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

The two volumes LNAI 11649 and LNAI 11650 constitute the refereed proceedings of the 20th Annual Conference "Towards Autonomous Robotics", TAROS 2019, held in London, UK, in July 2019. The 74 full papers and 12 short papers presented were carefully reviewed and selected from 101 submissions. The papers present and discuss significant findings and advances in autonomous robotics research and applications. They are organized in the following topical sections: robotic grippers and manipulation; soft robotics, sensing and mobile robots; robotic learning, mapping and planning; human-robot interaction; and robotic systems and applications. -- Provided by publisher 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