2015 International Conference on Advanced Robotics (ICAR 2015)

Istanbul, Turkey 27-31 July 2015

IEEE Catalog Number: ISBN:

CFP15ROB-POD 978-1-4673-7510-8

Table of Contents for the 17th International Conference on Advanced Robotics (ICAR 2015) Tu1.1: Dynamics and Control 1 Tuesday, July 28, 2015 10:50-12:30, Auditorium D 10:50 - 11:10 Back-stepping Control Design for an Underwater Robot with Tilting Thrusters, pp 1-8 Sangrok Jin, Jihoon Kim, Jong-Won Kim, Jangho Bae, Jeongae Bak, Jongwon Kim, Taewon Seo 11:10 - 11:30 Enhanced Null Space Control Using Hierarchical Workspace Disturbance Observer. pp 9-14 Mohamed Sorour, Toshiyuki Murakami 11:30 - 11:50 Proxy Based-Fuzzy Sliding Mode Controller for Wheeled Mobile Robot Magellan Pro, pp 15-20 Hasan İhsan Turhan 11:50 - 12:10 Real-Time Motion Adaptation using Relative Distance Space Representation, pp 21-27 Yiming Yang, Vladimir Ivan, Sethu Vijayakumar 12:10 - 12: Performance analysis of time-delay bilateral teleoperation using impedance-controlled slaves, pp 28-33 Joao Rebelo, Andre Schiele

Zhang, Kai Ding, John Wong, Iulian Iordachita, Peter Kazanzides 12:10 - 12:30 Needle Deflection Prediction Using Adaptive Slope Model, pp 60-65 Ederson Dorileo, Nabil Zemiti, Philippe Poignet

Tu1.3: Human-Robot Interaction Tuesday, July 28, 2015 10:50-12:30, Fener Room 10:50 - 11:10 Olá, my name is Ana: a study on Brazilians interacting with a receptionist robot, pp 66-71 Gabriele Trovato, Josué G. Ramos, Helio Azevedo, Artemis Moroni, Silvia Magossi, Hiroyuki Ishii, Reid Simmons, Atsuo Takanishi 11:10 - 11:30 Robot-mediated Mixed Gesture Imitation Skill Training for Young Children with ASD, pp 72-77 Zhi Zheng, Eric Young, Amy Swanson, Amy Weitlauf, Zachary Warren, Nilanjan Sarkar 11:30 - 11:50 Simultaneous Human-Robot Adaptation for Effective Skill Transfer, pp 78-84 Mohammad Ali Zamani, Erhan Oztop 11:50 - 12:10 Safety-aware trajectory scaling for human-robot collaboration with prediction of human occupancy, pp 85-90 Matteo Ragaglia, Andrea Maria Zanchettin, Paolo Rocco 12:10 - 12:30

Tu1.2: Rehabilitation and Medical Robotics 1 Tuesday, July 28, 2015 10:50-12:30, Cibali Room 10:50 - 11:10 Assessments on the Improved Modelling for Pneumatic Artificial Muscle Actuators, pp 34-39 Luka Peternel, Barkan Ugurlu, Jan Babič, Jun Morimoto 11:10 - 11:30 Calibration of 2D Ultrasound in 3D Space for Robotic Biopsies, pp 40-46 Awais Ahmad, M. Cenk Cavusoglu, Ozkan Bebek 11:30 - 11:50 Real-time Needle Tip Localization in 2D Ultrasound Images for Robotic Biopsies, pp 47-52 Mert Kaya, Enes Senel, Awais Ahmad, Orcun Orhan, Ozkan Bebek 11:50 - 12:10 System Integration and Preliminary In-Vivo Experiments of a Robot for Ultrasound Guidance and Monitoring during Radiotherapy, pp 53-59 Hasan Tutkun Sen, Muyinatu A. Lediju Bell, Yin

Subjective Difficulty and Indicators of Performance of Joystick-based Robot Arm Teleoperation with Auditory Feedback, pp 91-98 Nikolaos Mavridis, Georgios Pierris, Paolo Gallina, Nikolaos Moustakas, Alexandros Astaras

Tu2.1: Legged Locomotion 1 Tuesday, July 28, 2015 14:30-16:10, Auditorium D 14:30 - 14:50 Extending The Lossy Spring-Loaded Inverted Pendulum Model with a Slider-Crank Mechanism, pp 99-104 Hasan Eftun Orhon, Caner Odabaş, İsmail Uyanık, Ömer Morgül, Uluc Saranli 14:50 - 15:10 A Humanoid Walking Pattern Generator for Sole Design Optimization, pp 105-110 Adrien Pajon, Giovanni De Magistris, Sylvain Miossec, Kenji Kaneko, Abderrahmane Kheddar 15:10 - 15:30 Assymmetric Stability Property of a Sagittal-Plane

Model with a Compliant Leg and Rolling Contact, pp 111-116 Chun-Kai Huang, Pei-Chun Lin 15:30 - 15:50 Petri-Net Based Control of Six Legged Spider Robot, pp 117-122 Tolga Karakurt, Akif Durdu, Emre Hasan Dursun 15:50 - 16:10 Additive Manufacturing for Agile Legged Robots with Hydraulic Actuation, pp 123-129 Claudio Semini, Jake Goldsmith, Diego Manfredi, Flaviana Calignano, Elisa Paola Ambrosio, Jukka Pakkanen, Darwin G. Caldwell

Ahmet Tunc Bilgin, Esra Kadioglu-Urtis 14:50 - 15:10 A Fuzzy UV-disparity based Approach for following a leader mobile robot, pp 170-175 Irki Zohir 15:10 - 15:30 Cooperative approach for an optimal area coverage and connectivity in multi-robot systems, pp 176-181 Zineb Laouici, Mohammed Amine Mami, Mohamed Fayçal Khelfi 15:50 - 16:10 Dynamic Modeling of Cooperative Robots holding Flexible Objects, pp 182-187 Philip Long, Philippe Martinet, Wisama Khalil

Tu2.2: Platforms and Architectures 1 Tuesday, July 28, 2015 14:30-16:10, Cibali Room 14:30 - 14:50

Tu3.1: Motion Planning Tuesday, July 28, 2015 16:30-18:10, Auditorium D

Development of an MRI-Compatible Needle Driver for In-Bore Prostate Biopsy, pp 130-136

16:30 - 16:50

Meng Li, Berk Gonenc, Kiyoung Kim, Weijian Shang, Iulian Iordachita 14:50 - 15:10 Conclusions from an Object-Delivery Robotic Competition: SICK Robot Day 2014, pp 137-143 Sebastian Buck, Richard Hanten, Goran Huskić, Gerald Rauscher, Alina Kloss, Jan Leininger, Eugen Ruff, Felix Widmaier, Andreas Zell 15:10 - 15:30 First Validation of the Haptic Sandwich: A Shape Changing Handheld Haptic Navigation Aid, pp 144151 Adam Spiers, Aaron Dollar, Janet van der Linden, Maria Oshodi

A bio-inspired model of visual pursuit combining feedback and predictive control for a humanoid robot, pp 188-193 Egidio Falotico, Lorenzo Vannucci, Nicola Di Lecce, Paolo Dario, Cecilia Laschi 16:50 - 17:10 Path Following with An Underactuated SelfBalancing Spherical-Wheel Mobile Robot, pp 194-199 Ali Nail İnal, Ömer Morgül, Uluc Saranli 17:10 - 17:30 Mobile Robot Path Planning for Complex Dynamic Environments, pp 200-206 Mohamed Lamine Tazir, Ouahiba Azouaoui, Mohamed Hazerchi, Mohamed Brahimi

15:30 - 15:50

17:30 - 17:50

Finger-Like Manipulator Driven by Antagonistic Nickel-Titanium Shape Memory Alloy Actuators, pp 152-157

Space-time Area Coverage Control for Robot Motion Synthesis, pp 207-212

Savaş Dilibal, Erik D. Engeberg 15:50 - 16:10 ROS, Android and Cloud Robotics: How to make a powerful low cost robot, pp 158-163 João Paulo de Almeida Barbosa, Fábio Do Prado de Castro Lima, Leonardo Dos Santos Coutinho, João Paulo Reus Rodrigues Leite, Jeremias Barbosa Machado, Carlos Henrique Valério de Moraes, Guilherme Sousa Bastos

Tu2.3: Multi-Robot Systems 1 Tuesday, July 28, 2015 14:30-16:10, Fener Room 14:30 - 14:50 An Approach to Multi-Agent Pursuit Evasion Games Using Reinforcement Learning, pp 164-169

Vladimir Ivan, Sethu Vijayakumar 17:50 - 18:10 Model Predictive Path Planning with Time-Varying Safety Constraints for Highway Autonomous Driving, pp 213-217 Mehdi Jalalmaab, Baris Fidan, Soo Jeon, Paolo Falcone

Tu3.2: Localization and Mapping 1 Tuesday, July 28, 2015 16:30-18:10, Cibali Room 16:30 - 16:50 Topological Place Recognition Based on Long-Term Memory Retrieval, pp 218-223 Hakan Karaoguz, H. Isil Bozma 16:50 - 17:10

Endoscopic Capsule Localization with Unknown Signal Propagation Coefficients. pp 224-229 Ilknur Umay, Baris Fidan, Mehmet Rasit Yuce 17:30 - 17:50 Solving Ambiguities in MDS Relative Localization, pp 230-236 Carmelo Di Franco, Alessandra Melani, Mauro Marinoni

283-287 Feyyaz Emre Sancar, Baris Fidan, Jan P. Huissoon 11:50 - 12:10 Adaptive Motion Control for a Differentially Driven Semi-Autonomous Wheelchair Platform, pp 288-294 Dmitry Aleksandrovich Sinyukov, Taskin Padir 12:10 - 12:30 Towards Optimal Force Distribution for Walking Excavators, pp 295-301

Tu3.3: Cognitive Robotics 1 Tuesday, July 28, 2015 16:30-18:10, Fener Room 16:30 - 16:50

Marco Hutter, Philipp Leemann, Stefan Stevsic, Andreas Michel, Dominic Jud, Mark Hoepflinger, Roland Siegwart, Ruedi Figi, Christian Caduff, Markus Loher, Stefan Tagmann

Pushing and Grasping for Autonomous Learning of Object Models with Foveated Vision, pp 237-243 Robert Bevec, Ales Ude 16:50 - 17:10 Acquisition of grounded models of adjectival modifiers supporting semantic composition and transfer to a physical interactive robot, pp 244-251 Nikolaos Mavridis, Stefanos Kundig, Nikolaos Kapellas 17:10 - 17:30 Exploration in Structured Space of Robot Movements for Autonomous Augmentation of Action Knowledge, pp 252-258 Denis Forte, Bojan Nemec, Ales Ude 17:30 - 17:50 Integrating Spatial Concepts into a Probabilistic Concept Web, pp 259-264 Hande Celikkanat, Sinan Kalkan 17:50 - 18:10 Design and Implementation of a Cognitive-Ergonomic Navigation Interface on an Optimized Holonomic Mechanism, pp 265-270 Mohsen Falahi, Borhan Beigzadeh, Zahra Bank, Reza Rajabli

We1.1: Dynamics and Control 2 Wednesday, July 29, 2015 10:50-12:30, Auditorium D 10:50 - 11:10 Switching method to Avoid Algorithmic Singularity in Vision-based Control of a Space Robot, pp 271-276 Suril Shah, V. V. Anurag, A. H. Abdul Hafez, K. M. Krishna

We1.2: Rehabilitation and Medical Robotics 2 Wednesday, July 29, 2015 10:50-12:30, Cibali Room 10:50 - 11:10 On the EMG-based Torque Estimation for Humans Coupled with a Force-Controlled Elbow Exoskeleton, pp 302-307 Jessica Beltran Ullauri, Luka Peternel, Barkan Ugurlu, Yoji Yamada, Jun Morimoto 11:10 - 11:30 Estimation of two-digit grip type and grip force level by frequency decoding of motor cortex activity for a BMI application, pp 308-315 Michele Tagliabue, Nadine Francis, Hao Yaoyao, Margaux Duret, Thomas Brochier, Alexa Riehle, Marc Maier, Selim Eskiizmirliler 11:30 - 11:50 Lower Limb Gait Activity Recognition Using Inertial Measurement Units for rehabilitation robotics, pp 316-322 Mohammed M. Hamdi, Mohammed I. Awad, Magdy M. Abdelhameed, Farid A. Tolbah 11:50 - 12:10 A Cyber Physical System Testbed for Assistive Robotics Technologies in the Home, pp 323-328 Velin Dimitrov, Vinayak Jagtap, Mitchell Wills, Jeanine Skorinko, Taskin Padir 12:10 - 12:30 The KIT Whole-Body Human Motion Database, pp 329-336 Christian Mandery, Ömer Terlemez, Martin Do, Nikolaus Vahrenkamp, Tamim Asfour

11:10 - 11:30 Advanced spraying task strategy for bicycle-frame based on geometrical data of workpiece, pp 277-282 Chyi-Yeu Lin, Zelalem Abebe, Shu-Han Chang 11:30 - 11:50 Deadzone Switching Based Cooperative Adaptive Cruise Control with Rear-End Collision Check, pp

We2.1: Legged Locomotion 2 Wednesday, July 29, 2015 15:50-17:30, Auditorium D 15:50 - 16:10 Evolutionary discovery of self-stabilized dynamic gaits for a soft underwater legged robot, pp 337-344 Francesco Corucci, Marcello Calisti, Helmut

Hauser, Cecilia Laschi 16:10 - 16:30 Enlarging The Region of Stability Using The TorqueEnhanced Active SLIP Model, pp 345-350 Hasan Hamzaçebi, Ömer Morgül 16:30 - 16:50 Stability of a Compass Gait Model with Series Elastic Ankle Actuation, pp 351-356 Deniz Kerimoğlu, Ömer Morgül, Uluc Saranli 16:50 - 17:10 Toward Data-Driven Models of Legged Locomotion using Harmonic Transfer Functions, pp 357-362 Ismail Uyanik, Mustafa Mert Ankarali, Noah John Cowan, Ömer Morgül, Uluc Saranli 17:10 - 17:30 Optimization of the Switching Surface for the Simplest Passive Dynamic Biped, pp 363-368 Ali Tehrani Safa, Mahyar Naraghi, Aria Alasty

We2.2: Localization and Mapping 2 Wednesday, July 29, 2015 15:50-17:30, Cibali Room

Marcio G. Morais, Felipe Meneguzzi, Rafael H. Bordini, Alexandre Amory 16:10 - 16:30 Cooperative Control of Manipulator Robotic Systems with Unknown Dynamics, pp 401-406 Esmaeil Mehrabi, Ali Talebi, Mohammad Zarei Nejad, Iman Sharifi 16:30 - 16:50 Exploring Heterogeneity for Cooperative Localization in Swarm Robotics, pp 407-414 Anderson Grandi Pires, Douglas G. Macharet, Luiz Chaimowicz 16:50 - 17:10 Building Maps with Multi-Robot Systems under Limited Communication, pp 415-421 José Gilmar Nunes de Carvalho Filho, Jean-Marie Farines, José Cury 17:10 - 17:30 On-line Collision Detection of n-Robot Industrial Manipulators using Advanced Collision Map, pp 422427 Ahmad Yasser Afaghani, Yasumichi Aiyama

15:50 - 16:10 Detecting, tracking and predicting human motion inside an industrial robotic cell using a map-based particle filtering strategy, pp 369-374 Matteo Ragaglia, Luca Bascetta, Paolo Rocco 16:10 - 16:30 A Probabilistic Approach for Semantic Classification Using Laser Range Data in Indoor Environments, pp 375-381 Burak Kaleci, Çağrı Mete Şenler, Helin Dutagaci, Osman Parlaktuna 16:30 - 16:50 A Next Generation Mobile Robot with Multi-Mode Sense of 3D Perception, pp 382-387 Parijat Deshpande, V. Ramu Reddy, Arindam Saha, Karthikeyan Vaiapury, Keshaw Dewangan, Ranjan Dasgupta

Th1.1: Dynamics and Control 3 Thursday, July 30, 2015 10:50-12:30, Auditorium D 10:50 - 11:10 Robust Control of a Parallel Robot, pp 428-433 Meryam Rachedi, Mohamed Bouri, Boualem Hemici 11:10 - 11:30 Automatic Aid for Robot Control System Design, pp 434-439 Xingyun He, Lei Shi 11:30 - 11:50 Improvement in Modeling of Walking Assist Machine Using Crutches for Dynamic Analysis, pp 440-445 Ekin Basalp, Kensuke Hara, Hiroshi Yamaura, Daisuke Matsuura, Yukio Takeda

16:50 - 17:10

11:50 - 12:10

Kinect v2 for Mobile Robot Navigation: Evaluation and Modeling, pp 388-394

Tracking control of 3 DOF parallel robots: prototype design and experiments, pp 446-451

Péter Fankhauser, Michael Bloesch, Diego Rodriguez, Ralf Kaestner, Marco Hutter, Roland Siegwart

We2.3: Multi-Robot Systems 2 Wednesday, July 29, 2015 15:50-17:30, Fener Room 15:50 - 16:10 Distributed Fault Diagnosis for Multiple Mobile Robots Using an Agent Programming Language, pp 395-400

Hyunmin Do 12:10 - 12:30 Vector Based Closed-Loop Control Methodology for Industrial Robots, pp 452-458 Arnd Buschhaus, Andreas Blank, Joerg Franke

Th1.2: Robot Vision Thursday, July 30, 2015 10:50-12:30, Cibali Room 10:50 - 11:10

Visual Matching of Stroke Order in Robotic Calligraphy, pp 459-464 Hsien-I Lin, Yu-Che Huang 11:10 - 11:30 Predicting the Long-term Robustness of Visual Features, pp 465-470 Benjamin Metka, Annika Besetzny, Ute BauerWersing, Mathias Franzius

Dynamic process migration in heterogeneous ROSbased environments, pp 518-523 Jose Cano, Eduardo Molinos, Vijay Nagarajan, Sethu Vijayakumar 14:50 - 15:10 Basic interaction operations for an underwater vehicle-manipulator system, pp 524-529 Gianluca Antonelli, Elisabetta Cataldi

11:30 - 11:50

15:10 - 15:30

End-effector pose estimation of the Monash EpicyclicParallel Manipulator through the visual observation of its legs, pp 471-477

An Autonomous Firefighting Robot, pp 530-535

Alessia Vignolo, Sébastien Briot, Philippe Martinet, Chao Chen 11:50 - 12:10 Modelling daily actions through hand-based spatiotemporal features, pp 478-483 Olga Mur Escartín, Manel Frigola, Alicia Casals 12:10 - 12:30 GMM-Based Detection of Human Hand Actions for Robot Spatial Attention, pp 484-489 Riccardo Monica, Jacopo Aleotti, Stefano Caselli

Ahmed Hassanein, Mohanad Elhawary, Nour Jaber, Mohammed El-Abd 15:30 - 15:50 Towards an Embodied System-Level Architecture for Mobile Robots, pp 536-542 Conor McGinn, Michael Francis Cullinan, George Walsh, Cian Donavan, Kevin Kelly 15:50 - 16:10 A High Frequency 3D LiDAR with Enhanced Measurement Density via Papoulis--Gerchberg, pp 543-548 Bengisu Özbay, Elvan Kuzucu, Mustafa Gül, Dilan Öztürk, Muhittin Taşcı, Ahmet Mansur Arısoy, Halil Onur Şirin, İsmail Uyanık

Th2.1: Manipulation Thursday, July 30, 2015 14:30-16:10, Auditorium D 14:30 - 14:50

Th2.3: Learning and Adaptation Thursday, July 30, 2015 14:30-16:10, Fener Room

Humanlike, Task-Specific Reaching and Grasping with Redundant Arms and Low-Complexity Hands, pp 490-497

14:30 - 14:50

Minas Liarokapis, Aaron Dollar, Kostas Kyriakopoulos 14:50 - 15:10 Transferring Object Grasping Knowledge and Skill Across Different Robotic Platforms, pp 498-503 Ali Paikan, David Schiebener, Mirko Wachter, Tamim Asfour, Giorgio Metta, Lorenzo Natale 15:10 - 15:30 Interaction modeling in the grasping and manipulation of 3D deformable objects, pp 504-509 Lazher Zaidi, Belhassen-Chedli Bouzgarrou, Youcef Mezouar, Laurent Sabourin

Hierarchical Segmentation of Manipulation Actions based on Object Relations and Motion Characteristics, pp 549-556 Mirko Wächter, Tamim Asfour 14:50 - 15:10 Reactive, Task-specific Object Manipulation by Metric Reinforcement Learning, pp 557-564 Simon Hangl, Emre Ugur, Sandor Szedmak, Ales Ude, Justus Piater 15:10 - 15:30 Generalization of Discrete Compliant Movement Primitives, pp 565-572 Miha Deniša, Andrej Gams, Aleš Ude, Tadej Petrič

15:30 - 15:50

15:30 - 15:50

The YCB Object and Model Set: Towards Common Benchmarks for Manipulation Research, pp 510-517

Wavelet based OFTM for Learning Stirring Food by Imitation, pp 573-580

Berk Calli, Arjun Singh, Aaron Walsman, Siddhartha Srinivasa, Pieter Abbeel, Aaron M. Dollar

Mohsen Falahi, Sima Sobhiyeh, Amir Hossein Rezaie, Seyed Ahmad Motamedi

Th2.2: Platforms and Architectures 2 Thursday, July 30, 2015 14:30-16:10, Cibali Room 14:30 - 14:50

15:50 - 16:10 COACH: Learning continuous actions from COrrective Advices Communicated by Humans, pp 581-586 Carlos Celemin, Javier Ruiz-Del-Solar

Th3.1: Aerial Robots Thursday, July 30, 2015 16:30-18:10, Auditorium D 16:30 - 16:50 A Fast Dense Stereo Matching Algorithm with an Application to 3D Occupancy Mapping using Quadrocopters, pp 587-592 Radouane Ait Jellal, Andreas Zell 17:30 - 17:50 Integral Backstepping Controller for Quadrotor Path Tracking, pp 593-598 Wesam Jasim, Dongbing Gu 17:50 - 18:10 Cooperative Multi-Task Assignment for Heterogonous UAVs, pp 599-604 Nuri Ozalp, Ugur Ayan, Erhan Oztop

Th3.2: Localization and Mapping 3 Thursday, July 30, 2015 16:30-18:10, Cibali Room 16:30 - 16:50 A Probabilistic, Variable-Resolution and Effective Quadtree Representation for Mapping of Large Environments, pp 605-610 Yingfeng Chen, Wei Shuai, Xiaoping Chen 16:50 - 17:10 FAST ICP-SLAM for a Bi-steerable Mobile Robot in large environments, pp 611-616 Rachid Tiar, Mustapha Lakrouf, Ouahiba Azouaoui 17:10 - 17:30 Pheromone Averaging Exploration Algorithm, pp 617622 Bogdan-Florin Florea, Ovidiu Grigore, Mihai Datcu 17:30 - 17:50 Fault Detection and Exclusion method for a tightly coupled localization system, pp 623-628 Joelle Al Hage, Nourdine Aïttmazirte, Maan El Badaoui El Najjar, Denis Pomorski 17:50 - 18:10 First characterization results obtained in a wind tunnel designed for indoor gas source detection, pp 629-634 Dani Martinez, Eduard Clotet, Marcel Tresanchez, Javier Moreno, Juan Manuel Jiménez-Soto, Rudys Magrans, Santiago Marco, Jordi Palacin

Th3.3: Cognitive Robotics 2 Thursday, July 30, 2015 16:30-18:10, Fener Room 16:30 - 16:50 Comparison of Action-Grounded and Non-ActionGrounded 3-D Shape Features for Object Affordance Classification, pp 635-641 Barry Ridge, Emre Ugur, Aleš Ude

16:50 - 17:10 Human Robot Interaction can Boost Robot's Affordance Learning: A Proof of Concept, pp 642-648 Amit Kumar Pandey, Rodolphe Gelin 17:10 - 17:30 Argumentation-based Scene Interpretation Using Defeasible Logic Programming, pp 649-654 Cagatay Koc, Sanem Sariel 17:30 - 17:50 Pose and Category Recognition of Highly Deformable Objects Using Deep Learning, pp 655-662 Ioannis Mariolis, Georgia Peleka, Andreas Kargakos, Sotiris Malassiotis 17:50 - 18:10 Robust task Execution through Experience-based Guidance for Cognitive Robots, pp 663-668 Sanem Sariel, Petek Yildiz, Sertac Karapinar, Dogan Altan, Melis Kapotoglu For technical inquiries regarding this content, please contact: ICAR 2015 Technical Dept. of Computer Engineering, Middle East Technical University, Ankara, Turkey Phone: +90 312 2102080, Fax: +90 312 2105544 [email protected]