorphic artificial sense of touch: bridging robotics and neuroscience
14.50 A. Mehta, J. DelPreto, K. W. Wong, S. Hamill, H. Kress-Gazit, D. Rus
pdf
Robot Creation from Functional Specifications
15.05 D. Nyga, M. Beetz
pdf
Cloud-based Probabilistic Knowledge Services for Instruction Interpretation
15.10 N. Fazeli, R. Tedrake, A. Rodriguez
pdf
Identifiability Analysis of Planar Rigid-Body Frictional Contact
15.15 Z. Littlefield, H. Kurniawati, K. Bekris, D. Klimenko
pdf
The Importance of a Suitable Distance Function in Belief-Space Planning
15.20 J. Sung, S. H. Jin, A. Saxena
pdf
Robobarista: Object Part based Transfer of Manipulation Trajectories from Crowd-sourcing in 3D Pointclouds
15.25 - 16.00 Coffee Break
16.00 - 18.00 Interactive Session
Sala Ginestra
Cognitive Robotics and Learning
P. Englert, M. Toussaint:
pdf
Inverse KKT - Learning Cost Functions of Manipulation Tasks from Demonstrations
J. Oberlin, S. Tellex:
pdf
Autonomously Acquiring Instance-Based Object Models from Experience
S. Krishnan, A. Garg, S. Patil, C. Lea, G. Hager, P. Abbeel, K. Goldberg:
pdf
Transition State Clustering: Unsupervised Surgical Trajectory Segmentation For Robot Learning
S. Calinon:
pdf
Robot learning with task-parameterized generative models
L. Y. Ku, E. G. Learned-Miller, R. A. Grupen:
pdf
Modeling Objects as Aspect Transition Graphs to Support Manipulation
Humanoids and Legged Locomotion
J.-P. Laumond, M. Benallegue, J. Carpentier, A. Berthoz:
pdf
The Yoyo-Man
C. O. Saglam, K. Byl:
pdf
Quantifying and Optimizing Robustness of Bipedal Walking Gaits on Rough Terrain
G. Maeda, G. Neumann, M. Ewerton, R. Lioutikov, J. Peters:
pdf
A Probabilistic Framework for Semi-Autonomous Robots Based on Interaction Primitives with Phase Estimation
A. De, D. E. Koditschek:
pdf
Averaged Anchoring of Decoupled Templates in a Tail-Energized Monoped
S. Tonneau, N. Mansard, C. Park, D. Manocha, F. Multon, J. Pettré:
pdf
A Reachability-based planner for sequences of acyclic contacts in cluttered environments
Knowledge-Based Robotics
D. Nyga, M. Beetz:
pdf
Cloud-based Probabilistic Knowledge Services for Instruction Interpretation
N. Fazeli, R. Tedrake, A. Rodriguez:
pdf
Identifiability Analysis of Planar Rigid-Body Frictional Contact
Z. Littlefield, H. Kurniawati, K. Bekris, D. Klimenko:
pdf
The Importance of a Suitable Distance Function in Belief-Space Planning
J. Sung, S. H. Jin, A. Saxena:
pdf
Robobarista: Object Part based Transfer of Manipulation Trajectories from Crowd-sourcing in 3D Point
Sala Pitosforo
Robot Planning and Navigation
M. A. Hsieh, H. Hajieghrary, D. Kularatne, E. Forgoston, I. B. Schwartz, P. A. Yecko:
pdf
Small and Adrift with Self-Control: Using the Environment to Improve Autonomy
I. R. Manchester, J. Z. Tang, J.-J. Slotine:
pdf
Unifying Classical and Optimization-Based Methods for Robot Tracking Control with Control Contract
S. Bai, J. Wang, B. Englot:
pdf
Inference-Enabled Information-Theoretic Exploration of Continuous Action Spaces
M. Mazuran, F. Boniardi, W. Burgard, G. D. Tipaldi:
pdf
Relative Topometric Localization in Globally Inconsistent Maps
D. G. Caldwell, N. Correll:
pdf
Fast Sample-Based Planning of Dynamic Systems by Zero-Control Linearization-Based Steerin
g
Robot Planning
C. Potthast, A. Breitenmoser, F. Sha, G. Sukhatme:
pdf
Active Multi-View Object Recognition and Online Feature Selection
D. Kottas, S. Roumeliotis:
pdf
An iterative Kalman smoother for robust 3D localization and mapping
L. Janson, B. Ichter, M. Pavone:
pdf
Deterministic Sampling-Based Motion Planning: Optimality, Complexity, and Performance
R. Gill, D. Kulic, C. Nielsen:
pdf
Path Following for Mobile Manipulators
X. Yan, V. Indelman, B. Boots:
pdf
Incremental Sparse GP Regression for Continuous-time Trajectory Estimation & Mapping