May 26th - 30th, 2015 ICRA 2015 Washington State Convention Center
Seattle, Washington

2015 IEEE International Conference on Robotics and Automation
May 26-30, 2015, Washington State Convention Center, Seattle, Washington

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Last updated on May 31, 2015. This conference program is tentative and subject to change

Technical Program for Friday May 29, 2015

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FrPlenary Plenary Session, WSCC 4A Add to My Program 
Plenary: Dean Kamen - Innovation: Past, Present and Future  
Chair: Amato, NancyTexas A&M Univ
08:15-09:05, Paper FrPlenary.1 Add to My Program
Innovation: Past, Present and Future
Kamen, DeanDEKA Res. & Development Corp.
FrA1T1 Regular Session, WSCC 602/603 Add to My Program 
Motion and Path Planning III  
Chair: Bekris, Kostas E.Rutgers, the State Univ. of New Jersey
Co-Chair: Moll, MarkRice Univ
09:15-09:19, Paper FrA1T1.1 Add to My Program
Folding and Unfolding Origami Tessellation by Reusing Folding Path
Xi, ZhonghuaGeorge Mason Univ
Lien, Jyh-MingGeorge Mason Univ
09:19-09:23, Paper FrA1T1.2 Add to My Program
Optimal Motion Planning for a Tethered Robot: Efficient Preprocessing for Fast Shortest Paths Queries
Salzman, OrenTel-Aviv Univ
Halperin, DanTel Aviv Univ
09:23-09:27, Paper FrA1T1.3 Add to My Program
Asymptotically-Optimal Motion Planning Using Lower Bounds on Cost
Salzman, OrenTel-Aviv Univ
Halperin, DanTel Aviv Univ
09:27-09:31, Paper FrA1T1.4 Add to My Program
A Heuristic Approach to Finding Diverse Short Paths
Voss, CalebRice Univ
Moll, MarkRice Univ
Kavraki, LydiaRice Univ
09:31-09:35, Paper FrA1T1.5 Add to My Program
Geometric Probability Results for Bounding Path Quality in Sampling-Based Roadmaps after Finite Computation
Dobson, AndrewRutgers Univ
Moustakides, GeorgeUniv. of Patras
Bekris, Kostas E.Rutgers, the State Univ. of New Jersey
09:35-09:39, Paper FrA1T1.6 Add to My Program
Toward Asymptotically Optimal Motion Planning for Kinodynamic Systems Using a Two-Point Boundary Value Problem Solver
Xie, ChristopherUniv. of California, Berkeley
van den Berg, JurUniv. of Utah
Patil, SachinUniv. of California Berkeley
Abbeel, PieterUC Berkeley
09:39-09:43, Paper FrA1T1.7 Add to My Program
Optimal Sampling-Based Feedback Motion Trees among Obstacles for Controllable Linear Systems with Linear Constraints
Jeon, Jeong hwanMassachusetts Inst. of Tech
Karaman, SertacMassachusetts Inst. of Tech
Frazzoli, EmilioMassachusetts Inst. of Tech
09:43-09:47, Paper FrA1T1.8 Add to My Program
Understanding the Geometry of Workspace Obstacles in Motion Optimization
Ratliff, NathanMax Planck Inst. for Intelligent Systems
Toussaint, MarcUniv. of Stuttgart
Schaal, StefanMPI Intelligent Systems & Univ. of Southern California
09:47-09:51, Paper FrA1T1.9 Add to My Program
Multi-Scale Perception and Path Planning on Probabilistic Obstacle Maps
Hauer, FlorianGeorgia Tech
Kundu, AbhijitGeorgia Tech
Rehg, JamesGeorgia Inst. of Tech
Tsiotras, PanagiotisGeorgia Tech
FrA1T2 Regular Session, WSCC 606 Add to My Program 
Visual Perception I  
Chair: Scaramuzza, DavideUniv. of Zurich
Co-Chair: Barfoot, TimothyUniv. of Toronto
09:15-09:19, Paper FrA1T2.1 Add to My Program
Sparse Depth Odometry : 3D Keypoint Based Pose Estimation from Dense Depth Data
Prakhya, Sai ManojNanyang Tech. Univ
Liu, BingbingInst. for Infocomm Res
Lin, WeisiNanyang Tech. Univ
Qayyum, UsmanInst. for Infocomm Res. A*STAR
09:19-09:23, Paper FrA1T2.2 Add to My Program
Fast Embedded Feet Pose Estimation Based on a Depth Camera for Smart Walker
Page, SolenneUniv. Pierre Et Marie Curie-Paris6
Martins, Maria ManuelUniv. Do Minho
Saint-Bauzel, LudovicUniv. Pierre Et Marie Curie-Paris6
Santos, CristinaUniv. of Minho
Pasqui, VivianeUniv. Pierre Et Marie Curie, Paris 6
09:23-09:27, Paper FrA1T2.3 Add to My Program
Active Recognition and Pose Estimation of Household Objects in Clutter
Wu, KanzhiUniv. of Tech. Sydney
Ranasinghe, RavindraUniv. of Tech. Sydney
Dissanayake, GaminiUniv. of Tech. Sydney
09:27-09:31, Paper FrA1T2.4 Add to My Program
Know Your Limits: Embedding Localiser Performance Models in Teach and Repeat Maps
Churchill, WinstonOxford Univ
Tong, Chi HayUniv. of Oxford
Gurau, CorinaOxford Univ
Posner, IngmarOxford Univ
Newman, PaulOxford Univ
09:31-09:35, Paper FrA1T2.5 Add to My Program
An Evaluation of Features for Classifier Transfer During Target Handoff across Aerial and Ground Robots
Kira, ZsoltGeorgia Tech. Res. Inst
09:35-09:39, Paper FrA1T2.6 Add to My Program
Online Unsupervised Terrain Classification for a Compliant Tensegrity Robot Using a Mixture of Echo State Networks
Burms, JeroenGhent Univ
Caluwaerts, KenNASA Ames Res. Center/ORAU
Dambre, JoniGhent Univ
09:39-09:43, Paper FrA1T2.7 Add to My Program
Spike Time Based Unsupervised Learning of Receptive Fields for Event-Driven Vision
Akolkar, HimanshuIstituto Italiano Di Tecnologia
Panzeri, StefanoIstituto Italiano Di Tecnologia
Bartolozzi, ChiaraIstituto Italiano Di Tecnologia
09:43-09:47, Paper FrA1T2.8 Add to My Program
A Learning-Based Approach for Evaluating Scene Recognizability of a View
Teng, ZhouUniv. of North Carolina at Charlotte
Xiao, JingUNC-Charlotte
09:47-09:51, Paper FrA1T2.9 Add to My Program
A Compact Spherical RGBD Keyframe-Based Representation
Gokhool, TawsifInria Sophia Antipolis
Martins, RenatoInria
Rives, PatrickINRIA
Despré, NoëlaAirbus Defence and Space
FrA1T3 Regular Session, WSCC 607 Add to My Program 
Grasping I  
Chair: Trinkle, JeffRensselaer Pol. Inst
Co-Chair: Roa, Maximo A.German Aerospace Center, DLR
09:15-09:19, Paper FrA1T3.1 Add to My Program
Fast Grasp Quality Evaluation with Partial Convex Hull Computation
Liu, ShuoUniv. of California, Merced
Carpin, StefanoUniv. of California, Merced
09:19-09:23, Paper FrA1T3.2 Add to My Program
A Taxonomy of Human Grasping Behavior for Transfer to Robotic Grasping
Heinemann, FabianTU Berlin
Puhlmann, SteffenTU Berlin
Eppner, ClemensTech. Univ. Berlin
Álvarez-Ruiz, JoséTech. Univ. Berlin
Maertens, MarianneTech. Univ
Brock, OliverTech. Univ. Berlin
09:23-09:27, Paper FrA1T3.3 Add to My Program
Determining Independent Contacts Regions to Immobilize 2D Articulated Objects
Alvarado Tovar, NoeTech. Univ. of Catalonia (UPC),
Suarez, RaulUniv. Pol. De Catalunya (UPC)
Roa, Maximo A.German Aerospace Center, DLR
09:27-09:31, Paper FrA1T3.4 Add to My Program
Binding of Food Materials with a Tension-Sensitive Elastic Thread
Iwamasa, HisashiRitsumeikan Univ
Hirai, ShinichiRitsumeikan Univ
09:31-09:35, Paper FrA1T3.5 Add to My Program
Leveraging Big Data for Grasp Planning
Kappler, DanielMax-Planck Inst. for Intelligent Systems
Bohg, JeannetteMax-Planck Inst. for Intelligent Systems
Schaal, StefanMPI Intelligent Systems & Univ. of Southern California
09:35-09:39, Paper FrA1T3.6 Add to My Program
An Uncertainty-Aware Precision Grasping Process for Objects with Unknown Dimensions
Chen, DongTech. Univ. München
v. Wichert, GeorgSiemens AG
09:39-09:43, Paper FrA1T3.7 Add to My Program
Robust Three-Finger Three-Parameter Caging of Convex Polygons
Allen, Thomas FCalifornia Inst. of Tech
Rimon, ElonTech. - Israel Inst. of Tech
Burdick, JoelCalifornia Inst. of Tech
09:43-09:47, Paper FrA1T3.8 Add to My Program
Improving Regrasp Algorithms to Analyze the Utility of Work Surfaces in a Workcell
Wan, WeiweiThe Univ. of Tokyo
Mason, Matthew T.Carnegie Mellon Univ
Fukui, RuiThe Univ. of Tokyo
Kuniyoshi, YasuoThe Univ. of Tokyo
09:47-09:51, Paper FrA1T3.9 Add to My Program
Experimental Investigation of Effect of Fingertip Stiffness on Resistible Force in Grasping
Fujihira, YoshinoriKanazawa Univ
Harada, KensukeNational Inst. of AIST
Tsuji, TokuoKyushu Univ
Watanabe, TetsuyouKanazawa Univ
FrA1T4 Regular Session, WSCC 608 Add to My Program 
Design and Control of Novel Robots I  
Chair: Cho, Kyu-JinSeoul National Univ. Biorobotics Lab
Co-Chair: Ciocarlie, MateiColumbia Univ
09:15-09:19, Paper FrA1T4.1 Add to My Program
A Novel Underactuated Robotic Finger for Withstanding Impacts of Non-Cooperative Object Capture
Wang, QingchuanHarbin Inst. of Tech
Liu, GuangjunRyerson Univ
Quan, QiquanHarbin Inst. of Tech
Deng, ZongquanHarbin Inst. of Tech
09:19-09:23, Paper FrA1T4.2 Add to My Program
Adaptive Neural Network Dynamic Surface Control: An Evaluation on the Musculoskeletal Robot Anthrob
Jäntsch, MichaelTech. Univ. of Munich
Wittmeier, SteffenTech. Univ. of Munich
Dalamagkidis, KonstantinosTU Munich
Herrmann, GuidoUniv. of Bristol
Knoll, AloisTech. Univ. Muenchen TUM
09:23-09:27, Paper FrA1T4.3 Add to My Program
Non-Linear Robust Control for Inverted-Pendulum 2D Walking
Kelly, Matthew PeterCornell Univ
Ruina, AndyCornell Univ
09:27-09:31, Paper FrA1T4.4 Add to My Program
Adaptive Impedance Control for Upper Limb Assist Exoskeleton
Khan, Abdul MananHanyang Univ. (ERICA Campus)
Yun, Deok-wonHanyang Univ. (ERICA Campus)
Ali, Mian AshfaqHanyang Univ
Han, JungsooHansung Univ
Shin, KyoosikHanyang Univ
Han, Chang-SooHanyang Univ
09:31-09:35, Paper FrA1T4.5 Add to My Program
Tip-Over Prevention: Adaptive Control Development and Experimentation
Talke, KurtSpawar Systems Center Pacific
Kelley, LeahMassachusetts Inst. of Tech
Longhini, PatrickSpawar Systems Center Pacific
Catron, GarretSpawar Systems Center Pacific
09:35-09:39, Paper FrA1T4.6 Add to My Program
Domain Decomposition Approach for FEM Quasistatic Modeling and Control of Continuum Robots with Rigid Vertebras
Bosman, JulienUniv. of Lille / INRIA
Morales Bieze, ThorUniv. of Lille
Lakhal, OthmanUniv. Lille1
Sanz Lopez, MarioINRIA
Duriez, ChristianINRIA
Merzouki, RochdiPol. Univ. of Lille1
09:39-09:43, Paper FrA1T4.7 Add to My Program
Point-To-Point Motion Control of a Unicycle Robot: Design, Implementation, and Validation
Rizal, YusieNational Cheng Kung Univ
Ke, Chun-TingNational Cheng Kung Univ
Ho, Ming-TzuNational Cheng Kung Univ
09:43-09:47, Paper FrA1T4.8 Add to My Program
Smooth Stabilisation of Nonholonomic Robots Subject to Disturbances
Donaire, AlejandroThe Univ. of Newcastle
Romero Velazquez, Jose GuadalupeLab. Des Signaux Et Systèmes, CNRS–SUPELEC
Perez, TristanQueensland Univ. of Tech
Ortega, RomeoSupelec
09:47-09:51, Paper FrA1T4.9 Add to My Program
Balance Control Strategy for Legged Robots with Compliant Contacts
Azad, MortezaUniv. of Birmingham
Mistry, MichaelUniv. of Birmingham
FrA1T5 Regular Session, WSCC 609 Add to My Program 
Teleoperation & Virtual Reality  
Chair: Lin, Ming C.Univ. of North Carolina
Co-Chair: LaValle, Steven MUniv. of Illinois
09:15-09:19, Paper FrA1T5.1 Add to My Program
Simulation Tools for Model-Based Robotics: Comparison of Bullet, Havok, MuJoCo, ODE and PhysX
Erez, TomGoogle
Tassa, YuvalUniv. of Washington
Todorov, EmanuelUniv. of Washington
09:19-09:23, Paper FrA1T5.2 Add to My Program
GPU-Based Proximity Query Processing on Unstructured Triangular Mesh Model
Lee, Kit-HangThe Univ. of Hong Kong
Guo, ZiyanHong Kong Univ
Chow, Chun TakImperial Coll. London
Chen, YueThe Univ. of Hong Kong
Luk, WayneImperial Coll. London
Kwok, Ka-WaiThe Univ. of Hong Kong
09:23-09:27, Paper FrA1T5.3 Add to My Program
Intuitive Visual Teleoperation for UGVs Using Free-Look Augmented Reality Displays
Krueckel, KaiFH Aachen Univ. of Applied Sciences
Nolden, FlorianFH Aachen Univ. of Applied Sciences
Ferrein, AlexanderFH Aachen Univ. of Applied Sciences
Scholl, IngridFH Aachen Univ. of Applied Sciences
09:27-09:31, Paper FrA1T5.4 Add to My Program
Registration of Planar Virtual Fixtures by Using Augmented Reality with Dynamic Textures
Leonard, SimonThe Johns Hopkins Univ
09:31-09:35, Paper FrA1T5.5 Add to My Program
Experimental Evaluation of Force Control for Virtual-Fixture-Assisted Teleoperation for On-Orbit Manipulation of Satellite Thermal Blanket Insulation
Vozar, SteveJohns Hopkins Univ
Leonard, SimonThe Johns Hopkins Univ
Whitcomb, LouisThe Johns Hopkins Univ
Kazanzides, PeterJohns Hopkins Univ
09:35-09:39, Paper FrA1T5.6 Add to My Program
Heart Motion Compensation on the Davinci(r) Surgical Robot for Endoscopic Coronary Artery Bypass Grafting Surgery: Implementation and User Studies
Ruszkowski, AngelicaUniv. of British Columbia
Mohareri, OmidUniv. of British Columbia
Lichtenstein, SamSt Paul’s Hospital
Cook, RichardSt Paul’s Hospital
Salcudean, Septimiu E.Univ. of British Columbia
09:39-09:43, Paper FrA1T5.7 Add to My Program
Equating User Performance among Communication Latency Distributions and Simulation Fidelities for a Teleoperated Mobile Robot
Storms, JustinUniv. of Michigan
Tilbury, DawnUniv. of Michigan
09:43-09:47, Paper FrA1T5.8 Add to My Program
On-Line Reconstruction Based Predictive Display in Unknown Environment
Hu, HuanBeijing Univ. of Posts and Telecommunications; Univ. O
Perez Quintero, Camilo AlfonsoUniv. of Alberta
Sun, HanxuBeijing Univ. of Posts and Telecommunications
Jagersand, MartinUniv. of Alberta
09:47-09:51, Paper FrA1T5.9 Add to My Program
A Novel Volumetric Display Using Fog Emitter Matrix
Lam, Miu-lingCity Univ. of Hong Kong
Chen, BinCity Univ. of Hong Kong
Huang, YaozhunCity Univ. of HongKong
FrA1T6 Regular Session, WSCC 611 Add to My Program 
Service Robots & HRI  
Chair: Veloso, ManuelaCarnegie Mellon Univ
Co-Chair: Simmons, ReidCarnegie Mellon Univ
09:15-09:19, Paper FrA1T6.1 Add to My Program
VIBI: Assistive Vision-Based Interface for Robot Manipulation
Perez Quintero, Camilo AlfonsoUniv. of Alberta
Ramirez, Oscar AlejandroUniv. of Alberta
Jagersand, MartinUniv. of Alberta
09:19-09:23, Paper FrA1T6.2 Add to My Program
Development of an Active Haptic Cane for Gait Rehabilitation
Pyo, SanghunGyeongsang National Unoversity
Yoon, JungwonGyeongsang National Univ
09:23-09:27, Paper FrA1T6.3 Add to My Program
New Brooms Sweep Clean - an Autonomous Robotic Cleaning Assistant for Professional Office Cleaning
Bormann, RichardFraunhofer IPA
Hampp, JoshuaFraunhofer IPA
Haegele, MartinFraunhofer IPA
09:27-09:31, Paper FrA1T6.4 Add to My Program
Robotic Wheelchair Using a High Accuracy Visual Marker LentiBar and Its Application to Door Crossing Navigation
Kim, Bong KeunNational Inst. of Advanced Industrial Science and Tech
Tanaka, HideyukiNational Inst. of AIST
Sumi, YasushiNational Inst. of Advanced Industrial ScienceandTechnology(A
09:31-09:35, Paper FrA1T6.5 Add to My Program
Printable Monolithic Hexapod Robot Driven by Soft Actuator
Nguyen, Canh ToanSungkyunkwan Univ
Phung, HoaSungkyunkwan Univ
Jung, HosangSungkyunkwan Univ
Kim, UikyumSungKyunKwan Univ
Nguyen, Tien DatSungkyunkwan Univ
Park, JunwooSungkyunkwan Univ
Moon, HyungpilSungkyunkwan Univ
Koo, Ja ChoonSungkyunkwan Univ
Choi, Hyouk RyeolSungkyunkwan Univ
09:35-09:39, Paper FrA1T6.6 Add to My Program
WiFi Based Communication and Localization of an Autonomous Mobile Robot for Refinery Inspection
Sweatt, MarshallColorado School of Mines
Ayoade, Adewole AdekolaColorado School of Mines
Han, QiColorado School of Mines
Steele, JohnColorado School of Mines
Al-Wahedi, KhaledPetroleum Inst
Karki, HamadPetroleum Inst
09:39-09:43, Paper FrA1T6.7 Add to My Program
Binaural Sound Source Localization Based on Generalized Parametric Model and Two-Layer Matching Strategy in Complex Environments
Liu, HongPeking Univ
Pang, ChengShenzhen Graduate School, Peking Univ
Zhang, JiePeking Univ. Shenzhen Graduate School
09:43-09:47, Paper FrA1T6.8 Add to My Program
Unsupervised Learning of Multi-Hypothesized Pick-And-Place Task Templates Via Crowdsourcing
Toris, RussellWPI
Kent, DavidWorcester Pol. Inst
Chernova, SoniaWorcester Pol. Inst
09:47-09:51, Paper FrA1T6.9 Add to My Program
Incorporating Information from Trusted Sources to Enhance Urban Navigation for Blind Travelers
Min, Byung-CheolCarnegie Mellon Univ
Saxena, SuryanshDelhi Tech. Univ
Steinfeld, AaronCarnegie Mellon Univ
Dias, M. BernardineCarnegie Mellon Univ
FrA1T7 Regular Session, WSCC 612 Add to My Program 
Legged Robots  
Chair: Papadopoulos, EvangelosNational Tech. Univ. of Athens
Co-Chair: Fearing, RonaldUniv. of California at Berkeley
09:15-09:19, Paper FrA1T7.1 Add to My Program
Passive-Dynamic Leg Design for Agile Robots
Abate, AndyOregon State Univ
Hatton, RossOregon State Univ
Hurst, JonathanOregon State Univ
09:19-09:23, Paper FrA1T7.2 Add to My Program
Analytical Solution of Target Steady Walking Speed in 1-DOF Limit Cycle Walking
Xiao, XuanJapan Advanced Inst. of Science and Tech
Asano, FumihikoJapan Advanced Inst. of Science and Tech
09:23-09:27, Paper FrA1T7.3 Add to My Program
Toward Step-By-Step Synthesis of Stable Gaits for Underactuated Compliant Legged Robots
Rezazadeh, SiavashOregon State Univ
Hurst, JonathanOregon State Univ
09:27-09:31, Paper FrA1T7.4 Add to My Program
Running Beyond the Bio-Inspired Regime
Haldane, DuncanUniv. of California, Berkeley
Fearing, RonaldUniv. of California at Berkeley
09:31-09:35, Paper FrA1T7.5 Add to My Program
Anisotropic Collapsible Leg Spines for Increased Millirobot Traction
Lee, JessicaUniv. of California, Berkeley
Fearing, RonaldUniv. of California at Berkeley
09:35-09:39, Paper FrA1T7.6 Add to My Program
Kinematics for Combined Quasi-Static Force and Motion Control in Multi-Limbed Robots
Shankar, KrishnaCalifornia Inst. of Tech
Burdick, JoelCalifornia Inst. of Tech
09:39-09:43, Paper FrA1T7.7 Add to My Program
Parallel Composition of Templates for Tail-Energized Planar Hopping
De, AvikUniv. of Pennsylvania
Koditschek, DanielUniv. of Pennsylvania
09:43-09:47, Paper FrA1T7.8 Add to My Program
Control and Energy Considerations for a Hopping Monopod on Rough Compliant Terrains
Vasilopoulos, VasileiosNational Tech. Univ. of Athens
Paraskevas, Iosif S.National Tech. Univ. of Athens
Papadopoulos, EvangelosNational Tech. Univ. of Athens
09:47-09:51, Paper FrA1T7.9 Add to My Program
Insect-Machine Hybrid Robot: Insect Walking Control by Sequential Electrical Stimulation of Leg Muscles
Cao, FengNanyang Tech. Univ
Zhang, ChaoNanyang Tech. Univ
Choo, Hao YuNanyang Tech. Univ
Sato, HirotakaNanyang Tech. Univ
FrA1T8 Regular Session, WSCC 613/614 Add to My Program 
Slam I  
Chair: Berman, SpringArizona State Univ
Co-Chair: Yamashita, AtsushiThe Univ. of Tokyo
09:15-09:19, Paper FrA1T8.1 Add to My Program
Generalizing Random-Vector SLAM with Random Finite Sets
Leung, Keith Yu KitUniv. De Chile
Inostroza Ferrari, Felipe IgnacioUniv. De Chile
Adams, MartinUniv. De Chile
09:19-09:23, Paper FrA1T8.2 Add to My Program
Duality-Based Verification Techniques for 2D SLAM
Carlone, LucaGeorgia Inst. of Tech
Dellaert, FrankGeorgia Inst. of Tech
09:23-09:27, Paper FrA1T8.3 Add to My Program
Initialization Techniques for 3D SLAM: A Survey on Rotation Estimation and Its Use in Pose Graph Optimization
Carlone, LucaGeorgia Inst. of Tech
Tron, RobertoUniv. of Pennsylvania
Daniilidis, KostasUniv. of Pennsylvania
Dellaert, FrankGeorgia Inst. of Tech
09:27-09:31, Paper FrA1T8.4 Add to My Program
Simultaneous Localization and Mapping with Infinite Planes
Kaess, MichaelCarnegie Mellon Univ
09:31-09:35, Paper FrA1T8.5 Add to My Program
Graph-Based SLAM Embedded Implementation on Low-Cost Architectures: A Practical Approach
Dine, AbdelhamidParis-Sud Univ
Elouardi, AbdelhafidUniv. Paris Sud
Vincke, BastienIEF Univ. De Paris Sud-XI
Bouaziz, SamirUniv. PARIS SUD 11 Orsay
09:35-09:39, Paper FrA1T8.6 Add to My Program
Information Based Reduced Landmark SLAM
Choudhary, SiddharthGeorgia Inst. of Tech
Indelman, VadimTech. - Israel Inst. of Tech
Christensen, Henrik IskovGeorgia Inst. of Tech
Dellaert, FrankGeorgia Inst. of Tech
09:39-09:43, Paper FrA1T8.7 Add to My Program
Self-Tuning M-Estimators
Agamennoni, GabrielETH Zurich
Furgale, Paul TimothyETH Zürich
Siegwart, RolandETH Zurich
09:43-09:47, Paper FrA1T8.8 Add to My Program
Fast Covariance Recovery in Incremental Nonlinear Least Square Solvers
Ila, ViorelaAustralian National Univ
Polok, LukasBrno Univ. of Tech
Solony, MarekBrno Univ. of Tech
Smrz, PavelBrno Univ. of Tech
Zemcik, PavelBrno Univ. of Tech
09:47-09:51, Paper FrA1T8.9 Add to My Program
3D-Reconstruction of Indoor Environments from Human Activity
Frank, BarbaraUniv. of Freiburg
Ruhnke, MichaelUniv. of Freiburg
Tatarchenko, MaximUniv. of Freiburg
Burgard, WolframUniv. of Freiburg
FrA1T9 Regular Session, WSCC 615/616 Add to My Program 
Aerial Robotics Manipulation  
Chair: Floreano, DarioEc. Pol. Federal, Lausanne
Co-Chair: Minor, MarkUniv. of Utah
09:15-09:19, Paper FrA1T9.1 Add to My Program
The Synchronization Problem for Information Exchange between Aerial Robots under Communication Constraints
Díaz-Báñez, José-MiguelUniv. Sevilla
Caraballo de la Cruz, Luis EvaristoUniv. De Sevilla
Lopez, Mario AlbertoUniv. of Denver
Bereg, SergeyUniv. of Texas at Dallas
Maza, IvanUniv. of Seville
Ollero, AnibalUniv. of Seville
09:19-09:23, Paper FrA1T9.2 Add to My Program
Hierarchical Cooperative Control Framework of Multiple Quadrotor-Manipulator Systems
Yang, HyunsooSeoul National Univ
Lee, DongjunSeoul National Univ
09:23-09:27, Paper FrA1T9.3 Add to My Program
Aerial Manipulator with Perching and Door-Opening Capability
Tsukagoshi, HideyukiTokyo Inst. of Tech
09:27-09:31, Paper FrA1T9.4 Add to My Program
Autonomous Perching and Take-Off on Vertical Walls for a Quadrotor Micro Air Vehicle
Kalantari, ArashIllinois Inst. of Tech
Mahajan, KaranIllinois Inst. of Tech
Ruffatto III, DonaldIllinois Inst. of Tech
Spenko, MatthewIllinois Inst. of Tech
09:31-09:35, Paper FrA1T9.5 Add to My Program
UAV Fall Detection from a Dynamic Perch Using Instantaneous Centers of Rotation and Inertial Sensing
Crandall, KyleGeorge Washington Univ
Minor, MarkUniv. of Utah
09:35-09:39, Paper FrA1T9.6 Add to My Program
Experiments on Behavioral Coordinated Control of an Unmanned Aerial Vehicle Manipulator System
Baizid, KhelifaBrno Univ. of Tech
Giglio, GerardoUniv. of Basilicata
Pierri, FrancescoUniv. Della Basilicata
Trujillo, Miguel AngelCenter for Advanced Aerospace Tech
Antonelli, GianlucaUniv. of Cassino and Southern Lazio
Caccavale, FabrizioUniv. Degli Studi Della Basilicata
Viguria, AntidioCenter for Advanced Aerospace Tech. (CATEC)
Chiaverini, StefanoUniv. Di Cassino E Del Lazio Meridionale
Ollero, AnibalUniv. of Seville
09:39-09:43, Paper FrA1T9.7 Add to My Program
Development of an Unmanned Helicopter Automatic Barrels Transportation System
Wu, ChongShenyang Inst. of Automation, Chinese Acad. Sciences
Qi, JuntongChinese Acad. of Sciences
Song, DaleiShenyang Inst. of Automation, Chinese Acad. Sciences
Qi, XinShenyang Inst. of Automation, Chinese Acad. Sciences
Lin, TianyuShenyang Inst. of Automation, Chinese Acad. Sciences
Han, JiandaShenyang Inst. of Automation, Chinese Acad
09:43-09:47, Paper FrA1T9.8 Add to My Program
Towards Model-Predictive Control for Aerial Pick-And-Place
Garimella, GowthamJohns Hopkins Univ
Kobilarov, MarinJohns Hopkins Univ
09:47-09:51, Paper FrA1T9.9 Add to My Program
Mechanical Design, Modelling and Control of a Novel Aerial Manipulator
Nikou, AlexandrosNational Tech. Univ. of Athens
Gavridis, GeorgiosNational Tech. Univ. of Athens
Kyriakopoulos, KostasNational Tech. Univ. of Athens
FrA1T10 Regular Session, WSCC 619/620 Add to My Program 
Medical Robotics IV  
Chair: Dupont, PierreChildren's Hospital Boston, Harvard Medical School
Co-Chair: Nageotte, FlorentUniv. of Strasbourg
09:15-09:19, Paper FrA1T10.1 Add to My Program
Toward Rapid Prototyping of Miniature Capsule Robots
Taddese, AddisuVanderbilt Univ
Beccani, MarcoVanderbilt Univ
Susilo, EkawahyuVanderbilt Univ
Volgyesi, PeterVanderbilt Univ. ISIS
Ledeczi, AkosVanderbilt Univ
Valdastri, PietroVanderbilt Univ
09:19-09:23, Paper FrA1T10.2 Add to My Program
Automatic Initialization and Dynamic Tracking of Surgical Suture Threads
Jackson, RussellCase Western Res. Univ
Yuan, RickCase Western Res. Univ
Chow, Der-LinCase Western Res. Univ
Newman, WyattCase Western Res. Univ
Cavusoglu, M. CenkCase Western Res. Univ
09:23-09:27, Paper FrA1T10.3 Add to My Program
Tissue Discrimination Based on Vibratory Sense in Robot-Assisted Spine Surgery
Dai, YuNankai Univ
Xue, YuanTianjin Medical Univ. General Hospital
Zhang, JianxunNankai Univ
09:27-09:31, Paper FrA1T10.4 Add to My Program
3D Shape Visualization of Curved Needles in Tissue from 2D Ultrasound Images Using RANSAC
Waine, MichaelUniv. of Alberta
Rossa, CarlosUniv. of Alberta
Sloboda, RonaldCross Cancer Inst
Usmani, NawaidCross Cancer Inst
Tavakoli, MahdiUniv. of Alberta
09:31-09:35, Paper FrA1T10.5 Add to My Program
Multimodal Noncontact Tracking of Surgical Instruments
Bracken, TaraThe Univ. of Western Ontario
Naish, Michael D.The Univ. of Western Ontario
09:35-09:39, Paper FrA1T10.6 Add to My Program
Propulsive Force of a Magnetic, MRI Based Swimmer
Friedman, AviTel Aviv Univ
Liberzon, AlexTel Aviv Univ
Kosa, GaborTel Aviv Univ
09:39-09:43, Paper FrA1T10.7 Add to My Program
A Multi-Sensory Mechatronic Device for Localizing Tumors in Minimally Invasive Interventions
Escoto, AbelardoLawson Health Res. Inst
Bhattad, SrikanthCanadian Surgical Tech. & Advanced Robotics (CSTAR)
Shamsil, ArefinWestern Univ. Canadian Surgical Tech. and Advanced
Sanches, Andre Luiz VeltroniCSTAR
Trejos, Ana LuisaThe Univ. of Western Ontario
Naish, Michael D.The Univ. of Western Ontario
Malthaner, RichardUniv. of Western Ontario
Patel, Rajnikant V.The Univ. of Western Ontario
09:43-09:47, Paper FrA1T10.8 Add to My Program
A Novel Marker for Estimating the Pose of a CT-Guided Robotic Device Using a Single Slice
Nageotte, FlorentUniv. of Strasbourg
Khelifi, RiadUniv. of Strasbourg
Bayle, BernardUniv. of Strasbourg
09:47-09:51, Paper FrA1T10.9 Add to My Program
New Motorized Micromanipulator for Robot-Assisted Laser Phonomicrosurgery
Deshpande, NikhilIstituto Italiano Di Tecnologia
Mattos, LeonardoIstituto Italiano Di Tecnologia
Caldwell, Darwin G.Istituto Italiano Di Tecnologia
FrA1T11 , WSCC 604 Add to My Program 
Developing Countries Forum - A1  
09:15-10:30, Paper FrA1T11.1 Add to My Program
Developing Countries Forum
Dias, M. BernardineCarnegie Mellon Univ.
FrA1T12 , WSCC 617 Add to My Program 
Highlights from RAS Conferences: ARSO 2014  
09:15-10:30, Paper FrA1T12.1 Add to My Program
Highlights from RAS Conferences: ARSO 2014
Amato, NancyTexas A&M Univ.
FrAMCoffee_Break , Add to My Program 
Break - Fri AM  
FrA2T1 Regular Session, WSCC 602/603 Add to My Program 
Reactive and Sensor-Based Planning  
Chair: Kress-Gazit, HadasCornell Univ
Co-Chair: Abbeel, PieterUC Berkeley
11:00-11:04, Paper FrA2T1.1 Add to My Program
Incremental, Sensor-Based Motion Generation for Mobile Manipulators in Unknown, Dynamic Environments
Lehner, PeterDeutsches Zentrum Für Luft Und Raumfahrt E.v
Sieverling, ArneTech. Univ. Berlin
Brock, OliverTech. Univ. Berlin
11:04-11:08, Paper FrA2T1.2 Add to My Program
On the Value of Information in a Differential Pursuit-Evasion Game
Becerra, IsraelCentro De Investigacion En Matematicas
Macías, VladimirCentro De Investigación En Matemáticas A.C
Murrieta-Cid, RafaelCenter for Mathematical Res
11:08-11:12, Paper FrA2T1.3 Add to My Program
Decentralized Active Information Acquisition: Theory and Application to Multi-Robot SLAM
Atanasov, NikolayUniv. of Pennsylvania
Le Ny, JeromeEc. Pol. De Montreal
Daniilidis, KostasUniv. of Pennsylvania
Pappas, George J.Univ. of Pennsylvania
11:12-11:16, Paper FrA2T1.4 Add to My Program
Active Exploration Using Trajectory Optimization for Robotic Grasping in the Presence of Occlusions
Kahn, GregoryUniv. of California, Berkeley
Sujan, PeterUC Berkeley
Patil, SachinUniv. of California Berkeley
Bopardikar, Shaunak D.United Tech. Res. Center Inc
Ryde, JulianUnited Tech
Goldberg, KenUC Berkeley
Abbeel, PieterUC Berkeley
11:16-11:20, Paper FrA2T1.5 Add to My Program
Information-Theoretic Mapping Using Cauchy-Schwarz Quadratic Mutual Information
Charrow, BenjaminUniv. of Pennsylvania
Sikang, LiuUniv. of Pennsylvania
Kumar, VijayUniv. of Pennsylvania
Michael, NathanCarnegie Mellon Univ
11:20-11:24, Paper FrA2T1.6 Add to My Program
Scheduled Perception for Energy-Efficient Path Following
Ondruska, PeterOxford Univ
Gurau, CorinaOxford Univ
Marchegiani, LetiziaOxford Univ
Tong, Chi HayUniv. of Oxford
Posner, IngmarOxford Univ
11:24-11:28, Paper FrA2T1.7 Add to My Program
Optimal Sensing Via Multi-Armed Bandit Relaxations in Mixed Observability Domains
Lauri, MikkoTampere Univ. of Tech
Ritala, RistoTampere Univ. of Tech
11:28-11:32, Paper FrA2T1.8 Add to My Program
Propositional Temporal Logic for Planning in an Embedded Concurrent Autonomous Agent
Fonseca Ferreira, Diego StéfanoFederal Univ. of Bahia
Martins, Priscila S.Federal Univ. of Bahia, Robotics Lab. of the Postgrad
Scolari Conceicao, Andre GustavoFederal Univ. of Bahia
Loureiro da Costa, AugustoFederal Univ. of Bahia
11:32-11:36, Paper FrA2T1.9 Add to My Program
Dynamic Programming Guided Exploration for Sampling-Based Motion Planning Algorithms
Arslan, OktayGeorgia Inst. of Tech
Tsiotras, PanagiotisGeorgia Tech
FrA2T2 Regular Session, WSCC 606 Add to My Program 
Visual Perception II  
Chair: Song, DezhenTexas A&M Univ
Co-Chair: Tabb, AmyUSDA-ARS-AFRS and Purdue Univ
11:00-11:04, Paper FrA2T2.1 Add to My Program
Camera Calibration Correction in Shape from Inconsistent Silhouette
Tabb, AmyUSDA-ARS-AFRS and Purdue Univ
Park, JohnnyPurdue Univ
11:04-11:08, Paper FrA2T2.2 Add to My Program
Shadow Compensation for Outdoor Perception
Ramakrishnan, RishiUniv. of Sydney
Nieto, JuanUniv. of Sydney, Australian Centre for Field Robotics
Scheding, StevenThe Univ. of Sydney
11:08-11:12, Paper FrA2T2.3 Add to My Program
Motion-Based Calibration of Multimodal Sensor Arrays
Taylor, Zachary JeremyUniv. of Sydney, Australian Centre for Field Robotics
Nieto, JuanUniv. of Sydney, Australian Centre for Field Robotics
11:12-11:16, Paper FrA2T2.4 Add to My Program
Estimating Structure of Indoor Scene from a Single Full-View Image
Jia, HanchaoTottori Univ
Li, ShigangTottori Univ
11:16-11:20, Paper FrA2T2.5 Add to My Program
A Fast, Modular Scene Understanding System Using Context-Aware Object Detection
Cadena Lerma, Cesar DarioUniv. of Adelaide
Dick, AnthonyUniv. of Adelaide
Reid, IanUniv. of Adelaide
11:20-11:24, Paper FrA2T2.6 Add to My Program
Fast Semantic Segmentation of 3D Point Clouds Using a Dense CRF with Learned Parameters
Wolf, DanielVienna Univ. of Tech
Prankl, JohannUniv. of Tech. Vienna
Vincze, MarkusVienna Univ. of Tech
11:24-11:28, Paper FrA2T2.7 Add to My Program
Lifetime Estimation of Events from Dynamic Vision Sensors
Mueggler, EliasUniv. of Zurich
Forster, ChristianUniv. of Zurich
Baumli, NathanETH Zürich
Gallego, GuillermoUniv. of Zurich
Scaramuzza, DavideUniv. of Zurich
11:28-11:32, Paper FrA2T2.8 Add to My Program
Semantically Guided Location Recognition for Outdoors Scenes
Mousavian, ArsalanGeorge Mason Univ
Kosecka, JanaGeorge Mason Univ
Lien, Jyh-MingGeorge Mason Univ
11:32-11:36, Paper FrA2T2.9 Add to My Program
Modeling Robot's World with Minimal Effort
Villamizar, MichaelCSIC-UPC
Garrell, AnaisUPC-CSIC
Sanfeliu, AlbertoUniv. Pol. De Cataluyna
Moreno-Noguer, FrancescCSIC
FrA2T3 Regular Session, WSCC 607 Add to My Program 
Grasping II  
Chair: Christensen, Henrik IskovGeorgia Inst. of Tech
Co-Chair: Detry, RenaudUniv. of Liège
11:00-11:04, Paper FrA2T3.1 Add to My Program
Evaluation of Finger Configuration for Partial Caging
Makita, SatoshiSasebo Coll. National Inst. of Tech
Nagata, KazuyukiNational Inst. of AIST
11:04-11:08, Paper FrA2T3.2 Add to My Program
Global Grasp Planning Using Triangular Meshes
Liu, ShuoUniv. of California, Merced
Carpin, StefanoUniv. of California, Merced
11:08-11:12, Paper FrA2T3.3 Add to My Program
An Adaptive Compliant Multi-Finger Approach-To-Grasp Strategy for Objects with Position Uncertainties
Chen, ZhaopengInst. of Robotics and Mechatronics, GermanAerospaceCenter, D
Wimboeck, ThomasGerman Aerospace Center (DLR)
Roa, Maximo A.German Aerospace Center, DLR
Pleintinger, BenediktInst. of Robotics Andmechatronics, GermanAerospaceCenter (DLR
Neves, MiguelRobotics and Mechatronics Center, German Aerospace Center, DLR
Ott, ChristianGerman Aerospace Center (DLR)
Borst, ChristophGerman Aerospace Center (DLR)
Lii, Neal Y.German Aerospace Center (DLR)
11:12-11:16, Paper FrA2T3.4 Add to My Program
GP-GPIS-OPT: Grasp Planning with Shape Uncertainty Using Gaussian Process Implicit Surfaces and Sequential Convex Programming
Mahler, JeffreyUniv. of California, Berkeley
Patil, SachinUniv. of California Berkeley
Kehoe, BenUniv. of California, Berkeley
van den Berg, JurUniv. of Utah
Ciocarlie, MateiColumbia Univ
Abbeel, PieterUC Berkeley
Goldberg, KenUC Berkeley
11:16-11:20, Paper FrA2T3.5 Add to My Program
Learning the Tactile Signatures of Prototypical Object Parts for Robust Part-Based Grasping of Novel Objects
Hyttinen, EmilKTH
Kragic, DanicaKTH
Detry, RenaudUniv. of Liège
11:20-11:24, Paper FrA2T3.6 Add to My Program
Functional Power Grasps Transferred through Warping and Replanning
Stouraitis, TheodorosGerman Aerospace Center (DLR)
Hillenbrand, UlrichGerman Aerospace Center (DLR)
Roa, Maximo A.German Aerospace Center, DLR
11:24-11:28, Paper FrA2T3.7 Add to My Program
Modeling Compliant Grasps Exploiting Environmental Constraints
Salvietti, GionataIstituto Italiano Di Tecnologia
Malvezzi, MonicaUniv. of Siena
Gioioso, GuidoUniv. Degli Studi Di Siena
Prattichizzo, DomenicoUniv. Di Siena
11:28-11:32, Paper FrA2T3.8 Add to My Program
Planning Grasp Strategies That Exploit Environmental Constraints
Eppner, ClemensTech. Univ. Berlin
Brock, OliverTech. Univ. Berlin
11:32-11:36, Paper FrA2T3.9 Add to My Program
Sensor-Aided Teleoperated Grasp of Transparent Objects
Huang, KevinUniv. of Washington
Jiang, Liang-TingUniv. of Washington
Smith, Joshua R.Univ. of Washington
Chizeck, HowardUniv. of Washington
FrA2T4 Regular Session, WSCC 608 Add to My Program 
Exoskeletons I  
Chair: O'Malley, MarciaRice Univ
Co-Chair: Deshpande, AshishUniv. of Texas
11:00-11:04, Paper FrA2T4.1 Add to My Program
A Robotic Exoskeleton for Rehabilitation and Assessment of the Upper Limb Following Incomplete Spinal Cord Injury
Fitle, KyleRice Univ
Pehlivan, UtkuRice Univ
O'Malley, MarciaRice Univ
11:04-11:08, Paper FrA2T4.2 Add to My Program
A Soft Exoskeleton for Hand Assistive and Rehabilitation Application Using Pneumatic Actuators with Variable Stiffness
Yap, Hong KaiNational Univ. of Singapore
Lim, Jeong HoonNational Univ. Hospital System
Nasrallah, FatimaClinical Imaging Res. Centre
Goh, James Cho HongNational Univ. of Singapore
Yeow, Chen-HuaNational Univ. of Singapore
11:08-11:12, Paper FrA2T4.3 Add to My Program
Thin Active Fixture to Hold Finger for Easy Attachment and Comfort of Grasping Support Exoskeleton
Hasegawa, YasuhisaNagoya Univ
Suzuki, TakeshiUniv. of Tsukuba, Graduate School of Systems and Informatio
11:12-11:16, Paper FrA2T4.4 Add to My Program
Elbow Joint Motion Support for C4 Level Cervical Cord Injury Patient Using an Exoskeleton Robot
Tominaga, ShogoMie Univ
Nakamura, HiroyukiMie Univ
Mizutani, NaotoMie Univ
Sakamoto, RyotaMie Univ. Hospital
Yano, Ken'ichiMie Univ
Aoki, TakaakiGifu Univ
Nishimoto, YutakaGifu Univ
11:16-11:20, Paper FrA2T4.5 Add to My Program
Estimating Joint Movements from Observed EMG Signals with Multiple Electrodes under Sensor Failure Situations Toward Safe Assistive Robot Control
Furukawa, Jun-ichiroATR Computational Neuroscience Labs / Osaka Univ
Noda, TomoyukiATR Computational Neuroscience Lab
Teramae, TatsuyaATR Computational Neuroscience Lab
Morimoto, JunATR Computational Neuroscience Labs
11:20-11:24, Paper FrA2T4.6 Add to My Program
Mechanical Design of a Gravity-Balancing Wearable Exoskeleton for the Motion Enhancement of Human Upper Limb
Hsieh, Hsiang-ChienNational Cheng Kung Univ
Chien, LiNational Cheng Kung Univ
Lan, Chao-ChiehNational Cheng Kung Univ
11:24-11:28, Paper FrA2T4.7 Add to My Program
An Underactuated Wearable Arm-Swing Rehabilitator for Gait Training
Barnes, OwenUniv. of Utah
Hejrati, BabakUniv. of Utah
Abbott, JakeUniv. of Utah
11:28-11:32, Paper FrA2T4.8 Add to My Program
Investigation on the Control Strategy of Soft Wearable Robotic Hand with Slack Enabling Tendon Actuator
Jeong, UseokSeoul National Univ
In, HyunKiSeoul National Univ
Lee, HaeminSeoul National Univ
Kang, Brian ByunghyunSeoul National Univ
Cho, Kyu-JinSeoul National Univ. Biorobotics Lab
11:32-11:36, Paper FrA2T4.9 Add to My Program
Design and Control of Supernumerary Robotic Limbs for Balance Augmentation
Parietti, FedericoMIT
Chan, Kameron C.MIT
Hunter, BanksMIT
Asada, HarryMIT
FrA2T5 Regular Session, WSCC 609 Add to My Program 
Control Architectures and Behavior Based  
Chair: del Pobil, Angel P.Jaume-I Univ
Co-Chair: Iida, FumiyaUniv. of Cambridge
11:00-11:04, Paper FrA2T5.1 Add to My Program
Event-Based Estimation and Control for Remote Robot Operation with Reduced Communication
Trimpe, SebastianMax Planck Inst. for Intelligent Systems
Buchli, JonasETH Zurich
11:04-11:08, Paper FrA2T5.2 Add to My Program
Low-Cost Backdrivable Motor Control Based on Feed-Forward/Feed-Back Friction Compensation
Ishikawa, ShogoOsaka Univ
Nishio, MasakiOsaka Univ
Sugihara, TomomichiGraduate School of Engineering, Osaka Univ
11:08-11:12, Paper FrA2T5.3 Add to My Program
Modeling of Movement Control Architectures Based on Motion Primitives Using Domain-Specific Languages
Nordmann, ArneCoR-Lab, Bielefeld Univ
Wrede, SebastianBielefeld Univ
Steil, Jochen J.Bielefeld Univ
11:12-11:16, Paper FrA2T5.4 Add to My Program
Robotic Agent Programming in TeleoR
Clark, Keith LeonardImperial Coll. London
Robinson, PeterUniv. of Queensland
11:16-11:20, Paper FrA2T5.5 Add to My Program
Adaptive Saccade Controller Inspired by the Primates’ Cerebellum
Antonelli, MarcoJaume-I Univ
Duran, Angel JuanUniv. Jaume I
Chinellato, ErisImperial Coll. London
del Pobil, Angel P.Jaume-I Univ
11:20-11:24, Paper FrA2T5.6 Add to My Program
Robotic Cognitive Behavior Control Based on Biology-Inspired Episodic Memory
Liu, DongDalian Univ. of Tech
Cong, MingDalian Univ. of Tech
Du, YuUniv. of British Columbia
Han, XiaodongDalian Univ. of Tech
11:24-11:28, Paper FrA2T5.7 Add to My Program
A Self Organization Approach to Goal Directed Multimodal Locomotion Based on Attractor Selection Mechanism
Kim, YongjaeTokyo Inst. of Tech
Nurzaman, Surya G.ETH Zurich
Iida, FumiyaUniv. of Cambridge
Fukushima, Edwardo F.Tokyo Inst. of Tech
11:28-11:32, Paper FrA2T5.8 Add to My Program
Efficient Computation of Multiple Coupled Cosserat Rod Models for Real-Time Simulation and Control of Parallel Continuum Manipulators
Till, JohnUniv. of Tennessee, Knoxville
Bryson, CarolineUniv. of Tennessee
Chung, ScottyUniv. of Tennessee, Knoxville
Orekhov, AndrewUniv. of Tennessee, Knoxville
Rucker, CalebUniv. of Tennessee
11:32-11:36, Paper FrA2T5.9 Add to My Program
Bridging the Gap between Discrete Symbolic Planning and Optimization-Based Robot Control
Scioni, EneaUniv. of Leuven/Univ. of Ferrara
Borghesan, GianniKU Leuven
Bruyninckx, HermanUniv. of Leuven
Bonfe, MarcelloUniv. of Ferrara
FrA2T6 Regular Session, WSCC 611 Add to My Program 
Stability of Humanoid Robots  
Chair: Ames, AaronCalifornia Inst. of Tech
Co-Chair: Hurst, JonathanOregon State Univ
11:00-11:04, Paper FrA2T6.1 Add to My Program
Feasible Center of Mass Dynamic Manipulability of Humanoid Robots
Gu, YanPurdue Univ
Lee, C. S. GeorgePurdue Univ
Yao, BinZhejiang Univ
11:04-11:08, Paper FrA2T6.2 Add to My Program
Self-Stabilization of 3D Walking Via Vertical Oscillations of the Hip
Chevallereau, ChristineCNRS
Aoustin, YannickCNRS
11:08-11:12, Paper FrA2T6.3 Add to My Program
Fall Prediction of Legged Robots Based on Energy State and Its Implication of Balance Augmentation: A Study on the Humanoid
Li, ZhibinIstituto Italiano Di Tecnologia
Zhou, ChengxuFondazione Istituto Italiano Di Tecnologia
Castano, Juan AlejandroInst. Italiano Di Tecnologia
Wang, XinHarbin Inst. of Tech
Negrello, FrancescaIstituto Italiano Di Tecnologia
Tsagarakis, NikosIstituto Italiano Di Tecnologia
Caldwell, Darwin G.Istituto Italiano Di Tecnologia
11:12-11:16, Paper FrA2T6.4 Add to My Program
Touch-Down Angle Control for Spring-Mass Walking
Vejdani, Hamid RezaOregon State Univ
Wu, AlbertCarnegie Mellon Univ
Geyer, HartmutCarnegie Mellon Univ
Hurst, JonathanOregon State Univ
11:16-11:20, Paper FrA2T6.5 Add to My Program
Stability of Surface Contacts for Humanoid Robots: Closed-Form Formulae of the Contact Wrench Cone for Rectangular Support Areas
Caron, StéphaneUniv. of Tokyo
Pham, Quang-CuongNanyang Tech. Univ
Nakamura, YoshihikoUniv. of Tokyo
11:20-11:24, Paper FrA2T6.6 Add to My Program
Do Limit Cycles Matter in the Long Run? Stable Orbits and Sliding-Mass Dynamics Emerge in Task-Optimal Locomotion
Hubicki, ChristianOregon State Univ
Jones, MikhailOregon State Univ
Daley, MonicaRoyal Veterinary Coll. Structure and Motion Lab
Hurst, JonathanOregon State Univ
11:24-11:28, Paper FrA2T6.7 Add to My Program
Model Predictive Control of Underactuated Bipedal Robotic Walking
Powell, MatthewTexas A&M Univ
Cousineau, EricTexas A&M Univ
Ames, AaronTexas A&M Univ
11:28-11:32, Paper FrA2T6.8 Add to My Program
Online Iterative Learning Control of Zero-Moment Point for Biped Walking Stabilization
Hu, KaiTech. Univ. of Munich
Ott, ChristianGerman Aerospace Center (DLR)
Lee, DongheuiTech. Univ. of Munich
11:32-11:36, Paper FrA2T6.9 Add to My Program
Model Predictive Control for Tilt Recovery of an Omnidirectional Wheeled Humanoid Robot
Lafaye, JoryInria Grenoble Rhône-Alpes
Collette, CyrilleAldebaran Robotics
Wieber, Pierre-BriceINRIA Rhône-Alpes
FrA2T7 Regular Session, WSCC 612 Add to My Program 
Multi-Legged Robotic Gaits  
Chair: Lin, Pei-ChunNational Taiwan Univ
Co-Chair: Gupta, Satyandra K.Univ. of Maryland, Coll. Park
11:00-11:04, Paper FrA2T7.1 Add to My Program
Energetics-Informed Hexapod Gait Transitions across Terrains
Kottege, NavindaCSIRO
Parkinson, CallumCSIRO
Moghadam, PeymanCSIRO
Elfes, AlbertoCSIRO
Singh, SuryaThe Univ. of Queensland
11:04-11:08, Paper FrA2T7.2 Add to My Program
Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain
Winkler, Alexander, WayneETH Zurich
Mastalli, CarlosIstituto Italiano Di Tecnologia
Havoutis, IoannisIstituto Italiano Di Tecnologia (IIT)
Focchi, MicheleFondazione Istituto Italiano Di Tecnologia
Caldwell, Darwin G.Istituto Italiano Di Tecnologia
Semini, ClaudioIstituto Italiano Di Tecnologia
11:08-11:12, Paper FrA2T7.3 Add to My Program
Autonomous Gait Selection for Energy Efficient Walking
Manjanna, SandeepMcGill Univ
Dudek, GregoryMcGill Univ
11:12-11:16, Paper FrA2T7.4 Add to My Program
Variable-Speed Quadrupedal Bounding Using Impulse Planning: Untethered High-Speed 3D Running of MIT Cheetah 2
Park, Hae-WonMassachusetts Inst. of Tech
Park, SanginMIT
Kim, SangbaeMassachusetts Inst. of Tech
11:16-11:20, Paper FrA2T7.5 Add to My Program
Stabilizing Task-Based Omnidirectional Quadruped Locomotion with Virtual Model Control
Kuhlman, Michael J.Univ. of Maryland
Hays, JoeUS Naval Res. Lab
Sofge, DonaldNaval Res. Lab
Gupta, Satyandra K.Univ. of Maryland, Coll. Park
11:20-11:24, Paper FrA2T7.6 Add to My Program
A Torque-Actuated Dissipative Spring Loaded Inverted Pendulum Model with Rolling Contact and Its Use As the Template for Design and Dynamic Behavior Generation on a Hexapod Robot
Hu, Chia-JuiDepartment of Mechanical Engineering, National Taiwan Univ
Huang, Chun-KaiNational Taiwan Univ
Lin, Pei-ChunNational Taiwan Univ
11:24-11:28, Paper FrA2T7.7 Add to My Program
Model-Based Dynamic Gait Generation for a Leg-Wheel Transformable Robot
Lin, Hung-ShengNational Taiwan Univ
Chen, Wei-HsiNational Taiwan Univ
Lin, Pei-ChunNational Taiwan Univ
11:28-11:32, Paper FrA2T7.8 Add to My Program
High-Speed Biped Walking Using Swinging-Arms Based on Principle of Up-And-Down Wobbling Mass
Hanazawa, YutaKyushu Inst. of Tech
Asano, FumihikoJapan Advanced Inst. of Science and Tech
11:32-11:36, Paper FrA2T7.9 Add to My Program
Design and Analysis of an Optimal Hopper for Use in Resonance-Based Locomotion
Wanders, IvorUniv. of Twente
Folkertsma, Gerrit AdriaanUniv. of Twente
Stramigioli, StefanoUniv. of Twente
FrA2T8 Regular Session, WSCC 613/614 Add to My Program 
Vision-Based Mapping and Localization I  
Chair: Roy, NicholasMassachusetts Inst. of Tech
Co-Chair: Soatto, StefanoUCLA
11:00-11:04, Paper FrA2T8.1 Add to My Program
Robust Inference for Visual-Inertial Sensor Fusion
Tsotsos, KonstantineUniv. of California, Los Angeles
Chiuso, AlessandroUniv. Di Padova
Soatto, StefanoUniv. of California, Los Angeles
11:04-11:08, Paper FrA2T8.2 Add to My Program
Optimally Observable and Minimal Cardinality Monocular SLAM
Zhang, GuangcongGeorgia Inst. of Tech
Vela, PatricioGeorgia Inst. of Tech
11:08-11:12, Paper FrA2T8.3 Add to My Program
Using Vanishing Points to Improve Visual-Inertial Odometry
Camposeco, FedericoETH Zurich
Pollefeys, MarcETH Zurich
11:12-11:16, Paper FrA2T8.4 Add to My Program
Dense Mono Reconstruction: Living with the Pain of the Plain Plane
Pinies, PedroUniv. of Oxford
Paz, Lina MaríaUniv. of Oxford
Newman, PaulOxford Univ
11:16-11:20, Paper FrA2T8.5 Add to My Program
Online Self-Supervised Monocular Visual Odometry for Ground Vehicles
Lee, BhoramUniv. of Pennsylvania
Daniilidis, KostasUniv. of Pennsylvania
Lee, Daniel D.Univ. of Pennsylvania
11:20-11:24, Paper FrA2T8.6 Add to My Program
Scale-Reconstructable Structure from Motion Using Refraction with a Single Camera
Shibata, AkiraThe Univ. of Tokyo
Fujii, HiromitsuThe Univ. of Tokyo
Yamashita, AtsushiThe Univ. of Tokyo
Asama, HajimeThe Univ. of Tokyo
11:24-11:28, Paper FrA2T8.7 Add to My Program
From Dusk Till Dawn: Localisation at Night Using Artificial Light Sources
Nelson, PeterOxford Univ
Churchill, WinstonOxford Univ
Posner, IngmarOxford Univ
Newman, PaulOxford Univ
11:28-11:32, Paper FrA2T8.8 Add to My Program
Real-Time Onboard 6DoF Localization of an Indoor MAV in Degraded Visual Environments Using a RGB-D Camera
Fang, ZhengNortheastern Univ
Scherer, SebastianCarnegie Mellon Univ
11:32-11:36, Paper FrA2T8.9 Add to My Program
Localization on OpenStreetMap Data Using a 3D Laser Scanner
Ruchti, PhilippUniv. of Freiburg
Steder, BastianUniv. of Freiburg
Ruhnke, MichaelUniv. of Freiburg
Burgard, WolframUniv. of Freiburg
FrA2T9 Regular Session, WSCC 615/616 Add to My Program 
Aerial Robots Control and Fault Tolerance  
Chair: Ollero, AnibalUniv. of Seville
Co-Chair: Basha, ElizabethUniv. of the Pacific
11:00-11:04, Paper FrA2T9.1 Add to My Program
Fault Diagnosis and Fault-Tolerant Control Strategy for Rotor Failure in an Octorotor
Saied, MajdUniv. of Tech. of Compiègne , Lebanese Univ
Lussier, BenjaminHeudiasyc - Univ. of Tech. of Compiègne
Fantoni, IsabelleHeudiasyc - Univ. of Tech. of Compiègne - CNRS
Francis, ClovisLebanese Univ
Shraim, HassanIndustrial. French Consulting Company
Sanahuja, GuillaumeUniv. De Tech. De Compiègne
11:04-11:08, Paper FrA2T9.2 Add to My Program
Autonomous Model-Free Landing Control of Small-Scale Flybarless Helicopters
Marantos, PanosNational Tech. Univ. of Athens
Karras, GeorgeNational Tech. Univ. of Athens
Bechlioulis, CharalamposNational Tech. Univ. of Athens
Kyriakopoulos, KostasNational Tech. Univ. of Athens
11:08-11:12, Paper FrA2T9.3 Add to My Program
Robust State Estimation for Micro Aerial Vehicles, Based on System Dynamics
Burri, MichaelETH Zuerich
Dätwiler, Manuel DavidETH Zürich
Achtelik, Markus W.ETH Zurich, Autonomous Syst. Lab
Siegwart, RolandETH Zurich
11:12-11:16, Paper FrA2T9.4 Add to My Program
Flight Performance of a Swashplateless Micro Air Vehicle
Paulos, JamesUniv. of Pennsylvania
Yim, MarkUniv. of Pennsylvania
11:16-11:20, Paper FrA2T9.5 Add to My Program
Simultaneous Estimation of Aerodynamic and Contact Forces in Flying Robots: Applications to Metric Wind Estimation and Collision Detection
Tomic, TeodorGerman Aerospace Center (DLR)
Haddadin, SamiLeibniz Univ. Hanover
11:20-11:24, Paper FrA2T9.6 Add to My Program
Integral Action in First-Order Closed-Loop Inverse Kinematics. Application to Aerial Manipulators
Sanchez, Manuel IvanUniv. of Seville
Acosta, Jose AngelUniv. of Seville
Ollero, AnibalUniv. of Seville
11:24-11:28, Paper FrA2T9.7 Add to My Program
Tightly-Coupled Monocular Visual-Inertial Fusion for Autonomous Flight of Rotorcraft MAVs
Shen, ShaojieHong Kong Univ. of Science and Tech
Michael, NathanCarnegie Mellon Univ
Kumar, VijayUniv. of Pennsylvania
11:28-11:32, Paper FrA2T9.8 Add to My Program
On Air-To-Water Radio Communication between UAVs and Water Sensor Networks
Palmer, JacobUniv. of the Pacific
Yuen, NicholasUniv. of the Pacific
Ore, John-PaulUniv. of Nebraska-Lincoln
Detweiler, CarrickUniv. of Nebraska-Lincoln
Basha, ElizabethUniv. of the Pacific
11:32-11:36, Paper FrA2T9.9 Add to My Program
Experimental Validation of a Drogue Estimation Algorithm for Autonomous Aerial Refueling
Wilson, Daniel BriggsAustralian Centre for Field Robotics (ACFR)
Goktogan, Ali HaydarAustralian Centre for Field Robotics (ACFR)
Sukkarieh, SalahUniv. of Sydney
FrA2T10 Regular Session, WSCC 619/620 Add to My Program 
Medical Robotics V  
Chair: Park, WooramUniv. of Texas at Dallas
Co-Chair: Thomas, ShawnaTexas A&M Univ
11:00-11:04, Paper FrA2T10.1 Add to My Program
Characterization of Resection Dexterity in Transurethral Resection of Bladder Tumor: A Kinematic Study
Sarli, NimaVanderbilt Univ
Marien, TracyVanderbilt Univ
Herrell, DukeVanderbilt Univ
Simaan, NabilVanderbilt Univ
11:04-11:08, Paper FrA2T10.2 Add to My Program
A Cooperative Control Framework for Haptic Guidance of Bimanual Surgical Tasks Based on Learning from Demonstration
Power, MauraImperial Coll. London
Rafii-Tari, HedyehImperial Coll. London
Bergeles, ChristosImperial Coll. London
Vitiello, ValentinaImperial Coll. London
Yang, Guang-ZhongImperial Coll. London
11:08-11:12, Paper FrA2T10.3 Add to My Program
Design and Evaluation of a Bio-Inspired Robotic Hand for Percutaneous Coronary Intervention
Feng, Zhen-QiuInst. of Automation, Chinese Acad. of Sciences
Bian, Gui-BinInst. of Automation, Chinese Acad. of Sciences
Xie, XiaoliangInst. of Automation, the Chinese Acad. Ofsciences
Hou, Zeng-GuangInst. of Automation, Chinese Acad. of Science
Hao, JianlongChinese Acad. of Sciences
11:12-11:16, Paper FrA2T10.4 Add to My Program
Tissue Compliance Determination Using a Da Vinci Instrument
Anooshahpour, FarshadWestern Univ
Polushin, Ilia G.Western Univ
Patel, Rajnikant V.The Univ. of Western Ontario
11:16-11:20, Paper FrA2T10.5 Add to My Program
Multi-Modal Localization Algorithm for Catheter Interventions
Borgstadt, JustinUniv. of Wisconsin - Madison
Zinn, MichaelUniv. of Wisconsin - Madison
Ferrier, NicolaUniv. of Wisconsin-Madison
11:20-11:24, Paper FrA2T10.6 Add to My Program
ViMbot: Design and Control of a New Magnet Robot Actuated by an External Vibrating Magnetic Field
Lee, JaeyeonUniv. of Texas at Dallas
Lee, Young SubUniv. of Texas at Dallas
Park, WooramUniv. of Texas at Dallas
11:24-11:28, Paper FrA2T10.7 Add to My Program
Effects of Master-Slave Tool Misalignment in a Teleoperated Surgical Robot
Kim, Lawrence H.Stanford Univ
Bargar, CliffordIntuitive Surgical, Inc
Che, YuhangStanford Univ
Okamura, Allison M.Stanford Univ
11:28-11:32, Paper FrA2T10.8 Add to My Program
Teleoperated versus Open Needle Driving: Kinematic Analysis of Experienced Surgeons and Novice Users
Nisky, IlanaBen Gurion Univ. of the Negev
Che, YuhangStanford Univ
Quek, Zhan FanStanford Univ
Weber, MatthewStanford Univ
Hsieh, MichaelStanford Univ
Okamura, Allison M.Stanford Univ
11:32-11:36, Paper FrA2T10.9 Add to My Program
Tendons, Concentric Tubes, and a Bevel Tip: Three Steerable Robots in One Transoral Lung Access System
Swaney, Philip J.Vanderbilt Univ
Mahoney, ArthurUniv. of Utah
Remirez, AndriaVanderbilt Univ
Lamers, ErikVanderbilt Univ
Hartley, BryanVanderbilt Univ. Medical Center
Feins, RichardDiv. of Cardiothoracic Surgery, Department of Surgery, Univ
Alterovitz, RonUniv. of North Carolina at Chapel Hill
Webster III, Robert JamesVanderbilt Univ
FrA2T11 , WSCC 604 Add to My Program 
Developing Countries Forum - A2  
11:00-12:15, Paper FrA2T11.1 Add to My Program
Developing Countries Forum
Dias, M. BernardineCarnegie Mellon Univ.
FrA2T12 , WSCC 617 Add to My Program 
Highlights from RAS Conferences: CASE 2014  
11:00-12:15, Paper FrA2T12.1 Add to My Program
Highlights from RAS Conferences: CASE 2014
Amato, NancyTexas A&M Univ.
FrLunchT13 Workshop, WSCC 3A/3B Add to My Program 
RAS Lunch with Leaders  
FrLunchT14 Workshop, WSCC 307/308 Add to My Program 
RAS Young Professionals Lunch  
FrK1N1 , WSCC 6A Add to My Program 
Keynote: Zexiang Li - for Your Eyes Only? UAVs and the DJI Ecosystem  
Chair: Lin, Ming C.Univ. of North Carolina
13:50-14:20, Paper FrK1N1.1 Add to My Program
For Your Eyes Only? UAVs and the DJI Ecosystem
Li, ZexiangHong Kong Univ. of Science and Tech.
FrK1N2 , WSCC 6B Add to My Program 
Keynote: Satoshi Tadokoro - Toward Social Implementation of Disaster
Chair: Voyles, RichardPurdue Univ
13:50-14:20, Paper FrK1N2.1 Add to My Program
Toward Social Implementation of Disaster Robotics
Tadokoro, SatoshiTohoku Univ.
FrK1N3 , WSCC 6C Add to My Program 
Keynote: Yuru Zhang - Idental: A Simulator for Dental Skill Training  
Chair: Okamura, Allison M.Stanford Univ
13:50-14:20, Paper FrK1N3.1 Add to My Program
Idental: A Simulator for Dental Skill Training
Zhang, YuruBeihang Univ.
FrP1T1 Regular Session, WSCC 602/603 Add to My Program 
Multi-Robot Path Planning I  
Chair: Becker, AaronUniv. of Houston
Co-Chair: Rodriguez, SamuelTexas A&M Univ
14:30-14:34, Paper FrP1T1.1 Add to My Program
Particle Computation: Device Fan-Out and Binary Memory
Mohtasham Shad, Seyed HamedK.N. Toosi Univ. of Tech
Morris-Wright, RoseSwarthmore Coll
Demaine, ErikMIT
Fekete, SándorTech. Univ. Braunschweig
Becker, AaronUniv. of Houston
14:34-14:38, Paper FrP1T1.2 Add to My Program
Symmetries and Reduction for Multi-Agent Control
Goodwine, BillUniv. of Notre Dame
Nettleman, AshleyUniv. of Notre Dame
14:38-14:42, Paper FrP1T1.3 Add to My Program
Multi-Robot Task Planning and Sequencing Using the SAT-TSP Language
Imeson, FrankUniv. of Waterloo
Smith, Stephen L.Univ. of Waterloo
14:42-14:46, Paper FrP1T1.4 Add to My Program
Planning for Multi-Agent Teams with Leader Switching
Swaminathan, SiddharthCarnegie Mellon Univ
Phillips, MikeCarnegie Mellon Univ
Likhachev, MaximCarnegie Mellon Univ
14:46-14:50, Paper FrP1T1.5 Add to My Program
Fair Multi-Target Tracking in Cooperative Multi-Robot Systems
Banfi, JacopoPol. Di Milano
Guzzi, JeromeIdsia, Usi-Supsi
Giusti, AlessandroIDSIA Lugano, SUPSI
Gambardella, LucaUSI-SUPSI
Di Caro, Gianni A.Idsia (usi/supsi)
14:50-14:54, Paper FrP1T1.6 Add to My Program
An Efficient Cooperative Deployment of Robots for Multiple Tasks
Lee, HunsueSeoul National Univ
Jeon, Jae DoSeoul National Univ
Lee, Beom-HeeSeoul National Univ
14:54-14:58, Paper FrP1T1.7 Add to My Program
Biomimetic Algorithms for Coordinated Motion: Theory and Implementation
Halder, UditUniv. of Maryland, Coll. Park
Dey, BiswadipUniv. of Maryland, Coll. Park
14:58-15:02, Paper FrP1T1.8 Add to My Program
A General Technique for Fast Comprehensive Multi-Root Planning on Graphs by Coloring Vertices and Deferring Edges
Dellin, ChristopherCarnegie Mellon Univ
Srinivasa, SiddharthaCarnegie Mellon Univ
FrP1T2 Regular Session, WSCC 606 Add to My Program 
Visual Place Recognition  
Chair: Corke, PeterQUT
Co-Chair: Zhang, HongUniv. of Alberta
14:30-14:34, Paper FrP1T2.1 Add to My Program
IBuILD: Incremental Bag of Binary Words for Appearance Based Loop Closure Detection
Khan, SherazTech. Univ. München
Wollherr, DirkTech. Univ. München
14:34-14:38, Paper FrP1T2.2 Add to My Program
Visual Chunking: A List Prediction Framework for Region-Based Object Detection
Rhinehart, NicholasCarnegie Mellon Univ
Zhou, JiajiCMU
Hebert, MartialCMU
Bagnell, JamesCarnegie Mellon Univ
14:38-14:42, Paper FrP1T2.3 Add to My Program
Leveraging Image-Based Prior in Cross-Season Place Recognition
Ando, MasatoshiUniv. Fukui
Chokushi, YuutoUniv. Fukui
Tanaka, KanjiUniv. of Fukui
Yanagihara, KentaroUniv. of Fukui
14:42-14:46, Paper FrP1T2.4 Add to My Program
Long-Term Topological Place Learning
Erkent, OzgurInnsbruck Univ
Bozma, H. IsilBogazici Univ
14:46-14:50, Paper FrP1T2.5 Add to My Program
What Should I Landmark? Entropy of Normals in Depth Juts for Place Recognition in Changing Environments Using RGB-D Data
Gutiérrez-Gómez, DanielUniv. De Zaragoza
Mayol, WalterioUniv. of Bristol
Guerrero, JosechuUniv. De Zaragoza
14:50-14:54, Paper FrP1T2.6 Add to My Program
Location Graphs for Visual Place Recognition
Stumm, ElenaLAAS-CNRS
Mei, ChristopherLAAS-CNRS
Lacroix, SimonLAAS/CNRS
Chli, MargaritaUniv. of Edinburgh
14:54-14:58, Paper FrP1T2.7 Add to My Program
Keypoint Matching by Outlier Pruning with Consensus Constraint
Liu, YangUniv. of Alberta
Feng, RongUniv. of Alberta
Zhang, HongUniv. of Alberta
14:58-15:02, Paper FrP1T2.8 Add to My Program
Environment Selection and Hierarchical Place Recognition
Mohan, MaheshGeorge Washington Univ
Galvez-Lopez, DorianUniv. of Colorado Boulder
Monteleoni, ClaireGeorge Washington Univ
Sibley, GabeUniv. of Colorado
FrP1T3 Regular Session, WSCC 607 Add to My Program 
Mobile Manipulation  
Chair: Brock, OliverTech. Univ. Berlin
Co-Chair: Knepper, Ross AMassachusetts Inst. of Tech
14:30-14:34, Paper FrP1T3.1 Add to My Program
Local Motion Planning for Collaborative Multi-Robot Manipulation of Deformable Objects
Alonso-Mora, JavierMIT
Knepper, Ross AMassachusetts Inst. of Tech
Siegwart, RolandETH Zurich
Rus, DanielaMIT
14:34-14:38, Paper FrP1T3.2 Add to My Program
Operating an Unknown Drawer Using an Aerial Manipulator
Kim, SuseongSeoul National Univ
Seo, HoseongSeoul National Univ
Kim, H. JinSeoul National Univ
14:38-14:42, Paper FrP1T3.3 Add to My Program
Supervised Remote Robot with Guided Autonomy and Teleoperation (SURROGATE): A Framework for Whole-Body Mobile Manipulation
Hebert, PaulJet Propulsion Lab
Ma, JeremyJet Propulsion Lab
Borders, James W.Jet Propulsion Lab
Aydemir, AlperNASA/JPL
Bajracharya, MaxJPL
Hudson, NicolasJet Propulsion Lab
Shankar, KrishnaCalifornia Inst. of Tech
Karumanchi, SisirJet Propulsion Lab, Caltech
Douillard, BertrandJPL-NASA
Burdick, JoelCalifornia Inst. of Tech
14:42-14:46, Paper FrP1T3.4 Add to My Program
Decentralized Parameter Estimation and Observation for Cooperative Mobile Manipulation of an Unknown Load Using Noisy Measurements
Franchi, AntonioLAAS-CNRS
Petitti, AntonioNational Council of Res
Rizzo, AlessandroPol. Di Bari
14:46-14:50, Paper FrP1T3.5 Add to My Program
A Web-Based Infrastructure for Recording User Demonstrations of Mobile Manipulation Tasks
Ratner, EllisBowdoin Coll
Cohen, BenjaminUniv. of Pennsylvania
Phillips, MikeCarnegie Mellon Univ
Likhachev, MaximCarnegie Mellon Univ
14:50-14:54, Paper FrP1T3.6 Add to My Program
Learning Non-Holonomic Object Models for Mobile Manipulation
Scholz, JonathanGeorgia Inst. of Tech
Levihn, MartinGeorgia Inst. of Tech
Isbell, CharlesGeorgia Inst. of Tech
Christensen, Henrik IskovGeorgia Inst. of Tech
14:54-14:58, Paper FrP1T3.7 Add to My Program
RoboFlow: A Flow-Based Visual Programming Language for Mobile Manipulation Tasks
Alexandrova, SonyaUniv. of Washington
Tatlock, ZacharyUniv. of Washington
Cakmak, MayaUniv. of Washington
14:58-15:02, Paper FrP1T3.8 Add to My Program
Wireless Map-Based Handoffs for Mobile Robots
Wang, RichardCarnegie Mellon Univ
Veloso, ManuelaCarnegie Mellon Univ
Seshan, SrinivasanCarnegie Mellon Univ
Mukerjee, MattCarnegie Mellon Univ
FrP1T4 Regular Session, WSCC 608 Add to My Program 
Exoskeletons II  
Chair: Wang, DangxiaoBeihang Univ
Co-Chair: Collins, Steven H.Carnegie Mellon Univ
14:30-14:34, Paper FrP1T4.1 Add to My Program
Towards Balance Recovery Control for Lower Body Exoskeleton Robots with Variable Stiffness Actuators: Spring-Loaded Flywheel Model
Doppmann, CorinneEc. Pol. Fédérale De Lausanne (EPFL)
Ugurlu, BarkanOzyegin Univ. / ATR
Hamaya, MasashiATR Computational Neuroscience Labs / Osaka Univ
Teramae, TatsuyaATR Computational Neuroscience Lab
Noda, TomoyukiATR Computational Neuroscience Lab
Morimoto, JunATR Computational Neuroscience Labs
14:34-14:38, Paper FrP1T4.2 Add to My Program
Effects of Exoskeletal Stiffness in Parallel with the Knee on the Motion of the Human Body Center of Mass During Walking
Shamaei Ghahfarokhi, KamranYale Univ
Cenciarini, MassimoYale Univ
Adams, AlbertUS Army Natick Soldier Res. Development and Engineering Cen
Gregorczyk, KarenNatick Soldier Res. Development & Engineering Center
Schiffman, JeffreyNatick Soldier Res. Development and Engineering Center
Dollar, AaronYale Univ
14:38-14:42, Paper FrP1T4.3 Add to My Program
A New Adaptive Frequency Oscillator for Gait Assistance
Seo, KeehongSamsung Advanced Inst. of Tech
Hyung, SeungYongSamsung Electronics Co., Ltd
Choi, Byung KwonSamsung Advanced Inst. of Tech
Lee, YounbaekSamsung Electronics Co., Ltd
Shim, YoungboSamsung Electronics
14:42-14:46, Paper FrP1T4.4 Add to My Program
Design Analysis of a Passive Weight-Support Lower-Extremity-Exoskeleton with Compliant Knee-Joint
Lee, Kok-MengGeorgia Tech. Univ. of Sci & Tech
Wang, Dong-haiZhejiang Univ
14:46-14:50, Paper FrP1T4.5 Add to My Program
Design of a Cable-Driven Active Leg Exoskeleton (C-ALEX) and Gait Training Experiments with Human Subjects
Jin, XinColumbia Univ
Cui, XiangBeijing Univ. of Aeronaurics and Astronautics
Agrawal, SunilColumbia Univ
14:50-14:54, Paper FrP1T4.6 Add to My Program
Experimental Comparison of Torque Control Methods on an Ankle Exoskeleton During Human Walking
Zhang, JuanjuanCarnegie Mellon Univ
Cheah, C. C.Nanyang Tech. Univ
Collins, Steven H.Carnegie Mellon Univ
14:54-14:58, Paper FrP1T4.7 Add to My Program
Implementation of a Task-Dependent Anisotropic Impedance Controller into a 2-DOF Platform-Based Ankle Rehabilitation Robot
Farjadian, Amir BahadorNortheastern Univ
Nabian, MohsenNortheastern Univ
Mavroidis, ConstantinosNortheastern Univ
Holden, MaureenNortheastern Univ
14:58-15:02, Paper FrP1T4.8 Add to My Program
Design and Control of a Wearable Hand Exoskeleton with Force-Controllable and Compact Actuator Modules
Jo, InseongUNIST
Bae, JoonbumUNIST
FrP1T5 Regular Session, WSCC 609 Add to My Program 
Physical Human-Robot Interaction  
Chair: Popa, DanThe Univ. of Texas at Arlington
Co-Chair: Patton, JamesU. of Illinois at Chicago, RehabilitaitonInstituteofChicago
14:30-14:34, Paper FrP1T5.1 Add to My Program
Role Adaptation of Human and Robot in Collaborative Tasks
Li, YananAgency for Science, Tech. and Res
Tee, Keng PengInst. for Infocomm Res
Chan, Wei LiangInst. for Infocomm Res
Yan, RuiInst. for Infocomm Res
Chua, YuanweiInst. for Infocomm Res
Limbu, Dilip KumarInst. for Infocomm Res. (I²R)
14:34-14:38, Paper FrP1T5.2 Add to My Program
Learning Models for Following Natural Language Directions in Unknown Environments
Hemachandra, Sachithra MadhawaMIT
Duvallet, FelixCarnegie Mellon Univ
Howard, ThomasUniv. of Rochester
Roy, NicholasMassachusetts Inst. of Tech
Stentz, AnthonyCarnegie Mellon Univ
Walter, MatthewUniv. of Chicago
14:38-14:42, Paper FrP1T5.3 Add to My Program
An Incremental Approach to Learning Generalizable Robot Tasks from Human Demonstration
Ghalamzan Esfahani, Amir MasoudPol. Di Milano
Paxton, ChristopherJohns Hopkins Univ
Hager, GregoryJohns Hopkins Univ
Bascetta, LucaPol. Di Milano
14:42-14:46, Paper FrP1T5.4 Add to My Program
A Kinematic Controller for Human-Robot Handshaking Using Internal Motion Adaptation
Papageorgiou, DimitriosAristotle Univ. of Thessaloniki
Doulgeri, ZoeAristotle Univ. of Thessaloniki
14:46-14:50, Paper FrP1T5.5 Add to My Program
On Handing down Our Tools to Robots: Single-Phase Kinesthetic Teaching for Dynamic In-Contact Tasks
Montebelli, AlbertoAalto Univ
Steinmetz, FranzAalto Univ
Kyrki, VilleAalto Univ
14:50-14:54, Paper FrP1T5.6 Add to My Program
Intent Aware Adaptive Admittance Control for Physical Human-Robot Interaction
Ranatunga, IsuraUniv. of Texas at Arlington
Cremer, SvenUniv. of Texas at Arlington
Popa, DanThe Univ. of Texas at Arlington
Lewis, FrankAutomation & Robotics Res. Inst. TheUniversityofTexas At
14:54-14:58, Paper FrP1T5.7 Add to My Program
Integral Admittance Shaping for Exoskeleton Control
Nagarajan, UmashankarHonda Res. Inst. USA Inc
Aguirre-Ollinger, GabrielUniv. of Tecnology, Sydney
Goswami, AmbarishHonda Res. Inst
14:58-15:02, Paper FrP1T5.8 Add to My Program
A Friction-Model-Based Framework for Reinforcement Learning of Robotic Tasks in Non-Rigid Environments
Colomé, AdriàInst. De Robòtica I Informàtica Industrial (CSIC-UPC), Q28180
Planells, AntoniInst. De Robòtica I Informàtica Industrial (CSIC-UPC)
Torras, CarmeCsic - Upc
FrP1T6 Regular Session, WSCC 611 Add to My Program 
Humanoid Robots  
Chair: Lee, C. S. GeorgePurdue Univ
Co-Chair: Bennewitz, MarenUniv. of Freiburg
14:30-14:34, Paper FrP1T6.1 Add to My Program
Using Synergies in Dual-Arm Manipulation Tasks
Suarez, RaulUniv. Pol. De Catalunya (UPC)
Rosell, JanUniv. Pol. De Catalunya
García, NéstorUniv. Pol. De Catalunya
14:34-14:38, Paper FrP1T6.2 Add to My Program
Whole-Body Self-Calibration Via Graph-Optimization and Automatic Configuration Selection
Maier, DanielUniv. of Freiburg
Wrobel, StefanUniv. of Freiburg
Bennewitz, MarenUniv. of Freiburg
14:38-14:42, Paper FrP1T6.3 Add to My Program
Stance Selection for Humanoid Grasping Tasks by Inverse Reachability Maps
Burget, FelixUniv. of Freiburg
Bennewitz, MarenUniv. of Freiburg
14:42-14:46, Paper FrP1T6.4 Add to My Program
Optimal Contact Force Distribution for Compliant Humanoid Robots in Whole-Body Loco-Manipulation Tasks
Farnioli, EdoardoUniv. Di Pisa
Gabiccini, MarcoUniv. of Pisa
Bicchi, AntonioUniv. Di Pisa & Istituto Italiano Di Tecnologia
14:46-14:50, Paper FrP1T6.5 Add to My Program
Whole-Body Pushing Manipulation with Contact Posture Planning of Large and Heavy Object for Humanoid Robot
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
14:50-14:54, Paper FrP1T6.6 Add to My Program
Maximal Output Admissible Set for Limit Cycle Controller of Humanoid Robot
Yamamoto, KoUniv. of Tokyo
Shitaka, TakuyaNagoya Univ
14:54-14:58, Paper FrP1T6.7 Add to My Program
Optimal Use of Arm-Swing for Bipedal Walking Control
Kobayashi, TaisukeNagoya Univ
Sekiyama, KosukeNagoya Univ
Aoyama, TadayoshiHiroshima Univ
Hasegawa, YasuhisaNagoya Univ
Fukuda, ToshioMeijo Univ
14:58-15:02, Paper FrP1T6.8 Add to My Program
Dynamics Morphing between Standing and Repetitive Hopping of Biped Robots
Atsuta, HiroshiOsaka Univ
Sugihara, TomomichiGraduate School of Engineering, Osaka Univ
FrP1T7 Regular Session, WSCC 612 Add to My Program 
Dynamic Walking  
Chair: Wensing, PatrickMassachusetts Inst. of Tech
Co-Chair: Leonessa, AlexanderVirginia Tech
14:30-14:34, Paper FrP1T7.1 Add to My Program
Dynamic Walking in a Humanoid Robot Based on a 3D Actuated Dual-SLIP Model
Liu, YipingThe Ohio State Univ
Wensing, PatrickMassachusetts Inst. of Tech
Orin, DavidThe Ohio State Univ
Zheng, Yuan F.The Ohio State Univ
14:34-14:38, Paper FrP1T7.2 Add to My Program
Meshing Hybrid Zero Dynamics for Rough Terrain Walking
Saglam, Cenk OguzUniv. of California, Santa Barbara
Byl, KatieUCSB
14:38-14:42, Paper FrP1T7.3 Add to My Program
Compliant Locomotion Using Whole-Body Control and Divergent Component of Motion Tracking
Hopkins, Michael AnthonyVirginia Tech
Hong, DennisUCLA
Leonessa, AlexanderVirginia Tech
14:42-14:46, Paper FrP1T7.4 Add to My Program
Hybrid Zero Dynamics Based Multiple Shooting Optimization with Applications to Robotic Walking
Hereid, AyongaTexas A&M Univ
Hubicki, ChristianOregon State Univ
Cousineau, EricTexas A&M Univ
Hurst, JonathanOregon State Univ
Ames, AaronTexas A&M Univ
14:46-14:50, Paper FrP1T7.5 Add to My Program
The Reaction Mass Biped: Equations of Motion, Hybrid Model for Walking and Trajectory Tracking Control
Sreenath, KoushilCarnegie Mellon Univ
Sanyal, AmitNew Mexico State Univ
14:50-14:54, Paper FrP1T7.6 Add to My Program
Realizing Underactuated Bipedal Walking with Torque Controllers Via the Ideal Model Resolved Motion Method
Cousineau, EricTexas A&M Univ
Ames, AaronTexas A&M Univ
14:54-14:58, Paper FrP1T7.7 Add to My Program
Analytical Approximation for the Double-Stance Phase of a Walking Robot
Shahbazi Aghbelagh, MohammadDelft Univ. of Tech
Babuska, RobertDelft Univ. of Tech
Lopes, GabrielDelft Univ. of Tech
14:58-15:02, Paper FrP1T7.8 Add to My Program
Quiet (Nearly Collisionless) Robotic Walking
Gomes, MarioRochester Inst. of Tech
Ahlin, KonradGA Tech
FrP1T8 Regular Session, WSCC 613/614 Add to My Program 
Slam Ii  
Chair: Dellaert, FrankGeorgia Inst. of Tech
Co-Chair: Behnke, SvenUniv. of Bonn
14:30-14:34, Paper FrP1T8.1 Add to My Program
SMARTPIG: Simultaneous Mosaicking and Resectioning through Planar Image Graphs
Marburg, AaronUniv. of Washington
Hayes, Michael PhilipUniv. of Canterbury
14:34-14:38, Paper FrP1T8.2 Add to My Program
Online SLAM with Any-Time Self-Calibration and Automatic Change Detection
Keivan, NimaUniv. of Colorado Boulder
Sibley, GabeUniv. of Colorado
14:38-14:42, Paper FrP1T8.3 Add to My Program
Introducing SLAMBench, a Performance and Accuracy Benchmarking Methodology for SLAM
Nardi, LuigiImperial Coll. London
Bodin, BrunoThe Univ. of Edinburgh
Zia, M ZeeshanImperial Coll. London
Mawer, JohnUniv. of Manchester
Nisbet, AndrewUniv. of Manchester
Kelly, Paul H
Davison, Andrew JImperial Coll. London
Luján, MikelUniv. of Manchester
O’Boyle, Michael F PThe Univ. of Edinburgh
Riley, GrahamUniv. of Manchester
Topham, NigelThe Univ. of Edinburgh
Furber, SteveThe Univ. of Manchester
14:42-14:46, Paper FrP1T8.4 Add to My Program
Appearance-Based SLAM in a Network Space
Corcoran, PadraigUniv. Coll. Dublin
Steiner, TedMassachusetts Inst. of Tech
Bertolotto, MichelaUniv. Coll. Dublin
Leonard, JohnMIT
14:46-14:50, Paper FrP1T8.5 Add to My Program
Image Based Optimisation without Global Consistency for Constant Time Monocular Visual SLAM
Lui, VincentMonash Univ
Drummond, TomMonash Univ
14:50-14:54, Paper FrP1T8.6 Add to My Program
Distributed Real-Time Cooperative Localization and Mapping Using an Uncertainty-Aware Expectation Maximization Approach
Dong, JingGeorgia Inst. of Tech
Nelson, ErikCarnegie Mellon Univ
Indelman, VadimTech. - Israel Inst. of Tech
Michael, NathanCarnegie Mellon Univ
Dellaert, FrankGeorgia Inst. of Tech
14:54-14:58, Paper FrP1T8.7 Add to My Program
M3RSM: Many-To-Many Multi-Resolution Scan Matching
Olson, EdwinUniv. of Michigan
14:58-15:02, Paper FrP1T8.8 Add to My Program
A Convex Relaxation for Approximate Global Optimization in Simultaneous Localization and Mapping
Rosen, DavidMassachusetts Inst. of Tech
DuHadway, CharlesGoogle
Leonard, JohnMIT
FrP1T9 Regular Session, WSCC 615/616 Add to My Program 
Bio-Inspired Robotics: Aerial and Swarms  
Chair: Hauert, SabineUniv. of Bristol
Co-Chair: Shell, DylanTexas A&M Univ
14:30-14:34, Paper FrP1T9.1 Add to My Program
A Novel Degree of Freedom in Flapping Wings Shows Promise for a Dual Aerial/Aquatic Vehicle Propulsor
Izraelevitz, JacobMassachusetts Inst. of Tech
Triantafyllou, MichaelMIT
14:34-14:38, Paper FrP1T9.2 Add to My Program
Platform Design and Tethered Flight of a Motor-Driven Flapping-Wing System
Hines, LindseyMax-Planck Inst. for Intelligent Systems
Colmenares, DavidCarnegie Mellon Univ
Sitti, MetinMax-Planck Inst. for Intelligent Systems
14:38-14:42, Paper FrP1T9.3 Add to My Program
Attitude and Altitude Estimation and Control on Board a Flapping Wing Micro Air Vehicle
Verboom, JochemTU Delft
Tijmons, SjoerdDelft Univ. of Tech
De Wagter, ChristopheDelft Univ. of Tech
Remes, BartDelft Univ. of Tech
Babuska, RobertDelft Univ. of Tech
de Croon, GuidoTU Delft / ESA
14:42-14:46, Paper FrP1T9.4 Add to My Program
Adaptive Robust Wing Trajectory Control and Force Generation of Flapping Wing MAV
Zhang, JianPurdue Univ
Cheng, BoPennsylvania State Univ
Yao, BinZhejiang Univ
Deng, XinyanPurdue Univ
14:46-14:50, Paper FrP1T9.5 Add to My Program
A New Model for Self-Organized Robotic Clustering: Understanding Boundary Induced Densities and Cluster Compactness
Kim, Jung-HwanTexas A&M Univ
Shell, DylanTexas A&M Univ
14:50-14:54, Paper FrP1T9.6 Add to My Program
Gaussian Reconstruction of Swarm Behavior from Partial Data
Wagner, GlennCarnegie Mellon
Choset, HowieCarnegie Mellon Univ
14:54-14:58, Paper FrP1T9.7 Add to My Program
A Low-Cost Robot Using Omni-Directional Vision Enables Insect-Like Behaviors
Hart, CharlesCase Western Res. Univ
Kreinar, EjCase Western Res. Univ
Chrzanowski, DavidCase Western Res. Univ
Daltorio, Kathryn ACase Western Res. Univ
Quinn, Roger, D.Case Western Res. Univ
14:58-15:02, Paper FrP1T9.8 Add to My Program
Robot-Inspired Biology: The Compound-Wave Control Template
Dai, JinCarnegie Mellon Univ
Travers, MatthewCarnegie Mellon Univ
Dear, TonyCarnegie Mellon Univ
Gong, ChaohuiCarnegie Mellon Univ
Astley, HenryGeorgia Inst. of Tech
Goldman, DanielGeorgia Inst. of Tech
Choset, HowieCarnegie Mellon Univ
FrP1T10 Regular Session, WSCC 619/620 Add to My Program 
Rehabilitation and Assistance  
Chair: Yamashita, AtsushiThe Univ. of Tokyo
Co-Chair: Mombaur, KatjaUniv. of Heidelberg
14:30-14:34, Paper FrP1T10.1 Add to My Program
Analysis of Muscle Synergy Contribution on Human Standing-Up Motion Using a Neuro-Musculoskeletal Model
An, QiThe Univ. of Tokyo
Ishikawa, YukiThe Univ. of Tokyo
Aoi, ShinyaKyoto Univ
Funato, TetsuroThe Univ. of Electro-Communications
Oka, HiroyukiThe Univ. of TOkyo
Yamakawa, HiroshiThe Univ. of TOkyo
Yamashita, AtsushiThe Univ. of Tokyo
Asama, HajimeThe Univ. of Tokyo
14:34-14:38, Paper FrP1T10.2 Add to My Program
Optimal Design of a Physical Assistive Device to Support Sit-To-Stand Motions
Ho Hoang, Khai-LongUniv. of Heidelberg
Mombaur, KatjaUniv. of Heidelberg
14:38-14:42, Paper FrP1T10.3 Add to My Program
Tandem Stance Avoidance Using Adaptive and Asymmetric Admittance Control for Fall Prevention
Nakagawa, ShotaroNagoya Univ
Di, PeiNagoya Univ
Hasegawa, YasuhisaNagoya Univ
Fukuda, ToshioMeijo Univ
Izumi, KondoNational Center for Geriatrics and Gerontology
Tanimoto, MasanoriNational Center for Geriatrics and Gerontology
Huang, JianHuazhong Univ. of Science and Tech
14:42-14:46, Paper FrP1T10.4 Add to My Program
Design and Implementation of an Instrumented Cane for Gait Recognition
Wade, JoshuaVanderbilt Univ
Beccani, MarcoVanderbilt Univ
Myszka, AlecVanderbilt Univ
Bekele, Esubalew T.Vanderbilt Univ
Valdastri, PietroVanderbilt Univ
Flemming, PatriciaVanderbilt Univ
de Riesthal, MichaelVanderbilt
Withrow, ThomasVanderbilt Univ
Sarkar, NilanjanVanderbilt Univ
14:46-14:50, Paper FrP1T10.5 Add to My Program
Therapist-In-The-Loop Robotics-Assisted Mirror Rehabilitation Therapy: An Assist-As-Needed Framework
Shahbazi, MahyaWetsern Univ. (UWO)
Atashzar, Seyed FarokhWestern Univ. (The Univ. of Western Ontario)
Tavakoli, MahdiUniv. of Alberta
Patel, Rajnikant V.The Univ. of Western Ontario
14:50-14:54, Paper FrP1T10.6 Add to My Program
Depth Image Based Gait Tracking and Analysis Via Robotic Walker
Cheng, Ching-YingNTU
Wang, Chia-MingNational Taiwan Univ
Chao, YenNational Taiwan Univ
Fu, Li-ChenNational Taiwan Univ
14:54-14:58, Paper FrP1T10.7 Add to My Program
Dynamic Brace for Correction of Abnormal Postures of the Human Spine
Park, Joon-HyukColumbia Univ
Stegall, PaulColumbia Univ
Agrawal, SunilColumbia Univ
14:58-15:02, Paper FrP1T10.8 Add to My Program
Optimal Control-On-Request: An Application in Real-Time Assistive Balance Control
Mavrommati, AnastasiaNorthwestern Univ
Ansari, AlexanderNorthwestern Univ
Murphey, ToddNorthwestern Univ
FrP1T11 , WSCC 604 Add to My Program 
Developing Countries Forum - P1  
14:30-15:40, Paper FrP1T11.1 Add to My Program
Developing Countries Forum
Dias, M. BernardineCarnegie Mellon Univ.
FrP1T12 , WSCC 617 Add to My Program 
Highlights from RAS Conferences: HAPTICS 2014  
14:30-15:40, Paper FrP1T12.1 Add to My Program
Highlights from RAS Conferences: HAPTICS 2014
Amato, NancyTexas A&M Univ.
FrP1Demo , WSCC 4C Add to My Program 
FIRST Robotics Demos & Information Sessions - P1  
14:30-15:40, Paper FrP1Demo.1 Add to My Program
FIRST Robotics Demos & Information Sessions
Amato, NancyTexas A&M Univ.
FrPMCoffee_Break , Add to My Program 
Break - Fri PM  
FrP2T1 Regular Session, WSCC 602/603 Add to My Program 
Multi-Robot Path Planning II  
Chair: Morales, MarcoInst. Tecnológico Autónomo De México
Co-Chair: Amato, ChristopherUniv. of New Hampshire
16:10-16:14, Paper FrP2T1.1 Add to My Program
Reduction of Off-Tracking Effects in an N-Trailer Emulated through a Multi-Agent Robot Mobile System
González-Sierra, JaimeCINVESTAV
Aranda-Bricaire, EduardoCINVESTAV
16:14-16:18, Paper FrP2T1.2 Add to My Program
Rendezvous with Bearing-Only Information and Limited Sensing Range
Kriegleder, MaximilianETH Zurich
Digumarti, Sundara TejaswiETH Zurich
Oung, RaymondETH Zurich
D'Andrea, RaffaelloETHZ
16:18-16:22, Paper FrP2T1.3 Add to My Program
Gesture Based Human - Multi-Robot Swarm Interaction and Its Application to an Interactive Display
Alonso-Mora, JavierMIT
Haegeli Lohaus, StefanETH Zurich
Leemann, PhilippETH Zurich
Siegwart, RolandETH Zurich
Beardsley, PaulDisney Res. Zurich
16:22-16:26, Paper FrP2T1.4 Add to My Program
Decoupled Multiagent Path Planning Via Incremental Sequential Convex Programming
Chen, YufanMassachusetts Inst. of Tech
Cutler, MarkMassachusetts Inst. of Tech
How, Jonathan PatrickMassachusetts Inst. of Tech
16:26-16:30, Paper FrP2T1.5 Add to My Program
Decentralized Control of Partially Observable Markov Decision Processes Using Belief Space Macro-Actions
Omidshafiei, ShayeganMassachusetts Inst. of Tech
Agha-mohammadi, Ali-akbarMIT
Amato, ChristopherUniv. of New Hampshire
How, Jonathan PatrickMassachusetts Inst. of Tech
16:30-16:34, Paper FrP2T1.6 Add to My Program
A Distributed Noise-Resistant Particle Swarm Optimization Algorithm for High-Dimensional Multi-Robot Learning
Di Mario, EzequielEPFL
Navarro, IñakiEc. Pol. Federale De Lausanne
Martinoli, AlcherioEPFL
16:34-16:38, Paper FrP2T1.7 Add to My Program
Cooperative Localization under Message Dropouts Via a Partially Decentralized EKF Scheme
Kia, SolmazUinversity of California Irvine
Martinez, SoniaUC San Diego
Rounds, StephenJohn Deere
16:38-16:42, Paper FrP2T1.8 Add to My Program
Prioritized Group Navigation with Formation Velocity Obstacles
Karamouzas, IoannisUniv. of Minnesota
Guy, Stephen J.Univ. of Minnesota - Twin Cities
FrP2T2 Regular Session, WSCC 606 Add to My Program 
Visual Servoing  
Chair: Papanikolopoulos, NikosUniv. of Minnesota
Co-Chair: Robuffo Giordano, PaoloCentre National De La Recherche Scientifique (CNRS)
16:10-16:14, Paper FrP2T2.1 Add to My Program
Learning the Shape of Image Moments for Optimal 3D Structure Estimation
Robuffo Giordano, PaoloCentre National De La Recherche Scientifique (CNRS)
Spica, RiccardoUniv. of Rennes I and IRISA/INRIA Rennes
Chaumette, FrancoisInria Rennes-Bretagne Atlantique
16:14-16:18, Paper FrP2T2.2 Add to My Program
Optimization of Ultrasound Image Quality Via Visual Servoing
Chatelain, PierreUniv. De Rennes 1 / IRISA / Tech. Univ. München
Krupa, AlexandreINRIA Rennes - Bretagne Atlantique
Navab, NassirTU Munich
16:18-16:22, Paper FrP2T2.3 Add to My Program
Plane Estimation by Active Vision from Point Features and Image Moments
Spica, RiccardoUniv. of Rennes I and IRISA/INRIA Rennes
Robuffo Giordano, PaoloCentre National De La Recherche Scientifique (CNRS)
Chaumette, FrancoisInria Rennes-Bretagne Atlantique
16:22-16:26, Paper FrP2T2.4 Add to My Program
Servoing across Object Instances: Visual Servoing for Object Category
Pandya, HaritIIIT Hyderabad
Krishna, MadhavaIIIT Hyderabad
Jawahar, C.V.IIIT, Hyderabad
16:26-16:30, Paper FrP2T2.5 Add to My Program
Direct Visual Servoing Based on Multiple Intensity Histograms
Bateux, QuentinUniv. De Rennes 1, IRISA
Marchand, EricUniv. De Rennes 1, IRISA, INRIA Rennes
16:30-16:34, Paper FrP2T2.6 Add to My Program
Hybrid Automatic Visual Servoing Scheme Using Defocus Information for 6-DoF Micropositioning
Cui, LeUniv. De Rennes 1
Marchand, EricUniv. De Rennes 1, IRISA, INRIA Rennes
Haliyo, Dogan SinanUniv. Pierre Et Marie Curie - Paris 6 - CNRS
Régnier, StéphaneUniv. Pierre Et Marie Curie
16:34-16:38, Paper FrP2T2.7 Add to My Program
Visual Servoing When Visual Information Is Missing: Experimental Comparison of Visual Feature Prediction Schemes
Cazy, NicolasUniv. Rennes 1
Wieber, Pierre-BriceINRIA Rhône-Alpes
Robuffo Giordano, PaoloCentre National De La Recherche Scientifique (CNRS)
Chaumette, FrancoisInria Rennes-Bretagne Atlantique
16:38-16:42, Paper FrP2T2.8 Add to My Program
An Improved Modelling Scheme for Photometric Moments with Inclusion of Spatial Weights for Visual Servoing with Partial Appearance/Disappearance
Bakthavatchalam, ManikandanInria Rennes-Bretagne Atlantique
Chaumette, FrancoisInria Rennes-Bretagne Atlantique
Tahri, OmarUniv. of Burgundy
FrP2T3 Regular Session, WSCC 607 Add to My Program 
Cooperative Manipulators  
Chair: Siciliano, BrunoUniv. Napoli Federico II
Co-Chair: Raptis, IoannisUniv. of Massachusetts Lowell
16:10-16:14, Paper FrP2T3.1 Add to My Program
Energy Control for Complex Pendulums Based on Tracking of Online Computed Force Trajectories
Christange, FranzTech. Univ. München
Donner, PhilineTech. Univ. Muenchen
Buss, MartinTech. Univ. München
16:14-16:18, Paper FrP2T3.2 Add to My Program
Object Conveyance Control Algorithms with Spatially Changeable End Target Location Using Large-Scale Actuator Networks
Sinclair, MartinUniv. of Massachusetts Lowell
Raptis, IoannisUniv. of Massachusetts Lowell
16:18-16:22, Paper FrP2T3.3 Add to My Program
Redundancy Resolution for Dual-Arm Robots Inspired by Human Asymmetric Bimanual Action: Formulation and Experiments
Lee, JinohFondazione Istituto Italiano Di Tecnologia
Chang, Pyung HunDGIST
16:22-16:26, Paper FrP2T3.4 Add to My Program
Task Specific Cooperative Grasp Planning for Decentralized Multi-Robot Systems
Muthusamy, RajkumarAalto Univ
Bechlioulis, CharalamposNational Tech. Univ. of Athens
Kyriakopoulos, KostasNational Tech. Univ. of Athens
Kyrki, VilleAalto Univ
16:26-16:30, Paper FrP2T3.5 Add to My Program
Toward Image-Based Visual Servoing for Cooperative Aerial Manipulation
Mebarki, RafikUniv. of Naples, Federico II
Lippiello, VincenzoUniv. of Naples FEDERICO II
Siciliano, BrunoUniv. Napoli Federico II
16:30-16:34, Paper FrP2T3.6 Add to My Program
Local Online Planning of Coordinated Manipulation Motion
Scarcia, UmbertoUniv. of Bologna
Hertkorn, KatharinaGerman Aerospace Center (DLR)
Melchiorri, ClaudioUniv. of Bologna
Palli, GianlucaUniv. of Bologna
Wimboeck, ThomasGerman Aerospace Center (DLR)
16:34-16:38, Paper FrP2T3.7 Add to My Program
Extended Cooperative Task Space for Manipulation Tasks of Humanoid Robots
Park, H. AndyPurdue Univ
Lee, C. S. GeorgePurdue Univ
16:38-16:42, Paper FrP2T3.8 Add to My Program
Constraint Manifold Subsearch for Multirobot Path Planning with Cooperative Tasks
Wagner, GlennCarnegie Mellon
Kim, Jae IlCarnegie Mellon Univ
Urban, KonradCarnegie Mellon Univ
Choset, HowieCarnegie Mellon Univ
FrP2T4 Regular Session, WSCC 608 Add to My Program 
Learning and Education Robotics  
Chair: Cakmak, MayaUniv. of Washington
Co-Chair: Chen, I-MingNanyang Tech. Univ
16:10-16:14, Paper FrP2T4.1 Add to My Program
ROS-Based Online Robot Programming for Remote Education and Training
Casañ, Gustavo AdolfoJaume I Univ
Cervera, EnricJaume-I Univ
Moughlbay, Amine AbouEc. Central De Nantes
Alemany, JaimeJaume-I Univ
Martinet, PhilippeEc. Centrale De Nantes
16:14-16:18, Paper FrP2T4.2 Add to My Program
AERobot: An Affordable One-Robot-Per-Student System for Early Robotics Education
Rubenstein, MichaelHarvard Univ
Cimino, BoSouth Dakota State Univ
Nagpal, RadhikaHarvard Univ
Werfel, JustinHarvard Univ
16:18-16:22, Paper FrP2T4.3 Add to My Program
Developing and Benchmarking Show & Tell Robotic Puppet for Preschool Education
Causo, AlbertNanyang Tech. Univ
Vo, Truong GiangNanyang Tech. Univ
Toh, Lai Poh EmilyNanyang Tech. Univ
Chen, I-MingNanyang Tech. Univ
Yeo, Song HuatNanyang Tech. Univ
Tzuo, Pei WenNational Inst. of Education
16:22-16:26, Paper FrP2T4.4 Add to My Program
A Distributed Robot Garden System
Sanneman, LindsayMassachusetts Inst. of Tech
Ajilo, DeborahMassachusetts Inst. of Tech
DelPreto, JosephMassachusetts Inst. of Tech
Mehta, AnkurMIT
Miyashita, ShuheiMIT
Abdolrahim Poorheravi, NeginMIT
Yim, SehyukMIT
Kim, SangbaeMassachusetts Inst. of Tech
Rus, DanielaMIT
16:26-16:30, Paper FrP2T4.5 Add to My Program
An Emotion Recognition Comparative Study of Autistic and Typically-Developing Children Using the Zeno Robot
Salvador, MichelleUniv. of Denver
Silver, SophiaUniv. of Denver
Mahoor, MohammadUniv. of Denver
16:30-16:34, Paper FrP2T4.6 Add to My Program
Fable II: Design of a Modular Robot for Creative Learning
Pacheco, MoisesTech. Univ. of Denmark
Fogh, RuneTech. Univ. of Denmark
Lund, Henrik HautopTech. Univ. of Denmark
Christensen, David JohanTech. Univ. of Denmark
16:34-16:38, Paper FrP2T4.7 Add to My Program
Retrieving Experience: Interactive Instance-Based Learning Methods for Building Robot Companions
Park, Hae WonGeorgia Inst. of Tech
Howard, AyannaGeorgia Inst. of Tech
16:38-16:42, Paper FrP2T4.8 Add to My Program
A Bidirectional Invariant Representation of Motion for Gesture Recognition and Reproduction
Soloperto, RaffaeleUniv. of Bologna
Saveriano, MatteoTech. Univ. of Munich
Lee, DongheuiTech. Univ. of Munich
FrP2T5 Regular Session, WSCC 609 Add to My Program 
Human-Robot Interaction and Performance Augmentation  
Chair: Shah, Julie A.MIT
Co-Chair: Takayama, LeilaWillow Garage
16:10-16:14, Paper FrP2T5.1 Add to My Program
Including Human Factors for Planning Comfortable Paths
Morales Saiki, Luis YoichiATR
Watanabe, AtsushiAdvanced Telecommunications Res. Inst. International (AT
Ferreri, FlorentATR
Even, JaniATR
Shinozawa, KazuhikoAdvanced Telecommunications Res. Inst
Miyashita, TakahiroATR
Hagita, NorihiroATR
Ikeda, TetsushiATR
16:14-16:18, Paper FrP2T5.2 Add to My Program
Computing Stable Contact Interface for Customized Surgical Jigs
Zhang, XiaotingThe Chinese Univ. of Hong Kong
Chan, Ka ChunThe Chinese Univ. of Hong Kong
Wang, Charlie C.L.The Chinese Univ. of Hong Kong
Wong, Kwok-ChuenThe Chinese Univ. of Hong Kong, Prince of Wales Hospital, D
16:18-16:22, Paper FrP2T5.3 Add to My Program
A Framework for End-User Instruction of a Robot Assistant for Manufacturing
Guerin, KelleherJohns Hopkins Univ
Lea, ColinJohns Hopkins Univ
Paxton, ChrisJohns Hopkins Univ
Hager, GregoryJohns Hopkins Univ
16:22-16:26, Paper FrP2T5.4 Add to My Program
Fast Target Prediction of Human Reaching Motion for Cooperative Human-Robot Manipulation Tasks Using Time Series Classification
Pérez-D'Arpino, ClaudiaMassachusetts Inst. of Tech
Shah, Julie A.MIT
16:26-16:30, Paper FrP2T5.5 Add to My Program
Human-Robot Co-Navigation Using Anticipatory Indicators of Human Walking Motion
Unhelkar, Vaibhav V.Massachusetts Inst. of Tech
Pérez-D'Arpino, ClaudiaMassachusetts Inst. of Tech
Stirling, LeiaWyss Inst. for Biologically Inspired Engineering, Harvard Un
Shah, Julie A.MIT
16:30-16:34, Paper FrP2T5.6 Add to My Program
Pedaling Assistive Control Method of Cycling Wheelchair for Hemiplegia Patients
Kaisumi, AyaTohoku Univ
Hirata, YasuhisaTohoku Univ
Kosuge, KazuhiroTohoku Univ
16:34-16:38, Paper FrP2T5.7 Add to My Program
Multi-Joint Soft Exosuit for Gait Assistance
Asbeck, AlanHarvard Univ
Schmidt, KaiHarvard Univ
Galiana, IgnacioHarvard Univ
Wagner, DianaHarvard Univ
Walsh, Conor JamesHarvard Univ
16:38-16:42, Paper FrP2T5.8 Add to My Program
“Hold-And-Manipulate” with a Single Hand Being Assisted by Wearable Extra Fingers
Wu, FayeMIT
Asada, HarryMIT
FrP2T6 Regular Session, WSCC 611 Add to My Program 
Robotic Software, Middleware and Programming Environments  
Chair: Gini, MariaUniv. of Minnesota
Co-Chair: Smart, WilliamOregon State Univ
16:10-16:14, Paper FrP2T6.1 Add to My Program
Evaluating Impact in the ROS Ecosystem
Curran, WilliamOregon State Univ
Thornton, ThomasColby Coll
Arvey, BenjaminOregon State Univ
Smart, WilliamOregon State Univ
16:14-16:18, Paper FrP2T6.2 Add to My Program
TriggerSync: A Time Synchronisation Tool
English, AndrewQueensland Univ. of Tech
Ross, PatrickQueensland Univ. of Tech
Ball, DavidQueensland Univ. of Tech
Upcroft, BenQueensland Univ. of Tech
Corke, PeterQUT
16:18-16:22, Paper FrP2T6.3 Add to My Program
The Affordance Template ROS Package for Robot Task Programming
Hart, StephenTRACLabs, Inc
Dinh, PaulOceaneering Space Systems
Hambuchen, KimberlyNASA Johnson Space Center
16:22-16:26, Paper FrP2T6.4 Add to My Program
PX4: A Node-Based Multithreaded Open Source Robotics Framework for Deeply Embedded Platforms
Meier, LorenzETH Zurich
Honegger, DominikETH Zürich
Pollefeys, MarcETH Zurich
16:26-16:30, Paper FrP2T6.5 Add to My Program
Map API - Scalable Decentralized Map Building for Robots
Cieslewski, TitusETH Zurich
Lynen, SimonETH Zurich
Dymczyk, Marcin TomaszETH Zurich, Autonomous Systems Lab
Magnenat, StéphaneETH Zürich
Siegwart, RolandETH Zurich
16:30-16:34, Paper FrP2T6.6 Add to My Program
OpenSoT: A Whole-Body Control Library for the Compliant Humanoid Robot COMAN
Rocchi, AlessioIstituto Italiano Di Tecnologia
Mingo Hoffman, EnricoFondazione Istituto Italiano Di Tecnologia
Caldwell, Darwin G.Istituto Italiano Di Tecnologia
Tsagarakis, NikosIstituto Italiano Di Tecnologia
16:34-16:38, Paper FrP2T6.7 Add to My Program
SelectScript: A Query Language for Robotic World Models and Simulations
Dietrich, AndréOtto-Von-Guericke-Univ. Magdeburg
Zug, SebastianOtto-Von-Guericke-Univ. Magdeburg
Kaiser, JörgOtto-Von-Guericke-Univ. Magdeburg
16:38-16:42, Paper FrP2T6.8 Add to My Program
Construction and Validation a High Fidelity Simulator for a Planar Range Sensor
Tallavajhula, AbhijeetCarnegie Mellon Univ
Kelly, AlonzoCarnegie Mellon Univ
FrP2T7 Regular Session, WSCC 612 Add to My Program 
Bipedal Robotic Gaits  
Chair: Yamane, KatsuDisney
Co-Chair: Yi, JingangRutgers Univ
16:10-16:14, Paper FrP2T7.1 Add to My Program
Biped Gait Controller for Large Speed Variations, Combining Reflexes and a Central Pattern Generator in a Neuromuscular Model
Van der Noot, NicolasUniv. Catholique De Louvain; École Pol. Fédérale D
Ijspeert, AukeEPFL
Ronsse, RenaudUniv. Catholique De Louvain
16:14-16:18, Paper FrP2T7.2 Add to My Program
Planning COM Trajectory with Variable Height and Foot Position with Reactive Stepping for Humanoid Robots
Van Heerden, KirillRitsumeikan Univ
16:18-16:22, Paper FrP2T7.3 Add to My Program
Adapting Human Motions to Humanoid Robots through Time Warping Based on a General Motion Feasibility Index
Zheng, YuUniv. of Michigan-Dearborn
Yamane, KatsuDisney
16:22-16:26, Paper FrP2T7.4 Add to My Program
Contact-Consistent Elastic Strips for Multi-Contact Locomotion Planning of Humanoid Robots
Chung, Shu YunStanford Univ
Khatib, OussamaStanford Univ
16:26-16:30, Paper FrP2T7.5 Add to My Program
Two Steps Is Enough, No Need to Plan Far Ahead for Walking Balance
Zaytsev, PetrCornell Univ
Hasaneini, Seyed JavadCornell Univ
Ruina, AndyCornell Univ
16:30-16:34, Paper FrP2T7.6 Add to My Program
A Robotic Bipedal Model for Human Walking with Slips
Chen, KuoRutgers Univ
Trkov, MitjaRutgers Univ
Yi, JingangRutgers Univ
Liu, TaoZhejiang Univ
Zhang, YizhaiNorthwestern Pol. Univ
Song, DezhenTexas A&M Univ
16:34-16:38, Paper FrP2T7.7 Add to My Program
Robust Spring Mass Model Running for a Physical Bipedal Robot
Martin, WilliamCarnegie Mellon Univ. Robotics Inst
Wu, AlbertCarnegie Mellon Univ
Geyer, HartmutCarnegie Mellon Univ
16:38-16:42, Paper FrP2T7.8 Add to My Program
Mimicking Human Walking with 5-Link Model Using HZD Controller
Ahmad Sharbafi, MaziarTech. Univ. of Darmstadt
Seyfarth, AndreTU Darmstadt
FrP2T8 Regular Session, WSCC 613/614 Add to My Program 
Vision-Based Mapping and Localization II  
Chair: Olson, EdwinUniv. of Michigan
Co-Chair: Hutchinson, SethUniv. of Illinois
16:10-16:14, Paper FrP2T8.1 Add to My Program
Viewpoint Simulation for Camera Pose Estimation from an Unstructured Scene Model
Rolin, PierreUniv. De Lorraine & INRIA
Berger, Marie-OdileINRIA
Sur, FredericInpl & Loria
16:14-16:18, Paper FrP2T8.2 Add to My Program
Towards Life-Long Visual Localization Using an Efficient Matching of Binary Sequences from Images
Arroyo, RobertoUniv. of Alcalá
Fernández Alcantarilla, PabloToshiba Reasearch Europe Ltd
Bergasa, Luis MiguelUniv. of Alcala
Romera, EduardoUniv. of Alcala
16:22-16:26, Paper FrP2T8.4 Add to My Program
An Iterative Kalman Smoother for Robust 3D Localization on Mobile and Wearable Devices
Kottas, DimitriosUniv. of Minnesota
Roumeliotis, StergiosUniv. of Minnesota
16:26-16:30, Paper FrP2T8.5 Add to My Program
Omnidirectional-Vision-Based Estimation for Containment Detection of a Robotic Mower
Yang, JunhoUniv. of Illinois at Urbana-Champaign
Chung, Soon-JoUniv. of Illinois at Urbana-Champaign
Hutchinson, SethUniv. of Illinois
Kise, MichioJohn Deere
Johnson, DavidDeere & Company
16:30-16:34, Paper FrP2T8.6 Add to My Program
Fast Monte Carlo Localization Using Spatial Density Information
Maffei, RenanUniv. Federal Do Rio Grande Do Sul
Jorge, VitorUniv. Federal Do Rio Grande Do Sul
Fortes Rey, VitorUFRGS
Kolberg, MarianaUFRGS
Prestes, EdsonUFRGS
16:34-16:38, Paper FrP2T8.7 Add to My Program
Unsupervised Part-Based Scene Modeling for Visual Robot Localization
Tanaka, KanjiUniv. of Fukui
16:38-16:42, Paper FrP2T8.8 Add to My Program
FARLAP: Fast Robust Localisation Using Appearance Priors
Pascoe, Geoffrey MichaelUniv. of Oxford
Maddern, WillUniv. of Oxford
Stewart, AlexOxford Univ
Newman, PaulOxford Univ
16:42-17:20, Paper FrP2T8.9 Add to My Program
RGBD Relocalisation Using Pairwise Geometry and Concise Key Point Sets
Li, ShudaThe Univ. of Bristol
Calway, AndrewUniv. of Bristol
FrP2T9 Regular Session, WSCC 615/616 Add to My Program 
Aerial Robots Navigation  
Chair: Oh, Paul Y.Univ. of Nevada, Las Vegas (UNLV)
Co-Chair: Dellaert, FrankGeorgia Inst. of Tech
16:10-16:14, Paper FrP2T9.1 Add to My Program
Robust Aerial Object Tracking in Images with Lens Flare
Nussberger, AndreasETH Zurich
Grabner, HelmutETHZ
Van Gool, LucETH Zurich
16:14-16:18, Paper FrP2T9.2 Add to My Program
Shortest Path Planning for Aerial Vehicles in Heterogeneous Environment Using RRT*
Pharpatara, PawitOnera - the French Aerospace Lab
Herisse, BrunoONERA - the French Aerospace Lab
Pepy, RomainOnera - the French Aerospace Lab
Bestaoui, YasminaUniv. of Evry
16:18-16:22, Paper FrP2T9.3 Add to My Program