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 Saturday May 16, 2009

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SaA1 Regular Sessions, MainHall

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Localization - I  
 
Chair: Burgard, WolframUniv. of Freiburg
Co-Chair: Haverinen, JanneUniv. of Oulu
 

08:30-08:50, Paper SaA1.1

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Decentralized Localization for Dynamic and Sparse Robot Networks
Leung, Keith Yu KitUniv. of Toronto
Barfoot, TimothyUniv. of Toronto
Liu, Hugh H.T.Univ. of Toronto
 

08:50-09:10, Paper SaA1.2

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A Global Self-Localization Technique Utilizing Local Anomalies of the Ambient Magnetic Field
Haverinen, JanneUniv. of Oulu
Kemppainen, Anssi JuhaniUniv. of Oulu
 

09:10-09:30, Paper SaA1.3

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Probabilistic Multi-Component Extended Strong Tracking Filter for Mobile Robot Global Localization
Liu, ZhibinTsinghua Univ.
Shi, ZongyingTsinghua Univ.
Xu, WenliTsinghua Univ.
 

09:30-09:50, Paper SaA1.4

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Monte Carlo Simultaneous Localization of Multiple Unknown Transient Radio Sources Using a Mobile Robot with a Directional Antenna
Song, DezhenTexas A&M Univ.
Kim, Chang YoungTexas A&M Univ.
Yi, JingangRutgers, The State Univ. of New Jersey
 

09:50-10:10, Paper SaA1.5

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Modeling RFID Signal Strength and Tag Detection for Localization and Mapping
Joho, DominikUniv. of Freiburg
Plagemann, ChristianUniv. of Freiburg
Burgard, WolframUniv. of Freiburg
 

SaA2 Regular Sessions, Room: ICR

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Human Detection & Tracking - I  
 
Chair: Dillmann, RüdigerUniv. of Karlsruhe
Co-Chair: Kuniyoshi, YasuoThe Univ. of Tokyo
 

08:30-08:50, Paper SaA2.1

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Whole Body Motion Primitive Segmentation from Monocular Video
Kulic, DanaUniv. of Tokyo
Lee, DongheuiUniv. of Tokyo
Nakamura, YoshihikoUniv. of Tokyo
 

08:50-09:10, Paper SaA2.2

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Markerless Human Motion Tracking with a Flexible Model and Appearance Learning
Hecht, FlorianUniv. of Karlsruhe
Azad, PedramUniv. of Karlsruhe
Dillmann, RüdigerUniv. of Karlsruhe
 

09:10-09:30, Paper SaA2.3

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Tracking Groups of People with a Multi-Model Hypothesis Tracker
Lau, BorisUniv. of Freiburg
Arras, Kai OliverUniv. of Freiburg
Burgard, WolframUniv. of Freiburg
 

09:30-09:50, Paper SaA2.4

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Wearable Motion Capture Suit with Full-Body Tactile Sensors
Fujimori, YukiThe Univ. of Tokyo
Ohmura, YoshiyukiThe Univ. of Tokyo
Harada, TatsuyaThe Univ. of Tokyo
Kuniyoshi, YasuoThe Univ. of Tokyo
 

09:50-10:10, Paper SaA2.5

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3D Model-Based 6-DOF Head Tracking by a Single Camera for Human-Robot Interaction
Matsumoto, YoshioOsaka Univ.
Sasao, NaokiNara Inst. of Science and Tech.
Suenaga, TsuyoshiNara Inst. of Science and Tech.
Ogasawara, TsukasaNara Inst. of Science and Tech.
 

SaA3 Regular Sessions, Room: 401

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Range Sensing - III  
 
Chair: Hasegawa, TsutomuKyushu Univ.
Co-Chair: Sagawa, RyusukeOsaka Univ.
 

08:30-08:50, Paper SaA3.1

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Laser-Based Geometric Modeling Using Cooperative Multiple Mobile Robots
Kurazume, RyoKyushu Univ.
Noda, YusukeKyushu Univ.
Tobata, YukihiroKyushu Univ.
Lingemann, KaiUniv. of Osnabrueck
Iwashita, YumiKyushu Univ.
Hasegawa, TsutomuKyushu Univ.
 

08:50-09:10, Paper SaA3.2

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Comparison of Surface Normal Estimation Methods for Range Sensing Applications
Klasing, KlaasTech. Univ. München
Althoff, DanielTech. Univ. München
Wollherr, DirkTech. Univ. München
Buss, MartinTech. Univ. München
 

09:10-09:30, Paper SaA3.3

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Fast Point Feature Histograms (FPFH) for 3D Registration
Rusu, Radu BogdanTech. Univ. Muenchen
Blodow, NicoComputer Science Department, Tech. Univ.
Beetz, MichaelTech. Univ. München
 

09:30-09:50, Paper SaA3.4

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On Fast Surface Reconstruction Methods for Large and Noisy Point Clouds
Marton, Zoltan-CsabaTech. Univ. Muenchen
Rusu, Radu BogdanTech. Univ. Muenchen
Beetz, MichaelTech. Univ. München
 

SaA4 Regular Sessions, Room: 402

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Motion and Path Planning - V  
 
Chair: Mason, Matthew T.Carnegie Mellon Univ.
Co-Chair: Xiao, JingUNC-Charlotte
 

08:30-08:50, Paper SaA4.1

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Path Diversity Is Only Part of the Problem
Knepper, Ross ACarnegie Mellon Univ.
Mason, Matthew T.Carnegie Mellon Univ.
 

08:50-09:10, Paper SaA4.2

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On-Line Planning of Nonholonomic Trajectories in Crowded and Geometrically Unknown Environments
Li, YanboUniv. of North Carolina at Charlotte
Xiao, JingUNC-Charlotte
 

09:10-09:30, Paper SaA4.3

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Multi-Vehicle Path Coordination in Support of Communication
Abichandani, PramodDrexel Univ.
Benson, HandeDrexel Univ.
Kam, MosheDrexel Univ.
 

09:30-09:50, Paper SaA4.4

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Dynamic Path Planning with Multi-Agent Data Fusion - the Parallel Hierarchical Replanner
Allen, ThomasThe Univ. of Sydney
Hill, Andrew JohnUniv. of Sydney
Underwood, James PatrickThe Univ. of Sydney
Scheding, StevenThe Univ. of Sydney
 

SaA5 Regular Sessions, Room: 403

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Aerial Robotics - I  
 
Chair: Kondak, KonstantinTech. Univ. Berlin
Co-Chair: Furukawa, TomonariVirginia Pol. Inst. and State Univ.
 

08:30-08:50, Paper SaA5.1

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A Nonlinear Terrain-Following Controller for a VTOL Unmanned Aerial Vehicle Using Translational Optical Flow
Herisse, BrunoCEA
Hamel, TarekUNSA-CNRS
Mahony, RobertAustralian National Univ.
Russotto, Francois-XavierFrench Atomic Energy Commission (CEA)
 

08:50-09:10, Paper SaA5.2

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Generic Slung Load Transportation System Using Small Size Helicopters
Bernard, MarkusTech. Univ. Berlin
Kondak, KonstantinTech. Univ. Berlin
 

09:10-09:30, Paper SaA5.3

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Design Principles of Large Quadrotors for Practical Applications
Pounds, PaulAustralian National Univ.
Mahony, RobertAustralian National Univ.
 

09:30-09:50, Paper SaA5.4

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Generic Nonlinear Model of Reduced Scale UAVs
Chriette, AbdelhamidEc. centrale de Nantes
Cheviron, ThibaultDGA
Plestan, FranckEc. Centrale De Nantes-CNRS
 

09:50-10:10, Paper SaA5.5

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Aerodynamics and Control of Autonomous Quadrotor Helicopters in Aggressive Maneuvering
Huang, HaomiaoStanford Univ.
Hoffmann, GabrielStanford Univ.
Waslander, Steven LakeUniv. of Waterloo
Tomlin, ClaireUC Berkeley
 

SaA6 Regular Sessions, Room: 404

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Force and Tactile Sensing - I  
 
Chair: Kaneko, MakotoOsaka Univ.
Co-Chair: Dudek, GregoryMcGill Univ.
 

08:30-08:50, Paper SaA6.1

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Development of Grip-Type Master Hand “MeisterGRIP”
Sato, KatsunariThe Univ. of Tokyo
Komeiji, ShujiThe Univ. of Tokyo
Kawakami, Naokithe Univ. of Tokyo
Tachi, SusumuThe Univ. of Tokyo
 

08:50-09:10, Paper SaA6.2

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Development of High-Sensitivity Slip Sensor Using Special Characteristics of Pressure Conductive Rubber
Teshigawara, SeiichiThe Univ. of Electro-Communications
Tadakuma, KenjiroMassachusetts Inst. of Tech.
Ming, AiguoThe Univ. of Electro-Communications
Ishikawa, MasatoshiUniv. of Tokyo
Shimojo, MakotoUniv. of Electro-COmmunications
 

09:10-09:30, Paper SaA6.3

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A Magnetic Type Tactile Sensor Using a Two-Dimensional Array of Inductors
Takenawa, SatoruKobe City Coll. of Tech.
 

09:30-09:50, Paper SaA6.4

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Surface Identification Using Simple Contact Dynamics for Mobile Robots
Giguere, PhilippeMcGill Univ.
Dudek, GregoryMcGill Univ.
 

09:50-10:10, Paper SaA6.5

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Adaptive Bayesian Filtering for Vibration-Based Terrain Classification
Komma, PhilippeUniv. of Tübingen
Weiss, ChristianUniv. of Tübingen
Zell, AndreasUniv. of Tübingen
 

SaA7 Regular Sessions, Room: 405

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Modeling and Control  
 
Chair: Cheah, C. C.Nanyang Tech. Univ.
Co-Chair: Sun, DongCity Univ. of Hong Kong
 

08:30-08:50, Paper SaA7.1

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Static Anti-Windup Controller Design for Planar 2DOF Robot Manipulators with Actuator Saturation
Kanamori, MitsuruMaizuru National Coll. of Tech.
 

08:50-09:10, Paper SaA7.2

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Modeling and Motion Planning for Mechanisms on a Non-Inertial Base
From, Pål JohanNorwegian Univ. of Science and Tech.
Duindam, VincentUniv. of California, Berkeley
Gravdahl, Jan TommyNorwegian Univ. of Science and Tech.
Sastry, ShankarUniv. of California, Berkeley
 

09:10-09:30, Paper SaA7.3

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Modeling and Control of the Monopedal Robot Thumper
Poulakakis, IoannisUniv. of Michigan
Grizzle, J.WUniv. of Michigan
 

09:30-09:50, Paper SaA7.4

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Magnetic Dipoles for Electromagnetic Multi-DOF Actuator Design
Lee, Kok-MengGeorgia Inst. of Tech.
Lim, JungyoulGeorgia Tech.
Bai, KunGeorgia Inst. of Tech.
 

SaA8 Regular Sessions, Room: 406

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Motion Control - III  
 
Chair: Yamamoto, MotojiKyushu Univ.
Co-Chair: Nakanishi, HirokiTohoku Univ.
 

08:30-08:50, Paper SaA8.1

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Path Following for an Omnidirectional Mobile Robot Based on Model Predictive Control
Kanjanawanishkul, KiattisinUniv. of Tübingen
Zell, AndreasUniv. of Tübingen
 

08:50-09:10, Paper SaA8.2

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An Optimization-Based Approach to Control of Robotic Manipulators
Mohajerin Esfahani, PeymanSwiss Federal Inst. of Tech. Zurich (ETHZ)
Karimi Ghartemani, MasoudSharif Univ. of Tech.
Namvar, MehrzadSharif Univ. of Tech.
 

09:10-09:30, Paper SaA8.3

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H-Infinity Robustification Control of Existing Piezoelectric-Stack Actuated Nanomanipulators
Ladjal, HamidENSI Bourges, Univ. Orleans
Hanus, Jean LucENSI Bourges
Ferreira, AntoineUniv. of Orléans
 

09:30-09:50, Paper SaA8.4

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A Modified Newton-Euler Method for Dynamic Computations in Robot Fault Detection and Control
De Luca, AlessandroUniv. di Roma "La Sapienza"
Ferrajoli, LorenzoUniv. di Roma "La Sapienza"
 

09:50-10:10, Paper SaA8.5

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Vibration Control of a Multi Link Flexible Robot Arm with Fiber-Bragg-Grating-Sensors
Franke, ReneTech. Univ. Dortmund
Malzahn, JörnTech. Univ. Dortmund
Nierobisch, ThomasUniv. Dortmund
Hoffmann, FrankTech. Univ. Dortmund
Bertram, Prof. Dr. Prof. h.c. TorstenTech. Univ. Ilmenau
 

SaA9 Regular Sessions, Room: 501

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Physical Human-Robot Interaction - II  
 
Chair: Kanda, TakayukiATR
Co-Chair: Tsuji, ToshiakiSaitama Univ.
 

08:30-08:50, Paper SaA9.1

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Safe Robot Arm with Safe Joint Mechanism Using Nonlinear Spring System for Collision Safety
Park, Jung-JunKorea Univ.
Kim, Hwi-suKorea Univ.
Song, Jae-BokKorea Univ.
 

08:50-09:10, Paper SaA9.2

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Object Inherent Dynamics Based Motion Control in Human-Robot Cooperative Task System
Tsumugiwa, ToruDoshisha Univ.
Yokogawa, RyuichiDoshisha Univ.
 

09:10-09:30, Paper SaA9.3

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Safe, Stable and Intuitive Control for Physical Human-Robot Interaction
Duchaine, VincentUniv. Laval
Gosselin, ClementUniv. Laval
 

09:30-09:50, Paper SaA9.4

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AttractiveEye: Augmented Gaze Representation for "What Is the Robot Looking At?"
Yamaguchi, TomoyukiWaseda Univ.
Hashimoto, ShujiWaseda Univ.
 

SaA10 Regular Sessions, Room: 502

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Autonomous Navigation - II  
 
Chair: Stachniss, CyrillUniv. of Freiburg
Co-Chair: Takeuchi, EijiroTohoku Univ.
 

08:30-08:50, Paper SaA10.1

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Autonomous Driving in a Multi-Level Parking Structure
Kuemmerle, RainerUniv. of Freiburg
Haehnel, DirkStanford Univ.
Dolgov, DmitriToyota Res. Inst.
Thrun, SebastianStanford Univ.
Burgard, WolframUniv. of Freiburg
 

08:50-09:10, Paper SaA10.2

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Real-Time Trajectory Generation for Car-Like Vehicle Navigating Dynamic Environments
Delsart, VivienUMR LIG - Lab. d'Informatique de Grenoble
Fraichard, ThierryInria
Martinez-Gomez, LuisInria
 

09:10-09:30, Paper SaA10.3

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Autonomous Driving in Semi-Structured Environments: Mapping and Planning.
Dolgov, DmitriToyota Res. Inst.
Thrun, SebastianStanford Univ.
 

09:30-09:50, Paper SaA10.4

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Consistent Cooperative Localization
Bahr, AlexanderMassachusetts Inst. of Tech.
Walter, MatthewMIT
Leonard, JohnMIT
 

09:50-10:10, Paper SaA10.5

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Traversable Path Identification in Unstructured Terrains: A Markov Random Walk Approach
Bates, AdamUniv. of Colorado at Boulder
Bijral, AvleenUniv. of Colorado at Boulder
Mulligan, JaneUniv. of Colorado at Boulder
Grudic, GregUniv. of Colorado at Boulder
 

SaA11 Regular Sessions, Room: 503

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Biologically-Inspired Robots - V  
 
Chair: Cutkosky, MarkStanford Univ.
Co-Chair: Ozawa, RyutaRitsumeikan Univ.
 

08:30-08:50, Paper SaA11.1

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Step Function Based Turning Maneuvers in Biomimetic Robotic Fish
Yu, JunzhiInst. of Automation, Chinese Acad. of Sciences
Wang, MingChinese Acad. of sciences
Tan, MinInst. of Automation,Chinese Acad. of Sciences
Li, YfCityU
 

08:50-09:10, Paper SaA11.2

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Evaluation of Pinching Effort by a Tendon-Driven Robot Hand
Ikeda, AtsutoshiNara Inst. of Science and Tech.
Kurita, YuichiNara Inst. of Science and Tech.
Ogasawara, TsukasaNara Inst. of Science and Tech.
 

09:10-09:30, Paper SaA11.3

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A Force Control Based Cell Injection Approach in a Bio-Robotics System
Xie, YuCity Univ. of Hong Kong
Sun, DongCity Univ. of Hong Kong
Liu, ChongCity Univ. of Hong Kong
Cheng, Shuk HanCity Univ. of Hong Kong
Liu, YunhuiChinese Univ. of Hong Kong
 

09:30-09:50, Paper SaA11.4

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Body Torque Modulation for a Microrobotic Fly
Finio, BenjaminHarvard Univ.
Shang, Jessica KHarvard Univ.
Wood, RobertHarvard Univ.
 

09:50-10:10, Paper SaA11.5

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Undulatory and Pedundulatory Robotic Locomotion Via Direct and Retrograde Body Waves
Sfakiotakis, MichaelFORTH
Tsakiris, DimitrisFORTH
 

SaA12 Regular Sessions, Room: 504

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Medical Robotics - III  
 
Chair: Martel, SylvainEc. Pol. de Montreal (EPM)
Co-Chair: Ikuta, KojiNagoya Univ.
 

08:30-08:50, Paper SaA12.1

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Motion Compensation for Robotic-Assisted Surgery with Force Feedback
Cortesao, RuiUniv. of Coimbra
Poignet, PhilippeLIRMM UMR 5506 CNRS UM2
 

08:50-09:10, Paper SaA12.2

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Analysis and Improvement of Image-Based Insertion Point Estimation for Robot-Assisted Minimally Invasive Surgery
Nageotte, FlorentUniv. of Strasbourg
Ott, LaurentLSIIT - AVR - Univ. of Strasbourg
Zanne, PhilippeUniv. of Strasbourg
de Mathelin, MichelUniv. of Strasbourg
 

09:10-09:30, Paper SaA12.3

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Controlling a Robotically Steered Needle in the Presence of Torsional Friction
Reed, Kyle BrandonJohns Hopkins Univ.
Okamura, Allison M.Johns Hopkins Univ.
Cowan, Noah J.Johns Hopkins Univ.
 

09:30-09:50, Paper SaA12.4

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Developing a Planning Method for Straight Needle Insertion Using Probability-Based Condition Where a Puncture Occurs
Kobayashi, YoWaseda Univ.
Onishi, AkinoriWaseda Univ.
Watanabe, HirokiWaseda Univ.
Hoshi, TakeharuWaseda Univ.
Kawamura, KazuyaWaseda Univ.
Fujie, Masakatsu G.Waseda Univ.
 

09:50-10:10, Paper SaA12.5

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Single Trocar Assemblable Retractor-Hand for Laparoscopic Surgery
Osaki, MikioTokyo Inst. of Tech.
Takayama, ToshioTokyo Inst. of Tech.
Omata, ToruTokyo Inst. of Tech.
Ohya, ToshikiTokyo Medical and Dental Univ.
Kojima, KazuyukiTokyo Medical and Dental Univ. Graduate School OfMedicine
Takase, KozoTokyo Medical and Dental Univ.
Tanaka, NaofumiTokyo Medical and Dental Univ.
 

SaA13 Regular Sessions, Room: 505

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Distributed Robot Systems - V  
 
Chair: Lin, ZhiyunZhejiang Univ.
Co-Chair: Carpin, StefanoUniv. of California, Merced
 

08:30-08:50, Paper SaA13.1

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Formations on Two-Layer Pursuit Systems
Ding, WeiZhejiang Univ.
Yan, GangfengZhejiang Univ.
Lin, ZhiyunZhejiang Univ.
 

08:50-09:10, Paper SaA13.2

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Making Networked Robot Connectivity-Aware
Le Van, TuanUniv. of Caen
Bouraqadi, NouryEc. des Mines de Douai
Stinckwich, SergeUniv. of Caen
Moraru, VictorAUF
Doniec, ArnaudEc. des Mines de Douai
 

09:10-09:30, Paper SaA13.3

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Probabilistic Graph-Clear
Kolling, AndreasUniv. of California Merced
Carpin, StefanoUniv. of California, Merced
 

09:30-09:50, Paper SaA13.4

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Optimal Coverage for Multiple Hovering Robots with Downward Facing Cameras
Schwager, MacMassachusetts Inst. of Tech.
Julian, BrianMIT
Rus, DanielaMIT
 

SaB1 Regular Sessions, MainHall

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Localization - II  
 
Chair: Yang, Shao-WenNational Taiwan Univ.
Co-Chair: Kaess, MichaelMIT
 

10:30-10:50, Paper SaB1.1

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LSH-RANSAC: An Incremental Scheme for Scalable Localization
Saeki, Kenichifukui Univ.
Tanaka, KanjiFukui Univ.
Ueda, Takeshikyushu Univ.
 

10:50-11:10, Paper SaB1.2

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Multiple-Model RANSAC for Ego-Motion Estimation in Highly Dynamic Environments
Yang, Shao-WenNational Taiwan Univ.
Wang, Chieh-ChihNational Taiwan Univ.
 

11:10-11:30, Paper SaB1.3

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Flow Separation for Fast and Robust Stereo Odometry
Kaess, MichaelMIT
Ni, KaiGeorgia Inst. of Tech.
Dellaert, FrankGeorgia Inst. of Tech.
 

11:30-11:50, Paper SaB1.4

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Radiation Pattern Correlation for Mobile Robot Localization in Low Power Wireless Networks
Graefenstein, JuergenEberhard Karls Univ. Tuebingen
Albert, AmosRobert Bosch GmbH
Biber, PeterRobert Bosch GmbH
 

11:50-12:10, Paper SaB1.5

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Practical Visual Odometry for Car-Like Vehicles
Nourani Vatani, NavidCSIRO
Roberts, JonathanCSIRO ICT Centre
Srinivasan, MandyamThe Univ. of Queensland
 

SaB2 Regular Sessions, Room: ICR

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Human Detection & Tracking - II  
 
Chair: Hashimoto, HidekiUniv. of Tokyo
Co-Chair: Buss, MartinTech. Univ. München
 

10:30-10:50, Paper SaB2.1

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Navigation through Urban Environments by Visual Perception and Interaction
Mühlbauer, QuirinTech. Univ. München
Sosnowski, StefanTech. Univ. München
Xu, TingtingTech. Univ. München
Zhang, TianguangTech. Univ. München
Kühnlenz, KoljaTech. Univ. München
Buss, MartinTech. Univ. München
 

10:50-11:10, Paper SaB2.2

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A Minimum-Order Kalman Filter for Ambulatory Real-Time Human Body Orientation Tracking
Lee, Jung KeunSimon Fraser Univ.
Park, Edward J.Simon Fraser Univ.
 

11:10-11:30, Paper SaB2.3

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Pose Estimation and Adaptive Robot Behaviour for Human-Robot Interaction
Svenstrup, MikaelAalborg Univ.
Hansen, Søren TranbergDanish Tech. Inst.
Andersen, Hans JørgenAalborg Univ.
Bak, ThomasAalborg Univ.
 

11:30-11:50, Paper SaB2.4

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3D Voxel Based Online Human Pose Estimation Via Robust and Efficient Hashing
Shimosaka, MasamichiUniv. of Tokyo
Sagawa, Yuichithe Univ. of Tokyo
Mori, TaketoshiThe Univ. of Tokyo
Sato, TomomasaThe Univ. of Tokyo
 

SaB3 Regular Sessions, Room: 401

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Sonars and Range Sensing  
 
Chair: Yuta, ShinichiUniv. of Tsukuba
Co-Chair: Burgard, WolframUniv. of Freiburg
 

10:30-10:50, Paper SaB3.1

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Robust Servo-Control for Underwater Robots Using Banks of Visual Filters
Sattar, JunaedMcGill Univ.
Dudek, GregoryMcGill Univ.
 

10:50-11:10, Paper SaB3.2

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A Probabilistic Sonar Sensor Model for Robust Localization of a Small-Size Blimp in Indoor Environments Using a Particle Filter
Mueller, JoergUniv. of Freiburg
Rottmann, AxelUniv. of Freiburg
Reindl, Leonhard MichaelUniv. of Freiburg
Burgard, WolframUniv. of Freiburg
 

11:10-11:30, Paper SaB3.3

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Dam Wall Detection and Tracking Using a Mechanically Scanned Imaging Sonar
Kazmi, WajahatUniv. de Girona
Ridao, PereUniv. de Girona
Ribas, DavidUniv. de Girona
Hernandez, EmiliUniv. de Girona
 

11:30-11:50, Paper SaB3.4

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Real-Time Ultrasonic Distance Measurements for Autonomous Mobile Robots Using Cross Correlation by Single-Bit Signal Processing
Hirata, ShinnosukeTokyo Inst. of Tech.
Kurosawa, Minoru KuribayashiTokyo Inst. of Tech.
Katagiri, TakashiPrime motion
 

SaB4 Regular Sessions, Room: 402

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AI Reasoning Methods - II  
 
Chair: Suh, Il HongHanyang Univ.
Co-Chair: Kahl, BjoernUniv. of Applied Sciences Bonn-Rhein-Sieg
 

10:30-10:50, Paper SaB4.1

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Automatic Stimulation of Experiments and Learning Based on Prediction Failure Recognition
Juarez, AlexUniv. of Applied Science Bonn-Rhein-Sieg
Kahl, BjoernUniv. of Applied Sciences Bonn-Rhein-Sieg
Henne, TimoUniv. of Applied Science Bonn-Rhein-Sieg
Prassler, ErwinUniv. Bonn-Rhein-Sieg
 

10:50-11:10, Paper SaB4.2

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A Novel Approach to Path Planning for Multiple Robots in Bi-Connected Graphs
Surynek, PavelFaculty of Mathematics and Physics, Charles Univ. inPrague
 

11:10-11:30, Paper SaB4.3

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Integration of a Prediction Mechanism with a Sensor Model: An Anticipatory Bayes Filter
Zhang, GuoxuanHanyang Univ.
Suh, Il HongHanyang Univ.
 

11:50-12:10, Paper SaB4.5

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Equipping Robot Control Programs with First-Order Probabilistic Reasoning Capabilities
Jain, DominikTU Muenchen
Moesenlechner, LorenzTU Muenchen
Beetz, MichaelTech. Univ. München
 

SaB5 Regular Sessions, Room: 403

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Aerial Robotics - II  
 
Chair: Agrawal, SunilUniv. of Delaware
Co-Chair: Lal, AmitCornell Univ.
 

10:30-10:50, Paper SaB5.1

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A Guidance and Control Strategy for Dynamic Soaring with a Gliding UAV
Lawrance, Nicholas Robert JonathonThe Univ. of Sydney
Sukkarieh, SalahUniv. of Sydney
 

10:50-11:10, Paper SaB5.2

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A Parametric Study of Flapping Wing Performance Using a Robotic Flapping Wing
Watman, DanielThe Univ. of New South Wales
Furukawa, TomonariVirginia Pol. Inst. and State Univ.
 

11:10-11:30, Paper SaB5.3

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Bounded Attitude Control of a Flapping Wing Micro Aerial Vehicle Using Direct Sensors Measurements
Rifai, HalaI3S-Lab. Univ. of Nice Sophia Antipolis - CNRS
Guerrero Castellanos, José FermiUniv. Pol. de Puebla
Marchand, NicolasGIPSA-Lab. CNRS/U of Grenoble/INRIA
Poulin, GuylaineG2E-Lab.
 

11:30-11:50, Paper SaB5.4

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Development of Insect Thorax Based Flapping Mechanism.
Khan, ZaeemUniv. of Delaware
Agrawal, SunilUniv. of Delaware
 

11:50-12:10, Paper SaB5.5

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Insect Powered Micro Air Vehicles
Pulla, SivaCornell Univ.
Lal, AmitCornell Univ.
 

SaB6 Regular Sessions, Room: 404

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Force and Tactile Sensing - II  
 
Chair: Tachi, SusumuThe Univ. of Tokyo
Co-Chair: Matsuoka, YokyUniv. of Washington
 

10:30-10:50, Paper SaB6.1

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Development of Robot Hand Aimig at Nursing Care Services to Humans
Kajikawa, ShinyaTohoku Gakuin Univ.
 

10:50-11:10, Paper SaB6.2

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Force Control with Safety Constraints Via Iterative Feedback Tuning
Park, Un SikAIST
Yamada, YojiAIST
Nakabo, YoshihiroNational Insitute of
 

11:10-11:30, Paper SaB6.3

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A Flexible Robot Skin for Safe Physical Human Robot Interaction
Duchaine, VincentUniv. Laval
Lauzier, NicolasUniv. Laval
Baril, MathieuUniv. Laval
Lacasse, Marc-AntoineLaval Univ.
Gosselin, ClementUniv. Laval
 

11:30-11:50, Paper SaB6.4

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Novel Design of a 3-Axis Optical Fiber Force Sensor for Applications in Magnetic Resonance Environments
Puangmali, PinyoKing's Coll. London
Althoefer, KasparKings Coll. London
Seneviratne, LakmalKings Coll. London
 

SaB7 Regular Sessions, Room: 405

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Adaptive Control  
 
Chair: Wang, ZhidongChiba Inst. of Tech.
Co-Chair: Melchiorri, ClaudioUniv. of Bologna
 

10:30-10:50, Paper SaB7.1

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Robot Force/Position Tracking with Guaranteed Prescribed Performance
Bechlioulis, Ch.Aristotle Univ. of Thessaloniki
Doulgeri, ZoeAristotle Univ. of Thessaloniki
Rovithakis, GeorgeAristotel Univ. of Thessaloniki
 

10:50-11:10, Paper SaB7.2

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Adaptive Output Feedback Control of Uncertain Nonholonomic Systems with Strong Nonlinear Drifts
Yuan, ZhanpingTongji Univ.
Wang, ZhupingTongji Univ.
Chen, QijunTongji Univ.
 

11:10-11:30, Paper SaB7.3

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FAT-Based Adaptive Visual Servoing for Robots with Time Varying Uncertainties
Chien, Ming-ChihIndustrial Tech. Res. Inst.
Huang, An-ChyauNational Taiwan Univ. of Science and Tech.
 

11:30-11:50, Paper SaB7.4

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Task-Space Setpoint Control of Robots with Dual Task-Space Information
Cheah, C. C.Nanyang Tech. Univ.
Slotine, Jean-Jacques E.Massachusetts Inst. of Tech.
 

11:50-12:10, Paper SaB7.5

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Architecture of Behavior-Based and Robotics Self-Optimizing Memory Controller
Hassab Elgawi, OsmanTokyo Inst. of Tech.
 

SaB8 Regular Sessions, Room: 406

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Motion Control - IV  
 
Chair: Sato, TomomasaThe Univ. of Tokyo
Co-Chair: Lam, Tin LunThe Chinese Univ. of Hong Kong
 

10:30-10:50, Paper SaB8.1

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Nonlinear Bilateral Teleoperation: Stability Analysis
Nuño, EmmanuelTech. Univ. of Catalonia
Basanez, LuisTech. Univ. of Catalonia
 

10:50-11:10, Paper SaB8.2

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Traction Force Distribution on Omni-Directional Four Wheel Independent Drive Electric Vehicle
Lam, Tin LunThe Chinese Univ. of Hong Kong
Xu, YangshengShenzhen Inst. of Advanced Tech.
Xu, GuoqingShenzhen Inst. of Advanced Tech. / The Chinese Univ.
 

11:10-11:30, Paper SaB8.3

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Control of Suspended Wheeled Mobile Robots with Multiple Arms During Object Manipulation Tasks
Eslamy, MahdyK. N. Toosi Univ. of Tech.
Moosavian, S. Ali A.K. N. Toosi Univ. of Tech.
 

11:30-11:50, Paper SaB8.4

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Sliding Motion Control of Active Flexible Cable Using Simple Shape Information
Sawata, KazunaTohoku Univ.
Konyo, MasashiTohoku Univ.
Saga, SatoshiTohoku Univ.
Tadokoro, SatoshiTohoku Univ.
Osuka, KoichiKobe Univ.
 

11:50-12:10, Paper SaB8.5

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Trajectory Planning and Control of an Underactuated Dynamically Stable Single Spherical Wheeled Mobile Robot
Nagarajan, UmashankarCarnegie Mellon Univ.
Kantor, GeorgeCarnegie Mellon Univ.
Hollis, RalphCarnegie Mellon Univ.
 

SaB9 Regular Sessions, Room: 501

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Human-Robot Interaction - II  
 
Chair: Fujimoto, HideoNagoya Inst. of Tech.
Co-Chair: Suzuki, TatsuyaNagoya Univ.
 

10:30-10:50, Paper SaB9.1

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Generating Robot/Agent Backchannels During a Storytelling Experiment
Al Moubayed, SamerRoyal Inst. of Tech. KTH
Baklouti, MalekUniv. of Versailles
Chetouani, MohamedUniv. Pierre et Marie Curie
Dutoit, ThierryFaculté Pol. de Mons (FPMs)
Mahdhaoui, AmmarUniv. Pierre et Marie Curie
Martin, Jean-ClaudeUniv. Paris-Sud
Ondas, StanislavTech. Univ. of Košice
Pelachaud, CatherineUnité Mixte de Recherche CNRS-GET/Télécom
Urbain, JeromeFaculté Pol. de Mons (FPMs)
Yilmaz, MehmetKoc Univ.
 

10:50-11:10, Paper SaB9.2

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Tracking of Facial Features to Support Human-Robot Interaction
Pateraki, MariaFoundation for Res. and Tech. - Hellas
Baltzakis, HarisFoundation for Res. and Tech. - Hellas
Kondaxakis, PolychronisFoundation for Res. and Tech. – Hellas (FORTH)
Trahanias, PanosFoundation for Res. and Tech. – Hellas (FORTH)
 

11:10-11:30, Paper SaB9.3

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Where to Go: Interpreting Natural Directions Using Global Inference
Wei, YuanMIT
Brunskill, EmmaMassachusetts Inst. of Tech.
Kollar, ThomasCSAIL
Roy, NicholasMassachusetts Inst. of Tech.
 

11:30-11:50, Paper SaB9.4

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Design of Man-Machine Cooperative Nonholonomic Two-Wheeled Vehicle Based on Impedance Control and Time-State Control
Inagaki, ShinkichiNagoya Univ.
Suzuki, TatsuyaNagoya Univ.
Ito, TakahiroNagoya Univ.
 

SaB10 Regular Sessions, Room: 502

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Autonomous Navigation - III  
 
Chair: Siegwart, RolandETH Zurich
Co-Chair: Morisset, BenoitSRI International
 

10:30-10:50, Paper SaB10.1

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A Harmonic Potential Field Approach with a Probabilistic Space Descriptor for Planning in Non-Divisible Environments.
Masoud, Ahmad A.KFUPM
 

10:50-11:10, Paper SaB10.2

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Smooth Path Planning in Constrained Environments
Rufli, MartinETH Zurich
Ferguson, DaveIntel Res. Pittsburgh
Siegwart, RolandETH Zurich
 

11:10-11:30, Paper SaB10.3

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Leaving Flatland: Toward Real-Time 3D Navigation
Morisset, BenoitSRI International
Rusu, Radu BogdanTech. Univ. Muenchen
Sundaresan, AravindSRI International
Hauser, KrisStanford Univ.
Agrawal, MotilalSRI International
Latombe, Jean-ClaudeStanford Univ.
Beetz, MichaelTech. Univ. München
 

11:30-11:50, Paper SaB10.4

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Simultaneous Local and Global State Estimation for Robotic Navigation
Moore, David C.MIT
Huang, Albert S.Massachusetts Inst. of Tech.
Walter, MatthewMIT
Olson, EdwinUniv. of Michigan
Fletcher, LukeMIT
Leonard, JohnMIT
Teller, SethMIT
 

11:50-12:10, Paper SaB10.5

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Laser-Based Detection and Tracking Moving Objects Using Data-Driven Markov Chain Monte Carlo
Vu, Trung-DungINRIA Rhone Alpes
Aycard, OlivierJoseph Fourier Univ.
 

SaB11 Regular Sessions, Room: 503

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Biologically-Inspired Robots - VI  
 
Chair: Matsuno, FumitoshiThe Univ. of Electro-Communications
Co-Chair: Shimojo, MakotoUniv. of Electro-COmmunications
 

10:30-10:50, Paper SaB11.1

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Modelling and Control of Obstacle-Aided Snake Robot Locomotion Based on Jam Resolution
Liljebäck, PålSINTEF IKT
Pettersen, Kristin Y.Norwegian Univ. of Science and Tech.
Stavdahl, ØyvindNorwegian Univ. of Science and Tech. (NTNU)
 

10:50-11:10, Paper SaB11.2

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A Snake Robot Joint Mechanism with a Contact Force Measurement System
Liljebäck, PålSINTEF IKT
Fjerdingen, SigurdSINTEF ICT
Pettersen, Kristin Y.Norwegian Univ. of Science and Tech.
Stavdahl, ØyvindNorwegian Univ. of Science and Tech. (NTNU)
 

11:10-11:30, Paper SaB11.3

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Development of Underwater Robots Using Piezoelectric Fiber Composite
Ming, AiguoThe Univ. of Electro-Communications
Park, SeokyongThe Univ. of Electro-Communications
Nagata, YoshinoriThe Univ. of Electro-Communications
Shimojo, MakotoUniv. of Electro-COmmunications
 

11:30-11:50, Paper SaB11.4

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Study of a 2-DOF Joint for the Small Active Cord Mechanism
Yamada, HiroyaTokyo Inst. of Tech.
Hirose, ShigeoTokyo Inst. of Tech.
 

SaB12 Regular Sessions, Room: 504

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Medical Robotics - IV  
 
Chair: Takeda, YukioTokyo Inst. of Tech.
Co-Chair: Okamura, Allison M.Johns Hopkins Univ.
 

10:30-10:50, Paper SaB12.1

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Development of the Airway Management Training System WKA-2 Designed to Reproduce Different Cases of Difficult Airway
Noh, YohanWaseda Univ.
Segawa, MasanaoWaseda Univ.
Shimomura, AkihiroWaseda Uniuversity
Ishii, HiroyukiWaseda Univ.
Solis, JorgeWaseda Univ.
Takanishi, AtsuoWaseda Univ.
Hatake, Kazuyuki KYOTOKAGAKU co., Ltd.
 

10:50-11:10, Paper SaB12.2

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Cardiolock2: Parallel Singularities for the Design of an Active Heart Stabilizer
Bachta, WaelLSIIT (UMR CNRS-ULP 7005), Strasbourg I Univ.
Renaud, PierreLSIIT, Strasbourg Univ.
Laroche, EdouardLSIIT
Gangloff, JacquesStrasbourg I Univ.
 

11:10-11:30, Paper SaB12.3

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A Novel Control Algorithm for Wearable Robotics Using Phase Plane Invariants
Holgate, MatthewArizona State Univ.
Boehler, AlexanderArizona State Univ.
Sugar, ThomasArizona State Univ.
 

11:30-11:50, Paper SaB12.4

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Torsional Kinematic Model for Concentric Tube Robots
Dupont, PierreBoston Univ.
Lock, JesseBoston Univ.
Butler, EvanBoston Univ.
 

11:50-12:10, Paper SaB12.5

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Model and Parameter Identification of Friction During Robotic Insertion of Cochlear-Implant Electrode Arrays
Zhang, JianColumbia Univ.
Bhattacharyya, SamratColumbia Univ.
Simaan, NabilColumbia Univ.
 

SaB13 Regular Sessions, Room: 505

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Distributed Robot Systems - VI  
 
Chair: Kurabayashi, DaisukeTokyo Inst. of Tech.
Co-Chair: Chung, Timothy H.Naval Postgraduate School
 

10:30-10:50, Paper SaB13.1

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Delayed-State Information Filter for Cooperative Decentralized Tracking
Capitan, JesusUniv. of Seville
Merino, LuisPablo de Olavide Univ.
Caballero, FernandoUniv. of Seville
Ollero, AnibalUniv. of Seville
 

10:50-11:10, Paper SaB13.2

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Relative Bearing Estimation Using Commodity Radios
Dantu, KarthikUniv. of Southern California
Goyal, PrakharIndian Inst. of Tech. Bombay
Sukhatme, GauravUniv. of Southern California
 

11:10-11:30, Paper SaB13.3

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Ad-Hoc Wireless Network Coverage with Networked Robots That Cannot Localize
Correll, NikolausMassachusetts Inst. of Tech.
Bachrach, JonathanMIT
Vickery, DanielMIT
Rus, DanielaMIT
 

11:30-11:50, Paper SaB13.4

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Consensus for Formation Control of Nonholonomic Mobile Robots
Listmann, Kim DanielTech. Univ. Darmstadt
Masalawala, MohanishTech. Univ. Darmstadt
Adamy, JürgenTech. Univ. Darmstadt
 

SaC1 Regular Sessions, MainHall

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Localization - III  
 
Chair: Censi, AndreaCalifornia Inst. of Tech.
Co-Chair: Tomono, MasahiroChiba Inst. of Tech.
 

13:30-13:50, Paper SaC1.1

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Topological Modeling and Classification in Home Environment Using Sonar Gridmap
Choi, JinwooPOSTECH
Choi, MinyongPOSTECH
Lee, KyoungminPOSTECH
Chung, Wan KyunPOSTECH
 

13:50-14:10, Paper SaC1.2

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HSM3D: Feature-Less Global 6DOF Scan-Matching in the Hough/Radon Domain
Censi, AndreaCalifornia Inst. of Tech.
Carpin, StefanoUniv. of California, Merced
 

14:10-14:30, Paper SaC1.3

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Evaluation of 3D Registration Reliability and Speed - a Comparison of ICP and NDT
Magnusson, MartinÖrebro Univ.
Nuechter, AndreasUniv. of Osnabrueck
Lörken, ChristopherUniv. of Osnabrück
Lilienthal, Achim, J.Örebro Univ.
Hertzberg, JoachimUniv. of Osnabrueck
 

14:30-14:50, Paper SaC1.4

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CI-Graph: An Efficient Approach for Large Scale SLAM
Pinies, Pedro Univ. de Zaragoza
Paz, Lina MaríaUniv. of Zaragoza
Tardos, Juan D.Univ. de Zaragoza
 

14:50-15:10, Paper SaC1.5

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Active Localization of a Robot on a Lattice of RFID Tags by Using an Entropy Map
Kodaka, KenriWaseda Univ.
Niwa, HaruhikoWaseda Univ.
Sugano, ShigekiWaseda Univ.
 

SaC2 Regular Sessions, Room: ICR

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Visual Tracking  
 
Chair: Nelson, Bradley J.ETH Zurich
Co-Chair: Liu, HuapingTsinghua Univ.
 

13:30-13:50, Paper SaC2.1

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Semi-Supervised Particle Filter for Visual Tracking
Liu, HuapingTsinghua Univ.
 

13:50-14:10, Paper SaC2.2

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Tracking Intraocular Microdevices Based on Colorspace Evaluation and Statistical Color/Shape Information
Bergeles, ChristosETH Zurich
Fagogenis, GeorgiosETH zurich
Abbott, JakeUniv. of Utah
Nelson, Bradley J.ETH Zurich
 

14:10-14:30, Paper SaC2.3

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Articulated Object Tracking by Rendering Consistent Appearance Parts
Pezzementi, ZacharyJohns Hopkins Univ.
Voros, SandrineJHU
Hager, GregoryJohns Hopkins Univ.
 

14:30-14:50, Paper SaC2.4

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A Combination of Particle Filtering and Deterministic Approaches for Multiple Kernel Tracking
Teulière, CélineCEA-LIST
Marchand, EricINRIA
Eck, LaurentCEA
 

14:50-15:10, Paper SaC2.5

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Multiple Hypothesis Tracking of Clusters
Wolf, MichaelNASA Jet Propulsion Lab.
Burdick, JoelCalifornia Inst. of Tech.
 

SaC3 Regular Sessions, Room: 401

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Sensor Fusion  
 
Chair: Tsubouchi, TakashiUniv. of Tsukuba
Co-Chair: Iwata, HiroyasuWaseda Univ.
 

13:30-13:50, Paper SaC3.1

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Randomised MPC-Based Motion-Planning for Mobile Robot Obstacle Avoidance
Brooks, AlexUniv. of Sydney
Kaupp, TobiasThe Univ. of Sydney
Makarenko, AlexeiUniv. of Sydney
 

13:50-14:10, Paper SaC3.2

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Imitation Learning with Generalized Task Descriptions
Eppner, ClemensUniv. of Freiburg
Sturm, JürgenUniv. of Freiburg
Bennewitz, MarenUniv. of Freiburg
Stachniss, CyrillUniv. of Freiburg
Burgard, WolframUniv. of Freiburg
 

14:10-14:30, Paper SaC3.3

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Vision-Tactile-Force Integration and Robot Physical Interaction
Prats, MarioUniv. Jaume I
Sanz, Pedro JJaume I
del Pobil, Angel P.Univ. Jaume I
 

14:30-14:50, Paper SaC3.4

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I-Bug: An Intensity-Based Bug Algorithm
Taylor, KamilahUniv. of Illinois at Urbana-Champaign
LaValle, Steven MUniv. of Illinois
 

14:50-15:10, Paper SaC3.5

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State Estimation with Delayed Measurements Considering Uncertainty of Time Delay
Choi, MinyongPOSTECH
Choi, JinwooPOSTECH
Park, JonghoonPohang Inst. of Intelligent Robotics
Chung, Wan KyunPOSTECH
 

SaC4 Regular Sessions, Room: 402

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Motion Planning and Control  
 
Chair: Ming, AiguoThe Univ. of Electro-Communications
Co-Chair: Nakamura, TaroChuo Univ.
 

13:30-13:50, Paper SaC4.1

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A Harmonic Potential Field Approach for Navigating a Rigid, Nonholonomic Robot in a Cluttered Environment
Masoud, Ahmad A.KFUPM
 

13:50-14:10, Paper SaC4.2

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Motion Planning for a Golf Swing Robot Based on Reverse Time Symmetry and PGCTC Control
Xu, ChunquanThe Univ. of Electro-Communications
Ming, AiguoThe Univ. of Electro-Communications
Shimojo, MakotoUniv. of Electro-COmmunications
 

14:10-14:30, Paper SaC4.3

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Integration of Impedance Control and Manipulability Regulation for a Finger-Arm Robot
Huang, JianKinki Univ.
Yamada, DaisukeYokohama National Univ.
Hori, TakayukiYokohama Naitonal Univ.
Hara, MasayukiÉcole Pol. Fédérale de Lausanne
Yabuta, TetsuroYokohama National Univ.
 

14:30-14:50, Paper SaC4.4

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An Interactive Tool for Designing Complex Robot Motion Patterns
Pierris, GeorgiosTech. Univ. of Crete
Lagoudakis, MichailTech. Univ. of Crete
 

SaC5 Regular Sessions, Room: 403

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Autonomous Robots  
 
Chair: Fukao, TakanoriKobe Univ.
Co-Chair: Amato, NancyTexas A&M Univ.
 

13:30-13:50, Paper SaC5.1

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The Null-Space Based Behavioral Control for Non-Holonomic Mobile Robots with Actuators Velocity Saturation
Arrichiello, FilippoUniv. di Cassino
Chiaverini, StefanoUniv. di Cassino
Pedone, PaolaUniv. del Salento
Zizzari, Alessandro AntonioUniv. del Salento - Lecce
Indiveri, GiovanniUniv. of Salento
 

13:50-14:10, Paper SaC5.2

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Motion Planning for High DOF Anthropomorphic Hands
Rosell, JanTech. Univ. of Catalonia
Suarez, RaulTech. Univ. of Catalonia
Rosales, Carlos¹Univ. Pol. de Catalunya, UPC ²Inst. de Robòtica
García, Jorge AlbertoInst. Tecnológico de Celaya
Pérez, AlexanderTech. Univ. of Catalonia
 

14:10-14:30, Paper SaC5.3

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Sparsing of Information Matrix for Practical Application of a Robot’s SLAM
Dong, HaiweiKobe Univ.
Luo, Zhi-WeiKobe Univ.
Chen, WeidongShanghai Jiao Tong Univ.
 

14:30-14:50, Paper SaC5.4

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An Unsupervised Adaptive Strategy for Constructing Probabilistic Roadmaps
Tapia, LydiaTexas A&M Univ.
Thomas, ShawnaTexas A&M Univ.
Boyd, BryanTexas A&M Univ.
Amato, NancyTexas A&M Univ.
 

14:50-15:10, Paper SaC5.5

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Image-Based Path Following Control of Mobile Robots with Central Catadioptric Cameras
Hiramatsu, ToshifumiKobe Univ.
Fukao, TakanoriKobe Univ.
Kurashiki, KeitaKobe Univ.
Osuka, KoichiKobe Univ.
 

SaC6 Regular Sessions, Room: 404

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Force and Tactile Sensing - III  
 
Chair: Yokokohji, YasuyoshiKyoto Univ.
Co-Chair: Melchiorri, ClaudioUniv. of Bologna
 

13:30-13:50, Paper SaC6.1

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Perception-Centric Force Scaling Function for Stable Bilateral Interaction
Botturi, DeboraUniv. of Verona
Galvan, StefanoUniv. of Verona
Vicentini, MarcoUniv. of Verona
Secchi, CristianUniv. of Modena & Reggio Emilia
 

13:50-14:10, Paper SaC6.2

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3 Axial Force Sensor for a Semi-Autonomous Snake Robot
Taal, Stefan RolandTokyo Inst. of Tech.
Yamada, HiroyaTokyo Inst. of Tech.
Hirose, ShigeoTokyo Inst. of Tech.
 

14:10-14:30, Paper SaC6.3

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Tendon-Based Transmission Systems for Robotic Devices: Models and Control Algorithms
Palli, GianlucaUniv. of Bologna
Borghesan, GianniUniv. of Bologna
Melchiorri, ClaudioUniv. of Bologna
 

14:30-14:50, Paper SaC6.4

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Software Framework for Human Neuromuscular Behavior
Blakely, TimUniv. of Washington
Matsuoka, YokyUniv. of Washington
 

14:50-15:10, Paper SaC6.5

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Model-Reference Based Wave-Variable Force Control
Hart, J. ScotStanford Univ.
Niemeyer, GunterStanford Univ.
 

SaC7 Regular Sessions, Room: 405

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Kinematics and Mechanisms  
 
Chair: Dubey, RajivUniv. of South Florida
Co-Chair: De Luca, AlessandroUniv. di Roma
 

13:30-13:50, Paper SaC7.1

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On the Kinematic Modeling and Control of a Mobile Platform Equipped with Steering Wheels and Movable Legs
Robuffo Giordano, PaoloMax Planck Inst. for Biological Cybernetics
Fuchs, MatthiasGerman Aerospace Center
Albu-Schäffer, AlinDLR - German Aerospace Center
Hirzinger, GerdGerman Aerospace Center (DLR)
 

13:50-14:10, Paper SaC7.2

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Task Oriented Kinematic Analysis for a Legged Robot with Half-Circular Leg Morphology
Sayginer, EgeMiddle East Tech. Univ.
Akbey, TulayMiddle East Tech. Univ.
Yazicioglu, YigitMiddle East Tech. Univ.
Saranli, AfsarMiddle East Tech. Univ.
 

14:10-14:30, Paper SaC7.3

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Kinematics of Line-Plane Subassemblies in Stewart Platforms
Borràs Sol, JúliaCSIC-UPC
Thomas, FedericoCSIC-UPC
 

14:30-14:50, Paper SaC7.4

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Robot Kinematics Based Model to Predict Compensatory Motion of Transradial Prosthesis While Performing Bilateral Tasks
Lura, DerekUniv. of South Florida
Carey, StephanieUniv. of South Florida
Highsmith, MichaelUniv. of South Florida
Dubey, RajivUniv. of South Florida
 

SaC8 Regular Sessions, Room: 406

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Wheeled Robots  
 
Chair: Chuy, Oscar Jr.Florida A & M Univ. -Florida State Univ. Coll.
Co-Chair: Kumagai, MasaakiTohoku Gakuin Univ.
 

13:30-13:50, Paper SaC8.1

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Development of a Robot Balance on a Ball ~ Application of Passive Motion to Transport ~
Kumagai, MasaakiTohoku Gakuin Univ.
Ochiai, TakayaTohoku Gakuin Univ.
 

13:50-14:10, Paper SaC8.2

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Modeling and Motion Stability Analysis of Skid-Steered Mobile Robots
Wang, HongpengNankai Univ.
Zhang, JunjieTexas A&M Univ.
Yi, JingangRutgers Univ.
Song, DezhenTexas A&M Univ.
Jayasuriya, SuhadaTexas A&M Univ.
Liu, JingtaiNankai Univ.
 

14:10-14:30, Paper SaC8.3

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Power Modeling of a Skid Steered Wheeled Robotic Ground Vehicle
Chuy, Oscar Jr.Florida A & M Univ. -Florida State Univ. Coll.
Collins, EmmanuelFAMU-FSU Coll. of Engineering
Yu, WeiFlorida A & M Univ. -Florida State Univ. Coll. of E
Ordonez, CamiloFlorida State Univ.
 

14:30-14:50, Paper SaC8.4

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Singularity Avoidance for Over-Actuated, Pseudo-Omnidirectional, Wheeled Mobile Robots
Connette, Christian PascalFraunhofer IPA
Parlitz, ChristopherFraunhofer IPA
Haegele, MartinFraunhofer IPA
Verl, AlexanderFraunhofer-Gesellschaft
 

14:50-15:10, Paper SaC8.5

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Rollin’ Justin – Design Considerations and Realization of a Mobile Platform for a Humanoid Upper Body
Fuchs, MatthiasGerman Aerospace Center
Borst, ChristophGerman Aerospace Center (DLR)
Robuffo Giordano, PaoloMax Planck Inst. for Biological Cybernetics
Baumann, AndreasGerman Aerospace Center
Krämer, ErichGerman Aerospace Center
Langwald, JörgDLR Oberpfaffenhofen
Gruber, RobinDeutsches Zentrum f. Luft- und Raumfahrt
Seitz, NikolausGerman Aerospace Center
Plank, GeorgGerman Aerospace Center
Kunze, KlausGerman Aerospace Center
Burger, RobertGerman Aerospace Center
Schmidt, FlorianGerman Aerospace Center
Wimboeck, ThomasGerman Aerospace Center (DLR)
Hirzinger, GerdGerman Aerospace Center (DLR)
 

SaC9 Regular Sessions, Room: 501

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Human-Robot Interaction - III  
 
Chair: Yamane, KatsuWalt Disney Imagineering Res. & Development, Inc.
Co-Chair: Sugi, MasaoThe Univ. of Tokyo
 

13:30-13:50, Paper SaC9.1

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Affordance Based Word-To-Meaning Association
Krunic, VericaInst. Superior Tecnico
Salvi, GiampieroIstituto Superior Técnico
Bernardino, AlexandreIST/ISR
Montesano, LuisInst. Superior Tecnico
Santos-Victor, JoséInst. Superior Técnico - Inst. for Systems and Robotics
 

13:50-14:10, Paper SaC9.2

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Prediction and Imitation of Other’s Motions by Reusing Own Forward-Inverse Model in Robots
Ogata, TetsuyaKyoto Univ.
Yokoya, RyunosukeKyoto Univ.
Tani, JunRiken
Komatani, KazunoriKyoto Univ.
Okuno, Hiroshi G.Kyoto Univ.
 

14:10-14:30, Paper SaC9.3

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Information Retrieval System for Human-Robot Communication - Asking for Directions
Bauer, AndreaTech. Univ. München
Wollherr, DirkTech. Univ. München
Buss, MartinTech. Univ. München
 

14:30-14:50, Paper SaC9.4

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The Curious Robot - Structuring Interactive Robot Learning
Lütkebohle, IngoBielefeld Univ.
Peltason, JuliaBielefeld Univ.
Schillingmann, LarsBielefeld Univ.
Elbrechter, ChristofBielefeld Univ.
Wrede, BrittaBielefeld Univ.
Wachsmuth, SvenBielefeld Univ.
Haschke, RobertBielefeld Univ.
 

14:50-15:10, Paper SaC9.5

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What to Do and How to Do It: Large Translating Natural Language Directives into Temporal and Dynamic Logic Representation for Goal Management and Action Execution
Dzifcak, JurajArizona state Univ.
Scheutz, MatthiasIndiana Univ. Bloomington
Baral, ChittaArizona State Univ.
Schermerhorn, PaulIndiana Univ.
 

SaC10 Regular Sessions, Room: 502

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Autonomous Navigation - IV  
 
Chair: Luo, Zhi-WeiKobe Univ.
Co-Chair: Ogasawara, TsukasaNara Inst. of Science and Tech.
 

13:30-13:50, Paper SaC10.1

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Active Exploration Using Scheme of Autonomous Distribution for Landmarks
Yuan, JingNankai Univ.
Huang, YalouNankai Univ.
Sun, FengchiNankai Univ.
Tao, TongNankai Univ.
 

13:50-14:10, Paper SaC10.2

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Spectral Clustering for Feature-Based Metric Maps Partitioning in a Hybrid Mapping Framework
Vazquez Martin, RicardoUniv. of Malaga
Núñez Trujillo, PedroUniv. de Málaga
Bandera, AntonioUniv. de Málaga
Sandoval, FranciscoUniv. Málaga
 

14:10-14:30, Paper SaC10.3

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Local Decomposition and Observability Properties for Automatic Calibration in Mobile Robotics
Martinelli, AgostinoINRIA Grenoble-Rhone-Alpes
 

14:30-14:50, Paper SaC10.4

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Vision-Aided Inertial Navigation on an Uncertain Map Using a Particle Filter
Durrie, JasonUniv. of Colorado - Boulder
Gerritsen, TristanUniv. of Colorado - Boulder
Frew, Eric W.Univ. of Colorado
Pledgie, StephenMosaic ATM
 

SaC11 Regular Sessions, Room: 503

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Biologically-Inspired Robots - VII  
 
Chair: Sitti, MetinCarnegie Mellon Univ.
Co-Chair: Tahara, KenjiKyushu Univ.
 

13:30-13:50, Paper SaC11.1

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Basic Study of Biarticular Muscle's Effect on Muscular Internal Force Control Based on Physiological Hypotheses
Kino, HitoshiFukuoka Inst. of Tech.
Kikuchi, ShirouFukuoka Inst. of Tech.
Yahiro, ToshiakiIzumo Murata Manufacturing Co., Ltd.
Tahara, KenjiKyushu Univ.
 

13:50-14:10, Paper SaC11.2

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Stable Dynamic Walking of a Quadruped Via Phase Modulations against Small Disturbances
Maufroy, ChristopheUniv. of Electro-Communications
Kimura, HiroshiKyoto Inst. of Tech.
Takase, KunikatsuUniv. of Electro-communications
 

14:10-14:30, Paper SaC11.3

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Aerodynamic Effects of Wing Flexibility in Flapping Flight
Zhao, LiangUniv. of Delaware
Huang, QingfengUniv. of Delaware
Deng, XinyanUniv. of Delaware
Sane, SanjayNational Center for Biological Sciences
 

14:30-14:50, Paper SaC11.4

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Directionality Control and Flight Stability of Takeoff

Zabala, FranciscoCalifornia Inst. of Tech.
 

SaC12 Regular Sessions, Room: 504

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Medical Robotics - V  
 
Chair: Gangloff, JacquesStrasbourg I Univ.
Co-Chair: Arai, FumihitoTohoku Univ.
 

13:30-13:50, Paper SaC12.1

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Quantitative Assessment of the Surgical Training Methods with the Suture/Ligature Training System WKS-2RII
Solis, JorgeWaseda Univ.
Oshima, NobukiWaseda Univ.
Ishii, HiroyukiWaseda Univ.
Matsuoka, NoriyukiKyoto Kagaku
Takanishi, AtsuoWaseda Univ.
Hatake, Kazuyuki KYOTOKAGAKU co., Ltd.
 

13:50-14:10, Paper SaC12.2

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Planning and Control of a Teleoperation System for Research in Minimally Invasive Robotic Surgery
Tobergte, AndreasGerman Aerospace Centre
Konietschke, RainerDLR (German Aerospace Center)
Hirzinger, GerdGerman Aerospace Center (DLR)
 

14:10-14:30, Paper SaC12.3

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Physiological Motion Rejection in Flexible Endoscopy Using Visual Servoing and Repetitive Control : Improvements on Non-Periodic Reference Tracking and Non-Periodic Disturbance Rejection
Ott, LaurentLSIIT - AVR - Univ. of Strasbourg
Nageotte, FlorentUniv. of Strasbourg
Zanne, PhilippeUniv. of Strasbourg
de Mathelin, MichelUniv. of Strasbourg
 

14:30-14:50, Paper SaC12.4

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Tissue Property Estimation and Graphical Display for Teleoperated Robot-Assisted Surgery
Yamamoto, TomonoriThe Johns Hopkins Univ.
Vagvolgyi, BalazsJohns Hopkins Univ.
Balaji, KaminiThe Johns Hopkins Univ.
Whitcomb, LouisThe Johns Hopkins Univ.
Okamura, Allison M.Johns Hopkins Univ.
 

14:50-15:10, Paper SaC12.5

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Effect of Time Delay on TeleSurgical Performance
Lum, MitchellUniv. of Washington
Rosen, JacobUniv. of California at Santa Cruz
Sinanan, Mika N.Univ. of Washington
Hannaford, BlakeUniv. of Washington
Lendvay, ThomasUniv. of Washnington
 

SaC13 Regular Sessions, Room: 505

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Cellular and Modular Robots  
 
Chair: Fukuda, ToshioNagoya Univ.
Co-Chair: Billard, AudeEPFL
 

13:30-13:50, Paper SaC13.1

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SINGO: A Single-End-Operative and Genderless Connector for Self-Reconfiguration, Self-Assembly and Self-Healing
Shen, Wei-MinUSC Information Science Inst.
Kovac, RobertJet Propulsion Lab.
Rubenstein, MichaelUniv. of southern california
 

13:50-14:10, Paper SaC13.2

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Roombots—Mechanical Design of Self-Reconfiguring Modular Robots for Adaptive Furniture
Sproewitz, AlexanderEPFL
Billard, AudeEPFL
Dillenbourg, PierreEPFL
Ijspeert, AukeEPFL
 

14:10-14:30, Paper SaC13.3

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Using a Pocket-Filling Strategy for Distributed Reconfi Guration of a System of Hexagonal Metamorphic Robots in an Obstacle-Cluttered Environment
Walter, JenniferVassar Coll.
Matysik, StephenVassar Coll.
 

14:30-14:50, Paper SaC13.4

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A Virtual Machine-Based Approach for Fast and Flexible Reprogramming of Modular Robots
Bordignon, MirkoUniv. of Southern Denmark
Stoy, KasperUniv. of Southern Denmark
Schultz, Ulrik PaghUniv. of Southern Denmark
 

14:50-15:10, Paper SaC13.5

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A Self-Repairing Structure for Modules and Its Control by Vibrating Actuation Mechanisms
Shimizu, MasahiroUniv. of Tsukuba
Suzuki, KenjiUniv. of Tsukuba
 

SaD1 Regular Sessions, MainHall

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Localization - IV  
 
Chair: Bennewitz, MarenUniv. of Freiburg
Co-Chair: Filliat, DavidENSTA
 

15:30-15:50, Paper SaD1.1

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Utilizing Reflection Properties of Surfaces to Improve Mobile Robot Localization
Bennewitz, MarenUniv. of Freiburg
Stachniss, CyrillUniv. of Freiburg
Behnke, SvenUniv. of Bonn
Burgard, WolframUniv. of Freiburg
 

15:50-16:10, Paper SaD1.2

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Real-Time Monocular Visual Odometry for On-Road Vehicles with 1-Point RANSAC
Scaramuzza, DavideETH Zurich
Fraundorfer, FriedrichETH Zurich
Siegwart, RolandETH Zurich
 

16:10-16:30, Paper SaD1.3

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Visual Topological SLAM and Global Localization
Angeli, AdrienUniv. Pierre et Marie Curie
Filliat, DavidENSTA
Doncieux, StéphanePierre and Marie Curie Univ.
Meyer, Jean-ArcadyUPMC CNRS
 

16:30-16:50, Paper SaD1.4

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Robust 3D SLAM with a Stereo Camera Based on an Edge-Point ICP Algorithm
Tomono, MasahiroChiba Inst. of Tech.
 

16:50-17:10, Paper SaD1.5

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Continuous 3D Scan-Matching with a Spinning 2D Laser
Bosse, MichaelCSIRO ICT Centre
Zlot, RobertCSIRO
 

SaD2 Regular Sessions, Room: ICR

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Teleoperation  
 
Chair: Yokokohji, YasuyoshiKyoto Univ.
Co-Chair: Niemeyer, GunterStanford Univ.
 

15:30-15:50, Paper SaD2.1

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Tuning the Gains of Haptic Couplings to Improve Force Feedback Stability in Nanorobotics
Bolopion, AudeUniv. Pierre et Marie-Curie, Paris 6
Cagneau, BarthélemyUniv. Pierre et Marie Curie, Paris6
Haliyo, Dogan SinanUniv. Paris 6
Régnier, StéphaneUniv. Paris 6
 

15:50-16:10, Paper SaD2.2

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Bilateral Teleoperation with Time Delay Using Modified Wave Variable Based Controller
Kawashima, KenjiTokyo Inst. of Tech.
Tadano, KotaroTokyo Inst. of Tech.
Wang, CongTokyo Inst. of Tech.
Sankaranarayanan, GaneshRensselaer Pol. Inst.
Hannaford, BlakeUniv. of Washington
 

16:10-16:30, Paper SaD2.3

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Asymptotic Stability of Teleoperators with Variable Time-Delays
Nuño, EmmanuelTech. Univ. of Catalonia
Basanez, LuisTech. Univ. of Catalonia
Prada, MiguelTech. Univ. of Catalonia
 

16:30-16:50, Paper SaD2.4

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Passive Event-Based Extrapolation for Lossy Haptic Data Compression in Bilateral Presence Systems
Kremer, PhilippGerman Aerospace Center (DLR)
Kuschel, MartinTech. Univ. München
Preusche, CarstenDLR
Buss, MartinTech. Univ. München
Hirzinger, GerdGerman Aerospace Center (DLR)
 

16:50-17:10, Paper SaD2.5

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Global Transparency Analysis of the Lawrence Teleoperator Architecture
Naerum, EdvardUniv. of Oslo
Hannaford, BlakeUniv. of Washington
 

SaD8 Regular Sessions, Room: 406

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Mechanism Design  
 
Chair: Song, Jae-BokKorea Univ.
Co-Chair: Tsagarakis, NikolaosItalian Inst. of Tech. (IIT)
 

15:30-15:50, Paper SaD8.1

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Design and Development of a Low-Cost Flexure-Based Hand-Held Mechanism for Micromanipulation
Tan, U-XuanNanyang Tech. Univ.
Tun Latt, WinNanyang Tech. Univ.
Shee, Cheng YapNanyang Tech. Univ. Singapore
Ang, Wei TechNanyang Tech. Univ.
 

15:50-16:10, Paper SaD8.2

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A Compact Soft Actuator Unit for Small Scale Human Friendly Robots
Tsagarakis, NikolaosItalian Inst. of Tech. (IIT)
Laffranchi, MatteoItalian Inst. of Tech.
Vanderborght, BramVrije Univ. Brussel
Caldwell, Darwin G.Italian Inst. of Tech.
 

16:10-16:30, Paper SaD8.3

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A Variable Stiffness Joint Using Leaf Springs for Robot Manipulators
Choi, JunhoKorea Inst. of Science & Tech.
Hong, SeonghunKorea Inst. of Science and Tech.
Lee, WoosubKorea Inst. of Science and Tech.
Kang, SungchulKorea Inst. of Science & Tech.
 

16:30-16:50, Paper SaD8.4

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Design Methodologies of a Hybrid Actuation Approach for a Human-Friendly Robot
Shin, DongjunStanford Univ.
Khatib, OussamaStanford Univ.
Cutkosky, MarkStanford Univ.
 

16:50-17:10, Paper SaD8.5

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Crawling by Body Deformation of Tensegrity Structure Robots
Shibata, MizuhoRitsumeikan Univ.
Saijyo, FumioRitsumeikan Univ.
Hirai, ShinichiRitsumeikan Univ.
 

SaD10 Regular Sessions, Room: 502

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Autonomous Navigation - V  
 
Chair: Roumeliotis, StergiosUniv. of Minnesota
Co-Chair: Schleicher, DavidUniv. of Alcala
 

15:30-15:50, Paper SaD10.1

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Real-Time Hierarchical GPS Aided Visual SLAM on Urban Environments
Schleicher, DavidUniv. of Alcala
Bergasa, Luis MiguelUniv. of Alcala
Ocaña, ManuelUniv. of Alcala
Barea, RafaelUniv. of Alcala
Lopez, ElenaUniv. of Alcala
 

15:50-16:10, Paper SaD10.2

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Real-Time Correlative Scan Matching
Olson, EdwinUniv. of Michigan
 

16:10-16:30, Paper SaD10.3

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Cooperative Multi-Robot Localization under Communication Constraints
Trawny, NikolasUniv. of Minnesota
Roumeliotis, StergiosUniv. of Minnesota
Giannakis, Georgios B.Univ. of Minnesota
 

16:30-16:50, Paper SaD10.4

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On the Complexity and Consistency of UKF-Based SLAM
Huang, GuoquanUniv. of Minnesota
Mourikis, AnastasiosUniv. of California, Riverside
Roumeliotis, StergiosUniv. of Minnesota
 

SaD11 Regular Sessions, Room: 503

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Biorobotics  
 
Chair: Yamakita, MasakiTokyo Inst. of Tech.
Co-Chair: Dario, PaoloScuola Superiore Sant'Anna
 

15:30-15:50, Paper SaD11.1

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The Role of Small Redundant Actuators in Precise Manipulation
Balasubramanian, RaviUniv. of Washington
Matsuoka, YokyUniv. of Washington
 

15:50-16:10, Paper SaD11.2

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Anatomically Correct Testbed Hand Control: Muscle and Joint Control Strategies
Deshpande, AshishUniv. of Washington
Ko, JonathanUniv. of Washington
Fox, DieterUniv. of Washington
Matsuoka, YokyUniv. of Washington
 

16:10-16:30, Paper SaD11.3

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Exploiting Angular Momentum to Enhance Bipedal Center-Of-Mass Control
Hofmann, AndreasMIT
Popovic, MarkoMIT
Herr, HughMassachusetts Inst. of Tech.
 

16:30-16:50, Paper SaD11.4

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Human Brain-Teleoperated Robot between Remote Places
Escolano, CarlosUniv. of Zaragoza
Antelis, JavierUniv. of Zaragoza
Minguez, JavierUniv. of Zaragoza
 

16:50-17:10, Paper SaD11.5

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Continuous Vocal Imitation with Self-Organized Vowel Spaces in Recurrent Neural Network
Kanda, HisashiInformatics, Kyoto Univ.
Ogata, TetsuyaKyoto Univ.
Takahashi, ToruKyoto Univ.
Komatani, KazunoriKyoto Univ.
Okuno, Hiroshi G.Kyoto Univ.
 

SaD12 Regular Sessions, Room: 504

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Medical Robotics - VI  
 
Chair: Noritsugu, ToshiroOkayama Univ.
Co-Chair: Merlet, Jean-PierreINRIA
 

15:30-15:50, Paper SaD12.1

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Capsular Microrobot Using Directional Friction Spiral
Yim, SehyukSogang Univ.
Jeon, DoyoungSogang Univ.
 

15:50-16:10, Paper SaD12.2

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Design of a Robotic System for MRI-Guided Deep Brain Stimulation Electrode Placement
Cole, GregoryWorcester Pol. Inst.
Pilitsis, JulieUMass Memorial Medical Center
Fischer, GregoryWorcester Pol. Inst.
 

16:10-16:30, Paper SaD12.3

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Toward Ischemia Dynamics Based Medical Diagnosis
Kaneko, MakotoOsaka Univ.
Mizuta, TomohiroOsaka Univ.
Higashimori, MitsuruOsaka Univ.
 

16:30-16:50, Paper SaD12.4

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A Stereoscopic Fibroscope for Camera Motion and 3D Depth Recovery During Minimally Invasive Surgery
Noonan, DavidImperial Coll. London
Mountney, PeterImperial Coll. London
Elson, DanielImperial Coll. London
Darzi, AraImperial Coll. London
Yang, Guang-ZhongImperial Coll. London
 

16:50-17:10, Paper SaD12.5

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Development of Pressure-Driven Micro Active Catheter Using Membrane Micro Emboss Following Excimer Laser Ablation (MeME-X) Process
Ikeuchi, MasashiNagoya Univ.
Ikuta, KojiNagoya Univ.