2013 IEEE International Conference on Robotics and Automation
May 6-10, 2013, Kongresszentrum Karlsruhe, Karlsruhe, Germany

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Last updated on April 17, 2013. This conference program is tentative and subject to change

Technical Program for Thursday May 9, 2013

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ThA1 Regular Session, SR2.05 Add to My Program 
Trajectory Planning for Aerial Robots  
Chair: Likhachev, MaximCarnegie Mellon Univ.
Co-Chair: Fitch, RobertUniv. of Sydney
08:30-08:45, Paper ThA1.1 Add to My Program
Path Planning for Motion Dependent State Estimation on Micro Aerial Vehicles
Achtelik, Markus W.ETH Zurich, Autonomous Syst. Lab.
Weiss, StephanETH Zurich
Chli, MargaritaETH Zurich
Siegwart, RolandETH Zurich
08:45-09:00, Paper ThA1.2 Add to My Program
Path Planning for Non-Circular Micro Aerial Vehicles in Constrained Environments
MacAllister, BrianCarnegie Mellon Univ.
Butzke, JonathanCarnegie Mellon Univ.
Kushleyev, AleksandrUniv. of Pennsylvania
Pandey, HarshCarnegie Mellon Univ.
Likhachev, MaximCarnegie Mellon Univ.
09:00-09:15, Paper ThA1.3 Add to My Program
Real-Time Rendezvous Point Selection for a Nonholonomic Vehicle
Wilson, Daniel BriggsAustralian Centre for Field Robotics (ACFR)
Trujillo, Miguel AngelCenter for Advanced Aerospace Tech.
Goktogan, Ali HaydarAustralian Centre for Field Robotics (ACFR)
Sukkarieh, SalahUniv. of Sydney
09:15-09:30, Paper ThA1.4 Add to My Program
RRT*-AR: Sampling-Based Alternate Routes Planning with Applications to Autonomous Emergency Landing of a Helicopter
Choudhury, SanjibanCarnegie Mellon Univ.
Scherer, SebastianCarnegie Mellon Univ.
Singh, SanjivCarnegie Mellon Univ.
09:30-09:45, Paper ThA1.5 Add to My Program
Autonomous Search and Counter-Targeting Using Levy Search Models
Stevens, TimothyNaval Postgraduate School
Chung, Timothy H.Naval Postgraduate School
09:45-10:00, Paper ThA1.6 Add to My Program
Maneuver-Based Autonomous Navigation of a Small Fixed-Wing UAV
Hwangbo, MyungCarnegie Mellon Univ.
Kanade, TakeoCarnegie Mellon Univ.
ThA2 Regular Session, Clubraum Add to My Program 
Robot Control with Constraints  
Chair: De Luca, AlessandroUniv. di Roma
Co-Chair: Zheng, Yuan F.The Ohio State Univ.
08:30-08:45, Paper ThA2.1 Add to My Program
Optimal Redundancy Resolution with Task Scaling under Hard Bounds in the Robot Joint Space
Flacco, FabrizioUniv. di Roma "La Sapienza"
De Luca, AlessandroUniv. di Roma "La Sapienza"
08:45-09:00, Paper ThA2.2 Add to My Program
On Rolling Contact Motion by Robotic Fingers Via Prescribed Performance Control
Doulgeri, ZoeAristotle Univ. of Thessaloniki
Droukas, LeonidasAristotle Univ. of Thessaloniki
09:00-09:15, Paper ThA2.3 Add to My Program
Control of Elastic Soft Robots Based on Real-Time Finite Element Method
Duriez, ChristianINRIA
09:15-09:30, Paper ThA2.4 Add to My Program
A Real Time Robust Observer for an Agonist Antagonist Variable Stiffness Actuator
Menard, TomasUniv. of Caen
Grioli, GiorgioUniv. di Pisa
Bicchi, Antoniovat 09198791007
09:30-09:45, Paper ThA2.5 Add to My Program
Characterization of Constraints in Flexible Unknown Environments
Bhattacharyya, SamratVanderbilt Univ.
Simaan, NabilVanderbilt Univ.
09:45-10:00, Paper ThA2.6 Add to My Program
Human-Robot Physical Interaction and Collaboration Using an Industrial Robot with a Closed Control Architecture
Geravand, MiladUniv. di Roma "La Sapienza"
Flacco, FabrizioUniv. di Roma "La Sapienza"
De Luca, AlessandroUniv. di Roma "La Sapienza"
ThA3 Regular Session, Thoma Add to My Program 
Biologically - Inspired Robotics  
Chair: Xiao, JingUNC-Charlotte
Co-Chair: Tadakuma, KenjiroOsaka Univ.
08:30-08:45, Paper ThA3.1 Add to My Program
A Continuum Manipulator Made of Interlocking Fibers
Moses, Matthew SJohns Hopkins Univ.
Kutzer, Michael Dennis MaysJohns Hopkins Univ. Applied Physics Lab.
Ma, HansJohns Hopkins Univ.
Armand, MehranJohns Hopkins Univ. Applied Physics Lab.
08:45-09:00, Paper ThA3.2 Add to My Program
Progressive Generation of Force-Closure Grasps for an N-Section Continuum Manipulator
Li, JinglinUniv. of North Carolina - Charlotte
Xiao, JingUNC-Charlotte
09:00-09:15, Paper ThA3.3 Add to My Program
Design of a Direct-Driven Linear Actuator for Development of a Cheetaroid Robot
Na, ByeonghunSogang Univ.
Choi, HyunjinSogang Univ.
Kong, KyoungchulSogang Univ.
09:15-09:30, Paper ThA3.4 Add to My Program
Direct Drive of Flapping Wings under Resonance with Instantaneous Wing Trajectory Control
Zhang, JianPurdue Univ.
Cheng, BoPurdue Univ.
Roll, JessePurdue Univ.
Deng, XinyanPurdue Univ.
Yao, BinPurdue Univ.
09:30-09:45, Paper ThA3.5 Add to My Program
Modeling and Optimization of an Electromagnetic Actuator for Flapping Wing Micro Air Vehicle
Cheng, BoPurdue Univ.
Roll, JessePurdue Univ.
Deng, XinyanPurdue Univ.
09:45-10:00, Paper ThA3.6 Add to My Program
Multi-Sensor Fusion with Out-Of-Sequence Measurements for Vehicle Environment Perception
Westenberger, AntjeDaimler AG
Wäldele, SteffenUniv. of Karsruhe
Dora, BalaganeshDaimler AG
Duraisamy, BharanidharDaimler AG
Muntzinger, MarcDaimler AG
Dietmayer, KlausUniv. of Ulm
ThA4 Regular Session, Mombert Add to My Program 
Formal Systems: Sensing, Tracking, Control  
Chair: Martins, Nuno C.Univ. of Maryland, Coll. Park
Co-Chair: Tedrake, RussMassachusetts Inst. of Tech.
08:30-08:45, Paper ThA4.1 Add to My Program
Maximal Persistent Surveillance under Safety Constraints
Arvelo, EduardoUniv. of Maryland, Coll. Park
Kim, EricUniv. of Maryland, Coll. Park
Martins, Nuno C.Univ. of Maryland, Coll. Park
08:45-09:00, Paper ThA4.2 Add to My Program
Control Design Along Trajectories with Sums of Squares Programming
Majumdar, AnirudhaMassachusetts Inst. of Tech.
Ahmadi, Amir AliIBM Watson Res. Center
Tedrake, RussMassachusetts Inst. of Tech.
09:00-09:15, Paper ThA4.3 Add to My Program
On the Complexity of Searching for an Evader with a Faster Pursuer
Shkurti, FlorianMcGill Univ.
Dudek, GregoryMcGill Univ.
09:15-09:30, Paper ThA4.4 Add to My Program
Minimal Specification Revision for Weighted Transition Systems
Kim, KangjinArizona State Univ.
Fainekos, GeorgiosArizona State Univ.
09:30-09:45, Paper ThA4.5 Add to My Program
Provably Correct Continuous Control for High-Level Robot Behaviors with Actions of Arbitrary Execution Durations
Raman, VasumathiCornell Univ.
Piterman, NirUniv. of Leicester
Kress-Gazit, HadasCornell Univ.
09:45-10:00, Paper ThA4.6 Add to My Program
Automatic Reduction of Combinatorial Filters
O'Kane, JasonUniv. of South Carolina
Shell, DylanTexas A&M Univ.
ThA5 Regular Session, Hebel Add to My Program 
Motion & Path Planning  
Chair: Bekris, Kostas E.Rutgers, the State Univ. of New Jersey
Co-Chair: Alterovitz, RonUniv. of North Carolina at Chapel Hill
08:30-08:45, Paper ThA5.1 Add to My Program
Real-Time Optimization-Based Planning in Dynamic Environments Using GPUs
Park, ChonhyonUniv. of North Carolina at Chapel Hill
Pan, JiaUNC Chapel Hill
Manocha, DineshUNC at Chapel Hill
08:45-09:00, Paper ThA5.2 Add to My Program
Sparsification of Motion-Planning Roadmaps by Edge Contraction
Salzman, OrenTel-Aviv Univ.
Agarwal, PankajDuke Univ.
Halperin, Dantel aviv Univ.
Shaharabani, DoronTel-Aviv Univ.
09:00-09:15, Paper ThA5.3 Add to My Program
Improving Sparse Roadmap Spanners
Dobson, AndrewRutgers Univ.
Bekris, Kostas E.Rutgers, the State Univ. of New Jersey
09:15-09:30, Paper ThA5.4 Add to My Program
On the Completeness of Ensembles of Motion Planners for Decentralized Planning
Knepper, Ross AMassachusetts Inst. of Tech.
Rus, DanielaMIT
09:30-09:45, Paper ThA5.5 Add to My Program
Enhancing the Transition-Based RRT to Deal with Complex Cost Spaces
Devaurs, DidierLAAS-CNRS
Simeon, ThierryLAAS-CNRS
Cortes, JuanLAAS-CNRS
09:45-10:00, Paper ThA5.6 Add to My Program
Asymptotically Optimal Inspection Planning Using Systems with Differential Constraints
Papadopoulos, GeorgiosMIT
Kurniawati, HannaUniv. of Queensland
Patrikalakis, NicholasMIT, SMART
ThA6 Regular Session, Forum 1+2 Add to My Program 
Marine Robotics - Navigation  
Chair: Whitcomb, LouisThe Johns Hopkins Univ.
Co-Chair: Antonelli, GianlucaUniv. di Cassino e del Lazio Meridionale
08:30-08:45, Paper ThA6.1 Add to My Program
Preliminary Experimental Evaluation of a Doppler-Aided Attitude Estimator for Improved Doppler Navigation of Underwater Vehicles
Troni, GiancarloJohns Hopkins Univ.
Whitcomb, LouisThe Johns Hopkins Univ.
08:45-09:00, Paper ThA6.2 Add to My Program
Experimental Results of Coordinated Sampling/Patrolling by Autonomous Underwater Vehicles
Marino, AlessandroUniv. degli Studi di Salerno
Antonelli, GianlucaUniv. di Cassino e del Lazio Meridionale
09:00-09:15, Paper ThA6.3 Add to My Program
Underwater Navigation Behaviors Using Wide-Field Integration Methods
Ranganathan, Badri NarayananUniv. of Maryland Coll. Park
Dimble, KedarUniv. of Maryland Coll. Park
Faddy, JamesUniv. of Maryland Coll. Park
Humbert, James SeanUniv. of Maryland
09:15-09:30, Paper ThA6.4 Add to My Program
A Multi-AUV System for Cooperative Tracking and Following of Leopard Sharks
Shinzaki, DylanStanford Univ.
Gage, ChrisHarvey Mudd Coll.
Tang, SarahPrinceton Univ.
Moline, Mark A.California Pol. State Univ. San Luis Obispo
Wolfe, BarrettCalifornia State Univ. Long Beach
Lowe, Christopher G.California State Univ. Long Beach
Clark, Christopher M.Harvey Mudd Coll.
09:30-09:45, Paper ThA6.5 Add to My Program
Planning Coverage Paths on Bathymetric Maps for In-Detail Inspection of the Ocean Floor
Galceran, EnricUniv. of Girona
Carreras, MarcUniv. de Girona
09:45-10:00, Paper ThA6.6 Add to My Program
Multi-Armed Bandit Formulation for Autonomous Mobile Acoustic Relay Adaptive Positioning
Cheung, Mei YiMIT
Leighton, JoshuaMassachusetts Inst. of Tech.
Hover, FranzMIT
ThAInt Interactive Session, Interactive Sessions Area Add to My Program 
Interactive Session - Thursday I  
Chair: Krüger, NorbertUniv. of Southern Denmark
Co-Chair: Dario, PaoloScuola Superiore Sant'Anna
08:30-10:00, Paper ThAInt.1 Add to My Program
Mobility Analysis of a Sarrus Linkage-Like 7-R Single Closed Loop Mechanism
Zhao, YuTsinghua Univ.
Li, TieminTsinghua Univ.
Yu, XiaowenTsinghua Univ. Department of Precise Inst. Mech
Tang, XiaoqiangTsinghua Univ.
Wang, LipingTsinghua Univ.
08:30-10:00, Paper ThAInt.2 Add to My Program
Exponential Submanifolds: A New Kinematic Model for Mechanism Analysis and Synthesis
Wu, YuanqingHong Kong Univ. of Science and Tech.
Liu, GuanfengGuandong Univ. of Tech.
Löwe, HaraldTech. Univ. of Braunschweig
Li, ZexiangHong Kong Univ. of Science and Tech.
08:30-10:00, Paper ThAInt.3 Add to My Program
Low-Cost Robot Arm with 3-DOF Counterbalance Mechanism
Kim, Hwi-suKorea Univ.
Song, Jae-BokKorea Univ.
08:30-10:00, Paper ThAInt.4 Add to My Program
On the Design of a Statically Balanced Serial Robot Using Remote Counterweights
Lacasse, Marc-AntoineLaval Univ.
Lachance, GenevièveUniv. Laval
Boisclair, JulienUniv. laval
Ouellet, JérémieUniv. Laval
Gosselin, ClementUniv. Laval
08:30-10:00, Paper ThAInt.5 Add to My Program
Evolutionary Co-Optimization of Control and System Parameters for a Resonating Robot Arm
Pen, JurrenDelft Univ. of Tech.
Caarls, WouterDelft Univ. of Tech.
Wisse, MartijnDelft Univ. of Tech.
Babuska, RobertDelft Univ. of Tech.
08:30-10:00, Paper ThAInt.6 Add to My Program
Inverse Kinematics Solutions for Serial Robots Using Support Vector Regression
Morell, AntonioUniv. de La Laguna
Tarokh, MahmoudSan Diego State Univ.
Acosta Sánchez, LeopoldoUniv. of La Laguna
08:30-10:00, Paper ThAInt.7 Add to My Program
Sparse Surface Modeling with Curved Patches
Kanoulas, DimitriosNortheastern Univ.
Vona, MarsetteNortheastern Univ.
08:30-10:00, Paper ThAInt.8 Add to My Program
Hypothesis Testing Framework for Active Object Detection
Atanasov, NikolayUniv. of Pennsylvania
Sankaran, BharathUniv. of Southern California
Le Ny, JeromeEc. Pol. de Montreal
Koletschka, ThomasUniv. of Pennsylvania
Pappas, George J.Univ. of Pennsylvania
Daniilidis, KostasUniv. of Pennsylvania
08:30-10:00, Paper ThAInt.9 Add to My Program
Weakly Supervised Strategies for Natural Object Recognition in Robotics
Fanello, Sean RyanIstituto Italiano di Tecnologia
Metta, GiorgioIstituto Italiano di Tecnologia (IIT)
Natale, LorenzoIstituto Italiano di Tecnologia
08:30-10:00, Paper ThAInt.10 Add to My Program
Multi-View Object Recognition Using View-Point Invariant Shape Relations and Appearance Information
Mustafa, WailUniv. of Southern Denmark
Pugeault, NicolasUniv. of Surrey
Krüger, NorbertUniv. of Southern Denmark
08:30-10:00, Paper ThAInt.11 Add to My Program
Multi-Scale Superquadric Fitting for Efficient Shape and Pose Recovery of Unknown Objects
Duncan, KesterUniv. of South Florida
Sarkar, SudeepUSF
Alqasemi, RedwanUniv. of South Florida
Dubey, RajivUniv. of South Florida
08:30-10:00, Paper ThAInt.12 Add to My Program
Probabilistic Object Recognition and Pose Estimation by Fusing Multiple Algorithms
Lutz, MatthiasUniv. of Applied Sciences Ulm
Stampfer, DennisUniv. of Applied Sciences Ulm
Schlegel, ChristianUniv. of Applied Sciences Ulm
08:30-10:00, Paper ThAInt.13 Add to My Program
Multi-Object Detection and Pose Estimation in 3D Point Clouds: A Fast Grid-Based Bayesian Filter
Pimentel de Figueiredo, RuiIST-ID
Moreno, PlinioIST-ID
Bernardino, AlexandreIST
Santos-Victor, JoséInst. Superior Técnico - Lisbon
08:30-10:00, Paper ThAInt.14 Add to My Program
Robots with Language: Multi-Label Visual Recognition Using NLP
Yang, YezhouUniv. of Maryland
Teo, Ching LikUniv. of Maryland
Fermuller, CorneliaUniv. of Maryland
Aloimonos, YiannisUniv. of Maryland
08:30-10:00, Paper ThAInt.15 Add to My Program
Cloud-Based Robot Grasping with the Google Object Recognition Engine
Kehoe, BenUniv. of California, Berkeley
Matsukawa, AkihiroUniv. of California, Berkeley
Candido, SalvatoreGoogle
Kuffner, JamesGoogle
Goldberg, KenUC Berkeley
08:30-10:00, Paper ThAInt.16 Add to My Program
A New Approach to Clothing Classification Using Mid-Level Layers
Willimon, BryanClemson Univ.
Birchfield, StanClemson Univ.
Walker, IanClemson Univ.
08:30-10:00, Paper ThAInt.17 Add to My Program
A Robot for Classifying Chinese Calligraphic Types and Styles
Sun, YuandongThe Chinese Univ. of Hong Kong
Ding, NingThe Chinese Univ. of Hong Kong
Qian, HuihuanCUHK
Xu, YangshengChinese Univ. of HongKong/ShenzhenInstituteofAdvancedTechno
08:30-10:00, Paper ThAInt.18 Add to My Program
Trajectory Generation under the Least Action Principle for Physical Human-Robot Cooperation
Lawitzky, MartinTech. Univ. Muenchen
Kimmel, MelanieTech. Univ. München
Ritzer, PeterTech. Univ. München
Hirche, SandraTech. Univ. München
08:30-10:00, Paper ThAInt.19 Add to My Program
Human Awareness Based Robot Performance Learning in a Social Environment
Tseng, Shih-HuanNational Taiwan Univ.
Hua, Ju-HsuanNational Taiwan Univ.
Ma, Shao-PoNational Taiwan Univ.
Fu, Li-ChenNational Taiwan Univ.
08:30-10:00, Paper ThAInt.20 Add to My Program
Visual Recovery of Saliency Maps from Human Attention in 3D Environments
Santner, KatrinJoanneum Res.
Fritz, GeraldJOANNEUM Res. Forschungsgesellschaft mbH
Paletta, LucasJOANNEUM Res. Forschungsgesellschaft mbH
Mayer, HeinzJoanneum Res.
08:30-10:00, Paper ThAInt.21 Add to My Program
Learning Environmental Knowledge from Task-Based Human-Robot Dialog
Kollar, ThomasComputer Science Department
Perera, VittorioSapienza Univ.
Nardi, DanieleSapienza Univ. of Rome
Veloso, ManuelaCarnegie Mellon Univ.
08:30-10:00, Paper ThAInt.22 Add to My Program
On the Design, Development and Experimentation of the ASTRO Assistive Robot Integrated in Smart Environments
Cavallo, FilippoScuola Superiore Sant'Anna - Pisa
Aquilano, MichelaScuola Superiore Sant'Anna
Bonaccorsi, ManueleSSSUP
Limosani, RaffaeleScuola Superiore Sant'Anna
Manzi, AlessandroScuola Sant'Anna
Carrozza, Maria ChiaraScuola Superiore Sant'Anna
Dario, PaoloScuola Superiore Sant'Anna
08:30-10:00, Paper ThAInt.23 Add to My Program
Oral Mechanism Design on Face Robot for Lip-Synchronized Speech
Lin, Chyi-YeuNational Taiwan Univ. of Science and Tech.
Cheng, Li-ChiehNational Taiwan Univ. of Science and Tech.
Shen, Lien-ChiehNational Taiwan Univ. of Science and Tech.
08:30-10:00, Paper ThAInt.24 Add to My Program
Assisted Gravity Compensation to Cope with the Complexity of Kinesthetic Teaching on Redundant Robots
Emmerich, ChristianBielefeld Univ.
Nordmann, ArneCoR-Lab. Bielefeld Univ.
Swadzba, AgnesBielefeld Univ.
Wrede, SebastianBielefeld Univ.
Steil, Jochen J.Bielefeld Univ.
08:30-10:00, Paper ThAInt.25 Add to My Program
Hands-Free Human-Robot Communication Robust to Speaker's Radial Position
Gomez, RandyKyoto Univ.
Nakamura, KeisukeHonda Res. Inst. Japan Co., Ltd.
Nakadai, KazuhiroHonda Res. Inst. Japan Co., Ltd.
Kim, Ui-HyunKyoto Univ.
Okuno, Hiroshi G.Kyoto Univ.
Kawahara, TatsuyaKyoto Univ.
08:30-10:00, Paper ThAInt.26 Add to My Program
Autonomous Person Following for Telepresence Robots
Cosgun, AkanselGeorgia Inst. of Tech.
Florencio, DineiMicrosoft Res.
Christensen, Henrik IskovGeorgia Inst. of Tech.
08:30-10:00, Paper ThAInt.27 Add to My Program
Human-Robot Cooperative Object Swinging
Donner, PhilineTech. Univ. Muenchen
Mörtl, AlexanderTech. Univ. München
Hirche, SandraTech. Univ. München
Buss, MartinTech. Univ. München
08:30-10:00, Paper ThAInt.28 Add to My Program
Estimating Human Interest and Attention Via Gaze Analysis
Knight, HeatherCarnegie Mellon Univ.
Simmons, ReidCarnegie Mellon Univ.
08:30-10:00, Paper ThAInt.29 Add to My Program
Brain Activity Measurement to Evaluate Hand-Eye Coordination for Slave and Endoscope in a Surgical Robot
Miura, SatoshiWaseda Univ.
Kobayashi, YoWaseda Univ.
Kawamura, KazuyaChiba Univ.
Seki, MasatoshiWaseda Univ.
Nakashima, YasutakaWaseda Univ.
Noguchi, TakehikoWaseda Univ.
Yokoo, YukiWaseda Univ.
Fujie, Masakatsu G.Waseda Univ.
08:30-10:00, Paper ThAInt.30 Add to My Program
Real-Time Biopsy Needle Tip Estimation in 2D Ultrasound Images
Mathiassen, KimUniv. of Oslo
Dall'Alba, DiegoUniv. of Verona
Muradore, RiccardoUniv. of Verona
Fiorini, PaoloUniv. of Verona
Elle, Ole JakobRikshospitalet Univ. Hospital
08:30-10:00, Paper ThAInt.31 Add to My Program
The Application of Force Sensing to Skills Assessment in Minimally Invasive Surgery
Trejos, Ana LuisaThe Univ. of Western Ontario
Patel, Rajnikant V.The Univ. of Western Ontario
Naish, Michael D.The Univ. of Western Ontario
Malthaner, RichardUniv. of Western Ontario
Schlachta, Christopher MarkThe Univ. of Western Ontario
08:30-10:00, Paper ThAInt.32 Add to My Program
Probabilistic Approach to Recognize Local Navigation Plans by Fusing past Driving Information with a Personalized User Model
Huntemann, AlexanderKatholieke Univ. Leuven
Demeester, EricKatholieke Univ. Leuven
Vander Poorten, Emmanuel BKatholieke Univ. Leuven
Van Brussel, HendrikKatholieke Univ. Leuven
De Schutter, JorisKatholieke Univ. Leuven
08:30-10:00, Paper ThAInt.33 Add to My Program
Autonomous Robotic Palpation: Machine Learning Techniques to Identify Hard Inclusions in Soft Tissues
Nichols, KirkStanford Univ.
Okamura, Allison M.Stanford Univ.
08:30-10:00, Paper ThAInt.34 Add to My Program
A Fiberoptic Force-Torque-Sensor for Minimally Invasive Robotic Surgery
Haslinger, RobertDLR - German Aerospace Center
Leyendecker, PatrickDLR - German Aerospace Center
Seibold, UlrichDLR
08:30-10:00, Paper ThAInt.35 Add to My Program
Simultaneous Soft Sensing of Tissue Contact Angle and Force for Millimeter-Scale Medical Robots
Arabagi, VeaceslavChildrens Hospital Boston
Gosline, AndrewChildren's Hospital Boston, Harvard Medical School
Wood, RobertHarvard Univ.
Dupont, PierreChildren's Hospital Boston, Harvard Medical School
08:30-10:00, Paper ThAInt.36 Add to My Program
Monocular Feature-Based Periodic Motion Estimation for Surgical Guidance
Tully, StephenCarnegie Mellon Univ.
Kantor, GeorgeCarnegie Mellon Univ.
Choset, HowieCarnegie Mellon Univ.
08:30-10:00, Paper ThAInt.37 Add to My Program
Characterization of Friction and Speed Effects and Methods for Detection of Cochlear Implant Electrode Tip Fold-Over
Pile, JasonVanderbilt Univ.
Simaan, NabilVanderbilt Univ.
08:30-10:00, Paper ThAInt.38 Add to My Program
An Optical Curvature Sensor for Flexible Manipulators
Searle, Thomas CallumKing's Coll. London
Althoefer, KasparKings Coll. London
Seneviratne, LakmalKings Coll. London
Liu, HongbinKing's Coll. London
08:30-10:00, Paper ThAInt.39 Add to My Program
Selective Cell Injection of Fluorescence Particle Sensor Encapsulated in Fusogenic Liposome Using Optical Manipulation and Control of Surface Potential Using Photochromic Chemical
Maruyama, HisatakaNagoya Univ.
Masuda, TaisukeNagoya Univ.
Honda, AyaeHosei Univ.
Arai, FumihitoNagoya Univ.
08:30-10:00, Paper ThAInt.40 Add to My Program
A Pseudo-Rigid-Body 3R Model for a Steerable Ablation Catheter
Khoshnam Tehrani, MahtaWestern Univ.
Patel, Rajnikant V.The Univ. of Western Ontario
ThPP Plenary Session, Brahms Add to My Program 
Aude Billard: Teaching Robots to Cook, Relax and Play Catch  
Chair: Ikeuchi, KatsushiThe Univ. of Tokyo
10:30-11:25, Paper ThPP.1 Add to My Program
Teaching Robots to Cook, Relax and Play Catch
Billard, AudeEPFL
ThC1 Regular Session, SR2.05 Add to My Program 
Novel Aerial Robots  
Chair: Floreano, DarioEc. Pol. Federal, Lausanne
Co-Chair: Cutkosky, MarkStanford Univ.
11:30-11:45, Paper ThC1.1 Add to My Program
A Perching Mechanism for Flying Robots Using a Fiber-Based Adhesive
Daler, LudovicEc. Pol. Federale de Lausanne
Klaptocz, AdamsenseFly
Briod, AdrienEc. Pol. Federale de Lausanne
Sitti, MetinMechanical Engineering Department and Robotics Inst. Carneg
Floreano, DarioEc. Pol. Federal, Lausanne
11:45-12:00, Paper ThC1.2 Add to My Program
Development of an Autonomous Flying Robot and Its Verification Via Flight Control Experiment
Tanaka, MotoyasuThe Univ. of Electro-Communications
Kawai, HiroshiThe Univ. of Electro-Communications
Tanaka, KazuoUniv. of Electro-Communications
Wang, Hua O.Boston Univ.
12:00-12:15, Paper ThC1.3 Add to My Program
Design and Experimental Validation of HyTAQ, a Hybrid Terrestrial and Aerial Quadrotor
Kalantari, ArashIllinois Inst. of Tech.
Spenko, MatthewIllinois Inst. of Tech.
12:15-12:30, Paper ThC1.4 Add to My Program
Efficient Jumpgliding: Theory and Design Considerations
Lussier Desbiens, AlexisStanford Univ.
Pope, MorganStanford Univ.
Berg, ForrestStanford Univ.
Teoh, Zhi ErnHarvard Univ.
Lee, JuliaStanford Univ.
Cutkosky, MarkStanford Univ.
12:30-12:45, Paper ThC1.5 Add to My Program
Integrated Electro-Aeromechanical Structures for Low-Cost, Self-Deploying Environment Sensors and Disposable UAVs
Pounds, PaulThe Univ. of Queensland
Singh, SuryaThe Univ. of Queensland
ThC2 Regular Session, Clubraum Add to My Program 
Constrained Robot Control  
Chair: Mordohai, PhilipposUPENN
Co-Chair: Patel, Rajnikant V.The Univ. of Western Ontario
11:30-11:45, Paper ThC2.1 Add to My Program
Differentially Flat Trajectory Generation for a Dynamically Stable Mobile Robot
Shomin, MichaelCarnegie Mellon Univ.
Hollis, RalphCarnegie Mellon Univ.
11:45-12:00, Paper ThC2.2 Add to My Program
A Partially Saturated Nonlinear Controller for Overhead Cranes with Experimental Implementation
Sun, NingNankai Univ.
Fang, YongchunNankai Univ.
12:00-12:15, Paper ThC2.3 Add to My Program
Model-Based Force Control of a Steerable Ablation Catheter with a Custom-Designed Strain Sensor
Khoshnam Tehrani, MahtaWestern Univ.
Yurkewich, AaronWestern Univ.
Patel, Rajnikant V.The Univ. of Western Ontario
12:15-12:30, Paper ThC2.4 Add to My Program
Model-Free Robot Manipulation of Doors and Drawers by Means of Fixed-Grasps
Karayiannidis, YiannisKTH Royal Insitute of Tech.
Smith, Claes ChristianKTH Royal Inst. of Tech.
Vina, FranciscoKTH
Ogren, PetterRoyal Inst. of Tech. (KTH)
Kragic, DanicaKTH
12:30-12:45, Paper ThC2.5 Add to My Program
A Hybrid Control Approach to the Next-Best-View Problem Using Stereo Vision
Freundlich, CharlesStevens Inst. of Tech.
Mordohai, PhilipposUPENN
Zavlanos, Michael M.Duke Univ.
ThC3 Regular Session, Mombert Add to My Program 
Compliant Mechanisms & Manipulation  
Chair: Khatib, OussamaStanford Univ.
Co-Chair: Dubey, RajivUniv. of South Florida
11:30-11:45, Paper ThC3.1 Add to My Program
Human-Like Impedance and Minimum Effort Control for Natural and Efficient Manipulation
Ajoudani, ArashIstituto Italiano di Tecnologia
Gabiccini, MarcoUniv. di Pisa
Tsagarakis, NikolaosIstituto Italiano di Tecnologia
Bicchi, Antoniovat 09198791007
11:45-12:00, Paper ThC3.2 Add to My Program
Development of a Large Working Range Flexure-Based 3-DOF Micro-Parallel Manipulator Driven by Electromagnetic Actuators
Xiao, ShunliUniv. of Macau
Li, YangminUniv. of Macau
12:00-12:15, Paper ThC3.3 Add to My Program
Design and Dynamics Model of a Lightweight Series Elastic Tendon-Driven Robot Arm
Lens, ThomasTech. Univ. Darmstadt
von Stryk, OskarTech. Univ. Darmstadt
12:15-12:30, Paper ThC3.4 Add to My Program
Design and Analysis of a Cable-Driven Manipulator with Variable Stiffness
Lim, WenbinNanyang Tech. Univ.
Yeo, Song HuatNanyang Tech. Univ.
Yang, GuilinSingapore Inst. of Manufacturing Tech.
Chen, I-MingNanyang Tech. Univ.
12:30-12:45, Paper ThC3.5 Add to My Program
Flexure Joints Modeling for Micrometer Accuracy of an Active 6-PUS Space Telescope through Experimental Calibration
Gayral, ThibaultINRIA Sophia Antipolis
Daney, DavidINRIA Sophia Antipolis
Ducarne, JulienThales Alenia Space
ThC4 Regular Session, Thoma Add to My Program 
Reasoning and Planning  
Chair: Tenorth, MoritzUniv. Bremen
Co-Chair: Posner, IngmarOxford Univ.
11:30-11:45, Paper ThC4.1 Add to My Program
Knowing When We Don't Know: Introspective Classification for Mission-Critical Decision Making
Grimmett, HugoOxford Univ.
Paul, RohanUniv. of Oxford
Triebel, RudolphUniv. of Oxford
Posner, IngmarOxford Univ.
11:45-12:00, Paper ThC4.2 Add to My Program
Learning Probability Distributions Over Partially-Ordered Human Everyday Activities
Tenorth, MoritzUniv. Bremen
de la Torre, FernandoCarnegie Mellon Univ.
Beetz, MichaelUniv. of Bremen
12:00-12:15, Paper ThC4.3 Add to My Program
Multi-Armed Recommendation Bandits for Selecting State Machine Policies for Robotic Systems
Matikainen, PyryCarnegie Mellon Univ.
Furlong, MichaelCarnegie Mellon Univ.
Sukthankar, RahulIntel Lab. and Carnegie Mellon
Hebert, MartialCMU
12:15-12:30, Paper ThC4.4 Add to My Program
A Case Study on the Tower of Hanoi Challenge: Representation, Reasoning and Execution
Havur, GiraySabanci Univ.
Haspalamutgil, KadirSabanci Univ.
Palaz, CanSabanci Univ.
Erdem, EsraSabanci Univ.
Patoglu, VolkanSabanci Univ.
12:30-12:45, Paper ThC4.5 Add to My Program
Optimization in the Now: Dynamic Peephole Optimization for Hierarchical Planning
Hadfield-Menell, DylanMIT
Kaelbling, LeslieMIT
Lozano-Perez, TomasMIT
ThC5 Regular Session, Hebel Add to My Program 
Motion Planning with Uncertainty  
Chair: van den Berg, JurUniv. of Utah
Co-Chair: Moll, MarkRice Univ.
11:30-11:45, Paper ThC5.1 Add to My Program
Strategic Planning under Uncertainties Via Constrained Markov Decision Processes
Ding, Xu ChuUnited Tech. Res. Center
Pinto, AlessandroUnited Tech. Res. Center, Inc.
Surana, AmitUTRC
11:45-12:00, Paper ThC5.2 Add to My Program
GPU-Based Motion Planning under Uncertainties Using POMDP
Lee, Taek HeeEwha Womans Univ.
Kim, Young J.Ewha Womans Univ.
12:00-12:15, Paper ThC5.3 Add to My Program
Robust Coverage by a Mobile Robot of a Planar Workspace
Bretl, TimothyUniv. of Illinois at Urbana-Champaign
Hutchinson, SethUniv. of Illinois
12:15-12:30, Paper ThC5.4 Add to My Program
Patching Task-Level Robot Controllers Based on a Local Mu-Calculus Formula
Livingston, ScottCalifornia Inst. of Tech.
Prabhakar, PavithraIMDEA Software Inst.
Jose, Alex B.California Inst. of Tech.
Murray, RichardCalifornia Inst. of Tech.
12:30-12:45, Paper ThC5.5 Add to My Program
Path Planning with Uncertainty: Voronoi Uncertainty Fields
Ok, KyelGeorgia Inst. of Tech.
Ansari, SameerGeorgia Inst. of Tech.
Gallagher, WilliamGeorgia Inst. of Tech.
Sica, WilliamGeorgia Inst. of Tech.
Dellaert, FrankGeorgia Inst. of Tech.
Stilman, MikeGeorgia Tech.
ThC6 Regular Session, Forum 1+2 Add to My Program 
Marine Robotics - Control  
Chair: Tarn, T. J.Washington Univ.
Co-Chair: Boyer, FrédéricEc. des mines de Nantes
11:30-11:45, Paper ThC6.1 Add to My Program
Flow-Aided Path Following of an Underwater Robot
Jung, David SamuelTech. Univ. Darmstadt
Pott, PeterTech. Univ. Darmstadt
Salumae, TaaviTallinn Univ. of Tech.
Kruusmaa, MaarjaTallinn Univ. of Tech.
11:45-12:00, Paper ThC6.2 Add to My Program
Synthesis of an Electric Sensor Based Control for Underwater Multi-Agents Navigation in a File
Benachenhou, Mohammed-RedhaEc. Centrale de Nantes
Chevallereau, ChristineCNRS
Lebastard, VincentEc. des Mines de Nantes
Boyer, FrédéricEc. des mines de Nantes
12:00-12:15, Paper ThC6.3 Add to My Program
Comparative Experimental Evaluation of a New Adaptive Identifier for Underwater Vehicles
McFarland, ChristopherJohns Hopkins Univ.
Whitcomb, LouisThe Johns Hopkins Univ.
12:15-12:30, Paper ThC6.4 Add to My Program
Preliminary Experiments in Fully Actuated Model Based Control with Six Degree-Of-Freedom Coupled Dynamical Plant Models for Underwater Vehicles
Martin, StephenThe Johns Hopkins Univ.
Whitcomb, LouisThe Johns Hopkins Univ.
12:30-12:45, Paper ThC6.5 Add to My Program
Autonomous Robotic Valve Turning : A Hierarchical Learning Approach
Ahmadzadeh, Seyed RezaDepartment of Advanced Robotics, Istituto Italiano diTecnologia,
Kormushev, PetarIstituto Italiano di Tecnologia
Caldwell, Darwin G.Istituto Italiano di Tecnologia
ThCInt Interactive Session, Interactive Sessions Area Add to My Program 
Interactive Session - Thursday II  
Chair: Martinet, PhilippeEc. Centrale de Nantes
Co-Chair: Ramos, FabioUniv. of Sydney
11:30-12:45, Paper ThCInt.1 Add to My Program
Kinematic Analysis of the 4-3-1 and 3-2-1 Wire-Driven Parallel Crane
Merlet, Jean-PierreINRIA
11:30-12:45, Paper ThCInt.2 Add to My Program
The Closure Condition of the Double Banana and Its Application to Robot Position Analysis
Rojas, NicolásIRI (CSIC-UPC)
Thomas, FedericoCSIC-UPC
11:30-12:45, Paper ThCInt.3 Add to My Program
Disturbance Attenuation of a Handheld Parallel Robot
El-Shenawy, Ahmed KhamiesArab Acad. for Science and Tech.
Wagner, AchimHeidelberg Univ.
Pott, PeterTech. Univ. Darmstadt
Gundling, RalfLab. for Biomechanics and experimental Orthopaedics,Heidel
Schwarz, MarkusLab. for Biomechanics and experimental Orthopaedics,Heidel
Badreddin, EssameddinHeidelberg Univ.
11:30-12:45, Paper ThCInt.4 Add to My Program
Minimal Representation for the Control of Gough-Stewart Platforms Via Leg Observation Considering a Hidden Robot Model
Briot, SébastienIRCCyN
Martinet, PhilippeEc. Centrale de Nantes
11:30-12:45, Paper ThCInt.5 Add to My Program
Control of a Large Redundantly Actuated Cable-Suspended Parallel Robot
Lamaury, JohannLIRMM Univ. of Montpellier
Gouttefarde, MarcLIRMM
11:30-12:45, Paper ThCInt.6 Add to My Program
Kinematic Calibration Method for a 5-DOF Gantry-Tau Parallel Kinematic Machine
Tyapin, IlyaUniv. of Agder
Hovland, GeirUniv. of Agder
11:30-12:45, Paper ThCInt.7 Add to My Program
Stereo Vision and IMU Based Real-Time Ego-Motion and Depth Image Computation on a Handheld Device
Schmid, KorbinianGerman Aerospace Center (DLR)
Hirschmüller, HeikoGerman Aerospace Center (DLR)
11:30-12:45, Paper ThCInt.8 Add to My Program
ACT-CORNER: Active Corner Finding for Optic Flow Determination
de Croon, GuidoEuropean Space Agency, Noordwijk, the Netherlands
Nolfi, StefanoCNR-ISTC
11:30-12:45, Paper ThCInt.9 Add to My Program
Fast and Adaptive 3D Change Detection Algorithm for Autonomous Robots Based on Gaussian Mixture Models
Drews Jr, PauloFederal Univ. of Rio Grande (FURG)
da Silva Filho, Sidnei CarlosUniv. Federal do Rio Grande
Marcolino, Luiz FernandoUniv. Federal do Rio Grande
Núñez, PedroUniv. of Extremadura
11:30-12:45, Paper ThCInt.10 Add to My Program
ERODE: An Efficient and Robust Outlier Detector and Its Application to Stereovisual Odometry
Moreno, Francisco-AngelUniv. of Malaga
Blanco, Jose-LuisUniv. of Malaga
Gonzalez, JavierUniv. of Malaga
11:30-12:45, Paper ThCInt.11 Add to My Program
Parallel, Real-Time Monocular Visual Odometry
Song, ShiyuUniv. of California, San Diego
Chandraker, ManmohanNEC Lab. America
Guest, ClarkUniv. of California, San Diego
11:30-12:45, Paper ThCInt.12 Add to My Program
Terrain Adaptive Odometry for Mobile Skid-Steer Robots
Reinstein, MichalCzech Tech. Univ. in Prague
Kubelka, VladimirCzech Tech. Univ. in Prague
Zimmermann, KarelCzech Tech. Univ. Prague
11:30-12:45, Paper ThCInt.13 Add to My Program
Real-Time Motion Tracking on a Cellphone Using Inertial Sensing and a Rolling-Shutter Camera
Li, MingyangUniv. of California, Riverside
Kim, Byung HyungUniv. of California, Riverside
Mourikis, AnastasiosUniv. of California, Riverside
11:30-12:45, Paper ThCInt.14 Add to My Program
Online Self-Supervised Segmentation of Dynamic Objects
Guizilini, VitorUniv. of Sydney
Ramos, FabioUniv. of Sydney
11:30-12:45, Paper ThCInt.15 Add to My Program
Global Optimal Data Association for Multiple People Tracking
Chen, LiliTech. Univ. Muenchen
Wang, WeiTech. Univ. Muenchen
Knoll, AloisTU Munich
11:30-12:45, Paper ThCInt.16 Add to My Program
Explicit 3D Change Detection Using Ray-Tracing in Spherical Coordinates
Underwood, James PatrickThe Univ. of Sydney
Gillsjö, DavidInst. f¨or Systemteknik, Department of Electrical Engine
Bailey, TimUniv. of Sydney
Vlaskine, VsevolodAustralian Centre for Field Robotics, Sydney Univ.
11:30-12:45, Paper ThCInt.17 Add to My Program
Multi-Sensor Identity Tracking with Event Graphs
Morton, PeterUniv. of Sydney
Douillard, BertrandUniv. of Syndey
Underwood, James PatrickThe Univ. of Sydney
11:30-12:45, Paper ThCInt.18 Add to My Program
A New Descriptor for Multiple 3D Motion Trajectories Recognition
Shao, ZhanpengCity Univ. of Hong Kong
Li, Y.F.City Univ. of Hong Kong
11:30-12:45, Paper ThCInt.19 Add to My Program
Adaptive Visual Tracking with Reacquisition Ability for Arbitrary Objects
Yang, TianyuShenzhen Inst. of Advanced Tech. ChineseAcademyof Sci
Li, BaopuChinese Univ. of Hong Kong
Hu, ChaoSIAT
Meng, Max Q.-H.The Chinese Univ. of Hong Kong
11:30-12:45, Paper ThCInt.20 Add to My Program
A Precise Tracking Algorithm Based on Raw Detector Responses and a Physical Motion Model
Birbach, OliverDFKI
Frese, UdoUniv. Bremen
11:30-12:45, Paper ThCInt.21 Add to My Program
Moving Target Detection for Sense and Avoid Using Regional Phase Correlation
May, KaarenMemorial Univ. of Newfoundland
Krouglicof, NicholasMemorial Univ.
11:30-12:45, Paper ThCInt.22 Add to My Program
Qualitative Validation of Humanoid Robot Models through Balance Recovery Side-Stepping Experiments
Assman, TimEindhoven Univ. of Tech.
van Zutven, PieterEindhoven Univ. of Tech.
Nijmeijer, HendrikEindhoven Univ. of Tech.
11:30-12:45, Paper ThCInt.23 Add to My Program
Dynamic Reconfiguration Manipulability Analyses of Humanoid Bipedal Walking
Kobayashi, YosukeOkayama Univ.
Minami, MamoruOkayama Univ.
Yanou, AkiraOkayama Univ.
Maeba, TomohideOkayama Univ.
11:30-12:45, Paper ThCInt.24 Add to My Program
Apex Height Control of a Two-Mass Hopping Robot
Mathis, FrankMichigan State Univ.
Mukherjee, RanjanMichigan State Univ.
11:30-12:45, Paper ThCInt.25 Add to My Program
Generalized Humanoid Leg Inverse Kinematics to Deal with Singularities
Zorjan, MajaLab. d'Ingénierie des Systèmes de Versailles
Hugel, VincentUniv. of Versailles
11:30-12:45, Paper ThCInt.26 Add to My Program
Cooperative-Dual-Task-Space-Based Whole-Body Motion Balancing for Humanoid Robots
Park, H. AndyPurdue Univ.
Lee, C. S. GeorgePurdue Univ.
11:30-12:45, Paper ThCInt.27 Add to My Program
Speed Regulation in 3D Robotic Walking through Motion Transitions between Human-Inspired Partial Hybrid Zero Dynamics
Powell, MatthewTexas A&M Univ.
Hereid, AyongaTexas A&M Univ.
Ames, AaronTexas A&M Univ.
11:30-12:45, Paper ThCInt.28 Add to My Program
Online Learning of Humanoid Robot Kinematics under Switching Tools Contexts
Jamone, LorenzoWASEDA Univ.
Damas, BrunoIST-ID
Santos-Victor, JoséInst. Superior Técnico - Lisbon
Takanishi, AtsuoWaseda Univ.
11:30-12:45, Paper ThCInt.29 Add to My Program
Compliant and Adaptive Control of a Planar Monopod Hopper in Rough Terrain
Faraji, SalmanEPFL
Pouya, SohaEPFL Ec. Pol. Federal de Lausanne
Moeckel, RicoEc. Pol. Federal de Lausanne
Ijspeert, AukeEPFL
11:30-12:45, Paper ThCInt.30 Add to My Program
Development of a Human-Like Neurologic Model to Simulate the Influences of Diseases for Neurologic Examination Training
Wang, ChunbaoWaseda Univ.
Noh, YohanWaseda Univ.
Ishii, HiroyukiWaseda Univ.
Sessa, SalvatoreWaseda Univ.
Zecca, MassimilianoWaseda Univ.
Takanishi, AtsuoWaseda Univ.
Shoji, SatoruKYOTOKAGAKU co., Ltd.
11:30-12:45, Paper ThCInt.31 Add to My Program
A Comparative Study for Robot Assisted Vitreoretinal Surgery: Micron vs. the Steady-Hand Robot
Gonenc, BerkJohns Hopkins Univ.
Handa, JamesJohns Hopkins Medical Inst.
Gehlbach, PeterJohns Hopkins Medical Inst.
Taylor, Russell H.The Johns Hopkins Univ.
Iordachita, IulianJohns Hopkins Univ.
11:30-12:45, Paper ThCInt.32 Add to My Program
Preliminary Evaluation of a Walking Controller for a Powered Ankle Prosthesis
Shultz, AmandaVanderbilt Univ.
Mitchell, JasonVanderbilt Univ.
Truex, DonVanderbilt Univ.
Lawson, BrianVanderbilt Univ.
Goldfarb, MichaelVanderbilt Univ.
11:30-12:45, Paper ThCInt.33 Add to My Program
In-Vitro Intravascular Simulator with Quantitative Evaluation for Surgical Tools Used in Cerebral Aneurysm Surgery Based on Stress Analysis
Shi, ChaoyangNagoya Univ.
Kojima, MasahiroNagoya Univ.
Tercero Villagran, Carlos RafaelNagoya Univ.
Nakajima, MasahiroNagoya Univ.
Ikeda, SeiichiNagoya Univ.
Fukuda, ToshioNagoya Univ.
Arai, FumihitoNagoya Univ.
Negoro, MakotoFujita Health Univ.
Najdovski, ZoranDeakin Univ.
Kodama, HirokatsuNagoya Univ.
11:30-12:45, Paper ThCInt.34 Add to My Program
Imaging Based Metrics for Performance Assessment in Laser Phonomicrosurgery
Deshpande, NikhilFondazione Istituto Italiano di Tecnologia (VAT:09198791007)
Mattos, LeonardoIstituto Italiano di Tecnologia
Barresi, GiacintoFondazione Istituto Italiano di Tecnologia
Brogni, AndreaIstituto Italiano di Tecnologia
Dagnino, GiulioIstituto Italiano di Tecnologia
Guastini, LucaUniv. degli Studi di Genova
Peretti, GiorgioUniv. degli Studi di Genova - Dip.to DISC - Sez. ORL
Caldwell, Darwin G.Istituto Italiano di Tecnologia
11:30-12:45, Paper ThCInt.35 Add to My Program
Design and in Vivo Validation of a Force-Measuring Manipulator for MIS Providing Synchronized Video, Motion and Force Data
Willaert, BertK.U.Leuven
Famaey, NeleKU Leuven, Department of Mechanical Engineering
Verbrugghe, PeterKU Leuven, Department of Cardiovascular Sciences
Reynaerts, DominiekDiv. Production Engineering, Machine Design andAutomation, K
Van Brussel, HendrikKatholieke Univ. Leuven
11:30-12:45, Paper ThCInt.36 Add to My Program
Remotely Operated Brachytherapy System for Oral Cancer
Saito, YukariTokyo Inst. of Tech.
Takayama, ToshioTokyo Inst. of Tech.
Omata, ToruTokyo Inst. of Tech.
Shibuya, HitoshiJapan
Miura, MasahikoTokyo Medical and Dental Univ.
Watanabe, HiroshiTokyo Medical and Dental Univ.
11:30-12:45, Paper ThCInt.37 Add to My Program
Implementation of a Force-Feedback Interface for Robotic Assisted Interventions with Real-Time MRI Guidance
von Sternberg, NicholasUniv. of Houston
Kilicarslan, AtillaUniv. of Houston
Navkar, Nikhil VishwasUniv. of Houston
Deng, ZhigangUniv. of Houston
Grigoriadis, KarolosUniv. of Houston
Tsekos, NikolaosUniv. of Houston
11:30-12:45, Paper ThCInt.38 Add to My Program
Preliminary Experimental Results and Modeling for a Four Degree of Freedom Automated Traction Measurement Platform for Quantitative Evaluation of in Vivo Robotic Capsule Colonoscopy Mobility Effectiveness
Sliker, Levin J.Univ. of Colorado at Boulder
Kern, Madalyn D.Univ. of Colorado at Boulder
Rentschler, MarkUniv. of Colorado at Boulder
11:30-12:45, Paper ThCInt.39 Add to My Program
Can Concentric Tube Robots Follow the Leader?
Gilbert, Hunter B.Vanderbilt Univ.
Webster III, Robert JamesVanderbilt Univ.
ThD1 Regular Session, SR2.05 Add to My Program 
Aerial Robots and Manipulation  
Chair: Carloni, RaffaellaUniv. of Twente
Co-Chair: Kumar, VijayUniv. of Pennsylvania
14:00-14:15, Paper ThD1.1 Add to My Program
Trajectory Generation and Control of a Quadrotor with a Cable-Suspended Load -- a Differentially-Flat Hybrid System
Sreenath, KoushilUniv. of Pennsylvania
Michael, NathanCarnegie Mellon Univ.
Kumar, VijayUniv. of Pennsylvania
14:15-14:30, Paper ThD1.2 Add to My Program
A Reinforcement Learning Approach towards Autonomous Suspended Load Manipulation Using Aerial Robots
Palunko, IvanaUniv. of Zagreb
Faust, AleksandraUniv. of New Mexico
Cruz, PatricioUniv. of New Mexico
Tapia, LydiaUniv. of New Mexico
Fierro, RafaelUniv. of New Mexico
14:30-14:45, Paper ThD1.3 Add to My Program
Learning Swing-Free Trajectories for UAVs with a Suspended Load
Faust, AleksandraUniv. of New Mexico
Palunko, IvanaUniv. of Zagreb
Cruz, PatricioUniv. of New Mexico
Fierro, RafaelUniv. of New Mexico
Tapia, LydiaUniv. of New Mexico
14:45-15:00, Paper ThD1.4 Add to My Program
Interaction Control of an UAV Endowed with a Manipulator
Scholten, Jasper L. J.Univ. of Twente
Fumagalli, MatteoUniv. of Twente
Stramigioli, StefanoUniv. of Twente
Carloni, RaffaellaUniv. of Twente
15:00-15:15, Paper ThD1.5 Add to My Program
Control of an Aerial Robot with Multi-Link Arm for Assembly Tasks
Jimenez-Cano, AntonioUniv. of Seville
Martin, JesusUniv. of Seville
Heredia, GuillermoEngineering School, Univ. of Seville
Ollero, AnibalUniv. of Seville
15:15-15:30, Paper ThD1.6 Add to My Program
Dynamic Stability of a Mobile Manipulating Unmanned Aerial Vehicle
Korpela, Christopher M.Drexel Univ.
Orsag, MatkoUniv. of Zagreb
Pekala, Miles C. D.Motile Robotics
Oh, Paul Y.Drexel Univ.
ThD2 Regular Session, Clubraum Add to My Program 
Compliance Control  
Chair: Albu-Schäffer, AlinDLR - German Aerospace Center
Co-Chair: Secchi, CristianUniv. of Modena & Reggio Emilia
14:00-14:15, Paper ThD2.1 Add to My Program
Stiffness Control of Variable Stiffness Joint Using Electromyography Signals
Kajikawa, ShinyaTohoku Gakuin Univ.
14:15-14:30, Paper ThD2.2 Add to My Program
Modal Limit Cycle Control for Variable Stiffness Actuated Robots
Lakatos, DominicDLR - German Aerospace Center
Garofalo, GianlucaDLR
Petit, FlorianGerman Aerospace Center (DLR)
Ott, ChristianGerman Aerospace Center (DLR)
Albu-Schäffer, AlinDLR - German Aerospace Center
14:30-14:45, Paper ThD2.3 Add to My Program
Human-Like Robotic Handwriting and Drawing
Li, BorenThe Ohio State Univ.
Zheng, Yuan F.The Ohio State Univ.
Hemami, HooshangThe Ohio State Univ.
Che, DaThe Ohio State Univ.
14:45-15:00, Paper ThD2.4 Add to My Program
A Tank-Based Approach to Impedance Control with Variable Stiffness
Ferraguti, FedericaUniv. degli Studi di Modena e Reggio Emilia
Secchi, CristianUniv. of Modena & Reggio Emilia
Fantuzzi, CesareUniv. di Modena e Reggio Emilia
15:00-15:15, Paper ThD2.5 Add to My Program
Cr-N Alloy Thin-Film Based Torque Sensors and Joint Torque Servo Systems for Compliant Robot Control
Kuroki, YoshihiroTOYOTA Motor Corp.
Kosaka, YusukeToyota Motor Corp.
Takahashi, TaroToyota Motor Corp.
Niwa, EijiRes. Inst. for Electromagnetic Materials
Kaminaga, HiroshiThe Univ. of Tokyo
Nakamura, YoshihikoUniv. of Tokyo
15:15-15:30, Paper ThD2.6 Add to My Program
Gravity Compensation Control of Compliant Joint Systems with Multiple Drives
Spyrakos-Papastavridis, EmmanouilIstituto Italiano di Tecnologia
Medrano-Cerda, GustavoItalian Inst. of Tech.
Tsagarakis, NikolaosIstituto Italiano di Tecnologia
Dai, JianKing's Coll. London, Univ. of London
Caldwell, Darwin G.Istituto Italiano di Tecnologia
ThD3 Regular Session, Thoma Add to My Program 
Cognitive Robotics: Developmental Perception  
Chair: Kragic, DanicaKTH
Co-Chair: Stoytchev, AlexanderIowa State Univ.
14:00-14:15, Paper ThD3.1 Add to My Program
Developmental Action Perception for Manipulative Interaction
Saegusa, RyoToyohashi Univ. of Tech.
Metta, GiorgioIstituto Italiano di Tecnologia (IIT)
Sandini, GiulioItalian Inst. of Tech.
Natale, LorenzoIstituto Italiano di Tecnologia
14:15-14:30, Paper ThD3.2 Add to My Program
Object Search by Manipulation
Dogar, Mehmet RemziCarnegie Mellon Univ.
Koval, MichaelCarnegie Mellon Univ.
Tallavajhula, AbhijeetIIT Kharagpur
Srinivasa, SiddharthaCarnegie Mellon Univ.
14:30-14:45, Paper ThD3.3 Add to My Program
Grounded Object Individuation by a Humanoid Robot
Sinapov, JivkoIowa State Univ.
Stoytchev, AlexanderIowa State Univ.
14:45-15:00, Paper ThD3.4 Add to My Program
Decoupling Behavior, Perception, and Control for Autonomous Learning of Affordances
Hermans, TuckerGeorgia Inst. of Tech.
Rehg, JamesGeorgia Inst. of Tech.
Bobick, AaronGeorgia Tech.
15:00-15:15, Paper ThD3.5 Add to My Program
Language for Learning Complex Human-Object Interactions
Patel, MiteshUniv. of Tech. Sydney
Ek, Carl HenrikRoyal Inst. of Tech.
Kyriazis, NikolaosICS FORTH, CSD UOC
Argyros, AntonisFORTH
Valls Miro, JaimeUniv. of Tech. Sydney
Kragic, DanicaKTH
15:15-15:30, Paper ThD3.6 Add to My Program
Interactive Segmentation, Tracking, and Kinematic Modeling of Unknown 3D Articulated Objects
Katz, DovCarnegie Mellon Univ.
Kazemi, MoslemCarnegie Mellon Univ.
Bagnell, JamesCarnegie Mellon Univ.
Stentz, AnthonyCarnegie Mellon Univ.
ThD4 Regular Session, Mombert Add to My Program 
Formal Methods: Motion Planning & Control  
Chair: Dimarogonas, Dimos V.Royal Inst. of Tech.
Co-Chair: Frazzoli, EmilioMassachusetts Inst. of Tech.
14:00-14:15, Paper ThD4.1 Add to My Program
Incremental Synthesis of Control Policies for Heterogeneous Multi-Agent Systems with Linear Temporal Logic Specifications
Wongpiromsarn, TichakornSingapore-MIT Alliance for Res. & Tech.
Ulusoy, AlphanBoston Univ.
Belta, CalinBoston Univ.
Frazzoli, EmilioMassachusetts Inst. of Tech.
Rus, DanielaMIT
14:15-14:30, Paper ThD4.2 Add to My Program
A Receding Horizon Algorithm for Informative Path Planning with Temporal Logic Constraints
Jones, AustinBoston Univ.
Schwager, MacBoston Univ.
Belta, CalinBoston Univ.
14:30-14:45, Paper ThD4.3 Add to My Program
Revising Motion Planning under Linear Temporal Logic Specifications in Partially Known Workspaces
Guo, MengKTH Royal Inst. of Tech.
Johansson, Karl H.Royal Inst. of Tech.
Dimarogonas, Dimos V.Royal Inst. of Tech.
14:45-15:00, Paper ThD4.4 Add to My Program
Efficient Reactive Controller Synthesis for a Fragment of Linear Temporal Logic
Wolff, EricCalifornia Inst. of Tech.
Topcu, UfukCalifornia Inst. of Tech.
Murray, RichardCalifornia Inst. of Tech.
15:00-15:15, Paper ThD4.5 Add to My Program
Sampling-Based Optimal Motion Planning for Non-Holonomic Dynamical Systems
Karaman, SertacMassachusetts Inst. of Tech.
Frazzoli, EmilioMassachusetts Inst. of Tech.
15:15-15:30, Paper ThD4.6 Add to My Program
Just-In-Time Synthesis for Reactive Motion Planning with Temporal Logic
Livingston, ScottCalifornia Inst. of Tech.
Murray, RichardCalifornia Inst. of Tech.
ThD5 Regular Session, Hebel Add to My Program 
Sampling-Based Motion Planning  
Chair: Bretl, TimothyUniv. of Illinois at Urbana-Champaign
Co-Chair: Stilman, MikeGeorgia Tech.
14:00-14:15, Paper ThD5.1 Add to My Program
Kinodynamic RRT*: Asymptotically Optimal Motion Planning for Robots with Linear Dynamics
Webb, DustinUniv. of Utah
van den Berg, JurUniv. of Utah
14:15-14:30, Paper ThD5.2 Add to My Program
Simplicial Label Correcting Algorithms for Continuous Stochastic Shortest Path Problems
Yershov, DmitryUniv. of Illinois at Urbana-Champaign
LaValle, Steven MUniv. of Illinois
14:30-14:45, Paper ThD5.3 Add to My Program
Anytime Solution Optimization for Sampling-Based Motion Planning
Luna, RyanRice Univ.
Sucan, Ioan AlexandruWillow Garage
Moll, MarkRice Univ.
Kavraki, LydiaRice Univ.
14:45-15:00, Paper ThD5.4 Add to My Program
An Efficient Algorithm for the Generalized Distance Measure
Zheng, YuDisney
Yamane, KatsuDisney
15:00-15:15, Paper ThD5.5 Add to My Program
Speeding up Coverage Queries in 3D Multi-Goal Path Planning
Janoušek, PetrCzech Tech. Univ.
Faigl, JanCzech Tech. Univ. in Prague
15:15-15:30, Paper ThD5.6 Add to My Program
Scalable Distributed RRT for Motion Planning
Jacobs, Sam AdeTexas A&M Univ.
Stradford, NicholasTexas A&M Univ.
Rodriguez, CesarTexas A&M Univ.
Thomas, ShawnaTexas A&M Univ.
Amato, NancyTexas A&M Univ.
ThD6 Regular Session, Forum 1+2 Add to My Program 
Marine Robotics - Sensors + Actuation  
Chair: Laschi, CeciliaScuola Superiore Sant'Anna
Co-Chair: Birk, AndreasJacobs Univ.
14:00-14:15, Paper ThD6.1 Add to My Program
Optimal Jetting Velocity and Nozzle Considerations for a Cephalopod Inspired Underwater Thruster
Krieg, MikeUniv. of Florida
Mohseni, KamranUniv. of Florida at Gainesville
14:15-14:30, Paper ThD6.2 Add to My Program
An Elastic Pulsed-Jet Thruster for Soft Unmanned Underwater Vehicles
Giorgio Serchi, FrancescoScuola Superiore Sant'Anna
Arienti, AndreaScuola Superiore Sant'Anna
Baldoli, IlariaScuola Superiore Sant'Anna
Laschi, CeciliaScuola Superiore Sant'Anna
14:30-14:45, Paper ThD6.3 Add to My Program
Robust Estimation of Camera-Tilt for Ifmi Based Photo-Mapping Using a Calibrated Monocular Camera
Pathak, KaustubhJacobs Univ. Bremen
Pfingsthorn, MaxJacobs Univ.
Buelow, HeikoJacobs Univ.
Birk, AndreasJacobs Univ.
14:45-15:00, Paper ThD6.4 Add to My Program
Robust Real-Time Underwater Digital Video Streaming Using Optical Communication
Doniec, MarekMIT
Xu, AnqiMcGill Univ.
Rus, DanielaMIT
15:00-15:15, Paper ThD6.5 Add to My Program
Development of Underwater Distance Sensor Using EM Wave Attenuation
Park, DaegilPOSTECH
Kwak, Kyung minSEOULTECH
Chung, Wan KyunPOSTECH
Kim, JinhyunSeoul National Univ. of Science and Tech.
15:15-15:30, Paper ThD6.6 Add to My Program
Experiments in Dynamic Control of Autonomous Marine Vehicles Using Acoustic Modems
Gilbertson, EricMIT
Reed, BrooksMassachusetts Inst. of Tech.
Leighton, JoshuaMassachusetts Inst. of Tech.
Cheung, Mei YiMIT
Hover, FranzMIT
ThDInt Interactive Session, Interactive Sessions Area Add to My Program 
Interactive Session - Thursday III  
Chair: Menciassi, AriannaScuola Superiore Sant'Anna - SSSA
Co-Chair: Scaramuzza, DavideUniv. of Zurich
14:00-15:30, Paper ThDInt.1 Add to My Program
Gait-Based Compliant Control for Snake Robots
Rollinson, DavidCarnegie Mellon Univ.
Choset, HowieCarnegie Mellon Univ.
14:00-15:30, Paper ThDInt.2 Add to My Program
Kinematics for Continuum Robot of the Endoscope
Cheng, WubinUniv. of Saskatchewan
Zhang, Wen-JunEast China Univ. of Science and Tech.
14:00-15:30, Paper ThDInt.3 Add to My Program
Dynamical Analysis of Sidewinding Locomotion by a Snake-Like Robot
Ariizumi, RyoKyoto Univ.
Matsuno, FumitoshiKyoto Univ.
14:00-15:30, Paper ThDInt.4 Add to My Program
Octopus-Inspired Eight-Arm Robotic Swimming by Sculling Movements
Sfakiotakis, MichaelFORTH
Kazakidi, AsiminaFoundation for Res. & Tech. - Hellas (FORTH)
Pateromichelakis, NikolaosFoundation for Res. & Tech. - Hellas (FORTH)
Tsakiris, DimitrisFORTH
14:00-15:30, Paper ThDInt.5 Add to My Program
Extended Gait Equation for Sidewinding
Gong, ChaohuiCarnegie Mellon Univ.
Travers, MatthewUniv. of Colorado at Boulder
Fu, XiaozhouANSYS, Inc
Choset, HowieCarnegie Mellon Univ.
14:00-15:30, Paper ThDInt.6 Add to My Program
Estimating Motion of Snake Robots in Straight Pipes
Enner, FlorianCarnegie Mellon Univ.
Rollinson, DavidCarnegie Mellon Univ.
Choset, HowieCarnegie Mellon Univ.
14:00-15:30, Paper ThDInt.7 Add to My Program
Snakes on a Plan: Toward Combining Planning and Control
Hatton, RossOregon State Univ.
Knepper, Ross AMassachusetts Inst. of Tech.
Choset, HowieCarnegie Mellon Univ.
Rollinson, DavidCarnegie Mellon Univ.
Gong, ChaohuiCarnegie Mellon Univ.
Galceran, EnricUniv. of Girona
14:00-15:30, Paper ThDInt.8 Add to My Program
Point-Plane SLAM for Hand-Held 3D Sensors
Taguchi, YuichiMitsubishi Electric Res. Lab.
Jian, Yong-DianGeorgia Tech.
Ramalingam, SrikumarMitsubishi Electric Res. Lab.
Feng, ChenUniv. of Michigan
14:00-15:30, Paper ThDInt.9 Add to My Program
Closed-Form Online Pose-Chain SLAM
Dubbelman, GijsCMU Robotics Inst.
Browning, BrettCarnegie Mellon Univ.
14:00-15:30, Paper ThDInt.10 Add to My Program
Switchable Constraints vs. Max-Mixture Models vs. RRR - a Comparison of Three Approaches to Robust Pose Graph SLAM
Sünderhauf, NikoChemnitz Univ. of Tech.
Protzel, PeterChemnitz Univ. of Tech.
14:00-15:30, Paper ThDInt.11 Add to My Program
Gaussian Process Gauss-Newton for 3D Laser-Based Visual Odometry
Tong, Chi HayUniv. of Toronto
Barfoot, TimothyUniv. of Toronto
14:00-15:30, Paper ThDInt.12 Add to My Program
RailSLAM - Localization of Rail Vehicles and Mapping of Geometric Railway Tracks
Heirich, OliverGerman Aerospace Center
Robertson, PatrickGerman Aerospace Center
Strang, ThomasGerman Aerospace Center
14:00-15:30, Paper ThDInt.13 Add to My Program
DDF-SAM 2.0: Consistent Distributed Smoothing and Mapping
Cunningham, AlexanderGeorgia Inst. of Tech.
Indelman, VadimGeorgia Inst. of Tech.
Dellaert, FrankGeorgia Inst. of Tech.
14:00-15:30, Paper ThDInt.14 Add to My Program
RFID-Based Hybrid Metric-Topological SLAM for GPS-Denied Environments
Forster, ChristianUniv. of Zurich
Sabatta, Deon GeorgeCSIR
Siegwart, RolandETH Zurich
Scaramuzza, DavideUniv. of Zurich
14:00-15:30, Paper ThDInt.15 Add to My Program
Deploying Artificial Landmarks to Foster Data Association in Simultaneous Localization and Mapping
Beinhofer, MaximilianUniv. of Freiburg
Kretzschmar, HenrikUniv. of Freiburg
Burgard, WolframUniv. of Freiburg
14:00-15:30, Paper ThDInt.16 Add to My Program
Photometric Moments: New Promising Candidates for Visual Servoing
Bakthavatchalam, ManikandanIRISA-INRIA
Chaumette, FrancoisINRIA Rennes-Bretagne Atlantique
Marchand, EricUniv. de Rennes 1, IRISA, INRIA Rennes
14:00-15:30, Paper ThDInt.17 Add to My Program
Uncalibrated Image-Based Visual Servoing
Santamaria-Navarro, AngelCSIC-UPC
Andrade-Cetto, JuanCSIC-UPC
14:00-15:30, Paper ThDInt.18 Add to My Program
Visual Servoing for the REEM Humanoid Robot’s Upper Body
Agravante, Don JovenLab. d'Informatique, de Robotique et de Microélectronique
Pages, JordiPal robotics
Chaumette, FrancoisINRIA Rennes-Bretagne Atlantique
14:00-15:30, Paper ThDInt.19 Add to My Program
Visually Servoed Deformation Control by Robot Manipulators
Navarro-Alarcon, DavidThe Chinese Univ. of Hong Kong
Liu, YunhuiChinese Univ. of Hong Kong
Romero Velazquez, Jose GuadalupeLab. des Signaux et Systèmes, CNRS–SUPELEC
Li, PengThe Chinese Univ. of Hong Kong
14:00-15:30, Paper ThDInt.20 Add to My Program
Vision-Based Tracking Control of Nonholonomic Mobile Robots without Position Measurement
Wang, KaiThe Chinese Univ. of Hong Kong
Liu, YunhuiChinese Univ. of Hong Kong
Li, LuyangThe Chinese Univ. of Hong Kong
14:00-15:30, Paper ThDInt.21 Add to My Program
New Results in Image Moments-Based Visual Servoing
Tahri, OmarInst. de Sistemas e Robótica, Univ. de Coimbra
Mezouar, YoucefIFMA
Tonye, EmmanuelEc. Nationale Superieure Pol.
14:00-15:30, Paper ThDInt.22 Add to My Program
Image-Based Visual Navigation for Mobile Robots
O'Sullivan, LiamQueensland Univ. of Tech.
Corke, PeterQUT
Mahony, RobertAustralian National Univ.
14:00-15:30, Paper ThDInt.23 Add to My Program
Motion Capture and Reinforcement Learning of Dynamically Stable Humanoid Movement Primitives
Vuga, RokJozef Stefan Inst.
Ogrinc, MatjažJozef Stefan Inst.
Gams, AndrejJozef Stefan Inst.
Petric, TadejJozef Stefan Inst.
Sugimoto, NorikazuNational Inst. of Information and Communications Tech.
Ude, AlesJozef Stefan Inst.
Morimoto, JunATR Computational Neuroscience Lab.
14:00-15:30, Paper ThDInt.24 Add to My Program
A Neural Network to Capture Demonstrated Motions on a Humanoid Robot to Rapidly Create Complex Central Pattern Generators As Reusable Neural Building Blocks
Rempis, Christian WilhelmOsnabrück Univ.
14:00-15:30, Paper ThDInt.25 Add to My Program
Method to Calibrate the Skeleton Model Using Orientation Sensors
Yuan, QilongNanyang Tech. Univ.
Chen, I-MingNanyang Tech. Univ.
Ang, Wei SinNanyang Tech. Univ.
14:00-15:30, Paper ThDInt.26 Add to My Program
Inverse Kinematics of a Bilateral Robotic Human Upper Body Model Based on Motion Analysis Data
Lura, DerekUniv. of South Florida
Wernke, MatthewUniv. of South Florida
Carey, StephanieUniv. of South Florida
Alqasemi, RedwanUniv. of South Florida
Dubey, RajivUniv. of South Florida
14:00-15:30, Paper ThDInt.27 Add to My Program
Soft Wearable Motion Sensing Suit for Lower Limb Biomechanics Measurements
Menguc, YigitHarvard Univ.
Park, Yong-LaeHarvard Univ.
Martinez-Villalpando, Ernesto C.Massachusetts Inst. of Tech.
Aubin, PatrickVilnius Gediminas Tech. Univ.
Zisook, MiriamWyss Inst. at Harvard Univ.
Stirling, LeiaWyss Inst. for Biologically Inspired Engineering, Harvard Un
Wood, RobertHarvard Univ.
Walsh, Conor JamesHarvard Univ.
14:00-15:30, Paper ThDInt.28 Add to My Program
Robust Tracking of Bio-Inspired References for a Biped Robot Using Geometric Algebra and Sliding Modes
Oviedo-Barriga, José LuisCINVESTAV-GDL
Carbajal-Espinosa, OscarCentro de Investigaciones y EstudiosAvanzadosdelIPN(CINVESTAV)
González-Jiménez, Luis EnriqueCentro de Investigaciones y Estudios AvanzadosdelIPN(CINVESTAV)
Castillo-Toledo, BernardinoCentro de Investigaciones y Estudios Avanzados del IPN (CINVESTA
Bayro-Corrochano, Eduardo-JoseCINVESTAV, Unidad Guadalajara
14:00-15:30, Paper ThDInt.29 Add to My Program
Online Identification and Visualization of the Statically Equivalent Serial Chain Via Constrained Kalman Filter
González, AlejandroLIRMM
Hayashibe, MitsuhiroINRIA
Fraisse, PhilippeLIRMM
14:00-15:30, Paper ThDInt.30 Add to My Program
Humanoid Robot Posture-Control Learning in Real-Time Based on Human Sensorimotor Learning Ability
Peternel, LukaJozef Stefan Inst.
Babic, JanJozef Stefan Inst.
14:00-15:30, Paper ThDInt.31 Add to My Program
Navigation of Mini Swimmers in Channel Networks with Magnetic Fields
Temel, Fatma ZeynepSabanci Univ.
Bezer, Ayse EcemSABANCI Univ.
Yesilyurt, SerhatSabanci Univ.
14:00-15:30, Paper ThDInt.32 Add to My Program
Constrained Workspace Generation for Snake-Like Manipulators with Applications to Minimally Invasive Surgery
Murphy, Ryan JosephJohns Hopkins Univ. Applied Physics Lab.
Moses, Matthew SJohns Hopkins Univ.
Kutzer, Michael Dennis MaysJohns Hopkins Univ. Applied Physics Lab.
Chirikjian, GregoryJohns Hopkins Univ.
Armand, MehranJohns Hopkins Univ. Applied Physics Lab.
14:00-15:30, Paper ThDInt.33 Add to My Program
Localization Method for a Magnetic Capsule Endoscope Propelled by a Rotating Magnetic Dipole Field
Popek, KatieUniv. of Utah
Mahoney, ArthurUniv. of Utah
Abbott, JakeUniv. of Utah
14:00-15:30, Paper ThDInt.34 Add to My Program
Force Calculation for Localized Magnetic Driven Capsule Endoscopes
Salerno, MarcoScuola Superiore Sant'Anna
Rizzo, RoccoUniv. of Pisa
Sinibaldi, EdoardoIstituto Italiano di Tecnologia
Menciassi, AriannaScuola Superiore Sant'Anna - SSSA
14:00-15:30, Paper ThDInt.35 Add to My Program
Retinal Vessel Mapping and Localization for Intraocular Surgery
Becker, Brian C.Carnegie Mellon Unversity
Riviere, CameronCarnegie Mellon Univ.
14:00-15:30, Paper ThDInt.36 Add to My Program
Managing the Attractive Magnetic Force between an Untethered Magnetically Actuated Tool and a Rotating Permanent Magnet
Mahoney, ArthurUniv. of Utah
Wright, SamuelUniv. of Utah
Abbott, JakeUniv. of Utah
14:00-15:30, Paper ThDInt.37 Add to My Program
An Empirical Study of the Role of Magnetic, Geometric, and Tissue Properties on the Turning Radius of Magnetically Driven Screws
Nelson, Nathan DavidUniv. of Utah
Delacenserie, JessicaUniv. of Utah
Abbott, JakeUniv. of Utah
14:00-15:30, Paper ThDInt.38 Add to My Program
Cooperative in Situ Microscopic Scanning and Simultaneous Tissue Surface Reconstruction Using a Compliant Robotic Manipulator
Giataganas, PetrosImperial Coll. London
Vitiello, ValentinaImperial Coll. London
Simaiaki, VasilikiImperial Coll. London
Lopez, EdoardoImperial Coll. London
Yang, Guang-ZhongImperial Coll. London
14:00-15:30, Paper ThDInt.39 Add to My Program
Toward Long-Term and Accurate Augmented-Reality Display for Minimally-Invasive Surgery
Puerto-Souza, Gustavo ArmandoUniv. of Texas at Arlington
Mariottini, Gian LucaUniv. of Texas at Arlington
14:00-15:30, Paper ThDInt.40 Add to My Program
Implicit Active Constraints for Robot-Assisted Arthroscopy
Lopez, EdoardoImperial Coll. London
Kwok, Ka-WaiHamlyn Centre for Robotic Surgery
Payne, ChristopherImperial Coll. London
Giataganas, PetrosImperial Coll. London
Yang, Guang-ZhongImperial Coll. London
ThEP Plenary Session, Brahms Add to My Program 
Michael Black: The Mathematics of Body Shape  
Chair: Kragic, DanicaKTH
16:00-16:55, Paper ThEP.1 Add to My Program
The Mathematics of Body Shape
Black, MichaelMax Planck Inst. for Intelligent Systems in Tübingen
ThF1 Regular Session, SR2.05 Add to My Program 
Modeling & Control of Aerial Robots  
Chair: Alexis, KostasETH Zürich - Eidgenössische Tech. Hochschule Zürich
Co-Chair: Tzes, AnthonyUniv. of Patras
17:00-17:15, Paper ThF1.1 Add to My Program
Adaptive Control for Quadrotors
Ameho, YannONERA
Niel, FabienISAE
Defaÿ, FrançoisDMIA-ISAE - Univ. de Toulouse
Biannic, Jean-MarcONERA
Bérard, CarolineISAE, ONERA
17:15-17:30, Paper ThF1.2 Add to My Program
UAV Parameter Estimation with Multi-Output Local and Global Gaussian Process Approximations
Hemakumara, Madu PrasadUniv. of Sydney
Sukkarieh, SalahUniv. of Sydney
17:30-17:45, Paper ThF1.3 Add to My Program
Rapid Transfer of Controllers between UAVs Using Learning-Based Adaptive Control
Chowdhary, GirishMassachusetts Inst. of Tech.
Wu, TongbinUniv. of Toronto
Cutler, MarkMassachusetts Inst. of Tech.
How, JonathanMassachusetts Inst. of Tech.
17:45-18:00, Paper ThF1.4 Add to My Program
Hybrid Modeling and Control of a Coaxial Unmanned Rotorcraft Interacting with Its Environment through Contact
Alexis, KostasETH Zürich - Eidgenössische Tech. Hochschule Zürich
Huerzeler, ChristophETH Zürich
Siegwart, RolandETH Zurich
18:00-18:15, Paper ThF1.5 Add to My Program
Model Predictive Hovering-Translation Control of an Unmanned Tri-TiltRotor
Papachristos, ChristosUniv. of Patras
Alexis, KostasETH Zürich - Eidgenössische Tech. Hochschule Zürich
Tzes, AnthonyUniv. of Patras
ThF2 Regular Session, Clubraum Add to My Program 
Robotic Systems Control  
Chair: Aghili, FarhadCanadian Space Agency
Co-Chair: Schilling, KlausUniv. of Würzburg
17:00-17:15, Paper ThF2.1 Add to My Program
Recursive Symbolic Calculation of the Dynamic Model of Flexible Parallel Robots
Briot, SébastienIRCCyN
Khalil, WisamaEc. Centrale de Nantes
17:15-17:30, Paper ThF2.2 Add to My Program
Improving the Continuous Execution of Reactive LTL-Based Controllers
Jing, GangyuanCornell Univ.
Kress-Gazit, HadasCornell Univ.
17:30-17:45, Paper ThF2.3 Add to My Program
Improving Patient Comfort Using Model Predictive Control in Robot-Assisted Radiotherapy
Herrmann, ChristianUniv. of Würzburg
Schilling, KlausUniv. of Würzburg
17:45-18:00, Paper ThF2.4 Add to My Program
Spine-Kinematics with Contraint Guidance for Robot-Supported MIS-Instruments
Wimmer, AlexandraGerman Aerospace Center
Deutschmann, BastianGerman Aerospace Center
Kuebler, BernhardGerman Aerospace Center (DLR)
Rink, ChristianGerman Aerospace Center
Hirzinger, GerdGerman Aerospace Center (DLR)
18:00-18:15, Paper ThF2.5 Add to My Program
Pre and Post-Grasping Robot Motion Planning to Capture and Stabilize a Tumbling/Drifting Free-Floater with Uncertain Dynamics
Aghili, FarhadCanadian Space Agency
ThF3 Regular Session, Mombert Add to My Program 
Unconventional Mechanisms  
Chair: Allen, RossStanford Univ.
Co-Chair: Fuchiwaki, OhmiYokohama National Univ. (YNU)
17:00-17:15, Paper ThF3.1 Add to My Program
Using an Inertial Tail for Rapid Turns on a Miniature Legged Robot
Casarez, CarlosUniv. of Maryland, Coll. Park
Penskiy, IvanUniv. of Maryland, Coll. Park
Bergbreiter, SarahUniv. of Maryland, Coll. Park
17:15-17:30, Paper ThF3.2 Add to My Program
Vibration-Driven Mobile Robots Based on Single Actuated Tensegrity Structures
Böhm, ValterTU Ilmenau
Zimmermann, KlausTU Ilmenau, Germany
17:30-17:45, Paper ThF3.3 Add to My Program
Internally-Actuated Rovers for All-Access Surface Mobility: Theory and Experimentation
Allen, RossStanford Univ.
Pavone, MarcoStanford Univ.
McQuin, ChristopherJet Propulsion Lab.
Nesnas, IssaJet Propulsion Lab.
Castillo-Rogez, JulieJet Propulsion Lab.
Nguyen, Tam-NguyenMassachusetts Inst. of Tech.
Hoffman, JeffreyMassachusetts Inst. of Tech.
17:45-18:00, Paper ThF3.4 Add to My Program
An Active Coupling Mechanism with Three Modes of Operation for Modular Mobile Robotics
Moubarak, PaulThe George Washington Univ.
Ben-Tzvi, PinhasThe George Washington Univ.
Ma, ZhouThe George Washington Univ.
Alvarez, Eric J.George Washington Univ.
18:00-18:15, Paper ThF3.5 Add to My Program
Design of an Integrated 3DoF Inner Position Sensor and 2DoF Feedforward Control for a 3DoF Precision Inchworm Mechanism
Fuchiwaki, OhmiYokohama National Univ. (YNU)
Yatsurugi, ManabuDepart of mechanical Engineerign, Yokohama NationalUniversity
Ogawa, AratoYokohama National Univ.
ThF4 Regular Session, Hebel Add to My Program 
Magnetic Microrobots  
Chair: Sitti, MetinCarnegie Mellon Univ.
Co-Chair: Cappelleri, DavidStevens Inst. of Tech.
17:00-17:15, Paper ThF4.1 Add to My Program
Assessment of Protein Binding with Magnetic Microrobots in Fluid
Steager, EdwardUniv. of Pennsylvania
Zern, BlaineUniv. of Pennsylvania
Sakar, Mahmut SelmanETH Zurich
Muzykantov, VladimirUniv. of Pennsylvania
Kumar, VijayUniv. of Pennsylvania
17:15-17:30, Paper ThF4.2 Add to My Program
Control of Magnetotactic Bacterium in a Micro-Fabricated Maze
Khalil, Islam S.M.Univ. of Twente
Pichel, Marc PhilippeTwente Univ.
Reefman, Bart AntoniusUniv. of Twente
Sardan, OzlemTech. Univ. of Denmark
Abelmann, LeonUniv. of Twente
Misra, SarthakUniv. of Twente
17:30-17:45, Paper ThF4.3 Add to My Program
A Tumbling Magnetic Microrobot with Flexible Operating Modes
Jing, WumingStevens Inst. of Tech.
Pagano, NicholasStevens Inst. of Tech.
Cappelleri, DavidStevens Inst. of Tech.
17:45-18:00, Paper ThF4.4 Add to My Program
Swimming Property Characterizations of Magnetic Polarizable Microrobots
Salmon, HugoCNRS-LPN
Couraud, LaurentCNRS-LPN
Hwang, GilguengCNRS
18:00-18:15, Paper ThF4.5 Add to My Program
Microassembly Using a Cluster of Paramagnetic Microparticles
Khalil, Islam S.M.Univ. of Twente
van den Brink, FrankUniv. of Twente
Sardan, OzlemTech. Univ. of Denmark
Misra, SarthakUniv. of Twente
ThF5 Regular Session, Thoma Add to My Program 
Motion Planning: Navigation  
Chair: Manocha, DineshUNC at Chapel Hill
Co-Chair: Schulz, DirkFKIE
17:00-17:15, Paper ThF5.1 Add to My Program
Fast Marching in Motion Planning for Rhombic Like Vehicles Operating in ITER
Gomez, Javier V.Univ. Carlos III of Madrid
Vale, AlbertoInst. Superior Técnico
Valente, FilipeInst. Superior Técnico
Ferreira, João F. T.Inst. Superior Técnico
Garrido, SantiagoCarlos III Univ.
Moreno, LuisCarlos III Univ.
17:15-17:30, Paper ThF5.2 Add to My Program
Hierarchical Rough Terrain Motion Planning Using an Optimal Sampling-Based Method
Brunner, MichaelFraunhofer FKIE
Brüggemann, BerndFraunhofer FKIE
Schulz, DirkFKIE
17:30-17:45, Paper ThF5.3 Add to My Program
Probabilistic Time-Dependent Models for Mobile Robot Path Planning in Changing Environments
Loibl, StefanKUKA Lab. GmbH
Meyer-Delius, DanielKUKA Lab. GmbH
Pfaff, PatrickKUKA Lab. GmbH
17:45-18:00, Paper ThF5.4 Add to My Program
Continuous Planning with Winding Constraints Using Optimal Heuristic-Driven Front Propagation
Yershov, DmitryUniv. of Illinois at Urbana-Champaign
Vernaza, PaulUniv. of Pennsylvania
LaValle, Steven MUniv. of Illinois
18:00-18:15, Paper ThF5.5 Add to My Program
Online Motion Planning for Tethered Robots in Extreme Terrain
Tanner, MelissaCaltech
Burdick, JoelCalifornia Inst. of Tech.
Nesnas, IssaJet Propulsion Lab.
ThF6 Regular Session, Forum 1+2 Add to My Program 
Marine Robotics - Planning  
Chair: Sukhatme, GauravUniv. of Southern California
Co-Chair: Djapic, VladimirCMRE - Centre for Maritime Res. and Experimentation
17:00-17:15, Paper ThF6.1 Add to My Program
Dynamic Model-Aided Localization of Underwater Autonomous Gliders
Wang, PengchengRutgers Univ.
Singh, PratulRutgers Univ.
Yi, JingangRutgers Univ.
17:15-17:30, Paper ThF6.2 Add to My Program
Hierarchical Probabilistic Regression for AUV-Based Adaptive Sampling of Marine Phenomena
Das, JnaneshwarUniv. of Southern California
Harvey, JulioMonterey Bay Aquarium Res. Inst.
Py, FredericMonterey Bay Aquarium Res. Inst.
Vathsangam, HarshvardhanUniv. of Southern California
Graham, RishiMonterey Bay Aquarium Res. Inst.
Rajan, KannaMonterey Bay Aquarium Res. Inst.
Sukhatme, GauravUniv. of Southern California
17:30-17:45, Paper ThF6.3 Add to My Program
Joint ASV/AUV Range-Based Formation Control: Theory and Experimental Results
Soares, Jorge M.École Pol. Fédérale de Lausanne
Aguiar, A. PedroInsituto Superior Técnico
Pascoal, AntonioInst. Superior Tecnico
Martinoli, AlcherioEPFL
17:45-18:00, Paper ThF6.4 Add to My Program
Adaptive Mission Planning for Cooperative Autonomous Maritime Vehicles
Ferri, GabrieleNATO Centre for Maritime Res. and Experimentation
Djapic, VladimirCMRE - Centre for Maritime Res. and Experimentation
18:00-18:15, Paper ThF6.5 Add to My Program
Learning Uncertainty Models for Reliable Operation of Autonomous Underwater Vehicles
Hollinger, GeoffreyUniv. of Southern California
de Menezes Pereira, Arvind A.Univ. of Southern California
Sukhatme, GauravUniv. of Southern California
ThFInt Interactive Session, Interactive Sessions Area Add to My Program 
Interactive Session - Thursday IV  
Chair: Lange, FriedrichGerman Aerospace Center (DLR)
Co-Chair: Eustice, RyanUniv. of Michigan
17:00-18:15, Paper ThFInt.1 Add to My Program
Design of a Bimodal Self-Burying Robot
Darukhanavala, CarlCarnegie Mellon Univ.
Lycas, AndrewCarnegie Mellon Univ.
Mittal, ArpitCarnegie Mellon Univ.
Suresh, AshwinramCarnegie Mellon Univ.
17:00-18:15, Paper ThFInt.2 Add to My Program
Study of Omni-Directional All Terrain Mobile Robot with Globular Metal Spring Wheel
Aoki, TakeshiChiba Inst. of Tech.
Yamato, HideakiChiba Inst. of Tech.
Shimaoka, MizukiChiba Inst. of Tech.
Mitsumori, SatoshiChiba Inst. of Tech.
17:00-18:15, Paper ThFInt.3 Add to My Program
Deformable Wheel Robot Based on Origami Structure
Lee, Dae-youngSeoul National Univ.
Jung, Gwang-PilSeoul National Univ.
Sin, MinKiSeoul National Univ.
Ahn, Sung-HoonSeoul National Univ.
Cho, Kyu-JinSeoul National Univ. Biorobotics Lab.
17:00-18:15, Paper ThFInt.4 Add to My Program
Development of Inverted Pendulum Robot Capable of Climbing Stairs Using Planetary Wheel Mechanism
Takaki, TakeshiHiroshima Univ.
Aoyama, TadayoshiHiroshima Univ.
Ishii, IdakuHiroshima Univ.
17:00-18:15, Paper ThFInt.5 Add to My Program
Wheel Transformer: A Miniaturized Terrain Adaptive Robot with Passively Transformed Wheels
Kim, Yoo-SeokSeoul National Univ.
Jung, Gwang-PilSeoul National Univ.
Kim, HaanSeoul National Univ.
Cho, Kyu-JinSeoul National Univ. Biorobotics Lab.
Chu, Chong-NamSeoul National Univ.
17:00-18:15, Paper ThFInt.6 Add to My Program
Efficiency and Effectiveness Analysis of a New Direct Drive Miniature Quadruped Robot
Brown, ChristopherJohns Hopkins Univ. Applied Physics Lab.
Vogtmann, DanaUniv. of Maryland, Coll. Park
Bergbreiter, SarahUniv. of Maryland, Coll. Park
17:00-18:15, Paper ThFInt.7 Add to My Program
Contribution of Actuated Head and Trunk to Passive Walkers Stabilization
Benallegue, MehdiLPPA - CNRS UMR 7152 Coll. de France
Laumond, Jean-PaulLAAS-CNRS
Berthoz, AlainCNRS - Coll. de France
17:00-18:15, Paper ThFInt.8 Add to My Program
Control Strategy for Energy-Efficient Bipedal Walking with Variable Leg Stiffness
Visser, Ludo C.Univ. of Twente
Stramigioli, StefanoUniv. of Twente
Carloni, RaffaellaUniv. of Twente
17:00-18:15, Paper ThFInt.9 Add to My Program
Controller Design for a Bipedal Walking Robot Using Variable Stiffness Actuators
Ketelaar, JildertUniv. of Twente
Visser, Ludo C.Univ. of Twente
Stramigioli, StefanoUniv. of Twente
Carloni, RaffaellaUniv. of Twente
17:00-18:15, Paper ThFInt.10 Add to My Program
Two-Element Control for the Active SLIP Model
Piovan, GiuliaUniv. of California, Santa Barbara
Byl, KatieUCSB
17:00-18:15, Paper ThFInt.11 Add to My Program
Underactuated Bipedal Walking with Knees That Generates Measurable Period of Double-Limb Support
Ohshima, MasatakaJAIST
Asano, FumihikoJapan Advanced Inst. of Science and Tech.
17:00-18:15, Paper ThFInt.12 Add to My Program
Role of Deceleration Effect in Efficient and Fast Convergent Gait Generation
Asano, FumihikoJapan Advanced Inst. of Science and Tech.
Xiao, XuanJapan Advanced Inst. of Science and Tech.
17:00-18:15, Paper ThFInt.13 Add to My Program
Stability and Gait Transition of the Five-Link Biped on Stochastically Rough Terrain Using a Discrete Set of Sliding Mode Controllers
Saglam, Cenk OguzUniv. of California, Santa Barbara
Byl, KatieUCSB
17:00-18:15, Paper ThFInt.14 Add to My Program
Balancing of Legged Mechanism with Multiple Segments
Joo, Chang BeomPol. Inst. of New York Univ. (NYU-Pol.
Kim, Joo H.Pol. Inst. of New York Univ. (NYU-Pol.
17:00-18:15, Paper ThFInt.15 Add to My Program
Gait Generation Via the Foot Placement Estimator for 3D Bipedal Robots
Choudhury, SafwanUniv. of Waterloo
Kulic, DanaUniv. of Waterloo
17:00-18:15, Paper ThFInt.16 Add to My Program
Cooperative Robot Localization and Target Tracking Based on Least Squares Minimization
Ahmad, AamirInst. for Systems andRobotics,Inst. Lisb
Tipaldi, Gian DiegoUniv. of Freiburg
Lima, PedroInst. Superior Técnico - Inst. for Systems andRobotics
Burgard, WolframUniv. of Freiburg
17:00-18:15, Paper ThFInt.17 Add to My Program
Collaborative Multi-Vehicle SLAM with Moving Object Tracking
Moratuwage, Diluka PrasanjithSchool of EEE, Nanyang Tech. Univ. Singapore
Wang, DanweiNanyang Tech. Univ.
Vo, Ba-NguUniv. of Western Australia
17:00-18:15, Paper ThFInt.18 Add to My Program
3-D Motion Estimation and Online Temporal Calibration for Camera-IMU Systems
Li, MingyangUniv. of California, Riverside
Mourikis, AnastasiosUniv. of California, Riverside
17:00-18:15, Paper ThFInt.19 Add to My Program
Super-Resolution 3D Tracking and Mapping
Meilland, MaximeCNRS
Comport, Andrew IanCNRS-I3S/UNS
17:00-18:15, Paper ThFInt.20 Add to My Program
Robust Real-Time Visual Odometry for Dense RGB-D Mapping
Whelan, ThomasNational Univ. of Ireland Maynooth
Johannsson, HordurMIT
Kaess, MichaelMIT
Leonard, JohnMIT
McDonald, JohnNational Univ. of Ireland Maynooth
17:00-18:15, Paper ThFInt.21 Add to My Program
Multibody VSLAM with Relative Scale Solution for Curvilinear Motion Reconstruction
Namdev, Rahul KumarIIIT Hyderabad
Krishna, MadhavaIIIT Hyderabad
Jawahar, C.V.IIIT, Hyderabad
17:00-18:15, Paper ThFInt.22 Add to My Program
VSLAM Pose Initialization Via Lie Groups and Lie Algebras Optimization
Ros, GermanComputer Vision Center and Univ. Autonoma deBarcelona
Guerrero, JulioDept. Matematica Aplicada, Facultad de Informatica, Univ.
Sappa, AngelComputer Vision Center
Ponsa, DanielUniv. Autònoma de Barcelona
Lopez, Antonio M.Computer Vision Center, Univ. Autonoma de Barcelona
17:00-18:15, Paper ThFInt.23 Add to My Program
Generic Factor-Based Node Marginalization and Edge Sparsification for Pose-Graph SLAM
Carlevaris-Bianco, NicholasUniv. of Michigan
Eustice, RyanUniv. of Michigan
17:00-18:15, Paper ThFInt.24 Add to My Program
Towards Autonomous Air-To-Air Refuelling for UAVs Using Visual Information
Martínez, CarolUPM
Richardson, ThomasUniv. of Bristol
Campoy, PascualComputer Vision Group. Univ. Pol. de Madrid
17:00-18:15, Paper ThFInt.25 Add to My Program
Keeping a Ground Point in the Camera Field of View of a Landing UAV
Burlion, LaurentOnera -The French Aerospace Lab.
de Plinval, HenryONERA
17:00-18:15, Paper ThFInt.26 Add to My Program
Image Based Visual Servo Control for Fixed Wing UAVs Tracking Linear Infrastructure in Wind
Mills, StevenAustralian Res. Centre forAerospaceAutomation,Queensland Uni
Aouf, NabilCranfield Univ.
Mejias, LuisQueensland Univ. of Tech.
17:00-18:15, Paper ThFInt.27 Add to My Program
Automatic Bird Species Detection Using Periodicity of Salient Extremities
Li, WenTexas A&M Univ.
Song, DezhenTexas A&M Univ.
17:00-18:15, Paper ThFInt.28 Add to My Program
Error Growth Due to Noise During Occlusions in Inertially-Aided Tracking Systems
Claasen, Gontje CarolineUlm Univ.
Martin, PhilippeMINES ParisTech
Graichen, KnutUlm Univ.
17:00-18:15, Paper ThFInt.29 Add to My Program
Learning Appearance Manifolds with Structured Sparse Representation for Robust Visual Tracking
Bai, TianxiangCity Univ. of Hong Kong
Li, Y.F.City Univ. of Hong Kong
Shao, ZhanpengCity Univ. of Hong Kong
17:00-18:15, Paper ThFInt.30 Add to My Program
Automated Pointing of Cardiac Imaging Catheters
Loschak, PaulHarvard Univ.
Brattain, LauraHarvard Univ.
Howe, Robert D.Harvard Univ.
17:00-18:15, Paper ThFInt.31 Add to My Program
Asymmetric Force Feedback Control Framework for Teleoperated Robot-Assisted Surgery
Mohareri, OmidUniv. of British Columbia
Salcudean, Septimiu E.Univ. of British Columbia
Nguan, Christopher Y.Univ. of British Columbia
17:00-18:15, Paper ThFInt.32 Add to My Program
Task Control with Remote Center of Motion Constraint for Minimally Invasive Robotic Surgery
Aghakhani, NastaranUniv. of Rome "La Sapienza"
Geravand, MiladUniv. di Roma "La Sapienza"
Shahriari, NavidUniv. of Rome "La Sapienza"
Vendittelli, MarilenaSapienza Univ. of Rome
Oriolo, GiuseppeSapienza Univ. of Rome
17:00-18:15, Paper ThFInt.33 Add to My Program
Position Control of Concentric-Tube Continuum Robots Using a Modified Jacobian-Based Approach
Xu, RanWestern Univ.
Asadian, AliWestern Univ. (The Univ. of Western Ontario)
Srinivasan Naidu, AnishUniv. of Western Ontario; CSTAR
Patel, Rajnikant V.The Univ. of Western Ontario
17:00-18:15, Paper ThFInt.34 Add to My Program
Shared Control for Motion Compensation in Robotic Beating Heart Surgery
Moustris, GeorgeNational Tech. Univ. of Athens
Mantelos, Andreas IoannisNational Tech. Univ. of Athens
Tzafestas, Costas S.National Tech. Univ. of Athens (NTUA)
17:00-18:15, Paper ThFInt.35 Add to My Program
Smith Predictor Based Control in Teleoperated Image-Guided Beating-Heart Surgery
Bowthorpe, MeaghanUniv. of Alberta
Tavakoli, MahdiUniv. of Alberta
Becher, HaraldUniv. of Alberta
Howe, Robert D.Harvard Univ.
17:00-18:15, Paper ThFInt.36 Add to My Program
Closed-Loop 3D Motion Modeling and Control of a Steerable Needle for Soft Tissue Surgery
Secoli, RiccardoImperial Coll. London
Rodriguez y Baena, FerdinandoImperial Coll. London, UK
17:00-18:15, Paper ThFInt.37 Add to My Program
Constrained Motion Control of Multisegment Continuum Robots for Transurethral Bladder Resection and Surveillance
Bajo, AndreaVanderbilt Univ.
Pickens, RyanVanderbilt Univ.
Herrell, DukeVanderbilt Univ.
Simaan, NabilVanderbilt Univ.
17:00-18:15, Paper ThFInt.38 Add to My Program
3D Flexible Needle Steering in Soft-Tissue Phantoms Using Fiber Bragg Grating Sensors
Abayazid, MomenTwente Univ.
Kemp, MarcoTwente Univ.
Misra, SarthakUniv. of Twente
17:00-18:15, Paper ThFInt.39 Add to My Program
An Inexpensive Monocular Vision System for Tracking Humans in Industrial Environments
Mosberger, RafaelÖrebro Univ.
Andreasson, HenrikÖrebro Univ.
17:00-18:15, Paper ThFInt.40 Add to My Program
Optimal Placement of Spots in Distributed Proximity Sensors for Safe Human-Robot Interaction
Ceriani, Nicola MariaPol. di Milano
Buizza Avanzini, GiovanniPol. di Milano
Zanchettin, Andrea MariaPol. di Milano
Bascetta, LucaPol. di Milano
Rocco, PaoloPol. di Milano