2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017)

Vancouver, British Columbia, Canada

24-28 September 2017

Pages 1-413

IEEE Catalog Number: CFP17IRO-POD ISBN: 978-1-5386-2683-2

1/9

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IEEE Catalog Number: CFP17IRO-POD ISBN (Print-On-Demand): 978-1-5386-2683-2 ISBN (Online): 978-1-5386-2682-5 ISSN: 2153-0858

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TABLE OF CONTENTS

FEATURE DISCOVERY AND VISUALIZATION OF ROBOT MISSION DATA USING CONVOLUTIONAL AUTOENCODERS AND BAYESIAN NONPARAMETRIC TOPIC MODELS ...... 1 Genevieve Flaspohler ; Nicholas Roy ; Yogesh Girdhar

ONLY LOOK ONCE, MINING DISTINCTIVE LANDMARKS FROM CONVNET FOR VISUAL PLACE RECOGNITION...... 9 Zetao Chen ; Fabiola Maffra ; Inkyu Sa ; Margarita Chli

GEOCUEDEPTH: EXPLOITING GEOMETRIC STRUCTURE CUES TO ESTIMATE DEPTH FROM A SINGLE IMAGE ...... 17 Yiming Zeng ; Yu Hu ; Shice Liu ; Qiankun Tang ; Jing Ye ; Xiaowei Li

DOMAIN RANDOMIZATION FOR TRANSFERRING DEEP NEURAL NETWORKS FROM SIMULATION TO THE REAL WORLD...... 23 Josh Tobin ; Rachel Fong ; Alex Ray ; Jonas Schneider ; Wojciech Zaremba ; Pieter Abbeel

VIRTUAL-TO-REAL DEEP REINFORCEMENT LEARNING: CONTINUOUS CONTROL OF MOBILE ROBOTS FOR MAPLESS NAVIGATION ...... 31 Lei Tai ; Giuseppe Paolo ; Ming Liu

ACQUIRING SOCIAL INTERACTION BEHAVIOURS FOR TELEPRESENCE ROBOTS VIA DEEP LEARNING FROM DEMONSTRATION ...... 37 Kyriacos Shiarlis ; João Messias ; Shimon Whiteson

A GENERATIVE MODEL FOR INTENTION RECOGNITION AND MANIPULATION ASSISTANCE IN TELEOPERATION ...... 43 Ajay Kumar Tanwani ; Sylvain Calinon

BLACK-BOX DATA-EFFICIENT POLICY SEARCH FOR ROBOTICS ...... 51 Konstantinos Chatzilygeroudis ; Roberto Rama ; Rituraj Kaushik ; Dorian Goepp ; Vassilis Vassiliades ; Jean- Baptiste Mouret

GAUSSIAN MIXTURE REGRESSION ON SYMMETRIC POSITIVE DEFINITE MATRICES MANIFOLDS: APPLICATION TO WRIST MOTION ESTIMATION WITH SEMG...... 59 Noémie Jaquier ; Sylvain Calinon

ACTIVE LEARNING WITH QUERY PATHS FOR TACTILE OBJECT SHAPE EXPLORATION ...... 65 Danny Driess ; Peter Englert ; Marc Toussaint

LEARNING TASK-SPACE SYNERGIES USING RIEMANNIAN GEOMETRY ...... 73 Martijn J. A. Zeestraten ; Ioannis Havoutis ; Sylvain Calinon ; Darwin. G. Caldwell

COLLECTIVE ROBOT REINFORCEMENT LEARNING WITH DISTRIBUTED ASYNCHRONOUS GUIDED POLICY SEARCH...... 79 Ali Yahya ; Adrian Li ; Mrinal Kalakrishnan ; Yevgen Chebotar ; Sergey Levine

TOWARDS REAL-TIME SEARCH PLANNING IN SUBSEA ENVIRONMENTS...... 87 James McMahon ; Harun Yetkin ; Artur Wolek ; Zachary J. Waters ; Daniel J. Stilwell

AUTONOMOUS SKILL-CENTRIC TESTING USING DEEP LEARNING ...... 95 Simon Hangl ; Sebastian Stabinger ; Justus Piater

PROGRAMMING ROBOTIC AGENTS WITH ACTION DESCRIPTIONS ...... 103 Gayane Kazhoyan ; Michael Beetz

AUTONOMOUS MOBILE ROBOT NAVIGATION IN UNEVEN AND UNSTRUCTURED INDOOR ENVIRONMENTS...... 109 Chaoqun Wang ; Lili Meng ; Sizhen She ; Ian M. Mitchell ; Teng Li ; Frederick Tung ; Weiwei Wan ; Max. Q. -H. Meng ; Clarence W. De Silva

APPROXIMATING REACHABLE BELIEF POINTS IN POMDPS...... 117 Kyle Hollins Wray ; Shlomo Zilberstein

ONLINE INFORMATION GATHERING USING SAMPLING-BASED PLANNERS AND GPS: AN INFORMATION THEORETIC APPROACH ...... 123 Alberto Viseras ; Dmitriy Shutin ; Luis Merino

A NOVEL FORCE SENSING INTEGRATED INTO THE TROCAR FOR MINIMALLY INVASIVE ROBOTIC SURGERY...... 131 G. A. Fontanelli ; L. R. Buonocore ; F. Ficuciello ; L. Villani ; B. Siciliano

IMPROVED GELSIGHT TACTILE SENSOR FOR MEASURING GEOMETRY AND SLIP...... 137 Siyuan Dong ; Wenzhen Yuan ; Edward H. Adelson

BODY WALL FORCE SENSOR FOR SIMULATED MINIMALLY INVASIVE SURGERY: APPLICATION TO FETAL SURGERY ...... 145 Allan Javaux ; Laure Esteveny ; David Bouget ; Caspar Gruijthuijsen ; Danail Stoyanov ; Tom Vercauteren ; Sebastien Ourselin ; Dominiek Reynaerts ; Kathleen Denis ; Jan Deprest ; Emmanuel Vander Poorten

TOWARDS AUTONOMOUS ROBOTIC SKIN SPATIAL CALIBRATION: A FRAMEWORK BASED ON VISION AND SELF-TOUCH...... 153 Alessandro Albini ; Simone Denei ; Giorgio Cannata

SIGHT TO TOUCH: 3D DIFFEOMORPHIC DEFORMATION RECOVERY WITH MIXTURE COMPONENTS FOR PERCEIVING FORCES IN ROBOTIC-ASSISTED SURGERY ...... 160 Angelica I. Aviles ; Samar M. Alsaleh ; Alicia Casals

EVENT-DRIVEN ENCODING OF OFF-THE-SHELF TACTILE SENSORS FOR COMPRESSION AND LATENCY OPTIMISATION FOR ROBOTIC SKIN ...... 166 Chiara Bartolozzi ; Paolo Motto Ros ; Francesco Diotalevi ; Nawid Jamali ; Lorenzo Natale ; Marco Crepaldi ; Danilo Demarchi

DESIGN OF A SOFT CATHETER FOR LOW-FORCE AND CONSTRAINED SURGERY...... 174 Patrick Slade ; Alex Gruebele ; Zachary Hammond ; Michael Raitor ; Allison M. Okamura ; Elliot W. Hawkes

A VARIABLE STIFFNESS CATHETER CONTROLLED WITH AN EXTERNAL MAGNETIC FIELD...... 181 Christophe Chautems ; Alice Tonazzini ; Dario Floreano ; Bradley J. Nelson

INSERTION METHOD FOR MINIMIZING FINE NEEDLE DEFLECTION IN BOWEL INSERTION BASED ON EXPERIMENTAL ANALYSIS ...... 187 Ryosuke Tsumura ; Kai Shitashima ; Hiroyasu Iwata

IMPLICIT ACTIVE CONSTRAINTS FOR CONCENTRIC TUBE ROBOTS BASED ON ANALYSIS OF THE SAFE AND DEXTEROUS WORKSPACE ...... 193 Konrad Leibrandt ; Christos Bergeles ; Guang-Zhong Yang

SHAPE DETERMINATION DURING NEEDLE INSERTION WITH CURVATURE MEASUREMENTS ...... 201 Jin Seob Kim ; Jiangzhen Guo ; Maria Chatrasingh ; Sungmin Kim ; Iulian Iordachita

MASTER MANIPULATOR DESIGNED FOR HIGHLY ARTICULATED ROBOTIC INSTRUMENTS IN SINGLE ACCESS SURGERY...... 209 Piyamate Wisanuvej ; Gauthier Gras ; Konrad Leibrandt ; Petros Giataganas ; Carlo A. Seneci ; Jindong Liu ; Guang-Zhong Yang

REAL-TIME TRAJECTORY REPLANNING FOR MAVS USING UNIFORM B-SPLINES AND A 3D CIRCULAR BUFFER...... 215 Vladyslav Usenko ; Lukas Von Stumberg ; Andrej Pangercic ; Daniel Cremers

A FRAMEWORK FOR MULTI-VEHICLE NAVIGATION USING FEEDBACK-BASED MOTION PRIMITIVES...... 223 Marijan Vukosavljev ; Zachary Kroeze ; Mireille E. Broucke ; Angela P. Schoellig

SHORT AND FULL HORIZON MOTION PLANNING FOR PERSISTENT MULTI-UAV SURVEILLANCE WITH ENERGY AND COMMUNICATION CONSTRAINTS...... 230 Jürgen Scherer ; Bernhard Rinner

ROBUST COLLISION AVOIDANCE FOR MULTIPLE MICRO AERIAL VEHICLES USING NONLINEAR MODEL PREDICTIVE CONTROL ...... 236 Mina Kamel ; Javier Alonso-Mora ; Roland Siegwart ; Juan Nieto

TOWARDS AUTONOMOUS NAVIGATION OF MULTIPLE POCKET-DRONES IN REAL- WORLD ENVIRONMENTS...... 244 Kimberly McGuire ; Mario Coppola ; Christophe De Wagter ; Guido De Croon

DOWNWASH-AWARE TRAJECTORY PLANNING FOR LARGE QUADROTOR TEAMS...... 250 James A. Preiss ; Wolfgang Hönig ; Nora Ayanian ; Gaurav S. Sukhatme

VIEWPOINT SELECTION FOR GRASP DETECTION...... 258 Marcus Gualtieri ; Robert Platt

ON THE RELEVANCE OF GRASP METRICS FOR PREDICTING GRASP SUCCESS...... 265 Carlos Rubert ; Daniel Kappler ; Antonio Morales ; Stefan Schaal ; Jeannette Bohg

VISUAL DETECTION OF OPPORTUNITIES TO EXPLOIT CONTACT IN GRASPING USING CONTEXTUAL MULTI-ARMED BANDITS...... 273 Clemens Eppner ; Oliver Brock

AUTOMATIC PAGE-TURNING MECHANISM WITH NEAR-FIELD ELECTROADHESIVE FORCE FOR LINEARLY CORRECTABLE IMAGING...... 279 Junseok Lee ; Wonseok Jeon ; Youngsu Cha ; Hyunseok Yang

GRASP STABILITY ASSESSMENT THROUGH THE FUSION OF PROPRIOCEPTION AND TACTILE SIGNALS USING CONVOLUTIONAL NEURAL NETWORKS...... 286 Jennifer Kwiatkowski ; Deen Cockburn ; Vincent Duchaine

LEARNING THE POST-CONTACT RECONFIGURATION OF THE HAND OBJECT SYSTEM FOR ADAPTIVE GRASPING MECHANISMS ...... 293 Minas Liarokapis ; Aaron M. Dollar

DESIGN AND EXPERIMENTAL IMPLEMENTATION OF A QUASI-DIRECT-DRIVE LEG FOR OPTIMIZED JUMPING ...... 300 Yanran Ding ; Hae-Won Park

SOFT ACTUATION AND SENSING TOWARDS ROBOT-ASSISTED FACIAL REHABILITATION...... 306 Amir Firouzeh ; Jamie Paik

DYNAMIC TERRESTRIAL SELF-RIGHTING WITH A MINIMAL TAIL...... 314 Carlos S. Casarez ; Ronald S. Fearing

HERI HAND: A QUASI DEXTEROUS AND POWERFUL HAND WITH ASYMMETRICAL FINGER DIMENSIONS AND UNDER ACTUATION ...... 322 Zeyu Ren ; Chengxu Zhou ; Songyan Xin ; Nikos Tsagarakis

INFLUENCE OF FINGERTIP AND OBJECT SHAPE ON THE MANIPULATION ABILITY OF UNDERACTUATED HANDS...... 329 Diego Ospina ; Alejandro Ramirez-Serrano

CONTROL OF UNDERACTUATED RIMLESS WHEEL THAT WALKS ON STEEP SLOPE ...... 335 Fumihiko Asano ; Yasunori Kikuchi ; Xuan Xiao

“IS THIS THE REAL LIFE? IS THIS JUST FANTASY?”: HUMAN PROXEMIC PREFERENCES FOR RECOGNIZING ROBOT GESTURES IN PHYSICAL REALITY AND VIRTUAL REALITY...... 341 Sahba El-Shawa ; Noah Kraemer ; Sara Sheikholeslami ; Ross Mead ; Elizabeth A. Croft

RENDERING 3D VIRTUAL OBJECTS IN MID-AIR USING CONTROLLED MAGNETIC FIELDS...... 349 Alaa Adel ; Mohamed Abou Seif ; Gerold Hölzl ; Matthias Kranz ; Slim Abdennadher ; Islam S. M. Khalil

DIRECT HAND MANIPULATION OF CONSTRAINED VIRTUAL OBJECTS ...... 357 Jun-Sik Kim ; Jung-Min Park

PREVIEWED REALITY: NEAR-FUTURE PERCEPTION SYSTEM ...... 370 Yuta Horikawa ; Asuka Egashira ; Kazuto Nakashima ; Akihiro Kawamura ; Ryo Kurazume

BIPEDAL ORIENTED WHOLE BODY MASTER-SLAVE SYSTEM FOR DYNAMIC SECURED LOCOMOTION WITH LIP SAFETY CONSTRAINTS...... 376 Yasuhiro Ishiguro ; Kunio Kojima ; Fumihito Sugai ; Shunichi Nozawa ; Yohei Kakiuchi ; Kei Okada ; Masayuki Inaba

A REGULARIZED ON-LINE SEQUENTIAL EXTREME LEARNING MACHINE WITH FORGETTING PROPERTY FOR FAST DYNAMIC HYSTERESIS MODELING ...... 383 Zelong Wu ; Hui Tang ; Sifeng He ; Jian Gao ; Xin Chen ; Chengqiang Cui ; Yunbo He ; Kai Zhang ; Huawei Li ; Yangmin Li

CALIBRATION OF MAGNETIC PLATFORM PROTOTYPE FOR VISION-BASED DRUGS DELIVERY INSIDE HUMAN COCHLEA ...... 389 Azaddien Zarrouk ; Karim Belharet ; Omar Tahri

DESIGN AND PROTOTYPING OF A MAGNETIC ACTUATOR BASED PERMANENT MAGNETS FOR MICROBEAD NAVIGATION IN VISCOUS ENVIRONMENT ...... 395 Walid Amokrane ; Karim Belharet ; Mouna Souissi ; Alexis Bozorg Grayeli ; Antoine Ferreira

THE HYBRID SYSTEM WITH A LARGE WORKSPACE TOWARDS MAGNETIC MICROMANIPULATION WITHIN THE HUMAN HEAD ...... 401 Laliphat Manamanchaiyaporn ; Tiantian Xu ; Xinyu Wu

1D MANIPULATION OF A MICROMETER SIZE PARTICLE ACTUATED VIA THERMOCAPILLARY CONVECTIVE FLOWS ...... 408 Ronald Terrazas Mallea ; Aude Bolopion ; Jean-Charles Beugnot ; Pierre Lambert ; Michael Gauthier

PATH PLANNING AND AGGREGATION FOR A MICROROBOT SWARM IN VASCULAR NETWORKS USING A GLOBAL INPUT ...... 414 Li Huang ; Louis Rogowski ; Min Jun Kim ; Aaron T. Becker

PASSIVITY-BASED CONTROL OF MANIPULATOR-STAGE SYSTEMS ON VERTICAL FLEXIBLE BEAM ...... 429 Changsu Ha ; Hackchan Kim ; Dongjun Lee

A WIRE-DRIVEN CONTINUUM MANIPULATOR MODEL WITHOUT ASSUMING SHAPE CURVATURE CONSTANCY...... 436 Kaiwen Hsiao ; Hiromi Mochiyama

ADAPTIVE INPUT SHAPER DESIGN FOR FLEXIBLE ROBOT MANIPULATORS...... 444 Thomas Solatges ; Sébastien Rubrecht ; Mathieu Rognant ; Philippe Bidaud

DESIGN OF A SPHERICAL TENSEGRITY ROBOT FOR DYNAMIC LOCOMOTION...... 450 Kyunam Kim ; Deaho Moon ; Jae Young Bin ; Alice M. Agogino

SHAPE-BASED OBJECT CLASSIFICATION AND RECOGNITION THROUGH CONTINUUM MANIPULATION...... 456 Huitan Mao ; Jing Xiao ; Mabel M. Zhang ; Kostas Daniilidis

MORPHOLOGICAL COMPUTATION: THE GOOD, THE BAD, AND THE UGLY...... 464 Keyan Ghazi-Zahedi ; Raphael Deimel ; Guido Montúfar ; Vincent Wall ; Oliver Brock

ACTIVE SUCTION CUP ACTUATED BY ELECTROHYDRODYNAMICS PHENOMENON...... 470 Yu Kuwajima ; Hiroki Shigemune ; Vito Cacucciolo ; Matteo Cianchetti ; Cecilia Laschi ; Shingo Maeda

SOFT FOAM ROBOT WITH CATERPILLAR-INSPIRED GAIT REGIMES FOR TERRESTRIAL LOCOMOTION ...... 476 Cassandra M. Donatelli ; Zachary T. Serlin ; Piers Echols-Jones ; Anthony E. Scibelli ; Alexandra Cohen ; Jeanne-Marie Musca ; Shane Rozen-Levy ; David Buckingham ; Robert White ; Barry A. Trimmer

TWISTED AND COILED SENSOR FOR SHAPE ESTIMATION OF SOFT ROBOTS ...... 482 Ali Abbas ; Jianguo Zhao

REGULATING SURFACE TRACTION OF A SOFT ROBOT THROUGH ELECTROSTATIC ADHESION CONTROL...... 488 Qiyang Wu ; Tomas G. Diaz Jimenez ; Juntian Qu ; Chen Zhao ; Xinyu Liu

CUSTOM SOFT ROBOTIC GRIPPER SENSOR SKINS FOR HAPTIC OBJECT VISUALIZATION...... 494 Benjamin Shih ; Dylan Drotman ; Caleb Christianson ; Zhaoyuan Huo ; Ruffin White ; Henrik I. Christensen ; Michael T. Tolley

NONLINEAR MODEL PREDICTIVE CONTROL OF AN UPPER EXTREMITY REHABILITATION ROBOT USING A TWO-DIMENSIONAL HUMAN-ROBOT INTERACTION MODEL...... 502 Borna Ghannadi ; Naser Mehrabi ; Reza Sharif Razavian ; John McPhee

NREL-EXO: A 4-DOFS WEARABLE HIP EXOSKELETON FOR WALKING AND BALANCE ASSISTANCE IN LOCOMOTION ...... 508 Ting Zhang ; Minh Tran ; He Helen Huang

ADAPTIVE WALKING LOAD CONTROL FOR TRAINING PHYSICAL STRENGTH USING CANE-TYPE ROBOT...... 521 Shunki Itadera ; Yasuhisa Hasegawa ; Toshio Fukuda ; Masanori Tanimoto ; Izumi Kondo

HOME REHABILITATION ASSIST ROBOT TO FACILITATE ISOLATED MOVEMENTS FOR HEMIPLEGIA PATIENTS...... 527 Kunihiro Ogata ; Yuto Hirabayashi ; Keisuke Kubota ; Toshiaki Tsuji

A NOVEL, SOFT, BENDING ACTUATOR FOR USE IN POWER ASSIST AND REHABILITATION EXOSKELETONS ...... 533 Al-Fahaam Hassanin ; Davis Steve ; Nefti-Meziani Samia

SILHOUETTE-BASED POSE ESTIMATION FOR DEFORMABLE ORGANS APPLICATION TO SURGICAL AUGMENTED REALITY...... 539 Yinoussa Adagolodjo ; Raffaella Trivisonne ; Nazim Haouchine ; Stéphane Cotin ; Hadrien Courtecuisse

A SELF-SUPERVISED LEARNING SYSTEM FOR OBJECT DETECTION USING PHYSICS SIMULATION AND MULTI-VIEW POSE ESTIMATION...... 545 Chaitanya Mitash ; Kostas E. Bekris ; Abdeslam Boularias

3D OBJECT INSTANCE RECOGNITION AND POSE ESTIMATION USING TRIPLET LOSS WITH DYNAMIC MARGIN ...... 552 Sergey Zakharov ; Wadim Kehl ; Benjamin Planche ; Andreas Hutter ; Slobodan Ilic

STRUCTURED PREDICTION WITH SHORT/LONG-RANGE DEPENDENCIES FOR HUMAN ACTIVITY RECOGNITION FROM DEPTH SKELETON DATA...... 560 Mohammad M. Arzani ; Mahmood Fathy ; Hamid Aghajan ; Ahmad A. Azirani ; Kaamran Raahemifar ; Ehsan Adeli

SOLVING POSE AMBIGUITY OF PLANAR VISUAL MARKER BY WAVELIKE TWO-TONE PATTERNS...... 568 Hideyuki Tanaka ; Kunihiro Ogata ; Yoshio Matsumoto

MONOCULAR DEPTH ESTIMATION BY TWO-FRAME TRIANGULATION USING FLAT SURFACE CONSTRAINTS...... 574 Alex M. Kaneko ; Kenjiro Yamamoto

SMSNET: SEMANTIC MOTION SEGMENTATION USING DEEP CONVOLUTIONAL NEURAL NETWORKS...... 582 Johan Vertens ; Abhinav Valada ; Wolfram Burgard

SEMANTIC 3D OCCUPANCY MAPPING THROUGH EFFICIENT HIGH ORDER CRFS ...... 590 Shichao Yang ; Yulan Huang ; Sebastian Scherer

MULTI-VIEW DEEP LEARNING FOR CONSISTENT SEMANTIC MAPPING WITH RGB-D CAMERAS...... 598 Lingni Ma ; Jörg Stückler ; Christian Kerl ; Daniel Cremers

INCOMPLETE 3D MOTION TRAJECTORY SEGMENTATION AND 2D-TO-3D LABEL TRANSFER FOR DYNAMIC SCENE ANALYSIS...... 606 Cansen Jiang ; Danda Pani Paudel ; Yohan Fougerolle ; David Fofi ; Cédric Demonceaux

UNDERWATER 3D STRUCTURES AS SEMANTIC LANDMARKS IN SONAR MAPPING ...... 614 Thomas Guerneve ; Kartic Subr ; Yvan Petillot

SEMI-SUPERVISED 3D PLACE CATEGORISATION BY DESCRIPTOR CLUSTERING ...... 620 Martin Magnusson ; Tomasz Piotr Kucner ; Saeed Gholami Shahbandi ; Henrik Andreasson ; Achim J. Lilienthal

3D MAPPING FOR MULTI HYBRID ROBOT COOPERATION...... 626 Hartmut Surmann ; Nils Berninger ; Rainer Worst

AN END-TO-END SYSTEM FOR CROWDSOURCED 3D MAPS FOR AUTONOMOUS VEHICLES: THE MAPPING COMPONENT...... 634 Onkar Dabeer ; Wei Ding ; Radhika Gowaiker ; Slawomir K. Grzechnik ; Mythreya J. Lakshman ; Sean Lee ; Gerhard Reitmayr ; Arunandan Sharma ; Kiran Somasundaram ; Ravi Teja Sukhavasi ; Xinzhou Wu

ROBOT LOCALIZATION WITH SPARSE SCAN-BASED MAPS...... 642 Alexander Schiotka ; Benjamin Suger ; Wolfram Burgard

PLACE RECOGNITION OF 3D LANDMARKS BASED ON GEOMETRIC RELATIONS ...... 648 Dario Lodi Rizzini

CONTEXT-COHERENT SCENES OF OBJECTS FOR CAMERA POSE ESTIMATION...... 655 Jimmy Li ; David Meger ; Gregory Dudek

SEMANTIC SEGMENTATION OF URBAN SCENES WITH A LOCATION PRIOR MAP USING LIDAR MEASUREMENTS ...... 661 Jeonghyeon Wang ; Jinwhan Kim

WALKING STABILIZATION USING STEP TIMING AND LOCATION ADJUSTMENT ON THE HUMANOID ROBOT, ATLAS...... 667 Robert J. Griffin ; Georg Wiedebach ; Sylvain Bertrand ; Alexander Leonessa ; Jerry Pratt

THE DESIGN AND VALIDATION OF THE R1 PERSONAL HUMANOID ...... 674 Alberto Parmiggiani ; Luca Fiorio ; Alessandro Scalzo ; Anand Vazhapilli Sureshbabu ; Marco Randazzo ; Marco Maggiali ; Ugo Pattacini ; Hagen Lehmann ; Vadim Tikhanoff ; Daniele Domenichelli ; Alberto Cardellino ; Pierpaolo Congiu ; Andrea Pagnin ; Roberto Cingolani ; Lorenzo Natale ; Giorgio Metta

A PARALLEL KINEMATIC MECHANISM FOR THE TORSO OF A HUMANOID ROBOT: DESIGN, CONSTRUCTION AND VALIDATION ...... 681 Luca Fiorio ; Alessandro Scalzo ; Lorenzo Natale ; Giorgio Metta ; Alberto Parmiggiani

DEVELOPMENT OF LIFE-SIZED HUMANOID ROBOT PLATFORM WITH ROBUSTNESS FOR FALLING DOWN, LONG TIME WORKING AND ERROR OCCURRENCE ...... 689 Yohei Kakiuchi ; Masayuki Kamon ; Nobuyasu Shimomura ; Sou Yukizaki ; Noriaki Takasugi ; Shunichi Nozawa ; Kei Okada ; Masayuki Inaba

MULTI-CONTACT BALANCING OF HUMANOID ROBOTS IN CONFINED SPACES: UTILIZING KNEE CONTACTS ...... 697 Bernd Henze ; Alexander Dietrich ; Máximo A. Roa ; Christian Ott

ACTUATOR DESIGN OF COMPLIANT WALKERS VIA OPTIMAL CONTROL...... 705 Gabriele Buondonno ; Justin Carpentier ; Guilhem Saurel ; Nicolas Mansard ; Alessandro De Luca ; Jean-Paul Laumond

DIMENSIONAL INCONSISTENCIES IN CODE AND ROS MESSAGES: A STUDY OF 5.9M LINES OF CODE ...... 712 John-Paul Ore ; Sebastian Elbaum ; Carrick Detweiler

FROST*: FAST ROBOT OPTIMIZATION AND SIMULATION TOOLKIT...... 719 Ayonga Hereid ; Aaron D. Ames

BEHAVIOUR-DATA RELATIONS MODELLING LANGUAGE FOR MULTI-ROBOT CONTROL ALGORITHMS ...... 727 Lenka Pitonakova ; Richard Crowder ; Seth Bullock

ROBOTICS LIBRARY: AN OBJECT-ORIENTED APPROACH TO ROBOT APPLICATIONS...... 733 Markus Rickert ; Andre Gaschler

THE PI-PUCK EXTENSION BOARD: A RASPBERRY PI INTERFACE FOR THE E-PUCK ROBOT PLATFORM...... 741 Alan G. Millard ; Russell Joyce ; James A. Hilder ; Cristian Fleseriu ; Leonard Newbrook ; Wei Li ; Liam J. McDaid ; David M. Halliday

CAR DETECTION FOR AUTONOMOUS VEHICLE: LIDAR AND VISION FUSION APPROACH THROUGH DEEP LEARNING FRAMEWORK ...... 749 Xinxin Du ; Marcelo H. Ang ; Daniela Rus

LEARNING DEEP GENERATIVE SPATIAL MODELS FOR MOBILE ROBOTS ...... 755 Andrzej Pronobis ; Rajesh P. N. Rao

DEEP LEARNING FOR 2D SCAN MATCHING AND LOOP CLOSURE...... 763 Jiaxin Li ; Huangying Zhan ; Ben M. Chen ; Ian Reid ; Gim Hee Lee

ROBOTIC GRASP DETECTION USING DEEP CONVOLUTIONAL NEURAL NETWORKS...... 769 Sulabh Kumra ; Christopher Kanan

DEEP LEARNING LANE MARKER SEGMENTATION FROM AUTOMATICALLY GENERATED LABELS ...... 777 Karsten Behrendt ; Jonas Witt

3D OBJECT CLASSIFICATION WITH POINT CONVOLUTION NETWORK ...... 783 Xuzhan Chen ; Youping Chen ; Homayoun Najjaran

AN INFORMATION-THEORETIC ON-LINE UPDATE PRINCIPLE FOR PERCEPTION- ACTION COUPLING...... 789 Zhen Peng ; Tim Genewein ; Felix Leibfried ; Daniel A. Braun

DESIGN-TIME IMPROVEMENT USING A FUNCTIONAL APPROACH TO SPECIFY GRAPHSLAM WITH DETERMINISTIC PERFORMANCE ON AN FPGA ...... 797 Robin Appel ; Hendrik Folmer ; Jan Kuper ; Rinse Wester ; Jan Broenink

SIMULTANEOUS ACTIVE PARAMETER ESTIMATION AND CONTROL USING SAMPLING- BASED BAYESIAN REINFORCEMENT LEARNING...... 804 Patrick Slade ; Preston Culbertson ; Zachary Sunberg ; Mykel Kochenderfer

ONLINE SPATIAL CONCEPT AND LEXICAL ACQUISITION WITH SIMULTANEOUS LOCALIZATION AND MAPPING ...... 811 Akira Taniguchi ; Yoshinobu Hagiwara ; Tadahiro Taniguchi ; Tetsunari Inamura

DEEP REINFORCEMENT LEARNING FOR HIGH PRECISION ASSEMBLY TASKS...... 819 Tadanobu Inoue ; Giovanni De Magistris ; Asim Munawar ; Tsuyoshi Yokoya ; Ryuki Tachibana

LEARNING USER PREFERENCES FOR ROBOT-HUMAN HANDOVERS...... 834 Ana C. Huamán Quispe ; Eric Martinson ; Kentaro Oguchi

EVALUATING OLDER ADULTS' INTERACTION WITH A MOBILE ASSISTIVE ROBOT...... 840 Caio Mucchiani ; Suneet Sharma ; Megan Johnson ; Justine Sefcik ; Nicholas Vivio ; Justin Huang ; Pamela Cacchione ; Michelle Johnson ; Roshan Rai ; Adrian Canoso ; Tessa Lau ; Mark Yim

ONLINE LEARNING FOR HUMAN CLASSIFICATION IN 3D LIDAR-BASED TRACKING ...... 864 Zhi Yan ; Tom Duckett ; Nicola Bellotto

ON-LINE ADAPTIVE SIDE-BY-SIDE HUMAN ROBOT COMPANION IN DYNAMIC URBAN ENVIRONMENTS ...... 872 Ely Repiso ; Gonzalo Ferrer ; Alberto Sanfeliu

A TACTILE SHIRT FOR TEACHING HUMAN MOTION TASKS ...... 878 Paritosh A. Kavathekar ; Devin J. Balkcom

INTERACTIVE HAPTIC DISPLAY BASED ON SOFT ACTUATOR AND SOFT SENSOR...... 886 Hoa Phung ; Phi Tien Hoang ; Canh Toan Nguyen ; Tien Dat Nguyen ; Hosang Jung ; Uikyum Kim ; Hyouk Ryeol Choi

USER-INTERFACE FOR TELEOPERATION WITH MIXED-SIGNAL HAPTIC FEEDBACK...... 892 Daniel B. Thiem ; Carsten Neupert ; Johannes Bilz ; Sebastian Matich ; Julian Polzin ; Roland Werthschützky ; Mario Kupnik ; Helmut F. Schlaak ; Andreas Kirschniak ; Markus Hessinger ; Christian Hatzfeld

A NOVEL HAPTIC FMRI INTERFACE FOR FIVE-AXIS FORCE AND MOTION NEUROIMAGING EXPERIMENTS...... 899 Samir Menon ; Amaury Soviche ; Jananan Mithrakumar ; Alok Subbarao ; Oussama Khatib

DEVELOPMENT OF AN INEXPENSIVE TRI-AXIAL FORCE SENSOR FOR MINIMALLY INVASIVE SURGERY ...... 906 Lu Li ; Bocheng Yu ; Chen Yang ; Prasad Vagdargi ; Rangaprasad Arun Srivatsan ; Howie Choset

REALIZING LOW-IMPEDANCE RENDERING IN ADMITTANCE-TYPE HAPTIC INTERFACES USING THE INPUT-TO-STATE STABLE APPROACH ...... 914 Muhammad Nabeel ; Aghil Jafari ; Jee-Hwan Ryu

POP-UP TISSUE RETRACTION MECHANISM FOR ENDOSCOPIC SURGERY ...... 920 S. Becker ; T. Ranzani ; S. Russo ; R. J. Wood

DESIGN AND CHARACTERIZATION OF STORMRAM 4: AN MRI-COMPATIBLE ROBOTIC SYSTEM FOR BREAST BIOPSY...... 928 Vincent Groenhuis ; Françoise J. Siepel ; Jeroen Veltman ; Stefano Stramigioli

3D BIOPRINTING DIRECTLY ONTO MOVING HUMAN ANATOMY ...... 934 John J. O'Neill ; Reed A. Johnson ; Rodney L. Dockter ; Timothy M. Kowalewski

DISTRIBUTED NAVIGATED CONTROL FOR ACTIVE INSTRUMENTS IN A REAL-TIME NETWORKED OPERATING ROOM...... 941 Jonas H. Pfeiffer ; Tim F. Moser ; Christian Dietz ; Yannick S. Krieger ; Tim C. Lueth

SHAPE SENSING OF MINIATURE SNAKE-LIKE ROBOTS USING OPTICAL FIBERS...... 947 Andreas Schmitz ; Alexander J. Thompson ; Pierre Berthet-Rayne ; Carlo A. Seneci ; Piyamate Wisanuvej ; Guang-Zhong Yang

TTRE: A NEW TYPE OF ERROR TO EVALUATE THE ACCURACY OF A PAIRED-POINT RIGID REGISTRATION ...... 953 Zhe Min ; Hongliang Ren ; Max Q. -H. Meng

DESIGN AND IMPLEMENTATION OF MULTIROTOR AERIAL-UNDERWATER VEHICLES WITH EXPERIMENTAL RESULTS ...... 961 Marco M. Maia ; Diego A. Mercado ; F. Javier Diez

AN ALGORITHM FOR AERIAL DATA COLLECTION FROM WIRELESS SENSORS NETWORKS BY GROUPS OF UAVS ...... 967 Bruno Olivieri ; Markus Endler

DEVELOPMENT OF A POWER LINE INSPECTION ROBOT WITH HYBRID OPERATION MODES ...... 973 Wenkai Chang ; Guodong Yang ; Junzhi Yu ; Zize Liang ; Long Cheng ; Chao Zhou

QUADROTOR-UAV OPTIMAL COVERAGE PATH PLANNING IN CLUTTERED ENVIRONMENT WITH A LIMITED ONBOARD ENERGY...... 979 Y. Bouzid ; Y. Bestaoui ; H. Siguerdidjane

DEVELOPMENT OF A 4-JOINT 3-DOF ROBOTIC ARM WITH ANTI-REACTION FORCE MECHANISM FOR A MULTICOPTER ...... 985 Yoshinori Ohnishi ; Takeshi Takaki ; Tadayoshi Aoyama ; Idaku Ishii

ANTHROPOMORPHIC, COMPLIANT AND LIGHTWEIGHT DUAL ARM SYSTEM FOR AERIAL MANIPULATION...... 992 Alejandro Suarez ; Pablo Ramon Soria ; Guillermo Heredia ; Begoña C. Arrue ; Anibal Ollero

GAUSSIAN MIXTURE MODEL-SIGNATURE QUADRATIC FORM DISTANCE BASED POINT SET REGISTRATION...... 998 Liang Li ; Ming Yang ; Chunxiang Wang ; Bing Wang

AN ONLINE MULTI-ROBOT SLAM SYSTEM FOR 3D LIDARS ...... 1004 Renaud Dubé ; Abel Gawel ; Hannes Sommer ; Juan Nieto ; Roland Siegwart ; Cesar Cadena

REVIVAL OF FILTERING BASED SLAM? EXACTLY SPARSE DELAYED STATE FILTER ON LIE GROUPS...... 1012 Kruno Lenac ; Josip Cesic ; Ivan Markovic ; Igor Cvišic ; Ivan Petrovic

MULTI-TRAJECTORY POSE CORRESPONDENCES USING SCALE-DEPENDENT TOPOLOGICAL ANALYSIS OF POSE-GRAPHS...... 1019 Sayantan Datta ; Avinash Sharma ; K. Madhava Krishna

JOINT PERCEPTION AND PLANNING FOR EFFICIENT OBSTACLE AVOIDANCE USING STEREO VISION...... 1026 Sourish Ghosh ; Joydeep Biswas

A PNEUMATIC POWER SOURCE USING A SODIUM BICARBONATE AND CITRIC ACID REACTION WITH PRESSURE BOOSTER FOR USE IN MOBILE DEVICES...... 1040 Manabu Okui ; Yuki Nagura ; Shingo IIkawa ; Yasuyuki Yamada ; Taro Nakamura

EXTERNAL CONTROL OF WALKING DIRECTION, USING CROSS-WIRE MOBILE ASSIST SUIT...... 1046 Kenta Murakami ; Stephen W. John ; Mayumi Komatsu ; Shinobu Adachi

A WEARABLE HAND SYSTEM FOR VIRTUAL REALITY...... 1052 Yeongyu Park ; Inseong Jo ; Jeongsoo Lee ; Joonbum Bae

A FLEXIBLE EXOSKELETON FOR HIP ASSISTANCE...... 1058 Younbaek Lee ; Se-Gon Roh ; Minhyung Lee ; Byungjune Choi ; Jongwon Lee ; Jeonghun Kim ; Hyundo Choi ; Youngbo Shim ; Yong-Jae Kim

DESIGN, DEVELOPMENT, AND BENCH-TOP TESTING OF A POWERED POLYCENTRIC ANKLE PROSTHESIS ...... 1064 Marco Cempini ; Levi J. Hargrove ; Tommaso Lenzi

INFINITESIMALLY SHAPE-SIMILAR MOTIONS USING RELATIVE ANGLE MEASUREMENTS ...... 1077 Ian Buckley ; Magnus Egerstedt

OPTIMIZED SIMULTANEOUS CONFLICT-FREE TASK ASSIGNMENT AND PATH PLANNING FOR MULTI-AGV SYSTEMS...... 1083 Lorenzo Sabattini ; Valerio Digani ; Cristian Secchi ; Cesare Fantuzzi

PRVO: PROBABILISTIC RECIPROCAL VELOCITY OBSTACLE FOR MULTI ROBOT NAVIGATION UNDER UNCERTAINTY ...... 1089 Bharath Gopalakrishnan ; Arun Kumar Singh ; Meha Kaushik ; K. Madhava Krishna ; Dinesh Manocha

MAPPING AND COVERAGE WITH A PARTICLE SWARM CONTROLLED BY UNIFORM INPUTS ...... 1097 Arun Mahadev ; Dominik Krupke ; Sándor P. Fekete ; Aaron T. Becker

MARKET-BASED COORDINATION IN DYNAMIC ENVIRONMENTS BASED ON THE HOPLITES FRAMEWORK ...... 1105 Zeynab Talebpour ; Stefano Savarè ; Alcherio Martinoli

INTRA-ROBOT REPLANNING TO ENABLE TEAM PLAN CONDITIONS ...... 1113 Philip Cooksey ; Manuela Veloso

SELF-INITIALIZATION AND RECOVERY FOR UNINTERRUPTED TRACKING IN VISION- GUIDED MICROMANIPULATION ...... 1127 Liangjing Yang ; Ishara Paranawithana ; Kamal Youcef-Toumi ; U-Xuan Tan

FULL 3D ROTATION ESTIMATION IN SCANNING ELECTRON MICROSCOPE...... 1134 Andrey V. Kudryavtsev ; Sounkalo Dembélé ; Nadine Piat

VIEW EXPANSION SYSTEM FOR MICROSCOPE PHOTOGRAPHY BASED ON VIEWPOINT MOVEMENT USING GALVANO MIRROR ...... 1140 Tadayoshi Aoyama ; Mamoru Kaneishi ; Takeshi Takaki ; Idaku Ishii

DESIGN OF AN AUTOMATED CONTROLLER WITH COLLISION-AVOIDANCE CAPABILITY FOR IN-VIVO TRANSPORTATION OF BIOLOGICAL CELLS...... 1146 Xiaojian Li ; Shuxun Chen ; Yong Wang ; Dong Sun

DESIGN OF A STEWART PLATFORM-INSPIRED DEXTEROUS HAND FOR 6-DOF WITHIN- HAND MANIPULATION ...... 1158 Connor M. McCann ; Aaron M. Dollar

A THREE-FINGERED HAND WITH A SUCTION GRIPPING SYSTEM FOR PICKING VARIOUS OBJECTS IN CLUTTERED NARROW SPACE ...... 1164 Shun Hasegawa ; Kentaro Wada ; Yusuke Niitani ; Kei Okada ; Masayuki Inaba

AN ELECTROSTATIC GRIPPER FOR FLEXIBLE OBJECTS ...... 1172 Ethan W. Schaler ; Donald Ruffatto ; Paul Glick ; Victor White ; Aaron Parness

A BIDIRECTIONAL SOFT PNEUMATIC FABRIC-BASED ACTUATOR FOR GRASPING APPLICATIONS...... 1180 J. H. Low ; N. Cheng ; P. M. Khin ; N. V. Thakor ; S. L. Kukreja ; H. L. Ren ; C. H. Yeow

HIGH-POWER, FLEXIBLE, ROBUST HAND: DEVELOPMENT OF MUSCULOSKELETAL HAND USING MACHINED SPRINGS AND REALIZATION OF SELF-WEIGHT SUPPORTING MOTION WITH HUMANOID...... 1187 Shogo Makino ; Kento Kawaharazuka ; Masaya Kawamura ; Yuki Asano ; Kei Okada ; Masayuki Inaba

DESIGNING SYSTEMS OF FIBER REINFORCED PNEUMATIC ACTUATORS USING A PSEUDO-RIGID BODY MODEL ...... 1201 Sreeshankar Satheeshbabu ; Girish Krishnan

TOWARD A NEW FORCE SENSOR FOR TWISTED STRING ACTUATOR: A STUDY ABOUT THE FORCE ON SEPARATOR ...... 1207 Yunjin Gu ; Johan Ingvast ; Jan Wikander

AUTOMATED CO-DESIGN OF SOFT HAND MORPHOLOGY AND CONTROL STRATEGY FOR GRASPING...... 1213 Raphael Deimel ; Patrick Irmisch ; Vincent Wall ; Oliver Brock

PRINT-IT-YOURSELF (PIY) GLOVE: A FULLY 3D PRINTED SOFT ROBOTIC HAND REHABILITATIVE AND ASSISTIVE EXOSKELETON FOR STROKE PATIENTS ...... 1219 Benjamin W. K. Ang ; Chen-Hua Yeow

PRACTICAL CONTROL METHODS FOR VACUUM DRIVEN SOFT ACTUATOR MODULES...... 1224 Matthew A. Robertson ; Jamie Paik

FATIGUE STRENGTH OF LASER SINTERED FLEXURE HINGE STRUCTURES FOR SOFT ROBOTIC APPLICATIONS ...... 1230 Yannick S. Krieger ; Clara-Maria Kuball ; Dominik Rumschoettel ; Christian Dietz ; Jonas H. Pfeiffer ; Daniel B. Roppenecker ; Tim C. Lueth

THIN PLATE MANIPULATION BY AN UNDER-ACTUATED ROBOTIC SOFT GRIPPER UTILIZING THE ENVIRONMENT...... 1236 Toshihiro Nishimura ; Kaori Mizushima ; Yosuke Suzuki ; Tokuo Tsuji ; Tetsuyou Watanabe

IN-HAND MANIPULATION USING THREE-STAGES OPEN LOOP PIVOTING ...... 1244 Silvia Cruciani ; Christian Smith

FEEDBACK MOTION PLANNING FOR LIQUID POURING USING SUPERVISED LEARNING...... 1252 Zherong Pan ; Dinesh Manocha

PRECISE DISPENSING OF LIQUIDS USING VISUAL FEEDBACK ...... 1260 Monroe Kennedy ; Kendall Queen ; Dinesh Thakur ; Kostas Daniilidis ; Vijay Kumar

REAL-TIME ROBUST FINGER GAITS PLANNING UNDER OBJECT SHAPE AND DYNAMICS UNCERTAINTIES...... 1267 Yongxiang Fan ; Te Tang ; Hsien-Chung Lin ; Yu Zhao ; Masayoshi Tomizuka

VISUAL HOMING BY ROBUST INTERPOLATION FOR SPARSE MOTION FLOW...... 1282 Ji Zhao ; Jiayi Ma

COMBINING POINTS AND LINES FOR CAMERA POSE ESTIMATION AND OPTIMIZATION IN MONOCULAR VISUAL ODOMETRY ...... 1289 Haoang Li ; Jian Yao ; Xiaohu Lu ; Junlin Wu

ROBUST EDGE-BASED VISUAL ODOMETRY USING MACHINE-LEARNED EDGES ...... 1297 Fabian Schenk ; Friedrich Fraundorfer

ANISOTROPIC SHADOW-BASED OPERATION ASSISTANT FOR A PIPELINE-INSPECTION ROBOT USING A SINGLE ILLUMINATOR AND CAMERA...... 1305 Atsushi Kakogawa ; Yuki Komurasaki ; Shugen Ma

EFFICIENT NAVIGATION USING SLOW FEATURE GRADIENTS...... 1311 Benjamin Metka ; Mathias Franzius ; Ute Bauer-Wersing

OMNIDIRECTIONAL VISUAL-INERTIAL ODOMETRY USING MULTI-STATE CONSTRAINT KALMAN FILTER ...... 1317 Milad Ramezani ; Kourosh Khoshelham ; Laurent Kneip

DROAN — DISPARITY-SPACE REPRESENTATION FOR OBSTACLE AVOIDANCE...... 1324 Geetesh Dubey ; Sankalp Arora ; Sebastian Scherer

TENTACLE-BASED MOVING OBSTACLE AVOIDANCE FOR OMNIDIRECTIONAL ROBOTS WITH VISIBILITY CONSTRAINTS ...... 1331 Abdellah Khelloufi ; Nouara Achour ; Robin Passama ; Andrea Cherubini

REAL-TIME POSE ESTIMATION ON ELEVATION MAPS FOR WHEELED VEHICLES ...... 1337 Julian Jordan ; Andreas Zell

SOCIALLY AWARE MOTION PLANNING WITH DEEP REINFORCEMENT LEARNING...... 1343 Yu Fan Chen ; Michael Everett ; Miao Liu ; Jonathan P. How

PROVABLY SAFE MOTION OF MOBILE ROBOTS IN HUMAN ENVIRONMENTS ...... 1351 Stefan B. Liu ; Hendrik Roehm ; Christian Heinzemann ; Ingo Lütkebohle ; Jens Oehlerking ; Matthias Althoff

AGGRESSIVE COLLISION AVOIDANCE WITH LIMITED FIELD-OF-VIEW SENSING ...... 1358 Brett T. Lopez ; Jonathan P. How

VOXBLOX: INCREMENTAL 3D EUCLIDEAN SIGNED DISTANCE FIELDS FOR ON-BOARD MAV PLANNING ...... 1366 Helen Oleynikova ; Zachary Taylor ; Marius Fehr ; Roland Siegwart ; Juan Nieto

BUILDING MAPS FOR AUTONOMOUS NAVIGATION USING SPARSE VISUAL SLAM FEATURES...... 1374 Yonggen Ling ; Shaojie Shen

MULTIRESOLUTION MAPPING AND INFORMATIVE PATH PLANNING FOR UAV-BASED TERRAIN MONITORING ...... 1382 Marija Popovic ; Teresa Vidal-Calleja ; Gregory Hitz ; Inkyu Sa ; Roland Siegwart ; Juan Nieto

INCORPORATING EGO-MOTION UNCERTAINTY ESTIMATES IN RANGE DATA REGISTRATION ...... 1389 Henrik Andreasson ; Daniel Adolfsson ; Todor Stoyanov ; Martin Magnusson ; Achim J. Lilienthal

AUTONOMOUS ROBOTIC EXPLORATION BASED ON MULTIPLE RAPIDLY-EXPLORING RANDOMIZED TREES ...... 1396 Hassan Umari ; Shayok Mukhopadhyay

MAPPING UNDER CHANGING TRAJECTORY ESTIMATES...... 1403 Martin Llofriu ; Philip Fong ; Vazgen Karapetyan ; Mario Munich

VISUAL END-EFFECTOR TRACKING USING A 3D MODEL-AIDED PARTICLE FILTER FOR HUMANOID ROBOT PLATFORMS...... 1411 Claudio Fantacci ; Ugo Pattacini ; Vadim Tikhanoff ; Lorenzo Natale

DIRECT VISUAL SLAM FUSING PROPRIOCEPTION FOR A HUMANOID ROBOT...... 1419 Raluca Scona ; Simona Nobili ; Yvan R. Petillot ; Maurice Fallon

AUTONOMOUS VIEW SELECTION AND GAZE STABILIZATION FOR HUMANOID ROBOTS...... 1427 Markus Grotz ; Timothée Habra ; Renaud Ronsse ; Tamim Asfour

A TORQUE-CONTROLLED HUMANOID ROBOT RIDING ON A TWO-WHEELED MOBILE PLATFORM ...... 1435 Songyan Xin ; Yangwei You ; Chengxu Zhou ; Cheng Fang ; Nikos Tsagarakis

A METHOD FOR ROBUST ROBOTIC BIPEDAL WALKING ON ROUGH TERRAIN: L1-OPTIMAL EVENT-BASED FEEDBACK CONTROLLER...... 1443 Jongwoo Lee ; Jung Hoon Kim ; Yonghwan Oh

MIRROR-ASSISTED CALIBRATION OF A MULTI-MODAL SENSING ARRAY WITH A GROUND PENETRATING RADAR AND A CAMERA ...... 1457 Chieh Chou ; Shu-Hao Yeh ; Dezhen Song

MODELLING AND IDENTIFICATION OF THE DA VINCI RESEARCH KIT ROBOTIC ARMS...... 1464 G. A. Fontanelli ; F. Ficuciello ; L. Villani ; B. Siciliano

SIMULTANEOUS HAND-EYE CALIBRATION AND RECONSTRUCTION ...... 1470 Xiangyang Zhi ; Sören Schwertfeger

NEW METHOD FOR DECOUPLING THE ARTICULAR STIFFNESS IDENTIFICATION: APPLICATION TO AN INDUSTRIAL ROBOT WITH DOUBLE ENCODING SYSTEM ON ITS 3 FIRST AXIS...... 1478 Alexandre Ambiehl ; Sébastien Garnier ; Kévin Subrin ; Benoit Furet

AUTONOMOUS ACTIVE CALIBRATION OF A DYNAMIC CAMERA CLUSTER USING NEXT- BEST-VIEW ...... 1484 Jason Rebello ; Arun Das ; Steven Waslander

EXTRINSIC MULTI-SENSOR CALIBRATION FOR MOBILE ROBOTS USING THE GAUSS- HELMERT MODEL...... 1490 Kaihong Huang ; Cyrill Stachniss

LEARNING ROBOT ACTIVITIES FROM FIRST-PERSON HUMAN VIDEOS USING CONVOLUTIONAL FUTURE REGRESSION...... 1497 Jangwon Lee ; Michael S. Ryoo

JOINT PREDICTION OF DEPTHS, NORMALS AND SURFACE CURVATURE FROM RGB IMAGES USING CNNS...... 1505 Thanuja Dharmasiri ; Andrew Spek ; Tom Drummond

3D FULLY CONVOLUTIONAL NETWORK FOR VEHICLE DETECTION IN POINT CLOUD...... 1513 Bo Li

RECURSIVE NEURAL NETWORK BASED SEMANTIC NAVIGATION OF AN AUTONOMOUS MOBILE ROBOT THROUGH UNDERSTANDING HUMAN VERBAL INSTRUCTIONS ...... 1519 Ren C. Luo ; Chang-Jiun Chen

DEEP REGRESSION FOR MONOCULAR CAMERA-BASED 6-DOF GLOBAL LOCALIZATION IN OUTDOOR ENVIRONMENTS ...... 1525 Tayyab Naseer ; Wolfram Burgard

SENSOR MODALITY FUSION WITH CNNS FOR UGV AUTONOMOUS DRIVING IN INDOOR ENVIRONMENTS ...... 1531 Naman Patel ; Anna Choromanska ; Prashanth Krishnamurthy ; Farshad Khorrami

POLICY TRANSFER VIA MODULARITY AND REWARD GUIDING...... 1537 Ignasi Clavera ; David Held ; Pieter Abbeel

DEEP DYNAMIC POLICY PROGRAMMING FOR ROBOT CONTROL WITH RAW IMAGES ...... 1545 Yoshihisa Tsurumine ; Yunduan Cui ; Eiji Uchibe ; Takamitsu Matsubara

ADDRESSING APPEARANCE CHANGE IN OUTDOOR ROBOTICS WITH ADVERSARIAL DOMAIN ADAPTATION ...... 1551 Markus Wulfmeier ; Alex Bewley ; Ingmar Posner

NEURAL NETWORKS FOR INCREMENTAL DIMENSIONALITY REDUCED REINFORCEMENT LEARNING ...... 1559 William Curran ; Rey Pocius ; William D. Smart

OBJECT RECALL USING AN EXPERIENCE DATABASE TO ACCELERATE ROBOT ACTION PLANNING...... 1566 Richard Redpath ; Jon Timmis ; Martin Trefzer

TACTILE MOTION RECOGNITION WITH CONVOLUTIONAL NEURAL NETWORKS ...... 1572 Haoying Wu ; Daimin Jiang ; Hao Gao

AN INVARIANT-EKF VINS ALGORITHM FOR IMPROVING CONSISTENCY ...... 1578 Kanzhi Wu ; Teng Zhang ; Daobilige Su ; Shoudong Huang ; Gamini Dissanayake

LARGE-SCALE, DRIFT-FREE SLAM USING HIGHLY ROBUSTIFIED BUILDING MODEL CONSTRAINTS ...... 1586 Achkan Salehi ; Vincent Gay-Bellile ; Steve Bourgeois ; Nicolas Allezard ; Frédéric Chausse

SPLODE: SEMI-PROBABILISTIC POINT AND LINE ODOMETRY WITH DEPTH ESTIMATION FROM RGB-D CAMERA MOTION...... 1594 Pedro F. Proença ; Yang Gao

ULTRA-WIDEBAND AIDED FAST LOCALIZATION AND MAPPING SYSTEM ...... 1602 Chen Wang ; Handuo Zhang ; Thien-Minh Nguyen ; Lihua Xie

A 2-POINT POSE ESTIMATION ALGORITHM FOR MONOCULAR VISUAL ODOMETRY OF GROUND VEHICLES...... 1610 Yanyan Gao ; Jian Chen ; Kaixiang Zhang ; Bingxi Jia

EXPLORING THE EFFECT OF META-STRUCTURAL INFORMATION ON THE GLOBAL CONSISTENCY OF SLAM ...... 1616 Mina Henein ; Montiel Abello ; Viorela Ila ; Robert Mahony

DESIGN OF A COLLABORATIVE ARCHITECTURE FOR HUMAN-ROBOT ASSEMBLY TASKS...... 1624 Ilias El Makrini ; Kelly Merckaert ; Dirk Lefeber ; Bram Vanderborght

ADJUSTABLE INTERACTION CONTROL USING GENETIC ALGORITHM FOR ENHANCED COUPLED DYNAMICS IN TOOL-PART CONTACT ...... 1630 Gustavo J. G. Lahr ; Henrique B. Garcia ; Jose O. Savazzi ; Caio B. Moretti ; Rafael V. Aroca ; Leonardo M. Pedro ; Gustavo F. Barbosa ; Glauco A. P. Caurin

INVERSE MODEL COMMAND SHAPER FOR A FLEXIBLE GANTRY ROBOT ...... 1636 Nikolas Tekles ; Florian Krebs ; Matthias Reiner

ROBUST RECOGNITION OF TACTILE GESTURES FOR INTUITIVE ROBOT PROGRAMMING AND CONTROL ...... 1643 Daniel Kubus ; Arne Muxfeldt ; Konrad Kissener ; Jan Haus ; Jochen Steil

COOPERATIVE ROBOTIC SOLDERING OF FLEXIBLE PCBS...... 1651 Xiang Li ; Xing Su ; Yunhui Liu

ALGEBRAIC ESTIMATION AND CONTROL OF SINGLE-LINK FLEXIBLE JOINT ROBOTS...... 1657 Mehran Assanimoghaddam ; Paul Acquatella B.

AN ONLINE SYSTEM FOR TRACKING THE PERFORMANCE OF PARKINSON'S PATIENTS...... 1664 Andreas Kuhner ; Tobias Schubert ; Christoph Maurer ; Wolfram Burgard

DEVELOPMENT OF A DOUBLE ARM ENDOSCOPIC MINI-MANIPULATOR SYSTEM FOR TRANSURETHRAL RESECTION OF BLADDER TUMORS (TURBT)...... 1670 Suat Coemert ; Markus Kollmer ; Mar Olmeda ; Yannick S. Krieger ; Sandra V. Brecht ; Tim C. Lueth

MECHANICAL VALIDATION OF AN MRI COMPATIBLE STEREOTACTIC NEUROSURGERY ROBOT IN PREPARATION FOR PRE-CLINICAL TRIALS ...... 1677 Christopher J. Nycz ; Radian Gondokaryono ; Paulo Carvalho ; Nirav Patel ; Marek Wartenberg ; Julie G Pilitsis ; Gregory S Fischer

DESIGN AND ANALYSIS OF A REMOTELY-ACTUATED CABLE-DRIVEN NEUROSURGICAL ROBOT...... 1685 Shing Shin Cheng ; Xuefeng Wang ; Jaydev P. Desai

IMPROVED ASSISTIVE PROFILE TRACKING OF SOFT EXOSUITS FOR WALKING AND JOGGING WITH OFF-BOARD ACTUATION ...... 1699 Giuk Lee ; Ye Ding ; Ignacio Galiana Bujanda ; Nikos Karavas ; Yu Meng Zhou ; Conor J. Walsh

DESIGN OF A ROBUST CONTROLLER/OBSERVER FOR TCP/AQM NETWORK: FIRST APPLICATION TO INTRUSION DETECTION SYSTEMS FOR DRONE FLEET...... 1707 Thierry Miquel ; Jean-Philippe Condomines ; Riad Chemali ; Nicolas Larrieu

TETHERED FLIGHT CONTROL OF A SMALL QUADROTOR ROBOT FOR STIPPLING ...... 1713 Brendan Galea ; Paul G. Kry

LOCALLY OPTIMAL TRAJECTORY PLANNING FOR AERIAL MANIPULATION IN CONSTRAINED ENVIRONMENTS...... 1719 Hoseong Seo ; Suseong Kim ; H. Jin Kim

REDBEE: A VISUAL-INERTIAL DRONE SYSTEM FOR REAL-TIME MOVING OBJECT DETECTION ...... 1725 Chong Huang ; Peng Chen ; Xin Yang ; Kwang-Ting Tim Cheng

AN AUTONOMOUS VISION-BASED TARGET TRACKING SYSTEM FOR ROTORCRAFT UNMANNED AERIAL VEHICLES...... 1732 Hui Cheng ; Lishan Lin ; Zhuoqi Zheng ; Yuwei Guan ; Zhongchang Liu

ENERGY-EFFICIENT TRAJECTORY GENERATION WITH SPLINE CURVES CONSIDERING ENVIRONMENTAL AND DYNAMIC CONSTRAINTS FOR SMALL UAS ...... 1739 L. Rodríguez ; F. Balampanis ; J. A. Cobano ; I. Maza ; A. Ollero

DIRECT VISUAL ODOMETRY FOR A FISHEYE-STEREO CAMERA ...... 1746 Peidong Liu ; Lionel Heng ; Torsten Sattler ; Andreas Geiger ; Marc Pollefeys

DEPTH ENHANCED VISUAL-INERTIAL ODOMETRY BASED ON MULTI-STATE CONSTRAINT KALMAN FILTER...... 1761 Fumin Pang ; Zichong Chen ; Li Pu ; Tianmiao Wang

SHAPE PRIORS FOR REAL-TIME MONOCULAR OBJECT LOCALIZATION IN DYNAMIC ENVIRONMENTS ...... 1768 J. Krishna Murthy ; Sarthak Sharma ; K. Madhava Krishna

ROBUST VISUAL SLAM WITH POINT AND LINE FEATURES ...... 1775 Xingxing Zuo ; Xiaojia Xie ; Yong Liu ; Guoquan Huang

MODEL-AIDED MONOCULAR VISUAL-INERTIAL STATE ESTIMATION AND DENSE MAPPING...... 1783 Kejie Qiu ; Shaojie Shen

DEVELOPMENT OF ADJUSTABLE KNEE JOINT FOR WALKING ASSISTANCE DEVICES...... 1790 Byungjune Choi ; Younbaek Lee ; Yong-Jae Kim ; Jongwon Lee ; Minhyung Lee ; Se-Gon Roh ; Young Jin Park ; Kyungrock Kim ; Youngbo Shim

HYBRID CARBON FIBER-TEXTILE COMPLIANT FORCE SENSORS FOR HIGH-LOAD SENSING IN SOFT EXOSUITS...... 1798 Oluwaseun A. Araromi ; Conor J. Walsh ; Robert J. Wood

A FACIAL WEARABLE ROBOT FOR SUPPORTING EYE OPENING AND CLOSURE MOVEMENT...... 1812 Yuta Kozaki ; Kenji Suzuki

KINEMATIC CHAIN BASED MULTI-JOINT CAPTURING USING MONOCULAR VISUAL- INERTIAL MEASUREMENTS...... 1818 Yinlong Zhang ; Wei Liang ; Hongsheng He ; Jindong Tan

HYBRID POSITION/FORCE CONTROL OF AN UPPER-LIMB EXOSKELETON FOR ASSISTED DRILLING...... 1824 Markus Hessinger ; Markus Pingsmann ; Joel C. Perry ; Roland Werthschützky ; Mario Kupnik

INTRUSION DETECTION FOR STOCHASTIC TASK ALLOCATION IN ROBOT SWARMS...... 1830 Florian Maushart ; Amanda Prorok ; M. Ani Hsieh ; Vijay Kumar

COOPERATIVE COVERAGE FOR SURVEILLANCE OF 3D STRUCTURES ...... 1838 Antonio Adaldo ; Sina Sharif Mansouri ; Christoforos Kanellakis ; Dimos V. Dimarogonas ; Karl H. Johansson ; George Nikolakopoulos

EFFICIENT MULTI-ROBOT COVERAGE OF A KNOWN ENVIRONMENT ...... 1846 Nare Karapetyan ; Kelly Benson ; Chris McKinney ; Perouz Taslakian ; Ioannis Rekleitis

LEARNING FOR MULTI-ROBOT COOPERATION IN PARTIALLY OBSERVABLE STOCHASTIC ENVIRONMENTS WITH MACRO-ACTIONS ...... 1853 Miao Liu ; Kavinayan Sivakumar ; Shayegan Omidshafiei ; Christopher Amato ; Jonathan P. How

SIMULTANEOUS TASK ALLOCATION, DATA ROUTING, AND TRANSMISSION SCHEDULING IN MOBILE MULTI-ROBOT TEAMS...... 1861 Eduardo Feo Flushing ; Luca M. Gambardella ; Gianni A. Di Caro

PRIVACY-PRESERVING VEHICLE ASSIGNMENT FOR MOBILITY-ON-DEMAND SYSTEMS ...... 1869 Amanda Prorok ; Vijay Kumar

3D CLOSED-LOOP MOTION CONTROL OF SWIMMER WITH FLEXIBLE FLAGELLA AT LOW REYNOLDS NUMBERS...... 1877 Ali Oulmas ; Nicolas Andreff ; Stéphane Régnier

IMAGE-BASED VISUAL SERVOING OF HELICAL MICROSWIMMERS FOR ARBITRARY PLANAR PATH FOLLOWING AT LOW REYNOLDS NUMBERS ...... 1883 Yanming Guan ; Tiantian Xu ; Jia Liu ; Xinyu Wu

HIGH-BANDWIDTH 3D FORCE FEEDBACK OPTICAL TWEEZERS FOR INTERACTIVE BIO- MANIPULATION...... 1889 Munan Yin ; Edison Gerena ; Cécile Pacoret ; Sinan Haliyo ; Stéphane Régnier

AN ELECTROMAGNETIC NAVIGATION SYSTEM WITH REAL-TIME 2D MAGNETIC PARTICLE IMAGING FOR TARGETED DRUG DELIVERY...... 1895 Tuan-Anh Le ; Xingming Zhang ; Ali Kafash Hoshiar ; Jungwon Yoon

ROTATIONAL NANOROBOTIC MANIPULATION SYSTEM WITH INCREMENT ALIGNMENT METHOD FOR MULTI-DIRECTIONAL DEFECT CHARACTERIZATION INSIDE SEM...... 1901 Wenfeng Wan ; Haojian Lu ; Yajing Shen

SWIMMING IN LOW REYNOLDS NUMBERS USING PLANAR AND HELICAL FLAGELLAR WAVES ...... 1907 Islam S. M. Khalil ; Ahmet Fatih Tabak ; Mohamed Abou Seif ; Anke Klingner ; Barbara Adel ; Metin Sitti

DEXTEROUS MANIPULATION WITH COMPLIANT GRASPS AND EXTERNAL CONTACTS...... 1913 Diogo Almeida ; Yiannis Karayiannidis

REGRASP PLANNING USING 10,000S OF GRASPS ...... 1929 Weiwei Wan ; Kensuke Harada

ANALYSIS OF PRECISION GRIP FORCE FOR UGRIPP (UNDERACTUATED GRIPPER FOR POWER AND PRECISION GRASP)...... 1937 Akinari Kobayashi ; Kengo Yamaguchi ; Jun Kinugawa ; Shogo Arai ; Yasuhisa Hirata ; Kazuhiro Kosuge

DEXCLAR: A GRIPPER PLATFORM FOR PAYLOAD-CENTRIC MANIPULATION AND DEXTEROUS APPLICATIONS ...... 1943 Nahian Rahman ; Luca Carbonari ; Carlo Canali ; Darwin Caldwell ; Ferdinando Cannella

DERIVING DEXTEROUS, IN-HAND MANIPULATION PRIMITIVES FOR ADAPTIVE ROBOT HANDS ...... 1951 Minas Liarokapis ; Aaron M. Dollar

SENSOR CONCEPT FOR SOLVING THE DIRECT KINEMATICS PROBLEM OF THE STEWART-GOUGH PLATFORM ...... 1959 Stefan Schulz ; Arthur Seibel ; Daniel Schreiber ; Josef Schlattmann

HUMAN MOTION ESTIMATION ON LIE GROUPS USING IMU MEASUREMENTS ...... 1965 Vladimir Joukov ; Josip Cesic ; Kevin Westermann ; Ivan Markovic ; Dana Kulic ; Ivan Petrovic

A SELF-FOLDING ROBOT ARM FOR LOAD-BEARING OPERATIONS ...... 1979 Chang Liu ; Samuel M. Felton

DESIGN AND ANALYSIS OF THE BEARINGLESS PLANETARY GEARBOX...... 1987 Nikola Georgiev ; Joel Burdick

EFFICIENT SAMPLING-BASED BOTTLENECK PATHFINDING OVER COST MAPS...... 2003 Kiril Solovey ; Dan Halperin

RCAMP: A RESILIENT COMMUNICATION-AWARE MOTION PLANNER FOR MOBILE ROBOTS WITH AUTONOMOUS REPAIR OF WIRELESS CONNECTIVITY...... 2010 Sergio Caccamo ; Ramviyas Parasuraman ; Luigi Freda ; Mario Gianni ; Petter Ögren

THE MAVERICK PLANNER: AN EFFICIENT HIERARCHICAL PLANNER FOR AUTONOMOUS VEHICLES IN UNSTRUCTURED ENVIRONMENTS ...... 2018 Neal Seegmiller ; Jason Gassaway ; Elliot Johnson ; Jerry Towler

VISUAL FEEDBACK CONTROL OF TENSEGRITY ROBOTIC SYSTEMS...... 2048 Haresh Karnan ; Raman Goyal ; Manoranjan Majji ; Robert E. Skelton ; Puneet Singla

PROPAGATION OF JOINT SPACE QUANTIZATION ERROR TO OPERATIONAL SPACE COORDINATES AND THEIR DERIVATIVES...... 2054 Nick Colonnese ; Allison M. Okamura

CONTOURING ERROR VECTOR AND CROSS-COUPLED CONTROL OF MULTI-AXIS SERVO SYSTEM ...... 2062 Ran Shi ; Xiang Zhang ; Yunjiang Lou

THE SYNCHRONIZED HOLONOMIC MODEL: A FRAMEWORK FOR EFFICIENT GENERATION OF MOTION...... 2076 Marcell Missura ; Daniel D. Lee ; Oskar Von Stryk ; Maren Bennewitz

ADAPTIVE TRAJECTORY TRACKING CONTROL FOR THE BALL-PENDULUM SYSTEM WITH TIME-VARYING UNCERTAINTIES ...... 2083 Yang Bai ; Mikhail Svinin ; Motoji Yamamoto

DESIGN AND ANALYSIS OF AN ORIGAMI CONTINUUM MANIPULATION MODULE WITH TORSIONAL STRENGTH ...... 2098 Junius Santoso ; Erik H. Skorina ; Ming Luo ; Ruibo Yan ; Cagdas D. Onal

THE EFFECT OF SPINE MORPHOLOGY ON RAPID ACCELERATION IN QUADRUPED ROBOTS ...... 2121 Callen Fisher ; Stacey Shield ; Amir Patel

DISCRETE BINARY MUSCLE-INSPIRED ACTUATION WITH MOTOR UNIT OVERPOWERING AND BINARY CONTROL STRATEGY ...... 2128 Glenn Mathijssen ; Raphael Furnémont ; Elias Saerens ; Dirk Lefeber ; Bram Vanderborght

RAPID EXPLORATION WITH MULTI-ROTORS: A FRONTIER SELECTION METHOD FOR HIGH SPEED FLIGHT...... 2135 Titus Cieslewski ; Elia Kaufmann ; Davide Scaramuzza

ALIGNMENT OF 3D POINT CLOUDS WITH A DOMINANT GROUND PLANE...... 2143 Gaurav Pandey ; Shashank Giri ; Jame R. McBride

REACTIVE TRAJECTORY GENERATION IN AN UNKNOWN ENVIRONMENT...... 2151 Kenan Cole ; Adam M. Wickenheiser

COOPERATIVE TRANSPORT OF A BUOYANT LOAD: A DIFFERENTIAL GEOMETRIC APPROACH ...... 2158 Hadi Hajieghrary ; Dhanushka Kularatne ; M. Ani Hsieh

AN AERODYNAMIC MODEL-AIDED STATE ESTIMATOR FOR MULTI-ROTOR UAVS ...... 2164 Rongzhi Wang ; Danping Zou ; Changqing Xu ; Ling Pei ; Peilin Liu ; Wenxian Yu

ROBOT NAVIGATION USING CONVEX MODEL PREDICTIVE CONTROL AND APPROXIMATE OPERATING REGION OPTIMIZATION...... 2171 Csaba Bali ; Arthur Richards

NEW PASSIVITY OBSERVERS FOR IMPROVED ROBOT FORCE CONTROL ...... 2177 Mikael Jorda ; Ribin Balachandran ; Jee-Hwan Ryu ; Oussama Khatib

MOMENTUM CONTROL OF HUMANOID ROBOTS WITH SERIES ELASTIC ACTUATORS...... 2185 Gabriele Nava ; Daniele Pucci ; Francesco Nori

ENHANCING THE PERFORMANCE OF ADAPTIVE ITERATIVE LEARNING CONTROL WITH REINFORCEMENT LEARNING...... 2192 Bojan Nemec ; Mihael Simonic ; Nejc Likar ; Aleš Ude

ROBOT SELF-PROTECTION BY VIRTUAL ACTUATOR FATIGUE: APPLICATION TO TENDON-DRIVEN DEXTEROUS HANDS DURING GRASPING...... 2200 Guillaume Walck ; Robert Haschke ; Martin Meier ; Helge J. Ritter

A ROBUST FORCE CONTROLLER DESIGN FOR SERIES ELASTIC ACTUATORS ...... 2206 Emre Sariyildiz ; Haoyong Yu

BLDC MOTOR CURRENT CONTROL USING FILTERED SINGLE DC LINK CURRENT BASED ON ADAPTIVE EXTENDED KALMAN FILTER...... 2213 Jaesung Oh ; Hyoin Bae ; Hyobin Jeong ; Kangkyu Lee ; Jun-Ho Oh

A LOW-COST SYSTEM FOR HIGH-RATE, HIGH-ACCURACY TEMPORAL CALIBRATION FOR LIDARS AND CAMERAS ...... 2219 Hannes Sommer ; Raghav Khanna ; Igor Gilitschenski ; Zachary Taylor ; Roland Siegwart ; Juan Nieto

ONLINE DEPTH CALIBRATION FOR RGB-D CAMERAS USING VISUAL SLAM...... 2227 Jan Quenzel ; Radu Alexandru Rosu ; Sebastian Houben ; Sven Behnke

AUTOMATIC EXTRINSIC CALIBRATION OF DEPTH SENSORS WITH AMBIGUOUS ENVIRONMENTS AND RESTRICTED MOTION ...... 2235 Jarrett Holtz ; Joydeep Biswas

GENERALIZED HEBBIAN ALGORITHM FOR WEARABLE SENSOR ROTATION ESTIMATION ...... 2248 Vladimir Joukov ; Jonathan Feng-Shun Lin ; Dana Kulic

DEEP PREDICTIVE POLICY TRAINING USING REINFORCEMENT LEARNING...... 2351 Ali Ghadirzadeh ; Atsuto Maki ; Danica Kragic ; Mårten Björkman

TRANSFORM INVARIANT AUTO-ENCODER ...... 2359 Tadashi Matsuo ; Hiroya Fukuhara ; Nobutaka Shimada

SENSOR FUSION FOR ROBOT CONTROL THROUGH DEEP REINFORCEMENT LEARNING...... 2365 Steven Bohez ; Tim Verbelen ; Elias De Coninck ; Bert Vankeirsbilck ; Pieter Simoens ; Bart Dhoedt

DEEP REINFORCEMENT LEARNING WITH SUCCESSOR FEATURES FOR NAVIGATION ACROSS SIMILAR ENVIRONMENTS...... 2371 Jingwei Zhang ; Jost Tobias Springenberg ; Joschka Boedecker ; Wolfram Burgard

TOWARD AUTONOMOUS MAPPING AND EXPLORATION FOR MOBILE ROBOTS THROUGH DEEP SUPERVISED LEARNING ...... 2379 Shi Bai ; Fanfei Chen ; Brendan Englot

EXERCISE MOTION CLASSIFICATION FROM LARGE-SCALE WEARABLE SENSOR DATA USING CONVOLUTIONAL NEURAL NETWORKS...... 2385 Terry Taewoong Um ; Vahid Babakeshizadeh ; Dana Kulic

THE DEFORMABLE QUAD-ROTOR: DESIGN, KINEMATICS AND DYNAMICS CHARACTERIZATION, AND FLIGHT PERFORMANCE VALIDATION...... 2391 Na Zhao ; Yudong Luo ; Hongbin Deng ; Yantao Shen

MOTION EVALUATION OF A MODIFIED MULTI-LINK ROBOTIC RAT...... 2397 Chang Li ; Qing Shi ; Kang Li ; Mingjie Zou ; Hiroyuki Ishii ; Atsuo Takanishi ; Qiang Huang ; Toshio Fukuda

A FROG-INSPIRED SWIMMING ROBOT BASED ON DIELECTRIC ELASTOMER ACTUATORS ...... 2403 Yucheng Tang ; Lei Qin ; Xiaoning Li ; Chee-Meng Chew ; Jian Zhu

STUDY ON QUADRUPED BOUNDING WITH A PASSIVE COMPLIANT SPINE...... 2409 Luong Tin Phan ; Yoon Haeng Lee ; Young Hun Lee ; Hyunyong Lee ; Hansol Kang ; Hyouk Ryeol Choi

CSMA/CA-BASED ELECTROCOMMUNICATION SYSTEM DESIGN FOR UNDERWATER ROBOT GROUPS ...... 2415 Han Zhang ; Wei Wang ; Yang Zhou ; Chen Wang ; Ruifeng Fan ; Guangming Xie

DESIGN, MODELING AND EXPERIMENTAL VALIDATION OF A SCISSOR MECHANISMS ENABLED COMPLIANT MODULAR EARTHWORM-LIKE ROBOT ...... 2421 Yudong Luo ; Na Zhao ; Hesheng Wang ; Kwang J. Kim ; Yantao Shen

STATE ESTIMATION FOR DEFORMABLE OBJECTS BY POINT REGISTRATION AND DYNAMIC SIMULATION ...... 2427 Te Tang ; Yongxiang Fan ; Hsien-Chung Lin ; Masayoshi Tomizuka

ASSOCIATING GRASP CONFIGURATIONS WITH HIERARCHICAL FEATURES IN CONVOLUTIONAL NEURAL NETWORKS ...... 2434 Li Yang Ku ; Erik Learned-Miller ; Rod Grupen

SHAPE COMPLETION ENABLED ROBOTIC GRASPING...... 2442 Jacob Varley ; Chad Dechant ; Adam Richardson ; Joaquín Ruales ; Peter Allen

IMPROVED OBJECT POSE ESTIMATION VIA DEEP PRE-TOUCH SENSING ...... 2448 Patrick Lancaster ; Boling Yang ; Joshua R. Smith

ESTIMATING CONTACT FORCES FROM POSTURAL MEASURES IN A CLASS OF UNDER- ACTUATED ROBOTIC HANDS ...... 2456 Cosimo Della Santina ; Cristina Piazza ; Gaspare Santaera ; Giorgio Grioli ; Manuel Catalano ; Antonio Bicchi

EKF-BASED IN-HAND OBJECT LOCALIZATION FROM JOINT POSITION AND TORQUE MEASUREMENTS ...... 2464 Martin Pfanne ; Maxime Chalon

UNIFIED IMAGE RETRIEVAL AND KEYPOINT MATCHING BY LOCAL GEOMETRIC CONSISTENCY AND NON-LINEAR DIFFUSION...... 2471 Sehyung Lee ; Jongwoo Lim ; Il Hong Suh

LOCALIZATION OF RW-UAVS USING PARTICLE FILTERING OVER DISTRIBUTED MICROPHONE ARRAYS ...... 2479 Jean-Samuel Lauzon ; François Grondin ; Dominic Létourneau ; Alexis Lussier Desbiens ; François Michaud

UNSCENTED KALMAN FILTERING ON LIE GROUPS ...... 2485 Martin Brossard ; Silvère Bonnabel ; Jean-Philippe Condomines

SAMPLING-BASED METHODS FOR VISUAL NAVIGATION IN 3D MAPS BY SYNTHESIZING DEPTH IMAGES ...... 2492 Peer Neubert ; Stefan Schubert ; Peter Protzel

ITERATIVE WEIGHTED 2D ORIENTATION AVERAGING THAT MINIMIZES ARC-LENGTH BETWEEN VECTORS...... 2499 Vera A. Kazakova ; Annie S. Wu

A FRAMEWORK FOR ENHANCED LOCALIZATION OF MARINE MAMMALS USING AUTO- DETECTED VIDEO AND WEARABLE SENSOR DATA FUSION...... 2505 Joaquin Gabaldon ; Ding Zhang ; Kira Barton ; Matthew Johnson-Roberson ; K. Alex Shorter

A SKULL-MOUNTED ROBOTIC HEADFRAME FOR A NEUROSURGICAL ROBOT...... 2511 Jun Sheng ; Jaydev P. Desai

PRELIMINARY STUDY ON MAGNETIC TRACKING BASED NAVIGATION FOR WIRE- DRIVEN FLEXIBLE ROBOT ...... 2517 Changchun Zhang ; Yi Lu ; Xiaoxiao Qiu ; Shuang Song ; Li Liu ; Max Q. -H. Meng

3D PRINTING OF IMPROVED NEEDLE GRASPING INSTRUMENT FOR FLEXIBLE ROBOTIC SURGERY...... 2524 Carlo A. Seneci ; Gauthier Gras ; Piyamate Wisanuvej ; Jianzhong Shang ; Guang-Zhong Yang

FORCE SENSING IN CONTINUUM MANIPULATORS USING FIBER BRAGG GRATING SENSORS...... 2531 Fouzia Khan ; Roy J. Roesthuis ; Sarthak Misra

CONTINUUM ROBOTS FOR MULTI-SCALE MOTION: MICRO-SCALE MOTION THROUGH EQUILIBRIUM MODULATION...... 2537 Giuseppe Del Giudice ; Long Wang ; Jin-Hui Shen ; Karen Joos ; Nabil Simaan

INTEGRATED ASYMMETRIC STOP OPERATOR BASED MODEL FOR STRAIN STRESS HYSTERESIS CHARACTERISTICS OF CABLE DRIVEN ROBOTS LOADED LONGITUDINALLY...... 2543 Omar Aljanaideh ; Muneaki Miyasaka ; Blake Hannaford

TELEOPERATING ROBOTS FROM ARBITRARY VIEWPOINTS IN SURGICAL CONTEXTS ...... 2549 Mark Draelos ; Brenton Keller ; Cynthia Toth ; Anthony Kuo ; Kris Hauser ; Joseph Izatt

ROBOT TEAM TELEOPERATION FOR COOPERATIVE MANIPULATION USING WEARABLE HAPTICS ...... 2556 Selma Music ; Gionata Salvietti ; Pablo Budde Gen. Dohmann ; Francesco Chinello ; Domenico Prattichizzo ; Sandra Hirche

TELE-IMPEDANCE WITH FORCE FEEDBACK UNDER COMMUNICATION TIME DELAY...... 2564 Marco Laghi ; Arash Ajoudani ; Manuel Catalano ; Antonio Bicchi

INTERACTIVE SCENE SEGMENTATION FOR EFFICIENT HUMAN-IN-THE-LOOP ROBOT MANIPULATION...... 2572 Daniel J. Butler ; Sarah Elliot ; Maya Cakmak

AN ASSISTED BILATERAL CONTROL STRATEGY FOR 3D POSE ESTIMATION OF VISUAL FEATURES...... 2580 Nicola Battilani ; Riccardo Spica ; Paolo Robuffo Giordano ; Cristian Secchi

A PRELIMINARY STUDY OF AN INTENT-RECOGNITION-BASED TRADED CONTROL ARCHITECTURE FOR HIGH LATENCY TELEMANIPULATION...... 2587 Jonathan Bohren ; Louis L. Whitcomb

ROBUST ATTITUDE ESTIMATION METHOD FOR UNDERWATER VEHICLES WITH EXTERNAL AND INTERNAL MAGNETIC NOISE REJECTION USING ADAPTIVE INDIRECT KALMAN FILTER ...... 2595 Andreas Widy ; Kam Tim Woo

REAL-TIME AUTONOMOUS GROUND VEHICLE NAVIGATION IN HETEROGENEOUS ENVIRONMENTS USING A 3D LIDAR ...... 2601 Andreas Pfrunder ; Paulo V. K. Borges ; Adrian R. Romero ; Gavin Catt ; Alberto Elfes

NEURAL NETWORK MODELING FOR STEERING CONTROL OF AN AUTONOMOUS VEHICLE...... 2609 Gowtham Garimella ; Joseph Funke ; Chuang Wang ; Marin Kobilarov

ACTIVE ONLINE VISUAL-INERTIAL NAVIGATION AND SENSOR CALIBRATION VIA BELIEF SPACE PLANNING AND FACTOR GRAPH BASED INCREMENTAL SMOOTHING...... 2616 Yair Ben Elisha ; Vadim Indelman

DERIVING OVERTAKING STRATEGY FROM NONLINEAR MODEL PREDICTIVE CONTROL FOR A RACE CAR...... 2623 Alexander Buyval ; Aidar Gabdulin ; Ruslan Mustafin ; Ilya Shimchik

AUTONOVI: AUTONOMOUS VEHICLE PLANNING WITH DYNAMIC MANEUVERS AND TRAFFIC CONSTRAINTS...... 2629 Andrew Best ; Sahil Narang ; Daniel Barber ; Dinesh Manocha

DESIGN AND DEVELOPMENT OF A TETHERED MOBILE ROBOT TO TRAVERSE ON STEEP SLOPE BASED ON AN ANALYSIS OF ITS SLIPPAGE AND TURNOVER ...... 2637 Keiji Nagatani ; So Tatano ; Keisuke Ikeda ; Atsushi Watanabe ; Miwa Kuri

INDUSTRIAL-SCALE AUTONOMOUS WHEELED-VEHICLE PATH FOLLOWING BY COMBINING ITERATIVE LEARNING CONTROL WITH FEEDBACK LINEARIZATION...... 2643 Lukas G. Dekker ; Joshua A. Marshall ; Johan Larsson

STRUCTURED LIGHT-BASED HAZARD DETECTION FOR PLANETARY SURFACE NAVIGATION...... 2665 Ara Nefian ; Uland Y. Wong ; Michael Dille ; Xavier Bouyssounouse ; Laurence Edwards ; Vinh To ; Matthew Deans ; Terry Fong

A MULTI-FUNCTIONAL INSPECTION ROBOT FOR CIVIL INFRASTRUCTURE EVALUATION AND MAINTENANCE ...... 2672 Spencer Gibb ; Tuan Le ; Hung Manh La ; Ryan Schmid ; Tony Berendsen

GEOMETRIC AND VISUAL TERRAIN CLASSIFICATION FOR AUTONOMOUS MOBILE NAVIGATION...... 2678 Fabian Schilling ; Xi Chen ; John Folkesson ; Patric Jensfelt

MODELING STRUCTURE AND AEROSOL CONCENTRATION WITH FUSED RADAR AND LIDAR DATA IN ENVIRONMENTS WITH CHANGING VISIBILITY...... 2685 Paul Fritsche ; Bernardo Wagner

CHALLENGES IN VISUAL AND INERTIAL INFORMATION GATHERING FOR A SPRAWLING POSTURE ROBOT...... 2691 Mahsa Parsapour ; Kamilo Melo ; Tomislav Horvat ; Auke J. Ijspeert

TOWARDS AUTONOMOUS LOCOMOTION: SLITHERING GAIT DESIGN OF A SNAKE-LIKE ROBOT FOR TARGET OBSERVATION AND TRACKING ...... 2698 Zhenshan Bing ; Long Cheng ; Kai Huang ; Zhuangyi Jiang ; Guang Chen ; Florian Röhrbein ; Alois Knoll

A SEMI-AUTONOMOUS COMPOUND MOTION PATTERN USING MULTI-FLIPPER AND MULTI-ARM FOR UNSTRUCTURED TERRAIN TRAVERSAL ...... 2704 Kui Chen ; Mitsuhiro Kamezaki ; Takahiro Katano ; Taisei Kaneko ; Kohga Azuma ; Tatsuzo Ishida ; Masatoshi Seki ; Ken Ichiryu ; Shigeki Sugano

DEVELOPMENT OF A 20-M-LONG GIACOMETTI ARM WITH BALLOON BODY BASED ON KINEMATIC MODEL WITH AIR RESISTANCE...... 2710 Masashi Takeichi ; Koichi Suzumori ; Gen Endo ; Hiroyuki Nabae

VARIABLE TOPOLOGY TRUSS: DESIGN AND ANALYSIS...... 2717 Alexander Spinos ; Devin Carroll ; Terry Kientz ; Mark Yim

GENERATING GAITS FOR SIMULTANEOUS LOCOMOTION AND MANIPULATION ...... 2723 Julian Whitman ; Shuang Su ; Stelian Coros ; Alex Ansari ; Howie Choset

DESIGN AND TESTING OF FERVOR: FLEXIBLE AND RECONFIGURABLE VOXEL-BASED ROBOT...... 2730 Nick Cramer ; Maryam Tebyani ; Katelyn Stone ; Daniel Cellucci ; Kenneth C. Cheung ; Sean Swei ; Mircea Teodorescu

A DECENTRALIZED ALGORITHM FOR ASSEMBLING STRUCTURES WITH MODULAR ROBOTS ...... 2736 David Saldaña ; Bruno Gabrich ; Michael Whitzer ; Amanda Prorok ; Mario F. M. Campos ; Mark Yim ; Vijay Kumar

FABRIC-BASED ACTUATOR MODULES FOR BUILDING SOFT PNEUMATIC STRUCTURES WITH HIGH PAYLOAD-TO-WEIGHT RATIO ...... 2744 Phone May. Khin ; Hong Kai. Yap ; Marcelo H. Ang ; Chen-Hua. Yeow

A VISION-BASED SCHEME FOR KINEMATIC MODEL CONSTRUCTION OF RE- CONFIGURABLE MODULAR ROBOTS ...... 2751 Kewei Lin ; Juan Rojas ; Yisheng Guan

INVESTIGATION OF HUMAN-ROBOT COMFORT WITH A SMALL UNMANNED AERIAL VEHICLE COMPARED TO A GROUND ROBOT ...... 2758 Urja Acharya ; Alisha Bevins ; Brittany A. Duncan

A STUDY ON THE SOCIAL ACCEPTANCE OF A ROBOT IN A MULTI-HUMAN INTERACTION USING AN F-FORMATION BASED MOTION MODEL...... 2766 Shih-An Yang ; Edwinn Gamborino ; Chun-Tang Yang ; Li-Chen Fu

INCREMENTAL LEARNING FOR ROBOT PERCEPTION THROUGH HRI ...... 2772 Sepehr Valipour ; Camilo Perez ; Martin Jagersand

POSTURAL OPTIMIZATION FOR AN ERGONOMIC HUMAN-ROBOT INTERACTION ...... 2778 Baptiste Busch ; Guilherme Maeda ; Yoan Mollard ; Marie Demangeat ; Manuel Lopes

A SIMPLE BI-LAYERED ARCHITECTURE TO ENHANCE THE LIVENESS OF A ROBOT ...... 2786 Yusuke Takimoto ; Komei Hasegawa ; Taichi Sono ; Michita Imai

“ME AND YOU TOGETHER” MOVEMENT IMPACT IN MULTI-USER COLLABORATION TASKS...... 2793 Miguel Faria ; Rui Silva ; Patrícia Alves-Oliveira ; Francisco S. Melo ; Ana Paiva

LEARNING TO NAVIGATE CLOTH USING HAPTICS ...... 2799 Alexander Clegg ; Wenhao Yu ; Zackory Erickson ; Jie Tan ; C. Karen Liu ; Greg Turk

A PASSIVE INTEGRATION STRATEGY FOR RENDERING ROTATIONAL RIGID-BODY DYNAMICS ON A ROBOTIC SIMULATOR ...... 2806 Marco De Stefano ; Jordi Artigas ; Cristian Secchi

APPLICABILITY ANALYSIS OF GENERALIZED INVERSE KINEMATICS ALGORITHMS WITH RESPECT TO MANIPULATOR GEOMETRIC UNCERTAINTIES...... 2813 Yuquan Wang ; Lihui Wang

DISTURBANCE-OBSERVER-BASED PD CONTROL OF ELECTRO-HYDROSTATICALLY ACTUATED FLEXIBLE JOINT ROBOTS ...... 2821 Woongyong Lee ; Min Jun Kim ; Wan Kyun Chung

CONTROL METHOD OF POWER-ASSISTED CART WITH ONE MOTOR, A DIFFERENTIAL GEAR, AND BRAKES BASED ON MOTION STATE OF THE CART...... 2829 Akira Seino ; Yuta Wakabayashi ; Jun Kinugawa ; Kazuhiro Kosuge

FORMALIZATION AND ANALYSIS OF JACOBIAN MATRIX IN SCREW THEORY AND ITS APPLICATION IN KINEMATIC SINGULARITY ...... 2835 Aixuan Wu ; Zhiping Shi ; Xiumei Yang ; Yong Guan ; Yongdong Li ; Xiaoyu Song

REPETITION SAMPLING FOR EFFICIENTLY PLANNING SIMILAR CONSTRAINED MANIPULATION TASKS ...... 2851 Peter Lehner ; Alin Albu-Schäffer

EFFICIENT PATH PLANNING IN BELIEF SPACE FOR SAFE NAVIGATION ...... 2857 Robert Schirmer ; Peter Biber ; Cyrill Stachniss

AN EFFORT BIAS FOR SAMPLING-BASED MOTION PLANNING...... 2864 Scott Kiesel ; Tianyi Gu ; Wheeler Ruml

SEARCH-BASED MOTION PLANNING FOR QUADROTORS USING LINEAR QUADRATIC MINIMUM TIME CONTROL ...... 2872 Sikang Liu ; Nikolay Atanasov ; Kartik Mohta ; Vijay Kumar

PLANNING HIGH-SPEED SAFE TRAJECTORIES IN CONFIDENCE-RICH MAPS...... 2880 Eric Heiden ; Karol Hausman ; Gaurav S. Sukhatme ; Ali-Akbar Agha-Mohammadi

VISUAL SERVOING CONTROL OF SOFT ROBOTS BASED ON FINITE ELEMENT MODEL ...... 2895 Zhongkai Zhang ; Thor Morales Bieze ; Jeremie Dequidt ; Alexandre Kruszewski ; Christian Duriez

DESIGN AND PROTOTYPING OF A SOFT MAGNETIC ANCHORED AND GUIDANCE ENDOSCOPE SYSTEM ...... 2902 Truman Cheng ; Calvin Sze Hang Ng ; Philip Wai Yan Chiu ; Zheng Li

MODEL-FREE CONTROL FOR SOFT MANIPULATORS BASED ON REINFORCEMENT LEARNING...... 2909 Xuanke You ; Yixiao Zhang ; Xiaotong Chen ; Xinghua Liu ; Zhanchi Wang ; Hao Jiang ; Xiaoping Chen

MODEL-LESS FEEDBACK CONTROL FOR SOFT MANIPULATORS ...... 2916 Yusong Jin ; Yufei Wang ; Xiaotong Chen ; Zhanchi Wang ; Xinghua Liu ; Hao Jiang ; Xiaoping Chen

INTRINSIC FORCE SENSING CAPABILITIES IN COMPLIANT ROBOTS COMPRISING HYDRAULIC ACTUATION ...... 2923 Lukas Lindenroth ; Christian Duriez ; Junghwan Back ; Kawal Rhode ; Hongbin Liu

CHARACTERISATION AND IMAGE-BASED FLIGHT CONTROL OF AN AUTONOMOUS FREE FALL SKYDIVING ROBOT...... 2929 David Alatorre Troncoso ; David T Branson

VISUAL SERVOING FROM LINES USING A PLANAR CATADIOPTRIC SYSTEM ...... 2935 Eric Marchand ; Benjamin Fasquelle

STRAIN ESTIMATION OF MOVING TISSUE BASED ON AUTOMATIC MOTION COMPENSATION BY ULTRASOUND VISUAL SERVOING ...... 2941 Pedro A. Patlan-Rosales ; Alexandre Krupa

ACTIVE VISION FOR POSE ESTIMATION APPLIED TO SINGULARITY AVOIDANCE IN VISUAL SERVOING...... 2947 Don Joven Agravante ; François Chaumette

POSE INDUCTION FOR VISUAL SERVOING TO A NOVEL OBJECT INSTANCE...... 2953 Gourav Kumar ; Harit Pandya ; Ayush Gaud ; K. Madhava Krishna

COMBINING LINE SEGMENTS AND POINTS FOR APPEARANCE-BASED INDOOR NAVIGATION BY IMAGE BASED VISUAL SERVOING ...... 2960 Suman Raj Bista ; Paolo Robuffo Giordano ; François Chaumette

3000HZ CELL MANIPULATION IN A MICROFLUIDIC CHANNEL ...... 2968 Chia-Hung Dylan Tsai ; Kaoru Teramura ; Naoya Hosokawa ; Koji Mizoue ; Toshio Takayama ; Makoto Kaneko

AUTOMATED CELL TRANSPORTATION FOR BATCH-CELL MANIPULATION...... 2974 Xuefeng Wang ; Yaowei Liu ; Shibao Li ; Maosheng Cui ; Mingzhu Sun ; Xin Zhao

ON-CHIP FABRICATION OF MOVABLE TOROIDAL CELL STRUCTURES USING PHOTO- CROSSLINKABLE BIODEGRADABLE HYDROGEL...... 2980 Masaru Takeuchi ; Yuki Nakamura ; Akihiko Ichikawa ; Akiyuki Hasegawa ; Yasuhisa Hasegawa ; Toshio Fukuda

REALTIME VISION BASED DYNAMIC POWER MANAGEMENT OF IN-PLANE MAGNETIC MOBILE MICROROBOTS FOR AVOIDANCE OF EXCESSIVE SURFACE STICTION...... 2986 Silvia D'Orazio ; Laurent Couraud ; Yannick Ollivier ; Gilgueng Hwang

DEPTH ESTIMATION OF OPTICALLY TRANSPARENT LASER-DRIVEN MICROROBOTS...... 2994 Maria Grammatikopoulou ; Lin Zhang ; Guang-Zhong Yang

PRELIMINARY RESULTS ON OCT-BASED POSITION CONTROL OF A CONCENTRIC TUBE ROBOT...... 3000 Y. Baran ; K. Rabenorosoa ; G. J. Laurent ; P. Rougeot ; N. Andreff ; B. Tamadazte

CLASSIFICATION ERROR CORRECTION: A CASE STUDY IN BRAIN-COMPUTER INTERFACING...... 3006 Hasan A. Poonawala ; Mohammed Alshiekh ; Scott Niekum ; Ufuk Topcu

ELASTIC ROD DYNAMICS: VALIDATION OF A REAL-TIME IMPLICIT APPROACH...... 3013 John Till ; D. Caleb Rucker

PERIODIC TRAJECTORIES OF MOBILE ROBOTS ...... 3020 Alexandra Q. Nilles ; Israel Becerra ; Steven M. Lavalle

A FRICTION MODEL WITH VELOCITY, TEMPERATURE AND LOAD TORQUE EFFECTS FOR COLLABORATIVE INDUSTRIAL ROBOT JOINTS ...... 3027 Liming Gao ; Jianjun Yuan ; Zhedong Han ; Shuai Wang ; Ning Wang

PAYLOAD ESTIMATION BASED ON IDENTIFIED COEFFICIENTS OF ROBOT DYNAMICS — WITH AN APPLICATION TO COLLISION DETECTION...... 3033 Claudio Gaz ; Alessandro De Luca

VISUAL PERCEPTION OF LIMB STIFFNESS...... 3049 Meghan E. Huber ; Charlotte Folinus ; Neville Hogan

ANALYSIS OF NAVIGATIONAL HABITUATION ...... 3056 Yoichi Morales ; Jamilah Abdur-Rahim ; Atsushi Watanabe ; Jani Even

USER-ROBOT COLLABORATIVE EXCITATION FOR PAM MODEL IDENTIFICATION IN EXOSKELETON ROBOTS ...... 3063 Masashi Hamaya ; Takamitsu Matsubara ; Tomoyuki Noda ; Tatsuya Teramae ; Jun Morimoto

PASSIVE KNEE EXOSKELETON USING TORSION SPRING FOR CYCLING ASSISTANCE ...... 3069 Ronnapee Chaichaowarat ; Diego Felipe Paez Granados ; Jun Kinugawa ; Kazuhiro Kosuge

AN ANTICIPATIVE KINEMATIC LIMITATION AVOIDANCE ALGORITHM FOR COLLABORATIVE ROBOTS: THREE-DIMENSIONAL CASE...... 3075 Philippe Lebel ; Clément Gosselin ; Alexandre Campeau-Lecours

SEQUENTIAL RECOGNITION OF IN-HAND OBJECT SHAPE USING A COLLECTION OF NEURAL FORESTS ...... 3081 Alex Vásquez ; Arnaud Dapogny ; Kévin Bailly ; Véronique Perdereau

METRIC LEARNING FOR GENERALIZING SPATIAL RELATIONS TO NEW OBJECTS ...... 3175 Oier Mees ; Nichola Abdo ; Mladen Mazuran ; Wolfram Burgard

LEARNING MANIPULABILITY ELLIPSOIDS FOR TASK COMPATIBILITY IN ROBOT MANIPULATION...... 3183 Leonel Rozo ; Noémie Jaquier ; Sylvain Calinon ; Darwin G. Caldwell

DEMONSTRATION-FREE CONTEXTUALIZED PROBABILISTIC MOVEMENT PRIMITIVES, FURTHER ENHANCED WITH OBSTACLE AVOIDANCE...... 3190 Adrià Colomé ; Carme Torras

LEARNING MOBILE MANIPULATION ACTIONS FROM HUMAN DEMONSTRATIONS ...... 3196 Tim Welschehold ; Christian Dornhege ; Wolfram Burgard

TASK-ORIENTED GENERALIZATION OF DYNAMIC MOVEMENT PRIMITIVE ...... 3202 You Zhou ; Tamim Asfour

DETECTING INSERTION TASKS USING CONVOLUTIONAL NEURAL NETWORKS DURING ROBOT TEACHING-BY-DEMONSTRATION ...... 3210 Etienne Roberge ; Vincent Duchaine

SKIMMING AND STEERING OF A NON-TETHERED MINIATURE ROBOT ON THE WATER SURFACE USING MARANGONI PROPULSION ...... 3217 Bokeon Kwak ; Joonbum Bae

FALLING WITH STYLE: STICKING THE LANDING BY CONTROLLING SPIN DURING BALLISTIC FLIGHT...... 3223 Morgan T. Pope ; Günter Niemeyer

PLANAR HOPPING CONTROL STRATEGY FOR TAIL-ACTUATED SLIP MODEL TRAVERSING VARIED TERRAINS...... 3231 Haitao Yu ; Cao Li ; Baofeng Yuan ; Haibo Gao ; Zongquan Deng

DEVELOPMENT OF A FLAPPING-WING MICRO AIR VEHICLE CAPABLE OF AUTONOMOUS HOVERING WITH ONBOARD MEASUREMENTS...... 3239 Seungwan Ryu ; H. Jin Kim

TRAJECTORY TRACKING USING MOTION PRIMITIVES FOR THE PURCELL'S SWIMMER ...... 3246 Sudin Kadam ; Kedar Joshi ; Naman Gupta ; Pulkit Katdare ; Ravi Banavar

EFFICIENT TOPOLOGICAL DISTANCES AND COMPARABLE METRIC RANGES ...... 3252 Musad Haque ; Waseem Abbas ; Abigail Rafter ; Julie A. Adams

ACTIVE END-EFFECTOR POSE SELECTION FOR TACTILE OBJECT RECOGNITION THROUGH MONTE CARLO TREE SEARCH...... 3258 Mabel M. Zhang ; Nikolay Atanasov ; Kostas Daniilidis

TASK-ORIENTED GRASPING WITH SEMANTIC AND GEOMETRIC SCENE UNDERSTANDING...... 3266 Renaud Detry ; Jeremie Papon ; Larry Matthies

MODEL-FREE APPROACH TO GARMENTS UNFOLDING BASED ON DETECTION OF FOLDED LAYERS ...... 3274 Jan Stria ; Vladimír Petrík ; Vaclav Hlavác

SUM: SEQUENTIAL SCENE UNDERSTANDING AND MANIPULATION...... 3281 Zhiqiang Sui ; Zheming Zhou ; Zhen Zeng ; Odest Chadwicke Jenkins

CROSS-MODAL INTERPRETATION OF MULTI-MODAL SENSOR STREAMS IN INTERACTIVE PERCEPTION BASED ON COUPLED RECURSION ...... 3289 Roberto Martín-Martín ; Oliver Brock

FLEXIBLE USER SPECIFICATION OF PERCEPTUAL LANDMARKS FOR ROBOT MANIPULATION...... 3296 Justin Huang ; Maya Cakmak

SPAD DCNN: LOCALIZATION WITH SMALL IMAGING LIDAR AND DCNN ...... 3312 Seigo Ito ; Shigeyoshi Hiratsuka ; Mitsuhiko Ohta ; Hiroyuki Matsubara ; Masaru Ogawa

ROBUST LIDAR-BASED LOCALIZATION IN ARCHITECTURAL FLOOR PLANS...... 3318 Federico Boniardi ; Tim Caselitz ; Rainer Kümmerle ; Wolfram Burgard

THE DATUM PARTICLE FILTER: LOCALIZATION FOR OBJECTS WITH COUPLED GEOMETRIC DATUMS...... 3325 Shiyuan Chen ; Brad Saund ; Reid Simmons

PROBABILISTIC NORMAL DISTRIBUTIONS TRANSFORM REPRESENTATION FOR ACCURATE 3D POINT CLOUD REGISTRATION ...... 3333 Hyunki Hong ; B. H. Lee

TOPOLOGICAL LOCALIZATION USING WI-FI AND VISION MERGED INTO FABMAP FRAMEWORK ...... 3339 Mathieu Nowakowski ; Cyril Joly ; Sébastien Dalibard ; Nicolas Garcia ; Fabien Moutarde

REPETITIVE EXTREME-ACCELERATION (14-G) SPATIAL JUMPING WITH SALTO-1P ...... 3345 Duncan W. Haldane ; Justin K. Yim ; Ronald S. Fearing

SWING LEG RETRACTION USING VIRTUAL APEX METHOD FOR THE PARKOURBOT CLIMBING ROBOT...... 3352 Omer Nir ; Adar Gaathon ; Amir Degani

DYNAMIC LOCOMOTION AND WHOLE-BODY CONTROL FOR QUADRUPEDAL ROBOTS...... 3359 C. Dario Bellicoso ; Fabian Jenelten ; Péter Fankhauser ; Christian Gehring ; Jemin Hwangbo ; Marco Hutter

NABI-S: A COMPLIANT ROBOT WITH A CPG FOR LOCOMOTION ...... 3366 Alexandra Pogue ; Alana Bianes ; Dennis Hong ; Tetsuya Iwasaki

MODEL PREDICTIVE CONTROL BASED FRAMEWORK FOR COM CONTROL OF A QUADRUPED ROBOT ...... 3372 Tomislav Horvat ; Kamilo Melo ; Auke J. Ijspeert

STANDING POSTURE CONTROL FOR A LOW-COST COMMERCIALLY AVAILABLE HEXAPOD ROBOT...... 3379 Mayur Tikam ; Daniel Withey ; Nicolaas J. Theron

HUMAN-IN-THE-LOOP OPTIMISATION: MIXED INITIATIVE GRASPING FOR OPTIMALLY FACILITATING POST-GRASP MANIPULATIVE ACTIONS ...... 3386 E. Amir M. Ghalamzan ; Firas Abi-Farraj ; Paolo Robuffo Giordano ; Rustam Stolkin

USER STUDY ON REMOTELY CONTROLLED UAVS WITH FOCUS ON INTERFACES AND DATA LINK QUALITY ...... 3394 Maik Riestock ; Frank Engelhardt ; Sebastian Zug ; Nico Hochgeschwender

TELEOPERATION IN CLUTTERED ENVIRONMENTS USING WEARABLE HAPTIC FEEDBACK...... 3401 Joao Bimbo ; Claudio Pacchierotti ; Marco Aggravi ; Nikos Tsagarakis ; Domenico Prattichizzo

ON THE UNCERTAINTY PROPAGATION: WHY UNCERTAINTY ON LIE GROUPS PRESERVES MONOTONICITY?...... 3425 Youngji Kim ; Ayoung Kim

OUTDOOR PERSON FOLLOWING AT HIGHER SPEEDS USING A SKID-STEERED MOBILE ROBOT...... 3433 Goran Huskic ; Sebastian Buck ; Luis Azareel Ibargüen González ; Andreas Zell

A NOVEL INSECT-INSPIRED OPTICAL COMPASS SENSOR FOR A HEXAPOD WALKING ROBOT...... 3439 Julien Dupeyroux ; Julien Diperi ; Marc Boyron ; Stéphane Viollet ; Julien Serres

DECENTRALIZED NAVIGATION OF MULTIPLE AGENTS BASED ON ORCA AND MODEL PREDICTIVE CONTROL ...... 3446 Hui Cheng ; Qiyuan Zhu ; Zhongchang Liu ; Tianye Xu ; Liang Lin

AUTONOMOUS PREDICTIVE DRIVING FOR BLIND INTERSECTIONS ...... 3452 Yuki Yoshihara ; Yoichi Morales ; Naoki Akai ; Eijiro Takeuchi ; Yoshiki Ninomiya

MESH-BASED 3D TEXTURED URBAN MAPPING ...... 3460 Andrea Romanoni ; Daniele Fiorenti ; Matteo Matteucci

LINEAR VELOCITY FROM COMMOTION MOTION...... 3467 Wenbo Dong ; Volkan Isler

SENSE AND AVOID BASED ON VISUAL POSE ESTIMATION FOR SMALL UAS...... 3473 Changkoo Kang ; Jason Davis ; Craig A. Woolsey ; Seongim Choi

ONBOARD REAL-TIME DENSE RECONSTRUCTION OF LARGE-SCALE ENVIRONMENTS FOR UAV...... 3479 Anurag Sai Vempati ; Igor Gilitschenski ; Juan Nieto ; Paul Beardsley ; Roland Siegwart

WIRE DETECTION USING SYNTHETIC DATA AND DILATED CONVOLUTIONAL NETWORKS FOR UNMANNED AERIAL VEHICLES ...... 3487 Ratnesh Madaan ; Daniel Maturana ; Sebastian Scherer

MULTI-MODAL MAPPING AND LOCALIZATION OF UNMANNED AERIAL ROBOTS BASED ON ULTRA-WIDEBAND AND RGB-D SENSING ...... 3495 F. J. Perez-Grau ; F. Caballero ; L. Merino ; A. Viguria

AUTONOMOUS META-CLASSIFIER FOR SURFACE HARDNESS CLASSIFICATION FROM UAV LANDINGS ...... 3503 Elizabeth Basha ; Tristan Watts-Willis ; Carrick Detweiler

ON-LINE SIMULTANEOUS LEARNING AND RECOGNITION OF EVERYDAY ACTIVITIES FROM VIRTUAL REALITY PERFORMANCES ...... 3510 Tamas Bates ; Karinne Ramirez-Amaro ; Tetsunari Inamura ; Gordon Cheng

LEARNING MAGNETIC FIELD DISTORTION COMPENSATION FOR ROBOTIC SYSTEMS ...... 3516 Leif Christensen ; Mario Krell ; Frank Kirchner

MULTI VEHICLE ROUTING WITH NONHOLONOMIC CONSTRAINTS AND DENSE DYNAMIC OBSTACLES...... 3522 Masoumeh Mansouri ; Fabien Lagriffoul ; Federico Pecora

FEELING THE FORCE: INTEGRATING FORCE AND POSE FOR FLUENT DISCOVERY THROUGH IMITATION LEARNING TO OPEN MEDICINE BOTTLES...... 3530 Mark Edmonds ; Feng Gao ; Xu Xie ; Hangxin Liu ; Siyuan Qi ; Yixin Zhu ; Brandon Rothrock ; Song-Chun Zhu

IMPROVING CONTROL PRECISION AND MOTION ADAPTIVENESS FOR SURGICAL ROBOT WITH RECURRENT NEURAL NETWORK...... 3538 Yangming Li ; Shuai Li ; David Caballero ; Muneaki Miyasaka ; Andrew Lewis ; Blake Hannaford

DEEP SEMANTIC CLASSIFICATION FOR 3D LIDAR DATA ...... 3544 Ayush Dewan ; Gabriel L. Oliveira ; Wolfram Burgard

MODULAR ROBOT CONNECTOR AREA OF ACCEPTANCE FROM CONFIGURATION SPACE OBSTACLES ...... 3550 Nick Eckenstein ; Mark Yim

ADAPTIVE LOCOMOTION LEARNING IN MODULAR SELF-RECONFIGURABLE ROBOTS: A GAME THEORETIC APPROACH ...... 3556 Ayan Dutta ; Prithviraj Dasgupta ; Carl Nelson

EVOLUTIONARY COST-OPTIMAL COMPOSITION SYNTHESIS OF MODULAR ROBOTS CONSIDERING A GIVEN TASK ...... 3562 Esra Icer ; Heba A. Hassan ; Khaled El-Ayat ; Matthias Althoff

REARRANGING AGENTS IN A SMALL SPACE USING GLOBAL CONTROLS...... 3576 Yinan Zhang ; Xiaolei Chen ; Hang Qi ; Devin Balkcom

PREDICTIVE ROUTING FOR AUTONOMOUS MOBILITY-ON-DEMAND SYSTEMS WITH RIDE-SHARING ...... 3583 Javier Alonso-Mora ; Alex Wallar ; Daniela Rus

IMPROVING TRANSPARENCY IN PHYSICAL HUMAN-ROBOT INTERACTION USING AN IMPEDANCE COMPENSATOR ...... 3591 Kyeong Ha Lee ; Seung Guk Baek ; Hyuk Jin Lee ; Hyouk Ryeol Choi ; Hyungpil Moon ; Ja Choon Koo

MODELING HUMAN REACHING PHASE IN HUMAN-HUMAN OBJECT HANDOVER WITH APPLICATION IN ROBOT-HUMAN HANDOVER...... 3597 Sina Parastegari ; Bahareh Abbasi ; Ehsan Noohi ; Miloš Zefran

PERSONALIZED ROBOT-ASSISTED DRESSING USING USER MODELING IN LATENT SPACES...... 3603 Fan Zhang ; Antoine Cully ; Yiannis Demiris

VARIABLE ADMITTANCE CONTROL PREVENTING UNDESIRED OSCILLATING BEHAVIORS IN PHYSICAL HUMAN-ROBOT INTERACTION ...... 3611 Chiara Talignani Landi ; Federica Ferraguti ; Lorenzo Sabattini ; Cristian Secchi ; Marcello Bonfè ; Cesare Fantuzzi

ADAPTIVE INDIRECT CONTROL THROUGH COMMUNICATION IN COLLABORATIVE HUMAN-ROBOT INTERACTION...... 3617 Rui Silva ; Miguel Faria ; Francisco S. Melo ; Manuela Veloso

IMPEDANCE CONTROL WITH STRUCTURAL COMPLIANCE AND A SENSORLESS STRATEGY FOR CONTACT TASKS ...... 3623 Dongwon Kim ; Sang Hoon Kang ; Gwang Min Gu ; Maolin Jin

SEMI-AUTONOMOUS ELECTROSURGERY FOR TUMOR RESECTION USING A MULTI- DEGREE OF FREEDOM ELECTROSURGICAL TOOL AND VISUAL SERVOING...... 3653 Justin D. Opfermann ; Simon Leonard ; Ryan S. Decker ; Nicholas A. Uebele ; Christopher E. Bayne ; Arjun S. Joshi ; Axel Krieger

SOFT-NEUROADAPT: A 3-DOF NEURO-ADAPTIVE PATIENT POSE CORRECTION SYSTEM FOR FRAMELESS AND MASKLESS CANCER RADIOTHERAPY ...... 3661 Olalekan Ogunmolu ; Adwait Kulkarni ; Yonas Tadesse ; Xuejun Gu ; Steve Jiang ; Nicholas Gans

A NOVEL LAPAROSCOPIC CAMERA ROBOT WITH IN-VIVO LENS CLEANING AND DEBRIS PREVENTION MODULES...... 3669 A. Reza Yazdanpanah ; Xiaolong Liu ; Ning Li ; Jindong Tan

AN OPTIMIZATION APPROACH TO TRAJECTORY GENERATION FOR AUTONOMOUS VEHICLE FOLLOWING ...... 3675 Dennis Fassbender ; Benjamin C. Heinrich ; Thorsten Luettel ; Hans-Joachim Wuensche

GRADIENT-BASED ONLINE SAFE TRAJECTORY GENERATION FOR QUADROTOR FLIGHT IN COMPLEX ENVIRONMENTS ...... 3681 Fei Gao ; Yi Lin ; Shaojie Shen

OPTIMAL CONTROL-BASED ONLINE MOTION PLANNING FOR COOPERATIVE LANE CHANGES OF CONNECTED AND AUTOMATED VEHICLES...... 3689 Bai Li ; Youmin Zhang ; Yuming Ge ; Zhijiang Shao ; Pu Li

HIGH PRECISION TRAJECTORY PLANNING ON FREEFORM SURFACES FOR ROBOTIC MANIPULATORS ...... 3695 Renan S. Freitas ; Eduardo E. M. Soares ; Ramon R. Costa ; Breno B. Carvalho

A KINODYNAMIC STEERING-METHOD FOR LEGGED MULTI-CONTACT LOCOMOTION ...... 3701 Pierre Fernbach ; Steve Tonneau ; Andrea Del Prete ; Michel Taïx

SENSORY STEERING FOR SAMPLING-BASED MOTION PLANNING...... 3708 Omur Arslan ; Vincent Pacelli ; Daniel E. Koditschek

DESIGN OF A SOFT, PARALLEL END-EFFECTOR APPLIED TO ROBOT-GUIDED ULTRASOUND INTERVENTIONS ...... 3716 Lukas Lindenroth ; Avinash Soor ; Jack Hutchinson ; Amber Shafi ; Junghwan Back ; Kawal Rhode ; Hongbin Liu

DEVELOPMENT OF A SOFT-INFLATABLE EXOSUIT FOR KNEE REHABILITATION...... 3722 Saivimal Sridar ; Pham H. Nguyen ; Mengjia Zhu ; Quoc P. Lam ; Panagiotis Polygerinos

A MOVE-AND-HOLD PNEUMATIC ACTUATOR ENABLED BY SELF-SOFTENING VARIABLE STIFFNESS MATERIALS...... 3728 Trevor L. Buckner ; Edward L. White ; Michelle C. Yuen ; R. Adam Bilodeau ; Rebecca K. Kramer

SOFT-MATTER SENSOR FOR PROXIMITY, TACTILE AND PRESSURE DETECTION...... 3734 Rui Rocha ; Pedro Lopes ; Anibal T. De Almeida ; Mahmoud Tavakoli ; Carmel Majidi

FABRICATION, MODELING, AND CONTROL OF PLUSH ROBOTS...... 3739 James M. Bern ; Grace Kumagai ; Stelian Coros

ON-ROAD VEHICLE TRACKING USING PART-BASED PARTICLE FILTER ...... 3755 Yongkun Fang ; Chao Wang ; Huijing Zhao ; Hongbin Zha

VISUAL COORDINATION TASK FOR HUMAN-ROBOT COLLABORATION ...... 3762 Maram Khatib ; Khaled Al Khudir ; Alessandro De Luca

ROBUST VISUAL TRACKING WITH A FREELY-MOVING EVENT CAMERA ...... 3769 Arren Glover ; Chiara Bartolozzi

MODULAR TRACKING FRAMEWORK: A FAST LIBRARY FOR HIGH PRECISION TRACKING ...... 3785 Abhineet Singh ; Martin Jagersand

MODEL-BASED VISUAL TRACKING OF ORBITING SATELLITES USING EDGES...... 3791 Manolis Lourakis ; Xenophon Zabulis

SUPERVISORY CONTROL OF A HUMANOID ROBOT IN MICROGRAVITY FOR MANIPULATION TASKS ...... 3797 Logan Farrell ; Philip Strawser ; Kimberly Hambuchen ; William Baker ; Julia Badger

AN APPROACH TO AUTONOMOUS SCIENCE BY MODELING GEOLOGICAL KNOWLEDGE IN A BAYESIAN FRAMEWORK...... 3803 Akash Arora ; Robert Fitch ; Salah Sukkarieh

PLANETARY ROBOTIC EXPLORATION DRIVEN BY SCIENCE HYPOTHESES FOR GEOLOGIC MAPPING ...... 3811 Alberto Candela ; David Thompson ; Eldar Noe Dobrea ; David Wettergreen

SCIENCE-AWARE EXPLORATION USING ENTROPY-BASED PLANNING ...... 3819 Shivam Gautam ; Bishwamoy Sinha Roy ; Alberto Candela ; David Wettergreen

AUGMENTED VIRTUALITY FOR MODEL-BASED TELEOPERATION ...... 3826 Balazs Vagvolgyi ; Wenlong Niu ; Zihan Chen ; Paul Wilkening ; Peter Kazanzides

REINFORCEMENT LEARNING WITH TEMPORAL LOGIC REWARDS...... 3834 Xiao Li ; Cristian-Ioan Vasile ; Calin Belta

SAMPLING-BASED SYNTHESIS OF MAXIMALLY-SATISFYING CONTROLLERS FOR TEMPORAL LOGIC SPECIFICATIONS ...... 3840 Cristian-Ioan Vasile ; Vasumathi Raman ; Sertac Karaman

A FRAMEWORK FOR HANDLING AND COMBINING INACCURACY PROPAGATION IN ROBOT SUBTASKS FOR INDUSTRIAL ASSEMBLY ...... 3848 Jacob P. Buch ; Henrik G. Petersen

MINING THE USAGE PATTERNS OF ROS PRIMITIVES...... 3855 André Santos ; Alcino Cunha ; Nuno Macedo ; Rafael Arrais ; Filipe Neves Dos Santos

AUTOMATIC PROPERTY CHECKING OF ROBOTIC APPLICATIONS ...... 3869 Alvaro Miyazawa ; Pedro Ribeiro ; Wei Li ; Ana Cavalcanti ; Jon Timmis

A FIVE DEGREE-OF-FREEDOM BODY-MACHINE INTERFACE FOR CHILDREN WITH SEVERE MOTOR IMPAIRMENTS...... 3877 Sheryl Chau ; Sanders Aspelund ; Ranjan Mukherjee ; Mei-Hua Lee ; Rajiv Ranganathan ; Florian Kagerer

DEVELOPMENT OF A SOFT ROBOTIC GLOVE WITH HIGH GRIPPING FORCE USING FORCE DISTRIBUTING COMPLIANT STRUCTURES...... 3883 Yong-Jae Kim ; Yong-Jun Jeong ; Hyeong-Seok Jeon ; Deok-Won Lee ; Jong-In Kim

QUANTIFYING PERFORMANCE OF BIPEDAL STANDING WITH MULTI-CHANNEL EMG ...... 3891 Yanan Sui ; Kun Ho Kim ; Joel W. Burdick

VARIABLE VISCOELASTIC JOINT SYSTEM AND ITS APPLICATION TO EXOSKELETON ...... 3897 Manabu Okui ; Shingo IIkawa ; Yasuyuki Yamada ; Taro Nakamura

LOOKING HIGH AND LOW: LEARNING PLACE-DEPENDENT GAUSSIAN MIXTURE HEIGHT MODELS FOR TERRAIN ASSESSMENT ...... 3918 Laszlo-Peter Berczi ; Timothy D. Barfoot

SCALABLE ROBUST LEARNING FROM DEMONSTRATION WITH LEVERAGED DEEP NEURAL NETWORKS...... 3926 Sungjoon Choi ; Kyungjae Lee ; Songhwai Oh

ADVERSARIALLY ROBUST POLICY LEARNING: ACTIVE CONSTRUCTION OF PHYSICALLY-PLAUSIBLE PERTURBATIONS ...... 3932 Ajay Mandlekar ; Yuke Zhu ; Animesh Garg ; Li Fei-Fei ; Silvio Savarese

LEARNING A UNIFIED CONTROL POLICY FOR SAFE FALLING ...... 3940 Visak C. V. Kumar ; Sehoon Ha ; C. Karen Liu

LEARNING TO FLY BY CRASHING ...... 3948 Dhiraj Gandhi ; Lerrel Pinto ; Abhinav Gupta

LEARNING EXTERNALLY MODULATED DYNAMICAL SYSTEMS...... 3956 Nicolas Sommer ; Klas Kronander ; Aude Billard

A HIGH SPEED MOTION CAPTURE METHOD AND PERFORMANCE METRICS FOR STUDYING GAITS ON AN INSECT-SCALE LEGGED ROBOT...... 3964 Benjamin Goldberg ; Neel Doshi ; Kaushik Jayaram ; Je-Sung Koh ; Robert J. Wood

WHEN JOGGERS MEET ROBOTS: A PRELIMINARY STUDY ON FOOT STRIKE PATTERNS ...... 3971 George H. Z. Liu ; Michael Z. Q. Chen ; Yonghua Chen ; Lixi Huang

FLEGX: A BIOINSPIRED DESIGN FOR A JUMPING HUMANOID LEG ...... 3977 Mariapaola D'Imperio ; Daniele Ludovico ; Cristiano Pizzamiglio ; Carlo Canali ; Darwin Caldwell ; Ferdinando Cannella

A 3-D BIO-INSPIRED ODOR SOURCE LOCALIZATION AND ITS VALIDATION IN REALISTIC ENVIRONMENTAL CONDITIONS...... 3983 Faezeh Rahbar ; Ali Marjovi ; Pierre Kibleur ; Alcherio Martinoli

MORPHOLOGICAL OPTIMIZATION FOR TENSEGRITY QUADRUPED LOCOMOTION...... 3990 Dawn Hustig-Schultz ; Vytas Sunspiral ; Mircea Teodorescu

COLLISION SELECTIVE LGMDS NEURON MODELS RESEARCH BENEFITS FROM A VISION-BASED AUTONOMOUS MICRO ROBOT...... 3996 Qinbing Fu ; Cheng Hu ; Tian Liu ; Shigang Yue

INTERLEAVING MOTION IN CONTACT AND IN FREE SPACE FOR PLANNING UNDER UNCERTAINTY ...... 4011 Arne Sieverling ; Clemens Eppner ; Felix Wolff ; Oliver Brock

EFFICIENT STOCHASTIC MULTICRITERIA ARM TRAJECTORY OPTIMIZATION ...... 4018 Dmytro Pavlichenko ; Sven Behnke

MANIPULATION PLANNING WITH DIRECTED REACHABLE VOLUMES...... 4026 Troy McMahon ; Read Sandström ; Shawna Thomas ; Nancy M. Amato

SAFE ROBOTIC GRASPING: MINIMUM IMPACT-FORCE GRASP SELECTION...... 4034 Nikos Mavrakis ; E. Amir M. Ghalamzan ; Rustam Stolkin

INCONSEQUENTIAL IMPROPRIETIES: FILTER REDUCTION IN PROBABILISTIC WORLDS ...... 4042 Fatemeh Zahra Saberifar ; Jason M. O'Kane ; Dylan A. Shell

PLANAR SCAN MATCHING USING INCIDENT ANGLE...... 4049 Jixin Lv ; Yue Wang ; Kanzhi Wu ; Gamini Dissanayake ; Yukinori Kobayashi ; Rong Xiong

BEYOND SIFT USING BINARY FEATURES IN LOOP CLOSURE DETECTION...... 4057 Lei Han ; Guyue Zhou ; Lan Xu ; Lu Fang

SEMANTIC-ASSISTED 3D NORMAL DISTRIBUTIONS TRANSFORM FOR SCAN REGISTRATION IN ENVIRONMENTS WITH LIMITED STRUCTURE ...... 4064 Anestis Zaganidis ; Martin Magnusson ; Tom Duckett ; Grzegorz Cielniak

RGBD-BASED ROBOT LOCALIZATION IN SEWER NETWORKS...... 4070 D. Alejo ; F. Caballero ; L. Merino

PRECISE POSE GRAPH LOCALIZATION WITH SPARSE POINT AND LANE FEATURES...... 4077 Cong Wu ; Tiffany A. Huang ; Maximilian Muffert ; Tilo Schwarz ; Johannes Gräter

MARKOVIAN JUMP LINEAR SYSTEMS-BASED FILTERING FOR VISUAL AND GPS AIDED INERTIAL NAVIGATION SYSTEM...... 4083 Roberto S. Inoue ; Vitor Guizilini ; Marco H. Terra ; Fabio Ramos

RAMONE: A PLANAR BIPED FOR STUDYING THE ENERGETICS OF GAIT ...... 4090 Nils Smit-Anseeuw ; Rodney Gleason ; Petr Zaytsev ; C. David Remy

FOOTHOLD PLACEMENT PLANNING WITH A HEXAPOD CRAWLING ROBOT ...... 4096 Petr Cížek ; Diar Masri ; Jan Faigl

POLICY-REGULARIZED MODEL PREDICTIVE CONTROL TO STABILIZE DIVERSE QUADRUPEDAL GAITS FOR THE MIT CHEETAH...... 4102 Gerardo Bledt ; Patrick M. Wensing ; Sangbae Kim

GOAT: A LEGGED ROBOT WITH 3D AGILITY AND VIRTUAL COMPLIANCE...... 4110 Simon Kalouche

STEALTH WALKING OF 3-LINK PLANAR UNDERACTUATED BIPED...... 4118 Fumihiko Asano

DEVELOPMENT OF TORQUE CONTROLLABLE LEG FOR RUNNING ROBOT, AIDIN-IV...... 4125 Yoon Haeng Lee ; Young Hun Lee ; Hyunyong Lee ; Luong Tin Phan ; Hansol Kang ; Yong Bum Kim ; Hyouk Ryeol Choi

LEARN2SMILE: LEARNING NON-VERBAL INTERACTION THROUGH OBSERVATION ...... 4131 Will Feng ; Anitha Kannan ; Georgia Gkioxari ; C. Lawrence Zitnick

PARTIALLY TRANSFERRED CONVOLUTION NEURAL NETWORK WITH CROSS-LAYER INHERITING FOR POSTURE RECOGNITION FROM TOP-VIEW DEPTH CAMERA...... 4139 An-Sheng Liu ; Zi-Jun Li ; Tso-Hsin Yeh ; Yu-Huan Yang ; Li-Chen Fu

TRACKING A VARYING NUMBER OF PEOPLE WITH A VISUALLY-CONTROLLED ROBOTIC HEAD...... 4144 Yutong Ban ; Xavier Alameda-Pineda ; Fabien Badeig ; Sileye Ba ; Radu Horaud

FASTER ROBOT PERCEPTION USING SALIENT DEPTH PARTITIONING...... 4152 Darren M. Chan ; Angelique Taylor ; Laurel D. Riek

FAST AND ROBUST DETECTION OF FALLEN PEOPLE FROM A MOBILE ROBOT...... 4159 Morris Antonello ; Marco Carraro ; Marco Pierobon ; Emanuele Menegatti

MULTI-STAGE BAYESIAN TARGET ESTIMATION BY UAV USING FISHEYE LENS CAMERA AND PAN/TILT CAMERA...... 4167 Tomonari Furukawa ; Changkoo Kang ; Boren Li ; Gamini Dissanayake

ONLINE MODEL IDENTIFICATION FOR UNDERWATER VEHICLES THROUGH INCREMENTAL SUPPORT VECTOR REGRESSION...... 4173 Bilal Wehbe ; Alexander Fabisch ; Mario Michael Krell

LOW-COST MONOCULAR LOCALIZATION WITH ACTIVE MARKERS FOR MICRO AUTONOMOUS UNDERWATER VEHICLES ...... 4181 Austin D. Buchan ; Eugen Solowjow ; Daniel-André Duecker ; Edwin Kreuzer

UNDERWATER MULTI-ROBOT CONVOYING USING VISUAL TRACKING BY DETECTION...... 4189 Florian Shkurti ; Wei-Di Chang ; Peter Henderson ; Md Jahidul Islam ; Juan Camilo Gamboa Higuera ; Jimmy Li ; Travis Manderson ; Anqi Xu ; Gregory Dudek ; Junaed Sattar

DEVELOPMENT OF BIO-INSPIRED UNDERWATER ROBOT WITH ADAPTIVE MORPHOLOGY CAPABLE OF MULTIPLE SWIMMING MODES...... 4197 Thibaut Paschal ; Jun Shintake ; Stefano Mintchev ; Dario Floreano

CONTROL OF A FLEXIBLE, SURFACE-PIERCING HYDROFOIL FOR HIGH-SPEED, SMALL- SCALE APPLICATIONS...... 4203 Gabriel D. Bousquet ; Michael S. Triantafyllou ; Jean-Jacques E. Slotine

PATH-FOLLOWING CONTROL FOR UNMANNED SURFACE VEHICLES...... 4209 Zhi Li ; Ralf Bachmayer ; Andrew Vardy

ROBUST INITIALIZATION OF MONOCULAR VISUAL-INERTIAL ESTIMATION ON AERIAL ROBOTS ...... 4225 Tong Qin ; Shaojie Shen

TOWARD LOW-FLYING AUTONOMOUS MAV TRAIL NAVIGATION USING DEEP NEURAL NETWORKS FOR ENVIRONMENTAL AWARENESS ...... 4241 Nikolai Smolyanskiy ; Alexey Kamenev ; Jeffrey Smith ; Stan Birchfield

TRACKING CONTROL OF A UAV WITH A PARALLEL VISUAL PROCESSOR...... 4248 Colin Greatwood ; Laurie Bose ; Thomas Richardson ; Walterio Mayol-Cuevas ; Jianing Chen ; Stephen J. Carey ; Piotr Dudek

LOW COST SENSING AND COMMUNICATION SYSTEM FOR ROTOR-CRAFT ...... 4255 Marc Gyongyosi ; Alexander Daley ; Blake Resnick ; Michael Rubenstein

TWO-STREAM RNN/CNN FOR ACTION RECOGNITION IN 3D VIDEOS ...... 4260 Rui Zhao ; Haider Ali ; Patrick Van Der Smagt

HIGH ORDER VISUAL WORDS FOR STRUCTURE-AWARE AND VIEWPOINT-INVARIANT LOOP CLOSURE DETECTION...... 4268 Loukas Bampis ; Angelos Amanatiadis ; Antonios Gasteratos

BELIEF TREE SEARCH FOR ACTIVE OBJECT RECOGNITION...... 4276 Mohsen Malmir ; Garrison W. Cottrell

REAL-TIME SALIENT CLOSED BOUNDARY TRACKING VIA LINE SEGMENTS PERCEPTUAL GROUPING ...... 4284 Xuebin Qin ; Shida He ; Camilo Perez Quintero ; Abhineet Singh ; Masood Dehghan ; Martin Jagersand

STABLE LASER INTEREST POINT SELECTION FOR PLACE RECOGNITION IN A FOREST ...... 4290 Matthew Giamou ; Yaroslav Babich ; Golnaz Habibi ; Jonathan P. How

MSM-HOG: A FLEXIBLE TRAJECTORY DESCRIPTOR FOR RIGID BODY MOTION RECOGNITION...... 4298 Yao Guo ; You-Fu Li ; Zhanpeng Shao

ALGORITHMS FOR SHAPING A PARTICLE SWARM WITH A SHARED INPUT BY EXPLOITING NON-SLIP WALL CONTACTS...... 4304 Shiva Shahrokhi ; Arun Mahadev ; Aaron T. Becker

TOWARDS RAPID MECHANICAL CUSTOMIZATION OF CM-SCALE SELF-FOLDING AGENTS...... 4312 William P. Weston-Dawkes ; Aaron C. Ong ; Mohamad Ramzi Abdul Majit ; Francis Joseph ; Michael T. Tolley

FIELD COVERAGE AND WEED MAPPING BY UAV SWARMS...... 4319 Dario Albani ; Daniele Nardi ; Vito Trianni

ROBUST DISTRIBUTED DECISION-MAKING IN ROBOT SWARMS: EXPLOITING A THIRD TRUTH STATE...... 4326 Michael Crosscombe ; Jonathan Lawry ; Sabine Hauert ; Martin Homer

USING LOCAL FORCE MEASUREMENTS TO GUIDE CONSTRUCTION BY DISTRIBUTED CLIMBING ROBOTS...... 4333 Nathan Melenbrink ; Panagiotis Michalatos ; Paul Kassabian ; Justin Werfel

DECENTRALIZED STOCHASTIC CONTROL OF ROBOTIC SWARM DENSITY: THEORY, SIMULATION, AND EXPERIMENT...... 4341 Hanjun Li ; Chunhan Feng ; Henry Ehrhard ; Yijun Shen ; Bernardo Cobos ; Fangbo Zhang ; Karthik Elamvazhuthi ; Spring Berman ; Matt Haberland ; Andrea L. Bertozzi

HUMAN HAND RECOGNITION FROM ROBOTIC SKIN MEASUREMENTS IN HUMAN- ROBOT PHYSICAL INTERACTIONS...... 4348 Alessandro Albini ; Simone Denei ; Giorgio Cannata

MEASUREMENT AND PREDICTION OF SITUATION AWARENESS IN HUMAN-ROBOT INTERACTION BASED ON A FRAMEWORK OF PROBABILISTIC ATTENTION...... 4354 Amir Dini ; Cornelia Murko ; Saeed Yahyanejad ; Ursula Augsdörfer ; Michael Hofbaur ; Lucas Paletta

RECOGNIZING ACTIONS DURING TACTILE MANIPULATIONS THROUGH FORCE SENSING ...... 4386 Guru Subramani ; Daniel Rakita ; Hongyi Wang ; Jordan Black ; Michael Zinn ; Michael Gleicher

INERTIAL-BASED SCALE ESTIMATION FOR STRUCTURE FROM MOTION ON MOBILE DEVICES ...... 4394 Janne Mustaniemi ; Juho Kannala ; Simo Särkkä ; Jiri Matas ; Janne Heikkilä

ROBUST INDOOR/OUTDOOR NAVIGATION THROUGH MAGNETO-VISUAL-INERTIAL OPTIMIZATION-BASED ESTIMATION ...... 4402 David Caruso ; Alexandre Eudes ; Martial Sanfourche ; David Vissière ; Guy Le Besnerais

LIKELIHOOD-BASED ITERATED CUBATURE MULTI-STATE-CONSTRAINT KALMAN FILTER FOR VISUAL INERTIAL NAVIGATION SYSTEM ...... 4410 Trung Nguyen ; George K. I. Mann ; Andrew Vardy ; Raymond G. Gosine

STATE OBSERVABILITY IN PRESENCE OF DISTURBANCES: THE ANALYTIC SOLUTION AND ITS APPLICATION IN ROBOTICS ...... 4416 Agostino Martinelli

GENERALIZED CENTER OF GRAVITY COMPENSATION FOR MULTIROTORS WITH APPLICATION TO AERIAL MANIPULATION ...... 4424 Emil Fresk ; David Wuthier ; George Nikolakopoulos

BIAS ESTIMATION FOR ANGLE-ONLY SENSORS IN DISTRIBUTED MULTI-TARGET TRACKING SYSTEMS...... 4430 Sean R. Martin ; Cameron K. Peterson

ON THE PERFORMANCE OF SELECTIVE ADAPTATION IN STATE LATTICES FOR MOBILE ROBOT MOTION PLANNING IN CLUTTERED ENVIRONMENTS ...... 4436 Michael E. Napoli ; Harel Biggie ; Thomas M. Howard

ANYTIME HYBRID DRIVING-STEPPING LOCOMOTION PLANNING...... 4444 Tobias Klamt ; Sven Behnke

ANYTIME MULTI-TASK MOTION PLANNING FOR HUMANOID ROBOTS...... 4452 Xianchao Long ; Murphy Wonsick ; Velin Dimitrov ; Taskin Padir

A DISTRIBUTED EXPLORATION ALGORITHM FOR UNKNOWN ENVIRONMENTS WITH MULTIPLE OBSTACLES BY MULTIPLE ROBOTS ...... 4460 Luis Bravo ; Ubaldo Ruiz ; Rafael Murrieta-Cid ; Gabriel Aguilar ; Edgar Chavez

A MIXED-INTEGER CONVEX OPTIMIZATION FRAMEWORK FOR ROBUST MULTILEGGED ROBOT LOCOMOTION PLANNING OVER CHALLENGING TERRAIN ...... 4467 Bernardo Aceituno-Cabezas ; Hongkai Dai ; José Cappelletto ; Juan C. Grieco ; Gerardo Fernández-López

CALCULATING HUMAN REACHABLE OCCUPANCY FOR GUARANTEED COLLISION- FREE PLANNING ...... 4473 Aaron Pereira ; Matthias Althoff

DEMAND ESTIMATION AND CHANCE-CONSTRAINED FLEET MANAGEMENT FOR RIDE HAILING ...... 4481 Justin Miller ; Jonathan P. How

LANE-CHANGE SOCIAL BEHAVIOR GENERATOR FOR AUTONOMOUS DRIVING CAR BY NON-PARAMETRIC REGRESSION IN REPRODUCING KERNEL HILBERT SPACE...... 4489 Chiyu Dong ; Yihuan Zhang ; John M. Dolan

HAVE I REACHED THE INTERSECTION: A DEEP LEARNING-BASED APPROACH FOR INTERSECTION DETECTION FROM MONOCULAR CAMERAS ...... 4495 Dhaivat Bhatt ; Danish Sodhi ; Arghya Pal ; Vineeth Balasubramanian ; Madhava Krishna

GRADIENT BASED PATH OPTIMIZATION METHOD FOR AUTONOMOUS DRIVING ...... 4501 Jennifer David ; Rafael Valencia ; Roland Philippsen ; Pascal Bosshard ; Karl Iagnemma

BALANCING STABILITY AND MANEUVERABILITY DURING RAPID GAIT TERMINATION IN FAST BIPED ROBOTS...... 4523 Stacey Shield ; Amir Patel

BIPEDAL WALKING CONTROL AGAINST SWING FOOT COLLISION USING SWING FOOT TRAJECTORY REGENERATION AND IMPACT MITIGATION ...... 4531 Tatsuya Ishikawa ; Yuta Kojio ; Kunio Kojima ; Shunichi Nozawa ; Yohei Kakiuchi ; Kei Okada ; Masayuki Inaba

ARTIFICIAL INVARIANT SUBSPACE WITH POTENTIAL FUNCTIONS FOR HUMANOID ROBOT BALANCING ...... 4538 Xiang Deng ; Fei Miao ; Daniel D. Lee

FOOT-GUIDED AGILE CONTROL OF A BIPED ROBOT THROUGH ZMP MANIPULATION ...... 4546 Tomomichi Sugihara ; Takanobu Yamamoto

A STABILITY REGION CRITERION FOR FLAT-FOOTED BIPEDAL WALKING ON DEFORMABLE GRANULAR TERRAIN...... 4552 Xiaobin Xiong ; Aaron D. Ames ; Daniel I. Goldman

SMOOTH TRAJECTORY GENERATION AND PUSH-RECOVERY BASED ON DIVERGENT COMPONENT OF MOTION ...... 4560 Johannes Englsberger ; George Mesesan ; Christian Ott

FORWARD DYNAMICS COMPLIANCE CONTROL (FDCC): A NEW APPROACH TO CARTESIAN COMPLIANCE FOR ROBOTIC MANIPULATORS...... 4568 Stefan Scherzinger ; Arne Roennau ; Rüdiger Dillmann

A NEW KINEMATIC FORMULATION OF THE RCM CONSTRAINT FOR REDUNDANT TORQUE-CONTROLLED ROBOTS...... 4576 Juan Sandoval ; Gérard Poisson ; Pierre Vieyres

MECHATRONIC DESIGN OF A VARIABLE STIFFNESS ROBOTIC ARM...... 4582 Eamon Barrett ; Mark Reiling ; Giuseppe Barbieri ; Matteo Fumagalli ; Raffaella Carloni

ROBUST WHOLE-BODY MOTION CONTROL OF LEGGED ROBOTS...... 4589 Farbod Farshidian ; Edo Jelavic ; Alexander W. Winkler ; Jonas Buchli

ROBUST DAMPING OF A ROPEWAY GONDOLA'S WIND OSCILLATIONS WITH AN ACTUATED MASS...... 4597 Alvaro Estandia ; Marco Hutter

REBALANCE CONTROL FOR HUMANOID WALKING BASED ON ONLINE FOOT POSITION COMPENSATION ...... 4605 Tong Zhang ; Chengju Liu ; Qijun Chen

HUMAN-ROBOT COEXISTENCE AND CONTACT HANDLING WITH REDUNDANT ROBOTS ...... 4611 Emanuele Magrini ; Alessandro De Luca

A CONTROL ARCHITECTURE FOR PHYSICAL HUMAN-UAV INTERACTION WITH A FULLY ACTUATED HEXAROTOR ...... 4618 Sujit Rajappa ; Heinrich H. Bülthoff ; Marcin Odelga ; Paolo Stegagno

DESIGN, CONTROL AND EXPERIMENTAL VALIDATION OF A HAPTIC ROBOTIC HAND PERFORMING HUMAN-ROBOT HANDSHAKE WITH HUMAN-LIKE AGILITY ...... 4626 Moritz Arns ; Thierry Laliberté ; Clément Gosselin

GOAL-DRIVEN DIMENSIONALITY REDUCTION FOR REINFORCEMENT LEARNING ...... 4634 Simone Parisi ; Simon Ramstedt ; Jan Peters

PREDICTION OF ICP POSE UNCERTAINTIES USING MONTE CARLO SIMULATION WITH SYNTHETIC DEPTH IMAGES...... 4640 Thorbjorn Mosekjær Iversen ; Anders Glent Buch ; Dirk Kraft

INCORPORATING QUALITATIVE INFORMATION INTO QUANTITATIVE ESTIMATION VIA SEQUENTIALLY CONSTRAINED HAMILTONIAN MONTE CARLO SAMPLING ...... 4648 Daqing Yi ; Shushman Choudhury ; Siddhartha Srinivasa

PROBABILISTIC MODELING OF PROGRAMMABLE STOCHASTIC SELF-ASSEMBLY OF ROBOTIC MODULES ...... 4656 Bahar Haghighat ; Robin Thandiackal ; Maximilian Mordig ; Alcherio Martinoli

STRUCTURE ASSEMBLY BY A HETEROGENEOUS TEAM OF ROBOTS USING STATE ESTIMATION, GENERALIZED JOINTS, AND MOBILE PARALLEL MANIPULATORS ...... 4672 Erik E. Komendera ; Shaurav Adhikari ; Samantha Glassner ; Ashwin Kishen ; Amy Quartaro

A STUDY ON LIFE CYCLE OF TWISTED STRING ACTUATORS: PRELIMINARY RESULTS...... 4680 Muhammad Usman ; Hyunseok Seong ; Bhivraj Suthar ; Igor Gaponov ; Jee-Hwan Ryu

INCREASING MILLING PRECISION FOR MACRO-MICRO-MANIPULATORS WITH DISTURBANCE REJECTION CONTROL VIA VISUAL FEEDBACK ...... 4686 Christopher Schindlbeck ; Alexej Janz ; Christian Pape ; Eduard Reithmeier

A MULTI-TRACK ELEVATOR SYSTEM FOR E-COMMERCE FULFILLMENT CENTERS...... 4694 Rachel M. Hoffman ; H. Harry Asada

MULTI-ROBOT TRANSFER LEARNING: A DYNAMICAL SYSTEM PERSPECTIVE ...... 4702 Mohamed K. Helwa ; Angela P. Schoellig

DATA-EFFICIENT CONTROL POLICY SEARCH USING RESIDUAL DYNAMICS LEARNING ...... 4709 Matteo Saveriano ; Yuchao Yin ; Pietro Falco ; Dongheui Lee

ONLINE MULTI-TARGET LEARNING OF INVERSE DYNAMICS MODELS FOR COMPUTED- TORQUE CONTROL OF COMPLIANT MANIPULATORS ...... 4716 Athanasios S. Polydoros ; Evangelos Boukas ; Lazaros Nalpantidis

A NEW DATA SOURCE FOR INVERSE DYNAMICS LEARNING ...... 4723 Daniel Kappler ; Franziska Meier ; Nathan Ratliff ; Stefan Schaal

LEARNING OF VEHICULAR PERFORMANCE MODELS FOR LONGITUDINAL MOTION PLANNING TO SATISFY ARRIVAL REQUIREMENTS...... 4731 Ty Nguyen ; Dung Nguyen ; Tsz-Chiu Au

WHY DID THE ROBOT CROSS THE ROAD? — LEARNING FROM MULTI-MODAL SENSOR DATA FOR AUTONOMOUS ROAD CROSSING...... 4737 Noha Radwan ; Wera Winterhalter ; Christian Dornhege ; Wolfram Burgard

HUMAN-INSPIRED COMPLIANT STRATEGY FOR PEG-IN-HOLE ASSEMBLY USING ENVIRONMENTAL CONSTRAINT AND COARSE FORCE INFORMATION ...... 4743 Xiaoqing Li ; Rui Li ; Hong Qiao ; Chao Ma ; Liang Li

DEVELOPMENT AND CONTROL OF A VARIABLE STIFFNESS ACTUATOR USING A VARIABLE RADIUS GEAR TRANSMISSION MECHANISM...... 4749 Handdeut Chang ; Sangjoon J. Kim ; Youngjin Na ; Junghoon Park ; Jung Kim

CONTROL OF A VARIABLE STIFFNESS JOINT FOR CATCHING A MOVING OBJECT...... 4756 Ajinkya A. Bhole ; Julian Kumle ; Stefan S. Groothuis ; Raffaella Carloni

WHAT IS THE TORQUE BANDWIDTH OF THIS ACTUATOR?...... 4762 Jörn Malzahn ; Navvab Kashiri ; Wesley Roozing ; Nikos Tsagarakis ; Darwin Caldwell

DESIGN AND ANALYSIS OF PLANAR ROTARY SPRINGS ...... 4777 Nikola Georgiev ; Joel Burdick

ROBUST CONSTRAINT-BASED ROBOT CONTROL FOR BIMANUAL CAP ROTATION...... 4785 Matteo Parigi Polverini ; Andrea Maria Zanchettin ; Francesco Incocciati ; Paolo Rocco

INVERSE DYNAMICS CONTROL OF BIMANUAL OBJECT MANIPULATION USING ORTHOGONAL DECOMPOSITION: AN ANALYTIC APPROACH...... 4791 Mohammad Shahbazi ; Jinoh Lee ; Darwin Caldwell ; Nikolaos Tsagarakis

A VISION-GUIDED MULTI-ROBOT COOPERATION FRAMEWORK FOR LEARNING-BY- DEMONSTRATION AND TASK REPRODUCTION ...... 4797 Bidan Huang ; Menglong Ye ; Su-Lin Lee ; Guang-Zhong Yang

EXTRACTING BIMANUAL SYNERGIES WITH REINFORCEMENT LEARNING ...... 4805 Kevin Sebastian Luck ; Heni Ben Amor

VISUAL TASK OUTCOME VERIFICATION USING DEEP LEARNING ...... 4821 Ozgür Erkent ; Dadhichi Shukla ; Justus Piater

LANDMARK GUIDED PROBABILISTIC ROADMAP QUERIES...... 4828 Brian Paden ; Yannik Nager ; Emilio Frazzoli

A UNIFIED CONTROL METHOD FOR QUADROTOR TAIL-SITTER UAVS IN ALL FLIGHT MODES: HOVER, TRANSITION, AND LEVEL FLIGHT ...... 4835 Jinni Zhou ; Ximin Lyu ; Zexiang Li ; Shaojie Shen ; Fu Zhang

OCCUPANCY GRID BASED DISTRIBUTED MPC FOR MOBILE ROBOTS...... 4842 Mohamed W. Mehrez ; Tobias Sprodowski ; Karl Worthmann ; George K. I. Mann ; Raymond G. Gosine ; Juliana K. Sagawa ; Jürgen Pannek

A STEP TOWARDS GENERATING HUMAN-LIKE WALKING GAIT VIA TRAJECTORY OPTIMIZATION THROUGH CONTACT FOR A BIPEDAL ROBOT WITH ONE-SIDED SPRINGS ON TOES ...... 4848 Kenneth Chao ; Pilwon Hur

A DATA-DRIVEN INDIRECT METHOD FOR NONLINEAR OPTIMAL CONTROL ...... 4854 Gao Tang ; Kris Hauser

CONVEXIFICATION AND REAL-TIME ON-BOARD OPTIMIZATION FOR AGILE QUAD- ROTOR MANEUVERING AND OBSTACLE AVOIDANCE ...... 4862 Michael Szmuk ; Carlo Alberto Pascucci ; Daniel Dueri ; Behcet Açikmese

DEVELOPMENT OF EXPERIMENTAL LEGGED ROBOT FOR INSPECTION AND DISASTER RESPONSE IN PLANTS ...... 4869 Takahide Yoshiike ; Mitsuhide Kuroda ; Ryuma Ujino ; Hiroyuki Kaneko ; Hirofumi Higuchi ; Shingo Iwasaki ; Yoshiki Kanemoto ; Minami Asatani ; Takeshi Koshiishi

A LEG DESIGN METHOD FOR HIGH SPEED QUADRUPEDAL LOCOMOTION...... 4877 Spyridon Dallas ; Konstantinos Machairas ; Konstantinos Koutsoukis ; Evangelos Papadopoulos

FOOT PLACEMENT AND ANKLE PUSH-OFF CONTROL FOR THE ORBITAL STABILIZATION OF BIPEDAL ROBOTS...... 4883 Ali Zamani ; Pranav A. Bhounsule

ONLINE PAYLOAD IDENTIFICATION FOR QUADRUPED ROBOTS...... 4889 Guido Tournois ; Michele Focchi ; Andrea Del Prete ; Romeo Orsolino ; Darwin G. Caldwell ; Claudio Semini

TRAJECTORY DESIGN AND CONTROL OF QUADRUPED ROBOT FOR TROTTING OVER OBSTACLES ...... 4897 Young Hun Lee ; Yoon Haeng Lee ; Hyunyong Lee ; Luong Tin Phan ; Hansol Kang ; Uikyum Kim ; Jeongmin Jeon ; Hyouk Ryeol Choi

ACTIVE STABILIZATION OF A STIFF QUADRUPED ROBOT USING LOCAL FEEDBACK...... 4903 Rui Vasconcelos ; Simon Hauser ; Florin Dzeladini ; Mehmet Mutlu ; Tomislav Horvat ; Kamilo Melo ; Paulo Oliveira ; Auke Ijspeert

M3NET: MULTI-SCALE MULTI-PATH MULTI-MODAL FUSION NETWORK AND EXAMPLE APPLICATION TO RGB-D SALIENT OBJECT DETECTION...... 4911 Hao Chen ; You-Fu Li ; Dan Su

LABEL PROPAGATION IN RGB-D VIDEO...... 4917 Md. Alimoor Reza ; Hui Zheng ; Georgios Georgakis ; Jana Košecká

LEARNING HOW A TOOL AFFORDS BY SIMULATING 3D MODELS FROM THE WEB...... 4923 Paulo Abelha ; Frank Guerin

SELF-SUPERVISED ONLINE LEARNING OF APPEARANCE FOR 3D TRACKING ...... 4930 Bhoram Lee ; Daniel D. Lee

SALIENCY-GUIDED ADAPTIVE SEEDING FOR SUPERVOXEL SEGMENTATION...... 4938 Ge Gao ; Mikko Lauri ; Jianwei Zhang ; Simone Frintrop

DENSE PIECEWISE PLANAR RGB-D SLAM FOR INDOOR ENVIRONMENTS...... 4944 Phi-Hung Le ; Jana Košecka

CURVED EXCAVATION BY A SUB-SEAFLOOR EXCAVATION ROBOT...... 4950 N. Tadami ; M. Nagai ; T. Nakatake ; A. Fujiwara ; Y. Yamada ; T. Nakamura ; H. Yoshida ; H. Sawada ; T. Kubota

HUMAN MIMETIC FOREARM DESIGN WITH RADIOULNAR JOINT USING MINIATURE BONE-MUSCLE MODULES AND ITS APPLICATIONS...... 4956 Kento Kawaharazuka ; Shogo Makino ; Masaya Kawamura ; Yuki Asano ; Yohei Kakiuchi ; Kei Okada ; Masayuki Inaba

AN UNDERWATER ELECTROSENSOR FOR IDENTIFYING OBJECTS OF SIMILAR VOLUME AND ASPECT RATIO USING CONVOLUTIONAL NEURAL NETWORK...... 4963 Ke Wang ; Khac Duc Do ; Lei Cui

MODELLING AND ANALYSIS OF THE PASSIVE PLANAR RIMLESS WHEEL MECHANISM IN UNIVERSAL DOMAIN ...... 4969 Wenchuan Jia ; Jiang Yang ; Liangyu Bi ; Quan Zhang ; Yi Sun ; Huayan Pu ; Shugen Ma

INCLINED SURFACE LOCOMOTION STRATEGIES FOR SPHERICAL TENSEGRITY ROBOTS ...... 4976 Lee-Huang Chen ; Brian Cera ; Edward L. Zhu ; Riley Edmunds ; Franklin Rice ; Antonia Bronars ; Ellande Tang ; Saunon R. Malekshahi ; Osvaldo Romero ; Adrian K. Agogino ; Alice M. Agogino

HANDSHAKINESS: BENCHMARKING FOR HUMAN-ROBOT HAND INTERACTIONS ...... 4982 Espen Knoop ; Moritz Bächer ; Vincent Wall ; Raphael Deimel ; Oliver Brock ; Paul Beardsley

CONTROL STRATEGY AND IMPLEMENTATION FOR A HUMANOID ROBOT PUSHING A HEAVY LOAD ON A ROLLING CART...... 4997 Louis Hawley ; Wael Suleiman

3D WALKING AND SKATING MOTION GENERATION USING DIVERGENT COMPONENT OF MOTION AND GAUSS PSEUDOSPECTRAL METHOD...... 5003 Noriaki Takasugi ; Kunio Kojima ; Shunichi Nozawa ; Kei Okada ; Masayuki Inaba

FRICTIONAL CONSTRAINTS ON THE SOLE OF A BIPED ROBOT WHEN SLIPPING...... 5011 Yusuke Takabayashi ; Kosuke Ishihara ; Masataka Yoshioka ; Hongbo Liang ; Chang Liu ; Chi Zhu

DYNAMIC WALKING OVER ROUGH TERRAINS BY NONLINEAR PREDICTIVE CONTROL OF THE FLOATING-BASE INVERTED PENDULUM...... 5017 Stéphane Caron ; Abderrahmane Kheddar

ALMOST DRIFTLESS NAVIGATION OF 3D LIMIT-CYCLE WALKING BIPEDS ...... 5025 Sushant Veer ; Mohamad Shafiee Motahar ; Ioannis Poulakakis

REAL-TIME END-EFFECTOR MOTION BEHAVIOR PLANNING APPROACH USING ON- LINE POINT-CLOUD DATA TOWARDS A USER ADAPTIVE ASSISTIVE BATH ROBOT...... 5031 Athanasios C. Dometios ; Xanthi S. Papageorgiou ; Antonis Arvanitakis ; Costas S. Tzafestas ; Petros Maragos

TOWARDS A USER-ADAPTIVE CONTEXT-AWARE ROBOTIC WALKER WITH A PATHOLOGICAL GAIT ASSESSMENT SYSTEM: FIRST EXPERIMENTAL STUDY ...... 5037 Georgia Chalvatzaki ; Xanthi S. Papageorgiou ; Costas S. Tzafestas

SUPERVISORY CONTROL OF A DAVINCI SURGICAL ROBOT...... 5043 Der-Lin Chow ; Peng Xu ; Eser Tuna ; Siqi Huang ; M. Cenk Çavusoglu ; Wyatt Newman

A HYBRID BMI FOR CONTROL OF ROBOTIC SWARMS: PRELIMINARY RESULTS ...... 5065 George K. Karavas ; Daniel T. Larsson ; Panagiotis Artemiadis

AUTONOMOUS MESHING, TEXTURING AND RECOGNITION OF OBJECT MODELS WITH A MOBILE ROBOT...... 5071 Rares Ambrus ; Nils Bore ; John Folkesson ; Patric Jensfelt

MEANINGFUL MAPS WITH OBJECT-ORIENTED SEMANTIC MAPPING...... 5079 Niko Sünderhauf ; Trung T. Pham ; Yasir Latif ; Michael Milford ; Ian Reid

SELECTING CNN FEATURES FOR ONLINE LEARNING OF 3D OBJECTS...... 5086 Monika Ullrich ; Haider Ali ; Maximilian Durner ; Zoltán-Csaba Márton ; Rudolph Triebel

PROBABILISTIC 3D MULTILABEL REAL-TIME MAPPING FOR MULTI-OBJECT MANIPULATION...... 5092 Kentaro Wada ; Kei Okada ; Masayuki Inaba

WHAT MAKES A PLACE? BUILDING BESPOKE PLACE DEPENDENT OBJECT DETECTORS FOR ROBOTICS...... 5100 Jeffrey Hawke ; Alex Bewley ; Ingmar Posner

MFNET: TOWARDS REAL-TIME SEMANTIC SEGMENTATION FOR AUTONOMOUS VEHICLES WITH MULTI-SPECTRAL SCENES ...... 5108 Qishen Ha ; Kohei Watanabe ; Takumi Karasawa ; Yoshitaka Ushiku ; Tatsuya Harada

A UNIFIED APPROACH TO CONFIGURATION-BASED DYNAMIC ANALYSIS OF QUADCOPTERS FOR OPTIMAL STABILITY...... 5116 Mojtaba Hedayatpour ; Mehran Mehrandezh ; Farrokh Janabi-Sharifi

WALL CONTACT BY OCTO-ROTOR UAV WITH ONE DOF MANIPULATOR FOR BRIDGE INSPECTION ...... 5122 Takahiro Ikeda ; Shogo Yasui ; Motoharu Fujihara ; Kenichi Ohara ; Satoshi Ashizawa ; Akihiko Ichikawa ; Akihisa Okino ; Takeo Oomichi ; Toshio Fukuda

ENABLING ROBOT ASSISTED LANDING OF HEAVY UAV ROTORCRAFT VIA COMBINED CONTROL AND WORKLOAD SHARING...... 5128 Moritz Maier ; Konstantin Kondak ; Christian Ott

A HIERARCHICAL CONTROL APPROACH FOR A QUADROTOR TAIL-SITTER VTOL UAV AND EXPERIMENTAL VERIFICATION ...... 5135 Ximin Lyu ; Haowei Gu ; Jinni Zhou ; Zexiang Li ; Shaojie Shen ; Fu Zhang

ENERGY CHARACTERIZATION OF A TRANSFORMABLE SOLAR-POWERED UNMANNED AERIAL VEHICLE ...... 5142 Devon Jenson ; Ruben D'Sa ; Travis Henderson ; Jack Kilian ; Bobby Schulz ; Nikolaos Papanikolopoulos

A SMALL HYBRID GROUND-AIR VEHICLE CONCEPT...... 5149 Scott Morton ; Nikolaos Papanikolopoulos

SEMI-SUPERVISED ONLINE VISUAL CROP AND WEED CLASSIFICATION IN PRECISION FARMING EXPLOITING PLANT ARRANGEMENT ...... 5155 Philipp Lottes ; Cyrill Stachniss

ONLINE DETECTION OF OCCLUDED PLANT STALKS FOR MANIPULATION ...... 5162 Merritt Jenkins ; George Kantor

SMART AUTONOMOUS GRAIN CARTS FOR HARVESTING-ON-DEMAND...... 5168 Yan Tian ; Sourabh Bhattacharya

A TRANSPLANTABLE SYSTEM FOR WEED CLASSIFICATION BY AGRICULTURAL ROBOTICS...... 5174 David Hall ; Feras Dayoub ; Tristan Perez ; Chris McCool

IN-FIELD SEGMENTATION AND IDENTIFICATION OF PLANT STRUCTURES USING 3D IMAGING ...... 5180 Paloma Sodhi ; Srinivasan Vijayarangan ; David Wettergreen

AUTOMATIC MODEL BASED DATASET GENERATION FOR FAST AND ACCURATE CROP AND WEEDS DETECTION ...... 5188 Maurilio Di Cicco ; Ciro Potena ; Giorgio Grisetti ; Alberto Pretto

TOWARDS PLANNING AND CONTROL OF HYBRID SYSTEMS WITH LIMIT CYCLE USING LQR TREES ...... 5196 Siddharthan Rajasekaran ; Ramkumar Natarajan ; Jonathan D. Taylor

ERGODIC COVERAGE IN CONSTRAINED ENVIRONMENTS USING STOCHASTIC TRAJECTORY OPTIMIZATION ...... 5204 Elif Ayvali ; Hadi Salman ; Howie Choset

SAMPLING-BASED COVERAGE MOTION PLANNING FOR INDUSTRIAL INSPECTION APPLICATION WITH REDUNDANT ROBOTIC SYSTEM...... 5211 Wei Jing ; Joseph Polden ; Chun Fan Goh ; Mabaran Rajaraman ; Wei Lin ; Kenji Shimada

STATIC FORCE DISTRIBUTION AND ORIENTATION CONTROL FOR A ROVER WITH AN ACTIVELY ARTICULATED SUSPENSION SYSTEM...... 5219 Florian Cordes ; Ajish Babu ; Frank Kirchner

MISSION PLANNING FOR A MULTI-ROBOT TEAM WITH A SOLAR-POWERED CHARGING STATION ...... 5233 Nathaniel Kingry ; Yen-Chen Liu ; Matthew Martinez ; Benjamin Simon ; Yunqi Bang ; Ran Dai

DISTRIBUTED TORQUE ESTIMATION TOWARD LOW-LATENCY VARIABLE STIFFNESS CONTROL FOR GEAR-DRIVEN TORQUE SENSORLESS HUMANOID...... 5239 Yuya Nagamatsu ; Takuma Shirai ; Hiroto Suzuki ; Yohei Kakiuchi ; Kei Okada ; Masayuki Inaba

MPC-BASED HUMANOID PURSUIT-EVASION IN THE PRESENCE OF OBSTACLES ...... 5245 Daniele De Simone ; Nicola Scianca ; Paolo Ferrari ; Leonardo Lanari ; Giuseppe Oriolo

STEERING A 3D LIMIT-CYCLE WALKER FOR COLLABORATION WITH A LEADER ...... 5251 Mohamad Shafiee Motahar ; Sushant Veer ; Ioannis Poulakakis

2D OMNIDIRECTIONAL NAVIGATION OF A BIPED ROBOT BASED ON AN EGOCENTRIC ORBIT FOLLOWING...... 5257 Hiroshi Atsuta ; Tomomichi Sugihara

BIPED WALKING STABILIZATION BASED ON FOOT PLACEMENT CONTROL USING CAPTURE POINT FEEDBACK ...... 5263 Hyobin Jeong ; Okkee Sim ; Hyoin Bae ; Kangkyu Lee ; Jaesung Oh ; Jun-Ho Oh

MODELING AND ANALYSIS OF SLIDING PASSIVE DYNAMIC WALKING WITH SEMICIRCULAR FEET CONSIDERING IMPULSIVE FRICTIONAL EFFECT...... 5270 Fumihiko Asano ; Yuji Harata

IMAGE-BASED UAV LOCALIZATION USING INTERVAL METHODS ...... 5285 Ide-Flore Kenmogne ; Vincent Drevelle ; Eric Marchand

DISTANCE FUNCTION BASED 6DOF LOCALIZATION FOR UNMANNED AERIAL VEHICLES IN GPS DENIED ENVIRONMENTS...... 5292 James Unicomb ; Lakshitha Dantanarayana ; Janindu Arukgoda ; Ravindra Ranasinghe ; Gamini Dissanayake ; Tomonari Furukawa

CIRCULAR FORMATION CONTROL OF FIXED-WING UAVS WITH CONSTANT SPEEDS ...... 5298 Hector Garcia De Marina ; Zhiyong Sun ; Murat Bronz ; Gautier Hattenberger

A DECISION-THEORETIC APPROACH TO DETECTION-BASED TARGET SEARCH WITH A UAV ...... 5304 Aayush Gupta ; Daniel Bessonov ; Patrick Li

USING A QUADROTOR TO TRACK A MOVING TARGET WITH ARBITRARY RELATIVE MOTION PATTERNS...... 5310 Jing Chen ; Shaojie Shen

BELIEF ROADMAP SEARCH: ADVANCES IN OPTIMAL AND EFFICIENT PLANNING UNDER UNCERTAINTY ...... 5318 Tixiao Shan ; Brendan Englot

REACTIVE SYNTHESIS FOR FINITE TASKS UNDER RESOURCE CONSTRAINTS...... 5326 Keliang He ; Morteza Lahijanian ; Lydia E. Kavraki ; Moshe Y. Vardi

PROBABILISTIC NOD GENERATION MODEL BASED ON ESTIMATED UTTERANCE CATEGORIES...... 5333 Chaoran Liu ; Carlos Ishi ; Hiroshi Ishiguro

VISUAL NAVIGATION WITH EFFICIENT CONVNET FEATURES ...... 5340 Hanno Jaspers ; Dennis Fassbender ; Hans-Joachim Wuensche

A SOLUTION TO ROOM-BY-ROOM COVERAGE FOR AUTONOMOUS CLEANING ROBOTS...... 5346 Alexander Kleiner ; Rodrigo Baravalle ; Andreas Kolling ; Pablo Pilotti ; Mario Munich

VISCOSITY-BASED HEIGHT REFLEX FOR WORKSPACE AUGMENTATION FOR QUADRUPEDAL LOCOMOTION ON ROUGH TERRAIN...... 5353 Michele Focchi ; Roy Featherstone ; Romeo Orsolino ; Darwin G. Caldwell ; Claudio Semini

LINEAR ACTUATOR ROBOTS: DIFFERENTIAL KINEMATICS, CONTROLLABILITY, AND ALGORITHMS FOR LOCOMOTION AND SHAPE MORPHING ...... 5361 Nathan Usevitch ; Zachary Hammond ; Sean Follmer ; Mac Schwager

INTERACTIVE NULL SPACE CONTROL FOR INTUITIVELY INTERPRETABLE RECONFIGURATION OF REDUNDANT MANIPULATORS...... 5368 Nico Mansfeld ; Fabian Beck ; Alexander Dietrich ; Sami Haddadin

A SURVEY ON PRECISION OF REDUNDANTLY ACTUATED DELTA-TYPE PARALLEL KINEMATIC MECHANISMS...... 5376 S. A. Shahidi ; M. Lorenz ; S. Charaf Eddine ; M. Hüsing ; B. Corves

A METHOD TO ENFORCE STIFF CONSTRAINTS IN THE SIMULATION OF ARTICULATED MULTIBODY SYSTEMS...... 5382 Joe Hewlett ; József Kövecses ; Jorge Angeles

IMPROVING THE PERFORMANCE OF BIOMECHANICALLY SAFE VELOCITY CONTROL FOR REDUNDANT ROBOTS THROUGH REFLECTED MASS MINIMIZATION...... 5390 Nico Mansfeld ; Badis Djellab ; Jaime Raldúa Veuthey ; Fabian Beck ; Christian Ott ; Sami Haddadin

A FOUR-LIMBED DISASTER-RESPONSE ROBOT HAVING HIGH MOBILITY CAPABILITIES IN EXTREME ENVIRONMENTS...... 5398 Kenji Hashimoto ; Takashi Matsuzawa ; Tomotaka Teramachi ; Kazuhito Uryu ; Xiao Sun ; Shinya Hamamoto ; Ayanori Koizumi ; Atsuo Takanishi

A MULTIMODAL EXECUTION MONITOR WITH ANOMALY CLASSIFICATION FOR ROBOT-ASSISTED FEEDING ...... 5406 Daehyung Park ; Hokeun Kim ; Yuuna Hoshi ; Zackory Erickson ; Ariel Kapusta ; Charles C. Kemp

ONLINE ROBOT INTROSPECTION VIA WRENCH-BASED ACTION GRAMMARS ...... 5429 Juan Rojas ; Shuangqi Luo ; Dingqiao Zhu ; Yunlong Du ; Hongbin Lin ; Zhengjie Huang ; Wenwei Kuang ; Kensuke Harada

VIEWPOINT SELECTION FOR VISUAL FAILURE DETECTION...... 5437 Akanksha Saran ; Branka Lakic ; Srinjoy Majumdar ; Juergen Hess ; Scott Niekum

TOWARDS ADAPTIVE SEMANTIC SUBSCRIPTIONS FOR STREAM REASONING IN THE ROBOT OPERATING SYSTEM ...... 5445 Daniel De Leng ; Fredrik Heintz

TOWARDS VISUAL EGO-MOTION LEARNING IN ROBOTS...... 5533 Sudeep Pillai ; John J. Leonard

ROBOTS THAT ANTICIPATE PAIN: ANTICIPATING PHYSICAL PERTURBATIONS FROM VISUAL CUES THROUGH DEEP PREDICTIVE MODELS ...... 5541 Indranil Sur ; Heni Ben Amor

DEEP VISUAL GRAVITY VECTOR DETECTION FOR UNMANNED AIRCRAFT ATTITUDE ESTIMATION ...... 5557 Gary Ellingson ; David Wingate ; Tim McLain

LEARNING DEEP VISUAL OBJECT MODELS FROM NOISY WEB DATA: HOW TO MAKE IT WORK...... 5564 Nizar Massouh ; Francesca Babiloni ; Tatiana Tommasi ; Jay Young ; Nick Hawes ; Barbara Caputo

TRIBOT: A DEPLOYABLE, SELF-RIGHTING AND MULTI-LOCOMOTIVE ORIGAMI ROBOT ...... 5580 Zhenishbek Zhakypov ; Christoph H. Belke ; Jamie Paik

COCRIP: COMPLIANT OMNICRAWLER IN-PIPELINE ROBOT...... 5587 Akash Singh ; Enna Sachdeva ; Abhishek Sarkar ; K. Madhava Krishna

DEVELOPMENT OF A HUMAN SIZE AND STRENGTH COMPLIANT BI-MANUAL PLATFORM FOR REALISTIC HEAVY MANIPULATION TASKS ...... 5594 Lorenzo Baccelliere ; Navvab Kashiri ; Luca Muratore ; Arturo Laurenzi ; Malgorzata Kamedula ; Alessio Margan ; Stefano Cordasco ; Jörn Malzahn ; Nikos G. Tsagarakis

SOFT FLUIDIC ROTARY ACTUATOR WITH IMPROVED ACTUATION PROPERTIES...... 5610 J. Fras ; Y. Noh ; H. Wurdemann ; K. Althoefer

FLEXIBLE ULTRASONIC MOTOR USING AN OUTPUT COIL SPRING SLIDER...... 5616 Ayato Kanada ; Tomoaki Mashimo ; Kazuhiko Terashima

THE MATROID TEAM SURVIVING ORIENTEERS PROBLEM: CONSTRAINED ROUTING OF HETEROGENEOUS TEAMS WITH RISKY TRAVERSAL...... 5622 Stefan Jorgensen ; Robert H. Chen ; Mark B. Milam ; Marco Pavone

SEMI-BOUSTROPHEDON COVERAGE WITH A DUBINS VEHICLE ...... 5630 Jeremy S. Lewis ; William Edwards ; Kelly Benson ; Ioannis Rekleitis ; Jason M. O'Kane

A STUDY ON EFFICIENT MOTION DESIGN FOR REDUNDANTLY ACTUATED PARALLEL KINEMATIC MANIPULATORS...... 5638 Michael Lorenz ; Jascha Paris ; Tobias Haschke ; Frédéric Schöler ; Mathias Hüsing ; Burkhard Corves

ON CLOSE ENOUGH ORIENTEERING PROBLEM WITH DUBINS VEHICLE...... 5646 Jan Faigl ; Robert Penicka

TOPOLOGICALLY DISTINCT TRAJECTORY PREDICTIONS FOR PROBABILISTIC PURSUIT...... 5653 Florian Shkurti ; Gregory Dudek

TOWARDS OPTICAL BIOPSY OF OLFACTORY CELLS USING CONCENTRIC TUBE ROBOTS WITH FOLLOW-THE-LEADER DEPLOYMENT...... 5661 Cédric Girerd ; Kanty Rabenorosoa ; Patrick Rougeot ; Pierre Renaud

SCALABLE SPARSIFICATION FOR EFFICIENT DECISION MAKING UNDER UNCERTAINTY IN HIGH DIMENSIONAL STATE SPACES...... 5668 Khen Elimelech ; Vadim Indelman

CONSTRAINED UNSCENTED DYNAMIC PROGRAMMING...... 5674 Brian Plancher ; Zachary Manchester ; Scott Kuindersma

KINODYNAMIC TRAJECTORY OPTIMIZATION AND CONTROL FOR CAR-LIKE ROBOTS ...... 5681 Christoph Rösmann ; Frank Hoffmann ; Torsten Bertram

A SYSTEMATIC ANALYSIS OF SPRING SYMMETRY ON OPTIMALITY OF ANTAGONISTIC VARIABLE STIFFNESS ACTUATION...... 5687 Abdullah Kamadan ; Gullu Kiziltas ; Volkan Patoglu

HYBRID CONTROL TRAJECTORY OPTIMIZATION UNDER UNCERTAINTY ...... 5694 Joni Pajarinen ; Ville Kyrki ; Michael Koval ; Siddhartha Srinivasa ; Jan Peters ; Gerhard Neumann

ROBOTIC KNOT TYING THROUGH A SPATIAL TRAJECTORY WITH A VISUAL SERVOING SYSTEM...... 5710 Bo Lu ; Henry K. Chu ; Li Cheng

TOOLNET: HOLISTICALLY-NESTED REAL-TIME SEGMENTATION OF ROBOTIC SURGICAL TOOLS ...... 5717 Luis C. García-Peraza-Herrera ; Wenqi Li ; Lucas Fidon ; Caspar Gruijthuijsen ; Alain Devreker ; George Attilakos ; Jan Deprest ; Emmanuel Vander Poorten ; Danail Stoyanov ; Tom Vercauteren ; Sébastien Ourselin

MAGNETIC INTERACTIONS OF NEIGHBOURING STATOR SETS IN MULTI DOF LOCAL ELECTROMAGNETIC ACTUATION FOR ROBOTIC ABDOMINAL SURGERY ...... 5723 F. Leong ; A. Mohammadi ; Y. Tan ; D. Thiruchelvam ; P. Valdastri ; D. Oetomo

A SOFT MULTI-AXIAL FORCE SENSOR TO ASSESS TISSUE PROPERTIES IN REALTIME...... 5738 Dominic Jones ; Hongbo Wang ; Ali Alazmani ; Peter R. Culmer

SENSING SLIP OF GRASPED WET, CONFORMABLE OBJECTS...... 5744 Natalie Burkhard ; Ryan Steger ; Mark Cutkosky

AN EFFICIENT ROTATION AND TRANSLATION DECOUPLED INITIALIZATION FROM LARGE FIELD OF VIEW DEPTH IMAGES...... 5750 Renato Martins ; Eduardo Fernandez-Moral ; Patrick Rives

A MOTION TRANSMISSION MODEL FOR MULTI-DOF TENDON-DRIVEN MECHANISMS WITH HYSTERESIS AND COUPLING: APPLICATION TO A DA VINCI® INSTRUMENT...... 5764 Farshad Anooshahpour ; Peyman Yadmellat ; Ilia G. Polushin ; Rajni V. Patel

SENSOR FUSION FOR FIDUCIAL TAGS: HIGHLY ROBUST POSE ESTIMATION FROM SINGLE FRAME RGBD ...... 5770 Pengju Jin ; Pyry Matikainen ; Siddhartha S. Srinivasa

DEPTH-AWARE CONVOLUTIONAL NEURAL NETWORKS FOR ACCURATE 3D POSE ESTIMATION IN RGB-D IMAGES ...... 5777 Lorenzo Porzi ; Adrian Penate-Sanchez ; Elisa Ricci ; Francesc Moreno-Noguer

SEGICP: INTEGRATED DEEP SEMANTIC SEGMENTATION AND POSE ESTIMATION ...... 5784 Jay M. Wong ; Vincent Kee ; Tiffany Le ; Syler Wagner ; Gian-Luca Mariottini ; Abraham Schneider ; Lei Hamilton ; Rahul Chipalkatty ; Mitchell Hebert ; David M. S. Johnson ; Jimmy Wu ; Bolei Zhou ; Antonio Torralba

SNAKE ROBOTS IN CONTACT WITH THE ENVIRONMENT: INFLUENCE OF THE FRICTION ON THE APPLIED WRENCH ...... 5790 Fabian Reyes ; Shugen Ma

A NOVEL MODULAR COMPLIANT KNEE JOINT ACTUATOR FOR USE IN ASSISTIVE AND REHABILITATION ORTHOSES...... 5812 Tomislav Bacek ; Marta Moltedo ; Kevin Langlois ; Carlos Rodriguez-Guerrero ; Bram Vanderborght ; Dirk Lefeber

PRELIMINARY STUDY OF ONLINE GAIT RECOGNIZER FOR LOWER LIMB EXOSKELETONS ...... 5818 Junwon Jang ; Kyungrock Kim ; Jusuk Lee ; Bokman Lim ; Joon-Kee Cho ; Youngbo Shim

ADAPTATION OF LIMIT-CYCLE WALKERS FOR COLLABORATIVE TASKS: A SUPERVISORY SWITCHING CONTROL APPROACH...... 5840 Sushant Veer ; Mohamad Shafiee Motahar ; Ioannis Poulakakis

OPTIMAL CONTROL BASED PUSH RECOVERY STRATEGY FOR THE ICUB HUMANOID ROBOT WITH SERIES ELASTIC ACTUATORS ...... 5846 Yue Hu ; Katja Mombaur

GENERATION OF LOCOMOTION TRAJECTORIES FOR SERIES ELASTIC AND VISCOELASTIC BIPEDAL ROBOTS...... 5853 Alexander Werner ; Wojciech Turlej ; Christian Ott

SNAPBOT: A RECONFIGURABLE LEGGED ROBOT ...... 5861 Joohyung Kim ; Alexander Alspach ; Katsu Yamane

A METHOD FOR HAND-EYE AND CAMERA-TO-CAMERA CALIBRATION FOR LIMITED FIELDS OF VIEW ...... 5868 Christian Nissler ; Zoltán-Csaba Márton ; Hannes Kisner ; Ulrike Thomas ; Rudolph Triebel

COMPARISON OF TRAJECTORY PARAMETRIZATION METHODS WITH STATISTICAL ANALYSIS FOR DYNAMIC PARAMETER IDENTIFICATION OF SERIAL ROBOT ...... 5874 Fares J. Abu-Dakka ; Miguel Díaz-Rodríguez

ADAPTIVE ESTIMATION OF MEASUREMENT BIAS IN SIX DEGREE OF FREEDOM INERTIAL MEASUREMENT UNITS: THEORY AND PRELIMINARY SIMULATION EVALUATION ...... 5880 Andrew R. Spielvogel ; Louis L. Whitcomb

OPTICAL COHERENCE TOMOGRAPHY BASED 1D TO 6D EYE-IN-HAND CALIBRATION ...... 5886 Sven-Thomas Antoni ; Christoph Otte ; Thiusius Rajeeth Savarimuthu ; Omer Rajput ; Alexander Schlaefer

A NEW CALIBRATION TECHNIQUE FOR MULTI-CAMERA SYSTEMS OF LIMITED OVERLAPPING FIELD-OF-VIEWS ...... 5892 Ziran Xing ; Jingyi Yu ; Yi Ma

APPLICATION OF RESPONSE SURFACE METHODOLOGY FOR PERFORMING KINEMATIC CALIBRATION OF A 3-PSS/S PARALLEL KINEMATIC MECHANISM ...... 5900 Taufiq Rahman ; Dion Hicks ; M. Raju Hossain ; Nicholas Krouglicof

OBJECT-BASED AFFORDANCES DETECTION WITH CONVOLUTIONAL NEURAL NETWORKS AND DENSE CONDITIONAL RANDOM FIELDS...... 5908 Anh Nguyen ; Dimitrios Kanoulas ; Darwin G. Caldwell ; Nikos G. Tsagarakis

EFFICIENT STAIRWAY DETECTION AND MODELING FOR AUTONOMOUS ROBOT CLIMBING ...... 5916 Derek S. Chan ; Rôb Klér Silva ; João C. Monteiro ; Fernando Lizarralde

A VARIATIONAL APPROACH FOR 3D OBJECT CLASSIFICATION WITH RETRIEVAL OF MISSING DATA...... 5922 H. W. Yu ; B. H. Lee

12,000-FPS MULTI-OBJECT DETECTION USING HOG DESCRIPTOR AND SVM CLASSIFIER...... 5928 Jianquan Li ; Yingjie Yin ; Xilong Liu ; De Xu ; Qingyi Gu

DEEP LEARNING OF DIRECTIONAL TRUNCATED SIGNED DISTANCE FUNCTION FOR ROBUST 3D OBJECT RECOGNITION ...... 5934 Hongsen Liu ; Yang Cong ; Shuai Wang ; Huijie Fan ; Dongying Tian ; Yandong Tang

ESTIMATING DEFORMABILITY OF OBJECTS USING MESHLESS SHAPE MATCHING ...... 5941 Püren Güler ; Alessandro Pieropan ; Masatoshi Ishikawa ; Danica Kragic

QUADROBEE: SIMULATING FLAPPING WING AERIAL VEHICLE DYNAMICS ON A QUADROTOR...... 5957 Yuyang Chen ; Sawyer B. Fuller ; Karthik Dantu

AN INTERMEDIARY QUATERNION-BASED CONTROL FOR TRAJECTORY FOLLOWING USING A QUADROTOR ...... 5965 J. Colmenares-Vázquez ; N. Marchand ; P. Castillo ; J. E. Gómez-Balderas

DESIGN, MODELLING AND HOVERING CONTROL OF A TAIL-SITTER WITH SINGLE THRUST-VECTORED PROPELLER...... 5971 Wufan Wang ; Jihong Zhu ; Minchi Kuang

MULTILINKED MULTIROTOR WITH INTERNAL COMMUNICATION SYSTEM FOR MULTIPLE OBJECTS TRANSPORTATION BASED ON FORM OPTIMIZATION METHOD...... 5977 Tomoki Anzai ; Moju Zhao ; Xiangyu Chen ; Fan Shi ; Koji Kawasaki ; Kei Okada ; Masayuki Inaba

DEVELOPMENT OF MICROPHONE-ARRAY-EMBEDDED UAV FOR SEARCH AND RESCUE TASK ...... 5985 Kazuhiro Nakadai ; Makoto Kumon ; Hiroshi G. Okuno ; Kotaro Hoshiba ; Mizuho Wakabayashi ; Kai Washizaki ; Takahiro Ishiki ; Daniel Gabriel ; Yoshiaki Bando ; Takayuki Morito ; Ryosuke Kojima ; Osamu Sugiyama

INDIVIDUAL LEAF IDENTIFICATION FROM A TWO-DIMENSIONAL MONOCOTYLEDON IMAGE BASED ON PHYTOMORPHOLOGICAL GRAPH RECONSTRUCTION ...... 5991 Sang-Wook Lee ; Jun-Sik Kim

GRASP EVALUATION METHOD FOR APPLYING STATIC LOADS LEADING TO BEAM FAILURE ...... 5999 Mahyar Abdeetedal ; Mehrdad R. Kermani

A ROBOTIC VISION SYSTEM TO MEASURE TREE TRAITS ...... 6005 Amy Tabb ; Henry Medeiros

GRASPING BY WRAPPING: MECHANICAL DESIGN AND EVALUATION ...... 6013 Van Anh Ho

A NOVEL BUILDING POST-CONSTRUCTION QUALITY ASSESSMENT ROBOT: DESIGN AND PROTOTYPING...... 6020 Rui-Jun Yan ; Erdal Kayacan ; I. -Ming Chen ; Lee Kong Tiong

ACTIVE VIEW PLANNING FOR COUNTING APPLES IN ORCHARDS ...... 6027 Pravakar Roy ; Volkan Isler

AN APPROACH TO ROBOT TASK LEARNING AND PLANNING WITH LOOPS...... 6033 Vahid Mokhtari ; Luís Seabra Lopes ; Armando J. Pinho

SYNTHESIS OF CORRECT-BY-CONSTRUCTION BEHAVIOR TREES...... 6039 Michele Colledanchise ; Richard M. Murray ; Petter Ögren

TASK-BASED BEHAVIOR GENERALIZATION VIA MANIFOLD CLUSTERING ...... 6047 Rafael Garcia ; Bruno C. Da Silva ; João L. D. Comba

IDENTIFYING GOOD POSES WHEN DOING YOUR HOUSEHOLD CHORES: CREATION AND EXPLOITATION OF INVERSE SURFACE REACHABILITY MAPS ...... 6053 Andreas Hertle ; Bernhard Nebel

COMBINING NEURAL NETWORKS AND TREE SEARCH FOR TASK AND MOTION PLANNING IN CHALLENGING ENVIRONMENTS...... 6059 Chris Paxton ; Vasumathi Raman ; Gregory D. Hager ; Marin Kobilarov

DESIGN OF A LEAK SENSOR FOR OPERATING WATER PIPE SYSTEMS...... 6075 You Wu ; Kristina Kim ; Michael Finn Henry ; Kamal Youcef-Toumi

HAWKEYE: OPEN SOURCE FRAMEWORK FOR FIELD SURVEILLANCE...... 6083 Delong Zhu ; Yegui Du ; Yuan Lin ; Hongxiang Li ; Chaoqun Wang ; Xun Xu ; Max Q. -H. Meng

UNDERWATER ACOUSTIC-BASED NAVIGATION TOWARDS MULTI-VEHICLE OPERATION AND ADAPTIVE OCEANOGRAPHIC SAMPLING...... 6091 Mingxi Zhou ; Ralf Bachmayer ; Brad Deyoung

ROBOTIC EXPERIMENTS TO EVALUATE OCEAN PLUME CHARACTERISTICS AND STRUCTURE ...... 6098 Muhammad Fahad ; Yi Guo ; Brian Bingham ; Kristopher Krasnosky ; Laura Fitzpatrick ; Fernando A. Sanabria

UAV ASSISTED USV VISUAL NAVIGATION FOR MARINE MASS CASUALTY INCIDENT RESPONSE ...... 6105 Xuesu Xiao ; Jan Dufek ; Tim Woodbury ; Robin Murphy

DATA-DRIVEN SELECTIVE SAMPLING FOR MARINE VEHICLES USING MULTI-SCALE PATHS...... 6111 Sandeep Manjanna ; Gregory Dudek

ONLINE VISUAL ROBOT TRACKING AND IDENTIFICATION USING DEEP LSTM NETWORKS...... 6118 Hafez Farazi ; Sven Behnke

INDOOR SCAN2BIM: BUILDING INFORMATION MODELS OF HOUSE INTERIORS...... 6126 Srivathsan Murali ; Pablo Speciale ; Martin R. Oswald ; Marc Pollefeys

A MULTIMODAL DATASET FOR OBJECT MODEL LEARNING FROM NATURAL HUMAN- ROBOT INTERACTION ...... 6134 Pablo Azagra ; Florian Golemo ; Yoan Mollard ; Manuel Lopes ; Javier Civera ; Ana C. Murillo

NUT FASTENING WITH A HUMANOID ROBOT ...... 6142 Kai Pfeiffer ; Adrien Escande ; Abderrahmane Kheddar

ATTENTIONAL MASKING FOR PRE-TRAINED DEEP NETWORKS...... 6149 Marcus Wallenberg ; Per-Erik Forssén

ESTIMATING THE LEAF AREA INDEX OF CROPS THROUGH THE EVALUATION OF 3D MODELS...... 6155 Dimitris Zermas ; Vassilios Morellas ; David Mulla ; Nikolaos Papanikolopoulos

AN ONLINE TRAJECTORY GENERATOR ON SE(3) WITH MAGNITUDE CONSTRAINTS ...... 6171 Gerold Huber ; Volker Gabler ; Dirk Wollherr

ONLINE VELOCITY PLANNER FOR LASER GUIDED VEHICLES SUBJECT TO SAFETY CONSTRAINTS ...... 6178 Marina Raineri ; Simone Perri ; Corrado Guarino Lo Bianco

AN OPTICAL TRACKING SYSTEM BASED ON HYBRID STEREO/SINGLE-VIEW REGISTRATION AND CONTROLLED CAMERAS...... 6185 Guillaume Cortes ; Eric Marchand ; Jérôme Ardouin ; Anatole Lécuyer

EXPLORATION WITH ACTIVE LOOP CLOSING: A TRADE-OFF BETWEEN EXPLORATION EFFICIENCY AND MAP QUALITY ...... 6191 Hannah Lehner ; Martin J. Schuster ; Tim Bodenmüller ; Simon Kriegel

VISION-BASED MINIMUM-TIME TRAJECTORY GENERATION FOR A QUADROTOR UAV...... 6199 Bryan Penin ; Riccardo Spica ; Paolo Robuffo Giordano ; François Chaumette

DIFFERENTIAL PRESSURE CONTROL OF 3D PRINTED SOFT FLUIDIC ACTUATORS...... 6207 Tom Kalisky ; Yueqi Wang ; Benjamin Shih ; Dylan Drotman ; Saurabh Jadhav ; Eliah Aronoff-Spencer ; Michael T. Tolley

DESIGN AND FABRICATION OF A SHAPE-MORPHING SOFT PNEUMATIC ACTUATOR: SOFT ROBOTIC PAD...... 6214 Yi Sun ; Jin Guo ; Tiana Monet Miller-Jackson ; Xinquan Liang ; Marcelo H. Ang ; Raye Chen Hua Yeow

SOFT PNEUMATIC GELATIN ACTUATOR FOR EDIBLE ROBOTICS ...... 6221 Jun Shintake ; Harshal Sonar ; Egor Piskarev ; Jamie Paik ; Dario Floreano

A NOVEL BIOINSPIRED HEXAPOD ROBOT DEVELOPED BY SOFT DIELECTRIC ELASTOMER ACTUATORS...... 6233 Canh Toan Nguyen ; Hoa Phung ; Phi Tien Hoang ; Tien Dat Nguyen ; Hosang Jung ; Hyungpil Moon ; Ja Choon Koo ; Hyouk Ryeol Choi

DESIGN AND DEVELOPMENT OF A SOFT GRIPPER WITH TOPOLOGY OPTIMIZATION ...... 6239 Hongying Zhang ; Michael Yu Wang ; Feifei Chen ; Yiqiang Wang ; A. Senthil Kumar ; Jerry Y. H. Fuh

FACON: A FLOW-AIDED COOPERATIVE NAVIGATION SCHEME...... 6251 Zhuoyuan Song ; Kamran Mohseni

STUDY OF SWEEP ANGLE EFFECT ON THRUST GENERATION OF OSCILLATORY PECTORAL FINS...... 6271 C. -M. Chew ; S. Arastehfar ; G. Gunawan ; K. S. Yeo

SELF-RECONFIGURATION OF MODULAR UNDERWATER ROBOTS USING AN ENERGY HEURISTIC...... 6277 Lidia Furno ; Mogens Blanke ; Roberto Galeazzi ; David Johan Christensen

A COMBINED APPROACH FOR ROBOT PLACEMENT AND COVERAGE PATH PLANNING FOR MOBILE MANIPULATION...... 6285 Fabian Paus ; Peter Kaiser ; Nikolaus Vahrenkamp ; Tamim Asfour

A FRAMEWORK FOR INTUITIVE COLLABORATION WITH A MOBILE MANIPULATOR ...... 6293 Benjamin Navarro ; Andrea Cherubini ; Aïcha Fonte ; Gérard Poisson ; Philippe Fraisse

DYNAMICALLY DECOUPLING BASE AND END-EFFECTOR MOTION FOR MOBILE MANIPULATION USING VISUAL-INERTIAL SENSING ...... 6299 Timothy Sandy ; Jonas Buchli

DEFORMED STATE LATTICE PLANNING ...... 6307 Zhongqiang Ren ; Chaohui Gong ; Howie Choset

ONLINE RRT* AND ONLINE FMT*: RAPID REPLANNING WITH DYNAMIC COST ...... 6313 Bryant Chandler ; Michael A. Goodrich

LEARNING FORESIGHTED PEOPLE FOLLOWING UNDER OCCLUSIONS...... 6319 Abdelmoniem Bayoumi ; Philipp Karkowski ; Maren Bennewitz

A NOVEL POWERPACK FOR ROBOTIC APPLICATION, INTEGRATED TORQUE SENSOR, HARMONIC DRIVE AND MOTOR ...... 6325 Yong Bum Kim ; Uikyum Kim ; Dong-Yeop Seok ; Jinho So ; Yoon Haeng Lee ; Hyouk Ryeol Choi

DEVELOPMENT AND GRASP ANALYSIS OF A SENSORIZED UNDERACTUATED FINGER...... 6331 Mahyar Abdeetedal ; Mehrdad R. Kermani

A HUMAN-POWERED JOINT DRIVE MECHANISM USING REGENERATIVE CLUTCHES...... 6337 Yusuke Sugahara ; Kensuke Kikui ; Mitsuru Endo ; Jun Okamoto ; Daisuke Matsuura ; Yukio Takeda

DESIGN AND ANALYSIS OF A NOVEL PLANAR ROBOTIC LEG FOR HIGH-SPEED LOCOMOTION ...... 6343 Vinay R. Kamidi ; Wael Saab ; Pinhas Ben-Tzvi

DESIGN OPTIMIZATION OF A DIRECT-DRIVE LINEAR ACTUATOR ASSISTIVE DEVICE FOR STROKE ...... 6349 Soroosh Haji Hosseinnejad ; Thor F. Besier ; Andrew J. Taberner ; Bryan P. Ruddy

OBJECT EXPLORATION USING VISION AND ACTIVE TOUCH...... 6363 Chuanyu Yang ; Nathan F. Lepora

TOWARD TORQUE CONTROL OF A KUKA LBR IIWA FOR PHYSICAL HUMAN-ROBOT INTERACTION...... 6387 Vinay Chawda ; Günter Niemeyer

ROBUST SET INVARIANCE FOR IMPLICIT ROBOT FORCE CONTROL IN PRESENCE OF CONTACT MODEL UNCERTAINTY...... 6393 Matteo Parigi Polverini ; Davide Nicolis ; Andrea Maria Zanchettin ; Paolo Rocco

VISUALIZING ROBOT BEHAVIORS AS AUTOMATED VIDEO ANNOTATIONS: A CASE STUDY IN ROBOT SOCCER ...... 6408 Danny Zhu ; Manuela Veloso

FAST SIMULATION OF VEHICLES WITH NON-DEFORMABLE TRACKS...... 6414 Martin Pecka ; Karel Zimmermann ; Tomáš Svoboda

MULTI-CONTACT FRICTIONAL RIGID DYNAMICS USING IMPULSE DECOMPOSITION...... 6420 Sheng Li ; Tianxiang Zhang ; Guoping Wang ; Hanqiu Sun ; Dinesh Manocha

LOOSELY-CONSTRAINED VOLUMETRIC CONTACT FORCE COMPUTATION FOR RIGID BODY SIMULATION...... 6428 Naoki Wakisaka ; Tomomichi Sugihara

EVALUATION OF REGULAR PLANAR MESHES FOR MODULAR ACTIVE CELL ROBOTS (MACROS)...... 6434 Ahsan I. Nawroj ; Aaron M. Dollar

TOWARDS MRI-GUIDED AND ACTUATED TETHERLESS MILLI-ROBOTS: PREOPERATIVE PLANNING AND MODELING OF CONTROL ...... 6440 Thibault Kensicher ; Julien Leclerc ; Daniel Biediger ; Dipan J. Shah ; Ioannis Seimenis ; Aaron T. Becker ; Nikolaos V. Tsekos

MINIMAL VISUAL OCCLUSION REDUNDANCY RESOLUTION OF CONTINUUM ROBOTS IN CONFINED SPACES...... 6448 Nima Sarli ; Nabil Simaan

A MODEL OF VERTEBRAL MOTION AND KEY POINT RECOGNITION OF DRILLING WITH FORCE IN ROBOT-ASSISTED SPINAL SURGERY ...... 6455 Zhongliang Jiang ; Yu Sun ; Shijia Zhao ; Ying Hu ; Jianwei Zhang

MOTION PLANNING FOR CONTINUUM RECONFIGURABLE INCISIONLESS SURGICAL PARALLEL ROBOTS...... 6463 Alan Kuntz ; Arthur W. Mahoney ; Nicolas E. Peckman ; Patrick L. Anderson ; Fabien Maldonado ; Robert J. Webster ; Ron Alterovitz

ON THE MERITS OF HELICAL TENDON ROUTING IN CONTINUUM ROBOTS...... 6470 Julia Starke ; Ernar Amanov ; M. Taha Chikhaoui ; Jessica Burgner-Kahrs

USER INTERFACE OF FORCE-CONTROLLED ARM FOR ENDOSCOPIC SURGERY ...... 6477 Takara Kasai ; Daisuke Nagao ; Yohei Kuroda ; Atsushi Miyamoto ; Yasuhiro Matsuda ; Tetsuharu Fukushima

ROBOTIC IRONING WITH 3D PERCEPTION AND FORCE/TORQUE FEEDBACK IN HOUSEHOLD ENVIRONMENTS...... 6484 David Estevez ; Juan G. Victores ; Raul Fernandez-Fernandez ; Carlos Balaguer

RGB-D FUSION ENHANCEMENT BY MODE FILTER FOR SURFEL CLOUD SEGMENTATION ...... 6490 Riccardo Monica ; Michael Zillich ; Markus Vincze ; Jacopo Aleotti

A PROBABILISTIC FRAMEWORK FOR INTRINSIC IMAGE DECOMPOSITION FROM RGB-D STREAMS...... 6498 Wonhui Kim ; Matthew Johnson-Roberson

GRAVITYFUSION: REAL-TIME DENSE MAPPING WITHOUT POSE GRAPH USING DEFORMATION AND ORIENTATION ...... 6506 Puneet Puri ; Daoyuan Jia ; Michael Kaess

ACTIVE HIGH DYNAMIC RANGE MAPPING FOR DENSE VISUAL SLAM ...... 6514 Christian Barat ; Andrew I. Comport

A FAST SEARCH ALGORITHM BASED ON IMAGE PYRAMID FOR ROBOTIC GRASPING ...... 6520 Guangli Ren ; Zhenzhou Shao ; Yong Guan ; Ying Qu ; Jindong Tan ; Hongxing Wei ; Guofeng Tong

BRIDGE RISK INVESTIGATION DIAGNOSTIC GROUPED EXPLORATORY (BRIDGE) BOT ...... 6526 Aaron Sirken ; Gedaliah Knizhnik ; Jessica McWilliams ; Sarah Bergbreiter

FLIPPY: A SOFT, AUTONOMOUS CLIMBER WITH SIMPLE SENSING AND CONTROL...... 6533 Melinda Malley ; Michael Rubenstein ; Radhika Nagpal

CLAW-WHEEL: A TRANSFORMABLE ROBOT FOR SEARCH AND INVESTIGATION IN AMPHIBIOUS ENVIRONMENT ...... 6541 Chun-Yi Huang ; Che-Nan Kuo ; Li-Han Pan ; Szu-Yu Lin ; Jui Jen Chou

PLANNING AND CONTROL OF STABLE LADDER CLIMBING MOTION FOR THE FOUR- LIMBED ROBOT “WAREC-1” ...... 6547 X. Sun ; K. Hashimoto ; T. Teramachi ; T. Matsuzawa ; S. Kimura ; N. Sakai ; S. Hayashi ; Y. Yoshida ; A. Takanishi

ROBUST CONTROL OF A BRACHIATING ROBOT ...... 6555 Kim-Doang Nguyen ; Dikai Liu

DESIGN AND DEVELOPMENT OF A MOBILE CRAWLING ROBOT WITH NOVEL HALBACH ARRAY BASED MAGNETIC WHEELS ...... 6561 W. A. V. Stepson ; A. D. I. M. Amarasinghe ; P. N. R. Fernando ; Y. W. R. Amarasinghe

INTERPRETING UNCERTAIN INFORMATION RELATED TO RELATIVE REFERENCES FOR IMPROVED NAVIGATIONAL COMMAND UNDERSTANDING OF SERVICE ROBOTS ...... 6567 M. A. Viraj J. Muthugala ; A. G. Buddhika P. Jayasekara

TRUST-BASED LEADER SELECTION FOR BILATERAL HAPTIC TELEOPERATION OF MULTI-ROBOT SYSTEMS ...... 6575 H. Saeidi ; D. G. Mikulski ; Y. Wang

LEVERAGING COMMONSENSE REASONING AND MULTIMODAL PERCEPTION FOR ROBOT SPOKEN DIALOG SYSTEMS...... 6582 Dongcai Lu ; Shiqi Zhang ; Peter Stone ; Xiaoping Chen

DIFFERENCES IN INTERACTION PATTERNS AND PERCEPTION FOR TELEOPERATED AND AUTONOMOUS HUMANOID ROBOTS...... 6589 Maxwell Bennett ; Tom Williams ; Daria Thames ; Matthias Scheutz

PROBABILISTIC INFERENCE OF HUMAN ARM REACHING TARGET FOR EFFECTIVE HUMAN-ROBOT COLLABORATION ...... 6595 Andrea Maria Zanchettin ; Paolo Rocco

UPPER LIMB MOTION INTENT RECOGNITION USING TACTILE SENSING...... 6601 T. Stefanou ; A. Turton ; A. Lenz ; S. Dogramadzi

JOINTLY OPTIMIZING PLACEMENT AND INFERENCE FOR BEACON-BASED LOCALIZATION...... 6609 Charles Schaff ; David Yunis ; Ayan Chakrabarti ; Matthew R. Walter

A GLOVE-BASED SYSTEM FOR STUDYING HAND-OBJECT MANIPULATION VIA JOINT POSE AND FORCE SENSING...... 6617 Hangxin Liu ; Xu Xie ; Matt Millar ; Mark Edmonds ; Feng Gao ; Yixin Zhu ; Veronica J. Santos ; Brandon Rothrock ; Song-Chun Zhu

ROBUST MULTIPLE OBJECT TRACKING IN RGB-D CAMERA NETWORKS...... 6625 Yongheng Zhao ; Marco Carraro ; Matteo Munaro ; Emanuele Menegatti

RELAY VEHICLE FORMATIONS FOR OPTIMIZING COMMUNICATION QUALITY IN ROBOT NETWORKS ...... 6633 Md Mahbubur Rahman ; Leonardo Bobadilla ; Franklin Abodo ; Brian Rapp

A MULTI-ROBOT SENSOR-DELIVERY PLANNING STRATEGY FOR STATIC-SENSOR NETWORKS...... 6640 Zendai Kashino ; Goldie Nejat ; Beno Benhabib

A DISTRIBUTED CONTROL FRAMEWORK FOR A TEAM OF UNMANNED AERIAL VEHICLES FOR DYNAMIC WILDFIRE TRACKING...... 6648 Huy X. Pham ; Hung M. La ; David Feil-Seifer ; Matthew Deans

DÉJÀ VU: SCALABLE PLACE RECOGNITION USING MUTUALLY SUPPORTIVE FEATURE FREQUENCIES ...... 6654 Adam Jacobson ; Walter Scheirer ; Michael Milford

KEYFRAME-BASED VISUAL-INERTIAL ONLINE SLAM WITH RELOCALIZATION...... 6662 Anton Kasyanov ; Francis Engelmann ; Jörg Stückler ; Bastian Leibe

EDGE-BASED VISUAL-INERTIAL ODOMETRY...... 6670 Hongsheng Yu ; Anastasios I. Mourikis

CLOSED-FORM FULL MAP POSTERIORS FOR ROBOT LOCALIZATION WITH LIDAR SENSORS...... 6678 Lukas Luft ; Alexander Schaefer ; Tobias Schubert ; Wolfram Burgard

ANALYZING THE QUALITY OF MATCHED 3D POINT CLOUDS OF OBJECTS...... 6685 Igor Bogoslavskyi ; Cyrill Stachniss

LOOKING FORWARD: A SEMANTIC MAPPING SYSTEM FOR SCOUTING WITH MICRO- AERIAL VEHICLES ...... 6691 Daniel Maturana ; Sankalp Arora ; Sebastian Scherer

SINGLE-SHOT CLOTHING CATEGORY RECOGNITION IN FREE-CONFIGURATIONS WITH APPLICATION TO AUTONOMOUS CLOTHES SORTING ...... 6699 Li Sun ; Gerardo Aragon-Camarasa ; Simon Rogers ; Rustam Stolkin ; J. Paul Siebert

DUAL-FISHEYE OMNIDIRECTIONAL STEREO...... 6715 Wenliang Gao ; Shaojie Shen

MONOCULAR 3D METRIC SCALE RECONSTRUCTION USING DEPTH FROM DEFOCUS AND IMAGE VELOCITY ...... 6723 Tomoyuki Shiozaki ; Gamini Dissanayake

MULTI-STEP-AHEAD INFORMATION-BASED FEEDBACK CONTROL FOR ACTIVE BINAURAL LOCALIZATION...... 6729 Gabriel Bustamante ; Patrick Danès

ADAPTIVE PERCEPTION: LEARNING FROM SENSORY PREDICTIONS TO EXTRACT OBJECT SHAPE WITH A BIOMIMETIC FINGERTIP ...... 6735 Uriel Martinez-Hernandez ; Tony J. Prescott

DENSE RGB-D-INERTIAL SLAM WITH MAP DEFORMATIONS...... 6741 Tristan Laidlow ; Michael Bloesch ; Wenbin Li ; Stefan Leutenegger

NULL-SPACE-BASED MARGINALIZATION: ANALYSIS AND ALGORITHM ...... 6749 Yulin Yang ; James Maley ; Guoquan Huang

RGBDTAM: A COST-EFFECTIVE AND ACCURATE RGB-D TRACKING AND MAPPING SYSTEM...... 6756 Alejo Concha ; Javier Civera

NOCTOSLAM: FAST OCTREE SURFACE NORMAL MAPPING AND REGISTRATION ...... 6764 Joscha Fossel ; Karl Tuyls ; Benjamin Schnieders ; Daniel Claes ; Daniel Hennes

VINYSLAM: AN INDOOR SLAM METHOD FOR LOW-COST PLATFORMS BASED ON THE TRANSFERABLE BELIEF MODEL ...... 6770 Arthur Huletski ; Dmitriy Kartashov ; Kirill Krinkin

GRAPHTINKER: OUTLIER REJECTION AND INLIER INJECTION FOR POSE GRAPH SLAM...... 6777 Linhai Xie ; Sen Wang ; Andrew Markham ; Niki Trigoni

A SPATIO-TEMPORAL REPRESENTATION FOR THE ORIENTEERING PROBLEM WITH TIME-VARYING PROFITS...... 6785 Zhibei Ma ; Kai Yin ; Lantao Liu ; Gaurav S. Sukhatme

EXTENDED BEHAVIOR TREES FOR QUICK DEFINITION OF FLEXIBLE ROBOTIC TASKS...... 6793 Francesco Rovida ; Bjarne Grossmann ; Volker Krüger

TOWARDS AN ONLINE HEURISTIC METHOD FOR ENERGY-CONSTRAINED UNDERWATER SENSING MISSION PLANNING ...... 6801 Nikolaos Tsiogkas ; Valerio De Carolis ; David M. Lane

COORDINATED RECHARGING OF MOBILE ROBOTS DURING EXPLORATION...... 6809 Micha Rappaport ; Christian Bettstetter

SOCIALLY COMPETENT NAVIGATION PLANNING BY DEEP LEARNING OF MULTI- AGENT PATH TOPOLOGIES...... 6817 Christoforos I. Mavrogiannis ; Valts Blukis ; Ross A. Knepper

MIXED-INITIATIVE PLANNING, REPLANNING AND EXECUTION: FROM CONCEPT TO FIELD TESTING USING AUV FLEETS ...... 6825 Lukáš Chrpa ; José Pinto ; Tiago Sá Marques ; Manuel A. Ribeiro ; João Sousa

PREDICTION OF AIR-TO-GROUND COMMUNICATION STRENGTH FOR RELAY UAV TRAJECTORY PLANNER IN URBAN ENVIRONMENTS...... 6831 Pawel Ladosz ; Hyondong Oh ; Wen-Hua Chen

ROBUST REAL-TIME VISUAL TRACKING USING DUAL-FRAME DEEP COMPARISON NETWORK INTEGRATED WITH CORRELATION FILTERS ...... 6837 Krishneel Chaudhary ; Moju Zhao ; Fan Shi ; Xiangyu Chen ; Kei Okada ; Masayuki Inaba

ESTIMATION AND OPTIMIZATION OF FULLY-ACTUATED MULTIROTOR PLATFORM WITH NONPARALLEL ACTUATION MECHANISM...... 6843 Guangying Jiang ; Richard Voyles ; Kenneth Sebesta ; Helen Greiner

SPIDERMAV: PERCHING AND STABILIZING MICRO AERIAL VEHICLES WITH BIO- INSPIRED TENSILE ANCHORING SYSTEMS ...... 6849 K. Zhang ; P. Chermprayong ; T. M. Alhinai ; R. Siddall ; M. Kovac

AN ORIGAMI-INSPIRED CARGO DRONE ...... 6855 P. M. Kornatowski ; S. Mintchev ; D. Floreano

IMPROVING CONDITION- AND ENVIRONMENT-INVARIANT PLACE RECOGNITION WITH SEMANTIC PLACE CATEGORIZATION ...... 6863 Sourav Garg ; Adam Jacobson ; Swagat Kumar ; Michael Milford

A POINT SAMPLING ALGORITHM FOR 3D MATCHING OF IRREGULAR GEOMETRIES...... 6871 Tolga Birdal ; Slobodan Ilic

VISUAL INERTIAL ODOMETRY USING COUPLED NONLINEAR OPTIMIZATION ...... 6879 Euntae Hong ; Jongwoo Lim

BACKTRACKING REGRESSION FORESTS FOR ACCURATE CAMERA RELOCALIZATION...... 6886 Lili Meng ; Jianhui Chen ; Frederick Tung ; James J. Little ; Julien Valentin ; Clarence W. De Silva

HYBRID CONTROL AND LEARNING WITH CORESETS FOR AUTONOMOUS VEHICLES ...... 6894 Guy Rosman ; Liam Paull ; Daniela Rus

MONO-CAMERA BASED SIMULTANEOUS OBSTACLE RECOGNITION AND DISTANCE ESTIMATION FOR OBSTACLE AVOIDANCE OF POWER TRANSMISSION LINES INSPECTION ROBOT...... 6902 Ju Han Yoo ; Changhwan Kim ; Dong Hwan Kim

DESIGN ANALYSIS OF TUSKBOT: UNIVERSAL STAIR CLIMBING 4-WHEEL INDOOR ROBOT...... 6908 Jonghun Choe ; Ukjin Kwon ; Moses C. Nah ; Hyeongkeun Kim

PATH FOLLOWING FOR ROBOTIC ROLLATORS VIA SIMULATED PASSIVITY...... 6915 Marco Andreetto ; Stefano Divan ; Daniele Fontanelli ; Luigi Palopoli ; Fabiano Zenatti

TIRE FORCE ESTIMATION OF UNMANNED GROUND VEHICLES ON OFF-ROAD TERRAINS FOR NAVIGATION DECISIONS ...... 6923 Graeme Neff Wilson ; Alejandro Ramirez-Serrano ; Qiao Sun

DUAL-TASK PERFORMANCE ASSESSMENT ROBOT ...... 6929 Ayanori Yorozu ; Ayumi Tanigawa ; Masaki Takahashi

STATIC FRACTURE TOLERANCE OF HUMAN METATARSAL IN BEING RUN OVER BY ROBOT...... 6935 Tatsuo Fujikawa ; Yoichi Asano ; Tetsuya Nishimoto ; Rie Nishikata

SEGMENTING HUMERAL SUBMOVEMENTS USING INVARIANT GEOMETRIC SIGNATURES ...... 6951 Rakesh Krishnan ; Niclas Björsell ; Christian Smith

EVOLUTIONARY MULTI-OBJECTIVE INVERSE KINEMATICS ON HIGHLY ARTICULATED AND HUMANOID ROBOTS ...... 6959 Sebastian Starke ; Norman Hendrich ; Dennis Krupke ; Jianwei Zhang

ON INTEGRATING MANIPULABILITY INDEX INTO INVERSE KINEMATICS SOLVER ...... 6967 Kévin Dufour ; Wael Suleiman

DIRECT KINEMATICS OF CDPR WITH EXTRA CABLE ORIENTATION SENSORS: THE 2 AND 3 CABLES CASE WITH PERFECT MEASUREMENT AND SAGGING CABLES...... 6973 J. -P. Merlet

DEVELOPMENT OF A NOVEL SWITCHABLE OMNIDIRECTIONAL WHEEL FOR PERFORMING COOPERATIVE TASKS USING DIFFERENTIAL DRIVE MOBILE ROBOTS ...... 6979 Luis Canete ; Takayuki Takahashi

A TWO-LAYER TACTICAL SYSTEM FOR AN AIR-HOCKEY-PLAYING ROBOT ...... 6985 Hideaki Shimada ; Yusuke Kutsuna ; Shunsuke Kudoh ; Takashi Suehiro

THE HERA APPROACH TO MORALLY COMPETENT ROBOTS...... 6991 Felix Lindner ; Martin Mose Bentzen ; Bernhard Nebel

LEARNING TO POUR...... 7005 Yongqiang Huang ; Yu Sun

AERIAL SOCIAL FORCE MODEL: A NEW FRAMEWORK TO ACCOMPANY PEOPLE USING AUTONOMOUS FLYING ROBOTS...... 7011 A. Garrell ; Luis Garza-Elizondo ; M. Villamizar ; F. Herrero ; A. Sanfeliu

SOCIOSENSE: ROBOT NAVIGATION AMONGST PEDESTRIANS WITH SOCIAL AND PSYCHOLOGICAL CONSTRAINTS ...... 7018 Aniket Bera ; Tanmay Randhavane ; Rohan Prinja ; Dinesh Manocha

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