Program Details
Day 1 | Day 2 | Day 3 | Day 4 | Day 5
Day 1: Tuesday, Dec 13
| Time | |
| 8:00 | Workshops and Tutorials |
| 10:00-10:30 | Coffee break |
| 12:00-13:00 | Lunch |
| 15:00-15:30 | Coffee break |
| 17:00 | End |
| 18:00 | Welcome Reception at Parc55 |
| 21:00 | End |
Day 2: Wednesday, Dec 14
|
|
Session Title | Time | Paper Title | Authors |
| 8:30 | Welcome and Opening | |||
| Plenary Talk | 8:40 | Simulation and Optimal Control with Soft-Contact Dynamics | Emo Todorov | |
| W-1 | Modeling Framework for Robots and Environments I (Chairs: Marco Pavone and Samir Menon) | 9:30 | Adaptive Handling Assistance for Industrial Lightweight Robots in Simulation | Agathe Balayn, Jeffrey Queisser, Michael Wojtynek, Sebastian Wrede |
| 9:50 | Fast Radioactive Hotspot Localization Using a UAV | Abdullah Al Redwan Newaz, Sungmoon Jeong, Nak Young Chong | ||
| 10:10 | Coffee Break | |||
| W-2 | 3D Robot Simulation and Mathematical Modeling of Robots (Chairs: Nilanjan Chakraborty and Evan Drumwright) | 10:40 | Rigid Body Dynamic Simulation with Line and Surface Contact | Jiayin Xie, Nilanjan Chakraborty |
| 11:00 | Determining Contact Data for Rigid Body Dynamics with Convex Polyhedral Geometries | Bjoern Cheng Yi, Evan Drumwright | ||
| 11:20 | An Adaptive Position Optimization Approach for an Actuated Localization Network in Solid Glacier Environments | Sebastian Schoenitz, Sebastian Reuter, Rene Vossen, Sabina Jeschke | ||
| 11:40 | A Generic Simulator for Underactuated Compliant Hands | Alessio Rocchi, Kris Hauser | ||
| 12:00 | Lunch | |||
| W-3 | Machine Learning and Middleware for Robotics (Chairs: Yasmin Ansari and Carolyn Chen) | 13:00 | Learning to Identify Container Contents through Tactile Vibration Signatures | Carolyn Chen, Peter Ramadge, Jeffrey Snyder |
| 13:20 | Point-to-Point Motion Controller for Soft Robotic Manipulators | Yasmin Ansari, Egidio Falotico, Matteo Cianchetti, Cecilia Laschi | ||
| 13:40 | DyKnow: A Dynamically Reconfigurable Stream Reasoning Framework as an Extension to the Robot Operating System | Daniel de Leng, Fredrik Heintz | ||
| 14:00 | Cognitive Robot Programming using Procedural Parameters and Complex Event Processing | Floris Marc Arden Erich, Kenji Suzuki | ||
| 14:20 | Break | |||
| 14:30 | Pre-boarding keynote: Passive Dynamics is a Good Basis for Robot Design and Control, Not | Andy Ruina | ||
| 15:10 | Break | |||
| Dinner Cruise | 15:20 | Transfer to Pier 40 | ||
| 16:15 | Board boat | |||
| 16:30 | Depart from South Beach Harbour | |||
| 19:15 | Return to South Beach Harbour | |||
| 19:30 | Tranfer to Parc 55 Hotel | |||
| 20:30 | End |
Day 3: Thursday, Dec 15
|
|
Session Title | Time | Paper Title | Authors |
| Plenary Talk | 8:30 | Closing the Reality Gap in Robot Simulation Using Machine Learning | Erwin Coumans | |
| T-1 | Modeling Framework for Robots and Environments II (Chairs: Katja Mombaur and Samir Menon) | 9:20 | A Formal Approach to Discrepancy Generation for Systematic Testing of Execution Monitoring Algorithms in Simulation | Gokay Coruhlu, Esra Erdem, Volkan Patoglu |
| 9:40 | RPSL Meets Lightning: A Model-Based Approach to Design Space Exploration of Robot Perception Systems | Nico Hochgeschwender, Loïc Gammaitoni | ||
| 10:00 | Coffee Break | |||
| T-2 | Modeling Framework for Robots and Environments III (Chairs: Hochgeschwender Nico and Guilhem Saurel) | 10:30 | Graph-Based Software Knowledge: Storage and Semantic Querying of Domain Models for Run-Time Adaptation | Nico Hochgeschwender, Sven Schneider, Holger Voos, Herman Bruyninckx, Gerhard Kraetzschmar |
| 10:50 | Fast Derivatives of Rigid Body Dynamics for Control, Optimization and Estimation | Michael Neunert, Markus Giftthaler, Marco Frigerio, Claudio Semini, Jonas Buchli | ||
| 11:10 | Formalizing the specifications of a domain-specific language for authoring behaviour of personal service robots | Chandan Datta, Elizabeth Broadbent, Bruce MacDonald | ||
| 11:30 | A Simulation Framework for Simultaneous Design and Control of Passive Walkers | Guilhem Saurel, Justin Carpentier, Jean-Paul Laumond | ||
| 11:50 | Lunch | |||
| T-3 | Modeling Framework for Robots and Environments IV (Chairs: Christian Duriez and Nahum Alvarez) | 12:50 | Framework for online simulation of soft robots with optimization-based inverse model | Christian Duriez, Eulalie Coevoet, Frederick Largilliere, Thor Enrique Morales Bieze, Zhongkai Zhang, Mario Sanz Lopez, Carrez Bruno, Marchal Damien, Olivier Goury, Jeremie Dequidt |
| 13:10 | Stable Simulation of Flexible Cable-Like Objects by using Serial Kinematic Chains with High Number of Passive Degrees-of-Freedom | Rafael Cisneros Limon, Ryo Kikuuwe, Shin'ichiro Nakaoka, Fumio Kanehiro | ||
| 13:30 | Towards a framework for end-to-end control of a simulated vehicle with spiking neural networks | Jacques Kaiser, Juan Camilo Vasquez Tieck, Johannes Christian Hubschneider, Peter Wolf, Michael Weber, Michael Hoff, Alexander Friedrich, Konrad Wojtasik, Arne Roennau, Ralf Kohlhaas, Rüdiger Dillmann, Johann Marius Zöllner | ||
| 13:50 | An Approach to Realistic Physical Simulation of Digitally Captured Deformable Linear Objects | Nahum Alvarez, Kimitoshi Yamazaki, Takamitsu Matsubara | ||
| 14:10 | Coffee Break | |||
| T-4 | Simulation and Robot Design I (Chairs: Jing Xiao and Aristotelis-Angelos Papadopoulos) | 14:40 | Unified Swing up and Upright Position Stabilizing Controllers for Inverted-Pendulum on a Cart | Aristotelis-Agelos Papadopoulos, Antonio Alexandridis |
| 15:00 | A comparative study of leg geometry for energy-efficient locomotion | Pranav Bhounsule, Jason Pusey, Chelsea Moussouni | ||
| 15:20 | Model-Based Testing of Real-Time Adaptive Motion Planning (RAMP) | Mahmoud Abdelgawad, Sterling McLeod, Anneliese Andrews, Jing Xiao | ||
| 15:40 | Configuration System for Simulation Based Design of Vibratory Bowl Feeders | Michael Natapon Hansson, Simon Mathiesen, Lars-Peter Ellekilde, Ole Madsen | ||
| 16:00 | Coffee Break | |||
| T-5 | Simulation and Robot Design II (Chairs: Stanislao Grazioso and Alex Lotz) | 16:30 | Combining Robotics Component-Based Model-Driven Development with a Model-Based Performance Analysis | Alex Lotz, Arne Hamann, Ralph Lange, Jan Staschulat, Christian Heinzemann, Dennis Stampfer, Matthias Lutz, Christian Schlegel |
| 16:50 | Optimizing Grippers for Compensating Pose Uncertainties by Dynamic Simulation | Adam Wolniakowski, Aljaz Kramberger, Andrej Gams, Dimitrios Chrysostomou, Frederik Hagelskjær, Thomas Nicky Thulesen, Lilita Kiforenko, Anders Glent Buch, Leon Bodenhagen, Henrik Gordon Petersen, Ole Madsen, Ales Ude, Norbert Krüger | ||
| 17:10 | A Nonlinear Finite Element Formalism for Modelling Flexible Manipulators | Stanislao Grazioso, Valentin Sonneville, Giuseppe Di Gironimo, Bruno Siciliano | ||
| 17:30 | Muscle Synergies for Reliable NAO Arm Motion Control: an Online Simulation with Real-Time Constraints | Andrea Cimolato, Enrico Piovanelli, Roberto Bortoletto, Emanuele Menegatti, Enrico Pagello | ||
| 17:50 | End |
Day 4: Friday, Dec 16
|
|
Session Title | Time | Paper Title | Authors |
| Plenary Talk | 8:30 | Experimental Human-Centered Robots | Luis Sentis | |
| F-1 | Multi-Robot Systems (Chairs: Hanna Kurniawati and Torsten Kroeger) | 9:20 | Decentralized Allocation of Tasks with Temporal and Precedence Constraints to a Team of Robots | Ernesto Nunes, Mitchell McIntire, Maria Gini |
| 9:40 | Robot teleoperation support system for collision avoidance between wheelchair front wheels and a step | Hidetoshi Ikeda, Kazuki Hashimoto, Daisuke Murayama, Rikuto Yamazaki, Eiji Nakano | ||
| 10:00 | Coffee Break | |||
| F-2 | Reliability, Scalability, and Validation of Robot Simulation (Chairs: John Shepherd and Ruth Malin Schemschat) | 10:30 | A Data-Driven Large-Scale Optimization Approach for Task-Specific Physics Realism in Real-Time Robotics Simulation | Andreas Bihlmaier, Kai Kohlhoff |
| 10:50 | Large-Scale Supervised Learning of the Grasp Robustness of Surface Patch Pairs | Daniel Seita, Florian T. Pokorny, Jeffrey Mahler, Danica Kragic, Michael Franklin, John F. Canny, Ken Goldberg | ||
| 11:10 | Optimization Based Analysis of Push Recovery During Walking Motions to Support the Design of Lower-Limb Exoskeletons | Ruth Malin Schemschat, Debora Clever, Katja Mombaur | ||
| 11:30 | Fast Multi-Body Simulations of Robots Controlled with Error Feedback | John Shepherd, Samuel Zapolsky, Evan Drumwright | ||
| 11:50 | Lunch | |||
| F-3 | Simulated Sensors and Actuators (Chairs: Evan Kaufman and Jalil Modares) | 12:50 | Collision Avoidance by IPMC Actuated Robotic Fish using the Collision Cone Approach | Vishwamithra Sunkara, Zhihang Ye, Animesh Chakravarthy, Zheng Chen |
| 13:10 | Autonomous Exploration by Expected Information Gain from Probabilistic Occupancy Grid Mapping | Evan Kaufman, Taeyoung Lee, Zhuming Ai | ||
| 13:30 | UB-ANC Emulator: An Emulation Framework for Multi-Agent Drone Networks | Jalil Modares, Nicholas Mastronarde, Karthik Dantu | ||
| 13:50 | An Interactive Simulator for Deformable Linear Objects Manipulation Planning | Nahum Alvarez, Kimitoshi Yamazaki | ||
| 14:10 | Coffee Break | |||
| F-4 | Testing and Validation of Robot Software (Chairs: Johannes Wienke and Kevin Gucwa) | 14:40 | A toolbox for multi-objective planning in non-deterministic environments with simulation validation | Seyedshams Feyzabadi, Stefano Carpin |
| 15:00 | Continuous Regression Testing for Component Resource Utilization | Johannes Wienke, Sebastian Wrede | ||
| 15:20 | Run-time Verification of Regularly Expressed Behavioral Properties in Robotic Systems with Logic-Labeled Finite State Machines | Vladimir Estivill-Castro, Rene Hexel | ||
| 15:40 | Autonomous Central Pattern Generator Equation Generation for Coordinated Modular Robot Locomotion | Kevin Gucwa, Harry Cheng | ||
| 16:00 | Coffee Break | |||
| F-5 | Testing and Validation of Robot Software II (Chairs: Marc René Zofka and James Taylor) | 16:30 | Analysis of Grasping Failures in Multi-Rigid Body Simulations | James Taylor, Evan Drumwright, John Hsu |
| 16:50 | A formal specification of the RT-Middleware data transfer protocol | Geoffrey Biggs, Noriaki Ando | ||
| 17:10 | State Estimation of a Wild Robot Toward Validation of Rigid Body Simulation | James Taylor, Evan Drumwright | ||
| 17:30 | Simulation Framework for the Development of Autonomous Small Scale Vehicles | Marc René Zofka, Florian Kuhnt, Ralf Kohlhaas, Johann Marius Zöllner | ||
| 17:50 | Paper Awards and Closing Notes | |||
| 18:10 | Farewell Reception in the Parc 55 | |||
| 20:00 | End |
Day 5: Saturday, Dec 17
Time |
Technical tour to the robotics labs at UC Berkeley and Stanford University Co-organized by WAFR 2016 and SIMPAR 2016 (tickets here) |
| 8:15 | Boarding (Parc 55 Hotel, 55 Cyril Magnin St) |
| 8:30 | Bus departure |
| 8:45 | Pick up WAFR attendees (Hotel Vitale, 8 Mission St) |
| 9:45 | Arrival at Stanford University |
| 13:00 | Lunch |
| 14:00 | Departure from Stanford University |
| 15:30 | Arrival at UC Berkeley |
| 17:45 | Departure from UC Berkeley |
| 18:30 | Arrival at Hotel Vitale |
| 18:45 | Arrival at Parc 55 Hotel |
