2014 IEEE International Conference on Robotics and Automation (ICRA 2014) May 31 - June 7, 2014. Hong Kong, China
   

2014 IEEE International Conference on Robotics and Automation
May 31 - June 7, 2014, Hong Kong Convention and Exhibition Center, Hong Kong, China

Program at a Glance    Saturday    Sunday    Monday    Tuesday    Wednesday    Thursday    Author Index    Keyword Index    My Program  

Last updated on March 1, 2015. This conference program is tentative and subject to change

Technical Program for Monday June 2, 2014

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MoPL Plenary Session, Convention Hall Add to My Program 
Daokui Qu: Robot Enabled New Manufacturing Era in China  
 
Chair: Hamel, William R.Univ. of Tennessee
 
MoA01 Regular Session, Theatre 1 Add to My Program 
Industrial Forum I  
 
Chair: Xiao, JizhongThe City Coll. of New York
Co-Chair: Chen, HepingTexas State Univ.
 
MoA02 Regular Session, Theatre 2 Add to My Program 
Computer Vision: SLAM  
 
Chair: Song, DezhenTexas A&M Univ.
Co-Chair: Scaramuzza, DavideUniv. of Zurich
 
09:30-09:50, Paper MoA02.1 Add to My Program
OpenGV: A Unified and Generalized Approach to Real-Time Calibrated Geometric Vision
Kneip, LaurentAnu
Furgale, Paul TimothyETH Zürich
 
09:50-10:10, Paper MoA02.2 Add to My Program
Toward Featureless Visual Navigation: Simultaneous Localization and Planar Surface Extraction Using Motion Vectors in Video Streams
Li, WenTexas A&M Univ
Song, DezhenTexas A&M Univ
 
10:10-10:30, Paper MoA02.3 Add to My Program
SVO: Fast Semi-Direct Monocular Visual Odometry
Forster, ChristianUniv. of Zurich
Pizzoli, MatiaUniv. of Zurich
Scaramuzza, DavideUniv. of Zurich
 
10:30-10:50, Paper MoA02.4 Add to My Program
Monocular Simultaneous Multi-Body Motion Segmentation and Reconstruction from Perspective Views
Sabzevari, RezaUniv. of Zurich
Scaramuzza, DavideUniv. of Zurich
 
MoA03 Regular Session, S221 Add to My Program 
Aerial Robotics: Control I  
 
Chair: Siegwart, RolandETH Zurich
Co-Chair: Alexis, KostasETH Zürich - Eidgenössische Tech. Hochschule Zürich
 
09:30-09:50, Paper MoA03.1 Add to My Program
Attitude-Guided Robust Adaptive Path Following Control for Ducted Fan UAV
Jin, HongZheHarbin Inst. of Tech
Zhu, YanheHarbin Inst. of Tech
Li, GeState Key Lab. of Robotics and System, HarbinInstitute of T
Zhao, JieHarbin Inst. of Tech
 
09:50-10:10, Paper MoA03.2 Add to My Program
Single-Loop Control and Trajectory Following of a Flapping-Wing Microrobot
Chirarattananon, PakpongHarvard Univ
Ma, KevinHarvard Univ
Wood, RobertHarvard Univ
 
10:10-10:30, Paper MoA03.3 Add to My Program
Stability and Control of a Quadrocopter Despite the Complete Loss of One, Two, or Three Propellers
Mueller, Mark WilfriedETH Zurich
D'Andrea, RaffaelloEthz
 
10:30-10:50, Paper MoA03.4 Add to My Program
Hybrid Predictive Control for Aerial Robotic Physical Interaction towards Inspection Operations
Darivianakis, GeorgiosETH Zurich
Alexis, KostasETH Zürich - Eidgenössische Tech. Hochschule Zürich
Burri, MichaelETH Zuerich
Siegwart, RolandETH Zurich
 
MoA04 Regular Session, S222 Add to My Program 
Distributed Robotic Systems I  
 
Chair: Berman, SpringArizona State Univ.
Co-Chair: Pippin, CharlesGeorgia Inst. of Tech.
 
09:30-09:50, Paper MoA04.1 Add to My Program
Trust Modeling in Multi-Robot Patrolling
Pippin, CharlesGeorgia Inst. of Tech
Christensen, Henrik IskovGeorgia Inst. of Tech
 
09:50-10:10, Paper MoA04.2 Add to My Program
Multi-Robot Cooperative Control for Monitoring and Tracking Dynamic Plumes
Li, ShuaiStevens Inst. of Tech
Guo, YiStevens Inst. of Tech
Bingham, BrianUniv. of Hawaii
 
10:10-10:30, Paper MoA04.3 Add to My Program
Statistical Analysis of Stochastic Multi-Robot Boundary Coverage
Kumar, GaneshAsu
Berman, SpringArizona State Univ
 
10:30-10:50, Paper MoA04.4 Add to My Program
Revisiting Coverage Control in Nonconvex Environments Using Visibility Sets
Klodt, LukasTech. Univ. Darmstadt
Haumann, A. DominikTech. Univ. Darmstadt
Willert, VolkerTech. Univ. of Darmstadt
 
MoA05 Regular Session, S223 Add to My Program 
Motion and Path Planning I  
 
Chair: Wang, RuiCapital Normal Univ.
 
09:30-09:50, Paper MoA05.1 Add to My Program
MARRT: Medial Axis Biased Rapidly-Exploring Random Trees
Denny, JoryTexas A&M Univ
Greco, EvanTexas A&M Univ
Thomas, ShawnaTexas A&M Univ
Amato, NancyTexas A&M Univ
 
09:50-10:10, Paper MoA05.2 Add to My Program
A Representation of Deformable Objects for Motion Planning with No Physical Simulation
Phillips-Grafflin, CalderWorcester Pol. Inst
Berenson, DmitryWorcester Pol. Inst. (WPI)
 
10:10-10:30, Paper MoA05.3 Add to My Program
The Bench Mover's Problem: Minimum-Time Trajectories, with Cost for Switching between Controls
Lyu, Yu-HanDartmouth Coll
Furtuna, AndreiDartmouth Coll
Wang, WeifuDartmouth Coll
Balkcom, DevinDartmouth Coll
 
10:30-10:50, Paper MoA05.4 Add to My Program
Motion Planning with Satisfiability Modulo Theories
Hung, WilliamSynopsys
Song, XiaoyuPortland State Univ
Li, XiaojuanCapital Normal Univ
Zhang, JieBeijing Univ. of Chemical Tech
Wang, RuiCapital Normal Univ
Gao, PengPortland State Univ
 
MoA06 Regular Session, S224 Add to My Program 
Physical Human Robot Interaction I  
 
Chair: Asada, HarryMIT
Co-Chair: Erden, Mustafa SuphiÉCOLE Pol. FÉDÉRALE DE LAUSANNE (EPFL)
 
09:30-09:50, Paper MoA06.1 Add to My Program
A Robot on the Shoulder: Coordinated Human-Wearable Robot Control Using Coloured Petri Nets and Partial Least Squares Predictions
Llorens, BaldinMit
Asada, HarryMit
 
09:50-10:10, Paper MoA06.2 Add to My Program
End-Point Impedance Measurements at Human Hand During Interactive Manual Welding with Robot
Erden, Mustafa SuphiÉCOLE Pol. FÉDÉRALE DE LAUSANNE (EPFL)
Billard, AudeEpfl
 
10:10-10:30, Paper MoA06.3 Add to My Program
Robotic Force Amplification with Free Space Motion Capability
Labrecque, PascalLaval Univ
Gosselin, ClementUniv. Laval
 
10:30-10:50, Paper MoA06.4 Add to My Program
Bracing the Human Body with Supernumerary Robotic Limbs for Physical Assistance and Load Reduction
Parietti, FedericoMit
Asada, HarryMit
 
MoA07 Regular Session, S225 Add to My Program 
AI Reasoning Methods I  
 
Chair: Kunze, LarsUniv. of Birmingham
Co-Chair: Leidner, DanielGerman Aerospace Center (DLR)
 
09:30-09:50, Paper MoA07.1 Add to My Program
Robust Online Belief Space Planning in Changing Environments: Application to Physical Mobile Robots
Agha-mohammadi, Ali-akbarMit
Agarwal, SauravTexas A&M Univ
Mahadevan, AdityaTexas A&M Univ
Chakravorty, SumanTexas A&M Univ
Tomkins, DanielTexas A&M Univ
Denny, JoryTexas A&M Univ
Amato, NancyTexas A&M Univ
 
09:50-10:10, Paper MoA07.2 Add to My Program
Sequential Allocation of Sampling Budgets in Unknown Environments
Furlong, MichaelCarnegie Mellon Univ
Wettergreen, DavidCarnegie Mellon Univ
 
10:10-10:30, Paper MoA07.3 Add to My Program
Using Qualitative Spatial Relations for Indirect Object Search
Kunze, LarsUniv. of Birmingham
Doreswamy, Keerthi KumarUniv. of Birmingham
Hawes, NickUniv. of Birmingham
 
10:30-10:50, Paper MoA07.4 Add to My Program
Occluded Object Search by Relational Affordances
Moldovan, BogdanKatholieke Univ. Leuven
De Raedt, LucKatholieke Univ. Leuven
 
MoA08 Regular Session, S226 Add to My Program 
Sensor Fusion I  
 
Chair: LaValle, Steven MOculus VR
Co-Chair: Vihonen, JuhoTampere Univ. of Tech.
 
09:30-09:50, Paper MoA08.1 Add to My Program
Filling the Gap between Low Frequency Measurements with Their Estimates
Wang, YuquanRoyal Inst. of Tech. (KTH)
Kostic, DraganEindhoven Univ. of Tech
Jansen, Sven Theodorus HenricusTNO Tech. Sciences / Automotive
Nijmeijer, HendrikEindhoven Univ. of Tech
 
09:50-10:10, Paper MoA08.2 Add to My Program
Geometry-Aided Inversion of Manipulator Telescopic Link Length from MEMS Accelerometer and Rate Gyro Readings
Vihonen, JuhoTampere Univ. of Tech
Honkakorpi, JanneTampere Univ. of Tech
Mattila, JouniTampere Univ. of Tech
Visa, AriTampere Univ. of Tech
 
10:10-10:30, Paper MoA08.3 Add to My Program
Head Tracking for the Oculus Rift
LaValle, Steven MUniv. of Illinois
Katsev, MaxUniv. of Illinois
Yershova, AnnaDuke Univ
Antonov, MichaelOculus VR, Inc
 
10:30-10:50, Paper MoA08.4 Add to My Program
Decoupled State Estimation for Humanoids Using Full-Body Dynamics
Xinjilefu, XCarnegie Mellon Univ
Feng, SiyuanCarnegie Mellon Univ
Huang, WeiweiInst. for Infocomm Res
Atkeson, ChristopherCmu
 
MoA09 Regular Session, S227 Add to My Program 
Bipedal Locomotion I  
 
Chair: Caldwell, Darwin G.Fondazione Istituto Italiano di Tecnologia
Co-Chair: Orin, DavidThe Ohio State Univ.
 
09:30-09:50, Paper MoA09.1 Add to My Program
A Distributed Model Predictive Control Approach for Robust Postural Stability of a Humanoid Robot
Ibanez, AurélienUniv. Pierre Et Marie Curie, CNRS-UPMC
Bidaud, PhilippeUniv. Pierre Et Marie Curie - Paris 6
Padois, VincentUniv. Pierre Et Marie Curie
 
09:50-10:10, Paper MoA09.2 Add to My Program
Dynamically Transitioning between Surfaces of Varying Inclinations to Achieve Uneven-Terrain Walking
Colasanto, LucaFondazione Istituto Italiano Di Tecnologia
Perrin, Nicolas YvesUniv. Pierre Et Marie Curie-Paris 6, CNRS UMR 7222
Tsagarakis, NikolaosFondazione Istituto Italiano Di Tecnologia - VAT 09198791007
Caldwell, Darwin G.Fondazione Istituto Italiano Di Tecnologia
 
10:10-10:30, Paper MoA09.3 Add to My Program
Vision-Driven Walking Pattern Generation for Humanoid Reactive Walking
Garcia Vazquez, Mauricio JosafatUniv. De Guanajuato
Stasse, OlivierCnrs
Hayet, Jean-BernardCimat
 
10:30-10:50, Paper MoA09.4 Add to My Program
Development of High-Span Running Long Jumps for Humanoids
Wensing, PatrickThe Ohio State Univ
Orin, DavidThe Ohio State Univ
 
MoA10 Regular Session, S228 Add to My Program 
Rehabilitation Robotics I  
 
Chair: Chew, Chee MengNational Univ. of Singapore
Co-Chair: Wang, QiningPeking Univ.
 
09:30-09:50, Paper MoA10.1 Add to My Program
Vi-RABT: Virtually Interfaced Robotic Ankle and Balance Trainer
Farjadian, Amir BahadorNortheastern Univ
Suri, SeanNortheastern Univ
Bugliari, AllyNortheastern Univ
Douçot, PaulNortheastern Univ
Lavins, NateNortheastern Univ
Mazzotta, AlexNortheastern Univ
Valenzuela, JpNortheastern Univ
Murphy, PatrickNortheastern Univ
Kong, QingchaoNortheastern Univ
Holden, MaureenNortheastern Univ
Mavroidis, ConstantinosNortheastern Univ
 
09:50-10:10, Paper MoA10.2 Add to My Program
A Chase-Game to Teach Children on a Robot to Follow Moving Objects
Kang, JiyeonColumbia Univ
Logan, SamuelUniv. of Delaware
Galloway, JamesUniv. of Delaware
Agrawal, SunilColumbia Univ
 
10:10-10:30, Paper MoA10.3 Add to My Program
Human Level Walking Gait Modeling and Analysis Based on Semi-Markov Process
Ma, HaoThe Chinese Univ. of Hong Kong
Liao, Wei-HsinThe Chinese Univ. of Hong Kong
 
10:30-10:50, Paper MoA10.4 Add to My Program
Functional Task Based Assistance During Walking for a Lower Extremity Assistive Device
Shen, BingquanNus
Li, JinfuNational Univ. of Singapore
Chew, Chee MengNational Univ. of Singapore
 
MoA11 Regular Session, S229 Add to My Program 
Automation: Software Architectures for Flexible Control  
 
Chair: Martinoli, AlcherioEPFL
Co-Chair: Dai, WenbinLulea Univ. of Tech.
 
09:30-09:50, Paper MoA11.1 Add to My Program
The Application of Service-Oriented Architectures in Distributed Automation Systems (I)
Dai, WenbinLulea Univ. of Tech
Vyatkin, ValeriyUniv. of Auckland
Christensen, James H.Holobloc Inc
 
09:50-10:10, Paper MoA11.2 Add to My Program
MIRA: Enabler of Mass Customization through Agent-Based Development of Intelligent Manufacturing Systems (I)
Sorouri, MajidThe Univ. of Auckland
Vyatkin, ValeriyUniv. of Auckland
Salcic, ZoranUniv. of Auckland
 
10:10-10:30, Paper MoA11.3 Add to My Program
Model and Control of a Flap System Mitigating Wind Impact on Structures
Boberg, MariaEpfl
Feltrin, GlaucoEmpa
Martinoli, AlcherioEpfl
 
10:30-10:50, Paper MoA11.4 Add to My Program
In-Hand Precise Twisting and Positioning by a Novel Dexterous Robotic Gripper for Industrial High-Speed Assembly
Chen, FeiIstituto Italiano Di Tecnologia
Cannella, FerdinandoFondazione Istituto Italiano Di Tecnologia - VAT 09198791007
Canali, CarloDepartment of Advanced Robotics, Istituto Italiano Di Tecnologia
Hauptman, TravelerIIT Istituto Italiano Tecnologia
Sofia, GiuseppeIIT Istituto Italiano Tecnologia
Caldwell, Darwin G.Istituto Italiano Di Tecnologia
 
MoA12 Regular Session, S421 Add to My Program 
Medical Robotics: Force Control I  
 
Chair: Simaan, NabilVanderbilt Univ.
Co-Chair: Damian, DanaBoston Children's Hospital, Harvard Univ.
 
09:30-09:50, Paper MoA12.1 Add to My Program
Implicit Active Constraints for a Compliant Surgical Manipulator
Leibrandt, KonradImperial Coll. London
Marcus, HaniImperial Coll. London
Kwok, Ka-WaiThe Univ. of Hong Kong
Yang, Guang-ZhongImperial Coll. London
 
09:50-10:10, Paper MoA12.2 Add to My Program
Hand-Held Microsurgical Forceps with Force-Feedback for Micromanipulation
Payne, ChristopherImperial Coll. London
Rafii-Tari, HedyehImperial Coll. London
Marcus, HaniImperial Coll. London
Yang, Guang-ZhongImperial Coll. London
 
10:10-10:30, Paper MoA12.3 Add to My Program
Autonomous Penetration Detection for Bone-Cutting Tool Using Demonstration-Based Learning
Osa, TakayukiThe Univ. of Tokyo
Abawi, ChristianFraunhofer Inst. for Manufacturing Engineering and Automatio
Sugita, NaohikoThe Univ. of Tokyo
Chikuda, HirotakaThe Univ. of Tokyo Hospital
Sugita, ShureiThe Univ. of Tokyo Hospital
Ito, HideyaThe Univ. of Tokyo Hospital
Moro, ToruThe Univ. of Tokyo Hospital
Takatori, YoshioThe Univ. of Tokyo Hospital
Tanaka, SakaeThe Univ. of Tokyo Hospital
Mitsuishi, MamoruThe Univ. of Tokyo
 
10:30-10:50, Paper MoA12.4 Add to My Program
Force-Based Flexible Path Plans for Robotic Electrode Insertion
Pile, JasonVanderbilt Univ
Wanna, GeorgeVanderbilt Univ. Department of Otolaryngology
Simaan, NabilVanderbilt Univ
 
MoA13 Regular Session, S423 Add to My Program 
Biologically-Inspired Robotics I  
 
Chair: Kong, KyoungchulSogang Univ.
Co-Chair: Rano, InakiUniv. of Ulster
 
09:30-09:50, Paper MoA13.1 Add to My Program
The Bio-Inspired Chaotic Robot
Rano, InakiUniv. of Ulster
 
09:50-10:10, Paper MoA13.2 Add to My Program
Realization of Spring Loaded Inverted Pendulum Dynamics with a Two-Link Manipulator Based on the Bio-Inspired Coordinate System
Oh, SehoonSogang Univ
Kong, KyoungchulSogang Univ
 
10:10-10:30, Paper MoA13.3 Add to My Program
Acoustic Flow for Robot Motion Control
Peremans, HerbertUniv. Antwerpen
Steckel, JanUniv. of Antwerp
 
10:30-10:50, Paper MoA13.4 Add to My Program
Isplash-I: High Performance Swimming Motion of a Carangiform Robotic Fish with Full-Body Coordination
Clapham, Richard JamesUniv. of Essex
Hu, HuoshengUniv. of Essex
 
MoA14 Regular Session, S424 Add to My Program 
Assistive Devices: Design and Control  
 
Chair: Collins, EmmanuelFAMU-FSU Coll. of Engineering
Co-Chair: Riener, RobertETH Zurich
 
09:30-09:50, Paper MoA14.1 Add to My Program
A Body Weight Support System Extension to Control Lateral Forces: Realization and Evaluation
Wyss, DarioETH Zurich
Bartenbach, VolkerETH Zurich
Pennycott, AndrewETH Zurich
Riener, RobertETH Zurich
Vallery, HeikeETH Zurich
 
09:50-10:10, Paper MoA14.2 Add to My Program
Slip Mitigation Control for an Electric Powered Wheelchair
Chuy, Oscar Jr.Florida State Univ
Collins, EmmanuelFAMU-FSU Coll. of Engineering
Ordonez, CamiloFlorida State Univ
Candiotti, JorgeUniv. of Pittsburgh
Wang, HongwuUniv. of Pittsburgh
Cooper, RoryUniv. of Pittsburgh
 
10:10-10:30, Paper MoA14.3 Add to My Program
Cooperative Control of a Compliant Manipulator for Robotic-Assisted Physiotherapy
Gras, GauthierImperial Coll. London
Vitiello, ValentinaImperial Coll. London
Yang, Guang-ZhongImperial Coll. London
 
10:30-10:50, Paper MoA14.4 Add to My Program
CPG-Based Locomotion Control of a Snake-Like Robot for Obstacle Avoidance
Mohamad Nor, NorzalilahRITSUMEIKAN Univ
Ma, ShugenRitsumeikan Univ
 
MoA15 Regular Session, S425 Add to My Program 
SLAM: Visual I  
 
Chair: Zhang, HongUniv. of Alberta
Co-Chair: Conradt, JorgTech. Univ. München
 
09:30-09:50, Paper MoA15.1 Add to My Program
An Efficient Index for Visual Search in Appearance-Based SLAM
Hajebi, KianaUniv. of Alberta
Zhang, HongUniv. of Alberta
 
09:50-10:10, Paper MoA15.2 Add to My Program
Event-Based 3D SLAM with a Depth-Augmented Dynamic Vision Sensor
Weikersdorfer, DavidTech. Univ. München
Adrian, David BenjaminTech. Univ. München
Cremers, DanielTech. Univ. of Munich
Conradt, JorgTech. Univ. München
 
10:10-10:30, Paper MoA15.3 Add to My Program
Using Superpixels in Monocular SLAM
Concha, AlejoUniv. De Zaragoza
Civera, JavierUniv. De Zaragoza
 
10:30-10:50, Paper MoA15.4 Add to My Program
A Hierarchical Wavelet Decomposition for Continuous-Time SLAM
Anderson, SeanUniv. of Toronto
Dellaert, FrankGeorgia Inst. of Tech
Barfoot, TimothyUniv. of Toronto
 
MoA16 Regular Session, S426 Add to My Program 
Grasping: Analysis I  
 
Chair: Bekiroglu, YaseminKTH
Co-Chair: Borghesan, GianniKU Leuven
 
09:30-09:50, Paper MoA16.1 Add to My Program
Combinatorial Optimization for Hierarchical Contact-Level Grasping
Hang, KaiyuKTH Royal Inst. of Tech
Stork, Johannes AndreasKTH Royal Inst. of Tech
Pokorny, Florian T.KTH Royal Inst. of Tech
Kragic, DanicaKth
 
09:50-10:10, Paper MoA16.2 Add to My Program
Grasp Moduli Spaces and Spherical Harmonics
Pokorny, Florian T.KTH Royal Inst. of Tech
Bekiroglu, YaseminKth
Kragic, DanicaKth
 
10:10-10:30, Paper MoA16.3 Add to My Program
Constraint and Synergy-Based Specification of Manipulation Tasks
Borghesan, GianniKU Leuven
Aertbelien, ErwinK.U.Leuven
De Schutter, JorisKatholieke Univ. Leuven
 
10:30-10:50, Paper MoA16.4 Add to My Program
Characteristics Analysis and Mechanical Implementation of Human Finger Movements
Chen, WenruiHuazhong Univ. of Science and Tech
Xiong, CaihuaHuazhong Univ. of Science & Tech
Liu, MingjinHuazhong Univ. of Science and Tech
Mao, LiuHuazhong Univ. of Science and Tech
 
MoA17 Regular Session, S427 Add to My Program 
Localization I  
 
Chair: Stachniss, CyrillUniv. of Freiburg
Co-Chair: Burgard, WolframUniv. of Freiburg
 
09:30-09:50, Paper MoA17.1 Add to My Program
High-Fidelity Sensor Modeling and Self-Calibration in Vision-Aided Inertial Navigation
Li, MingyangUniv. of California, Riverside
Yu, HongshengUC Riverside
Zheng, XingUC Riverside
Mourikis, AnastasiosUniv. of California, Riverside
 
09:50-10:10, Paper MoA17.2 Add to My Program
W-RGB-D: Floor-Plan-Based Indoor Global Localization Using a Depth Camera and WiFi
Ito, SeigoToyota Central R&d Labs., Inc
Endres, FelixUniv. of Freiburg
Kuderer, MarkusUniv. of Freiburg
Tipaldi, Gian DiegoUniv. of Freiburg
Stachniss, CyrillUniv. of Freiburg
Burgard, WolframUniv. of Freiburg
 
10:10-10:30, Paper MoA17.3 Add to My Program
Nonparametric Cooperative Tracking in Mobile Ad-Hoc Networks
Shan, MaoUniv. of Sydney
Worrall, StewartUniv. of Sydney
Nebot, EduardoUnversity of Sydney
 
10:30-10:50, Paper MoA17.4 Add to My Program
A Synchronized Visual-Inertial Sensor System with FPGA Pre-Processing for Accurate Real-Time SLAM
Nikolic, JanoschETH Zürich
Rehder, JoernETH Zurich
Burri, MichaelETH Zuerich
Gohl, PascalDisney Res. Zurich
Leutenegger, StefanETH Zurich
Furgale, Paul TimothyETH Zürich
Siegwart, RolandETH Zurich
 
MoA18 Regular Session, S428 Add to My Program 
Manipulation Planning I  
 
Chair: Napp, NilsHarvard Univ.
Co-Chair: Patoglu, VolkanSabanci Univ.
 
09:30-09:50, Paper MoA18.1 Add to My Program
Robotic Construction of Arbitrary Shapes with Amorphous Materials
Napp, NilsHarvard Univ
Nagpal, RadhikaHarvard Univ
 
09:50-10:10, Paper MoA18.2 Add to My Program
Geometric Rearrangement of Multiple Moveable Objects on Cluttered Surfaces: A Hybrid Reasoning Approach
Havur, GiraySabanci Univ
Ozbilgin, GuchanOhio State Univ
Erdem, EsraSabanci Univ
Patoglu, VolkanSabanci Univ
 
10:10-10:30, Paper MoA18.3 Add to My Program
Motion Planning for Smooth Pickup of Moving Objects
Menon, ArjunCarnegie Mellon Univ
Cohen, BenjaminUniv. of Pennsylvania
Likhachev, MaximCarnegie Mellon Univ
 
10:30-10:50, Paper MoA18.4 Add to My Program
Motion Planning for Robotic Manipulators with Independent Wrist Joints
Gochev, KalinUniv. of Pennsylvania
Narayanan, VenkatramanCarnegie Mellon Univ
Cohen, BenjaminUniv. of Pennsylvania
Safonova, AllaUniv. of Pennsylvania
Likhachev, MaximCarnegie Mellon Univ
 
MoA19 Regular Session, S429 Add to My Program 
Automation: Biotechnology, Pharmaceutical and Health Care I  
 
Chair: Sun, YuUniv. of Toronto
Co-Chair: Papageorgiou, Xanthi S.National Tech. Univ. of Athens
 
09:30-09:50, Paper MoA19.1 Add to My Program
Automated Microrobotic Characterization of Cell-Cell Communication
Liu, JunUniv. of Toronto
Siragam, VinayakumarThe Hospital for Sick Children
Gong, ZhengUniv. of Toronto
Chen, JunUniv. of Toronto
Leung, ClementUniv. of Toronto
Lu, ZheUniv. of Toronto
Ru, ChanghaiSoochow Univ
Xie, ShaorongShanghai Univ
Luo, JunShanghai Univ
Hamilton, RobertHospital for Sick Children
Sun, YuUniv. of Toronto
 
09:50-10:10, Paper MoA19.2 Add to My Program
Pneumatic Big-Hand Gripper with Slip-In Tip Aimed for the Transfer Support of the Human Body
Loh, Chiun TaiTokyo Inst. of Tech
Tsukagoshi, HideyukiTokyo Inst. of Tech
 
10:10-10:30, Paper MoA19.3 Add to My Program
Hidden Markov Modeling of Human Normal Gait Using Laser Range Finder for a Mobility Assistance Robot
Papageorgiou, XanthiNational Tech. Univ. of Athens
Chalvatzaki, GeorgiaNATIONAL Tech. Univ. OF ATHENS
Tzafestas, Costas S.National Tech. Univ. of Athens (NTUA)
Maragos, PetrosNational Tech. Univ. of Athens
 
10:30-10:50, Paper MoA19.4 Add to My Program
3D SPIHT for Multilead ECG Compression
Muhamad Isa, SaniFaculty of Computer Science, Univ. of Indonesia
Jatmiko, WisnuUniv. of Indonesia
Murni Arymurthy, AniatiFaculty of Computer Science, Univ. of Indonesia
 
MoB01 Regular Session, Theatre 1 Add to My Program 
Industrial Forum II  
 
Chair: Madhavan, RajUMD-CP
Co-Chair: Xiao, JizhongThe City Coll. of New York
 
MoB02 Regular Session, Theatre 2 Add to My Program 
Computer Vision: Perception  
 
Chair: Abbeel, PieterUC Berkeley
Co-Chair: Krishna, MadhavaIIIT Hyderabad
 
11:10-11:30, Paper MoB02.1 Add to My Program
Markov Random Field Based Small Obstacle Discovery Over Images
Kumar, SuryanshIIIT Hyderabad
Mustikovela, Siva KarthikIIIT-Hyderabad
Krishna, MadhavaIIIT Hyderabad
 
11:30-11:50, Paper MoB02.2 Add to My Program
Learning Spatial Relationships from 3D Vision Using Histograms
Fichtl, Severin Andreas Thomas-MorusUniv. of Aberdeen
McManus, AndrewUniv. of Aberdeen
Mustafa, WailUniv. of Southern Denmark
Kraft, DirkUniv. of Southern Denmark
Krüger, NorbertUniv. of Southern Denmark
Guerin, FrankUniv. of Aberdeen
 
11:50-12:10, Paper MoB02.3 Add to My Program
A Large-Scale 3D Database of Object Instances
Singh, ArjunUniv. of California, Berkeley
Sha, JamesUC Berkeley
Narayan, KarthikUC Berkeley
Achim, TudorUC Berkeley
Abbeel, PieterUC Berkeley
 
12:10-12:30, Paper MoB02.4 Add to My Program
A Hierarchical Approach for Road Detection
Lu, KeyuNational Univ. of Defense Tech
Li, JianNational Univ. of Defense Tech
An, XiangjingNational Univ. of Defense Tech
He, HangenNational Univ. of Defense Tech
 
MoB03 Regular Session, S221 Add to My Program 
Aerial Robotics: Control II  
 
Chair: Jung, SeulChungnam National Univ.
Co-Chair: Kim, H. JinSeoul National Univ.
 
11:10-11:30, Paper MoB03.1 Add to My Program
A Robust Landing and Sliding Maneuver Controller for a Quadrotor Vehicle on a Sloped Incline
Cabecinhas, DavidInst. Superior Tecnico
Cunha, RitaInst. Superior Tecnico
Silvestre, CarlosInst. Superior Tecnico
 
11:30-11:50, Paper MoB03.2 Add to My Program
Aerodynamic Power Control for Multirotor Aerial Vehicles
Bangura, MosesAustralian National Univ
Lim, HyonSeoul National Univ
Kim, H. JinSeoul National Univ
Mahony, RobertAustralian National Univ
 
11:50-12:10, Paper MoB03.3 Add to My Program
Robust Stabilization Control of Unknown Small-Scale Helicopters
Marantos, PanosNational Tech. Univ. of Athens
Bechlioulis, CharalamposNational Tech. Univ. of Athens
Kyriakopoulos, KostasNational Tech. Univ. of Athens
 
12:10-12:30, Paper MoB03.4 Add to My Program
Bilateral Teleoperation Control of a Quadrotor System with a Haptic Device : Experimental Studies
Jeong, SeunghoLig Nex1
Jung, SeulChungnam National Univ
 
MoB04 Regular Session, S222 Add to My Program 
Distributed Robotic Systems II  
 
Chair: LaValle, Steven MOculus VR
Co-Chair: Shell, DylanTexas A&M Univ.
 
11:10-11:30, Paper MoB04.1 Add to My Program
Stochastic Modeling, Control, and Verification of Wild Bodies
Gierl, DanielUniv. of Illinois at Urbana-Champaign
Bobadilla, LeonardoFlorida International Univ
Sanchez Plazas, OscarUniv. of Illinois at Urbana-Champaign
LaValle, Steven MUniv. of Illinois
 
11:30-11:50, Paper MoB04.2 Add to My Program
Distributed Robotic Sampling of Non-Homogeneous Spatio-Temporal Fields Via Recursive Geometric Sub-Division
Kim, Young-HoTexas A&M Univ
Shell, DylanTexas A&M Univ
 
11:50-12:10, Paper MoB04.3 Add to My Program
Any-Com Collision Checking: Sharing Certificates in Decentralized Multi-Robot Teams
Otte, Michael W.Mit
Bialkowski, Joshua JMassachusetts Inst. of Tech
Frazzoli, EmilioMassachusetts Inst. of Tech
 
12:10-12:30, Paper MoB04.4 Add to My Program
The Role of Environmental and Controller Complexity in the Distributed Optimization of Multi-Robot Obstacle Avoidance
Di Mario, EzequielEpfl
Navarro, IñakiEc. Pol. Federale De Lausanne
Martinoli, AlcherioEpfl
 
MoB05 Regular Session, S223 Add to My Program 
SLAM: Visual Odometry  
 
Chair: Dudek, GregoryMcGill Univ.
Co-Chair: Indelman, VadimGeorgia Inst. of Tech.
 
11:10-11:30, Paper MoB05.1 Add to My Program
Curiosity Based Exploration for Learning Terrain Models
Girdhar, YogeshMcGill Univ
Whitney, DavidMcGill Univ. Center for Intelligent Machines
Dudek, GregoryMcGill Univ
 
11:30-11:50, Paper MoB05.2 Add to My Program
ICP Stereo Visual Odometry for Wheeled Vehicles Based on a 1DOF Motion Prior
Jiang, YanhuaBeijing Inst. of Tech
Chen, HuiyanBeijing Inst. of Tech
Xiong, GuangmingBeijing Inst. of Tech
Scaramuzza, DavideUniv. of Zurich
 
11:50-12:10, Paper MoB05.3 Add to My Program
Multi-Robot Pose Graph Localization and Data Association from Unknown Initial Relative Poses Via Expectation Maximization
Indelman, VadimGeorgia Inst. of Tech
Nelson, ErikCarnegie Mellon Univ
Michael, NathanCarnegie Mellon Univ
Dellaert, FrankGeorgia Inst. of Tech
 
12:10-12:30, Paper MoB05.4 Add to My Program
Real-Time Mosaicing with Two-Dimensional Forward-Looking Sonar (I)
Hurtos, NataliaUniv. of Girona
Nagappa, SharadUniv. of Girona
Palomeras, NarcisUniv. De Girona
Salvi, JoaquimUniv. of Girona
 
MoB06 Regular Session, S224 Add to My Program 
Physical Human Robot Interaction II  
 
Chair: Hirata, YasuhisaTohoku Univ.
Co-Chair: Kosuge, KazuhiroTohoku Univ.
 
11:10-11:30, Paper MoB06.1 Add to My Program
Collaborative Human-Humanoid Carrying Using Vision and Haptic Sensing
Agravante, Don JovenCnrs-Lirmm
Cherubini, AndreaLIRMM - Univ. De Montpellier 2 CNRS
Bussy, AntoineCnrs-Um2 Lirmm
Gergondet, PierreCnrs
Kheddar, AbderrahmaneCNRS-AIST JRL (Joint Robotics Lab. UMI3218/CRT
 
11:30-11:50, Paper MoB06.2 Add to My Program
Power Steering and Force Display Controls for a Cycling Wheelchair Using Servo Brakes
Hirata, YasuhisaTohoku Univ
Kosuge, KazuhiroTohoku Univ
Monacelli, EricLISV, Univ. of Versailles
 
11:50-12:10, Paper MoB06.3 Add to My Program
Development of High Performance Intrinsically Safe 3-DOF Robot
Shafer, AlexThe Univ. of Western Ontario
Kermani, Mehrdad R.Univ. of Western Ontario
 
12:10-12:30, Paper MoB06.4 Add to My Program
Modeling User's Driving-Characteristics in a Steering Task to Customize a Virtual Fixture Based on Task-Performance
Yoon, HanUniv. of Illinois at Urbana-Champaign
Wang, RanxiaoUniv. of Illinois
Hutchinson, SethUniv. of Illinois
 
MoB07 Regular Session, S225 Add to My Program 
AI Reasoning Methods II  
 
Chair: Abbeel, PieterUC Berkeley
Co-Chair: Srivastava, SiddharthUniv. of California Berkeley
 
11:10-11:30, Paper MoB07.1 Add to My Program
Decentralized Near-To-Near Approach for Vehicle Platooning Based on Memorization and Heuristic Search
Yazbeck, JanoINRIA, Univ. De Lorraine / LORIA
Scheuer, AlexisNancy 1 Univ. / LORIA
Charpillet, FrancoisINRIA, Loria
 
11:30-11:50, Paper MoB07.2 Add to My Program
Combined Task and Motion Planning through an Extensible Planner-Independent Interface Layer
Srivastava, SiddharthUniv. of California Berkeley
Fang, EugeneUC Berkeley
Riano, LorenzoRobert Bosch LLC
Chitnis, RohanUniv. of California, Berkeley
Russell, Stuart JonathanUniv. of California, Berkeley
Abbeel, PieterUC Berkeley
 
11:50-12:10, Paper MoB07.3 Add to My Program
More Knowledge on the Table: Planning with Space, Time and Resources for Robots
Mansouri, MasoumehÖrebro Univ
Pecora, FedericoÖrebro Univ
 
12:10-12:30, Paper MoB07.4 Add to My Program
SMT-Based Synthesis of Integrated Task and Motion Plans from Plan Outlines
Nedunuri, SrinivasRice Univ
Prabhu, SaileshRice Univ
Moll, MarkRice Univ
Chaudhuri, SwaratRice Univ
Kavraki, LydiaRice Univ
 
MoB08 Regular Session, S226 Add to My Program 
Sensor Fusion II  
 
Chair: Morales Saiki, Luis YoichiATR
 
11:10-11:30, Paper MoB08.1 Add to My Program
Constrained Optimal Selection for Multi-Sensor Robot Navigation Using Plug-And-Play Factor Graphs
Chiu, Han-PangSRI International Sarnoff, USA
Zhou, XunSRI International
Carlone, LucaGeorgia Inst. of Tech
Dellaert, FrankGeorgia Inst. of Tech
Samarasekera, SupunSRI Sarnoff
Kumar, RakeshSarnoff
 
11:30-11:50, Paper MoB08.2 Add to My Program
A Real-Time Inertial Motion Blur Metric: Application to Frame Triggering Based Motion Blur Minimization
Mutlu, MehmetMiddle East Tech. Univ
Saranli, AfsarMiddle East Tech. Univ
Saranli, UlucMiddle East Tech. Univ
 
11:50-12:10, Paper MoB08.3 Add to My Program
Mapping Sound Emitting Structures in 3D
Even, JaniAtr
Morales Saiki, Luis YoichiAtr
Kallakuri, NagasrikanthCarnegie Mellon Univ
Furrer, JonasAtr
Ishi, Carlos ToshinoriAtr
Hagita, NorihiroAtr
 
12:10-12:30, Paper MoB08.4 Add to My Program
Learning Spatial Correlations for Bayesian Fusion in Pipe Thickness Mapping
Vidal-Calleja, Teresa A.Univ. of Tech. Sydney
Su, DaobiligeUniv. of Tech. Sydney
de Bruijn, FreekUniv. of Tech. Sydney
Valls Miro, JaimeUniv. of Tech. Sydney
 
MoB09 Regular Session, S227 Add to My Program 
Computer Vision: Localization and Object Detection  
 
Chair: Censi, AndreaMIT
Co-Chair: Xiang, ZhiyuZhejiang Univ.
 
11:10-11:30, Paper MoB09.1 Add to My Program
Robust Vehicle Detection Using 3D Lidar under Complex Urban Environment
Cheng, JianZhejiang Univ
Xiang, ZhiyuZhejiang Univ
Cao, TengZhejiang Univ
Liu, JilinZhejiang Univ
 
11:30-11:50, Paper MoB09.2 Add to My Program
Reliable Topological Place Detection in Bubble Space
Karaoguz, HakanBogazici Univ
Bozma, H. IsilBogazici Univ
 
11:50-12:10, Paper MoB09.3 Add to My Program
Low-Latency Event-Based Visual Odometry
Censi, AndreaMit
Scaramuzza, DavideUniv. of Zurich
 
12:10-12:30, Paper MoB09.4 Add to My Program
Towards Training-Free Appearance-Based Localization: Probabilistic Models for Whole-Image Descriptors
Lowry, StephanieQueensland Univ. of Tech
Wyeth, GordonQueensland Univ. of Tech
Milford, Michael JQueensland Univ. of Tech
 
MoB10 Regular Session, S228 Add to My Program 
Rehabilitation Robotics II  
 
Chair: Zanotto, DamianoColumbia Univ.
Co-Chair: Wang, QiningPeking Univ.
 
11:10-11:30, Paper MoB10.1 Add to My Program
Active Tethered Pelvic Assist Device (A-TPAD) to Study Force Adaptation in Human Walking
Vashista, VineetColumbia Univ
Jin, XinColumbia Univ
Agrawal, SunilColumbia Univ
 
11:30-11:50, Paper MoB10.2 Add to My Program
Adaptive Assist-As-Needed Controller to Improve Gait Symmetry in Robot-Assisted Gait Training
Zanotto, DamianoColumbia Univ
Stegall, PaulColumbia Univ
Agrawal, SunilColumbia Univ
 
11:50-12:10, Paper MoB10.3 Add to My Program
Generation of Human Standing-Up Motion with Muscle Synergies Using Forward Dynamic Simulation
An, QiThe Univ. of Tokyo
Ishikawa, YukiThe Univ. of Tokyo
Funato, TetsuroThe Univ. of Electro-Communications
Aoi, ShinyaKyoto Univ
Oka, HiroyukiThe Univ. of TOkyo
Yamakawa, HiroshiThe Univ. of TOkyo
Yamashita, AtsushiThe Univ. of Tokyo
Asama, HajimeThe Univ. of Tokyo
 
12:10-12:30, Paper MoB10.4 Add to My Program
On the Design of a Robot-Assisted Rehabilitation System for Ankle Joint with Contracture And/or Spasticity Based on Proprioceptive Neuromuscular Facilitation
Zhou, ZhihaoPeking Univ
Zhou, YuanPeking Univ. First Hospital
Wang, NinghuaPeking Univ. First Hospital
Gao, FanUniv. of Texas Southwestern Medical Center
Wei, KunlinPeking Univ
Wang, QiningPeking Univ
 
MoB11 Regular Session, S229 Add to My Program 
Industrial Applications: Machining  
 
Chair: Chen, HepingTexas State Univ.
 
11:10-11:30, Paper MoB11.1 Add to My Program
New Marker for Real-Time Industrial Robot Programming by Motion Imitation
Ferreira, MarcosUniv. of Porto - Faculty of Engineering / INESC TEC
Costa, PauloUniv. of Porto
Rocha, LuísUniv. of Porto - Faculty of Engineering / INESC TEC
Moreira, Antonio PauloUniv. of Porto, Faculty of Engineering
Pires, NorbertoUniv. of Coimbra
 
11:30-11:50, Paper MoB11.2 Add to My Program
Industry-Academia Collaborations in Robotics: Comparing Asia, Europe and North-America
Griffiths, SaschaTech. Univ. München
Voss, LauraTech. Univ. München
Roehrbein, FlorianTech. Univ. Muenchen
 
11:50-12:10, Paper MoB11.3 Add to My Program
Predictive Path-Accurate Scaling of a Sensor-Based Defined Trajectory
Lange, FriedrichGerman Aerospace Center (DLR)
Suppa, MichaelGerman Aerospace Center (DLR)
 
12:10-12:30, Paper MoB11.4 Add to My Program
Force-Tracking Imedance Control for Manipulators Mounted on Compliant Bases
Roveda, LorisItia Cnr
Vicentini, FedericoNational Res. Council of Italy (CNR)
Pedrocchi, NicolaNational Res. Council of Italy
Molinari Tosatti, LorenzoNational Council of Res
 
MoB12 Regular Session, S421 Add to My Program 
Medical Robotics: Force Control II  
 
Chair: Rucker, CalebUniv. of Tennessee
Co-Chair: Damian, DanaBoston Children's Hospital, Harvard Univ.
 
11:10-11:30, Paper MoB12.1 Add to My Program
Dynamic Movement Primitives for Cooperative Manipulation and Synchronized Motions
Umlauft, JonasTech. Univ. München
Sieber, DominikTech. Univ. München
Hirche, SandraTech. Univ. München
 
11:30-11:50, Paper MoB12.2 Add to My Program
Toward Hybrid Position/force Control for an Active Handheld Micromanipulator
Wells, TrentCarnegie Mellon Univ
MacLachlan, Robert A.Carnegie Mellon Univ
Riviere, Cameron N.Carnegie Mellon Univ
 
11:50-12:10, Paper MoB12.3 Add to My Program
Toward Parallel Continuum Manipulators
Bryson, CarolineUniv. of Tennessee
Rucker, CalebUniv. of Tennessee
 
12:10-12:30, Paper MoB12.4 Add to My Program
Robotic Implant to Apply Tissue Traction Forces in the Treatment of Esophageal Atresia
Damian, DanaBoston Children's Hospital, Harvard Univ
Arabagi, VeaceslavChildrens Hospital Boston
Fabozzo, AssuntaBoston Children's Hospital, Harvard Univ
Ngo, PeterBoston Children's Hospital, Harvard Univ
Jennings, Russell‎Boston Children's Hospital, Harvard Univ
Manfredi, MichaelBoston Children's Hospital, Harvard Univ
Dupont, PierreChildren's Hospital Boston, Harvard Medical School
 
MoB13 Regular Session, S423 Add to My Program 
Biologically-Inspired Robotics II  
 
Chair: Shen, YantaoUniv. of Nevada, Reno
Co-Chair: Wejinya, Uchechukwu C.Univ. of Arkansas
 
11:10-11:30, Paper MoB13.1 Add to My Program
Rapid Acceleration and Braking: Inspirations from the Cheetah's Tail
Patel, AmirUniv. of Cape Town
Braae, MartinUniv. of Cape Town
 
11:30-11:50, Paper MoB13.2 Add to My Program
Modeling of a Carangiform-Like Robotic Fish for Both Forward and Backward Swimming: Based on the Fixed Point
Li, LiangPeking Univ
Wang, ChenPeking Univ
Xie, GuangmingPeking Univ
 
11:50-12:10, Paper MoB13.3 Add to My Program
Blade-Type Crawler Vehicle Bio-Inspired by a Wharf Roach
Yamada, YasuyukiTokyo Inst. of Tech
Endo, GenTokyo Inst. of Tech
Fukushima, Edwardo F.Tokyo Inst. of Tech
 
12:10-12:30, Paper MoB13.4 Add to My Program
Development and CPG-Based Control of a Biomimetic Robotic Fish with Advanced Underwater Mobility
Hu, YonghuiBeihang Univ
Zhang, ShuaiNorth China Electric Power Univ
Liang, JianhongBeihang Univ
Wang, TianmiaoBeihang Univ
 
MoB14 Regular Session, S424 Add to My Program 
Haptic Interfaces  
 
Chair: Patel, Rajnikant V.The Univ. of Western Ontario
Co-Chair: Okamura, Allison M.Stanford Univ.
 
11:10-11:30, Paper MoB14.1 Add to My Program
An Admittance Control Scheme for Haptic Interfaces Based on Cable-Driven Parallel Mechanisms
Fortin-Côté, AlexisUniv. Laval
Cardou, PhilippeUniv. Laval
Gosselin, ClementUniv. Laval
 
11:30-11:50, Paper MoB14.2 Add to My Program
Softness Display by a Multi-Fingered Haptic Interface Robot
Endo, TakahiroGifu Univ
Tanimura, SatoshiSanwa Robotics Co., Ltd
Kazama, YutaGifu Univ
Kawasaki, HaruhisaGifu Univ
 
11:50-12:10, Paper MoB14.3 Add to My Program
Application of Magneto-Rheological Fluid Based Clutches for Improved Performance in Haptic Interfaces
Najmaei, NimaUniv. of Western Ontario
Yadmellat, PeymanThe Univ. of Western Ontario
Kermani, Mehrdad R.Univ. of Western Ontario
Patel, Rajnikant V.The Univ. of Western Ontario
 
12:10-12:30, Paper MoB14.4 Add to My Program
An Intuitive Multimodal Haptic Interface for Teleoperation of Aerial Robots
Hou, XiaoleiThe Australian National Univ
Mahony, RobertAustralian National Univ
 
MoB15 Regular Session, S425 Add to My Program 
SLAM: Detection and Recognition  
 
Chair: Eustice, RyanUniv. of Michigan
Co-Chair: Zhang, HongUniv. of Alberta
 
11:10-11:30, Paper MoB15.1 Add to My Program
Fast Relocalisation and Loop Closing in Keyframe-Based SLAM
Mur-Artal, RaulUniv. De Zaragoza
Tardos, Juan D.Univ. De Zaragoza
 
11:30-11:50, Paper MoB15.2 Add to My Program
Conservative Edge Sparsification for Graph SLAM Node Removal
Carlevaris-Bianco, NicholasUniv. of Michigan
Eustice, RyanUniv. of Michigan
 
11:50-12:10, Paper MoB15.3 Add to My Program
An Efficient Visual Loop Closure Detection Method in a Map of 20 Million Key Locations
Wu, JunjunSouth China Univ. of Tech
Zhang, HongUniv. of Alberta
Guan, YishengGuangdong Univ. of Tech
 
12:10-12:30, Paper MoB15.4 Add to My Program
Hybrid Vision-Based SLAM Coupled with Moving Object Tracking
Min, JihongAgency for Defense Development
Kim, JunghoKeti
Kim, HyeongwooKorea Advanced Inst. of Science and Tech
Kwak, KihoAgency for Defense Development
Kweon, In SoKaist
 
MoB16 Regular Session, S426 Add to My Program 
Grasping: Planning and Control I  
 
Chair: Kubus, DanielTech. Univ. Braunschweig
Co-Chair: Harada, KensukeNational Inst. of AIST
 
11:10-11:30, Paper MoB16.1 Add to My Program
Combining Visual and Inertial Features for Efficient Grasping and Bin-Picking
Buchholz, DirkTU Braunschweig
Kubus, DanielTech. Univ. Braunschweig
Weidauer, IngoTech. Univ. Braunschweig
Wahl, Friedrich M.Tech. Univ. of Braunschweig
Scholz, AlexanderTech. Univ. Braunschweig
 
11:30-11:50, Paper MoB16.2 Add to My Program
Stability of Soft-Finger Grasp under Gravity
Harada, KensukeNational Inst. of AIST
Tsuji, TokuoKyushu Univ
Uto, SoichiroKyushu Univ
Yamanobe, NatsukiAdvanced Industrial Science and Tech
Nagata, KazuyukiNational Inst. of AIST
Kitagaki, KoseiNational Inst. of AIST
 
11:50-12:10, Paper MoB16.3 Add to My Program
Experimental Investigation of Effect of Fingertip Stiffness on Friction While Grasping an Object
Watanabe, TetsuyouKanazawa Univ
Fujihira, YoshinoriKanazawa Univ
 
12:10-12:30, Paper MoB16.4 Add to My Program
A Hand/arm Controller That Simultaneously Regulates Internal Grasp Forces and the Impedance of Contacts with the Environment
Muscio, GiuseppeUniv. Degli Studi Della Basilicata
Pierri, FrancescoUniv. Della Basilicata
Trinkle, JeffRensselaer Pol. Inst
 
MoB17 Regular Session, S427 Add to My Program 
Localization II  
 
Chair: Newman, PaulOxford Univ.
Co-Chair: Scaramuzza, DavideUniv. of Zurich
 
11:10-11:30, Paper MoB17.1 Add to My Program
Shady Dealings: Robust, Long-Term Visual Localisation Using Illumination Invariance
McManus, ColinUniv. of Oxford, Mobile Robotics Group
Churchill, WinstonOxford Univ
Maddern, WillUniv. of Oxford
Stewart, AlexOxford Univ
Newman, PaulOxford Univ
 
11:30-11:50, Paper MoB17.2 Add to My Program
A Monocular Pose Estimation System Based on Infrared LEDs
Faessler, MatthiasUniv. of Zurich
Mueggler, EliasUniv. of Zurich
Schwabe, Karl StefanUniv. of Zurich
Scaramuzza, DavideUniv. of Zurich
 
11:50-12:10, Paper MoB17.3 Add to My Program
On the Use of IMUs in the PnP Problem
D'Alfonso, LuigiUniv. Della Calabria
Garone, EmanueleUniv. Libre De Bruxelles
Muraca, PietroUniv. Della Calabria
Pugliese, PaoloUniv. of Calabria
 
12:10-12:30, Paper MoB17.4 Add to My Program
Micro Air Vehicle Localization and Position Tracking from Textured 3D Cadastral Models
Majdik, AndrasUniv. of Zurich
Verda, DamianoDist, Univ. of Genova
Albers-Schoenberg, YvesETH Zurich
Scaramuzza, DavideUniv. of Zurich
 
MoB18 Regular Session, S428 Add to My Program 
Motion Control of Manipulators I  
 
Chair: Harada, KensukeNational Inst. of AIST
 
11:10-11:30, Paper MoB18.1 Add to My Program
A Manipulation Motion Planner for Dual-Arm Industrial Manipulators
Harada, KensukeNational Inst. of AIST
Tsuji, TokuoKyushu Univ
Laumond, Jean-PaulLaas-Cnrs
 
11:30-11:50, Paper MoB18.2 Add to My Program
Relational Object Tracking and Learning
Nitti, DavideKU Leuven
De Laet, TinneUniv. of Leuven
De Raedt, LucKatholieke Univ. Leuven
 
11:50-12:10, Paper MoB18.3 Add to My Program
Resonance-Driven Dynamic Manipulation: Dribbling and Juggling with Elastic Beam
Pekarovskiy, AlexanderTech. Univ. Muenchen
Saluja, KunalBits Pilani
Sarkar, RohanJadavpur Univ
Buss, MartinTech. Univ. München
 
12:10-12:30, Paper MoB18.4 Add to My Program
Open Loop Stable Control in Repetitive Manipulation Tasks
Plooij, MichielDelft Univ. of Tech
Wolfslag, WouterDelft Univ. of Tech
Wisse, MartijnDelft Univ. of Tech
 
MoB19 Regular Session, S429 Add to My Program 
Automation: Biotechnology, Pharmaceutical and Health Care II  
 
Chair: Sun, DongCity Univ. of Hong Kong
Co-Chair: Valls Miro, JaimeUniv. of Tech. Sydney
 
11:10-11:30, Paper MoB19.1 Add to My Program
Robot-Aided Optical Manipulation of Cells with a Unified Controller
Li, XiangpengJoint Advanced Res. CenterofCityUnviersityofHongKongandUnvie
Sun, DongCity Univ. of Hong Kong
 
11:30-11:50, Paper MoB19.2 Add to My Program
Development of a High Throughput Robot-Aided Cell Injection System for Human Cells
Chow, Yu TingCity Univ. of Hong Kong,
Sun, DongCity Univ. of Hong Kong
Chen, ShuxunCity Univ. of Hong Kong
Liu, ChongCity Univ. of Hong Kong
Li, Ronald A.Univ. of Hong Kong
Cheng, Shuk HanCity Univ. of Hong Kong
 
11:50-12:10, Paper MoB19.3 Add to My Program
A Probabilistic Approach to Learn Activities of Daily Living of a Mobility Aid Device User
Patel, MiteshUniv. of Tech. Sydney
Valls Miro, JaimeUniv. of Tech. Sydney
Dissanayake, GaminiUniv. of Tech. Sydney
 
12:10-12:30, Paper MoB19.4 Add to My Program
Control of Posture and Trajectory for a Rat-Like Robot Interacting with Multiple Real Rats
Shi, QingBeijing Inst. of Tech
Ishii, HiroyukiWaseda Univ
Sugahara, YusukeKokushikan Univ
Kinoshita, ShinichiWaseda Univ
Takanishi, AtsuoWaseda Univ
Huang, QiangBeijing Inst. of Tech
Okabayashi, SatoshiWaseda Univ
Fukuda, ToshioMeijo Univ
 
MoLunch_Break Plenary Session, S221 Add to My Program 
Oussama Khatib: Working with Robots  
 
Chair: Hamel, William R.Univ. of Tennessee
 
MoLunch05 Regular Session, S223 Add to My Program 
Forum on Future Directions and Funding Opportunities in Robotics |  
 
Chair: Luo, Ren C.National Taiwan Univ.
 
MoLunch10 Regular Session, S228 Add to My Program 
Meet the Employers  
 
Chair: Xiao, JizhongThe City Coll. of New York
Co-Chair: Chen, HepingTexas State Univ.
 
MoLunch14 Regular Session, S424 Add to My Program 
T-ASE at Ten  
 
 
MoLunch18 Regular Session, S428 Add to My Program 
Young Professionals Lunch (Gold Lunch)  
 
 
MoC01 Regular Session, Theatre 1 Add to My Program 
Computer Vision: Manipulation  
 
Chair: Ye, CangUniv. of Arkansas at Little Rock
Co-Chair: Behnke, SvenUniv. of Bonn
 
14:00-14:20, Paper MoC01.1 Add to My Program
Visual Servoing Schemes for Automatic Nanopositioning under Scanning Electron Microscope
Marturi, NareshInst. FEMTO-ST
Tamadazte, BrahimCnrs, Ufc/ensmm/utbm
Dembélé, SounkaloUniv. of Franche Comté
Lefort-Piat, NadineLab. D'automatique De Besançon
 
14:20-14:40, Paper MoC01.2 Add to My Program
Autonomous Active Recognition and Unfolding of Clothes Using Random Decision Forests and Probabilistic Planning
Doumanoglou, AndreasImperial Coll. London, CERTH
Kargakos, AndreasCerth
Kim, Tae-KyunImperial Coll. London
Malassiotis, SotirisCerth
 
14:40-15:00, Paper MoC01.3 Add to My Program
Efficient Deformable Registration of Multi-Resolution Surfel Maps for Object Manipulation Skill Transfer
Stueckler, JoergUniv. of Bonn
Behnke, SvenUniv. of Bonn
 
15:00-15:20, Paper MoC01.4 Add to My Program
Ambient Motion Estimation in Dynamic Scenes Using Wearable Visual-Inertial Sensors
He, HongshengUniv. of Tennessee
Tan, JindongUniv. of Tennessee, Knoxville
 
15:20-15:40, Paper MoC01.5 Add to My Program
Road Scene Segmentation Via Fusing Camera and Lidar Data
Huang, WenqiZhejiang Univ
Gong, XiaojinZhejiang Univ
Xiang, ZhiyuZhejiang Univ
 
15:40-16:00, Paper MoC01.6 Add to My Program
Polygon Guarding with Orientation
Tokekar, PratapUniv. of Minnesota
Isler, VolkanUniv. of Minnesota
 
MoC02 Regular Session, Theatre 2 Add to My Program 
Robot Vision I  
 
Chair: Kubota, TakashiJAXA ISAS
Co-Chair: Martinelli, AgostinoINRIA Grenoble-Rhone-Alpes
 
14:00-14:20, Paper MoC02.1 Add to My Program
Visual-Inertial Structure from Motion: Observability vs Minimum Number of Sensors
Martinelli, AgostinoINRIA Grenoble-Rhone-Alpes
 
14:20-14:40, Paper MoC02.2 Add to My Program
Combining Motion and Appearance for Scene Segmentation
Borges, Paulo Vinicius KoerichCsiro
Moghadam, PeymanCSIRO ICT Centre
 
14:40-15:00, Paper MoC02.3 Add to My Program
A New Flexible Controller for a Humanoid Robot That Considers Visual and Force Information Interaction
Ma, GanBeijing Inst. of Tech
Huang, QiangBeijing Inst. of Tech
Yu, ZhangguoBeijing Inst. of Tech
Chen, XuechaoBeijing Insititute of Tech
Zhang, WeiminBeijing Inst. of Tech
Gao, JunyaoBeijing Inst. of Tech
Meng, LiboBeijing Inst. of Tech
Liu, YunhuiChinese Univ. of Hong Kong
 
15:00-15:20, Paper MoC02.4 Add to My Program
A Two-Point Algorithm for Stereo Visual Odometry in Open Outdoor Environments
Otsu, KyoheiThe Univ. of Tokyo
Kubota, TakashiJaxa Isas
 
15:20-15:40, Paper MoC02.5 Add to My Program
Learning Latent Structure for Activity Recognition
Hu, NinghangUniv. of Amsterdam
Englebienne, GwennUniv. of Amsterdam
Lou, ZhongyuUniv. of Amsterdam
Krose, BenUniv. of Amsterdam
 
15:40-16:00, Paper MoC02.6 Add to My Program
The Partial View Heat Kernel Descriptor for 3D Object Representation
Brandao, Susana, DInst. Superior Tecnico
Costeira, Joao PauloInsituto Superior Tecnico
Veloso, ManuelaCarnegie Mellon Univ
 
MoC03 Regular Session, S221 Add to My Program 
Actuators I  
 
Chair: Caldwell, Darwin G.Fondazione Istituto Italiano di Tecnologia
Co-Chair: Tsagarakis, NikolaosFondazione Istituto Italiano di Tecnologia - VAT 09198791007
 
14:00-14:20, Paper MoC03.1 Add to My Program
Linear Torque Actuation Using FPGA-Controlled Magneto-Rheological Actuators
Li, WenjunUwo
Yadmellat, PeymanThe Univ. of Western Ontario
Kermani, Mehrdad R.Univ. of Western Ontario
 
14:20-14:40, Paper MoC03.2 Add to My Program
Physical Interaction Detection and Control of Compliant Manipulators Equipped with Friction Clutches
Kashiri, NavvabFondazione Istituto Italiano Di Tecnologia - VAT 09198791007
Laffranchi, MatteoFondazione Istituto Italiano Di Tecnologia
Tsagarakis, NikolaosFondazione Istituto Italiano Di Tecnologia - VAT 09198791007
Margan, AlessioIstituto Italiano Di Tecnologia
Caldwell, Darwin G.Fondazione Istituto Italiano Di Tecnologia
 
14:40-15:00, Paper MoC03.3 Add to My Program
Real-Time Damping Estimation for Variable Impedance Actuators
Kashiri, NavvabFondazione Istituto Italiano Di Tecnologia - VAT 09198791007
Laffranchi, MatteoFondazione Istituto Italiano Di Tecnologia
Lee, JinohFondazione Istituto Italiano Di Tecnologia - VAT 09198791007
Tsagarakis, NikolaosFondazione Istituto Italiano Di Tecnologia - VAT 09198791007
Chen, LishaIstituto Italiano Di Tecnologia
Caldwell, Darwin G.Fondazione Istituto Italiano Di Tecnologia
 
15:00-15:20, Paper MoC03.4 Add to My Program
Development of a Hybrid Actuator with Controllable Mechanical Damping
Sarakoglou, IoannisFondazione Istituto Italiano Di Tecnologia - Vat N. 09198791007
Tsagarakis, NikolaosFondazione Istituto Italiano Di Tecnologia - VAT 09198791007
Caldwell, Darwin G.Fondazione Istituto Italiano Di Tecnologia
 
15:20-15:40, Paper MoC03.5 Add to My Program
Study of Limit Cycle in Antagonistically Coupled Magneto-Rheological Actuators
Yadmellat, PeymanThe Univ. of Western Ontario
Kermani, Mehrdad R.Univ. of Western Ontario
 
MoC04 Regular Session, S222 Add to My Program 
Distributed Robotic Systems III  
 
Chair: Parker, LynneUniv. of Tennessee
Co-Chair: O'Kane, JasonUniv. of South Carolina
 
14:00-14:20, Paper MoC04.1 Add to My Program
Coalition Coordination for Tightly Coupled Multirobot Tasks with Sensor Constraints
Zhang, Yu (Tony)Univ. of Tennessee
Parker, LynneUniv. of Tennessee
Kambhampati, SubbaraoArizona State Univ
 
14:20-14:40, Paper MoC04.2 Add to My Program
Distance Optimal Target Assignment in Robotic Networks under Communication and Sensing Constraints
Yu, JingjinMassachusetts Inst. of Tech
Chung, Soon-JoUniv. of Illinois at Urbana-Champaign
Voulgaris, Petros G.Univ. of Illinois at Urbana-Champaign
 
14:40-15:00, Paper MoC04.3 Add to My Program
Cooperative Positioning/Orientation Control of Mobile Heterogeneous Anisotropic Sensor Networks for Area Coverage
Stergiopoulos, YiannisUniv. of Patras
Tzes, AnthonyUniv. of Patras
 
15:00-15:20, Paper MoC04.4 Add to My Program
Segregation of Multiple Heterogeneous Units in a Robotic Swarm
Graciano Santos, ViniciusFederal Univ. of Minas Gerais
Pimenta, LucianoUniv. Federal De Minas Gerais
Chaimowicz, LuizFederal Univ. of Minas Gerais
 
15:20-15:40, Paper MoC04.5 Add to My Program
Decentralized Formation of Arbitrary Multi-Robot Lattices
Song, YangUniv. of South Carolina
O'Kane, JasonUniv. of South Carolina
 
15:40-16:00, Paper MoC04.6 Add to My Program
Visibility-Oriented Coverage Control of Mobile Robotic Networks on Non-Convex Regions
Kantaros, YiannisDuke Univ
Thanou, MichalisUniv. of Patras
Tzes, AnthonyUniv. of Patras
 
MoC05 Regular Session, S223 Add to My Program 
Motion Understanding  
 
Chair: Sheng, WeihuaOklahoma State Univ.
Co-Chair: Carlone, LucaGeorgia Inst. of Tech.
 
14:00-14:20, Paper MoC05.1 Add to My Program
Path Planning for a Tethered Mobile Robot
Kim, SoonkyumUniv. of Pennsylvania
Bhattacharya, SubhrajitUniv. of Pennsylvania
Kumar, VijayUniv. of Pennsylvania
 
14:20-14:40, Paper MoC05.2 Add to My Program
Uncertainty-Constrained Robot Exploration: A Mixed-Integer Linear Programming Approach
Carlone, LucaGeorgia Inst. of Tech
Lyons, DanielKarlsruhe Inst. of Tech. (KIT)
 
14:40-15:00, Paper MoC05.3 Add to My Program
Convex Relaxations of SE(2) and SE(3) for Visual Pose Estimation
Horowitz, MatanyaCalifornia Inst. of Tech
Matni, NikolaiCalifornia Inst. of Tech
Burdick, JoelCalifornia Inst. of Tech
 
15:00-15:20, Paper MoC05.4 Add to My Program
The Speed Graph Method: Time Optimal Navigation among Obstacles Subject to Safe Braking Constraint
Manor, GilTech. - Israel Inst. of Tech
Rimon, ElonTech. - Israel Inst. of Tech
 
15:20-15:40, Paper MoC05.5 Add to My Program
Human Aware UAS Path Planning in Urban Environments Using Nonstationary MDPs
Allamraju, RakshitOklahoma State Univ
Kingravi, HassanGeorgia Inst. of Tech
Axelrod, AllanOklahoma State Univ
Chowdhary, GirishOklahoma State Univ
Grande, RobertThe Johns Hopins Univ
Crick, ChristopherOklahoma State Univ
Sheng, WeihuaOklahoma State Univ
How, JonathanMassachusetts Inst. of Tech
 
15:40-16:00, Paper MoC05.6 Add to My Program
Control-Limited Differential Dynamic Programming
Tassa, YuvalUniv. of Washington
Mansard, NicolasCnrs
Todorov, EmanuelUniv. of Washington
 
MoC06 Regular Session, S224 Add to My Program 
Physical Human Robot Interaction III  
 
Chair: Stachniss, CyrillUniv. of Freiburg
Co-Chair: Lanari, LeonardoUniv. di Roma
 
14:00-14:20, Paper MoC06.1 Add to My Program
Supernumerary Robotic Limbs for Aircraft Fuselage Assembly: Body Stabilization and Guidance by Bracing
Parietti, FedericoMit
Asada, HarryMit
 
14:20-14:40, Paper MoC06.2 Add to My Program
Manual Guidance of Humanoid Robots without Force Sensors: Preliminary Experiments with NAO
Bellaccini, MarcoSapienza Univ. Di Roma
Lanari, LeonardoUniv. Di Roma
Paolillo, AntonioSapienza Univ. of Rome
Vendittelli, MarilenaSapienza Univ. of Rome
 
14:40-15:00, Paper MoC06.3 Add to My Program
Implementation of a Robot-Human Object Handover Controller on a Compliant Underactuated Hand Using Joint Position Error Measurements for Grip Force and Load Force Estimations
Chan, Wesley PatrickUniv. of Tokyo
Kumagai, IoriUniv. of Tokyo
Nozawa, ShunichiThe Univ. of Tokyo
Kakiuchi, YoheiThe Univ. of Tokyo
Okada, KeiThe Univ. of Tokyo
Inaba, MasayukiThe Univ. of Tokyo
 
15:00-15:20, Paper MoC06.4 Add to My Program
Integration of Perception, Control and Injury Knowledge for Safe Human-Robot Interaction
Ragaglia, MatteoPol. Di Milano
Bascetta, LucaPol. Di Milano
Rocco, PaoloPol. Di Milano
Zanchettin, Andrea MariaPol. Di Milano
 
15:20-15:40, Paper MoC06.5 Add to My Program
Inferring What to Imitate in Manipulation Actions by Using a Recommender System
Abdo, NicholaUniv. of Freiburg
Spinello, LucianoUniv. of Freiburg
Burgard, WolframUniv. of Freiburg
Stachniss, CyrillUniv. of Freiburg
 
15:40-16:00, Paper MoC06.6 Add to My Program
Combining Energy and Power Based Safety Metrics in Controller Design for Domestic Robots
Tadele, Tadele ShiferawUniv. of Twente
de Vries, TheoUniv. of Twente
Stramigioli, StefanoUniv. of Twente
 
MoC07 Regular Session, S225 Add to My Program 
Cellular and Modular Robotics  
 
Chair: Dollar, AaronYale Univ.
Co-Chair: Iida, FumiyaETH Zurich
 
14:00-14:20, Paper MoC07.1 Add to My Program
Fast On-Board Motion Planning for Modular Robots
Vonasek, VojtechCzech Tech. Univ. in Prague
Winkler, LutzKarlsruhe Inst. of Tech. (KIT)
Liedke, JensKarlsruhe Inst. of Tech. - KIT
Saska, MartinCzech Tech. Univ. in Prague
Kosnar, KarelCzech Tech. Univ. in Prague
Preucil, LiborCzech Tech. Univ. in Prague
 
14:20-14:40, Paper MoC07.2 Add to My Program
Automatic Real-World Assembly of Machine-Designed Structures
Brodbeck, LuziusETH Zurich
Iida, FumiyaETH Zurich
 
14:40-15:00, Paper MoC07.3 Add to My Program
Area of Acceptance for 3D Self-Aligning Robotic Connectors: Concepts, Metrics, and Designs
Eckenstein, NickUniv. of Pennsylvania
Yim, MarkUniv. of Pennsylvania
 
15:00-15:20, Paper MoC07.4 Add to My Program
Self-Assembly of a Swarm of Autonomous Boats into Floating Structures
O'Hara, IanUniv. of Pennsylvania
Paulos, JamesUniv. of Pennsylvania
Davey, JayUniv. of Pennsylvania
Eckenstein, NickUniv. of Pennsylvania
Doshi, NeelHarvard
Tosun, TarikUniv. of Pennsylvania
Greco, JonathanUniv. of Pennsylvania
Seo, JungwonUniv. of Pennsylvania
Turpin, MatthewUniv. of Pennsylvania
Kumar, VijayUniv. of Pennsylvania
Yim, MarkUniv. of Pennsylvania
 
15:20-15:40, Paper MoC07.5 Add to My Program
Simple, Scalable Active Cells for Articulated Robot Structures
Swensen, JohnYale Univ
Nawroj, AhsanLafayette Coll
Pounds, PaulThe Univ. of Queensland
Dollar, AaronYale Univ
 
MoC08 Regular Session, S226 Add to My Program 
Sensor Fusion III  
 
Chair: Ruffaldi, EmanueleScuola Superiore S.Anna
Co-Chair: Ma, XinShandong Univ.
 
14:00-14:20, Paper MoC08.1 Add to My Program
A Novel Approach to Motion Tracking with Wearable Sensors Based on Probabilistic Graphical Models
Ruffaldi, EmanueleScuola Superiore S.Anna
Peppoloni, LorenzoScuola Superiore Sant'Anna
Filippeschi, AlessandroScuola Superiore Sant'Anna
Avizzano, Carlo AlbertoScuola Superiore S. Anna
 
14:20-14:40, Paper MoC08.2 Add to My Program
Not Seeing Is Also Believing: Combining Object and Metric Spatial Information
Wong, Lawson L.S.Mit Csail
Kaelbling, LeslieMit
Lozano-Perez, TomasMit
 
14:40-15:00, Paper MoC08.3 Add to My Program
Inference Over Heterogeneous Finite-/Infinite-Dimensional Systems Using Factor Graphs and Gaussian Processes
Rosen, DavidMassachusetts Inst. of Tech
Huang, GuoquanMit
Leonard, JohnMit
 
15:00-15:20, Paper MoC08.4 Add to My Program
Position Tracking and Sensors Self-Calibration in Autonomous Mobile Robots by Gauss-Newton Optimization
Cucci, Davide A.Pol. Di Milano
Matteucci, MatteoPol. Di Milano
 
15:20-15:40, Paper MoC08.5 Add to My Program
Intelligent Mobility Assisted Mobile Sensor Network Localization
Ma, XinShandong Univ
Zhou, MingangShandong Univ
Li, YibinShandong Univ
 
MoC09 Regular Session, S227 Add to My Program 
Visual Learning I  
 
Chair: Wang, ZhidongChiba Inst. of Tech.
Co-Chair: Wang, HeshengShanghai Jiao Tong Univ.
 
14:00-14:20, Paper MoC09.1 Add to My Program
Interactive Adaptation of Real-Time Object Detectors
Goehring, DanielICSI Berkeley
Hoffman, JudyUniv. of California, Berkeley
Rodner, ErikComputer Vision Group, Friedrich Schiller Univ. of Jena
Saenko, KateICSI & UC Berkeley EECS
Darrell, TrevorUC Berkeley
 
14:20-14:40, Paper MoC09.2 Add to My Program
Geometry Constrained Sparse Embedding for Multi-Dimensional Transfer Function Design in Direct Volume Rendering
Shao, ZhenzhouThe Univ. of Tennessee, Knoxville
Guan, YongCapital Normal Univ
He, HongshengUniv. of Tennessee
Tan, JindongUniv. of Tennessee, Knoxville
 
14:40-15:00, Paper MoC09.3 Add to My Program
Online Self-Supervised Multi-Instance Segmentation of Dynamic Objects
Bewley, AlexQueensland Univ. of Tech
Guizilini, VitorUniv. of Sydney
Ramos, FabioUniv. of Sydney
Upcroft, BenQueensland Univ. of Tech
 
15:00-15:20, Paper MoC09.4 Add to My Program
Visual Precis Generation Using Coresets
Paul, RohanUniv. of Oxford
Feldman, DanMit Csail
Rus, DanielaMit
Newman, PaulOxford Univ
 
15:20-15:40, Paper MoC09.5 Add to My Program
Incremental Unsupervised Topological Place Discovery
Murphy, ElizabethGeorge Washington Univ
Sibley, GabeGeorge Washington Univ
 
15:40-16:00, Paper MoC09.6 Add to My Program
Efficient Robot-Sensor Network Distributed SEIF Range-Only SLAM
Torres-González, ArturoUniv. of Seville
Martinez-de Dios, J.R.Univ. of Seville
Ollero, AnibalUniv. of Seville
 
MoC10 Regular Session, Add to My Program 
Prosthetics and Exoskeletons  
 
Chair: Wade, EricUniv. of Tennessee
Co-Chair: Walsh, Conor JamesHarvard Univ.
 
14:00-14:20, Paper MoC10.1 Add to My Program
Multi-Joint Actuation Platform for Lower Extremity Soft Exosuits
Ding, YeHarvard Univ
Galiana, IgnacioHarvard Univ
Asbeck, AlanHarvard Univ
Quinlivan, BrendanHarvard Univ. Wyss Inst
De Rossi, Stefano Marco MariaHarvard Univ
Walsh, Conor JamesHarvard Univ
 
14:20-14:40, Paper MoC10.2 Add to My Program
Design and Evaluation of a Parallel-Series Elastic Actuator for Lower Limb Exoskeletons
Zhu, YanheHarbin Inst. of Tech
Jin, HongZheHarbin Inst. of Tech
Zhao, JieHarbin Inst. of Tech
 
14:40-15:00, Paper MoC10.3 Add to My Program
Quadratic Programming and Impedance Control for Transfemoral Prosthesis
Huihua, ZhaoUniv. of Texas A&M
Kolathaya, ShishirTexas A&M Univ
Ames, AaronTexas A&M Univ
 
15:00-15:20, Paper MoC10.4 Add to My Program
Mechanical Implementation of Postural Synergies Using a Simple Continuum Mechanism
Xu, KaiShanghai Jiao Tong Univ
Liu, HuanShanghai Jiao Tong Univ
Du, YuhengShanghai Jiao Tong Univ
Sheng, XinjunShanghai Jiao Tong Univ
Zhu, XiangyangShanghai Jiao Tong Univ
 
15:20-15:40, Paper MoC10.5 Add to My Program
Lower Body Exoskeleton-Supported Compliant Bipedal Walking for Paraplegics: How to Reduce Upper Body Effort?
Ugurlu, BarkanATR, Computational Neuroscience Labs
Oshima, HironoriToyota Tech. Inst
Narikiyo, TatsuoToyota Tech. Inst
 
MoC11 Regular Session, S229 Add to My Program 
Industrial Applications: Assembly  
 
Chair: Zhang, JiafanRobotics, Corp. Res. Center, China
Co-Chair: Chen, I-MingNanyang Tech. Univ.
 
14:00-14:20, Paper MoC11.1 Add to My Program
Identifiability and Improvement of Adjoint Error Approach for Serial Robot Calibration (I)
Li, ChengHong Kong Univ. of Science and Tech
Wu, YuanqingHong Kong Univ. of Science and Tech
Li, ZexiangHong Kong Univ. of Science and Tech
 
14:20-14:40, Paper MoC11.2 Add to My Program
LCM Cycle Based Optimal Scheduling in Robotic Cell with Parallel Workstations (I)
Zhang, JiafanRobotics, Corp. Res. Center, China
Fang, XinyuABB Corp. Res. Chnia
Qi, LiweiAbb
 
14:40-15:00, Paper MoC11.3 Add to My Program
A Method for Capturing the Tacit Knowledge in the Surface Finishing Skill by Demonstration for Programming a Robot
Ng, Wu Xin CharlesNanyang Tech. Univ
Chen, I-MingNanyang Tech. Univ
Chan, Kelvin Hau-KongRolls-Royce Singapore
Teo, Wee KinRolls-Royce Singapore
 
15:00-15:20, Paper MoC11.4 Add to My Program
Formal Verification of a Collision-Free Algorithm for a Dual-Arm Robot in HOL4
Li, LimingCapital Normal Univ
Shi, ZhipingCapital Normal Univ
Guan, YongCapital Normal Univ
Zhao, ChunnnaCapital Normal Univ. Key Lab. of Electronic S
Zhang, JieBeijing Univ. of Chemical Tech
Wei, HongxingBeihang Univ
 
15:20-15:40, Paper MoC11.5 Add to My Program
Identifying the Dynamic Model Used by the KUKA LWR: A Reverse Engineering Approach
Gaz, Claudio RobertoSapienza Univ. of Rome
Flacco, FabrizioSapienza Univ. of Rome
De Luca, AlessandroSapienza Univ. of Rome
 
15:40-16:00, Paper MoC11.6 Add to My Program
Comparative Study of Robot Kinematic Calibration Algorithms Using a Unified Geometric Framework (I)
Wu, YuanqingHong Kong Univ. of Science and Tech
Li, ChengHong Kong Univ. of Science and Tech
Li, JingZhejiang Univ
Li, ZexiangHong Kong Univ. of Science and Tech
 
MoC12 Regular Session, S421 Add to My Program 
Medical Robotics: Force Sensing  
 
Chair: Walsh, Conor JamesHarvard Univ.
Co-Chair: Abbeel, PieterUC Berkeley
 
14:00-14:20, Paper MoC12.1 Add to My Program
Towards Robot-Assisted Vitreoretinal Surgery: Force-Sensing Micro-Forceps Integrated with a Handheld Micromanipulator
Gonenc, BerkJohns Hopkins Univ
Feldman, EllenUniv. of Southern California
Gehlbach, PeterJohns Hopkins Medical Inst
Handa, JamesJohns Hopkins Medical Inst
Taylor, Russell H.The Johns Hopkins Univ
Iordachita, IulianJohns Hopkins Univ
 
14:20-14:40, Paper MoC12.2 Add to My Program
Novel Uniaxial Force Sensor Based on Visual Information for Minimally Invasive Surgery
Faragasso, AngelaKing's Coll. London
Bimbo, JoaoKing's Coll. London
Noh, YohanWaseda Univ
Jiang, AllenKing's Coll. London
Sareh, SinaCentre for Robotics Res. Department of Informatics, King's
Liu, HongbinKing's Coll. London
Nanayakkara, ThrishanthaKing's Coll. London
Wurdemann, Helge ArneKing's Coll. London
Althoefer, KasparKings Coll. London
 
14:40-15:00, Paper MoC12.3 Add to My Program
A Multi-Function Force Sensing Instrument for Variable Admittance Robot Control in Retinal Microsurgery
He, XingchiJohns Hopkins Univ
Balicki, MarcinJohns Hopkins Univ
Gehlbach, PeterJohns Hopkins Medical Inst
Handa, JamesJohns Hopkins Medical Inst
Taylor, Russell H.The Johns Hopkins Univ
Iordachita, IulianJohns Hopkins Univ
 
15:00-15:20, Paper MoC12.4 Add to My Program
A Monolithic Approach to Fabricating Low-Cost, Millimeter-Scale Multi-Axis Force Sensors for Minimally-Invasive Surgery
Gafford, JoshuaHarvard Univ
Kesner, Samuel B.Harvard Univ
Degirmenci, AlperenHarvard Univ
Wood, RobertHarvard Univ
Howe, Robert D.Harvard Univ
Walsh, Conor JamesHarvard Univ
 
15:20-15:40, Paper MoC12.5 Add to My Program
Estimation of Tissue Stiffness Using a Prototype of Air-Float Stiffness Probe
Wanninayake, Indika BandaraKing's Coll. London
Althoefer, KasparKings Coll. London
Seneviratne, LakmalKings Coll. London
 
15:40-16:00, Paper MoC12.6 Add to My Program
Autonomous Multilateral Surgical Debridement with the Raven Surgical Robot
Kehoe, BenUniv. of California, Berkeley
Kahn, GregoryUniv. of California, Berkeley
Mahler, JeffreyUniv. of California, Berkeley
Kim, Jonathan WonwookUC Berkeley
Lee, Alex XavierUC Berkeley
Lee, AnnaUniv. of California, Berkeley
Nakagawa, KeisukeUniv. of California Davis School of Medicine
Patil, SachinUniv. of California Berkeley
Boyd, Walter DouglasUniv. of California Davis
Abbeel, PieterUC Berkeley
Goldberg, KenUC Berkeley
 
MoC13 Regular Session, S423 Add to My Program 
Soft Material Robotics  
 
Chair: Ming, AiguoThe Univ. of Electro-Communications
Co-Chair: Napp, NilsHarvard Univ.
 
14:00-14:20, Paper MoC13.1 Add to My Program
Simple Passive Valves for Addressable Pneumatic Actuation
Napp, NilsHarvard Univ
Araki, BrandonYale
Tolley, Michael ThomasHarvard Univ
Nagpal, RadhikaHarvard Univ
Wood, RobertHarvard Univ
 
14:20-14:40, Paper MoC13.2 Add to My Program
Self-Folding Printable Elastic Electric Devices: Resistor, Capacitor, and Inductor
Miyashita, ShuheiMit
Meeker, LauraMassachusetts Inst. of Tech
Göldi, MauriceUniv. of Zürich
Kawahara, YoshihiroThe Univ. of Tokyo
Rus, DanielaMit
 
14:40-15:00, Paper MoC13.3 Add to My Program
Bio-Inspired Tactile Sensor Sleeve for Surgical Soft Manipulators
Sareh, SinaCentre for Robotics Res. Department of Informatics, King's
Jiang, AllenKing's Coll. London
Faragasso, AngelaKing's Coll. London
Noh, YohanKing's Coll. London
Nanayakkara, ThrishanthaKing's Coll. London
Dasgupta, ProkarKing's Coll. London
Seneviratne, LakmalKings Coll. London
Wurdemann, Helge ArneKing's Coll. London
Althoefer, KasparKings Coll. London
 
15:00-15:20, Paper MoC13.4 Add to My Program
An End-To-End System for Designing Mechanical Structures for Print-And-Fold Robots
Mehta, AnkurMit
Rus, DanielaMit
 
15:20-15:40, Paper MoC13.5 Add to My Program
An End-To-End Approach to Making Self-Folded 3D Surface Shapes by Uniform Heating
An, ByoungkwonMit, Csail
Miyashita, ShuheiMit
Tolley, Michael ThomasHarvard Univ
Aukes, DanielHarvard Univ
Meeker, LauraMassachusetts Inst. of Tech
Demaine, ErikMit
Demaine, MartinMit
Wood, RobertHarvard Univ
Rus, DanielaMit
 
15:40-16:00, Paper MoC13.6 Add to My Program
Dynamic Analysis and Optimization of Soft Robotic Fish Using Fluid-Structure Coupling Method
Zhao, WenjingThe Univ. of Electro-Communcations
Ming, AiguoThe Univ. of Electro-Communications
Shimojo, MakotoUniv. of Electro-COmmunications
 
MoC14 Regular Session, S424 Add to My Program 
Compliance: Impedance Control  
 
Chair: Caldwell, Darwin G.Fondazione Istituto Italiano di Tecnologia
Co-Chair: Tsagarakis, NikolaosFondazione Istituto Italiano di Tecnologia
 
14:00-14:20, Paper MoC14.1 Add to My Program
Natural Redundancy Resolution in Dual-Arm Manipulation Using Configuration Dependent Stiffness (CDS) Control
Ajoudani, ArashFondazione Istituto Italiano Di Tecnologia
Tsagarakis, NikolaosFondazione Istituto Italiano Di Tecnologia
Lee, JinohFondazione Istituto Italiano Di Tecnologia
Gabiccini, MarcoUniv. of Pisa
Bicchi, AntonioUniv. of Pisa
 
14:20-14:40, Paper MoC14.2 Add to My Program
A Passivity Based Compliance Stabilizer for Humanoid Robots
Zhou, ChengxuFondazione Istituto Italiano Di Tecnologia
Li, ZhibinIstituto Italiano Di Tecnologia
Castano, Juan AlejandroInst. Italiano Di Tecnologia
Dallali, HoumanItalian Inst. of Tech
Tsagarakis, NikolaosFondazione Istituto Italiano Di Tecnologia
Caldwell, Darwin G.Fondazione Istituto Italiano Di Tecnologia
 
14:40-15:00, Paper MoC14.3 Add to My Program
Power-Continuous Synchronisation of Oscillators: A Novel, Energy-Free Way to Synchronise Dynamical Systems
Folkertsma, Gerrit AdriaanUniv. of Twente
van der Schaft, Arjan J.Univ. of Groningen
Stramigioli, StefanoUniv. of Twente
 
15:00-15:20, Paper MoC14.4 Add to My Program
Contact Dynamics of Massage Compliant Robotic Arm and Its Coupled Stability
Huang, YuancanBeijing Inst. of Tech
Soueres, PhilippeLaas-Cnrs
Li, JianBeijing Inst. of Tech
 
15:20-15:40, Paper MoC14.5 Add to My Program
A Generalized Control Framework of Assistive Controllers for Lower Limb Exoskeletons
Baek, EunyoungSogang Univ
Song, Seok-kiSogang Univ
Oh, SehoonUniv. of Tokyo
Mohammed, SamerUniv. Paris Est Créteil, UPEC, France
Jeon, DoyoungSogang Univ
Kong, KyoungchulSogang Univ
 
MoC15 Regular Session, S425 Add to My Program 
SLAM: Visual II  
 
Chair: Song, DezhenTexas A&M Univ.
Co-Chair: Kim, H. JinSeoul National Univ.
 
14:00-14:20, Paper MoC15.1 Add to My Program
Unsupervised Learning of Threshold for Geometric Verification in Visual-Based Loop-Closure
Lee, Gim HeeETH Zurich
Pollefeys, MarcETH Zurich
 
14:20-14:40, Paper MoC15.2 Add to My Program
Linear MonoSLAM: A Linear Approach to Large-Scale Monocular SLAM Problems
Zhao, LiangUniv. of Tech. Sydney
Huang, ShoudongUniv. of Tech. Sydney
Dissanayake, GaminiUniv. of Tech. Sydney
 
14:40-15:00, Paper MoC15.3 Add to My Program
A Benchmark for RGB-D Visual Odometry, 3D Reconstruction and SLAM
Handa, AnkurIIIT Hyderabad
Whelan, ThomasNational Univ. of Ireland Maynooth
McDonald, JohnNational Univ. of Ireland Maynooth
Davison, Andrew JImperial Coll. London
 
15:00-15:20, Paper MoC15.4 Add to My Program
Real-Time 6-DOF Monocular Visual SLAM in a Large-Scale Environment
Lim, HyonSeoul National Univ
Lim, JongwooHanyang Univ
Kim, H. JinSeoul National Univ
 
15:20-15:40, Paper MoC15.5 Add to My Program
High Level Landmark-Based Visual Navigation Using Unsupervised Geometric Constraints in Local Bundle Adjustment
Lu, YanTexas A&M Univ
Song, DezhenTexas A&M Univ
Yi, JingangRutgers Univ
 
15:40-16:00, Paper MoC15.6 Add to My Program
Salient Region Detection Based on Local and Global Saliency
Wang, PengInst. of Automation, Chinese Acdamy of Sciences
Zhi, ZhouInst. of Automation, Chinese Acdamy of Sciences
Wei, LiuInst. of Automation, Chinese Acdamy of Sciences
Qiao, Hong Chinese Acad. of Sciences
 
MoC16 Regular Session, S426 Add to My Program 
Dexterous Manipulation: Planning  
 
Chair: Sucan, Ioan AlexandruGoogle
Co-Chair: Vela, PatricioGeorgia Inst. of Tech.
 
14:00-14:20, Paper MoC16.1 Add to My Program
A Fast, GPU-Based Geometrical Placement Planner for Unknown Sensor-Modelled Objects and Placement Areas
Baumgartl, JohannesUniv. of Bayreuth
Werner, TimUniv. of Bayreuth
Kaminsky, PerUniv. of Bayreuth
Henrich, DominikUniv. of Bayreuth
 
14:20-14:40, Paper MoC16.2 Add to My Program
Dexterous Manipulation Using Both Palm and Fingers
Bai, YunfeiGeorgia Inst. of Tech
Liu, KarenGeorgia Tech
 
14:40-15:00, Paper MoC16.3 Add to My Program
Improving Efficiency of Intricate Manipulation Planning through Mapping of Grasp Feasibility Zones
Pomarlan, MihaiUniv. Pol. Timisoara
Sucan, Ioan AlexandruGoogle
 
15:00-15:20, Paper MoC16.4 Add to My Program
Forage RRT - an Efficient Approach to Task-Space Goal Planning for High Dimensional Systems
Keselman, LeoGeorgia Tech
Verriest, ErikGeorgia Tech
Vela, PatricioGeorgia Inst. of Tech
 
15:20-15:40, Paper MoC16.5 Add to My Program
Extrinsic Dexterity: In-Hand Manipulation with External Forces
Chavan Dafle, NikhilMassachusetts Inst. of Tech
Rodriguez, AlbertoMassachusetts Inst. of Tech
Paolini, RobertCarnegie Mellon Univ
Tang, BoweiCarnegie Mellon Univ
Srinivasa, SiddharthaCarnegie Mellon Univ
Erdmann, MichaelCarnegie Mellon Univ
Mason, Matthew T.Carnegie Mellon Univ
Lundberg, IvanABB Corp. Res
Staab, HaraldABB Inc,
Fuhlbrigge, ThomasABB Inc
 
15:40-16:00, Paper MoC16.6 Add to My Program
Checking the Cable Configuration of Cable-Driven Parallel Robots on a Trajectory
Merlet, Jean-PierreInria
 
MoC17 Regular Session, S427 Add to My Program 
Localization III  
 
Chair: Wang, ZhidongChiba Inst. of Tech.
Co-Chair: Milford, Michael JQueensland Univ. of Tech.
 
14:00-14:20, Paper MoC17.1 Add to My Program
Instantaneous Ego-Motion Estimation Using Multiple Doppler Radars
Kellner, DominikUniv. of Ulm
Barjenbruch, MichaelUlm Univ
Klappstein, JensDaimler AG
Dickmann, JürgenDaimler AG
Dietmayer, KlausUniv. of Ulm
 
14:20-14:40, Paper MoC17.2 Add to My Program
A New Hierarchical Binaural Sound Source Localization Method Based on Interaural Matching Filter
Liu, HongPeking Univ
Zhang, JiePeking Univ. Shenzhen Graduate School
Fu, ZhuoPeking Univ
 
14:40-15:00, Paper MoC17.3 Add to My Program
Unified Hysteresis and Creep Compensation in AFM Tip Positioning with an Extended PI Model
Wang, ZhiyuShenyang Inst. of Automation, CAS
Liu, LianqingShenyang Inst. of Automation
Wang, ZhidongChiba Inst. of Tech
Wang, WenxueShenyang Inst. of Automation, CAS
 
15:00-15:20, Paper MoC17.4 Add to My Program
All-Environment Visual Place Recognition with SMART
Pepperell, EdwardQueensland Univ. of Tech
Corke, PeterQut
Milford, Michael JQueensland Univ. of Tech
 
15:20-15:40, Paper MoC17.5 Add to My Program
Mapping of Passive UHF RFID Tags with a Mobile Robot Using Outlier Detection and Negative Information
Koch, ArturUniv. Tübingen
Zell, AndreasUniv. of Tübingen
 
15:40-16:00, Paper MoC17.6 Add to My Program
Single Beacon Based Multi-Robot Cooperative Localization Using Moving Horizon Estimation
Wang, SenUniv. of Essex
Chen, LingUniv. of Essex
Gu, DongbingUniv. of Essex
Hu, HuoshengUniv. of Essex
 
MoC18 Regular Session, S428 Add to My Program 
Path Planning: Multiple Mobile Robots or Agents I  
 
Chair: O'Kane, JasonUniv. of South Carolina
 
14:00-14:20, Paper MoC18.1 Add to My Program
GPU-Based Dynamic Search on Adaptive Resolution Grids
Garcia, FranciscoUniv. of Massachusetts Amherst
Kapadia, MubbasirUniv. of Pennsylvania
Badler, NormUniv. of Pennsylvania
 
14:20-14:40, Paper MoC18.2 Add to My Program
Shared Control of Autonomous Vehicles Based on Velocity Space Optimization
Alonso-Mora, JavierETH / Disney Res. Zurich
Gohl, PascalDisney Res. Zurich
Watson, ScottDisney Res
Siegwart, RolandETH Zurich
Beardsley, PaulDisney Res. Zurich
 
14:40-15:00, Paper MoC18.3 Add to My Program
Game Theoretic Controller Synthesis for Multi-Robot Motion Planning Part I : Trajectory Based Algorithms
Zhu, MinghuiPennsylvania State Univ
Otte, Michael W.Mit
Chaudhari, PratikMit
Frazzoli, EmilioMassachusetts Inst. of Tech
 
15:00-15:20, Paper MoC18.4 Add to My Program
Path Planning for Coherent and Persistent Groups
Huang, TianyuBeijing Inst. of Tech
Kapadia, MubbasirUniv. of Pennsylvania
Badler, NormUniv. of Pennsylvania
Kallmann, MarceloUniv. of California, Merced
 
15:20-15:40, Paper MoC18.5 Add to My Program
A Complete Algorithm for Visibility-Based Pursuit-Evasion with Multiple Robots
Stiffler, NicholasUniv. of South Carolina
O'Kane, JasonUniv. of South Carolina
 
15:40-16:00, Paper MoC18.6 Add to My Program
Behavior-Based Multi-Robot Collision Avoidance
Sun, DaliUniv. of Freiburg
Kleiner, AlexanderLinköping Univ
Nebel, BernhardAlbert-Ludwigs-Univ. Freiburg
 
MoC19 Regular Session, S429 Add to My Program 
Automation: Applications  
 
Chair: Li, JingshanUniv. of Wisconsin - Madison
 
14:00-14:20, Paper MoC19.1 Add to My Program
Towards Integrated OR/CP Energy Optimization for Robot Cells
Wigström, OskarChalmers Univ. of Tech
Lennartson, BengtChalmers Univ. of Tech
 
14:20-14:40, Paper MoC19.2 Add to My Program
Modularized Global Equalization of Battery Cells for Electric Vehicles
Ju, FengUniv. of Wisconsin - Madison
Deng, WeiwenJilin Univ
Li, JingshanUniv. of Wisconsin - Madison
 
14:40-15:00, Paper MoC19.3 Add to My Program
An In-Pipe Robot with Underactuated Parallelogram Crawler Modules
Kakogawa, AtsushiRitsumeikan Univ
Ma, ShugenRitsumeikan Univ
Hirose, ShigeoTokyo Inst. of Tech
 
15:00-15:20, Paper MoC19.4 Add to My Program
Vision Based Guidance for Robot Navigation in Agriculture
English, AndrewQueensland Univ. of Tech
Ross, PatrickQueensland Univ. of Tech
Ball, DavidQueensland Univ. of Tech
Corke, PeterQut
 
15:20-15:40, Paper MoC19.5 Add to My Program
Novelty-Based Visual Obstacle Detection in Agriculture
Ross, PatrickQueensland Univ. of Tech
English, Andrew RobertQueensland Univ. of Tech
Ball, DavidQueensland Univ. of Tech
Upcroft, BenQueensland Univ. of Tech
Wyeth, GordonQueensland Univ. of Tech
Corke, PeterQut
 
15:40-16:00, Paper MoC19.6 Add to My Program
A System for Automated Counting of Fetal and Maternal Red Blood Cells in Clinical KB Test
Ge, JiUniv. of Toronto
Gong, ZhengUniv. of Toronto
Chen, JunUniv. of Toronto
Liu, JunUniv. of Toronto
Nguyen, JohnUniv. of Toronto
Yang, ZongyiUniv. of Toronto
Wang, ChenMount Sinai Hospital
Sun, YuUniv. of Toronto
 
MoD02 Regular Session, Theatre 2 Add to My Program 
Robot Vision II  
 
Chair: Kwak, KihoAgency for Defense Development
 
16:20-16:40, Paper MoD02.1 Add to My Program
Lighting Invariant Urban Street Classification
Upcroft, BenQueensland Univ. of Tech
McManus, ColinUniv. of Oxford, Mobile Robotics Group
Churchill, WinstonOxford Univ
Maddern, WillUniv. of Oxford
Newman, PaulOxford Univ
 
16:40-17:00, Paper MoD02.2 Add to My Program
Bio-Inspired Rough Terrain Contact Patch Perception
Kanoulas, DimitriosNortheastern Univ
Vona, MarsetteNortheastern Univ
 
17:00-17:20, Paper MoD02.3 Add to My Program
OnLine Approximate Model Representation of Unknown Objects
Kwak, KihoAgency for Defense Development
Kim, Jun-SikKorea Inst. of Science & Tech
Huber, DanielCmu
Kanade, TakeoCarnegie Mellon Univ
 
MoD03 Regular Session, S221 Add to My Program 
Aerial Robotics: Analysis  
 
Chair: Stramigioli, StefanoUniv. of Twente
Co-Chair: Carloni, RaffaellaUniv. of Twente
 
16:20-16:40, Paper MoD03.1 Add to My Program
A Computational Tool to Improve Flapping Efficiency of Robotic Insects
Chen, YuFengMicrorobotics Lab. School of Applied Sciences and Enginee
Lussier Desbiens, AlexisStanford Univ
Wood, RobertHarvard Univ
 
16:40-17:00, Paper MoD03.2 Add to My Program
Exploiting the Dynamics of a Robotic Manipulator for Control of UAVs
Mersha, Abeje Y.Univ. of Twente
Stramigioli, StefanoUniv. of Twente
Carloni, RaffaellaUniv. of Twente
 
17:00-17:20, Paper MoD03.3 Add to My Program
Learning Quadrotor Maneuvers from Optimal Control and Generalizing in Real-Time
Tomic, TeodorGerman Aerospace Center (DLR)
Maier, MoritzGerman Aerospace Center (DLR)
Haddadin, SamiLeibniz Univ. Hanover
 
MoD04 Regular Session, S222 Add to My Program 
Distributed Robotic Systems IV  
 
Chair: Ayanian, NoraUniv. of Southern California
 
16:20-16:40, Paper MoD04.1 Add to My Program
Controlling a Team of Robots with a Single Input
Ayanian, NoraUniv. of Southern California
Spielberg, AndrewMassachusetts Inst. of Tech
Arbesfeld, MatthewMassachusetts Inst. of Tech
Strauss, JasonMassachusetts Inst. of Tech
Rus, DanielaMit
 
16:40-17:00, Paper MoD04.2 Add to My Program
Multi-Robot System with Fractional-Order Differential Equations Modeling and Control
Goodwine, BillUniv. of Notre Dame
 
17:00-17:20, Paper MoD04.3 Add to My Program
Passivity-Based Control for Networked Robotic System Over Unreliable Communication
Liu, Yen-ChenNational Cheng Kung Univ
Puah, Seng-MingNational Cheng Kung Univ
 
MoD05 Regular Session, Add to My Program 
Humanoid Robots: Motion and Path Planning  
 
Chair: Sakka, SophieIRCCyN / Univ. of Poitiers
Co-Chair: Takano, WataruUniv. of Tokyo
 
16:20-16:40, Paper MoD05.1 Add to My Program
Generating Whole-Body Motion Keep Away from Joint Torque, Contact Force, Contact Moment Limitations Enabling Steep Climbing with a Real Humanoid Robot
Noda, ShintaroUnv Tokyo
Murooka, MasakiThe Univ. of Tokyo
Nozawa, ShunichiThe Univ. of Tokyo
Kakiuchi, YoheiThe Univ. of Tokyo
Okada, KeiThe Univ. of Tokyo
Inaba, MasayukiThe Univ. of Tokyo
 
16:40-17:00, Paper MoD05.2 Add to My Program
Support Changes During Online Human Motion Imitation by a Humanoid Robot Using Task Specification
Penna Poubel, LouiseIRCCyN
Sakka, SophieIRCCyN / Univ. of Poitiers
Cehajic, DenisTech. Univ. München (TUM)
Creusot, DenisIRCCyN
 
17:00-17:20, Paper MoD05.3 Add to My Program
Dance-Like Humanoid Motion Generation through Foot Touch States Classification
Kojima, KunioThe Univ. of Tokyo
Nozawa, ShunichiThe Univ. of Tokyo
Okada, KeiThe Univ. of Tokyo
Inaba, MasayukiThe Univ. of Tokyo
 
MoD06 Regular Session, S224 Add to My Program 
Human Detection and Tracking I  
 
Chair: Siegwart, RolandETH Zurich
Co-Chair: Cameron, StephenOxford Univ.
 
16:20-16:40, Paper MoD06.1 Add to My Program
People Detection and Tracking from Aerial Thermal Views
Portmann, JanETH Zurich
Lynen, SimonETH Zurich
Chli, MargaritaUniv. of Edinburgh
Siegwart, RolandETH Zurich
 
16:40-17:00, Paper MoD06.2 Add to My Program
AdaPT: Real-Time Adaptive Pedestrian Tracking for Crowded Scenes
Bera, AniketUniv. of North Carolina at Chapel Hill
Galoppo, NicoIntel
Sharlet, DillonIntel
Lake, AdamIntel
Manocha, DineshUNC at Chapel Hill
 
17:00-17:20, Paper MoD06.3 Add to My Program
Luke: An Autonomous Robot Photographer
Zabarauskas, ManfredasGoogle
Cameron, StephenOxford Univ
 
MoD07 Regular Session, S225 Add to My Program 
AI Reasoning Methods III  
 
Chair: Abbeel, PieterUC Berkeley
 
16:20-16:40, Paper MoD07.1 Add to My Program
Comparison of Ornithopter Wind Tunnel Force Measurements with Free Flight
Rose, CameronUniv. of California, Berkeley
Fearing, RonaldUniv. of California at Berkeley
 
16:40-17:00, Paper MoD07.2 Add to My Program
Action Effect Generalization, Recognition and Execution through Continuous Goal-Directed Actions
Morante Cendrero, SantiagoUniv. Carlos III De Madrid
Victores, Juan G.Univ. Carlos III De Madrid
Jardon Huete, AlbertoUniv. CARLOS III DE MADRID
Balaguer, CarlosUniv. Carlos III De Madrid
 
17:00-17:20, Paper MoD07.3 Add to My Program
Object-Centered Hybrid Reasoning for Whole-Body Mobile Manipulation
Leidner, DanielGerman Aerospace Center (DLR)
Dietrich, AlexanderGerman Aerospace Center (DLR)
Schmidt, FlorianGerman Aerospace Centre (DLR)
Borst, ChristophGerman Aerospace Center (DLR)
Albu-Schäffer, AlinDLR - German Aerospace Center
 
MoD08 Regular Session, S226 Add to My Program 
Sensor Fusion IV  
 
Chair: Correll, NikolausUniv. of Colorado at Boulder
Co-Chair: Correll, NikolausUniv. of Colorado at Boulder
 
16:20-16:40, Paper MoD08.1 Add to My Program
A Multi-Sensor Fusion System for Moving Object Detection and Tracking in Urban Driving Environments
Cho, HyunggiCarnegie Mellon Univ
Seo, Young-WooCarnegie Mellon Univ
Vijaya Kumar, B.V.KCarnegie Mellon Univ
Rajkumar, Ragunathan (Raj)Carnegie Mellon Univ
 
16:40-17:00, Paper MoD08.2 Add to My Program
A Soft, Amorphous Skin That Can Sense and Localize Texture
Hughes, DanaUniv. of Colorado Boulder
Correll, NikolausUniv. of Colorado at Boulder
 
17:00-17:20, Paper MoD08.3 Add to My Program
A Precise Gait Phase Detection Based on High-Frequency Vibration on Lower Limbs
Kadoya, ShuheiTohoku Univ
Nagaya, NaohisaTohoku Univ
Konyo, MasashiTohoku Univ
Tadokoro, SatoshiTohoku Univ
 
MoD09 Regular Session, S227 Add to My Program 
Humanoid Robots I  
 
Chair: Dillmann, RüdigerKarlsruhe Inst. of Tech. (KIT)
Co-Chair: Takano, WataruUniv. of Tokyo
 
16:20-16:40, Paper MoD09.1 Add to My Program
Learn to Wipe: A Case Study of Structural Bootstrapping from Sensorimotor Experience
Do, MartinKarlsruhe Inst. of Tech. (KIT)
Schill, JulianKarlsruhe Inst. of Tech
Ernesti, JohannesKarlsruhe Inst. of Tech. (KIT)
Asfour, TamimKarlsruhe Inst. of Tech. (KIT)
 
16:40-17:00, Paper MoD09.2 Add to My Program
Full Body Motion Adaption Based on Task-Space Distance Meshes
Nierhoff, ThomasTU München
Hirche, SandraTech. Univ. München
Takano, WataruUniv. of Tokyo
Nakamura, YoshihikoUniv. of Tokyo
 
17:00-17:20, Paper MoD09.3 Add to My Program
Synthesis of Whole Body Motion with Pose-Constraints from Stochastic Model
Takano, WataruUniv. of Tokyo
Nakamura, YoshihikoUniv. of Tokyo
 
MoD10 Regular Session, Add to My Program 
Medical Robotics: Safety  
 
Chair: Kazanzides, PeterJohns Hopkins Univ.
Co-Chair: Taylor, Russell H.The Johns Hopkins Univ.
 
16:20-16:40, Paper MoD10.1 Add to My Program
Event-Based Device-Behavior Switching in Surgical Human-Robot Interaction
Comparetti, Mirko DanielePol. Di Milano
Beretta, ElisaPol. Di Milano
Kunze, MirkoKarlsruhe Inst. of Tech
De Momi, ElenaPol. Di Milano
Raczkowsky, JoergKarlsruhe Inst. of Tech. Campus South
Ferrigno, GiancarloPol. Di Milano
 
16:40-17:00, Paper MoD10.2 Add to My Program
Safety Design View: A Conceptual Framework for Systematic Understanding of Safety Features of Medical Robot Systems
Jung, Min YangJohns Hopkins Univ
Taylor, Russell H.The Johns Hopkins Univ
Kazanzides, PeterJohns Hopkins Univ
 
17:00-17:20, Paper MoD10.3 Add to My Program
Smart Tissue Anastomosis Robot (STAR): Accuracy Evaluation for Supervisory Suturing Using Near-Infrared Fluorescent Markers
Leonard, SimonThe Johns Hopkins Univ
Shademan, AzadChildren's National Medical Center
Kim, YonjaeChildren's National Medical Center
Krieger, AxelChildren's National Medical Center
Kim, PeterChildren's National Medical Center
 
MoD11 Regular Session, S229 Add to My Program 
Neurobiologically Inspired Robotics  
 
Chair: Johansson, RolfLund Univ.
Co-Chair: Hu, HesuanXidian Univ.
 
16:20-16:40, Paper MoD11.1 Add to My Program
Multi-Scale Bio-Inspired Place Recognition (I)
Chen, ZetaoQueensland Univ. of Tech
Jacobson, AdamQueensland Univ. of Tech
Erdem, Ugur MuratBoston Univ
Hasselmo, MichaelBoston Univ
Milford, Michael JQueensland Univ. of Tech
 
16:40-17:00, Paper MoD11.2 Add to My Program
Intrinsically Motivated Learning of Visual Motion Perception and Smooth Pursuit (I)
Zhang, ChongHkust
Zhao, YuHkust
Triesch, JochenFrankfurt Inst. for Advanced Studies
Shi, Bertram EmilHong Kong Univ. of Science and Tech
 
17:00-17:20, Paper MoD11.3 Add to My Program
Tactile Sensory Decoding in a Neuromorphic Interactive Robot (I)
Krichmar, JeffreyUniv. of California, Irvine
Bucci, LiamUniv. of California, Irvine
Chou, Ting-ShuoUniv. of California, Irvine
 
MoD12 Regular Session, Add to My Program 
Medical Robotics: Planning  
 
Chair: Alterovitz, RonUniv. of North Carolina at Chapel Hill
Co-Chair: Koizumi, NorihiroEngineering Synthesis
 
16:20-16:40, Paper MoD12.1 Add to My Program
Interactive-Rate Motion Planning for Concentric Tube Robots
Torres, Luis G.Univ. of North Carolina at Chapel Hill
Baykal, CenkUniv. of North Carolina at Chapel Hill
Alterovitz, RonUniv. of North Carolina at Chapel Hill
 
16:40-17:00, Paper MoD12.2 Add to My Program
Path Planning of a Laser Manipulation Robotic End-Effector for Tooth Preparing
Ma, LeiBeihang Univ
Wang, DangxiaoBeihang Univ
Zhang, YuruBeihang Univ
Lei, WangBeihang Univ
Lv, PeijunThe School and Hospital of Stomatology, Peking Univ
Sun, YuchunThe School and Hospital of Stomatology, Peking Univ
 
17:00-17:20, Paper MoD12.3 Add to My Program
A Novel Robust Template Matching Method to Track and Follow Body Targets for NIUTS
Koizumi, NorihiroEngineering Synthesis
Funamoto, TakakazuThe Univ. of Tokyo
Seo, JoonhoThe Univ. of Tokyo
Lee, DongjungThe Univ. of Tokyo
Tsukihara, HiroyukiThe Univ. of Tokyo
Nomiya, AkiraThe Univ. of Tokyo
Azuma, TakashiThe Univ. of Tokyo
Yoshinaka, KatsunoriOkayama Univ
Sugita, NaohikoThe Univ. of Tokyo
Homma, YukioThe Univ. of Tokyo
Matsumoto, YoichiroUniv. of Tokyo
Mitsuishi, MamoruThe Univ. of Tokyo
 
MoD13 Regular Session, S423 Add to My Program 
Bipedal Locomotion II  
 
Chair: Liu, LianqingShenyang Inst. of Automation
 
16:20-16:40, Paper MoD13.1 Add to My Program
Push Recovery and Online Gait Generation for 3D Bipeds with the Foot Placement Estimator
DeHart, Brandon JUniv. of Waterloo
Kulic, DanaUniv. of Waterloo
 
16:40-17:00, Paper MoD13.2 Add to My Program
Versatile and Robust 3D Walking with a Simulated Humanoid Robot (Atlas): A Model Predictive Control Approach
Faraji, SalmanEpfl
Pouya, SohaEPFL Ec. Pol. Federal De Lausanne
Atkeson, ChristopherCmu
Ijspeert, AukeEpfl
 
17:00-17:20, Paper MoD13.3 Add to My Program
An Experimental Comparison of Bayesian Optimization for Bipedal Locomotion
Calandra, RobertoTech. Univ. Darmstadt
Seyfarth, AndreTU Darmstadt
Peters, JanTech. Univ. Darmstadt
Deisenroth, Marc PeterImperial Coll. London
 
MoD14 Regular Session, Add to My Program 
Social Interaction  
 
Chair: Seatzu, CarlaUniv. of Cagliari
 
16:20-16:40, Paper MoD14.1 Add to My Program
Giving Advice to Agents with Hidden Goals
Rosman, BenjaminThe Univ. of Edinburgh
Ramamoorthy, SubramanianThe Univ. of Edinburgh
 
16:40-17:00, Paper MoD14.2 Add to My Program
Bipedal Humanoid Robot That Makes Human Laugh with Use of the Method of Comedy and Affects Their Psychological State Actively
Kishi, TatsuhiroWaseda Univ
Endo, NobutsunaWaseda Univ
Nozawa, TakashiMejiro Univ
Otani, TakuyaWaseda Univ
Cosentino, SarahWaseda Univ
Zecca, MassimilianoWaseda Univ
Hashimoto, KenjiWaseda Univ
Takanishi, AtsuoWaseda Univ
 
17:00-17:20, Paper MoD14.3 Add to My Program
Optimization of Intermodal Rail-Road Freight Transport Terminals
Dotoli, MariagraziaPol. Di Bari
Epicoco, NicolaDEE-Pol. Di Bari
Falagario, MarcoPol. Di Bari
Seatzu, CarlaUniv. of Cagliari
Turchiano, BiagioPol. of Bari
 
MoD15 Regular Session, S425 Add to My Program 
SLAM: Sensing and Measurement  
 
Chair: Yang, Shao-WenIntel Corp.
Co-Chair: Carlone, LucaGeorgia Inst. of Tech.
 
16:20-16:40, Paper MoD15.1 Add to My Program
Belief Propagation Based Localization and Mapping Using Sparsely Sampled GNSS SNR Measurements
Irish, Andrew TUniv. of California at Santa Barbara
Isaacs, Jason TonyUniv. of California, Santa Barbara
Quitin, FrancoisNanyang Tech. Univ
Hespanha, João PedroUniv. of California, Santa Barbara
Madhow, UpamanyuUniv. of California Santa Barbara
 
16:40-17:00, Paper MoD15.2 Add to My Program
OmniMapper: A Modular Multimodal Mapping Framework
Trevor, Alexander J BGeorgia Inst. of Tech
Rogers III, John G.US Army Res. Lab
Christensen, Henrik IskovGeorgia Inst. of Tech
 
17:00-17:20, Paper MoD15.3 Add to My Program
Method of Improving WiFi SLAM Based on Spatial and Temporal Coherence
Yang, Shao-WenIntel Corp
Yang, XueIntel Corp
Yang, LeiIntel Labs
 
MoD16 Regular Session, S426 Add to My Program 
Grasping and Manipulation  
 
Chair: Domae, YukiyasuMitsubishi Electric Corp.
Co-Chair: Pierri, FrancescoUniv. della Basilicata
 
16:20-16:40, Paper MoD16.1 Add to My Program
Fast Graspability Evaluation on Single Depth Maps for Bin Picking with General Grippers
Domae, YukiyasuMitsubishi Electric Corp
Okuda, HaruhisaMitsubishi Electric Corp
Taguchi, YuichiMitsubishi Electric Res. Labs
Sumi, KazuhikoMitsubishi Electric Corp
Hirai, TakashiMitsubishi Electric Corp
 
16:40-17:00, Paper MoD16.2 Add to My Program
Two-Finger Caging of 3D Polyhedra Using Contact Space Search
Allen, Thomas FCalifornia Inst. of Tech
Burdick, JoelCalifornia Inst. of Tech
Rimon, ElonTech. - Israel Inst. of Tech
 
17:00-17:20, Paper MoD16.3 Add to My Program
Interactive Bayesian Identification of Kinematic Mechanisms
Barragán, Patrick ReneMassachusetts Inst. of Tech
Kaelbling, LeslieMit
Lozano-Perez, TomasMit
 
MoD17 Regular Session, S427 Add to My Program 
Mapping I  
 
Chair: Witt, JonasHamburg Univ. of Tech.
 
16:20-16:40, Paper MoD17.1 Add to My Program
Volumetric 3D Mapping in Real-Time on a CPU
Steinbrücker, FrankTech. Univ. of Munich
Sturm, JürgenTech. Univ. of Munich
Cremers, DanielTech. Univ. of Munich
 
16:40-17:00, Paper MoD17.2 Add to My Program
Maximally Informative Surface Reconstruction from Lines
Witt, JonasHamburg Univ. of Tech
Mentges, GerhardHamburg Univ. of Tech
 
17:00-17:20, Paper MoD17.3 Add to My Program
Modern MAP Inference Methods for Accurate and Fast Occupancy Grid Mapping on Higher Order Factor Graphs
Dhiman, VikasSUNY at Buffalo
Kundu, AbhijitGeorgia Tech
Dellaert, FrankGeorgia Inst. of Tech
Corso, JasonSUNY Buffalo
 
MoD18 Regular Session, Add to My Program 
Path Planning: Collision Avoidance  
 
Chair: van den Berg, JurUniv. of Utah
Co-Chair: Oriolo, GiuseppeSapienza Univ. of Rome
 
16:20-16:40, Paper MoD18.1 Add to My Program
Dynamically Feasible Tak-Constrained Motion Planning with Moving Obstacles
Cefalo, MassimoSapienza Univ. of Rome
Oriolo, GiuseppeSapienza Univ. of Rome
 
16:40-17:00, Paper MoD18.2 Add to My Program
Incremental Sampling-Based Algorithm for Risk-Aware Planning under Motion Uncertainty
Liu, WeiNational Univ. of Singapore
Marcelo, AngNus
 
17:00-17:20, Paper MoD18.3 Add to My Program
Efficient Exact Collision-Checking of 3-D Rigid Body Motions Using Linear Transformations and Distance Computations in Workspace
Liang, HeUniv. of Utah
van den Berg, JurUniv. of Utah
 
MoD19 Regular Session, S429 Add to My Program 
Magnetic Microrobotics  
 
Chair: Ferreira, AntoineEc. Nationale Supérieure d'Ingénieurs de Bourges
 
16:20-16:40, Paper MoD19.1 Add to My Program
Vision-Based Force Sensing of a Magnetic Microrobot in a Viscous Flow
Belharet, KarimEc. National Supérieure D'ingénieurs Debourges(univ. D'or
Folio, DavidENSI De Bourges; Groupe INSA Partenaires
Ferreira, AntoineEc. Nationale Supérieure D'ingénieurs De Bourges
 
16:40-17:00, Paper MoD19.2 Add to My Program
A Novel Two-Dimensional Locomotion Scheme of a Micro-Robot with Only a Uniform Magnetic Field
Kim, JinsooKorea Inst. of Science and Tech
Kim, Seung-JongKorea Inst. of Science and Tech
 
17:00-17:20, Paper MoD19.3 Add to My Program
Three-Dimensional Robotic Manipulation and Transport of Micro-Scale Objects by a Magnetically Driven Capillary Micro-Gripper
Giltinan, JoshuaCarnegie Mellon Univ
Diller, Eric D.Carnegie Mellon Univ
Mayda, CagilSabanci Univ
Sitti, MetinCarnegie Mellon Univ
 
MoET1 Plenary Session, Convention Hall Add to My Program 
Pecha Kucha Night of Robotics  
 
Chair: Hamel, William R.Univ. of Tennessee
Co-Chair: Meng, Max Q.-H.The Chinese Univ. of Hong Kong

 
 

 
 

 

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