2009 IEEE International Conference on Robotics and Automation
May 12 - 17, 2009, Kobe, Japan

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Last updated on May 24, 2009. This conference program is tentative and subject to change

Technical Program for Thursday May 14, 2009

Paper with multimedia attachment
 

ThA1 Regular Sessions, MainHall

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Slam - I  
 
Chair: Pagello, EnricoUniv. of Padua
Co-Chair: Ohno, KazunoriTohoku Univ.
 

08:30-08:50, Paper ThA1.1

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On Achievable Accuracy for Pose Tracking
Censi, AndreaCalifornia Inst. of Tech.
 

08:50-09:10, Paper ThA1.2

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Range-Only SLAM with a Mobile Robot and a Wireless Sensor Networks
Menegatti, EmanueleThe Univ. of Padua
Zanella, AndreaUniv. of Padova
Zilli, StefanoUniv. of Padua
Zorzi, FrancescoUniv. of Padova
Pagello, EnricoUniv. of Padua
 

09:10-09:30, Paper ThA1.3

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Learning to Detect Loop Closure from Range Data
Granström, KarlLinköping Univ.
Callmer, JonasLinköping Univ.
Ramos, FabioUniv. of Sydney
Nieto, JuanUniv. of Sydney, Australian Centre for Field Robotics
 

09:30-09:50, Paper ThA1.4

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Appearance-Based Loop Detection from 3D Laser Data Using the Normal Distributions Transform
Magnusson, MartinÖrebro Univ.
Andreasson, HenrikÖrebro Univ.
Nuechter, AndreasUniv. of Osnabrueck
Lilienthal, Achim, J.Örebro Univ.
 

09:50-10:10, Paper ThA1.5

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Simultaneous Localization of Mobile Robot and Multiple Sound Sources Using Microphone Array
Hu, Jwu-ShengNational Chiao Tung Univ.
Chan, Chen-YuNational Chiao Tung Univ.
Wang, Cheng-KangNational Chiao Tung Univ.
Wang, Chieh-ChihNational Taiwan Univ.
 

ThA2 Regular Sessions, Room: ICR

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Computer Vision for Robotics and Automation - I  
 
Chair: Chesi, GrazianoUniv. of Hong Kong
Co-Chair: Takamatsu, JunNara Inst. of Science and Tech.
 

08:30-08:50, Paper ThA2.1

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Estimation of the Camera Pose from Image Point Correspondences through the Essential Matrix and Convex Optimization
Chesi, GrazianoUniv. of Hong Kong
 

08:50-09:10, Paper ThA2.2

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A High-Speed Multi-GPU Implementation of Bottom-Up Attention Using CUDA
Xu, TingtingTech. Univ. München
Pototschnig, ThomasTech. Univ. of Munich
Kühnlenz, KoljaTech. Univ. München
Buss, MartinTech. Univ. München
 

09:10-09:30, Paper ThA2.3

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Object Recognition and Full Pose Registration from a Single Image for Robotic Manipulation
Collet, AlvaroCarnegie Mellon Univ.
Berenson, DmitryCarnegie Mellon
Srinivasa, SiddharthaIntel Res. Pittsburgh
Ferguson, DaveIntel Res. Pittsburgh
 

09:30-09:50, Paper ThA2.4

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Moving Obstacle Detection in Highly Dynamic Scenes
Ess, AndreasETH
Leibe, BastianRWTH Aachen Univ.
Schindler, KonradTU Darmstadt
Van Gool, LucETH Zurich
 

ThA3 Regular Sessions, Room: 401

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Intelligent Transportation Systems  
 
Chair: Suzuki, TakahiroUniv. of Tokyo
Co-Chair: Kudoh, ShunsukeThe Univ. of Tokyo
 

08:30-08:50, Paper ThA3.1

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Rollover Risk Prediction of an Instrumented Heavy Vehicle Using High Order Sliding Mode Observer
Imine, HocineLCPC
Benallegue, AzizVersailles Univ.
Madani, TarekUniv. de Versailles
Srairi, SalimLCPC
 

08:50-09:10, Paper ThA3.2

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Safe Longitudinal Platoons of Vehicles without Communication
Scheuer, AlexisNancy 1 Univ. / LORIA
Simonin, OlivierLORIA
Charpillet, FrancoisINRIA, Loria
 

09:10-09:30, Paper ThA3.3

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Centralized Fusion for Fast People Detection in Dense Environment
Gate, GwennaelMines ParisTech
Breheret, AmauryMines ParisTech
Nashashibi, FawziMines Paris
 

09:30-09:50, Paper ThA3.4

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Partial Order Techniques for Vehicle Collision Avoidance: Application to an Autonomous Roundabout Test-Bed
Desaraju, VishnuMassachusetts Inst. of Tech.
Ro, Hyun ChulUniv. of Michigan, Ann Arbor
Yang, Zhiwei MarkUniv. of Michigan, Ann Arbor
Tay, Xu Qiang EdwinUniv. of Michigan, Ann Arbor
Roth, StephanieUniv. of Michigan, Ann Arbor
Del Vecchio, DomitillaUniv. of Michigan, Ann Arbor
 

ThA4 Regular Sessions, Room: 402

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Collision Avoidance - I  
 
Chair: Tanner, HerbertUniv. of Delaware
Co-Chair: Shiller, ZviAriel Univ. Center
 

08:30-08:50, Paper ThA4.1

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Efficient and Safe On-Line Motion Planning in Dynamic Environments
Gal, OrenTech. - Israel Inst. of Tech.
Shiller, ZviAriel Univ. Center
Rimon, ElonTech.
 

08:50-09:10, Paper ThA4.2

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Randomized Model Predictive Control for Robot Navigation
Tanner, Herbert G.Univ. of Delaware
Piovesan, JorgeUniv. of New Mexico
 

09:10-09:30, Paper ThA4.3

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Collision Avoidance in Dynamic Environments: An ICS-Based Solution and Its Comparative Evaluation.
Martinez-Gomez, LuisInria
Fraichard, ThierryInria
 

09:30-09:50, Paper ThA4.4

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Multi-Robot Coordination Using Generalized Potential Fields
Gayle, RussellUniv. of NC at Chapel Hill
Moss, WilliamUniv. of North Carolina at Chapel Hill
Lin, Ming C.Univ. of North Carolina
Manocha, DineshUNC at Chapel Hill
 

ThA5 Regular Sessions, Room: 403

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Dexterous Manipulation - I  
 
Chair: Buss, MartinTech. Univ. München
Co-Chair: Shibata, MizuhoRitsumeikan Univ.
 

08:30-08:50, Paper ThA5.1

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Robust Hitting with Dynamics Shaping
Yamawaki, TasukuNational Defense Acad. of Japan
Tsuzuki, YusukeNational Defense Acad. of Japan
Yashima, MasahitoNational Defense Acad. of Japan
 

08:50-09:10, Paper ThA5.2

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Non-Grasp Manipulation of Deformable Object by Using Pizza Handling Mechanism
Higashimori, MitsuruOsaka Univ.
Omoto, YasutakaOsaka Univ.
Kaneko, MakotoOsaka Univ.
 

09:10-09:30, Paper ThA5.3

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Synthesizing a Desired Trajectory and Sensory Feedback Control Laws for an Origami-Folding Robot Based on the Statistical Characteristics of Direct Teaching by a Human
Tanaka, KentaKyoto Univ.
Kihara, YasuyukiKyoto Univ.
Yokokohji, YasuyoshiKyoto Univ.
 

09:30-09:50, Paper ThA5.4

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Wiping Motion for Deformable Object Handling
Shibata, MizuhoRitsumeikan Univ.
Ota, TsuyoshiRitsumeikan Univ.
Hirai, ShinichiRitsumeikan Univ.
 

ThA6 Regular Sessions, Room: 404

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Manufacturing  
 
Chair: Luh, PeterUniv. of Connecticut
Co-Chair: Arai, HirohikoNational Inst. of AIST
 

08:30-08:50, Paper ThA6.1

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Robotic Metal Spinning-Experimental Implementation Using an Industrial Robot Arm
Ozer, AbdullahADVANCED INDUSTRIAL SIENCE AND Tech. (AIST)
Arai, HirohikoNational Inst. of AIST
 

08:50-09:10, Paper ThA6.2

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Robot-Assisted Rapid Prototyping for Ice Structures
Barnett, EricMcGill Univ.
Angeles, JorgeMcGill Univ.
Pasini, DamianoMcGill Univ.
Sijpkes, PieterMcGill Univ.
 

09:10-09:30, Paper ThA6.3

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Task Modeling Approach to Enhance Man-Machine Collaboration in Cell Production
Tan, Jeffrey Too ChuanARAI Lab. Department of Precision Engineering, School of
Duan, FengThe Univ. of Tokyo
Zhang, YeARAI Lab. Department of Precision Engineering, SchoolofEngineeri
Kato, RyuThe Univ. of Tokyo
Arai, TamioUniv. of Tokyo
 

09:30-09:50, Paper ThA6.4

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Synchronized Control in a Large-Scale Networked Distributed Printing System
Crawford, Lara S.Palo Alto Res. Center
Hindi, HaithamPalo Alto Res. Center
Zhou, RongPalo Alto Res. Center
Larner, DanPalo Alto Res. Center
 

ThA7 Regular Sessions, Room: 405

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Smart Actuators - I  
 
Chair: Suzumori, KoichiOkayama Univ.
Co-Chair: Ge, Shuzhi SamNational Univ. of Singapore
 

08:30-08:50, Paper ThA7.1

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Torque Modeling and Analysis of Spherical Actuators with Iron Stator
Yan, LiangNanyang Tech. Univ.
Chen, I-MingNanyang Tech. Univ.
Lim, Chee KianNanyang Tech. Univ.
Yang, GuilinSingapore Inst. of Manufacturing Tech.
Lin, WeiSIMTech
Lee, Kok-MengGeorgia Inst. of Tech.
 

08:50-09:10, Paper ThA7.2

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Nonlinear, Large-Strain PZT Actuators Using Controlled Structural Buckling
Neal, DevinMIT
Asada, HarryMIT
 

09:10-09:30, Paper ThA7.3

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A Variable Stiffness PZT Cellular Actuator with Tunable Resonance for Cyclic Motion Tasks
Secord, ThomasMIT
Asada, HarryMIT
 

09:30-09:50, Paper ThA7.4

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Dynamic Modeling of Mckibben Pneumatic Artificial Muscles for Antagonistic Actuation
Kang, BongsooHannam Univ.
Kothera, CurtTech. Inc.
Woods, BenjaminUniv. of Maryland
Wereley, NormanUniv. of Maryland
 

ThA8 Regular Sessions, Room: 406

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Marine Robotics  
 
Chair: Ishii, KazuoKyushu Inst. of Tech.
Co-Chair: Sukhatme, GauravUniv. of Southern California
 

08:30-08:50, Paper ThA8.1

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Combined Yaw and Roll Control of an Autonomous Boat
Bao, XinpingChiba Univ.
Nonami, KenzoChiba Univ.
Yu, ZhenyuBeijing JiaoTong Univ.
 

08:50-09:10, Paper ThA8.2

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Experimental Validation of Model-Based Thruster Fault Detection for Underwater Vehicles
Hanai, AaronMASE, Inc.
Choi, Song K.Univ. of Hawaii
Marani, GiacomoUniv. of Hawaii
Rosa, KaikalaMASE, Inc.
 

09:10-09:30, Paper ThA8.3

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Development of a Climbing Robot for Grit Blasting Operations in Shipyards
Faíña, AndrésUniv. of Coruna
Souto, DanielUniv. of Coruna
Deibe, ÁlvaroUniv. of Coruna
López-Peña, FernandoUniv. of Coruna
Duro, RichardUniv. of Coruna
Fernández, XulioUniv. of Vigo
 

09:30-09:50, Paper ThA8.4

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A Robotic Sentinel for Benthic Sampling Along a Transect
Das, JnaneshwarUniv. of Southern California
Sukhatme, GauravUniv. of Southern California
 

09:50-10:10, Paper ThA8.5

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Surveying Noctural Cuttlefish Camouflage Behaviour Using an AUV
Williams, Stefan BernardUniv. of Sydney
Pizarro, OscarAustralian Centre for Field Robotics
How, MartinThe Australian National Univ.
Mercer, DuncanUniv. of Sydney
Powell, GeorgeUniv. of Sydney
Marshall, JustinThe Univ. of Queensland
Hanlon, RogerMarine Biological Lab.
 

ThA9 Regular Sessions, Room: 501

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AI Reasoning Methods - I  
 
Chair: Hatanaka, TakeshiTokyo Inst. of Tech.
Co-Chair: Prassler, ErwinUniv. Bonn-Rhein-Sieg
 

08:30-08:50, Paper ThA9.1

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Qualitative Robot Localisation Using Information from Cast Shadows
Santos, Paulo EduardoCentro Univ. da FEI
Dee, Hannah MaryUniv. of Leeds
Fenelon, ValquiriaCentro Univ. da FEI (Tech. Univ. FEI-SP),
 

08:50-09:10, Paper ThA9.2

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Automatic Weight Learning for Multiple Data Sources When Learning from Demonstration
Argall, BrennaCarnegie Mellon Univ.
Browning, BrettCarnegie Mellon Univ.
Veloso, ManuelaCarnegie Mellon Univ.
 

09:10-09:30, Paper ThA9.3

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Mixed Reality Simulation for Mobile Robots
Chen, Ian Yen-HungUniv. of Auckland
MacDonald, BruceUniv. of Auckland
Wuensche, BurkhardUniv. of Auckland
 

09:30-09:50, Paper ThA9.4

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Combining Planning and Motion Planning
Choi, JaesikUniv. of Illinois Urbana-Champaign
Amir, EyalUniv. of Illinois, Urbana-Champaign
 

09:50-10:10, Paper ThA9.5

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Navigating by Stigmergy: A Realization on an RFID Floor for Minimalistic Robots
Johansson, RobertÖrebro Univ.
Saffiotti, AlessandroOrebro Univ.
 

ThA10 Regular Sessions, Room: 502

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Physical Human-Robot Interaction - I  
 
Chair: Song, Jae-BokKorea Univ.
Co-Chair: Sankai, YoshiyukiUniv. of Tsukuba
 

08:30-08:50, Paper ThA10.1

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2 DOF Cartesian Force Limiting Device for Safe Physical Human-Robot Interaction
Lauzier, NicolasUniv. Laval
Grenier, MartinUniv. Laval
Gosselin, ClementUniv. Laval
 

08:50-09:10, Paper ThA10.2

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Integration of Active and Passive Compliance Control for Safe Human-Robot Coexistence
Schiavi, RiccardoUniv. of Pisa
Fabrizio, FlaccoUniv. of Roma Sapienza
Bicchi, AntonioUniv. of Pisa
 

09:10-09:30, Paper ThA10.3

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Achieving Efficient and Stable Comanipulation through Adaptation to Changes in Human Arm Impedance
Lamy, XavierFrench Atomic Energy Commission (CEA)
Colledani, FrédéricCEA-LIST
Geffard, FranckAtomic Energy Commissariat (CEA)
Morel, GuillaumeUniv. Pierre et Marie Curie - Paris 6
Measson, YvanCEA LIST
 

09:30-09:50, Paper ThA10.4

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The “DLR Crash Report”: Towards a Standard Crash-Testing Protocol for Robot Safety - Part I: Results
Haddadin, SamiGerman Aerospace Center (DLR)
Albu-Schäffer, AlinDLR - German Aerospace Center
Frommberger, MirkoGerman Aerospace Center (DLR)
Rossmann, JuergenRWTH Aachen Univ.
Hirzinger, GerdGerman Aerospace Center (DLR)
 

09:50-10:10, Paper ThA10.5

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The ``DLR Crash Report'': Towards a Standard Crash-Testing Protocol for Robot Safety - Part II: Discussions
Haddadin, SamiGerman Aerospace Center (DLR)
Albu-Schäffer, AlinDLR - German Aerospace Center
Frommberger, MirkoGerman Aerospace Center (DLR)
Rossmann, JuergenRWTH Aachen Univ.
Hirzinger, GerdGerman Aerospace Center (DLR)
 

ThA11 Regular Sessions, Room: 503

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Haptics and Haptic Interfaces - I  
 
Chair: Yabuta, TetsuroYokohama National Univ.
Co-Chair: Furusho, JunjiOsaka Univ.
 

08:30-08:50, Paper ThA11.1

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On the Potential of Physics-Based Animation for Task Programming in Virtual Reality
Aleotti, JacopoUniv. of Parma
Caselli, StefanoUniv. of Parma
 

08:50-09:10, Paper ThA11.2

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Development of a Haptic Device DELTA-4 Using Parallel Link Mechanism
Arata, JumpeiNagoya Insititute of Tech.
Kondo, HiroyukiDepartment of Engineering Physics, Electronics and Mechanics
Sakaguchi, MasamichiNagoya Inst. of Tech.
Fujimoto, HideoNagoya Inst. of Tech.
 

09:10-09:30, Paper ThA11.3

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Optimized Passive Dynamics Improve Transparency of Haptic Devices
Vallery, HeikeETH Zurich
Duschau-Wicke, AlexanderETH Zurich
Riener, RobertETH Zurich
 

09:30-09:50, Paper ThA11.4

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Producing Rigid Contacts in Cable-Driven Haptic Interfaces Using Impact Generating Reels
Billette, GrégoireLaval Univ.
Gosselin, ClementUniv. Laval
 

09:50-10:10, Paper ThA11.5

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A Versatile Wire Robot Concept As a Haptic Interface for Sport Simulation
v. Zitzewitz, JoachimETH Zurich
Rauter, GeorgETH Zurich
Steiner, RetoETH Zurich
Brunschweiler, AndreasETH Zurich
Riener, RobertETH Zurich
 

ThA12 Regular Sessions, Room: 504

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Visual Servoing - I  
 
Chair: Corke, PeterCSIRO
Co-Chair: Chaumette, FrancoisINRIA Rennes-Bretagne Atlantique
 

08:30-08:50, Paper ThA12.1

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Modeling and 3D Local Estimation for In-Plane and Out-Of-Plane Motion Guidance by 2D Ultrasound-Based Visual Servoing
Mebarki, RafikIRISA, INRIA Rennes-Bretagne Atlantique
Krupa, AlexandreIRISA / INRIA Rennes
Chaumette, FrancoisINRIA Rennes-Bretagne Atlantique
 

08:50-09:10, Paper ThA12.2

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Global Path Planning for Robust Visual Servoing in Complex Environments
Kazemi, MoslemSimon Fraser Univ.
Gupta, KamalSimon Fraser Univ.
Mehrandezh, MehranUniv. of Regina
 

09:10-09:30, Paper ThA12.3

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Mouth Gesture and Voice Command Based Robot Command Interface
Gomez Mendoza, Juan BernardoUniv. Nacional de Colombia Sede Manizales
Ceballos Arias, AlexánderUniv. Nacional de Colombia Sede Manizales
Prieto, FlavioUniv. Nacional de Colombia Sede Bogotá
Redarce, TanneguyINSA de Lyon (Inst. National des Sciences Appliquees)
 

09:30-09:50, Paper ThA12.4

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Active Guidance of a Handheld Micromanipulator Using Visual Servoing
Becker, BrianCarnegie Mellon Unversity
Voros, SandrineJHU
MacLachlan, RobertCarnegie Mellon Univ.
Hager, GregoryJohns Hopkins Univ.
Riviere, CameronCarnegie Mellon Univ.
 

09:50-10:10, Paper ThA12.5

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An Explorative Study of Visual Servo Control with Insect-Inspired Reichardt-Model
Wu, HaiyanTech. Univ. Muenchen
Zhang, TianguangTech. Univ. München
Borst, AlexanderMax-Planck-Inst. of Neurobiology
Kühnlenz, KoljaTech. Univ. München
Buss, MartinTech. Univ. München
 

ThA13 Regular Sessions, Room: 505

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Networked Robots - I  
 
Chair: Frew, Eric W.Univ. of Colorado
Co-Chair: Prattichizzo, DomenicoUniv. of Siena
 

08:30-08:50, Paper ThA13.1

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Vision-Based Leader-Follower Formations with Limited Information
Min, Hyeun JeongUmn
Drenner, AndrewUMN
Papanikolopoulos, NikosUniv. of Minnesota
 

08:50-09:10, Paper ThA13.2

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A Protocol for Decentralized Multi-Vehicle Mapping with Limited Communication Connectivity
Chapman, AirlieUniv. of Sydney
Sukkarieh, SalahUniv. of Sydney
 

09:10-09:30, Paper ThA13.3

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On Connectivity Maintenance in Linear Cyclic Pursuit
Morbidi, FabioUniv. of Siena
Ripaccioli, GiulioUniv. of Siena
Prattichizzo, DomenicoUniv. of Siena
 

09:30-09:50, Paper ThA13.4

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Toward Model Free Atmospheric Sensing by Aerial Robot Networks in Strong Wind Fields
Elston, JackUniv. of Colorado, Boulder
Stachura, MaciejUniv. of Colorado Boulder
Frew, Eric W.Univ. of Colorado
Herzfeld, UteUniv. of Colorado Boulder
 

ThB1 Regular Sessions, MainHall

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Slam - Ii  
 
Chair: Davison, Andrew JImperial Coll. London
Co-Chair: Montiel, J.M.MUniv. de Zaragoza
 

10:30-10:50, Paper ThB1.1

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Avoiding Moving Outliers in Visual SLAM by Tracking Moving Objects
Wangsiripitak, SomkiatUniv. of Oxford
Murray, DavidUniv. of Oxford
 

10:50-11:10, Paper ThB1.2

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Improved Inverse Depth Parameterization for Monocular Simultaneous Localization and Mapping
Imre, EvrenINRIA Nancy- Grand Est
Berger, Marie-OdileINRIA
Noury, NicolasINRIA Grand Est-Nancy / LORIA
 

11:10-11:30, Paper ThB1.3

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Automatically and Efficiently Inferring the Hierarchical Structure of Visual Maps
Chli, MargaritaImperial Coll. London
Davison, Andrew JImperial Coll. London
 

11:30-11:50, Paper ThB1.4

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Finding Good Cycle Constraints for Large Scale Multi-Robot SLAM
Estrada, CarlosUniv. de Zaragoza
Neira, JoséUniv. de Zaragoza
Tardos, Juan D.Univ. de Zaragoza
 

11:50-12:10, Paper ThB1.5

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Camera Self-Calibration for Sequential Bayesian Structure from Motion
Civera, JavierUniv. de Zaragoza
Bueno, DianaUniv. de Zaragoza
Davison, Andrew JImperial Coll. London
Montiel, J.M.MUniv. de Zaragoza
 

ThB2 Regular Sessions, Room: ICR

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Computer Vision for Robotics and Automation - II  
 
Chair: Yamashita, AtsushiShizuoka Univ.
Co-Chair: Asfour, TamimUniv. of Karlsruhe
 

10:30-10:50, Paper ThB2.1

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Dynamic Programming and Skyline Extraction in Catadioptric Infrared Images
Bazin, Jean-CharlesRCV Lab. KAIST
Kweon, In SoKAIST
Demonceaux, CédricUniv. of Picardie - Jules Verne
Vasseur, PascalUniv. of Picardie - Jules Verne
 

10:50-11:10, Paper ThB2.2

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Active Multi-View Object Search on a Humanoid Head
Welke, KaiUniv. of Karlsruhe
Asfour, TamimUniv. of Karlsruhe (TH)
Dillmann, RüdigerUniv. of Karlsruhe
 

11:10-11:30, Paper ThB2.3

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Autonomous Robot Cameraman - Observation Pose Optimization for a Mobile Service Robot in Indoor Living Space
Schroeter, ChristofIlmenau Univ. of Tech.
Hoechemer, MatthiasIlmenau Univ. of Tech.
Mueller, SteffenIlmenau Univ. of Tech.
Gross, Horst-MichaelIlmenau Univ. of Tech.
 

11:30-11:50, Paper ThB2.4

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High Dynamic Range Stereo Vision for Outdoor Mobile Robotics
Hrabar, StefanCSIRO ICT Centre
Corke, PeterCSIRO
Bosse, MichaelCSIRO ICT Centre
 

ThB3 Regular Sessions, Room: 401

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Surveillance and Security  
 
Chair: Fu, Li-ChenNational Taiwan Univ.
Co-Chair: Liu, GuangjunRyerson Univ.
 

10:30-10:50, Paper ThB3.1

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Person Identification from Human Walking Sequences Using Affine Moment Invariants
Iwashita, YumiKyushu Univ.
Kurazume, RyoKyushu Univ.
 

10:50-11:10, Paper ThB3.2

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Roadmap-Based Stealth Navigation for Intercepting an Invader
Park, Jung-HeeSeoul National Univ.
Choi, Jeong-SikSeoul National Univ.
Kim, JiminSeoul National Univ.
Lee, Beom-HeeSeoul National Univ.
 

11:10-11:30, Paper ThB3.3

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Auxiliary Models Based Multi-Innovation Gradient Identification with Colored Measurement Noises
Ding, FengJiangna Univ.
Liu, Peter X.Carleton Univ.
Liu, GuangjunRyerson Univ.
 

11:30-11:50, Paper ThB3.4

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Real-Time Face Tracking and Pose Estimation with Partitioned Sampling and Relevance Vector Machine
Lin, Yi-TzuNational Taiwan Univ.
Huang, Cheng-MingNational Taiwan Univ.
Chen, Yi-RuNational Taiwan Univ.
Fu, Li-ChenNational Taiwan Univ.
 

11:50-12:10, Paper ThB3.5

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Probabilistic Situation Recognition for Vehicular Traffic Scenarios
Meyer-Delius, DanielUniv. Freiburg
Plagemann, ChristianUniv. of Freiburg
Burgard, WolframUniv. of Freiburg
 

ThB4 Regular Sessions, Room: 402

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Collision Avoidance - II  
 
Chair: Kheddar, AbderrahmaneJRL CNRS
Co-Chair: Srinivasa, SiddharthaIntel Res. Pittsburgh
 

10:30-10:50, Paper ThB4.1

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Oriented Bounding Surfaces with at Most Six Common Normals
Rabl, MargotJohannes Kepler Univ.
Gonzalez-Vega, LaureanoUniv. de Cantabria
Juettler, BertJohannes Kepler Univ.
Schrocker, Hans PeterUniv. Innsbruck
 

10:50-11:10, Paper ThB4.2

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Analytic Error Variance Predictions for Planar Vehicles
Greytak, MatthewMIT
Hover, FranzMIT
 

11:10-11:30, Paper ThB4.3

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Global Vector Field Computation for Feedback Motion Planning
Zhang, LiangjunUniv. of North Carolina at Chapel Hill
LaValle, Steven MUniv. of Illinois
Manocha, DineshUNC at Chapel Hill
 

11:30-11:50, Paper ThB4.4

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Fast C1 Proximity Queries Using Support Mapping of Sphere-Torus-Patches Bounding Volumes
Benallegue, MehdiCNRS - LIRMM
Escande, AdrienCNRS/AIST
Miossec, SylvainIUT de Bourges, Univ. of Orleans
Kheddar, AbderrahmaneCNRS
 

11:50-12:10, Paper ThB4.5

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CHOMP: Gradient Optimization Techniques for Efficient Motion Planning
Ratliff, NathanCarnegie Mellon Univ.
Zucker, MatthewCarnegie Mellon Univ.
Bagnell, JamesCarnegie Mellon Univ.
Srinivasa, SiddharthaIntel Res. Pittsburgh
 

ThB5 Regular Sessions, Room: 403

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Dexterous Manipulation - II  
 
Chair: Kao, IminSUNY at Stony Brook
Co-Chair: Lynch, KevinNorthwestern Univ.
 

10:30-10:50, Paper ThB5.1

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Posture Control of Redundant Manipulators on the Norm of Task Space Stiffness Optimization
Koganezawa, KoichiTokai Univ.
Inaba, TomoyaTokai Univ.
 

10:50-11:10, Paper ThB5.2

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Object Handling Tasks Based on Active Tactile and Slippage Sensations in a Multi-Fingered Humanoid Robot Arm
Yussof, HanafiahNagoya Univ.
Wada, JiroNagoya Univ.
Ohka, MasahiroNagoya Univ.
 

11:10-11:30, Paper ThB5.3

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High-Speed Position Tracking for Nanohandling Inside Scanning Electron Microscopes (I)
Jasper, DanielUniv. of Oldenburg
 

11:30-11:50, Paper ThB5.4

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Robot Basketball: A Comparison of Ball Dribbling with Visual and Force/Torque Feedback
Bätz, GeorgTech. Univ. München
Lee, Kwang-KyuTech. Univ. München (TUM)
Wollherr, DirkTech. Univ. München
Buss, MartinTech. Univ. München
 

ThB6 Regular Sessions, Room: 404

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Laboratory Automation  
 
Chair: Qian, XiaopingIllinois Inst. of Tech.
Co-Chair: Nelson, Bradley J.ETH Zurich
 

10:30-10:50, Paper ThB6.1

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Design and Calibration of a Microfabricated 6-Axis Force-Torque Sensor for Microrobotic Applications
Beyeler, FelixETH Zurich
Muntwyler, SimonETH Zurich
Nelson, Bradley J.ETH Zurich
 

10:50-11:10, Paper ThB6.2

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Automated Mouse Embryo Injection Moves Toward Practical Use
Liu, XinyuUniv. of Toronto
Sun, YuUniv. of Toronto
 

11:10-11:30, Paper ThB6.3

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Adaptive Scanning in Atomic Force Microscopy
Qian, XiaopingIllinois Inst. of Tech.
Zhang, DongdongIllinois Inst. of Tech.
 

11:30-11:50, Paper ThB6.4

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A Self-Adjusted Precise Liquid Handling System
Liu, Yaxinharbin Inst. of Tech.
Liguo, ChenHarbin Inst. of Tech.
Sun, Liningharbin Inst. of Tech.
Rong, WeibinHarbin Inst. of Tech.
 

ThB7 Regular Sessions, Room: 405

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Smart Actuators - II  
 
Chair: Lee, Kok-MengGeorgia Inst. of Tech.
Co-Chair: Cheng, Gordon-
 

10:30-10:50, Paper ThB7.1

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MACCEPA 2.0: Adjustable Compliant Actuator with Stiffening Characteristic for Energy Efficient Hopping
Vanderborght, BramVrije Univ. Brussel
Tsagarakis, NikolaosItalian Inst. of Tech. (IIT)
Semini, ClaudioItalian Inst. of Tech.
Van Ham, RonaldVrije Univ. Brussel
Caldwell, Darwin G.Italian Inst. of Tech.
 

10:50-11:10, Paper ThB7.2

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A Compact Rotational Manipulator Using Shape Memory Alloy Wire Actuated Flexures
Wang, Jhe-HongNational Cheng Kung Univ.
Fan, Chen-HsienNational Cheng Kung Univ.
Lan, Chao-ChiehNational Cheng Kung Univ.
 

11:10-11:30, Paper ThB7.3

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Miniature Soft Hand with Curling Rubber Pneumatic Actuators
Wakimoto, ShuichiOkayama Univ.
Ogura, KeikoOkayama Univ.
Suzumori, KoichiOkayama Univ.
Nishioka, YasutakaOkayama Univ.
 

11:30-11:50, Paper ThB7.4

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Lightweight High Performance Integrated Actuator for Humanoid Robotic Applications: Modeling, Design & Realization
Alfayad, SamerLISV,BIA
Ben Ouezdou, FathiUniv. of Versailles-Saint-Quentin
Namoun, FaycalBIA
Cheng, Gordon-
 

ThB8 Regular Sessions, Room: 406

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Robot Design  
 
Chair: Hirose, ShigeoTokyo Inst. of Tech.
Co-Chair: Stramigioli, StefanoUniv. of Twente
 

10:30-10:50, Paper ThB8.1

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Concurrent Synthesis of Robot Manipulators Using Hardware-In-The-Loop Simulation
Chhabra, RobinUniv. of Toronto
Emami, M. RezaUniv. of Toronto
 

10:50-11:10, Paper ThB8.2

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Mechatronic Design of a Fast and Long Range 4 Degrees of Freedom Humanoid Neck
Brouwer, Dannis MichelUniv. of Twente
Bennik, JanUniv. of Twente
Leideman, JanDemcon
Soemers, HermanUniv. of Twente
Stramigioli, StefanoUniv. of Twente
 

11:10-11:30, Paper ThB8.3

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Design of Human Symbiotic Robot TWENDY-ONE
Iwata, HiroyasuWaseda Univ.
Sugano, ShigekiWaseda Univ.
 

11:30-11:50, Paper ThB8.4

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Multi-Jointed Robot Finger Driven by Artificial Muscle Actuator
Nguyen, Huu ChucSungkyunkwan Univ.
Nguyen, Huu Lam VuongSungkyunkwan Univ.
Kim, DukSangSungkyunkwan Univ.
Koo, Ja ChoonSungkyunkwan Univ.
Lee, YoungkwanSungkyunkwan Univ.
Nam, JaedoSungkyunkwan Univ.
Choi, Hyouk RyeolSungkyunkwan Univ.
Park, Jong KilSungkyunkwan Univ.
 

11:50-12:10, Paper ThB8.5

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Tokyo-TECH 100 N Hand : Three-Fingered Eight-Dof Hand with a Force-Magnification Mechanism
Takayama, ToshioTokyo Inst. of Tech.
Chiba, YoshinoriTokyo Inst. of Tech.
Omata, ToruTokyo Inst. of Tech.
 

ThB9 Regular Sessions, Room: 501

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Manipulation Planning  
 
Chair: Hirai, ShinichiRitsumeikan Univ.
Co-Chair: Kuffner, JamesCarnegie Mellon Univ.
 

10:30-10:50, Paper ThB9.1

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On-Line Time-Optimal Path Tracking for Robots
Verscheure, DiederikKatholieke Univ. Leuven
Diehl, MoritzUniv. of Heidelberg
De Schutter, JorisKatholieke Univ. Leuven
Swevers, JanKatholieke Univ. Leuven
 

10:50-11:10, Paper ThB9.2

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Deformation Modeling of Belt Object with Angles
Wakamatsu, HidefumiGrad. School of Eng., Osaka Univ.
Morinaga, EijiOsaka Univ.
Arai, EijiGraduate School of Eng., Osaka Univ.
Hirai, ShinichiRitsumeikan Univ.
 

11:10-11:30, Paper ThB9.3

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A Coordinate Free Approach to Instantaneous Kinematics of Two Rigid Objects with Rolling Contacts and Its Implications for Trajectory Planning
Cui, LeiKing's Coll. London
Dai, JianKing's Coll. London, Univ. of London
 

11:30-11:50, Paper ThB9.4

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Manipulation Planning with Workspace Goal Regions
Berenson, DmitryCarnegie Mellon
Srinivasa, SiddharthaIntel Res. Pittsburgh
Ferguson, DaveIntel Res. Pittsburgh
Collet, AlvaroCarnegie Mellon Univ.
Kuffner, JamesCarnegie Mellon Univ.
 

11:50-12:10, Paper ThB9.5

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Manipulation Planning on Constraint Manifolds
Berenson, DmitryCarnegie Mellon
Srinivasa, SiddharthaIntel Res. Pittsburgh
Ferguson, DaveIntel Res. Pittsburgh
Kuffner, JamesCarnegie Mellon Univ.
 

ThB10 Regular Sessions, Room: 502

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Human-Robot Interaction - I  
 
Chair: Hashimoto, MinoruShinshu Univ.
Co-Chair: Ogata, TetsuyaKyoto Univ.
 

10:30-10:50, Paper ThB10.1

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Muscle Tension Database for Contact-Free Estimation of Human Somatosensory Information
Yamane, KatsuDisney
Murai, AkihikoUniv. of Tokyo
Takaya, SadahiroUniv. of Tokyo
Nakamura, YoshihikoUniv. of Tokyo
 

10:50-11:10, Paper ThB10.2

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Design of a Semi-Active Knee Prosthesis
Lambrecht, Bram Gilbert AntoonUniv. of California, Berkeley
Kazerooni, HomayoonUniv. of California at Berkeley
 

11:10-11:30, Paper ThB10.3

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Statistically Integrated Semiotics That Enables Mutual Inference between Linguistic and Behavioral Symbols for Humanoid Robots
Takano, WataruTokyo Univ.
Nakamura, YoshihikoUniv. of Tokyo
 

11:30-11:50, Paper ThB10.4

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Bayesian Plan Recognition for Brain-Computer Interfaces
Demeester, EricKatholieke Univ. Leuven
Huntemann, AlexanderK.U.Leuven
Millán, José del R.IDIAP Res. Inst.
Van Brussel, HendrikKatholieke Univ. Leuven
 

11:50-12:10, Paper ThB10.5

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SBC for Motion Assist Using Neural Oscillator
Zhang, XiaShinshu Univ.
Hashimoto, MinoruShinshu Univ.
 

ThB11 Regular Sessions, Room: 503

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Haptics and Haptic Interfaces - II  
 
Chair: Okamura, Allison M.Johns Hopkins Univ.
Co-Chair: Kang, SungchulKorea Inst. of Science & Tech.
 

10:30-10:50, Paper ThB11.1

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Vision-Based Detection of Finger Touch for Haptic Device Using Transparent Flexible Sheet
Inoue, KenjiYamagata Univ.
Okamoto, YukiYamagata Univ.
 

10:50-11:10, Paper ThB11.2

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Design Considerations and Human-Machine Performance of Moving Virtual Fixtures
Gibo, TriciaJohns Hopkins Univ.
Verner, LawtonJohns Hopkins Univ.
Yuh, DavidJohns Hopkins Hospital
Okamura, Allison M.Johns Hopkins Univ.
 

11:10-11:30, Paper ThB11.3

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Effects of Haptic and Graphical Force Feedback on Teleoperated Palpation
Gwilliam, JamesJohns Hopkins Univ.
Mahvash, MohsenBoston Univ.
Vagvolgyi, BalazsJohns Hopkins Univ.
Vacharat, AlexJohns Hopkins Univ.
Yuh, DavidJohns Hopkins Hospital
Okamura, Allison M.Johns Hopkins Univ.
 

11:30-11:50, Paper ThB11.4

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T-Hive : Vibrotactile Interface Presenting Spatial Information on Handle Surface
Ryu, DongseokTexas A&M Univ. Christi
Yang, Gi-HunKIST
Kang, SungchulKorea Inst. of Science & Tech.
 

11:50-12:10, Paper ThB11.5

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PerioSim: Haptic Virtual Reality Simulator for Sensorimotor Skill Acquisition in Dentistry
Kolesnikov, MaximUniv. of Illinois at Chicago
Zefran, MilosUniv. of Illinois at Chicago
Steinberg, ArnoldUniv. of Illinois at Chicago
Bashook, PhilipUniv. of Illinois at Chicago
 

ThB12 Regular Sessions, Room: 504

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Visual Servoing - II  
 
Chair: Zhang, HongUniv. of Alberta
Co-Chair: Hashimoto, KoichiTohoku Univ.
 

10:30-10:50, Paper ThB12.1

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Performance Limitation Analysis in Visual Servo Systems: Bounding the Location Error Introduced by Image Points Matching
Chesi, GrazianoUniv. of Hong Kong
Yung, Ho LamUniv. of Hong Kong
 

10:50-11:10, Paper ThB12.2

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Photometry-Based Visual Servoing Using Light Reflexion Models
Collewet, ChristopheINRIA
Marchand, EricINRIA
 

11:10-11:30, Paper ThB12.3

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Entropy-Based Visual Servoing
Dame, AmauryCNRS
Marchand, EricINRIA
 

11:30-11:50, Paper ThB12.4

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Hand & Eye-Vergence Dual Visual Servoing to Enhance Observability and Stability
Song, WeiUniv. of Fukui
Minami, MamoruUniv. of Fukui
 

11:50-12:10, Paper ThB12.5

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Stability / Precision Improvement of 6-DoF Visual Servoing by Motion Feedforward Compensation and Experimental Evaluation
Song, WeiUniv. of Fukui
Minami, MamoruUniv. of Fukui
 

ThB13 Regular Sessions, Room: 505

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Networked Robots - II  
 
Chair: Meng, MaxThe Chinese Univ. of Hong Kong
Co-Chair: Kotoku, TetsuoNational Inst. of AIST
 

10:30-10:50, Paper ThB13.1

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Automatic Formation Deployment of Decentralized Heterogeneous Multi-Robot Networks with Limited Sensing Capabilities
Smith, BrianGeorgia Tech.
Wang, JiuguangGeorgia Inst. of Tech.
Egerstedt, MagnusGeorgia Inst. of Tech.
Howard, AyannaGeorgia Inst. of Tech.
 

10:50-11:10, Paper ThB13.2

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Design and Implementation of a 9-Axis Inertial Measurement Unit
Lin, Pei-ChunNational Taiwan Univ.
Ho, Chi-WeiNational Taiwan Univ.
 

11:10-11:30, Paper ThB13.3

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Multi-Robot Plan Adaptation by Constrained Minimal Distortion Feature Mapping
Takacs, BalintImperial Coll.
Demiris, YiannisImperial Coll. London
 

11:30-11:50, Paper ThB13.4

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Energy-Efficient Target Tracking with a Sensorless Robot and a Network of Unreliable One-Bit Proximity Sensors
O'Kane, JasonUniv. of South Carolina
Xu, WenyuanUniv. of South Carolina
 

11:50-12:10, Paper ThB13.5

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Inferring a Probability Distribution Function for the Pose of a Sensor Network Using a Mobile Robot
Meger, David PaulUniv. of British Columbia
Marinakis, DimitriMcGill Univ.
Rekleitis, IoannisMcGill Univ.
Dudek, GregoryMcGill Univ.
 

ThC1 Regular Sessions, MainHall

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Humanoid Robots - I  
 
Chair: Lamiraux, FlorentCNRS
Co-Chair: Kajita, ShuujiNational Inst. of AIST
 

13:30-13:50, Paper ThC1.1

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Learning and Generalization of Motor Skills by Learning from Demonstration
Pastor, PeterUniv. of Southern California
Hoffmann, HeikoUniv. of Southern California
Asfour, TamimUniv. of Karlsruhe (TH)
Schaal, StefanUniv. of Southern California
 

13:50-14:10, Paper ThC1.2

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Mechatronic Design of NAO Humanoid
Gouaillier, DavidUniv. of Versailles
Hugel, VincentUniv. of Versailles
Blazevic, PierreLab. d'Ingénierie des Systèmes de Versailles
Kilner, ChrisAldebaran-Robotics
Monceaux, JérômeAldebaran-Robotics
Lafourcade, PascalAldebaran-Robotics
Marnier, BriceAldebaran-Robotics
Serre, JulienAldebaran-Robotics
Maisonnier, BrunoAldebaran-Robotics
 

14:10-14:30, Paper ThC1.3

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Humanoid Robot LOLA
Lohmeier, SebastianTech. Univ. Munich
Buschmann, ThomasTU Munich
Ulbrich, HeinzTech. Univ. Muenchen
 

14:30-14:50, Paper ThC1.4

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Safe Fall: Humanoid Robot Fall Direction Change through Intelligent Stepping and Inertia Shaping
Yun, Seung-kookMIT
Goswami, AmbarishHonda Res. Inst.
Sakagami, YoshiakiHonda Res. Inst. USA
 

14:50-15:10, Paper ThC1.5

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Rough Terrain Walking for Bipedal Robot by Using ZMP Criteria Map
Takubo, TomohitoOsaka Univ.
Imada, YoshinoriOsaka Univ.
Ohara, KenichiOsaka Univ.
Mae, YasushiOsaka Univ.
Arai, TatsuoOsaka Univ.
 

ThC2 Regular Sessions, Room: ICR

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Visual Learning  
 
Chair: Fu, Li-ChenNational Taiwan Univ.
Co-Chair: Burschka, DariusTech. Univ. München
 

13:30-13:50, Paper ThC2.1

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Learning 3-D Object Orientation from Images
Saxena, AshutoshStanford Univ.
Driemeyer, JustinStanford Univ.
Ng, AndrewStanford Univ.
 

13:50-14:10, Paper ThC2.2

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Unsupervised Learning of 3D Object Models from Partial Views
Ruhnke, MichaelUniv. of Freiburg
Steder, BastianUniv. of Freiburg
Grisetti, GiorgioUnviersität Freiburg
Burgard, WolframUniv. of Freiburg
 

14:10-14:30, Paper ThC2.3

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Visual Homing and Surprise Detection for Cognitive Mobile Robots Using Image-Based Environment Representations
Maier, WernerTech. Univ. Muenchen
Mair, ElmarTech. Univ. München (TUM)
Burschka, DariusTech. Univ. München
Steinbach, EckehardMunich Univ. of Tech.
 

14:30-14:50, Paper ThC2.4

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Active-Learning Assisted Self-Reconfigurable Activity Recognition in a Dynamic Environment
Ho, Yu-ChenNational Taiwan Univ.
Lu, Ching-HuNational Taiwan Univ.
Huang, Shih-ShinhNational Taiwan Univ.
Chen, I-HanNational Taiwan Univ.
Wang, Ching-yaothe Ministry of Ec. Affairs
Fu, Li-ChenNational Taiwan Univ.
 

ThC3 Regular Sessions, Room: 401

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Surveillance Systems  
 
Chair: Tadokoro, SatoshiTohoku Univ.
Co-Chair: Oh, Paul Y.Drexel Univ.
 

13:30-13:50, Paper ThC3.1

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Finding the Optimal Strategies for Robotic Patrolling with Adversaries in Topologically-Represented Environments
Amigoni, FrancescoPol. di Milano
Basilico, NicolaPol. di Milano
Gatti, NicolaPol. di Milano
 

13:50-14:10, Paper ThC3.2

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Ground Plane Velocity Estimation Embedding Rectification on a Particle Filter Multi-Target Tracking
Palaio, HélioUniv. of Coimbra
Batista, KatherineUniv. of Coimbra
Maduro, CristinaUniv. of Coimbra
Batista, JorgeUniv. of Coimbra
 

14:10-14:30, Paper ThC3.3

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Behavioral Control for Multi-Robot Perimeter Patrol: A Finite State Automata Approach
Marino, AlessandroUniv. degli Studi della Basilicata
Parker, LynneUniv. of Tennessee
Antonelli, GianlucaUniv. degli Studi di Cassino
Caccavale, FabrizioUniv. degli Studi della Basilicata
 

14:30-14:50, Paper ThC3.4

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Assigning Cameras to Subjects in Video Surveillance Systems
El-Alfy, HazemUniv. of Maryland
Jacobs, DavidUniv. of Maryland
Davis, LarryUniv. of Maryland
 

14:50-15:10, Paper ThC3.5

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Optimal Camera Placement for Total Coverage
Gonzalez-Barbosa, Jose-JoelCICATA-IPN
Garcia-Ramirez, TeresaInst. Nacional Pol.
Salas, JoaquinCICATA-IPN Unidad Queretaro
Hurtado-Ramos, Juan-BautistaIPN
Rico-Jimenez, Jose-de-JesusIPN
 

ThC4 Regular Sessions, Room: 402

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Collision Avoidance - III  
 
Chair: Manocha, DineshUNC at Chapel Hill
Co-Chair: Iossifidis, IoannisRuhr-Univ. Bochum
 

13:30-13:50, Paper ThC4.1

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C2A: Controlled Conservative Advancement for Continuous Collision Detection of Polygonal Models
Tang, MinEwha Womans Univ.
Kim, Young J.Ewha Womans Univ.
Manocha, DineshUNC at Chapel Hill
 

13:50-14:10, Paper ThC4.2

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Mining GPS Data for Extracting Significant Places
Agamennoni, GabrielThe Univ. of Sydney
Nieto, JuanUniv. of Sydney, Australian Centre for Field Robotics
Nebot, EduardoUnversity of Sydney
 

14:10-14:30, Paper ThC4.3

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Temporal Stabilization of Discrete Movement in Variable Environments: An Attractor Dynamics Approach
Tuma, MatthiasRuhr-Univ. Bochum
Iossifidis, IoannisRuhr-Univ. Bochum
Schöner, GregorRuhr Univ. Bochum
 

14:30-14:50, Paper ThC4.4

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Coordination of Multiple Non-Holonomic Agents with Input Constraints
Oikonomopoulos, ApollonNational Tech. Univ. of Athens
Loizou, SavvasNational Tech. Univ. of Athens
Kyriakopoulos, KostasNational Tech. Univ. of Athens
 

14:50-15:10, Paper ThC4.5

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Expansion Segmentation for Visual Collision Detection and Estimation
Byrne, JeffreyUniv. of Pennsylvania
Taylor, Camillo JoseUniv. of Pennsylvania
 

ThC5 Regular Sessions, Room: 403

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Dexterous Manipulation - III  
 
Chair: Yoshikawa, TsuneoRitsumeikan Univ.
Co-Chair: Wang, MichaelChinese Univ. of Hong Kong
 

13:30-13:50, Paper ThC5.1

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Trajectory Generation of Robotic Fingers Based on Tri-Axial Tactile Data for Cap Screwing Task
Ohka, MasahiroNagoya Univ.
Morisawa, NobuyukiNagoya Univ.
Yussof, HanafiahNagoya Univ.
 

13:50-14:10, Paper ThC5.2

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Analysis of Sliding of a Soft Fingertip Embedded with a Novel Micro Force/Moment Sensor: Simulation, Experiment, and Application
Ho, VanRitsumeikan Univ.
Dao, Viet DzungRitsumeikan Univ.
Sugiyama, SusumuRitsumeikan Univ.
Hirai, ShinichiRitsumeikan Univ.
 

14:10-14:30, Paper ThC5.3

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Tactile Sensing for an Anthropomorphic Robotic Hand: Hardware and Signal Processing
Goeger, DirkUniv. Karlsruhe
Gorges, NicolasUniv. Karlsruhe
Woern, HeinzUniv. Karlsruhe
 

14:30-14:50, Paper ThC5.4

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Manipulation at the NanoNewton Level: Micrograpsing for Mechanical Characterization of Biomaterials
Kim, KeekyoungUniv. of Toronto
Liu, XinyuUniv. of Toronto
Zhang, YongUniv. of Toronto
Cheng, JiUniv. of Toronto
Wu, Xiao YuUniv. of Toronto
Sun, YuUniv. of Toronto
 

ThC6 Regular Sessions, Room: 404

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Factory Automation  
 
Chair: Arai, TamioUniv. of Tokyo
Co-Chair: Cheng, Fan-TienNational Cheng Kung Univ.
 

13:30-13:50, Paper ThC6.1

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A Dynamic Programming Approach to Multi-Level Supervision
Seow, Kiam TianNanyang Tech. Univ.
 

13:50-14:10, Paper ThC6.2

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‘Teleportation’-Based Motion Planner for Design Error Analysis
Himmelstein, JesseLAAS-CRNS
Ferré, EtienneKineo Computer Aided Motion
Laumond, Jean-PaulLAAS-CNRS
 

14:10-14:30, Paper ThC6.3

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On Autonomous Detection of Pressured Air and Gas Leaks Using Passive IR-Thermography for Mobile Robot Application
Kroll, AndreasUniv. of Kassel
Baetz, WernerUniv. of Kassel
Peretzki, DanielUniv. of Kassel
 

14:30-14:50, Paper ThC6.4

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Developing a Product Quality Fault Detection Scheme
Huang, Yi-TingNational Cheng Kung Univ.
Cheng, Fan-TienNational Cheng Kung Univ.
Hung, Min-HsiungChung Cheng Inst. of Tech.
 

14:50-15:10, Paper ThC6.5

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Evaluation of Frequency Band Technique in Estimating Muscle Fatigue During Dynamic Contraction Task
Soo, YewguanThe Univ. of Tokyo
Nishino, MasatakaThe Univ. of Tokyo
Sugi, MasaoThe Univ. of Tokyo
Yokoi, HiroshiThe Univ. of Tokyo
Arai, TamioUniv. of Tokyo
Kato, RyuThe Univ. of Tokyo
Nakamura, TatsuhiroThe Univ. of Tokyo
Ota, JunThe Univ. of Tokyo
 

ThC7 Regular Sessions, Room: 405

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Planning, Scheduling and Coordination  
 
Chair: Keskinocak, PinarGeorgia Tech.
Co-Chair: Mansard, NicolasAIST/CNRS JRL-Japan
 

13:30-13:50, Paper ThC7.1

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Probabilistic Search Optimization and Mission Assignment for Heterogeneous Autonomous Agents
Chung, Timothy H.Naval Postgraduate School
Kress, MosheNaval Postgraduate School
Royset, Johannes O.Naval Postgraduate School
 

13:50-14:10, Paper ThC7.2

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Simultaneous Task Subdivision and Allocation for Teams of Heterogeneous Robots
Rossi, ClaudioUniv. Pol. de Madrid
Aldama, LeyreUniv. Pol. de Madrid
Barrientos, AntonioUPM
 

14:10-14:30, Paper ThC7.3

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Combining Search and Action for Mobile Robots
Hollinger, GeoffreyCarnegie Mellon Univ.
Ferguson, DaveIntel Res. Pittsburgh
Srinivasa, SiddharthaIntel Res. Pittsburgh
Singh, SanjivCarnegie Mellon Univ.
 

14:30-14:50, Paper ThC7.4

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Multi-Robot Routing with Linear Decreasing Rewards Over Time
Ekici, AliGeorgia Inst. of Tech.
Keskinocak, PinarGeorgia Tech.
Koenig, SvenUniv. of Southern California
 

14:50-15:10, Paper ThC7.5

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Extending Itasc to Support Inequality Constraints and Non-Instantaneous Task Specification
Decré, WilmKatholieke Univ. Leuven
Smits, RubenKatholieke Univ. Leuven
Bruyninckx, HermanKatholieke Univ. Leuven
De Schutter, JorisKatholieke Univ. Leuven
 

ThC8 Regular Sessions, Room: 406

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Underactuated Robots  
 
Chair: Melchiorri, ClaudioUniv. of Bologna
Co-Chair: Osuka, KoichiKobe Univ.
 

13:30-13:50, Paper ThC8.1

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Control of a Class of Thrust-Propelled Underactuated Vehicles and Application to a VTOL Drone
Hua, Minh-DucINRIA
Hamel, TarekUNSA-CNRS
Morin, PascalINRIA
Samson, ClaudeINRIA
 

13:50-14:10, Paper ThC8.2

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Leader-Follower Formation Control of Underactuated AUVs with Leader Position Measurement
Cui, RongxinNational Univ. of Singapore
Ge, Shuzhi SamNational Univ. of Singapore
How, Bernard Voon EeNational Univ. of Singapore
Choo, Yoo SangNational Univ. of Singapore
 

14:10-14:30, Paper ThC8.3

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Actuation and Position Estimation of a Passive Mobile End Effecter from across a Thin Wall for Heavy-Duty Aircraft Manufacturing
Menon, ManasMIT
Asada, HarryMIT
 

14:30-14:50, Paper ThC8.4

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Regulation Control of Underactuated Mechanical Systems Based on a New Matching Equation of Port-Controlled Hamiltonian Systems
Wang, ZhengDalhousie Univ.
Goldsmith, PeterUniv. of Calgary
Gu, JasonDalhousie Univ.
 

14:50-15:10, Paper ThC8.5

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State Transition, Balancing, Station Keeping, and Yaw Control for a Dynamically Stable Single Spherical Wheel Mobile Robot
Nagarajan, UmashankarCarnegie Mellon Univ.
Anish Mampetta, Anish MampettaMAKO Surgical Corp.
Kantor, GeorgeCarnegie Mellon Univ.
Hollis, RalphCarnegie Mellon Univ.
 

ThC9 Invited Sessions, Room: 501

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Novel Sensing, Actuation, and Control Techniques in Microrobotics  
 
Chair: Cappelleri, DavidStevens Inst. of Tech.
Co-Chair: Popa, DanThe Univ. of Texas at Arlington
Organizer: Cappelleri, DavidUniv. of Pennsylvania
Organizer: Julius, AgungUniv. of Pennsylvania
 

13:30-13:50, Paper ThC9.1

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Harnessing Bacterial Power in Microscale Actuation (I)
Julius, AgungUniv. of Pennsylvania
Sakar, Mahmut SelmanUniv. of Pennsylvania
Steager, EdwardDrexel Univ.
Cheang, U KeiDrexel Univ.
Kim, MinJunDrexel Univ.
Kumar, VijayUniv. of Pennsylvania
Pappas, George J.Univ. of Pennsylvania
 

13:50-14:10, Paper ThC9.2

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Visual Servoing and Characterization of Resonant Magnetic Actuators for Decoupled Locomotion of Multiple Untethered Mobile Microrobots (I)
Kratochvil, BradleyETH Zurich
Frutiger, Dominic R.ETH Zurich
Vollmers, KarlETH Zurich
Nelson, Bradley J.ETH Zurich
 

14:10-14:30, Paper ThC9.3

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Two-Dimensional, Vision-Based Un Force Sensor for Microrobotics (I)
Cappelleri, DavidUniv. of Pennsylvania
Kumar, VijayUniv. of Pennsylvania
Piazza, GianlucaUniv. of Pennsylvania
 

14:30-14:50, Paper ThC9.4

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Characterization of Bacterial Actuation of Micro-Objects (I)
Behkam, BaharehVirginia Tech.
Sitti, MetinCarnegie Mellon Univ.
 

14:50-15:10, Paper ThC9.5

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A Four Degree of Freedom Microrobot with Large Work Volume (I)
Murthy, RakeshUniv. of Texas at Arlington
Popa, DanThe Univ. of Texas at Arlington
 

ThC10 Regular Sessions, Room: 502

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Field Robots - I  
 
Chair: Ramos, FabioUniv. of Sydney
Co-Chair: Pouliot, NicolasHydro-Québec Res. Inst.
 

13:30-13:50, Paper ThC10.1

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LineScout Technology: From Inspection to Robotic Maintenance on Live Transmission Power Lines
Pouliot, NicolasHydro-Québec Res. Inst.
Montambault, SergeHydro-Québec Res. Inst.
 

13:50-14:10, Paper ThC10.2

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Mapping Opaque and Confined Environments Using Proprioception
Everist, JacobUniv. of Southern California
Shen, Wei-MinUSC Information Science Inst.
 

14:10-14:30, Paper ThC10.3

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Gaussian Process Modeling of Large Scale Terrain
Vasudevan, ShrihariUniv. of Sydney
Ramos, FabioUniv. of Sydney
Nettleton, EricThe Univ. of Sydney
Durrant-Whyte, HughThe Univ. of Sydney
Blair, AllanRio Tinto
 

14:30-14:50, Paper ThC10.4

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Contextual Occupancy Maps Using Gaussian Processes
O'Callaghan, Simon TimothyUniv. of Sydney
Ramos, FabioUniv. of Sydney
Durrant-Whyte, HughThe Univ. of Sydney
 

14:50-15:10, Paper ThC10.5

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Active Mechanical Compensation to Obtain Gravity-Free Robots: Modeling, Control, Design and Preliminary Experimental Results
Machorro Fernández, Felipe AlbertoCINVESTAV
Parra Vega, VicenteCINVESTAV
Olguín Díaz, ErnestoCinvestav
 

ThC11 Regular Sessions, Room: 503

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Haptics and Haptic Interfaces - III  
 
Chair: Sano, AkihitoNagoya Inst. of Tech.
Co-Chair: Niemeyer, GunterStanford Univ.
 

13:30-13:50, Paper ThC11.1

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Interference Estimated Time of Arrival on a 6-DOF Cable-Driven Haptic Foot Platform
Otis, Martin J.D.Univ. Laval
Nguyen-Dang, Thien-LyUniv. Laval
Laurendeau, DenisLaval Univ.
Gosselin, ClementUniv. Laval
 

13:50-14:10, Paper ThC11.2

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Perceptual Factors for Interaction Modeling Using Haptic Device
Vicentini, MarcoUniv. of Verona
Botturi, DeboraUniv. of Verona
 

14:10-14:30, Paper ThC11.3

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A New Framework for Force Feedback Teleoperation of Robotic Vehicles Based on Optical Flow
Mahony, RobertAustralian National Univ.
Schill, FelixThe Australian National Univ.
Corke, PeterCSIRO
Oh, Yoong SiangThe Australian National Univ.
 

14:30-14:50, Paper ThC11.4

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6DOF Haptic Cooperation Over Large Latency Network with Wave Variables for Virtual Prototyping.
Gautier, MathieuCEA
Andriot, ClaudeLab. de Simulation Interactives
 

14:50-15:10, Paper ThC11.5

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Motion Control of Impedance-Type Haptic Devices
Wilson, RobertStanford Univ.
Niemeyer, GunterStanford Univ.
 

ThC12 Regular Sessions, Room: 504

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Visual Servoing - III  
 
Chair: Chesi, GrazianoUniv. of Hong Kong
Co-Chair: Namiki, AkioChiba Univ.
 

13:30-13:50, Paper ThC12.1

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Parking with the Essential Matrix without Short Baseline Degeneracies
Lopez-Nicolas, GonzaloUniv. de Zaragoza
Sagues, CarlosUniv. de Zaragoza
Guerrero, J.J.Univ. de Zaragoza
 

13:50-14:10, Paper ThC12.2

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A Novel 1D Trifocal Tensor-Based Control for Differential-Drive Robots
Becerra, HectorUniv. of Zaragoza
Sagues, CarlosUniv. de Zaragoza
 

14:10-14:30, Paper ThC12.3

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Decoupled Visual Servoing Based on the Spherical Projection of Points
Hadj-Abdelkader, HichamINRIA Sophia Antipolis
Mezouar, YoucefBlaise Pascal Univ.
Martinet, PhilippeBlaise Pascal Univ.
 

14:30-14:50, Paper ThC12.4

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Generic Decoupled Image-Based Visual Servoing for Cameras Obeying the Unified Projection Model
Tahri, OmarLASMEA
Mezouar, YoucefBlaise Pascal Univ.
Chaumette, FrancoisINRIA Rennes-Bretagne Atlantique
Corke, PeterCSIRO
 

14:50-15:10, Paper ThC12.5

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A Temptative to Reach a Visual Singular Configuration Using Halley’s Method.
Marey, MohammedINRIA-Rennes (IRISA)
Chaumette, FrancoisINRIA Rennes-Bretagne Atlantique
 

ThC13 Regular Sessions, Room: 505

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Networked Robots - III  
 
Chair: Liu, YunhuiChinese Univ. of Hong Kong
Co-Chair: Nakauchi, YasushiUniv. of Tsukuba
 

13:30-13:50, Paper ThC13.1

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Node Localization During Power Adjustment in Wireless Sensor Networks
Ren, HongliangThe Chinese Univ. of Hong Kong
Meng, MaxThe Chinese Univ. of Hong Kong
 

13:50-14:10, Paper ThC13.2

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Backbone-Based Connectivity Control for Mobile Networks
Yao, ZhenwangSimon Fraser Univ.
Gupta, KamalSimon Fraser Univ.
 

14:10-14:30, Paper ThC13.3

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Intelligent Power Management: Promoting Power-Consciousness in Teams of Mobile Robots
Kottas, ApostolosUMN
Drenner, AndrewUMN
Papanikolopoulos, NikosUniv. of Minnesota
 

14:30-14:50, Paper ThC13.4

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Delay-Dependent Stability Analysis of TeleOperation Systems with Unsymmetric Time-Varying Delays
Hua, ChangchunYanshan Univ.
Liu, Peter X.Carleton Univ.
 

14:50-15:10, Paper ThC13.5

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Reusable Electronics and Adaptable Communication As Implemented in the Odin Modular Robot
Mendoza Garcia, Ricardo FrancoUniv. of Southern Denmark
Lyder, AndreasUniv. of Southern Denmark
Christensen, David JohanUniv. of Southern Denmark
Stoy, KasperUniv. of Southern Denmark
 

ThD1 Regular Sessions, MainHall

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Humanoid Robots -II  
 
Chair: Asfour, TamimUniv. of Karlsruhe (TH)
Co-Chair: Goswami, AmbarishHonda Res. Inst.
 

15:30-15:50, Paper ThD1.1

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A Two-Steps Next-Best-View Algorithm for Autonomous 3D Object Modeling by a Humanoid Robot
Foissotte, ToreaCNRS-LIRMM
Stasse, OlivierCNRS/AIST
Escande, AdrienCNRS/AIST
Wieber, Pierre-BriceINRIA Rhône-Alpes
Kheddar, AbderrahmaneCNRS
 

15:50-16:10, Paper ThD1.2

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Potential Field Guide for Humanoid Multicontacts Acyclic Motion Planning
Bouyarmane, KarimCNRS-UM2 LIRMM
Escande, AdrienCNRS/AIST
Lamiraux, FlorentCNRS
Kheddar, AbderrahmaneCNRS
 

16:10-16:30, Paper ThD1.3

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An Optimized Linear Model Predictive Control Solver for Online Walking Motion Generation
Dimitrov, Dimitar NikolaevOerebro Univ.
Wieber, Pierre-BriceINRIA Rhône-Alpes
Stasse, OlivierCNRS/AIST
Ferreau, Hans JoachimK.U. Leuven
Diedam, HolgerUniv. of Heidelberg
 

16:30-16:50, Paper ThD1.4

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Task-Level Imitation Learning Using Variance-Based Movement Optimization
Muehlig, ManuelCoR-Lab. Bielefeld, Honda Res. Inst. Europe
Gienger, MichaelHonda Res. Inst. Europe
Hellbach, SvenIlmenau Univ. of Tech.
Steil, Jochen J.Univ. of Bielefeld
Goerick, ChristianHonda Res. Inst. Europe GmbH
 

16:50-17:10, Paper ThD1.5

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Unified Motion Planning of Passing under Obstacles with Humanoid Robots
Yokoi, KazuhitoNational Inst. of AIST
Yoshida, EiichiNational Inst. of AIST
Sanada, HirokiUniv. of Tsukuba
 

ThD2 Regular Sessions, Room: ICR

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Recognition  
 
Chair: Wahl, Friedrich M.Tech. Univ. of Braunschweig
Co-Chair: Kita, YasuyoInst. of Advanced Industrial Sci. & Tech.
 

15:30-15:50, Paper ThD2.1

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CAD-Based Recognition of 3D Objects in Monocular Images
Ulrich, MarkusMVTec Software GmbH
Wiedemann, ChristianMVTec Software GmbH
Steger, CarstenMVTec Software GmbH
 

15:50-16:10, Paper ThD2.2

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An Efficient Parallel Approach to Random Sample Matching (pRANSAM)
Iser, ReneTech. Univ. of Braunschweig
Kubus, DanielTech. Univ. of Braunschweig
Wahl, Friedrich M.Tech. Univ. of Braunschweig
 

16:10-16:30, Paper ThD2.3

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Graph-Based Robust Shape Matching for Robotic Application
Joo, HanbyulElectronics and Telecommunications Res. Inst.
Jeong, YekeunKAIST
Duchenne, OlivierENS / INRIA
Ko, Seong-YoungKAIST
Kweon, In SoKAIST
 

16:30-16:50, Paper ThD2.4

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Geo-Contextual Priors for Attentive Urban Object Recognition
Amlacher, KatrinJOANNEUM Res. Forschungsgesellschaft mbH
Fritz, GeraldJOANNEUM Res. Forschungsgesellschaft mbH
Luley, PatrickJOANNEUM Res. Forschungsgesellschaft mbH
Almer, AlexanderJOANNEUM Res. Forschungsgesellschaft mbH
Paletta, LucasJOANNEUM Res. Forschungsgesellschaft mbH
 

16:50-17:10, Paper ThD2.5

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Clothes State Recognition Using 3D Observed Data
Kita, YasuyoInst. of Advanced Industrial Sci. & Tech.
Ueshiba, ToshioNational Inst. of Advanced Industrial Science and Tech.
Neo, Ee SianNational Inst. of Advanced Industrial Science and Tech.
Kita, NobuyukiNational Inst. of Advanced Industrial Science andTechnology
 

ThD3 Regular Sessions, Room: 401

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Calibration and Identification  
 
Chair: Hirai, ShinichiRitsumeikan Univ.
Co-Chair: Nakamura, YoshihikoUniv. of Tokyo
 

15:30-15:50, Paper ThD3.1

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A Numerical Method for Choosing Motions with Optimal Excitation Properties for Identification of Biped Dynamics - an Application to Human
Venture, GentianeUniv. of Tokyo
Ayusawa, KoUniv. of Tokyo
Nakamura, YoshihikoUniv. of Tokyo
 

15:50-16:10, Paper ThD3.2

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Identification of Accelerometer Orientation Errors and Compensation for Acceleration Estimation Errors
Tun Latt, WinNanyang Tech. Univ.
Tan, U-XuanNanyang Tech. Univ.
Shee, Cheng YapNanyang Tech. Univ. Singapore
Ang, Wei TechNanyang Tech. Univ.
 

16:10-16:30, Paper ThD3.3

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Physical Parameter Identification of Rheological Object Based on Measurement of Deformation and Force
Wang, ZhongkuiRitsumeikan Univ.
Namima, KazukiRitsumeikan Univ.
Hirai, ShinichiRitsumeikan Univ.
 

16:30-16:50, Paper ThD3.4

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Automatic High-Precision Self-Calibration of Camera-Robot Systems
Jordt, Andreas SChristian-Albrechts-Univ. of Kiel
Siebel, Nils TChristian-Albrechts-Univ. of Kiel
Sommer, GeraldChristian-Albrechts-Univ. of Kiel
 

16:50-17:10, Paper ThD3.5

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Tissue Identification Using Inverse Finite Element Analysis of Rolling Indentation
Sangpradit, KiattisakKing's Coll. London
Liu, HongbinKing's Coll. London
Seneviratne, LakmalKings Coll. London
Althoefer, KasparKings Coll. London
 

ThD4 Regular Sessions, Room: 402

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Robot Manipulation  
 
Chair: Bonfe, MarcelloUniv. of Ferrara
Co-Chair: Yashima, MasahitoNational Defense Acad. of Japan
 

15:30-15:50, Paper ThD4.1

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New Interval-Based Approach to Determine the Guaranteed Singularity-Free Workspace of Parallel Robots
Kotlarski, JensLeibniz Univ. Hannover
de Nijs, RoderickUniv. Pol. de Valencia
Abdellatif, HoussemLeibniz Univ. of Hannover, Germany
Heimann, BodoLeibniz Univ. Hannover
 

15:50-16:10, Paper ThD4.2

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PLC-Based Control of a Robot Manipulator with Closed Kinematic Chain
Bonfe, MarcelloUniv. of Ferrara
Vignali, MatteoUniv. of Ferrara
Fiorini, MarioUniv. of Ferrara
 

16:10-16:30, Paper ThD4.3

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Task Space Robot Control Using an Inner PD Loop.
Garrido, RubénCINVESTAV, D.F.
Canul, Edgar AlbertoCINVESTAV, D.F.
Soria, AlbertoCINVESTAV, D.F.
 

16:30-16:50, Paper ThD4.4

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Control for Throwing Manipulation by One Joint Robot
Miyashita, HideyukiNational Defense Acad. of Japan
Yamawaki, TasukuNational Defense Acad. of Japan
Yashima, MasahitoNational Defense Acad. of Japan
 

16:50-17:10, Paper ThD4.5

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Hybrid Design for Multiple-Goal Task Realization of Robot Arm with Rotating Table
Gueta, Lounell B.Univ. of Tokyo
Chiba, RyosukeUniv. of Tokyo
Arai, TamioUniv. of Tokyo
Ueyama, TsuyoshiDENSO WAVE INCORPORATED
Ota, JunThe Univ. of Tokyo
 

ThD5 Regular Sessions, Room: 403

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Contact Modeling for Grasping  
 
Chair: Vassura, GabrieleUniv. of Bologna
Co-Chair: Jia, Yan-BinIowa State Univ.
 

15:30-15:50, Paper ThD5.1

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Differentiated Layer Design to Modify the Compliance of Soft Pads for Robotic Limbs
Berselli, GiovanniUniv. di Bologna
Vassura, GabrieleUniv. of Bologna
 

15:50-16:10, Paper ThD5.2

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The Latency Model for Viscoelastic Contact Interface in Robotics: Theory and Experiments
Tsai, Chia-HungSUNY@Stony Brook
Kao, IminSUNY at Stony Brook
 

16:10-16:30, Paper ThD5.3

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Modeling Deformable Shell-Like Objects Grasped by a Robot Hand
Tian, JiangIowa State Univ.
Jia, Yan-BinIowa State Univ.
 

16:30-16:50, Paper ThD5.4

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Energetically Consistent Collisions in Simulation Multibody Systems
Bowling, AlanThe Univ. of Texas at Arlington
Flickinger, Daniel MontralloUniv. of Texas Arlington
Harmeyer, SeanUniv. of Notre Dame
 

ThD6 Regular Sessions, Room: 404

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Robotics in Construction and Agriculture  
 
Chair: Rus, DanielaMIT
Co-Chair: Shiriaev, AntonUmea Univ.
 

15:30-15:50, Paper ThD6.1

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An Active Anti-Rollover Device Based on Predictive Functional Control: Application to an All-Terrain Vehicle
Bouton, NicolasCemagref
Lenain, RolandCemagref
Thuilot, BenoitClermont-Ferrand Univ.
Martinet, PhilippeBlaise Pascal Univ.
 

15:50-16:10, Paper ThD6.2

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Modeling and Control of Hydraulic Rotary Actuators Used in Forestry Cranes
La Hera, PedroUmeå Univ.
Mettin, UweUmeå Univ.
Westerberg, SimonUmeå Univ.
Shiriaev, AntonUmea Univ.
 

16:10-16:30, Paper ThD6.3

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3D Tree Reconstruction from Laser Range Data
Binney, JonathanUniv. of Southern California
Sukhatme, GauravUniv. of Southern California
 

16:30-16:50, Paper ThD6.4

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Planning the Reconfiguration of Grounded Truss Structures with Truss Climbing Robots That Carry Truss Elements
Yun, Seung-kookMIT
Hjelle, DavidCornell Univ.
Lipson, HodCornell Univ.
Rus, DanielaMIT
Schweikardt, EricCornell Univ.
 

16:50-17:10, Paper ThD6.5

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Primitive Static States for Intelligent Operated-Work Machines
Kamezaki, MitsuhiroWaseda Univ.
Iwata, HiroyasuWaseda Univ.
Sugano, ShigekiWaseda Univ.
 

ThD7 Regular Sessions, Room: 405

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Kinematics and Dynamics  
 
Chair: Mueller, AndreasTech. Univ. Chemnitz
Co-Chair: Minami, MamoruUniv. of Fukui
 

15:30-15:50, Paper ThD7.1

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Kinematic Reconfigurability of Mobile Robot on Irregular Terrains
Freitas, GustavoFederal Univ. of Rio de Janeiro
Lizarralde, FernandoFederal Univ. of Rio de Janeiro
Hsu, LiuCOPPE/UFRJ
Reis, Ney Robinson Salvi dosPETROBRAS
 

15:50-16:10, Paper ThD7.2

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Bending and Kissing: Computing Non-Self-Colliding Configurations of Planar Loops with Revolute Joints
Han, LiClark Univ.
Rudolph, LeeClark Univ.
Dorsey-Gordon, SamClark Univ.
Glotzer, DylanClark Univ.
Menard, DanClark Univ.
Moran, JonClark Univ.
Wilson, James R.Clark Univ.
 

16:10-16:30, Paper ThD7.3

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Representing Sets of Orientations As Convex Cones
From, Pål JohanNorwegian Univ. of Science and Tech.
Gravdahl, Jan TommyNorwegian Univ. of Science and Tech.
 

16:30-16:50, Paper ThD7.4

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Kinematics and Dynamics of a Hybrid Serial-Parallel Mobile Robot
Moosavian, S. Ali A.K. N. Toosi Univ. of Tech.
Pourreza, AlirezaK. N. Toosi Univ. of Tech.
Alipour, KhalilK. N. Toosi Univ. of Tech.
 

16:50-17:10, Paper ThD7.5

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Controller Decomposition and Combination Design of Body / Motion Elements Based on Orbit Attractor
Okada, MasafumiTokyo Inst. of Tech.
Watanabe, MasaakiTokyo Inst. of Tech.
 

ThD8 Regular Sessions, Room: 406

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Mobile Manipulation  
 
Chair: Khatib, OussamaStanford Univ.
Co-Chair: Maeyama, ShoichiOkayama Univ.
 

15:30-15:50, Paper ThD8.1

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Control of Mobile Manipulator Using the Dynamical Systems Approach
Ellekilde, Lars-PeterUniv. of Southen Denmark
Christensen, Henrik IskovGeorgia Inst. of Tech.
 

15:50-16:10, Paper ThD8.2

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Interactive Segmentation for Manipulation in Unstructured Environments
Kenney, JacquelineUniv. of Massachusetts
Buckley, ThomasUniv. of Massachusetts Amherst
Brock, OliverUniv. of Massachusetts Amherst
 

16:10-16:30, Paper ThD8.3

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Omni-Directional Steer-By-Wire Interface for Four Wheel Independent Steering Vehicle
Lam, Tin LunThe Chinese Univ. of Hong Kong
Qian, HuihuanCAS/CUHK
Xu, YangshengShenzhen Inst. of Advanced Tech.
Xu, GuoqingShenzhen Inst. of Advanced Tech. / The Chinese Univ.
 

16:30-16:50, Paper ThD8.4

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The Kinematic Modeling and Optimal Paramerization of an Omni-Directional Pipeline Robot
Kwon, Young-SikHanyang Univ.
Yi, Byung-JuHanayang Univ.
 

ThD9 Regular Sessions, Room: 501

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Autonomous Navigation - I  
 
Chair: Bates, AdamUniv. of Colorado at Boulder
Co-Chair: Yap, Teddy Jr.Univ. of California, Riverside
 

15:30-15:50, Paper ThD9.1

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SLAM in Large Indoor Environments with Low-Cost, Noisy, and Sparse Sonars
Yap, Teddy Jr.Univ. of California, Riverside
Shelton, ChristianUniv. of California at Riverside
 

15:50-16:10, Paper ThD9.2

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Distributed Maximum a Posteriori Estimation for Multi-Robot Cooperative Localization
Nerurkar, EshaUniv. of Minnesota
Roumeliotis, StergiosUniv. of Minnesota
Martinelli, AgostinoINRIA Grenoble-Rhone-Alpes
 

16:10-16:30, Paper ThD9.3

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Which Landmark Is Useful? Learning Selection Policies for Navigation in Unknown Environments
Strasdat, HaukeUniv. of Freiburg
Stachniss, CyrillUniv. of Freiburg
Burgard, WolframUniv. of Freiburg
 

16:30-16:50, Paper ThD9.4

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The Autonomous City Explorer (ACE) Project - Mobile Robot Navigation in Highly Populated Urban Environments
Lidoris, GeorgiosTech. Univ. München
Rohrmüller, FlorianTech. Univ. München
Wollherr, DirkTech. Univ. München
Buss, MartinTech. Univ. München
 

16:50-17:10, Paper ThD9.5

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Localization with Multi-Modal Vision Measurements in Limited GPS Environments Using Gaussian Sum Filters
Schoenberg, Jonathan R.Cornell Univ.
Campbell, MarkCornell Univ.
Miller, IsaacCornell Univ.
 

ThD10 Regular Sessions, Room: 502

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Field Robots - II  
 
Chair: Röning, Juha JaakkoUniv. of Oulu
Co-Chair: Ohya, AkihisaUniv. of Tsukuba
 

15:30-15:50, Paper ThD10.1

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Development of Inspection Robot for under Floor of House
Ohya, AkihisaUniv. of Tsukuba
Yuta, ShinichiUniv. of Tsukuba
Yoshida, TomoakiChiba Inst. of Tech.
Koyanagi, EijiChiba Inst. of Tech.
Imai, ToyoakiDaiwa House Industry Co., Ltd.
Kitamura, SadaakiDaiwa House Industry Co., Ltd.
Takeuchi, AiDaiwa House Industry Co., Ltd.
Minamikawa, TatsuhiroDaiwa House Industry Co., Ltd.
 

15:50-16:10, Paper ThD10.2

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Design of a Modular Robotic System for Archaeological Exploration
Wang, JueyaoHarbin Inst. of Tech. Shenzhen Graduate School
Zhu, XiaoruiHarbin Inst. of Tech. Shenzhen Graduate School
Tie, FudeNational Museum of China
Zhao, TaoHarbin Inst. of Tech. Shenzhen Graduate School
Xu, XuNational Museum of China
 

16:10-16:30, Paper ThD10.3

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Development of Mörri, a High Performance and Modular Outdoor Robot
Tikanmäki, AnttiUniv. of Oulu
Röning, Juha JaakkoUniv. of Oulu
 

16:30-16:50, Paper ThD10.4

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Characterization of the Compact Hokuyo URG-04LX 2D Laser Range Scanner
Kneip, LaurentETHZ
Tâche, FabienETH Zürich
Caprari, GillesETHZ
Siegwart, RolandETH Zurich
 

16:50-17:10, Paper ThD10.5

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Graph-Based Planning Using Local Information for Unknown Outdoor Environments
Lee, JinhanGeorgia Inst. of Tech.
Mottaghi, RoozbehGeorgia Inst. of Tech.
Pippin, CharlesGeorgia Inst. of Tech.
Balch, TuckerGeorgia Inst. of Tech.
 

ThD11 Regular Sessions, Room: 503

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Haptics and Haptic Interfaces - IV  
 
Chair: Yamamoto, AkioUniv. of Tokyo
Co-Chair: Kikuchi, TakehitoOsaka Univ.
 

15:30-15:50, Paper ThD11.1

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The AirWand: Design and Characterization of a Large-Workspace Haptic Device
Romano, Joseph M.Univ. of Pennsylvania
Kuchenbecker, Katherine J.Univ. of Pennsylvania
 

15:50-16:10, Paper ThD11.2

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Transmission of Tactile Roughness through Master-Slave Systems
Okamoto, ShogoTohoku Univ.
Konyo, MasashiTohoku Univ.
Maeno, TakashiKeio Univ.
Tadokoro, SatoshiTohoku Univ.
 

16:10-16:30, Paper ThD11.3

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Modular Weight-Balanced Mechanical Tracker for Portable Haptics
Tarri, FedericoPERCRO - Scuola Superiore S.Anna
Fontana, MarcoPERCRO - Scuola Superiore Sant'Anna
Salsedo, FabioPERCRO - Scuola Superiore S.Anna
Marcheschi, SimonePERCRO - Scuola Superiore S.Anna
Bergamasco, MassimoScuola Superiore S.Anna
 

16:30-16:50, Paper ThD11.4

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Development of a 2-DOF Electrostatic Haptic Joystick for MRI/fMRI Applications
Hara, MasayukiÉcole Pol. Fédérale de Lausanne
Matthey, GaetanEPFL
Yamamoto, AkioUniv. of Tokyo
Chapuis, DominiqueEc. Pol. Federale de Lausanne
Gassert, RogerETH Zurich
Bleuler, HannesEc. Pol. Federale de Lausanne
Higuchi, ToshiroThe Univ. of Tokyo
 

16:50-17:10, Paper ThD11.5

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Dynamic Compensating Controller for Passive Haptic Manipulators in Teleoperation
Black, BenjaminGeorgia Inst. of Tech.
Book, WayneGeorgia Inst. of Tech.
 

ThD12 Invited Sessions, Room: 504

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Visual Servoing Via Advanced Numerical Methods  
 
Chair: Prattichizzo, DomenicoUniv. of Siena
Co-Chair: Kyrki, VilleLappeenranta Univ. of Tech.
Organizer: Chesi, GrazianoUniv. of Hong Kong
Organizer: Hashimoto, KoichiTohoku Univ.
 

15:30-15:50, Paper ThD12.1

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Designing Image Trajectories in the Presence of Uncertain Data for Robust Visual Servoing Path-Planning (I)
Chesi, GrazianoUniv. of Hong Kong
 

15:50-16:10, Paper ThD12.2

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Dynamic Estimation of Homography Transformations on the Special Linear Group for Visual Servo Control (I)
Malis, EzioINRIA
Hamel, TarekUNSA-CNRS
Mahony, RobertAustralian National Univ.
Morin, PascalINRIA
 

16:10-16:30, Paper ThD12.3

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Rational Systems and Matrix Inequalities to the Multicriteria Analysis of Visual Servos (I)
Durola, SylvainLAAS-CNRS
Danès, PatrickUniv. de Toulouse ; LAAS-CNRS ; UPS ; F-31077
Coutinho, Daniel F.PUCRS
Courdesses, MichelLAAS-CNRS
 

16:30-16:50, Paper ThD12.4

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Planar Catadioptric Stereo: Single and Multi-View Geometry for Calibration and Localization (I)
Mariottini, Gian LucaUniv. of Siena
Scheggi, StefanoUniv. of Siena
Morbidi, FabioUniv. of Siena
Prattichizzo, DomenicoUniv. of Siena
 

16:50-17:10, Paper ThD12.5

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Control Uncertainty in Image-Based Visual Servoing (I)
Kyrki, VilleLappeenranta Univ. of Tech.
 

ThD13 Regular Sessions, Room: 505

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Compliance and Impedance Control  
 
Chair: Nenchev, DragomirMusashi Inst. of Tech.
Co-Chair: Kiguchi, KazuoSaga Univ.
 

15:30-15:50, Paper ThD13.1

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Design and Control of Underactuated Tendon-Driven Mechanisms
Ozawa, RyutaRitsumeikan Univ.
Hashirii, KazunoriRitsumeikan Univ.
Kobayashi, HiroakiMeiji Univ.
 

15:50-16:10, Paper ThD13.2

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Impedance Control of Redundant Drive Joints with Double Actuation
Nagai, KiyoshiRitsumeikan Univ.
Shiigi, YasutoRitsumeikan Univ.
Ikegami, YosukeRitsumeikan Univ.
Loureiro, Rui C. V.The Univ. of Reading
Harwin, WilliamUniv. of Reading
 

16:10-16:30, Paper ThD13.3

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Mimetic Communication with Impedance Control for Physical Human-Robot Interaction
Lee, DongheuiUniv. of Tokyo
Ott, ChristianUniv. of Tokyo
Nakamura, YoshihikoUniv. of Tokyo
 

16:30-16:50, Paper ThD13.4

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Resonance-Based Motion Control Method for Multi-Joint Robot through Combining Stiffness Adaptation and Iterative Learning Control
Uemura, MitsunoriRitsumeikan Univ.
Kawamura, SadaoRitsumeikan Univ.