2016 IEEE International Conference on Robotics and Automation (ICRA 2016) Stockholm, Sweden 16-21 May 2016 Pages 1-853 IEEE Catalog Number: CFP16RAA-POD ISBN: 978-1-4673-8027-0 1/6 Copyright © 2016 by the Institute of Electrical and Electronics Engineers, Inc All Rights Reserved Copyright and Reprint Permissions: Abstracting is permitted with credit to the source. Libraries are permitted to photocopy beyond the limit of U.S. copyright law for private use of patrons those articles in this volume that carry a code at the bottom of the first page, provided the per-copy fee indicated in the code is paid through Copyright Clearance Center, 222 Rosewood Drive, Danvers, MA 01923. For other copying, reprint or republication permission, write to IEEE Copyrights Manager, IEEE Service Center, 445 Hoes Lane, Piscataway, NJ 08854. All rights reserved. ***This publication is a representation of what appears in the IEEE Digital Libraries. Some format issues inherent in the e-media version may also appear in this print version. IEEE Catalog Number: CFP16RAA-POD ISBN (Print-On-Demand): 978-1-4673-8027-0 ISBN (Online): 978-1-4673-8026-3 ISSN: 1060-0272 Additional Copies of This Publication Are Available From: Curran Associates, Inc 57 Morehouse Lane Red Hook, NY 12571 USA Phone: (845) 758-0400 Fax: (845) 758-2633 E-mail: [email protected] Web: www.proceedings.com TABLE OF CONTENTS EXACT ROBOT NAVIGATION USING POWER DIAGRAMS ...............................................................................................................1 Omur Arslan ; Daniel E. Koditschek GAUSSIAN PROCESS MOTION PLANNING .............................................................................................................................................9 Mustafa Mukadam ; Xinyan Yan ; Byron Boots TOPOLOGICAL TRAJECTORY CLUSTERING WITH RELATIVE PERSISTENT HOMOLOGY ..............................................16 Florian T. Pokorny ; Ken Goldberg ; Danica Kragic HIGH-DIMENSIONAL WINDING-AUGMENTED MOTION PLANNING WITH 2D TOPOLOGICAL TASK PROJECTIONS AND PERSISTENT HOMOLOGY..................................................................................................................................24 Florian T. Pokorny ; Danica Kragic ; Lydia E. Kavraki ; Ken Goldberg RESOURCE-AWARE MOTION PLANNING ............................................................................................................................................32 Manfred Krohnert ; Raphael Grimm ; Nikolaus Vahrenkamp ; Tamim Asfour AN MDP-BASED APPROXIMATION METHOD FOR GOAL CONSTRAINED MULTI-MAV PLANNING UNDER ACTION UNCERTAINTY..............................................................................................................................................................56 Lantao Liu ; Nathan Michael LEARNING HIGH-DIMENSIONAL MIXTURE MODELS FOR FAST COLLISION DETECTION IN RAPIDLY-EXPLORING RANDOM TREES ..............................................................................................................................................63 Jinwook Huh ; Daniel D. Lee BURS OF FREE C-SPACE: A NOVEL STRUCTURE FOR PATH PLANNING..................................................................................70 Bakir Lacevic ; Dinko Osmankovic ; Adnan Ademovic PATH PLANNING FOR ROBOTIC MANIPULATORS USING EXPANDED BUBBLES OF FREE C-SPACE.............................77 Adnan Ademovic ; Bakir Lacevic REDUCED COMPLEXITY MULTI-SCALE PATH-PLANNING ON PROBABILISTIC MAPS ......................................................83 Florian Hauer ; Panagiotis Tsiotras HIERARCHICAL REJECTION SAMPLING FOR INFORMED KINODYNAMIC PLANNING IN HIGH- DIMENSIONAL SPACES...............................................................................................................................................................................89 Tobias Kunz ; Andrea Thomaz ; Henrik Christensen A HIGHLY SENSITIVE DUAL MODE TACTILE AND PROXIMITY SENSOR USING CARBON MICROCOILS FOR ROBOTIC APPLICATIONS ....................................................................................................................................97 Hyo Seung Han ; Junwoo Park ; Tien Dat Nguyen ; Uikyum Kim ; Canh Toan Nguyen ; Hoa Phung ; Hyouk Ryeol Choi NANOFORCE SENSING WITH MAGNETIC SPRINGS USING A DIFFERENTIAL APPROACH TO COMPENSATE EXTERNAL MECHANICAL DISTURBANCES ........................................................................................................103 Margot Billot ; Emmanuel Piat ; Joel Abadie ; Joel Agnus ; Philippe Stempflé IMPROVED NORMAL AND SHEAR TACTILE FORCE SENSOR PERFORMANCE VIA LEAST SQUARES ARTIFICIAL NEURAL NETWORK (LSANN) ........................................................................................................................................116 Meng Yee Chuah ; Sangbae Kim TACTILE MANIPULATION WITH BIOMIMETIC ACTIVE TOUCH ..............................................................................................123 Luke Cramphorn ; Benjamin Ward-Cherrier ; Nathan F. Lepora NARROW PASSAGE SAMPLING IN THE OBSERVATION OF ROBOTIC ASSEMBLY TASKS ...............................................130 Korbinian Nottensteiner ; Mikel Sagardia ; Andreas Stemmer ; Christoph Borst ROBOTIC GRASP CONTROL WITH HIGH-RESOLUTION COMBINED TACTILE AND PROXIMITY SENSING.........................................................................................................................................................................................................138 Kazuhiro Shimonomura ; Hiroto Nakashima ; Kentaro Nozu EXPERIENCE-BASED TORQUE ESTIMATION FOR AN INDUSTRIAL ROBOT.........................................................................144 Erik Berger ; Steve Grehl ; David Vogt ; Bernhard Jung ; Heni Ben Amor COMPRESSED SENSING FOR TACTILE SKINS..................................................................................................................................150 Brayden Hollis ; Stacy Patterson ; Jeff Trinkle VARIABILITY AND PREDICTABILITY IN TACTILE SENSING DURING GRASPING..............................................................158 Qian Wan ; Ryan P. Adams ; Robert D. Howe ANALYTIC GRASP SUCCESS PREDICTION WITH TACTILE FEEDBACK .................................................................................165 Robert Krug ; Achim J. Lilienthal ; Danica Kragic ; Yasemin Bekiroglu DESIGNING EMBROIDERED ELECTRODES FOR WEARABLE SURFACE ELECTROMYOGRAPHY ................................172 A. Shafti ; R. B. Ribas Manero ; A. M. Borg ; K. Althoefer ; M. J. Howard TERRAIN CONTACT MODELING AND CLASSIFICATION FOR ATVS........................................................................................186 Mario Gianni ; Manuel A. Ruiz Garcia ; Federico Ferri ; Fiora Pirri PROBABILISTIC CONSOLIDATION OF GRASP EXPERIENCE......................................................................................................193 Yasemin Bekiroglu ; Andreas Damianou ; Renaud Detry ; Johannes A. Stork ; Danica Kragic ; Carl Henrik Ek MOVEMENT PRIMITIVES WITH MULTIPLE PHASE PARAMETERS .........................................................................................201 Marco Ewerton ; Guilherme Maeda ; Gerhard Neumann ; Viktor Kisner ; Gerrit Kollegger ; Josef Wiemeyer ; Jan Peters LEARNING OPTIMAL NAVIGATION ACTIONS FOR FORESIGHTED ROBOT BEHAVIOR DURING ASSISTANCE TASKS...................................................................................................................................................................................207 Abdelmoniem Bayoumi ; Maren Bennewitz LIST PREDICTION APPLIED TO MOTION PLANNING....................................................................................................................213 Abhijeet Tallavajhula ; Sanjiban Choudhury ; Sebastian Scherer ; Alonzo Kelly LEARNING SOFT TASK PRIORITIES FOR CONTROL OF REDUNDANT ROBOTS ..................................................................221 Valerio Modugno ; Gerard Neumann ; Elmar Rueckert ; Giuseppe Oriolo ; Jan Peters ; Serena Ivaldi STREAM-BASED ACTIVE LEARNING FOR EFFICIENT AND ADAPTIVE CLASSIFICATION OF 3D OBJECTS ........................................................................................................................................................................................................227 Alexander Narr ; Rudolph Triebel ; Daniel Cremers GENERALIZING DEMONSTRATED MOTIONS AND ADAPTIVE MOTION GENERATION USING AN INVARIANT RIGID BODY TRAJECTORY REPRESENTATION......................................................................................................234 Maxim Vochten ; Tinne De Laet ; Joris De Schutter COMBINING MODEL-BASED POLICY SEARCH WITH ONLINE MODEL LEARNING FOR CONTROL OF PHYSICAL HUMANOIDS...........................................................................................................................................................................242 Igor Mordatch ; Nikhil Mishra ; Clemens Eppner ; Pieter Abbeel LEARNING MOVEMENT SYNCHRONIZATION IN MULTI-COMPONENT ROBOTIC SYSTEMS .........................................249 Mohammad Thabet ; Alberto Montebelli ; Ville Kyrki HIERARCHICAL INTERACTIVE LEARNING FOR A HUMAN-POWERED AUGMENTATION LOWER EXOSKELETON ...........................................................................................................................................................................................257 Rui Huang ; Hong Cheng ; Hongliang Guo ; Qiming Chen ; Xichuan Lin DRIFTING GAUSSIAN PROCESSES WITH VARYING NEIGHBORHOOD SIZES FOR ONLINE