Second Italian Conference on Robotics and Intelligent Machines Program
10 December 2020
Workshop
12:00 | Tavola rotonda “L’Umanità è già stata su Marte?”
Massimo Sideri (organizzatore), Barbara Mazzolai, Domenico Prattichizzo, Valentina Sumini, Massimiano
Bucchi
Bucchi
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Plenary
14:00 | Jamie Paik – “Reconfigurable robots for softer interactions”
Chair: Barbara Mazzolai
Workshop
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11 December 2020
Invited speech
10:00 | Cecile Huet – “The role of AI and Robotics in HE with focus on Cluster 4:
Digital, Industry and Space”
Chair: Rita Cucchiara (AIIS -CINI Lab) and Antonio Bicchi (I-RIM)
Plenary
10:20 | Brad Nelson – “Microrobotics and Nanomedicine: Future Directions in Medical
Robotics”
Chair: Domenico Prattichizzo
Conference
12:15 | Tavola rotonda “La robotica come fattore abilitante per l’innovazione
industriale – Tecnologie, idee e scenari”
industriale – Tecnologie, idee e scenari”
Franco Canna (organizzatore), Giorgio Metta, Arturo Baroncelli, Michele Pedretti, Alessio Cocchi,
Gianluigi Viscardi, Enrico Silani, Alberto Pellero
Gianluigi Viscardi, Enrico Silani, Alberto Pellero
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14:00 | Tavola rotonda “Ricerca e Robotica”
Gaetano Manfredi, Bruno Siciliano, Antonio Bicchi (organizzatore), Angelika Peer, Paolo Rocco, Paolo
Fiorini, Giulia Campodonico
Fiorini, Giulia Campodonico
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Conference
17:30 | Tavola rotonda “Robotica and Intelligenza Artificiale per l’innovazione clinica:
esperienze and prospettive”
esperienze and prospettive”
Nicola Miglino (organizzatore), Claudio Rossetti (organizzatore), Eugenio Guglielmelli, Aldo Massimo
Bocciardi, Franca Melfi, Mauro Ferrari, Paolo Fiorini, Arianna Menciassi, Robert Alexander
Bocciardi, Franca Melfi, Mauro Ferrari, Paolo Fiorini, Arianna Menciassi, Robert Alexander
12 December 2020
Conference
Workshop
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Conference
Workshop
Click to have a look to the dedicated sections
Paper Session
11 December 2020, h 11:15-12:15
Autonomous Robots and Systems I
Chair
Riccardo Costanzi
Co-Chair
Enrico Turco
Session – Part I [11:15-11:45]
[5′] [pdf | multimedia | pitch]
Towards a PHM system for Electro-Mechanical Flight Control Actuators
Towards a PHM system for Electro-Mechanical Flight Control Actuators
[5′] [pdf | multimedia | pitch]
Deep Learning for on-board AUV Automatic Target Recognition for Optical and Acoustic imagery
Deep Learning for on-board AUV Automatic Target Recognition for Optical and Acoustic imagery
[15′] Discussion
Session – Part II [11:45-12:15]
[5′] [pdf | multimedia | pitch]
Agile Autonomy: High-Speed Flight with On-Board Sensing and Computing
Agile Autonomy: High-Speed Flight with On-Board Sensing and Computing
[5′] [pdf | multimedia | pitch]
Dynamic Maneuverability Analysis of an Autonomous Underwater Reconfigurable Vehicle
Dynamic Maneuverability Analysis of an Autonomous Underwater Reconfigurable Vehicle
[15′] Discussion
Dynamics, Control and Learning I
Chair
Maria Domenica Di Benedetto
Co-Chair
Giovanna Naselli
Session – Part I [11:15-11:45]
[5′] [pdf | multimedia | pitch]
Experimental Validation of a Wrench Virtual Sensor for Impedance-Controlled Robots
Experimental Validation of a Wrench Virtual Sensor for Impedance-Controlled Robots
[15′] Discussion
Session – Part II [11:45-12:15]
[5′] [pdf | multimedia | pitch]
UnityFlexML: Training Reinforcement Learning Agents in a Simulated Surgical Environment
UnityFlexML: Training Reinforcement Learning Agents in a Simulated Surgical Environment
[15′] Discussion
Humanoids, Exoskeletons, and Rehab Robots I
Chair
Alessandro Ridolfi
Co-Chair
Tommaso Lisini
Session – Part I [11:15-11:45]
[5′] [pdf | multimedia | pitch] Assessment of the
psychophysiological state during walking with a treadmill-based exoskeleton
psychophysiological state during walking with a treadmill-based exoskeleton
[15′] Discussion
Session – Part II [11:45-12:15]
[5′] [pdf | multimedia | pitch] Electro-Pneumatic
System
for Imparting Controlled Postural Perturbations on Human Subjects
System
for Imparting Controlled Postural Perturbations on Human Subjects
[5′] [pdf | multimedia | pitch] Compliant
capacitive
elastomer goniometer sensor for joint angle measurement
capacitive
elastomer goniometer sensor for joint angle measurement
[5′] [pdf | multimedia | pitch] A Knowledge-Based
Conversation System for Robots and Smart Assistants
Conversation System for Robots and Smart Assistants
[15′] Discussion
Human-Robot Interaction, Teleoperation, and Virtual Reality I
Chair
Filippo Cavallo
Co-Chair
Laura Margheri
Session – Part I [11:15-11:45]
[5′] [pdf | multimedia | pitch] Computing smooth
human
friendly motion with the variational formalism
human
friendly motion with the variational formalism
[15′] Discussion
Session – Part II [11:45-12:15]
[5′] [pdf | multimedia | pitch] The Human Wearable
Perception System: a Human-Robot Collaboration Application
Perception System: a Human-Robot Collaboration Application
[5′] [pdf | multimedia | pitch] Human-Aware Task
and
Motion
Planning for efficient Human-Robot Collaboration
and
Motion
Planning for efficient Human-Robot Collaboration
[10′] Discussion
11 December 2020, h 15:30-16:30
Autonomous Robots and Systems II
Chair
Paolo Robuffo Giordano
Co-Chair
Enrico Turco
Session – Part I [15:30-16:00]
[5′] [pdf | multimedia | pitch] Autonomous
Geotechnical
Surveys with Autonomous Marine Vehicles: the WiMUST project
Geotechnical
Surveys with Autonomous Marine Vehicles: the WiMUST project
[5′] [pdf | multimedia | pitch] Autonomous
Manganese
Fields
Exploration with a UVMS: the ROBUST project
Manganese
Fields
Exploration with a UVMS: the ROBUST project
[15′] Discussion
Session – Part II [16:00-16:30]
[5′] [pdf | multimedia | pitch]
Quasi-Unsupervised Fruit Counting Using Domain Adaptation and Spatial Consistency
Quasi-Unsupervised Fruit Counting Using Domain Adaptation and Spatial Consistency
[15′] Discussion
Dynamics, Control and Learning II
Chair
Rezia Molfino
Co-Chair
Laura Margheri
Session – Part I [15:30-16:00]
[5′] [pdf | multimedia | pitch]
A Deep Reinforcement Learning Approach for Robust Control in Robotic Applications
A Deep Reinforcement Learning Approach for Robust Control in Robotic Applications
[5′] [pdf | multimedia | pitch]
Time Generalization of Learned Trajectories on a One-Link Flexible Arm
Time Generalization of Learned Trajectories on a One-Link Flexible Arm
[15′] Discussion
Session – Part II [16:00-16:30]
[5′] [pdf | multimedia | pitch]
A Genetic Algorithm for the Characterization of Biological Samples through Smart Microgrippers
A Genetic Algorithm for the Characterization of Biological Samples through Smart Microgrippers
[5′] [pdf | multimedia | pitch]
Model-Free Torque Iterative Learning Control for Resilient and Stable Physical Interaction of Articulated
Soft
Robots
Model-Free Torque Iterative Learning Control for Resilient and Stable Physical Interaction of Articulated
Soft
Robots
[5′] [pdf | multimedia | pitch]
Formal Analysis of Deep Decision-Making Models for Aquatic Navigation
Formal Analysis of Deep Decision-Making Models for Aquatic Navigation
[15′] Discussion
Humanoids, Exoskeletons, and Rehab Robots II
Chair
Daniele Pucci
Co-Chair
Emanuela Del Dottore
Session – Part I [15:30-16:00]
[5′] [pdf | multimedia | pitch]
Towards a Supernumerary Robotic Hand for Upper Limb Assistance and Rehabilitation
Towards a Supernumerary Robotic Hand for Upper Limb Assistance and Rehabilitation
[5′] [pdf | multimedia | pitch]
A Multi-Modal Learning System for Action Segmentation to Control Assistant Surgeon Robots
A Multi-Modal Learning System for Action Segmentation to Control Assistant Surgeon Robots
[15′] Discussion
Session – Part II [16:00-16:30]
[5′] [pdf | multimedia | pitch]
Development of a New Rehabilitation Device for Finger Extension Movement
Development of a New Rehabilitation Device for Finger Extension Movement
[5′] [pdf | multimedia | pitch]
Towards the Estimation of Object Characteristics by Observing Human Manipulation
Towards the Estimation of Object Characteristics by Observing Human Manipulation
[15′] Discussion
Human-Robot Interaction, Teleoperation, and Virtual Reality II
Chair
Gionata Salvietti
Co-Chair
Maria Pozzi
Session – Part I [15:30-16:00]
[5′] [pdf | multimedia | pitch]
An Integrated Approach to Represent and Adapt Human-robot Collaborative Tasks
An Integrated Approach to Represent and Adapt Human-robot Collaborative Tasks
[15′] Discussion
Session – Part II [16:00-16:30]
[5′] [pdf | multimedia | pitch]
Forbidden Region Virtual Fixtures for Surgical Tools Collision Avoidance
Forbidden Region Virtual Fixtures for Surgical Tools Collision Avoidance
[5′] [pdf | multimedia | pitch]
“I see you”: safe and effective human-robot interaction based on vision system
“I see you”: safe and effective human-robot interaction based on vision system
[15′] Discussion
11 December 2020, h 16:30-17:30
Industry 4.0 I
Chair
Giulio Rosati
Co-Chair
Enrico Turco
Session – Part I [16:30-17:00]
[5′] [pdf | multimedia | pitch]
Cable-Driven Parallel Robots, theoretical challenges and industrial applications
Cable-Driven Parallel Robots, theoretical challenges and industrial applications
[5′] [pdf | multimedia | pitch] Fully Autonomous
Picking
with a Dual-Arm Platform for Intralogistics
Picking
with a Dual-Arm Platform for Intralogistics
[15′] Discussion
Session – Part II [17:00-17:30]
[5′] [pdf | multimedia | pitch] Flexible Automated
Depalletizing: an Unwrapping Robot to Remove Plastic from Palletized Goods
Depalletizing: an Unwrapping Robot to Remove Plastic from Palletized Goods
[5′] [pdf | multimedia | pitch] Model-free
Bin-Picking:
Food Processing and Parcel Processing Use Cases
Bin-Picking:
Food Processing and Parcel Processing Use Cases
[15′] Discussion
Dynamics, Control and Learning III
Chair
Leonardo Lanari
Co-Chair
Emanuela Del Dottore
Session – Part I [16:30-17:00]
[5′] [pdf | multimedia | pitch]
Feedback Linearization Robot Control based on Gaussian Process Inverse Dynamics Model
Feedback Linearization Robot Control based on Gaussian Process Inverse Dynamics Model
[5′] [pdf | multimedia | pitch]
Optimal Trajectory Planning for a Robotic Manipulator Palletizing Tasks
Optimal Trajectory Planning for a Robotic Manipulator Palletizing Tasks
[5′] [pdf | multimedia | pitch]
The Reachable Region: a Fast Kinematic Feasibility Criterion for Legged Locomotion
The Reachable Region: a Fast Kinematic Feasibility Criterion for Legged Locomotion
[15′] Discussion
Session – Part II [17:00-17:30]
[5′] [pdf | multimedia | pitch] Non-Linear DCM
Trajectory
Optimization with Variable Center of Mass Height
Trajectory
Optimization with Variable Center of Mass Height
[15′] Discussion
Humanoids, Exoskeletons, and Rehab Robots III
Chair
Monica Tiboni
Co-Chair
Laura Margheri
Session – Part I [16:30-17:00]
[5′] [pdf | multimedia | pitch]
A novel architecture for a fully wearable assistive Hand Exoskeleton System
A novel architecture for a fully wearable assistive Hand Exoskeleton System
[5′] [pdf | multimedia | pitch]
Highly Integrated Active Ankle-Prosthesis powered by an Optimized Lead-Screw Mechanism
Highly Integrated Active Ankle-Prosthesis powered by an Optimized Lead-Screw Mechanism
[5′] [pdf | multimedia | pitch]
Validation of a Novel Inverse Kinematics for Rehabilitation Upper-Limb Exoskeletons
Validation of a Novel Inverse Kinematics for Rehabilitation Upper-Limb Exoskeletons
[15′] Discussion
Session – Part II [17:00-17:30]
[5′] [pdf | multimedia | pitch]
sEMG-based classification strategy of hand gestures for wearable robotics in clinical practice
sEMG-based classification strategy of hand gestures for wearable robotics in clinical practice
[5′] [pdf | multimedia | pitch]
Towards Supernumerary Robotic Limbs as Personal Protection Equipment
Towards Supernumerary Robotic Limbs as Personal Protection Equipment
[15′] Discussion
Human-Robot Interaction, Teleoperation, and Virtual Reality III
Chair
Valeria Seidita
Co-Chair
Maria Pozzi
Session – Part I [16:30-17:00]
[5′] [pdf | multimedia | pitch]
The Paquitop project: innovative modular mobile robot for personal assistance
The Paquitop project: innovative modular mobile robot for personal assistance
[15′] Discussion
Session – Part II [17:00-17:30]
[15′] Discussion
12 December 2020, h 11:00-12:00
Design, Mechanisms, Actuators, Soft and Bio-Inspired Robots I
Chair
Paolo Arena
Co-Chair
Giovanna Naselli
Session – Part I [11:00-11:30]
[15′] Discussion
Session – Part II [11:30-12:00]
[5′] [pdf | multimedia | pitch] A Learning-based
Approach
for Adaptive Closed-loop Control of a Soft Robotic Arm
Approach
for Adaptive Closed-loop Control of a Soft Robotic Arm
[15′] Discussion
Dynamics, Control and Learning IV
Chair
Paolo Rocco
Co-Chair
Emanuela Del Dottore
Session – Part I [11:00-11:30]
[5′] [pdf | multimedia | pitch] Towards Safer
Collaboration
– Closing the Loop on Position and Stiffness of Soft Articulated Robots
Collaboration
– Closing the Loop on Position and Stiffness of Soft Articulated Robots
[15′] Discussion
Session – Part II [11:30-12:00]
[5′] [pdf | multimedia | pitch]
Human-inspired motion primitives for a safe and effective HRI and autonomous manipulation
Human-inspired motion primitives for a safe and effective HRI and autonomous manipulation
[15′] Discussion
Medical, Cellular, Micro and Nano Robots
Chair
Gianluca Ciardelli
Co-Chair
Enrico Turco
Session – Part I [11:00-11:30]
[5′] [pdf | multimedia | pitch]
Increasing the precision of the biopsy with robots: two case studies
Increasing the precision of the biopsy with robots: two case studies
[15′] Discussion
Session – Part II [11:30-12:00]
[5′] [pdf | multimedia | pitch] 4D Printing to
fabricate an
in vitro model of the pancreatic acino ductal unit
fabricate an
in vitro model of the pancreatic acino ductal unit
[5′] [pdf | multimedia | pitch] Custom-made
poly(urethane)s
as ingredients in printing techniques towards personalized medicine.
poly(urethane)s
as ingredients in printing techniques towards personalized medicine.
[15′] Discussion
Grasping, Haptics and End-effectors I
Chair
Monica Malvezzi
Co-Chair
Maria Pozzi
Session – Part I [11:00-11:30]
[5′] [pdf | multimedia | pitch]
Peg-in-Hole Using 3D Workpiece Reconstruction and CNN-based Hole Detection
Peg-in-Hole Using 3D Workpiece Reconstruction and CNN-based Hole Detection
[5′] [pdf | multimedia | pitch]
An architecture for grasping complex-shaped, thin and reflective objects
An architecture for grasping complex-shaped, thin and reflective objects
[15′] Discussion
Session – Part II [11:30-12:00]
[5′] [pdf | multimedia | pitch]
The Mag-Gripper: A Soft-Rigid Gripper Augmented with an Electromagnet to Precisely Handle Clothes
The Mag-Gripper: A Soft-Rigid Gripper Augmented with an Electromagnet to Precisely Handle Clothes
[5′] [pdf | multimedia | pitch]
A Coordinate Invariant Index for Manipulability Analysis in Surgical Robotics with a Remote Center of Motion
Constraint
A Coordinate Invariant Index for Manipulability Analysis in Surgical Robotics with a Remote Center of Motion
Constraint
[15′] Discussion
12 December 2020, h 12:00-13:00
Design, Mechanisms, Actuators, Soft and Bio-Inspired Robots II
Chair
Nicola Pio Belfiore
Co-Chair
Giovanna Naselli
Session – Part I [12:00-12:30]
[5′] [pdf | multimedia | pitch]
Biomimetic design of an underwater robot inspired to the cownose ray
Biomimetic design of an underwater robot inspired to the cownose ray
[15′] Discussion
Session – Part II [12:30-13:00]
[5′] [pdf | multimedia | pitch]
Soft-rigid Grippers to Exploit Environmental and Embedded Constraints in Food Handling
Soft-rigid Grippers to Exploit Environmental and Embedded Constraints in Food Handling
[5′] [pdf | multimedia | pitch] Biohybrid energy
convertors
made of living plants and soft materials
convertors
made of living plants and soft materials
[20′] Discussion
Chair
Maria Pia Fanti
Co-Chair
Emanuela Del Dottore
Session – Part I [12:00-12:30]
[5′] [pdf | multimedia | pitch]
Deep Reinforcement Learning for Visual Navigation and Active Tracking
Deep Reinforcement Learning for Visual Navigation and Active Tracking
[15′] Discussion
Session – Part II [12:30-13:00]
[5′] [pdf | multimedia | pitch]
Velocity-Dependent Volumetric Obstacle Avoidance for Dynamic Movement Primitives
Velocity-Dependent Volumetric Obstacle Avoidance for Dynamic Movement Primitives
[5′] [pdf | multimedia | pitch]
A Robotic Assistant for Logistics and Disinfection in Health Centers
A Robotic Assistant for Logistics and Disinfection in Health Centers
[5′] [pdf | multimedia | pitch]
Motion planning optimization using hierarchical algorithms for multi-robot cells
Motion planning optimization using hierarchical algorithms for multi-robot cells
[20′] Discussion
Biorobotics and Medical Systems I
Chair
Paolo Valigi
Co-Chair
Enrico Turco
Session – Part I [12:00-12:30]
[5′] [pdf | multimedia | pitch] Technology-enabled
autonomous navigation systems for Blind People: a user centered approach
autonomous navigation systems for Blind People: a user centered approach
[5′] [pdf | multimedia | pitch] Neural controllers
for
adaptive locomotion in Biorobotics: from models to circuits
for
adaptive locomotion in Biorobotics: from models to circuits
[5′] [pdf | multimedia | pitch]
Evaluation of robotic gait training in stroke through EMG investigation
Evaluation of robotic gait training in stroke through EMG investigation
[15′] Discussion
Session – Part II [12:30-13:00]
[10′] Discussion
Grasping, Haptics and End-effectors II
Chair
Manuel Giuseppe Catalano
Co-Chair
Tommaso Lisini
Session – Part I [12:00-12:30]
[5′] [pdf | multimedia | pitch]
A fabric-based wearable haptic system for advanced human-machine interaction
A fabric-based wearable haptic system for advanced human-machine interaction
[5′] [pdf | multimedia | pitch]
The SoftGlove: A Tool for Posture Reconstruction of Robotic Hands in Challenging Scenarios
The SoftGlove: A Tool for Posture Reconstruction of Robotic Hands in Challenging Scenarios
[15′] Discussion
Session – Part II [12:30-13:00]
[5′] [pdf | multimedia | pitch]
Touch for spatial and motion representation: mathematical modelling and applications for advanced
human-machine
interaction.
Touch for spatial and motion representation: mathematical modelling and applications for advanced
human-machine
interaction.
[5′] [pdf | multimedia | pitch]
A model predictive control framework to control hand movements relying on tactile illusions
A model predictive control framework to control hand movements relying on tactile illusions
[10′] Discussion
12 December 2020, h 14:30-16:00
Industry 4.0 II/III
Chair
Alessandro Gasparetto
Co-Chair
Maria Pozzi
Industry 4.0 II [14:30-15:00]
[5′] [pdf | multimedia | pitch]
Inspection Robotics for Harsh Environments, Industrial Applications and Infrastructures
Inspection Robotics for Harsh Environments, Industrial Applications and Infrastructures
[15′] Discussion
Industry 4.0 III – Parte I [15:00-15:30]
[5′] [pdf | multimedia | pitch] Interoperability
and
Analysis System for Robots and Data Services Integration in Agriculture
and
Analysis System for Robots and Data Services Integration in Agriculture
[15′] Discussion
Industry 4.0 III – Parte II [15:30-16:00]
[5′] [pdf | multimedia | pitch]
A closed loop methodology for robotic prognostics and diagnostics based on multi-model architecture
A closed loop methodology for robotic prognostics and diagnostics based on multi-model architecture
[10′] Discussion
Chair
Lucia Pallottino
Co-Chair
Emanuela Del Dottore
Localization, Mapping and Navigation II [14:30-15:00]
[5′] [pdf | multimedia | pitch]
Agrobot: autonomous robots to support economic growth and environmental sustainability of Umbria’s
agricolture
Agrobot: autonomous robots to support economic growth and environmental sustainability of Umbria’s
agricolture
[5′] [pdf | multimedia | pitch] An audio-based
strategy
for
the geo-referencing of visual data to support diver’s monitoring missions
strategy
for
the geo-referencing of visual data to support diver’s monitoring missions
[15′] Discussion
Swarms and Multi-Robots [15:00-15:40]
[5′] [pdf | multimedia | pitch] String stability of
a
vehicular platoon with disturbances, using macroscopic information
a
vehicular platoon with disturbances, using macroscopic information
[5′] [pdf | multimedia | pitch] Social Drone
Sharing to
Increase the UAV Patrolling Autonomy in Emergency Scenarios.
Sharing to
Increase the UAV Patrolling Autonomy in Emergency Scenarios.
[20′] Discussion
Humanoids, Exoskeletons, and Rehab Robots IV-V
Chair
Alessandra Sciutti
Co-Chair
Tommaso Lisini
Humanoids, Exoskeletons, and Rehab Robots IV [14:30-15:00]
[5′] [pdf | multimedia | pitch] Development of a
Wearable
Exoskeleton for Hand/Wrist Rehabilitation and Training
Wearable
Exoskeleton for Hand/Wrist Rehabilitation and Training
[5′] [pdf | multimedia | pitch] Design of wearable
robotic
extra fingers for human hand augmentation
robotic
extra fingers for human hand augmentation
[15′] Discussion
Humanoids, Exoskeletons, and Rehab Robots V [15:00-15:30]
[15′] Discussion
Perception, Action, and Cognition I-II
Chair
Alessandra Pedrocchi
Co-Chair
Laura Margheri
Perception, Action, and Cognition I [14:30-15:00]
[5′] [pdf | multimedia | pitch]
Investigation of cerebro-cerebellar reward-based mechanisms on a virtual neurorobot
Investigation of cerebro-cerebellar reward-based mechanisms on a virtual neurorobot
[15′] Discussion
Perception, Action, and Cognition II [15:00-15:30]
[10′] Discussion
