2012 12th IEEE-RAS International Conference on Humanoid Robots
Nov. 29th - Dec. 1st, 2012, Business Innovation Center Osaka, Japan

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Last updated on November 15, 2012. This conference program is tentative and subject to change

Technical Program for Saturday December 1, 2012

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SaPLT1 Hall
Plenary Talk II Plenary
Chair: Kuniyoshi, YasuoThe Univ. of Tokyo
 
SaA1T1 Hall
Manipulation and Learning Regular
Chair: Atkeson, ChristopherCMU
Co-Chair: Shibata, TomohiroNara Inst. of Science and Tech.
 
11:00-11:20, Paper SaA1T1.1 
Learning Coupled Dynamical Systems from Human Demonstration for Robotic Eye-Arm-Hand Coordination
Lukic, LukaEPFL
Santos-Victor, JoséInst. Superior Técnico - Lisbon
Billard, AudeEPFL
 
11:20-11:40, Paper SaA1T1.2 
Representation and Generalization of Bi-Manual Skills from Kinesthetic Teaching
Reinhart, Rene FelixBielefeld Univ.
Lemme, AndreCoR-Lab.
Steil, Jochen J.Bielefeld Univ.
 
11:40-12:00, Paper SaA1T1.3 
Manipulability Analysis
Vahrenkamp, NikolausKarlsruhe Inst. of Tech. (KIT)
Asfour, TamimKarlsruhe Inst. of Tech. (KIT)
Metta, GiorgioIstituto Italiano di Tecnologia (IIT)
Sandini, GiulioItalian Inst. of Tech.
Dillmann, RüdigerKIT Karlsruhe Inst. for Tech.
 
12:00-12:20, Paper SaA1T1.4 
Improvement of Audio-Visual Score Following in Robot Ensemble with Human Guitarist
Itohara, TatsuhikoKyoto Univ.
Nakadai, KazuhiroHonda Res. Inst. Japan Co., Ltd.
Ogata, TetsuyaWaseda Univ.
Okuno, Hiroshi G.Kyoto Univ.
 
SaP1T1 Hall
Humanoid Locomotion Regular
Chair: Hosoda, KohOsaka Univ.
Co-Chair: Sentis, LuisThe Univ. of Texas at Austin
 
13:20-13:40, Paper SaP1T1.1 
Energy Plane Analysis for Passive Dynamic Walking
Moon, Jae-SungUlsan National Inst. of Science and Tech.
Spong, MarkUniv. of Texas at Dallas
 
13:40-14:00, Paper SaP1T1.2 
Evaluation of a Stabilizer for Biped Walk with Toe Support Phase
Kajita, ShuujiNational Inst. of AIST
Miura, KanakoNational Inst. of AIST
Morisawa, MitsuharuNational Inst. of AIST
Kaneko, KenjiNational Inst. of AIST
Kanehiro, FumioNational Inst. of AIST
Yokoi, KazuhitoNational Inst. of AIST
 
14:00-14:20, Paper SaP1T1.3 
Kinematic Optimization and Online Adaptation of Swing Foot Trajectory for Biped Locomotion
Kaminaga, HiroshiThe Univ. of Tokyo
Englsberger, JohannesDLR (German Aerospace Center)
Ott, ChristianGerman Aerospace Center (DLR)
 
14:20-14:40, Paper SaP1T1.4 
Experiments on Whole-Body Manipulation and Locomotion with Footstep Real-Time Optimization
Dang, DuongLAAS-CNRS
Lamiraux, FlorentCNRS
Laumond, Jean-PaulLAAS-CNRS
 
14:40-15:00, Paper SaP1T1.5 
Analysis of Muscle Coordination in Human Pedaling and Implementation with a Musculoskeletal Robot
OKU, TakanoriOsaka Univ.
Inoue, KeitaGraduate school of engineering science of Osaka Univ.
Pham, HangGraduate School of Engineering Science, Osaka Univ.
Tominaga, KentaOsaka Univ.
Maeda, DaisukeOsaka Univ.
Uemura, MitsunoriOsaka Univ.
Hirai, HiroakiGraduate School of Engineering Science, Osaka Univ.
Miyazaki, FumioGraduate School of Engineering Science, Osaka Univ.
 
SaP2T1 Plaza
Interactive Session III Interactive
 
15:00-16:00, Paper SaP2T1.1 
Reification through Perceptual Grouping
Meier, MartinBielefeld Univ.
Haschke, RobertBielefeld Univ.
Ritter, Helge JoachimBielefeld Univ.
 
15:00-16:00, Paper SaP2T1.2 
Bayesian Calibration of the Hand-Eye Kinematics of an Anthropomorphic Robot
Hubert, UweAutonomous Intelligent Systems, Computer Science VI, Univ.
Stueckler, JoergUniv. of Bonn
Behnke, SvenUniv. of Bonn
 
15:00-16:00, Paper SaP2T1.3 
Interaction Mesh Based Motion Adaptation for Biped Humanoid Robots
Nakaoka, Shin'ichiroAIST
Komura, TakuUniv. of Edinburgh
 
15:00-16:00, Paper SaP2T1.4 
Exploring the Possibility of Mechanical Energy As a Multipurpose Evaluation Function for Learning of Whole Body Dynamic Motions
Yumoto, YuyaTokyo Univ. of Agriculture and Tech.
Mizuuchi, IkuoTokyo Univ. of Agriculture and Tech.
 
15:00-16:00, Paper SaP2T1.5 
Muscle Synergy Analysis of Human Adaptation to a Variable-Stiffness Exoskeleton: Human Walk with a Knee Exoskeleton with Pneumatic Artificial Muscles
Maeda, DaisukeOsaka Univ.
Tominaga, KentaOsaka Univ.
OKU, TakanoriOsaka Univ.
Pham, HangGraduate School of Engineering Science, Osaka Univ.
Saeki, ShinOsaka Univ.
Uemura, MitsunoriOsaka Univ.
Hirai, HiroakiGraduate School of Engineering Science, Osaka Univ.
Miyazaki, FumioGraduate School of Engineering Science, Osaka Univ.
 
15:00-16:00, Paper SaP2T1.6 
Interactive Learning Gives the Tempo to an Intrinsically Motivated Robot Learner
Nguyen, Sao MaiINRIA
Oudeyer, Pierre-YvesINRIA
 
15:00-16:00, Paper SaP2T1.7 
Exploiting Affordance Symmetries for Task Reproduction Planning
Claassens, JonathanCSIR
Demiris, YiannisImperial Coll. London
 
15:00-16:00, Paper SaP2T1.8 
Style Translation Filter to Change Attribute of Motion
Yamaguchi, AkihikoNara Inst. of Science and Tech.
Sato, ShioriNara Inst. of Science and Tech.
Takemura, KentaroNara Inst. of Science and Tech.
Takamatsu, JunNara Inst. of Science and Tech.
Ogasawara, TsukasaNara Inst. of Science and Tech.
 
15:00-16:00, Paper SaP2T1.9 
Hierarchical Estimation of Multiple Objects from Proximity Relationships Arising from Tool Manipulation
Nagahama, KotaroThe Univ. of Tokyo
Yamazaki, KimitoshiShinshu Univ.
Okada, KeiThe Univ. of Tokyo
Inaba, MasayukiThe Univ. of Tokyo
 
15:00-16:00, Paper SaP2T1.10 
Anytime Search-Based Footstep Planning with Suboptimality Bounds
Hornung, ArminUniv. of Freiburg
Dornbush, AndrewCarnegie Mellon Univ.
Likhachev, MaximCarnegie Mellon Univ.
Bennewitz, MarenUniv. of Freiburg
 
15:00-16:00, Paper SaP2T1.11 
Point Cloud Completion Using Extrusions
Kroemer, OliverTU Darmstadt
Ben Amor, HeniTech. Univ. Darmstadt
Ewerton, MarcoTech. Univ. Darmstadt
Peters, JanTech. Univ. Darmstadt
 
15:00-16:00, Paper SaP2T1.12 
An Efficient Grasp Planning Algorithm Based on Decomposition of Grasp Regions
Xue, ZhixingFZI
Xia, ShuangFZI
Dillman, RudigerFZI
 
15:00-16:00, Paper SaP2T1.13 
Real-Time Navigation in 3D Environments Based on Depth Camera Data
Maier, DanielUniv. of Freiburg
Hornung, ArminUniv. of Freiburg
Bennewitz, MarenUniv. of Freiburg
 
15:00-16:00, Paper SaP2T1.14 
Interactive Symbol Generation of Task Planning for Daily Assistive Robot
Mikita, HiroyukiThe Univ. of Tokyo
Azuma, HaseruThe Univ. of Tokyo
Kakiuchi, YoheiThe Univ. of Tokyo
Okada, KeiThe Univ. of Tokyo
Inaba, MasayukiThe Univ. of Tokyo
 
15:00-16:00, Paper SaP2T1.15 
Visual-Inertial Ego-Motion Estimation for Humanoid Platforms
Tsotsos, KonstantineUniv. of California, Los Angeles
Pretto, AlbertoUniv. of Padua
Soatto, StefanoUniv. of California, Los Angeles
 
15:00-16:00, Paper SaP2T1.16 
On-Line Learning of Temporal State Models for Flexible Objects
Bergström, NiklasKTH, Royal Inst. of Tech.
Ek, Carl HenrikRoyal Inst. of Tech.
Kragic, DanicaKTH
Yamakawa, YujiUniv. of Tokyo
Senoo, TakuUniv. of Tokyo
Ishikawa, MasatoshiUniv. of Tokyo
 
15:00-16:00, Paper SaP2T1.17 
Robust Grasping Mechanism for an Under-Actuated Anthropomorphic Hand under Object Position Uncertainty
Su, YanyuHarbin Inst. of Tech.
Wu, YanImperial Coll. London
Lee, KyuhwaImperial Coll. of Science, Tech. and Medicine
Du, Zhijiangharbin Inst. of Tech.
Demiris, YiannisImperial Coll. London
 
15:00-16:00, Paper SaP2T1.18 
A Three Dimensional Foot Placement Planner for Locomotion in Very Rough Terrains
Zhao, YeUniv. of Texas, Austin
Sentis, LuisThe Univ. of Texas at Austin
 
15:00-16:00, Paper SaP2T1.19 
Balance Control Based on Capture Point Error Compensation for Biped Walking on Uneven Terrain
Morisawa, MitsuharuNational Inst. of AIST
Kajita, ShuujiNational Inst. of AIST
Kanehiro, FumioNational Inst. of AIST
Kaneko, KenjiNational Inst. of AIST
Miura, KanakoNational Inst. of AIST
Yokoi, KazuhitoNational Inst. of AIST
 
15:00-16:00, Paper SaP2T1.20 
Reflexive Step-Out Control Superposed on Standing Stabilization of Biped Robots
Sugihara, TomomichiGraduate School of Engineering, Osaka Univ.
 
15:00-16:00, Paper SaP2T1.21 
Linear Prediction Based Uniform State Sampling for Sampling Based Motion Planning Systems
Kim, Chyon HaeHonda Res. Inst. Japan Co.,Ltd.
Sugawara, ShimonWaseda Univ.
Sugano, ShigekiWaseda Univ.
 
15:00-16:00, Paper SaP2T1.22 
Efficient Path Planning of Humanoid Robots with Automatic Conformation of Body Representation to the Complexity of Environments
Shimizu, YasushiGraduate School of Engineering, Osaka Univ.
Sugihara, TomomichiGraduate School of Engineering, Osaka Univ.
 
15:00-16:00, Paper SaP2T1.23 
Active Stabilization of a Humanoid Robot for Real-Time Imitation of a Human Operator
Yi, Seung-JoonUniv. of Pennsylvania
McGill, StephenUniv. of Pennsylvania
Zhang, Byoung-TakSeoul National Univ.
Hong, DennisVirginia Tech.
Lee, Daniel D.Univ. of Pennsylvania
 
15:00-16:00, Paper SaP2T1.24 
Visualization and Identification of Macroscopic Dynamics of a Human Motor Control Based on the Motion Measurement
Kaneta, DaishiOsaka Univ.
Murai, NobuyukiOsaka Univ.
Sugihara, TomomichiGraduate School of Engineering, Osaka Univ.
 
15:00-16:00, Paper SaP2T1.25 
Analysis of Human Grasping under Task Anticipation Using a Tactile Book
Schürmann, CarstenUniv. Bielefeld
Kõiva, RistoBielefeld Univ.
Haschke, RobertBielefeld Univ.
Ritter, Helge JoachimBielefeld Univ.
 
15:00-16:00, Paper SaP2T1.26 
Dynamic Modeling of Elastic Tendon Actuators with Tendon Slackening
Lens, ThomasTech. Univ. Darmstadt
Kirchhoff, JérômeTech. Univ. Darmstadt
von Stryk, OskarTech. Univ. Darmstadt
 
15:00-16:00, Paper SaP2T1.27 
Deterministic Motion Planning for Redundant Robots Along End-Effector Paths
Huaman, AnaGeorgia Inst. of Tech.
Stilman, MikeGeorgia Tech.
 
15:00-16:00, Paper SaP2T1.28 
On the Representation of Anthropomorphic Robot Hands: Shape versus Function
de Souza, RavinInst. Superior Técnico
Bernardino, AlexandreInst. Superior Técnico - Inst.
Santos-Victor, JoséInst. Superior Técnico - Lisbon
Billard, AudeEPFL
 
15:00-16:00, Paper SaP2T1.29 
Designing of Android Head System by Applying Facial Muscle Mechanism of Humans
Ahn, Ho SeokAdv. Telecomm. Res. Inst.
Lee, Dong-WookKorea Inst. of Industrial Tech.
Choi, DWKorea Inst. of Industrial Tech.
Lee, DYKorea Inst. of Industrial Tech.
Hur, MHKorea Inst. of Industrial Tech.
Lee, HogilKorea Inst. of Industrial Tech.
 
15:00-16:00, Paper SaP2T1.30 
The Sensor-Controller Network of the Humanoid Robot LOLA
Favot, ValerioTech. Univ. München
Buschmann, ThomasTech. Univ. Muenchen
Schwienbacher, MarkusTech. Univ. Muenchen
Ewald, AlexanderTech. Univ. Muenchen
Ulbrich, HeinzTech. Univ. Muenchen
 
15:00-16:00, Paper SaP2T1.31 
Design and Development of a Compressor-Embedded Pneumatic-Driven Musculoskeletal Humanoid
Mizuuchi, IkuoTokyo Univ. of Agriculture and Tech.
Kawamura, MasakiTokyo Univ. of Agriculture and Tech.
Asaoka, TadashiTokyo Univ. of Agriculture and Tech.
KUMAKURA, ShouheiTokyo Univ. of Agriculture and Tech.
 
15:00-16:00, Paper SaP2T1.32 
Rapid Prototyping Toolchain for Humanoid Robotics Applications
Choudhury, SafwanUniv. of Waterloo
Wight, DerekQuanser Inc
Kulic, DanaUniv. of Waterloo
 
15:00-16:00, Paper SaP2T1.33 
Jumping Motion Experiments on a NAO Robot with Elastic Devices
Hondo, TakatoshiTokyo Univ. of Agriculture and Tech.
Kinase, YutaTokyo Univ. of Agriculture and Tech.
Mizuuchi, IkuoTokyo Univ. of Agriculture and Tech.
 
15:00-16:00, Paper SaP2T1.34 
Walking on Non-Planar Surfaces Using an Inverse Dynamic Stack of Tasks
Ramos, Oscar E.LAAS-CNRS, Univ. of Toulouse III
Mansard, NicolasCNRS
Stasse, OlivierCNRS
Soueres, PhilippeLAAS-CNRS
 
15:00-16:00, Paper SaP2T1.35 
Motion Control Based on Modification of the Jacobian Map between the Muscle Space and Work Space with Musculoskeletal Humanoid
Motegi, YotaroThe Univ. of Tokyo
Shirai, TakumaTokyo Univ.
Izawa, TamonThe Univ. of Tokyo
Kurotobi, TomokoTokyo Univ.
Urata, JunichiThe Univ. of Tokyo
Nakanishi, YutoThe Univ. of Tokyo
Okada, KeiThe Univ. of Tokyo
Inaba, MasayukiThe Univ. of Tokyo
 
SaP3T1 Hall
Contact Perception for Actions Regular
Chair: Metta, GiorgioIstituto Italiano di Tecnologia (IIT)
Co-Chair: Venture, GentianeTokyo Univ. of Agriculture and Tech.
 
16:00-16:20, Paper SaP3T1.1 
Retrieving Contact Points without Environment Knowledge
lengagne, sebastienKarlsruhe Inst. of Tech.
Terlemez, ÖmerKarlsruhe Inst. of Tech.
Laturnus, Sophie ChristineKarlruher Inst. of Tech.
Asfour, TamimKarlsruhe Inst. of Tech. (KIT)
Dillmann, RüdigerKIT Karlsruhe Inst. for Tech.
 
16:20-16:40, Paper SaP3T1.2 
Integrating Discrete Force Cells into Multi-Modal Artificial Skin
Mittendorfer, PhilippTech. Univ. München
Cheng, GordonTech. Univ. Munich
 
16:40-17:00, Paper SaP3T1.3 
Whole-Body Motion Input Method for Bipedal Humanoid Robot with Support Leg Detection
Yonekura, KentaUniv. of Tsukuba
Nakaoka, Shin'ichiroAIST
Yokoi, KazuhitoNational Inst. of AIST
 
SaP4T1 Hall
Humanoid Skills in Complex World Regular
Chair: Kuffner, JamesGoogle
Co-Chair: Pollard, Nancy SCarnegie Mellon Univ.
 
17:20-17:40, Paper SaP4T1.1 
Achievement of 'Mikoshi' with Multiple Humanoid Robots As Coordinated Navigation Problem Based on Real-Time 3D Space Recognition in a Dynamic Environment
Yoshikai, TomoakiThe Univ. of Tokyo
Akimoto, TakahiroUniv. of Tokyo
Kobayashi, KazuyaUniv. of Tokyo
Tsuji, JunpeiThe Univ. of Tokyo
Yaguchi, HiroakiThe Univ. of Tokyo
Inaba, MasayukiThe Univ. of Tokyo
 
17:40-18:00, Paper SaP4T1.2 
A Hierarchical Framework for Realizing Dynamically-Stable Motions of Humanoid Robot in Obstacle-Cluttered Environments
QIU, ZhaopengAtomic Energy Commission
Escande, AdrienCEA
Micaelli, AlainCommissariat à l'Energie Atomique
Robert, ThomasUniv. de Lyon - IFSTTAR
 
18:00-18:20, Paper SaP4T1.3 
Playing Catch and Juggling with a Humanoid Robot
Kober, JensBielefeld Univ.
Glisson, MatthewDisney Res.
Mistry, MichaelUniv. of Birmingham