2011 IEEE International Conference on Robotics and Automation
May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

Program at a Glance    Tuesday    Wednesday    Thursday    Author Index    Keyword Index    My Program  

Last updated on March 28, 2011. This conference program is tentative and subject to change

Technical Program for Thursday May 12, 2011

 
ThA101 Regular Sessions, Room 3B Add to My Program 
Aerial Robotics V  
 
Chair: Huang, LoulinAuckland Univ. of Tech.
Co-Chair: Xiao, JizhongCity Coll. of New York
 
08:20-08:35, Paper ThA101.1 Add to My Program
An Approach for Robust Control of a Twin-Rotor Multiple Input Multiple Output System
Huang, LoulinAuckland Univ. of Tech.
 
08:35-08:50, Paper ThA101.2 Add to My Program
Path Planning Based on Genetic Algorithms and the Monte-Carlo Method to Avoid Aerial Vehicle Collisions under Uncertainties
Cobano, Jose A.Univ. o Seville
Conde, RobertoUniv. of Seville
Alejo, DavidUniv. of Seville
Ollero, AnibalUniv. of Seville
 
08:50-09:05, Paper ThA101.3 Add to My Program
Non-Parametric UAV System Identification with Dependent Gaussian Processes
Hemakumara, Madu PrasadThe Univ. of Sydney
Sukkarieh, SalahUniv. of Sydney
 
09:05-09:20, Paper ThA101.4 Add to My Program
Low Accuracy Sensor-Based Navigation and Fully Autonomous Guidance Control of Small Electric Helicopter
Suzuki, SatoshiShinshu Univ.
 
09:20-09:35, Paper ThA101.5 Add to My Program
An Open-Source Pose Estimation System for Micro-Air Vehicles
Dryanovski, IvanThe Graduate Center, The City Univ. of New York (CUNY)
Morris, WilliamCity Coll. of New York
Xiao, JizhongCity Coll. of New York
 
ThA102 Regular Sessions, Room 3C Add to My Program 
Planning, Scheduling and Coordination  
 
Chair: Kulich, MiroslavCzech Tech. Univ. in Prague
Co-Chair: Muhammad, AbubakrLUMS School of Science & Engineering, Pakistan
 
08:20-08:35, Paper ThA102.1 Add to My Program
On Distance Utility in the Exploration Task
Kulich, MiroslavCzech Tech. Univ. in Prague
Faigl, JanCzech Tech. Univ. in Prague, FacultyofElectricalEngine
Preucil, LiborCzech Tech. Univ. in Prague
 
08:35-08:50, Paper ThA102.2 Add to My Program
To Look or Not to Look: A Hierarchical Representation for Visual Planning on Mobile Robots
Zhang, ShiqiTexas Tech. Univ.
Sridharan, MohanTexas Tech. Univ.
Li, XiangTexas Tech. Univ.
 
08:50-09:05, Paper ThA102.3 Add to My Program
Decentralized Task Sequencing and Multiple Mission Control for Heterogeneous Robotic Networks
Gasparri, AndreaUniv. degli Studi Roma Tre
Di Paola, DonatoItalian National Res. Council (CNR)
Ulivi, GiovanniUniv. di Roma Tre
Naso, DavidPol. di Bari
Lewis, FrankAutomation & Robotics Res. Inst. TheUniversityofTexas at
 
09:05-09:20, Paper ThA102.4 Add to My Program
Spectral Properties of Expansive Configuration Spaces: An Empirical Study
Hayat, MhequbLUMS School of Science & Engineering, Pakistan
Muhammad, AbubakrLUMS School of Science & Engineering, Pakistan
 
09:20-09:35, Paper ThA102.5 Add to My Program
Unscented Predictive Motion Planning of a Nonholonomic System
Farrokhsiar, MortezaUBC
Najjaran, HomayounUniv. of British Columbia
 
ThA103 Regular Sessions, Room 3D Add to My Program 
Path Planning for Multiple Robots I  
 
Chair: Chen, WeihaiBeijing Univ. of Aeronaurics and Astronautics
Co-Chair: Haumann, A. DominikTech. Univ. Darmstadt
 
08:20-08:35, Paper ThA103.1 Add to My Program
DisCoverage for Non-Convex Environments with Arbitrary Obstacles
Haumann, A. DominikTech. Univ. Darmstadt
Breitenmoser, AndreasETH Zurich
Willert, VolkerTech. Univ. of Darmstadt
Listmann, Kim DanielTech. Univ. Darmstadt
Siegwart, RolandETH Zurich
 
08:35-08:50, Paper ThA103.2 Add to My Program
Homography-Based Multi-Robot Control with a Flying Camera
Lopez-Nicolas, GonzaloUniv. of Zaragoza
Mezouar, YoucefBlaise Pascal Univ.
Sagues, CarlosUniv. of Zaragoza
 
08:50-09:05, Paper ThA103.3 Add to My Program
Visibility-Based Deployment of Robot Formations for Communication Maintenance
Stump, EthanArmy Res. Lab.
Michael, NathanUniv. of Pennsylvania
Kumar, VijayUniv. of Pennsylvania
Isler, VolkanUniv. of Minnesota
 
09:05-09:20, Paper ThA103.4 Add to My Program
A Boolean Control Network Approach to Pursuit Evasion Problems in Polygonal Environments
Thunberg, JohanRoyal Inst. of Tech. (KTH)
Hu, XiaomingRoyal Inst. of Tech.
Ogren, PetterSwedish Defence Res. Agency
 
09:20-09:35, Paper ThA103.5 Add to My Program
Multi-Robot System for Artistic Pattern Formation
Alonso-Mora, JavierETH Zurich
Breitenmoser, AndreasETH Zurich
Rufli, MartinETH Zurich
Siegwart, RolandETH Zurich
Beardsley, PaulDisney Res. Zurich
 
ThA104 Regular Sessions, Room 3E Add to My Program 
Sensor Fusion I  
 
Chair: Martinelli, AgostinoINRIA Grenoble-Rhone-Alpes
Co-Chair: Luo, Ren C.National Taiwan Univ.
 
08:20-08:35, Paper ThA104.1 Add to My Program
Multi-Sensor Data Fusion in Sensor-Based Control: Application to Multi-Camera Visual Servoing
Kermorgant, OlivierINRIA Rennes-Bretagne Atlantique
Chaumette, FrancoisINRIA Rennes-Bretagne Atlantique
 
08:35-08:50, Paper ThA104.2 Add to My Program
Nonlinear Filter Design for Pose and IMU Bias Estimation
Scandaroli, Glauco GarciaINRIA Sophia-Antipolis-Mediteranée
Morin, PascalINRIA
 
08:50-09:05, Paper ThA104.3 Add to My Program
Real-Time Metric State Estimation for Modular Vision-Inertial Systems
Weiss, StephanETH Zurich
Siegwart, RolandETH Zurich
 
09:05-09:20, Paper ThA104.4 Add to My Program
Closed-Form Solution for Attitude and Speed Determination by Fusing Monocular Vision and Inertial Sensor Measurements
Martinelli, AgostinoINRIA Grenoble-Rhone-Alpes
 
09:20-09:35, Paper ThA104.5 Add to My Program
Closed-Form Solution for Absolute Scale Velocity Determination Combining Inertial Measurements and a Single Feature Correspondence
Kneip, LaurentETHZ
Martinelli, AgostinoINRIA Grenoble-Rhone-Alpes
Weiss, StephanETH Zurich
Scaramuzza, DavideETH Zurich
Siegwart, RolandETH Zurich
 
ThA105 Regular Sessions, Room 3G Add to My Program 
Manipulation Planning I  
 
Chair: Xiao, JingUNC-Charlotte
Co-Chair: Dragan, AncaCarnegie Mellon Univ.
 
08:20-08:35, Paper ThA105.1 Add to My Program
Part-Based Robot Grasp Planning from Human Demonstration
Aleotti, JacopoUniv. of Parma
Caselli, StefanoUniv. of Parma
 
08:35-08:50, Paper ThA105.2 Add to My Program
Addressing Cost-Space Chasms in Manipulation Planning
Berenson, DmitryCarnegie Mellon Univ.
Simeon, ThierryLAAS-CNRS
Srinivasa, SiddharthaIntel Lab. Pittsburgh
 
08:50-09:05, Paper ThA105.3 Add to My Program
STOMP: Stochastic Trajectory Optimization for Motion Planning
Kalakrishnan, MrinalUniv. of Southern California
Chitta, SachinWillow Garage Inc.
Theodorou, EvangelosUniv. of Southern California
Pastor, PeterUniv. of Southern California
Schaal, StefanUniv. of Southern California
 
09:05-09:20, Paper ThA105.4 Add to My Program
Combining High-Level Causal Reasoning with Low-Level Geometric Reasoning and Motion Planning for Robotic Manipulation
Erdem, Esrasabanci Univ.
Haspalamutgil, KadirSabanci Univ.
Palaz, CanSabanci Univ.
Patoglu, VolkanSabanci Univ.
Uras, Tanselsabanci Univ.
 
09:20-09:35, Paper ThA105.5 Add to My Program
Manipulation Planning with Goal Sets Using Constrained Trajectory Optimization
Dragan, AncaCarnegie Mellon Univ.
Ratliff, NathanIntel
Srinivasa, SiddharthaIntel Lab. Pittsburgh
 
ThA106 Regular Sessions, Room 5A Add to My Program 
Mechanism Design of Mobile Robots I  
 
Chair: Xiao, JizhongCity Coll. of New York
Co-Chair: Agrawal, SunilUniv. of Delaware
 
08:20-08:35, Paper ThA106.1 Add to My Program
Aquapod: Prototype Design of an Amphibious Tumbling Robot
Carlson, AndrewUniv. of Minnesota
Papanikolopoulos, NikosUniv. of Minnesota
 
08:35-08:50, Paper ThA106.2 Add to My Program
A Robust Miniature Robot Design for Land/Air Hybrid Locomotion
Kossett, AlexUniv. of Minnesota
Papanikolopoulos, NikosUniv. of Minnesota
 
08:50-09:05, Paper ThA106.3 Add to My Program
HangBot: A Ceiling Mobile Robot with Robust Locomotion under a Large Payload (Key Mechanisms Integration and Performance Experiments)
Fukui, RuiThe Univ. of Tokyo
Morishita, HiroshiThe Univ. of Tokyo
Mori, TaketoshiThe Univ. of Tokyo
Sato, TomomasaThe Univ. of Tokyo
 
09:05-09:20, Paper ThA106.4 Add to My Program
Towards Printable Robotics: Origami-Inspired Planar Fabrication of Three-Dimensional Mechanisms
Onal, Cagdas DenizelMassachusetts Inst. of Tech.
Wood, RobertHarvard Univ.
Rus, DanielaMIT
 
09:20-09:35, Paper ThA106.5 Add to My Program
Development of a Controllable and Continuous Jumping Robot
Zhao, JianguoMichigan State Univ.
Xi, NingMichigan State Univ.
Gao, BingtuanSoutheast Univ.
Mutka, MattMichigan State Uinversity
Xiao, LiMichigan State Univ.
 
ThA107 Regular Sessions, Room 5B Add to My Program 
Variable Stiffness Actuators I  
 
Chair: Song, Jae-BokKorea Univ.
Co-Chair: Caldwell, Darwin G.Italian Inst. of Tech.
 
08:20-08:35, Paper ThA107.1 Add to My Program
Object Grasping Using a 1 DOF Variable Stiffness Gripper Actuated by a Hybrid Variable Stiffness Actuator
Kim, Byeong-SangKorea Univ.
Song, Jae-BokKorea Univ.
 
08:35-08:50, Paper ThA107.2 Add to My Program
Comparative Evaluation of the Selective Compliance in Elastic Joints for Robotic Structures
Berselli, GiovanniUniv. di Bologna
Piccinini, MarcoUniv. of Bologna
Vassura, GabrieleUniv. of Bologna
 
08:50-09:05, Paper ThA107.3 Add to My Program
Exploiting Natural Dynamics for Energy Minimization Using an Actuator with Adjustable Stiffness (AwAS)
Jafari, AmirItalian Inst. of Tech.
Tsagarakis, NikolaosItalian Inst. of Tech. (IIT)
Caldwell, Darwin G.Italian Inst. of Tech.
 
09:05-09:20, Paper ThA107.4 Add to My Program
AwAS-II: A New Actuator with Adjustable Stiffness Based on the Novel Principle of Adaptable Pivot Point and Variable Lever Ratio
Jafari, AmirItalian Inst. of Tech.
Tsagarakis, NikolaosItalian Inst. of Tech. (IIT)
Caldwell, Darwin G.Italian Inst. of Tech.
 
09:20-09:35, Paper ThA107.5 Add to My Program
A Compact Compliant Actuator (CompAct™) with Variable Physical Damping
Laffranchi, MatteoItalian Inst. of Tech.
Tsagarakis, NikolaosItalian Inst. of Tech. (IIT)
Caldwell, Darwin G.Italian Inst. of Tech.
 
ThA108 Regular Sessions, Room 5C Add to My Program 
Rehabilitation Robotics V  
 
Chair: Zhang, DingguoSJTU
Co-Chair: Morel, GuillaumeUniv. Pierre et Marie Curie - Paris 6
 
08:20-08:35, Paper ThA108.1 Add to My Program
Comparing Continuous and Intermittent Assistance Controllers for Assistive Devices
Morbi, AliasgarCarleton Univ.
Ahmadi, MojtabaCarleton Univ.
Chan, Adrian Dart CheongCarleton Univ.
Langlois, Robert G.Carleton Univ.
 
08:35-08:50, Paper ThA108.2 Add to My Program
Changing Human Upper-Limb Synergies with an Exoskeleton Using Viscous Fields
Crocher, VincentUniv. Pierre et Marie Curie - Paris 6, ISIR, CNRS-UMR 7222
Jarrassé, NathanaëlUniv. Pierre et Marie Curie - Paris6
Sahbani, AnisUniv. Pierre et Marie Curie - Paris 6
Roby Brami, AgnčsUniv. René Descartes Paris V
Morel, GuillaumeUniv. Pierre et Marie Curie - Paris 6
 
08:50-09:05, Paper ThA108.3 Add to My Program
Development of Drawing Assist System for Patients with Cerebral Palsy of the Tension Athetosis Type
Aoyama, HiroakiGifu Univ.
Nakao, TomoyukiGifu Univ.
Miyagawa, NarutoGifu Pref. Res. Inst. for Human Life Tech.
Kubota, NaokiGifu Pref. Res. Inst. for Human Life Tech.
Horihata, SatoshiNihon Univ.
Yano, Ken'ichiMie Univ.
 
09:05-09:20, Paper ThA108.4 Add to My Program
EMG Controlled Multifunctional Prosthetic Hand: Preliminary Clinical Study and Experimental Demonstration
Zhang, DingguoSJTU
 
09:20-09:35, Paper ThA108.5 Add to My Program
Development of a Robot Which Can Simulate Swallowing of Food Boluses with Various Properties for the Study of Rehabilitation of Swallowing Disorders
Noh, YohanWaseda Univ.
Segawa, MasanaoWaseda Univ.
Sato, KeiWaseda Univ.
Wang, ChunbaoWaseda Univ.
Ishii, HiroyukiWaseda Univ.
Solis, JorgeWaseda Univ.
Takanishi, AtsuoWaseda Univ.
Katsumata, AkitoshiAsahi Univ.
Iida, YukihiroAsahi Univ. School of Dentistry
 
ThA109 Regular Sessions, Room 5D Add to My Program 
Redundant Robots  
 
Chair: Maciejewski, Anthony A.Colorado State Univ.
Co-Chair: Ota, YusukeChiba Inst. of Tech.
 
08:20-08:35, Paper ThA109.1 Add to My Program
Iterative Learning Scheme for a Redundant Manipulator: Skilled Hand Writing Motion on an Arbitrary Smooth Surface
Tahara, KenjiKyushu Univ.
Arimoto, SuguruRitsumeikan Univ.
 
08:35-08:50, Paper ThA109.2 Add to My Program
Optimal Fault Tolerant Jacobian Matrix Generators for Redundant Manipulators
Abdi, HamidDeakin Univ.
Nahavandi, SaeidDeakin Univ.
Maciejewski, Anthony A.Colorado State Univ.
 
08:50-09:05, Paper ThA109.3 Add to My Program
The DLR Robot Motion Simulator Part I: Design and Setup
Bellmann, TobiasGerman Aerospace Center
Heindl, JohannGerman Aerospace Center
Hellerer, MatthiasGerman Aerospace Center
Kuchar, RichardGerman Aerospace Center
Sharma, KaranGerman Aerospace Center
Hirzinger, GerdGerman Aerospace Center (DLR)
 
09:05-09:20, Paper ThA109.4 Add to My Program
The DLR Robot Motion Simulator Part II: Optimization Based Path-Planning
Bellmann, TobiasGerman Aerospace Center
Otter, MartinDLR
Hirzinger, GerdGerman Aerospace Center (DLR)
 
09:20-09:35, Paper ThA109.5 Add to My Program
Examples of Planar Robot Kinematic Designs from Optimally Fault-Tolerant Jacobians
Ben-Gharbia, KhaledColorado State Univ.
Roberts, RodneyFlorida State Univ.
Maciejewski, Anthony A.Colorado State Univ.
 
ThA110 Regular Sessions, Room 5E Add to My Program 
Localization I  
 
Chair: Beinhofer, MaximilianUniv. of Freiburg
Co-Chair: Jenkin, MichaelYork Univ.
 
08:20-08:35, Paper ThA110.1 Add to My Program
Pose Estimation Using Both Points and Lines for Geo-Localization
Ramalingam, SrikumarMitsubishi Electric Res. Lab.
Bouaziz, SofienEPFL
Sturm, PeterINRIA Rhone Alpes
 
08:35-08:50, Paper ThA110.2 Add to My Program
Experimental Comparison of Bounded-Error State Estimation and Constraints Propagation
Vincke, BastienIEF Univ. de Paris Sud-XI
Lambert, AlainInst. d'Electronique Fondamentale
 
08:50-09:05, Paper ThA110.3 Add to My Program
6DOF Pose Estimation Using 3D Sensors
Verzijlenberg, BartYork Univ.
Jenkin, MichaelYork Univ.
 
09:05-09:20, Paper ThA110.4 Add to My Program
Determining the Robot-To-Robot 3D Relative Pose Using Combinations of Range and Bearing Measurements (Part II)
Zhou, XunUniv. of Minnesota
Roumeliotis, StergiosUniv. of Minnesota
 
09:20-09:35, Paper ThA110.5 Add to My Program
Near-Optimal Landmark Selection for Mobile Robot Navigation
Beinhofer, MaximilianUniv. of Freiburg
Mueller, JoergUniv. of Freiburg
Burgard, WolframUniv. of Freiburg
 
ThA111 Regular Sessions, Room 5F Add to My Program 
Grasping, Tactile Sensing and Force Control  
 
Chair: Palli, GianlucaUniv. of Bologna
Co-Chair: Bekiroglu, YaseminKTH
 
08:20-08:35, Paper ThA111.1 Add to My Program
Integrating Grasp Planning with Online Stability Assessment Using Tactile Sensing
Bekiroglu, YaseminKTH
Huebner, KaiRoyal Inst. of Tech. (KTH), Stockholm
Kragic, DanicaKTH
 
08:35-08:50, Paper ThA111.2 Add to My Program
Friction Compensation and Virtual Force Sensing for Robotic Hands
Borghesan, GianniK.U.Leuven
Palli, GianlucaUniv. of Bologna
Melchiorri, ClaudioUniv. of Bologna
 
08:50-09:05, Paper ThA111.3 Add to My Program
Green Strain Based FE Modeling of Rheological Objects for Handling Large Deformation and Rotation
Wang, ZhongkuiRitsumeikan Univ.
Hirai, ShinichiRitsumeikan Univ.
 
09:05-09:20, Paper ThA111.4 Add to My Program
Going Beyond the Perception of Affordances: Learning How to Actualize Them through Behavioral Parameters
Ugur, EmreAdvanced Telecommunications Res. Inst. International
Oztop, ErhanATR / NICT
Sahin, ErolMiddle East Tech. Univ.
 
09:20-09:35, Paper ThA111.5 Add to My Program
Measurement Crosstalk Elimination of Torque Encoder Using Selectively Compliant Suspension
Kaminaga, HiroshiThe Univ. of Tokyo
Odanaka, KoheiThe Univ. of Tokyo
Kawakami, TomohiroUniv. of Tokyo
Nakamura, YoshihikoUniv. of Tokyo
 
ThA112 Regular Sessions, Room 5H Add to My Program 
Distributed Robot Systems III  
 
Chair: Bird, NathanielOhio Northern Univ.
Co-Chair: Gini, MariaUniv. of Minnesota
 
08:20-08:35, Paper ThA112.1 Add to My Program
Decentralised Control of Robot Teams with Discrete and Continuous Decision Variables
Xu, ZheThe Univ. of Sydney
Sukkarieh, SalahUniv. of Sydney
 
08:35-08:50, Paper ThA112.2 Add to My Program
Graph-Based Distributed Cooperative Navigation
Indelman, VadimTech. - Israel Inst. of Tech.
Gurfil, PiniTech.
Rivlin, EhudThe Tech.
Rotstein, HectorRafael - Advanced Defense Systems Ltd.
 
08:50-09:05, Paper ThA112.3 Add to My Program
Sustainable Multi-Robot Patrol of an Open Polyline
Jensen, ElizabethUniv. of Minnesota
Franklin, MichaelUniv. of Minnesota
Lahr, SaraUniv. of Minnesota
Gini, MariaUniv. of Minnesota
 
09:05-09:20, Paper ThA112.4 Add to My Program
Recognition of Traitors in Distributed Robotic Teams
Bird, NathanielOhio Northern Univ.
Papanikolopoulos, NikosUniv. of Minnesota
 
09:20-09:35, Paper ThA112.5 Add to My Program
A Distributed Reconfiguration Strategy for Target Enveloping with Hexagonal Metamorphic Modules
Miao, YizhouZhejiang Univ.
Yan, GangfengZhejiang Univ.
Lin, ZhiyunZhejiang Univ.
 
ThA113 Regular Sessions, Room 5I Add to My Program 
Medical Robots and Systems V  
 
Chair: Sitti, MetinCarnegie Mellon Univ.
Co-Chair: Guo, ShuxiangKagawa Univ.
 
08:20-08:35, Paper ThA113.1 Add to My Program
Design and Analysis of a Magnetically Actuated and Compliant Capsule Endoscopic Robot
Yim, SehyukCarnegie Mellon Univ.
Sitti, MetinCarnegie Mellon Univ.
 
08:35-08:50, Paper ThA113.2 Add to My Program
EKF Monocular SLAM with Relocalization for Laparoscopic Sequences
Grasa, Oscar G.Univ. de Zaragoza
Civera, JavierUniv. de Zaragoza
Montiel, J.M.MUniv. de Zaragoza
 
08:50-09:05, Paper ThA113.3 Add to My Program
Towards Closed Loop Control of a Continuum Robotic Manipulator for Medical Applications
Penning, RyanUniv. of Wisconsin-Madison
Jung, JinwooUniv. of Wisconsin-Madison
Borgstadt, JustinUniv. of Wisconsin - Madison
Ferrier, NicolaUniv. of Wisconsin-Madison
Zinn, MichaelUniv. of Wisconsin - Madison
 
09:05-09:20, Paper ThA113.4 Add to My Program
Force Feedback Teleoperation with a Periodical Disturbance Compensation
Joinié-Maurin, MathieuUniv. of Strasbourg
Bayle, BernardUniv. of Strasbourg
Gangloff, JacquesUniv. of Strasbourg
 
09:20-09:35, Paper ThA113.5 Add to My Program
A Study of Needle Image Artifact Localization in Confirmation Imaging of MRI-Guided Robotic Prostate Biopsy
Song, Sang-EunThe Johns Hopkins Univ.
Cho, Nathan BongjoonJohns Hopkins Univ.
Iordachita, IulianJohns Hopkins Univ.
Guion, PeterNational Inst. of Health
Fichtinger, GaborQueen's Univ.
Whitcomb, LouisThe Johns Hopkins Univ.
 
ThA114 Regular Sessions, Room 5J Add to My Program 
Computer Vision I: Model  
 
Chair: Jia, ZhenUnited Tech. Res. Center
Co-Chair: Kriegel, SimonGerman Aerospace Center (DLR)
 
08:20-08:35, Paper ThA114.1 Add to My Program
Tuning Optical Flow Estimation with Image-Driven Functions
Nguyen, Duc DungSungkyunkwan Univ.
Jeon, Jae WookSungkyunkwan Univ.
 
08:35-08:50, Paper ThA114.2 Add to My Program
Graphical State Space Programming: A Visual Programming Paradigm for Robot Task Specification
Li, JimmyMcGill Univ.
Xu, AnqiMcGill Univ.
Dudek, GregoryMcGill Univ.
 
08:50-09:05, Paper ThA114.3 Add to My Program
A Visual Language Model for Estimating Object Pose and Structure in a Generative Visual Domain
Narayanaswamy, SiddharthPurdue Univ.
Barbu, AndreiPurdue Univ.
Siskind, Jeffrey MarkPurdue Univ.
 
09:05-09:20, Paper ThA114.4 Add to My Program
Parametrized Shape Models for Clothing
Miller, StephenUniv. of Califonia at Berkeley
Fritz, MarioICSI & UC Berkeley
Darrell, TrevorUC Berkeley
Abbeel, PieterUC Berkeley
 
09:20-09:35, Paper ThA114.5 Add to My Program
A Surface-Based Next-Best-View Approach for Automated 3D Model Completion of Unknown Objects
Kriegel, SimonGerman Aerospace Center (DLR)
Bodenmueller, TimGerman Aerospace Center (DLR)
Suppa, MichaelGerman Aerospace Center (DLR)
Hirzinger, GerdGerman Aerospace Center (DLR)
 
ThA201 Regular Sessions, Room 3B Add to My Program 
Nonholonomic Motion Planning  
 
Chair: Kuipers, BenjaminUniv. of Michigan
Co-Chair: Bekris, Kostas E.Univ. of Nevada, Reno
 
10:05-10:20, Paper ThA201.1 Add to My Program
Shortest Paths with Side Sensors
Salaris, PaoloUniv. of Pisa
Pallottino, LuciaUniv. di Pisa
Bicchi, AntonioUniv. of Pisa
 
10:20-10:35, Paper ThA201.2 Add to My Program
Efficient Kinodynamic Trajectory Generation for Wheeled Robots
Missura, MarcellRheinische Friedrich-Wilhelms-Univ. Bonn
Behnke, SvenUniv. of Bonn
 
10:35-10:50, Paper ThA201.3 Add to My Program
Motion Planning for Autonomous Driving with a Conformal Spatiotemporal Lattice
McNaughton, MatthewCarnegie Mellon Univ.
Urmson, ChrisCarnegie Mellon Univ.
Dolan, John M.Carnegie Mellon Univ.
Lee, Jin-WooCornell Univ.
 
10:50-11:05, Paper ThA201.4 Add to My Program
A Smooth Control Law for Graceful Motion of Differential Wheeled Mobile Robots in 2D Environment
Park, Jong JinUniv. of Michigan
Kuipers, BenjaminUniv. of Michigan
 
11:05-11:20, Paper ThA201.5 Add to My Program
General Dynamic Formations for Non-Holonomic Systems Along Planar Curvilinear Coordinates
Krontiris, AthanasiosUniv. of Nevada, Reno
Louis, SushilUniv. of Nevada, Reno
Bekris, Kostas E.Univ. of Nevada, Reno
 
ThA202 Regular Sessions, Room 3C Add to My Program 
Robot Design  
 
Chair: Platt, RobertMIT
Co-Chair: Chen, XiaoQiUniv. of Canterbury
 
10:05-10:20, Paper ThA202.1 Add to My Program
Design and Application of a New Wheel-Based Cable Inspection Robot
Xu, Fengyusoutheast Univ.
Wang, XingsongSoutheast Univ.
Cao, PeipeiSouthEast Univ. NanJing, China
 
10:20-10:35, Paper ThA202.2 Add to My Program
An Investigation into Improved Non-Contact Adhesion Mechanism Suitable for Wall Climbing Robotic Applications
Journee, MatthewPowerhouse Ventures
Chen, XiaoQiUniv. of Canterbury
Robertson, JamesPowerhouse Ventures
Jermy, MarkUniv. of Canterbury
Sellier, MathieuUniv. of Canterbury
 
10:35-10:50, Paper ThA202.3 Add to My Program
Design, Analysis and Experiments of an Omni-Directional Spherical Robot
Zhan, QiangBeihang Univ. Beijing, P. R.China
Cai, YaoBeijing Univ. of Aeronautics & Astronautics, China
Yan, CaixiaRobotics Inst. Beihang Univ. Beijing, P. R. China
 
10:50-11:05, Paper ThA202.4 Add to My Program
A Passive-Assist Design Approach for Improved Reliability and Efficiency of Robot Arms
Brown, W. RobertUniv. of Michigan
Ulsoy, A. GalipUniv. of Michigan
 
11:05-11:20, Paper ThA202.5 Add to My Program
Mechanical Design and Control of the New 7-DOF CyberMotion Simulator
Masone, CarloUniv. di Roma "la Sapienza"
Robuffo Giordano, PaoloMax Planck Inst. for Biological Cybernetics
Buelthoff, Heinrich H.Max Planck Inst. for Biol. Cybernetics
 
ThA203 Regular Sessions, Room 3D Add to My Program 
Path Planning for Multiple Robots II  
 
Chair: Park, FrankSeoul National Univ.
Co-Chair: Whitty, Mark AlbertUniv. of New South Wales
 
10:05-10:20, Paper ThA203.1 Add to My Program
Efficient Global Path Planning During Dense Map Deformation
Whitty, Mark AlbertUniv. of New South Wales
Guivant, JoseUNSW
 
10:20-10:35, Paper ThA203.2 Add to My Program
An Efficient Algorithm for Environmental Coverage with Multiple Robots
Xu, LingCarnegie Mellon Univ.
Stentz, AnthonyCarnegie Mellon Univ.
 
10:35-10:50, Paper ThA203.3 Add to My Program
Decentralized Path Planning for Multi-Agent Teams in Complex Environments Using Rapidly-Exploring Random Trees
Desaraju, VishnuMassachusetts Inst. of Tech.
How, JonathanMassachusetts Inst. of Tech.
 
10:50-11:05, Paper ThA203.4 Add to My Program
Classifying the Heterogeneous Multi-Robot Online Search Problem into Quadratic Time Competitive Complexity Class
Sarid, ShaharBen-Gurion Univ. of the Negev
Shapiro, AmirBen Gurion Univ. of the Negev
Rimon, ElonTech. - Israel Inst. of Tech.
Edan, YaelBen-Gurion Univ. of the Negev
 
11:05-11:20, Paper ThA203.5 Add to My Program
Tangent Space RRT: A Randomized Planning Algorithm on Constraint Manifolds
Suh, ChansuSeoul National Univ.
Um, Terry TaewoongLIG Nex1 Corp.
Kim, BeobkyoonSeoul National Univ.
Noh, HakjongKorea Inst. of Science and Tech.
Kim, MunsangKIST
Park, FrankSeoul National Univ.
 
ThA204 Regular Sessions, Room 3E Add to My Program 
Sensor Fusion II  
 
Chair: Johansson, RolfLund Univ.
Co-Chair: Wang, TianmiaoBeijing Univ. of Aeronautics and Astronautics
 
10:05-10:20, Paper ThA204.1 Add to My Program
Sensor Failure Detection Capabilities in Low-Level Fusion: A Comparison between Fuzzy Voting and Kalman Filtering
Blank, SebastianUniv. of Kaiserslautern
Pfister, ThomasUniv. of Kaiserslautern
Berns, KarstenUniv. of Kaiserslautern
 
10:20-10:35, Paper ThA204.2 Add to My Program
Story Validation and Approximate Path Inference with a Sparse Network of Heterogeneous Sensors
Yu, JingjinUIUC
LaValle, Steven MUniv. of Illinois
 
10:35-10:50, Paper ThA204.3 Add to My Program
Monocular Depth from Focus Estimation with Complementary Filters
Gaspar, TiagoInst. Superior Técnico
Oliveira, PauloInst. Superior Técnico 501507930
 
10:50-11:05, Paper ThA204.4 Add to My Program
Initialization of the Kalman Filter without Assumptions on the Initial State
Linderoth, MagnusLund Univ.
Soltesz, KristianLTH, Lund Univ.
Robertsson, AndersLTH, Lund Univ.
Johansson, RolfLund Univ.
 
11:05-11:20, Paper ThA204.5 Add to My Program
Bearing-Only Target Tracking Using a Bank of MAP Estimators
Huang, GuoquanUniv. of Minnesota
Zhou, KeUniv. of Minnesota
Trawny, NikolasJet Propulsion Lab.
Roumeliotis, StergiosUniv. of Minnesota
 
ThA205 Regular Sessions, Room 3G Add to My Program 
Manipulation Planning II  
 
Chair: Fox, DieterUniv. of Washington
Co-Chair: Ning, KeJunUniv. of Goettingen
 
10:05-10:20, Paper ThA205.1 Add to My Program
Accurate Position and Velocity Control for Trajectories Based on Dynamic Movement Primitives
Ning, KeJunUniv. of Goettingen
Kulvicius, TomasGeorg-August-Univ. Göttingen, Bernstein Center for Computa
Tamosiunaite, MinijaUniv. of Goettingen
Woergoetter, FlorentinUniv. of Goettingen, Inst. of Physics III - Biophysics
 
10:20-10:35, Paper ThA205.2 Add to My Program
Planning Human-Aware Motions Using a Sampling-Based Costmap Planner
Mainprice, JimUniv. Toulouse; UPS, INSA, INP, ISAE; LAAS;
Sisbot, Emrah AkinLAAS/CNRS
Jaillet, LeonardInst. de Robňtica i Informŕtica Industrial CSIC-UPC
Cortes, JuanLAAS-CNRS
Alami, RachidCNRS
Simeon, ThierryLAAS-CNRS
 
10:35-10:50, Paper ThA205.3 Add to My Program
A Framework for Preoperative Planning of Robotics-Assisted Minimally Invasive Cardiac Surgery (RAMICS) under Geometric Uncertainty
Azimian, HamidrezaThe Univ. of Western Ontario
Patel, RajniThe Univ. of Western Ontario
Naish, Michael D.The Univ. of Western Ontario
Kiaii, BobLawson Health Res. Inst.
 
10:50-11:05, Paper ThA205.4 Add to My Program
Partial Closure Grasps: Metrics and Computation
Kruger, HeinrichUtrecht Univ.
van der Stappen, FrankUtrecht Univ.
 
11:05-11:20, Paper ThA205.5 Add to My Program
Autonomous Generation of Complete 3D Object Models Using Next Best View Manipulation Planning
Krainin, MichaelUniv. of Washington
Curless, BrianUniv. of Washington
Fox, DieterUniv. of Washington
 
ThA206 Regular Sessions, Room 5A Add to My Program 
Mechanism Design of Mobile Robots II  
 
Chair: Stramigioli, StefanoUniv. of Twente
Co-Chair: Hirose, ShigeoTokyo Inst. of Tech.
 
10:05-10:20, Paper ThA206.1 Add to My Program
Development of a Three-Dimensional Ball Rotation Sensing System Using Optical Mouse Sensors
Kumagai, MasaakiTohoku Gakuin Univ.
Hollis, RalphCarnegie Mellon Univ.
 
10:20-10:35, Paper ThA206.2 Add to My Program
Development of an Inspection Robot for Small Diameter Gas Distribution Mains
Dertien, EdwinUniv. of Twente
Stramigioli, StefanoUniv. of Twente
Pulles, KeesKiwa Gas Tech.
 
10:35-10:50, Paper ThA206.3 Add to My Program
Study on Roller-Walker – Energy Efficiency of Roller-Walk –
Endo, GenTokyo Inst. of Tech.
Hirose, ShigeoTokyo Inst. of Tech.
 
10:50-11:05, Paper ThA206.4 Add to My Program
"Omni-Paddle": Amphibious Spherical Rotary Paddle Mechanism
Tadakuma, KenjiroOsaka Univ.
Tadakuma, RiichiroYamagata Univ.
Ming, AiguoThe Univ. of Electro-Communications
Shimojo, MakotoUniv. of Electro-COmmunications
Higashimori, MitsuruOsaka Univ.
Kaneko, MakotoOsaka Univ.
 
11:05-11:20, Paper ThA206.5 Add to My Program
Robotic Tumbling Locomotion
Hemes, BrettCSE, UMN
Canelon-Suarez, DarioCSE, Un. of Minensota
Dans, JustinCSE, Univ. of Minnesota
Papanikolopoulos, NikosUniv. of Minnesota
 
ThA207 Regular Sessions, Room 5B Add to My Program 
Variable Stiffness Actuators II  
 
Chair: Zhu, LiMinShanghai Jiao Tong Univ.
Co-Chair: Vu Quy, HungArtificial Intelligence Lab.
 
10:05-10:20, Paper ThA207.1 Add to My Program
Design of a Decoupled 2-DOF Translational Parallel Micro-Positioning Stage
Lai, LeijieShanghai Jiao Tong Univ.
Gu, Guo-YingShanghai Jiao Tong Univ. Concordia Univ.
Li, PengzhiSJTU
Zhu, LiMinShanghai Jiao Tong Univ.
 
10:20-10:35, Paper ThA207.2 Add to My Program
A Novel Mechanism for Varying Stiffness Via Changing Transmission Angle
Vu Quy, HungArtificial Intelligence Lab.
Aryananda, LijinUniv. of Zurich
Sheikh, Farrukh IqbalUniv. of Zurich
Casanova, FlurinDepartment of Informatics, Univ. of Zurich
Pfeifer, RolfUniv. of Zurich
 
10:35-10:50, Paper ThA207.3 Add to My Program
The DLR FSJ: Energy Based Design of a Variable Stiffness Joint
Wolf, SebastianDLR - German Aerospace Center
Eiberger, OliverDLR - German Aerospace Center
Hirzinger, GerdGerman Aerospace Center (DLR)
 
10:50-11:05, Paper ThA207.4 Add to My Program
VSA-CubeBot: A Modular Variable Stiffness Platform for Multiple Degrees of Freedom Robots
Catalano, ManuelFaculty of Engineering - Univ. of Pisa
Grioli, GiorgioUniv. di Pisa
Garabini, ManoloCentro interdipartimentale di Ricerca E. Piaggio - Univ. di
Bonomo, FabioFaculty of Engineering - Univ. of Pisa
Mancini, MicheleUniv. di Pisa
Tsagarakis, NikolaosItalian Inst. of Tech. (IIT)
Bicchi, AntonioUniv. of Pisa
 
11:05-11:20, Paper ThA207.5 Add to My Program
Design and Analysis of an Artificial Finger Joint for Anthropomorphic Robotic Hands
Xu, ZheUniv. of Washington
Todorov, EmanuelUniv. of Washington
Dellon, BrianCarnegie Mellon Univ.
Matsuoka, YokyUniv. of Washington
 
ThA208 Regular Sessions, Room 5C Add to My Program 
Soft Material Robotics  
 
Chair: Dario, PaoloScuola Superiore Sant'Anna
Co-Chair: Nawrocki, RobertUniv. of Denver
 
10:05-10:20, Paper ThA208.1 Add to My Program
Nonprehensile Dynamic Manipulation of a Sheet-Like Viscoelastic Object
Ramirez-Alpizar, Ixchel GeorginaOsaka Univ.
Higashimori, MitsuruOsaka Univ.
Kaneko, MakotoOsaka Univ.
Tsai, Chia-HungSUNY at Stony Brook
Kao, IminSUNY at Stony Brook
 
10:20-10:35, Paper ThA208.2 Add to My Program
Design and Development of a Soft Magnetically-Propelled Swimming Microrobot
Palagi, StefanoScuola Superiore Sant'Anna / Istituto Italiano di Tecnologia
Pensabene, VirginiaItalian Inst. of Tech.
Beccai, LuciaItalian Inst. of Tech.
Mazzolai, BarbaraItalian Inst. of Tech.
Menciassi, AriannaScuola Superiore Sant'Anna - SSSA
Dario, PaoloScuola Superiore Sant'Anna
 
10:35-10:50, Paper ThA208.3 Add to My Program
Structured Computational Polymers for a Soft Robot: Actuation and Cognition
Nawrocki, RobertUniv. of Denver
Yang, XiaotingUniv. of Denver
Shaheen, SeanUniv. of Denver
Voyles, RichardUniv. of Denver
 
10:50-11:05, Paper ThA208.4 Add to My Program
Simulation of a Soft-Bodied Fluid-Driven Amoeboid Robot That Exploits Thixotropic Flow
Umedachi, TakuyaTohoku Univ.
Akiyama, MasakazuPRESTO, Japan Science and Tech. Agency
Tero, AtsushiPRESTO, Japan Science and Tech. Agency,
Ishiguro, AkioTohoku Univ.
 
11:05-11:20, Paper ThA208.5 Add to My Program
Decentralized Control of Scaffold-Assisted Serpentine Locomotion That Exploits Body Softness
Kano, TakeshiGraduate School of Engineering, Tohoku Univ.
Sato, TakahideTohoku Univ.
Kobayashi, RyoHiroshima Univ.
Ishiguro, AkioTohoku Univ.
 
ThA209 Regular Sessions, Room 5D Add to My Program 
New Sensing and Mechanism for Robots  
 
Chair: Liu, Xin-JunTsinghua Univ.
Co-Chair: Higashimori, MitsuruOsaka Univ.
 
10:05-10:20, Paper ThA209.1 Add to My Program
New Measure for ‘Closeness’ to Singularities of Parallel Robots
Wu, ChaoTsinghua Univ.
Liu, Xin-JunTsinghua Univ.
Xie, FuguiTsinghua Univ.
Wang, JinsongTsinghua Univ.
 
10:20-10:35, Paper ThA209.2 Add to My Program
A Flat Pipeline Inspection Robot with Two Wheel Chains
Kwon, Young-SikHanyang Univ.
Lee, BaeDoobae system co., ltd.
Hwang, In-CheolDOOBAE System Co., Ltd.
Yi, Byung-JuHanyang Univ.
Kim, Whee KukKorea Univ.
 
10:35-10:50, Paper ThA209.3 Add to My Program
AILA - Design of an Autonomous Mobile Dual-Arm Robot
Lemburg, Johannes PeterDFKI Bremen
de Gea Fernandez, JoseDFKI
Eich, MarkusDFKI GmbH, German Res. Center for Artificial
Mronga, DennisUniv. of Bremen, Center for Artificial Intelligence
Kampmann, PeterGerman Res. Center for Artificial Intelligence
Vogt, AndreasDFKI Bremen Robotics Innovation Center
Aggarwal, AchintDFKI GmbH
Shi, YupingDFKI GmbH
Kirchner, FrankUniv. of Bremen
 
10:50-11:05, Paper ThA209.4 Add to My Program
Design of the Pendulum Juggler
Reist, PhilippETH Zurich
D'Andrea, RaffaelloETHZ
 
11:05-11:20, Paper ThA209.5 Add to My Program
Precise Industrial Robot Positioning and Path-Tracking Over Large Surfaces Using Non-Calibrated Vision (I)
Gonzalez-Galvan, Emilio J.Univ. Autonoma de San Luis Potosi
Chávez, César AlejandroUniv. Autónoma de San Luis Potosí
Loredo-Flores, AmbrocioUniv. Autonoma de San Luis Potosi
Bonilla, IselaUniv. Autónoma de San Luis Potosí
Mendoza, Marco OctavioUniv. Autónoma de San Luis Potosí
Raygoza, Luis AntonioUniv. Autonoma de San Luis Potosi
Zhang, BiaoABB Inc.
 
ThA210 Regular Sessions, Room 5E Add to My Program 
Localization II  
 
Chair: Burgard, WolframUniv. of Freiburg
Co-Chair: Wang, Chieh-ChihNational Taiwan Univ.
 
10:05-10:20, Paper ThA210.1 Add to My Program
Localization of Multiple Unknown Transient Radio Sources Using Multiple Paired Mobile Robots with Limited Sensing Ranges
Kim, Chang YoungTexas A&M Univ.
Song, DezhenTexas A&M Univ.
Xu, YiliangTexas A&M Univ.
Yi, JingangRutgers Univ.
 
10:20-10:35, Paper ThA210.2 Add to My Program
Using Artificial Landmarks to Reduce the Ambiguity in the Environment of a Mobile Robot
Meyer-Delius, DanielUniv. of Freiburg
Beinhofer, MaximilianUniv. of Freiburg
Kleiner, AlexanderUniv. of Freiburg
Burgard, WolframUniv. of Freiburg
 
10:35-10:50, Paper ThA210.3 Add to My Program
A High Dynamic Range Vision Approach to Outdoor Localization
Irie, KiyoshiChiba Insitute of Tech.
Yoshida, TomoakiChiba Inst. of Tech.
Tomono, MasahiroChiba Inst. of Tech.
 
10:50-11:05, Paper ThA210.4 Add to My Program
Indoor Localization Using Particle Filter and Map-Based NLOS Ranging Model
Jung, JongdaeKAIST
Myung, HyunKAIST
 
11:05-11:20, Paper ThA210.5 Add to My Program
Vision-Based Cooperative Simultaneous Localization and Tracking
Chang, Chun-HuaNation Taiwan Univ.
Wang, Shao-ChenNational Taiwan Univ.
Wang, Chieh-ChihNational Taiwan Univ.
 
ThA211 Regular Sessions, Room 5F Add to My Program 
Vision: 3D  
 
Chair: Vincze, MarkusVienna Univ. of Tech.
Co-Chair: Komuro, TakashiThe Univ. of Tokyo
 
10:05-10:20, Paper ThA211.1 Add to My Program
Stereo 3D Reconstruction Using Prior Knowledge of Indoor Scenes
Kofuji, KentaroThe Univ. of Tokyo
Watanabe, YoshihiroThe Univ. of Tokyo
Komuro, TakashiThe Univ. of Tokyo
Ishikawa, MasatoshiUniv. of Tokyo
 
10:20-10:35, Paper ThA211.2 Add to My Program
6-DoF Model-Based Tracking of Arbitrarily Shaped 3D Objects
Azad, PedramKarlsruhe Inst. of Tech.
Münch, DavidFraunhofer Inst. of Optronics, System Tech. and Image
Asfour, TamimKarlsruhe Inst. of Tech. (KIT)
Dillmann, RüdigerKIT Karlsruher Inst. für Tech.
 
10:35-10:50, Paper ThA211.3 Add to My Program
3-D Hand & Eye-Vergence Approaching Visual Servoing with Lyapunouv-Stable Pose Tracking
Song, WeiShanghai Univ.
Minami, MamoruOkayama Univ.
Yu, FujiaUniv. of Okayama
Zhang, YananShanghai Univ.
Yanou, AkiraOkayama Univ.
 
10:50-11:05, Paper ThA211.4 Add to My Program
Physical Simulation for Monocular 3D Model Based Tracking
Duff, Damien JadeUniv. of Birmingham
Mörwald, ThomasVienna Univ. of Tech.
Stolkin, RustamUniv. of Birmingham
Wyatt, JeremyUniv. of Birmingham
 
11:05-11:20, Paper ThA211.5 Add to My Program
Towards Shape-Based Visual Object Categorization for Humanoid Robots
Gonzalez, DavidKIT Karlsruher Inst. für Tech.
Hoch, JulianKarlsruhe Inst. of Tech.
Roehl, SebastianKarlsruhe Inst. of Tech.
Asfour, TamimKarlsruhe Inst. of Tech. (KIT)
Bayro-Corrochano, Eduardo-JoseCINVESTAV, Unidad Guadalajara
Dillmann, RüdigerKIT Karlsruher Inst. für Tech.
 
ThA212 Regular Sessions, Room 5H Add to My Program 
Dexterous Manipulation  
 
Chair: Kheddar, AbderrahmaneCNRS
Co-Chair: Dollar, AaronYale Univ.
 
10:05-10:20, Paper ThA212.1 Add to My Program
Three-Dimensional Modeling and Simulation of the Sliding Motion of a Soft Fingertip with Friction, Focusing on Stick-Slip Transition
Ho, VanRitsumeikan Univ.
Hirai, ShinichiRitsumeikan Univ.
 
10:20-10:35, Paper ThA212.2 Add to My Program
Effects of Environmental Noise on the Accuracy of Millimeter Sized Grippers in Cantilever Configuration and Active Stabilisation
Boudaoud, MokraneFemto-ST Inst. Univ. of Franche-Comté
Haddab, YassineENSMM
Le Gorrec, YannFEMTO-ST/AS2M ENSMM Besançon
Lutz, PhilippeFEMTO-ST - UMR CNRS 6174 - UFC/ENSMM/UTBM
 
10:35-10:50, Paper ThA212.3 Add to My Program
Multi-Contact Stances Planning for Multiple Agents
Bouyarmane, KarimCNRS-AIST
Kheddar, AbderrahmaneCNRS
 
10:50-11:05, Paper ThA212.4 Add to My Program
Dexterous Manipulation with Underactuated Elastic Hands
Odhner, LaelYale Univ.
Dollar, AaronYale Univ.
 
11:05-11:20, Paper ThA212.5 Add to My Program
On Two-Finger Grasping of Deformable Planar Objects
Jia, Yan-BinIowa State Univ.
Guo, FengIowa State Univ.
Tian, JiangIowa State Univ.
 
ThA213 Regular Sessions, Room 5I Add to My Program 
Medical Robots and Systems VI  
 
Chair: Hager, GregoryJohns Hopkins Univ.
Co-Chair: Song, Sang-EunThe Johns Hopkins Univ.
 
10:05-10:20, Paper ThA213.1 Add to My Program
Out-Of-Plane Visual Servoing Method for Tracking the Carotid Artery with a Robot-Assisted Ultrasound Diagnostic System
Nakadate, RyuWaseda Univ.
Solis, JorgeWaseda Univ.
Takanishi, AtsuoWaseda Univ.
Minagawa, EiichiAloka Co. Ltd.
Sugawara, MotoakiHimeji Dokkyo Univ.
Niki, KiyomiTokyo City Univ.
 
10:20-10:35, Paper ThA213.2 Add to My Program
Towards Integrating Task Information in Skills Assessment for Dexterous Tasks in Surgery and Simulation
Jog, AmodJohns Hopkins Univ.
Itkowitz, BrandonBoston Univ.
Liu, MayIntuitive Surgical, Inc
DiMaio, Simon P.Intuitive Surgical Inc.
Hager, GregoryJohns Hopkins Univ.
Curet, MyriamIntuitive Surgical, Inc
Kumar, RajeshJohns Hopkins Univ.
 
10:35-10:50, Paper ThA213.3 Add to My Program
Magnetic Levitation Camera Robot for Endoscopic Surgery
Simi, MassimilianoScuola Superiore Sant'Anna
Sardi, GianlucaScuola Superiore Sant'Anna - CRIM Lab.
Valdastri, PietroScuola Superiore Sant'Anna
Menciassi, AriannaScuola Superiore Sant'Anna - SSSA
Dario, PaoloScuola Superiore Sant'Anna
 
10:50-11:05, Paper ThA213.4 Add to My Program
Human-Machine Collaborative Surgery Using Learned Models
Padoy, NicolasJohns Hopkins Univ.
Hager, GregoryJohns Hopkins Univ.
 
11:05-11:20, Paper ThA213.5 Add to My Program
Design of a Semi-Active Knee-Ankle Prosthesis
Pillai, MinervaUniv. of California Berkeley
Kazerooni, HomayoonUniv. of California at Berkeley
Hurwich, AndrewUniv. of California, Berkeley
 
ThA214 Regular Sessions, Room 5J Add to My Program 
Computer Vision II: Recognition  
 
Chair: Jeon, Jae WookSungkyunkwan Univ.
Co-Chair: Matthies, LarryJet Propulsion Lab.
 
10:05-10:20, Paper ThA214.1 Add to My Program
Epipolar Based Structured Light Pattern Design for 3-D Reconstruction of Moving Surfaces
Maurice, XavierUniv. of Strasbourg
Graebling, PierreUniv. Louis Pasteur - Strasbourg (ULP)
Doignon, ChristopheUniv. of Strasbourg
 
10:20-10:35, Paper ThA214.2 Add to My Program
A Two-Step Approach to See-Through Bad Weather for Surveillance Video Quality Enhancement
Jia, ZhenUnited Tech. Res. Center
Wang, HongchengUnited Tech. Res. Center
Caballero, RodrigoUnited Tech. Res. Center
Xiong, ZiyouUnited Tech. Res. Center
Zhao, JianweiUnited Tech. Res. Center
Finn, AlanUnited Tech. Res. Center
 
10:35-10:50, Paper ThA214.3 Add to My Program
Robust Single View Room Structure Segmentation in Manhattan-Like Environments from Stereo Vision
Olufs, SvenVienna Univ. of Tech.
Vincze, MarkusVienna Univ. of Tech.
 
10:50-11:05, Paper ThA214.4 Add to My Program
3D Log Recognition and Pose Estimation for Robotic Forestry Machine
Park, Yeon-ChoolSungkyunkwan Univ.
Shiriaev, AntonUmea Univ.
Westerberg, SimonUmeĺ Univ.
Lee, SukhanSungkyunkwan Univ.
 
11:05-11:20, Paper ThA214.5 Add to My Program
Daytime Water Detection Based on Sky Reflections
Rankin, ArturoJet Propulsion Lab.
Matthies, LarryJet Propulsion Lab.
Bellutta, PaoloJet Propulsion Lab.
 
ThP101 Regular Sessions, Room 3B Add to My Program 
Multifingered Hands  
 
Chair: Hirata, YasuhisaTohoku Univ.
Co-Chair: Palli, GianlucaUniv. of Bologna
 
13:40-13:55, Paper ThP101.1 Add to My Program
Reachable Independent Contact Regions for Precision Grasps
Roa, Maximo A.German Aerospace Center, DLR
Hertkorn, KatharinaGerman Aerospace Center (DLR)
Borst, ChristophGerman Aerospace Center (DLR)
Hirzinger, GerdGerman Aerospace Center (DLR)
 
13:55-14:10, Paper ThP101.2 Add to My Program
Miniaturized Optical-Based Force Sensors for Tendon-Driven Robots
Palli, GianlucaUniv. of Bologna
Pirozzi, SalvatoreSeconda Univ. degli Studi di Napoli
 
14:10-14:25, Paper ThP101.3 Add to My Program
Kinematic Design of a Planar and Spherical Mechanism for the Abduction of the Fingers of an Anthropomorphic Robotic Hand
Allen Demers, Louis-AlexisUniv. Laval
Gosselin, ClementUniv. Laval
 
14:25-14:40, Paper ThP101.4 Add to My Program
A Miniature Load Cell Suitable for Mounting on the Phalanges of Human-Sized Robot Fingers
Platt, RobertMIT
Ihrke, ChrisGeneral Motors
Bridgwater, LyndonNASA
Linn, MartyGeneral Motors
Diftler, MyronNASA Johnson Space Center
Abdallah, MuhammadGeneral Motors R&D
Askew, Roger, ScottNASA
Permenter, FrankOceaneering Space Systems
 
14:40-14:55, Paper ThP101.5 Add to My Program
Task-Specific Demonstration and Practiced Synergies for Writing with the ACT Hand
Rombokas, EricUniv. of Washington
Malhotra, MarkUniv. of Washington
Matsuoka, YokyUniv. of Washington
 
ThP102 Regular Sessions, Room 3C Add to My Program 
Distributed and Networked Robot Systems  
 
Chair: Liu, YunhuiChinese Univ. of Hong Kong
Co-Chair: McLurkin, JamesRice Univ.
 
13:40-13:55, Paper ThP102.1 Add to My Program
Towards Autonomous Wireless Backbone Deployment in Highly-Obstructed Environments
Vieira, MarcosUniv. of Southern California
Govindan, RameshUniv. of Southern California
Sukhatme, GauravUniv. of Southern California
 
13:55-14:10, Paper ThP102.2 Add to My Program
ANCHOR - Self-Configuring Robotic Network
Chiu, Chi HoUniv. of Southern California
Shen, Wei-MinUSC Information Science Inst.
 
14:10-14:25, Paper ThP102.3 Add to My Program
Coverage Enhancement of Mobile Multi-Agent Networks While Preserving Global Connectivity
Mi, ZhenqiangUniv. of Science and Tech. Beijing
Yang, YangUniv. of Science and Tech. Beijing
Liu, GuangjunRyerson Univ.
 
14:25-14:40, Paper ThP102.4 Add to My Program
A Multi-Radio Architecture for Neighbor-To-Neighbor Communication in Modular Robots
Kuo, VictorThe Univ. of Sydney
Fitch, Robert CharlesUniv. of Sydney
 
14:40-14:55, Paper ThP102.5 Add to My Program
Design of a Low-Cost Series Elastic Actuator for Multi-Robot Manipulation
Campbell, EmmaRice Univ.
Kong, ZhaoRice Univ.
Lynch, AndrewRice Univ.
O'Malley, MarciaRice Univ.
McLurkin, JamesRice Univ.
 
ThP103 Regular Sessions, Room 3D Add to My Program 
Robot Safety  
 
Chair: Wollherr, DirkTech. Univ. München
Co-Chair: Song, Jae-BokKorea Univ.
 
13:40-13:55, Paper ThP103.1 Add to My Program
Series Clutch Actuators for Safe Physical Human-Robot Interaction
Lauzier, NicolasUniv. Laval
Gosselin, ClementUniv. Laval
 
13:55-14:10, Paper ThP103.2 Add to My Program
Safety Assessment of Trajectories for Navigation in Uncertain and Dynamic Environments
Althoff, DanielTech. Univ. München
Wollherr, DirkTech. Univ. München
Buss, MartinTech. Univ. München
 
14:10-14:25, Paper ThP103.3 Add to My Program
Designing Optimally Safe Robot Surface Properties for Minimizing the Stress Characteristics of Human-Robot Collisions
Park, Jung-JunDLR
Haddadin, SamiGerman Aerospace Center (DLR)
Song, Jae-BokKorea Univ.
Albu-Schäffer, AlinDLR - German Aerospace Center
 
14:25-14:40, Paper ThP103.4 Add to My Program
Traffic Light Detection and Mapping
Fairfield, NathanielGoogle, Inc.
Urmson, ChrisCarnegie Mellon Univ.
 
14:40-14:55, Paper ThP103.5 Add to My Program
Segmentation-Based Online Change Detection for Mobile Robots
Neuman, BradfordCarnegie Mellon Univ.
Sofman, BorisCarnegie Mellon Univ.
Stentz, AnthonyCarnegie Mellon Univ.
Bagnell, JamesCarnegie Mellon Univ.
 
ThP104 Regular Sessions, Room 3E Add to My Program 
Reactive and Sensor-Based Planning  
 
Chair: Sun, YuUniv. of South Florida
Co-Chair: Stilman, MikeGeorgia Tech.
 
13:40-13:55, Paper ThP104.1 Add to My Program
Tactile-Based Motion Adjustment for the Nursing-Care Assistant Robot RIBA
Mukai, ToshiharuRIKEN
Hirano, ShinyaRIKEN RTC
Yoshida, MorioRIKEN
Nakashima, HiromichiRIKEN
Guo, ShijieTokai Rubber Industries, Ltd.
Hayakawa, YoshikazuNagoya Univ.
 
13:55-14:10, Paper ThP104.2 Add to My Program
Reactive Balance Control in Walking Based on a Bipedal Linear Inverted Pendulum Model
Parietti, FedericoPol. di Milano
Geyer, HartmutCarnegie Mellon Univ.
 
14:10-14:25, Paper ThP104.3 Add to My Program
Persistent Monitoring of Changing Environments Using a Robot with Limited Range Sensing
Smith, Stephen L.MIT
Schwager, MacUniv. of Pennsylvania
Rus, DanielaMIT
 
14:25-14:40, Paper ThP104.4 Add to My Program
Reactive Robot Motion Using Path Replanning and Deformation
Yoshida, EiichiNational Inst. of AIST
Kanehiro, FumioNational Inst. of AIST
 
14:40-14:55, Paper ThP104.5 Add to My Program
The Motion Grammar for Physical Human-Robot Games
Dantam, NeilGeorgia Inst. of Tech.
Kolhe, PushkarGeorgia Inst. of Tech.
Stilman, MikeGeorgia Tech.
 
ThP105 Regular Sessions, Room 3G Add to My Program 
Manipulation Planning III  
 
Chair: Reimann, HendrikRuhr-Univ. Bochum
Co-Chair: Zhou, MengChuNew Jersey Inst. of Tech.
 
13:40-13:55, Paper ThP105.1 Add to My Program
Autonomous Movement Generation for Manipulators with Multiple Simultaneous Constraints Using the Attractor Dynamics Approach
Reimann, HendrikRuhr-Univ. Bochum
Iossifidis, IoannisRuhr West Univ. of Applied Science
Schöner, GregorRuhr Univ. Bochum
 
13:55-14:10, Paper ThP105.2 Add to My Program
Planning for Manipulation with Adaptive Motion Primitives
Cohen, BenjaminUniv. of Pennsylvania
Subramanian, GokulUniv. of Pennsylvania
Chitta, SachinWillow Garage Inc.
Likhachev, MaximCarnegie Mellon Univ.
 
14:10-14:25, Paper ThP105.3 Add to My Program
Motion Planning for Dynamic Folding of a Cloth with Two High-Speed Robot Hands and Two High-Speed Sliders
Yamakawa, YujiUniv. of Tokyo
Namiki, AkioChiba Univ.
Ishikawa, MasatoshiUniv. of Tokyo
 
14:25-14:40, Paper ThP105.4 Add to My Program
Mobile Manipulation: Encoding Motion Planning Options Using Task Motion Multigraphs
Sucan, Ioan AlexandruRice Univ.
Kavraki, LydiaRice Univ.
 
14:40-14:55, Paper ThP105.5 Add to My Program
Petri Net-Based Cycle Time Analysis of Dual-Arm Cluster Tools with Wafer Revisiting under Swapping Strategy
Wu, NaiqiGuangdong Univ. of Tech.
Chu, FengUniv. d'Evry Val d'Essonne
Chu, ChengbinEc. Centrale Paris
Zhou, MengChuNew Jersey Inst. of Tech.
 
ThP106 Regular Sessions, Room 5A Add to My Program 
Mechanism Design of Mobile Robots III  
 
Chair: Vossoughi, G.R.Sharif Univ. of Tech.
Co-Chair: Murphy, RobinTexas A&M
 
13:40-13:55, Paper ThP106.1 Add to My Program
Friction Drive Microrobots: Dynamic Analysis and Performance Evaluation
Kamali Eigoli, AliSharif Univ. of Tech.
Vossoughi, G.R.Sharif Univ. of Tech.
 
13:55-14:10, Paper ThP106.2 Add to My Program
Battery State Estimation for Applications in Intelligent Warehouses
Vivaldini, Kelen Cristiane TeixeiraEESC - USP
Becker, MarceloUSP
Varela Magalhaes, DanielUniv. de Sao Paulo, Escola de Engenharia de Sao Carlos
Galdames, Jorge Pablo MoragaEESC - USP
Oliveira, Marcelo ManoelEESC - USP
 
14:10-14:25, Paper ThP106.3 Add to My Program
Increasing Endurance of an Autonomous Robot Using an Immune-Inspired Framework
Mokhtar, MaizuraUniv. of Central Lancashire
Howe, Joe MarkUniv. of Central Lancashire
 
14:25-14:40, Paper ThP106.4 Add to My Program
An Experimental Mobile Robot Platform for the Study of Dynamic Effects and High Speed Control
Hach, OliverCemagref - Centre de Clermont-Ferrand
Mueller, KaiUniv. Bremerhaven
Lenain, RolandCemagref
 
14:40-14:55, Paper ThP106.5 Add to My Program
An Arm Suspension Mechanism for an Underactuated Single Legged Hopping Robot
Schmidt-Wetekam, ChristopherUniv. of California San Diego
Bewley, ThomasFlow Control & Coordinated Robotics Lab.
 
ThP107 Regular Sessions, Room 5B Add to My Program 
Variable Stiffness and Impedance Control I  
 
Chair: Bicchi, AntonioUniv. of Pisa
Co-Chair: De Luca, AlessandroUniv. di Roma "La Sapienza"
 
13:40-13:55, Paper ThP107.1 Add to My Program
A Real-Time Parametric Stiffness Observer for VSA Devices
Grioli, GiorgioUniv. di Pisa
Bicchi, AntonioUniv. of Pisa
 
13:55-14:10, Paper ThP107.2 Add to My Program
Residual-Based Stiffness Estimation in Robots with Flexible Transmissions
Flacco, FabrizioUniv. di Roma "La Sapienza"
De Luca, AlessandroUniv. di Roma "La Sapienza"
 
14:10-14:25, Paper ThP107.3 Add to My Program
A Decoupled Impedance Observer for a Variable Stiffness Robot
Serio, AlessandroUniv. di Pisa
Grioli, GiorgioUniv. di Pisa
Sardellitti, IreneItalian Inst. of Tech.
Tsagarakis, NikolaosItalian Inst. of Tech. (IIT)
Bicchi, AntonioUniv. of Pisa
 
14:25-14:40, Paper ThP107.4 Add to My Program
Constraint-Based Equilibrium and Stiffness Control of Variable Stiffness Actuators
Howard, MatthewUniv. of Edinburgh
Braun, David J.Vanderbilt Univ.
Vijayakumar, SethuUniv. of Edinburgh
 
14:40-14:55, Paper ThP107.5 Add to My Program
State Feedback Damping Control for a Multi DOF Variable Stiffness Robot Arm
Petit, FlorianGerman Aerospace Center (DLR)
Albu-Schäffer, AlinDLR - German Aerospace Center
 
ThP108 Regular Sessions, Room 5C Add to My Program 
Robotic Software, Middleware and Programming Environments I  
 
Chair: Ihme, ThomasMannheim Univ. of Applied Sciences
Co-Chair: Bohren, JonathanJohns Hopkins Univ. Willow Garage Inc.
 
13:40-13:55, Paper ThP108.1 Add to My Program
Towards Autonomous Robotic Butlers: Lessons Learned with the PR2
Bohren, JonathanJohns Hopkins Univ. Willow Garage Inc.
Rusu, Radu BogdanWillow Garage, Inc
Jones, Edward GilWillow Garage, Inc.
Marder-Eppstein, EitanWillow Garage
Pantofaru, CarolineWillow Garage, Inc.
Wise, MeloneeWillow Garage
Mösenlechner, LorenzTech. Univ. München
Meeussen, WimWillow Garage inc.
Holzer, StefanTech. Univ. München
 
13:55-14:10, Paper ThP108.2 Add to My Program
Composition of Complex Robot Application Via Data Flow Integration
Smits, RubenKatholieke Univ. Leuven
Bruyninckx, HermanKatholieke Univ. Leuven
 
14:10-14:25, Paper ThP108.3 Add to My Program
Globally Optimal Pose Estimation from Line Correspondences
Mirzaei, FarazUniv. of Minnesota
Roumeliotis, StergiosUniv. of Minnesota
 
14:25-14:40, Paper ThP108.4 Add to My Program
Towards Semantic Robot Description Languages
Kunze, LarsTech. Univ. Muenchen
Roehm, TobiasTech. Univ. München
Beetz, MichaelTech. Univ. München
 
14:40-14:55, Paper ThP108.5 Add to My Program
Real-Time Image Processing Based on a Task-Pair Scheduling Concept
Ihme, ThomasMannheim Univ. of Applied Sciences
Wetzelsberger, KaiMannheim Univ. of Applied Sciences
Speckert, MarioMannheim Univ. of Applied Sciences
Fischer, JörnMannheim Univ. of Applied Sciences
 
ThP109 Regular Sessions, Room 5D Add to My Program 
Motion and Path Planning V  
 
Chair: Choi, SunglokETRI
Co-Chair: Mita, SeiichiToyota Tech. Inst.
 
13:40-13:55, Paper ThP109.1 Add to My Program
Minimising Computational Complexity of the RRT Algorithm: A Practical Approach
Svenstrup, MikaelAalborg Univ.
Bak, ThomasAalborg Univ.
Andersen, Hans JřrgenAalborg Univ.
 
13:55-14:10, Paper ThP109.2 Add to My Program
The Time-Optimal Planning and Execution Problem
Allen, ThomasThe Univ. of Sydney
Scheding, StevenThe Univ. of Sydney
 
14:10-14:25, Paper ThP109.3 Add to My Program
Any-Angle Path Planning on Non-Uniform Costmaps
Choi, SunglokETRI
Yu, WonpilETRI
 
14:25-14:40, Paper ThP109.4 Add to My Program
Unified Path Planner for Parking an Autonomous Vehicle Based on RRT
Han, LongToyota Tech. Inst.
Do, Quoc HuyToyota Tech. Inst.
Mita, SeiichiToyota Tech. Inst.
 
14:40-14:55, Paper ThP109.5 Add to My Program
SIPP: Safe Interval Path Planning for Dynamic Environments
Phillips, MikeCarnegie Mellon Univ.
Likhachev, MaximCarnegie Mellon Univ.
 
ThP110 Regular Sessions, Room 5E Add to My Program 
Localization III  
 
Chair: Liu, GuangjunRyerson Univ.
Co-Chair: Martinson, EricUS Naval Res. Lab.
 
13:40-13:55, Paper ThP110.1 Add to My Program
Dynamically Reconfigurable Microphone Arrays
Martinson, EricUS Naval Res. Lab.
Fransen, Benjamin R.Beyond Robotics, Inc.
 
13:55-14:10, Paper ThP110.2 Add to My Program
Large Scale Visual Exploration in Urban Environments
Achar, SupreethCarnegie Mellon Univ.
Jawahar, C.V.IIIT, Hyderabad
Krishna, MadhavaIIIT Hyderabad
 
14:10-14:25, Paper ThP110.3 Add to My Program
Inference Algorithm Based Wireless and Pyroelectric Sensory Fusion System for Indoor Human/Robot Localization and Monitoring
Luo, RenNational Taiwan Univ.
Chen, OgstNational Chung Cheng Univ.
 
14:25-14:40, Paper ThP110.4 Add to My Program
Motion Tracking with Fixed-Lag Smoothing: Algorithm and Consistency Analysis
Dong-Si, Tue-CuongUniv. of California, Riverside
Mourikis, AnastasiosUniv. of California, Riverside
 
14:40-14:55, Paper ThP110.5 Add to My Program
A Particle Filter for Monocular Vision-Aided Odometry
Yap, Teddy Jr.Univ. of California, Riverside
Li, MingyangUniv. of California, Riverside
Mourikis, AnastasiosUniv. of California, Riverside
Shelton, ChristianUniv. of California at Riverside
 
ThP111 Regular Sessions, Room 5F Add to My Program 
Visual Servoing I  
 
Chair: Zelinsky, AlexCSIRO
Co-Chair: Marchand, EricUniv. de Rennes 1, IRISA, INRIA Rennes
 
13:40-13:55, Paper ThP111.1 Add to My Program
Dynamic Visual Servoing with Image Moments for a Quadrotor Using a Virtual Spring Approach
Ozawa, RyutaRitsumeikan Univ.
Chaumette, FrancoisINRIA Rennes-Bretagne Atlantique
 
13:55-14:10, Paper ThP111.2 Add to My Program
Intensity-Based Direct Visual Servoing of an Ultrasound Probe
Nadeau, CarolineIRISA, INRIA Rennes-Bretagne Atlantique
Krupa, AlexandreIRISA / INRIA Rennes
 
14:10-14:25, Paper ThP111.3 Add to My Program
A Visual Servoing Model for Generalised Cameras: Case Study of Non-Overlapping Cameras
Comport, Andrew IanCNRS
Mahony, RobertAustralian National Univ.
Spindler, FabienINRIA
 
14:25-14:40, Paper ThP111.4 Add to My Program
Highly Precise Micropositioning Task Using a Direct Visual Servoing Scheme
Tamadazte, BrahimCNRS, UFC/ENSMM/UTBM
Duceux, GuillaumeFEMTO-ST
Lefort-Piat, NadineLab. d'Automatique de Besançon
Marchand, EricUniv. de Rennes 1, IRISA, INRIA Rennes
 
14:40-14:55, Paper ThP111.5 Add to My Program
Structure Discovery in Multi-Modal Data: A Region-Based Approach
Collet, AlvaroCarnegie Mellon Univ.
Srinivasa, SiddharthaIntel Lab. Pittsburgh
Hebert, MartialCMU
 
ThP112 Regular Sessions, Room 5H Add to My Program 
Learning and Adaptive Systems III  
 
Chair: Ramos, FabioUniv. of Sydney
Co-Chair: Stolkin, RustamUniv. of Birmingham
 
13:40-13:55, Paper ThP112.1 Add to My Program
Learning to Grasp under Uncertainty
Stulp, FreekUniv. of Southern California
Theodorou, EvangelosUniv. of Southern California
Buchli, JonasItalian Inst. of Tech.
Schaal, StefanUniv. of Southern California
 
13:55-14:10, Paper ThP112.2 Add to My Program
Multi-Task Learning of System Dynamics with Maximum Information Gain
Zubizarreta Rodriguez, Jose FranciscoThe Univ. of Sydney
Ramos, FabioUniv. of Sydney
 
14:10-14:25, Paper ThP112.3 Add to My Program
On the Controller Effect in Closed-Loop Identification for DC Servomechanisms under PD Control
Miranda, RogerUniv. Pol. de Victoria
Garrido, RubénCINVESTAV
Ortíz, Manuel BenjaminUniv. Pol. de Victoria
 
14:25-14:40, Paper ThP112.4 Add to My Program
Learning to Predict How Rigid Objects Behave under Simple Manipulation
Kopicki, Marek SewerUniv. of Birmingham
Zurek, SebastianUniv. of Birmingham, UK
Stolkin, RustamUniv. of Birmingham
Mörwald, ThomasVienna Univ. of Tech.
Wyatt, JeremyUniv. of Birmingham
 
14:40-14:55, Paper ThP112.5 Add to My Program
Distributed Data Aggregation Via Networked Transferable Belief Model Over a Graph
Gasparri, AndreaUniv. degli Studi Roma Tre
Ulivi, GiovanniUniv. di Roma Tre
Fiorini, FlavioUniv. degli Studi Roma Tre
Di Rocco, MaurizioUniv. di Roma Tre
 
ThP113 Regular Sessions, Room 5I Add to My Program 
Medical Robots and Systems VII  
 
Chair: Patel, RajniThe Univ. of Western Ontario
Co-Chair: Weede, OliverKarlsruhe Inst. for Tech.
 
13:40-13:55, Paper ThP113.1 Add to My Program
Waseda Bioinstrumentation System WB-3 As a Wearable Tool for Objective Laparoscopic Skill Evaluation
Lin, ZhuohuaWaseda Univ.
Uemura, MunenoriKyushu Univ.
Zecca, MassimilianoWaseda Univ.
Sessa, SalvatoreWaseda Univ.
Ishii, HiroyukiWaseda Univ.
Bartolomeo, LucaWaseda Univ.
Itoh, KazukoWaseda Univ.
Tomikawa, MorimasaKyushu Univ.
Hashizume, MakotoKyushu Univ.
Takanishi, AtsuoWaseda Univ.
 
13:55-14:10, Paper ThP113.2 Add to My Program
Design of Intuitive User Interface for Multi-DOFs Forceps for Laparoscopic Surgery
Fujii, MasahiroThe Univ. of Tokyo
Fukushima, KiyoakiThe Univ. of Tokyo
Sugita, NaohikoThe Univ. of Tokyo
Ishimaru, TetsuyaThe Univ. of Tokyo
Iwanaka, TadashiThe Univ. of Tokyo
Mitsuishi, MamoruThe Univ. of Tokyo
 
14:10-14:25, Paper ThP113.3 Add to My Program
Needle Path Planning for Digital Breast Tomosynthesis Biopsy Using a Heterogeneous Model
Vancamberg, LaurenceGeneral Electric Healthcare / Univ. Pierre & Marie Curie
Sahbani, AnisUniv. Pierre et Marie Curie - Paris 6
Muller, SergeGE Healthcare
Morel, GuillaumeUniv. Pierre et Marie Curie - Paris 6
 
14:25-14:40, Paper ThP113.4 Add to My Program
Synergic Comanipulation Despite Underactuated Robot
Marx, AnjaGE Healthcare
Vitrani, Marie-AudeUniv. Pierre et Marie Curie - Paris6
Herman, BenoîtUniv. catholique de Louvain
Iordache, RazvanGE Healthcare
Muller, SergeGE Healthcare
Morel, GuillaumeUniv. Pierre et Marie Curie - Paris 6
 
14:40-14:55, Paper ThP113.5 Add to My Program
An Intelligent and Autonomous Endoscopic Guidance System for Minimally Invasive Surgery
Weede, OliverKarlsruhe Inst. for Tech.
Mönnich, HolgerUniv. of Karlsruhe
Müller, BeatHeidelberg Univ. Hospital
Woern, HeinzKarlsruhe Inst. of Tech. (KIT)
 
ThP114 Regular Sessions, Room 5J Add to My Program 
Computer Vision III Navigation  
 
Chair: Dudek, GregoryMcGill Univ.
Co-Chair: Saxena, AshutoshCornell Univ.
 
13:40-13:55, Paper ThP114.1 Add to My Program
Offline Navigation Summaries
Girdhar, YogeshMcGill Univ.
Dudek, GregoryMcGill Univ.
 
13:55-14:10, Paper ThP114.2 Add to My Program
Autonomous MAV Flight in Indoor Environments Using Single Image Perspective Cues
Bills, CooperCornell Univ.
Chen, Yu-hsinCornell Univ.
Saxena, AshutoshCornell Univ.
 
14:10-14:25, Paper ThP114.3 Add to My Program
Traffic Light Mapping, Localization, and State Detection for Autonomous Vehicles
Levinson, JesseStanford Univ.
Askeland, JakeVolkswager Group of America
Dolson, JenniferStanford Univ.
Thrun, SebastianStanford Univ.
 
14:25-14:40, Paper ThP114.4 Add to My Program
Natural Landmark-Based Monocular Localization for MAVs
Wendel, AndreasGraz Univ. of Tech.
Irschara, ArnoldGraz Univ. of Tech.
Bischof, HorstGraz Univ. of Tech.
 
14:40-14:55, Paper ThP114.5 Add to My Program
Textured Occupancy Grids for Monocular Localization without Features
Mason, JulianDuke Univ.
Ricco, SusannaDuke Univ.
Parr, RonaldDuke Univ.
 
ThP201 Regular Sessions, Room 3B Add to My Program 
Motion Control of Manipulators  
 
Chair: Lee, Kok-MengGeorgia Inst. of Tech.
Co-Chair: Wang, Michael YuThe Chinese Univ. of Hong Kong
 
15:25-15:40, Paper ThP201.1 Add to My Program
Fully Nested Super-Twisting Algorithm for Uncertain Robotic Manipulators
González-Jiménez, Luis EnriqueCentro de Investigaciones y Estudios Avanzados del IPN (CINVESTA
Loukianov, AlexanderCentro de Investigaciones y Estudios Avanzados del IPN (CINVESTA
Bayro-Corrochano, Eduardo-JoseCINVESTAV, Unidad Guadalajara
 
15:40-15:55, Paper ThP201.2 Add to My Program
A Novel Second Order Filter for the Real-Time Trajectory Scaling
Guarino Lo Bianco, CorradoUniv. of Parma
Wahl, Friedrich M.Tech. Univ. of Braunschweig
 
15:55-16:10, Paper ThP201.3 Add to My Program
Singularity-Robust Task-Space Tracking Control of Robot
Cheah, C. C.Nanyang Tech. Univ.
Li, XiangNanyang Tech. Univ.
 
16:10-16:25, Paper ThP201.4 Add to My Program
Direct Field-Feedback Control for Multi-DOF Spherical Actuators
Bai, KunGeorgia Inst. of Tech.
Lee, Kok-MengGeorgia Inst. of Tech.
Foong, ShaohuiGeorgia Inst. of Tech.
 
16:25-16:40, Paper ThP201.5 Add to My Program
Geometric Techniques for the Kinematic Modeling and Control of Robotic Manipulators
González-Jiménez, Luis EnriqueCentro de Investigaciones y Estudios Avanzados del IPN (CINVESTA
Carbajal-Espinosa, OscarCentro de Investigaciones y Estudios Avanzados delIPN(CINVESTAV)
Bayro-Corrochano, Eduardo-JoseCINVESTAV, Unidad Guadalajara
 
16:40-16:55, Paper ThP201.6 Add to My Program
Recursive Algorithm for Motion Primitive Estimation
Enes, AaronGeorgia Inst. of Tech.
Book, WayneGeorgia Inst. of Tech.
 
ThP202 Regular Sessions, Room 3C Add to My Program 
Robot Design for Advanced Applications  
 
Chair: Zhang, JianweiUniv. of Hamburg
Co-Chair: Sugano, ShigekiWaseda Univ.
 
15:25-15:40, Paper ThP202.1 Add to My Program
A Novel Inflatable Robot with Constant and Continuous Volume
Voisembert, SebastienCommissariat a l'Energie Atomique
Riwan, AlainCEA LIST
Mechbal, NazihArts et Métiers Paritech, Paris
Barraco, AndréArts et Métiers ParisTech
 
15:40-15:55, Paper ThP202.2 Add to My Program
A Flexible Tree Climbing Robot: Treebot – Design and Implementation
Lam, Tin LunThe Chinese Univ. of Hong Kong / Shenzhen Inst. of Adva
Xu, YangshengChinese Univ. of Hong Kong / ShenzhenInstituteofAdvanced Te
 
15:55-16:10, Paper ThP202.3 Add to My Program
The Eyeball ROV: Design and Control of a Spherical Underwater Vehicle Steered by an Internal Eccentric Mass
Rust, IanMIT
Asada, HarryMIT
 
16:10-16:25, Paper ThP202.4 Add to My Program
Analysis and Control of a Biped Line-Walking Robot for Inspection of Power Transmission Lines
Wang, LudanLab. of Intelligent Robot Engineering,KunShanInstitute of
Liu, FeiKUNSHAN INDUSTRIAL Tech. Res. Inst.
Wang, ZhenKunshan Industrial Tech. Res. Inst.
Xu, ShaoqiangKunshan Industrial Tech. Res. Inst.
Zhang, JianweiUniv. of Hamburg
Cheng, ShengKunshan Industrial Tech. Res. Inst.
 
16:25-16:40, Paper ThP202.5 Add to My Program
A Practical Load Detection Framework Considering Uncertainty in Hydraulic Pressure-Based Force Measurement for Construction Manipulator
Kamezaki, MitsuhiroWaseda Univ.
Iwata, HiroyasuWaseda Univ.
Sugano, ShigekiWaseda Univ.
 
16:40-16:55, Paper ThP202.6 Add to My Program
Human Arm Motion Modeling and Long-Term Prediction for Safe and Efficient Human-Robot-Interaction (I)
Ding, HaoUniv. of Kassel
Reissig, GuntherUniv. of Kassel
Wijaya, KurniawanTech. Univ. Muenchen
Bortot, DinoTech. Univ. Muenchen
Bengler, KlausTech. Univ. Muenchen
Stursberg, OlafUniv. of Kassel
 
ThP203 Regular Sessions, Room 3D Add to My Program 
Sensor Networks  
 
Chair: Lee, C. S. GeorgePurdue Univ.
Co-Chair: Whitesides, SueUniv. of Victoria
 
15:25-15:40, Paper ThP203.1 Add to My Program
Simultaneous Localization and Environmental Mapping with a Sensor Network
Marinakis, DimitriUniv. of Victoria
MacMillan, NeilUniv. of Victoria
Allen, RiverUniv. of Victoria
Whitesides, SueUniv. of Victoria
 
15:40-15:55, Paper ThP203.2 Add to My Program
Horizon Line Estimation in Glacial Environments Using Multiple Visual Cues
Williams, StephenGeorgia Inst. of Tech.
Howard, AyannaGeorgia Inst. of Tech.
 
15:55-16:10, Paper ThP203.3 Add to My Program
Distributed Robust Data Fusion Based on Dynamic Voting
Montijano, EduardoUniv. de Zaragoza
Martinez, SoniaUC San Diego
Sagues, CarlosUniv. of Zaragoza
 
16:10-16:25, Paper ThP203.4 Add to My Program
A Probabilistic Quality Metric for Camera Placement in 3D Reconstructions
Holec, EricUniv. of Minnesota
Papanikolopoulos, NikosUniv. of Minnesota
 
16:25-16:40, Paper ThP203.5 Add to My Program
Robotic Mapping and Monitoring of Data Centers
Mansley, ChrisRutgers Univ.
Connell, JonathanIBM T.J. Watson Res. Center
Isci, CanturkIBM
Lenchner, JonathanIBM
Kephart, JeffreyIBM
McIntosh, SuzanneIBM
Schappert, MichaelIBM
 
16:40-16:55, Paper ThP203.6 Add to My Program
Lifetime Maximization in Mobile Sensor Networks with Energy Harvesting
Yu, ShengweiPurdue Univ.
Lee, C. S. GeorgePurdue Univ.
 
ThP204 Regular Sessions, Room 3E Add to My Program 
Tactile Sensing and Multifingered Grasping  
 
Chair: Burdick, JoelCalifornia Inst. of Tech.
Co-Chair: Choi, Hyouk RyeolSungkyunkwan Univ.
 
15:25-15:40, Paper ThP204.1 Add to My Program
Blind Grasping: Stable Robotic Grasping Using Tactile Feedback and Hand Kinematics
Dang, HaoColumbia Univ.
Weisz, JonathanColumbia Univ.
Allen, PeterColumbia Univ.
 
15:40-15:55, Paper ThP204.2 Add to My Program
A Robot Hand Using Electro-Conjugate Fluid
Yamaguchi, AkihiroKeio Univ.
Takemura, KenjiroKeio Univ.
Yokota, ShinichiTokyo Inst. of Tech.
Edamura, KazuyaNew Tech. Management Co.,Ltd.
 
15:55-16:10, Paper ThP204.3 Add to My Program
Thin Shell Tactile Sensing by Acoustic Wave Diffraction Patterns
Liu, YuanArts et Métiers ParisTech
Mechbal, NazihArts et Métiers Paritech, Paris
Nikolovski, Jean-PierreCEA - LIST
Hafez, MoustaphaCEA
Vergé, MichelArts et Métiers Paritech, Paris
 
16:10-16:25, Paper ThP204.4 Add to My Program
Fusion of Stereo Vision, Force-Torque, and Joint Sensors for Estimation of In-Hand Object Location
Hebert, PaulCalifornia Inst. of Tech.
Hudson, Nicolas HenryJet Propulsion Lab.
Ma, JeremyJet Propulsion Lab.
Burdick, JoelCalifornia Inst. of Tech.
 
16:25-16:40, Paper ThP204.5 Add to My Program
Object Mapping, Recognition, and Localization from Tactile Geometry
Pezzementi, ZacharyJohns Hopkins Univ.
Reyda, CaitlinMassachusetts Inst. of Tech.
Hager, GregoryJohns Hopkins Univ.
 
ThP205 Regular Sessions, Room 3G Add to My Program 
Vision for Object Recognition  
 
Chair: Ikeuchi, KatsushiThe Univ. of Tokyo
Co-Chair: Ishii, IdakuHiroshima Univ.
 
15:25-15:40, Paper ThP205.1 Add to My Program
Measuring Object Speed Using Stereo Tracking
Zhu, JundaThe Ohio State Univ.
Zheng, Yuan F.The Ohio State Univ.
Ewing, RobertAir Force Res. Lab. USA
 
15:40-15:55, Paper ThP205.2 Add to My Program
Realtime Perception for Catching a Flying Ball with a Mobile Humanoid
Birbach, OliverDFKI
Frese, UdoUniv. Bremen
Baeuml, BertholdGerman Aerospace Center (DLR)
 
15:55-16:10, Paper ThP205.3 Add to My Program
Finding a Needle in a Specular Haystack
Shroff, NiteshUniv. of Maryland, Coll. Park
Taguchi, YuichiMitsubishi Electric Res. Lab.
Tuzel, OncelMERL
Veeraraghavan, AshokMitsubishi Electric Res. Lab.
Ramalingam, SrikumarMitsubishi Electric Res. Lab.
Okuda, HaruhisaMitsubishi Electric Corp.
 
16:10-16:25, Paper ThP205.4 Add to My Program
Transparent Object Detection and Reconstruction on a Mobile Platform
Klank, UlrichTech. Univ. München
Carton, DanielTech. Univ. München
Beetz, MichaelTech. Univ. München
 
16:25-16:40, Paper ThP205.5 Add to My Program
Dynamics-Based Visual Inspection through Real-Time Modal Analysis
Yang, HuaHiroshima Univ.
Takaki, TakeshiHiroshima Univ.
Ishii, IdakuHiroshima Univ.
 
16:40-16:55, Paper ThP205.6 Add to My Program
Cross-Dataset Facial Expression Recognition
Yan, HaibinNational Univ. of Singapore
Ang Jr, Marcelo HNational Univ. of Singapore
Poo, Jim A.N.National Univ. of Singapore
 
ThP206 Regular Sessions, Room 5A Add to My Program 
Micro and Nanoscale Automation  
 
Chair: Wen, JohnRensselaer Pol. Inst.
Co-Chair: Sun, DongCity Univ. of Hong Kong
 
15:25-15:40, Paper ThP206.1 Add to My Program
Dextrous Manipulation of a Micropart with Multiple Compliant Probes through Visual Force Feedback
Wason, JohnRensselaer Pol. Inst.
Wen, JohnRensselaer Pol. Inst.
Dagalakis, NicholasNIST
 
15:40-15:55, Paper ThP206.2 Add to My Program
Transportation of Biological Cells with Robot-Tweezer Manipulation System
Hu, SongyuCity Univ. of Hong Kong
Sun, DongCity Univ. of Hong Kong
 
15:55-16:10, Paper ThP206.3 Add to My Program
Robot-Assisted Automatic Cell Sorting with Combined Optical Tweezer and Microfluidic Chip Technologies
Wang, XiaolinCity Univ. of Hong Kong
Chen, ShuxunCity Univ. of Hong Kong
Sun, DongCity Univ. of Hong Kong
 
16:10-16:25, Paper ThP206.4 Add to My Program
Microscopic Photometric Stereo: A Dense Microstructure 3D Measurement Method
Li, ZhongweiCity Univ. of Hong Kong
Li, Y.F.City Univ. of Hong Kong
 
16:25-16:40, Paper ThP206.5 Add to My Program
Parallel Microrobot Actuated by Capillary Effects
Lenders, CyrilleUniv. libre de Bruxelles (U.L.B.)
Gauthier, MichaelFEMTO-ST Inst.
Lambert, PierreUniv. libre de Bruxelles
 
ThP207 Regular Sessions, Room 5B Add to My Program 
Variable Stiffness and Impedance Control II  
 
Chair: Bae, Ji-HunKorea Inst. of Industrial Tech.
Co-Chair: Platt, RobertMIT
 
15:25-15:40, Paper ThP207.1 Add to My Program
Model-Free Impedance Control for Safe Human-Robot Interaction
Li, YananNational Univ. of Singapore
Ge, Shuzhi SamNational Univ. of Singapore
Yang, ChenguangUniv. of Plymouth
Li, XinyangNational Univ. of Singapore
Tee, Keng PengInst. for Infocomm Res.
 
15:40-15:55, Paper ThP207.2 Add to My Program
Force Controlled Assembly of Flexible Aircraft Structure
Stolt, AndreasLund Univ.
Linderoth, MagnusLund Univ.
Robertsson, AndersLTH, Lund Univ.
Jonsson, MarieLinköping Univ.
Murray, ThomasLinköping Univ.
 
15:55-16:10, Paper ThP207.3 Add to My Program
Multiple-Priority Impedance Control
Platt, RobertMIT
Abdallah, MuhammadGeneral Motors R&D
Wampler, CharlesGeneral Motors R&D Center
 
16:10-16:25, Paper ThP207.4 Add to My Program
Analytic Proportional-Derivative Control for Precise and Compliant Motion
Allen, BrianUniv. of California, Los Angeles
Neff, MichaelUniv. of California, Davis
Faloutsos, PetrosUniv. of California, Los Angeles
 
16:25-16:40, Paper ThP207.5 Add to My Program
Concurrent Control of Position/Orientation of a Redundant Manipulator Based on Virtual Spring-Damper Hypothesis
Kim, Sung-KyunKorea Inst. of Science and Tech.
Bae, Ji-HunKorea Inst. of Industrial Tech.
Oh, YonghwanKIST
Oh, Sang-RokKIST
 
16:40-16:55, Paper ThP207.6 Add to My Program
A Low-Cost Compliant 7-DOF Robotic Manipulator
Quigley, MorganStanford Univ.
Asbeck, AlanStanford Univ.
Ng, AndrewStanford Univ.
 
ThP208 Regular Sessions, Room 5C Add to My Program 
Robotic Software, Middleware and Programming Environments II  
 
Chair: Baker, Christopher RCarnegie Mellon Univ.
Co-Chair: Tira-Thompson, EthanCarnegie Mellon Univ.
 
15:25-15:40, Paper ThP208.1 Add to My Program
Transformative Industrial Robot Programming in Surface Manufacturing (I)
Chen, HepingTexas State Univ.
Sheng, WeihuaOklahoma State Univ.
 
15:40-15:55, Paper ThP208.2 Add to My Program
An Empirical Comparison of a Free Dynamics Simulator “Open Dynamics Engine” with TITAN-VIII Hardware Torque/Power Measurements
Endo, GenTokyo Inst. of Tech.
Arikawa, KeisukeKanagawa Inst. of Tech.
Hirose, ShigeoTokyo Inst. of Tech.
 
15:55-16:10, Paper ThP208.3 Add to My Program
Toward Adaptation and Reuse of Advanced Robotic Software
Baker, Christopher RCarnegie Mellon Univ.
Dolan, John M.Carnegie Mellon Univ.
Wang, ShigeGM R&D Center
Litkouhi, BakhtiarGM R&D Center
 
16:10-16:25, Paper ThP208.4 Add to My Program
Robots As Web Services: Reproducible Experimentation and Application Development Using Rosjs
Osentoski, SarahBrown Univ.
Jay, GraylinBrown Univ.
Crick, ChristopherBrown Univ.
Pitzer, BenjaminRobert Bosch LLC
DuHadway, CharlesRobert Bosch LLC
Jenkins, Odest ChadwickeBrown Univ.
 
16:25-16:40, Paper ThP208.5 Add to My Program
The Tekkotsu Robotics Development Environment
Tira-Thompson, EthanCarnegie Mellon Univ.
Touretzky, David S.Carnegie Mellon Univ.
 
16:40-16:55, Paper ThP208.6 Add to My Program
ROAR: Resource Oriented Agent Architecture for the Autonomy of Robots
Degroote, ArnaudLAAS/CNRS
Lacroix, SimonLAAS/CNRS
 
ThP209 Regular Sessions, Room 5D Add to My Program 
Motion and Path Planning VI  
 
Chair: Hutchinson, SethUniv. of Illinois
Co-Chair: Asfour, TamimKarlsruhe Inst. of Tech. (KIT)
 
15:25-15:40, Paper ThP209.1 Add to My Program
Motion Planning of a Balancing Robot with Threefold Sub-Tasks: An Endogenous Configuration Space Approach
Ratajczak, AdamWroclaw Univ. of Tech.
Tchon, KrzysztofWrocław Univ. of Tech.
 
15:40-15:55, Paper ThP209.2 Add to My Program
Minimum Uncertainty Robot Navigation Using Information-Guided POMDP Planning
Candido, SalvatoreUniv. of Illinois
Hutchinson, SethUniv. of Illinois
 
15:55-16:10, Paper ThP209.3 Add to My Program
Optimal Control of Multi-Input SMA Actuator Arrays Using Graph Theory
Flemming, LeslieThe Univ. of Utah
Johnson, DavidUniv. of Utah
Mascaro, StephenUniv. of Utah
 
16:10-16:25, Paper ThP209.4 Add to My Program
Cart Pushing with a Mobile Manipulation System: Towards Navigation with Moveable Objects
Scholz, JonathanGeorgia Inst. of Tech.
Marthi, BhaskaraWillow Garage
Chitta, SachinWillow Garage Inc.
Likhachev, MaximCarnegie Mellon Univ.
 
16:25-16:40, Paper ThP209.5 Add to My Program
Efficient Dynamic Programming for High-Dimensional, Optimal Motion Planning by Spectral Learning of Approximate Value Function Symmetries
Vernaza, PaulUniv. of Pennsylvania
Lee, Daniel D.Univ. of Pennsylvania
 
16:40-16:55, Paper ThP209.6 Add to My Program
Design and Analysis of Group Escape Behavior for Distributed Autonomous Mobile Robots
Min, HongKyuChiba Inst. of Tech. Japan
Wang, ZhidongChiba Inst. of Tech.
 
ThP210 Regular Sessions, Room 5E Add to My Program 
Wheeled Robots  
 
Chair: Hirzinger, GerdGerman Aerospace Center (DLR)
Co-Chair: Yu, Wen-ShyongTatung Univ.
 
15:25-15:40, Paper ThP210.1 Add to My Program
Singularity Avoidance for Nonholonomic, Omnidirectional Wheeled Mobile Platforms with Variable Footprint
Dietrich, AlexanderGerman Aerospace Center (DLR)
Wimboeck, ThomasGerman Aerospace Center (DLR)
Albu-Schäffer, AlinDLR - German Aerospace Center
Hirzinger, GerdGerman Aerospace Center (DLR)
 
15:40-15:55, Paper ThP210.2 Add to My Program
High-Speed Mobile Robots Control in Off-Road Conditions: A Multi-Model Based Adaptive Approach
Lenain, RolandCemagref
Thuilot, BenoitClermont-Ferrand Univ.
Hach, OliverCemagref - Centre de Clermont-Ferrand
Martinet, PhilippeBlaise Pascal Univ.
 
15:55-16:10, Paper ThP210.3 Add to My Program
Experimental Results for Stabilization of a Bicycle with a Flywheel Balancer
Keo, LychekTokyo Inst. of Tech.
Yoshino, KiyoshiTokyo Inst. of Tech.
Kawaguchi, MasahiroTokyo Inst. of Tech.
Yamakita, MasakiTokyo Inst. of Tech.
 
16:10-16:25, Paper ThP210.4 Add to My Program
On Generating Continuous-Curvature Paths for Line Following Problem with Curvature and Sharpness Constraints
Girbés, VicentTech. Univ. of Valencia
Armesto, LeopoldoUniv. Pol. de Valencia Q4618002B
Tornero, JosepTech. Univ. of valencia
 
16:25-16:40, Paper ThP210.5 Add to My Program
Point-To-Point Stable Motion Planning of Wheeled Mobile Robots with Multiple Arms for Heavy Object Manipulation
Alipour, KhalilIslamic Azad Univ. Qazvin Branch, Qazvin, Iran
Moosavian, S. Ali A.K. N. Toosi Univ. of Tech.
 
16:40-16:55, Paper ThP210.6 Add to My Program
Steering and Balance Controls of an Electrical Bicycle Using Integral Sliding Mode Control
Yu, Wen-ShyongTatung Univ.
Yeh, Chan-ChihTatung Univ.
 
ThP211 Regular Sessions, Room 5F Add to My Program 
Visual Servoing II  
 
Chair: Wang, ChaoliUniv. of Shanghai for Science and Tech.
Co-Chair: Metta, GiorgioIstituto Italiano di Tecnologia (IIT)
 
15:25-15:40, Paper ThP211.1 Add to My Program
Visual Servoing Feedback Based Robust Regulation of Nonholonomic Wheeled Mobile Robots
Wang, ChaoliUniv. of Shanghai for Science and Tech.
 
15:40-15:55, Paper ThP211.2 Add to My Program
Performance-Oriented Networked Visual Servo Control with Sending Rate Scheduling
Wu, HaiyanTech. Univ. Muenchen
Lou, LeiTech. Univ. Muenchen
Chen, Chih-ChungTech. Univ. München
Hirche, SandraTech. Univ. München
Kühnlenz, KoljaTech. Univ. München
 
15:55-16:10, Paper ThP211.3 Add to My Program
High-Speed Gaze Controller for Millisecond-Order Pan/tilt Camera
Okumura, KoheiUniv. of Tokyo
Oku, HiromasaUniv. of Tokyo
Ishikawa, MasatoshiUniv. of Tokyo
 
16:10-16:25, Paper ThP211.4 Add to My Program
Active Vision-Based Robot Localization and Navigation in a Visual Memory
Mariottini, Gian LucaUniv. of Texas at Arlington
Roumeliotis, StergiosUniv. of Minnesota
 
16:25-16:40, Paper ThP211.5 Add to My Program
Biologically-Inspired Time and Location of Impact Prediction from Optical Flow
McCarthy, ChrisNational ICT Australia
Metta, GiorgioIstituto Italiano di Tecnologia (IIT)
 
16:40-16:55, Paper ThP211.6 Add to My Program
Visibility Learning in Large-Scale Urban Environment
Fernández Alcantarilla, PabloUniv. of Alcalá
Ni, KaiGeorgia Inst. of Tech.
Bergasa, Luis MiguelUniv. of Alcala
Dellaert, FrankGeorgia Inst. of Tech.
 
ThP212 Regular Sessions, Room 5H Add to My Program 
Learning and Adaptive Systems IV  
 
Chair: Dillmann, RüdigerKIT Karlsruher Inst. für Tech.
Co-Chair: Beetz, MichaelTech. Univ. München
 
15:25-15:40, Paper ThP212.1 Add to My Program
Visual Odometry Learning for Unmanned Aerial Vehicles
Guizilini, VitorUniv. of Sydney
Ramos, FabioUniv. of Sydney
 
15:40-15:55, Paper ThP212.2 Add to My Program
How-Models of Human Reaching Movements in the Context of Everyday Manipulation Activities
Nyga, DanielTech. Univ. München
Tenorth, MoritzTU München
Beetz, MichaelTech. Univ. München
 
15:55-16:10, Paper ThP212.3 Add to My Program
Self-Supervised Segmentation of River Scenes
Achar, SupreethCarnegie Mellon Univ.
Sankaran, BharathUniv. of Pennsylvania
Nuske, StephenCMU Robotics Inst.
Scherer, SebastianCarnegie Mellon Univ.
Singh, SanjivCarnegie Mellon Univ.
 
16:10-16:25, Paper ThP212.4 Add to My Program
Bag of Multimodal LDA Models for Concept Formation
Nakamura, TomoakiUniv. of Electro-Communications
Nagai, TakayukiUniv. of Electro-Communications
Iwahashi, NaotoNational Inst. ofInformationandCommunicationsTechnology
 
16:25-16:40, Paper ThP212.5 Add to My Program
Autonomous Learning of Vision-Based Layered Object Models on Mobile Robots
Li, XiangTexas Tech. Univ.
Sridharan, MohanTexas Tech. Univ.
Zhang, ShiqiTexas Tech. Univ.
 
16:40-16:55, Paper ThP212.6 Add to My Program
Towards Perceptual Shared Autonomy for Robotic Mobile Manipulation
Pitzer, BenjaminRobert Bosch LLC
Styer, MichaelRobert Bosch LLC
Bersch, ChristianRobert Bosch LLC
DuHadway, CharlesRobert Bosch LLC
Becker, JanRobert Bosch LLC
 
ThP213 Regular Sessions, Room 5I Add to My Program 
Medical Robots and Systems VIII  
 
Chair: Dominici, MichelFaculty of Science and Tech. of Coimbra
Co-Chair: Kim, JungKAIST
 
15:25-15:40, Paper ThP213.1 Add to My Program
Heart Motion Compensation for Robotic-Assisted Surgery Predictive Approach vs. Active Observer
Dominici, MichelFaculty of Science and Tech. of Coimbra
Cortesao, RuiUniv. of Coimbra
Sousa, CristóvăoInst. for Systems and Robotics (ISR-UC), Univ. of Coimb
 
15:40-15:55, Paper ThP213.2 Add to My Program
Concept and Evaluation of a Synergistic Controlled Robotic Instrument for Trepanation in Neurosurgery
Korff, AlexanderRWTH Aachen Univ.
Follmann, AxelRWTH Aachen Univ.
Fürtjes, TobiasRWTH Aachen Univ. Chair of Medical Engineering
Habor, DanielRWTH Aachen Univ. Chair of Medical Engineering
Kunze, SandraMedical Faculty Mannheim, Univ. of Heidelberg
Schmieder, KirstenMedical Faculty Mannheim, Univ. of Heidelberg
Radermacher, KlausRWTH Aachen Univ.
 
15:55-16:10, Paper ThP213.3 Add to My Program
An Advanced Medical Robotic System Augmenting Healthcare Capabilities – Robotic Nursing Assistant
Hu, JohnHstar Tech.
Edsinger, AaronHstar Tech.
Lim, Yi-JeHstar Tech.
Donaldson, NickHstar Tech.
Solano, MarioHstar Tech.
Solochek, AaronHstar Tech.
 
16:10-16:25, Paper ThP213.4 Add to My Program
Magnetic Resonance Based Control of a Robotic Manipulator for Interventions in the Beating Heart
Yeniaras, ErolUniv. of Houston
Lamaury, JohannLIRMM Univ. of Montpellier
Navkar, Nikhil VishwasUniv. of Houston
Shah, Dipan J.Methodist DeBakey Heart & Vascular Center
Chin, KarenMethodist DeBakey Heart & Vascular Center
Deng, ZhigangUniv. of Houston
Tsekos, NikolaosUniv. of Houston
 
16:25-16:40, Paper ThP213.5 Add to My Program
Robotic System for Hybrid Diagnosis of Prostate Cancer: Design and Experimentation
Ahn, BummoKorea Advanced Inst. of Science and Tech. (KAIST)
Lee, HyosangKAIST
Park, KihanKAIST
Lee, Jae WonYonsei Univ. Coll. of Medicine
Rha, Koon HoYonsei Univ. Coll. of Medicine
Kim, JungKAIST
 
16:40-16:55, Paper ThP213.6 Add to My Program
Real-Time Implementation of Physically Consistent Identification of Human Body Segments
Ayusawa, KoUniv. of Tokyo
Venture, GentianeTokyo Univ. of Agriculture and Tech.
Nakamura, YoshihikoUniv. of Tokyo
 
ThP214 Regular Sessions, Room 5J Add to My Program 
Omnidirectional Vision for Robotics  
 
Chair: Li, Y.F.City Univ. of Hong Kong
Co-Chair: Sheng, WeihuaOklahoma State Univ.
 
15:25-15:40, Paper ThP214.1 Add to My Program
Developing a Crack Inspection Robot for Bridge Maintenance
Lim, Ronny SalimOklahoma State Univ.
La, HungOklahoma State Univ.
Sheng, WeihuaOklahoma State Univ.
Shan, ZeyongSafety Vision
 
15:40-15:55, Paper ThP214.2 Add to My Program
Generic Radial Distortion Calibration of a Novel Single Camera Based Panoramic Stereoscopic System
Li, WeimingCity Univ. of Hongkong
Li, Y.F.City Univ. of Hong Kong
Li, ZhongweiCity Univ. of Hong Kong
Sun, DongCity Univ. of Hong Kong
Zhang, BeiweiCity Univ. of Hong Kong
 
15:55-16:10, Paper ThP214.3 Add to My Program
An Analytical Solution to Optimal Focal Distance in Catadioptric Imaging Systems
Li, WeimingCity Univ. of Hongkong
Li, Y.F.City Univ. of Hong Kong
 
16:10-16:25, Paper ThP214.4 Add to My Program
Tracking Planes in Omnidirectional Stereovision
Caron, GuillaumeUniv. of Picardie Jules Verne
Marchand, EricUniv. de Rennes 1, IRISA, INRIA Rennes
Mouaddib, El MustaphaUniv. of Picardie Jules Verne
 
16:25-16:40, Paper ThP214.5 Add to My Program
Real-Time Free Space Detection and Navigation Using Omnidirectional Vision and Parametric and Geometric Active Contours
Merveilleux, PaulineMIS Lab. Univ. of Picardie, Amiens France
Labbani-Igbida, OuiddadUniv. de Picardie Jules Verne
Mouaddib, El MustaphaUniv. of Picardie Jules Verne