ADVANCES IN ROBOTICS 2019 SCHEDULE 2nd July, 2019 09:00am- 12.30pm - Time 09:30am - 12:30pm 02:00pm - 05:00pm 09:30am 02:00pm Tutorial 1 :Prof. Girijesh Prasad Tutorial 2 : Prof. David Scaramuzza Sessions Registration Lunch Title: Brain Machine Interfacing for Robotics Title: Visual Inertial Odometry and SLAM with both standard and event cameras 3rd July, 2019 08:00am - 09:00am - 10:45am - 12:15pm - 01:15pm - 02:15pm - 03:45pm - 04:00pm - Time 09:45am - 10:45am 11:15am - 12:15pm 09:00am 09:45am 11:15am 01:15pm 02:15pm 03:45pm 04:00pm 06:00pm Plenary Keynote Technical Technical Technical Sessions RegistrationInauguration Tea Break Lunch Tea Break Talk 1 Address 1 Session 1 Session 2 Session 3 Plenary Speaker Prof. Eduardo Nebot. Title: Autonomous Systems in industrial application and Urban environments Keynote Speaker Prof. David Scarramuzza Title: Autonomous, Agile, Vision-controlled Drones: from Frame-based to Event-based Vision 4th July, 2019 08:00am - 09:00am - 10:00am - 11:00am - 11:45am - 01:15pm - 02:15pm - 03:00pm - 04:00pm - 04:15pm - 05:30pm - 07:00pm - Time 09:00am 10:00am 11:00am 11:45am 01:15pm 02:15pm 03:00pm 04:00pm 04:15pm 05:30pm 06:45pm 09:00pm Tea Break Short Plenary Technical Keynote Technical Technical Conference Sessions Registration Lunch Tea Break TRS GBM Presentation 1 Talk 2 Poster Session 4 Address 2 Session 5 Session 6 Banquet Session 1 Plenary Speaker Prof. Blake Hannaford. Keynote Speaker Prof. Taewon Seo, Title: Underwater Robotic Platform for Hovering and Operations 5th July, 2019 08:00am - 09:00am - 10:00am - 11:00am - 11:45am - 01:15pm - 02:15pm - 03:00pm - 03:40pm - 04:10pm - Time 05:25pm - 06:00pm 09:00am 10:00am 11:00am 11:45am 01:15pm 02:15pm 03:00pm 03:40pm 04:10pm 05:25pm Tea Break Tea Break Short Plenary Technical Keynote Short Technical Valedictory Sessions Registration Poster Lunch Poster Presentation 2 Talk 3 Session 7 Address 3 Presentation 3 Session 8 Function Session 2 Session 3 Plenary Speaker Prof. Jan Peters Title: Motor Skill Learning Keynote Speaker Prof. Nobuto Matsuhira Title: Community Service Robot 6th July, 2019 09:00am - 11.00am - 01.30pm - Time 09:30am - 11:00am 11.30am - 01.30pm 09:30am 11.30am 02:30pm Doctoral Symposium - Doctoral Symposium - Invited Talk Tea Break Sessions Session 1 (ICSR Hall 1) Session 2 (ICSR Hall 1) Lunch Mathworks workshop (ICSR Hall 2) Venue : Auditorium ICSR, IIT Madras Date Session Timing Paper ID Title Authors Parameter Sharing Reinforcement Learning Architecture for Meha Kaushik (Microsoft Global Development Center)*; Madhava Krishna 6 Multi Agent Driving (IIIT-Hyderabad); Nirvan Singhania (IIIT-Hyderabad) MADHU YADAV (IIT DELHI)*; Kishore Chimmula (Indian Institute of Acceleration Command based Visual Servoing with Technical 167 Technology Delhi); Indra Narayan Kar (IIT Delhi); Sumantra Dutta Roy Artificial Induced Time-Delay Session 1 (Indian Institute of Technology Delhi) Artificial Lavish Arora (Department of EE, Indian Institute of Technology Kanpur); Automatic Joint Calibration of odometry and sensor 78 Mohan Krishna Nutalapati (Department of EE, Indian Institute of Technology Intelligence and parameters Motion Planning Kanpur); Ketan Rajawat (IIT Kanpur)*; Rajesh M Hegde (IIT Kanpur) (12.15 - 01.15 PM) Adarsh P Modh (International Institute of Information Technology, Gradient Aware - Shrinking Domain based Control Design Hyderabad); Siddharth Singh (Univerity of Pennsylvania); Venkata Seetharama 64 for Reactive Planning Frameworks Sai Bhargav Kumar Avula (International Institute of Information Technology, Hyderabad)*; Sriram N. N. (IIIT Hyderabad); Madhava Krishna (IIIT-
Effect of Cable Co-sharing on the Workspace of a cable- Nakka Surya Satya Sanjeevi (Indian Institute of Technology Gandhinagar); 104 Driven Serial Chain Manipulator Vineet Vashista (Indian Institute of Technology Gandhinagar)* Neha G Pusalkar (International Institute of Information Technology, Hyderabad)*; Sourav Karmakar (IIIT Hyderabad); Rohit Aggrawal (IIIT 128 SMA Actuated Dual Arm Flexible Gripper Hyderabad); Pravin Mali (IIIT Hyderabad); Akash Singh (VNIT); Abhishek Technical Sarkar (IIIT-Hyderabad); Madhava Krishna (IIIT-Hyderabad) Session 2 DESIGN OF AN AUTONOMOUS WEED REMOVAL 145 Ranjith Pillai (SRMIST)*; Mihirkumar Patel (SRMIST) 3rd July 3rd Design and SYSTEM Analysis 142 Modular Pipe Climber Rama Raju Venkata Vadapalli (IIIT Hyderabad)* (02.15 - 03.45 PM) Computation of Singularity Free Region and Design Edison T. ( Indian Institute of Technology Madras); Sandipan Bandyopadhyay 144 Optimisation of a Four-Degrees-of-Freedom Hybrid Arm (Indian Institute of Technology Madras)* Performance Enhancement of Interval-Analysis-Based- 169 Methods for Wrench-Feasible Workspace Computation of Ishan Chawla (IIT Roorkee)*; Pushparaj Pathak (IIT Roorkee) Cable-Driven Parallel Robots
Performance Comparison of Interaction Control Techniques Vijay Kumar Pediredla (IIT Madras)*; Srikar A (Indian Institute of Technology Technical 5 for Teleoperated systems: Case Study of a 1-DOF Haptic Madras); Asokan Thondiyath (IIT Madras) Session 3 Device Dynamics and Towards Dynamics and control of Modular Reconfigurable Anubhav Dogra (Indian Institute of Technology Ropar)*; Ekta Singla (IIT Control 68 (04.00 - 06.00 PM) Manipulators Ropar); Srikant Padhee (IIT Ropar) saumya sahoo (VNIT)*; Shital Chiddarwar (VNIT); Mohsin Dalvi Bond graph based flatness control of four wheeled 16 (Visvesvaraya National Institute of Technology,Nagpur); Rahul M R differentially driven mobile robot: A Simulation study (Visvesvaraya National Institute of Technology,Nagpur) Flatness-based model predictive control of six degree of 25 Sandeepkumar R (IITM)*; Ranjith Mohan (IIT Madras) Technical freedom fixed-wing UAV Bond Graph Modelling and Simulation of Planar Snake Garima Bhandari (Indian Institute of Technology Roorkee)*; Pushparaj Pathak Session 3 155 Dynamics and Robot with Lateral Undulation Gait (IIT Roorkee); Jung Min Yang (Kyungpook National University) Tracking Control of a Single Link Manipulator with Actuator Kishore Chimmula (Indian Institute of Technology Delhi)*; Indra Narayan Kar 164 Control Dynamics under Output Constraints (IIT Delhi)
3rd July 3rd (04.00 - 06.00 PM) Sasanka sankhar reddy Chennareddy (BITS Pilani K K Birla Goa campus)*; 3DoBot - A modular robot for wheel and chain coordinate 81 Abhimanyu . (BITS Pilani K K Birla Goa campus); TEJAS RANE (BITS Pilani structures K K Birla Goa campus); Rohan Godiyal (BITS Pilani K K Birla Goa campus) X-STC: An Extended Spanning Tree-based Coverage 92 K R R Guruprasad (National Institute of Technology Karnataka)* algorithm for mobile robots Date Session Timing Paper ID Title Authors Scale Estimation of Monocular SLAM Using Direct Bharadwaja Yathirajam (CSIR-National Aerospace Laboratories)*; Vaitheeswaran 32 Acceleration Pair Measurements S M (CSIR-NAL); Ananda CM (CSIR - National Aerospace Laboratories) Raghav Sardana (CSIR-Central Scientific Instruments Organisation)*; Rahul Joint Forward-Backward Visual Odometry for Stereo Kottath (CSIR-CSIO); vinod karar (CSIR-Central Scientific Instruments 54 Cameras Organisation, Chandigarh); Shashi Poddar (CSIR- Central scientific instruments Technical organisation) Session 4 Stability Margin Estimation for Tracked Dozer Used in Shaik Mohammad Hidayathulla (Combat Vehicles Research & Development 74 R&D Session Defence Applications Estt.)*; Kamble Yuvaraj (DIAT) (11.45 - 01.15 84 Swarm Robots Self-Deployment in Unknown shweta singh (DRDO)* PM) Debadrata Sarkar (NIT Durgapur); Shounak Dasgupta (NIT Durgapur); Srinivasa A Soft Bending-type Actuator using Hyper-elastic Reddy N. (CSIR-Central Mechanical Engineering Research Institute); Aman Arora 117 Materials: Development, Analysis and Characterization (CSIR-Central Mechanical Engineering Research Institute); Soumen Sen (CSIR Central Mechanical Eng Research Inst., Durgapur)* Dr. Ravi Kant Jain (CSIR-CMERI Durgapur)*; Abhijit Das (CSIR-CMERI Design Analysis of Novel Scissor Mechanism for 138 Durgapur); Arpita Mukherjee (CSIR-CMERI); Santosha Goudar (CSIR-CMERI Pipeline Inspection Robot (PIR) Durgapur); Ankita Mistri (CSIR-CMERI Durgapur)
Technical Fusion of Heterogeneous Range Sensors Dataset for MAHESH K. SINGH (National Institute Of Technology Delhi)*; Ashish Dutta 12 Session 5 High Fidelity Surface Generation (IIT Kanpur); K. S. Venkatesh (IIT Kanpur) Study of Impossibility Results on Swarm Based Grid Madhumita Sardar (National Institute of Technology, Durgapur)*; Deepanwita Artificial 36 Exploration in Discrete Domain Das (National Institute of Technology, Durgapur) 4th July 4th Intelligence Rendezvous of Heterogeneous Robots in Minimum Time Onkar Kulkarni (IIT Madras); Bhaskar Vundurthy (IIT Madras); Sridharan K (IIT 38 and Motion - Theory and Experiments Madras)* Planning Simulated Environment for Autonomous driving using (03.00 - 04.00 113 Hardeep Singh (IIT delhi)*; Sunil Jha (IIT Delhi) ROS based on Mahindra E2O electric car PM)
98 Design and Fabrication of River Cleaning Robot SREEJITH S NAIR (NIT Calicut)*; Sudheer AP (NIT Calicut); Joy M.L. (NITC) Design and Simulation of a Tank Floor Cleaning Bhavesh Narayani (IIT MADRAS)*; Santhosh Ravichandran (Planys 71 Mechanism for Mobile Robots used in Storage Tanks Technologies); Prabhu Rajagopal (IIT MADRAS) Technical Numerical Study on Swimming Performance Based on Session 6 129 Flapping Orientations of Caudal Fins for Bio-robotic Srikanth Dharwada (IIT Madras)* Service Robots Systems (04.15 - 05.30 Shape Memory Alloy Based Caudal Fin for a Robotic 108 Himansu Shaw (TVS motors); Atul Thakur (IITPatna)* PM) Fish: Design, Fabrication, Control and Characterization. Arshad Javeed (Micro Focus)*; Varun Ganjigunte Prakash (L&T Technology 8 Autonomous Service Robot Services) Chakravarthi Jada (RGUKT-NUZVID)*; Vinod Pusuluri (RGUKT-NUZVID); Baswani Pavan (Rajiv Gandhi University of Knowledge Technologies ); ASHOK Simultaneous Localization of Signal Sources Inspired by 30 URLANA (RGUKT-NUZVID); Mahima Kumari Devineni (RGUKT-NUZVID); Butterfly Paradigm Padma Priya Motepalli (RGUKT-NUZVID); Ganesh Bodakurthi (RGUKT- NUZVID); Sumanth Motupalli (RGUKT-NUZVID) Path Planning and Obstacle Avoidance in CG Space of a 139 Shubhi Katiyar (IIT Kanpur)*; Ashish Dutta (IIT Kanpur) 10 DOF Rover using RRT* Visual Feedback based Trajectory Planning to Pick an Shraddha Chaudhary (IIT Delhi)*; Shobhit Zakhmi (Indian Institute of 143 Object and Manipulation using Deep learning Technology Delhi); Sumantra Dutta Roy (IIT Delhi) Short Anubhab Majumder (IISc Bangalore); Asesh Patra (IIT(ISM) Dhanbad); MEET Locomotion Study of a Hyper-redundant Modular Robot presentation 1 157 PATEL (IIT(ISM) DHANBAD)*; Priyabrata Chattopadhyay (CMERI Durgapur); Using Artificial Neural Networks (09.00 - 10.00 Sanjoy Ghoshal (IIT(ISM) Dhanbad) Real-time Simulation System for Teleoperated Mobile Nattawat Pinrath (shibaura institute of technology)*; Nobuto Matsuhira (Shibaura AM) 19 Robots using V-REP Institute of Technology) MOHANRAJ A P (SASTRA Deemed University)*; SARAVANA GANESH M Experimental Study of Impact of the Rear Wheel in Poster (SASTRA Deemed University); KARTHIKEYAN M (SASTRA Deemed 49 Three Wheeled Triangular Structured Omnidirectional 4th July 4th Presentation 1 University); HARSHITH B (SASTRA Deemed University); NIJANTHAN Robot (11.00 - 11.45 VASUDEVAN (Anna University) Real-time depth estimation using camera and IMU on the AM) 20 ADWAITH VIJAYAKUMAR (IIT Bombay)* unstabilized platform of a spherical robot SriSai Naga Jyotish Poonganam (IIIT Hyderabad)*; Yash Goel (IIIT Hyderabad); IVO: Inverse Velocity Obstacles for Real Time 122 Venkata Seetharama Sai Bhargav Kumar Avula (International Institute of Navigation Information Technology, Hyderabad); Madhava Krishna (IIIT-Hyderabad) Hand Gesture Recognition Using Faster R-CNN RUBIN BOSE S (MADRAS INSTITUTE OF TECHNOLOGY)*; Sathiesh 133 Inception V2 Model Kumar V (Madras Institute of Technology) Stereo Visual Odometry with Stixel Map based Obstacle 170 Deepak Singh (Netaji Subhas Institute Of Technology)* Detection for Autonomous Navigation Date Session Timing Paper ID Title Authors Aniket D Pokale (IIIT Hyderabad)*; Dipanjan MR Das (TCS); Aditya Aggarwal (IIIT Hyderabad); Brojeshwar Bhowmick 103 Integrating objects in SLAM framework (Tata Consultancy Services); Madhava Krishna (IIIT- Hyderabad) Pranav N Thakkar (Indian Institute of Technology, Bombay)*; 44 Optimal Landmark Selection for Bearing-Only Navigation Leena Vachhani (Indian Institute of Technology, Bombay)
Rahul M R (Visvesvaraya National Institute of Technology,Nagpur)*; Rohini Y Bhute (Visvesvaraya National Technical Burr Detection and Trajectory Generation for Robotic Deburring on 62 Institute of Technology,Nagpur ); Shital Chiddarwar (VNIT); Session 7 2D workpiece Using Image processing Sensors and saumya sahoo (VNIT); Mohsin Dalvi (Visvesvaraya National Institute of Technology,Nagpur) Navigation (11.45 AM - 01.15 A ROS based framework for Multi-floor navigation for unmanned Nitin Kumar Dhiman (Centre for AI & Robotics)*; Dipti 67 PM) ground robots Deodhare (CAIR, DRDO); Deepak Khemani (IIT Madras)
MUNDLA NARASIMHAPPA (Indian Institute of Technology Global attitude estimation and dead reckoning of a mobile spherical 4 Madras)*; Arun D. Mahindrakar (IIT Madras); Omkar K. robot using extended Kalman filter Vanjpe (Indian Institute of Technology Madras) Kartik Ramachandruni (Indian Institute of Technology
5th July 5th Vision-based control of UR5 robot to track a moving object under Jodhopur); Shivam Jaiswal ( Indian Institute of Technology 152 occlusion using Adaptive Kalman Filter Jodhopur); Suril V Shah (Indian Institute of Technology Jodhopur)*
Invited talk - R&D Engineers, Pune (DRDO) Motion Planning of a 14 DOF Biped Robot For Crossing an Irregular Jitendra Kumar (Indian Institute of Technology Kanpur)*; 77 Shape Ditch Using a New Speed Function Incorporating Terrain Ashish Dutta (IIT Kanpur) Technical Features and Biped Dynamics Session 8 Bhushan J. Darekar (College of Engineering Pune)*; Prabhakar Humanoid and M Naik (College of Engineering, Pune); Jayant S Unde (College 10 Pneumatic Artificial Muscle Powered Exoskeleton Exoskeleton Of Engineering Pune); Shantipal Ohol (College of Engineering, (04.15 - 05.30 PM) Pune); Bhushan Darekar (College of Engineering pune) A Self-adaptive Robot Finger with Torsion Springs for Humanoid 41 Vinaykumar J. Patel (Birla Vishvakarma Mahavidyalaya)* Robots Rajeevlochana G Chittawadigi (Amrita University)*; Nayan 85 A Biomimetic Design of an Artificial Knee for Lower Limb Prosthesis Moni Kakoty (TEZPUR UNIVERSITY) Dharbaneshwer S J (IIT, Madras)*; Asokan Thondiyath (IIT 3 A solid mechanics approach to robotic grasp analysis Madras); Sankara J. Subramanian (Photogauge India Private Limited) Dharbaneshwer S J (IIT, Madras)*; Asokan Thondiyath (IIT Grasp database based on the presssure maps of robotic gripper: a 7 Madras); Sankara J. Subramanian (Photogauge India Private preview Limited); I-Ming Chen (Nanyang Technological University) Ganesh Roy (Indian Institute of Engineering Science and Technology)*; Chetan Thakur (Hirishima University); Ramin 9 Characterisation and Application of PGM in Ankle Joint Exoskeleton Tadayon (Arizona State University); Yuichi Kurita (Institute of Engineering); Subhasis Bhaumik (INDIAN INSTITUTE OF Short ENGINEERING SCIENCE AND TECHNOLOGY) Presentation 2 Eram Neha (Jamia Millia Islamia, New Delhi)*; Mohammed (09.00 - 10.00 AM) 46 Grasp Force Analysis of Four-finger Tendon Actuated Robotic Hand suhaib (Jamia Millia Islamia New Delhi); Sudipto Mukherjee (Indian Institute of Technology, Delhi) Reasoning on Objects’ Geometric Shapes for Prosthetic Hand Abhijit Boruah (Dibrugarh University)*; Nayan Moni Kakoty Poster 53 Grasping (TEZPUR UNIVERSITY); Tazid Ali (Dibrugarh University) Presentation 2 Ram Ananya Tenneti (CBIT, Hyderabad)*; Abhishek Sarkar 5th July 5th 57 Implementation of modified FABRIK for robot manipulators (11.00 - 11.45 AM) (IIIT-Hyderabad) Sanchit Jhunjhunwala (Indian Institute of Technology 63 Design and Modeling of a Novel Mechanized Injection Platform Guwahati); Jyotindra Narayan (Indian Institute of Technology Guwahati)*; Santosha K Dwivedy (IIT Guwahati) Prabhat Kumar (IIT Bombay)*; B Ravi ("Indian Institute of 97 A comparative study of robots in laparoscopic surgeries Technology Bombay, India") Vinay R Veerapur (Pillai College of Engineering)*; T. A Parallel Mechanism-Based Robots for Single and Dual Extrusion 3D 111 Dwarakanath (B.A.R.C); Pranav Tillu (Pillai College of Printing Engineering); Shritej Zemase (Pillai College of Engineering) Effective Teaching and Learning of Homogenous Transformation Rajeevlochana G Chittawadigi (Amrita University)*; Subir Saha 127 Matrix using RoboAnalyzer Software ("Indian Institute of Technology Delhi, India") Short Presentation 2 Gurvinder S Virk (Endoenergy Systems Ltd)*; Stephen (09.00 - 10.00 AM) Cameron (University of Oxford); Richa Pandey (B.I.T. Mesra Ranchi); Moumita Paul (Endoenegry Systems Limited); Ratna 136 Towards realising wearable exoskeletons for elderly people Poster Smbhav (B.I.T. Mesra Ranchi); RAVI KUMAR RAUSHAN Presentation 2 (B.I.T. Mesra Ranchi); Arvind Dixit (Endoenergy Systems Pvt (11.00 - 11.45 AM) Ltd)
132 Design Analysis of an Industrial Robot under Development Rajeevlochana G Chittawadigi (Amrita University)*
Hardeep Singh (IIT delhi)*; Aditya Jain (IIT Delhi); Riby Repeatability measurement and kinematic identification of LBR iiwa 7 Abraham (IIT Delhi); Subir Saha ("Indian Institute of 147 R800 using monocular camera Technology Delhi, India"); Swagat Kumar (); Sumantra Dutta Roy (Indian Institute of Technology Delhi) Saurabh Y Lanje (IITGN)*; Vineet Vashista (Indian Institute of 5th July 5th Short 165 Minimum Swing Controller for Quadrotor Suspended Load System Technology Gandhinagar) Presentation 3 SVM based Classification Of sEMG Signals using Normalized Time Nagaswathi Amancherla (IIIT Sri City)*; Anish Turlapaty (IIIT (02.45 - 03.30 PM) 160 Domain Features for the Applications towards Arm Exoskeletons Sri City); Balakrishna Gokaraju (University of West Alabama)
Jeongae Bak (Seoul National Univ); Yecheol Moon (Hanyang Hovering control of a tilting thruster underwater robot with anti- Poster 22 Univ); Sangrok Jin (Seoul National Univ); Jongwon Kim (Seoul windup technique Presentation 3 National University); TaeWon Seo (Hanyang Univ)* (03.30 - 04.15 PM) Srikar A (Indian Institute of Technology Madras)*; Senthur Raj Dynamic Modulation of Human Interactive Robots using Impedance 11 (National Institute of Technology Tiruchirappalli); Vijay Kumar Control Pediredla (IIT Madras); Asokan Thondiyath (IIT Madras) Event-triggered Backstepping Control Scheme for Networked Mobile Sami AL ISSA (IIT Guwahati)*; Manmohan Sharma (IIT 61 Robots Guwahati); Indrani Kar (IIT Guwahati) Sourav Karmakar (IIIT Hyderabad)*; Abhishek Sarkar (IIIT- 149 BIO INSPIRED SOFT ROBOTIC GRIPPERS Hyderabad)