2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
September 25-30, 2011, Hilton San Francisco Union Square, San Francisco, CA, USA

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Last updated on September 22, 2011. This conference program is tentative and subject to change

Technical Program for Wednesday September 28, 2011

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WeAT1 Regular Session, Continental Parlor 1 Add to My Program 
HRI: Modeling Human Behavior  
 
Chair: Arras, Kai OliverUniv. of Freiburg
Co-Chair: Campos, Mario F. MontenegroUniv. Federal de Minas Gerais
 
08:00-08:15, Paper WeAT1.1 Add to My Program
Please Do Not Disturb! Minimum Interference Coverage for Social Robots
Tipaldi, Gian DiegoUniv. of Freiburg
Arras, Kai OliverUniv. of Freiburg
 
08:15-08:30, Paper WeAT1.2 Add to My Program
Shall We Dance? a Music-Driven Approach for Mobile Robots Choreography
Sousa Junior, Samuel Felix deUniv. Federal de Minas Gerais
Campos, Mario F. MontenegroUniv. Federal de Minas Gerais
 
08:30-08:45, Paper WeAT1.3 Add to My Program
Generalising Human Demonstration Data by Identifying Affordance Symmetries in Object Interaction Trajectories
Claassens, JonathanCSIR
Demiris, YiannisImperial Coll. London
 
08:45-08:50, Paper WeAT1.4 Add to My Program
Human Preferences for Robot-Human Hand-Over Configurations
Cakmak, MayaGeorgia Inst. of Tech.
Srinivasa, SiddharthaCarnegie Mellon Univ.
Lee, Min KyungCarnegie Mellon Univ.
Forlizzi, JodiCarnegie Mellon Univ.
Kiesler, SaraCarnegie Mellon Univ.
 
08:50-08:55, Paper WeAT1.5 Add to My Program
Did You See It Hesitate? – Empirically Grounded Design of Hesitation Trajectories for Collaborative Robots
Moon, AJungUniv. of British Columbia
Parker, ChrisUniv. of British Columbia
Croft, ElizabethUniv. of British Columbia
Van der Loos, H.F. MachielUniv. of British Columbia (UBC)
 
08:55-09:00, Paper WeAT1.6 Add to My Program
VocaWather: Natural Singing Motion Generator for a Humanoid Robot
Kajita, ShuujiNational Inst. of AIST
Nakano, TomoyasuNational Inst. of AIST
Goto, MasatakaNational Inst. of Advanced Industrial Science and Tech.
Matsusaka, YosukeNational Inst. of Advanced Industrial Science andTechnology
Nakaoka, Shin'ichiroAIST
Yokoi, KazuhitoNational Inst. of AIST
 
09:00-09:15, Paper WeAT1.7 Add to My Program
Towards an Understanding of Dancers’ Coupled Body Dynamics for Waltz
Wang, HongboTohoku Univ.
Kosuge, KazuhiroTohoku Univ.
 
09:15-09:30, Paper WeAT1.8 Add to My Program
Understanding Human Interaction for Probabilistic Autonomous Navigation
Rios-Martinez, JorgeINRIA Rhone-Alpes
Spalanzani, AnneINRIA / UPMF-Grenoble 2
Laugier, ChristianINRIA Rhône-Alpes
 
WeAT2 Regular Session, Continental Parlor 2 Add to My Program 
Models and Representation  
 
Chair: Parker, LynneUniv. of Tennessee
Co-Chair: Schlegel, ChristianUniv. of Applied Sciences Ulm
 
08:00-08:15, Paper WeAT2.1 Add to My Program
Denoising of Range Images Using a Trilateral Filter and Belief Propagation
Oishi, ShujiKyushu Univ.
Kurazume, RyoKyushu Univ.
Iwashita, YumiKyushu Univ.
Hasegawa, TsutomuKyushu Univ.
 
08:15-08:30, Paper WeAT2.2 Add to My Program
Representing Actions with Kernels
Luo, GuoliangKTH - Royal Inst. of Tech.
Bergström, NiklasKTH
Ek, Carl HenrikRoyal Inst. of Tech.
Kragic, DanicaKTH
 
08:30-08:45, Paper WeAT2.3 Add to My Program
3D Crowd Surveillance and Analysis Using Laser Range Scanners
Shao, XiaoweiUniv. of Tokyo
Zhao, HuijingPeking Univ.
Shibasaki, RyosukeUniv. of Tokyo
Shi, YunCenter for Spatial Information Science, Univ. of Tokyo
Sakamoto, KiyoshiRes. and Development Center, East Japan Railway Company
 
08:45-08:50, Paper WeAT2.4 Add to My Program
4-Dimensional Local Spatio-Temporal Features for Human Activity Recognition
Zhang, HaoUniv. of Tennessee
Parker, LynneUniv. of Tennessee
 
08:50-08:55, Paper WeAT2.5 Add to My Program
Fitting Conics to Noisy Data Using Stochastic Linearization
Baum, MarcusKarlsruhe Inst. of Tech. (KIT)
Hanebeck, Uwe D.Karlsruhe Inst. of Tech. (KIT)
 
08:55-09:00, Paper WeAT2.6 Add to My Program
Bootstrapping Sensorimotor Cascades: A Group-Theoretic Perspective
Censi, AndreaCalifornia Inst. of Tech.
Murray, RichardCalifornia Inst. of Tech.
 
09:00-09:15, Paper WeAT2.7 Add to My Program
Managing Execution Variants in Task Coordination by Exploiting Design-Time Models at Run-Time
Steck, AndreasUniv. of Applied Sciences Ulm
Schlegel, ChristianUniv. of Applied Sciences Ulm
 
09:15-09:30, Paper WeAT2.8 Add to My Program
The Mathematical Model and Control of Human-Machine Perceptual Feedback System
Yoon, HanUniv. of Illinois at Urbana-Champaign
Hutchinson, SethUniv. of Illinois
 
WeAT3 Regular Session, Continental Parlor 3 Add to My Program 
Medical Robotics: Tracking & Detection  
 
Chair: Stramigioli, StefanoUniv. of Twente
Co-Chair: Plaku, ErionCatholic Univ. of America
 
08:00-08:15, Paper WeAT3.1 Add to My Program
Three-Dimensional Pose Reconstruction of Flexible Instruments from Endoscopic Images
Reilink, RobUniv. of Twente
Stramigioli, StefanoUniv. of Twente
Misra, SarthakUniv. of Twente
 
08:15-08:30, Paper WeAT3.2 Add to My Program
Detection of Curved Robots Using 3D Ultrasound
Ren, HongliangHarvard Univ.
Vasilyev, NikolayChildren's Hospital Boston and Harvard Medical School
Dupont, PierreChildren's Hospital Boston, Harvard Medical School
 
08:30-08:45, Paper WeAT3.3 Add to My Program
Comparison of Several Image Features for WCE Video Abstract
Li, BaopuChinese Univ. of Hong Kong
Meng, Max Q.-H.The Chinese Univ. of Hong Kong
 
08:45-08:50, Paper WeAT3.4 Add to My Program
Toward Development of 3D Surgical Mouse Paradigm
Sun, XiaochuanSimon Fraser Univ.
Payandeh, ShahramSimon Fraser Univ.
 
08:50-08:55, Paper WeAT3.5 Add to My Program
3D Thread Tracking for Robotic Assistance in Tele-Surgery
Padoy, NicolasJohns Hopkins Univ.
Hager, GregoryJohns Hopkins Univ.
 
08:55-09:00, Paper WeAT3.6 Add to My Program
Ultrasound Image Features of the Wrist Are Linearly Related to Finger Positions
Castellini, ClaudioDLR - German Aerospace Res. Center
Passig, GeorgGerman Aerospace Center
 
09:00-09:15, Paper WeAT3.7 Add to My Program
In-Vitro Three Dimensional Vasculature Modeling Based on Sensor Fusion between Intravascular Ultrasound and Magnetic Tracker
Shi, ChaoyangNagoya Univ.
Tercero Villagran, Carlos RafaelNagoya Univ.
Ikeda, SeiichiNagoya Univ.
Fukuda, ToshioNagoya Univ.
Komori, KimihiroNagoya Univ.
Yamamoto, KiyohitoNagoya Univ.
 
09:15-09:30, Paper WeAT3.8 Add to My Program
Surgical Tools Pose Estimation for a Multimodal HMI of a Surgical Robotic Assistant
Estebanez, BelenUniv. de Málaga
Bauzano, EnriqueUniv. of Malaga, Spain
Muñoz, VictorUniv. of Malaga
 
WeAT4 Invited Session, Continental Ballroom 4 Add to My Program 
Symposium: Haptics Interfaces for the Fingertip, Hand, and Arm  
 
Chair: Kuchenbecker, Katherine J.Univ. of Pennsylvania
Co-Chair: O'Malley, MarciaRice Univ.
Organizer: O'Malley, MarciaRice Univ.
Organizer: Kuchenbecker, Katherine J.Univ. of Pennsylvania
Organizer: Yokokohji, YasuyoshiKobe Univ.
 
08:00-08:15, Paper WeAT4.1 Add to My Program
Semi-Plenary Invited Talk: Surface Haptics: Virtual Touch on Physical Surfaces
Colgate, EdwardNorthwestern Univ.
 
08:15-08:30, Paper WeAT4.2 Add to My Program
Semi-Plenary Invited Talk: Surface Haptics: Virtual Touch on Physical Surfaces
Colgate, EdwardNorthwestern Univ.
 
08:30-08:45, Paper WeAT4.3 Add to My Program
Weight and Friction Display Device by Controlling the Slip Condition of a Fingertip
Kurita, YuichiHiroshima Univ.
Yonezawa, SatoshiNara Inst. of Science and Tech.
Ikeda, AtsutoshiNara Inst. of Science and Tech.
Ogasawara, TsukasaNara Inst. of Science and Tech.
 
08:45-08:50, Paper WeAT4.4 Add to My Program
On-Line Bio-Impedance Identification of Fingertip Skin for Enhancement of Electrotactile Based Haptic Rendering
Gregory, JohnMichigan State Univ.
Shen, YantaoUniv. of Nevada, Reno
Xi, NingMichigan State Univ.
 
08:50-08:55, Paper WeAT4.5 Add to My Program
Design of an MRI Compatible Haptic Interface
Turkseven, MelihGeorgia Inst. of Tech.
Ueda, JunGeorgia Inst. of Tech.
 
08:55-09:00, Paper WeAT4.6 Add to My Program
Force Producibility Improvement of Redundant Parallel Mechanism for Haptic Applications
Arata, JumpeiNagoya Insititute of Tech.
Ikedo, NorioNagoya Inst. of Tech.
Fujimoto, HideoNagoya Inst. of Tech.
 
09:00-09:15, Paper WeAT4.7 Add to My Program
Wide-Bandwidth Bilateral Control Using Two Stage Actuator Systems: Evaluation Results of a Prototype
Kokuryu, SaoriTokyo Denki Univ.
Izutsu, MasakiTokyo Denki Univ.
Kamamichi, NorihiroTokyo Denki Univ.
Ishikawa, JunTokyo Denki Univ.
 
09:15-09:30, Paper WeAT4.8 Add to My Program
A New Generation of Ergonomic Exoskeletons – the High-Performance X-Arm-2 for Space Robotics Telepresence
Schiele, AndreEuropean Space Agency
Hirzinger, GerdGerman Aerospace Center (DLR)
 
WeAT5 Invited Session, Continental Ballroom 5 Add to My Program 
Symposium: Robot Motion Planning: Achievements and Emerging Approaches  
 
Chair: Alterovitz, RonUniv. of North Carolina at Chapel Hill
Co-Chair: Likhachev, MaximCarnegie Mellon Univ.
Organizer: Alterovitz, RonUniv. of North Carolina at Chapel Hill
Organizer: Likhachev, MaximCarnegie Mellon Univ.
 
08:00-08:15, Paper WeAT5.1 Add to My Program
Semi-Plenary Invited Talk: 50 Years of Robotics: Motion Planning
Lozano-Perez, TomasMIT
 
08:15-08:30, Paper WeAT5.2 Add to My Program
Semi-Plenary Invited Talk: 50 Years of Robotics: Motion Planning
Lozano-Perez, TomasMIT
 
08:30-08:45, Paper WeAT5.3 Add to My Program
Conflict-Free Route Planning in Dynamic Environments (I)
ter Mors, Adriaan W.Delft Univ. of Tech.
 
08:45-08:50, Paper WeAT5.4 Add to My Program
Kinodynamic Motion Planning with State Lattice Motion Primitives (I)
Pivtoraiko, MihailCarnegie Mellon Univ.
Kelly, AlonzoCarnegie Mellon Univ.
 
08:50-08:55, Paper WeAT5.5 Add to My Program
Efficient Motion Planning for Manipulation Robots in Environments with Deformable Objects (I)
Frank, BarbaraUniv. of Freiburg
Stachniss, CyrillUniv. of Freiburg
Abdo, NicholaUniv. of Freiburg
Burgard, WolframUniv. of Freiburg
 
08:55-09:00, Paper WeAT5.6 Add to My Program
Learning Dimensional Descent Planning for a Highly-Articulated Robot Arm (I)
Vernaza, PaulUniv. of Pennsylvania
Lee, Daniel D.Univ. of Pennsylvania
 
09:00-09:15, Paper WeAT5.7 Add to My Program
A Simplified Model of RRT Coverage for Kinematic Systems (I)
Esposito, JoelUS Naval Acad.
 
09:15-09:30, Paper WeAT5.8 Add to My Program
Space-Filling Trees : A New Perspective on Motion Planning Via Incremental Search (I)
Kuffner, JamesCarnegie Mellon Univ.
LaValle, Steven MUniv. of Illinois
 
WeAT6 Invited Session, Continental Ballroom 6 Add to My Program 
Symposium: Aerial Robotics: Estimation, Perception and Control  
 
Chair: Michael, NathanUniv. of Pennsylvania
Co-Chair: Abbeel, PieterUC Berkeley
Organizer: Michael, NathanUniv. of Pennsylvania
Organizer: Abbeel, PieterUC Berkeley
Organizer: Saripalli, SrikanthArizona State Univ.
 
08:00-08:15, Paper WeAT6.1 Add to My Program
Semi-Plenary Invited Talk: Do It Yourself Drones
Anderson, ChrisWired Magazine
 
08:15-08:30, Paper WeAT6.2 Add to My Program
Semi-Plenary Invited Talk: Do It Yourself Drones
Anderson, ChrisWired Magazine
 
08:30-08:45, Paper WeAT6.3 Add to My Program
Multiple-Objective Motion Planning for Unmanned Aerial Vehicles (I)
Scherer, SebastianCarnegie Mellon Univ.
Singh, SanjivCarnegie Mellon Univ.
 
08:45-08:50, Paper WeAT6.4 Add to My Program
Bilateral Teleoperation of Multiple UAVs with Decentralized Bearing-Only Formation Control (I)
Franchi, AntonioMax Planck Inst. for Biological Cybernetics
Masone, CarloMax Planck Inst. for Biological Cybernetics
Buelthoff, Heinrich H.Max Planck Inst. for Biol. Cybernetics
Robuffo Giordano, PaoloMax Planck Inst. for Biological Cybernetics
 
08:50-08:55, Paper WeAT6.5 Add to My Program
Modeling and Decoupling Control of the CoaX Micro Helicopter (I)
Fankhauser, PeterETH Zurich
Bouabdallah, SamirSwiss Federal Inst. of Tech.
Leutenegger, StefanSwiss Federal Inst. of Tech. Zurich
Siegwart, RolandETH Zurich
 
08:55-09:00, Paper WeAT6.6 Add to My Program
On Active Target Tracking and Cooperative Localization for Multiple Aerial Vehicles (I)
Morbidi, FabioUniv. of Texas at Arlington
Mariottini, Gian LucaUniv. of Texas at Arlington
 
09:00-09:15, Paper WeAT6.7 Add to My Program
Deterministic Initialization of Metric State Estimation Filters for Loosely-Coupled Monocular Vision-Inertial Systems (I)
Kneip, LaurentETHZ
Weiss, StephanETH Zurich
Siegwart, RolandETH Zurich
 
09:15-09:30, Paper WeAT6.8 Add to My Program
Collaborative Stereo (I)
Achtelik, Markus W.ETH Zurich, Autonomous Systems Lab.
Weiss, StephanETH Zurich
Chli, MargaritaETH Zurich
Dellaert, FrankGeorgia Inst. of Tech.
Siegwart, RolandETH Zurich
 
WeAT7 Regular Session, Continental Parlor 7 Add to My Program 
Robot Walking  
 
Chair: Sentis, LuisThe Univ. of Texas at Austin
Co-Chair: Aoi, ShinyaKyoto Univ.
 
08:00-08:15, Paper WeAT7.1 Add to My Program
Self-Stabilization Principle of Mechanical Energy Inherent in Passive Compass Gait
Asano, FumihikoJapan Advanced Inst. of Science and Tech.
 
08:15-08:30, Paper WeAT7.2 Add to My Program
Model-Based Velocity Control for Limit Cycle Walking
Haarnoja, TuomasVTT Tech. Res. Centre of Finland
Peralta Cabezas, José LuisAalto
Halme, Aarne J.Helsinki Univ. of Tech.
 
08:30-08:45, Paper WeAT7.3 Add to My Program
A Walking Stability Controller with Disturbance Rejection Based on CMP Criterion and Ground Reaction Force Feedback
Beranek, RichardCarleton Univ.
Fung, HenryCarleton Univ.
Ahmadi, MojtabaCarleton Univ.
 
08:45-08:50, Paper WeAT7.4 Add to My Program
Perturbation Theory to Plan Dynamic Locomotion in Very Rough Terrains
Sentis, LuisThe Univ. of Texas at Austin
Fernandez, Benito R.The Univ. of Texas at Austin
 
08:50-08:55, Paper WeAT7.5 Add to My Program
Generation of Adaptive Splitbelt Treadmill Walking by a Biped Robot Using Nonlinear Oscillators with Phase Resetting
Aoi, ShinyaKyoto Univ.
Fujiki, SoichiroKyoto Univ.
Yamashita, TsuyoshiKyoto Univ.
Kohda, TakehisaKyoto Univ.
Senda, KeiKyoto Univ.
Tsuchiya, KazuoKyoto Univ.
 
08:55-09:00, Paper WeAT7.6 Add to My Program
Experimental Verification of Hysteresis in Gait Transition of a Quadruped Robot Driven by Nonlinear Oscillators with Phase Resetting
Aoi, ShinyaKyoto Univ.
Fujiki, SoichiroKyoto Univ.
Katayama, DaikiKyoto Univ.
Yamashita, TsuyoshiKyoto Univ.
Kohda, TakehisaKyoto Univ.
Senda, KeiKyoto Univ.
Tsuchiya, KazuoKyoto Univ.
 
09:00-09:15, Paper WeAT7.7 Add to My Program
Multi-Objective Parameter CPG Optimization for Gait Generation of a Quadruped Robot Considering Behavioral Diversity
Oliveira, MiguelMinho Univ.
Santos, CristinaUniv. of Minho
Costa, LinoUniv. of Minho
Matos, VítorUniv. of Minho
Ferreira, ManuelUniv. of Minho
 
09:15-09:30, Paper WeAT7.8 Add to My Program
A Sparse Model Predictive Control Formulation for Walking Motion Generation
Dimitrov, Dimitar NikolaevOrebro Univ.
Sherikov, AleksanderOrebro Univ.
Wieber, Pierre-BriceINRIA Rhône-Alpes
 
WeAT8 Regular Session, Continental Parlor 8 Add to My Program 
Networked Robots  
 
Chair: Lee, C. S. GeorgePurdue Univ.
Co-Chair: Lumia, RonUniv. of New Mexico
 
08:00-08:15, Paper WeAT8.1 Add to My Program
Mobility and Routing Joint Design for Lifetime Maximization in Mobile Sensor Networks
Yu, ShengweiPurdue Univ.
Lee, C. S. GeorgePurdue Univ.
 
08:15-08:30, Paper WeAT8.2 Add to My Program
Decentralized Multi-Vehicle Path Coordination under Communication Constraints
Abichandani, PramodDrexel Univ.
Benson, HandeDrexel Univ.
Kam, MosheDrexel Univ.
 
08:30-08:45, Paper WeAT8.3 Add to My Program
Optimal Maintenance Strategy in Fault-Tolerant Multi-Robot Systems
Hoshino, SatoshiTokyo Inst. of Tech.
Seki, HiroyaTokyo Inst. of Tech.
Ota, JunThe Univ. of Tokyo
 
08:45-08:50, Paper WeAT8.4 Add to My Program
Distributed Control of Multi-Robot Systems with Global Connectivity Maintenance
Sabattini, LorenzoUniv. of Modena and Reggio Emilia
Chopra, NikhilUniv. of Maryland, Coll. Park
Secchi, CristianUniv. of Modena & Reggio Emilia
 
08:50-08:55, Paper WeAT8.5 Add to My Program
RSSI-Based Physical Layout Classification and Target Tethering in Mobile Ad-Hoc Networks
Reddy, PrashantCarnegie Mellon Univ.
Veloso, ManuelaCarnegie Mellon Univ.
 
08:55-09:00, Paper WeAT8.6 Add to My Program
Heterogeneous Sensor Network for Prioritized Sensing
Cortez, AndresUniv. of New Mexico
Fierro, RafaelUniv. of New Mexico
Wood, JohnUniv. of New Mexico
Lumia, RonUniv. of New Mexico
 
09:00-09:15, Paper WeAT8.7 Add to My Program
Leader-Follower Formation Control of Nonholonomic Robots with Fuzzy Logic Based Approach for Obstacle Avoidance
Ghommam, JawharINSAT
Mehrjerdi, HasanQuebec Univ. (ETS)
Saad, MaaroufÉcole de Tech. supérieure
 
09:15-09:30, Paper WeAT8.8 Add to My Program
On the Convergence of Braitenberg Vehicle 3a Immersed in Parabolic Stimuli
Rañó, IñakiRuhr-Univ.
 
WeAT9 Regular Session, Continental Parlor 9 Add to My Program 
Vision: From Features to Applications  
 
Chair: Kosecka, JanaGeorge Mason Univ.
Co-Chair: Mahoor, MohammadUniv. of Denver
 
08:00-08:15, Paper WeAT9.1 Add to My Program
Yield Estimation in Vineyards by Visual Grape Detection
Nuske, StephenCMU Robotics Inst.
Achar, SupreethCarnegie Mellon Univ.
Bates, TerryCornell Univ.
Narasimhan, SrinivasaCarnegie Mellon Univ.
Singh, SanjivCarnegie Mellon Univ.
 
08:15-08:30, Paper WeAT9.2 Add to My Program
Robust Feature Matching for Robot Visual Learning
Gao, CeDepartment of Computer Science &Tech. B
Song, YixuDepartment of Computer Science & Tech. TsinghuaUniversity,
Jia, PeifaDepartment of Computer Science & Tech. TsinghuaUniversity,
 
08:30-08:45, Paper WeAT9.3 Add to My Program
A Rotation Invariant Feature Descriptor O-DAISY and Its FPGA Implementation
Fischer, JanFraunhofer IPA
Ruppel, AlexanderFraunhofer IPA
Weisshardt, FlorianFraunhofer IPA
Verl, AlexanderFraunhofer-Gesellschaft
 
08:45-08:50, Paper WeAT9.4 Add to My Program
Adaptive Multi-Affine (AMA) Feature-Matching Algorithm and Its Application to Minimally-Invasive Surgery Images
Puerto, Gustavo ArmandoUniv. of Texas at Arlington
Adibi, MehradUniv. of Texas Southwestern Medical Center
Cadeddu, Jeffrey A.Univ. of Texas Southwestern Medical Center
Mariottini, Gian LucaUniv. of Texas at Arlington
 
08:50-08:55, Paper WeAT9.5 Add to My Program
Video Stabilization Using SIFT-ME Features and Fuzzy Clustering
Veon, KevinUniv. of Denver
Mahoor, MohammadUniv. of Denver
Voyles, RichardUniv. of Denver
 
08:55-09:00, Paper WeAT9.6 Add to My Program
Label Propagation in Videos Indoors with an Incremental Non-Parametric Model Update
Rituerto, JorgeUniv. of Zaragoza
Murillo, Ana CristinaUniv. of Zaragoza
Kosecka, JanaGeorge Mason Univ.
 
09:00-09:15, Paper WeAT9.7 Add to My Program
A Learning Algorithm for Visual Pose Estimation of Continuum Robots
Reiter, AustinColumbia Univ.
Goldman, Roger E.Columbia Univ.
Bajo, AndreaVanderbilt Univ.
Iliopoulos, KonstantinosColumbia Univ.
Simaan, NabilVanderbilt Univ.
Allen, PeterColumbia Univ.
 
09:15-09:30, Paper WeAT9.8 Add to My Program
Multilayer Real-Time Video Stabilization
Windau, JensUniv. of Southern California
Itti, LaurentUniv. of Southern California
 
WeAPT10 Interactive Session, Golden Gate Room Add to My Program 
Interactive V  
 
 
08:00-09:30, Paper WeAPT10.1 Add to My Program
Real-Time Swept Volume and Distance Computation for Self Collision Detection
Täubig, HolgerGerman Res. Center for Artificial Intelligence
Bäuml, BertholdGerman Aerospace Centre
Frese, UdoUniv. Bremen
 
08:00-09:30, Paper WeAPT10.2 Add to My Program
Visual Navigation with Obstacle Avoidance
Cherubini, AndreaINRIA Rennes - Bretagne Atlantique
Chaumette, FrancoisINRIA Rennes-Bretagne Atlantique
 
08:00-09:30, Paper WeAPT10.3 Add to My Program
Stereo Obstacle Detection in Challenging Environments: The VIAC Experience
Broggi, AlbertoUniv. of Parma
Buzzoni, MicheleVisLab - Dipartimento di Ingegneria Dell'Informazione
Felisa, MirkoUniv. of Parma, Italy
Zani, PaoloUniv. of Parma, Italy
 
08:00-09:30, Paper WeAPT10.4 Add to My Program
A Strategy for Efficient Observation Pruning in Multi-Objective 3D SLAM
Valls Miro, JaimeUniv. of Tech. Sydney
Zhou, WeizhenUniv. of Tech. Sydney
Dissanayake, GaminiUniv. of Tech. Sydney
 
08:00-09:30, Paper WeAPT10.5 Add to My Program
Combined Visually and Geometrically Informative Link Hypothesis for Pose-Graph Visual SLAM Using Bag-Of-Words
Kim, AyoungUniv. of Michigan
Eustice, RyanUniv. of Michigan
 
08:00-09:30, Paper WeAPT10.6 Add to My Program
RS-SLAM: RANSAC Sampling for Visual FastSLAM
Lee, Gim HeeETH Zurich
Fraundorfer, FriedrichETH Zurich
Pollefeys, MarcETH Zurich
 
08:00-09:30, Paper WeAPT10.7 Add to My Program
First Leaps Toward Jumping Microrobots (I)
Bergbreiter, SarahUniv. of Maryland, Coll. Park
Gerratt, Aaron P.Univ. of Maryland, Coll. Park
Churaman, WayneU.S. Army Res. Lab.
 
08:00-09:30, Paper WeAPT10.8 Add to My Program
Micro-Scale Propulsion Using Multiple Flexible Artificial Flagella (I)
Singleton, JohnCarnegie Mellon Univ.
Diller, Eric D.Carnegie Mellon Univ.
Régnier, StéphaneUniv. Pierre et Marie Curie
Sitti, MetinCarnegie Mellon Univ.
 
08:00-09:30, Paper WeAPT10.9 Add to My Program
Smart Manipulation of Multiple Bacteria-Driven Microobjects Based on Bacterial Autonomous Movement
Nogawa, KousukeNagoya Univ.
Kojima, MasaruNagoya Univ.
Nakajima, MasahiroNagoya Univ.
Homma, MichioNagoya Univ.
Fukuda, ToshioNagoya Univ.
 
08:00-09:30, Paper WeAPT10.10 Add to My Program
Dual Predictive Control of Electrically Stimulated Muscle Using Biofeedback for Drop Foot Correction
Zhang, QinINRIA/UM2
Hayashibe, MitsuhiroINRIA
Azevedo Coste, ChristineLIRMM
 
08:00-09:30, Paper WeAPT10.11 Add to My Program
Gait Support for Complete Spinal Cord Injury Patient by Synchronized Leg-Swing with HAL
Tsukahara, AtsushiUniv. of Tsukuba
Hasegawa, YasuhisaUniv. of Tsukuba
Sankai, YoshiyukiUniv. of Tsukuba
 
08:00-09:30, Paper WeAPT10.12 Add to My Program
A Subject-Based Motion Generation Model with Adjustable Walking Pattern for a Gait Robotic Trainer: NaTUre-Gaits
Wang, PingNanyang Tech. Univ.
Low, K. H.Nanyang Tech. Univ.
 
08:00-09:30, Paper WeAPT10.13 Add to My Program
Experimental Evaluation of Postural Synergies During Reach to Grasp with the UB Hand IV
Ficuciello, FannyUniv. di Napoli Federico II
Palli, GianlucaUniv. of Bologna
Melchiorri, ClaudioUniv. of Bologna
Siciliano, BrunoUniv. Napoli Federico II
 
08:00-09:30, Paper WeAPT10.14 Add to My Program
Planning Grasps for Robotic Hands Using a Novel Object Representation Based on the Medial Axis Transform
Przybylski, MarkusKarlsruhe Inst. of Tech. (KIT)
Asfour, TamimKarlsruhe Inst. of Tech. (KIT)
Dillmann, RüdigerKIT Karlsruher Inst. für Tech.
 
08:00-09:30, Paper WeAPT10.15 Add to My Program
Exploiting Potential Energy Storage for Cyclic Manipulation: An Analysis for Elastic Dribbling with an Anthropomorphic Robot
Haddadin, SamiGerman Aerospace Center (DLR)
Krieger, KaiGerman Aerospace Center
Kunze, MirkoGerman Aerospace Center
Albu-Schäffer, AlinDLR - German Aerospace Center
 
08:00-09:30, Paper WeAPT10.16 Add to My Program
Variable Radius Pulley Design Methodology for Pneumatic Artificial Muscle-Based Antagonistic Actuation Systems
Shin, DongjunStanford Univ.
Yeh, XiyangStanford Univ.
Khatib, OussamaStanford Univ.
 
08:00-09:30, Paper WeAPT10.17 Add to My Program
Wrist and Forearm Rotation of the DLR Hand Arm System: Mechanical Design, Shape Analysis and Experimental Validation
Friedl, WernerGerman AerospaceCenter (DLR)
Hoeppner, HannesDLR - German Aerospace Center
Petit, FlorianGerman Aerospace Center (DLR)
Hirzinger, GerdGerman Aerospace Center (DLR)
 
08:00-09:30, Paper WeAPT10.18 Add to My Program
High-Backdrivable Parallel-Link Manipulator with Continuously Variable Transmission
Tahara, KenjiKyushu Univ.
Iwasa, ShingoKyushu Univ.
Naba, ShuKyushu Univ.
Yamamoto, MotojiKyushu Univ.
 
08:00-09:30, Paper WeAPT10.19 Add to My Program
A Snake-Like Robot Driven by a Decentralized Control That Enables Both Phasic and Tonic Control
Sato, TakahideTohoku Univ.
Kano, TakeshiTohoku Univ.
Ishiguro, AkioTohoku Univ.
 
08:00-09:30, Paper WeAPT10.20 Add to My Program
Lizard-Inspired Active Tails Enable Rapid Maneuvers and Dynamic Stabilization in a Terrestrial Robot
Chang-Siu, EvanUniv. of California, Berkeley
Libby, TomUniv. of California, Berkeley
Tomizuka, MasayoshiUniv. of California
Full, RobertUniv. of California at Berkeley
 
08:00-09:30, Paper WeAPT10.21 Add to My Program
Moving Right Arm in the Right Place: Ophiuroid-Inspired Omnidirectional Robot Driven by Coupled Dynamical Systems
Watanabe, WataruTohoku Univ.
Suzuki, ShotaTohoku Univ.
Kano, TakeshiTohoku Univ.
Ishiguro, AkioTohoku Univ.
 
08:00-09:30, Paper WeAPT10.22 Add to My Program
DLR VR-SCAN: A Versatile and Robust Miniaturized Laser Scanner for Short Range 3D-Modelling and Exploration in Robotics
Kielhöfer, SimonGerman Aerospace Center (DLR)
Bahls, ThomasGerman Aerospace Center
Hacker, FranzDeutsches Zentrum für Luft- und Raumfahrt e.V. (DLR)
Wüsthoff, TiloDLR
Suppa, MichaelGerman Aerospace Center (DLR)
 
08:00-09:30, Paper WeAPT10.23 Add to My Program
Piezoelectric Self-Sensing Technique for Tweezer Style End-Effector
McPherson, TimothyGeorgia Inst. of Tech.
Ueda, JunGeorgia Inst. of Tech.
 
08:00-09:30, Paper WeAPT10.24 Add to My Program
Development of a Fabric Sensor Using Tension-Sensitive Electro-Conductive Yarns in Recognition of Slippage
Ho, VanRitsumeikan Univ.
Kondo, DaisukeGraduate School of Science and Engineering
Okada, ShimaGraduate School of Science and Engineering, Ritsumeikan Univ.
Araki, TakahiroRes. and Development Div. Okamoto Corp.
Fujita, EmiRes. and Development Div. Okamoto Corp.
Makikawa, MasaakiColl. of Science and Engineering, Ritsumeikan Univ.
Hirai, ShinichiRitsumeikan Univ.
 
WeBT1 Regular Session, Continental Parlor 1 Add to My Program 
Socially Assistive Robots  
 
Chair: Nunes, UrbanoUniv. de Coimbra
Co-Chair: Wade, EricUniv. of Southern California
 
10:00-10:15, Paper WeBT1.1 Add to My Program
Using Socially Assistive Robotics to Augment Motor Task Performance in Individuals Post–Stroke
Wade, EricUniv. of Southern California
Parnandi, AvinashTexas A&M, USC
Mataric, MajaUniv. of Southern California
 
10:15-10:30, Paper WeBT1.2 Add to My Program
The Impact of Different Competence Levels of Care-Receiving Robot on Children
Ghosh, MadhumitaUniv. of Tsukuba
Tanaka, FumihideUniv. of Tsukuba
 
10:30-10:45, Paper WeBT1.3 Add to My Program
An Experience-Driven Robotic Assistant Acquiring Human Knowledge to Improve Haptic Cooperation
Medina Hernandez, Jose RamonTech. Univ. München
Lawitzky, MartinTech. Univ. Muenchen
Mörtl, AlexanderTech. Univ. München
Lee, DongheuiTech. Univ. of Munich
Hirche, SandraTech. Univ. München
 
10:45-10:50, Paper WeBT1.4 Add to My Program
Study on a Practical Robotic Follower to Support Home Oxygen Therapy Patients -Development and Control of a Mobile Platform
Tani, AtsushiTokyo Inst. of Tech.
Endo, GenTokyo Inst. of Tech.
Fukushima, Edwardo F.Tokyo Inst. of Tech.
Hirose, ShigeoTokyo Inst. of Tech.
Iribe, MasatsuguOsaka Electro-Communication Univ.
Takubo, ToshioTokyo Women’s Medical Univ.
 
10:50-10:55, Paper WeBT1.5 Add to My Program
Progress in Developing a Socially Assistive Mobile Home Robot Companion for the Elderly with Mild Cognitive Impairment
Gross, Horst-MichaelIlmenau Univ. of Tech.
Schroeter, ChristofIlmenau Univ. of Tech.
Mueller, SteffenIlmenau Univ. of Tech.
Volkhardt, MichaelIlmenau, Univ. of Tech.
Einhorn, ErikIlmenau Univ. of Tech.
Bley, AndreasMetraLabs GmbH
Martin, ChristianMetraLabs GmbH
Merten, MatthiasMetraLabs GmbH
Langner, TimMetraLabs GmbH
 
10:55-11:00, Paper WeBT1.6 Add to My Program
Wheelchair Navigation Assisted by Human-Machine Shared-Control and a P300-Based Brain Computer Interface
Lopes, AnaUniv. of Coimbra
Pires, GabrielUniv. of Coimbra
Vaz, LuísUniv. of Coimbra
Nunes, UrbanoUniv. de Coimbra
 
11:00-11:15, Paper WeBT1.7 Add to My Program
Whole-Body Contact Manipulation Using Tactile Information for the Nursing-Care Assistant Robot RIBA
Mukai, ToshiharuRIKEN
Hirano, ShinyaRIKEN RTC
Yoshida, MorioRIKEN
Nakashima, HiromichiRIKEN
Guo, ShijieTokai Rubber Industries, Ltd.
Hayakawa, YoshikazuNagoya Univ.
 
11:15-11:30, Paper WeBT1.8 Add to My Program
Should Robots or People Do These Jobs? a Survey of Robotics Experts and Non-Experts about Which Jobs Robots Should Do
Ju, WendyWillow Garage
Takayama, LeilaWillow Garage
 
WeBT2 Regular Session, Continental Parlor 2 Add to My Program 
Estimation & Sensor Fusion  
 
Chair: Peynot, ThierryThe Univ. of Sydney
Co-Chair: Martinelli, AgostinoINRIA Grenoble-Rhone-Alpes
 
10:00-10:15, Paper WeBT2.1 Add to My Program
Vision-Aided Inertial Navigation: Closed-Form Determination of Absolute Scale, Speed and Attitude
Martinelli, AgostinoINRIA Grenoble-Rhone-Alpes
Troiani, ChiaraINRIA Rhone Alpes
Renzaglia, AlessandroINRIA
 
10:15-10:30, Paper WeBT2.2 Add to My Program
Attitude Determination Framework by Globally and Asymptotically Stable Bias Error Estimation with Disturbance Attenuation and Rejection
Yamato, HideakiChiba Inst. of Tech.
Furuta, TakayukiChiba Inst. of Tech.
Tomiyama, KenChiba Inst. of Tech.
 
10:30-10:45, Paper WeBT2.3 Add to My Program
Time-Varying Complementary Filtering for Attitude Estimation
Chang-Siu, EvanUniv. of California, Berkeley
Tomizuka, MasayoshiUniv. of California
Kong, KyoungchulSogang Univ.
 
10:45-10:50, Paper WeBT2.4 Add to My Program
A Sensor Fusion Approach to Angle and Angular Rate Estimation
Kubus, DanielTech. Univ. Braunschweig
Wahl, Friedrich M.Tech. Univ. of Braunschweig
 
10:50-10:55, Paper WeBT2.5 Add to My Program
Combining Multiple Sensor Modalities for a Localisation Robust to Smoke
Brunner, Christopher JosephThe Univ. of Sydney
Peynot, ThierryThe Univ. of Sydney
Vidal-Calleja, Teresa A.Univ. of Sydney
 
10:55-11:00, Paper WeBT2.6 Add to My Program
Multisensor Data Fusion for Robust Pose Estimation of a Six-Legged Walking Robot
Chilian, AnnettDLR German Aerospace Center
Hirschmüller, HeikoGerman Aerospace Center (DLR)
Goerner, MartinGerman Aerospace Center (DLR)
 
11:00-11:15, Paper WeBT2.7 Add to My Program
An Improved Pedestrian Inertial Navigation System for Indoor Environments
Lamy-Perbal, SylvieCEA
Boukallel, MehdiCEA
 
11:15-11:30, Paper WeBT2.8 Add to My Program
Learning the Delaunay Triangulation of Landmarks from a Distance Ordering Sensor
Katsev, MaxUniv. of Illinois
LaValle, Steven MUniv. of Illinois
 
WeBT3 Regular Session, Continental Parlor 3 Add to My Program 
Surgical Robotics  
 
Chair: Chung, Wan KyunPOSTECH
Co-Chair: Misra, SarthakUniv. of Twente
 
10:00-10:15, Paper WeBT3.1 Add to My Program
A Bimanual Teleoperated System for Endonasal Skull Base Surgery
Burgner, JessicaVanderbilt Univ.
Swaney, PhilipVanderbilt Univ.
Rucker, CalebVanderbilt Univ.
Gilbert, Hunter B.Rice Univ.
Nill, Scott T.Vanderbilt Univ.
Russell, Paul T.Vanderbilt Univ. Medical Center
Weaver, Kyle D.Vanderbilt Univ. Medical Center
Webster III, Robert JamesVanderbilt Univ.
 
10:15-10:30, Paper WeBT3.2 Add to My Program
Automated Surgical Planning and Evaluation Algorithm for Spinal Fusion Surgery with Three-Dimensional Pedicle Model
Lee, JongwonPOSTECH
Kim, SungminHanyang Univ.
Kim, Young SooSchool of Medicine, Hanyang Univ.
Chung, Wan KyunPOSTECH
Kim, MinjunPOSTECH
 
10:30-10:45, Paper WeBT3.3 Add to My Program
Evaluation of Command Modes of an Assistance Robot for Middle Ear Surgery
Kazmitcheff, GuillaumeUMR-S 867 Inserm / Univ. Paris 7 Denis Diderot
Miroir, MathieuUMR-S 867 Inserm / Univ. Paris 7 Denis Diderot
Nguyen, YannUnit-M 867 Inserm / Paris 7 Denis-Diderot
Célérier, CharlotteUMR-S 867 Inserm / Univ. Paris 7 Denis Diderot
Mazalaigue, StéphaneCompany Coll. inc
Ferrary, EvelyneUMR-S 867 Inserm / Univ. Paris 7 Denis Diderot / AP-HP, hôp
Sterkers, OlivierUFR de Médecine Paris 7 Denis Diderot Faculté Xavier Bichat
Bozorg Grayeli, AlexisUMR-S 867 Inserm / Univ. Paris 7 Denis Diderot / AP-HP, hôp
 
10:45-10:50, Paper WeBT3.4 Add to My Program
Towards Validation of Robotic Surgery Training Assessment across Training Platforms
Gao, YixinJohns Hopkins Univ.
Sedef, MertKoc Univ.
Jog, AmodJohns Hopkins Univ.
Peng, PeterJohns Hopkins Univ.
Choti, MichaelJohns Hopkins Univ.
Hager, GregoryJohns Hopkins Univ.
Berkley, JeffMIMIC Tech. Inc
Kumar, RajeshJohns Hopkins Univ.
 
10:50-10:55, Paper WeBT3.5 Add to My Program
Adaptive Path Planning for Steerable Needles Using Duty-Cycling
Bernardes, Mariana CostaUniv. of Montpellier 2 / CNRS - LIRMM
Adorno, Bruno VilhenaUniv. of Montpellier 2 / CNRS - LIRMM
Poignet, PhilippeLIRMM UMR 5506 CNRS UM2
Zemiti, NabilUniv. Montpellier II - CNRS UMR 5506
Borges, Geovany AraujoUniv. de Brasilia
 
10:55-11:00, Paper WeBT3.6 Add to My Program
An Analytical Model for Deflection of Flexible Needles During Needle Insertion
Asadian, AliThe Univ. of Western Ontario (UWO)
Kermani, Mehrdad R.Univ. of Western Ontario
Patel, Rajnikant V.The Univ. of Western Ontario
 
11:00-11:15, Paper WeBT3.7 Add to My Program
Mechanics of Needle-Tissue Interaction
Roesthuis, RoyUniv. of Twente
van Veen, YouriUniv. of Twente
Jahya, AlexUniv. of Twente, The Netherlands
Misra, SarthakUniv. of Twente
 
11:15-11:30, Paper WeBT3.8 Add to My Program
Feasibility Study of an Optically Actuated MR-Compatible Active Needle
Ryu, Seok ChangStanford Univ.
Renaud, PierreLSIIT, Strasbourg Univ.
Black, Richard J.Intelligent Fiber Optic Systems Corp.
Daniel, BruceStanford Univ. Department of Radiology
Cutkosky, MarkStanford Univ.
 
WeBT4 Invited Session, Continental Ballroom 4 Add to My Program 
Symposium: Hardware and Software Design for Haptic Systems  
 
Chair: Yokokohji, YasuyoshiKobe Univ.
Co-Chair: Kuchenbecker, Katherine J.Univ. of Pennsylvania
Organizer: O'Malley, MarciaRice Univ.
Organizer: Kuchenbecker, Katherine J.Univ. of Pennsylvania
Organizer: Yokokohji, YasuyoshiKobe Univ.
 
10:00-10:15, Paper WeBT4.1 Add to My Program
A Friction Differential and Cable Transmission Design for a 3-DOF Haptic Device with Spherical Kinematics
Brewer, ReubenStanford Univ.
Leeper, Adam EricStanford Univ.
Salisbury, KennethStanford Univ.
 
10:15-10:30, Paper WeBT4.2 Add to My Program
Hi5: A Versatile Dual-Wrist Device to Study Human-Human Interaction and Bimanual Control
Melendez-Calderon, AlejandroImperial Coll. London
Bagutti, LorenzoImperial Coll. London
Pedrono, BriceImperial Coll. London
Burdet, Etienneimperial Coll. london
 
10:30-10:45, Paper WeBT4.3 Add to My Program
Coaxial Needle Insertion Assistant for Epidural Puncture
Koseki, YoshihikoAIST
De Lorenzo, DaniloPol. di Milano
Chinzei, KiyoyukiNational Inst. of Advanced Industrial Science andTechnology
Okamura, Allison M.Johns Hopkins Univ.
 
10:45-10:50, Paper WeBT4.4 Add to My Program
Two Hands Are Better Than One: Assisting Users with Multi-Robot Manipulation Tasks
Lewis, BennieUniv. of Central Florida
Sukthankar, GitaUniv. of Central Florida
 
10:50-10:55, Paper WeBT4.5 Add to My Program
3-DOF Haptic Feedback for Assisted Driving of an Omnidirectional Wheelchair
Christensen, QuintonUniv. of Utah
Mascaro, StephenUniv. of Utah
 
10:55-11:00, Paper WeBT4.6 Add to My Program
Configuration-Based Optimization for Six Degree-Of-Freedom Haptic Rendering Using Sphere-Trees
Zhang, XinBeihang Univ.
Wang, DangxiaoBeihang Univ.
Zhang, YuruBeihang Univ.
Xiao, JingUNC-Charlotte
 
11:00-11:15, Paper WeBT4.7 Add to My Program
Asynchronous Haptic Simulation of Contacting Deformable Objects with Variable Stiffness
Peterlik, IgorINRIA Lille Nord Europe
Duriez, ChristianINRIA
Cotin, StephaneINRIA
 
11:15-11:30, Paper WeBT4.8 Add to My Program
Proxy Method for Fast Haptic Rendering from Time Varying Point Clouds
Rydén, FredrikUniv. of Washington
Nia Kosari, SinaUniv. of Washington
Chizeck, HowardUniv. of Washington
 
WeBT5 Invited Session, Continental Ballroom 5 Add to My Program 
Symposium: Foundations and Future Prospects of Sampling-Based Motion
Planning
 
 
Chair: Bekris, Kostas E.Univ. of Nevada, Reno
Co-Chair: LaValle, Steven MUniv. of Illinois
Organizer: Bekris, Kostas E.Univ. of Nevada, Reno
Organizer: LaValle, Steven MUniv. of Illinois
 
10:00-10:15, Paper WeBT5.1 Add to My Program
Semi-Plenary Invited Talk: Sampling-Based Algorithms for General Motion Control Problems: Recent Advances and New Challenges
Frazzoli, EmilioMassachusetts Inst. of Tech.
 
10:15-10:30, Paper WeBT5.2 Add to My Program
Semi-Plenary Invited Talk: Sampling-Based Algorithms for General Motion Control Problems: Recent Advances and New Challenges
Frazzoli, EmilioMassachusetts Inst. of Tech.
 
10:30-10:45, Paper WeBT5.3 Add to My Program
An Obstacle-Responsive Technique for the Management and Distribution of Local Rapidly-Exploring Random Trees (I)
Wedge, NathanCase Western Res. Univ.
Branicky, MichaelCase Western Res. Univ.
 
10:45-10:50, Paper WeBT5.4 Add to My Program
Finding Critical Changes in Dynamic Configuration Spaces (I)
Lu, YanyanGeorge Mason Univ.
Lien, Jyh-MingGeorge Mason Univ.
 
10:50-10:55, Paper WeBT5.5 Add to My Program
Toggle PRM: Simultaneous Mapping of C-Free and C-Obstacle - a Study in 2D - (I)
Denny, JoryTexas A&M Univ.
Amato, NancyTexas A&M Univ.
 
10:55-11:00, Paper WeBT5.6 Add to My Program
Sampling Heuristics for Optimal Motion Planning in High Dimensions
Akgun, BarisGeorgia Inst. of Tech.
Stilman, MikeGeorgia Tech.
 
11:00-11:15, Paper WeBT5.7 Add to My Program
EG-RRT: Environment-Guided Random Trees for Kinodynamic Motion Planning with Uncertainty and Obstacles (I)
Jaillet, LeonardInst. de Robòtica i Informàtica Industrial CSIC-UPC
Hoffman, JudyUniv. of California, Berkeley
van den Berg, JurUniv. of North Carolina at Chapel Hill
Abbeel, PieterUC Berkeley
Porta, Josep MCSIC-UPC
Goldberg, KenUC Berkeley
 
11:15-11:30, Paper WeBT5.8 Add to My Program
Planning Humanlike Actions in Blending Spaces (I)
Huang, YazhouUniv. of California Merced
Mahmudi, MentarUniv. of California Merced
Kallmann, MarceloUniv. of California, Merced
 
WeBT6 Invited Session, Continental Ballroom 6 Add to My Program 
Symposium: Aerial Robotics: Control and Planning  
 
Chair: Saripalli, SrikanthArizona State Univ.
Co-Chair: Abbeel, PieterUC Berkeley
Organizer: Michael, NathanUniv. of Pennsylvania
Organizer: Abbeel, PieterUC Berkeley
Organizer: Saripalli, SrikanthArizona State Univ.
 
10:00-10:15, Paper WeBT6.1 Add to My Program
UAV Rotorcraft in Compliant Contact: Stability Analysis and Simulation
Pounds, PaulYale Univ.
Dollar, AaronYale Univ.
 
10:15-10:30, Paper WeBT6.2 Add to My Program
Design, Modeling, Estimation and Control for Aerial Grasping and Manipulation (I)
Mellinger, DanielUniv. of Pennsylvania
Lindsey, QuentinUniv. of Pennsylvania
Shomin, MichaelUniv. of Pennsylvania
Kumar, VijayUniv. of Pennsylvania
 
10:30-10:45, Paper WeBT6.3 Add to My Program
Flight Control for Target Seeking by 13 Gram Ornithopter
Baek, StanleyUC Berkeley
Garcia Bermudez, FernandoUniv. of California, Berkeley
Fearing, RonaldUniv. of California at Berkeley
 
10:45-10:50, Paper WeBT6.4 Add to My Program
Embedded Robust Nonlinear Control for a Four-Rotor Rotorcraft: Validation in Real-Time with Wind Disturbances
Muñoz Hernandez, Laura ElenaHEUDIASYC UMR UTC 6599
Castillo, PedroUniv. de Tech. de Compiègne
Sanahuja, GuillaumeUniv. de Tech. de Compiègne
Santos Sanchez, Omar JacoboUniv. Autonoma del Estado de Hidalgo, Mexico
 
10:50-10:55, Paper WeBT6.5 Add to My Program
Differential Flatness Based Control of a Rotorcraft for Aggressive Maneuvers
Ferrin, JeffreyBrigham Young Univ.
Leishman, RobertBrigham Young Univ.
Beard, RandyBrigham Young Univ.
McLain, T.W.Bringham Young Univ.
 
10:55-11:00, Paper WeBT6.6 Add to My Program
Robust Embedded Egomotion Estimation (I)
Voigt, RainerETH Zurich
Nikolic, JanoschETH Zürich
Hürzeler, ChristophETH Zürich
Weiss, StephanETH Zurich
Kneip, LaurentETHZ
Siegwart, RolandETH Zurich
 
11:00-11:15, Paper WeBT6.7 Add to My Program
Magnetic Localization for Perching UAVs on Powerlines (I)
Moore, JosephMassachusetts Inst. of Tech.
Tedrake, RussMassachusetts Inst. of Tech.
 
11:15-11:30, Paper WeBT6.8 Add to My Program
Persistent Surveillance with a Team of MAVs (I)
Michael, NathanUniv. of Pennsylvania
Stump, EthanArmy Res. Lab.
Mohta, KartikUniv. of Pennsylvania
 
WeBT7 Regular Session, Continental Parlor 7 Add to My Program 
Passive Walking & Leg-Wheeled Robots  
 
Chair: Kwon, Dong-SooKAIST
Co-Chair: Buehler, MartiniRobot
 
10:00-10:15, Paper WeBT7.1 Add to My Program
Nonlinear Structure of Escape-Times to Fall of a Passive Dynamic Walker on an Irregular Slope: Anomaly Detection by Multi-Class Support Vector Machine and Latent State Extraction by Canonical Correlation Analysis
Suetani, HiromichiKagoshima Univ.
Ideta, AikoKagoshima Univ.
Morimoto, JunATR Computational Neuroscience Lab.
 
10:15-10:30, Paper WeBT7.2 Add to My Program
Increasing the Robustness of Acrobot Walking Control Using Compliant Mechanisms
Ahmad Sharbafi, MaziarUniv. of Tehran
Yazdanpanah, M. J.Univ. of Tehran
Nili Ahmadabadi, MajidUniv. of Tehran
 
10:30-10:45, Paper WeBT7.3 Add to My Program
Optimal Gait Switching for Legged Locomotion
Kersbergen, BartDelft Univ. of Tech.
Lopes, GabrielDelft Univ. of Tech.
van den Boom, TonDelft Univ. of Tech.
De Schutter, BartDelft Univ. of Tech.
Babuska, RobertDelft Univ. of Tech.
 
10:45-10:50, Paper WeBT7.4 Add to My Program
Development and Experiment of a Kneed Biped Walking Robot Based on Parametric Excitation Principle
Banno, YoshihisaNagoya Univ.
Harata, YujiHiroshima Univ.
Taji, KouichiNagoya Unviersity
Uno, YojiNagoya Univ.
 
10:50-10:55, Paper WeBT7.5 Add to My Program
Switchblade: An Agile Treaded Rover
Morozovsky, NicholasUniv. of California San Diego
Schmidt-Wetekam, ChristopherUniv. of California San Diego
Bewley, ThomasFlow Control & Coordinated Robotics Lab.
 
10:55-11:00, Paper WeBT7.6 Add to My Program
Passive Dynamic Walking of Combined Rimless Wheel and Its Speeding-Up by Adjustment of Phase Difference
Inoue, RyosukeJapan Advanced Inst. of Science and Tech.
Asano, FumihikoJapan Advanced Inst. of Science and Tech.
Tanaka, DaikiJapan Advanced Inst. of Science and Tech.
Tokuda, IsaoJapan Advanced Inst. of Science and Tech.
 
11:00-11:15, Paper WeBT7.7 Add to My Program
Robust Obstacle Crossing of a Wheel-Legged Mobile Robot Using Minimax Force Distribution and Self-Reconfiguration
Jarrault, PierreUniv. Pierre et Marie Curie Paris 6
Grand, ChristopheUniv. Pierre et Marie Curie
Bidaud, PhilippeUniv. Pierre et Marie Curie - Paris 6
 
11:15-11:30, Paper WeBT7.8 Add to My Program
Zero-Moment Point Feedforward Balance Control of Leg-Wheel Hybrid Structures by Using Input/Output Linearization
An, Sang-ikKorea Advanced Inst. of Science and Tech. (KAIST)
Kwon, Dong-SooKAIST
 
WeBT8 Regular Session, Continental Parlor 8 Add to My Program 
Multirobot Systems: Rendezvous & Task Switching  
 
Chair: Vaughan, RichardSimon Fraser Univ.
Co-Chair: Arrichiello, FilippoUniv. di Cassino
 
10:00-10:15, Paper WeBT8.1 Add to My Program
Bayesian Rendezvous for Distributed Robotic Systems
Gowal, SvenEPFL
Martinoli, AlcherioEPFL
 
10:15-10:30, Paper WeBT8.2 Add to My Program
Power-Aware Rendezvous with Shrinking Footprints
Jaleel, HassanGeorgia Inst. of Tech.
Egerstedt, MagnusGeorgia Inst. of Tech.
 
10:30-10:45, Paper WeBT8.3 Add to My Program
A Decentralized Controller-Observer Scheme for Multi-Robot Weighted Centroid Tracking
Antonelli, GianlucaUniv. degli Studi di Cassino
Arrichiello, FilippoUniv. di Cassino
Caccavale, FabrizioUniv. degli Studi della Basilicata
Marino, AlessandroUniv. degli Studi della Basilicata
 
10:45-10:50, Paper WeBT8.4 Add to My Program
Market-Based Coordination of Coupled Robot Systems
Xu, LingCarnegie Mellon Univ.
Stentz, AnthonyCarnegie Mellon Univ.
 
10:50-10:55, Paper WeBT8.5 Add to My Program
Event-Driven Gaussian Process for Object Localization in Wireless Sensor Networks
Yoo, Jae HyunSeoul National Univ.
Kim, WoojinSchool of Mechanical and Aerospace Engineering, Seoul National U
Kim, H. JinSeoul National Univ.
 
10:55-11:00, Paper WeBT8.6 Add to My Program
Multi-Robot Patrolling with Coordinated Behaviours in Realistic Environments
Iocchi, LucaSapienza Univ. of Roma
Marchetti, LucaSophia Antipolis - Méditerranée
Nardi, DanieleSapienza Univ. of Rome
 
11:00-11:15, Paper WeBT8.7 Add to My Program
Task Switching in Multirobot Learning through Indirect Encoding
D'Ambrosio, DavidUniv. of Central Florida
Lehman, JoelUniv. of Central Florida
Risi, SebastianUniv. of Central Florida (UCF)
Stanley, KennethUniv. of Central Florida
 
11:15-11:30, Paper WeBT8.8 Add to My Program
Multi-Robot Coordination Methodology in Congested Systems with Bottlenecks
Hoshino, SatoshiTokyo Inst. of Tech.
 
WeBT9 Regular Session, Continental Parlor 9 Add to My Program 
Visual Servoing  
 
Chair: Chaumette, FrancoisINRIA Rennes-Bretagne Atlantique
Co-Chair: Hutchinson, SethUniv. of Illinois
 
10:00-10:15, Paper WeBT9.1 Add to My Program
From Optimal Planning to Visual Servoing with Limited FOV
Salaris, PaoloUniv. of Pisa
Pallottino, LuciaUniv. di Pisa
Hutchinson, SethUniv. of Illinois
Bicchi, AntonioUniv. of Pisa
 
10:15-10:30, Paper WeBT9.2 Add to My Program
Constrained Manipulator Visual Servoing (CMVS): Rapid Robot Programming in Cluttered Workspaces
Chan, AmbroseUniv. of British Columbia
Croft, ElizabethUniv. of British Columbia
Little, James J.UBC
 
10:30-10:45, Paper WeBT9.3 Add to My Program
Intensity-Based Visual Servoing for Non-Rigid Motion Compensation of Soft Tissue Structures Due to Physiological Motion Using 4D Ultrasound
Lee, DeukheeKIST
Krupa, AlexandreINRIA Rennes - Bretagne Atlantique
 
10:45-10:50, Paper WeBT9.4 Add to My Program
Improving Ultrasound Intensity-Based Visual Servoing: Tracking and Positioning Tasks with 2D and Bi-Plane Probes
Nadeau, CarolineIRISA, INRIA Rennes-Bretagne Atlantique
Krupa, AlexandreINRIA Rennes - Bretagne Atlantique
 
10:50-10:55, Paper WeBT9.5 Add to My Program
Automatic Landing on Aircraft Carrier by Visual Servoing
Coutard, LaurentINRIA Rennes - Bretagne Atlantique
Chaumette, FrancoisINRIA Rennes-Bretagne Atlantique
Pflimlin, Jean-Michellaas-cnrs
 
10:55-11:00, Paper WeBT9.6 Add to My Program
Combining IBVS and PBVS to Ensure the Visibility Constraint
Kermorgant, OlivierINRIA Rennes-Bretagne Atlantique
Chaumette, FrancoisINRIA Rennes-Bretagne Atlantique
 
11:00-11:15, Paper WeBT9.7 Add to My Program
Towards Vision-Based Control of Cable-Driven Parallel Robots
Dallej, TejLASMEA
Gouttefarde, MarcLIRMM
Andreff, NicolasUniv. de Franche Comté
Michelin, MicaëlFatronik Foundation
Martinet, PhilippeBlaise Pascal Univ.
 
11:15-11:30, Paper WeBT9.8 Add to My Program
Time-Analysis of a Real-Time Sensor-Servoing System Using Line-Of-Sight Path Tracking
Schrimpf, JohannesNTNU
Lind, MortenThe Norwegian Univ. of Science and Tech.
Mathisen, GeirSINTEF ICT
 
WeBPT10 Interactive Session, Golden Gate Room Add to My Program 
Interactive VI  
 
 
10:00-11:30, Paper WeBPT10.1 Add to My Program
Human Preferences for Robot-Human Hand-Over Configurations
Cakmak, MayaGeorgia Inst. of Tech.
Srinivasa, SiddharthaCarnegie Mellon Univ.
Lee, Min KyungCarnegie Mellon Univ.
Forlizzi, JodiCarnegie Mellon Univ.
Kiesler, SaraCarnegie Mellon Univ.
 
10:00-11:30, Paper WeBPT10.2 Add to My Program
Did You See It Hesitate? – Empirically Grounded Design of Hesitation Trajectories for Collaborative Robots
Moon, AJungUniv. of British Columbia
Parker, ChrisUniv. of British Columbia
Croft, ElizabethUniv. of British Columbia
Van der Loos, H.F. MachielUniv. of British Columbia (UBC)
 
10:00-11:30, Paper WeBPT10.3 Add to My Program
VocaWather: Natural Singing Motion Generator for a Humanoid Robot
Kajita, ShuujiNational Inst. of AIST
Nakano, TomoyasuNational Inst. of AIST
Goto, MasatakaNational Inst. of Advanced Industrial Science and Tech. (AIST)
Matsusaka, YosukeNational Inst. of Advanced Industrial Science andTechnology (AIST)
Nakaoka, Shin'ichiroAIST
Yokoi, KazuhitoNational Inst. of AIST
 
10:00-11:30, Paper WeBPT10.4 Add to My Program
4-Dimensional Local Spatio-Temporal Features for Human Activity Recognition
Zhang, HaoUniv. of Tennessee
Parker, LynneUniv. of Tennessee
 
10:00-11:30, Paper WeBPT10.5 Add to My Program
Fitting Conics to Noisy Data Using Stochastic Linearization
Baum, MarcusKarlsruhe Inst. of Tech. (KIT)
Hanebeck, Uwe D.Karlsruhe Inst. of Tech. (KIT)
 
10:00-11:30, Paper WeBPT10.6 Add to My Program
Bootstrapping Sensorimotor Cascades: A Group-Theoretic Perspective
Censi, AndreaCalifornia Inst. of Tech.
Murray, RichardCalifornia Inst. of Tech.
 
10:00-11:30, Paper WeBPT10.7 Add to My Program
Toward Development of 3D Surgical Mouse Paradigm
Sun, XiaochuanSimon Fraser Univ.
Payandeh, ShahramSimon Fraser Univ.
 
10:00-11:30, Paper WeBPT10.8 Add to My Program
3D Thread Tracking for Robotic Assistance in Tele-Surgery
Padoy, NicolasJohns Hopkins Univ.
Hager, GregoryJohns Hopkins Univ.
 
10:00-11:30, Paper WeBPT10.9 Add to My Program
Ultrasound Image Features of the Wrist Are Linearly Related to Finger Positions
Castellini, ClaudioDLR - German Aerospace Res. Center
Passig, GeorgGerman Aerospace Center
 
10:00-11:30, Paper WeBPT10.10 Add to My Program
On-Line Bio-Impedance Identification of Fingertip Skin for Enhancement of Electrotactile Based Haptic Rendering
Gregory, JohnMichigan State Univ.
Shen, YantaoUniv. of Nevada, Reno
Xi, NingMichigan State Univ.
 
10:00-11:30, Paper WeBPT10.11 Add to My Program
Design of an MRI Compatible Haptic Interface
Turkseven, MelihGeorgia Inst. of Tech.
Ueda, JunGeorgia Inst. of Tech.
 
10:00-11:30, Paper WeBPT10.12 Add to My Program
Force Producibility Improvement of Redundant Parallel Mechanism for Haptic Applications
Arata, JumpeiNagoya Insititute of Tech.
Ikedo, NorioNagoya Inst. of Tech.
Fujimoto, HideoNagoya Inst. of Tech.
 
10:00-11:30, Paper WeBPT10.13 Add to My Program
Kinodynamic Motion Planning with State Lattice Motion Primitives (I)
Pivtoraiko, MihailCarnegie Mellon Univ.
Kelly, AlonzoCarnegie Mellon Univ.
 
10:00-11:30, Paper WeBPT10.14 Add to My Program
Efficient Motion Planning for Manipulation Robots in Environments with Deformable Objects (I)
Frank, BarbaraUniv. of Freiburg
Stachniss, CyrillUniv. of Freiburg
Abdo, NicholaUniv. of Freiburg
Burgard, WolframUniv. of Freiburg
 
10:00-11:30, Paper WeBPT10.15 Add to My Program
Learning Dimensional Descent Planning for a Highly-Articulated Robot Arm (I)
Vernaza, PaulUniv. of Pennsylvania
Lee, Daniel D.Univ. of Pennsylvania
 
10:00-11:30, Paper WeBPT10.16 Add to My Program
Bilateral Teleoperation of Multiple UAVs with Decentralized Bearing-Only Formation Control (I)
Franchi, AntonioMax Planck Inst. for Biological Cybernetics
Masone, CarloMax Planck Inst. for Biological Cybernetics
Buelthoff, Heinrich H.Max Planck Inst. for Biol. Cybernetics
Robuffo Giordano, PaoloMax Planck Inst. for Biological Cybernetics
 
10:00-11:30, Paper WeBPT10.17 Add to My Program
Modeling and Decoupling Control of the CoaX Micro Helicopter (I)
Fankhauser, PeterETH Zurich
Bouabdallah, SamirSwiss Federal Inst. of Tech.
Leutenegger, StefanSwiss Federal Inst. of Tech. Zurich
Siegwart, RolandETH Zurich
 
10:00-11:30, Paper WeBPT10.18 Add to My Program
On Active Target Tracking and Cooperative Localization for Multiple Aerial Vehicles (I)
Morbidi, FabioUniv. of Texas at Arlington
Mariottini, Gian LucaUniv. of Texas at Arlington
 
10:00-11:30, Paper WeBPT10.19 Add to My Program
Perturbation Theory to Plan Dynamic Locomotion in Very Rough Terrains
Sentis, LuisThe Univ. of Texas at Austin
Fernandez, Benito R.The Univ. of Texas at Austin
 
10:00-11:30, Paper WeBPT10.20 Add to My Program
Generation of Adaptive Splitbelt Treadmill Walking by a Biped Robot Using Nonlinear Oscillators with Phase Resetting
Aoi, ShinyaKyoto Univ.
Yamashita, TsuyoshiKyoto Univ.
Fujiki, SoichiroKyoto Univ.
Kohda, TakehisaKyoto Univ.
Senda, KeiKyoto Univ.
Tsuchiya, KazuoKyoto Univ.
 
10:00-11:30, Paper WeBPT10.21 Add to My Program
Experimental Verification of Hysteresis in Gait Transition of a Quadruped Robot Driven by Nonlinear Oscillators with Phase Resetting
Aoi, ShinyaKyoto Univ.
Yamashita, TsuyoshiKyoto Univ.
Fujiki, SoichiroKyoto Univ.
Katayama, DaikiKyoto Univ.
Kohda, TakehisaKyoto Univ.
Senda, KeiKyoto Univ.
Tsuchiya, KazuoKyoto Univ.
 
10:00-11:30, Paper WeBPT10.22 Add to My Program
Distributed Control of Multi-Robot Systems with Global Connectivity Maintenance
Sabattini, LorenzoUniv. of Modena and Reggio Emilia
Chopra, NikhilUniv. of Maryland, Coll. Park
Secchi, CristianUniv. of Modena & Reggio Emilia
 
10:00-11:30, Paper WeBPT10.23 Add to My Program
RSSI-Based Physical Layout Classification and Target Tethering in Mobile Ad-Hoc Networks
Reddy, PrashantCarnegie Mellon Univ.
Veloso, ManuelaCarnegie Mellon Univ.
 
10:00-11:30, Paper WeBPT10.24 Add to My Program
Heterogeneous Sensor Network for Prioritized Sensing
Cortez, AndresUniv. of New Mexico
Fierro, RafaelUniv. of New Mexico
 
10:00-11:30, Paper WeBPT10.25 Add to My Program
Adaptive Multi-Affine (AMA) Feature-Matching Algorithm and Its Application to Minimally-Invasive Surgery Images
Puerto, Gustavo ArmandoUniv. of Texas at Arlington
Adibi, MehradUniv. of Texas Southwestern Medical Center
Cadeddu, Jeffrey A.Univ. of Texas Southwestern Medical Center
Mariottini, Gian LucaUniv. of Texas at Arlington
 
10:00-11:30, Paper WeBPT10.26 Add to My Program
Video Stabilization Using SIFT-ME Features and Fuzzy Clustering
Veon, KevinUniv. of Denver
Voyles, RichardUniv. of Denver
Mahoor, MohammadUniv. of Denver
 
10:00-11:30, Paper WeBPT10.27 Add to My Program
Label Propagation in Videos Indoors with an Incremental Non-Parametric Model Update
Rituerto, JorgeUniv. of Zaragoza
Murillo, Ana CristinaUniv. of Zaragoza
Kosecka, JanaGeorge Mason Univ.
 
WePL Plenary Session, Continental Ballroom Add to My Program 
Plenary II: BioRobotics  
 
Chair: Bajcsy, RuzenaUniv. of California, Berkeley
 
12:30-13:45, Paper WePL.1 Add to My Program
BioRobotics Plenary
Berthoz, AlainCNRS - Coll. de France
Buelthoff, Heinrich H.Max Planck Inst. for Biol. Cybernetics
Srinivasan, MandyamThe Univ. of Queensland
 
WeCT1 Regular Session, Continental Parlor 1 Add to My Program 
Human-Robot Interaction and Cooperation  
 
Chair: Sheng, WeihuaOklahoma State Univ.
Co-Chair: Alami, RachidCNRS
 
14:00-14:15, Paper WeCT1.1 Add to My Program
A Path Planning Method for Human Tracking Agents Using Variable-Term Prediction Based on Dynamic K-Nearest Neighbor Algorithm
Takemura, NorikoOsaka Univ.
Nakamura, YutakaOsaka Univ.
Ishiguro, HiroshiOsaka Univ.
 
14:15-14:30, Paper WeCT1.2 Add to My Program
Using Human Motion Estimation for Human-Robot Cooperative Manipulation
Thobbi, AnandOklahoma State Univ.
Gu, YeOklahoma State Univ.
Sheng, WeihuaOklahoma State Univ.
 
14:30-14:45, Paper WeCT1.3 Add to My Program
Sound Source Localization for Mobile Robot Based on Time Difference Feature and Space Grid Matching
Li, Xiaofeithe Key Lab. Scho
Liu, HongPeking Univ.
Yang, XuesongPeking Univ.
 
14:45-14:50, Paper WeCT1.4 Add to My Program
Adapting Robot Team Behavior from Interaction with a Group of People
Urcola, PabloInst. de Investigación en Ingeniería de Aragón, Univ.
Montano, LuisUniv. de Zaragoza
 
14:50-14:55, Paper WeCT1.5 Add to My Program
Towards a Platform-Independent Cooperative Human-Robot Interaction System: II. Perception, Execution and Imitation of Goal Directed Actions
Lallée, StéphaneINSERM Stem Cell & Brain Res. Inst.
Pattacini, UgoIstituto Italiano di Tecnologia (IIT)
Boucher, Jean-DavidINSERM Stem Cell & Brain Res. Inst.
Lemaignan, SéverinCNRS - LAAS
Lenz, AlexanderBristol Robotic Lab.
Melhuish, ChrisBristol Robotic Lab.
Natale, LorenzoIstituto Italiano di Tecnologia (IIT)
Skachek, SergeyBristol Robotic Lab.
Hamann, KatharinaMax Planck Inst. for Evolutionary Anthropology
Steinwender, JasminMax Planck Inst. for Evolutionary Anthropology
Sisbot, Emrah AkinLAAS/CNRS
Metta, GiorgioIstituto Italiano di Tecnologia (IIT)
Alami, RachidCNRS - LAAS
Warnier, MatthieuCNRS - LAAS
Guitton, JulienCNRS - LAAS
Warneken, FelixHarvard Univ.
Dominey, Peter FordINSERM Stem Cell & Brain Res. Inst.
 
14:55-15:00, Paper WeCT1.6 Add to My Program
Listening for People: Exploiting the Spectral Structure of Speech to Robustly Perceive the Presence of People
Hilsenbeck, BarbaraKarlsruhe Univ. of Applied Sciences
Kirchner, NathanUniv. of Tech.
 
15:00-15:15, Paper WeCT1.7 Add to My Program
Improvement of Speaker Localization by Considering Multipath Interference of Sound Wave for Binaural Robot Audition
Kim, Ui-HyunKyoto Univ.
Mizumoto, TakeshiKyoto Univ.
Ogata, TetsuyaKyoto Univ.
Okuno, Hiroshi G.Kyoto Univ.
 
15:15-15:30, Paper WeCT1.8 Add to My Program
Robot Audition and Beat Identification in Noisy Environments
Grunberg, DavidDrexel Univ.
Lofaro, DanielDrexel Univ.
Oh, Paul Y.Drexel Univ.
Kim, YoungmooDrexel Univ.
 
WeCT2 Regular Session, Continental Parlor 2 Add to My Program 
Pose Estimation & Visual Tracking  
 
Chair: Papadopoulos, EvangelosNational Tech. Univ. of Athens
Co-Chair: Meeussen, WimWillow Garage inc.
 
14:00-14:15, Paper WeCT2.1 Add to My Program
Determination of Rigid-Body Pose from Imprecise Point Position Measurements
Tegopoulou, AnastasiaNational Tech. Univ. of Athens
Papadopoulos, EvangelosNational Tech. Univ. of Athens
 
14:15-14:30, Paper WeCT2.2 Add to My Program
Pose Estimation from a Single Image Using Tensor Decomposition and an Algebra of Circulants
Hoover, RandySouth Dakota School of Mines and Tech.
Braman, KarenSouth Dakota School of Mines and Tech. Department of Mathe
Hao, NingTufts Univ. Department of Mathematics
 
14:30-14:45, Paper WeCT2.3 Add to My Program
Simultaneous Localization and Capture with Velocity Information
Yuan, QilongNanyang Tech. Univ.
Chen, I-MingNanyang Tech. Univ.
 
14:45-14:50, Paper WeCT2.4 Add to My Program
Outlet Detection and Pose Estimation for Robot Continuous Operation
Eruhimov, VictorItseez
Meeussen, WimWillow Garage inc.
 
14:50-14:55, Paper WeCT2.5 Add to My Program
Robust Tracking of Human Hand Postures for Robot Teaching
Maycock, JonathanBielefeld Univ.
Steffen, JanBielefeld Univ.
Haschke, RobertBielefeld Univ.
Ritter, Helge JoachimBielefeld Univ.
 
14:55-15:00, Paper WeCT2.6 Add to My Program
Visual Tracking Using the Sum of Conditional Variance
Richa, RogerioJohns Hopkins Univ.
Sznitman, RaphaelJohns Hopkins Univ.
Taylor, Russell H.The Johns Hopkins Univ.
Hager, GregoryJohns Hopkins Univ.
 
15:00-15:15, Paper WeCT2.7 Add to My Program
Visual Tracking of Robots in Uncalibrated Environments
Wang, HeshengShanghai Jiao Tong Univ.
Chen, WeidongShanghai Jiao Tong Univ.
Wang, ZhongliBeijing Jiaotong Univ.
 
15:15-15:30, Paper WeCT2.8 Add to My Program
Hybrid Discriminative Visual Object Tracking with Confidence Fusion for Robotics Applications
Luo, RenNational Taiwan Univ.
Kao, Ching-ChungNational Taiwan Univ.
Wu, Yen-ChangNational Taiwan Univ.
 
WeCT3 Regular Session, Continental Parlor 3 Add to My Program 
Robot Safety  
 
Chair: Voyles, RichardUniv. of Denver
Co-Chair: Sardellitti, IreneItalian Inst. of Tech.
 
14:00-14:15, Paper WeCT3.1 Add to My Program
Towards Safe Human-Robot Interaction in Robotic Cells: An Approach Based on Visual Tracking and Intention Estimation
Bascetta, LucaPol. di Milano
Ferretti, GianniPol. di Milano
Rocco, PaoloPol. di Milano
Ardö, HåkanLund Univ.
Bruyninckx, HermanKatholieke Univ. Leuven
Demeester, EricKatholieke Univ. Leuven
Di Lello, EnricoK.U. Leuven
 
14:15-14:30, Paper WeCT3.2 Add to My Program
Guaranteed Safe Online Learning of a Bounded System
Gillula, JeremyStanford Univ.
Tomlin, ClaireUC Berkeley
 
14:30-14:45, Paper WeCT3.3 Add to My Program
Relaxing the Inevitable Collision State Concept to Address Provably Safe Mobile Robot Navigation with Limited Field-Of-View in Unknown Dynamic Environments
Bouraine, Saracdta
Fraichard, ThierryINRIA
Hassen, SalhiU. BLIDA
 
14:45-14:50, Paper WeCT3.4 Add to My Program
Capacitive Skin Sensors for Robot Impact Monitoring
Phan, SamsonStanford Univ.
Quek, Zhan FanStanford Univ.
Shah, PreyasStanford Univ.
Shin, DongjunStanford Univ.
Ahmed, ZubairStanford Univ.
Khatib, OussamaStanford Univ.
Cutkosky, MarkStanford Univ.
 
14:50-14:55, Paper WeCT3.5 Add to My Program
Instantaneous Stiffness Effects on Impact Forces in Human-Friendly Robots
Shin, DongjunStanford Univ.
Quek, Zhan FanStanford Univ.
Phan, SamsonStanford Univ.
Cutkosky, MarkStanford Univ.
Khatib, OussamaStanford Univ.
 
14:55-15:00, Paper WeCT3.6 Add to My Program
Fast Computation of Wheel-Soil Interactions for Safe and Efficient Operation of Mobile Robots
Jia, ZhenzhongUniv. of Michigan
Smith, WilliamUniv. of Michigan
Peng, HueiUniv. of MIchigan
 
15:00-15:15, Paper WeCT3.7 Add to My Program
Online Data-Driven Fault Detection for Robotic Systems
Golombek, RaphaelRes. Inst. for Cognition and Robotics, Bielefeld Univ.
Wrede, SebastianBielefeld Univ.
Hanheide, MarcUniv. of Birmingham
Heckmann, MartinHonda Res. Inst. Europe GmbH
 
15:15-15:30, Paper WeCT3.8 Add to My Program
Containment Indicator Function Construction Via Numerical Conformal Mapping
Han, ShuoCalifornia Inst. of Tech.
Murray, RichardCalifornia Inst. of Tech.
 
WeCT4 Invited Session, Continental Ballroom 4 Add to My Program 
Symposium: Haptic Feedback and System Evaluation  
 
Chair: O'Malley, MarciaRice Univ.
Co-Chair: Yokokohji, YasuyoshiKobe Univ.
Organizer: O'Malley, MarciaRice Univ.
Organizer: Kuchenbecker, Katherine J.Univ. of Pennsylvania
Organizer: Yokokohji, YasuyoshiKobe Univ.
 
14:00-14:15, Paper WeCT4.1 Add to My Program
The Sigma.7 Haptic Interface for MiroSurge: A New Bi-Manual Surgical Console
Tobergte, AndreasGerman Aerospace Center (DLR)
Helmer, PatrickForce Dimension
Hagn, UlrichDLR German Aerospace Center
Thielmann, Sophie Charlotte FranziskaGerman Aerospace Center
Albu-Schäffer, AlinDLR - German Aerospace Center
Hirzinger, GerdGerman Aerospace Center (DLR)
Conti, FrancoisStanford Univ.
Grange, SebastienForce Dimension
 
14:15-14:30, Paper WeCT4.2 Add to My Program
Haptic Coupling with Augmented Feedback between Two KUKA Light-Weight Robots and the PR2 Robot Arms
Buys, KoenKU Leuven
Bellens, StevenKatholieke Univ. Leuven
Decré, WilmKatholieke Univ. Leuven
Smits, RubenKatholieke Univ. Leuven
Scioni, EneaUniv. di Ferrara
De Laet, TinneKatholieke Univ. Leuven
De Schutter, JorisKatholieke Univ. Leuven
Bruyninckx, HermanKatholieke Univ. Leuven
 
14:30-14:45, Paper WeCT4.3 Add to My Program
Measuring an Operator's Maneuverability Performance in the Haptic Teleoperation of Multiple Robots
Son, Hyoung IlMax Planck Inst. for Biological Cybernetics
Chuang, Lewis L.Max Planck Inst. for Biological Cybernetics, Tübingen
Franchi, AntonioMax Planck Inst. for Biological Cybernetics
Kim, JunsukKorea Univ.
Lee, DongjunUniv. of Tennessee-Knoxville
Lee, Seong-WhanKorea Univ.
Buelthoff, Heinrich H.Max Planck Inst. for Biol. Cybernetics
Robuffo Giordano, PaoloMax Planck Inst. for Biological Cybernetics
 
14:45-14:50, Paper WeCT4.4 Add to My Program
Bilateral Physical Interaction with a Robot Manipulator through a Weighted Combination of Flow Fields
Pistillo, AntonioIstituto Italiano di Tecnologia
Calinon, SylvainIstituto Italiano di Tecnologia
Caldwell, Darwin G.Italian Inst. of Tech.
 
14:50-14:55, Paper WeCT4.5 Add to My Program
Motion Control of a Semi-Mobile Haptic Interface for Extended Range Telepresence
Pérez Arias, AntoniaKarlsruhe Inst. of Tech. (KIT)
Hanebeck, Uwe D.Karlsruhe Inst. of Tech. (KIT)
 
14:55-15:00, Paper WeCT4.6 Add to My Program
An Objective Index That Substitutes for Subjective Quality of Vibrotactile Material-Like Textures
Okamoto, ShogoNagoya Univ.
Yamada, YojiNagoya Univ.
 
15:00-15:15, Paper WeCT4.7 Add to My Program
Assistance or Challenge? Filling a Gap in User-Cooperative Control
Rauter, GeorgETH Zurich
Sigrist, RolandETH Zurich, Inst. of Robotics and Intelligent Systems, Senso
Marchal-Crespo, LauraETH Zurich
Vallery, HeikeETH Zurich
Riener, RobertETH Zurich
Wolf, PeterETH Zurich, Inst. of Robotics and Intelligent Systems, Senso
 
15:15-15:30, Paper WeCT4.8 Add to My Program
Design and Characterization of the ReHapticKnob, a Robot for Assessment and Therapy of Hand Function
Metzger, Jean-ClaudeETH Zurich
Lambercy, OlivierETH Zurich
Chapuis, DominiqueEc. Pol. Federale de Lausanne
Gassert, RogerETH Zurich
 
WeCT5 Invited Session, Continental Ballroom 5 Add to My Program 
Symposium: Symbolic Approaches to Motion Planning and Control  
 
Chair: Kress-Gazit, HadasCornell Univ.
Co-Chair: Belta, CalinBoston Univ.
Organizer: Belta, CalinBoston Univ.
Organizer: Kress-Gazit, HadasCornell Univ.
 
14:00-14:15, Paper WeCT5.1 Add to My Program
LTL-Based Decentralized Supervisory Control of Multi-Robot Tasks Modelled As Petri Nets (I)
Lacerda, BrunoInst. for Systems and Robotics, Inst. Superior Técnico
Lima, PedroInst. Superior Técnico - Inst. for Systems and Robotics
 
14:15-14:30, Paper WeCT5.2 Add to My Program
Optimal Multi-Robot Path Planning with Temporal Logic Constraints (I)
Ulusoy, AlphanBoston Univ.
Smith, Stephen L.Univ. of Waterloo
Ding, Xu ChuBoston Univ.
Belta, CalinBoston Univ.
Rus, DanielaMIT
 
14:30-14:45, Paper WeCT5.3 Add to My Program
Foundations of Formal Language for Humans and Artificial Systems Based on Intrinsic Structure in Spatial Behavior (I)
Kong, ZhaodanUniv. of Minnesota
Mettler, BernieUniv. of Minnesota
 
14:45-14:50, Paper WeCT5.4 Add to My Program
Minimalist Multiple Target Tracking Using Directional Sensor Beams (I)
Bobadilla, LeonardoUniv. of Illinois
Sanchez Plazas, OscarUniv. of Illinois at Urbana-Champaign
Czarnowski, JustinUniv. of Illinois at Urbana-Champaign
LaValle, Steven MUniv. of Illinois
 
14:50-14:55, Paper WeCT5.5 Add to My Program
Temporal Logic Control in Dynamic Environments with Probabilistic Satisfaction Guarantees
Medina Ayala, Ana IvonneBoston Univ.
Andersson, SeanBoston Univ.
Belta, CalinBoston Univ.
 
14:55-15:00, Paper WeCT5.6 Add to My Program
Computing Unions of Inevitable Collision States and Increasing Safety to Unexpected Obstacles
Althoff, DanielTech. Univ. München
Brand, Christoph NorbertTech. Univ. München
Wollherr, DirkTech. Univ. München
Buss, MartinTech. Univ. München
 
15:00-15:15, Paper WeCT5.7 Add to My Program
High-Level Control of Modular Robots (I)
Castro, SebastianCornell Univ.
Koehler, SarahCornell Univ.
Kress-Gazit, HadasCornell Univ.
 
15:15-15:30, Paper WeCT5.8 Add to My Program
Synthesis of Feedback Controllers for Multiple Aerial Robots with Geometric Constraints (I)
Ayanian, NoraUniv. of Pennsylvania
Kallem, VinuthaUniv. of Pennsylvania
Kumar, VijayUniv. of Pennsylvania
 
WeCT6 Invited Session, Continental Ballroom 6 Add to My Program 
Symposium: Marine Robotics: Platforms and Applications  
 
Chair: Smith, RyanQueensland Univ. of Tech.
Co-Chair: Antonelli, GianlucaUniv. degli Studi di Cassino
Organizer: Smith, RyanQueensland Univ. of Tech.
Organizer: Zhang, FuminGeorgia Inst. of Tech.
Organizer: Kondo, HayatoTokyo Univ. of Marine Science and Tech.
Organizer: Antonelli, GianlucaUniv. degli Studi di Cassino
 
14:00-14:15, Paper WeCT6.1 Add to My Program
Semi-Plenary Invited Talk: Wiring an Interactive Ocean
Delaney, JohnUniv. of Washington
 
14:15-14:30, Paper WeCT6.2 Add to My Program
Semi-Plenary Invited Talk: Wiring an Interactive Ocean
Delaney, JohnUniv. of Washington
 
14:30-14:45, Paper WeCT6.3 Add to My Program
Towards Mixed-Initiative, Multi-Robot Field Experiments: Design, Deployment, and Lessons Learned (I)
Das, JnaneshwarUniv. of Southern California
Maughan, ThomMonterey Bay Aquarium Res. Inst.
McCann, MikeMonterey Bay Aquarium Res. Inst.
Godin, MikeMonterey Bay Aquarium Res. Inst.
O’Reilly, TomMonterey Bay Aquarium Res. Inst.
Messié, MoniqueMonterey Bay Aquarium Res. Inst.
Bahr, FredMonterey Bay Aquarium Res. Inst.
Gomes, KevinMonterey Bay Aquarium Res. Inst.
Py, FredericMonterey Bay Aquarium Res. Inst.
Bellingham, James G.Monterey Bay Aquarium Res. Inst.
Sukhatme, GauravUniv. of Southern California
Rajan, KannaMonterey Bay Aquarium Res. Inst.
 
14:45-14:50, Paper WeCT6.4 Add to My Program
Current-Sensitive Path Planning for an Underactuated Free-Floating Ocean Sensorweb (I)
Dahl, KristenCalifornia Inst. of Tech.
Thompson, DavidJPL/ California Inst. of Tech.
McLaren, DavidJPL/ California Inst. of Tech.
Chao, YiCalifornia Inst. of Tech.
Chien, SteveJet Propulsion Lab.
 
14:50-14:55, Paper WeCT6.5 Add to My Program
Toward Risk Aware Mission Planning for Autonomous Underwater Vehicles (I)
de Menezes Pereira , Arvind A.Univ. of Southern California
Binney, JonathanUniv. of Southern California
Jones, BurtonUniv. of Southern California
Ragan, MatthewUniv. of Southern California
Sukhatme, GauravUniv. of Southern California
 
14:55-15:00, Paper WeCT6.6 Add to My Program
AUV Docking on a Moving Submarine Using a K-R Navigation Function
Sujit, P.B.Univ. of Porto
Healey, Anthony J.Naval Postgraduate School
Sousa, JoãoUniv. Porto - Faculdade Engenharia
 
15:00-15:15, Paper WeCT6.7 Add to My Program
Obstacle Detection from Overhead Imagery Using Self-Supervised Learning for Autonomous Surface Vehicles (I)
Heidarsson, Hordur KUniv. of Southern California
Sukhatme, GauravUniv. of Southern California
 
15:15-15:30, Paper WeCT6.8 Add to My Program
Observability Metric for the Relative Localization of AUVs Based on Range and Depth Measurements: Theory and Experiments (I)
Arrichiello, FilippoUniv. di Cassino
Antonelli, GianlucaUniv. degli Studi di Cassino
Aguiar, AntónioInsituto Superior Técnico
Pascoal, AntonioInst. Superior Tecnico
 
WeCT7 Regular Session, Continental Parlor 7 Add to My Program 
Humanoid Control  
 
Chair: Yoshida, EiichiNational Inst. of AIST
Co-Chair: De Luca, AlessandroUniv. di Roma "La Sapienza"
 
14:00-14:15, Paper WeCT7.1 Add to My Program
Logic Programming with Simulation-Based Temporal Projection for Everyday Robot Object Manipulation
Kunze, LarsTech. Univ. Muenchen
Dolha, Mihai EmanuelTech. Univ. München
Beetz, MichaelTech. Univ. München
 
14:15-14:30, Paper WeCT7.2 Add to My Program
Experimental Evaluation of a Trajectory/Force Tracking Controller for a Humanoid Robot Cleaning a Vertical Surface
Sato, FuyukiTokyo City Univ.
Nishii, TatsuyaTokyo City Univ.
Takahashi, JunTokyo City Univ.
Yoshida, YukiTokyo City Univ.
Mitsuhashi, MasaruTokyo City Univ.
Nenchev, DragomirTokyo City Univ.
 
14:30-14:45, Paper WeCT7.3 Add to My Program
Switching Multiple LQG Controllers Based on Bellman's Optimality Principle: Using Full-State Feedback to Control a Humanoid Robot
Sugimoto, NorikazuATR Computational Neuroscience Lab.
Morimoto, JunATR Computational Neuroscience Lab.
 
14:45-14:50, Paper WeCT7.4 Add to My Program
Adaptive Predictive Gaze Control of a Redundant Humanoid Robot Head
Milighetti, GiulioFraunhofer-Gesellschaft
Vallone, LucaDIS, Univ. di Roma "La Sapienza"
De Luca, AlessandroUniv. di Roma "La Sapienza"
 
14:50-14:55, Paper WeCT7.5 Add to My Program
Dynamic Whole-Body Mobile Manipulation with a Torque Controlled Humanoid Robot Via Impedance Control Laws
Dietrich, AlexanderGerman Aerospace Center (DLR)
Wimboeck, ThomasGerman Aerospace Center (DLR)
Albu-Schäffer, AlinDLR - German Aerospace Center
 
14:55-15:00, Paper WeCT7.6 Add to My Program
Gait Pattern Generation and Stabilization for Humanoid Robot Based on Coupled Oscillators
Ha, InyongThe Univ. of Tokyo
Tamura, YusukeThe Univ. of Tokyo
Asama, HajimeThe Univ. of Tokyo
 
15:00-15:15, Paper WeCT7.7 Add to My Program
A Computational Approach for Push Recovery in Case of Multiple Noncoplanar Contacts
Mansour, DarineCommissariat à l'Energie Atomique (CEA)
Micaelli, AlainCommissariat à l'Energie Atomique
Lemerle, PierreInst. National de Recherche et de Sécurité
 
15:15-15:30, Paper WeCT7.8 Add to My Program
Stretched Knee Walking with Novel Inverse Kinematics for Humanoid Robots
Kryczka, PrzemyslawWaseda Univ.
Hashimoto, KenjiWaseda Univ.
Kondo, HidekiWaseda Univ.
Omer, AimanWaseda Univ.
Lim, Hun-okKanagawa Univ.
Takanishi, AtsuoWaseda Univ.
 
WeCT8 Regular Session, Continental Parlor 8 Add to My Program 
Multirobot Planning  
 
Chair: Du Toit, Noel E.California Inst. of Tech.
Co-Chair: Berman, SpringHarvard Univ.
 
14:00-14:15, Paper WeCT8.1 Add to My Program
Multiple Agent Coordination for Stochastic Target Interception Using MILP
Shende, ApoorvaVirginia Tech.
Bays, MatthewVirginia Tech.
Stilwell, DanielVirginia Tech.
 
14:15-14:30, Paper WeCT8.2 Add to My Program
Using Minimal Communication to Improve Decentralized Conflict Resolution for Non-Holonomic Vehicles
Krontiris, AthanasiosUniv. of Nevada, Reno
Bekris, Kostas E.Univ. of Nevada, Reno
 
14:30-14:45, Paper WeCT8.3 Add to My Program
A Reciprocal Sampling Algorithm for Lightweight Distributed Multi-Robot Localization
Prorok, AmandaEPFL
Martinoli, AlcherioEPFL
 
14:45-14:50, Paper WeCT8.4 Add to My Program
Localization Using Ambiguous Bearings from Radio Signal Strength (I)
Derenick, JasonUniv. of Pennsylvania
Fink, JonathanUniv. of Pennsylvania
Kumar, VijayUniv. of Pennsylvania
 
14:50-14:55, Paper WeCT8.5 Add to My Program
Planning for Multi-Robot Exploration with Multiple Objective Utility Functions
Butzke, JonathanCarnegie Mellon Univ.
Likhachev, MaximCarnegie Mellon Univ.
 
14:55-15:00, Paper WeCT8.6 Add to My Program
M*: A Complete Multirobot Path Planning Algorithm with Performance Bounds
Wagner, GlennCarnegie Mellon
Choset, HowieCarnegie Mellon Univ.
 
15:00-15:15, Paper WeCT8.7 Add to My Program
Efficient and Complete Centralized Multi-Robot Path Planning
Luna, RyanUniv. of Nevada Reno
Bekris, Kostas E.Univ. of Nevada, Reno
 
15:15-15:30, Paper WeCT8.8 Add to My Program
ARMO: Adaptive Road Map Optimization for Large Robot Teams
Kleiner, AlexanderUniv. of Freiburg
Sun, DaliUniv. of Freiburg
Meyer-Delius, DanielKUKA Lab. GmbH
 
WeCT9 Regular Session, Continental Parlor 9 Add to My Program 
Visual & Multi-Sensor Calibration  
 
Chair: Kelly, JonathanUSC
Co-Chair: Birbach, OliverDFKI
 
14:00-14:15, Paper WeCT9.1 Add to My Program
Extrinsic Calibration of a Single Line Scanning Lidar and a Camera
Kwak, KihoCarnegie Mellon Univ.
Huber, DanielCMU
Badino, HernanCarnegie Mellon Univ.
Kanade, TakeoCarnegie Mellon Univ.
 
14:15-14:30, Paper WeCT9.2 Add to My Program
A Novel 2.5D Pattern for Extrinsic Calibration of ToF and Camera Fusion System
Jung, JiyoungKAIST
Jeong, YekeunKAIST
Park, JaesikKAIST
Ha, HyowonKAIST
Kim, James DokyoonSamsung Advanced Inst. of Tech.
Kweon, In SoKAIST
 
14:30-14:45, Paper WeCT9.3 Add to My Program
Optimization Based IMU Camera Calibration
Fleps, MichaelTUM
Mair, ElmarTech. Univ. München (TUM)
Ruepp, OliverTech. Univ. Munich
Suppa, MichaelGerman Aerospace Center (DLR)
Burschka, DariusTech. Univ. Muenchen
 
14:45-14:50, Paper WeCT9.4 Add to My Program
Rapid Development of Manifold-Based Graph Optimization Systems for Multi-Sensor Calibration and SLAM
Wagner, RenéDeutsches Forschungszentrum für Künstliche Intelligenz GmbH
Birbach, OliverDFKI
Frese, UdoUniv. Bremen
 
14:50-14:55, Paper WeCT9.5 Add to My Program
Two-Phase Online Calibration for Infrared-Based Inter-Robot Positioning Modules
Gowal, SvenEPFL
Prorok, AmandaEPFL
Martinoli, AlcherioEPFL
 
14:55-15:00, Paper WeCT9.6 Add to My Program
Self Calibration of a Vision System Embedded in a Visual SLAM Framework
Joly, CyrilINRIA Sophia Antipolis Méditerannée
Rives, PatrickINRIA
 
15:00-15:15, Paper WeCT9.7 Add to My Program
High-Accuracy Hand-Eye Calibration from Motion on Manifolds
Vicentini, FedericoItalian National Res. Council (CNR)
Pedrocchi, NicolaNational Res. Council
Malosio, MatteoNational Res. Council
Molinari Tosatti, LorenzoNational Council of Res.
 
15:15-15:30, Paper WeCT9.8 Add to My Program
A Nonlinear Observer Approach for Concurrent Estimation of Pose, IMU Bias and Camera-To-IMU Rotation
Scandaroli, Glauco GarciaINRIA
Morin, PascalINRIA
Silveira, GeraldoCTI
 
WeCPT10 Interactive Session, Golden Gate Room Add to My Program 
Interactive VII  
 
 
14:00-15:30, Paper WeCPT10.1 Add to My Program
Study on a Practical Robotic Follower to Support Home Oxygen Therapy Patients -Development and Control of a Mobile Platform
Tani, AtsushiTokyo Inst. of Tech.
Endo, GenTokyo Inst. of Tech.
Fukushima, Edwardo F.Tokyo Inst. of Tech.
Hirose, ShigeoTokyo Inst. of Tech.
Iribe, MasatsuguOsaka Electro-Communication Univ.
Takubo, ToshioTokyo Women’s Medical Univ.
 
14:00-15:30, Paper WeCPT10.2 Add to My Program
Progress in Developing a Socially Assistive Mobile Home Robot Companion for the Elderly with Mild Cognitive Impairment
Gross, Horst-MichaelIlmenau Univ. of Tech.
 
14:00-15:30, Paper WeCPT10.3 Add to My Program
Wheelchair Navigation Assisted by Human-Machine Shared-Control and a P300-Based Brain Computer Interface
Lopes, AnaUniv. of Coimbra
Pires, GabrielUniv. of Coimbra
Vaz, LuísUniv. of Coimbra
Nunes, UrbanoUniv. de Coimbra
 
14:00-15:30, Paper WeCPT10.4 Add to My Program
A Sensor Fusion Approach to Angle and Angular Rate Estimation
Kubus, DanielTech. Univ. Braunschweig
Wahl, Friedrich M.Tech. Univ. of Braunschweig
 
14:00-15:30, Paper WeCPT10.5 Add to My Program
Combining Multiple Sensor Modalities for a Localisation Robust to Smoke
Brunner, Christopher JosephThe Univ. of Sydney
Peynot, ThierryThe Univ. of Sydney
Vidal-Calleja, Teresa A.Univ. of Sydney
 
14:00-15:30, Paper WeCPT10.6 Add to My Program
Multisensor Data Fusion for Robust Pose Estimation of a Six-Legged Walking Robot
Stelzer, AnnettDLR German Aerospace Center
Hirschmüller, HeikoGerman Aerospace Center (DLR)
Goerner, MartinGerman Aerospace Center (DLR)
 
14:00-15:30, Paper WeCPT10.7 Add to My Program
Towards Validation of Robotic Surgery Training Assessment across Training Platforms
Gao, YixinJohns Hopkins Univ.
Sedef, MertKoc Univ.
Jog, AmodJohns Hopkins Univ.
Hager, GregoryJohns Hopkins Univ.
Berkley, JeffMIMIC Tech. Inc
Kumar, RajeshJohns Hopkins Univ.
 
14:00-15:30, Paper WeCPT10.8 Add to My Program
Adaptive Path Planning for Steerable Needles Using Duty-Cycling
Bernardes, Mariana CostaUniv. of Montpellier 2 / CNRS - LIRMM
Adorno, Bruno VilhenaUniv. of Montpellier 2 / CNRS - LIRMM
Poignet, PhilippeLIRMM UMR 5506 CNRS UM2
Zemiti, NabilUniv. Montpellier II - CNRS UMR 5506
Borges, Geovany AraujoUniv. de Brasilia
 
14:00-15:30, Paper WeCPT10.9 Add to My Program
An Analytical Model for Deflection of Flexible Needles During Needle Insertion
Asadian, AliThe Univ. of Western Ontario (UWO)
Kermani, Mehrdad R.Univ. of Western Ontario
Patel, Rajnikant V.The Univ. of Western Ontario
 
14:00-15:30, Paper WeCPT10.10 Add to My Program
Two Hands Are Better Than One: Assisting Users with Multi-Robot Manipulation Tasks
Lewis, BennieUniv. of Central Florida
Sukthankar, GitaUniv. of Central Florida
 
14:00-15:30, Paper WeCPT10.11 Add to My Program
3-DOF Haptic Feedback for Assisted Driving of an Omnidirectional Wheelchair
Christensen, QuintonUniv. of Utah
Mascaro, StephenUniv. of Utah
 
14:00-15:30, Paper WeCPT10.12 Add to My Program
Configuration-Based Optimization for Six Degree-Of-Freedom Haptic Rendering Using Sphere-Trees
Zhang, XinBeihang Univ.
Wang, DangxiaoBeihang Univ.
Zhang, YuruBeihang Univ.
Xiao, JingUNC-Charlotte
 
14:00-15:30, Paper WeCPT10.13 Add to My Program
Finding Critical Changes in Dynamic Configuration Spaces (I)
Lu, YanyanGeorge Mason Univ.
Lien, Jyh-MingGeorge Mason Univ.
 
14:00-15:30, Paper WeCPT10.14 Add to My Program
Toggle PRM: Simultaneous Mapping of C-Free and C-Obstacle - a Study in 2D - (I)
Denny, JoryTexas A&M Univ.
Amato, NancyTexas A&M Univ.
 
14:00-15:30, Paper WeCPT10.15 Add to My Program
Sampling Heuristics for Optimal Motion Planning in High Dimensions
Akgun, BarisGeorgia Inst. of Tech.
Stilman, MikeGeorgia Tech.
 
14:00-15:30, Paper WeCPT10.16 Add to My Program
Embedded Robust Nonlinear Control for a Four-Rotor Rotorcraft: Validation in Real-Time with Wind Disturbances
Muñoz Hernandez, Laura ElenaHEUDIASYC UMR UTC 6599
Castillo, PedroUniv. de Tech. de Compiègne
Sanahuja, GuillaumeUniv. de Tech. de Compiègne
Santos Sanchez, Omar JacoboUniv. Autonoma del Estado de Hidalgo, Mexico
 
14:00-15:30, Paper WeCPT10.17 Add to My Program
Differential Flatness Based Control of a Rotorcraft for Aggressive Maneuvers
Ferrin, JeffreyBrigham Young Univ.
Leishman, RobertBrigham Young Univ.
Beard, RandyBrigham Young Univ.
McLain, T.W.Bringham Young Univ.
 
14:00-15:30, Paper WeCPT10.18 Add to My Program
Robust Embedded Egomotion Estimation (I)
Voigt, RainerETH Zurich
Nikolic, JanoschETH Zürich
Hürzeler, ChristophETH Zürich
Weiss, StephanETH Zurich
Kneip, LaurentETHZ
Siegwart, RolandETH Zurich
 
14:00-15:30, Paper WeCPT10.19 Add to My Program
Development and Experiment of a Kneed Biped Walking Robot Based on Parametric Excitation Principle
Banno, YoshihisaNagoya Univ.
Harata, YujiHiroshima Univ.
Taji, KouichiNagoya Unviersity
Uno, YojiNagoya Univ.
 
14:00-15:30, Paper WeCPT10.20 Add to My Program
Switchblade: An Agile Treaded Rover
Morozovsky, NicholasUniv. of California San Diego
Schmidt-Wetekam, ChristopherUniv. of California San Diego
Bewley, ThomasFlow Control & Coordinated Robotics Lab.
 
14:00-15:30, Paper WeCPT10.21 Add to My Program
Passive Dynamic Walking of Combined Rimless Wheel and Its Speeding-Up by Adjustment of Phase Difference
Inoue, RyosukeJapan Advanced Inst. of Science and Tech.
Asano, FumihikoJapan Advanced Inst. of Science and Tech.
Tanaka, DaikiJapan Advanced Inst. of Science and Tech.
Tokuda, IsaoJapan Advanced Inst. of Science and Tech.
 
14:00-15:30, Paper WeCPT10.22 Add to My Program
Market-Based Coordination of Coupled Robot Systems
Xu, LingCarnegie Mellon Univ.
Stentz, AnthonyCarnegie Mellon Univ.
 
14:00-15:30, Paper WeCPT10.23 Add to My Program
Event-Driven Gaussian Process for Object Localization in Wireless Sensor Networks
Yoo, Jae HyunSeoul National Univ.
Kim, WoojinSeoul National Univ.
Kim, H. JinSeoul National Univ.
 
14:00-15:30, Paper WeCPT10.24 Add to My Program
Multi-Robot Patrolling with Coordinated Behaviours in Realistic Environments
Iocchi, LucaSapienza Univ. of Roma
Marchetti, LucaSophia Antipolis - Méditerranée
Nardi, DanieleSapienza Univ. of Rome
 
14:00-15:30, Paper WeCPT10.25 Add to My Program
Improving Ultrasound Intensity-Based Visual Servoing: Tracking and Positioning Tasks with 2D and Bi-Plane Probes
Nadeau, CarolineIRISA, INRIA Rennes-Bretagne Atlantique
Krupa, AlexandreINRIA Rennes - Bretagne Atlantique
 
14:00-15:30, Paper WeCPT10.26 Add to My Program
Automatic Landing on Aircraft Carrier by Visual Servoing
Coutard, LaurentINRIA Rennes - Bretagne Atlantique
Chaumette, FrancoisINRIA Rennes-Bretagne Atlantique
Pflimlin, Jean-Michellaas-cnrs
 
14:00-15:30, Paper WeCPT10.27 Add to My Program
Combining IBVS and PBVS to Ensure the Visibility Constraint
Kermorgant, OlivierINRIA Rennes-Bretagne Atlantique
Chaumette, FrancoisINRIA Rennes-Bretagne Atlantique
 
WeDT1 Regular Session, Continental Parlor 1 Add to My Program 
Human-Robot Collaboration  
 
Chair: Inamura, TetsunariNational Inst. of Informatics
Co-Chair: Croft, ElizabethUniv. of British Columbia
 
16:00-16:15, Paper WeDT1.1 Add to My Program
Enhanced Visual Scene Understanding through Human-Robot Dialog
Johnson-Roberson, MatthewUniv. of Sydney
Bohg, JeannetteKTH Stockholm
Skantze, GabrielDepartment for Speech, Music and Hearing, CSC, KTH Stockholm
Gustafson, JoakimDepartment for Speech, Music and Hearing, CSC, KTH Stockholm
Carlson, RolfDepartment for Speech, Music and Hearing, CSC, KTH Stockholm
Rasolzadeh, BabakKTH
Kragic, DanicaKTH
 
16:15-16:30, Paper WeDT1.2 Add to My Program
Intention-Based Coordination and Interface Design for Human-Robot Cooperative Search
Xie, DanUniv. of Massachusetts Amherst
Grupen, RodUniv. of Massachusetts
Lin, YunUniv. of Massachusetts Amherst
Hanson, AllenUniv. of Massachusetts Amherst
 
16:30-16:45, Paper WeDT1.3 Add to My Program
Towards Safe Physical Human-Robot Collaboration: A Projection-Based Safety System
Vogel, ChristianFraunhofer IFF
Poggendorf, MaikFraunhofer Inst. for Factory Operation and Automation IFF
Walter, ChristophFraunhofer IFF
Elkmann, NorbertFraunhofer IFF
 
16:45-16:50, Paper WeDT1.4 Add to My Program
Experimental Investigation of Human-Robot Cooperative Carrying
Parker, ChrisUniv. of British Columbia
Croft, ElizabethUniv. of British Columbia
 
16:50-16:55, Paper WeDT1.5 Add to My Program
A Human-Centered Approach to Robot Gesture Based Communication within Collaborative Working Processes
Ende, TobiasDLR (German Aerospace Center)
Haddadin, SamiGerman Aerospace Center (DLR)
Parusel, SvenGerman Aerospace Center
Wüsthoff, TiloDLR
Hassenzahl, MarcFolkwang Univ. der Künste
Albu-Schäffer, AlinDLR - German Aerospace Center
 
16:55-17:00, Paper WeDT1.6 Add to My Program
Human Workflow Analysis Using 3D Occupancy Grid Hand Tracking in a Human-Robot Collaboration Scenario
Lenz, ClausTech. Univ. München
Sotzek, AliceTech. Univ. München
Röder, ThorstenTech. Univ. München
Radrich, HelmuthTech. Univ. München
Huber, MarkusLMU Munich
Glasauer, StefanLudwig-Maximilian Univ.
Knoll, AloisTU Munich
 
17:00-17:15, Paper WeDT1.7 Add to My Program
Motion Coaching with Emphatic Motions and Adverbially Expression for Human Beings by Robotic System --Method for Controlling Motions and Expressions with Solo Parameter
Okuno, KeisukeThe Graduate Univ. for Advanced Studies
Inamura, TetsunariNational Inst. of Informatics
 
17:15-17:30, Paper WeDT1.8 Add to My Program
A System for Interactive Learning in Dialogue with a Tutor
Skocaj, DanijelUniv. of Ljubljana
Kristan, MatejUniv. of Ljubljana, Faculty of Computer and Information Sci
Vrecko, AlenUniv. of Ljubljana, Faculty of Computer andInformation Scie
Mahnič, MarkoUniv. of Ljubljana
Janicek, MiroslavGerman Res. Center for Artificial Intelligence, DFKI G
Kruijff, Geert-JanGerman Res. Center for AI
Hanheide, MarcUniv. of Birmingham
Hawes, NickUniv. of Birmingham
Keller, ThomasUniv. of Freiburg
Zillich, MichaelVienna Univ. of Tech.
Zhou, KaiAutomation and Control Inst. Vienna Univ. of Tech.
 
WeDT2 Regular Session, Continental Parlor 2 Add to My Program 
Recognition & Prediction of Motion  
 
Chair: Calinon, SylvainItalian Inst. of Tech.
Co-Chair: Chitta, SachinWillow Garage Inc.
 
16:00-16:15, Paper WeDT2.1 Add to My Program
Realtime Recognition of Complex Daily Activities Using Dynamic Bayesian Network
Zhu, ChunOklahoma State Univ.
Sheng, WeihuaOklahoma State Univ.
 
16:15-16:30, Paper WeDT2.2 Add to My Program
Motion Data Retrieval Based on Statistic Correlation between Motion Symbol Space and Language
Hamano, SeiyaUniv. of Tokyo
Takano, WataruUniv. of Tokyo
Nakamura, YoshihikoUniv. of Tokyo
 
16:30-16:45, Paper WeDT2.3 Add to My Program
Movement Segmentation Using a Primitive Library
Meier, FranziskaUniv. of Southern California
Theodorou, EvangelosUniv. of Southern California
Stulp, FreekUniv. of Southern California
Schaal, StefanUniv. of Southern California
 
16:45-16:50, Paper WeDT2.4 Add to My Program
Encoding the Time and Space Constraints of a Task in Explicit-Duration Hidden Markov Model
Calinon, SylvainIstituto Italiano di Tecnologia
Pistillo, AntonioIstituto Italiano di Tecnologia
Caldwell, Darwin G.Italian Inst. of Tech.
 
16:50-16:55, Paper WeDT2.5 Add to My Program
Behavior Prediction from Trajectories in a House by Estimating Transition Model Using Stay Points
Mori, TaketoshiThe Univ. of Tokyo
Tominaga, ShojiThe Univ. of Tokyo
Noguchi, HiroshiThe Univ. of Tokyo
Shimosaka, MasamichiUniv. of Tokyo
Fukui, RuiThe Univ. of Tokyo
Sato, TomomasaThe Univ. of Tokyo
 
16:55-17:00, Paper WeDT2.6 Add to My Program
Estimation and Prediction of Multiple Flying Balls Using Probability Hypothesis Density Filtering
Birbach, OliverDFKI
Frese, UdoUniv. Bremen
 
17:00-17:15, Paper WeDT2.7 Add to My Program
Trajectory Prediction of Spinning Ball for Ping-Pong Player Robot
Huang, YanlongInst. of Automation, Chinese Acad. of Sciences
Xu, DeInst. of Automation, Chinese Acad. of Sciences
Tan, MinInst. of Automation,Chinese Acad. of Sciences
Su, HuInst. of Automation, Chinese Acad. of Sciences
 
17:15-17:30, Paper WeDT2.8 Add to My Program
Invariant Trajectory Indexing for Real Time 3D Motion Recognition
Yang, JianyuJoint Advanced Res. Centre of City Univ. and
Li, Y.F.City Univ. of Hong Kong
Wang, KeyiUniv. of Science and Tech. of China
 
WeDT3 Regular Session, Continental Parlor 3 Add to My Program 
Haptic Rendering & Object Recognition  
 
Chair: Cavusoglu, M. CenkCase Western Res. Univ.
Co-Chair: Konyo, MasashiTohoku Univ.
 
16:00-16:15, Paper WeDT3.1 Add to My Program
A Comparison of Encoding Schemes for Haptic Object Recognition Using a Biologically Plausible Spiking Neural Network
Ratnasingam, SivalogeswaranUniv. of Ulster
McGinnity, MartinUniv. of Ulster
 
16:15-16:30, Paper WeDT3.2 Add to My Program
Study on Lower Back Electrotactile Stimulation Characteristics for Prosthetic Sensory Feedback
Seps, MonikaSwiss Federal Inst. of Tech. Zurich (ETHZ)
Dermitzakis, KonstantinosUniv. of Zurich
Hernandez Arieta, AlejandroArtificial Intelligence Lab. Univ. of Zurich
 
16:30-16:45, Paper WeDT3.3 Add to My Program
Effect of Visuo-Haptic Co-Location on 3D Fitts’ Task Performance
Fu, Michael J.Case Western Res. Univ.
Hershberger, Andrew D.Case Western Res. Univ.
Sano, KumikoCase Western Res. Univ.
Cavusoglu, M. CenkCase Western Res. Univ.
 
16:45-16:50, Paper WeDT3.4 Add to My Program
Determining Object Geometry with Compliance and Simple Sensors
Jentoft, LeifHarvard Univ.
Howe, Robert D.Harvard Univ.
 
16:50-16:55, Paper WeDT3.5 Add to My Program
Usability of a Virtual Reality System Based on a Wearable Haptic Interface
Kossyk, IngoGerman Aerospace Center (DLR)
Dörr, JonasUniv. of Tech. Berlin
Raschendörfer, LarsUniv. of Tech. Berlin
Kondak, KonstantinGerman Aerospace Center
 
16:55-17:00, Paper WeDT3.6 Add to My Program
Teaching by Touching: Interpretation of Tactile Instructions for Motion Development
DallaLibera, FabioPadua Univ.
Basoeki, FransiskaDepartment of Systems Innovation, Graduate School of Engineering
Minato, TakashiATR
Ishiguro, HiroshiOsaka Univ.
Menegatti, EmanueleThe Univ. of Padua
 
17:00-17:15, Paper WeDT3.7 Add to My Program
Enhancement of Human Force Perception by Multi-Point Tactile Stimulation
Porquis, Lope BenGraduate School of Information Science, Tohoku Univ.
Konyo, MasashiTohoku Univ.
Tadokoro, SatoshiTohoku Univ.
 
17:15-17:30, Paper WeDT3.8 Add to My Program
Enhancement of Vibrotactile Sensitivity: Effects of Stationary Boundary Contacts
Sakurai, TatsumaTohoku Univ.
Konyo, MasashiTohoku Univ.
Tadokoro, SatoshiTohoku Univ.
 
WeDT4 Invited Session, Continental Ballroom 4 Add to My Program 
Industrial Forum: Medical Robotics (Hyosig Kang, MAKO;
Ralf Koeppe, KUKA; Jean Chang, Hansen Medical; Catherine Mohr,
Intuitive; Simon Di Maio, Intuitive)
 
 
Chair: Dario, PaoloScuola Superiore Sant'Anna
 
WeDT5 Invited Session, Continental Ballroom 5 Add to My Program 
Symposium: Robot Motion Planning: New Frameworks and High Performance  
 
Chair: Likhachev, MaximCarnegie Mellon Univ.
Co-Chair: Alterovitz, RonUniv. of North Carolina at Chapel Hill
Organizer: Alterovitz, RonUniv. of North Carolina at Chapel Hill
Organizer: Likhachev, MaximCarnegie Mellon Univ.
 
16:00-16:15, Paper WeDT5.1 Add to My Program
Multiresolution H-Cost Motion Planning: A New Framework for Hierarchical Motion Planning for Autonomous Mobile Vehicles
Cowlagi, RaghvendraGeorgia Inst. of Tech.
Tsiotras, PanagiotisGeorgia Tech.
 
16:15-16:30, Paper WeDT5.2 Add to My Program
Multi-Scale LPA* with Low Worst-Case Complexity Guarantees
Lu, YibiaoGeorgia Inst. of Tech.
Huo, XiaomingGeorgia Inst. of Tech.
Arslan, OktayGeorgia Inst. of Tech.
Tsiotras, PanagiotisGeorgia Tech.
 
16:30-16:45, Paper WeDT5.3 Add to My Program
Massively Parallelizing the RRT and the RRT*
Bialkowski, Joshua JMassachusetts Inst. of Tech.
Karaman, SertacMassachusetts Inst. of Tech.
Frazzoli, EmilioMassachusetts Inst. of Tech.
 
16:45-16:50, Paper WeDT5.4 Add to My Program
Deterministic Kinodynamic Planning with Hardware Demonstrations
Gaillard, FrançoisISEN SMAC LIFL
Soulignac, MichaëlISEN Lille
Dinont, CédricISEN
Mathieu, PhilippeLab. d'Informatique Fondamentale de Lille Univ. des
 
16:50-16:55, Paper WeDT5.5 Add to My Program
Navigation Meshes for Realistic Multi-Layered Environments
van Toll, WouterUtrecht Univ.
Cook IV, Atlas F.Utrecht Univ.
Geraerts, RolandUtrecht Univ.
 
16:55-17:00, Paper WeDT5.6 Add to My Program
Solving Shortest Path Problems with Curvature Constraints Using Beamlets
Arslan, OktayGeorgia Inst. of Tech.
Tsiotras, PanagiotisGeorgia Tech.
Huo, XiaomingGeorgia Inst. of Tech.
 
17:00-17:15, Paper WeDT5.7 Add to My Program
Adaptive Time Horizon for On-Line Avoidance in Dynamic Environments
Shiller, ZviAriel Univ. Center
Gal, OrenTech. - Israel Inst. of Tech.
Raz, ArielAriel Univ. Center of Samaria
 
17:15-17:30, Paper WeDT5.8 Add to My Program
Spline Templates for Fast Path Planning in Unstructured Environments
Häselich, MarcelUniv. of Koblenz-Landau
Handzhiyski, NikolayUniv. of Koblenz-Landau
Winkens, ChristianUniv. of Koblenz
Paulus, DietrichUniv. Koblenz-Landau
 
WeDT6 Invited Session, Continental Ballroom 6 Add to My Program 
Symposium: Marine Robotics: Control and Planning  
 
Chair: Zhang, FuminGeorgia Inst. of Tech.
Co-Chair: Chitre, MandarNational Univ. of Singapore
Organizer: Smith, RyanQueensland Univ. of Tech.
Organizer: Zhang, FuminGeorgia Inst. of Tech.
Organizer: Kondo, HayatoTokyo Univ. of Marine Science and Tech.
Organizer: Antonelli, GianlucaUniv. degli Studi di Cassino
 
16:00-16:15, Paper WeDT6.1 Add to My Program
Semi-Plenary Invited Talk: Applications of Marine Robotic Vehicles
Yuh, JunkuKorea Aerospace Univ.
 
16:15-16:30, Paper WeDT6.2 Add to My Program
Semi-Plenary Invited Talk: Applications of Marine Robotic Vehicles
Yuh, JunkuKorea Aerospace Univ.
 
16:30-16:45, Paper WeDT6.3 Add to My Program
3D-Surface Reconstruction for Partially Submerged Marine Structures Using an Autonomous Surface Vehicle (I)
Papadopoulos, GeorgiosMIT
Kurniawati, HannaSingapore -- MIT Alliance for Res. and Tech.
Bin Mohd Shariff, Ahmed ShafeeqNUS
Wong, Liang JieNUS
Patrikalakis, NicholasMIT, SMART
 
16:45-16:50, Paper WeDT6.4 Add to My Program
Path Tracking: Combined Path Following and Trajectory Tracking for Autonomous Underwater Vehicles (I)
Xiang, XianboHUST
Lapierre, LionelLIRMM
Liu, ChaoLIRMM (UMR5506), CNRS, France
Jouvencel, BrunoUniv. of Montpellier 2 - CNRS UMR5506 -LIRMM
 
16:50-16:55, Paper WeDT6.5 Add to My Program
Autonomous Data Collection from Underwater Sensor Networks Using Acoustic Communication (I)
Hollinger, GeoffreyUniv. of Southern California
Mitra, UrbashiUniv. of Southern California
Sukhatme, GauravUniv. of Southern California
 
16:55-17:00, Paper WeDT6.6 Add to My Program
Modeling and Reactive Navigation of an Autonomous Sailboat
Pêtrès, ClémentUniv. Paris VI
Romero-Ramirez, Miguel-AngelISIR, UPMC
Plumet, FredericUPMC
 
17:00-17:15, Paper WeDT6.7 Add to My Program
Underwater SLAM with Robocentric Trajectory Using a Mechanically Scanned Imaging Sonar (I)
Burguera, AntoniUniv. de les Illes Balears
Gonzalez, YolandaUniv. de les Illes Balears
Oliver, Gabriel A.Univ. of the Balearic Islands
 
17:15-17:30, Paper WeDT6.8 Add to My Program
A Lower Bound on Navigation Error for Marine Robots Guided by Ocean Circulation Models (I)
Szwaykowska, KlementynaGeorgia Inst. of Tech.
Zhang, FuminGeorgia Inst. of Tech.
 
WeDT7 Regular Session, Continental Parlor 7 Add to My Program 
Tracking & Gait Analysis  
 
Chair: Mariottini, Gian LucaUniv. of Texas at Arlington
Co-Chair: Prattichizzo, DomenicoIstituto Italiano di Tecnologia
 
16:00-16:15, Paper WeDT7.1 Add to My Program
Identification of Mobile Entities Based on Trajectory and Shape Information
Yucel, ZeynepAdvanced Telecommunications Res. Inst.
Ikeda, TetsushiATR
Miyashita, TakahiroATR
Hagita, NorihiroATR
 
16:15-16:30, Paper WeDT7.2 Add to My Program
Marathoner Tracking Algorithms for a High Speed Mobile Robot
Jung, Eui-jungHanyang Univ.
Lee, Jae HoonEhime Univ.
Yi, Byung-JuHanyang Univ.
Suh, Il HongHanyang Univ.
Yuta, ShinichiUniv. of Tsukuba
Noh, Si TaeHanyang Univ.
 
16:30-16:45, Paper WeDT7.3 Add to My Program
Adaptive Human Shape Reconstruction Via 3D Head Tracking for Motion Capture in Daily Living Environment
Murasaki, KazuhikoThe Univ. of Tokyo
Shimosaka, MasamichiUniv. of Tokyo
Mori, TaketoshiThe Univ. of Tokyo
Sato, TomomasaThe Univ. of Tokyo
 
16:45-16:50, Paper WeDT7.4 Add to My Program
Cooperative Active Target Tracking for Heterogeneous Robots with Application to Gait Monitoring
Morbidi, FabioUniv. of Texas at Arlington
Christopher, RayUniv. of Texas at Arlington
Mariottini, Gian LucaUniv. of Texas at Arlington
 
16:50-16:55, Paper WeDT7.5 Add to My Program
Fast Visual People Tracking Using a Feature-Based People Detector
Königs, AchimFraunhofer Inst. for Communication, InformationProcessing, a
Schulz, DirkFKIE
 
16:55-17:00, Paper WeDT7.6 Add to My Program
A Nonlinear Controller for People Guidance Based on Omnidirectional Vision
Pereira, Flávio GarciaUniv. Federal do Espírito Santo / Federal Univ. of E
Santos, Milton César PaesFederal Univ. of Espírito Santo
Vassallo, Raquel FrizeraUFES
 
17:00-17:15, Paper WeDT7.7 Add to My Program
Particle Filter Based Monocular Human Tracking with a 3D Cardbox Model and a Novel Deterministic Resampling Strategy
Liu, ZiyuanInst. of Automatic Control Engineering, Tech.
Lee, DongheuiTech. Univ. of Munich
Sepp, WolfgangGerman Aerospace Center (DLR)
 
17:15-17:30, Paper WeDT7.8 Add to My Program
Non-Drifting Limb Angle Measurement Relative to the Gravitational Vector During Dynamic Motions Using Accelerometers and Rate Gyros
Petruska, AndrewUniv. of Utah
Meek, SanfordUniv. of Utah
 
WeDT8 Regular Session, Continental Parlor 8 Add to My Program 
Multirobot Coordination & Modular Robots  
 
Chair: Stoy, KasperUniv. of Southern Denmark
Co-Chair: Smith, Stephen L.Univ. of Waterloo
 
16:00-16:15, Paper WeDT8.1 Add to My Program
Modeling Mutual Capabilities in Heterogeneous Teams for Role Assignment
Liemhetcharat, SomchayaCarnegie Mellon Univ.
Veloso, ManuelaCarnegie Mellon Univ.
 
16:15-16:30, Paper WeDT8.2 Add to My Program
Collision Avoidance for Persistent Monitoring in Multi-Robot Systems with Intersecting Trajectories
Soltero, Daniel E.Massachusetts Inst. of Tech.
Smith, Stephen L.Univ. of Waterloo
Rus, DanielaMIT
 
16:30-16:45, Paper WeDT8.3 Add to My Program
Evaluation of a Power Management System for Heterogeneous Modules in Self-Reconfigurable Multi-Module Systems
Wang, ZhuoweiDFKI Robotics Innovation Center Bremen
Cordes, FlorianDFKI Robotics Innovation Center Bremen
Dettmann, AlexanderDFKI Robotics Innovation Center Bremen
Szczuka, RomanDFKI Robotics Innovation Center Bremen
 
16:45-16:50, Paper WeDT8.4 Add to My Program
Generalized Programming of Modular Robots through Kinematic Configurations
Bordignon, MirkoUniv. of Southern Denmark
Stoy, KasperUniv. of Southern Denmark
Schultz, Ulrik PaghUniv. of Southern Denmark
 
16:50-16:55, Paper WeDT8.5 Add to My Program
Energy-Aware Coverage Control with Docking for Robot Teams
Derenick, JasonUniv. of Pennsylvania
Michael, NathanUniv. of Pennsylvania
Kumar, VijayUniv. of Pennsylvania
 
16:55-17:00, Paper WeDT8.6 Add to My Program
Optimization of Personal Distribution for Evacuation Guidance Based on Vector Field
Okada, MasafumiTokyo Inst. of Tech.
Ando, TeruhisaTokyo Inst. of Tech.
 
17:00-17:15, Paper WeDT8.7 Add to My Program
Intent Inference and Strategic Escape in Multi-Robot Games with Physical Limitations and Uncertainty (I)
Valtazanos, ArisUniv. of Edinburgh
Ramamoorthy, SubramanianThe Univ. of Edinburgh
 
17:15-17:30, Paper WeDT8.8 Add to My Program
Optimisation Model and Exact Algorithm for Autonomous Straddle Carrier Scheduling at Automated Container Terminals
Cai, BinghuangUniv. of Tech. Sydney
Huang, ShoudongUniv. of Tech. Sydney
Liu, DikaiFacultyof Engineering and Information Tech.
Yuan, ShuaiUniv. of Tech. Sydney
Dissanayake, GaminiUniv. of Tech. Sydney
Lau, HayePatrick Tech. & Systems
Pagac, DanielPatrick Tech. Systems
 
WeDT9 Regular Session, Continental Parlor 9 Add to My Program 
Calibration & Identification  
 
Chair: Metta, GiorgioIstituto Italiano di Tecnologia (IIT)
Co-Chair: Kovecses, JozsefMcGill Univ.
 
16:00-16:15, Paper WeDT9.1 Add to My Program
Skin Spatial Calibration Using Force/Torque Measurements
Del Prete, AndreaItalian Inst. of Tech.
Denei, SimoneUniv. of Genova
Natale, LorenzoIstutito Italiano di Tecnologia
Mastrogiovanni, FulvioUniv. of Genova, Italy
Nori, FrancescoISTITUTO ITALIANO DI TECNOLOGIA
Cannata, GiorgioUniv. of Genova
Metta, GiorgioIstituto Italiano di Tecnologia (IIT)
 
16:15-16:30, Paper WeDT9.2 Add to My Program
Muscle Strength and Mass Distribution Identification Toward Subject-Specific Musculoskeletal Modeling
Hayashibe, MitsuhiroINRIA
Venture, GentianeTokyo Univ. of Agriculture and Tech.
Ayusawa, KoUniv. of Tokyo
Nakamura, YoshihikoUniv. of Tokyo
 
16:30-16:45, Paper WeDT9.3 Add to My Program
Static Calibration of the DLR Medical Robot MIRO, a Flexible Lightweight Robot with Integrated Torque Sensors
Klodmann, JulianGerman Aerospace Center
Konietschke, RainerDLR (German Aerospace Center)
Albu-Schäffer, AlinDLR - German Aerospace Center
Hirzinger, GerdGerman Aerospace Center (DLR)
 
16:45-16:50, Paper WeDT9.4 Add to My Program
Simultaneous Calibration, Localization, and Mapping
Kuemmerle, RainerUniv. of Freiburg
Grisetti, GiorgioSapienza Univ. of Rome
Burgard, WolframUniv. of Freiburg
 
16:50-16:55, Paper WeDT9.5 Add to My Program
Experimental Evaluation of New Methods for In-Situ Calibration of Attitude and Doppler Sensors for Underwater Vehicle Navigation
Troni, GiancarloJohns Hopkins Univ.
Whitcomb, LouisThe Johns Hopkins Univ.
 
16:55-17:00, Paper WeDT9.6 Add to My Program
New Method for Global Identification of the Joint Drive Gains of Robots Using a Known Payload Mass
Gautier, MaximeUniv. of Nantes
Briot, SébastienIRCCyN
 
17:00-17:15, Paper WeDT9.7 Add to My Program
Relative Accuracy Enhancement System Based on Internal Error Range Estimation for External Force Measurement in Construction Manipulator
Kamezaki, MitsuhiroWaseda Univ.
Iwata, HiroyasuWaseda Univ.
Sugano, ShigekiWaseda Univ.
 
17:15-17:30, Paper WeDT9.8 Add to My Program
Recursive State-Parameter Estimation of Haptic Robotic Systems
Mohtat, ArashMcGill Univ.
Ghaffari Toiserkan, KamranMcGill Univ.
Kovecses, JozsefMcGill Univ.
 
WeDPT10 Interactive Session, Golden Gate Room Add to My Program 
Interactive VIII  
 
 
16:00-17:30, Paper WeDPT10.1 Add to My Program
Adapting Robot Team Behavior from Interaction with a Group of People
Urcola, PabloInst. de Investigación en Ingeniería de Aragón, Univ. de Zaragoza
Montano, LuisUniv. de Zaragoza
 
16:00-17:30, Paper WeDPT10.2 Add to My Program
Towards a Platform-Independent Cooperative Human-Robot Interaction System: II. Perception, Execution and Imitation of Goal Directed Actions
Lallée, StéphaneINSERM Stem Cell & Brain Res. Inst.
Pattacini, UgoIstituto Italiano di Tecnologia (IIT)
Boucher, Jean-DavidINSERM Stem Cell & Brain Res. Inst.
Lemaignan, SéverinCNRS - LAAS
Lenz, AlexanderBristol Robotic Lab.
Melhuish, ChrisBristol Robotic Lab.
Natale, LorenzoIstituto Italiano di Tecnologia (IIT)
Skachek, SergeyBristol Robotic Lab.
Hamann, KatharinaMax Planck Inst. for Evolutionary Anthropology
Steinwender, JasminMax Planck Inst. for Evolutionary Anthropology
Sisbot, Emrah AkinCNRS - LAAS
Metta, GiorgioIstituto Italiano di Tecnologia (IIT)
Alami, RachidCNRS - LAAS
Warnier, MatthieuCNRS - LAAS
Guitton, JulienCNRS - LAAS
Warneken, FelixHarvard Univ.
Dominey, Peter FordINSERM Stem Cell & Brain Res. Inst.
 
16:00-17:30, Paper WeDPT10.3 Add to My Program
Listening for People: Exploiting the Spectral Structure of Speech to Robustly Perceive the Presence of People
Hilsenbeck, BarbaraKarlsruhe Univ. of Applied Sciences
Kirchner, NathanUniv. of Tech.
 
16:00-17:30, Paper WeDPT10.4 Add to My Program
Outlet Detection and Pose Estimation for Robot Continuous Operation
Eruhimov, VictorItseez
Meeussen, WimWillow Garage inc.
 
16:00-17:30, Paper WeDPT10.5 Add to My Program
Robust Tracking of Human Hand Postures for Robot Teaching
Maycock, JonathanBielefeld Univ.
Steffen, JanBielefeld Univ.
Haschke, RobertBielefeld Univ.
Ritter, Helge JoachimBielefeld Univ.
 
16:00-17:30, Paper WeDPT10.6 Add to My Program
Visual Tracking Using the Sum of Conditional Variance
Richa, RogerioJohns Hopkins Univ.
Sznitman, RaphaelJohns Hopkins Univ.
Taylor, Russell H.The Johns Hopkins Univ.
Hager, GregoryJohns Hopkins Univ.
 
16:00-17:30, Paper WeDPT10.7 Add to My Program
Capacitive Skin Sensors for Robot Impact Monitoring
Phan, SamsonStanford Univ.
Quek, Zhan FanStanford Univ.
Shah, PreyasStanford Univ.
Shin, DongjunStanford Univ.
Ahmed, ZubairStanford Univ.
Khatib, OussamaStanford Univ.
Cutkosky, MarkStanford Univ.
 
16:00-17:30, Paper WeDPT10.8 Add to My Program
Instantaneous Stiffness Effects on Impact Forces in Human-Friendly Robots
Shin, DongjunStanford Univ.
Phan, SamsonStanford Univ.
Quek, Zhan FanStanford Univ.
Cutkosky, MarkStanford Univ.
Khatib, OussamaStanford Univ.
 
16:00-17:30, Paper WeDPT10.9 Add to My Program
Fast Computation of Wheel-Soil Interactions for Safe and Efficient Operation of Mobile Robots
Jia, ZhenzhongUniv. of Michigan
Smith, WilliamUniv. of Michigan
Peng, HueiUniv. of MIchigan
 
16:00-17:30, Paper WeDPT10.10 Add to My Program
Bilateral Physical Interaction with a Robot Manipulator through a Weighted Combination of Flow Fields
Pistillo, AntonioIstituto Italiano di Tecnologia
Calinon, SylvainIstituto Italiano di Tecnologia
Caldwell, Darwin G.Italian Inst. of Tech.
 
16:00-17:30, Paper WeDPT10.11 Add to My Program
Motion Control of a Semi-Mobile Haptic Interface for Extended Range Telepresence
Pérez Arias, AntoniaKarlsruhe Inst. of Tech. (KIT)
Hanebeck, Uwe D.Karlsruhe Inst. of Tech. (KIT)
 
16:00-17:30, Paper WeDPT10.12 Add to My Program
An Objective Index That Substitutes for Subjective Quality of Vibrotactile Material-Like Textures
Okamoto, ShogoNagoya Univ.
Yamada, YojiNagoya Univ.
 
16:00-17:30, Paper WeDPT10.13 Add to My Program
Minimalist Multiple Target Tracking Using Directional Sensor Beams (I)
Bobadilla, LeonardoUniv. of Illinois
Sanchez Plazas, OscarUniv. of Illinois at Urbana-Champaign
Czarnowski, JustinUniv. of Illinois at Urbana-Champaign
LaValle, Steven MUniv. of Illinois
 
16:00-17:30, Paper WeDPT10.14 Add to My Program
Temporal Logic Control in Dynamic Environments with Probabilistic Satisfaction Guarantees
Medina Ayala, Ana IvonneBoston Univ.
Andersson, SeanBoston Univ.
Belta, CalinBoston Univ.
 
16:00-17:30, Paper WeDPT10.15 Add to My Program
Computing Unions of Inevitable Collision States and Increasing Safety to Unexpected Obstacles
Althoff, DanielTech. Univ. München
Brand, Christoph NorbertTech. Univ. München
Wollherr, DirkTech. Univ. München
Buss, MartinTech. Univ. München
 
16:00-17:30, Paper WeDPT10.16 Add to My Program
Current-Sensitive Path Planning for an Underactuated Free-Floating Ocean Sensorweb (I)
Dahl, KristenCalifornia Inst. of Tech.
Thompson, DavidJPL/ California Inst. of Tech.
McLaren, DavidJPL/ California Inst. of Tech.
Chao, YiCalifornia Inst. of Tech.
Chien, SteveJet Propulsion Lab.
 
16:00-17:30, Paper WeDPT10.17 Add to My Program
Toward Risk Aware Mission Planning for Autonomous Underwater Vehicles (I)
de Menezes Pereira, Arvind A.Univ. of Southern California
Binney, JonathanUniv. of Southern California
Jones, BurtonUniv. of Southern California
Ragan, MatthewUniv. of Southern California
Sukhatme, GauravUniv. of Southern California
 
16:00-17:30, Paper WeDPT10.18 Add to My Program
AUV Docking on a Moving Submarine Using a K-R Navigation Function
Sujit, P.B.Univ. of Porto
Healey, Anthony J.Naval Postgraduate School
Sousa, JoãoUniv. Porto - Faculdade Engenharia
 
16:00-17:30, Paper WeDPT10.19 Add to My Program
Adaptive Predictive Gaze Control of a Redundant Humanoid Robot Head
Milighetti, GiulioFraunhofer-Inst. of Optronics, System Tech. and Image Exploitation IOSB
Vallone, LucaDIS, Univ. di Roma "La Sapienza"
De Luca, AlessandroUniv. di Roma "La Sapienza"
 
16:00-17:30, Paper WeDPT10.20 Add to My Program
Dynamic Whole-Body Mobile Manipulation with a Torque Controlled Humanoid Robot Via Impedance Control Laws
Dietrich, AlexanderGerman Aerospace Center (DLR)
Wimboeck, ThomasGerman Aerospace Center (DLR)
Albu-Schäffer, AlinDLR - German Aerospace Center
 
16:00-17:30, Paper WeDPT10.21 Add to My Program
Gait Pattern Generation and Stabilization for Humanoid Robot Based on Coupled Oscillators
Ha, InyongThe Univ. of Tokyo
Tamura, YusukeThe Univ. of Tokyo
Asama, HajimeThe Univ. of Tokyo
 
16:00-17:30, Paper WeDPT10.22 Add to My Program
Localization Using Ambiguous Bearings from Radio Signal Strength (I)
Derenick, JasonUniv. of Pennsylvania
Fink, JonathanARL
Kumar, VijayUniv. of Pennsylvania
 
16:00-17:30, Paper WeDPT10.23 Add to My Program
Planning for Multi-Robot Exploration with Multiple Objective Utility Functions
Butzke, JonathanCarnegie Mellon Univ.
Likhachev, MaximCarnegie Mellon Univ.
 
16:00-17:30, Paper WeDPT10.24 Add to My Program
M*: A Complete Multirobot Path Planning Algorithm with Performance Bounds
Wagner, GlennCarnegie Mellon
Choset, HowieCarnegie Mellon Univ.
 
16:00-17:30, Paper WeDPT10.25 Add to My Program
Rapid Development of Manifold-Based Graph Optimization Systems for Multi-Sensor Calibration and SLAM
Wagner, RenéDeutsches Forschungszentrum für Künstliche Intelligenz GmbH
Birbach, OliverDFKI
Frese, UdoUniv. Bremen
 
16:00-17:30, Paper WeDPT10.26 Add to My Program
Two-Phase Online Calibration for Infrared-Based Inter-Robot Positioning Modules
Gowal, SvenEPFL
Prorok, AmandaEPFL
Martinoli, AlcherioEPFL
 
16:00-17:30, Paper WeDPT10.27 Add to My Program
Self Calibration of a Vision System Embedded in a Visual SLAM Framework
Joly, CyrilINRIA Sophia Antipolis Méditerannée
Rives, PatrickINRIA