Towards Autonomous Robotic Systems: 20th Annual Conference, TAROS 2019, London, UK, July 3–5, 2019, Proceedings, Part I

Front Matter ....Pages i-xii
Front Matter ....Pages 1-1
 Reasoning on Grasp-Action Affordances  (Paola Ardón, Èric Pairet, Ron Petrick, Subramanian Ramamoorthy, Katrin Lohan)....Pages 3-15
 Design Analysis of a Fabric Based Lightweight Robotic Gripper  (Ahmed Hassan, Hareesh Godaba, Kaspar Althoefer)....Pages 16-27
 A Method to Estimate the Oblique Arch Folding Axis for Thumb Assistive Devices  (Visakha K. Nanayakkara, Nantachai Sornkaran, Hasitha Wegiriya, Nikolaos Vitzilaios, Demetrios Venetsanos, Nicolas Rojas et al.)....Pages 28-40
 Energy-Tank Based Force Control for 3D Contour Following  (Salua Hamaza, Ioannis Georgilas, Thomas Richardson)....Pages 41-51
 Kinematic Control and Obstacle Avoidance for Soft Inflatable Manipulator  (Ahmad Ataka, Agostino Stilli, Jelizaveta Konstantinova, Helge A. Wurdemann, Kaspar Althoefer)....Pages 52-64
 Learning and Composing Primitive Skills for Dual-Arm Manipulation  (Èric Pairet, Paola Ardón, Michael Mistry, Yvan Petillot)....Pages 65-77
 DE VITO: A Dual-Arm, High Degree-of-Freedom, Lightweight, Inexpensive, Passive Upper-Limb Exoskeleton for Robot Teleoperation  (Fabian Falck, Kawin Larppichet, Petar Kormushev)....Pages 78-89
 A Novel Probabilistic Projection Model for Multi-camera Object Tracking  (Jiaxin Lin, Chun Xiao, Disi Chen, Dalin Zhou, Zhaojie Ju, Honghai Liu)....Pages 90-100
Front Matter ....Pages 101-101
 Soft Fiber-Reinforced Pneumatic Actuator Design and Fabrication: Towards Robust, Soft Robotic Systems  (Jan Fras, Kaspar Althoefer)....Pages 103-114
 Ultrasound Feature Evaluation for Robustness to Sensor Shift in Ultrasound Sensor Based Hand Motion Recognition  (Peter Boyd, Yinfeng Fang, Honghai Liu)....Pages 115-125
 Light Intensity-Modulated Bending Sensor Fabrication and Performance Test for Shape Sensing  (Faisal ALJaber, Kaspar Althoefer)....Pages 126-137
 Designing Origami-Adapted Deployable Modules for Soft Continuum Arms  (Ketao Zhang, Kaspar Althoefer)....Pages 138-147
 A Debris Clearance Robot for Extreme Environments  (Craig West, Farshad Arvin, Wei Cheah, Andrew West, Simon Watson, Manuel Giuliani et al.)....Pages 148-159
 Dynamic Response Characteristics in Variable Stiffness Soft Inflatable Links  (Ahmad Ali, Kaspar Althoefer, Jelizaveta Konstantinova)....Pages 160-170
 Investigating Balance Control of a Hopping Bipedal Robot  (Beichen Ding, Andrew Plummer, Pejman Iravani)....Pages 171-182
 Continuous Motion Utilising Advanced Motions on a Hexapod  (Wei Cheah, Hassan Hakim Khalili, Simon Watson, Peter Green, Barry Lennox)....Pages 183-194
Front Matter ....Pages 195-195
 Towards Adversarial Training for Mobile Robots  (Todd Flyr, Simon Parsons)....Pages 197-208
 Collaborative HRI and Machine Learning for Constructing Personalised Physical Exercise Databases  (Daniel Delgado Bellamy, Praminda Caleb-Solly)....Pages 209-220
 ORB-SLAM-CNN: Lessons in Adding Semantic Map Construction to Feature-Based SLAM  (Andrew M. Webb, Gavin Brown, Mikel Luján)....Pages 221-235
 Probabilistic Planning for Robotics with ROSPlan  (Gerard Canal, Michael Cashmore, Senka Krivić, Guillem Alenyà, Daniele Magazzeni, Carme Torras)....Pages 236-250
 Coverage Path Planning for Large-Scale Aerial Mapping  (Nasser Gyagenda, Ahmad Kamal Nasir, Hubert Roth, Vadim Zhmud)....Pages 251-262
 Self-organized Collective Motion with a Simulated Real Robot Swarm  (Mohsen Raoufi, Ali Emre Turgut, Farshad Arvin)....Pages 263-274
 Contact Planning for the ANYmal Quadruped Robot Using an Acyclic Reachability-Based Planner  (Mathieu Geisert, Thomas Yates, Asil Orgen, Pierre Fernbach, Ioannis Havoutis)....Pages 275-287
 Multi-robot Multi-goal Motion Planning with Time and Resources  (Stefan Edelkamp, Junho Lee)....Pages 288-299
Front Matter ....Pages 301-301
 instruMentor: An Interactive Robot for Musical Instrument Tutoring  (Shreyus Bagga, Benedikt Maurer, Tom Miller, Luke Quinlan, Lorenzo Silvestri, Dan Wells et al.)....Pages 303-315
 Position and Velocity Control for Telemanipulation with Interoperability Protocol  (Bukeikhan Omarali, Francesca Palermo, Maurizio Valle, Stefan Poslad, Kaspar Althoefer, Ildar Farkhatdinov)....Pages 316-324
 Intrinsically Motivated Autonomy in Human-Robot Interaction: Human Perception of Predictive Information in Robots  (Marcus M. Scheunemann, Christoph Salge, Kerstin Dautenhahn)....Pages 325-337
 Modeling and Control of Ankle Actuation Platform for Human-Robot Interaction  (Ata Otaran, Ildar Farkhatdinov)....Pages 338-348
 Investigating the Effects of Social Interactive Behaviours of a Robot on People’s Trust During a Navigation Task  (Alessandra Rossi, Fernando Garcia, Arturo Cruz Maya, Kerstin Dautenhahn, Kheng Lee Koay, Michael L. Walters et al.)....Pages 349-361
 A Dataset for Action Recognition in the Wild  (Alexander Gabriel, Serhan Coşar, Nicola Bellotto, Paul Baxter)....Pages 362-374
 Feel It on Your Fingers: Dataglove with Vibrotactile Feedback for Virtual Reality and Telerobotics  (Burathat Junput, Xuyi Wei, Lorenzo Jamone)....Pages 375-385
 Virtual Reality Simulator for Medical Auscultation Training  (Luis Andrés Puértolas Bálint, Luis Humberto Perez Macías, Kaspar Althoefer)....Pages 386-398
Front Matter ....Pages 399-399
 Note on Geometric and Exponential Expressions of Screw Displacement  (Guowu Wei, Anthony H. Jones, Lei Ren)....Pages 401-412
 A Modular 3D-Printed Inverted Pendulum  (Ian S. Howard)....Pages 413-424
 A Geometric Dynamics Algorithm for Serially Linked Robots  (Mohammad Safeea, Pedro Neto, Richard Béarée)....Pages 425-435
 Full-Rotation Singularity-Safe Workspace for Kinematically Redundant Parallel Robots  (Yat Hei Cheung, Nicholas Baron, Nicolas Rojas)....Pages 436-447
 Model-Based 3D Point Cloud Segmentation for Automated Selective Broccoli Harvesting  (Hector A. Montes, Grzegorz Cielniak, Tom Duckett)....Pages 448-459
 Mine Detonating Sphere-Bot  (Rebecca Harding, Charles Freestone, Martin F. Stoelen)....Pages 460-472
Back Matter ....Pages 473-474