Technical Program

Instructions for Oral Presenters

All lecture theatres have the following equipment:

• PC with CD drive and USB ports
• Data projector
• DVD Player
• Amplifier and sound system

Regular presentations: A 20-minutes slot is allocated to each regular oral presentation, of which 15 minutes are assigned to the presentation, 3 minutes to discussion and 2 minutes to changing sessions.

Keynote presentations: A 60-minutes slot is allocated to keynote presentations, of which 45 minutes are assigned to the presentation, up to 13 minutes for discussion and 2 minutes for changing sessions.

Presenters and sessions chairs are advised to observe the above format strictly.

Preparation of Oral Presentations: To help us organize the material for use with the Data projector, please use the following methods (in order of preference) for efficient speaker changeover, flexibility, and reliability:

1. Upload your PowerPoint presentation electronically onto the “Final Paper Submission” site of the conference, at latest during the week commencing 01 September 2017. Please bring with you a backup on a USB Flash drive.
2. Bring your presentation on a USB Flash drive. All presentations will be copied onto the lecture room desktop just before the event so that everything is there and ready to run.
3. It will be possible to hook up laptops to the data projector for those users who have specialist software packages that may not reside on the lecture theatre’s PC.

Technical Programme

List of papers to be presented per session

Monday 11 September 2017

Session Mm1: Locomotion-1 [Monday, September 11 @ 10:40 – 12:40] [Venue: Auditório E]

• [10:40 – 11:00] “Accelerate the Disturbance Recovery for a Passive-Based Biped Walker Based on Model Predictive Control”,
  Ka Deng, Mingguo Zhao and Wenli Xu
• [11:00 – 11:20] “Bio-Inspired Bipedal Speed Control in the B4LC System”,
  Qi Liu, Kartikeya Karnatak and Karsten Berns
• [11:20 – 11:40] “Efficient Reactive Behavior for Six-legged Walking on Rough Terrain with Proprioceptive Sensing”,
  Dominik Belter
• [11:40 – 12:00] “Walking Analysis of Quadruped Quasi-Passive Dynamic Walking Robot “DUKE-II” Focusing on Trunk Structure”,
  Yasuhiro Sugimoto, Takaki Okamoto and Koichi Osuka
• [12:00 – 12:20] “Myriapod Robot i-CentiPot01 via Mechanical Passivity”,
  Tetsuya Kinugasa, Koichi Osuka, Naoki Miyamoto, Ryota Hayashi, Koji Yoshida, Dai Owaki and Akio Ishiguro
• [12:20 – 12:40] “Effect of Viscoelastic Trunk Mechanism with Arm Swinging in 3D Bipedal Locomotion”,
  Ryo Onishi, Hiroki Oku, Takashi Takuma and Wataru Kase

Session Mm2: Assistive Robotics [Monday, September 11 @ 10:40 – 12:20] [Venue: Sala de Atos]

• [10:40 – 11:00] “Walking Pattern Generation Method for an Exoskeleton Moving on Uneven Terrain”,
  Sergey Jatsun, Sergei Savin and Andrey Yatsun
• [11:00 – 11:20] “Linear Series Elastic Actuator for Powered Knee Orthosis”,
  Myroslav Shysh, Tarik Mrech, Ulrich Schmucker and Andriy Telesh
• [11:20 – 11:40] “ATLAS 2020: The Pediatric Gait Exoskeleton Project”,
  Elena Garcia, Daniel Sanz-Merodio, Juan Sancho and Manuel Prieto
• [11:40 – 12:00] “Pattern Based Standing Assistance for a Low Level of Care”,
  Daisuke Chugo, Shohei Kawazoe, Sho Yokota, Hiroshi Hashimoto, Takahiro Katayama, Yasuhide Mizuta and Atsushi Koujina
• [12:00 – 12:20] “Upper-Limb Exoskeleton for Human Muscle Fatigue”,
  Siti Khadijah Ali and Osman Tokhi

Session Mm3: Biologically-Inspired Systems and Solutions [Monday, September 11 @ 10:40 – 12:20] [Venue: Sala de Reuniões]

• [10:40 – 11:00] “TB-Horse II: Design and Analysis of a Bio-Inspired Robot Horse Based on the Breed Mangalarga Marchador”,
  Daniel Rodrigues de Sousa, Wagner Tanaka Botelho, Marias da Graças Bruno Marietto, João Carlos da Motta Ferreira and Edson Pinheiro Pimentel
• [11:00 – 11:20] “Both-End Supported Earth Auger for a Bending Excavation of Peristaltic-Type Lunar Excavation Robot”,
  Ami Fujiwara, Nakatake Toyoharu, Mamoru Nagai, Naoaki Tadami, Yasuyuki Yamada, Taro Nakamura, Hirotaka Sawada and Takashi Kubota
• [11:20 – 11:40] “Development of a Peristaltic Crawling Robot for Practical Use and Field Experiment Evaluation”,
  R. Ishikawa, T. Tomita, Y. Yamada and T. Nakamura
• [11:40 – 12:00] “Design of an Exchangeable, Compact and Modular Bio-Inspired Leg for Six-Legged Walking Robots”,
  Timothee Buettner, Arne Roennau, Georg Heppner and Rüdiger Dillmann
• [12:00 – 12:20] “Multisensory Guidance of Goal-Oriented Behaviour of Legged Robots”,
  Danish Shaikh, Poramate Manoonpong, Gervase Tuxworth and Leon Bodenhagen

Session Ma1: Flying and Aerial Robots[Monday, September 11 @ 15.00 – 16.20] [Venue: Auditório E]

• [15:00 – 15:20] “Ego-Motion Sensor for Unmanned Aerial Vehicles Based on the Raspberry Pi”,
  Gaël Écorchard, Adam Heinrich and Libor Přeučil
• [15.20 – 15.40] “Autonomous Landing of a UAV on a Moving Vehicle for the MBZIRC”,
  Luciano Cantelli, Dario Carmelo Guastella, Carmelo Donato Melita, Giovanni Muscato, Sebastiano Battiato, Fabio D’Urso, Giovanni Maria Farinella, Alessandro Ortis and Corrado Santoro
• [15.40 – 16.00] “Real-time Embedded System of Sliding Mode Observer for Quadcopter UAVs”,
  Ahmad Riyad Firdaus and M. O. Tokhi
• [16.00 – 16.20] “3D Path Planning Methods for Unmanned Aerial Vehicles in Search and Rescue Scenarios”,
  André Dias, Tiago Santos, José Almeida, Alfredo Martins and Eduardo Silva

Session Ma2: Modelling and Simulation of CLAWAR [Monday, September 11 @ 15.00 – 16.20] [Venue: Sala de Atos]

• [15:00 – 15:20] “Force Correction Control in Pneumatic Vacuum Contact Devices of Mobile Robots”,
  Valery Gradetsky, Maxim Knyazkov, Artem Sukhanov, Eugeny Semenov and Anastasiia Kryukova
• [15.20 – 15.40] “Modelling of a Thermomechanical Actuator for a Walking Microrobot”,
  Ivan Bogoslavskiy, Nikolay Bolotnik, Vladislav Chashchukhin, Valery Gradetsky, Armen Nunuparov, Dmitry Kozlov, Igor Smirnov and Andrey Zhukov
• [15.40 – 16.00] “Kinematic Modeling of an Omnidirectional Reconfigurable Screw-Propelled Mobile Robot”,
  Jesus Lugo, Vishal Ramadoss, Matteo Zoppi and Rezia Molfino
• [16.00 – 16.20] “Modelling of a Magnetic Adhesion Robot for NDT Inspection of Large Metal Structures”,
  Maz Shirkoohi and Zhanfang Zhao

Session – Ma3: Special Session on Robotics in Education and Education in Robotics [Monday, September 11 @ 15.00 – 16.20] [Venue: Sala de Reuniões]

• [15:00 – 15:20] “Proposal of a New Servo-Motor Optimized for Educational Robotic Applications “,
  João Silva, Paulo Costa and José A. Gonçalves
• [15.20 – 15.40] “Using Robotics to Teach Systems Engineering: A Hands-on Learning Course Example”,
  Manuel Silva, André Dias and Maria Costa
• [15.40 – 16.00] “Elementary Students Programming In C To Make Their Robots Do Their Bidding”,
  David Miller, Roger Clement, Carol Goodgame and Steve Goodgame
• [16.00 – 16.20] “Arduino Recursive Backtracking Implementation, for a Robotic Contest”,
  Sérgio Silva, Diogo Duarte, Rolando Barradas, Salviano Soares, António Valente and Manuel J. C. S. Reis

Session – Me1: Tele-Operated Robots, HMI and Virtual Reality [Monday, September 11 @ 16.40 – 18.00] [Venue: Auditorio E]

• [16:40 – 17:00] “Shredded Image Patching by Using Past Frames of Inner Crawler Cameras for Flexible Mono-Tread Mobile Track”,
  Kenichi Tokuda, Jin Nagaishi, Tetsuya Kinugasa, Takafumi Haji and Hisanori Amano
• [17.00 – 17.20] “Teleoperation of a Six-legged Walking Robot Using a Hand Tracking Interface”,
  Wojciech Cieślak, Sebastian Rodykow and Dominik Belter
• [17.20 – 17.40] “Prototyping of Immersive HRI Scenarios”,
  Dennis Krupke, Sebastian Starke, Lasse Einig, Jianwei Zhang and Frank Steinicke
• [17.40 – 18.00] “Assessment Strategy of Human Upper Forearm Inter-Relation and Muscle Fatigue”,
  Wan Mohd Bukhari Wan Daud, Norafizah Abas and Mohammad Tokhi

Session – Me2: Underwater and Sea Robotics [Monday, September 11 @ 16.40 – 18.00] [Venue: Sala de Atos]

• [16:40 – 17:00] “Development of a Flexible Propulsion Unit for a Seabed Excavation Robot”,
  Naoaki Tadami, Ami Fujiwara, Nakatake Toyoharu, Mamoru Nagai, Yasuyuki Yamada, Taro Nakamura, Hiroshi Yoshida, Hiroyuki Sawada and Takashi Kubota
• [17.00 – 17.20] “Novel Volume-Expanding Mechanism for Large Buoyancy Change”,
  Koji Shibuya, Katsuhisa Jimu and Tomoya Yamashita
• [17.20 – 17.40] “Underwater tests of the walking robot MAK-1”,
  Vadim Chernyshev, Vladimir Arykantsev and Yaroslav Kalinin
• [17.40 – 18.00] “Development of Novel Crawler Based Robot for Mooring Chain Climbing”,
  Mehesh Dissanayake, Md Omar Howlader, Tariq Sattar, Tat-Hean Gan and Ivan Pinson

Session – Me3: Localization and Navigation [Monday, September 11 @ 16.40 – 17.40] [Venue: Sala de Reuniões]

• [16:40 – 17:00] “A Practical Application of QR-Codes for Mobile Robot Localization in Home Environment”,
  Marta Rostkowska and Piotr Skrzypczynski
• [17.00 – 17.20] “Terrain Classification for Autonomous Navigation in Public Areas”,
  Jan Wietrzykowski and Piotr Skrzypczynski
• [17.20 – 17.40] “UGV Navigation in Unstructured Environments Through UAV Survey”,
  Luciano Cantelli, Dario Calogero Guastella, Donato Carmelo Melita and Giovanni Muscato

Tuesday 12 September 2017

Session – Tm1: Locomotion-2 [Tuesday, September 12 @ 10.40 – 12.40] [Venue: Auditório E]

• [10:40 – 11:00] “Localization Method Using ICP Algorithm for a Six-Legged Robot”,
  H. Uchida and Masashi Hosoi
• [11:00 – 11:20] “A Reliable Hierarchical Omnidirectional Walking Engine for a Bipedal Robot by Using the Enhanced LIP Plus Flywheel”,
  S. M. Kasaei, N. Lau and A. Pereira
• [11:20 – 11:40] “A Combined Limit Cycle – Zero Moment Point Based Approach for Omni-Directional Quadrupedal Bounding”,
  Romeo Orsolino, Michele Focchi, Darwin G. Caldwell and Claudio Semini
• [11:40 – 12:00] “Validation of Computer Simulations of the HyQ Robot”,
  Marco Frigerio, Victor Barasuol, Michele Focchi, Darwin Caldwell and Claudio Semini
• [12:00 – 12:20] “Nonlinear Variable Transmission Actuators for Biped Robot Force Feedback Control”,
  Hector Montes and Manuel Armada
• [12:20 – 12:40] “On Decentralized Control of Tripedal Walking Robot Using Reaction Force Feedback”,
  Masato Ishikawa, Naoto Yasutani and Ryoichi Kuratani

Session – Tm2: Special Session on Wearable Robotics for Assistance and Rehabilitation-1 [Tuesday, September 12 @ 10.40 – 12.40] [Venue: Sala de Atos]

• [10:40 – 11:00] “Automatic and Real-Time Locomotion Mode Recognition of a Humanoid Robot”,
  Joana Figueiredo, Diogo Gonçalves, Juan C. Moreno and Cristina P. Santos
• [11:00 – 11:20] “Adaptive Optimal Control Based on Estimation of Patient Behavior”,
  Wilian dos Santos, Jonathan Jaimes, Juan Carlos Ibarra and Adriano Siqueira
• [11:20 – 11:40] “Validation of a Knee Angle Measurement System Based on IMUS”,
  Nuno Ferrete Ribeiro, César Ferreira, Luís Paulo Reis, Hélder Silva, Pedro Macedo, Luís A. Rocha and Cristina P. Santos
• [11:40 – 12:00] “Adaptive Real-Time Tool for Human Gait Event Detection Using a Wearable Gyroscope”,
  Paulo Félix, Joana Figueiredo, Cristina P. Santos and Juan C. Moreno
• [12:00 – 12:20] “Biomechanical Comparison of Patients with CP with Different Levels of Gait Assistance Using CPWALKER”,
  Carlos Cifuentes, Luis Aycardi, Marcela Munera, Cristina Bayon, Oscar Ramirez, Eduardo Rocon, Anselmo Frizera and Sergio Lerma
• [12:20 – 12:40] “Neurofeedback Vibrotactile System for Parkinsonians Overcome Freezing of Gait: the First Steps in the Detecting the Most Perceived Frequency”,
  Helena Gonçalves, Ana Rodrigues, Graça Minas and Cristina Santos

Session – Tm3: Inspection [Tuesday, September 12 @ 10.40 – 12.20] [Venue: Sala de Reuniões]

• [10:40 – 11:00] “Development of Omnidirectional Wall Climbing Robot for Aircraft Inspections”,
  Takafumi Amakawa, Tomohiro Yamaguchi, Naoaki Tadami, Yasuyuki Yamada and Taro Nakamura
• [11:00 – 11:20] “Biological Inspired Approach for the Inspection of Structures in the Splash Zone”,
  Mario Ribeiro and Manuel Silva
• [11:20 – 11:40] “Climbing Robots for NDT Applications”,
  M Al Rashed, M Kimball, L Vega, D Vera, J Soler, M Correa, A Garcia, GS Virk and T Sattar
• [11:40 – 12:00] “Pipeline Inspection Robotic Solutions”,
  MS Ribeiro, GS Virk, M Al Rashed, M Kimball, M Correa, D Vera and Jose Soler
• [12:00 – 12:20] “Non-Destructive Testing Robots (NDTBots) for In-Service Storage Tank Inspection”,
  Richard Anvo, Tariq Sattar, Tat-Hean Gan and Ivan Pinson

Wednesday 13 September 2017

Session Wm1: Special Session on Wearable Robotics for Assistance and Rehabilitation-2 [Wednesday, September 13 @ 10.20 – 12.20] [Venue: Auditório E]

• [10:20 – 10:40] “Energy Recovering Actuators to Improve the Range, the Efficiency and the Portability: Old Tricks for Future Applications”,
  Francesco Bottiglione
• [10:40 – 11:00] “Bio-Inspired Lower-Limb Exoskeletons for Gait Assistance and Rehabilitation”,
  Carlos A. Cifuentes
• [11:00 – 11:20] “Robot-Assisted Gait: What About the Cardiometabolic Load?”,
  Nina Lefeber
• [11:20 – 11:40] “Robotic Platform for the Rehabilitation of Children With Cerebral Palsy: CPWalker”,
  Eduardo Rocon
• [11:40 – 12:00] “Rendering Lower Limb Neuro-Mechanics in a Wearable Exoskeleton for SCI Subjects”,
  Herman van der Kooij
• [12:00 – 12:20] “Wearable Hand Rehabilitation System With Force Feedback”,
  Krzysztof Kozlowski

Session Wm2: Innovative Design of CLAWAR [Wednesday, September 13 @ 10.20 – 12.00] [Venue: Sala de Atos]

• [10:20 – 10:40] “GECO: The Development of a Wall-Climbing Robot”,
  Rob Cardinaels, Julie Maes, Jordi Deseure, Jelle Saldien, Kevin Aelterman, Steven Verstockt and Francis Wyffels
• [10:40 – 11:00] “Design of a Glass-Wall Climbing Robot Using Passive Suction Cups”,
  Sibao Wang, Dominico Sundjaja, Guojie Lan, Xin Zheng, Chee-Meng Chew, Wen-Feng Lu and Kim Pong Tan
• [11:00 – 11:20] “Possibilities of Using Wall Climbing Robots for Underwater Application”,
  Valery Gradetsky, Maxim Knyazkov, Artem Sukhanov, Eugeny Semenov, Vlad Chaschukhin and Anastasiia Kryukova
• [11:20 – 11:40] “Centaur Robots – a Survey”,
  Bilal Ur Rehman, Darwin G. Caldwell and Claudio Semini
• [11:40 – 12:00] “Agile Climbing Robot Design for NDT Inspection”,
  Maz Shirkoohi and Zhanfang Zhao

Session Wm3: Climbing and Biomedical Robots [Wednesday, September 13 @ 10:20 – 12:00] [Venue: Sala de Reuniões]

• [10:20 – 10:40] “Compact Climbing Robot with Surface Transition and Turning-on-the-Spot Abilities”,
  Yue Wu, Xiao Teng, Chee Meng Chew and Kim Pong Tan
• [10:40 – 11:00] “The Control System of a Wall Climbing Robot with Aerodynamic Fixation”,
  Vladislav Chashchukhin and Armen Nunuparov
• [11:00 – 11:20] “Effect of Heterogeneity in Distributed Building Formation by Autonomous Climbing Agents”,
  Yuichiro Sueoka, Kohei Kubota, Masato Ishikawa and Koichi Osuka
• [11:20 – 11:40] “Wave-Like Propulsion Robot Over Flexible Surfaces”,
  Nir Dgani and David Zarrouk
• [11:40 – 12:00] “Screw-Like Locomotion Over Compliant Surfaces”,
  Tal Dachlika, A. Sintov and David Zarrouk

Session Wa1: Special Session on Wearable Robotics for Assistance and Rehabilitation-3 [Wednesday, September 13 @ 14:00 – 16:00] [Venue: Auditório E]

• [14:00 – 14:20] “An Ankle-Foot Prosthesis: A Preliminary Design and Dynamic Model”,
  César Ferreira, Cristina Santos, Joana Alves, Eurico Seabra and Luís Paulo Reis
• [14:20 – 14:40] “Gait Events Detector for Transtibial Prosthesis”,
  César Ferreira, Luis Paulo Reis and Cristina Santos
• [14:40 – 15:00] “Active Orthotic System for Assistance and Rehabilitation”,
  Ivanka Veneva, Dimitar Chakarov, Pavel Venev, Evgeni Zlatanov, Michail Tsveov, Dimitar Trifonov
• [15.00 – 15.20] “Requirements Specifications for a Wearable Robotic Exoskeleton for Rehabilitation”,
  Heba Lakany
• [15.20 – 15.40] “Upper Limb Loads During Robotic Assisted Gait: A Measuring System to Guide Training”,
  M. Lancini, M. Serpelloni, S. Pasinetti, I. Bodini, G. Sansoni, M. D. Cecco and A. Fornaser
• [15.40 – 16.00] “On the Design and Control of an Empowering Manipulator to Increase the Capabilities of Humans in Industrial Applications”,
  Loris Roveda, Alessio Prini, Tito Dinon, Shaghayegh Haghshenas, Nicola Pedrocchi, Francesco Braghin and Lorenzo Molinari Tosatti

Session Wa2: Perception, Planning, Control and Scheduling [Wednesday, September 13 @ 14:00 – 15:40] [Venue: Sala de Atos]

• [14:00 – 14:20] “Energy-Efficient MPC for Biped Robots”,
  Carlos Neves and Rodrigo Ventura
• [14:20 – 14:40] “3D-Printed Low-Cost Modular Force Sensors”,
  Florens Wasserfall, Norman Hendrich, Fabian Fiedler and Jianwei Zhang
• [14:40 – 15:00] “The Motion Analysis and Trajectory Planning of Static Gait for the Quadruped Robot”,
  Ruina Dang, Peng Xu, Qichang Yao, Bo Su, Lei Jiang, Lindong Mu and Chenxing Jiang
• [15.00 – 15.20] “Omni-Directional Steering Control for a Triangle With a Right Angle”,
  Elena Kolesnichenko, Vladimir Pavlovsky, Igor Orlov, Anton Aliseychik and Dmitry Gribkov
• [15.20 – 15.40] “A Genetic Algorithm Approach for the Scheduling in a Robotic-Centric Flexible Manufacturing System”,
  A. I. Pereira, A. Ferreira, J. Barbosa, J. Lima and P. Leitão