20th Towards Autonomous Robotic Systems Conference - 3-5 July 2019 Programme Advanced Robotics
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Advanced Robotics
@ Queen Mary
ARQ
20th Towards Autonomous
Robotic Systems Conference
3-5 July 2019 Programme
qmul.ac.uk/robotics
Our Sponsors Contents
Welcome 03
Keynote speakers 04
Programme
Wednesday 06
Thursday 12
Institute of Applied Data Science, Friday 18
Queen Mary University of London
2 qmul.ac.uk
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.
qmul.ac.uk 3
Keynote Speakers
Professor Aude Billard Professor Bruno Siciliano
Machine Learning for Robots to Think Robotic Dynamic Manipulation:
Fast in the Face of Unexpected Events Perception, Planning and Control
Abstract: The next generation of robots will Abstract: The state of the art of robotic
soon get out of the secure and predictable manipulation is still rather far from the
environment of factories and will face human dexterity in the execution of complex
the complexity and unpredictability of motions such as, for example, in dynamic
our daily environments. To avoid that manipulation tasks. Dynamic manipulation
robots fail lamely at the task they are is considered as the most complex category
programmed to do, robots will need to of manipulation requiring ad-hoc controllers
adapt on the go. I will present techniques and specialized hardware. In case of non-
from machine learning to allow robots to prehensile manipulation or non-rigid objects,
learn strategies to enable them to react the task of dynamic manipulation becomes
rapidly and efficiently to changes in the even more challenging. This reduces the
environment. Learning the set of feasible opportunities for wide adoption of robots
solutions will be preferred over learning within human co-habited environments.
optimal controllers. I will review methods This talk presents the results achieved within
we have developed to allow instantaneous the RoDyMan project related to perception,
reactions to perturbation, leveraging on planning and control strategies for robotic
the multiplicity of feasible solutions. I will non-prehensile manipulation. The project
present applications of these methods for aims at advancing the state of the art of non-
compliant control during human-robot prehensile dynamic manipulation of rigid and
collaborative tasks and for performing fast deformable objects to further enhance the
motion, such as catching flying objects. 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.
4 qmul.ac.uk
Professor Francesco Nori Professor Veronique Perdereau
An Overview of Research Towards dexterous robotic manipulation
and Robotics at Google DeepMind Abstract: In this talk Veronique
Abstract: DeepMind is working on some of Perdereau will present past and ongoing
the world’s most complex and interesting developments on robotic dexterous
research challenges, with the ultimate goal manipulation carried out under her
of solving artificial general intelligence supervision at ISIR lab.
(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.
qmul.ac.uk 5
Wednesday, 3 July 2019
8.30am Registration 11.15am Energy-Tank based Force
9am Opening and Welcome Control for 3D Contour Following
Salua Hamaza*, Ioannis Georgilas,
9.10am Keynote 1 Tom Richardson
Professor Veronique Perdereau 11.30am Kinematic Control and
Chair: Professor Kaspar Althoefer Obstacle Avoidance for Soft Inflatable
10.10am Coffee Break Manipulator
Ahmad Ataka*, Agostino Stilli,
Oral Presentation Session 1-1 Jelizaveta Konstantinova, Helge
Topic: Robotic Grippers and Manipulation Wurdemann, Kaspar Althoefer
Chair: Dr Lorenzo Jamone
11.45am Learning and Composing
10.30am Reasoning on Primitive Skills for Dual-arm
Grasp-Action Affordances Manipulation
Paola Ardón*, Èric Artau*, Ron Petrick, Èric Artau*, Paola Ardón*, Michael Mistry*,
Subramanian Ramamoorthy, Yvan Petillot*
Katrin Solveig Lohan
12pm DE VITO: A Dual-arm, High
10.45am Design analysis of a fabric Degree-of-freedom, Lightweight,
based lightweight robotic gripper Inexpensive, Passive Upper-limb
Ahmed Hassan*, Hareesh Godaba*, Exoskeleton for Robot Teleoperation
Kaspar Althoefer Fabian Falck*, Kawin Larppichet,
11am A method to estimate the oblique Petar Kormushev
arch folding axis for thumb assistive devices
12.15pm A Novel Probabilistic
Visakha Nanayakkara*, Nantachai
Projection Model for Multi-Camera
Sornkaran, Hasitha Wegiriya, Nikolaos
Object Tracking
Vitzilaios, Demetrios Venetsanos, Nicolas
Jiaxin Lin*, Chun Xiao, Disi Chen,
Rojas, M. Necip Sahinkaya, Thrishantha
Dalin Zhou, Zhaojie Ju, Honghai Liu
Nanayakkara
6 qmul.ac.uk
12.30pm Lunch and exhibition 2.30pm A Debris Clearance Robot
for Extreme Environments
Oral Presentation Session 1-2 Craig West*, Farshad Arvin*, Wei Cheah,
Topic: Soft Robotics, Sensing and Andrew West, Simon Watson,
Mobile Robots Manuel Giuliani, Barry Lennox
Chair: Dr Myra Wilson
2.45pm Dynamic Response
1.30pm Soft fiber-reinforced pneumatic Characteristics in Variable
actuator design and fabrication: Stiffness Soft Inflatable Links
Towards robust, soft robotic systems Ahmad Ali, Kaspar Althoefer,
Jan Fras*, Kaspar Althoefer Jelizaveta Konstantinova
1.45pm Ultrasound Feature Evaluation 3pm Investigating balance control
for Robustness to Sensor Shift in of a hopping bipedal robot
Ultrasound Sensor Based Hand Motion Beichen Ding*, Andrew Plummer,
Recognition Pejman Iravani
Peter Boyd, Yinfeng Fang, Honghai Liu
3.15pm Continuous Motion Utilising
2pm Light Intensity-Modulated Bending Advanced Motions on a Hexapod
Sensor Fabrication and Performance Wei Chen Cheah, Hassan Hakim Khalili,
Test for Shape Sensing Simon Watson, Peter Green, Barry Lennox
Faisal ALJaber*, Kaspar Althoefer*
3:30pm Invited Talk
2.15pm Designing Origami-adapted Rich Walker
Deployable Modules for Soft Continuum Dexterity and Robotics -
Arms developing robot hands for
Ketao Zhang*, Kaspar Althoefer real world environments
4pm Coffee Break
qmul.ac.uk 7
Wednesday, 3 July 2019
Poster Session 1 P5
4 – 5pm Optimal Manoeuver Trajectory
Synthesis for Autonomous Space
P1 and Aerial Vehicles and Robots
Making the Case for Human-aware Ranjan Vepa*
Navigation in Warehouses
Manuel Fernandez-Carmona*, P6
Tejas Parekh, Marc Hanheide Soft particles for granular jamming
Fabrizio Putzu*, Jelizaveta Konstantinova*,
P2 Kaspar Althoefer
A vision-based assistance key
differenciator for helicopters P7
automonous scalable missions Intuitive Bare-Hand Teleoperation of
Rémi Girard*, Sébastien Mavromatis, a Robotic Manipulator using Virtual
Jean Sequeira, Nicolas Belanger, Reality and Leap Motion
Guillaume Anoufa Inmo Jang*, Joaquin Carrasco Gomez,
Andrew Weightman, Barry Lennox
P3
The Third hand, Cobots Assisted P8
Precise Assembly An Optimal Approach to Anytime
Mohammad Safeea, Pedro Neto*, Task and Path Planning for
Richard Bearee Autonomous Mobile Robots in Dynamic
Environments
P4 Cuebong Wong*, Erfu Yang, Xiu-Tian Yan,
Towards a Swarm Robotic System Dongbing Gu
for Autonomous Cereal
Harvesting
Alan Millard*, Roopika Ravikanna*,
Roderich Gross*, David Chesmore*
8 qmul.ac.uk
P9 P13
A Self-Organizing Network with Varying MoDSeM: Towards Semantic Mapping
Density Structure for Characterizing with Distributed Robots
Sensorimotor Transformations in Gonçalo Martins*, João Filipe Ferreira,
Robotic Systems David Portugal, Micael Couceiro
Omar Zahra*, David Navarro-Alarcon*
P14
P10 Boundary Detection in a Swarm
A Cross-Landscape Evaluation of Multi- of Kilobots
Robot Team Performance in Static Task- Yingyi Kuang, Yuri Kaszubowski Lopes*,
Allocation Domains Roderich Gross*
Dingdian Zhang*, Eric Schneider, Elizabeth
Sklar* P15
Robot path planning using imprecise
P11 and sporadic advisory information
Payload Capabilities and Operational from humans
Limits of Eversion Robots Gianni Di Caro*, Eduardo Feo*
Hareesh Godaba*, Fabrizio Putzu, Taqi
Abrar, Jelizaveta Konstantinova, Kaspar P16
Althoefer A K-Nearest Neighbours Based Inverse
Sensor Model for Occupancy Mapping
P12 Yu Miao, Ioannis Georgilas, Alan Hunter
Random walk exploration for swarm
mapping 5pm Welcome Reception
Miquel Kegeleirs*, David Garzón Ramos*,
Mauro Birattari* 6pm
IET Public Talk, Professor Aude Billard
Chair: Professor Kaspar Althoefer
qmul.ac.uk 9
10 qmul.ac.uk
qmul.ac.uk 11
Thursday, 4 July 2019
9am 11.20am Coverage Path Planning
Keynote 2 Dr Francesco Nori for Large-Scale Aerial Mapping
Nasser Gyagenda*, Ahmad Kamal Nasir,
Chair: Professor Stefan Edelkamp
Hubert Roth, Vadim Zhmud
10am Coffee Break
11.35am Self-organized Collective
Oral Presentation Session 2-1 Motion with a Simulated Real Robot
Swarm
Topic: Robotic Learning, Mapping
Mohsen Raoufi*, Ali Emre Turgut,
and Planning
Farshad Arvin*
Chair: Dr Alessandro Di Nuovo
11.50pm Contact Planning for the
10.20am Towards adversarial training
ANYmal Quadruped Robot using an
for mobile robots
Acyclic Reachability-Based Planner
Todd Flyr*, Simon Parsons*
Mathieu Geisert*, Thomas Yates, Asil Orgen,
10.35am Collaborative HRI and Machine Pierre Fernbach, Ioannis Havoutis
Learning for Constructing Personalised
12.05pm Multi-Robot Multi-Goal Motion
Physical Exercise Databases
Planning with Time and Resources
Daniel Delgado Bellamy*,
Stefan Edelkamp*
Praminda Caleb-Solly*
12.30pm Lunch and exhibition
10.50am ORB-SLAM-CNN: Lessons in
Adding Semantic Map Construction
Oral Presentation Session 2-2
to Feature-Based SLAM
Andrew Webb*, Gavin Brown, Mikel Lujan Topic: Human-Robot Interaction
Chair: Dr Alan Millard
11.05am Probabilistic Planning
for Robotics with ROSPlan 1.30pm instruMentor: an Interactive
Gerard Canal*, Michael Cashmore, Robot for Musical Instrument Tutoring
Senka Krivic, Guillem Alenyà, Shreyus Bagga, Benedikt Maurer, Tom
Daniele Magazzeni, Carme Torras Miller, Luke Quinlan, Lorenzo Silvestri,
12 qmul.ac.ukDan Wells, Rebecka Winqvist, 2.45pm A Dataset for Action
Mark Zolotas*, Yiannis Demiris Recognition in the Wild
Alexander Gabriel*, Serhan Cosar,
1.45pm Position and Velocity Nicola Bellotto, Paul Baxter*
Control for Telemanipulation
with Interoperability Protocol 3pm Feel it on your Fingers: Dataglove
Bukeikhan Omarali*, Francesca Palermo, with Vibrotactile Feedback for Virtual
Maurizio Valle, Stefan poslad, Kaspar Reality and Telerobotics
Althoefer, Ildar Farkhatdinov* Burathat Junput, Xuyi Wei,
Lorenzo Jamone*
2pm Intrinsically Motivated Autonomy
in Human-Robot Interaction: Human 3.15pm Virtual Reality Simulator
Perception of Predictive Information for Medical Auscultation Training
in Robots Luis Andres Puertolas Balint*,
Marcus M. Scheunemann*, Luis Humberto Perez Macías,
Christoph Salge, Kerstin Dautenhahn Kaspar Althoefer
2.15pm Modeling and Control of Ankle Invited Oral Presentation Session:
Actuation Platform for Human-Robot
The Queen Mary UK Best PhD
Interaction
in Robotics Award
Ata Otaran*, Ildar Farkhatdinov*
Chair: Dr Lorenzo Jamone
2.30pm Investigating the effects of social 3.30 Markus Wulfmeier
interactive behaviours of a robot on
3.40 Emmanuel Senft
people’s trust during a navigation task
Alessandra Rossi*, Fernando Garcia, Arturo 3.50 Tobias Fischer
Cruz-Maya, Kerstin Dautenhahn, Kheng Lee 4pm Coffee Break
Koay, Michael Walters, Amit K. Pandey
qmul.ac.uk 13Thursday, 4 July 2019
Poster Session 2 P21
4 – 5pm Visual and Thermal Data for Pedestrian
and Cyclist Detection
P17 Sarfraz Ahmed*, M. Nazmul Huda*,
Mobile Robot Trajectory Analysis Sujan Rajbhandari*, Chitta Saha*,
with the Help of Vision System Stratis Kanarachos*, Mark Elshaw*
Dinmohamed Danabek*, Ata Otaran,
Ildar Farkhatdinov* P22
An Augmented Reality Environment to
P18 Provide Visual Feedback to Amputees
Autonomous Air-Hockey Playing Cobot during sEMG Data Acquisitions
using Optimal Control and Vision-Based Francesca Palermo*, Matteo Cognolato,
Bayesian Tracking Ivan Eggel, Manfredo Atzori, Henning Müller
Ahmad AlAttar, Louis Rouillard,
Petar Kormushev P23 Online Human In-Hand
Manipulation Skill Recognition
P19 and Learning
LibRob: an Autonomous Assistive Librarian Disi Chen, Zhaojie Ju*, Dalin Zhou,
Costanza Di Veroli, Cao An Le, Thibaud Gongfa Li, Honghai Liu
Lemaire, Eliot Makabu, Abdullahi Nur,
Vincent Ooi, Jee Yong Park, Federico Sanna, P24
Rodrigo Chacon Quesada, Yiannis Demiris Towards Generating Simulated Walking
Motion using Position Based Deep
P20 Reinforcement Learning
Watchman Routes for Robot Inspection William Jones, Siddhant Gangapurwala,
Stefan Edelkamp* Ioannis Havoutis, Kazuya Yoshida
14 qmul.ac.ukP25 Modelling of a soft sensor for David Lloyd, John Simpson, Dharmintra
exteroception and proprioception Pasupathy, Hongbin Liu, Kaspar Althoefer,
in a pneumatically actuated soft Joseph Hajnal, Reza Razavi, Kawal Rhode
robot
Abu Bakar Dawood*, Hareesh Godaba*, P29
Kaspar Althoefer* Evaluating ToRCH structure
for characterizing robots
P26 Manal Linjawi*, Roger Moore
A Robust Polyurethane Depositing
System for Overcoming Obstacles P30
in Disaster Scenario Robotics Towards Long-Term Autonomy
Alec Burns*, Sebastiano Fichera, based on Temporal Planning
Paolo Paoletti Yaniel Carreno*, Ron Petrick, Yvan Petillot
P27 Improved Safety with a Distributed P31
Routing Strategy for UAVs A Quest Towards Safe Human
William Bonnell* Robot Collaboration
Mohammad Safeea, Pedro Neto*,
P28 Richard Bearee
Robotic-assisted Ultrasound for Fetal
Imaging: Evolution from Single-arm P32
to Dual-arm System MRComm: Multi-Robot
Shuangyi Wang*, James Housden, Yohan Communication Testbed
Noh, Davinder Singh, Anisha Singh, Emily Tsvetan Zhivkov*, Eric Schneider,
Skelton, Jacqueline Matthew, Cornelius Elizabeth Sklar*
Tan, Junghwan Back, Lukas Lindenroth,
7pm Dinner
Alberto Gomez, Nicolas Toussaint, Veronika
The Museum of Docklands
Zimmer, Caroline Knight, Tara Fletcher,
qmul.ac.uk 15Soft Pneumatic Octopus 16 qmul.ac.uk
Soft Prosthetic Hand
qmul.ac.uk 17Friday, 5 July 2019
9am Keynote 3 P37
Professor Bruno Siciliano GarmNet: Improving Global with Local
Perception for Robotic Laundry Folding
Chair: Dr Ketao Zhang
Daniel Gomes*, Shan Luo*, Luis Teixeira*
10am Coffee Break
P38
Wheelchair Navigation: Automatically
Poster Session 3
Adapting to Evolving Environments
10 – 11am Tomos Fearn*, Frederic Labrosse,
P33 Patricia Shaw
Omni-Pi-tent: An Omnidirectional P39
Modular Robot with Genderless Docking An Auto-Correction Teleoperation
Robert Peck, Jonathan Timmis, Andy Tyrrell Method for a Mobile Manipulator
P34 Using Gaze Tracking and Hand Motion
Exploration: Do we need a map? Detection
Mohamed Idries, Matthias Rolf, Junshen Chen*, Ze Ji*, Hanlin Niu*,
Tjeerd olde Scheper Rossi Setchi*, Chenguang Yang*
P35 P40
System Design and Control Collision-Free Optimal Trajectory for
of a Di-Wheel Rover a Controlled Floating Space Robot
John Koleosho Asma Seddaoui*, Chakravarthini Saaj
P36 P41
Eduardo: A Low Cost Assistive Robot Development and Evaluation of
Development Platform Featuring a a Novel Robotic System for Search
Compliant End Effector and Rescue
Oliver Smith*, Samuel White* Andrea Cachia, M. Nazmul Huda*,
Pengcheng Liu, Chitta Saha, Andrew Tickle,
John Arvanitakis, Syed Mahfuzul Aziz
18 qmul.ac.ukP42 P47
The Impact of the Robot’s Morphology Elastomer-based Touch Sensor:
in the Collective Transport Visualization of Tactile Pressure
Jessica Meyer* Distribution
Wanlin Li, Jelizaveta Konstantinova,
P43 Akram Alomainy, Kaspar Althoefer*
Mapping of Ultra-Wide Band Positional
Variance for Indoor Environments P48
Harry Pointon*, Frederic Bezombes Modular, Underactuated
Anthropomorphic Robot Hand
P44 with Flexible Fingers and Twisted
The Downsizing of a Free-Flying String Actuators
Space Robot Faiz Rahman, Kaiqiang Zhang,
Lucy Jackson*, Chakravarthini Saaj, Asma Guido Herrmann
Seddaoui, Steve Eckersley, Calem Whiting
P49
P45 A Novel Wireless Measurement While
Semantic Path Planning for Indoor drilling System for the Detection of
Navigation and Household Tasks Deeply Buried Unexploded Bombs
Nico Sun*, Erfu Yang, Jonathan Corney, (UXBs)
Leo Chen MOUTAZBELLAH KHATER*,
Waleed Al-Nauimy, Asger Eriksen
P46
Preliminary investigation on visual P50
finger-counting with the iCub robot Reinforcement Learning to Identify
cameras and hands Optimal Frames of Reference in Task-
Alexandr Lucas*, Carlos Ricolfe-Viala*, parametrised Learning
ALESSANDRO DI NUOVO* from Demonstration)
Shirine El Zaatari, Prof. Weidong Li
qmul.ac.uk 19Friday, 5 July 2019
Oral Presentation Session 3 12pm Model-based 3D point cloud
Topic: Robotic Systems and Applications segmentation for automated selective
Chair: Prof Pedro Neto broccoli harvesting
Hector A. Montes*, Grzegorz Cielniak,
11am Note on Geometric and Tom Duckett
Exponential Expressions of Screw
Displacement 12.15pm Mine Detonating Sphere-Bot
Guowu Wei*, Anthony H. Jones, Lei Ren Rebecca Harding*, Charlie Freestone*,
Martin Stoelen*
11.15am A modular 3D-printed
inverted pendulum 12.30pm Invited Talk
Ian Howard* Stoyan Smoukov
Bottom-up robotics - towards
11.30pm A Geometric Dynamics growing material robots
Algorithm for Serially Linked Robots
Mohammad Safeea, Pedro Neto*, 1pm Awards Ceremony
Richard Bearee
1.30pm Lunch
11.45pm Full-Rotation Singularity-
Safe Workspace for Kinematically
Redundant Parallel Robots
Nicholas Baron*, Yat Hei Cheung*,
Nicolas Rojas*
20 qmul.ac.ukSanja Dogramadzi Barry Lennox Tom Scott
University of the University of University of Bristol,
West of England, UK Manchester, UK UK
Venky Dubey Honghai Liu Emanuele Lindo
Bournemouth University of Secco Liverpool
University, UK Portsmouth, UK Hope University, UK
Ildar Farkhatdinov Shan Luo Elizabeth Sklar
Joshua Brown
Queen Mary University of Kings College
Web Chair University Liverpool, UK London, UK
Joshua Brown of London, UK Perla Maiolino Agostino Stilli
ARQ, Queen Mary Manuel Giuliani Universiy of Oxford, University College
University of University of the UK London, UK
London, UK West of England, UK Thrishantha Sen Wang
Program Hareesh Godaba Nanayakkara Herriot-Watt
Committee Queen Mary Imperial College University, UK
Akram Alomainy University London, UK
Queen Mary Guowu Wei
of London, UK Jacques Penders University of Salford,
University
of London, UK Roderich Gross Sheffield Hallam UK
University of University, UK Helge Wurdemann
Kaspar Althoefer Sheffield, UK
Queen Mary Anthony Pipe University College
University Dongbing Gu University of the London, UK
of London, UK University of Essex, West of England, UK Ketao Zhang
UK Anuradha Queen Mary
Ahmad Ataka
Kings College Marc Hanheide Ranasinghe University of
London, UK University of Lincoln, Liverpool Hope London, UK
UK University, UK Stefan Poslad
Christos Bergeles
Kings College Lorenzo Jamone Kawal Rhode Queen Mary
London, UK Queen Mary Kings College University of
University London, UK London, UK
Michael Cashmore of London, UK
Kings College Nicolas Rojas Carlo Tiseo
London, UK Jelizaveta Imperial College Nanyang
Konstantinova London, UK Technological
Kerstin Queen Mary University,
Dautenhahn Mini C. Saaj
University of University of Surrey, Singapore
University of London, UK
Waterloo, Canada UK
Senka Krivic
Yiannis Demiris Kings College
Imperial College London, UK
London, UK
qmul.ac.uk 2122 qmul.ac.uk
qmul.ac.uk 23
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ARQ - Advanced Robotics accessible format we will endeavour to
at Queen Mary provide this, where possible. For further
Tel: +44 20 7882 3419 information and assistance,
Email: k.althoefer@qmul.ac.uk please contact:
qmul.ac.uk/robotics designandbranding@qmul.ac.uk
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