20th Towards Autonomous Robotic Systems Conference3-5 July 2019 Programme

Advanced Robotics@ Queen Mary

ARQ

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Contents

Welcome 03

Keynote speakers 04

Programme Wednesday 06

Thursday 12

Friday 18

Our Sponsors

Institute of Applied Data Science, Queen Mary University of London

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Welcome Message

Kaspar Althoefer Chris Melhuish Mark Witkowski Ketao Zhang Jelizaveta Konstantinova

Welcome to TAROS 2019 at Queen Mary University of London.

TAROS will bring together leading experts for three days of intensive discussions on the multi-faceted field of robotics reporting on the most recent technological advancements.

Now in its 20th installation, TAROS will stick to its tradition of showcasing robotics research of the highest excellence and providing a platform, especially, for PhD students and early-career researchers to present their work on an international platform and exchange thoughts with world-leading roboticists. Delivering an all-embracing synopsis of the latest research advances in robotics, TAROS will connect scientists, industrialists and colleagues from learned societies across its varied sectors of specialisation under a single roof.

Four international keynote speakers will review the most recent developments in robotics and inform us about the pioneering progress of their robotics research. Attendees will hear about the cutting-edge robotics advancements from researchers of national and international universities in oral presentations and poster sessions. Sponsorship has been gratefully received from a range of companies, research institutions and publishing houses.

I look forward to meeting you in London at TAROS 2019, which I am certain, will be a thought-provoking and entertaining event.

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Keynote Speakers

Professor Aude BillardMachine Learning for Robots to Think Fast in the Face of Unexpected EventsAbstract: The next generation of robots will soon get out of the secure and predictable environment of factories and will face the complexity and unpredictability of our daily environments. To avoid that robots fail lamely at the task they are programmed to do, robots will need to adapt on the go. I will present techniques from machine learning to allow robots to learn strategies to enable them to react rapidly and efficiently to changes in the environment. Learning the set of feasible solutions will be preferred over learning optimal controllers. I will review methods we have developed to allow instantaneous reactions to perturbation, leveraging on the multiplicity of feasible solutions. I will present applications of these methods for compliant control during human-robot collaborative tasks and for performing fast motion, such as catching flying objects.

Professor Bruno SicilianoRobotic Dynamic Manipulation: Perception, Planning and ControlAbstract: The state of the art of robotic manipulation is still rather far from the human dexterity in the execution of complex motions such as, for example, in dynamic manipulation tasks. Dynamic manipulation is considered as the most complex category of manipulation requiring ad-hoc controllers and specialized hardware. In case of non-prehensile manipulation or non-rigid objects, the task of dynamic manipulation becomes even more challenging. This reduces the opportunities for wide adoption of robots within human co-habited environments. This talk presents the results achieved within the RoDyMan project related to perception, planning and control strategies for robotic non-prehensile manipulation. The project aims at advancing the state of the art of non-prehensile dynamic manipulation of rigid and deformable objects to further enhance the possibility of employing robots in anthropic environments. The final demonstrator of the RoDyMan project will be an autonomous pizza maker. The lessons learned so far are highlighted to pave the way towards future research directions and critical discussion.

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Keynote Speakers

Professor Veronique PerdereauTowards dexterous robotic manipulationAbstract: In this talk Veronique Perdereau will present past and ongoing developments on robotic dexterous manipulation carried out under her supervision at ISIR lab.

Professor Francesco NoriAn Overview of Research and Robotics at Google DeepMindAbstract: DeepMind is working on some of the world’s most complex and interesting research challenges, with the ultimate goal of solving artificial general intelligence (AGI). We ultimately want to develop an AGI capable of dealing with a variety of environments. A truly general AGI needs to be able to act on the real world and to learn tasks on real robots. Robotics at DeepMind aims at endowing robots with the ability to learn how to perform complex manipulation tasks. This talk will give an introduction to DeepMind with specific focus on robotics, control or reinforcement learning.

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11.15am Energy-Tank based Force Control for 3D Contour FollowingSalua Hamaza*, Ioannis Georgilas, Tom Richardson

11.30am Kinematic Control and Obstacle Avoidance for Soft Inflatable ManipulatorAhmad Ataka*, Agostino Stilli, Jelizaveta Konstantinova, Helge Wurdemann, Kaspar Althoefer

11.45am Learning and Composing Primitive Skills for Dual-arm ManipulationÈric Artau*, Paola Ardón*, Michael Mistry*, Yvan Petillot*

12pm DE VITO: A Dual-arm, High Degree-of-freedom, Lightweight, Inexpensive, Passive Upper-limb Exoskeleton for Robot TeleoperationFabian Falck*, Kawin Larppichet, Petar Kormushev

12.15pm A Novel Probabilistic Projection Model for Multi-Camera Object TrackingJiaxin Lin*, Chun Xiao, Disi Chen, Dalin Zhou, Zhaojie Ju, Honghai Liu

8.30am Registration 9am Opening and Welcome

9.10am Keynote 1 Professor Veronique PerdereauChair: Professor Kaspar Althoefer

10.10am Coffee Break

Oral Presentation Session 1-1 Topic: Robotic Grippers and Manipulation Chair: Dr Lorenzo Jamone

10.30am Reasoning on Grasp-Action AffordancesPaola Ardón*, Èric Artau*, Ron Petrick, Subramanian Ramamoorthy, Katrin Solveig Lohan

10.45am Design analysis of a fabric based lightweight robotic gripperAhmed Hassan*, Hareesh Godaba*, Kaspar Althoefer11am A method to estimate the oblique arch folding axis for thumb assistive devicesVisakha Nanayakkara*, Nantachai Sornkaran, Hasitha Wegiriya, Nikolaos Vitzilaios, Demetrios Venetsanos, Nicolas Rojas, M. Necip Sahinkaya, Thrishantha Nanayakkara

Wednesday, 3 July 2019

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Wednesday, 3 July 2019

12.30pm Lunch and exhibition

Oral Presentation Session 1-2Topic: Soft Robotics, Sensing and Mobile RobotsChair: Dr Myra Wilson

1.30pm Soft fiber-reinforced pneumatic actuator design and fabrication: Towards robust, soft robotic systemsJan Fras*, Kaspar Althoefer

1.45pm Ultrasound Feature Evaluation for Robustness to Sensor Shift in Ultrasound Sensor Based Hand Motion Recognition Peter Boyd, Yinfeng Fang, Honghai Liu

2pm Light Intensity-Modulated Bending Sensor Fabrication and Performance Test for Shape SensingFaisal ALJaber*, Kaspar Althoefer*

2.15pm Designing Origami-adapted Deployable Modules for Soft Continuum ArmsKetao Zhang*, Kaspar Althoefer

2.30pm A Debris Clearance Robot for Extreme EnvironmentsCraig West*, Farshad Arvin*, Wei Cheah, Andrew West, Simon Watson, Manuel Giuliani, Barry Lennox

2.45pm Dynamic Response Characteristics in Variable Stiffness Soft Inflatable LinksAhmad Ali, Kaspar Althoefer, Jelizaveta Konstantinova

3pm Investigating balance control of a hopping bipedal robotBeichen Ding*, Andrew Plummer, Pejman Iravani

3.15pm Continuous Motion Utilising Advanced Motions on a HexapodWei Chen Cheah, Hassan Hakim Khalili, Simon Watson, Peter Green, Barry Lennox

3:30pm Invited TalkRich WalkerDexterity and Robotics - developing robot hands for real world environments

4pm Coffee Break

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P5 Optimal Manoeuver Trajectory Synthesis for Autonomous Space and Aerial Vehicles and RobotsRanjan Vepa*

P6 Soft particles for granular jammingFabrizio Putzu*, Jelizaveta Konstantinova*, Kaspar Althoefer

P7 Intuitive Bare-Hand Teleoperation of a Robotic Manipulator using Virtual Reality and Leap MotionInmo Jang*, Joaquin Carrasco Gomez, Andrew Weightman, Barry Lennox

P8 An Optimal Approach to Anytime Task and Path Planning for Autonomous Mobile Robots in Dynamic EnvironmentsCuebong Wong*, Erfu Yang, Xiu-Tian Yan, Dongbing Gu

Poster Session 14 – 5pm

P1 Making the Case for Human-aware Navigation in Warehouses Manuel Fernandez-Carmona*, Tejas Parekh, Marc Hanheide

P2 A vision-based assistance key differenciator for helicopters automonous scalable missionsRémi Girard*, Sébastien Mavromatis, Jean Sequeira, Nicolas Belanger, Guillaume Anoufa

P3 The Third hand, Cobots Assisted Precise AssemblyMohammad Safeea, Pedro Neto*, Richard Bearee

P4 Towards a Swarm Robotic System for Autonomous Cereal Harvesting Alan Millard*, Roopika Ravikanna*, Roderich Gross*, David Chesmore*

Wednesday, 3 July 2019

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Wednesday, 3 July 2019

P9 A Self-Organizing Network with Varying Density Structure for Characterizing Sensorimotor Transformations in Robotic SystemsOmar Zahra*, David Navarro-Alarcon*

P10 A Cross-Landscape Evaluation of Multi-Robot Team Performance in Static Task-Allocation DomainsDingdian Zhang*, Eric Schneider, Elizabeth Sklar*

P11 Payload Capabilities and Operational Limits of Eversion RobotsHareesh Godaba*, Fabrizio Putzu, Taqi Abrar, Jelizaveta Konstantinova, Kaspar Althoefer

P12 Random walk exploration for swarm mappingMiquel Kegeleirs*, David Garzón Ramos*, Mauro Birattari*

P13 MoDSeM: Towards Semantic Mapping with Distributed RobotsGonçalo Martins*, João Filipe Ferreira, David Portugal, Micael Couceiro

P14 Boundary Detection in a Swarm of KilobotsYingyi Kuang, Yuri Kaszubowski Lopes*, Roderich Gross*

P15 Robot path planning using imprecise and sporadic advisory information from humansGianni Di Caro*, Eduardo Feo*

P16 A K-Nearest Neighbours Based Inverse Sensor Model for Occupancy MappingYu Miao, Ioannis Georgilas, Alan Hunter

5pm Welcome Reception

6pmIET Public Talk, Professor Aude Billard Chair: Professor Kaspar Althoefer

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11.20am Coverage Path Planning for Large-Scale Aerial MappingNasser Gyagenda*, Ahmad Kamal Nasir, Hubert Roth, Vadim Zhmud

11.35am Self-organized Collective Motion with a Simulated Real Robot SwarmMohsen Raoufi*, Ali Emre Turgut, Farshad Arvin*

11.50pm Contact Planning for the ANYmal Quadruped Robot using an Acyclic Reachability-Based PlannerMathieu Geisert*, Thomas Yates, Asil Orgen, Pierre Fernbach, Ioannis Havoutis

12.05pm Multi-Robot Multi-Goal Motion Planning with Time and ResourcesStefan Edelkamp*

12.30pm Lunch and exhibition

Oral Presentation Session 2-2Topic: Human-Robot InteractionChair: Dr Alan Millard

1.30pm instruMentor: an Interactive Robot for Musical Instrument TutoringShreyus Bagga, Benedikt Maurer, Tom Miller, Luke Quinlan, Lorenzo Silvestri,

9am Keynote 2 Dr Francesco NoriChair: Professor Stefan Edelkamp

10am Coffee Break

Oral Presentation Session 2-1Topic: Robotic Learning, Mapping and PlanningChair: Dr Alessandro Di Nuovo

10.20am Towards adversarial training for mobile robotsTodd Flyr*, Simon Parsons*

10.35am Collaborative HRI and Machine Learning for Constructing Personalised Physical Exercise DatabasesDaniel Delgado Bellamy*, Praminda Caleb-Solly*

10.50am ORB-SLAM-CNN: Lessons in Adding Semantic Map Construction to Feature-Based SLAMAndrew Webb*, Gavin Brown, Mikel Lujan

11.05am Probabilistic Planning for Robotics with ROSPlanGerard Canal*, Michael Cashmore, Senka Krivic, Guillem Alenyà, Daniele Magazzeni, Carme Torras

Thursday, 4 July 2019

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Thursday, 4 July 2019

Dan Wells, Rebecka Winqvist, Mark Zolotas*, Yiannis Demiris

1.45pm Position and Velocity Control for Telemanipulation with Interoperability ProtocolBukeikhan Omarali*, Francesca Palermo, Maurizio Valle, Stefan poslad, Kaspar Althoefer, Ildar Farkhatdinov*

2pm Intrinsically Motivated Autonomy in Human-Robot Interaction: Human Perception of Predictive Information in RobotsMarcus M. Scheunemann*, Christoph Salge, Kerstin Dautenhahn

2.15pm Modeling and Control of Ankle Actuation Platform for Human-Robot InteractionAta Otaran*, Ildar Farkhatdinov*

2.30pm Investigating the effects of social interactive behaviours of a robot on people’s trust during a navigation taskAlessandra Rossi*, Fernando Garcia, Arturo Cruz-Maya, Kerstin Dautenhahn, Kheng Lee Koay, Michael Walters, Amit K. Pandey

2.45pm A Dataset for Action Recognition in the WildAlexander Gabriel*, Serhan Cosar, Nicola Bellotto, Paul Baxter*

3pm Feel it on your Fingers: Dataglove with Vibrotactile Feedback for Virtual Reality and TeleroboticsBurathat Junput, Xuyi Wei, Lorenzo Jamone*

3.15pm Virtual Reality Simulator for Medical Auscultation TrainingLuis Andres Puertolas Balint*, Luis Humberto Perez Macías, Kaspar Althoefer

Invited Oral Presentation Session: The Queen Mary UK Best PhD in Robotics Award Chair: Dr Lorenzo Jamone

3.30 Markus Wulfmeier 3.40 Emmanuel Senft 3.50 Tobias Fischer

4pm Coffee Break

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P21 Visual and Thermal Data for Pedestrian and Cyclist DetectionSarfraz Ahmed*, M. Nazmul Huda*, Sujan Rajbhandari*, Chitta Saha*, Stratis Kanarachos*, Mark Elshaw*

P22 An Augmented Reality Environment toProvide Visual Feedback to Amputeesduring sEMG Data Acquisitions Francesca Palermo*, Matteo Cognolato,Ivan Eggel, Manfredo Atzori, Henning Müller

P23 Online Human In-Hand Manipulation Skill Recognition and LearningDisi Chen, Zhaojie Ju*, Dalin Zhou, Gongfa Li, Honghai Liu

P24 Towards Generating Simulated Walking Motion using Position Based Deep Reinforcement LearningWilliam Jones, Siddhant Gangapurwala, Ioannis Havoutis, Kazuya Yoshida

Poster Session 24 – 5pmP17 Mobile Robot Trajectory Analysis with the Help of Vision SystemDinmohamed Danabek*, Ata Otaran, Ildar Farkhatdinov*

P18 Autonomous Air-Hockey Playing Cobot using Optimal Control and Vision-Based Bayesian TrackingAhmad AlAttar, Louis Rouillard, Petar Kormushev

P19 LibRob: an Autonomous Assistive LibrarianCostanza Di Veroli, Cao An Le, Thibaud Lemaire, Eliot Makabu, Abdullahi Nur, Vincent Ooi, Jee Yong Park, Federico Sanna, Rodrigo Chacon Quesada, Yiannis Demiris

P20 Watchman Routes for Robot InspectionStefan Edelkamp*

Thursday, 4 July 2019

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Thursday, 4 July 2019

P25 Modelling of a soft sensor for exteroception and proprioception in a pneumatically actuated soft robot Abu Bakar Dawood*, Hareesh Godaba*, Kaspar Althoefer*

P26 A Robust Polyurethane Depositing System for Overcoming Obstacles in Disaster Scenario RoboticsAlec Burns*, Sebastiano Fichera, Paolo Paoletti

P27 Improved Safety with a Distributed Routing Strategy for UAVsWilliam Bonnell*

P28 Robotic-assisted Ultrasound for Fetal Imaging: Evolution from Single-arm to Dual-arm SystemShuangyi Wang*, James Housden, Yohan Noh, Davinder Singh, Anisha Singh, Emily Skelton, Jacqueline Matthew, Cornelius Tan, Junghwan Back, Lukas Lindenroth, Alberto Gomez, Nicolas Toussaint, Veronika Zimmer, Caroline Knight, Tara Fletcher,

David Lloyd, John Simpson, Dharmintra Pasupathy, Hongbin Liu, Kaspar Althoefer, Joseph Hajnal, Reza Razavi, Kawal Rhode

P29 Evaluating ToRCH structure for characterizing robotsManal Linjawi*, Roger Moore

P30 Towards Long-Term Autonomy based on Temporal PlanningYaniel Carreno*, Ron Petrick, Yvan Petillot

P31 A Quest Towards Safe Human Robot CollaborationMohammad Safeea, Pedro Neto*, Richard Bearee

P32 MRComm: Multi-Robot Communication TestbedTsvetan Zhivkov*, Eric Schneider, Elizabeth Sklar*

7pm DinnerThe Museum of Docklands

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Soft Pneumatic Octopus

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Soft Prosthetic Hand

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P37GarmNet: Improving Global with Local Perception for Robotic Laundry FoldingDaniel Gomes*, Shan Luo*, Luis Teixeira*

P38Wheelchair Navigation: Automatically Adapting to Evolving EnvironmentsTomos Fearn*, Frederic Labrosse, Patricia Shaw

P39An Auto-Correction Teleoperation Method for a Mobile Manipulator Using Gaze Tracking and Hand Motion DetectionJunshen Chen*, Ze Ji*, Hanlin Niu*, Rossi Setchi*, Chenguang Yang*

P40 Collision-Free Optimal Trajectory for a Controlled Floating Space RobotAsma Seddaoui*, Chakravarthini Saaj

P41Development and Evaluation of a Novel Robotic System for Search and RescueAndrea Cachia, M. Nazmul Huda*, Pengcheng Liu, Chitta Saha, Andrew Tickle, John Arvanitakis, Syed Mahfuzul Aziz

9am Keynote 3 Professor Bruno SicilianoChair: Dr Ketao Zhang

10am Coffee Break

Poster Session 310 – 11amP33Omni-Pi-tent: An Omnidirectional Modular Robot with Genderless DockingRobert Peck, Jonathan Timmis, Andy Tyrrell

P34Exploration: Do we need a map?Mohamed Idries, Matthias Rolf, Tjeerd olde Scheper

P35System Design and Control of a Di-Wheel RoverJohn Koleosho

P36Eduardo: A Low Cost Assistive Robot Development Platform Featuring a Compliant End EffectorOliver Smith*, Samuel White*

Friday, 5 July 2019

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Friday, 5 July 2019

P42The Impact of the Robot’s Morphology in the Collective TransportJessica Meyer*

P43Mapping of Ultra-Wide Band Positional Variance for Indoor EnvironmentsHarry Pointon*, Frederic Bezombes

P44The Downsizing of a Free-Flying Space RobotLucy Jackson*, Chakravarthini Saaj, Asma Seddaoui, Steve Eckersley, Calem Whiting

P45Semantic Path Planning for Indoor Navigation and Household TasksNico Sun*, Erfu Yang, Jonathan Corney, Leo Chen

P46Preliminary investigation on visual finger-counting with the iCub robot cameras and handsAlexandr Lucas*, Carlos Ricolfe-Viala*, ALESSANDRO DI NUOVO*

P47Elastomer-based Touch Sensor:Visualization of Tactile PressureDistributionWanlin Li, Jelizaveta Konstantinova,Akram Alomainy, Kaspar Althoefer*

P48Modular, Underactuated Anthropomorphic Robot Hand with Flexible Fingers and Twisted String ActuatorsFaiz Rahman, Kaiqiang Zhang, Guido Herrmann

P49A Novel Wireless Measurement While drilling System for the Detection of Deeply Buried Unexploded Bombs (UXBs)MOUTAZBELLAH KHATER*, Waleed Al-Nauimy, Asger Eriksen

P50Reinforcement Learning to Identify Optimal Frames of Reference in Task-parametrised Learning from Demonstration)Shirine El Zaatari, Prof. Weidong Li

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Oral Presentation Session 3Topic: Robotic Systems and Applications Chair: Prof Pedro Neto

11am Note on Geometric and Exponential Expressions of Screw DisplacementGuowu Wei*, Anthony H. Jones, Lei Ren

11.15am A modular 3D-printed inverted pendulumIan Howard*

11.30pm A Geometric Dynamics Algorithm for Serially Linked RobotsMohammad Safeea, Pedro Neto*, Richard Bearee

11.45pm Full-Rotation Singularity-Safe Workspace for Kinematically Redundant Parallel Robots Nicholas Baron*, Yat Hei Cheung*, Nicolas Rojas*

Friday, 5 July 2019

12pm Model-based 3D point cloud segmentation for automated selective broccoli harvestingHector A. Montes*, Grzegorz Cielniak, Tom Duckett

12.15pm Mine Detonating Sphere-BotRebecca Harding*, Charlie Freestone*, Martin Stoelen*

12.30pm Invited TalkStoyan Smoukov Bottom-up robotics - towards growing material robots

1pm Awards Ceremony

1.30pm Lunch

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Friday, 5 July 2019

Web Chair Joshua Brown ARQ, Queen Mary University of London, UK

Program CommitteeAkram Alomainy Queen Mary University of London, UK

Kaspar Althoefer Queen Mary University of London, UK

Ahmad Ataka Kings College London, UK

Christos Bergeles Kings College London, UK

Michael Cashmore Kings College London, UK

Kerstin Dautenhahn University of Waterloo, Canada

Yiannis Demiris Imperial College London, UK

Sanja Dogramadzi University of the West of England, UK

Venky Dubey Bournemouth University, UK

Ildar Farkhatdinov Queen Mary University of London, UK

Manuel Giuliani University of the West of England, UK

Hareesh Godaba Queen Mary University of London, UK

Roderich Gross University of Sheffield, UK

Dongbing Gu University of Essex, UK

Marc Hanheide University of Lincoln, UK

Lorenzo Jamone Queen Mary University of London, UK

Jelizaveta Konstantinova Queen Mary University of London, UK

Senka Krivic Kings College London, UK

Barry Lennox University of Manchester, UK

Honghai Liu University of Portsmouth, UK

Shan Luo University of Liverpool, UK

Perla Maiolino Universiy of Oxford, UK

Thrishantha Nanayakkara Imperial College London, UK

Jacques Penders Sheffield Hallam University, UK

Anthony Pipe University of the West of England, UK

Anuradha Ranasinghe Liverpool Hope University, UK

Kawal Rhode Kings College London, UK

Nicolas Rojas Imperial College London, UK

Mini C. Saaj University of Surrey, UK

Tom Scott University of Bristol, UK

Emanuele Lindo Secco Liverpool Hope University, UK

Elizabeth Sklar Kings College London, UK

Agostino Stilli University College London, UK

Sen Wang Herriot-Watt University, UK

Guowu Wei University of Salford, UK

Helge Wurdemann University College London, UK

Ketao Zhang Queen Mary University of London, UK

Stefan Poslad Queen Mary University of London, UK

Carlo Tiseo Nanyang Technological University, Singapore

Joshua Brown

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please contact: designandbranding@qmul.ac.ukqmul.ac.uk/robotics

ARQ - Advanced Robotics at Queen Mary Tel: +44 20 7882 3419Email: k.althoefer@qmul.ac.uk

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