2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
October 7-12, 2012, Vilamoura, Algarve, Portugal

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Last updated on April 16, 2014. This conference program is tentative and subject to change

Technical Program for Wednesday October 10, 2012

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WedAT1 Regular Session, Pegaso A Add to My Program 
Pose Estimation  
 
Chair: Dubbelman, GijsCMU Robotics Inst.
Co-Chair: Skotheim, ØysteinSINTEF ICT
 
08:30-08:45, Paper WedAT1.1 Add to My Program
A Flexible 3D Object Localization System for Industrial Part Handling
Skotheim, ØysteinSINTEF ICT
Lind, MortenSINTEF Manufacturing AS
Ystgaard, PålSINTEF Raufoss Manufacturing AS
Fjerdingen, Sigurd AksnesSINTEF ICT
 
08:45-09:00, Paper WedAT1.2 Add to My Program
6D Pose Estimation of Textureless Shiny Objects Using Random Ferns for Bin-Picking
Moreira Rodrigues, Jose JeronimoInst. for Systems and Robotics, Inst. Te
Kim, Jun-SikCarnegie Mellon Univ.
Furukawa, MakotoHonda Engeneering Co., Lda., Japan
Xavier, JoãoInst. Superior Técnico—Inst. de Sistemas e Robótica
Aguiar, PedroInst. for Systems and Robotics, Inst. Superior Técnico,
Kanade, TakeoCarnegie Mellon Univ.
 
09:00-09:15, Paper WedAT1.3 Add to My Program
3D Pose Estimation of Daily Objects Using an RGB-D Camera
Choi, ChanghyunGeorgia Inst. of Tech.
Christensen, Henrik IskovGeorgia Inst. of Tech.
 
09:15-09:30, Paper WedAT1.4 Add to My Program
Multi-Camera Based Real-Time Configuration Estimation of Continuum Robots
Weber, BernhardTech. Univ. München
Zeller, PaulTech. Univ. München
Kühnlenz, KoljaTech. Univ. München
 
WedAT2 Regular Session, Fenix 2 Add to My Program 
Physical Human-Robot Interaction I  
 
Chair: Hirata, YasuhisaTohoku Univ.
Co-Chair: Lee, DongheuiTech. Univ. of Munich
 
08:30-08:45, Paper WedAT2.1 Add to My Program
Wire-Type Human Support System Controlled by Servo Brakes
Hirata, YasuhisaTohoku Univ.
Tozaki, YukiTohoku Univ.
Kosuge, KazuhiroTohoku Univ.
 
08:45-09:00, Paper WedAT2.2 Add to My Program
Real-Time Estimate of Period Derivatives Using Adaptive Oscillators: Application to Impedance-Based Walking Assistance
Ronsse, RenaudUniv. catholique de Louvain
De Rossi, Stefano Marco MariaScuola Superiore Sant'Anna
Vitiello, NicolaScuola Superiore Sant Anna
Lenzi, TommasoScuola Superiore Sant'Anna
Koopman, BramUniv. of Twente
Van der Kooij, HermanUniv. of Twente
Carrozza, Maria ChiaraScuola Superiore Sant'Anna
Ijspeert, AukeEPFL
 
09:00-09:15, Paper WedAT2.3 Add to My Program
Elastic Strips: Implementation on a Physical Humanoid Robot
Kwon, JinsungStanford Univ.
Yoshikawa, TaizoHonda R&D Japan
Khatib, OussamaStanford Univ.
 
09:15-09:30, Paper WedAT2.4 Add to My Program
6D Workspace Constraints for Physical Human-Robot Interaction Using Invariance Control with Chattering Reduction
Kimmel, MelanieTech. Univ. München
Lawitzky, MartinTech. Univ. Muenchen
Hirche, SandraTech. Univ. München
 
WedAT3 Regular Session, Pegaso B Add to My Program 
Field Robotics I  
 
Chair: Bergerman, MarcelCarnegie Mellon Univ.
Co-Chair: Prassler, ErwinBonn-Rhein-Sieg Univ. of Applied Sciences
 
08:30-08:45, Paper WedAT3.1 Add to My Program
Natural Feature Based Localization in Forested Environments
Song, MengNankai Univ.
Sun, FengchiNankai Univ.
Iagnemma, KarlMIT
 
08:45-09:00, Paper WedAT3.2 Add to My Program
A Practical Obstacle Detection System for Autonomous Orchard Vehicles
Freitas, GustavoFederal Univ. of Rio de Janeiro
Hamner, BradCarnegie Mellon Univ.
Bergerman, MarcelCarnegie Mellon Univ.
Singh, SanjivCarnegie Mellon Univ.
 
09:00-09:15, Paper WedAT3.3 Add to My Program
Electro-Hydraulically Actuated Forestry Manipulator: Modeling and Identification
La Hera, PedroSwedish Univ. of Agricultural Sciences
Ur Rehman, BilalUmeå Univ.
Ortiz Morales, DanielUmeå Univ.
 
09:15-09:30, Paper WedAT3.4 Add to My Program
Rocker-Pillar : Design of the Rough Terrain Mobile Robot Platform with Caterpillar Tracks and Rocker Bogie Mechanism
Choi, Dongkyuseoul national Univ. RoDEL
Cho, SunmeSeoul National Univ.
Kim, JeongryulSeoul National Univ.
Jung, Seungminseoul national Univ.
Kim, JongwonSeoul National Univ.
 
WedAT4 Regular Session, Fenix 3 Add to My Program 
Humanoid Robots II  
 
Chair: Oh, Paul Y.Drexel Univ.
Co-Chair: Inaba, MasayukiThe Univ. of Tokyo
 
08:30-08:45, Paper WedAT4.1 Add to My Program
Online Walking Pattern Generation for Push Recovery and Minimum Delay to Commanded Change of Direction and Speed
Urata, JunichiThe Univ. of Tokyo
Nishiwaki, KoichiNational Inst. of AIST
Nakanishi, YutoThe Univ. of Tokyo
Okada, KeiThe Univ. of Tokyo
Kagami, SatoshiNational Inst. of AIST
Inaba, MasayukiThe Univ. of Tokyo
 
08:45-09:00, Paper WedAT4.2 Add to My Program
Humanoid Full-Body Controller Adapting Constraints in Structured Objects through Updating Task-Level Reference Force
Nozawa, ShunichiThe Univ. of Tokyo
Kumagai, IoriUniv. of Tokyo
Kakiuchi, YoheiThe Univ. of Tokyo
Okada, KeiThe Univ. of Tokyo
Inaba, MasayukiThe Univ. of Tokyo
 
09:00-09:15, Paper WedAT4.3 Add to My Program
Applying Human Motion Capture to Design Energy-Efficient Trajectories for Miniature Humanoids
Sohn, KiwonDrexel Univ.
Oh, Paul Y.Drexel Univ.
 
09:15-09:30, Paper WedAT4.4 Add to My Program
Trajectory Design and Control of Edge-Landing Walking of a Humanoid for Higher Adaptability to Rough Terrains
Nishiwaki, KoichiNational Inst. of AIST
Kagami, SatoshiNational Inst. of AIST
 
WedAT5 Regular Session, Gemini 2 Add to My Program 
Kinematic Modeling  
 
Chair: Morel, GuillaumeUniv. Pierre et Marie Curie - Paris 6
 
08:30-08:45, Paper WedAT5.1 Add to My Program
Constant Curvature Continuum Kinematics As Fast Approximate Model for the Bionic Handling Assistant
Rolf, MatthiasBielefeld Univ.
Steil, Jochen J.Bielefeld Univ.
 
08:45-09:00, Paper WedAT5.2 Add to My Program
Fast Inverse Kinematics Algorithm for Large DOF System with Decomposed Gradient Computation Based on Recursive Formulation of Equilibrium
Ayusawa, KoUniv. of Tokyo
Nakamura, YoshihikoUniv. of Tokyo
 
09:00-09:15, Paper WedAT5.3 Add to My Program
Forward Kinematic Model for Continuum Robotic Surfaces
Merino, JessicaClemson Univ.
Threatt, AnthonyClemson Univ.
Walker, IanClemson Univ.
Green, Keith EvanClemson Univ.
 
09:15-09:30, Paper WedAT5.4 Add to My Program
A Method for Measuring the Upper Limb Motion and Computing a Compatible Exoskeleton Trajectory
Jarrasse, NathanaelImperial Coll. London
Crocher, VincentUniv. Pierre et Marie Curie - Paris 6, ISIR,CNRS-UMR7222
Morel, GuillaumeUniv. Pierre et Marie Curie - Paris 6
 
WedAT6 Regular Session, Gemini 3 Add to My Program 
Mapping I  
 
Chair: Murphy, ElizabethQueensland Univ. of Tech.
Co-Chair: Paull, LiamUniv. of New Brunswick
 
08:30-08:45, Paper WedAT6.1 Add to My Program
IPJC: The Incremental Posterior Joint Compatibility Test for Fast Feature Cloud Matching
Li, YangmingInst. of Intelligence Machines, ChineseAcademyofSciences
Olson, EdwinUniv. of Michigan
 
08:45-09:00, Paper WedAT6.2 Add to My Program
Fast Incremental Clustering and Representation of a 3D Point Cloud Sequence with Planar Regions
Donnarumma, FrancescoInst. of Cognitive Science and Tech.
Lippiello, VincenzoUniv. di Napoli Federico II
Saveriano, MatteoTech. Univ. München
 
09:00-09:15, Paper WedAT6.3 Add to My Program
Patch Map: A Benchmark for Occupancy Grid Algorithm Evaluation
Merali, RehmanUniv. of Toronto
Barfoot, TimothyUniv. of Toronto
 
09:15-09:30, Paper WedAT6.4 Add to My Program
Independent Markov Chain Occupancy Grid Maps for Representation of Dynamic Environments
Saarinen, Jari PekkaAalto Univ.
Andreasson, HenrikÖrebro Univ.
Lilienthal, Achim, J.Örebro Univ.
 
WedAT7 Regular Session, Vega Add to My Program 
Multiple Mobile Robot Planning I  
 
Chair: Arkin, RonaldGeorgia Tech.
Co-Chair: Faigl, JanCzech Tech. Univ. in Prague
 
08:30-08:45, Paper WedAT7.1 Add to My Program
Combining Classification and Regression for WiFi Localization of Heterogeneous Robot Teams in Unknown Environments
Balaguer, BenjaminUniv. of California, Merced
Erinc, GorkemUniv. of California Merced
Carpin, StefanoUniv. of California, Merced
 
08:45-09:00, Paper WedAT7.2 Add to My Program
Distributed Coordination of a Formation of Heterogeneous Agents with Individual Regrets and Asynchronous Communications
Carlési, NicolasLIRMM, Univ. Montpellier 2
Bianchi, PascalInst. Télécom / Télécom Paris-Tech. CNRS-LTCI
 
09:00-09:15, Paper WedAT7.3 Add to My Program
A Bio-Inspired Developmental Approach to Swarm Robots Self-Organization
Meng, YanStevens Inst. of Tech.
Guo, HongliangStevens Inst. of Tech.
 
09:15-09:30, Paper WedAT7.4 Add to My Program
Real-Time Optimization of Trajectories That Guarantee the Rendezvous of Mobile Robots
Gowal, SvenEPFL
Martinoli, AlcherioEPFL
 
WedAT8 Regular Session, Gemini 1 Add to My Program 
Dynamics and Control I  
 
Chair: Metta, GiorgioIstituto Italiano di Tecnologia (IIT)
Co-Chair: Shammas, ElieAmerican Univ. of Beirut
 
08:30-08:45, Paper WedAT8.1 Add to My Program
Contribution to the Modeling of Cable-Suspended Parallel Robot Hanged on the Four Points
Filipovic, MirjanaMihajlo Pupin Inst.
Djuric, AnaWayne State Univ.
Kevac, LjubinkoSchool of Electrical Engineering, The Univ. of Belgrade
 
08:45-09:00, Paper WedAT8.2 Add to My Program
Modeling and Control of a Flying Robot for Contact Inspection
Fumagalli, MatteoUniv. of Twente
Naldi, RobertoCASY - D.E.I.S. - Univ. di Bologna
Macchelli, AlessandroUniv. of Bologna
Carloni, RaffaellaUniv. of Twente
Stramigioli, StefanoUniv. of Twente
Marconi, LorenzoUniv. of Bologna
 
09:00-09:15, Paper WedAT8.3 Add to My Program
Planning Trajectories on Uneven Terrain Using Optimization and Non-Linear Time Scaling Techniques
Singh, ArunInternational Inst. of Information Tech.
Krishna, MadhavaIIIT Hyderabad
Saripalli, SrikanthArizona State Univ.
 
09:15-09:30, Paper WedAT8.4 Add to My Program
Distributed Voronoi Partitioning for Multi-Robot Systems with Limited Range Sensors
Guruprasad, KrNational Inst. of Tech. Karnataka
Dasgupta, Prithviraj (Raj)Univ. of Nebraska, Omaha
 
WedAT9 Regular Session, Fenix 1 Add to My Program 
Medical Robotics I  
 
Chair: Arai, FumihitoNagoya Univ.
Co-Chair: Abbott, JakeUniv. of Utah
 
08:30-08:45, Paper WedAT9.1 Add to My Program
Control Strategies of an Assistive Robot Using a Brain-Machine Interface
Úbeda, AndrésUniv. Miguel Hernández de Elche
Iañez, EduardoUniv. Miguel Hernandez de Elche
Badesa, Francisco JavierMiguel Hernandez Univ.
Morales Vidal, RicardoMiguel Hernandez Univ.
Azorin, Jose M.Univ. Miguel Hernandez de Elche
Garcia, NicolasUniv. Miguel Hernandez de Elche
 
08:45-09:00, Paper WedAT9.2 Add to My Program
Non-Ideal Behaviors of Magnetically Driven Screws in Soft Tissue
Mahoney, ArthurUniv. of Utah
Nelson, Nathan DavidUniv. of Utah
Parsons, ErinUniv. of Utah
Abbott, JakeUniv. of Utah
 
09:00-09:15, Paper WedAT9.3 Add to My Program
2-D Optical Encoding of Catheter Motion and Cyber-Physical System for Technical Skills Measurement and Quantitative Evaluation in Endovascular Surgery
Kodama, HirokatsuNagoya Univ.
Tercero Villagran, Carlos RafaelNagoya Univ.
Ooe, KatsutoshiNagoya Univ.
Shi, ChaoyangNagoya Univ.
Ikeda, SeiichiNagoya Univ.
Fukuda, ToshioNagoya Univ.
Arai, FumihitoNagoya Univ.
Negoro, MakotoFujita Health Univ.
Takahashi, IkuoAnjo Kosei Hospital
Kwon, GuiryongTerumo Clinical Supply Ltd.
 
09:15-09:30, Paper WedAT9.4 Add to My Program
A Voice-Coil Actuated Ultrasound Micro-Scanner for Intraoral High Resolution Impression Taking
Vollborn, ThorstenRWTH Aachen Univ.
Habor, DanielRWTH Aachen Univ. Chair of Medical Engineering
Junk, SimonRWTH Aachen Univ.
Radermacher, KlausRWTH Aachen Univ.
Heger, StefanRWTH Aachen Univ. Chair of Medical Engineering
 
WedAT10 Regular Session, Lince Add to My Program 
Skill Learning – Dynamics  
 
Chair: Dillmann, RüdigerKIT Karlsruhe Inst. for Tech.
Co-Chair: Fearing, RonaldUniv. of California at Berkeley
 
08:30-08:45, Paper WedAT10.1 Add to My Program
Autonomous Online Learning of Velocity Kinematics on the Icub: A Comparative Study
Droniou, AlainISIR - Univ. Pierre et Marie Curie
Ivaldi, SerenaUniv. Pierre et Marie Curie
Padois, VincentUniv. Pierre et Marie Curie
Sigaud, OlivierUniv. Pierre et Marie Curie - Paris 6
 
08:45-09:00, Paper WedAT10.2 Add to My Program
Online Learning of Inverse Dynamics Via Gaussian Process Regression
Sun de la Cruz, JosephUniv. of Waterloo
Owen, WilliamUniv. of Waterloo
Kulic, DanaUniv. of Waterloo
 
09:00-09:15, Paper WedAT10.3 Add to My Program
Learning Concurrent Motor Skills in Versatile Solution Spaces
Daniel, ChristianTU Darmstadt
Neumann, GerhardTU Darmstadt
Peters, JanTech. Univ. Darmstadt
 
09:15-09:30, Paper WedAT10.4 Add to My Program
Learning Robot Dynamics with Kinematic Bezier Maps
Ulbrich, StefanKarlsruhe Inst. of Tech. (KIT)
Bechtel, MichaelKarlsruhe Inst. of Tech.
Asfour, TamimKarlsruhe Inst. of Tech. (KIT)
Dillmann, RüdigerKIT Karlsruhe Inst. for Tech.
 
WedBT1 Regular Session, Pegaso A Add to My Program 
Sensor Fusion  
 
Chair: Simmons, ReidCarnegie Mellon Univ.
Co-Chair: Jansson, MagnusKTH Royal Inst. of Tech.
 
09:30-09:45, Paper WedBT1.1 Add to My Program
Ground Plane Feature Detection in Mobile Vision-Aided Inertial Navigation
Panahandeh, GhazalehKTH-Royal Inst. of Tech.
Mohammadiha, NasserKTH Royal Inst. of Tech.
Jansson, MagnusKTH Royal Inst. of Tech.
 
09:45-10:00, Paper WedBT1.2 Add to My Program
Sensor Fusion for Human Safety in Industrial Workcells
Rybski, Paul E.Carnegie Mellon Univ.
Anderson-Sprecher, PeterCarnegie Mellon Univ.
Huber, DanielCMU
Niessl, ChrisCarnegie Mellon Univ.
Simmons, ReidCarnegie Mellon Univ.
 
10:00-10:15, Paper WedBT1.3 Add to My Program
Gaussian Processes for Lens Distortion Modeling
Ranganathan, PradeepUniv. of Michigan
Olson, EdwinUniv. of Michigan
 
10:15-10:30, Paper WedBT1.4 Add to My Program
Distributed Altitude and Attitude Estimation from Multiple Distance Measurements
Kriegleder, MaximilianETH Zurich
Oung, RaymondETH Zurich
D'Andrea, RaffaelloETHZ
 
WedBT2 Regular Session, Fenix 2 Add to My Program 
Physical Human-Robot Interaction II  
 
Chair: Hirata, YasuhisaTohoku Univ.
Co-Chair: Lee, DongheuiTech. Univ. of Munich
 
09:30-09:45, Paper WedBT2.1 Add to My Program
Human-Humanoid Haptic Joint Object Transportation Case Study
Bussy, AntoineCNRS-UM2 LIRMM
Kheddar, AbderrahmaneIntelligent Systems Res. Inst.
Crosnier, AndréLIRMM
Keith, FrançoisLirmm
 
09:45-10:00, Paper WedBT2.2 Add to My Program
Disagreement-Aware Physical Assistance through Risk-Sensitive Optimal Feedback Control
Medina Hernandez, Jose RamonTech. Univ. München
Lorenz, TamaraLudwig-Maximilians-Univ. Munich
Lee, DongheuiTech. Univ. of Munich
Hirche, SandraTech. Univ. München
 
10:00-10:15, Paper WedBT2.3 Add to My Program
Feedback Motion Planning and Learning from Demonstration in Physical Robotic Assistance: Differences and Synergies
Lawitzky, MartinTech. Univ. Muenchen
Medina Hernandez, Jose RamonTech. Univ. München
Lee, DongheuiTech. Univ. of Munich
Hirche, SandraTech. Univ. München
 
10:15-10:30, Paper WedBT2.4 Add to My Program
Design of a New Hybrid Control and Knee Orthosis for Human Walking and Rehabilitation
Huang, Tzu-HaoNational Taiwan Univ.
Huang, Han-PangNational Taiwan Univ.
Cheng, Ching-AnNational Taiwan Univ.
Kuan, Jiun-YihMassachusetts Inst. of Tech.
Lee, Po-TingNational Taiwan Univ.
Huang, Shih-YiNational Taiwan Univ.
 
WedBT3 Regular Session, Pegaso B Add to My Program 
Field Robotics II  
 
Chair: Bergerman, MarcelCarnegie Mellon Univ.
 
09:30-09:45, Paper WedBT3.1 Add to My Program
Monocular Visual Navigation of an Autonomous Vehicle in Natural Scene Corridor-Like Environments
Zhang, JiCarnegie Mellon Univ.
Kantor, GeorgeCarnegie Mellon Univ.
Bergerman, MarcelCarnegie Mellon Univ.
Singh, SanjivCarnegie Mellon Univ.
 
09:45-10:00, Paper WedBT3.2 Add to My Program
The AmphiHex: A Novel Amphibious Robot with Transformable Leg-Flipper Composite Propulsion Mechanism
Liang, XuUniv. of Science and Tech. of China
Xu, MinUniv. of Science & Tech. of China
Xu, LichaoUniv. of Science and Tech. of China
Liu, PengUniv. of Science and Tech. of China
Ren, XiaoshuangUniv. of Science and Tech. of China
Yang, JieUniv. of Science and Tech. of China
Zhang, ShiwuUniv. of Science and Tech. of China
Kong, ZiwenUniv. of Science and Tech. of China
 
10:00-10:15, Paper WedBT3.3 Add to My Program
Piecewise Affine Control for Fast Unmanned Ground Vehicles
Benine-Neto, AndréISIR - Inst. des Systèmes Intelligents et Robotique
Grand, ChristopheUniv. Pierre et Marie Curie
 
10:15-10:30, Paper WedBT3.4 Add to My Program
Tube-Type Active Scope Camera with High Mobility and Practical Functionality
Namari, HiroakiTohoku Univ.
Wakana, KazuhitoTohoku Univ.
Ishikura, MichihisaTohoku Univ.
Konyo, MasashiTohoku Univ.
Tadokoro, SatoshiTohoku Univ.
 
WedBT4 Regular Session, Fenix 3 Add to My Program 
Humanoid Robots III  
 
Chair: Oh, Paul Y.Drexel Univ.
Co-Chair: Lütkebohle, IngoBielefeld Univ.
 
09:30-09:45, Paper WedBT4.1 Add to My Program
Design Methodology for the Thorax and Shoulder of Human Mimetic Musculoskeletal Humanoid Kenshiro
Kozuki, ToyotakaUniv. of Tokyo
Asano, YukiUniv. of Tokyo
Osada, MasahikoTokyo Univ. Inaba Lab. Japan
Shirai, TakumaTokyo Univ.
Urata, JunichiThe Univ. of Tokyo
Nakanishi, YutoThe Univ. of Tokyo
Okada, KeiThe Univ. of Tokyo
Inaba, MasayukiThe Univ. of Tokyo
Mizoguchi, HironoriThe Univ. of Tokyo
 
09:45-10:00, Paper WedBT4.2 Add to My Program
State Estimation of a Walking Humanoid Robot
Xinjilefu, XCarnegie Mellon Univ.
Atkeson, ChristopherCMU
 
10:00-10:15, Paper WedBT4.3 Add to My Program
Dynamic Motion Imitation of Two Articulated Systems Using Nonlinear Time Scaling of Joint Trajectories
Munirathinam, KarthickEc. centrale de nantes
Sakka, SophieUniv. of Poitiers/IRCCyN
Chevallereau, ChristineCNRS
 
10:15-10:30, Paper WedBT4.4 Add to My Program
The Anatomy of a Fall: Automated Real-Time Analysis of Raw Force Sensor Data from Bipedal Walking Robots and Humans
Kormushev, PetarItalian Inst. of Tech.
Ugurlu, BarkanToyota Tech. Inst.
Colasanto, LucaFondazione Istituto Italiano di Tecnologia
Tsagarakis, NikolaosIstituto Italiano di Tecnologia
Caldwell, Darwin G.Italian Inst. of Tech.
 
WedBT5 Regular Session, Gemini 2 Add to My Program 
Identification, Modeling and Motion Control  
 
Chair: Kogiso, KiminaoNara Inst. of Science and Tech.
Co-Chair: Kim, KeehoonKorea Inst. of Science and Tech.
 
09:30-09:45, Paper WedBT5.1 Add to My Program
Identification Procedure for McKibben Pneumatic Artificial Muscle Systems
Kogiso, KiminaoNara Inst. of Science and Tech.
Sawano, KentaNara Inst. of Science and Tech.
Itto, TakashiMitsui Chemicals, Incorporated
Sugimoto, KenjiNara Inst. of Science and Tech.
 
09:45-10:00, Paper WedBT5.2 Add to My Program
The Cubli: A Cube That Can Jump up and Balance
Gajamohan, MohanarajahETH Zurich
Merz, MichaelETHZ
Thommen, IgorETHZ
D'Andrea, RaffaelloETHZ
 
10:00-10:15, Paper WedBT5.3 Add to My Program
Dynamic Model of Three Wheeled Narrow Tilting Vehicle and Corresponding Experiment Verification
Furuichi, HirokiNagoya Univ.
Huang, JianHuazhong Univ. of Science and Tech.
Matsuno, TakayukiOkayama Univ.
Fukuda, ToshioNagoya Univ.
 
10:15-10:30, Paper WedBT5.4 Add to My Program
An Energy-Based State Observer for Dynamical Subsystems with Inaccessible State Variables
Khalil, Islam S.M.Univ. of Twente
Sabanovic, AsifSabanci Univ.
Misra, SarthakUniv. of Twente
 
WedBT7 Regular Session, Vega Add to My Program 
Multiple Mobile Robot Planning II  
 
Chair: Arkin, RonaldGeorgia Tech.
Co-Chair: Faigl, JanCzech Tech. Univ. in Prague
 
09:30-09:45, Paper WedBT7.1 Add to My Program
Goal Assignment Using Distance Cost in Multi-Robot Exploration
Faigl, JanCzech Tech. Univ. in Prague
Kulich, MiroslavCzech Tech. Univ. in Prague
Preucil, LiborCzech Tech. Univ. in Prague
 
09:45-10:00, Paper WedBT7.2 Add to My Program
Multi-Agent Generalized Probabilistic RoadMaps (MAGPRM)
Kumar, SandipTexas A&M Univ.
Chakravorty, SumanTexas A&M Univ.
 
10:00-10:15, Paper WedBT7.3 Add to My Program
Finding Graph Topologies for Feasible Multirobot Motion Planning
Kolhe, PushkarGeorgia Inst. of Tech.
Christensen, Henrik IskovGeorgia Inst. of Tech.
 
10:15-10:30, Paper WedBT7.4 Add to My Program
Dynamic Positioning of Beacon Vehicles for Cooperative Underwater Navigation
Bahr, AlexanderEc. Pol. Federale de Lausanne
Leonard, JohnMIT
Martinoli, AlcherioEPFL
 
WedBT8 Regular Session, Gemini 1 Add to My Program 
Dynamics and Control II  
 
Chair: Kulic, DanaUniv. of Waterloo
Co-Chair: Shammas, ElieAmerican Univ. of Beirut
 
09:30-09:45, Paper WedBT8.1 Add to My Program
Exploiting Redundancy in Cartesian Impedance Control of UAVs Equipped with a Robotic Arm
Lippiello, VincenzoUniv. di Napoli Federico II
Ruggiero, FabioUniv. di Napoli Federico II
 
09:45-10:00, Paper WedBT8.2 Add to My Program
Modeling and Motion Analysis of Fixed-Pitch Co-Axial Rotor Unmanned Helicopter
Suzuki, SatoshiShinshu Univ.
Ishii, TakahiroShinshu Univ.
Yanagisawa, GennaiGEN Corp.
Tomita, KazukiEngineering System
Yokoyama, YasutoshiGEN Corp.
 
10:00-10:15, Paper WedBT8.3 Add to My Program
A Hybrid Particle/grid Wind Model for Realtime Small UAV Flight Simulation
Harmat, AdamMcGill Univ.
Sharf, InnaMcGill Univ.
Trentini, MichaelDefence Res. and Development Canada
 
10:15-10:30, Paper WedBT8.4 Add to My Program
Parallel Force-Position Control Mediated by Tactile Maps for Robot Contact Tasks
Denei, SimoneUniv. of Genova
Mastrogiovanni, FulvioUniv. of Genova, Italy
Cannata, GiorgioUniv. of Genova
 
WedBT9 Regular Session, Fenix 1 Add to My Program 
Medical Robotics II  
 
Chair: Arai, FumihitoNagoya Univ.
Co-Chair: Abbott, JakeUniv. of Utah
 
09:30-09:45, Paper WedBT9.1 Add to My Program
Space-Time Localization and Registration on the Beating Heart
Wood, NathanCarnegie Mellon Univ.
Waugh, KevinCarnegie Mellon Univ.
Liu, Tian YuCarnegie Mellon Univ.
Zenati, MarcoHarvard Medical School
Riviere, CameronCarnegie Mellon Univ.
 
09:45-10:00, Paper WedBT9.2 Add to My Program
Reliable Planning and Execution of a Human-Robot Cooperative System Based on Noninvasive Brain-Computer Interface with Uncertainty
Jia, WenchuanShanghai Univ.
Huang, DandanVirginia Commonwealth Univ.
Bai, OuVirginia Commonwealth Univ.
Pu, HuayanShanghai Univ.
Luo, XinHuazhong Univ. of Science & Tech.
Chen, XuedongHuazhong Univ. of Science and Tech.
 
10:00-10:15, Paper WedBT9.3 Add to My Program
Catheter Navigation Based on Probabilistic Fusion of Electromagnetic Tracking and Physically-Based Simulation
Dore, AlessioImperial Coll. London
Smoljkic, GabrijelInetec, Inst. for nuclear Tech.
Vander Poorten, Emmanuel BKatholieke Univ. Leuven
Sette, MauroKatholieke Univ. Leuven
Vander Sloten, JosKatholieke Univ. Leuven
Yang, Guang-ZhongImperial Coll. London
 
10:15-10:30, Paper WedBT9.4 Add to My Program
Organ-Explanted Bionic Simulator (OBiS) : Concurrent Microcardiovascular Anastomosis of Chick Embryo
Owaki, HirofumiNagoya Univ.
Masuda, TaisukeNagoya Univ.
Kawahara, TomohiroKyushu Inst. of Tech.
Takei, NatsukiNagoya Univ.
Kodama, KeikoNagoya Univ.
Miyasaka, KotaTohoku Univ.
Ogura, ToshihikoTohoku Univ.
Arai, FumihitoNagoya Univ.
 
WedBT10 Regular Session, Lince Add to My Program 
Visual Learning I  
 
Chair: Detry, RenaudRoyal Inst. of Tech. (KTH)
Co-Chair: Nagai, TakayukiUniv. of Electro-Communications
 
09:30-09:45, Paper WedBT10.1 Add to My Program
Bag of Multimodal Hierarchical Dirichlet Processes: Model of Complex Conceptual Structure for Intelligent Robots
Nakamura, TomoakiUniv. of Electro-Communications
Nagai, TakayukiUniv. of Electro-Communications
Iwahashi, NaotoNational Inst. ofInformationandCommunicationsTechnology
 
09:45-10:00, Paper WedBT10.2 Add to My Program
Robust and Fast Visual Tracking Using Constrained Sparse Coding and Dictionary Learning
Bai, TianxiangCity Univ. of Hong Kong
Li, Y.F.City Univ. of Hong Kong
Zhou, XiaolongCity Univ. of Hong Kong
 
10:00-10:15, Paper WedBT10.3 Add to My Program
Learning a Projective Mapping to Locate Animals in Video Using RFID
Huang, PipeiGeorgia Inst. of Tech.
Sawhney, RahulGeorgia Inst. of Tech.
Walker, DanielGeorgia Inst. of Tech.
Wallen, KimEmory Univ.
Bobick, AaronGeorgia Tech.
Qin, ShiyinBeihang Univ.
Balch, TuckerGeorgia Inst. of Tech.
 
10:15-10:30, Paper WedBT10.4 Add to My Program
A Discriminative Approach for Appearance Based Loop Closing
Ciarfuglia, ThomasUniv. degli Studi di Perugia
Costante, GabrieleUniv. of Perugia
Valigi, PaoloUniv. di Perugia
Ricci, ElisaUniv. of Perugia
 
WedBVT6 Regular Session, Gemini 3 Add to My Program 
Mapping II  
 
Chair: Olson, EdwinUniv. of Michigan
Co-Chair: Birchfield, StanClemson Univ.
 
09:30-09:45, Paper WedBVT6.1 Add to My Program
Variable Reordering Strategies for SLAM
Agarwal, PratikUniv. of Michigan
Olson, EdwinUniv. of Michigan
 
09:45-10:00, Paper WedBVT6.2 Add to My Program
An Object-Based Semantic World Model for Long-Term Change Detection and Semantic Querying
Mason, JulianDuke Univ.
Marthi, BhaskaraWillow Garage
 
10:00-10:15, Paper WedBVT6.3 Add to My Program
Planar Polygon Extraction and Merging from Depth Images
Biswas, JoydeepCarnegie Mellon Univ.
Veloso, ManuelaCarnegie Mellon Univ.
 
10:15-10:20, Paper WedBVT6.4 Add to My Program
Reconfigurable Intelligent Space, R+iSpace, and Mobile Module, MoMo
Park, JongSeungRitsumeikan Univ.
Lee, Joo-HoRitsumeikan Univ.
 
10:20-10:25, Paper WedBVT6.5 Add to My Program
2D PCA-Based Localization for Mobile Robots in Unstructured Environments
Carreira, FernandoInst. Superior de Engenharia de Lisboa,Pol.
Christo, CamiloIDMEC / Inst. Superior Técnico, TU Lisbon
Valério, DuarteIDMEC/IST, TULisbon
Ramalho, Mário AntónioIDMEC / Inst. Superior Técnico, TU Lisbon.
Cardeira, CarlosIDMEC / Inst. Superior Técnico, TU Lisbon
Calado, João Manuel FerreiraIDMEC / ISEL - Inst. Superior de EngenhariadeLisboa,Pol.
Oliveira, PauloInst. Superior Técnico 501507930
 
10:25-10:30, Paper WedBVT6.6 Add to My Program
Deformable Soft Wheel Robot Using Hybrid Actuation
Cho, Kyu-JinSeoul National Univ. Biorobotics Lab.
Koh, Je-SungSeoul National Univ.
Lee, Dae-youngSeoul National Univ.
Kim, Seung-WonSeoul National Univ.
 
WedCT1 Regular Session, Pegaso A Add to My Program 
Object Detection and Tracking  
 
Chair: Aydemir, AlperRoyal Inst. of Tech. (KTH)
Co-Chair: Santos-Victor, JoséInst. Superior Técnico - Lisbon
 
11:00-11:15, Paper WedCT1.1 Add to My Program
Exploiting and Modeling Local 3D Structure for Predicting Object Locations
Aydemir, AlperRoyal Inst. of Tech. (KTH)
Jensfelt, PatricKTH - Royal Inst. of Tech.
 
11:15-11:30, Paper WedCT1.2 Add to My Program
3D Textureless Object Detection and Tracking: An Edge-Based Approach
Choi, ChanghyunGeorgia Inst. of Tech.
Christensen, Henrik IskovGeorgia Inst. of Tech.
 
11:30-11:45, Paper WedCT1.3 Add to My Program
Reliable Object Detection and Segmentation Using Inpainting
Joung, Ji HoonHyundai Heavy Industries Co., Ltd.
Ryoo, Michael S.Jet Propulsion Lab. California Inst. ofTechnology
Choi, SunglokETRI
Kim, Sung RakHyundai Heavy Industries Co. Ltd.,
 
11:45-12:00, Paper WedCT1.4 Add to My Program
Birth Intensity Online Estimation in GM-PHD Filter for Multi-Target Visual Tracking
Zhou, XiaolongCity Univ. of Hong Kong
Li, Y.F.City Univ. of Hong Kong
He, BingweiFuzhou Univ.
Bai, TianxiangCity Univ. of Hong Kong
Tang, YazheCity Univ. of Hong Kong
 
12:00-12:15, Paper WedCT1.5 Add to My Program
Fast High Resolution 3D Laser Scanning by Real-Time Object Tracking and Segmentation
Thielemann, JensSINTEF
Berge, AsbjørnSINTEF
Skotheim, ØysteinSINTEF ICT
Kirkhus, TrineSINTEF
 
12:15-12:30, Paper WedCT1.6 Add to My Program
A Heteroscedastic Approach to Independent Motion Detection for Actuated Visual Sensors
Ciliberto, CarloISTITUTO ITALIANO DI TECNOLOGIA
Fanello, Sean RyanIstituto Italiano di Tecnologia
Natale, LorenzoIstituto Italiano di Tecnologia
Metta, GiorgioIstituto Italiano di Tecnologia (IIT)
 
WedCT2 Regular Session, Fenix 2 Add to My Program 
Human Performance Augumentation  
 
Chair: Hasegawa, YasuhisaUniv. of Tsukuba
Co-Chair: Bianchi, MatteoUniv. of Pisa
 
11:00-11:15, Paper WedCT2.1 Add to My Program
Full-Body Exoskeleton Robot Control for Walking Assistance by Style-Phase Adaptive Pattern Generation
Matsubara, TakamitsuNAIST/ATR
Uchikata, AkimasaNAIST/ATR
Morimoto, JunATR Computational Neuroscience Lab.
 
11:15-11:30, Paper WedCT2.2 Add to My Program
Development and Evaluation of Add-On End-Effector for Linear Power Assist Unit with Variable Assist Gain
Kaneko, MarinaTokyo Denki Univ.
Kitano, TaishiTokyo Denki Univ.
Wakatabe, TakahiroTokyo Denki Univ.
Kamamichi, NorihiroTokyo Denki Univ.
Ishikawa, JunTokyo Denki Univ.
 
11:30-11:45, Paper WedCT2.3 Add to My Program
Synergy–based Optimal Design of Hand Pose Sensing
Bianchi, MatteoUniv. of Pisa
Salaris, PaoloUniv. of Pisa
Bicchi, AntonioIstituto Italiano di Tecnologia
 
11:45-12:00, Paper WedCT2.4 Add to My Program
Demonstration-Based Control of Supernumerary Robotic Limbs
Llorens, BaldinMIT
Parietti, FedericoMIT
Asada, HarryMIT
 
12:00-12:15, Paper WedCT2.5 Add to My Program
Pinching Force Accuracy Affected by Thumb Sensation in Human Force Augmentation
Hasegawa, YasuhisaUniv. of Tsukuba
Ariyama, TetsuriUniv. of Tsukuba
Kamibayashi, KiyotakaGraduate School of Systems andInformationEngineering,Univ.
 
12:15-12:30, Paper WedCT2.6 Add to My Program
Implementation of a Haptic Musical Instrument Using Multi-Signal Fusion for Force Sensing without Additional Force Sensors
Havryliv, MarkUniv. of Wollongong
Naghdy, FazelUniv. of Wollongong
Schiemer, GregUniv. of Tech. Sydney
 
WedCT3 Regular Session, Pegaso B Add to My Program 
Sensors, Sensor Networks and Networked Robots  
 
Chair: Martinez-de Dios, J.R.Univ. of Seville
Co-Chair: Lee, Joo-HoRitsumeikan Univ.
 
11:00-11:15, Paper WedCT3.1 Add to My Program
Semi-Autonomous Visual Inspection of Vessels Assisted by an Unmanned Micro Aerial Vehicle
Bonnin-Pascual, FranciscoUniv. of Balearic Islands
Garcia-Fidalgo, EmilioUniv. of Balearic Islands
Ortiz, AlbertoUniv. of the Balearic Islands
 
11:15-11:30, Paper WedCT3.2 Add to My Program
Web Mining Driven Object Locality Knowledge Acquisition for Efficient Robot Behavior
Zhou, KaiAutomation and Control Inst. Vienna Univ.
Zillich, MichaelVienna Univ. of Tech.
Zender, HendrikGerman Res. Center for Artificial Intelligence (DFKI)
Vincze, MarkusVienna Univ. of Tech.
 
11:30-11:45, Paper WedCT3.3 Add to My Program
Prioritized Multi-Task Motion Control of Redundant Robots under Hard Joint Constraints
Flacco, FabrizioUniv. di Roma "La Sapienza"
De Luca, AlessandroUniv. di Roma "La Sapienza"
Khatib, OussamaStanford Univ.
 
11:45-12:00, Paper WedCT3.4 Add to My Program
Optical-Inertial Tracking with Active Markers and Changing Visibility
Steidle, FlorianGerman Aerospace Center
Tobergte, AndreasGerman Aerospace Center (DLR)
Hirzinger, GerdGerman Aerospace Center (DLR)
 
12:00-12:15, Paper WedCT3.5 Add to My Program
Entropy-Aware Cluster-Based Object Tracking for Wireless Camera Sensor Networks
De San Bernabé, AlbertoUniv. de Sevilla
Martínez-de Dios, J.R.Univ. of Seville
Ollero, AnibalUniv. of Seville
 
12:15-12:30, Paper WedCT3.6 Add to My Program
Intelligent Sensor-Scheduling for Multi-Kinect-Tracking
Faion, FlorianKarlsruhe Inst. of Tech.
Friedberger, SimonKarlsruhe Inst. of Tech.
Zea, AntonioKarlsruhe Inst. of Tech.
Hanebeck, Uwe D.Karlsruhe Inst. of Tech. (KIT)
 
WedCT4 Regular Session, Fenix 3 Add to My Program 
Humanoid Robots IV  
 
Chair: Roh, KyungshikSamsung Electronics Co., Ltd
Co-Chair: Ott, ChristianGerman Aerospace Center (DLR)
 
11:00-11:15, Paper WedCT4.1 Add to My Program
Development of the Lower Limbs of a Humanoid Robot
Kim, JoohyungSamsung Advanced Inst. of Tech.
Lee, Younbaeksamsung electronics
Kwon, SungguSamsung Electronics Co., Ltd.
Seo, KeehongSamsung Advanced Inst. of Tech.
Kwak, HoSeongSamsung Advanced Inst. of Tech.
Lee, HeekukSAIT, Samsung Electronics Co., Ltd
Roh, KyungshikSamsung Electronics Co., Ltd
 
11:15-11:30, Paper WedCT4.2 Add to My Program
On-Board Odometry Estimation for 3D Vision-Based SLAM of Humanoid Robot
Ahn, SungHwanSamsung Electronics
Yoon, SukjuneSamsung Elec.
Hyung, SeungYongSAMSUNG ELECTRONICS
Kwak, NosanNational Inst. of Advanced Industrial Science and Tech.
Roh, KyungshikSamsung Electronics Co., Ltd
 
11:30-11:45, Paper WedCT4.3 Add to My Program
Optimal Gait Primitives for Dynamic Bipedal Locomotion
Lim, BokmanSamsung Advanced Inst. of Tech.
Lee, JusukSamsung Advanced Inst. of Tech.
Kim, JoohyungSamsung Advanced Inst. of Tech.
Lee, MinhyungSamsung Advanced Inst. of Tech.
Kwak, HoSeongSamsung Advanced Inst. of Tech.
Kwon, SungguSamsung Electronics Co., Ltd.
Lee, HeekukSAIT, Samsung Electronics Co., Ltd
Kwon, WoongSamsung Electronics Co., Ltd
Roh, KyungshikSamsung Electronics Co., Ltd
 
11:45-12:00, Paper WedCT4.4 Add to My Program
Robust Descriptors for 3D Point Clouds Using Geometric and Photometric Local Feature
Hwang, HyoseokSamsung Advanced Inst. of Tech.
Hyung, SeungYongSAMSUNG ELECTRONICS
Yoon, SukjuneSamsung Elec.
Roh, KyungshikSamsung Electronics Co., Ltd
 
12:00-12:15, Paper WedCT4.5 Add to My Program
Towards Natural Bipedal Walking: Virtual Gravity Compensation and Capture Point Control
Seo, KeehongSamsung Advanced Inst. of Tech.
Kim, JoohyungSamsung Advanced Inst. of Tech.
Roh, KyungshikSamsung Electronics Co., Ltd
 
12:15-12:30, Paper WedCT4.6 Add to My Program
Active Stabilization of a Humanoid Robot for Impact Motions with Unknown Reaction Forces
Yi, Seung-JoonUniv. of Pennsylvania
Zhang, Byoung-TakSeoul National Univ.
Hong, DennisVirginia Tech.
Lee, Daniel D.Univ. of Pennsylvania
 
WedCT5 Regular Session, Gemini 2 Add to My Program 
Force Control  
 
Chair: Smith, Claes ChristianKTH Royal Inst. of Tech.
Co-Chair: Lind, MortenSINTEF Manufacturing AS
 
11:00-11:15, Paper WedCT5.1 Add to My Program
``Open Sesame!'' Adaptive Force/Velocity Control for Opening Unknown Doors
Karayiannidis, YiannisKTH Royal Insitute of Tech.
Smith, Claes ChristianKTH
Vina, FranciscoKTH
Ogren, PetterSwedish Defence Res. Agency
Kragic, DanicaKTH
 
11:15-11:30, Paper WedCT5.2 Add to My Program
Control of Contact Forces: The Role of Tactile Feedback for Contact Localization
Del Prete, AndreaIstituto Italiano di Tecnologia
Nori, FrancescoISTITUTO ITALIANO DI TECNOLOGIA
Metta, GiorgioIstituto Italiano di Tecnologia (IIT)
Natale, LorenzoIstituto Italiano di Tecnologia
 
11:30-11:45, Paper WedCT5.3 Add to My Program
A New Hybrid Actuator Approach for Force-Feedback Devices
Rossa, CarlosCEA
Lozada, JoséCEA LIST
Micaelli, AlainCommissariat à l'Energie Atomique
 
11:45-12:00, Paper WedCT5.4 Add to My Program
A Locally Adaptive Online Grasp Control Strategy Using Array Sensor Force Feedback
Stachowsky, MichaelUniv. of Guelph
Moussa, MedhatGuelph
Abdullah, HusseinUniv. of Guelph
 
12:00-12:15, Paper WedCT5.5 Add to My Program
On the Role of Load Motion Compensation in High-Performance Force Control
Boaventura, ThiagoFondazione Istituto Italiano di Tecnologia
Focchi, MicheleItalian Inst. of Tech.
Frigerio, MarcoFondazione Istituto Italiano di Tecnologia
Buchli, JonasItalian Inst. of Tech.
Semini, ClaudioItalian Inst. of Tech.
Medrano-Cerda, GustavoItalian Inst. of Tech.
Caldwell, Darwin G.Fondazione Itituto Italiano di Tecnologia
 
12:15-12:30, Paper WedCT5.6 Add to My Program
A Set-Point-Generator for Indirect-Force-Controlled Manipulators Operating Unknown Constrained Mechanisms
Lutscher, EwaldTech. Univ. München
Cheng, GordonTech. Univ. Munich
 
WedCT7 Regular Session, Vega Add to My Program 
Robot Interaction with the Environment and Humans  
 
Chair: Peters, JanTech. Univ. Darmstadt
Co-Chair: Mazzoleni, StefanoScuola Superiore Sant'Anna
 
11:00-11:15, Paper WedCT7.1 Add to My Program
A Brain-Robot Interface for Studying Motor Learning after Stroke
Meyer, TimmMax Planck Inst. for Intelligent Systems
Peters, JanTech. Univ. Darmstadt
Brötz, DorisInst. of Medical Psychology and Behavioral Neurobiology, MEG
Zander, ThorstenMax Planck Inst. for Intelligent Systems
Schölkopf, BernhardMax Planck Inst. for Intelligent Systems
Soekadar, SurjoInst. of Medical Psychology and Behavioral Neurobiology, MEG
Grosse-Wentrup, MoritzMax-Planck Inst. for Biological Cybernetics
 
11:15-11:30, Paper WedCT7.2 Add to My Program
A Brain-Machine Interface to Navigate Mobile Robots Along Human-Like Paths Amidst Obstacles
Akce, AbdullahUniv. of Illinois at Urbana-Champaign
Norton, James John StanleyUniv. of Illinois
Bretl, TimothyUniv. of Illinois at Urbana-Champaign
 
11:30-11:45, Paper WedCT7.3 Add to My Program
Haptic Classification and Recognition of Objects Using a Tactile Sensing Forearm
Bhattacharjee, TapomayukhGeorgia-Tech.
Rehg, JamesGeorgia Inst. of Tech.
Kemp, CharlieGeorgia Inst. of Tech.
 
11:45-12:00, Paper WedCT7.4 Add to My Program
Proactive Premature Intention Estimation for Intuitive Human-Robot Collaboration
Awais, MuhammadBayreuth
Henrich, DominikUniv. of Bayreuth
 
12:00-12:15, Paper WedCT7.5 Add to My Program
Using a Minimal Action Grammar for Activity Understanding in the Real World
Summers-stay, DouglasUniv. of Maryland
Teo, Ching LikUniv. of Maryland
Yang, YezhouUniv. of Maryland
Fermuller, CorneliaUniv. of Maryland
Aloimonos, YiannisUniv. of Maryland
 
12:15-12:30, Paper WedCT7.6 Add to My Program
On-Line Human Action Recognition by Combining Joint Tracking and Key Pose Recognition
Weng, E-JuiNational Taiwan Univ.
Fu, Li-ChenNational Taiwan Univ.
 
WedCT9 Regular Session, Fenix 1 Add to My Program 
Sensing in Medical Robotics  
 
Chair: Cavusoglu, M. CenkCase Western Res. Univ.
Co-Chair: Shang, JianzhongImperial Coll. London
 
11:00-11:15, Paper WedCT9.1 Add to My Program
Scanning the Surface of Soft Tissues with a Micrometer Precision Thanks to Endomicroscopy Based Visual Servoing
Rosa, BenoîtUniv. Pierre et Marie Curie - Paris 6
Erden, Mustafa SuphiUniv. Pierre et Marie CURIE
Vercauteren, TomMauna Kea Tech.
Szewczyk, JérômeUniv. Pierre et Marie Curie-Paris 6
Morel, GuillaumeUniv. Pierre et Marie Curie - Paris 6
 
11:15-11:30, Paper WedCT9.2 Add to My Program
Preliminary Evaluation of a Micro-Force Sensing Handheld Robot for Vitreoretinal Surgery
Gonenc, BerkJohns Hopkins Univ.
Balicki, MarcinJohns Hopkins Univ.
Handa, JamesJohns Hopkins Medical Inst.
Gehlbach, PeterJohns Hopkins Medical Inst.
Riviere, CameronCarnegie Mellon Univ.
Taylor, Russell H.The Johns Hopkins Univ.
Iordachita, IulianJohns Hopkins Univ.
 
11:30-11:45, Paper WedCT9.3 Add to My Program
Internal Bleeding Detection Algorithm Based on Determination of Organ Boundary by Low-Brightness Set Analysis
Ito, KeiichiroWaseda Univ.
Sugano, ShigekiWaseda Univ.
Iwata, HiroyasuWaseda Univ.
 
11:45-12:00, Paper WedCT9.4 Add to My Program
A Cyber-Physical System for Strain Measurements in the Cerebral Aneurysm Models
Shi, ChaoyangNagoya Univ.
Kojima, MasahiroNagoya Univ.
Tercero Villagran, Carlos RafaelNagoya Univ.
Ooe, KatsutoshiNagoya Univ.
Ikeda, SeiichiNagoya Univ.
Fukuda, ToshioNagoya Univ.
Arai, FumihitoNagoya Univ.
Negoro, MakotoFujita Health Univ.
Irie, KeikoFujita Health Univ.
Kwon, GuiryongTerumo Clinical Supply Ltd.
 
12:00-12:15, Paper WedCT9.5 Add to My Program
Heart Motion Measurement with Three Dimensional Sonomicrometry and Acceleration Sensing
Horiuchi, TetsuyaThe Univ. of Tokyo
Tuna, Eser ErdemCase Western Res. Univ.
Masamune, KenUniv. of Tokyo
Cavusoglu, M. CenkCase Western Res. Univ.
 
12:15-12:30, Paper WedCT9.6 Add to My Program
Surface Texture and Pseudo Tactile Sensation Displayed by a MEMS-Based Tactile Display
Watanabe, JunpeiKeio Univ.
Ishikawa, HiroakiKeio Univ.
Arouette, XavierKeio Univ.
Miki, NorihisaKeio Univ.
 
WedCT10 Regular Session, Lince Add to My Program 
Visual Learning II  
 
Chair: Olson, EdwinUniv. of Michigan
Co-Chair: Nagai, TakayukiUniv. of Electro-Communications
 
11:00-11:15, Paper WedCT10.1 Add to My Program
Clustering-Based Discriminative Locality Alignment for Face Gender Recognition
Chen, DuoChongqing Univ.
Cheng, JunShenzhen Inst. of Advanced Tech. Scie
Tao, DachengUniv. of Tech. Sydney
 
11:15-11:30, Paper WedCT10.2 Add to My Program
Incorporating Geometric Information into Gaussian Process Terrain Models from Monocular Images
Abuhashim, TariqUniv. of Sydney
Sukkarieh, SalahUniv. of Sydney
 
11:30-11:45, Paper WedCT10.3 Add to My Program
A System of Automated Training Sample Generation for Visual-Based Car Detection
Wang, ChaoPeking Univ.
Zhao, HuijingPeking Univ.
Davoine, FranckCNRS
Zha, HongbinPeking Univ.
 
11:45-12:00, Paper WedCT10.4 Add to My Program
Learning and Recognition of Objects Inspired by Early Cognition
Rudinac, MajaDelft Univ. of Tech.
Kootstra, GertRoyal Inst. of Tech. (KTH), Stockholm
Kragic, DanicaKTH
Jonker, PieterDelft Univ. of Tech.
 
12:00-12:15, Paper WedCT10.5 Add to My Program
On-Line Semantic Perception Using Uncertainty
de Nijs, RoderickTech. Univ. of Munich
Ramos, SebastianTUM
Roig, GemmaETH
Boix, XavierETH
Van Gool, LucETH Zurich
Kühnlenz, KoljaTech. Univ. München
 
12:15-12:30, Paper WedCT10.6 Add to My Program
A High-Accuracy Visual Marker Based on a Microlens Array
Tanaka, HideyukiNational Inst. of AIST
Sumi, YasushiNational Inst. of Advanced Industrial Science andTechnology(
Matsumoto, YoshioNational Inst. ofAdvancedIndustrialScienceandTechnology (AIS
 
WedCVT6 Regular Session, Gemini 3 Add to My Program 
Slam Ii  
 
Chair: Hutchinson, SethUniv. of Illinois
Co-Chair: Gutmann, Jens-SteffenEvolution Robotics Inc.
 
11:00-11:15, Paper WedCVT6.1 Add to My Program
CurveSLAM: An Approach for Vision-Based Navigation without Point Features
Rao, DushyantUniv. of Illinois at Urbana-Champaign
Chung, Soon-JoUniv. of Illinois at Urbana-Champaign
Hutchinson, SethUniv. of Illinois
 
11:15-11:30, Paper WedCVT6.2 Add to My Program
Seamless Aiding of Inertial-SLAM Using Visual Directional Constraints from a Monocular Vision
Qayyum, UsmanANU
 
11:30-11:45, Paper WedCVT6.3 Add to My Program
Realizing, Reversing, Recovering : Incremental Robust Loop Closing Over Time Using the Irrr Algorithm
Latif, YasirUniv. de Zaragoza
Cadena Lerma, Cesar DarioUniv. of Zaragoza
Neira, JoséUniv. de Zaragoza
 
11:45-12:00, Paper WedCVT6.4 Add to My Program
Location and Orientation Estimation with an Electrosense Robot
Silverman, YonatanNorthwestern Univ.
Snyder, JamesNorthwestern Univ.
Bai, YangNorthwestern Univ.
MacIver, Malcolm A.Northwestern Univ.
 
12:00-12:15, Paper WedCVT6.5 Add to My Program
Towards Persistent Indoor Appearance-Based Localization, Mapping and Navigation Using CAT-Graph
Maddern, WilliamQueensland Univ. of Tech.
Milford, Michael JQueensland Univ. of Tech.
Wyeth, GordonQueensland Univ. of Tech.
 
12:15-12:20, Paper WedCVT6.6 Add to My Program
Pedestrian Detection in Industrial Environments: Seeing Around Corners
Borges, Paulo Vinicius KoerichCSIRO
Tews, Ashley DesmondCSIRO
Haddon, DavidCSIRO
 
12:20-12:25, Paper WedCVT6.7 Add to My Program
ISRobotCar: The Autonomous Electric Vehicle Project
Silva, MarcoInst. of Systems and Robotics, Univ. of Coimbra
Moita, FernandoInst. de Sistemas e Robotica
Nunes, UrbanoUniv. de Coimbra
Garrote, Luís CarlosInst. of Systems and Robotics, Univ. of Coimbra
Faria, HugoISR - Univ. OF COIMBRA
Ruivo Paulo, JoãoISR - Univ. OF COIMBRA
 
12:25-12:30, Paper WedCVT6.8 Add to My Program
Autonomy for Mobility on Demand
Chong, Zhuang JieNUS
Qin, BaoxingNUS
Bandyopadhyay, TirthankarSingapore MIT Alliance for R & T
Wongpiromsarn, TichakornSingapore-MIT Alliance for Res. & Tech.
Rebsamen, BriceSingapore MIT Alliance for Res. and Tech. (SMART)
Dai, PeilongSMART
Kim, SeongwooSMART
Ang Jr, Marcelo HNational Univ. of Singapore
Hsu, DavidNational Univ. of Singapore
Rus, DanielaMIT
Frazzoli, EmilioMassachusetts Inst. of Tech.
 
WedCVT8 Regular Session, Gemini 1 Add to My Program 
Soft Robots  
 
Chair: Kim, KeehoonKorea Inst. of Science and Tech.
Co-Chair: Margheri, LauraScuola Superiore Sant'Anna
 
11:00-11:15, Paper WedCVT8.1 Add to My Program
Innovative Soft Robots Based on Electro-Rheological Fluids
Sadeghi, AliIstituto Italiano di Tecnologia
Beccai, LuciaIstituto Italiano di Tecnologia
Mazzolai, BarbaraIstituto Italiano di Tecnologia
 
11:15-11:30, Paper WedCVT8.2 Add to My Program
Detailed Dynamics Modeling of BioBiped's Monoarticular and Biarticular Tendon-Driven Actuation System
Radkhah, KatayonTech. Univ. Darmstadt
Lens, ThomasTech. Univ. Darmstadt
von Stryk, OskarTech. Univ. Darmstadt
 
11:30-11:45, Paper WedCVT8.3 Add to My Program
Design of a Tubular Snake-Like Manipulator with Stiffening Capability by Layer Jamming
Kim, Yong JaeSamsung Electronics
Cheng, ShanbaoRochester Inst. of Tech.
Kim, SangbaeMassachusetts Inst. of Tech.
Iagnemma, KarlMIT
 
11:45-12:00, Paper WedCVT8.4 Add to My Program
Adaptive Bipedal Walking through Sensory-Motor Coordination Yielded from Soft Deformable Feet
Owaki, DaiTohoku Univ.
Fukuda, HirokiTohoku Univ.
Ishiguro, AkioTohoku Univ.
 
12:00-12:15, Paper WedCVT8.5 Add to My Program
Design of Soft Robotic Actuators Using Fluid-Filled Fiber-Reinforced Elastomeric Enclosures in Parallel Combinations
Bishop-Moser, JoshuaUniv. of Michigan, Ann Arbor
Krishnan, GirishUniv. of Michigan
Kim, CharlesBucknell Univ.
Kota, SridharUniv. of Michigan
 
12:15-12:20, Paper WedCVT8.6 Add to My Program
Intrinsically Elastic Robots: The Key to Human Like Performance
Haddadin, SamiGerman Aerospace Center (DLR)
Huber, FelixGerman Aerospace Center
Krieger, KaiGerman Aerospace Center
Weitschat, RomanRobotics and Mechatronics Center (DLR)
Albu-Schäffer, AlinDLR - German Aerospace Center
Wolf, SebastianDLR - German Aerospace Center
Friedl, WernerGerman AerospaceCenter (DLR)
Grebenstein, MarkusGerman Aerospace Center (DLR) Inst. of Robotics and Mechatro
Petit, FlorianGerman Aerospace Center (DLR)
Reinecke, JensDLR
Lampariello, RobertoGerman Aerospace Center (DLR)
 
12:20-12:25, Paper WedCVT8.7 Add to My Program
Can Ants Inspire Robots? Self-Organized Decision Making in Robotic Swarms
Brutschy, ArneUniv. Libre de Bruxelles
Scheidler, AlexanderFraunhofer Inst. for Wind Energy and Energy System Tech.
Ferrante, EliseoUniv. Libre de Bruxelles
Dorigo, MarcoUniv. Libre de Bruxelles
Birattari, MauroUniv. Libre de Bruxelles
 
12:25-12:30, Paper WedCVT8.8 Add to My Program
A Single Motor Actuated Miniature Steerable Jumping Robot
Zhao, JianguoMichigan State Univ.
Xi, NingMichigan State Univ.
Cintron, Fernando J.Michigan State Univ.
Mutka, MattMichigan State Uinversity
Xiao, LiMichigan State Univ.
 
WedDT1 Regular Session, Pegaso A Add to My Program 
Omnidirectional Vision and Aerial Robotics I  
 
Chair: Fraundorfer, FriedrichETH Zurich
Co-Chair: Lippiello, VincenzoUniv. di Napoli Federico II
 
14:00-14:15, Paper WedDT1.1 Add to My Program
Full Scaled 3D Visual Odometry from a Single Wearable Omnidirectional Camera
Gutiérrez-Gómez, DanielUniv. de Zaragoza
Puig, LuisUniv. de Zaragoza
Guerrero, JosechuUniv. de Zaragoza
 
14:15-14:30, Paper WedDT1.2 Add to My Program
3-Line RANSAC for Orthogonal Vanishing Point Detection
Bazin, Jean-CharlesCVG/CGL, ETHZ
Pollefeys, MarcETH Zurich
 
14:30-14:45, Paper WedDT1.3 Add to My Program
Topological Segmentation of Indoors/outdoors Sequences of Spherical Views
Chapoulie, AlexandreINRIA
Rives, PatrickINRIA
Filliat, DavidENSTA ParisTech
 
14:45-15:00, Paper WedDT1.4 Add to My Program
Wall Inspection Control of a VTOL Unmanned Aerial Vehicle Based on a Stereo Optical Flow
Lippiello, VincenzoUniv. di Napoli Federico II
Siciliano, BrunoUniv. Napoli Federico II
 
WedDT2 Regular Session, Fenix 2 Add to My Program 
Physical Human-Robot Interaction III  
 
Chair: Melhuish, ChrisBRL
Co-Chair: De Luca, AlessandroUniv. di Roma
 
14:00-14:15, Paper WedDT2.1 Add to My Program
Kinematic Synthesis, Optimization and Analysis of a Non-Anthropomorphic 2-DOFs Wearable Orthosis for Gait Assistance
Sergi, FabrizioRice Univ.
Accoto, DinoUniv. Campus Bio-Medico
Tagliamonte, Nevio LuigiUniv. Campus Bio-Medico di Roma
Carpino, GiorgioUniv. Campus Bio-Medico
Galzerano, SimoneCampus Bio-Medico Univ.
Guglielmelli, EugenioUniv. Campus Bio-Medico
 
14:15-14:30, Paper WedDT2.2 Add to My Program
Investigation of Safety in Human-Robot-Interaction for a Series Elastic, Tendon-Driven Robot Arm
Lens, ThomasTech. Univ. Darmstadt
von Stryk, OskarTech. Univ. Darmstadt
 
14:30-14:45, Paper WedDT2.3 Add to My Program
Counteracting Modeling Errors for Sensitive Observer-Based Manipulator Collision Detection
Sotoudehnejad, VahidThe Univ. of Western Ontario
Takhmar, AmirUniv. of Western Ontario
Kermani, Mehrdad R.Univ. of Western Ontario
Polushin, Ilia G.Western Univ.
 
14:45-15:00, Paper WedDT2.4 Add to My Program
When Shared Plans Go Wrong: From Atomic to Composite Actions and Back
Lenz, AlexanderBristol Robotic Lab.
Lallée, StéphaneStem Cell and Brain Res. Inst. INSERM U846
Skachek, SergeyBristol Robotic Lab.
Pipe, TonyBristol Robotics Lab. Univ. of the WestofEngland
Melhuish, ChrisBRL
Dominey, Peter FordINSERM Stem Cell & Brain Res. Inst.
 
WedDT3 Regular Session, Pegaso B Add to My Program 
Outdoor, Search and Rescue Robotics I  
 
Chair: Murphy, RobinTexas A&M
Co-Chair: Hirose, ShigeoTokyo Inst. of Tech.
 
14:00-14:15, Paper WedDT3.1 Add to My Program
LineScout Power Line Robot: Characterization of a UTM-30LX LIDAR System for Obstacle Detection
Pouliot, NicolasIREQ- Hydro-Québec Res. Inst.
Richard, Pierre-LucInst. de recherche d'Hydro-Québec
Montambault, SergeHydro-Québec Res. Inst.
 
14:15-14:30, Paper WedDT3.2 Add to My Program
Mobile Robotic Fabrication on Construction Sites: Dimrob
Helm, VolkerETH Zurich, Architecture and Digital Fabrication
Ercan, SelenETH Zurich, Architecture and Digital Fabrication
Gramazio, FabioETH Zurich
Kohler, Matthias DanielETH Zurich
 
14:30-14:45, Paper WedDT3.3 Add to My Program
Vehicle Localization in Mountainous Gravelled Paths
Morales Saiki, Luis YoichiAdvanced Telecommunications Res. Inst.
Tsubouchi, TakashiSys. and Info. Eng., U of Tsukuba
Sarata, ShigeruNational Inst. of AIST
 
14:45-15:00, Paper WedDT3.4 Add to My Program
Casting Device for Search and Rescue Aiming Higher and Faster Access in Disaster Site
Tsukagoshi, HideyukiTokyo Inst. of Tech.
 
WedDT4 Regular Session, Fenix 3 Add to My Program 
Humanoid Robots V  
 
Chair: Buschmann, ThomasTech. Univ. Muenchen
Co-Chair: Jamone, LorenzoWASEDA Univ.
 
14:00-14:15, Paper WedDT4.1 Add to My Program
Humanoid Push Recovery with Robust Convex Synthesis
Wang, JiuguangCarnegie Mellon Univ.
 
14:15-14:30, Paper WedDT4.2 Add to My Program
Appearance-Based Traversability Classification in Monocular Images Using Iterative Ground Plane Estimation
Maier, DanielUniv. of Freiburg
Bennewitz, MarenUniv. of Freiburg
 
14:30-14:45, Paper WedDT4.3 Add to My Program
Lower Thigh Design of Detailed Musculoskeletal Humanoid “Kenshiro”
Asano, YukiUniv. of Tokyo
Mizoguchi, HironoriThe Univ. of Tokyo
Kozuki, ToyotakaUniv. of Tokyo
Motegi, YotaroThe Univ. of Tokyo
Osada, MasahikoTokyo Univ. Inaba Lab. Japan
Urata, JunichiThe Univ. of Tokyo
Nakanishi, YutoThe Univ. of Tokyo
Okada, KeiThe Univ. of Tokyo
Inaba, MasayukiThe Univ. of Tokyo
 
14:45-15:00, Paper WedDT4.4 Add to My Program
Optimization-Based Generation and Experimental Validation of Optimal Walking Trajectories for Biped Robots
Werner, AlexanderDeutsches Inst. fuer Luft- und Raumfahrt (DLR)
Lampariello, RobertoGerman Aerospace Center (DLR)
Ott, ChristianGerman Aerospace Center (DLR)
 
WedDT5 Regular Session, Gemini 2 Add to My Program 
Human-Machine Interfaces  
 
Chair: Bonsignorio, Fabio PaoloHeron Robots srl Univ. Carlos III de Madrid
Co-Chair: Azorin, Jose M.Univ. Miguel Hernandez de Elche
 
14:00-14:15, Paper WedDT5.1 Add to My Program
Novel Equilibrium-Point Control of Agonist-Antagonist System with Pneumatic Artificial Muscles: II. Application to EMG-Based Human-Machine Interface for an Elbow-Joint System
Ariga, YoheiOsaka Univ.
Maeda, DaisukeOsaka Univ.
Pham, HangGraduate School of Engineering Science, Osaka Univ.
Uemura, MitsunoriOsaka Univ.
Hirai, HiroakiGraduate School of Engineering Science, Osaka Univ.
Miyazaki, FumioGraduate School of Engineering Science, Osaka Univ.
 
14:15-14:30, Paper WedDT5.2 Add to My Program
Benchmarking Shared Control for Assistive Manipulators: From Controllability to the Speed-Accuracy Trade-Off
Stoelen, Martin FodstadUniv. Carlos III de Madrid
Fernández de Tejada, VirginiaUniv. Carlos III de Madrid
Jardon Huete, AlbertoUniv. CARLOS III DE MADRID
Bonsignorio, Fabio PaoloHeron Robots srl Univ. Carlos III de Madrid
Balaguer, CarlosUniv. Carlos III de Madrid
 
14:30-14:45, Paper WedDT5.3 Add to My Program
I’ll Keep You in Sight: Finding a Good Position to Observe a Person
Kessler, JensIlmenau Univ. of Tech. Uni
Iser, DanielIlmenau Univ. of Tech. 98684 Ilmenau,GermanyIlmenau U
Gross, Horst-MichaelIlmenau Univ. of Tech.
 
14:45-15:00, Paper WedDT5.4 Add to My Program
Embedding Imperceptible Codes into Video Projection and Applications in Robotics
Dai, JingwenThe Chinese Univ. of Hong Kong
Chung, RonaldThe Chinese Univ. of Hong Kong
 
WedDT6 Regular Session, Gemini 3 Add to My Program 
Mapping III  
 
Chair: Goulette, FrançoisMINES ParisTech
Co-Chair: Saarinen, Jari PekkaAalto Univ.
 
14:00-14:15, Paper WedDT6.1 Add to My Program
Sensor Fusion for Flexible Human-Portable Building-Scale Mapping
Fallon, MauriceMIT
Johannsson, HordurMIT
Brookshire, JonathanMIT
Teller, SethMIT
Leonard, JohnMIT
 
14:15-14:30, Paper WedDT6.2 Add to My Program
Fast Voxel Maps with Counting Bloom Filters
Ryde, JulianUniv. at Buffalo
Corso, JasonSUNY Buffalo
 
14:30-14:45, Paper WedDT6.3 Add to My Program
Efficient Map Merging Using a Probabilistic Generalized Voronoi Diagram
Saeedi Gharahbolagh, SajadUniv. of New Brunswick
Paull, LiamUniv. of New Brunswick
Trentini, MichaelDefence Res. and Development Canada
Seto, MaeDefence R&D Canada
Li, HowardUniv. of New Brunswick
 
14:45-15:00, Paper WedDT6.4 Add to My Program
A Pipeline for Structured Light Bathymetric Mapping
Inglis, GabrielleUniv. of Rhode Island
Smart, ClaraUniv. of Rhode Island
Vaughn, IanUniv. of Rhode Island
Roman, ChrisUniv. of Rhode Island
 
WedDT7 Regular Session, Vega Add to My Program 
Motion and Path Planning VI  
 
Chair: Oh, SonghwaiSeoul National Univ.
Co-Chair: Torres, Luis G.Univ. of North Carolina at Chapel Hill
 
14:00-14:15, Paper WedDT7.1 Add to My Program
Sampling-Based Nonholonomic Motion Planning in Belief Space Via Dynamic Feedback Linearization-Based FIRM
Agha-mohammadi, Ali-akbarTexas A&M Univ.
Chakravorty, SumanTexas A&M Univ.
Amato, NancyTexas A&M Univ.
 
14:15-14:30, Paper WedDT7.2 Add to My Program
Local Randomization in Neighbor Selection Improves PRM Roadmap Quality
McMahon, TroyTexas A&M
Jacobs, Sam AdeTexas A&M Univ.
Boyd, BryanTexas A&M Univ.
Tapia, LydiaUniv. of New Mexico
Amato, NancyTexas A&M Univ.
 
14:30-14:45, Paper WedDT7.3 Add to My Program
Task-Oriented Design of Concentric Tube Robots Using Mechanics-Based Models
Torres, Luis G.Univ. of North Carolina at Chapel Hill
Webster III, Robert JamesVanderbilt Univ.
Alterovitz, RonUniv. of North Carolina at Chapel Hill
 
14:45-15:00, Paper WedDT7.4 Add to My Program
Sampling-Based Sweep Planning to Exploit Local Planarity in the Inspection of Complex 3D Structures
Englot, BrendanMIT
Hover, FranzMIT
 
WedDT8 Regular Session, Gemini 1 Add to My Program 
Space Robotics  
 
Chair: Fiorini, PaoloUniv. of Verona
Co-Chair: Yoshida, KazuyaTohoku Univ.
 
14:00-14:15, Paper WedDT8.1 Add to My Program
Emulating Self-Reconfigurable Robots - Design of the SMORES System
Davey, JayUniv. of New South Wales
Yim, MarkUniv. of Pennsylvania
Kwok, Ngai MingUniv. of New South Wales
 
14:15-14:30, Paper WedDT8.2 Add to My Program
Slope Traversability Analysis of Reconfigurable Planetary Rovers
Inotsume, HiroakiTohoku Univ.
Sutoh, MasatakuTohoku Univ.
Nagaoka, KenjiTohoku Univ.
Nagatani, KeijiTohoku Univ.
Yoshida, KazuyaTohoku Univ.
 
14:30-14:45, Paper WedDT8.3 Add to My Program
Impedance-Based Contact Control of a Free-Flying Space Robot with a Compliant Wrist for Non-Cooperative Satellite Capture
Uyama, NaohiroTohoku Univ.
Nakanishi, HirokiJapan Aerospace Exploration Agency
Nagaoka, KenjiTohoku Univ.
Yoshida, KazuyaTohoku Univ.
 
14:45-15:00, Paper WedDT8.4 Add to My Program
Tracking Complex Targets for Space Rendezvous and Debris Removal Applications
Petit, AntoineIRISA/INRIA Rennes-Bretagne Atlantique
Marchand, EricUniv. de Rennes 1, IRISA, INRIA Rennes
Kanani, KeyvanEADS Astrium
 
WedDT10 Regular Session, Lince Add to My Program 
Tactile Exploration  
 
Chair: Hirai, ShinichiRitsumeikan Univ.
Co-Chair: Naghdy, FazelUniv. of Wollongong
 
14:00-14:15, Paper WedDT10.1 Add to My Program
Online Spatio-Temporal Gaussian Process Experts with Application to Tactile Classification
Soh, HaroldImperial Coll. London
Su, YanyuHarbin Inst. of Tech.
Demiris, YiannisImperial Coll. London
 
14:15-14:30, Paper WedDT10.2 Add to My Program
Experimental Investigation of Surface Identification Ability of a Low-Profile Fabric Tactile Sensor
Ho, VanRitsumeikan Univ.
Hirai, ShinichiRitsumeikan Univ.
Makikawa, MasaakiColl. of Science and Engineering, Ritsumeikan Univ.
Araki, TakahiroRes. and Development Div. Okamoto Corp.
 
14:30-14:45, Paper WedDT10.3 Add to My Program
3D Surface Reconstruction for Robotic Body Parts with Artificial Skins
Mittendorfer, PhilippTech. Univ. München
Cheng, GordonTech. Univ. Munich
 
14:45-15:00, Paper WedDT10.4 Add to My Program
A Novel Dynamic Slip Prediction and Compensation Approach Based on Haptic Surface Exploration
Song, XiaojingKing's Coll. London
Liu, HongbinKing's Coll. London
Bimbo, JoaoKing's Coll. London
Althoefer, KasparKings Coll. London
Seneviratne, LakmalKings Coll. London
 
WedDVT9 Regular Session, Fenix 1 Add to My Program 
Range Sensing  
 
Chair: Umeda, KazunoriChuo Univ.
Co-Chair: Rekleitis, IoannisMcGill Univ.
 
14:00-14:15, Paper WedDVT9.1 Add to My Program
Construction of a Compact Range Image Sensor Using a Multi-Slit Laser Projector Suitable for a Robot Hand
Iwasaki, KazuyaChuo Univ.
Terabayashi, KenjiChuo Univ.
Umeda, KazunoriChuo Univ.
 
14:15-14:30, Paper WedDVT9.2 Add to My Program
Fast Nearest Neighbor Search Using Approximate Cached K-D Tree
Choi, Won-SeokPOhang Univ. of Science and Tech. (POSTECH)
Oh, Se-YoungPOSTECH
 
14:30-14:45, Paper WedDVT9.3 Add to My Program
Fast Incremental 3D Plane Extraction from a Collection of 2D Line Segments for 3D Mapping
An, Su-YongPohang Univ. of science and Tech. (POSTECH)
Lee, Lae-KyoungPohang Univ. of Science and Tech. (POSTECH)
Oh, Se-YoungPOSTECH
 
14:45-14:50, Paper WedDVT9.4 Add to My Program
Thermal 3D Modeling of Indoor Environments for Saving Energy
Borrmann, DoritJacobs Univ. Bremen
Afzal, HassanJacobs Univ. Bremen gGmbH
Elseberg, JanJacobs Univ. Bremen
Nuechter, AndreasJacobs Univ. Bremen gGmbH
 
14:50-14:55, Paper WedDVT9.5 Add to My Program
An Autonomous 9-DOF Mobile-Manipulator System for in Situ 3D Object Modeling
Torabi, LiilaSimon Fraser Univ.
Gupta, KamalSimon Fraser Univ.
 
14:55-15:00, Paper WedDVT9.6 Add to My Program
Collision Avoidance of Industrial Robot Arms Using an Invisible Sensitive Skin
Lam, Tin LunThe Chinese Univ. of Hong Kong
Yip, Hoi WutThe Chinese Univ. of Hong Kong
Qian, HuihuanCUHK
Xu, YangshengChinese Univ. of Hong Kong/ShenzhenInstituteofAdvancedTechn
 
WedET1 Regular Session, Pegaso A Add to My Program 
Omnidirectional Vision and Aerial Robotics II  
 
Chair: Fraundorfer, FriedrichETH Zurich
Co-Chair: Lippiello, VincenzoUniv. di Napoli Federico II
 
15:00-15:15, Paper WedET1.1 Add to My Program
Vision-Based Autonomous Mapping and Exploration Using a Quadrotor MAV
Fraundorfer, FriedrichETH Zurich
Heng, LionelETH Zurich
Honegger, DominikETH Zürich
Lee, Gim HeeETH Zurich
Meier, LorenzETH Zurich
Tanskanen, PetriETH Zurich
Pollefeys, MarcETH Zurich
 
15:15-15:30, Paper WedET1.2 Add to My Program
Predicting Micro Air Vehicle Landing Behaviour from Visual Texture
Bartholomew, JohnUniv. of Bristol
Calway, AndrewUniv. of Bristol
Mayol, WalterioUniv. of Bristol
 
15:30-15:45, Paper WedET1.3 Add to My Program
Vision-Only Estimation of Wind Field Strength and Direction from an Aerial Platform
Moore, Richard James DonaldUniv. of Queensland
Thurrowgood, SaulUniv. of Queensland
Srinivasan, MandyamThe Univ. of Queensland
 
15:45-16:00, Paper WedET1.4 Add to My Program
A Geometrical Approach for Vision Based Attitude and Altitude Estimation for UAVs in Dark Environments
Natraj, AshutoshUniv. de Picardie, Jules Verne, Amiens, France
Sturm, PeterINRIA Rhone Alpes
Demonceaux, CédricUniv. de Bourgogne
Vasseur, PascalUniv. de Rouen
 
WedET2 Regular Session, Fenix 2 Add to My Program 
Emotion Detection and Expression  
 
Chair: Lee, C. S. GeorgePurdue Univ.
Co-Chair: Luo, RenNational Taiwan Univ.
 
15:00-15:15, Paper WedET2.1 Add to My Program
An NARX-Based Approach for Human Emotion Identification
Alazrai, RamiPurdue Univ.
Lee, C. S. GeorgePurdue Univ.
 
15:15-15:30, Paper WedET2.2 Add to My Program
A Design Methodology for Expressing Emotion on Robot Faces
Shayganfar, MohammadWorcester Pol. Inst.
Rich, CharlesWorcester Pol. Inst.
Sidner, CandaceWorcester Pol. Inst.
 
15:30-15:45, Paper WedET2.3 Add to My Program
Development of Expressive Robotic Head for Bipedal Humanoid Robot
Kishi, TatsuhiroWaseda Univ.
Otani, TakuyaWaseda Univ.
Endo, NobutsunaWaseda Univ.
Kryczka, PrzemyslawWaseda Univ.
Hashimoto, KenjiWaseda Univ.
Nakata, KeiWaseda Univ.
Takanishi, AtsuoWaseda Univ.
 
15:45-16:00, Paper WedET2.4 Add to My Program
Confidence Fusion Based Emotion Recognition of Multiple Persons for Human-Robot Interaction
Luo, RenNational Taiwan Univ.
Lin, Pei-HsienNational Taiwan Univ.
Chang, Li WenNational Taiwan Univ.
 
WedET3 Regular Session, Pegaso B Add to My Program 
Outdoor, Search and Rescue Robotics II  
 
Chair: Murphy, RobinTexas A&M
Co-Chair: Hirose, ShigeoTokyo Inst. of Tech.
 
15:00-15:15, Paper WedET3.1 Add to My Program
Design and Calibration of Large Microphone Arrays for Robotic Applications
Perrodin, FlorianETH Zurich
Nikolic, JanoschETH Zürich
Busset, JoëlETH
Siegwart, RolandETH Zurich
 
15:15-15:30, Paper WedET3.2 Add to My Program
Development of Multi-Wheeled Snake-Like Rescue Robots with Active Elastic Trunk
Suzuki, KousukeTokyo Inst. of Tech.
Nakano, AtsushiSchlumberger Limited
Endo, GenTokyo Inst. of Tech.
Hirose, ShigeoTokyo Inst. of Tech.
 
15:30-15:45, Paper WedET3.3 Add to My Program
Crank-Wheel: A Brand New Mobile Base for Field Robots
Nakano, HisamiTokyo Inst. of Tech.
Hirose, ShigeoTokyo Inst. of Tech.
 
15:45-16:00, Paper WedET3.4 Add to My Program
Initial Deployment of a Robotic Team - a Hierarchical Approach under Communication Constraints Verified on Low-Cost Platforms
Couceiro, MicaelInsitute of Systems and Robotics
Figueiredo, CarlosCoimbra Inst. of Engineering
Portugal, DavidInst. of Systems and Robotics, Coimbra
Rocha, Rui PauloInst. of Systems and Robotics - Univ. of Coimbra
Fonseca Ferreira, Nuno MiguelInst. of Engineering of Coimbra
 
WedET4 Regular Session, Fenix 3 Add to My Program 
Control of Bio-Inspired Robots II  
 
Chair: Metta, GiorgioIstituto Italiano di Tecnologia (IIT)
Co-Chair: Ishikawa, MasatoOsaka Univ.
 
15:00-15:15, Paper WedET4.1 Add to My Program
Iterative Learning Control for a Musculoskeletal Arm: Utilizing Multiple Space Variables to Improve the Robustness
Tahara, KenjiKyushu Univ.
Kuboyama, YutaKyushu Univ.
Kurazume, RyoKyushu Univ.
 
15:15-15:30, Paper WedET4.2 Add to My Program
A Generic Software Architecture for Control of Parallel Kinematics Designed for Reduced Computing Hardware
Dietrich, FranzTech. Univ. Braunschweig
Grüner, SvenTU Braunschweig
Raatz, AnnikaTech. Univ. Braunschweig
 
15:30-15:45, Paper WedET4.3 Add to My Program
Biologically Inspired Reactive Climbing Behavior of Hexapod Robots
Goldschmidt, DennisUniv. of Göttingen
Hesse, FrankBCCN & BFNT Göttingen, Göttingen Univ. and
Wörgötter, FlorentinUniv. of Göttingen
Manoonpong, PoramateUniv. of Goettingen
 
15:45-16:00, Paper WedET4.4 Add to My Program
Embodied Hyperacuity from Bayesian Perception: Shape and Position Discrimination with an Icub Fingertip Sensor
Lepora, NathanUniv. of Sheffield
Martinez-Hernandez, UrielUniv. of Sheffield
Barron-Gonzalez, HectorSheffield Univ. UK
Evans, MathewUniv. of Sheffield
Metta, GiorgioIstituto Italiano di Tecnologia (IIT)
Prescott, Tony JUniv. of Sheffield
 
WedET5 Regular Session, Gemini 2 Add to My Program 
Personal Robots II  
 
Chair: Tapus, AdrianaENSTA-ParisTech
Co-Chair: Yi, Byung-JuHanyang Univ.
 
15:00-15:15, Paper WedET5.1 Add to My Program
Semantic Object Maps for Robotic Housework - Representation, Acquisition and Use
Pangercic, DejanRobert Bosch LLC
Tenorth, MoritzATR
Pitzer, BenjaminRobert Bosch LLC
Beetz, MichaelUniv. of Bremen
 
15:15-15:30, Paper WedET5.2 Add to My Program
A Framework for the Design of Person Following Behaviors for Social Mobile Robots
Granata, ConsueloISIR (Univ. Pierre et Marie Curie-Paris6-UPMC)andRobosoft
Bidaud, PhilippeUniv. Pierre et Marie Curie - Paris 6
 
15:30-15:45, Paper WedET5.3 Add to My Program
Playmate Robots That Can Act According to Child’s Mental State
Abe, KasumiThe Univ. of Electro-Communications
Akiko, IwasakiThe Univ. of Electro-Communications
Nakamura, TomoakiUniv. of Electro-Communications
Nagai, TakayukiUniv. of Electro-Communications
Yokoyama, AyamiTamagawa Univ.
Shimotomai, TakayukiTamagawa Univ.
Okada, HiroyukiTamagawa Univ.
Omori, TakashiTamagawa Univ.
 
15:45-16:00, Paper WedET5.4 Add to My Program
Planar Segmentation from Depth Images Using Gradient of Depth Feature
Enjarini, BasharBremen Univ.
Gräser, AxelUniv. of Bremen
 
WedET6 Regular Session, Gemini 3 Add to My Program 
Mapping IV  
 
Chair: Saarinen, Jari PekkaAalto Univ.
Co-Chair: Paull, LiamUniv. of New Brunswick
 
15:00-15:15, Paper WedET6.1 Add to My Program
What Can We Learn from 38, 000 Rooms? Reasoning about Unexplored Space in Indoor Environments
Aydemir, AlperRoyal Inst. of Tech. (KTH)
Jensfelt, PatricKTH - Royal Inst. of Tech.
Folkesson, JohnKTH
 
15:15-15:30, Paper WedET6.2 Add to My Program
Map Merging Using Hough Peak Matching
Saeedi Gharahbolagh, SajadUniv. of New Brunswick
Paull, LiamUniv. of New Brunswick
Trentini, MichaelDefence Res. and Development Canada
Seto, MaeDefence R&D Canada
Li, HowardUniv. of New Brunswick
 
15:30-15:45, Paper WedET6.3 Add to My Program
Creating and Using Probabilistic Costmaps from Vehicle Experience
Murphy, ElizabethQueensland Univ. of Tech.
Martin, Steven ColinQueensland Univ. of Tech.
Corke, PeterQUT
 
15:45-16:00, Paper WedET6.4 Add to My Program
Dynamic Visual Understanding of the Local Environment for an Indoor Navigating Robot
Tsai, GraceUniv. of Michigan
Kuipers, BenjaminUniv. of Michigan
 
WedET7 Regular Session, Vega Add to My Program 
Motion and Path Planning VII  
 
Chair: Oh, SonghwaiSeoul National Univ.
Co-Chair: Torres, Luis G.Univ. of North Carolina at Chapel Hill
 
15:00-15:15, Paper WedET7.1 Add to My Program
Motion Planning for Two 3D--Dubins Vehicles with Distance Constraint
Marino, HamalScuola Superiore Sant'Anna
Bonizzato, MarcoÉcole Pol. Fédérale de Lausanne
Bartalucci, RiccardoScuola Superiore Sant'Anna
Salaris, PaoloUniv. of Pisa
Pallottino, LuciaUniv. di Pisa
 
15:15-15:30, Paper WedET7.2 Add to My Program
Anytime Safe Interval Path Planning for Dynamic Environments
Narayanan, VenkatramanCarnegie Mellon Univ.
Phillips, MikeCarnegie Mellon Univ.
Likhachev, MaximCarnegie Mellon Univ.
 
15:30-15:45, Paper WedET7.3 Add to My Program
Motion Planning and Stochastic Control with Experimental Validation on a Planetary Rover
McAllister, RowanUniv. of Sydney
Peynot, ThierryThe Univ. of Sydney
Fitch, RobertUniv. of Sydney
Sukkarieh, SalahUniv. of Sydney
 
15:45-16:00, Paper WedET7.4 Add to My Program
A Cost-Aware Path Planning Algorithm for Mobile Robots
Suh, JunghunSeoul National Univ.
Oh, SonghwaiSeoul National Univ.
 
WedET8 Regular Session, Gemini 1 Add to My Program 
Search and Rescue – Modeling  
 
Chair: Lima, PedroInst. Superior Técnico - Inst. for Systems and Robotics
Co-Chair: Ishikura, MichihisaTohoku Univ.
 
15:00-15:15, Paper WedET8.1 Add to My Program
Multi-Sensor ATTenuation Estimation (MATTE): Signal-Strength Prediction for Teams of Robots
Strom, Johannes H.Univ. of Michigan
Olson, EdwinUniv. of Michigan
 
15:15-15:30, Paper WedET8.2 Add to My Program
Robust Acoustic Source Localization of Emergency Signals from Micro Air Vehicles
Basiri, MeysamÉcole Pol. fédérale de Lausanne (EPFL)
Schill, FelixEc. Pol. Federale de Lausanne (EPFL)
Lima, PedroInst. Superior Técnico - Inst. for Systems and Robotics
Floreano, DarioEc. Pol. Federal, Lausanne
 
15:30-15:45, Paper WedET8.3 Add to My Program
A Markov Semi-Supervised Clustering Approach and Its Application in Topological Region Extraction
Liu, MingETH Zurich
Colas, FrancisETH Zürich
Pomerleau, FrancoisETH Zurich
Siegwart, RolandETH Zurich
 
15:45-16:00, Paper WedET8.4 Add to My Program
Search-Theoretic and Ocean Models for Localizing Drifting Objects
Yau, JosesNaval Postgraduate School
Chung, Timothy H.Naval Postgraduate School
 
WedET10 Regular Session, Lince Add to My Program 
Multifingered Hands  
 
Chair: Zhang, JianweiUniv. of Hamburg
Co-Chair: Pipe, TonyUniv. of the West of England
 
15:00-15:15, Paper WedET10.1 Add to My Program
Tactile Sensor Based Varying Contact Point Manipulation Strategy for Dexterous Robot Hand Manipulating Unknown Objects
Zhang, YuanfeiHarbin Inst. of Tech.
Liu, HongDLR
 
15:15-15:30, Paper WedET10.2 Add to My Program
Card Manipulation Using a High-Speed Robot System with High-Speed Visual Feedback
Yamakawa, YujiUniv. of Tokyo
Namiki, AkioChiba Univ.
Ishikawa, MasatoshiUniv. of Tokyo
 
15:30-15:45, Paper WedET10.3 Add to My Program
Action Gist Based Automatic Segmentation for Periodic In-Hand Manipulation Movement Learning
Cheng, GangUniv. of Hamburg
Hendrich, NormanUniv. of Hamburg
Zhang, JianweiUniv. of Hamburg
 
15:45-16:00, Paper WedET10.4 Add to My Program
Development of a Low Cost Anthropomorphic Robot Hand with High Capability
Bae, Ji-HunKorea Inst. of Industrial Tech.
Park, Sung-WooKITECH
Park, Jae-HanKorea Inst. of Industrial Tech.
Baeg, Moon-HongKorea Inst. of Industrial Tech.
Kim, DoikKIST
Oh, Sang-RokKIST
 
WedEVT9 Regular Session, Fenix 1 Add to My Program 
Vision for Segmentation and Servoing  
 
Chair: Bobick, AaronGeorgia Tech.
Co-Chair: Lee, DongheuiTech. Univ. of Munich
 
15:00-15:15, Paper WedEVT9.1 Add to My Program
Guided Pushing for Object Singulation
Hermans, TuckerGeorgia Inst. of Tech.
Rehg, JamesGeorgia Inst. of Tech.
Bobick, AaronGeorgia Tech.
 
15:15-15:30, Paper WedEVT9.2 Add to My Program
Segmentation of Unknown Objects in Indoor Environments
Richtsfeld, AndreasVienna Univ. of Tech.
Mörwald, ThomasVienna Univ. of Tech.
Prankl, JohannUniv. of Tech. Vienna
Zillich, MichaelVienna Univ. of Tech.
Vincze, MarkusVienna Univ. of Tech.
 
15:30-15:45, Paper WedEVT9.3 Add to My Program
Robust Visual Servoing for Object Manipulation with Large Time-Delays of Visual Information
Kawamura, AkihiroKyushu Univ.
Tahara, KenjiKyushu Univ.
Kurazume, RyoKyushu Univ.
Hasegawa, TsutomuKyushu Univ.
 
15:45-15:50, Paper WedEVT9.4 Add to My Program
Tire Mounting on a Car Using the Real-Time Control Architecture ARCADE
Nierhoff, ThomasTU München
Lou, LeiTech. Univ. Muenchen
Koropouli, VasilikiTech. Univ. München
Eggers, MartinTech. Univ. München
Fritzsch, TimoTech. Univ. Muenchen
Kourakos, OmirosTech. Univ. München
Kuehnlenz, KoljaTUM
Lee, DongheuiTech. Univ. of Munich
Radig, BerndTU Muenchen
Buss, MartinTech. Univ. München
Hirche, SandraTech. Univ. München
 
15:50-15:55, Paper WedEVT9.5 Add to My Program
Ascending Stairway Modeling: A First Step Toward Autonomous Multi-Floor Exploration
Delmerico, JeffreySUNY at Buffalo
Corso, JasonSUNY Buffalo
Baran, DavidArmy Res. Lab.
David, PhilipU.S. Army Res. Lab.
Ryde, JulianUniv. at Buffalo
 
15:55-16:00, Paper WedEVT9.6 Add to My Program
Low Cost MAV Platform AR-Drone in Experimental Verifications of Methods for Vision Based Autonomous Navigation
Saska, MartinCzech Tech. Univ. in Prague
Krajnik, TomasFaculty of Electrical Engineering, Czech Tech. Univ.
Faigl, JanCzech Tech. Univ. in Prague
Vonasek, VojtechCzech Tech. Univ. in Prague
Preucil, LiborCzech Tech. Univ. in Prague
 
WedFT1 Regular Session, Pegaso A Add to My Program 
Estimation and Sensor Fusion  
 
Chair: Roan, PhilipRobert Bosch LLC
Co-Chair: Martinelli, AgostinoINRIA Grenoble-Rhone-Alpes
 
16:15-16:30, Paper WedFT1.1 Add to My Program
Contactless Deflection Sensing of Concave and Convex Shapes Assisted by Soft Mirrors
Dobrzynski, Michal KarolEc. Pol. Federal, Lausanne
Halasz, IonutEc. Pol. Federal, Lausanne
Pericet-Camara, RamonEc. Pol. Federal, Lausanne
Floreano, DarioEc. Pol. Federal, Lausanne
 
16:30-16:45, Paper WedFT1.2 Add to My Program
Deformable Structure from Motion by Fusing Visual and Inertial Measurement Data
Giannarou, StamatiaImperial Coll. London
Zhang, ZhiqiangImperial Coll. London
Yang, Guang-ZhongImperial Coll. London
 
16:45-17:00, Paper WedFT1.3 Add to My Program
Manipulator State Estimation with Low Cost Accelerometers and Gyroscopes
Roan, PhilipRobert Bosch LLC
Deshpande, NikhilNorth Carolina State Univ.
Wang, YizhouUniv. of California at Berkeley
Pitzer, BenjaminRobert Bosch LLC
 
17:00-17:15, Paper WedFT1.4 Add to My Program
Vision-Aided Inertial Navigation Using Virtual Features
Troiani, ChiaraINRIA Rhone Alpes
Martinelli, AgostinoINRIA Grenoble-Rhone-Alpes
 
17:15-17:30, Paper WedFT1.5 Add to My Program
Sensor Fusion Based Human Detection and Tracking System for Human-Robot Interaction
Ong, Kai SiangNational Taiwan Univ.
Hsu, Yuan-HanNational Taiwan Univ.
Fu, Li-ChenNational Taiwan Univ.
 
WedFT3 Regular Session, Pegaso B Add to My Program 
Intelligent Transportation Systems  
 
Chair: Laugier, ChristianINRIA Rhône-Alpes
Co-Chair: Moghadam, PeymanCSIRO ICT Centre
 
16:15-16:30, Paper WedFT3.1 Add to My Program
Evaluating Risk at Road Intersections by Detecting Conflicting Intentions
Lefèvre, StéphanieInria Grenoble Rhône-Alpes
Laugier, ChristianINRIA Rhône-Alpes
Ibanez-Guzman, JavierRenault
 
16:30-16:45, Paper WedFT3.2 Add to My Program
Contextual Scene Segmentation of Driving Behavior Based on Double Articulation Analyzer
Takenaka, KazuhitoDENSO Corp.
Bando, TakashiDENSO Corp.
Nagasaka, ShogoRitsumeikan Univ.
Taniguchi, TadahiroRitsumeikan Univ.
Hitomi, KentarouToyota InfoTechnology Center
 
16:45-17:00, Paper WedFT3.3 Add to My Program
Driver Assistance System for Backward Maneuvers in Passive Multi-Trailer Vehicles
Morales Rodriguez, JesusUniv. of Malaga
Mandow, AnthonyUniv. of Malaga
Martinez, Jorge L.Univ. of Malaga
García-Cerezo, AlfonsoUniv. of Malaga
 
17:00-17:15, Paper WedFT3.4 Add to My Program
Investigation of Personal Mobility Vehicle Stability and Maneuverability under Various Road Scenarios
Masood, JawadUniv. of Genoa
Zoppi, MatteoUniv. of Genoa
Molfino, ReziaUniv. of Genova
 
17:15-17:30, Paper WedFT3.5 Add to My Program
Communication Coverage for Independently Moving Robots
Gil, StephanieMIT
Feldman, DanMIT CSAIL
Rus, DanielaMIT
 
WedFT4 Regular Session, Fenix 3 Add to My Program 
Mechanism Design for Bio-Inspired Robots  
 
Chair: Sugano, ShigekiWaseda Univ.
Co-Chair: Liljebäck, PålSINTEF IKT
 
16:15-16:30, Paper WedFT4.1 Add to My Program
Reconsidering Inter and Intra-Limb Coordination Mechanisms in Quadruped Locomotion
Kano, TakeshiTohoku Univ.
Owaki, DaiTohoku Univ.
Ishiguro, AkioTohoku Univ.
 
16:30-16:45, Paper WedFT4.2 Add to My Program
Materials and Mechanisms for Amorphous Robotic Construction
Napp, NilsHarvard Univ.
Rappoli, Olive R.Worcester Pol. Inst.
Wu, Jessica M.Harvard Univ.
Nagpal, RadhikaHarvard Univ.
 
16:45-17:00, Paper WedFT4.3 Add to My Program
Harp Plucking Robotic Finger
Chadefaux, DelphineUPMC Univ. Paris 06, UMR CNRS 7190, d'Alembert, Paris, France
Le Carrou, Jean-LoïcUPMC Univ. Paris 06, UMR CNRS 7190, d'Alembert, Paris,France
Vitrani, Marie-AudeUniv. Pierre et Marie Curie - Paris6
Billout, SylvèreUPMC Univ. Paris 06, UMR CNRS 7190, d'Alembert, Paris, France
Quartier, LaurentUPMC Univ. Paris 06, UMR CNRS 7190, d'Alembert, Paris, France
 
17:00-17:15, Paper WedFT4.4 Add to My Program
Humanlike Shoulder Complex for Musculoskeletal Robot Arms
Ikemoto, ShuheiOsaka Univ.
Kannou, FumiyaOsaka Univ.
Hosoda, KohOsaka Univ.
 
17:15-17:30, Paper WedFT4.5 Add to My Program
A Modular and Waterproof Snake Robot Joint Mechanism with a Novel Force/Torque Sensor
Liljebäck, PålSINTEF IKT
Stavdahl, ØyvindNorwegian Univ. of Science and Tech. (NTNU)
Pettersen, Kristin Y.Norwegian Univ. of Science and Tech.
Gravdahl, Jan TommyNorwegian Univ. of Science and Tech.
 
WedFT5 Regular Session, Gemini 2 Add to My Program 
Contact Modeling  
 
Chair: Cortesao, RuiUniv. of Coimbra
Co-Chair: Gauthier, MichaelFEMTO-ST Inst.
 
16:15-16:30, Paper WedFT5.1 Add to My Program
Synthesis and Stabilization of Complex Behaviors through Online Trajectory Optimization
Tassa, YuvalUniv. of Washington
Erez, TomUniv. of Washington
Todorov, EmanuelUniv. of Washington
 
16:30-16:45, Paper WedFT5.2 Add to My Program
Trajectory Optimization for Domains with Contacts Using Inverse Dynamics
Erez, TomUniv. of Washington
Todorov, EmanuelUniv. of Washington
 
16:45-17:00, Paper WedFT5.3 Add to My Program
Robust Estimation of Contact Information for Recognition of the Physical Properties of an Object
Takuma, TakashiOsaka Inst. of Tech.
Takamine, KenOsaka Inst. of Tech.
Masuda, TatsuyaOsaka Inst. of Tech.
 
17:00-17:15, Paper WedFT5.4 Add to My Program
Modeling and Simulation of Friction Forces During Needle Insertion Using Local Constraint Method
Wang, LijuanRitsumeikan Univ.
Wang, ZhongkuiRitsumeikan Univ.
Hirai, ShinichiRitsumeikan Univ.
 
17:15-17:30, Paper WedFT5.5 Add to My Program
Comparison of Position and Force-Based Techniques for Environment Stiffness Estimation in Robotic Tasks
Coutinho, FernandaUniv. of Coimbra
Cortesao, RuiUniv. of Coimbra
 
WedFT6 Regular Session, Gemini 3 Add to My Program 
Navigation III  
 
Chair: Dillmann, RüdigerKIT Karlsruhe Inst. for Tech.
Co-Chair: Connette, Christian PascalFraunhofer IPA
 
16:15-16:30, Paper WedFT6.1 Add to My Program
On-Line Road Boundary Estimation by Switching Multiple Road Models Using Visual Features from a Stereo Camera
Chiku, TakeshiToyohashi Univ. of Tech.
Miura, JunToyohashi Univ. of Tech.
 
16:30-16:45, Paper WedFT6.2 Add to My Program
Robot Navigation with Model Predictive Equilibrium Point Control
Park, Jong JinUniv. of Michigan
Johnson, CollinUniv. of Michigan
Kuipers, BenjaminUniv. of Michigan
 
16:45-17:00, Paper WedFT6.3 Add to My Program
Non-Metric Navigation for Mobile Robot Using Optical Flow
Liau, Yung SiangNational Univ. of Singapore
Zhang, QunNational Univ. of Singapore
Li, YananNational Univ. of Singapore
Ge, Shuzhi SamNational Univ. of Singapore
 
17:00-17:15, Paper WedFT6.4 Add to My Program
Singularity-Free State-Space Representation for Non-Holonomic, Omnidirectional Undercarriages by Means of Coordinate Switching
Connette, Christian PascalFraunhofer IPA
Haegele, MartinFraunhofer IPA
Verl, AlexanderFraunhofer-Gesellschaft
 
17:15-17:30, Paper WedFT6.5 Add to My Program
Shop Floor Based Programming of Assembly Assistants for Industrial Pick-And-Place Applications
Dose, SvenKarlsruhe Inst. of Tech.
Dillmann, RüdigerKIT Karlsruhe Inst. for Tech.
 
WedFT7 Regular Session, Vega Add to My Program 
Motion Planning for Aerial Robotics  
 
Chair: Robuffo Giordano, PaoloMax Planck Inst. for Biological Cybernetics
Co-Chair: Oriolo, GiuseppeUniv. di Roma La Sapienza
 
16:15-16:30, Paper WedFT7.1 Add to My Program
Cooperative Quadrocopter Ball Throwing and Catching
Ritz, RobinETH Zürich
Mueller, Mark WilfriedETH Zurich
Hehn, MarkusETH Zürich
D'Andrea, RaffaelloETHZ
 
16:30-16:45, Paper WedFT7.2 Add to My Program
Real-Time Trajectory Generation for Interception Maneuvers with Quadrocopters
Hehn, MarkusETH Zürich
D'Andrea, RaffaelloETHZ
 
16:45-17:00, Paper WedFT7.3 Add to My Program
Aerial Grasping of a Moving Target with a Quadrotor UAV
Spica, RiccardoMax Planck Inst. for Biological Cybernetics
Franchi, AntonioMax Planck Inst. for Biological Cybernetics
Oriolo, GiuseppeUniv. di Roma "La Sapienza"
Buelthoff, Heinrich H.Max Planck Inst. for Biol. Cybernetics
Robuffo Giordano, PaoloMax Planck Inst. for Biological Cybernetics
 
17:00-17:15, Paper WedFT7.4 Add to My Program
Visual Tracking and Following of a Quadrocopter by Another Quadrocopter
Wenzel, Karl E.Univ. of Tübingen
Masselli, AndreasUniv. of Tübingen
Zell, AndreasUniv. of Tübingen
 
17:15-17:30, Paper WedFT7.5 Add to My Program
A New Utility Function for Smooth Transition between Exploration and Exploitation of a Wind Energy Field
Chung, Jen JenThe Univ. of Sydney
Trujillo, Miguel AngelCenter for Advanced Aerospace Tech.
Sukkarieh, SalahUniv. of Sydney
 
WedFT8 Regular Session, Gemini 1 Add to My Program 
Tools for Robot Control Design  
 
Chair: Kawamura, SadaoRitsumeikan Univ.
Co-Chair: Sahai, RanjanaHarvard Univ.
 
16:15-16:30, Paper WedFT8.1 Add to My Program
Minimum Angular Acceleration Control of Articulated Body Dynamics
Movellan, JavierUniv. California San Diego
 
16:30-16:45, Paper WedFT8.2 Add to My Program
A New Feedback Robot Control Method Based on Position/Image Sensor Integration
Nishida, RyosukeRitsumeikan Univ.
Kawamura, SadaoRitsumeikan Univ.
 
16:45-17:00, Paper WedFT8.3 Add to My Program
A Framework for Realistic Simulation of Networked Multi-Robot Systems
Kudelski, MichalIDSIA
Cinus, MarcoIDSIA
Gambardella, Lucaidsia
Di Caro, Gianni A.IDSIA (USI/SUPSI)
 
17:00-17:15, Paper WedFT8.4 Add to My Program
MuJoCo: A Physics Engine for Model-Based Control
Todorov, EmanuelUniv. of Washington
Erez, TomUniv. of Washington
Tassa, YuvalUniv. of Washington
 
17:15-17:30, Paper WedFT8.5 Add to My Program
Extensive Analysis of Linear Complementarity Problem (LCP) Solver Performance on Randomly Generated Rigid Body Contact Problems
Drumwright, EvanGeorge Washington Univ.
Shell, DylanTexas A&M Univ.
 
WedFT10 Regular Session, Lince Add to My Program 
Manipulation and Navigation in Space Applications  
 
Chair: Tipaldi, Gian DiegoUniv. of Freiburg
Co-Chair: Pradalier, CedricETH Zurich
 
16:15-16:30, Paper WedFT10.1 Add to My Program
Experimental Results for Image-Based Geometrical Reconstruction for Spacecraft Rendezvous Navigation with Unknown and Uncooperative Target Spacecraft
Schnitzer, FrankTech. Univ. Dresden
Janschek, KlausTech. Univ. Dresden
Willich, GeorgAstrium GmbH
 
16:30-16:45, Paper WedFT10.2 Add to My Program
Accuracy Improvement of Delay Time Compensation Based on the Coefficient of Restitution for a Hybrid Simulator
Satake, YoshikazuTohoku Univ.
Abiko, SatokoTohoku Univ.
Jiang, XinTohoku Univ.
Konno, AtsushiHokkaido Univ.
Uchiyama, MasaruTohoku Univ.
 
16:45-17:00, Paper WedFT10.3 Add to My Program
Launching Penetrator by Casting Manipulator System
Arisumi, HitoshiNational Inst. of AIST
Otsuki, MasatsuguJapan Aerospace Exploration Agency
Nishida, Shin-IchiroJapan Aerospace Exploration Agency
 
17:00-17:15, Paper WedFT10.4 Add to My Program
Augmented Reality Environment with Virtual Fixtures for Robotic Telemanipulation in Space
Xia, TianJohns Hopkins Univ.
Leonard, SimonThe Johns Hopkins Univ.
Deguet, AntonJohns Hopkins Univ.
Whitcomb, LouisThe Johns Hopkins Univ.
Kazanzides, PeterJohns Hopkins Univ.
 
17:15-17:30, Paper WedFT10.5 Add to My Program
A Grouser Spacing Equation for Determining Appropriate Geometry of Planetary Rover Wheels
Skonieczny, KrzysztofCarnegie Mellon Univ.
Moreland, Scott J.Carnegie Mellon Univ.
Wettergreen, DavidCarnegie Mellon Univ.
 
WedFT11 Invited Session, Hidra Add to My Program 
Robots with Variable Impedance Actuation  
 
Chair: Carloni, RaffaellaUniv. of Twente
Co-Chair: Albu-Schäffer, AlinDLR - German Aerospace Center
Organizer: Carloni, RaffaellaUniv. of Twente
Organizer: Albu-Schäffer, AlinDLR - German Aerospace Center
 
16:15-16:30, Paper WedFT11.1 Add to My Program
A Simple Controller for a Variable Stiffness Joint with Uncertain Dynamics and Prescribed Performance Guarantees
Psomopoulou, EfiAristotle Univ. of Thessaloniki
Doulgeri, ZoeAristotle Univ. of Thessaloniki
Rovithakis, GeorgeAristotel Univ. of Thessaloniki
Tsagarakis, NikolaosIstituto Italiano di Tecnologia
 
16:30-16:45, Paper WedFT11.2 Add to My Program
On the Control of Redundant Robots with Variable Stiffness Actuation
Palli, GianlucaUniv. of Bologna
Melchiorri, ClaudioUniv. of Bologna
 
16:45-17:00, Paper WedFT11.3 Add to My Program
Limit Cycles and Stiffness Control with Variable Stiffness Actuators
Carloni, RaffaellaUniv. of Twente
Marconi, LorenzoUniv. of Bologna
 
17:00-17:15, Paper WedFT11.4 Add to My Program
On Impact Decoupling Properties of Elastic Robots and Time Optimal Velocity Maximization on Joint Level
Haddadin, SamiGerman Aerospace Center (DLR)
Krieger, KaiGerman Aerospace Center
Mansfeld, NicoRobotics and Mechatronics Center
Albu-Schäffer, AlinDLR - German Aerospace Center
 
17:15-17:30, Paper WedFT11.5 Add to My Program
Rigid vs. Elastic Actuation: Requirements & Performance
Haddadin, SamiGerman Aerospace Center (DLR)
Mansfeld, NicoRobotics and Mechatronics Center
Albu-Schäffer, AlinDLR - German Aerospace Center
 
WedFVT2 Regular Session, Fenix 2 Add to My Program 
Telerobotics & Brain-Machine Interfaces  
 
Chair: Tachi, SusumuKeio Univ.
Co-Chair: Ogata, TetsuyaWaseda Univ.
 
16:15-16:30, Paper WedFVT2.1 Add to My Program
A Collaborative Control System for Telepresence Robots
Macharet, Douglas GuimarãesUniv. Federal de Minas Gerais
Florencio, DineiMicrosoft Res.
 
16:30-16:45, Paper WedFVT2.2 Add to My Program
Design of TELESAR V for Transferring Bodily Consciousness in Telexistence
Fernando, Charith LasanthaKeio Univ.
Furukawa, MasahiroKeio Univ.
Kurogi, TadatoshiKeio Univ.
Kamuro, ShoThe Univ. of Tokyo
Sato, KatsunariKeio Univ.
Minamizawa, KoutaKeio Univ.
Tachi, SusumuKeio Univ.
 
16:45-17:00, Paper WedFVT2.3 Add to My Program
Armrest Joystick -Mechanism Design and Basic Experiments
Ishida, HiroakiTokyo Inst. of Tech.
Hagiwara, TetsuoKinderHeim
Ueda, KojiTokyo Insitute of Tech.
Hirose, ShigeoTokyo Inst. of Tech.
 
17:00-17:15, Paper WedFVT2.4 Add to My Program
Networked Teleoperation with Non-Passive Environment: Application to Tele-Rehabilitation
Atashzar, Seyed FarokhThe Univ. of Western Ontario (UWO)
Polushin, Ilia G.Western Univ.
Patel, Rajnikant V.The Univ. of Western Ontario
 
17:15-17:20, Paper WedFVT2.5 Add to My Program
Towards Robotic Re-Embodiment Using a Brain-And-Body-Computer Interface
Martens, NikolasTech. Univ. Muenchen
Jenke, Robert E.W.Tech. Univ. Muenchen
Abu-Alqumsan, MohammadTech. Univ. Muenchen
Kapeller, Christophg.tec Guger Tech. OG
Hintermueller, Christophg.tec Guger Tech. OG
Guger, Christophg.tec Guger Tech.
Peer, AngelikaTech. Univ. München
Buss, MartinTech. Univ. München
 
17:20-17:25, Paper WedFVT2.6 Add to My Program
Rock-Paper-Scissors Prediction Experiments Using Muscle Activations
Jang, GihoHanyang Univ.
Choi, YoungjinHanyang Univ.
Qu, ZhihuaUniv. of Central Florida
 
17:25-17:30, Paper WedFVT2.7 Add to My Program
RobChair: Experiments Evaluating Brain-Computer Interface to Steer a Semi-Autonomous Wheelchair
Lopes, AnaUniv. of Coimbra
Pires, GabrielUniv. of Coimbra
Nunes, UrbanoUniv. de Coimbra
 
WedFVT9 Regular Session, Fenix 1 Add to My Program 
Multi-Modal Learning II  
 
Chair: Sandini, GiulioItalian Inst. of Tech.
Co-Chair: Shimoda, ShingoRIKEN
 
16:15-16:30, Paper WedFVT9.1 Add to My Program
Experimental Study on Haptic Communication of a Human in a Shared Human-Robot Collaborative Task
Dumora, JulieCEA
Geffard, FranckAtomic Energy Commissariat (CEA)
Bidard, CatherineCommissariat à l'Energie Atomique
Brouillet, ThibautEpsylon
Fraisse, PhilippeLIRMM
 
16:30-16:45, Paper WedFVT9.2 Add to My Program
Robots Move: Bootstrapping the Development of Object Representations Using Sensorimotor Coordination
Glover, ArrenQueensland Univ. of Tech.
Wyeth, GordonQueensland Univ. of Tech.
 
16:45-17:00, Paper WedFVT9.3 Add to My Program
Maximally Informative Interaction Learning for Scene Exploration
van Hoof, HerkeTU Darmstadt
Kroemer, OliverTU Darmstadt
Ben Amor, HeniTech. Univ. Darmstadt
Peters, JanTech. Univ. Darmstadt
 
17:00-17:15, Paper WedFVT9.4 Add to My Program
Perceptual Development Triggered by Its Self-Organization in Cognitive Learning
Kawai, YujiOsaka Univ.
Nagai, YukieOsaka Univ.
Asada, MinoruOsaka Univ.
 
17:15-17:20, Paper WedFVT9.5 Add to My Program
Towards Robotic Calligraphy
Huebel, NicoETH Zurich
Mueggler, EliasETH Zurich
Waibel, MarkusETH Zurich
D'Andrea, RaffaelloETHZ
 
17:20-17:25, Paper WedFVT9.6 Add to My Program
Learning Throwing and Catching Skills
Kober, JensMax-Planck Inst. for Intelligent Systems
Muelling, KatharinaMax Planck Inst. for Intelligent Systems
Peters, JanTech. Univ. Darmstadt
 
17:25-17:30, Paper WedFVT9.7 Add to My Program
NAO Walking down a Ramp Autonomously
Lutz, ChristanUniv. of Freiburg
Atmanspacher, FelixUniv. of Freiburg
Hornung, ArminUniv. of Freiburg
Bennewitz, MarenUniv. of Freiburg
 
WedGT1 Regular Session, Pegaso A Add to My Program 
Stereo Vision  
 
Chair: Suh, Il HongHanyang Univ.
Co-Chair: Zell, AndreasUniv. of Tübingen
 
17:30-17:45, Paper WedGT1.1 Add to My Program
A New Feature Detector and Stereo Matching Method for Accurate High-Performance Sparse Stereo Matching
Schauwecker, KonstantinUniv. of Tübingen
Klette, ReinhardThe Univ. of Auckland
Zell, AndreasUniv. of Tübingen
 
17:45-18:00, Paper WedGT1.2 Add to My Program
Real-Time Velocity Estimation Based on Optical Flow and Disparity Matching
Honegger, DominikETH Zürich
Meier, LorenzETH Zurich
Tanskanen, PetriETH Zurich
Greisen, PierreETH Zurich
Pollefeys, MarcETH Zurich
 
18:00-18:15, Paper WedGT1.3 Add to My Program
Can Stereo Vision Replace a Laser Rangefinder?
Antunes, MichelInst. of Systems and Robotics
Barreto, João P.Univ. of Coimbra
Premebida, CristianoUniv. of Coimbra
Nunes, UrbanoUniv. de Coimbra
 
18:15-18:30, Paper WedGT1.4 Add to My Program
Dependable Dense Stereo Matching by Both Two-Layer Recurrent Process and Chaining Search
Lee, Sehyunghanyang Univ.
Park, Young-BinHanyang Univ.
Suh, Il HongHanyang Univ.
 
WedGT2 Regular Session, Fenix 2 Add to My Program 
Telerobotics  
 
Chair: Artigas, JordiDLR - German Aerospace Center
Co-Chair: Ogata, TetsuyaWaseda Univ.
 
17:30-17:45, Paper WedGT2.1 Add to My Program
Multi-Objective Optimization for Telerobotic Operations Via the Internet
Jia, YunyiMichigan State Univ.
Xi, NingMichigan State Univ.
Liu, ShuangCity Univ. of Hong Kong, Kowloon, Hong Kong
Zhang, HuataoMichigan State Univ.
Bi, ShengSouth China Univ. of Tech.
 
17:45-18:00, Paper WedGT2.2 Add to My Program
A Master-Slave Robotic Simulator Based on GPUDirect
Li, JianyingShenzhen Inst. of Advanced Tech.
Guo, YuSIAT
Zhang, HeyeSIAT
Xie, YongmingSIAT
 
18:00-18:15, Paper WedGT2.3 Add to My Program
Network Unfoldment and Application to Wave Variables Using Measured Forces
Artigas, JordiDLR - German Aerospace Center
Hirzinger, GerdGerman Aerospace Center (DLR)
 
18:15-18:30, Paper WedGT2.4 Add to My Program
Unimodal Asymmetric Interface for Teleoperation of Mobile Manipulators: A User Study
Hernandez Herdocia, AlejandroUniv. of Alberta
Shademan, AzadUniv. of Alberta
Jagersand, MartinUniv. of Alberta
 
WedGT3 Regular Session, Pegaso B Add to My Program 
Home Automation and Personal Robots  
 
Chair: Mazzoleni, StefanoScuola Superiore Sant'Anna
Co-Chair: Zillich, MichaelVienna Univ. of Tech.
 
17:30-17:45, Paper WedGT3.1 Add to My Program
Acquisition and Use of Transferable, Spatio-Temporal Plan Representations for Human-Robot Interaction
Karg, MichaelTech. Univ. München
Kirsch, AlexandraUniv. Tübingen
 
17:45-18:00, Paper WedGT3.2 Add to My Program
Hierarchical Generalized Context Inference for Context-Aware Smart Homes
Wu, Chao-LinNational Taiwan Univ.
Weng, Mao YuanNational Taiwan Univ.
Lu, Ching-HuNational Taiwan Univ.
Fu, Li-ChenNational Taiwan Univ.
 
18:00-18:15, Paper WedGT3.3 Add to My Program
Context-Aware Home Energy Saving Based on Energy-Prone Context
Weng, Mao YuanNational Taiwan Univ.
Wu, Chao-LinNational Taiwan Univ.
Lu, Ching-HuNational Taiwan Univ.
Yeh, Hui-WenNational Taiwan Univ.
Fu, Li-ChenNational Taiwan Univ.
 
18:15-18:30, Paper WedGT3.4 Add to My Program
Learning and Generalization of Complex Tasks from Unstructured Demonstrations
Niekum, ScottUniv. of Massachusetts Amherst
Osentoski, SarahRobert Bosch LLC
Konidaris, George DimitriMIT
Barto, AndyUniv. of Massachessettes at Amherst
 
WedGT5 Regular Session, Gemini 2 Add to My Program 
Cooperating Robots  
 
Chair: Levihn, MartinGeorgia Inst. of Tech.
Co-Chair: Lima, PedroInst. Superior Técnico - Inst. for Systems and Robotics
 
17:30-17:45, Paper WedGT5.1 Add to My Program
Weighted Synergy Graphs for Role Assignment in Ad Hoc Heterogeneous Robot Teams
Liemhetcharat, SomchayaCarnegie Mellon Univ.
Veloso, ManuelaCarnegie Mellon Univ.
 
17:45-18:00, Paper WedGT5.2 Add to My Program
Multi-Robot Multi-Object Rearrangement in Assignment Space
Levihn, MartinGeorgia Inst. of Tech.
Igarashi, TakeoThe Univ. of Tokyo
Stilman, MikeGeorgia Tech.
 
18:00-18:15, Paper WedGT5.3 Add to My Program
On Mission-Dependent Coordination of Multiple Vehicles under Spatial and Temporal Constraints
Pecora, FedericoÖrebro Univ.
Cirillo, MarcelloÖrebro Univ.
Dimitrov, Dimitar NikolaevOerebro Univ.
 
18:15-18:30, Paper WedGT5.4 Add to My Program
Multi-Robot Exploration and Rendezvous on Graphs
Meghjani, MalikaMcGill Univ.
Dudek, GregoryMcGill Univ.
 
WedGT6 Regular Session, Gemini 3 Add to My Program 
Localization and Mapping III  
 
Chair: Miura, JunToyohashi Univ. of Tech.
Co-Chair: Birchfield, StanClemson Univ.
 
17:30-17:45, Paper WedGT6.1 Add to My Program
Efficient Search for Correct and Useful Topological Maps
Johnson, CollinUniv. of Michigan
Kuipers, BenjaminUniv. of Michigan
 
17:45-18:00, Paper WedGT6.2 Add to My Program
Accurate On-Line 3D Occupancy Grids Using Manhattan World Constraints
Peasley, BrianClemson Univ.
Birchfield, StanClemson Univ.
Cunningham, AlexanderGeorgia Inst. of Tech.
Dellaert, FrankGeorgia Inst. of Tech.
 
18:00-18:15, Paper WedGT6.3 Add to My Program
Accurate 3D Maps from Depth Images and Motion Sensors Via Nonlinear Kalman Filtering
Hervier, ThibaultCentre de Robotique, Mines ParisTech
Bonnabel, SilvereMines ParisTech
Goulette, FrançoisMINES ParisTech
 
18:15-18:30, Paper WedGT6.4 Add to My Program
Fourier-Based Registrations for Two-Dimensional Forward-Looking Sonar Image Mosaicing
Hurtos, NataliaUniv. of Girona
Cufi, XavierUniv. of Girona
Petillot, Yvan R.Heriot-Watt Univ.
Salvi, JoaquimUniv. of Girona
 
WedGT7 Regular Session, Vega Add to My Program 
Mobile Manipulation  
 
Chair: Ishikawa, MasatoOsaka Univ.
Co-Chair: Xi, NingMichigan State Univ.
 
17:30-17:45, Paper WedGT7.1 Add to My Program
Path Planning for Image-Based Control of Wheeled Mobile Manipulators
Kazemi, MoslemCarnegie Mellon Univ.
Gupta, KamalSimon Fraser Univ.
Mehrandezh, MehranUniv. of Regina
 
17:45-18:00, Paper WedGT7.2 Add to My Program
Mobile Manipulation through an Assistive Home Robot
Ciocarlie, MateiWillow Garage
Hsiao, KaijenWillow Garage
Leeper, Adam EricStanford Univ.
Gossow, DavidWillow Garage
 
18:00-18:15, Paper WedGT7.3 Add to My Program
Modeling and Control of Cylindrical Mobile Robot
Hirano, TetsurouOsaka Univ.
Ishikawa, MasatoOsaka Univ.
Osuka, KoichiOsaka Univ.
 
18:15-18:30, Paper WedGT7.4 Add to My Program
Sensor-Based Redundancy Resolution for a Nonholonomic Mobile Manipulator
Zhang, HuataoMichigan State Univ.
Jia, YunyiMichigan State Univ.
Xi, NingMichigan State Univ.
 
WedGT8 Regular Session, Gemini 1 Add to My Program 
Control Design  
 
Chair: Caldwell, Darwin G.Itituto Italiano di Tecnologia
Co-Chair: Torras, CarmeCSIC - UPC
 
17:30-17:45, Paper WedGT8.1 Add to My Program
Redundant Inverse Kinematics: Experimental Comparative Review and Two Enhancements
Colomé, AdriàInst. de Robòtica i Informàtica Industrial (CSIC-UPC)
Torras, CarmeCSIC - UPC
 
17:45-18:00, Paper WedGT8.2 Add to My Program
Hierarchical Strategy for Dynamic Coverage
Franco, CarlosUniv. de Zaragoza
Paesa, DavidUniv. de Zaragoza
Lopez-Nicolas, GonzaloUniv. of Zaragoza
Sagues, CarlosUniv. de Zaragoza
Llorente, SergioBSH Electrodomésticos España S.A.
 
18:00-18:15, Paper WedGT8.3 Add to My Program
Internal Model Control for Improving the Gait Tracking of a Compliant Humanoid Robot
Colasanto, LucaFondazione Istituto Italiano di Tecnologia
Tsagarakis, NikolaosIstituto Italiano di Tecnologia
Li, ZhibinItalian Inst. of Tech.
Caldwell, Darwin G.Fondazione Itituto Italiano di Tecnologia
 
18:15-18:30, Paper WedGT8.4 Add to My Program
Approximate Steering of a Plate-Ball System under Bounded Model Perturbation Using Ensemble Control
Becker, AaronUniv. of Illinois at Urbana-Champaign
Bretl, TimothyUniv. of Illinois at Urbana-Champaign
 
WedGT9 Regular Session, Fenix 1 Add to My Program 
Control of Wheeled Robots II  
 
Chair: Dietrich, FranzTech. Univ. Braunschweig
Co-Chair: Pazderski, DariuszPoznan Univ. of Tech.
 
17:30-17:45, Paper WedGT9.1 Add to My Program
A Novel Approach for Steeringwheel Synchronization with Velocity/Acceleration Limits and Mechanical Constraints
Schwesinger, UlrichETH Zurich
Pradalier, CedricETH Zurich
Siegwart, RolandETH Zurich
 
17:45-18:00, Paper WedGT9.2 Add to My Program
Wheeled Inverted-Pendulum-Type Personal Mobility Robot with Collaborative Control of Seat Slider and Leg Wheels
Tomokuni, NobuyasuKinki Univ.
Shino, MotokiThe Univ. of Tokyo
 
18:00-18:15, Paper WedGT9.3 Add to My Program
Disturbance Compensation in Pushing, Pulling, and Lifting for Load Transporting Control of a Wheeled Inverted Pendulum Type Assistant Robot Using the Extended State Observer
Canete, LuisFukushima Univ.
Takahashi, TakayukiFukushima Univ.
 
18:15-18:30, Paper WedGT9.4 Add to My Program
A 3D Dynamic Model of a Spherical Wheeled Self-Balancing Robot
Inal, Ali NailBilkent Univ.
Morgul, OmerBilkent Univ.
Saranli, UlucBilkent Univ.
 
WedGT10 Regular Session, Lince Add to My Program 
Safety, Failure Handling and Recovery II  
 
Chair: Prassler, ErwinBonn-Rhein-Sieg Univ. of Applied Sciences
Co-Chair: Harada, KensukeNational Inst. of AIST
 
17:30-17:45, Paper WedGT10.1 Add to My Program
Dual Back-Stepping Observer to Anticipate the Rollover Risk in Under/over-Steering Situations. Application to ATVs in Off-Road Context
Richier, MathieuIRSTEA
Lenain, RolandIrstea
Thuilot, BenoitClermont-Ferrand Univ.
Debain, ChristopheIrstea
 
17:45-18:00, Paper WedGT10.2 Add to My Program
Towards Learning of Safety Knowledge from Human Demonstrations
Ertle, PhilippUniv. Duisburg-Essen
Tokic, MichelUniv. of Applied Sciences Ravensburg-Weingarten
Cubek, RichardRavensburg-Weingarten Univ. of Applied Sciences, Weingarten
Voos, HolgerUniv. of Applied Sciences Ravensburg-Weingarten
Söffker, DirkUniv. of Duisburg-Essen
 
18:00-18:15, Paper WedGT10.3 Add to My Program
Psychological Experiments on Avoidance Action Characteristics for Estimating Avoidability of Harm to Eyes from Robots
Hattori, TakamasaNagoya Univ.
Yamada, YojiNagoya Univ.
Mori, ShujiKyushu Univ.
Okamoto, ShogoNagoya Univ.
Hara, SusumuNagoya Univ.
 
18:15-18:30, Paper WedGT10.4 Add to My Program
A Truly Safely Moving Robot Has to Know What Injury It May Cause
Haddadin, SamiGerman Aerospace Center (DLR)
Haddadin, SimonGerman Aerospace Center
Khoury, AugustoGerman Aerospace Center
Rokahr, TimGerman Aerospace Center
Parusel, SvenGerman Aerospace Center
Burgkart, RainerTech. Univ. München
Bicchi, AntonioUniv. di Pisa
Albu-Schäffer, AlinDLR - German Aerospace Center
 
WedGVT4 Regular Session, Fenix 3 Add to My Program 
Haptics, Force Sensing and Manipulation  
 
Chair: Tsuji, ToshiakiSaitama Univ.
Co-Chair: Frisoli, AntonioScuola Superiore Sant'Anna
 
17:30-17:45, Paper WedGVT4.1