2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
November 3-7, 2013, Tokyo Big Sight, Tokyo, Japan

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

Last updated on October 14, 2013. This conference program is tentative and subject to change

Technical Program for Tuesday November 5, 2013

To show or hide the keywords and abstract of a paper (if available), click on the paper title
Open all abstracts   Close all abstracts
 
TuP1L Plenary Session, Conference Hall Add to My Program 
Plenary II: Masayuki Yamato  
 
Chair: Fukuda, ToshioMeijo Univ.
 
TuAT1 Regular Session, Room606 Add to My Program 
Visual Localization and Navigation I  
 
Chair: Zhang, HongUniv. of Alberta
Co-Chair: Barfoot, TimothyUniv. of Toronto
 
11:00-11:15, Paper TuAT1.1 Add to My Program
Dealing with Shadows: Capturing Intrinsic Scene Appearance for Image-Based Outdoor Localisation
Corke, PeterQUT
Paul, RohanUniv. of Oxford
Churchill, WinstonOxford Univ.
Newman, PaulOxford Univ.
 
11:15-11:30, Paper TuAT1.2 Add to My Program
RANSAC for Motion-Distorted 3D Visual Sensors
Anderson, SeanUniv. of Toronto
Barfoot, TimothyUniv. of Toronto
 
11:30-11:45, Paper TuAT1.3 Add to My Program
Dense Visual SLAM for RGB-D Cameras
Kerl, ChristianTech. Univ. Munich
Sturm, JürgenTech. Univ. of Munich
Cremers, DanielTech. Univ. of Munich
 
11:45-12:00, Paper TuAT1.4 Add to My Program
Evo: A Realtime Embedded Stereo Odometry for MAV Applications
Sanfourche, MartialONERA
Vittori, VincentONERA
Lebesnerais, Guyonera
 
12:00-12:15, Paper TuAT1.5 Add to My Program
Robust Scale Initialization for Long-Range Stereo Visual Odometry
Warren, MichaelQueensland Univ. of Tech.
Upcroft, BenQueensland Univ. of Tech.
 
12:15-12:30, Paper TuAT1.6 Add to My Program
A Transfer Learning Approach for Multi-Cue Semantic Place Recognition
Costante, GabrieleUniv. of Perugia
Ciarfuglia, Thomas AlessandroUniv. degli Studi di Perugia
Valigi, PaoloUniv. di Perugia
Ricci, ElisaUniv. of Perugia
 
TuAT2 Regular Session, Room607 Add to My Program 
Detection and Recognition with Vision  
 
Chair: Bergström, NiklasUniv. of Tokyo
Co-Chair: Papanikolopoulos, NikosUniv. of Minnesota
 
11:00-11:15, Paper TuAT2.1 Add to My Program
Sling Bag and Backpack Detection for Human Appearance Semantic in Vision System
Chua, Teck WeeInst. for Infocomm Res.
Leman, KariantoInst. for Infocomm Res.
Wang, Hee LinInst. for Infocomm Res.
Pham, Nam TrungInst. for Infocomm Res.
Chang, RichardInst. for Infocomm Res.
Nguyen, Dinh DuyInst. for Infocomm Res.
Zhang, JieInst. for Infocomm Res.
 
11:15-11:30, Paper TuAT2.2 Add to My Program
Realtime 3D Segmentation for Human-Robot Interaction
Ückermann, AndreBielefeld Univ.
Haschke, RobertBielefeld Univ.
Ritter, Helge JoachimBielefeld Univ.
 
11:30-11:45, Paper TuAT2.3 Add to My Program
1 Ms Tracking of Target Boundaries Using Contour Propagation
Bergström, NiklasUniv. of Tokyo
Ishikawa, MasatoshiUniv. of Tokyo
 
11:45-12:00, Paper TuAT2.4 Add to My Program
Posture Recognition with a Top-View Camera
Hu, NinghangUniv. of Amsterdam
Englebienne, GwennUniv. of Amsterdam
Krose, BenUniv. of Amsterdam
 
12:00-12:15, Paper TuAT2.5 Add to My Program
Bingham Procrustean Alignment for Object Detection in Clutter
Glover, JaredMIT
Popovic, SanjaMIT
 
12:15-12:30, Paper TuAT2.6 Add to My Program
Locating Occupants in Pre-School Classrooms Using a Multiple RGB-D Sensor System
Walczak, NicholasUniv. of Minnesota
Fasching, JoshuaUniv. of Minnesota
Toczyski, WilliamCSE, UMN
Morellas, VassiliosU. of Minnesota
Sapiro, GuillermoUniv. of Minnesota
Papanikolopoulos, NikosUniv. of Minnesota
 
TuAT3 Regular Session, Room703 Add to My Program 
Human Robot Interaction  
 
Chair: Alami, RachidCNRS
Co-Chair: Kuno, YoshinoriSaitama Univ.
 
11:00-11:15, Paper TuAT3.1 Add to My Program
Learning How to Increase the Chance of Human-Robot Engagement
Guimarães Macharet, DouglasUniv. Federal de Minas Gerais
Florencio, DineiMicrosoft Res.
 
11:15-11:30, Paper TuAT3.2 Add to My Program
Affordance Graph: A Framework to Encode Perspective Taking and Effort Based Affordances for Day-To-Day Human-Robot Interaction
Pandey, Amit KumarLAAS-CNRS
Alami, RachidCNRS
 
11:30-11:45, Paper TuAT3.3 Add to My Program
A Real Time and Robust Facial Expression Recognition and Imitation Approach for Affective Human-Robot Interaction Using Gabor Filtering
Cid, FelipeUniv. of Extremadura
Prado, José AugustoIROS 2012 Volunteer
Bustos, PabloUniv. de Extremadura
Núñez, PedroUniv. of Extremadura
 
11:45-12:00, Paper TuAT3.4 Add to My Program
Attracting Attention and Establishing a Communication Channel Based on the Level of Visual Focus of Attention
Das, DipankarSaitama Univ.
Kobayashi, YoshinoriSaitama Univ.
Kuno, YoshinoriSaitama Univ.
 
12:00-12:15, Paper TuAT3.5 Add to My Program
Multimodal Control for Human-Robot Cooperation
Cherubini, AndreaLIRMM - Univ. de Montpellier 2 CNRS
Passama, RobinLIRMM (CNRS, Univ. Montpellier 2)
Meline, ArnaudUniv. Montpellier 2, LIRMM
Crosnier, AndréLIRMM
Fraisse, PhilippeLIRMM
 
12:15-12:30, Paper TuAT3.6 Add to My Program
An Extensible Architecture for Robust Multimodal Human-Robot Communication
Rossi, SilviaUniv. of Naples "Federico II"
Leone, EnricoUniv. of Naples "Federico II"
Fiore, MichelangeloUniv. of Naples "Federico II"
Finzi, AlbertoUniv. of Naples "Federico II"
Cutugno, FrancoUniv. of Naples "Federico II"
 
TuAT4 Regular Session, Room601 Add to My Program 
Recognition I  
 
Chair: Fu, Li-ChenNational Taiwan Univ.
Co-Chair: Birk, AndreasJacobs Univ.
 
11:00-11:15, Paper TuAT4.1 Add to My Program
Multimodal Blending for High-Accuracy Instance Recognition
Xie, ZiangUC Berkeley
Singh, ArjunUniv. of California, Berkeley
Uang, JustinUC Berkeley
Narayan, KarthikUC Berkeley
Abbeel, PieterUC Berkeley
 
11:15-11:30, Paper TuAT4.2 Add to My Program
Recognizing Context-Aware Activities of Daily Living Using RGBD Sensor
Fu, JieNTU
Liu, ChengyinNational Taiwan Univ.
Fu, Li-ChenNational Taiwan Univ.
Hsu, Yen-PinNational Taiwan Univ.
 
11:30-11:45, Paper TuAT4.3 Add to My Program
Building Semantic Object Maps from Sparse and Noisy 3D Data
Günther, MartinUniv. of Osnabrück
Wiemann, ThomasUniv. of Osnabrück
Albrecht, SvenUniv. of Osnabrueck
Hertzberg, JoachimUniv. of Osnabrueck
 
11:45-12:00, Paper TuAT4.4 Add to My Program
An Efficient Part-Based Approach to Action Recognition from RGB-D Video with BoW-Pyramid Representation
Tsai, Jih-ShengNational Taiwan Univ.
Hsu, Yen-PinNational Taiwan Univ.
Liu, ChengyinNational Taiwan Univ.
Fu, Li-ChenNational Taiwan Univ.
 
12:00-12:15, Paper TuAT4.5 Add to My Program
Extracting Essential Local Object Characteristics for 3D Object Categorization
Madry, MariannaRoyal Inst. of Tech. (KTH)
Maboudi Afkham, HeydarKTH/CVAP
Ek, Carl HenrikRoyal Inst. of Tech.
Carlsson, StefanKTH/CVAP
Kragic, DanicaKTH
 
12:15-12:30, Paper TuAT4.6 Add to My Program
Object Recognition in RGBD Images of Cluttered Environments Using Graph-Based Categorization with Unsupervised Learning of Shape Parts
Mueller, Christian AtanasJacobs Univ.
Pathak, KaustubhJacobs Univ. Bremen
Birk, AndreasJacobs Univ.
 
TuAT5 Regular Session, Room605 Add to My Program 
Cognitive and Learning  
 
Chair: Nagai, TakayukiUniv. of Electro-Communications
Co-Chair: Hindriks, KoenDelft Univ. of Tech.
 
11:00-11:15, Paper TuAT5.1 Add to My Program
Integrated Concept of Objects and Human Motions Based on Multi-Layered Multimodal LDA
Fadlil, MuhammadUniv. of Electro-Communication
Ikeda, KeisukeUniv. of Electro-Communication
Abe, KasumiThe Univ. of Electro-Communications
Nakamura, TomoakiHonda Res. Inst. Japan
Nagai, TakayukiUniv. of Electro-Communications
 
11:15-11:30, Paper TuAT5.2 Add to My Program
Contextual Modeling with Labeled Multi-LDA
Zhang, ChengKTH, Royal Inst. of Tech.
Song, DanRoyal Inst. of Tech. (KTH), Stockholm
Kjellstrom, HedvigKTH
 
11:30-11:45, Paper TuAT5.3 Add to My Program
Formation of Hierarchical Object Concept Using Hierarchical Latent Dirichlet Allocation
Ando, YoshikiThe Univ. of Electro-Communications
Nakamura, TomoakiHonda Res. Inst. Japan
Araki, TakayaUniv. of Electro-Communications
Nagai, TakayukiUniv. of Electro-Communications
 
11:45-12:00, Paper TuAT5.4 Add to My Program
Long-Term Learning of Concept and Word by Robots: Interactive Learning Framework and Preliminary Results
Araki, TakayaUniv. of Electro-Communications
Nakamura, TomoakiHonda Res. Inst. Japan
Nagai, TakayukiUniv. of Electro-Communications
 
12:00-12:15, Paper TuAT5.5 Add to My Program
Robot Learning and Use of Affordances in Goal-Directed Tasks
Wang, ChangDelft Univ. of Tech.
Hindriks, KoenDelft Univ. of Tech.
Babuska, RobertDelft Univ. of Tech.
 
12:15-12:30, Paper TuAT5.6 Add to My Program
RoMPLA: An Efficient Robot Motion and Planning Learning Architecture
Gonzalez-Quijano, JavierUniv. Carlos III of Madrid
Abderrahim, MohamedCarlos III Univ.
Bensalah, ChoukriUniv. Carlos III of Madrid
Rodríguez-Jiménez, SilviaUniv. Carlos III de Madrid
 
TuAT6 Regular Session, Room604 Add to My Program 
Climbing Robotics  
 
Chair: Berns, KarstenUniv. of Kaiserslautern
Co-Chair: Watanabe, MasaakiIHI Corp.
 
11:00-11:15, Paper TuAT6.1 Add to My Program
Rubbot: Rubbing on Flexible Loose Surfaces
Chen, GuangchenChinese Acad. of science Shenzhen Inst. of Advanced Tech.
Liu, YuanyuanShenzhen Inst. of Advanced Tech.
Fu, RuiqingShenzhen Insitutes of Advanced Tech. Chinese Acad. Sci
Sun, JianweiShanghai Jiaotong Univ.
Wu, XinyuShenzhen Inst. of Advanced Tech.
Xu, YangshengThe Chinese Univ. of Hong Kong
 
11:15-11:30, Paper TuAT6.2 Add to My Program
Safe Navigation of a Wall-Climbing Robot by Methods of Risk Prediction and Suitable Counteractive Measures
Schmidt, DanielUniv. of Kaiserslautern
Berns, KarstenUniv. of Kaiserslautern
 
11:30-11:45, Paper TuAT6.3 Add to My Program
Characteristics of Controllable Adhesion Using Magneto-Rheological Fluid and Its Application to Climbing Robotics
Watanabe, MasaakiIHI Corp.
Wiltsie, NicholasMassachusetts Inst. of Tech.
Hosoi, AnetteMIT
Iagnemma, KarlMIT
 
11:45-12:00, Paper TuAT6.4 Add to My Program
Development and Applications of a Simulation Framework for a Wall-Climbing Robot
Schmidt, DanielUniv. of Kaiserslautern
Berns, KarstenUniv. of Kaiserslautern
 
12:00-12:15, Paper TuAT6.5 Add to My Program
Modeling and Analysis of Electric Field and Electrostatic Adhesion Force Generated by Interdigital Electrodes for Wall Climbing Robots
Chen, RuiBeihang Univ.
Liu, RongBeihang Univ.
Shen, HuaBeihang Univ.
 
12:15-12:30, Paper TuAT6.6 Add to My Program
Development of a Wall-Climbing Robot with Biped-Wheel Hybrid Locomotion Mechanism
Dong, WeiguangShenyang Inst. of Automation, Chinese Acad. of Sciences
Wang, HongguangShenyang Inst. of Automation, Chinese Acad.
Li, ZhenhuiState Key Lab. of Robotics, Shenyang Inst.
Jiang, YongSIA
Xiao, JizhongThe City Coll. of New York
 
TuAT7 Regular Session, Room701 Add to My Program 
Dynamics I  
 
Chair: Ott, ChristianGerman Aerospace Center (DLR)
Co-Chair: Sugihara, TomomichiGraduate School of Engineering, Osaka Univ.
 
11:00-11:15, Paper TuAT7.1 Add to My Program
SkySweeper: A Low DOF, Dynamic High Wire Robot
Morozovsky, NicholasUniv. of California San Diego
Bewley, ThomasFlow Control & Coordinated Robotics Lab.
 
11:15-11:30, Paper TuAT7.2 Add to My Program
Quadrupedal Bounding with Spring-Damper Body Joint
Yamasaki, RyutaKyoto Univ.
Ambe, YuichiKyoto Univ.
Aoi, ShinyaKyoto Univ.
Matsuno, FumitoshiKyoto Univ.
 
11:30-11:45, Paper TuAT7.3 Add to My Program
Reassessment of COM-ZMP Model for the Identification of Lateral Standing Controller of a Human
Kaneta, DaishiOsaka Univ.
Murai, NobuyukiOsaka Univ.
Sugihara, TomomichiGraduate School of Engineering, Osaka Univ.
 
11:45-12:00, Paper TuAT7.4 Add to My Program
Characterizing and Addressing Dynamic Singularities in the Time-Optimal Path Parameterization Algorithm
Pham, Quang-CuongNanyang Tech. Univ.
 
12:00-12:15, Paper TuAT7.5 Add to My Program
On the Closed Form Computation of the Dynamic Matrices and Their Differentiations
Garofalo, GianlucaDLR
Ott, ChristianGerman Aerospace Center (DLR)
Albu-Schäffer, AlinDLR - German Aerospace Center
 
12:15-12:30, Paper TuAT7.6 Add to My Program
On Robot Dynamic Model Identification through Sub-Workspace Evolved Trajectories for Optimal Torque Estimation
Pedrocchi, NicolaNational Res. Council of Italy
Villagrossi, EnricoCNR
Vicentini, FedericoItalian National Res. Council (CNR)
Molinari Tosatti, LorenzoNational Council of Res.
 
TuAT8 Regular Session, Room702 Add to My Program 
Geometric Method for Motion Planning  
 
Chair: Yamamoto, MotojiKyushu Univ.
Co-Chair: Park, WooramUniv. of Texas at Dallas
 
11:00-11:15, Paper TuAT8.1 Add to My Program
Insertion Planning for Steerable Flexible Needles Reaching Multiple Planar Targets
Lee, JaeyeonUniv. of Texas at Dallas
Park, WooramUniv. of Texas at Dallas
 
11:15-11:30, Paper TuAT8.2 Add to My Program
Combining Object Modeling and Recognition for Active Scene Exploration
Kriegel, SimonGerman Aerospace Center (DLR)
Brucker, ManuelGerman Aerospace Center
Marton, Zoltan-CsabaGerman Aerospace Center (DLR)
Bodenmueller, TimGerman Aerospace Center (DLR)
Suppa, MichaelGerman Aerospace Center (DLR)
 
11:30-11:45, Paper TuAT8.3 Add to My Program
A Fast Motion Planning Algorithm for Car Parking Based on Static Optimization
Zips, PatrikVienna Univ. of Tech.
Böck, MartinVienna Univ. of Tech.
Kugi, AndreasVienna Univ. of Tech.
 
11:45-12:00, Paper TuAT8.4 Add to My Program
Rigid Body Pose and Twist Scene Graph Founded on Geometric Relations Semantics for Robotic Applications
De Laet, TinneUniv. of Leuven
Bruyninckx, HermanUniv. of Leuven
De Schutter, JorisKatholieke Univ. Leuven
 
12:00-12:15, Paper TuAT8.5 Add to My Program
Collaborative Manipulation and Transport of Passive Pieces Using the Self-Reconfigurable Modular Robots Roombots
Bonardi, StephaneEPFL Ec. Pol. Federal de Lausanne
Vespignani, MassimoEPFL-STI-IBI-BIOROB
Moeckel, RicoEc. Pol. Federal de Lausanne
Ijspeert, AukeEPFL
 
12:15-12:30, Paper TuAT8.6 Add to My Program
On the Geometric Phase Approach to Motion Planning for a Spherical Rolling Robot in Dynamic Formulation
Svinin, MikhailKyushu Univ.
Morinaga, AkihiroKyushu Univ.
Yamamoto, MotojiKyushu Univ.
 
TuAT9 Regular Session, Room608 Add to My Program 
Unmanned Aerial Vehicles I  
 
Chair: Antonelli, GianlucaUniv. di Cassino e del Lazio Meridionale
Co-Chair: Park, FrankSeoul National Univ.
 
11:00-11:15, Paper TuAT9.1 Add to My Program
Nonlinear Control of VTOL UAVs Incorporating Flapping Dynamics
Omari, SammyETH Zurich
Hua, Minh-DucISIR-UPMC
Ducard, GuillaumeUniv. of Nice
Hamel, TarekUNSA-CNRS
 
11:15-11:30, Paper TuAT9.2 Add to My Program
Attitude Control of Quadrotor with On-Board Visual Feature Projection System
Lee, JaehongYonsei Univ.
Lee, ChangminYonsei Univ. Electrical and Electronic engineering
Kim, DaeEunYonsei Univ.
 
11:30-11:45, Paper TuAT9.3 Add to My Program
Stabilization of a Flying Vehicle on a Taut Tether Using Inertial Sensing
Lupashin, SergeiETH Zurich
D'Andrea, RaffaelloETHZ
 
11:45-12:00, Paper TuAT9.4 Add to My Program
Experimental Validation of a New Adaptive Control Scheme for Quadrotors MAVs
Antonelli, GianlucaUniv. di Cassino e del Lazio Meridionale
Cataldi, ElisabettaUniv. of Cassino and Southern Lazio
Robuffo Giordano, PaoloCentre National de la Recherche Scientifique (CNRS)
Chiaverini, StefanoUniv. di Cassino e del Lazio Meridionale
Franchi, AntonioMax Planck Inst. for Biological Cybernetics
 
12:00-12:15, Paper TuAT9.5 Add to My Program
A Frequency Domain Iterative Feed-Forward Learning Scheme for High-Performance Periodic Quadrocopter Maneuvers
Hehn, MarkusETH Zürich
D'Andrea, RaffaelloETHZ
 
12:15-12:30, Paper TuAT9.6 Add to My Program
Energy Production Control of an Experimental Kite System in Presence of Wind Gusts
Lozano, Rogelio Jr.Gipsa-Lab.
Alamir, MazenLAG
Dumon, Jonathangipsa-Lab.
Hably, AhmadGrenoble-inp
 
TuAT10 Regular Session, Room609 Add to My Program 
Dexterous Manipulation  
 
Chair: Iwata, HiroyasuWaseda Univ.
Co-Chair: Prattichizzo, DomenicoUniv. di Siena
 
11:00-11:15, Paper TuAT10.1 Add to My Program
A Static Intrinsically Passive Controller to Enhance Grasp Stability of Object-Based Mapping between Human and Robotic Hands
Salvietti, GionataIstituto Italiano di Tecnologia
Wimboeck, ThomasGerman Aerospace Center (DLR)
Prattichizzo, DomenicoUniv. di Siena
 
11:15-11:30, Paper TuAT10.2 Add to My Program
Integrating Vision, Haptics and Proprioception into a Feedback Controller for In-Hand Manipulation of Unknown Objects
Li, QiangBielefeld Univ.
Elbrechter, ChristofBielefeld Univ.
Haschke, RobertBielefeld Univ.
Ritter, Helge JoachimBielefeld Univ.
 
11:30-11:45, Paper TuAT10.3 Add to My Program
Rolling a Dynamic Object with a Planar Soft-Fingertip Robot Arm
Garcia-Rodriguez, RodolfoColl. of Engineering and Applied Sciences, Univ. delos A
Parra-Vega, VicenteRes. Center for Advanced Studies (CINVESTAV)
 
11:45-12:00, Paper TuAT10.4 Add to My Program
Sensor Prediction and Grasp Stability Evaluation for In-Hand Manipulation
Kojima, KoheiWaseda Univ.
Sato, TakashiWaseda Univ.
Schmitz, AlexanderWaseda Univ.
Arie, HiroakiWaseda Univ.
Iwata, HiroyasuWaseda Univ.
Sugano, ShigekiWaseda Univ.
 
12:00-12:15, Paper TuAT10.5 Add to My Program
Randomized Planning and Control Strategy for Whole-Arm Manipulation of a Slippery Polygonal Object
Yamawaki, TasukuNational Defense Acad. of Japan
Yashima, MasahitoNational Defense Acad. of Japan
 
12:15-12:30, Paper TuAT10.6 Add to My Program
Enhanced Kinematic Model for Dexterous Manipulation with Underactuated Hand
Su, YanyuHarbin Inst. of Tech.
Wu, YanImperial Coll. London
Soh, HaroldImperial Coll. London
Du, Zhijiangharbin Inst. of Tech.
Demiris, YiannisImperial Coll. London
 
TuAT11 Regular Session, Room801 Add to My Program 
Robot Motion  
 
Chair: De Luca, AlessandroUniv. di Roma "La Sapienza"
Co-Chair: Ohara, KenichiMeijo Univ.
 
11:00-11:15, Paper TuAT11.1 Add to My Program
Fast Redundancy Resolution for High-Dimensional Robots Executing Prioritized Tasks under Hard Bounds in the Joint Space
Flacco, FabrizioUniv. di Roma "La Sapienza"
De Luca, AlessandroUniv. di Roma "La Sapienza"
 
11:15-11:30, Paper TuAT11.2 Add to My Program
From D-H to Inverse Kinematics: A Fast Numerical Solution for General Robotic Manipulators Using Parallel Processing
Farzan, SiavashUniv. of Missouri
DeSouza, GuilhermeUniv. of Missouri-Columbia
 
11:30-11:45, Paper TuAT11.3 Add to My Program
Geometry-Aided Angular Acceleration Sensing of Rigid Multi-Body Manipulator Using MEMS Rate Gyros and Linear Accelerometers
Vihonen, JuhoTampere Univ. of Tech.
Honkakorpi, JanneTampere Univ. of Tech.
Mattila, JouniTampere Univ. of Tech.
Visa, AriTampere Univ. of Tech.
 
11:45-12:00, Paper TuAT11.4 Add to My Program
Integrated Time-Optimal Trajectory Planning and Control Design for Industrial Robot Manipulator
Pchelkin, StepanNTNU
Shiriaev, AntonNorwegian Univ. of Science and Tech.
Robertsson, AndersLTH, Lund Univ.
Freidovich, LeonidUmeå Univ.
 
12:00-12:15, Paper TuAT11.5 Add to My Program
Generating Periodic Motions for the Butterfly Robot
Ortiz Morales, DanielUmeå Univ.
La Hera, PedroSwedish Univ. of Agricultural Sciences
Ur Rehman, ShafiqUmeå Univ.
 
12:15-12:30, Paper TuAT11.6 Add to My Program
Missile Trajectory Shaping Using Sampling-Based Path Planning
Pharpatara, PawitOnera - The French Aerospace Lab.
Pepy, RomainOnera - The French Aerospace Lab.
Herisse, BrunoONERA - The French Aerospace Lab.
Bestaoui, YasminaUniv. of Evry
 
TuAT12 Regular Session, Room610 Add to My Program 
Surgical Devices and Medical Robotics  
 
Chair: Mitsuishi, MamoruThe Univ. of Tokyo
Co-Chair: Misra, SarthakUniv. of Twente
 
11:00-11:15, Paper TuAT12.1 Add to My Program
Fiber Optics Tactile Array Probe for Tissue Palpation During Minimally Invasive Surgery
Xie, HuiKing's Coll. London
Liu, HongbinKing's Coll. London
Luo, ShanKing's Coll. London
Seneviratne, LakmalKings Coll. London
Althoefer, KasparKings Coll. London
 
11:15-11:30, Paper TuAT12.2 Add to My Program
On Using an Array of Fiber Bragg Grating Sensors for Closed-Loop Control of Flexible Minimally Invasive Surgical Instruments
Roesthuis, RoyUniv. of Twente
Janssen, SanderUniv. of Twente
Misra, SarthakUniv. of Twente
 
11:30-11:45, Paper TuAT12.3 Add to My Program
Force-Sensing Surgical Grasper Enabled by Pop-Up Book MEMS
Gafford, JoshuaHarvard Univ.
Kesner, Samuel B.Harvard Univ.
Wood, RobertHarvard Univ.
Walsh, Conor JamesHarvard Univ.
 
11:45-12:00, Paper TuAT12.4 Add to My Program
An Ungrounded Hand-Held Surgical Device Incorporating Active Constraints with Force-Feedback
Payne, ChristopherImperial Coll. London
Kwok, Ka-WaiImperial Coll. London
Yang, Guang-ZhongImperial Coll. London
 
12:00-12:15, Paper TuAT12.5 Add to My Program
Preliminary Experiments of a Miniature Robotic System for Tooth Ablation Using Ultra-Short Pulsed Lasers
Lei, WangBeihang Univ.
Wang, DangxiaoBeihang Univ.
Ma, LeiBeihang Univ.
Zhang, YuruBeihang Univ.
Yuan, FusongSchool and Hospital of Stomatology, Peking Univ.
Sun, Yuchunthe School and Hospital of Stomatology, Peking Univ.
Lv, Peijunthe School and Hospital of Stomatology, Peking Univ.
 
12:15-12:30, Paper TuAT12.6 Add to My Program
Perforation Risk Detector Using Demonstration-Based Learning for Teleoperated Robotic Surgery
Osa, TakayukiThe Univ. of Tokyo
Haniu, TakutoThe Univ. of Tokyo
Harada, KanakoThe Univ. of Tokyo
Sugita, NaohikoThe Univ. of Tokyo
Mitsuishi, MamoruThe Univ. of Tokyo
 
TuAT13 Regular Session, Room802 Add to My Program 
Humanoid Motion  
 
Chair: Yamane, KatsuDisney
Co-Chair: Asada, MinoruOsaka Univ.
 
11:00-11:15, Paper TuAT13.1 Add to My Program
Automatic Task-Specific Model Reduction for Humanoid Robots
Nagarajan, UmashankarDisney Res. Pittsburgh
Yamane, KatsuDisney
 
11:15-11:30, Paper TuAT13.2 Add to My Program
Optimal Exposure for Acquisition of High-Dynamic-Range Images by Humanoid Robots
Gonzalez, DavidKIT Karlsruher Inst. für Tech.
Asfour, TamimKarlsruhe Inst. of Tech. (KIT)
Dillmann, RüdigerKIT Karlsruhe Inst. for Tech.
 
11:30-11:45, Paper TuAT13.3 Add to My Program
Detecting Anomalies in Humanoid Joint Trajectories
Marcolino, FernandoUniv. do Estado da Bahia
Wang, JiuguangCarnegie Mellon Univ.
 
11:45-12:00, Paper TuAT13.4 Add to My Program
Three-Dimensional Bipedal Walking Control Using Divergent Component of Motion
Englsberger, JohannesDLR (German Aerospace Center)
Ott, ChristianGerman Aerospace Center (DLR)
Albu-Schäffer, AlinDLR - German Aerospace Center
 
12:00-12:15, Paper TuAT13.5 Add to My Program
Description and Execution of Humanoid's Object Manipulation Based on Object-Environment-Robot Contact States
Nozawa, ShunichiThe Univ. of Tokyo
Murooka, MasakiThe Univ. of Tokyo
Noda, ShintaroUnv Tokyo
Okada, KeiThe Univ. of Tokyo
Inaba, MasayukiThe Univ. of Tokyo
 
12:15-12:30, Paper TuAT13.6 Add to My Program
Locomotion Selection Strategy for Multi-Locomotion Robot Based on Stability and Efficiency
Kobayashi, TaisukeNagoya Univ.
Aoyama, TadayoshiHiroshima Univ.
Sobajima, MasafumiNagoya Univ.
Sekiyama, KosukeNagoya Univ.
Fukuda, ToshioMeijo Univ.
 
TuBT1 Regular Session, Room606 Add to My Program 
Navigation I  
 
Chair: Burgard, WolframUniv. of Freiburg
Co-Chair: Suh, Il HongHanyang Univ.
 
13:30-13:45, Paper TuBT1.1 Add to My Program
Local Reactive Robot Navigation: A Comparison between Reciprocal Velocity Obstacle Variants and Human-Like Behavior
Guzzi, JeromeIDSIA, USI-SUPSI
Giusti, AlessandroIDSIA Lugano, SUPSI
Gambardella, LucaUSI-SUPSI
Di Caro, Gianni A.IDSIA (USI/SUPSI)
 
13:45-14:00, Paper TuBT1.2 Add to My Program
Semantic Mapping and Navigation: A Bayesian Approach
Ko, Dong WookHanyang Univ.
Yi, ChuhoHanyang Univ.
Suh, Il HongHanyang Univ.
 
14:00-14:15, Paper TuBT1.3 Add to My Program
Robust Landmark Selection for Mobile Robot Navigation
Beinhofer, MaximilianUniv. of Freiburg
Mueller, JoergUniv. of Freiburg
Krause, AndreasETH Zurich
Burgard, WolframUniv. of Freiburg
 
14:15-14:30, Paper TuBT1.4 Add to My Program
Efficient Navigation for Anyshape Holonomic Mobile Robots in Dynamic Environments
Dakulovic, MarijaUniv. of Zagreb
Sprunk, ChristophUniv. of Freiburg
Spinello, LucianoUniv. of Freiburg
Petrovic, IvanUniv. of Zagreb
Burgard, WolframUniv. of Freiburg
 
14:30-14:45, Paper TuBT1.5 Add to My Program
Primary Experimental Results of the Navigation Method of Multiple Autonomous Underwater Vehicles
Matsuda, TakumiThe Univ. of Tokyo
Maki, ToshihiroUniv. of Tokyo
Sakamaki, TakashiInst. of Industrial Science, The Univ. of Tokyo
Ura, TamakiThe Univ. of Tokyo
 
14:45-15:00, Paper TuBT1.6 Add to My Program
Integrated Perception, Mapping, and Footstep Planning for Humanoid Navigation among 3D Obstacles
Maier, DanielUniv. of Freiburg
Lutz, ChristanUniv. of Freiburg
Bennewitz, MarenUniv. of Freiburg
 
TuBT2 Regular Session, Room607 Add to My Program 
Robot Vision Mechanisms  
 
Chair: Ishii, IdakuHiroshima Univ.
Co-Chair: Tadakuma, RiichiroYamagata Univ.
 
13:30-13:45, Paper TuBT2.1 Add to My Program
Real-Time Feature-Based Video Mosaicing at 500 Fps
Okumura, Ken-ichiHiroshima Univ.
Raut, SushilROBOTICS Lab. HIROSHIMA Univ.
Gu, QingyiHiroshima Univ.
Aoyama, TadayoshiHiroshima Univ.
Takaki, TakeshiHiroshima Univ.
Ishii, IdakuHiroshima Univ.
 
13:45-14:00, Paper TuBT2.2 Add to My Program
A Fast Multi-Camera Tracking System with Heterogeneous Lenses
Zhao, XiaorongHiroshima Univ.
Gu, QingyiHiroshima Univ.
Aoyama, TadayoshiHiroshima Univ.
Takaki, TakeshiHiroshima Univ.
Ishii, IdakuHiroshima Univ.
 
14:00-14:15, Paper TuBT2.3 Add to My Program
Visual Servoing-Based Approach for Efficient Autofocusing in Scanning Electron Microscope
Marturi, NareshInst. FEMTO-ST
Tamadazte, BrahimCNRS, UFC/ENSMM/UTBM
Dembélé, SounkaloUniv. of Franche Comté
Lefort-Piat, NadineLab. d'Automatique de Besançon
 
14:15-14:30, Paper TuBT2.4 Add to My Program
Fast 3-D Shape Measurement Using Blink-Dot Projection
Chen, JunHiroshima Univ. Graduated School of Engineering
Gu, QingyiHiroshima Univ.
Gao, HaoHiroshima Univ. Graduated School of Engineering
Aoyama, TadayoshiHiroshima Univ.
Takaki, TakeshiHiroshima Univ.
Ishii, IdakuHiroshima Univ.
 
14:30-14:45, Paper TuBT2.5 Add to My Program
Dynamics-Based Motion Deblurring for a Biologically-Inspired Camera Positioning Mechanism
Kim, Michael D.Georgia Inst. of Tech.
Ueda, JunGeorgia Inst. of Tech.
 
14:45-15:00, Paper TuBT2.6 Add to My Program
Unsupervised Extrinsic Calibration of Depth Sensors in Dynamic Scenes
Miller, StephenStanford Univ.
Teichman, AlexStanford
Thrun, SebastianStanford Univ.
 
TuBT3 Regular Session, Room703 Add to My Program 
Service Robotics  
 
Chair: Luo, RenNational Taiwan Univ.
Co-Chair: Matsuhira, NobutoShibaura Inst. of Tech.
 
13:30-13:45, Paper TuBT3.1 Add to My Program
TansuBot: A Drawer-Type Storage System for Supporting Object Search with Contents' Photos and Usage Histories
Fukui, RuiThe Univ. of Tokyo
Sunakawa, TakuyaThe Univ. of Tokyo
Kousaka, ShuheiThe Univ. of Tokyo
Watanabe, MasahikoThe Univ. of Tokyo
Sato, TomomasaThe Univ. of Tokyo
Shimosaka, MasamichiUniv. of Tokyo
 
13:45-14:00, Paper TuBT3.2 Add to My Program
Clothing Classification Using Image Features Derived from Clothing Fabrics, Wrinkles and Cloth Overlaps
Yamazaki, KimitoshiShinshu Univ.
Inaba, MasayukiThe Univ. of Tokyo
 
14:00-14:15, Paper TuBT3.3 Add to My Program
Learning-Based Model Predictive Control and User Feedback for Home Automation
Ham, ChristopherThe Univ. of Queensland
Singh, SuryaThe Univ. of Queensland
Kearney, MichaelThe Univ. of Queensland
 
14:15-14:30, Paper TuBT3.4 Add to My Program
Prediction-Based Interception Control Strategy Design with a Specified Approach Angle Constraint for Wheeled Service Robots
He, WanfengNankai Univ.
Fang, YongchunNankai Univ.
Zhang, XueboNankai Univ.
 
14:30-14:45, Paper TuBT3.5 Add to My Program
Erect Wheel-Legged Stair Climbing Robot for Indoor Service Applications
Luo, RenNational Taiwan Univ.
Hsiao, MingNational Taiwan Univ.
Lin, Tsung-WeiNational Taiwan Univ. Center of Excellence on
 
14:45-15:00, Paper TuBT3.6 Add to My Program
Human-Comfortable Navigation for an Autonomous Robotic Wheelchair
Morales Saiki, Luis YoichiAdvanced Telecommunications Res. Inst. International
Kallakuri, NagasrikanthAdvanced Telecommunications Res. Inst.
Shinozawa, KazuhikoAdvanced Telecommunications Res. Inst.
Miyashita, TakahiroATR
Hagita, NorihiroATR
 
TuBT4 Regular Session, Room601 Add to My Program 
Recognition II  
 
Chair: Kuno, YoshinoriSaitama Univ.
Co-Chair: Metta, GiorgioIstituto Italiano di Tecnologia (IIT)
 
13:30-13:45, Paper TuBT4.1 Add to My Program
Drive Annotation Via Multimodal Latent Topic Model
Bando, TakashiDENSO Corp.
Takenaka, KazuhitoDENSO Corp.
Nagasaka, ShogoRitsumeikan Univ.
Taniguchi, TadahiroRitsumeikan Univ.
 
13:45-14:00, Paper TuBT4.2 Add to My Program
Detection of Dugongs from Unmanned Aerial Vehicles
Maire, FredericQueensland Univ. of Tech.
Mejias, LuisQueensland Univ. of Tech.
Hodgson, AmandaMurdoch Univ. Cetacean Res. Unit
Duclos, GwénaëlWIPSEA
 
14:00-14:15, Paper TuBT4.3 Add to My Program
Group Induction
Teichman, AlexStanford
Thrun, SebastianStanford Univ.
 
14:15-14:30, Paper TuBT4.4 Add to My Program
A Particle Filter for Hybrid Relational Domains
Nitti, DavideKU Leuven
De Laet, TinneUniv. of Leuven
De Raedt, LucKatholieke Univ. Leuven
 
14:30-14:45, Paper TuBT4.5 Add to My Program
Detecting Objects of a Category in Range Data by Comparing to a Single Geometric Prototype
Hillenbrand, UlrichGerman Aerospace Center (DLR)
 
14:45-15:00, Paper TuBT4.6 Add to My Program
Visual Localization in Highly Crowded Urban Environments
Abdul Hafez, A. H.Damascus Uiversity
Singh, ManpreetCVIT, IIIT Hyderabad
Krishna, MadhavaIIIT Hyderabad
Jawahar, C.V.IIIT, Hyderabad
 
TuBT5 Regular Session, Room605 Add to My Program 
Sensor Based Learning for Classification  
 
Chair: Laugier, ChristianINRIA Rhône-Alpes
Co-Chair: Lee, C. S. GeorgePurdue Univ.
 
13:30-13:45, Paper TuBT5.1 Add to My Program
Predicting Object Functionality Using Physical Simulations
Hinkle, LaurenUniv. of Michigan
Olson, EdwinUniv. of Michigan
 
13:45-14:00, Paper TuBT5.2 Add to My Program
Action-Grounded Push Affordance Bootstrapping of Unknown Objects
Ridge, BarryJožef Stefan Inst.
Ude, AlesJozef Stefan Inst.
 
14:00-14:15, Paper TuBT5.3 Add to My Program
Interactive Object Classification Using Sensorimotor Contingencies
Högman, VirgileKTH Royal Inst. of Tech.
Björkman, MårtenKTH
Kragic, DanicaKTH
 
14:15-14:30, Paper TuBT5.4 Add to My Program
Towards Simultaneous Place Classification and Object Detection Based on Conditional Random Field with Multiple Cues
Shi, LeiUniv. of Tech. Sydney
Kodagoda, SarathUniv. of Tech. Sydney
Piccardi, MassimoUniv. of Tech. Sydney
 
14:30-14:45, Paper TuBT5.5 Add to My Program
Context-Dependent Dynamic Weighting of Information from Multiple Sensory Modalities
Maye, AlexanderUniv. Medical Center Hamburg-Eppendorf
Engel, Andreas KarlUniv. Medical Center Hamburg-Eppendorf
 
14:45-15:00, Paper TuBT5.6 Add to My Program
Multi-Sensor Clustering Using Layered Affinity Propagation
Ott, LionelUniv. of Sydney
Ramos, FabioUniv. of Sydney
 
TuBT6 Regular Session, Room604 Add to My Program 
Rough Terrain Robotics  
 
Chair: Yoshida, KazuyaTohoku Univ.
Co-Chair: Tadakuma, KenjiroOsaka Univ.
 
13:30-13:45, Paper TuBT6.1 Add to My Program
A Near-To-Far Non-Parametric Learning Approach for Estimating Traversability in Deformable Terrain
Ho, KenThe Univ. of Sydney
Peynot, ThierryThe Univ. of Sydney
Sukkarieh, SalahUniv. of Sydney
 
13:45-14:00, Paper TuBT6.2 Add to My Program
Autonomous Vision-Based Tethered-Assisted Rover Docking
Tsai, DorianAalto Univ.
Nesnas, IssaJet Propulsion Lab.
Zarzhitsky, DimitriJet Propulsion Lab.
 
14:00-14:15, Paper TuBT6.3 Add to My Program
Longitudinal Slip versus Skid of Planetary Rovers’ Wheels Traversing on Deformable Slopes
Ding, LiangHarbin Inst. of Tech.
 
14:15-14:30, Paper TuBT6.4 Add to My Program
Development of Multi-D.O.F. Tracked Vehicle to Traverse Weak Slope and Climb up Rough Slope
Nagatani, KeijiTohoku Univ.
Noyori,  TakahiroTohoku Univ.
Yoshida, KazuyaTohoku Univ.
 
14:30-14:45, Paper TuBT6.5 Add to My Program
Off-Road Path Tracking of a Fleet of WMR with Adaptive and Predictive Control
Guillet, AudreyCNRS, UMR 6602, Inst. Pascal
Lenain, RolandIrstea
Thuilot, BenoitClermont-Ferrand Univ.
 
14:45-15:00, Paper TuBT6.6 Add to My Program
Control Allocation of All-Wheel Drive Vehicles: A Longitudinal Model
Stern, AsherAriel Univ.
Shiller, ZviAriel Univ.
 
TuBT7 Regular Session, Room701 Add to My Program 
Dynamics II  
 
Chair: Yi, Byung-JuHanyang Univ.
Co-Chair: Minami, MamoruOkayama Univ.
 
13:30-13:45, Paper TuBT7.1 Add to My Program
Physically Feasible Dynamic Parameter Identification of the 7-DOF WAM Robot
Sousa, Cristóvão D.Inst. for Systems and Robotics, Univ. ofCoimbra(ISR-UC)
Cortesao, RuiUniv. of Coimbra, Inst. of Systems and Robotics
 
13:45-14:00, Paper TuBT7.2 Add to My Program
Casimir Based Fast Computation for Hydraulic Robot Optimizations
Sakai, SatoruShinshu Univ.
 
14:00-14:15, Paper TuBT7.3 Add to My Program
Design of an Antagonistically Counter-Balancing Parallel Mechanism
Seo, Jong TaeHanyang Univ.
Woo, Jae HongHanyang Univ.
Lim, HoonHanyang Univ.
Chung, JaeheonKyushu Univ.
Kim, Whee KukKorea Univ.
Yi, Byung-JuHanyang Univ.
 
14:15-14:30, Paper TuBT7.4 Add to My Program
Design and Modal Analysis of Feedback Excitation Control System for Vertical Series Elastic Manipulator
Hondo, TakatoshiTokyo Univ. of Agriculture and Tech.
Mizuuchi, IkuoTokyo Univ. of Agriculture and Tech.
 
14:30-14:45, Paper TuBT7.5 Add to My Program
Lyapunov-Stable Position/Force Control Based on Dual Nature in Constraint Motion
Minami, MamoruOkayama Univ.
Yu, FujiaUniv. of Okayama
Yanou, AkiraOkayama Univ.
 
14:45-15:00, Paper TuBT7.6 Add to My Program
Estimating Child Collision Injury Based on Automotive Accident Data for Risk Assessment of Mobile Robot (I)
Fujikawa, TatsuoJapan Automobile Res. Inst.
Kubota, MasamiJapan Automobile Res. Inst.
Yamada, YojiNagoya Univ.
Ikeda, HiroyasuNational Inst. of Occupational Safety and Health, Japan
 
TuBT8 Organized Session, Room702 Add to My Program 
Robot Audition I  
 
Chair: Ince, GokhanIstanbul Tech. Univ.
Co-Chair: Okuno, Hiroshi G.Kyoto Univ.
Organizer: Ince, GokhanIstanbul Tech. Univ.
Organizer: Okuno, Hiroshi G.Kyoto Univ.
Organizer: Nakadai, KazuhiroHonda Res. Inst. Japan Co., Ltd.
Organizer: Danès, PatrickUniv. Toulouse - LAAS-CNRS - UPS
Organizer: Kumon, MakotoGraduate School of Science and Tech. Kumamoto
Organizer: Kagami, SatoshiNational Inst. of AIST
Organizer: Michaud, FrancoisUniv. de Sherbrooke
Organizer: Argentieri, SylvainUniv. Pierre et Marie Curie - ISIR
 
13:30-14:00, Paper TuBT8.1 Add to My Program
Keynote Talk - Wraping up BINAAHR Project (I)
Danès, PatrickUniv. Toulouse - LAAS-CNRS - UPS
 
14:00-14:15, Paper TuBT8.2 Add to My Program
HRTF-Based Source Azimuth Estimation and Activity Detection from a Binaural Sensor (I)
Portello, AlbanLAAS-CNRS
Danès, PatrickUniv. Toulouse - LAAS-CNRS - UPS
Argentieri, SylvainUniv. Pierre et Marie Curie - ISIR
Pledel, SylvainUPMC Univ. Paris 06 and ISIR - CNRS UMR
 
14:15-14:30, Paper TuBT8.3 Add to My Program
Active Speaker Localization with Circular Likelihoods and Bootstrap Filtering (I)
Markovic, IvanUniv. of Zagreb
Portello, AlbanLAAS-CNRS
Danès, PatrickUniv. Toulouse - LAAS-CNRS - UPS
Petrovic, IvanUniv. of Zagreb
Argentieri, SylvainUniv. Pierre et Marie Curie - ISIR
 
14:30-14:45, Paper TuBT8.4 Add to My Program
A Spherical Cross-Channel Algorithm for Binaural Sound Localization (I)
Vina, CarlosISIR
Argentieri, SylvainUniv. Pierre et Marie Curie - ISIR
Rébillat, MarcPIMM, Arts et Métiers, ParisTech
 
14:45-15:00, Paper TuBT8.5 Add to My Program
A Learning-Based Approach to Robust Binaural Sound Localization (I)
Youssef, KarimUniv. Pierre et Marie Curie; Inst.
Argentieri, SylvainUniv. Pierre et Marie Curie - ISIR
Zarader, Jean-LucUniv. Pierre et Marie Curie
 
TuBT9 Regular Session, Room608 Add to My Program 
Unmanned Aerial Vehicles II  
 
Chair: Zhang, JianweiUniv. of Hamburg
Co-Chair: Cobano, Jose A.Univ. o Seville
 
13:30-13:45, Paper TuBT9.1 Add to My Program
Inversion Based Direct Position Control and Trajectory Following of Micro Aerial Vehicles
Achtelik, Markus W.ETH Zurich, Autonomous Syst. Lab.
Lynen, SimonETH Zurich
Chli, MargaritaETH Zurich
Siegwart, RolandETH Zurich
 
13:45-14:00, Paper TuBT9.2 Add to My Program
Motion Primitives and 3-D Path Planning for Fast Flight through a Forest
Paranjape, Aditya AvinashUniv. of Illinois at Urbana-Champaign
Meier, KevinUniv. of Illinois at Urbana-Champaign
Shi, XichenUniv. of Illinois at Urbana-Champaign
Chung, Soon-JoUniv. of Illinois at Urbana-Champaign
Hutchinson, SethUniv. of Illinois
 
14:00-14:15, Paper TuBT9.3 Add to My Program
Thermal Detection and Generation of Collision-Free Trajectories for Cooperative Soaring UAVs
Cobano, Jose A.Univ. o Seville
Alejo, DavidUniv. of Seville
Sukkarieh, SalahUniv. of Sydney
Heredia, GuillermoEngineering School, Univ. of Seville
Ollero, AnibalUniv. of Seville
 
14:15-14:30, Paper TuBT9.4 Add to My Program
Optimal Path Planning of a Target-Following Fixed-Wing UAV Using Sequential Decision Processes
Baek, StanleyUnited States Air Force Acad.
Kwon, HyukseongUS Air Force Acad.
Yoder, JosiahUS Air Force Acad.
Pack, DanielUS Air Force Acad.
 
14:30-14:45, Paper TuBT9.5 Add to My Program
Autonomous Landing of an UAV with a Ground-Based Actuated Infrared Stereo Vision System
Kong, WeiweiUniv. of Hamburg
Zhang, DaibingNational Univ. of Defense Tech.
Wang, XunNational Univ. of Defense Tech.
Xian, ZhiwenNational Univ. of Defense Tech.
Zhang, JianweiUniv. of Hamburg
 
14:45-15:00, Paper TuBT9.6 Add to My Program
Vision Aided Automatic Landing System for Fixed Wing UAV
Laiacker, MaximilianGerman Aerospace Center (DLR)
Kondak, KonstantinGerman Aerospace Center
Schwarzbach, MarcGerman Aerospace Center (DLR)
Muskardin, TinGerman Aerospace Center (DLR)
 
TuBT10 Regular Session, Room609 Add to My Program 
Grasping I  
 
Chair: Fukui, RuiThe Univ. of Tokyo
Co-Chair: Perdereau, VéroniqueUniv. Pierre et Marie Curie - Paris 6
 
13:30-13:45, Paper TuBT10.1 Add to My Program
Online In-Hand Object Localization
Chalon, MaximeGerman Aerospace Center (DLR)
Reinecke, JensDLR
Pfanne, MartinDLR German Aerospace Center
 
13:45-14:00, Paper TuBT10.2 Add to My Program
A Learning-Free Method for Anthropomorphic Grasping
Flavigné, DavidISIR-UPMC
Perdereau, VéroniqueUniv. Pierre et Marie Curie - Paris 6
 
14:00-14:15, Paper TuBT10.3 Add to My Program
How to Manipulate an Object Robustly with Only One Actuator (An Application of Caging)
Wan, WeiweiThe Univ. of Tokyo
Fukui, RuiThe Univ. of Tokyo
Shimosaka, MasamichiUniv. of Tokyo
Sato, TomomasaThe Univ. of Tokyo
Kuniyoshi, YasuoThe Univ. of Tokyo
 
14:15-14:30, Paper TuBT10.4 Add to My Program
Caging Complex Objects with Geodesic Balls
Zarubin, DmitryUniv. of Stuttgart
Pokorny, Florian T.KTH Royal Inst. of Tech.
Toussaint, MarcFU Berlin
Kragic, DanicaKTH
 
14:30-14:45, Paper TuBT10.5 Add to My Program
Integrated Motion and Clasp Planning with Virtual Linking
Stork, Johannes AndreasKTH Royal Inst. of Tech.
Pokorny, Florian T.KTH Royal Inst. of Tech.
Kragic, DanicaKTH
 
14:45-15:00, Paper TuBT10.6 Add to My Program
Grasp Compliance Regulation in Synergistically Controlled Robotic Hands with VSA
Farnioli, EdoardoUniv. di Pisa
Gabiccini, MarcoUniv. di Pisa
Bonilla, ManuelUniv. of Pisa, Centro "E. Piaggio"
Bicchi, Antoniovat 09198791007
 
TuBT11 Regular Session, Room801 Add to My Program 
Robot Control  
 
Chair: Ott, ChristianGerman Aerospace Center (DLR)
Co-Chair: Haddadin, SamiGerman Aerospace Center (DLR)
 
13:30-13:45, Paper TuBT11.1 Add to My Program
Minimal Sensitivity Control for Hybrid Environments
Ansari, AlexanderNorthwestern Univ.
Murphey, ToddNorthwestern Univ.
 
13:45-14:00, Paper TuBT11.2 Add to My Program
Open-Loop Stochastic Optimal Control of a Passive Noise-Rejection Variable Stiffness Actuator: Application to Unstable Tasks
Berret, BastienUniv. Paris-Sud 11
Ong, IyungIstituto Italiano di Tecnologia
Nori, FrancescoISTITUTO ITALIANO DI TECNOLOGIA
 
14:00-14:15, Paper TuBT11.3 Add to My Program
Optimal Control for Maximizing Link Velocity of a Visco-Elastic Joint
Özparpucu, Mehmet CanGerman Aerospace Center
Haddadin, SamiGerman Aerospace Center (DLR)
 
14:15-14:30, Paper TuBT11.4 Add to My Program
Multi-Objective Compliance Control of Redundant Manipulators: Hierarchy, Control, and Stability
Dietrich, AlexanderGerman Aerospace Center (DLR)
Ott, ChristianGerman Aerospace Center (DLR)
Albu-Schäffer, AlinDLR - German Aerospace Center
 
14:30-14:45, Paper TuBT11.5 Add to My Program
An Output Feedback Attitude Tracking Controller Design for Quadrotor Unmanned Aerial Vehicles Using Quaternion
Diao, ChenTianjin Univ.
Xian, BinTianjin Univ.
Zhao, BoTianjin Univ.
Zhang, XuTianjin Univ.
Liu, ShiboTianjin Univ.
 
14:45-15:00, Paper TuBT11.6 Add to My Program
Multi-Tasking of Competing Behaviors on a Robot Manipulator
Groth, ChristianUniv. Bayreuth
Henrich, DominikUniv. of Bayreuth
 
TuBT12 Regular Session, Room610 Add to My Program 
Medical Robotics I  
 
Chair: Meng, Max Q.-H.The Chinese Univ. of Hong Kong
Co-Chair: Bergeles, ChristosImperial Col. London
 
13:30-13:45, Paper TuBT12.1 Add to My Program
Force-Position Control for a Miniature Camera Robotic System for Single-Site Surgery
Rivas-Blanco, IreneUniv. of Malaga
Bauzano, EnriqueUniv. of Malaga, Spain
Cuevas-Rodríguez, MaríaUniv. de Málaga
Saz-Orozco, Pablo delUniv. of Malaga
Muñoz, VictorUniv. of Malaga
 
13:45-14:00, Paper TuBT12.2 Add to My Program
A Cooperatively Controlled Robot for Ultrasound Monitoring of Radiation Therapy
Sen, Hasan TutkunJohns Hopkins Univ.
Lediju Bell, MuyinatuJohns Hopkins Univ.
Iordachita, IulianJohns Hopkins Univ.
Wong, JohnJohns Hopkins Univ.
Kazanzides, PeterJohns Hopkins Univ.
 
14:00-14:15, Paper TuBT12.3 Add to My Program
Planning Stable Paths for Concentric Tube Robots
Bergeles, ChristosImperial Col. London
Dupont, PierreChildren's Hospital Boston, Harvard Medical School
 
14:15-14:30, Paper TuBT12.4 Add to My Program
Tension Propagation Analysis of Novel Robotized Surgical Platform for Transumbilical Single-Port Access Surgery
Lee, JongwonSamsung Advanced Inst. of Tech.
Kim, Yong JaeSamsung Electronics
Roh, Se-gonSAMSUNG ELECTRONICS CO., LTD.
Kim, JiyoungSamsung Electronics Co., ltd.
Lee, Younbaeksamsung electronics
Kim, JeonghunSamsung Advanced Inst. of Tech.
Choi, Byung JuneSamsung Advanced Inst. of Tech.
Roh, KyungshikSamsung Electronics Co., Ltd
 
14:30-14:45, Paper TuBT12.5 Add to My Program
Safety Systems in Magnetic Driven Wireless Capsule Endoscopy
Salerno, MarcoScuola Superiore Sant'Anna
Mazzocchi, TommasoThe BioRobotics Inst. Scuola Superiore Sant'Anna
Ranzani, TommasoScuola Superiore Sant'Anna
Mulana, FrancescaThe BioRobotics Inst. Scuola Superiore Sant'Anna
Dario, PaoloScuola Superiore Sant'Anna
Menciassi, AriannaScuola Superiore Sant'Anna - SSSA
 
14:45-15:00, Paper TuBT12.6 Add to My Program
A Novel Method for Capsule Endoscopy Video Automatic Segmentation
Zhou, Ranthe Shenzhen Inst. of Advanced Tech. Chinese Acad.
Li, BaopuChinese Univ. of Hong Kong
Zhu, Hongmeithe Shenzhen Inst. of Advanced Tech. Chinese Acad.
Meng, Max Q.-H.The Chinese Univ. of Hong Kong
 
TuBT13 Regular Session, Room802 Add to My Program 
Walking Dynamics  
 
Chair: Hayakawa, YoshikazuNagoya Univ.
Co-Chair: Okada, MasafumiTokyo Inst. of Tech.
 
13:30-13:45, Paper TuBT13.1 Add to My Program
Motion Design of Multi Degrees of Freedom Robot with Dynamical Consistency Using Motion Reduction
Okada, MasafumiTokyo Inst. of Tech.
Miyazaki, TetsuroTokyoInstitute of Tech.
 
13:45-14:00, Paper TuBT13.2 Add to My Program
On-Demand Optimal Gait Generation for a Compass Biped Robot Based on the Double Generating Function Method
Hao, ZhiweiNagoya Univ.
Fujimoto, KenjiNagoya Univ.
Hayakawa, YoshikazuNagoya Univ.
 
14:00-14:15, Paper TuBT13.3 Add to My Program
Analytical Solution to Transition Function of State Error in 1-DOF Semi-Passive Dynamic Walking
Asano, FumihikoJapan Advanced Inst. of Science and Tech.
 
14:15-14:30, Paper TuBT13.4 Add to My Program
Passive Dynamic Walking of Rimless Wheel with 2-DOF Wobbling Mass
Asano, FumihikoJapan Advanced Inst. of Science and Tech.
Sogawa, TakahiroJAIST
Tamura, KazukiJapan Advanced Inst. of Science and Tech.
Akutsu, YukihiroJapan Advanced Inst. of Science and Tech.
 
14:30-14:45, Paper TuBT13.5 Add to My Program
Stable Walking on Variable Visco-Elastic Terrains Using Meta-Parameters for Passive State Migration
Pereno, ValerioKing's Coll. London
Shoar, KyaKing's Coll. London
Bartoli, GiuliaKing's Coll. London
Bianchi, FabioKing's Coll. London
Nanayakkara, ThrishanthaKing's Coll. Univ. of London
 
14:45-15:00, Paper TuBT13.6 Add to My Program
Limit Cycle Walking on Ice
Asano, FumihikoJapan Advanced Inst. of Science and Tech.
Kikuchi, YasunoriJapan Advanced Inst. of science and Tech.
Shibata, MasahiroJapan Advanced Inst. of Science and Tech.
 
TuCT1 Regular Session, Room606 Add to My Program 
Navigation II  
 
Chair: Otte, Michael W.MIT
Co-Chair: Shim, David HyunchulKAIST
 
15:15-15:30, Paper TuCT1.1 Add to My Program
Teaching Mobile Robots to Cooperatively Navigate in Populated Environments
Kuderer, MarkusUniv. of Freiburg
Kretzschmar, HenrikUniv. of Freiburg
Burgard, WolframUniv. of Freiburg
 
15:30-15:45, Paper TuCT1.2 Add to My Program
Lidar-Based Teach-And-Repeat of Mobile Robot Trajectories
Sprunk, ChristophUniv. of Freiburg
Tipaldi, Gian DiegoUniv. of Freiburg
Cherubini, AndreaLIRMM - Univ. de Montpellier 2 CNRS
Burgard, WolframUniv. of Freiburg
 
15:45-16:00, Paper TuCT1.3 Add to My Program
Navigation with Foraging
Otte, Michael W.MIT
Correll, NikolausUniv. of Colorado at Boulder
Frazzoli, EmilioMassachusetts Inst. of Tech.
 
16:00-16:15, Paper TuCT1.4 Add to My Program
Integrated Navigation System Using Camera and Gimbaled Laser Scanner for Indoor and Outdoor Autonomous Flight of UAVs
Huh, SungsikKAIST
Shim, David HyunchulKAIST
Kim, JonghyukThe Australian National Univ.
 
16:15-16:30, Paper TuCT1.5 Add to My Program
IMU-RGBD Camera Navigation Using Point and Plane Features
Guo, ChaoUniv. of Minnesota
Roumeliotis, StergiosUniv. of Minnesota
 
16:30-16:45, Paper TuCT1.6 Add to My Program
Detecting and Dealing with Hovering Maneuvers in Vision-Aided Inertial Navigation Systems
Kottas, DimitriosUniv. of Minnesota
Wu, KejianUniv. of Minnesota
Roumeliotis, StergiosUniv. of Minnesota
 
TuCT2 Regular Session, Room607 Add to My Program 
Object Detection and Tracking  
 
Chair: Iwata, HiroyasuWaseda Univ.
Co-Chair: Bohg, JeannetteMax-Planck Inst. for Intelligent Systems
 
15:15-15:30, Paper TuCT2.1 Add to My Program
Enhancing Visual Perception of Shape through Tactile Glances
Björkman, MårtenKTH
Bekiroglu, YaseminKTH
Högman, VirgileKTH Royal Inst. of Tech.
Kragic, DanicaKTH
 
15:30-15:45, Paper TuCT2.2 Add to My Program
Feature Based Particle Filter Registration of 3D Surface Models and Its Application in Robotics
Rink, ChristianGerman Aerospace Center
Marton, Zoltan-CsabaGerman Aerospace Center (DLR)
Seth, DanielGerman Aerospace Center (DLR)
Bodenmueller, TimGerman Aerospace Center (DLR)
Suppa, MichaelGerman Aerospace Center (DLR)
 
15:45-16:00, Paper TuCT2.3 Add to My Program
Probabilistic Object Tracking Using a Range Camera
Wüthrich, ManuelMax-Planck-Inst. for Intelligent Systems
Pastor, PeterUniv. of Southern California
Kalakrishnan, MrinalUniv. of Southern California
Bohg, JeannetteMax-Planck Inst. for Intelligent Systems
Schaal, StefanUniv. of Southern California
 
16:00-16:15, Paper TuCT2.4 Add to My Program
Improved Local Shape Feature Stability through Dense Model Tracking
Ricao Canelhas, DanielÖrebro Univ.
Stoyanov, TodorCenter for Applied Autonomous Sensor Systems
Lilienthal, Achim J.Örebro Univ.
 
16:15-16:30, Paper TuCT2.5 Add to My Program
Practical Object-Grasp Estimation without Visual or Tactile Information for Heavy-Duty Work Machines
Kamezaki, MitsuhiroWaseda Univ.
Iwata, HiroyasuWaseda Univ.
Sugano, ShigekiWaseda Univ.
 
16:30-16:45, Paper TuCT2.6 Add to My Program
A User Interface for Assistive Grasping
Weisz, JonathanColumbia Univ.
Carmine, ElvezioColumbia Univ.
Allen, PeterColumbia Univ.
 
TuCT3 Regular Session, Room703 Add to My Program 
Demonstration and Imitation  
 
Chair: Demiris, YiannisImperial Coll. London
Co-Chair: Ben Amor, HeniTech. Univ. Darmstadt
 
15:15-15:30, Paper TuCT3.1 Add to My Program
Online Quantum Mixture Regression for Trajectory Learning by Demonstration
Korkinof, DimitriosImperial Coll. London
Demiris, YiannisImperial Coll. London
 
15:30-15:45, Paper TuCT3.2 Add to My Program
When and How to Help: An Iterative Probabilistic Model for Learning Assistance by Demonstration
Soh, HaroldImperial Coll. London
Demiris, YiannisImperial Coll. London
 
15:45-16:00, Paper TuCT3.3 Add to My Program
Learning Sequential Tasks Interactively from Demonstrations and Own Experience
Gräve, KathrinUniv. of Bonn
Behnke, SvenUniv. of Bonn
 
16:00-16:15, Paper TuCT3.4 Add to My Program
Transfer in Inverse Reinforcement Learning for Multiple Strategies
Tanwani, Ajay KumarLearning Algorithms and Systems Lab. (LASA), EPFL
Billard, AudeEPFL
 
16:15-16:30, Paper TuCT3.5 Add to My Program
Autonomous Efast Ultrasound Scanning by a Robotic Manipulator Using Learning from Demonstrations
Mylonas, GeorgeImperial Coll. London
Giataganas, PetrosImperial Coll. London
Chaudery, MuzzaferHamlyn Centre for Robotic Surgery, Imperial Coll. London
Vitiello, ValentinaImperial Coll. London
Darzi, AraImperial Coll. London
Yang, Guang-ZhongImperial Coll. London
 
16:30-16:45, Paper TuCT3.6 Add to My Program
Learning Responsive Robot Behavior by Imitation
Ben Amor, HeniTech. Univ. Darmstadt
Vogt, DavidTU Bergakademie Freiberg
Ewerton, MarcoTech. Univ. Darmstadt
Berger, ErikTU Bergakademie Freiberg
Jung, BernhardTU Bergakademie Freiberg
Peters, JanTech. Univ. Darmstadt
 
TuCT4 Regular Session, Room601 Add to My Program 
Snake Robot  
 
Chair: Ishiguro, AkioTohoku Univ.
Co-Chair: Fukushima, Edwardo F.Tokyo Inst. of Tech.
 
15:15-15:30, Paper TuCT4.1 Add to My Program
Gait Optimization for Roombots Modular Robots - Matching Simulation and Reality
Moeckel, RicoEc. Pol. Federal de Lausanne
Perov, YuraSiberian Federal Univ. (Russia, Krasnoyarsk) / EPFL (Switze
The Nguyen, AnhEPFL
Vespignani, MassimoEPFL-STI-IBI-BIOROB
Bonardi, StephaneEPFL Ec. Pol. Federal de Lausanne
Pouya, SohaEPFL Ec. Pol. Federal de Lausanne
Sproewitz, AlexanderEPFL
van den Kieboom, JesseEPFL Ec. Pol. Federal de Lausanne
Wilhelm, FredericEPFL
Ijspeert, AukeEPFL
 
15:30-15:45, Paper TuCT4.2 Add to My Program
Obstacles Are Beneficial to Me! Scaffold-Based Locomotion of a Snake-Like Robot Using Decentralized Control
Kano, TakeshiTohoku Univ.
Ishiguro, AkioTohoku Univ.
 
15:45-16:00, Paper TuCT4.3 Add to My Program
A Snake-Like Robot Incorporating Translational and Rotation Degrees of Freedom
Primerano, RichardDrexel Univ.
Pietrocola, AlexanderDrexel Univ.
Janko, MarcoDrexel Univ.
 
16:00-16:15, Paper TuCT4.4 Add to My Program
Climbing and Descending Control of a Snake Robot on Step Environments Based on Kinematics
Tanaka, MotoyasuThe Univ. of Electro-Communications
Tanaka, KazuoUniv. of Electro-Communications
 
16:15-16:30, Paper TuCT4.5 Add to My Program
Development of Biologically Inspired Educational Robots Based on Gliding Locomotion
Endo, GenTokyo Inst. of Tech.
Yamada, HiroyaTokyo Inst. of Tech.
Aoki, TakeshiChiba Inst. of Tech.
Hirose, ShigeoTokyo Inst. of Tech.
 
16:30-16:45, Paper TuCT4.6 Add to My Program
Development of a Peristaltic Crawling Inspection Robot for 1-Inch Gas Pipes with Continuous Elbows
Kishi, TatsuyaChuo Univ.
Ikeuchi, MegumiChuo Univ.
Nakamura, TaroChuo Univ.
 
TuCT5 Regular Session, Room605 Add to My Program 
Planning for Multi-Agent System I  
 
Chair: Becker, AaronRice Univ.
Co-Chair: Vaughan, RichardSimon Fraser Univ.
 
15:15-15:30, Paper TuCT5.1 Add to My Program
Eliciting Collective Behaviors through Automatically Generated Environments
Fine, BenjaminTexas A&M Univ.
Shell, DylanTexas A&M Univ.
 
15:30-15:45, Paper TuCT5.2 Add to My Program
Sustainable Robot Foraging: Adaptive Fine-Grained Multi-Robot Task Allocation for Maximum Sustainable Yield of Biological Resources
Vaughan, RichardSimon Fraser Univ.
Song, ZhaoSimon Fraser Univ.
 
15:45-16:00, Paper TuCT5.3 Add to My Program
Feedback Control of Many Magnetized Tetrahymena Pyriformis Cells by Exploiting Phase Inhomogeneity
Becker, AaronRice Univ.
Ou, YanRensselaer Pol. Inst.
Kim, PaulDrexel Univ.
Kim, MinJunDrexel Univ.
Julius, AgungRensselaer Pol. Inst.
 
16:00-16:15, Paper TuCT5.4 Add to My Program
Stochastic Collection and Replenishment (SCAR): Objective Functions
Palmer, Andrew WilliamUniv. of Sydney
Hill, Andrew JohnUniv. of Sydney
Scheding, StevenThe Univ. of Sydney
 
16:15-16:30, Paper TuCT5.5 Add to My Program
Dynamic Search on the GPU
Kapadia, MubbasirUniv. of Pennsylvania
Garcia, FranciscoUniv. of Massachusetts Amherst
Boatright, Cory D.Grove City Coll.
Badler, NormUniv. of Pennsylvania
 
16:30-16:45, Paper TuCT5.6 Add to My Program
Exact Range and Bearing Control of Many Differential-Drive Robots with Uniform Control Inputs
Becker, AaronRice Univ.
McLurkin, JamesRice Univ.
 
TuCT6 Regular Session, Room604 Add to My Program 
Marine Robotics-Survey, Localisation and Communication  
 
Chair: Mohseni, KamranUniv. of Florida at Gainesville
Co-Chair: Hover, FranzMIT
 
15:15-15:30, Paper TuCT6.1 Add to My Program
Automated Registration for Multi-Year Robotic Surveys of Marine Benthic Habitats
Bryson, MitchUniv. of Sydney
Johnson-Roberson, MatthewUniv. of Sydney
Pizarro, OscarAustralian Centre for Field Robotics
Williams, Stefan BernardUniv. of Sydney
 
15:30-15:45, Paper TuCT6.2 Add to My Program
Underwater Stereo SLAM with Refraction Correction
Servos, JamesUniv. of Waterloo
Smart, MichaelUniv. of Waterloo
Waslander, Steven LakeUniv. of Waterloo
 
15:45-16:00, Paper TuCT6.3 Add to My Program
Hierarchical Underwater Localization in Dominating Background Flow Fields
Song, ZhuoyuanUniv. of Florida
Mohseni, KamranUniv. of Florida at Gainesville
 
16:00-16:15, Paper TuCT6.4 Add to My Program
Learning-Based Event Response for Marine Robotics
Bernstein, MatthewCarnegie Mellon Univ.
Graham, RishiMonterey Bay Aquarium Res. Inst.
Cline, DanelleMonterey Bay Aquarium Res. Inst.
Dolan, John M.Carnegie Mellon Univ.
Rajan, KannaMonterey Bay Aquarium Res. Inst.
 
16:15-16:30, Paper TuCT6.5 Add to My Program
Autonomous Mobile Acoustic Relay Positioning As a Multi-Armed Bandit with Switching Costs
Cheung, Mei YiMIT
Leighton, JoshuaMassachusetts Inst. of Tech.
Hover, FranzMIT
 
16:30-16:45, Paper TuCT6.6 Add to My Program
Tracking Ocean Fronts with Multiple Vehicles and Mixed Communication Losses
Reed, BrooksMIT
Hover, FranzMIT
 
TuCT7 Regular Session, Room701 Add to My Program 
Motion Control  
 
Chair: Kulic, DanaUniv. of Waterloo
Co-Chair: Plooij, MichielDelft Univ. of Tech.
 
15:15-15:30, Paper TuCT7.1 Add to My Program
Optimization of Feedforward Controllers to Minimize Sensitivity to Model Inaccuracies
Plooij, MichielDelft Univ. of Tech.
de Vries, MichielDelft Univ. of Tech.
Wolfslag, WouterDelft Univ. of Tech.
Wisse, MartijnDelft Univ. of Tech.
 
15:30-15:45, Paper TuCT7.2 Add to My Program
Modular Control of Limit Cycle Locomotion Over Unperceived Rough Terrain
Ajallooeian, MostafaBiorobotics Lab. EPFL
Gay, SébastienEPFL Ec. Pol. Fédérale de Lausanne
Tuleu, AlexandreEPFL, Biorobotics Lab.
Sproewitz, AlexanderEPFL
Ijspeert, AukeEPFL
 
15:45-16:00, Paper TuCT7.3 Add to My Program
Mobile Robot Connectivity Maintenance Based Electromagnetic Field Recognition
Ayad, MustafaUniv. of Denver
Jun Zhang Jason, JasonUniv. of Denver
Voyles, RichardNational Science Foundation
Mahoor, MohammadUniv. of Denver
 
16:00-16:15, Paper TuCT7.4 Add to My Program
Nonlinear Control of Unicycle-Like Robots for Person Following
Pucci, DanieleI3S/CNRS and INRIA
Marchetti, LucaSophia Antipolis - Méditerranée
Morin, PascalUPMC
 
16:15-16:30, Paper TuCT7.5 Add to My Program
Robust Path Following for Robot Manipulators
Gill, RajanUniv. of Waterloo
Kulic, DanaUniv. of Waterloo
Nielsen, ChristopherUniv. of Waterloo
 
16:30-16:45, Paper TuCT7.6 Add to My Program
Iterative Learning Identification and Computed Torque Control of Robots
Gautier, MaximeUniv. of Nantes/IRCCyN
Jubien, AnthonyUniv. de nantes
Janot, AlexandreONERA
 
TuCT8 Organized Session, Room702 Add to My Program 
Robot Audition II  
 
Chair: Nakadai, KazuhiroHonda Res. Inst. Japan Co., Ltd.
Co-Chair: Danès, PatrickUniv. Toulouse - LAAS-CNRS - UPS
Organizer: Ince, GokhanIstanbul Tech. Univ.
Organizer: Okuno, Hiroshi G.Kyoto Univ.
Organizer: Nakadai, KazuhiroHonda Res. Inst. Japan Co., Ltd.
Organizer: Danès, PatrickUniv. Toulouse - LAAS-CNRS - UPS
Organizer: Kumon, MakotoGraduate School of Science and Tech. Kumamoto
Organizer: Kagami, SatoshiNational Inst. of AIST
Organizer: Michaud, FrancoisUniv. de Sherbrooke
Organizer: Argentieri, SylvainUniv. Pierre et Marie Curie - ISIR
 
15:15-15:45, Paper TuCT8.1 Add to My Program
Keynote Talk - Outdoor Auditory Scene Analysis (I)
Okuno, Hiroshi G.Kyoto Univ.
 
15:45-16:00, Paper TuCT8.2 Add to My Program
Bayesian Non-Field-Of-View Target Estimation Incorporating an Acoustic Sensor (I)
Kumon, MakotoGraduate School of Science and Tech. Kumamoto
Kimoto, DaisukeGraduate School of Science and Tech. Kumamoto Univ.
Takami, KuyaVirginia Pol. Inst. and State Univ.
Furukawa, TomonariVirginia Pol. Inst. and State Univ.
 
16:00-16:15, Paper TuCT8.3 Add to My Program
Creation of Radiated Sound Intensity Maps Using Multi-Modal Measurements Onboard an Autonomous Mobile Platform (I)
Even, JaniATR
Kallakuri, NagasrikanthAdvanced Telecommunications Res. Inst.
Morales Saiki, Luis YoichiAdvanced Telecommunications Res. Inst. International
Ishi, Carlos ToshinoriATR
Hagita, NorihiroATR
 
16:15-16:30, Paper TuCT8.4 Add to My Program
Dereverberation Robust to Speaker's Azimuthal Orientation in Multi-Channel Human-Robot Communication (I)
Gomez, RandyHonda Res. Inst. Japan Co., Ltd.
Nakamura, KeisukeHonda Res. Inst. Japan Co., Ltd.
Nakadai, KazuhiroHonda Res. Inst. Japan Co., Ltd.
 
16:30-16:45, Paper TuCT8.5 Add to My Program
Posture Estimation of Hose-Shaped Robot Using Microphone Array Localization (I)
Bando, YoshiakiKyoto Univ.
Mizumoto, TakeshiHonda Res. Inst. Japan, Co. Ltd.
Itoyama, KatsutoshiKyoto Univ.
Nakadai, KazuhiroHonda Res. Inst. Japan Co., Ltd.
Okuno, Hiroshi G.Kyoto Univ.
 
TuCT9 Regular Session, Room608 Add to My Program 
Unmanned Aerial Vehicles III  
 
Chair: Albu-Schäffer, AlinDLR - German Aerospace Center
Co-Chair: Lee, DongjunSeoul National Univ.
 
15:15-15:30, Paper TuCT9.1 Add to My Program
First Analysis and Experiments in Aerial Manipulation Using Fully Actuated Redundant Robot Arm
Huber, FelixGerman Aerospace Center
Kondak, KonstantinGerman Aerospace Center
Krieger, KaiGerman Aerospace Center
Sommer, DominikGerman Aerospace Center (DLR)
Schwarzbach, MarcGerman Aerospace Center (DLR)
Laiacker, MaximilianGerman Aerospace Center (DLR)
Kossyk, IngoGerman Aerospace Center (DLR)
Parusel, SvenGerman Aerospace Center
Haddadin, SamiGerman Aerospace Center (DLR)
Albu-Schäffer, AlinDLR - German Aerospace Center
 
15:30-15:45, Paper TuCT9.2 Add to My Program
Hybrid Force/Motion Control and Internal Dynamics of Quadrotors for Tool Operation
Nguyen, Hai-NguyenSeoul National Univ.
Lee, DongjunSeoul National Univ.
 
15:45-16:00, Paper TuCT9.3 Add to My Program
Carrying a Flexible Payload with Multiple Flying Vehicles
Ritz, RobinETH Zürich
D'Andrea, RaffaelloETHZ
 
16:00-16:15, Paper TuCT9.4 Add to My Program
Quadrocopter Pole Acrobatics
Brescianini, DarioETH Zurich
Hehn, MarkusETH Zürich
D'Andrea, RaffaelloETHZ
 
16:15-16:30, Paper TuCT9.5 Add to My Program
A Computationally Efficient Algorithm for State-To-State Quadrocopter Trajectory Generation and Feasibility Verification
Mueller, Mark WilfriedETH Zurich
Hehn, MarkusETH Zürich
D'Andrea, RaffaelloETHZ
 
16:30-16:45, Paper TuCT9.6 Add to My Program
Building Tensile Structures with Flying Machines
Augugliaro, FedericoETH Zurich
Mirjan, AmmarETH Zurich
Gramazio, FabioETH Zurich
Kohler, Matthias DanielETH Zurich
D'Andrea, RaffaelloETHZ
 
TuCT10 Regular Session, Room609 Add to My Program 
Grasping II  
 
Chair: Wang, ZhidongChiba Inst. of Tech.
Co-Chair: Sun, YuUniv. of South Florida
 
15:15-15:30, Paper TuCT10.1 Add to My Program
Classical Grasp Quality Evaluation: New Algorithms and Theory
Pokorny, Florian T.KTH Royal Inst. of Tech.
Kragic, DanicaKTH
 
15:30-15:45, Paper TuCT10.2 Add to My Program
Evaluation of Prosthetic Hands Prehension Using Grasp Quality Measures
Leon, BeatrizUniv. Jaume I
Rubert, CarlosUniv. Jaume I
Sancho-Bru, JoaquinUniv. Jaume I
Morales, AntonioUniv. Jaume I
 
15:45-16:00, Paper TuCT10.3 Add to My Program
Functional Analysis of Grasping Motion
Dai, WeiUniv. of South Florida
Sun, YuUniv. of South Florida
Qian, XiaoningUniv. of South Florida
 
16:00-16:15, Paper TuCT10.4 Add to My Program
Optimally Resisting Disturbances to a Grasped Deformable Object
Jia, Yan-BinIowa State Univ.
Lin, HuanIowa State Univ.
Guo, FengIowa State Univ.
 
16:15-16:30, Paper TuCT10.5 Add to My Program
Friction Coefficients and Grasp Synthesis
Hang, KaiyuKTH Royal Inst. of Tech.
Pokorny, Florian T.KTH Royal Inst. of Tech.
Kragic, DanicaKTH
 
16:30-16:45, Paper TuCT10.6 Add to My Program
Extended Independent Contact Regions for Grasping Applications
Dang-Vu, Bao-AnhGerman Aerospace Center (DLR)
Roa, Maximo A.German Aerospace Center, DLR
Borst, ChristophGerman Aerospace Center (DLR)
 
TuCT11 Regular Session, Room801 Add to My Program 
Robot Manipulator  
 
Chair: Mae, YasushiOsaka Univ.
Co-Chair: Harada, KensukeNational Inst. of AIST
 
15:15-15:30, Paper TuCT11.1 Add to My Program
Error Recovery Using Task Stratification and Error Classification for Manipulation Robots in Various Fields
Nakamura, AkiraNational Inst. of Advanced IndustrialScienceandTechnology (A
Nagata, KazuyukiNational Inst. of AIST
Harada, KensukeNational Inst. of AIST
Yamanobe, NatsukiAdvanced Industrial Science and Tech.
Tsuji, TokuoKyushu Univ.
Foissotte, ToreaTahiti Ingenierie
Kawai, YoshihiroNational Inst. of AdvancedIndustrialScienceandTechnology (AI
 
15:30-15:45, Paper TuCT11.2 Add to My Program
Learning the Dynamics of Doors for Robot Manipulation
Endres, FelixUniv. of Freiburg
Trinkle, JeffRensselaer Pol. Inst.
Burgard, WolframUniv. of Freiburg
 
15:45-16:00, Paper TuCT11.3 Add to My Program
Robotic Force Estimation Using Motor Torques and Modeling of Low Velocity Friction Disturbances
Linderoth, MagnusLund Univ.
Stolt, AndreasLund Univ.
Robertsson, AndersLTH, Lund Univ.
Johansson, RolfLund Univ.
 
16:00-16:15, Paper TuCT11.4 Add to My Program
Fingertip Force Control Based on Max Torque Adjustment for Dexterous Manipulation of an Anthropomorphic Hand
Nguyen, Kien CuongUniv. Pierre et Marie Curie - Paris 6
Perdereau, VéroniqueUniv. Pierre et Marie Curie - Paris 6
 
16:15-16:30, Paper TuCT11.5 Add to My Program
Flat-Panel Ultrasound Robot: A Novel Imaging Concept and a Novel Motorized Kinematics for an Ultrasound Probe During Laparoscopic Interventions
Gumprecht, Jan David JeromeTech. Univ. München
Geiger, Florian BenediktTech. Univ. Munich
Stolzenburg, Jens-UweUniv. Leipzig
Lueth, Tim C.Tech. Univ. München
 
16:30-16:45, Paper TuCT11.6 Add to My Program
Force Control of a Non-Backdrivable Robot without a Force Sensor
Chen, ZihanJohns Hopkins Univ.
Kazanzides, PeterJohns Hopkins Univ.
 
TuCT12 Regular Session, Room610 Add to My Program 
Medical Robotics II  
 
Chair: Vander Poorten, Emmanuel BKatholieke Univ. Leuven
Co-Chair: Li, Y.F.City Univ. of Hong Kong
 
15:15-15:30, Paper TuCT12.1 Add to My Program
STIFF-FLOP Surgical Manipulator: Mechanical Design and Experimental Characterization of the Single Module
Cianchetti, MatteoScuola Superiore Sant'Anna
Ranzani, TommasoScuola Superiore Sant'Anna
Gerboni, GiadaScuola Superiore Sant'Anna of Pisa
De Falco, IrisScuola Superiore Sant'Anna, The BioRobotics Insitute
Laschi, CeciliaScuola Superiore Sant'Anna
Menciassi, AriannaScuola Superiore Sant'Anna - SSSA
 
15:30-15:45, Paper TuCT12.2 Add to My Program
Gaze Contingent Cartesian Control of a Robotic Arm for Laparoscopic Surgery
Fujii, KenkoHamlyn Centre for Robotic Surgery
Salerno, AntoninoImperial Coll. London
Kumuthan, SriskandarajahImperial Coll. London, Department of Surgery & Cancer
Kwok, Ka-WaiImperial Coll. London
Shetty, KunalImperial Coll. London, Department of Surgery & Cancer
Yang, Guang-ZhongImperial Coll. London
 
15:45-16:00, Paper TuCT12.3 Add to My Program
Task-Specific Evaluation of Kinematic Designs for Instruments in Minimally Invasive Robotic Surgery
Deutschmann, BastianGerman Aerospace Center
Konietschke, RainerDLR (German Aerospace Center)
Albu-Schäffer, AlinDLR - German Aerospace Center
 
16:00-16:15, Paper TuCT12.4 Add to My Program
Design and Realisation of a Novel Robotic Manipulator for Retinal Surgery
Gijbels, AndyKULeuven
Wouters, NielsKULeuven
Stalmans, PeterUZLeuven
Van Brussel, HendrikKatholieke Univ. Leuven
Reynaerts, DominiekDiv. Production Engineering, Machine Design andAutomation, K
Vander Poorten, Emmanuel BKatholieke Univ. Leuven
 
16:15-16:30, Paper TuCT12.5 Add to My Program
Conically Shaped Remote Center-Of-Motion Mechanism for Single-Incision Surgery
Choi, HyundoSamsung Electronics
Kim, HyungjooHallym Univ.
Lim, Yo-AnSamsung Electronics
Kwak, HoSeongSamsung Advanced Inst. of Tech.
Jang, JunwonSamsung Electronics Co., Ltd.
Won, JonghwaSamsung Electronics
 
16:30-16:45, Paper TuCT12.6 Add to My Program
Comparative Usability and Performance Evaluation of Surgeon Interfaces in Laser Phonomicrosurgery
Barresi, GiacintoFondazione Istituto Italiano di Tecnologia
Deshpande, NikhilFondazione Istituto Italiano di Tecnologia (VAT:09198791007)
Mattos, LeonardoIstituto Italiano di Tecnologia
Brogni, AndreaIstituto Italiano di Tecnologia
Guastini, LucaUniv. degli Studi di Genova
Peretti, GiorgioUniv. degli Studi di Genova - Dip.to DISC - Sez. ORL
Caldwell, Darwin G.Istituto Italiano di Tecnologia
 
TuCT13 Regular Session, Room802 Add to My Program 
Bipedal Walking  
 
Chair: Yamamoto, KoNagoya Univ.
Co-Chair: Asano, FumihikoJapan Advanced Inst. of Science and Tech.
 
15:15-15:30, Paper TuCT13.1 Add to My Program
Optimal Relative Timing of Stance Push-Off and Swing Leg Retraction
Hasaneini, Seyed JavadUniv. of Calgary
Macnab, ChrisUniv. of Calgary
Bertram, JohnUniv. of Calgary
Leung, HenryUniv. of Calgary
 
15:30-15:45, Paper TuCT13.2 Add to My Program
Stability and Efficiency of Underactuated Bipedal Walker That Generates Non-Instantaneous Double-Limb Support Motion
Ohshima, MasatakaJAIST
Asano, FumihikoJapan Advanced Inst. of Science and Tech.
 
15:45-16:00, Paper TuCT13.3 Add to My Program
A Compliant Humanoid Walking Strategy Based on the Switching of State Feedback Gravity Compensation Controllers
Spyrakos-Papastavridis, EmmanouilIstituto Italiano di Tecnologia
Medrano-Cerda, GustavoItalian Inst. of Tech.
Tsagarakis, NikolaosIstituto Italiano di Tecnologia
Dai, JianSchool of Natural and Mathematical Sciences, King's Coll. Lond
Caldwell, Darwin G.Istituto Italiano di Tecnologia
 
16:00-16:15, Paper TuCT13.4 Add to My Program
Dead Reckoning of Biped Robots with Estimated Contact Points Based on the Minimum Velocity Criterion
Masuya, KenOsaka Univ.
Sugihara, TomomichiGraduate School of Engineering, Osaka Univ.
 
16:15-16:30, Paper TuCT13.5 Add to My Program
Maximal Output Admissible Set for Trajectory Tracking Control of Biped Robots and Its Application to Falling Avoidance Control
Yamamoto, KoNagoya Univ.
 
16:30-16:45, Paper TuCT13.6 Add to My Program
High-Speed Limit Cycle Walking for Biped Robots Using Active Up-And-Down Motion Control of Wobbling Mass
Hanazawa, YutaTokyo Inst. of Tech.
Hayashi, TerumitsuTokyo Inst. of Tech.
Yamakita, MasakiTokyo Inst. of Tech.
Asano, FumihikoJapan Advanced Inst. of Science and Tech.
 
TuDT1 Regular Session, Room606 Add to My Program 
Visual Based Mapping  
 
Chair: Hertzberg, JoachimUniv. of Osnabrueck
Co-Chair: Comport, Andrew IanCNRS-I3S/UNS
 
17:00-17:15, Paper TuDT1.1 Add to My Program
Vision-Based Localization and Mapping for an Autonomous Mower
Yang, JunhoUIUC
Chung, Soon-JoUniv. of Illinois at Urbana-Champaign
Hutchinson, SethUniv. of Illinois
Johnson, DavidDeere & Company
Kise, MichioJohn Deere
 
17:15-17:30, Paper TuDT1.2 Add to My Program
High Fidelity Day/Night Stereo Mapping with Vegetation and Negative Obstacle Detection for Vision-In-The-Loop Walking
Bajracharya, MaxJPL
Ma, JeremyJet Propulsion Lab.
Malchano, MatthewBoston Dynamics
Perkins, AlexanderStanford Univ.
Rizzi, AlfredBoston Dynamics
Matthies, LarryJet Propulsion Lab.
 
17:30-17:45, Paper TuDT1.3 Add to My Program
SDF Tracker: A Parallel Algorithm for On-Line Pose Estimation and Scene Reconstruction from Depth Images
Ricao Canelhas, DanielÖrebro Univ.
Stoyanov, TodorCenter for Applied Autonomous Sensor Systems
Lilienthal, Achim J.Örebro Univ.
 
17:45-18:00, Paper TuDT1.4 Add to My Program
On Unifying Key-Frame and Voxel-Based Dense Visual SLAM at Large Scales
Meilland, MaximeCNRS
Comport, Andrew IanCNRS-I3S/UNS
 
18:00-18:15, Paper TuDT1.5 Add to My Program
Hierarchical Visual Mapping with Omnidirectional Images
Korrapati, HemanthInst. Pascal
Uzer, FeritInst. Pascal
Mezouar, YoucefIFMA
 
18:15-18:30, Paper TuDT1.6 Add to My Program
Automatic Creation and Application of Texture Patterns to 3D Polygon Maps
Rinnewitz, Kim OliverUniv. of Osnabrück
Wiemann, ThomasUniv. of Osnabrück
Lingemann, KaiUniv. of Osnabrueck
Hertzberg, JoachimUniv. of Osnabrueck
 
TuDT2 Regular Session, Room607 Add to My Program 
Scene Understanding  
 
Chair: Sekiyama, KosukeNagoya Univ.
Co-Chair: Ryde, JulianUniv. at Buffalo
 
17:00-17:15, Paper TuDT2.1 Add to My Program
Nonparametric Semantic Segmentation for 3D Street Scenes
He, HuQueensland Univ. of Tech.
Upcroft, BenQueensland Univ. of Tech.
 
17:15-17:30, Paper TuDT2.2 Add to My Program
Classification of Natural Scene Multi Spectral Images Using a New Enhanced CRF
Najafi, MohammadNational ICT Australia, Australian National Univ.
Taghavi Namin, SarahNational ICT Australia, Australian National Univ.
Petersson, LarsNational ICT Australia
 
17:30-17:45, Paper TuDT2.3 Add to My Program
Point Cloud Video Object Segmentation Using a Persistent Supervoxel World-Model
Papon, JeremieUniv. of Goettingen
Kulvicius, TomasGeorg-August-Univ. Göttingen, BernsteinCenterforComputatio
Aksoy, Eren ErdalUniv. of Goettingen
Wörgötter, FlorentinUniv. of Göttingen
 
17:45-18:00, Paper TuDT2.4 Add to My Program
A Robust Model-Based Tracker Combining Geometrical and Color Edge Information
Petit, AntoineIRISA/INRIA Rennes-Bretagne Atlantique
Marchand, EricUniv. de Rennes 1, IRISA, INRIA Rennes
Kanani, KeyvanEADS Astrium
 
18:00-18:15, Paper TuDT2.5 Add to My Program
Rapid Semantic Mapping: Learn Environment Classifiers on the Fly
Le Saux, BertrandONERA
Sanfourche, MartialONERA
 
18:15-18:30, Paper TuDT2.6 Add to My Program
Voxel Planes: Rapid Visualization and Meshification of Point Cloud Ensembles
Ryde, JulianUniv. at Buffalo
Dhiman, VikasSUNY at Buffalo
Platt, RobertSUNY at Buffalo
 
TuDT3 Regular Session, Room703 Add to My Program 
Hand and Arm Analysis  
 
Chair: Siciliano, BrunoUniv. Napoli Federico II
Co-Chair: Hasegawa, YasuhisaUniv. of Tsukuba
 
17:00-17:15, Paper TuDT3.1 Add to My Program
A Data-Driven Kinematic Model of the Human Hand with Soft-Tissue Artifact Compensation Mechanism for Grasp Synergy Analysis
Gabiccini, MarcoUniv. di Pisa
Stillfried, GeorgGerman Aerospace Center (DLR)
Marino, HamalScuola Superiore Sant'Anna
Bianchi, MatteoUniv. of Pisa
 
17:15-17:30, Paper TuDT3.2 Add to My Program
Robust Pose Estimation Algorithm for Wrist Motion Tracking
Cordella, FrancescaUniv. of Naples Federico II
Di Corato, FrancescoUniv. of Pisa
Loianno, GiuseppeUniv. degli Studi di Napoli Federico II
Siciliano, BrunoUniv. Napoli Federico II
Zollo, LoredanaUniv. Campus Bio-Medico
 
17:30-17:45, Paper TuDT3.3 Add to My Program
Arm Gesture Recognition and Humanoid Imitation Using Functional Principal Component Analysis
Aleotti, JacopoUniv. of Parma
Cionini, AlessandroUniv. of Parma
Fontanili, LucaUniv. degli studi di Parma
Caselli, StefanoUniv. of Parma
 
17:45-18:00, Paper TuDT3.4 Add to My Program
On the Impact of Learning Hierarchical Representations for Visual Recognition in Robotics
Ciliberto, CarloISTITUTO ITALIANO DI TECNOLOGIA
Fanello, Sean RyanIstituto Italiano di Tecnologia
Santoro, MatteoItalian Inst. of Tech. & MIT
Natale, LorenzoIstituto Italiano di Tecnologia
Metta, GiorgioIstituto Italiano di Tecnologia (IIT)
Rosasco, LorenzoIstituto Italiano di Tecnologia & MassachusettsInstitute of Tech.
 
18:00-18:15, Paper TuDT3.5 Add to My Program
A Novel Hand Posture Recognition System Based on Sparse Representation Using Color and Depth Images
Xu, DanShenzhen Inst. of Advanced Tech. ChineseAcademyof Sci
Chen, Yen-LunShenzhen Inst. of Advanced Tech.
Wu, XinyuShenzhen Inst. of Advanced Tech.
Feng, WeiShenzhen Inst. of Advanced Tech. Chinese Acad. of S
Qian, HuihuanCUHK
Xu, YangshengThe Chinese Univ. of Hong Kong
 
18:15-18:30, Paper TuDT3.6 Add to My Program
Superiority of Pinching Force Accuracy Augmented by Exoskeletal Support System
Hasegawa, YasuhisaUniv. of Tsukuba
Muto, JunichiUniv. of Tsukuba
 
TuDT4 Regular Session, Room601 Add to My Program 
Bio-Inspired Locomotion  
 
Chair: Xi, NingMichigan State Univ.
Co-Chair: Cho, Kyu-JinSeoul National Univ. Biorobotics Lab.
 
17:00-17:15, Paper TuDT4.1 Add to My Program
Lift Generation of Hummingbird Wing Models with Flexible Loosened Membranes
Tanaka, HirotoChiba Univ.
Suzuki, HarukaChiba Univ.
Kitamura, IkuoChiba Univ.
Maeda, MasateruChiba Univ.
Liu, HaoChiba Univ.
 
17:15-17:30, Paper TuDT4.2 Add to My Program
Application of a Micro-Genetic Algorithm for Gait Development on a Bio-Inspired Robotic Pectoral Fin
Kahn, JeffDrexel Univ.
Tangorra, JamesDrexel Univ.
 
17:30-17:45, Paper TuDT4.3 Add to My Program
System Integration and Fin Trajectory Design for a Robotic Sea-Turtle
Siegenthaler, CedricETH Zürich
Pradalier, CedricGeorgiaTech Lorraine
Hitz, GregoryETH Zurich
Siegwart, RolandETH Zurich
 
17:45-18:00, Paper TuDT4.4 Add to My Program
A Jumping Robotic Insect Based on a Torque Reversal Catapult Mechanism
Koh, Je-SungSeoul National Univ.
Jung, SunpillSeoul National Univ.
Wood, RobertHarvard Univ.
Cho, Kyu-JinSeoul National Univ. Biorobotics Lab.
 
18:00-18:15, Paper TuDT4.5 Add to My Program
Controlling Aerial Maneuvering of a Miniature Jumping Robot Using Its Tail
Zhao, JianguoMichigan State Univ.
Zhao, TianyuMichigan State Univ.
Xi, NingMichigan State Univ.
Cintron, Fernando J.Michigan State Univ.
Mutka, MattMichigan State Uinversity
Xiao, LiMichigan State Univ.
 
18:15-18:30, Paper TuDT4.6 Add to My Program
Adaptive Control for Takeoff, Hovering, and Landing of a Robotic Fly
Chirarattananon, PakpongHarvard Univ.
Ma, KevinHarvard Univ.
Wood, RobertHarvard Univ.
 
TuDT5 Regular Session, Room605 Add to My Program 
Planning for Multi-Agent System II  
 
Chair: Kumar, VishalNational Inst. of Tech. Hamirpur(H.P)
Co-Chair: Guimarães Macharet, DouglasUniv. Federal de Minas Gerais
 
17:00-17:15, Paper TuDT5.1 Add to My Program
Anytime Computation Algorithms for Stochastically Parametric Approach-Evasion Differential Games
Mueller, ErichMIT
Yong, Sze ZhengMassachusetts Inst. of Tech.
Zhu, MinghuiMassachusetts Inst. of Tech.
Frazzoli, EmilioMassachusetts Inst. of Tech.
 
17:15-17:30, Paper TuDT5.2 Add to My Program
Asynchronous Decentralized Prioritized Planning for Coordination in Multi-Robot System
Cáp, MichalCTU in Prague
Novák, PeterDelft Univ. of Tech.
Selecký, MartinCzech Tech. Univ. in Prague
Faigl, JanCzech Tech. Univ. in Prague
Vokrinek, JiriCzech Tech. Univ. in Prague
 
17:30-17:45, Paper TuDT5.3 Add to My Program
Efficient Target Visiting Path Planning for Multiple Vehicles with Bounded Curvature
Guimarães Macharet, DouglasUniv. Federal de Minas Gerais
Alves Neto, ArmandoUniv. Federal de Minas Gerais
da Camara Neto, Vilar FiuzaFundação Centro de Análise, Pesquisa e InovaçãoTecnológica(FUCAP
Campos, Mario MontenegroUniv. Federal de Minas Gerais
 
17:45-18:00, Paper TuDT5.4 Add to My Program
Nearly Fuel-Optimal Trajectories for Vehicle Swarms in Open Domains with Strong Background Flows
Lipinski, DougUniv. of Florida
Mohseni, KamranUniv. of Florida at Gainesville
 
18:00-18:15, Paper TuDT5.5 Add to My Program
Improving Aggregate Behavior in Parking Lots with Appropriate Local Maneuvers
Rodriguez, SamuelTexas A&M Univ.
Giese, AndrewTexas A&M Univ.
Amato, NancyTexas A&M Univ.
 
18:15-18:30, Paper TuDT5.6 Add to My Program
Topological Exploration of Unknown and Partially Known Environments
Kim, SoonkyumUniv. of Pennsylvania
Bhattacharya, SubhrajitUniv. of Pennsylvania
Ghrist, RobertUniv. of Pennsylvania
Kumar, VijayUniv. of Pennsylvania
 
TuDT6 Regular Session, Room604 Add to My Program 
Marine Robotics-Learning and Control  
 
Chair: Karras, GeorgeNational Tech. Univ. of Athens
Co-Chair: Kyriakopoulos, KostasNational Tech. Univ. of Athens
 
17:00-17:15, Paper TuDT6.1 Add to My Program
On-Line Identification of Autonomous Underwater Vehicles through Global Derivative-Free Optimization
Karras, GeorgeNational Tech. Univ. of Athens
Bechlioulis, CharalamposNational Tech. Univ. of Athens
Leonetti, MatteoIstituto Italiano di Tecnologia
Palomeras, NarcisUniv. de Girona
Kormushev, PetarIstituto Italiano di Tecnologia
Kyriakopoulos, KostasNational Tech. Univ. of Athens
Caldwell, Darwin G.Istituto Italiano di Tecnologia
 
17:15-17:30, Paper TuDT6.2 Add to My Program
Fish Lateral Line Inspired Hydrodynamic Feedforward Control for Autonomous Underwater Vehicles
Xu, YimingUniv. of Florida
Mohseni, KamranUniv. of Florida at Gainesville
 
17:30-17:45, Paper TuDT6.3 Add to My Program
Dynamics-Aware Target Following for an Autonomous Surface Vehicle Operating under COLREGs in Civilian Traffic
Svec, PetrUniv. of Maryland, Coll. Park
Shah, Brual C.Department of Mechanical Engineering, Univ. ofMaryland, Co
Bertaska, Ivan R.Department of Ocean & Mechanical Engineering, Florida Atlantic U
Alvarez, JoseDepartment of Ocean & Mechanical Engineering, Florida Atlantic U
Sinisterra, Armando J.Department of Ocean & Mechanical Engineering, Florida Atlantic U
Ellenrieder, Karl vonDepartment of Ocean & Mechanical Engineering, Florida Atlantic U
Dhanak, ManharDepartment of Ocean & Mechanical Engineering, Florida Atlantic U
Gupta, Satyandra K.Univ. of Maryland, Coll. Park
 
17:45-18:00, Paper TuDT6.4 Add to My Program
A Robust Visual Servo Control Scheme with Prescribed Performance for an Autonomous Underwater Vehicle
Bechlioulis, CharalamposNational Tech. Univ. of Athens
Karras, GeorgeNational Tech. Univ. of Athens
Nagappa, SharadUniv. of Girona
Palomeras, NarcisUniv. de Girona
Kyriakopoulos, KostasNational Tech. Univ. of Athens
Carreras, MarcUniv. de Girona
 
18:00-18:15, Paper TuDT6.5 Add to My Program
Improving the Energy Efficiency of Autonomous Underwater Vehicles by Learning to Model Disturbances
Kormushev, PetarIstituto Italiano di Tecnologia
Caldwell, Darwin G.Istituto Italiano di Tecnologia
 
18:15-18:30, Paper TuDT6.6 Add to My Program
A Robust Sonar Servo Control Scheme for Wall-Following Using an Autonomous Underwater Vehicle
Karras, GeorgeNational Tech. Univ. of Athens
Bechlioulis, CharalamposNational Tech. Univ. of Athens
Abdella, Hashim KemalHeriot-Watt Univ.
Larkworthy, TomUniv. of Edinburgh
Kyriakopoulos, KostasNational Tech. Univ. of Athens
Lane, DavidHeriot-Watt Univ.
 
TuDT7 Organized Session, Room701 Add to My Program 
Software Engineering for Robotics  
 
Chair: MacDonald, BruceUniv. of Auckland
Co-Chair: Smart, WilliamOregon State Univ.
Organizer: MacDonald, BruceUniv. of Auckland
Organizer: Smart, WilliamOregon State Univ.
 
17:00-17:15, Paper TuDT7.1 Add to My Program
Keynote Talk - Overview of TC SOFT and Other Developments in Software Engineering for Robotics (I)
MacDonald, BruceUniv. of Auckland
Nesnas, IssaJet Propulsion Lab.
Brugali, DavideUniv. degli Studi di Bergamo
 
17:15-17:30, Paper TuDT7.2 Add to My Program
Keynote Talk - the ROS Ecosystem: The Good, the Bad, and the Ugly (I)
Smart, WilliamOregon State Univ.
 
17:30-17:45, Paper TuDT7.3 Add to My Program
Unity-Link: A Software-Gateware Interface for Rapid Prototyping of Experimental Robot Controllers on FPGAs (I)
Lange, Anders BlaabjergUniv. of Southern Denmark
Schultz, Ulrik PaghUniv. of Southern Denmark
Soerensen, Anders StengaardUniv. of Southern Denmark
 
17:45-18:00, Paper TuDT7.4 Add to My Program
A Model-Based Approach to Software Deployment in Robotics (I)
Hochgeschwender, NicoBonn-Rhein-Sieg Univ. of Applied Sciences, Germany
Gherardi, LucaUniv. degli Studi di Bergamo
Shakhimardanov, AzamatFH Bonn-Rhein-Sieg
Kraetzschmar, GerhardBonn-Rhein-Sieg Univ.
Brugali, DavideUniv. degli Studi di Bergamo
Bruyninckx, HermanUniv. of Leuven
 
18:00-18:15, Paper TuDT7.5 Add to My Program
Experiences with Model-Centred Design Methods and Tools in Safe Robotics (I)
Biggs, GeoffreyNational Inst. of AIST
Sakamoto, TakeshiGlobal Assist Co., Ltd.
Fujiwara, KiyoshiInst. of Advanced Industrial Sci.(AIST)
Anada, KeijuCATS CO.,LTD.
 
18:15-18:30, Paper TuDT7.6 Add to My Program
A Robust and Modular Multi-Sensor Fusion Approach Applied to MAV Navigation (I)
Lynen, SimonETH Zurich
Achtelik, Markus W.ETH Zurich, Autonomous Syst. Lab.
Weiss, StephanETH Zurich
Chli, MargaritaETH Zurich
Siegwart, RolandETH Zurich
 
TuDT8 Organized Session, Room702 Add to My Program 
Robot Audition III  
 
Chair: Kumon, MakotoGraduate School of Science and Tech. Kumamoto
Co-Chair: Michaud, FrancoisUniv. de Sherbrooke
Organizer: Ince, GokhanIstanbul Tech. Univ.
Organizer: Okuno, Hiroshi G.Kyoto Univ.
Organizer: Nakadai, KazuhiroHonda Res. Inst. Japan Co., Ltd.
Organizer: Danès, PatrickUniv. Toulouse - LAAS-CNRS - UPS
Organizer: Kumon, MakotoGraduate School of Science and Tech. Kumamoto
Organizer: Kagami, SatoshiNational Inst. of AIST
Organizer: Michaud, FrancoisUniv. de Sherbrooke
Organizer: Argentieri, SylvainUniv. Pierre et Marie Curie - ISIR
 
17:00-17:15, Paper TuDT8.1 Add to My Program
Keynote Talk - Map Generation and Scene Analysis for Robots (I)
Kagami, SatoshiNational Inst. of AIST
 
17:15-17:30, Paper TuDT8.2 Add to My Program
Keynote Talk - Introduction to HARK 1.2.0 (I)
Nakadai, KazuhiroHonda Res. Inst. Japan Co., Ltd.
 
17:30-17:45, Paper TuDT8.3 Add to My Program
Nested Igmm Recognition and Multiple Hypothesis Tracking of Moving Sound Sources for a Mobile Robot Audition (I)
Sasaki, YokoNational Inst. of Advanced Industrial Science and Tech.
Hatao, NaotakaNational Inst. ofAdvancedIndustrialScienceandTechnology
Yoshii, KazuyoshiNational Inst. of Advanced Industrial ScienceandTechnology (
Kagami, SatoshiNational Inst. of AIST
 
17:45-18:00, Paper TuDT8.4 Add to My Program
Using Multiple Microphone Arrays and Reflections for 3D Localization of Sound Sources (I)
Ishi, Carlos ToshinoriATR
Even, JaniATR
Hagita, NorihiroATR
 
18:00-18:15, Paper TuDT8.5 Add to My Program
Noise Correlation Matrix Estimation for Improving Sound Source Localization by Multirotor UAV (I)
Furukawa, KoutarouKyoto Univ.
Okutani, KeitaTokyo Inst. of Tech.
Nagira, KoheiKyoto Univ.
Otsuka, TakumaKyoto Univ.
Itoyama, KatsutoshiKyoto Univ.
Nakadai, KazuhiroHonda Res. Inst. Japan Co., Ltd.
Okuno, Hiroshi G.Kyoto Univ.
 
18:15-18:30, Paper TuDT8.6 Add to My Program
Real-Time Super-Resolution Three-Dimensional Sound Source Localization for Robots (I)
Nakamura, KeisukeHonda Res. Inst. Japan Co., Ltd.
Gomez, RandyHonda Res. Inst. Japan Co., Ltd.
Nakadai, KazuhiroHonda Res. Inst. Japan Co., Ltd.
 
TuDT9 Regular Session, Room608 Add to My Program 
Unmanned Aerial Vehicles IV  
 
Chair: Floreano, DarioEc. Pol. Federal, Lausanne
Co-Chair: Majdik, AndrasUniv. of Zurich
 
17:00-17:15, Paper TuDT9.1 Add to My Program
Stereo Vision Based Indoor/outdoor Navigation for Flying Robots
Schmid, KorbinianGerman Aerospace Center (DLR)
Tomic, TeodorGerman Aerospace Center (DLR)
Ruess, FelixGerman Aerospace Center (DLR)
Hirschmüller, HeikoGerman Aerospace Center (DLR)
Suppa, MichaelGerman Aerospace Center (DLR)
 
17:15-17:30, Paper TuDT9.2 Add to My Program
Collaborative Monocular SLAM with Multiple Micro Aerial Vehicles
Forster, ChristianUniv. of Zurich
Lynen, SimonETH Zurich
Kneip, LaurentETHZ
Scaramuzza, DavideUniv. of Zurich
 
17:30-17:45, Paper TuDT9.3 Add to My Program
Air-Ground Localization and Map Augmentation Using Monocular Dense Reconstruction
Forster, ChristianUniv. of Zurich
Pizzoli, MatiaUniv. of Zurich
Scaramuzza, DavideUniv. of Zurich
 
17:45-18:00, Paper TuDT9.4 Add to My Program
MAV Urban Localization from Google Street View Data
Majdik, AndrasUniv. of Zurich
Albers-Schoenberg, YvesETH Zurich
Scaramuzza, DavideUniv. of Zurich
 
18:00-18:15, Paper TuDT9.5 Add to My Program
Contact-Based Navigation for an Autonomous Flying Robot
Briod, AdrienEc. Pol. Federale de Lausanne
Kornatowski, Przemyslaw MariuszEPFL
Klaptocz, AdamsenseFly
Garnier, ArnaudEPFL
Pagnamenta, MarcoEPFL
Zufferey, Jean-ChristopheEPFL
Floreano, DarioEc. Pol. Federal, Lausanne
 
18:15-18:30, Paper TuDT9.6 Add to My Program
Visual and Inertial Multi-Rate Data Fusion for Motion Estimation Via Pareto-Optimization
Loianno, GiuseppeUniv. degli Studi di Napoli Federico II
Lippiello, VincenzoUniv. di Napoli Federico II
Fischione, CarloKTH Royal Inst. of Tech.
Siciliano, BrunoUniv. Napoli Federico II
 
TuDT10 Regular Session, Room609 Add to My Program 
Grasping III  
 
Chair: Brock, OliverTech. Univ. Berlin
Co-Chair: Ming, AiguoThe Univ. of Electro-Communications
 
17:00-17:15, Paper TuDT10.1 Add to My Program
Grasping Unknown Objects by Exploiting Shape Adaptability and Environmental Constraints
Eppner, ClemensTech. Univ. Berlin
Brock, OliverTech. Univ. Berlin
 
17:15-17:30, Paper TuDT10.2 Add to My Program
Grasp Adjustment on Novel Objects Using Tactile Experience from Similar Local Geometry
Dang, HaoColumbia Univ.
Allen, PeterColumbia Univ.
 
17:30-17:45, Paper TuDT10.3 Add to My Program
Sequential Trajectory Re-Planning with Tactile Information Gain for Dexterous Grasping under Object-Pose Uncertainty
Zito, ClaudioUniv. of Birmingham
Kopicki, MarekUniv. of Birmingham
Stolkin, RustamUniv. of Birmingham
Wyatt, JeremyUniv. of Birmingham
Borst, ChristophGerman Aerospace Center (DLR)
Schmidt, FlorianGerman Aerospace Centre (DLR)
Roa, Maximo A.German Aerospace Center, DLR
 
17:45-18:00, Paper TuDT10.4 Add to My Program
Combining Touch and Vision for the Estimation of an Object’s Pose During Manipulation
Bimbo, JoaoKing's Coll. London
Seneviratne, LakmalKings Coll. London
Althoefer, KasparKings Coll. London
Liu, HongbinKing's Coll. London
 
18:00-18:15, Paper TuDT10.5 Add to My Program
Pre-Shaping for Various Objects by the Robot Hand Equipped with Resistor Network Structure Proximity Sensor
Koyama, KeisukeThe Univ. of Electro-Communications
Hasegawa, Hiroakithe Univ. of Electro-Communications
Suzuki, YosukeThe Univ. of Electro-Communications
Ming, AiguoThe Univ. of Electro-Communications
Shimojo, MakotoUniv. of Electro-COmmunications
 
18:15-18:30, Paper TuDT10.6 Add to My Program
Computing Grip Force and Torque from Finger Nail Images Using Gaussian Processes
Urban, SebastianTech. Univ. München
Bayer, JustinTech. Univ. München
Osendorfer, ChristianTech. Univ. München
Westling, GöranUmeå Univ.
Edin, BenoniUmeå Univ.
van der Smagt, PatrickTUM
 
TuDT11 Regular Session, Room801 Add to My Program 
Soft Mechanism  
 
Chair: Suzumori, KoichiOkayama Univ.
Co-Chair: Iida, FumiyaETH Zurich
 
17:00-17:15, Paper TuDT11.1 Add to My Program
Self-Beating Gel Pumps Powered by Chemical Energy
Takahashi, KokiShibaura Inst. of Tech.
Maeda, ShingoShibaura Inst. of Tech.
 
17:15-17:30, Paper TuDT11.2 Add to My Program
Free-Space Locomotion with Thread Formation
Wang, LiyuBio-Inspired Robotics Lab. ETH Zurich
Culha, UtkuETH Zurich
Iida, FumiyaETH Zurich
 
17:30-17:45, Paper TuDT11.3 Add to My Program
Robot Skin with Integrated Micro Rubber Suction Cups Adhering Rough Surfaces
Manabe, RyoichiOkayama Univ.
Suzumori, KoichiOkayama Univ.
Wakimoto, ShuichiOkayama Univ.
 
17:45-18:00, Paper TuDT11.4 Add to My Program
Link Position Control of a Compliant Actuator with Unknown Transmission Friction Torque
Chen, LishaIstituto Italiano di Tecnologia
Laffranchi, MatteoFondazione Istituto Italiano di Tecnologia
Lee, JinohIstituto Italiano di Tecnologia
Kashiri, NavvabIstituto Italiano di Tecnologia
Tsagarakis, NikolaosIstituto Italiano di Tecnologia
Caldwell, Darwin G.Istituto Italiano di Tecnologia
 
18:00-18:15, Paper TuDT11.5 Add to My Program
Self-Pop-Up Cylindrical Structure by Global Heating
Miyashita, ShuheiMIT
Onal, Cagdas DenizelWPI
Rus, DanielaMIT
 
18:15-18:30, Paper TuDT11.6 Add to My Program
Design and Sensing of a Flexible Robot Leg
Lopes, GabrielDelft Univ. of Tech.
Zhang, FankaiDelft Univ. of Tech.
 
TuDT12 Regular Session, Room610 Add to My Program 
Medical Robotics III  
 
Chair: Abbeel, PieterUC Berkeley
Co-Chair: Fischer, Gregory ScottWorcester Pol. Inst. WPI
 
17:00-17:15, Paper TuDT12.1 Add to My Program
Design Evaluation of a Double Ring RCM Mechanism for Robotic Needle Guidance in MRI-Guided Liver Interventions
Song, Sang-EunBWH, Harvard Medical School
Tokuda, JunichiBrigham and Women's Hospital and Harvard Medical School
Tuncali, KemalBWH
Yamada, AtsushiBrigham and Women's hospital
Torabi, MeysamHarvard Medical School
Hata, NobuhikoBrigham and Women's Hospital
 
17:15-17:30, Paper TuDT12.2 Add to My Program
A Novel Comanipulation Device for Assisting Needle Placement in Ultrasound Guided Prostate Biopsies
Poquet, CécileUniv. Pierre et Marie Curie - Paris6
Mozer, PierreUniv. Pierre et Marie Curie - Paris6
Morel, GuillaumeUniv. Pierre et Marie Curie - Paris 6
Vitrani, Marie-AudeUniv. Pierre et Marie Curie - Paris6
 
17:30-17:45, Paper TuDT12.3 Add to My Program
Teleoperation System with Hybrid Pneumatic-Piezoelectric Actuation for MRI-Guided Needle Insertion with Haptic Feedback
Shang, WeijianWorcester Pol. Inst.
Su, HaoWorcester Pol. Inst.
Li, Gangworcester Pol. Inst.
Fischer, Gregory ScottWorcester Pol. Inst. WPI
 
17:45-18:00, Paper TuDT12.4 Add to My Program
Analysis of Needle-Tissue Friction During Vibration-Assisted Needle Insertion
Khalaji, ImanThe Univ. of Western Ontario
Hadavand, MostafaThe Univ. of Western Ontario
Asadian, AliWestern Univ. (The Univ. of Western Ontario)
Patel, Rajnikant V.The Univ. of Western Ontario
Naish, Michael D.The Univ. of Western Ontario
 
18:00-18:15, Paper TuDT12.5 Add to My Program
KidsArm - an Image-Guided Pediatric Anastomosis Robot
Looi, ThomasHospital for Sick Children
Yeung, BennyMDA
Umasuthan, ManickamMDA Space Missions
Drake, JamesHospital for Sick Children, Univ. of Toronto
 
18:15-18:30, Paper TuDT12.6 Add to My Program
A Case Study of Trajectory Transfer through Non-Rigid Registration for a Simplified Suturing Scenario
Schulman, JohnUC Berkeley
Gupta, AnkushUniv. of California, Berkeley
Venkatesan, SibiUniv. of California, Berkeley
Tayson-Frederick, MalloryUniv. of California, Berkeley
Abbeel, PieterUC Berkeley
 
TuDT13 Regular Session, Room802 Add to My Program 
Balance Control  
 
Chair: Sugihara, TomomichiGraduate School of Engineering, Osaka Univ.
Co-Chair: Byl, KatieUCSB
 
17:00-17:15, Paper TuDT13.1 Add to My Program
Optimal Ankle Compliance Regulation for Humanoid Balancing Control
Mosadeghzad, MohamadItalian Inst. of Tech.
Li, ZhibinIstituto Italiano di Tecnologia
Tsagarakis, NikolaosIstituto Italiano di Tecnologia
Medrano-Cerda, GustavoItalian Inst. of Tech.
Dallali, HoumanItalian Inst. of Tech.
Caldwell, Darwin G.Istituto Italiano di Tecnologia
 
17:15-17:30, Paper TuDT13.2 Add to My Program
Stabilizing Humanoids on Slopes Using Terrain Inclination Estimation
Li, ZhibinIstituto Italiano di Tecnologia
Tsagarakis, NikolaosIstituto Italiano di Tecnologia
Caldwell, Darwin G.Istituto Italiano di Tecnologia
 
17:30-17:45, Paper TuDT13.3 Add to My Program
Increased Robustness of Humanoid Standing Balance in the Sagittal Plane through Adaptive Joint Torque Reduction
Giftthaler, MarkusSwiss Federal Inst. of Tech. (ETH) Zurich, Switzerland
Byl, KatieUCSB
 
17:45-18:00, Paper TuDT13.4 Add to My Program
Humanoid Push Recovery Control in Case of Multiple Non-Coplanar Contacts
Mansour, DarineCommissariat à l'Energie Atomique (CEA)
Micaelli, AlainCommissariat à l'Energie Atomique
Lemerle, PierreInst. National de Recherche et de Sécurité
 
18:00-18:15, Paper TuDT13.5 Add to My Program
Compliant Attitude Control and Stepping Strategy for Balance Recovery with the Humanoid COMAN
Perrin, Nicolas YvesIstituto Italiano di Tecnologia
Tsagarakis, NikolaosIstituto Italiano di Tecnologia
Caldwell, Darwin G.Istituto Italiano di Tecnologia
 
18:15-18:30, Paper TuDT13.6 Add to My Program
Standing Posture Modeling and Control for a Humanoid Robot
Ahmed, MariamNational Univ. of Singapore
Tian, BoInst. for Infocomm Res. A*STAR