Table of Contents

• The MIT Humanoid Robot: Design, Motion Planning, and Control For Acrobatic BehaviorsMatthew Chignoli, Donghyun Kim, Elijah Stanger-Jones, Sangbae Kim. 1-8 [doi]
• LOLA v1.1 - An Upgrade in Hardware and Software Design for Dynamic Multi-Contact LocomotionPhilipp Seiwald, Shun-Cheng Wu, Felix Sygulla, Tobias F. C. Berninger, Nora-Sophie Staufenberg, Moritz F. Sattler, Nicolas Neuburger, Daniel Rixen, Federico Tombari. 9-16 [doi]
• Development of Musculoskeletal Legs with Planar Interskeletal Structures to Realize Human Comparable Moving FunctionMoritaka Onitsuka, Manabu Nishiura, Kento Kawaharazuka, Kei Tsuzuki, Yasunori Toshimitsu, Yusuke Omura, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba. 17-24 [doi]
• An Integrated, Force-Sensitive, Impedance Controlled, Tendon-Driven Wrist: Design, Modeling, and ControlAlexander Toedtheide, Johannes Kühn, Edmundo Pozo Fortunic, Sami Haddadin. 25-32 [doi]
• Optimization-Based Quadrupedal Hybrid Wheeled-Legged LocomotionItalo Belli, Matteo Parigi Polverini, Arturo Laurenzi, Enrico Mingo Hoffman, Paolo Rocco, Nikolaos G. Tsagarakis. 41-46 [doi]
• Whole-body walking pattern using pelvis-rotation for long stride and arm swing for yaw angular momentum compensationBeomyeong Park, Myeong-Ju Kim, Eunho Sung, Junhyung Kim, Jaeheung Park. 47-52 [doi]
• Multi-Fidelity Receding Horizon Planning for Multi-Contact LocomotionJiayi Wang, Sanghyun Kim, Sethu Vijayakumar, Steve Tonneau. 53-60 [doi]
• Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and PerformanceAhmad Gazar, Majid Khadiv, Andrea Del Prete, Ludovic Righetti. 61-68 [doi]
• Design and Development of a Flying Humanoid Robot Platform with Bi-copter Flight UnitTomoki Anzai, Yuta Kojio, Tasuku Makabe, Kei Okada, Masayuki Inaba. 69-75 [doi]
• Pick-and-place in dynamic environments with a mobile dual-arm robot equipped with distributed distance sensorsSotiris Stavridis, Pietro Falco, Zoe Doulgeri. 76-82 [doi]
• Motion Modification Method of Musculoskeletal Humanoids by Human Teaching Using Muscle-Based Compensation ControlKento Kawaharazuka, Yuya Koga, Manabu Nishiura, Yusuke Omura, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba. 83-89 [doi]
• Wolfgang-OP: A Robust Humanoid Robot Platform for Research and CompetitionsMarc Bestmann, Jasper Güldenstein, Florian Vahl, Jianwei Zhang. 90-97 [doi]
• Calibration of an Elastic Humanoid Upper Body and Efficient Compensation for Motion PlanningJohannes Tenhumberg, Berthold Bäuml. 98-103 [doi]
• Development of Amphibious Humanoid for Behavior Acquisition on Land and UnderwaterTasuku Makabe, Tomoki Anzai, Yohei Kakiuchi, Kei Okada, Masayuki Inaba. 104-111 [doi]
• Online Virtual Repellent Point Adaptation for Biped Walking using Iterative Learning ControlShengzhi Wang, George Mesesan, Johannes Englsberger, Dongheui Lee, Christian Ott. 112-119 [doi]
• Safe Data-Driven Contact-Rich ManipulationIoanna Mitsioni, Pouria Tajvar, Danica Kragic, Jana Tumova, Christian Pek. 120-127 [doi]
• Feature-based Deep Learning of Proprioceptive Models for Robotic Force EstimationErik Berger, Alexander Uhlig. 128-134 [doi]
• Open-Ended Fine-Grained 3D Object Categorization by Combining Shape and Texture Features in Multiple ColorspacesNils Keunecke, S. Hamidreza Kasaei. 135-141 [doi]
• SURENAIV: Towards A Cost-effective Full-size Humanoid Robot for Real-world ScenariosAghil Yousefi-Koma, Behnam Maleki, Hessam Maleki, Amin Amani, Mohammad Ali Bazrafshani, Hossein Keshavarz, Ala Iranmanesh, Alireza Yazdanpanah, Hamidreza Alai, Sahel Salehi, Mahyar Ashkvari, Milad Mousavi, Milad Shafiee-Ashtiani. 142-148 [doi]
• Combining Task and Motion Planning using Policy Improvement with Path IntegralsDominik Urbaniak, Alejandro Agostini, Dongheui Lee. 149-155 [doi]
• A HZD-based Framework for the Real-time, Optimization-free Enforcement of Gait Feasibility ConstraintsPravin Dangol, Andrew Lessieur, Eric Sihite, Alireza Ramezani. 156-162 [doi]
• Closed-Loop Variable Stiffness Control of Dynamical SystemsXiao Chen, Youssef Michel, Dongheui Lee. 163-169 [doi]
• From Space to Earth - Relative-CoM-to-Foot (RCF) control yields high contact robustnessJohannes Englsberger, Alessandro M. Giordano, Achraf Hiddane, Robert Schuller, Florian Loeffl, George Mesesan, Christian Ott. 170-177 [doi]
• Footstep and Timing Adaptation for Humanoid Robots Utilizing Pre-computation of Capture RegionsYuichi Tazaki. 178-184 [doi]
• Policy Decomposition: Approximate Optimal Control with Suboptimality EstimatesAshwin Khadke, Hartmut Geyer. 185-192 [doi]
• HubRobo: A Lightweight Multi-Limbed Climbing Robot for Exploration in Challenging TerrainKentaro Uno, Naomasa Takada, Taku Okawara, Keigo Haji, Arthur Candalot, Warley F. R. Ribeiro, Kenji Nagaoka, Kazuya Yoshida. 209-215 [doi]
• Minimum Energy-cost Walking Exploiting Natural Dynamics of Multiple Spring-Mass ModelSangjin Bae, Chan Lee, Sehoon Oh. 216-221 [doi]
• The Elliott and Connolly Benchmark: A Test for Evaluating the In-Hand Dexterity of Robot HandsRyan Coulson, Chao Li, Carmel Majidi, Nancy S. Pollard. 238-245 [doi]
• A vertical jump optimization strategy for one-legged robot with variable reduction ratio jointHaoxiang Qi, Xuechao Chen, Zhangguo Yu, Gao Huang, Libo Meng, Kenji Hashimoto, Wenxi Liao, Qiang Huang 0002. 262-267 [doi]
• MPC-based Locomotion Control of Bipedal Robots with Line-Feet Contact using Centroidal DynamicsGabriel García, Robert J. Griffin, Jerry E. Pratt. 276-282 [doi]
• Using Subject-Specific Models to find Differences in Underlying optimization Criteria of Sprinting with and without ProsthesesAnna Lena Emonds, Katja D. Mombaur. 283-290 [doi]
• Pseudo Direct and Inverse Optimal Control based on Motion Synthesis using FPCASoya Shimizu, Ko Ayusawa, Gentiane Venture. 291-298 [doi]
• Human to Robot Whole-Body Motion TransferMiguel Arduengo, Ana Arduengo, Adrià Colomé, Joan Lobo-Prat, Carme Torras. 299-305 [doi]
• Semantic Scene Manipulation Based on 3D Spatial Object Relations and Language InstructionsRainer Kartmann, Danqing Liu, Tamim Asfour. 306-313 [doi]
• Android Printing: Towards On-Demand Android Development Employing Multi-Material 3-D PrinterSatoshi Yagi, Yoshihiro Nakata, Hiroshi Ishiguro. 314-319 [doi]
• Low-Latency Immersive 6D Televisualization with Spherical RenderingMax Schwarz, Sven Behnke. 320-325 [doi]
• Vision for Prosthesis Control Using Unsupervised Labeling of Training DataVijeth Rai, David Boe, Eric Rombokas. 326-333 [doi]
• The Atlatl as a Cyborg Kinematic DeviceBertrand Tondu. 334-340 [doi]
• Fitness Shaping on SLIP Locomotion OptimizationClaudio S. Ravasio, Fumiya Iida, Andre Rosendo. 341-348 [doi]
• Online Learning of Danger Avoidance for Complex Structures of Musculoskeletal Humanoids and Its ApplicationsKento Kawaharazuka, Naoki Hiraoka, Yuya Koga, Manabu Nishiura, Yusuke Omura, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba. 349-355 [doi]
• An Experimental Validation and Comparison of Reaching Motion Models for Unconstrained Handovers: Towards Generating Humanlike Motions for Human-Robot HandoversWesley P. Chan, Tin Tran, Sara Sheikholeslami, Elizabeth A. Croft. 356-361 [doi]
• Motion Generation and Control of Acrobatic Motion Synergies Emerging From the Momentum Equilibrium PrincipleRyo Iizuka, Dragomir N. Nenchev, Daisuke Sato 0002. 362-369 [doi]
• Gait Percent Estimation during Walking and Running using Sagittal Shank or Thigh AnglesMahdy Eslamy, Arndt F. Schilling. 370-375 [doi]
• Detection of Collaboration and Collision Events during Contact Task ExecutionFelix Franzel, Thomas Eiband, Dongheui Lee. 376-383 [doi]
• Robust Balancing Control of a Spring-legged Robot based on a High-order Sliding Mode ObserverJuan D. Gamba, Antonio C. Leite, Roy Featherstone. 384-391 [doi]
• Weakly-Supervised Object Detection Learning through Human-Robot InteractionElisa Maiettini, Vadim Tikhanoff, Lorenzo Natale. 392-399 [doi]
• Design, analysis and control of the series-parallel hybrid RH5 humanoid robotJulian Eßr, Shivesh Kumar, Heiner Peters, Vinzenz Bargsten, Jose de Gea Fernandez, Carlos Mastalli, Olivier Stasse, Frank Kirchner. 400-407 [doi]
• Garbage Collection and Sorting with a Mobile Manipulator using Deep Learning and Whole-Body ControlJingyi Liu, Pietro Balatti, Kirsty Ellis, Denis Hadjivelichkov, Danail Stoyanov, Arash Ajoudani, Dimitrios Kanoulas. 408-414 [doi]
• Energy pumping-and-damping for gait robustification of underactuated planar biped robots within the hybrid zero dynamics frameworkPierluigi Arpenti, Alejandro Donaire, Fabio Ruggiero, Vincenzo Lippiello. 415-421 [doi]
• Pushing cylinders: Expanding on object-based manipulationDaniel Garcia-Vaglio, Javier Peralta-Sáenz, Federico Ruiz-Ugalde. 422-428 [doi]
• Optimal grasp selection, and control for stabilising a grasped object, with respect to slippage and external forcesTommaso Pardi, Amir M. Ghalamzan E., Valerio Ortenzi, Rustam Stolkin. 429-436 [doi]
• Spatial calibration of whole-body artificial skin on a humanoid robot: comparing self-contact, 3D reconstruction, and CAD-based calibrationLukas Rustler, Bohumila Potocna, Michal Polic, Karla Stépánová, Matej Hoffmann. 445-452 [doi]
• Walking-in-Place Foot Interface for Locomotion Control and Telepresence of Humanoid RobotsAta Otaran, Ildar Farkhatdinov. 453-458 [doi]
• Multisensorial robot calibration framework and toolboxJakub Rozlivek, Lukas Rustler, Karla Stépánová, Matej Hoffmann. 459-466 [doi]
• The KIT Bimanual Manipulation DatasetFranziska Krebs, André Meixner, Isabel Patzer, Tamim Asfour. 499-506 [doi]
• Identification of Common Force-based Robot Skills from the Human and Robot PerspectiveThomas Eiband, Dongheui Lee. 507-513 [doi]
• Guided Robot Skill Learning: A User-Study on Learning Probabilistic Movement Primitives with Non-ExpertsMoritz Knaust, Dorothea Koert. 514-521 [doi]
• A Human-Aware Method to Plan Complex Cooperative and Autonomous Tasks using Behavior TreesFabio Fusaro, Edoardo Lamon, Elena De Momi, Arash Ajoudani. 522-529 [doi]