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 Friday May 15, 2009

Paper with multimedia attachment
 

FrA1 Regular Sessions, MainHall

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Legged Robots and Humanoid Locomotion - I  
 
Chair: Yi, Byung-JuHanayang Univ.
Co-Chair: Kudoh, ShunsukeThe Univ. of Tokyo
 

08:30-08:50, Paper FrA1.1

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Integration of Multi-Level Postural Balancing on Humanoid Robots
Hyon, Sang-HoJST-ICORP / ATR
Osu, RiekoATR/NICT
Otaka, YoheiTokyo Bay Rehabilitation Hospital
 

08:50-09:10, Paper FrA1.2

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Stereo Vision and Terrain Modeling for Quadruped Robots
Kolter, J. ZicoStanford Univ.
Kim, YoungjunStanford Univ.
Ng, AndrewStanford Univ.
 

09:10-09:30, Paper FrA1.3

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PDAC-Based Underactuated 3D Bipedal Walking - Stabilization of PDAC Constants and Walking Direction Control -
Aoyama, TadayoshiNagoya Univ.
Sekiyama, KosukeNagoya Univ.
Hasegawa, YasuhisaUniv. of Tsukuba
Fukuda, ToshioNagoya Univ.
 

09:30-09:50, Paper FrA1.4

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Fast Running Experiments Involving a Humanoid Robot
Tajima, RyosukeToyota Central R&D Lab. Inc.
Honda, DaisakuToyota Motor Corp.
Suga, KeisukeTOYOTA motor Corp.
 

09:50-10:10, Paper FrA1.5

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Development of Backdrivable Hydraulic Joint Mechanism for Knee Joint of Humanoid Robots
Kaminaga, HiroshiThe Univ. of Tokyo
Ono, JunyaThe Univ. of Tokyo
Nakashima, YusukeThe Univ. of Tokyo
Nakamura, YoshihikoUniv. of Tokyo
 

FrA2 Video Sessions, Room: ICR

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Video Session  
 
Chair: Corke, PeterCSIRO
Co-Chair: Yokoi, KazuhitoNational Inst. of AIST
 

08:30-08:36, Paper FrA2.1

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The Adelopod Tumbling Robot
Hemes, BrettCSE, UMN
Papanikolopoulos, NikosUniv. of Minnesota
 

08:36-08:42, Paper FrA2.2

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A Search and Rescue Robot
Herbert, SamUMN
Bird, NathanielUniv. of Minnesota
Drenner, AndrewUMN
Papanikolopoulos, NikosUniv. of Minnesota
 

08:42-08:48, Paper FrA2.3

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A System for Robot-Assisted Neuro-Rehabilitation of Hand Function
Dovat, LudovicNational Univ. of Singapore
Lambercy, OlivierNational Univ. of Singapore
Gassert, RogerETH Zurich
Milner, Theodore EdgarMcGill Univ.
Teo, Chee LeongNational Univ. of Singapore
Burdet, Etienneimperial Coll. london
 

08:48-08:54, Paper FrA2.4

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The DLR MiroSurge - a Robotic System for Surgery
Konietschke, RainerDLR (German Aerospace Center)
Hagn, UlrichDLR German Aerospace Center
Nickl, MathiasGerman Aerospace Center (DLR e.V.)
Joerg, StefanGerman Aerospace Center (DLR e.V.)
Tobergte, AndreasGerman Aerospace Centre
Passig, GeorgGerman Aerospace Center
Seibold, UlrichDLR
Le Tien, LucGerman Aerospace Center (DLR)
Kuebler, BernhardGerman Aerospace Center (DLR)
Groeger, MartinGerman Aerospace Center (DLR)
Fröhlich, Florian AlexanderDLR (German Aerospace Center)
Rink, ChristianGerman Aerospace Center
Albu-Schäffer, AlinDLR - German Aerospace Center
Grebenstein, MarkusGerman Aerospace Center (DLR)
Ortmaier, TobiasLeibniz Univ. Hanover
Hirzinger, GerdGerman Aerospace Center (DLR)
 

08:54-09:00, Paper FrA2.5

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Gel-Type Sticky Mobile Inspector to Traverse on the Rugged Wall and Ceiling
Tsukagoshi, HideyukiTokyo Inst. of Tech.
Kitagawa, AtoTokyo Inst. of Tech.
 

09:00-09:06, Paper FrA2.6

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The Twente Humanoid Head
Reilink, RobUniv. of Twente
Visser, Ludo C.Univ. of Twente
Brouwer, Dannis M.Univ. of Twente
Carloni, RaffaellaUniv. of Twente
Brouwer, Dannis MichelUniv. of Twente
Stramigioli, StefanoUniv. of Twente
 

09:06-09:12, Paper FrA2.7

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The Autonomous City Explorer Project
Bauer, AndreaTech. Univ. München
Klasing, KlaasTech. Univ. Muenchen
Xu, TingtingTech. Univ. München
Sosnowski, StefanTech. Univ. München
Lidoris, GeorgiosTech. Univ. München
Mühlbauer, QuirinTech. Univ. München
Zhang, TianguangTech. Univ. München
Rohrmüller, FlorianTech. Univ. München
Wollherr, DirkTech. Univ. München
Kühnlenz, KoljaTech. Univ. München
Buss, MartinTech. Univ. München
 

09:12-09:18, Paper FrA2.8

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Rollin' Justin - Mobile Platform with Variable Base
Borst, ChristophGerman Aerospace Center (DLR)
Wimboeck, ThomasGerman Aerospace Center (DLR)
Schmidt, FlorianGerman Aerospace Center
Fuchs, MatthiasGerman Aerospace Center
Brunner, BernhardGerman Aerospace Center (DLR)
Zacharias, FranziskaGerman Aerospace Center (DLR)
Robuffo Giordano, PaoloMax Planck Inst. for Biological Cybernetics
Konietschke, RainerDLR (German Aerospace Center)
Sepp, WolfgangGerman Aerospace Center (DLR)
Fuchs, StefanGerman Aerospace Center
Rink, ChristianGerman Aerospace Center
Albu-Schäffer, AlinDLR - German Aerospace Center
Hirzinger, GerdGerman Aerospace Center (DLR)
 

09:18-09:24, Paper FrA2.9

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Waalbot: Agile Climbing with Synthetic Fibrillar Dry Adhesives
Murphy, MichaelCarnegie Mellon Univ.
Sitti, MetinCarnegie Mellon Univ.
 

09:24-09:30, Paper FrA2.10

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Multimodal Telepresent Control of DLR Rollin' JUSTIN
Kremer, PhilippGerman Aerospace Center (DLR)
Wimboeck, ThomasGerman Aerospace Center (DLR)
Artigas, JordiDLR - German Aerospace Center
Schätzle, SimonInst. of Robotics and Mechatronics
Jöhl, Klaus GünterGerman Aerospace Center (DLR)
Schmidt, FlorianGerman Aerospace Center
Preusche, CarstenDLR
Hirzinger, GerdGerman Aerospace Center (DLR)
 

09:30-09:36, Paper FrA2.11

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Tracked Vehicle with Circular Cross-Section to Realize Sideways Motion
Tadakuma, KenjiroMassachusetts Inst. of Tech.
Tadakuma, RiichiroHarvard Univ.
Nagatani, KeijiTohoku Univ.
Yoshida, KazuyaTohoku Univ.
Udengaard, MartinMIT
Iagnemma, KarlMIT
Ming, AiguoThe Univ. of Electro-Communications
Shimojo, MakotoUniv. of Electro-COmmunications
 

09:36-09:42, Paper FrA2.12

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IMPASS: Intelligent Mobility Platform with Active Spoke System
Hong, DennisVirginia Tech.
Jeans, J. BlakeRobotics and Mechanisms Lab. Virginia Tech.
 

09:42-09:48, Paper FrA2.13

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Dynamically Diverse Legged Locomotion for Rough Terrain
Byl, KatieHarvard
Tedrake, RussMassachusetts Inst. of Tech.
 

09:48-09:54, Paper FrA2.14

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Large Motion Range Magnet Levitation Using a Planar Array of Coils
Berkelman, PeterUniv. of Hawaii-Manoa
Dzadovsky, MichaelUniv. of Hawaii-Manoa
 

09:54-10:00, Paper FrA2.15

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Skillful Manipulation Based on High-Speed Sensory-Motor Fusion
Senoo, TakuUniv. of Tokyo
Yamakawa, YujiUniv. of Tokyo
Mizusawa, SatoruUniv. of Tokyo
Namiki, AkioChiba Univ.
Ishikawa, MasatoshiUniv. of Tokyo
Shimojo, MakotoUniv. of Electro-COmmunications
 

10:00-10:06, Paper FrA2.16

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Inertial Aided SIFT for Time to Collision Estimation
Cohen, BenjaminUniv. of Pennsylvania
Byrne, JeffreyUniv. of Pennsylvania
 

FrA3 Regular Sessions, Room: 401

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Mapping - I  
 
Chair: Chung, Wan KyunPOSTECH
Co-Chair: Umeda, KazunoriChuo Univ.
 

08:30-08:50, Paper FrA3.1

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A Stochastically Stable Solution to the Problem of Robocentric Mapping
Bishop, AdrianRoyal Inst. of Tech. (KTH)
Jensfelt, PatricRoyal Inst. of Tech.
 

08:50-09:10, Paper FrA3.2

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Conflict-Evaluated Maximum Approximated Likelihood Approach for Building Grid Maps Using Sonar Sensors
Lee, KyoungminPOSTECH
Lee, Jung-SukPOSTECH
Kim, ChankiPOSTECH
Chung, Wan KyunPOSTECH
 

09:10-09:30, Paper FrA3.3

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Revisiting Uncertainty Analysis for Optimum Planes Extracted from 3D Range Sensor Point-Clouds
Pathak, KaustubhJacobs Univ. Bremen
Vaskevicius, NarunasJacobs Univ.
Birk, AndreasJacobs Univ.
 

09:30-09:50, Paper FrA3.4

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Evidence Grid-Based Methods for 3D Map Matching
Fairfield, NathanielCarnegie Mellon Univ.
Wettergreen, DavidCarnegie Mellon Univ.
 

09:50-10:10, Paper FrA3.5

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Probabilistic Estimation of Multi-Level Terrain Maps
Rivadeneyra, Cesarcornell Univ.
Miller, IsaacCornell Univ.
Schoenberg, Jonathan R.Cornell Univ.
Campbell, MarkCornell Univ.
 

FrA4 Regular Sessions, Room: 402

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Motion and Path Planning - I  
 
Chair: Burgard, WolframUniv. of Freiburg
Co-Chair: Angeles, JorgeMcGill Univ.
 

08:30-08:50, Paper FrA4.1

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Real-World Robot Navigation Amongst Deformable Obstacles
Frank, BarbaraUniv. of Freiburg
Stachniss, CyrillUniv. of Freiburg
Schmedding, RuedigerUniv. of Freiburg
Burgard, WolframUniv. of Freiburg
Teschner, MatthiasUniv. of Freiburg
 

08:50-09:10, Paper FrA4.2

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1-DOF Dynamic Pitching Robot That Independently Controls Velocity, Angular Velocity, and Direction of Ball: Contact Models and Motion Planning
Mori, WataruNara Inst. of science and Tech.
Ueda, JunGeorgia Inst. of Tech.
Ogasawara, TsukasaNara Inst. of Science and Tech.
 

09:10-09:30, Paper FrA4.3

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Time-Bounded Lattice for Efficient Planning in Dynamic Environments
Kushleyev, AleksandrUniv. of Pennsylvania
Likhachev, MaximUniv. of Pennsylvania
 

09:30-09:50, Paper FrA4.4

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Safe Motion Planning Computation for Databasing Balanced Movement of Humanoid Robots
Lengagne, SebastienLIRMM
Ramdani, NacimINRIA Sophia Antipolis - Méditerranée
Fraisse, PhilippeLIRMM
 

09:50-10:10, Paper FrA4.5

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Task-Space Trajectories Via Cubic Spline Optimization
Kolter, J. ZicoStanford Univ.
Ng, AndrewStanford Univ.
 

FrA5 Regular Sessions, Room: 403

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Grasping - I  
 
Chair: Wang, MichaelChinese Univ. of Hong Kong
Co-Chair: Harada, KensukeNational Inst. of AIST
 

08:30-08:50, Paper FrA5.1

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A Riemannian-Geometry Approach for Dynamics and Control of Object Manipulation under Constraints
Arimoto, SuguruRitsumeikan Univ.
Yoshida, MorioRIKEN
Sekimoto, MasahiroRitsumeikan Univ.
Tahara, KenjiKyushu Univ.
 

08:50-09:10, Paper FrA5.2

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Passive Force Analysis with Elastic Contacts for Fixturing and Grasping
Liu, TongThe Chinese Univ. of Hong Kong
Wang, MichaelChinese Univ. of Hong Kong
 

09:10-09:30, Paper FrA5.3

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High Performance Anthropomorphic Robot Hand with Grasp Force Magnification Mechanism
Takaki, TakeshiHiroshima Univ.
Omata, ToruTokyo Inst. of Tech.
 

09:30-09:50, Paper FrA5.4

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Mechanical Design of a Novel Hand Exoskeleton for Accurate Force Displaying
Fontana, MarcoPERCRO - Scuola Superiore Sant'Anna
Salsedo, FabioPERCRO - Scuola Superiore S.Anna
Bergamasco, MassimoScuola Superiore S.Anna
Dettori, AndreaScuola Superiore Sant'Anna
 

09:50-10:10, Paper FrA5.5

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The Columbia Grasp Database
Goldfeder, CoreyColumbia Univ.
Ciocarlie, MateiColumbia Univ.
Dang, HaoColumbia Univ.
Allen, PeterColumbia Univ.
 

FrA6 Regular Sessions, Room: 404

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Learning and Adaptive Systems - I  
 
Chair: Ng, AndrewStanford Univ.
Co-Chair: Lee, C. S. GeorgeNational Science Foundation
 

08:30-08:50, Paper FrA6.1

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A Novel Method for Learning Policies from Constrained Motion
Howard, MatthewUniv. of Edinburgh
Klanke, StefanUniv. of Edinburgh
Gienger, MichaelHonda Res. Inst. Europe
Goerick, ChristianHonda Res. Inst. Europe GmbH
Vijayakumar, SethuUniv. of Edinburgh
 

08:50-09:10, Paper FrA6.2

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Adaptive Expert Systems for Indirect Coverage
Von Pless, GregoryRochester Inst. of Tech.
Butler, ZackRochester Inst. of Tech.
 

09:10-09:30, Paper FrA6.3

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Performing Aggressive Maneuvers Using Iterative Learning Control
Purwin, OliverKiva Systems
D'Andrea, RaffaelloETHZ
 

09:30-09:50, Paper FrA6.4

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Learning Sound Location from a Single Microphone
Saxena, AshutoshStanford Univ.
Ng, AndrewStanford Univ.
 

09:50-10:10, Paper FrA6.5

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Detecting Repeated Motion Patterns Via Dynamic Programming Using Motion Density
Ogawara, KoichiKyushu Univ.
Tanabe, YasufumiKyushu Univ.
Kurazume, RyoKyushu Univ.
Hasegawa, TsutomuKyushu Univ.
 

FrA7 Regular Sessions, Room: 405

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Dynamics  
 
Chair: Li, ZexiangHKUST
Co-Chair: D'Andrea, RaffaelloETHZ
 

08:30-08:50, Paper FrA7.1

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Control of Locomotion with Shape-Changing Wheels
Mellinger, DanielUniv. of Pennsylvania
Kumar, VijayUniv. of Pennsylvania
Yim, MarkUniv. of Pennsylvania
 

08:50-09:10, Paper FrA7.2

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Dynamic Stability of Variable Stiffness Running
Jun, Jae YunFlorida State Univ.
Clark, JonathanFlorida State Univ.
 

09:10-09:30, Paper FrA7.3

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Identification of Robots Dynamics with the Instrumental Variable Method
Janot, AlexandreHaption SA
Vandanjon, Pierre OlivierLab. Central des Pont et Chaussées
Gautier, MaximeUniv. de Nantes
 

09:30-09:50, Paper FrA7.4

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Natural Frequency Based Optimal Design of a Two-Link Flexible Manipulator
Lou, YunjiangShenzhen Graduate School, Harbin Inst. of Tech.
Gong, WeiHIT Shenzhen Graduate School
Li, ZexiangHKUST
Zhang, JianjunHebei Univ. of Tech.
Yang, GuilinSingapore Inst. of Manufacturing Tech.
 

09:50-10:10, Paper FrA7.5

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Bouncing an Unconstrained Ball in Three Dimensions with a Blind Juggling Robot
Reist, PhilippSwiss Federal Inst. of Tech.
D'Andrea, RaffaelloETHZ
 

FrA8 Regular Sessions, Room: 406

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Parallel Robots - I  
 
Chair: Arai, TatsuoOsaka Univ.
Co-Chair: O'Brien, JohnUniv. of Wyoming
 

08:30-08:50, Paper FrA8.1

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Effects of Geometric Imperfections to the Control of Redundantly Actuated Parallel Manipulators
Mueller, AndreasUniv. Duisburg-Essen
 

08:50-09:10, Paper FrA8.2

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Robust Backstepping Control of Active Vibration Isolation Using a Stewart Platform
Yang, TaoInst. of Automation, Chinese Acad. of Sciences
Ma, JiaInst. of Automation, Chinese Acad. of Sciences
Hou, Zeng-GuangInst. of Automation, Chinese Acad. of Science
Tan, MinInst. of Automation, Chinese Acad. of Sciences
 

09:10-09:30, Paper FrA8.3

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Above 40g Acceleration for Pick-And-Place with a New 2-Dof PKM
Pierrot, FrançoisCNRS - LIRMM
Baradat, CédricFondation Fatronik
Nabat, VincentFondation Fatronik
Company, OlivierUniv. of Montpellier 2
Krut, SebastienLIRMM (CNRS & Univ. Montpellier 2)
Gouttefarde, MarcLirmm
 

09:30-09:50, Paper FrA8.4

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A Geometric Approach for the Design of Singularity-Free Parallel Robots
Yang, YaweiASML US Inc.
O'Brien, JohnUniv. of Wyoming
 

09:50-10:10, Paper FrA8.5

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Design and Synthesis of Wire-Actuated Universal-Joint Wrists for Surgical Applications
Hamid, Saleem AbdulColumbia Univ.
Simaan, NabilColumbia Univ.
 

FrA9 Invited Sessions, Room: 501

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Micro/Nano Robotics - I  
 
Chair: Fukuda, ToshioNagoya Univ.
Co-Chair: Nakajima, MasahiroNagoya Univ.
Organizer: Nakajima, MasahiroNagoya Univ.
Organizer: Sitti, MetinCarnegie Mellon Univ.
Organizer: Fukuda, ToshioNagoya Univ.
 

08:30-08:50, Paper FrA9.1

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Automated 2-D Nanoparticle Manipulation with an Atomic Force Microscope (I)
Onal, CagdasCarnegie Mellon Univ.
Ozcan, OnurCarnegie Mellon Univ.
Sitti, MetinCarnegie Mellon Univ.
 

08:50-09:10, Paper FrA9.2

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On-Chip Detection and Separation of Micro-Particles Using Magnetized Microtools Driven by Focused Magnetic Field (I)
Sakuma, ShinyaTohoku Univ.
Onda, KazuhisaTohoku Univ.
Yamanishi, YokoTohoku Univ.
Arai, FumihitoTohoku Univ.
 

09:10-09:30, Paper FrA9.3

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NanoLab: A Nanorobotic System for Automated Pick-And-Place Handling and Characterization of CNTs (I)
Eichhorn, VolkmarUniv. of Oldenburg
Fatikow, SergejUniv. of Oldenburg
Wortmann, TimUniv. of Oldenburg
Stolle, ChristianUniv. of Oldenburg
Edeler, ChristophUniv. of Oldenburg
Jasper, DanielUniv. of Oldenburg
Sardan, OzlemTech. Univ. of Denmark
Bøggild, PeterTech. Univ. of Denmark
Boetsch, GuillaumeEPFL
Canales, ChristopheEPFL
Clavel, ReymondEc. Pol. Fédérale de Lausanne (EPFL)
 

09:30-09:50, Paper FrA9.4

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Multi-Beam Laser Micromanipulation of Microtool by Integrated Optical Tweezers (I)
Arai, FumihitoTohoku Univ.
Onda, KazuhisaTohoku Univ.
Iitsuka, RyoTohoku Univ.
Maruyama, HisatakaTohoku Univ.
 

09:50-10:10, Paper FrA9.5

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Semi-Closed Microchip for Probe Manipulation and the Target Cell Harvesting (I)
Takeuchi, MasaruNagoya Univ.
Nakajima, MasahiroNagoya Univ.
Fukuda, ToshioNagoya Univ.
 

FrA10 Regular Sessions, Room: 502

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Field Robots - III  
 
Chair: Hirose, ShigeoTokyo Inst. of Tech.
Co-Chair: Sakai, SatoruChiba Univ.
 

08:30-08:50, Paper FrA10.1

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The Winch-Bot: A Cable-Suspended, Under-Actuated Robot Utilizing Parametric Self-Excitation
Cunningham, DanielMassachusetts Inst. of Tech.
Asada, HarryMIT
 

08:50-09:10, Paper FrA10.2

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HELIOS Carrier: Tail-Like Mechanism and Control Algorithm for Stable Motion in Unknown Environments
Guarnieri, MicheleTokyo Inst. of Tech.
Debenest, PauloTokyo Inst. of Tech.
Inoh, TakaoE-N studio
Takita, KensukeHiBot Corp.
Masuda, HiroshiKyushu Univ.
Kurazume, RyoKyushu Univ.
Fukushima, Edwardo F.Tokyo Inst. of Tech.
Hirose, ShigeoTokyo Inst. of Tech.
 

09:10-09:30, Paper FrA10.3

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In-Pipe Robot Navigation Based on the Landmark Recognition System Using Shadow Images
Lee, Jung-SubSungkyunkwan Univ.
Roh, Se-gonSungkyunkwan Univ.
Kim, DowanSungkyunkwan Univ. Intelliget Robotics & Mechatronic Syste
Moon, HyungpilSungKyunKwan Univ.
Choi, Hyouk RyeolSungkyunkwan Univ.
 

09:30-09:50, Paper FrA10.4

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Battery State Estimation Using Unscented Kalman Filter
Zhang, FeiShenyang Inst. of Automation,Chinese Acad. ofSciences
Liu, GuangjunRyerson Univ.
Fang, LijinChinese Acad. of Sciences
 

FrA11 Regular Sessions, Room: 503

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Biologically-Inspired Robots - I  
 
Chair: Ijspeert, AukeEPFL
Co-Chair: Deng, XinyanUniv. of Delaware
 

08:30-08:50, Paper FrA11.1

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Most Salient Region Tracking
Frintrop, SimoneUniv. of Bonn
Kessel, MarkusUniv. of Bonn
 

08:50-09:10, Paper FrA11.2

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The Implementation of a Novel, Bio-Inspired, Robotic Security System
Oates, Robert FosterUniv. of Nottingham
Milford, MichaelThe Univ. of Queensland
Wyeth, GordonUniv. of Queensland
Kendall, GrahamUniv. of Nottingham
Garibaldi, JonathanUniv. of Nottingham
 

09:10-09:30, Paper FrA11.3

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Self-Adapting Modular Robotics: A Generalized Distributed Consensus Framework
Yu, Chih-HanHarvard Univ.
Nagpal, RadhikaHarvard Univ.
 

09:30-09:50, Paper FrA11.4

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Turning Dynamics and Passive Stability in Flapping Flight
Cheng, BoUniv. of Delaware
Fry, Steven N.Univ. of Zurich
Huang, QingfengUniv. of Delaware
Dickinson, MichaelCalifornia Inst. of Tech.
Dickson, WilliamCalifornia Inst. of Tech.
Deng, XinyanUniv. of Delaware
 

09:50-10:10, Paper FrA11.5

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Development and Preliminary Data of Novel Integrated Optical Micro-Force Sensing Tools for Retinal Microsurgery
Sun, ZhenglongNanyang Tech. Univ.
Balicki, Marcinthe Johns Hopkins Univ.
Kang, Jinthe Johns Hopkins Univ.
Handa, JamesJohns Hopkins Medical Inst.
Taylor, Russell H.The Johns Hopkins Univ.
Iordachita, IulianJohns Hopkins Univ.
 

FrA12 Regular Sessions, Room: 504

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Rehabilitation Robotics - I  
 
Chair: Komeda, TakashiShibaura Inst. of Tech.
Co-Chair: Agrawal, SunilUniv. of Delaware
 

08:30-08:50, Paper FrA12.1

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Development of Leg-Robot for Simulation of Spastic Movement with Compact MR Fluid Clutch
Kikuchi, TakehitoOsaka Univ.
Oda, KunihikoOsaka Electro-Communication Univ.
Furusho, JunjiOsaka Univ.
 

08:50-09:10, Paper FrA12.2

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A Model of Muscle-Tendon Function in Human Walking
Endo, KenMIT
Herr, HughMassachusetts Inst. of Tech.
 

09:10-09:30, Paper FrA12.3

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Design and Simulation of a Joint-Coupled Orthosis for Regulating FES-Aided Gait
Farris, RyanVanderbilt Univ.
Quintero, HugoVanderbilt Univ.
Withrow, ThomasVanderbilt Univ.
Goldfarb, MichaelVanderbilt Univ.
 

09:30-09:50, Paper FrA12.4

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Robotic Rehabilitation Treatments: Realization of Aquatic Therapy Effects in Exoskeleton Systems
Kong, KyoungchulUniv. of California, Berkeley
Moon, HyosangSogang Univ.
Hwang, BeomsooSogang Univ.
Jeon, DoyoungSogang Univ.
Tomizuka, MasayoshiUniv. of California
 

FrA13 Regular Sessions, Room: 505

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Distributed Robot Systems - I  
 
Chair: Hsieh, M. AniDrexel Univ.
Co-Chair: Ota, JunThe Univ. of Tokyo
 

08:30-08:50, Paper FrA13.1

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Dynamic Region Following Formation Control for a Swarm of Robots
Hou, Saing PaulNanyang Tech. Univ.
Cheah, C. C.Nanyang Tech. Univ.
Slotine, Jean-Jacques E.Massachusetts Inst. of Tech.
 

08:50-09:10, Paper FrA13.2

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Local Voronoi Decomposition for Multi-Agent Task Allocation
Fu, James Guo MingNational Univ. of Singapore
Bandyopadhyay, TirthankarSingapore MIT Alliance for Res. and Tech.
Ang Jr, Marcelo HNational Univ. of Singapore
 

09:10-09:30, Paper FrA13.3

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Specialization As an Optimal Strategy under Varying External Conditions
Hsieh, M. AniDrexel Univ.
Halasz, AdamWest Virginia Univ.
Cubuk, Ekin DogusSwarthmore Coll.
Schoenholz, SamuelSwarthmore Coll.
Martinoli, AlcherioEPFL
 

09:30-09:50, Paper FrA13.4

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Experiments with a ZigBee Wireless Communication System for Self-Reconfiguring Modular Robots
Fitch, Robert CharlesUniv. of Sydney
Lal, RiteshUniv. of Sydney
 

09:50-10:10, Paper FrA13.5

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Stochastic Strategies for a Swarm Robotic Assembly System
Matthey, LoïcEPFL
Berman, SpringUniv. of Pennsylvania
Kumar, VijayUniv. of Pennsylvania
 

FrB1 Regular Sessions, MainHall

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Legged Robots and Humanoid Locomotion - II  
 
Chair: Asano, FumihikoJapan Advanced Inst. of Science and Tech.
Co-Chair: Uemura, MitsunoriRitsumeikan Univ.
 

10:30-10:50, Paper FrB1.1

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Effect of Energy Feedbacks on Virtual Slope Walking: I. Complementary Energy Feedback
Zhang, JiTsinghua Univ.
Zhao, MingguoTsinghua Univ.
Dong, HaoTsinghua Univ.
 

10:50-11:10, Paper FrB1.2

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Standing Stabilizability and Stepping Maneuver in Planar Bipedalism Based on the Best COM-ZMP Regulator
Sugihara, TomomichiKyushu Univ.
 

11:10-11:30, Paper FrB1.3

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On Efficiency and Optimality of Asymmetric Dynamic Bipedal Gait
Asano, FumihikoJapan Advanced Inst. of Science and Tech.
Luo, Zhi-WeiKobe Univ.
 

11:30-11:50, Paper FrB1.4

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Compact Analysis of 3D Bipedal Gait Using Geometric Dynamics of Simplified Models
Stramigioli, StefanoUniv. of Twente
Duindam, VincentUniv. of California, Berkeley
van Oort, GijsUniv. of Twente
Goswami, AmbarishHonda Res. Inst.
 

11:50-12:10, Paper FrB1.5

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Minimalistic Control of a Compass Gait Robot in Rough Terrain
Iida, FumiyaMassachusetts Inst. of Tech.
Tedrake, RussMassachusetts Inst. of Tech.
 

FrB2 Regular Sessions, Room: ICR

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Computer Vision for Robotics and Automation - III  
 
Chair: Kühnlenz, KoljaTech. Univ. München
Co-Chair: Nakazawa, AtsushiOsaka Univ.
 

10:30-10:50, Paper FrB2.1

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Learning to Recognize Familiar Faces in the Real World
Aryananda, LijinUniv. of Zurich
 

10:50-11:10, Paper FrB2.2

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Combining Color-Based Invariant Gradient Detector with HOG Descriptors for Robust Image Detection in Scenes under Cast Shadows
Villamizar Vergel, MichaelCSIC-UPC
Scandaliaris, JorgeCSIC-UPC
Sanfeliu, AlbertoUniv. Pol. de Cataluyna
Andrade-Cetto, JuanCSIC-UPC
 

11:10-11:30, Paper FrB2.3

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MMM-Classification of 3D Range Data
Agrawal, AnuraagOsaka Univ.
Nakazawa, AtsushiOsaka Univ.
Takemura, HaruoOsaka Univ.
 

11:30-11:50, Paper FrB2.4

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Onboard Contextual Classification of 3-D Point Clouds with Learned High-Order Markov Random Fields
Munoz, DanielCarnegie Mellon Univ.
Vandapel, NicolasCarnegie Mellon Univ.
Hebert, MartialCMU
 

FrB3 Regular Sessions, Room: 401

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Mapping - II  
 
Chair: Sorrenti, Domenico G.Univ. di Milano - Bicocca
Co-Chair: Sinzinger, EricTexas Tech. Univ.
 

10:30-10:50, Paper FrB3.1

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Bayesian Surprise and Landmark Detection
Ranganathan, AnanthHonda Res. Inst. USA
Dellaert, FrankGeorgia Inst. of Tech.
 

10:50-11:10, Paper FrB3.2

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Autonomous Map Construction Using Three-Dimensional Feature Descriptors
Null, BradleyApplied Res. Lab. Univ. of Texas at Austin
Sinzinger, EricTexas Tech. Univ.
 

11:10-11:30, Paper FrB3.3

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On the Use of Inverse Scaling in Monocular SLAM
Marzorati, DanieleUniv. di Milano - Bicocca
Matteucci, MatteoPol. di Milano
Migliore, DavidePol. di Milano
Sorrenti, Domenico G.Univ. di Milano - Bicocca
 

11:30-11:50, Paper FrB3.4

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Airborne Smoothing and Mapping Using Vision and Inertial Sensors
Bryson, MitchUniv. of Sydney
Johnson-Roberson, MatthewAustralian Centre for Field Robotics
Sukkarieh, SalahUniv. of Sydney
 

11:50-12:10, Paper FrB3.5

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GATMO: A Generalized Approach to Tracking Movable Objects
Gallagher, GarrattCarnegie Mellon Univ.
Ferguson, DaveIntel Res. Pittsburgh
Bagnell, JamesCarnegie Mellon Univ.
Srinivasa, SiddharthaIntel Res. Pittsburgh
 

FrB4 Regular Sessions, Room: 402

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Motion and Path Planning - II  
 
Chair: Singh, SanjivCarnegie Mellon Univ.
Co-Chair: LaValle, Steven MUniv. of Illinois
 

10:30-10:50, Paper FrB4.1

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Efficient C-Space and Cost Function Updates in 3D for Unmanned Aerial Vehicles
Scherer, SebastianCarnegie Mellon Univ.
Ferguson, DaveIntel Res. Pittsburgh
Singh, SanjivCarnegie Mellon Univ.
 

10:50-11:10, Paper FrB4.2

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Automatic Deployment of Autonomous Cars in a Robotic Urban-Like Environment (RULE)
Lahijanian, MortezaBoston Univ.
Kloetzer, MariusBoston Univ.
Itani, SaraMassachusetts Inst. of Tech.
Belta, CalinBoston Univ.
Andersson, SeanBoston Univ.
 

11:10-11:30, Paper FrB4.3

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Path Planning in 1000+ Dimensions Using a Task-Space Voronoi Bias
Shkolnik, AlexanderMIT
Tedrake, RussMassachusetts Inst. of Tech.
 

11:30-11:50, Paper FrB4.4

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Survivability: Measuring and Ensuring Path Diversity
Erickson, Lawrence HUniv. of Illinois at Urbana-Champaign
LaValle, Steven MUniv. of Illinois
 

11:50-12:10, Paper FrB4.5

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Sampling-Based Path Planning for Geometrically-Constrained Objects
Rodríguez Tsouroukdissian, AdolfoTech. Univ. of Catalonia (UPC)
Pérez, AlexanderTech. Univ. of Catalonia
Rosell, JanTech. Univ. of Catalonia
Basanez, LuisTech. Univ. of Catalonia
 

FrB5 Regular Sessions, Room: 403

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Grasping - II  
 
Chair: Omata, ToruTokyo Inst. of Tech.
Co-Chair: Arimoto, SuguruRitsumeikan Univ.
 

10:30-10:50, Paper FrB5.1

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A Numerical Solution to the Ray-Shooting Problem and Its Applications in Robotic Grasping
Zheng, YuNational Univ. of Singapore
Chew, Chee MengNational Univ. of Singapore
 

10:50-11:10, Paper FrB5.2

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Kinematic Design of an Ejection-Free Underactuated Anthropomorphic Finger
Allen Demers, Louis-AlexisUniv. Laval
Gosselin, ClementUniv. Laval
 

11:10-11:30, Paper FrB5.3

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Parallel-Distributed Model in Three-Dimensional Soft-Fingered Grasping and Manipulation
Inoue, TakahiroOkayama Prefectural Univ.
Hirai, ShinichiRitsumeikan Univ.
 

11:30-11:50, Paper FrB5.4

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Reactive Grasping Using Optical Proximity Sensors
Hsiao, KaijenMIT
Nangeroni, PaulStanford Univ.
Huber, ManfredUniv. of Texas at Arlington
Saxena, AshutoshStanford Univ.
Ng, AndrewStanford Univ.
 

FrB6 Regular Sessions, Room: 404

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Learning and Adaptive Systems - II  
 
Chair: Sandini, GiulioItalian Inst. of Tech.
Co-Chair: Morimoto, JunICORP-JST/ATR-CNS
 

10:30-10:50, Paper FrB6.1

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Adaptive Autonomous Control Using Online Value Iteration with Gaussian Processes
Rottmann, AxelUniv. of Freiburg
Burgard, WolframUniv. of Freiburg
 

10:50-11:10, Paper FrB6.2

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Learning Motor Primitives for Robotics
Kober, JensMax-Planck-Inst. for Biological Cybernetics
Peters, JanMax-Planck Inst. for Bio. Cybernetics
 

11:10-11:30, Paper FrB6.3

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Transfer of Knowledge for a Climbing Virtual Human: A Reinforcement Learning Approach
Libeau, BenoîtCEA
Micaelli, AlainCommissariat à l'Energie Atomique
Sigaud, OlivierUPMC-Paris 6
 

11:30-11:50, Paper FrB6.4

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Smoothed Sarsa: Reinforcement Learning for Robot Delivery Tasks
Ramachandran, DeepakUniv. of Illinois at Urbana Champaign
Gupta, RakeshHonda Res. Inst. USA Inc
 

11:50-12:10, Paper FrB6.5

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Statistics for Sparse, High-Dimensional, and Nonparametric System Identification
Aswani, AnilUniv. of California at Berkeley
Bickel, PeterUniv. of California at Berkeley
Tomlin, ClaireUC Berkeley
 

FrB7 Regular Sessions, Room: 405

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Robot Companions and Social Robots in Home Environments  
 
Chair: Nakauchi, YasushiUniv. of Tsukuba
Co-Chair: Ishiguro, HiroshiOsaka Univ.
 

10:30-10:50, Paper FrB7.1

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Playing with Toys: Towards Autonomous Robot Manipulation for Therapeutic Play
Trevor, Alexander JGeorgia Inst. of Tech.
Park, Hae WonGeorgia Inst. of Tech.
Howard, AyannaGeorgia Inst. of Tech.
Kemp, CharlieGeorgia Inst. of Tech.
 

10:50-11:10, Paper FrB7.2

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Mixed-Initiative Human Augmented Mapping
Peltason, JuliaBielefeld Univ.
Topp, Elin AnnaKTH, Stockholm
Siepmann, FredericBielefeld Univ.
Spexard, Thorsten PeterFaculty of Tech. Bielefeld Univ.
Wrede, BrittaBielefeld Univ.
Hanheide, MarcFaculty of Tech. Bielefeld Univ.
 

11:10-11:30, Paper FrB7.3

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Human Daily Activity Recognition in Robot-Assisted Living Using Multi-Sensor Fusion
Zhu, ChunOklahoma State Univ.
Sheng, WeihuaOklahoma State Univ.
 

11:30-11:50, Paper FrB7.4

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1000 Trials: An Empirically Validated End Effector That Robustly Grasps Objects from the Floor
Xu, ZheUniv. of Washington
Deyle, TravisGeorgia Inst. of Tech.
Kemp, CharlieGeorgia Inst. of Tech.
 

11:50-12:10, Paper FrB7.5

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Utilizing Object-Object and Object-Scene Context When Planning to Find Things
Kollar, ThomasMIT
Roy, NicholasMassachusetts Inst. of Tech.
 

FrB8 Regular Sessions, Room: 406

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Parallel Robots - II  
 
Chair: Pierrot, FrançoisCNRS - LIRMM
Co-Chair: Caldwell, Darwin G.Italian Inst. of Tech.
 

10:30-10:50, Paper FrB8.1

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Modeling and Optimization of Quadriglide, a Schönflies Motion Generator Module for 5-Axis Milling Machine-Tools
Ancuta, Andreea ElenaUniv. Montpellier 2, CNRS, LIRMM
Company, OlivierUniv. of Montpellier 2
Pierrot, FrançoisCNRS - LIRMM
 

10:50-11:10, Paper FrB8.2

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A High Performance 2-Dof Over-Actuated Parallel Mechanism for Ankle Rehabilitation
Saglia, Jody AlessandroKing's Coll. London
Tsagarakis, NikolaosItalian Inst. of Tech. (IIT)
Dai, JianKing's Coll. London, Univ. of London
Caldwell, Darwin G.Italian Inst. of Tech.
 

11:10-11:30, Paper FrB8.3

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A Generic Tension-Closure Analysis Method for Fully-Constrained Cable-Driven Parallel Manipulators
Lim, WenbinNanyang Tech. Univ.
Yang, GuilinSingapore Inst. of Manufacturing Tech.
Yeo, Song HuatNanyang Tech. Univ.
Mustafa, Shabbir KurbanhusenSingapore Inst. of Manufacturing Tech.
Chen, I-MingNanyang Tech. Univ.
 

11:30-11:50, Paper FrB8.4

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Effects of Non-Negligible Cable Mass on the Static Behavior of Large Workspace Cable-Driven Parallel Mechanisms
Riehl, NicolasLIRMM
Gouttefarde, MarcLirmm
Krut, SebastienLIRMM (CNRS & Univ. Montpellier 2)
Baradat, CédricFondation Fatronik
Pierrot, FrançoisCNRS - LIRMM
 

11:50-12:10, Paper FrB8.5

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Kinematic Analysis and Optimal Design of a 3T1R Type Parallel Mechanism
Kim, Sung MokKorea Univ. korea
Kim, Whee KukKorea Univ.
Yi, Byung-JuHanayang Univ.
 

FrB9 Regular Sessions, Room: 501

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Micro/Nano Robotics - II  
 
Chair: Book, WayneGeorgia Inst. of Tech.
Co-Chair: Sitti, MetinCarnegie Mellon Univ.
 

10:30-10:50, Paper FrB9.1

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Force Estimation in a Piezoelectric Cantilever Using the Inverse-Dynamics-Based UIO Technique
Rakotondrabe, MickyFEMTO-st Inst.
Lutz, PhilippeUniv. de Franche-Comté
 

10:50-11:10, Paper FrB9.2

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Study on Adhesion Force Reduction and State Estimation by Piezo-Transducer
Watanabe, TetsuyouGraduate School of Natural Science and Tech. Kanazawa
Iwasaki, MakotoYamaguchi Univ.
Matsumura, HidekazuYamaguchi Univ.
Jiang, ZhongWeiGraduate School of Science and Engineering, YamaguchiUniversity
 

11:10-11:30, Paper FrB9.3

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Milligram-Scale High-Voltage Power Electronics for Piezoelectric Microrobots
Karpelson, MichaelHarvard Univ.
Wei, Gu-YeonHarvard Univ.
Wood, RobertHarvard Univ.
 

11:30-11:50, Paper FrB9.4

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Piezoelectric Ultrasonic Resonant Micromotor with a Volume of Less Than 1 Mm^3 for Use in Medical Microbots
Watson, BrettMonash Univ.
Friend, James RobertMonash Univ.
Yeo, LeslieMonash Univ.
Sitti, MetinCarnegie Mellon Univ.
 

11:50-12:10, Paper FrB9.5

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Fluorescent Monitoring Using Microfluidics Chip and Development of Syringe Pump for Automation of Enucleation to Automate Cloning
Ichikawa, AkihikoNational Inst. of AIST
Tanikawa, TamioNational Inst. of AIST
Matsukawa, KazutsuguNILGS
Takahashi, SeiyaNILGS
Ohba, KohtaroNational Inst. of AIST
 

FrB10 Regular Sessions, Room: 502

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Visual Navigation - I  
 
Chair: Papanikolopoulos, NikosUniv. of Minnesota
Co-Chair: Ogawara, KoichiKyushu Univ.
 

10:30-10:50, Paper FrB10.1

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A Nonlinear Observer for 6 DOF Pose Estimation from Inertial and Bearing Measurements
Baldwin, GrantAustralian National Univ.
Mahony, RobertAustralian National Univ.
Trumpf, JochenThe Australian National Univ.
 

10:50-11:10, Paper FrB10.2

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Accurate 3D Ground Plane Estimation from a Single Image
Cherian, AnoopU. of Minnesota
Morellas, VassiliosU. of Minnesota
Papanikolopoulos, NikosUniv. of Minnesota
 

11:10-11:30, Paper FrB10.3

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A Visual Odometry Framework Robust to Motion Blur
Pretto, AlbertoUniv. of Padua
Menegatti, EmanueleThe Univ. of Padua
Bennewitz, MarenUniv. of Freiburg
Burgard, WolframUniv. of Freiburg
Pagello, EnricoUniv. of Padua
 

11:30-11:50, Paper FrB10.4

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Learning Sequential Visual Attention Control through Dynamic State Space Discretization
Borji, AliInst. for Res. in Fundamental Sciences,(IPM)
Nili Ahmadabadi, MajidUniv. of Tehran
Nadjar Araabi, BabakUniv. of Tehran
 

11:50-12:10, Paper FrB10.5

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A Relative Frame Representation for Fixed-Time Bundle Adjustment in SFM
Holmes, StevenUniv. of Oxford
Sibley, GabeUniv. of Oxford
Klein, GeorgUniv. of Oxford
Murray, DavidUniv. of Oxford
 

FrB11 Regular Sessions, Room: 503

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Biologically-Inspired Robots - II  
 
Chair: Ma, ShugenRitsumeikan Univ.
Co-Chair: Ishihara, HidenoriKagawa Univ.
 

10:30-10:50, Paper FrB11.1

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A Study on Sinus-Lifting Motion of a Snake Robot with Switching Constraints
Tanaka, MotoyasuThe Univ. of Electro-Communications
Matsuno, FumitoshiThe Univ. of Electro-Communications
 

10:50-11:10, Paper FrB11.2

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A Miniature Ceiling Walking Robot with Flat Tacky Elastomeric Footpads
Unver, OzgurCarnegie Mellon Univ.
Sitti, MetinCarnegie Mellon Univ.
 

11:10-11:30, Paper FrB11.3

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Tankbot: A Miniature, Peeling Based Climber on Rough and Smooth Surfaces
Unver, OzgurCarnegie Mellon Univ.
Sitti, MetinCarnegie Mellon Univ.
 

11:30-11:50, Paper FrB11.4

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Realization of an Artificial Pheromone System in Random Data Carriers Using RFID Tags for Autonomous Navigation
Herianto, X.Tokyo Inst. of Tech.
Kurabayashi, DaisukeTokyo Inst. of Tech.
 

11:50-12:10, Paper FrB11.5

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Head Motion Stabilization During Quadruped Robot Locomotion: Combining Dynamical Systems and a Genetic Algorithm
Santos, CristinaUniv. of Minho
Oliveira, MiguelMinho Univ.
Rocha, Ana Maria A.C.Univ. of Minho
Costa, LinoUniv. of Minho
 

FrB12 Regular Sessions, Room: 504

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Rehabilitation Robotics - II  
 
Chair: Behal, AmanUniv. of Central Florida
Co-Chair: Jeon, DoyoungSogang Univ.
 

10:30-10:50, Paper FrB12.1

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Dynamics and Control of a 4-Dof Wearable Cable-Driven Upper Arm Exoskeleton
Brackbill, ElizabethUniv. of Delaware
Agrawal, SunilUniv. of Delaware
Mao, YingUniv. of Delaware
Annapragada, MadhuAutomation Res. Group
Dubey, VenketeshBournemouth Univ.
 

10:50-11:10, Paper FrB12.2

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Design of a Rehabilitation Device Based on a Mechanical Link System
Kong, KyoungchulUniv. of California, Berkeley
Baek, ChulhyunUniv. of California, Berkeley
Tomizuka, MasayoshiUniv. of California
 

11:10-11:30, Paper FrB12.3

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Development of a Grip Aid System Using Air Cylinders
Takagi, MotokiShibaura Inst. of Tech.
Iwata, KieShibaura Inst. of Tech.
Takahashi, YoshiyukiToyo Univ.
Komeda, TakashiShibaura Inst. of Tech.
Koyama, HiroyukiShibaura Inst. of Tech.
Yamamoto, Shin-ichirohShibaura Inst. of Tech.
 

11:30-11:50, Paper FrB12.4

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Synchronous EEG Brain-Actuated Wheelchair with Automated Navigation
Iturrate, IñakiCentro Pol. Superior, Univ. of Zaragoza
Antelis, JavierUniv. of Zaragoza
Minguez, JavierUniv. of Zaragoza
 

11:50-12:10, Paper FrB12.5

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Eye-In-Hand Stereo Visual Servoing of an Assistive Robot Arm in Unstructured Environments
Kim, Dae-JinUniv. of Central Florida
Behal, AmanUniv. of Central Florida
Lovelett, RyanUCF
 

FrB13 Regular Sessions, Room: 505

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Distributed Robot Systems - II  
 
Chair: Watanabe, KeigoSaga Univ.
Co-Chair: Sukhatme, GauravUniv. of Southern California
 

10:30-10:50, Paper FrB13.1

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Multi-Robot Tree and Graph Exploration
Brass, PeterCity Coll. New York
Gasparri, AndreaUniv. degli Studi Roma Tre
Cabrera-Mora, FlavioThe City Univ. of New York
Xiao, JizhongCity Coll. of New York
 

10:50-11:10, Paper FrB13.2

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Coordinated Motion Control of Multiple Passive Object Handling Robots Based on Environment Information
Hirata, YasuhisaTohoku Univ.
Ojima, YosukeTohoku Univ.
Kosuge, KazuhiroTohoku Univ.
 

11:10-11:30, Paper FrB13.3

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Distributed Coverage Control for Mobile Sensors with Location-Dependent Sensing Models
Deshpande, AjayMIT
Poduri, SameeraUSC
Rus, DanielaMIT
Sukhatme, GauravUniv. of Southern California
 

11:30-11:50, Paper FrB13.4

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A Coordinated Control Algorithm Based on the Caster-Like Motion for a Car Transportation System -Icart
Endo, MitsuruTohoku Univ.
Hirose, KenjiTohoku Univ.
Hirata, YasuhisaTohoku Univ.
Kosuge, KazuhiroTohoku Univ.
Sugahara, YusukeTohoku Univ.
Suzuki, KoukiIshikawajima Transport Machinery Co. Ltd.
Murakami, KazunoriIshikawajima Transport Machinery Co. Ltd.
Nakamura, KenichiIshikawajima Transport Machinery Co. Ltd.
Nakanishi, MasakiIshikawajima Transport Machinery Co. Ltd.
Kanbayashi, TakashiIshikawajima Transport Machinery Co. Ltd.
 

11:50-12:10, Paper FrB13.5

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Equitable Partitioning Policies for Robotic Networks
Pavone, MarcoMassachusetts Inst. of Tech.
Arsie, AlessandroPennsylvania State Univ.
Frazzoli, EmilioMassachusetts Inst. of Tech.
Bullo, FrancescoUCSB
 

FrC1 Regular Sessions, MainHall

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Legged Robots and Humanoid Locomotion - III  
 
Chair: Garcia, ElenaIndustrial Automation Inst. - CSIC
Co-Chair: Tsujita, KatsuyoshiOsaka Inst. of Tech.
 

13:30-13:50, Paper FrC1.1

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Thermally Constrained Motor Operation for a Climbing Robot
Trujillo, SalomonStanford Univ.
Cutkosky, MarkStanford Univ.
 

13:50-14:10, Paper FrC1.2

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Remote Haptic Feedback from a Dynamic Running Machine
Tappeiner, HannsCarnegie Mellon Univ.
Skaff, SarjounCarnegine Mellon Univ.
Szabo, TomasTech. Univ. of Munich
Hollis, RalphCarnegie Mellon Univ.
 

14:10-14:30, Paper FrC1.3

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Movement Primitives for Three-Legged Locomotion Over Uneven Terrain
Lim, BokmanSeoul National Univ.
Kim, BeobkyoonSeoul National Univ.
Park, FrankSeoul National Univ.
Hong, DennisVirginia Tech.
 

14:30-14:50, Paper FrC1.4

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Search-Based Planning for a Legged Robot Over Rough Terrain
Vernaza, PaulUniv. of Pennsylvania
Likhachev, MaximUniv. of Pennsylvania
Bhattacharya, SubhrajitUniv. of Pennsylvania
Chitta, SachinWillow Garage Inc.
Kushleyev, AleksandrUniv. of Pennsylvania
Lee, Daniel D.Univ. of Pennsylvania
 

14:50-15:10, Paper FrC1.5

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An Approximate Stance Map of the Spring Mass Hopper with Gravity Correction for Nonsymmetric Locomotions
Arslan, OmurBilkent Univ.
Saranli, UlucBilkent Univ.
Morgul, OmerBilkent Univ.
 

FrC2 Regular Sessions, Room: ICR

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Computer Vision for Robotics and Automation - IV  
 
Chair: Zöllner, RaoulSiemens AG
Co-Chair: Yagi, YasushiOsaka Univ.
 

13:30-13:50, Paper FrC2.1

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Novel Parameter Estimation Schemes in Microsystems
Bilen, HakanSabanci Univ.
Hocaoglu, Muhammet A.Sabanci Univ.
Baran, Eray A.Sabanci Univ.
Unel, MustafaSabanci Univ.
Gozuacik, DevrimSabanci Univ.
 

13:50-14:10, Paper FrC2.2

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Surface Model Reconstruction of 3D Objects from Multiple Views
Lippiello, VincenzoUniv. di Napoli Federico II
Ruggiero, FabioUniv. di Napoli Federico II
 

14:10-14:30, Paper FrC2.3

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3D Model Selection from an Internet Database for Robotic Vision
Klank, UlrichTech. Univ. München
Zia, Muhammad ZeeshanTech. Univ. München
Beetz, MichaelTech. Univ. München
 

14:30-14:50, Paper FrC2.4

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Probabilistic Action Planning for Active Scene Modeling in Continuous High-Dimensional Domains
Eidenberger, RobertJohannes Kepler Univ. Linz
Grundmann, ThiloSiemens AG
Zöllner, RaoulSiemens AG
 

14:50-15:10, Paper FrC2.5

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Environment Adapted Active Multi-Focal Vision System for Object Detection
Xu, TingtingTech. Univ. München
Wu, HaoTUM
Zhang, TianguangTech. Univ. München
Kühnlenz, KoljaTech. Univ. München
Buss, MartinTech. Univ. München
 

FrC3 Regular Sessions, Room: 401

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Range Sensing - I  
 
Chair: Zha, HongbinPeking Univ.
Co-Chair: Ye, CangUniv. of Arkansas at Little Rock
 

13:30-13:50, Paper FrC3.1

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Moving Object Classification Using Horizontal Laser Scan Data
Zhao, HuijingPeking Univ.
Zhang, QuanshiPeking Univ.
Chiba, MasakiMazda Motor Corp.
Shibasaki, RyosukeUniv. of Tokyo
Cui, JinshiPeking Univ.
Zha, HongbinPeking Univ.
 

13:50-14:10, Paper FrC3.2

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Realtime Segmentation of Range Data Using Continuous Nearest Neighbors
Klasing, KlaasTech. Univ. München
Wollherr, DirkTech. Univ. München
Buss, MartinTech. Univ. München
 

14:10-14:30, Paper FrC3.3

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Robust Edge Extraction for Swissranger SR-3000 Range Images
Ye, CangUniv. of Arkansas at Little Rock
Hegde, GuruPrasad M.Univ. of Arkansas at Little Rock
 

14:30-14:50, Paper FrC3.4

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Object Classification Based on a Geometric Grammar with a Range Camera
Shin, JiwonETH Zurich
Gachter, StefanSwiss Federal Inst. of Tech. (ETHZ)
Harati, AhadETHZ
Pradalier, CedricETH Zurich
Siegwart, RolandETH Zurich
 

FrC4 Regular Sessions, Room: 402

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Motion and Path Planning - III  
 
Chair: Zhang, John Z.Univ. of Lethbridge
Co-Chair: Yokoi, KazuhitoNational Inst. of AIST
 

13:30-13:50, Paper FrC4.1

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Multi-Vehicle Path Planning in Dynamically Changing Environments
Ahmadzadeh, AliUniv. of Pennsylvania
Motee, NaderCaltech
Jadbabaie, AliUniv. of Pennsylvania
Pappas, George J.Univ. of Pennsylvania
 

13:50-14:10, Paper FrC4.2

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An Adaptive-Scale Robust Estimator for Motion Estimation
Ngo, Thanh TrungISIR, Osaka Univ.
Nagahara, Hajime Graduate School of Engineering Science , Osaka Univ.
Sagawa, RyusukeOsaka Univ.
Mukaigawa, YasuhiroOsaka Univ.
Yachida, Masahiko Graduate School of Engineering Science , Osaka Univ.
Yagi, YasushiOsaka Univ.
 

14:10-14:30, Paper FrC4.3

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Surveillance of a Polygonal Area by a Mobile Searcher from the Boundary: Searchability Testing
Bhattacharya, BinaySimon Fraser Univ.
Kameda, TsunehikoSimon Fraser Univ.
Zhang, John Z.Univ. of Lethbridge
 

14:30-14:50, Paper FrC4.4

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Regrasp Planning for Pivoting Manipulation by a Humanoid Robot
Yoshida, EiichiNational Inst. of AIST
Poirier, MathieuLAAS-CNRS
Laumond, Jean-PaulLAAS-CNRS
Kanoun, OussamaLAAS-CNRS
Lamiraux, FlorentCNRS
Alami, RachidCNRS
Yokoi, KazuhitoNational Inst. of AIST
 

14:50-15:10, Paper FrC4.5

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Time-Minimal Path Planning in Dynamic Current Fields
Soulignac, MichaelU of Nice Sophia Antipolis-THALES
Taillibert, PatrickTHALES
Rueher, MichelUniv. of Nice Sophia Antipolis
 

FrC5 Regular Sessions, Room: 403

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Grasping - III  
 
Chair: Harada, KensukeNational Inst. of AIST
Co-Chair: Tahara, KenjiKyushu Univ.
 

13:30-13:50, Paper FrC5.1

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On Computing Robust N-Finger Force-Closure Grasps of 3D Objects
El-Khoury, SaharUniv. Pierre et Marie Curie (Paris6)
Sahbani, AnisUniv. Pierre et Marie Curie - Paris 6, ISIR, CNRS
 

13:50-14:10, Paper FrC5.2

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Measurement of Grasp Position by Human Hands and Grasp Criterion for Two Soft-Fingered Robot Hands
Sugiyama, SeijiRitsumeikan Univ.
Koeda, MasanaoOsaka Electro-Communication Univ.
Fujimoto, HiroshiRitsumeikan Univ.
Yoshikawa, TsuneoRitsumeikan Univ.
 

14:10-14:30, Paper FrC5.3

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Ability to Hold Grasped Objects by Underactuated Hands: Performance Prediction and Experiments
Kragten, Gert A.TUDelft
Kool, Aris C.Delft Univ. of Tech.
Herder, JustDelft Univ. of Tech.
 

14:30-14:50, Paper FrC5.4

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Modeling and Control of a Pair of Robot Fingers with Saddle Joint under Orderless Actuations
Yoshida, MorioRIKEN
Arimoto, SuguruRitsumeikan Univ.
Tahara, KenjiKyushu Univ.
 

FrC6 Regular Sessions, Room: 404

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Learning and Adaptive Systems - III  
 
Chair: Suzuki, KenjiUniv. of Tsukuba
Co-Chair: Takamatsu, JunNara Inst. of Science and Tech.
 

13:30-13:50, Paper FrC6.1

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Speed-Accuracy Optimization for Skill Learning
Lin, Hsien-IPurdue Univ.
Lee, C. S. GeorgePurdue Univ.
 

13:50-14:10, Paper FrC6.2

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Learning to Stabilize the Head of a Quadrupedal Robot with an Artificial Vestibular System
Marcinkiewicz, MarekThe City Univ. of New York
Kaushik, RaviThe City Univ. of New York
Labutov, IgorThe City Coll. of New York
Parsons, SimonCity Univ. of New York (Brooklyn Coll. Graduate Center)
Raphan, TheodoreCity Univ. of New York (Brooklyn Coll. Graduate
 

14:10-14:30, Paper FrC6.3

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Interactive Learning of the Acoustic Properties of Household Objects
Sinapov, JivkoIowa State Univ.
Wiemer, MarkIowa State Univ.
Stoytchev, AlexanderIowa State Univ.
 

14:30-14:50, Paper FrC6.4

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Constructing Action Set from Basis Functions for Reinforcement Learning of Robot Control
Yamaguchi, AkihikoNara Inst. of Science and Tech.
Takamatsu, JunNara Inst. of Science and Tech.
Ogasawara, TsukasaNara Inst. of Science and Tech.
 

FrC7 Regular Sessions, Room: 405

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Motion Robotics  
 
Chair: Tarn, T.-J.Washington Univ. in St. Louis
Co-Chair: Zingaretti, PrimoUniv. Pol. delle Marche
 

13:30-13:50, Paper FrC7.1

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Mechanics of Bending, Torsion, and Variable Precurvature in Multi-Tube Active Cannulas
Rucker, CalebVanderbilt Univ.
Webster, III, Robert JamesVanderbilt Univ.
 

13:50-14:10, Paper FrC7.2

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Constraint Based World Modeling in Mobile Robotics
Goehring, DanielHumboldt-Univ. zu Berlin
Mellmann, HeinrichHumboldt Univ. zu Berlin
Burkhard, Hans-DieterHumboldt Univ. of Berlin
 

14:10-14:30, Paper FrC7.3

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RoboBuntu: A Linux Distribution for Mobile Robotics
Mancini, AdrianoUniv. Pol. delle Marche
Frontoni, EmanueleUniv. Pol. delle Marche
Ascani, AndreaUniv. Pol. delle Marche
Zingaretti, PrimoUniv. Pol. delle Marche
 

14:30-14:50, Paper FrC7.4

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Encoding Molecular Motions in Voxel Maps
Cortes, JuanLAAS-CNRS
Barbe, SophieINSA
Erard, MoniqueCNRS
Simeon, ThierryLAAS-CNRS
 

14:50-15:10, Paper FrC7.5

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Development of the IHMC Mobility Assist Exoskeleton
Kwa, Hian KaiInst. for Human and Machine Cognition
Noorden, JerryllInst. for Human and Machine Cognition
Missel, MatthewInst. for Human and Machine Cognition
Craig, TravisInst. for Human and Machine Cognition
Pratt, JerryInst. for Human and Machine Cognition
Neuhaus, PeterInst. for Human and Machine Cognition
 

FrC8 Regular Sessions, Room: 406

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Motion Control - I  
 
Chair: Yi, JingangRutgers, The State Univ. of New Jersey
Co-Chair: Cheah, C. C.Nanyang Tech. Univ.
 

13:30-13:50, Paper FrC8.1

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Loop-Shaping H Infinity-Control of a 2-DOF Piezoelectric-Stack Actuated Platform for Nanoscale Positioning
Aphale, Sumeet S.Univ. of Aberdeen
Ferreira, AntoineUniv. of Orléans
Moheimani, RezaUniv. of Newcastle
 

13:50-14:10, Paper FrC8.2

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A Simple Nonlinear PID Control for Finite-Time Regulation of Robot Manipulators
Su, YuxinXidian Univ.
Zheng, ChunhongXidian Univ.
 

14:10-14:30, Paper FrC8.3

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Extended Nicosia-Tomei Observer-Based Tracking Control of Robot Manipulators
Yih, Chih-ChenI-SHOU Univ.
 

14:30-14:50, Paper FrC8.4

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Reliable Control During Current Loop Failure Using ETF for Position Servo System Including Disturbance Observer
Ishikawa, KaoruChuo Univ.
Nakamura, TaroChuo Univ.
Osumi, HisashiChuo Univ.
 

14:50-15:10, Paper FrC8.5

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Biologically-Inspired Dynamical Systems for Movement Generation: Automatic Real-Time Goal Adaptation and Obstacle Avoidance
Hoffmann, HeikoUniv. of Southern California
Pastor, PeterUniv. of Southern California
Park, Dae-HyungUniv. of Southern California
Schaal, StefanUniv. of Southern California
 

FrC9 Regular Sessions, Room: 501

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Micro/Nano Robotics - III  
 
Chair: Dario, PaoloScuola Superiore Sant'Anna
Co-Chair: Sun, YuUniv. of Toronto
 

13:30-13:50, Paper FrC9.1

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A Wireless Acoustic Emitter for Passive Localization in Liquids
Nagy, ZoltanETH Zurich
Flueckiger, MichaelETH Zurich
Ergeneman, OlgaçETH Zurich
Pane, SalvadorETH Zurich
Probst, MartinETH Zurich
Nelson, Bradley J.ETH Zurich
 

13:50-14:10, Paper FrC9.2

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Adding Millimeter-Sized Rapidly Prototyped Robotic Structures to Microfluidic Lab-On-A-Chip Devices
Sahai, RanjanaScuola Superiore Sant'Anna
Castrataro, PieroScuola Superiore Sant'Anna - SSSA
Dario, PaoloScuola Superiore Sant'Anna
 

14:10-14:30, Paper FrC9.3

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Three Dimensional Hybrid Microassembly Combining Robotic Microhandling and Self-Assembly
Sariola, VeikkoHelsinki Univ. of Tech.
Zhou, QuanHelsinki Univ. of Tech.
Koivo, Heikki NiiloHelsinki Univ. of Tech.
 

14:30-14:50, Paper FrC9.4

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Overcoming Adhesion Forces: Active Release of Micro Objects in Micromanipulation
Chen, Brandon K.Univ. of Toronto
Zhang, YongUniv. of Toronto
Sun, YuUniv. of Toronto
 

14:50-15:10, Paper FrC9.5

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Towards Swarms of Communication-Enabled and Intelligent Sensotaxis-Based Bacterial Microrobots Capable of Collective Tasks in an Aqueous Medium
Martel, SylvainEc. Pol. de Montreal (EPM)
Andre, WalderÉcole Pol. de Montréal,
Mohammadi, MahmoodEc. Pol. de Montreal (EPM)
Lu, ZhaoEc. Pol. of Montreal
Felfoul, OuajdiEc. Pol. de Montreal (EPM)
 

FrC10 Regular Sessions, Room: 502

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Visual Navigation - II  
 
Chair: Howard, AyannaGeorgia Inst. of Tech.
Co-Chair: Nakazawa, AtsushiOsaka Univ.
 

13:30-13:50, Paper FrC10.1

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Mobility Reconfiguration for Terrain Exploration Using Passive Perception
Brooks, DouglasGeorgia Inst. of Tech.
Howard, AyannaGeorgia Inst. of Tech.
 

13:50-14:10, Paper FrC10.2

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Visual Homing for Undulatory Robotic Locomotion
Lopez-Nicolas, GonzaloUniv. de Zaragoza
Sfakiotakis, MichaelFORTH
Tsakiris, DimitrisFORTH
Argyros, AntonisFORTH
Sagues, CarlosUniv. de Zaragoza
Guerrero, J.J.Univ. de Zaragoza
 

14:10-14:30, Paper FrC10.3

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A Switching Active Sensing Strategy to Maintain Observability for Vision-Based Formation Control
Mariottini, Gian LucaUniv. of Siena
Martini, SimoneUniv. di Pisa
Egerstedt, MagnusGeorgia Inst. of Tech.
 

14:30-14:50, Paper FrC10.4

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Vision-Based Guidance and Control of a Hovering Vehicle in Unknown, GPS-Denied Environments
Ahrens, SpencerMassachusetts Inst. of Tech.
Levine, Daniel SMassachusetts Inst. of Tech.
Andrews, GregoryCharles Stark Draper Lab. Inc.
How, JonathanMassachusetts Inst. of Tech.
 

14:50-15:10, Paper FrC10.5

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Efficient Off-Road Localization Using Visually Corrected Odometry
Grimes, Matthew KoichiNew York Univ.
LeCun, YannNew York Univ.
 

FrC11 Regular Sessions, Room: 503

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Biologically-Inspired Robots - III  
 
Chair: Wood, RobertHarvard Univ.
Co-Chair: Tan, XiaoboMichigan State Univ.
 

13:30-13:50, Paper FrC11.1

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Dynamic Modeling and Analysis of Pitch Motion of a Basilisk Lizard Inspired Quadruped Robot Running on Water
Park, Hyun SooCarnegie Mellon Univ.
Floyd, StevenCarnegie Mellon Univ.
Sitti, MetinCarnegie Mellon Univ.
 

13:50-14:10, Paper FrC11.2

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Theoretical Analysis of Three Bio-Inspired Plume Tracking Algorithms
Lochmatter, ThomasEPFL
Martinoli, AlcherioEPFL
 

14:10-14:30, Paper FrC11.3

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A Framework for Modeling Steady Turning of Robotic Fish
Hu, QingsongMichigan State Univ.
Hedgepeth, DawnMichigan State Univ.
Xu, LihongTongji Univ.
Tan, XiaoboMichigan State Univ.
 

14:30-14:50, Paper FrC11.4

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Climbing Rough Vertical Surfaces with Hierarchical Directional Adhesion
Parness, AaronStanford Univ.
Dastoor, SanjayStanford Univ.
Asbeck, AlanStanford Univ.
Fullerton, LaurelStanford Univ.
Esparza, NoeStanford Univ.
Soto, DanielStanford Univ.
Heyneman, BarrettStanford Univ.
Cutkosky, MarkStanford Univ.
 

FrC12 Regular Sessions, Room: 504

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Medical Robotics - I  
 
Chair: Li, MingNational Inst. of Health
Co-Chair: Simaan, NabilColumbia Univ.
 

13:30-13:50, Paper FrC12.1

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MRI-Compatible Hands-On Cooperative Control of a Pneumatically Actuated Robot
Kapoor, AnkurNational Inst. of Health
Wood, BradNational Inst. of Health
Mazilu, DumitruNational Inst. of Health
Horvath, KeithNational Inst. of Health
Li, MingNational Inst. of Health
 

13:50-14:10, Paper FrC12.2

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Observations and Models for Needle-Tissue Interactions
Misra, SarthakThe Johns Hopkins Univ.
Reed, Kyle BrandonJohns Hopkins Univ.
Schafer, Benjamin W.The Johns Hopkins Univ.
Ramesh, K. T.The Johns Hopkins Univ.
Okamura, Allison M.Johns Hopkins Univ.
 

14:10-14:30, Paper FrC12.3

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Real-Time Positioning and Tracking Technique for Endovascular Untethered Microrobots Propelled by MRI Gradients
Felfoul, OuajdiEc. Pol. de Montreal (EPM)
Aboussouan, EricBarrow Neurological Inst.
Chanu, ArnaudEc. Pol. of Montreal
Martel, SylvainEc. Pol. de Montreal (EPM)
 

14:30-14:50, Paper FrC12.4

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Wireless Reconfigurable Modules for Robotic Endoluminal Surgery
Harada, KanakoScuola Superiore Sant'Anna
Susilo, EkawahyuScuola Superiore Sant'Anna
Menciassi, AriannaScuola Superiore Sant'Anna - SSSA
Dario, PaoloScuola Superiore Sant'Anna
 

14:50-15:10, Paper FrC12.5

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Guiding Medical Needles Using Single-Point Tissue Manipulation
Torabi, MeysamSharif Univ. of Tech.
Hauser, KrisStanford Univ.
Alterovitz, RonUniv. of California, Berkeley
Duindam, VincentUniv. of California, Berkeley
Goldberg, KenUC Berkeley
 

FrC13 Regular Sessions, Room: 505

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Distributed Robot Systems - III  
 
Chair: Parker, LynneUniv. of Tennessee
Co-Chair: Christensen, Henrik IskovGeorgia Inst. of Tech.
 

13:30-13:50, Paper FrC13.1

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On the Switching Control of Multiple Mobile Robots Formation
Wu, Jian XinInst. of Systems Science,Chinese Acad. of Sciences
Jiang, Zhe Inst. of Systems Science, Chinese Acad. of Science
 

13:50-14:10, Paper FrC13.2

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Context Assessment Strategies for Ubiquitous Robots
Mastrogiovanni, FulvioUniv. of Genova, Italy
Sgorbissa, AntonioUniv. of Genova
Zaccaria, RenatoUniv. of Genova
 

14:10-14:30, Paper FrC13.3

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Dynamic Distributed Intrusion Detection for Secure Multi-Robot Systems
Fagiolini, AdrianoUniv. of Pisa
Babboni, FrancescoUniv. of Pisa
Bicchi, AntonioUniv. of Pisa
 

14:30-14:50, Paper FrC13.4

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Using Critical Junctures and Environmentally-Dependent Information for Management of Tightly-Coupled Cooperation in Heterogeneous Robot Teams
Parker, LynneUniv. of Tennessee
Reardon, Christopher M.Univ. of Tennessee
Choxi, HeetenLockheed Martin Advanced Tech. Lab.
Bolden, CortneyLockheed Martin Advanced Tech. Lab.
 

14:50-15:10, Paper FrC13.5

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Adaptive Triangular Mesh Generation of Self-Configuring Robot Swarms
Lee, GeunhoJapan Advanced Inst. of Sci. & Tech.
Chong, Nak YoungJapan Advanced Inst. of Sci. and Tech.
Christensen, Henrik IskovGeorgia Inst. of Tech.
 

FrD1 Regular Sessions, MainHall

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Legged Robots and Humanoid Locomotion - IV  
 
Chair: Konno, AtsushiTohoku Univ.
Co-Chair: Melchiorri, ClaudioUniv. of Bologna
 

15:30-15:50, Paper FrD1.1

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Control of Hopping Speed and Height Over Unknown Rough Terrain Using a Single Actuator
Cherouvim, NicholasNTUA
Papadopoulos, EvangelosNTUA
 

15:50-16:10, Paper FrD1.2

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Dynamically Running Quadrupeds Self-Stable Region Expansion by Mechanical Design
Chatzakos, PanagiotisNTUA
Papadopoulos, EvangelosNTUA
 

16:10-16:30, Paper FrD1.3

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Dynamic Effects of Arc Feet on the Leg Motion of Passive Walker
Ikemata, YoshitoNagoya Inst. of Tech.
Sano, AkihitoNagoya Inst. of Tech.
Yasuhara, KiyoshiNagoya Inst. of Tech.
Fujimoto, HideoNagoya Inst. of Tech.
 

16:30-16:50, Paper FrD1.4

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Effects of Compliant Ankles on Bipedal Locomotion
Schauß, ThomasTech. Univ. München
Scheint, MichaelTech. Univ. München
Sobotka, MarionTech. Univ. München
Seiberl, WolfgangTech. Univ. München
Buss, MartinTech. Univ. München
 

16:50-17:10, Paper FrD1.5

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Rapid Pole Climbing with a Quadrupedal Robot
Haynes, Galen ClarkUniv. of Pennsylvania
Khripin, AlexBoston Dynamics, Inc.
Lynch, GoranUniv. of Pennsylvania
Amory, JonathanBoston Dynamics, Inc.
Saunders, AaronBoston Dynamics, Inc.
Rizzi, AlfredBoston Dynamics
Koditschek, DanielUniv. of Pennsylvania
 

FrD2 Regular Sessions, Room: ICR

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Computer Vision for Robotics and Automation - V  
 
Chair: Kweon, In SoKAIST
Co-Chair: Mouaddib, El MustaphaUniv. of Picardie Jules Verne
 

15:30-15:50, Paper FrD2.1

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Mobile Robots with Active IR-Optical Sensing for Remote Gas Detection and Source Localization
Baetz, WernerUniv. of Kassel
Kroll, AndreasUniv. of Kassel
Bonow, GeroUniv. of Kassel
 

15:50-16:10, Paper FrD2.2

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Comparison of Local Image Descriptors for Full 6 Degree-Of-Freedom Pose Estimation
Viksten, FredrikUniv. of Linkoping
Forssen, Per-ErikLinkoping Univ.
Johansson, BjornSICKIVP
Moe, AndersSICKIVP
 

16:10-16:30, Paper FrD2.3

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Vertical Line Matching for Omnidirectional Stereovision Images
Caron, GuillaumeUniv. of Picardie Jules Verne
Mouaddib, El MustaphaUniv. of Picardie Jules Verne
 

16:30-16:50, Paper FrD2.4

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Analysis of Crohn’s Disease Lesions in Capsule Endoscopy Images
Bejakovic, SrdanJohns Hopkins Univ.
Kumar, RajeshJohns Hopkins Univ.
Dassopoulos, ThemistoclesWashington Univ. in Saint Louis
Mullin, GerardJohns Hopkins
Hager, GregoryJohns Hopkins Univ.
 

16:50-17:10, Paper FrD2.5

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Precise and Robust Large-Shape Reproduction Using Uncalibrated Vision
Gonzalez-Galvan, Emilio J.Univ. Autonoma de San Luis Potosi
Loredo-Flores, AmbrocioUniv. Autonoma de San Luis Potosi
Raygoza, Luis AntonioUniv. Autonoma de San Luis Potosi
Palos Garcia, Jose de JesusUniv. Autonoma de San Luis Potosi
Skaar, Steven B.Univ. of Notre Dame
 

FrD3 Regular Sessions, Room: 401

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Range Sensing - II  
 
Chair: Ng, AndrewStanford Univ.
Co-Chair: Prattichizzo, DomenicoUniv. of Siena
 

15:30-15:50, Paper FrD3.1

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Monocular Stereo Image Processing Using Viewpoint Switching Iris
Moriue, YutaHiroshima Univ.
Takaki, TakeshiHiroshima Univ.
Yamamoto, KenkichiHiroshima Univ.
Ishii, IdakuHiroshima Univ.
 

15:50-16:10, Paper FrD3.2

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Range Estimation from a Moving Camera: An Immersion and Invariance Approach
Morbidi, FabioUniv. of Siena
Prattichizzo, DomenicoUniv. of Siena
 

16:10-16:30, Paper FrD3.3

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High-Accuracy 3D Sensing for Mobile Manipulation: Improving Object Detection and Door Opening
Quigley, MorganStanford Univ.
Batra, SiddharthStanford Univ.
Gould, StephenStanford Univ.
Klingbeil, EllenStanford Univ.
Le, QuocStanford Univ.
Wellman, AshleyStanford Univ.
Ng, AndrewStanford Univ.
 

16:30-16:50, Paper FrD3.4

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Optimized Projection Pattern Supplementing Stereo Systems
Lim, JongwooHonda Res. Inst. USA inc.
 

16:50-17:10, Paper FrD3.5

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Three-Dimensional Measurement of Objects in Water by Using Space Encoding Method
Kawai, RyoheiShizuoka Univ.
Yamashita, AtsushiShizuoka Univ.
Kaneko, ToruShizuoka Univ.
 

FrD4 Regular Sessions, Room: 402

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Motion and Path Planning - IV  
 
Chair: Starr, GregUniv. of New Mexico
Co-Chair: Osumi, HisashiChuo Univ.
 

15:30-15:50, Paper FrD4.1

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FIR Position Profiles Using an Infinitely Continuous Kernel
Bowling, DavidMicroDexterity Systems
Starr, GregUniv. of New Mexico
 

15:50-16:10, Paper FrD4.2

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Laser-Based Navigation Enhanced with 3D Time-Of-Flight Data
Yuan, FangUniv. Bielefeld
Swadzba, AgnesBielefeld Univ.
Philippsen, RolandStanford Univ.
Engin, OrhanBielefeld Univ.
Hanheide, MarcFaculty of Tech. Bielefeld Univ.
Wachsmuth, SvenBielefeld Univ.
 

16:10-16:30, Paper FrD4.3

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Iclqg: Combining Local and Global Optimization for Control in Information Space
Huynh, Vu AnhMIT
Roy, NicholasMassachusetts Inst. of Tech.
 

16:30-16:50, Paper FrD4.4

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Reachability-Guided Sampling for Planning under Differential Constraints
Shkolnik, AlexanderMIT
Walter, MatthewMIT
Tedrake, RussMassachusetts Inst. of Tech.
 

FrD5 Regular Sessions, Room: 403

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Aerial Navigation  
 
Chair: Nonami, KenzoChiba Univ.
Co-Chair: Frazzoli, EmilioMassachusetts Inst. of Tech.
 

15:30-15:50, Paper FrD5.1

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UAV Target Tracking Using an Adversarial Iterative Prediction
Theodorakopoulos, PanagiotisCNRS
Lacroix, SimonLAAS/CNRS
 

15:50-16:10, Paper FrD5.2

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On the Generation of Feasible Paths for Aerial Robots with Limited Climb Angle
Alves Neto, ArmandoUniv. Federal de Minas Gerais
Campos, Mario F. MontenegroUniv. Federal de Minas Gerais
 

16:10-16:30, Paper FrD5.3

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Towards a Navigation System for Autonomous Indoor Flying
Grzonka, SlawomirAlbert-Ludwigs-Univ. of Freiburg
Grisetti, GiorgioUnviersität Freiburg
Burgard, WolframUniv. of Freiburg
 

16:30-16:50, Paper FrD5.4

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Embedded Autopilot for Accurate Waypoint Navigation and Trajectory Tracking: Application to Miniature Rotorcraft UAVs
Kendoul, FaridChiba Univ.
Zhenyu, YuChiba Univ.
Nonami, KenzoChiba Univ.
 

16:50-17:10, Paper FrD5.5

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Noiseless and Vibration-Free Ionic Propulsion Technology for Indoor Surveillance Blimps
Poon, Ho ShingThe Chinese Univ. of Hong Kong
Lam, Mark K. K.The Chinese Univ. of Hong Kong
Chow, MaxwellThe Chinese Univ. of Hong Kong
Li, Wen J.The Chinese Univ. of Hong Kong
 

FrD6 Regular Sessions, Room: 404

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Learning and Adaptive Systems - IV  
 
Chair: D'Andrea, RaffaelloETHZ
Co-Chair: Vijayakumar, SethuUniv. of Edinburgh
 

15:30-15:50, Paper FrD6.1

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Model Adaptation with Least-Squares SVM for Adaptive Hand Prosthetics
Orabona, FrancescoIdiap Res. Inst.
Castellini, ClaudioUniv. of Genova
Caputo, BarbaraIDIAP Res. Inst.
Fiorilla, Angelo EmanueleUniv. di Genova
Sandini, GiulioItalian Inst. of Tech.
 

15:50-16:10, Paper FrD6.2

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Least Absolute Policy Iteration for Robust Value Function Approximation
Sugiyama, MasashiTokyo Inst. of Tech.
Hachiya, HirotakaTokyo Inst. of Tech.
Kashima, HisashiIBM Res.
Morimura, TetsuroIBM Res.
 

16:10-16:30, Paper FrD6.3

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Bayesian Network-Based Behavior Control for Skilligent Robots
Lee, Sang HyoungHanyang Univ.
Suh, Il HongHanyang Univ.
 

16:30-16:50, Paper FrD6.4

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Model-Based and Model-Free Reinforcement Learning for Visual Servoing
Farahmand, Amir massoudUniv. of Alberta
Shademan, AzadUniv. of Alberta
Jagersand, MartinUniv. of Alberta
Szepesvari, CsabaUniv. of Alberta
 

FrD7 Regular Sessions, Room: 405

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Kinematics of Redundant Systems  
 
Chair: Nenchev, DragomirTokyo City Univ.
Co-Chair: Laumond, Jean-PaulLAAS-CNRS
 

15:30-15:50, Paper FrD7.1

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Natural Self Motion of a Robotic Limb with Single Degree-Of-Redundancy
Kanamiya (Nenchev), Yoshikazu (Dragomir)Tokyo City Univ.
 

15:50-16:10, Paper FrD7.2

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Morphological Design Optimization of Kinematically Redundant Manipulators Using Weighted Isotropy Measures
Hammond, Frank 3rdCarnegie Mellon Univ.
Shimada, KenjiCarnegie Mellon Univ.
 

16:10-16:30, Paper FrD7.3

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Prioritizing Linear Equality and Inequality Systems: Application to Local Motion Planning for Redundant Robots
Kanoun, OussamaLAAS-CNRS
Lamiraux, FlorentCNRS
Kanehiro, FumioNational Inst. of AIST
Yoshida, EiichiNational Inst. of AIST
Laumond, Jean-PaulLAAS-CNRS
Wieber, Pierre-BriceINRIA Rhône-Alpes
 

16:30-16:50, Paper FrD7.4

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Inverse Kinematics with Closed Form Solutions for Highly Redundant Robotic Systems
Konietschke, RainerDLR (German Aerospace Center)
Hirzinger, GerdGerman Aerospace Center (DLR)
 

16:50-17:10, Paper FrD7.5

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A Genericity Condition for General Serial Manipulators
Mueller, AndreasUniv. Duisburg-Essen
 

FrD8 Regular Sessions, Room: 406

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Motion Control - II  
 
Chair: Li, ZexiangHKUST
Co-Chair: Sekiyama, KosukeNagoya Univ.
 

15:30-15:50, Paper FrD8.1

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Control of a Four-Steering, Planar Five-Bar Linkage-Walker
Yamaguchi, HiroakiAoyama Gakuin Univ.
 

15:50-16:10, Paper FrD8.2

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Realization of Acrobatic Turn Via Wheelie for a Bicycle with a Balancer
Okawa, AkiraTokyo Inst. of Tech.
Keo, LychekTokyo Inst. of Tech.
Yamakita, MasakiTokyo Inst. of Tech.
 

16:10-16:30, Paper FrD8.3

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Orbital Stabilization of a Pre-Planned Periodic Motion to Swing up the Furuta Pendulum: Theory and Experiments
La Hera, PedroUmeå Univ.
Shiriaev, AntonUmea Univ.
Freidovich, LeonidUmeå Univ.
Mettin, UweUmeå Univ.
 

16:30-16:50, Paper FrD8.4

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Posture Control of a Dual-Crawler-Driven Robot
Quan, QiquanRitsumeikan Univ.
Ma, ShugenRitsumeikan Univ.
Li, BinShenyang Inst. of Automation
Liu, RongqiangHarbin Inst. of Tech.
 

16:50-17:10, Paper FrD8.5

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Robust Velocity Sliding Mode Control of Mobile Wheeled Inverted Pendulum Systems
Huang, JianNagoya Univ.
Wang, HongweiHuazhong Univ. of Science and Tech.
Matsuno, TakayukiToyama Prefectural Univ.
Fukuda, ToshioNagoya Univ.
Sekiyama, KosukeNagoya Univ.
 

FrD9 Regular Sessions, Room: 501

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Micro/Nano Robotics - IV  
 
Chair: Guo, ShuxiangKagawa Univ.
Co-Chair: Zhou, QuanNorthwestern Pol. Univ.
 

15:30-15:50, Paper FrD9.1

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Piezoelectrically Driven Silicon Microgrippers Integrated with Sidewall Piezoresistive Sensor
Chen, TaoRobotics Inst. Harbin Inst. of Tech.
Liguo, ChenHarbin Inst. of Tech.
Sun, Liningharbin Inst. of Tech.
 

15:50-16:10, Paper FrD9.2

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A Paddling Type of Microrobot in Pipe
Pan, QinxueKagawa Univ.
Guo, ShuxiangKagawa Univ.
 

16:10-16:30, Paper FrD9.3

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Voice Coil Based Hopping Mechanism for Microrobot
Zhang, PengfeiNorthwestern Pol. Univ.
Zhou, QuanHelsinki Univ. of Tech.
 

16:30-16:50, Paper FrD9.4

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Integration of the Control Electronics for a Mm3-Sized Autonomous Microrobot into a Single Chip
Casanova, RaimonUniv. of Barcelona
Dieguez, AngelUniv. of Barcelona
Arbat, AnnaUniv. of Barcelona
Alonso, OscarUniv. of Barcelona
Sanuy, AndreuUniv. of Barcelona
Canals, JoanUniv. of Barcelona
Colomer, JordiUniv. of Barcelona
Samitier, JosepUniv. of Barcelona
 

16:50-17:10, Paper FrD9.5

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Optimum Design and Investigation on Diffuser Polymethylmethacrylate (PMMA) Peristaltic Micropumps
Hsu, Yi-ChuSouthern Taiwan Univ.
Le, N. B.Southern Taiwan Univ.
Lin, M. S.Southern Taiwan Univ.
Jang, Ling-ShengCheng-Kung Univ.
 

FrD10 Regular Sessions, Room: 502

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Space Robotics  
 
Chair: Dubowsky, StevenMIT
Co-Chair: Yoshida, KazuyaTohoku Univ.
 

15:30-15:50, Paper FrD10.1

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Optimal Control of a Space Manipulator for Detumbling of a Target Satellite
Aghili, FarhadCanadian Space Agency
 

15:50-16:10, Paper FrD10.2

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Autonomous Planetary Exploration Using LIDAR Data
Rekleitis, IoannisMcGill Univ.
Bedwani, Jean-LucCanadian Space Agency
Dupuis, ErickCanadian Space Agency
 

16:10-16:30, Paper FrD10.3

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A Study of Cooperative Control of Self-Assembling Robots in Space with Experimental Validation
Toglia, ChiaraUniv. of Roma ''La Sapienza''
Kettler, DanielMassachusetts Inst. of Tech.
Kennedy, FredUnited States Air Force
Dubowsky, StevenMIT
 

16:30-16:50, Paper FrD10.4

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Motion Control of Multi-Limbed Robots for Asteroid Exploration Missions
Chacin Torres, Marco AntonioCyberdyne Inc. / Univ. of Tsukuba
Yoshida, KazuyaTohoku Univ.
Mora Vargas, Andres EstebanTohoku Univ.
 

FrD11 Regular Sessions, Room: 503

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Biologically-Inspired Robots - IV  
 
Chair: Matsuoka, YokyUniv. of Washington
Co-Chair: Hasegawa, YasuhisaUniv. of Tsukuba
 

15:30-15:50, Paper FrD11.1

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Development of the Anthropomorphic Saxophonist Robot WAS-1: Mechanical Design of the Lip, Tonguing, Fingers and Air Pump Mechanisms
Petersen, KlausWaseda Univ.
Solis, JorgeWaseda Univ.
Ninomiya, TakeshiWaseda Univ.
Yamamoto, TetsuroWaseda Univ.
Takeuchi, MasakiWaseda Univ.
Takanishi, AtsuoWaseda Univ.
 

15:50-16:10, Paper FrD11.2

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From Pixels to Objects: Enabling a Spatial Model for Humanoid Social Robots
Figueira, DarioInst. Superior Técnico
Lopes, ManuelInst. Superior Técnico
Ventura, RodrigoInst. Superior Técnico
Ruesch, JonasIST
 

16:10-16:30, Paper FrD11.3

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A Real-Time Helicopter Testbed for Insect-Inspired Visual Flight Control
Han, ShuoCalifornia Inst. of Tech.
Straw, Andrew DCalifornia Inst. of Tech.
Dickinson, MichaelCalifornia Inst. of Tech.
Murray, RichardCalifornia Inst. of Tech.
 

16:30-16:50, Paper FrD11.4

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Aerodynamics of Dragonfly Flight and Robotic Design
Hu, ZhengUniv. of Delaware
McCauley, ReymondUniv. of Delaware
Schaeffer, SteveUniv. of Delaware
Deng, XinyanUniv. of Delaware
 

16:50-17:10, Paper FrD11.5

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Realization of Cylinder Climbing Locomotion with Helical Form by a Snake Robot with Passive Wheels
Kamegawa, TetsushiOkayama Univ.
Harada, TakaakiOkayama Univ.
Gofuku, AkioOkayama Univ.
 

FrD12 Regular Sessions, Room: 504

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Medical Robotics - II  
 
Chair: Omata, ToruTokyo Inst. of Tech.
Co-Chair: Oetomo, DennyThe Univ. of Melbourne
 

15:30-15:50, Paper FrD12.1

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Fabrication and Feedback Control of an Articulated Microarm for Endoscopy
Azuma, DaisakuTohoku Univ.
Lee, JamesonUniv. of California, Berkeley
Narumi, KeisukeTohoku Univ.
Arai, FumihitoTohoku Univ.
 

15:50-16:10, Paper FrD12.2

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Development of a Prosthetic Arm: Experimental Validation with the User and an Adapted Software
Artigue, VincentTech.
Thomann, GuillaumePol. National Inst.
 

16:10-16:30, Paper FrD12.3

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Topology Design of Surgical Reconfigurable Robots by Interval Analysis
Oetomo, DennyThe Univ. of Melbourne
Daney, DavidINRIA Sophia Antipolis
Harada, KanakoScuola Superiore Sant'Anna
Merlet, Jean-PierreINRIA
Menciassi, AriannaScuola Superiore Sant'Anna - SSSA
Dario, PaoloScuola Superiore Sant'Anna
 

16:30-16:50, Paper FrD12.4

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End-Effector Calibration and Registration Procedure for Robot Assisted Laser Material Processing: Tailored to the Particular Needs of Short Pulsed CO2 Laser Bone Ablation
Burgner, JessicaUniv. Karlsruhe (TH)
Raczkowsky, JoergUniv. of Karlsruhe (TH)
Woern, HeinzUniv. Karlsruhe
 

16:50-17:10, Paper FrD12.5

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Fast Needle Insertion to Minimize Tissue Deformation and Damage
Mahvash, MohsenBoston Univ.
Dupont, PierreBoston Univ.
 

FrD13 Regular Sessions, Room: 505

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Distributed Robot Systems - IV  
 
Chair: Xiao, JizhongCity Coll. of New York
Co-Chair: Sheng, WeihuaOklahoma State Univ.
 

15:30-15:50, Paper FrD13.1

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Distributed Sensor Analysis for Fault Detection in Tightly-Coupled Multi-Robot Team Tasks
Li, XingyanUniv. of tennessee, knoxville
Parker, LynneUniv. of Tennessee
 

15:50-16:10, Paper FrD13.2

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Open E-Puck Range & Bearing Miniaturized Board for Local Communication in Swarm Robotics
Gutierrez, AlvaroUniv. Pol. de Madrid
Campo, AlexandreUniv. Libre de Bruxelles
Dorigo, MarcoUniv. Libre de Bruxelles
Donate Fernandez, JesusRBZ Robot Design
Monasterio-Huelin, FélixEscuel Técnica Superior de Ingenieros de Telecomunicación, Univ.
Magdalena, LuisEuropean Centre for Soft Computing
 

16:10-16:30, Paper FrD13.3

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A Probabilistic Model for the Performance Analysis of a Distributed Task Allocation Algorithm
Viguria, AntidioGeorgia Inst. of Tech.
Howard, AyannaGeorgia Inst. of Tech.
 

16:30-16:50, Paper FrD13.4

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Combining Area Patrol, Perimeter Surveillance, and Target Tracking Using Ordered Upwind Methods
Frew, Eric W.Univ. of Colorado
 

16:50-17:10, Paper FrD13.5

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Flocking Control of a Mobile Sensor Network to Track and Observe a Moving Target
La, HungOklahoma State Univ.
Sheng, WeihuaOklahoma State Univ.