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21st Humanoids 2022: Ginowan, Japan
- 21st IEEE-RAS International Conference on Humanoid Robots, Humanoids 2022, Ginowan, Japan, November 28-30, 2022. IEEE 2022, ISBN 979-8-3503-0979-9
- Keitaro Murakami, Yuta Kojio, Kunio Kojima, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
Manipulation of Heavy Object with Rapid Force Fluctuation by Humanoids Based on Motion Failure Detection and Repeated Trials. 1-8 - Nahuel A. Villa, Pierre Fernbach, Maximilien Naveau, Guilhem Saurel, Ewen Dantec, Nicolas Mansard, Olivier Stasse:
Torque Controlled Locomotion of a Biped Robot with Link Flexibility. 9-16 - Ryuta Ozawa, Takumi Kamioka:
Passivity-based multi-contact balancing of humanoid robots based on power-conserved transformations. 17-23 - Duncan Calvert, Bhavyansh Mishra, Stephen McCrory, Sylvain Bertrand, Robert J. Griffin
, Jerry E. Pratt:
A Fast, Autonomous, Bipedal Walking Behavior over Rapid Regions. 24-31 - Yohei Kakiuchi, Yuta Kojio, Noriaki Imaoka, Daiki Kusuyama, Shimpei Sato, Yutaro Matsuura, Takeshi Ando, Masayuki Inaba:
Trajectory Generation and Compensation for External Forces with a Leg-wheeled Robot Designed for Human Passengers. 32-38 - Junjie Shen, Jingwen Zhang, Yeting Liu, Dennis W. Hong:
Implementation of a Robust Dynamic Walking Controller on a Miniature Bipedal Robot with Proprioceptive Actuation. 39-46 - Akshay Dave, Jean Chagas Vaz, Jeongeun Kim, Nicolas Kosanovic, Nathan Kassai, Paul Y. Oh:
Avatar-Darwin a Social Humanoid with Telepresence Abilities Aimed at Embodied Avatar Systems. 47-52 - Stephan Kapteijn, Wansoo Kim, Laura Marchal-Crespo
A Multi-metric Modular Framework for Human-like Gait Analysis Based on a Recorded Set of Variable Gait Patterns. 53-59 - Konrad Fründ
A Guideline for Humanoid Leg Design with Oblique Axes for Bipedal Locomotion. 60-66 - Charlotte Marquardt
Embedded Barometric Pressure Sensor Unit for Force Myography in Exoskeletons. 67-73 - Matteo Iovino, Fethiye Irmak Dogan, Iolanda Leite
Interactive Disambiguation for Behavior Tree Execution. 82-89 - Hiroki Aoyama, Zhongkui Wang, Shinichi Hirai:
Shell Gripper Inspired by Human Finger Structure for Automatically Packaging Agricultural Product. 90-95 - Ernesto Hernandez-Hinojosa, Daniel Torres, Pranav A. Bhounsule:
Quadratically constrained quadratic programs using approximations of the step-to-step dynamics: application on a 2D model of Digit. 96-103 - Giulio Romualdi
Whole-Body Control and Estimation of Humanoid Robots with Link Flexibility. 104-111 - Lucia Angelini, Manuela Uliano, Angela Mazzeo, Mattia Penzotti, Marco Controzzi:
Self-collision avoidance in bimanual teleoperation using CollisionIK: algorithm revision and usability experiment. 112-118 - Zhangjie Tu, Tianwei Zhang, Lei Yan, Tin Lun Lam:
Whole-Body Control for Velocity-Controlled Mobile Collaborative Robots Using Coupling Dynamic Movement Primitives. 119-126 - Thushara Sandakalum
Inv-Reach Net: Deciding mobile platform placement for a given task. 127-133 - Sankaranarayanan Natarajan, Frank Kirchner
Multi-Modal Manipulation Planning for an Upper-Torso Humanoid System. 134-140 - William Thibault, Vidyasagar Rajendran, Katja D. Mombaur:
Bimanual Manipulation Workspace Analysis of Humanoid Robots with Object Specific Coupling Constraints. 141-148 - Jair Augusto Bottega, Victor Augusto Kich, Alisson Henrique Kolling, Jardel D. S. Dyonisio, Pedro L. Corçaque, Rodrigo da Silva Guerra, Daniel Fernando Tello Gamarra:
Jubileo: An Open-Source Robot and Framework for Research in Human-Robot Social Interaction. 149-154 - Pinxin Lv, Li Ning, Hao Jiang, Yushuang Huang, Jing Liu, Zhaoqi Wang:
Neural Symbol Grounding with Multi-Layer Attention for Robot Task Planning. 155-162 - Luca Rossini
From Offline to Online: A Perception-Based Local Planner for Dynamic Obstacle Avoidance. 163-170 - Arindam Roychoudhury, Marcell Missura, Maren Bennewitz:
3D Polygonal Mapping for Humanoid Robot Navigation. 171-177 - Varun Agrawal, Sylvain Bertrand, Robert J. Griffin
Proprioceptive State Estimation of Legged Robots with Kinematic Chain Modeling. 178-185 - Xiaotong Chen, Kaizhi Zheng, Zhen Zeng, Cameron Kisailus, Shreshtha Basu, James Cooney, Jana Pavlasek, Odest Chadwicke Jenkins:
Manipulation-Oriented Object Perception in Clutter through Affordance Coordinate Frames. 186-193 - Sabrina Otmani, Guilhem Michon, Bruno Watier:
A complete framework for personalised modeling and control of children's cerebral palsy. 194-201 - Jonathan Vorndamme, João Carvalho, Riddhiman Laha, Dorothea Koert, Luis F. C. Figueredo
Integrated Bi-Manual Motion Generation and Control shaped for Probabilistic Movement Primitives. 202-209 - Avinash Kumar Singh, Mohamed Adjel, Vincent Bonnet, Robin Passama, Andrea Cherubini:
A Framework for Recognizing Industrial Actions via Joint Angles. 210-216 - Nima Rahrakhshan, Matthias Kerzel, Philipp Allgeuer, Nicolas Duczek, Stefan Wermter:
Learning to Autonomously Reach Objects with NICO and Grow-When-Required Networks. 217-222 - Jonas C. Kiemel, Torsten Kröger:
Learning Collision-free and Torque-limited Robot Trajectories based on Alternative Safe Behaviors. 223-230 - Gabriel D. C. Seppelfelt, Tomoki Asaka, Takayuki Nagai, Soh Yukizaki:
HumanoidBot: Full-Body Humanoid Chitchat System. 231-237 - Stephan Balvert, Joseph Micah Prendergast
Enabling Patient- and Teleoperator-led Robotic Physiotherapy via Strain Map Segmentation and Shared-authority. 246-253 - Dimitrios Papageorgiou
A controller for reaching and unveiling a partially occluded object of interest with an eye-in-hand robot. 254-260 - Fabian Beck, Maximilian Rehermann, Johann Reger
Utilizing the Natural Dynamics of Elastic Legged Robots for Periodic Jumping Motions. 261-268 - Mahdi Hejrati
Decentralized Nonlinear Control of Redundant Upper Limb Exoskeleton with Natural Adaptation Law. 269-276 - Yuichi Tazaki:
Fast Multi-Contact Motion Planning Based on Best-Neighbor Search of Contact Sequences. 277-284 - Zvezdan Loncarevic, Mihael Simonic, Ales Ude, Andrej Gams
Combining Reinforcement Learning and Lazy Learning for Faster Few-Shot Transfer Learning. 285-290 - Ioannis Dadiotis, Arturo Laurenzi, Nikos G. Tsagarakis:
Trajectory Optimization for Quadruped Mobile Manipulators that Carry Heavy Payload. 291-298 - Yanran Ding
Orientation-Aware Model Predictive Control with Footstep Adaptation for Dynamic Humanoid Walking. 299-305 - Yang Chen
Enhanced Visual Feedback with Decoupled Viewpoint Control in Immersive Humanoid Robot Teleoperation using SLAM. 306-313 - Yoshimoto Ribayashi, Kento Kawaharazuka, Yasunori Toshimitsu, Daiki Kusuyama, Akihiro Miki, Koki Shinjo, Masahiro Bando, Temma Suzuki, Yuta Kojio, Kei Okada, Masayuki Inaba:
Design of Robot Foot with Outer Edge Measurement Structure and Chair Rotation Motion by Friction Control. 314-321 - Mathew Schwartz, Jaehoon Sim, Junewhee Ahn, Soonwook Hwang, Yisoo Lee, Jaeheung Park:
Design of the Humanoid Robot TOCABI. 322-329 - Chuanku Yi, Xuechao Chen, Zhangguo Yu, Haoxiang Qi, Qiang Huang:
Research and Design of a Humanoid Cushioning Foot for Robot Jumping. 330-336 - Jayden Chapman, Anany Dwivedi
A Dexterous, Adaptive, Affordable, Humanlike Robot Hand: Towards Prostheses with Dexterous Manipulation Capabilities. 337-343 - Pezhman Abdolahnezhad, Aghil Yousefi-Koma, Amirhosein Vedadi, Kasra Sinaei
Online Bipedal Locomotion Adaptation for Stepping on Obstacles Using a Novel Foot Sensor. 344-349 - Honghu Xue, Rui Song, Julian Petzold, Benedikt Hein
End-To-End Deep Reinforcement Learning for First-Person Pedestrian Visual Navigation in Urban Environments. 350-357 - Altay Zhakatayev, Yuriy V. Rogovchenko, Matthias Pätzold:
Synthesis of Lower-Body Human Walking using Trigonometric Spline Method. 358-363 - Prashanth Ramadoss, Lorenzo Rapetti, Yeshasvi Tirupachuri, Riccardo Grieco, Gianluca Milani, Enrico Valli, Stefano Dafarra, Silvio Traversaro, Daniele Pucci:
Estimation of Human Base Kinematics using Dynamical Inverse Kinematics and Contact-Aided Lie Group Kalman Filter. 364-369 - Wentao Lu, Claude Sammut:
D-Flow: A Real Time Spatial Temporal Model for Target Area Segmentation. 370-376 - Sarwar Hussain Paplu, Raúl Fernández Navarro, Karsten Berns:
Harnessing Long-term Memory for Personalized Human-Robot Interactions. 377-382 - Yoshiaki Watanabe, Kyosuke Miyairi, Kimitoshi Yamazaki, Mikita Miyaguchi:
Reproduction of roller painting operations by humanoid robot for observational learning. 383-388 - Liang Lu, Alessio De Luca, Luca Muratore
An Optimal Frontier Enhanced "Next Best View" Planner For Autonomous Exploration. 397-404 - João Carvalho, Dorothea Koert, Marek Daniv, Jan Peters:
Adapting Object-Centric Probabilistic Movement Primitives with Residual Reinforcement Learning. 405-412 - Kento Kawaharazuka, Akihiro Miki, Masahiro Bando, Temma Suzuki, Yoshimoto Ribayashi, Yasunori Toshimitsu, Yuya Nagamatsu, Kei Okada, Masayuki Inaba:
Hardware Design and Learning-Based Software Architecture of Musculoskeletal Wheeled Robot Musashi-W for Real-World Applications. 413-419 - Seyed Mohammad Tahamipour-Z.
Robust Model Predictive Control for Robot Manipulators. 420-426 - Irene Frizza, Hiroshi Kaminaga, Ko Ayusawa, Philippe Fraisse, Gentiane Venture:
A study on the benefits of using variable stiffness feet for humanoid walking on rough terrains. 427-434 - Malte Mosbach, Kara Moraw
Accelerating Interactive Human-like Manipulation Learning with GPU-based Simulation and High-quality Demonstrations. 435-441 - Sabrina Otmani, Guilhem Michon, Bruno Watier:
Gait cycle modeling in cerebral palsy condition. 442-449 - Jan Docekal, Jakub Rozlivek
Human Keypoint Detection for Close Proximity Human-Robot Interaction. 450-457 - Robinson Guachi
Preliminary Design and Development of a Selectable Stiffness Joint for Elbow Orthosis. 458-463 - Vedant Dave
Predicting full-arm grasping motions from anticipated tactile responses. 464-471 - Vignesh Prasad
MILD: Multimodal Interactive Latent Dynamics for Learning Human-Robot Interaction. 472-479 - Maria Lombardi, Elisa Maiettini, Vadim Tikhanoff, Lorenzo Natale
iCub Knows Where You Look: Exploiting Social Cues for Interactive Object Detection Learning. 480-487 - Kourosh Darvish, Serena Ivaldi, Daniele Pucci:
Simultaneous Action Recognition and Human Whole-Body Motion and Dynamics Prediction from Wearable Sensors. 488-495 - Fabio Amadio
Target-Referred DMPs for Learning Bimanual Tasks from Shared-Autonomy Telemanipulation. 496-503 - Chao Li, Nancy S. Pollard
SoftTouch: A Sensor-Placement Framework for Soft Robotic Hands. 504-511 - Sébastien Kleff, Justin Carpentier, Nicolas Mansard, Ludovic Righetti
On the Derivation of the Contact Dynamics in Arbitrary Frames: Application to Polishing with Talos. 512-517 - Nathan Elangovan, Che-Ming Chang, Ricardo V. Godoy
Comparing Human and Robot Performance in the Execution of Kitchen Tasks: Evaluating Grasping and Dexterous Manipulation Skills. 518-525 - Tasuku Makabe, Jihoon Oh, Tomoki Anzai, Yuta Kojio, Shintaro Noda, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
Development of Amphibious Humanoid Platform for Sensor-based Behavior Acquisition of Whole-body Manipulation Tasks. 526-533 - Dongsheng Yang, Wataru Sato
Optimizing Facial Expressions of an Android Robot Effectively: a Bayesian Optimization Approach. 542-549 - Cheng-Yu Kuo, Hirofumi Shin, Takumi Kamioka, Takamitsu Matsubara:
TDE2-MBRL: Energy-exchange Dynamics Learning with Task Decomposition for Spring-loaded Bipedal Robot Locomotion. 550-557 - Charles Khazoom, Daniel Gonzalez Diaz, Yanran Ding
Humanoid Self-Collision Avoidance Using Whole-Body Control with Control Barrier Functions. 558-565 - Hélène Pillet, Xavier Bonnet, Amandine Boos, Lucas Sedran, Bruno Watier:
Seeking for a better Human-Prosthesis energetic gait efficiency by quantifying both propulsion power and instability control. 566-571 - Junhyung Kim, Beomyeong Park, Jaeyong Shin, Jaeheung Park:
Analysis of Effects of Leg Inertia Distribution on Contact Stability and Dynamic Performance During Bipedal Walking. 572-579 - Andrea Rosasco
Towards Confidence-guided Shape Completion for Robotic Applications. 580-586 - Rustam Galljamov, Guoping Zhao, Boris Belousov, André Seyfarth, Jan Peters:
Improving Sample Efficiency of Example-Guided Deep Reinforcement Learning for Bipedal Walking. 587-593 - Maolin Lei, Liang Lu, Arturo Laurenzi, Luca Rossini
An MPC-Based Framework for Dynamic Trajectory Re-Planning in Uncertain Environments. 594-601 - Takehito Kikuchi, Maki Nakahara, Toma Ono, Isao Abe:
Evaluation of Flexibility in Frontal Plane and Improvement of Usability for Dorsiflexion Support Unit. 602-607 - William Thibault, Francisco Javier Andrade Chavez, Katja D. Mombaur:
A Standardized Benchmark for Humanoid Whole-Body Manipulation. 608-615 - Tamon Miyake, Yushi Wang, Gang Yan, Shigeki Sugano:
Skeleton recognition-based motion generation and user emotion evaluation with in-home rehabilitation assistive humanoid robot. 616-621 - Manuel Y. Galliker, Noel Csomay-Shanklin, Ruben Grandia, Andrew J. Taylor, Farbod Farshidian, Marco Hutter, Aaron D. Ames:
Planar Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics. 622-629 - Tobias Egle, Johannes Englsberger, Christian Ott:
Analytical Center of Mass Trajectory Generation for Humanoid Walking and Running with Continuous Gait Transitions. 630-637 - Ewen Dantec, Maximilien Naveau, Pierre Fernbach, Nahuel A. Villa, Guilhem Saurel, Olivier Stasse, Michel Taïx, Nicolas Mansard:
Whole-Body Model Predictive Control for Biped Locomotion on a Torque-Controlled Humanoid Robot. 638-644 - Zewen He, Ko Yamamoto
Humanoid Running based on 3D COG-ZMP Model and Resolved Centroidal Viscoelasticity Control. 645-650 - Giuseppe L'Erario
Whole-Body Trajectory Optimization for Robot Multimodal Locomotion. 651-658 - Diego Hidalgo-Carvajal, Carlos Magno C. O. Valle, Abdeldjallil Naceri, Sami Haddadin
Object-Centric Grasping Transferability: Linking Meshes to Postures. 659-666 - Sagar Joshi, Irene Beck, Ajay Seth, Cosimo Della Santina:
Minimalistic Soft Exosuit for Assisting the Shoulder via Biomechanics-Aware Optimization. 667-673 - Dimitrios Dimou
Force Feedback Control For Dexterous Robotic Hands Using Conditional Postural Synergies. 674-679 - Priyanka Ramasamy, Gunarajulu Renganathan
Muscle activity and Ground Reaction Force-based control strategies for actuating soft wearables using Squat motion. 680-685 - Rohan P. Singh, Mehdi Benallegue, Mitsuharu Morisawa, Rafael Cisneros, Fumio Kanehiro:
Learning Bipedal Walking On Planned Footsteps For Humanoid Robots. 686-693 - Parag Khanna
Human Inspired Grip-Release Technique for Robot-Human Handovers. 694-701 - Johannes Tenhumberg
Self-Contained Calibration of an Elastic Humanoid Upper Body Using Only a Head-Mounted RGB Camera. 702-707 - Nathalia Céspedes, Anne Hsu, Janelle M. Jones
A Feasibility Study of a Data-Driven Human-Robot Conversational Interface for Reminiscence Therapy. 708-713 - Ryan Batke, Fangzhou Yu, Jeremy Dao, Jonathan W. Hurst, Ross L. Hatton, Alan Fern, Kevin Green:
Optimizing Bipedal Maneuvers of Single Rigid-Body Models for Reinforcement Learning. 714-721 - Carlotta Sartore
Optimization of Humanoid Robot Designs for Human-Robot Ergonomic Payload Lifting. 722-729 - Junhyeok Ahn, SeungHyeon Bang, Carlos Gonzalez, Yuanchen Yuan, Luis Sentis:
Data-Driven Safety Verification and Explainability for Whole-Body Manipulation and Locomotion. 730-737 - Davide Torielli
A Shared Telemanipulation Interface to Facilitate Bimanual Grasping and Transportation of Objects of Unknown Mass. 738-745 - Alessandro Santopaolo, Marta Lorenzini, Luigi Privitera, Tiwana Varrecchia, Giorgia Chini, Alberto Ranavolo, Paolo Ariano, Arash Ajoudani:
Biomechanical Risk Assessment of Human Lifting Tasks via Supervised Classification of Multiple Sensor Data. 746-751 - Antonios-Emmanouil Gkikakis, Roy Featherstone:
Robust Analysis for Mechanism and Behavior Co-optimization of High-performance Legged Robots. 752-758 - Kento Kawaharazuka, Temma Suzuki, Kei Okada, Masayuki Inaba:
Continuous Jumping of a Parallel Wire-Driven Monopedal Robot RAMIEL Using Reinforcement Learning. 759-764 - Stefano Berti, Andrea Rosasco
One-Shot Open-Set Skeleton-Based Action Recognition. 765-772 - Dimitrios Dimou
Grasp Pose Sampling for Precision Grasp Types with Multi-fingered Robotic Hands. 773-779 - Kazuhiro Miyama, Shun Hasegawa, Kento Kawaharazuka, Naoya Yamaguchi, Kei Okada, Masayuki Inaba:
Design of a Five-Fingered Hand with Full-Fingered Tactile Sensors Using Conductive Filaments and Its Application to Bending after Insertion Motion. 780-785 - Woo-Jeong Baek
Improving Humanoid Grasp Success Rate based on Uncertainty-aware Metrics and Sensitivity Optimization. 786-793 - Yutaro Matsuura, Naoki Hiraoka, Kunio Kojima, Iori Yanokura, Hiroki Yoshioka, Kei Okada, Masayuki Inaba:
Development of a Multi-Fingered Hand with a Multi-Step Locking Mechanism for Carrying Heavy Objects by a Humanoid Robot. 794-800 - Alexander Fabisch
A Modular Approach to the Embodiment of Hand Motions from Human Demonstrations. 801-808 - Huiseok Moon
Online Human Intention Detection through Machine-learning based Algorithm for the Control of Lower-limbs Wearable Robot. 809-814 - Franklin Kenghagho Kenfack, Michael Neumann, Patrick Mania, Toni Tan
NaivPhys4RP - Towards Human-like Robot Perception "Physical Reasoning based on Embodied Probabilistic Simulation". 815-822 - Antonio Greco, Antonio Roberto, Alessia Saggese, Mario Vento:
Efficient Transformers for on-robot Natural Language Understanding. 823-828 - Niko Kleer
A Study on the Influence of Task Dependent Anthropomorphic Grasping Poses for Everyday Objects. 829-836 - Sunghee Kim, Taiki Ishigaki, Yuta Shimane, Yosuke Ikegami, Ko Yamamoto
Inverse Kinematics of Hybrid Multi-link System and its Application to Motion Capture for Athlete Wearing Sports Prosthesis. 837-842 - Murat Kirtay, Verena V. Hafner
Multimodal reinforcement learning for partner specific adaptation in robot-multi-robot interaction. 843-850 - Satomi Hanasaki, Yuichi Tazaki, Hikaru Nagano, Yasuyoshi Yokokohji:
Running Trajectory Generation Including Gait Transition between Walking Based on the Time-Varying Linear Inverted Pendulum Mode. 851-857 - Matija Mavsar, Ales Ude:
RoverNet: Vision-Based Adaptive Human-to-Robot Object Handovers. 858-864 - Liana Bertoni, Luca Muratore
Task Driven Online Impedance Modulation. 865-872 - Antonio Jose Rodríguez-Sánchez, Simon Haller-Seeber, David Peer, Chris Engelhardt, Jakob Mittelberger, Matteo Saveriano:
Affordance detection with Dynamic-Tree Capsule Networks. 873-879 - Daichi Saito, Kazuhiro Sasabuchi, Naoki Wake, Jun Takamatsu, Hideki Koike
Task-grasping from a demonstrated human strategy. 880-887 - Petr Svarný, Mazin Hamad, Alexander Kurdas, Matej Hoffmann, Saeed Abdolshah
Functional Mode Switching for Safe and Efficient Human-Robot Interaction. 888-894 - Lisa Scherf, Cigdem Turan, Dorothea Koert:
Learning from Unreliable Human Action Advice in Interactive Reinforcement Learning. 895-902 - Fangzhou Yu, Ryan Batke, Jeremy Dao, Jonathan W. Hurst, Kevin Green, Alan Fern:
Dynamic Bipedal Turning through Sim-to-Real Reinforcement Learning. 903-910 - Isabelle Maroger, Olivier Stasse, Bruno Watier:
From the Study of Table Trajectories during Collaborative Carriages toward Pro-active Human-Robot Table Handling Tasks. 911-918 - Kento Kawaharazuka, Naoaki Kanazawa, Kei Okada, Masayuki Inaba:
Learning-Based Wiping Behavior of Low-Rigidity Robots Considering Various Surface Materials and Task Definitions. 919-924
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