18th IEEE International Symposium on Robot and Human Interactive Communication
Sept. 27-Oct. 2, 2009, Toyama International Conference Center, Japan

Program at a Glance    Tuesday    Wednesday    Thursday    Author Index    Keyword Index  

Last updated on September 8, 2009. This conference program is tentative and subject to change

Technical Program for Wednesday September 30, 2009



Main Hall
Plenary II Plenary Session


Main Hall
Interactive Oral Session II Interactive Oral Session
Chair: Wada, MasayoshiSaitama Inst. of Tech.
Co-Chair: Kajimoto, HiroyukiThe Univ. of Electro-Communications

10:00-10:03, Paper WeIAH.1

Interactive Motion Planning for Assembly Tasks
Flavigne, DavidLAAS-CNRS
TaÏx, MichelLAAS-CNRS/Univ. Paul Sabatier
Ferré, EtienneKineo Computer Aided Motion

10:03-10:06, Paper WeIAH.2

Ungrounded Kinesthetic Pen for Haptic Interaction with Virtual Environments (I)
Kamuro, ShoThe Univ. of Tokyo
Minamizawa, KoutaThe Univ. of Tokyo
Kawakami, Naokithe Univ. of Tokyo
Tachi, SusumuThe Univ. of Tokyo

10:06-10:09, Paper WeIAH.3

Real-Time Inspection of Surface Irregularity by Finger-Mounted Tactile Sensor (I)
Tanaka, YoshihiroNagoya Inst. of Tech.
Sato, HideoNagoya Inst. of Tech.
Fujimoto, HideoNagoya Inst. of Tech.

10:09-10:12, Paper WeIAH.4

Development for an Interactive Communication Display for Blind Computer Users (I)
Shimada, ShigenobuTokyo Metropolitan Industrial Tech. Res. Inst.
Yamamoto, SuguruHitachi Software Engineering Co., Ltd.
Uchida, YusukeHitachi Information Systems. Ltd.
Shinohara, MasamiNational Inst. of Advanced Industrial Science and Tech.
Shimizu, YutakaThe Univ. of Electro-Communications
Shimojo, MakotoUniv. of Electro-COmmunications

10:12-10:15, Paper WeIAH.5

Pen Type Surface Acoustic Wave Tactile Display with Movable Tablet (I)
Takasaki, MasayaSaitama Univ.
Tamon, RyoSaitama Univ.
Kotani, HiroyukiSaitama Univ.
Mizuno, TakeshiSaitama Univ.

10:15-10:18, Paper WeIAH.6

Tactile Mapping Approach Using Electrical Stimulus Pattern (I)
Yoshimoto, ShunsukeOsaka Univ.
Kuroda, YoshihiroOsaka Univ.
Kagiyama, YoshiyukiOsaka Univ.
Kuroda, TomohiroOsaka Univ.
Oshiro, OsamuOsaka Univ.

10:18-10:21, Paper WeIAH.7

Macro-Micro Tele-Manipulation System Based on Body Image Embedding with Contact Feel, Spatial Motion and Stereo Vision (I)
Mochiyama, HiromiUniv. of Tsukuba
Dohda, TakeyukiUniv. of Tsukuba
Kobayashi, HisatoHosei Univ.
Tatsuno, JunyaKinki Univ.
Kawai, HiroyukiKanazawa Inst. of Tech.

10:21-10:24, Paper WeIAH.8

Health Exercise Demonstration Robot TAIZO and Effects of Using Voice Command in Robot-Human Collaborative Demonstration
Matsusaka, YosukeNational Inst. of Advanced Industrial Science andTechnology
Fujii, HiroyukiJapan Science and Tech. Agency
Okano, TokenGeneral Robotix, Inc.
Hara, IsaoNational Inst. of Advanced Industrial Science and Tech.

10:24-10:27, Paper WeIAH.9

Practical Map Building Method for Service Robot Using EKF Localization Based on Statistical Distribution of Noise Parameters
Lee, Yu-CheolElectronics/Telecomm. Res. Inst.

10:27-10:30, Paper WeIAH.10

Block Comparison Based Face Identification Using HOG Feature
Yun, Woo-hanElectronics and Telecommunications Res. Inst.
Kim, DoHyungElectronics and Telecommunications Res. Inst.
Yoon, HosubETRI
Song, ByoungYoulElectronics and Telecommunications Res. Inst.

10:30-10:33, Paper WeIAH.11

Virtual Cutter Path Display for Dental Milling Machine
Ito, TeraukiThe Univ. of Tokushima
Niwa, TakashiThe Univ. of Tokushima
Slocum, AlexanderMassachusetts Inst. of Tech.

10:33-10:36, Paper WeIAH.12

A Basic System Using Simple Analog Motion Detection Circuit Based on the Biological Vision System and Mobile Robot
Nishio, KimihiroTsuyama National Coll. of Tech.

10:36-10:39, Paper WeIAH.13

A Proposal of Estimation System for Concentration Situation by Using Acceleration Sensor
Okubo, MasashiDoshisha Univ.
Fujimura, AyaDoshisha Univ.

10:39-10:42, Paper WeIAH.14

Physical Interaction Learning: Behavior Adaptation in Cooperative Human-Robot Tasks Involving Physical Contact
Ikemoto, ShuheiGradiate School of Engineering, Osaka Univ.
Ben Amor, HeniTech. Univ. Bergakademie Freiberg
Minato, TakashiERATO, Japan Sci. and Tech. Agency
Ishiguro, HiroshiOsaka Univ.
Jung, BernhardTU Bergakademie Freiberg

10:42-10:45, Paper WeIAH.15

"The Japanese Way of Robotics": Interacting "naturally" with Robots As a National Character?
Wagner, CosimaJohann Wolfgang Goethe-Univ. Japanese Studies dept.

10:45-10:48, Paper WeIAH.16

Can an Android Persuade You?
Ogawa, KoheiATR
Bartneck, ChristophEindhoven Univ. of Tech.
Sakamoto, DaisukeThe Univ. of Tokyo
Kanda, TakayukiATR
Ono, TetsuoFuture Univ.
Ishiguro, HiroshiOsaka Univ.

10:48-10:51, Paper WeIAH.17

Human Action and Experience As Basis for the Design and Study of Robotic Artefacts
Fernaeus, YlvaSwedish Inst. of Computer Science

10:51-10:54, Paper WeIAH.18

Measuring Acceptance of an Assistive Social Robot: A Suggested Toolkit
Heerink, MarcelHogeschool van Amsterdam
Krose, BenUniv. of Amsterdam
Evers, VanessaUniv. of Amsterdam
Wielinga, BobUniv. of Amsterdam

10:54-10:57, Paper WeIAH.19

Development of a Head Rotation Interface by Using Hanger Reflex (I)
Sato, MichiThe Univ. of Electro-Comunications
Rika, MatsueThe Univ. of Electro-Communications
Hashimoto, YukiThe Univ. of Electro-Communications
Kajimoto, HiroyukiThe Univ. of Electro-Communications


Assistive Robotics I Regular Session
Chair: Broadbent, ElizabethUniv. of Auckland
Co-Chair: Morizono, TetsuyaFukuoka Inst. of Tech.

11:10-11:30, Paper WeA1.1

Development of a Human Symbiotic Assist Arm PAS-Arm : Design of CVT
Higuchi, MineoMitsubishi Electric Corp.
Ogasawara, TsukasaNara Inst. of Science and Tech.

11:30-11:50, Paper WeA1.2

Development of Power-Assist Robot Arm Using Pneumatic Rubber Muscles with a Balloon Sensor
Kadota, KazuoTokyo Inst. of Tech.
Akai, MasaoTokyo Inst. of Tech.
Kawashima, KenjiTokyo Inst. of Tech.
Kagawa, ToshiharuTokyo Inst. of Tech.

11:50-12:10, Paper WeA1.3

Study on a Wearable Elbow Joint Capable of Mechanical Adjustment of Stiffness
Morizono, TetsuyaFukuoka Inst. of Tech.
Komiya, TadahisaToyota Tech. Inst.
Higashi, MasatakeToyota Tech. Inst.


Ethics on Robotics Application for Daily Life Special Session
Chair: Tanaka, FumihideUniv. of Tsukuba
Co-Chair: Nomura, TatsuyaRyukoku Univ.

11:10-11:30, Paper WeA2.1

The Use of Robots in Early Education: A Scenario Based on Ethical Consideration (I)
Tanaka, FumihideUniv. of Tsukuba
Kimura, TakeshiUniv. of Tsukuba

11:30-11:50, Paper WeA2.2

Practical Issues on Robotic Education and Challenges towards RoboEthics Education (I)
Solis, JorgeWaseda Univ.
Takanishi, AtsuoWaseda Univ.

11:50-12:10, Paper WeA2.3

An Ethical Discussion on Introducing Rehabilitation Robots for People with Disabilities (I)
Tejima, NoriyukiRitsumeikan Univ.

12:10-12:30, Paper WeA2.4

Robots in Mental Therapy: Its Possibility and Danger (I)
Nomura, TatsuyaRyukoku Univ.


Intelligent Space Regular Session
Chair: Nakauchi, YasushiUniv. of Tsukuba
Co-Chair: Hashimoto, HidekiUniv. of Tokyo

11:10-11:30, Paper WeA3.1

Optimal Arrangement of Ceiling Cameras for Home Service Robots Using Genetic Algorithms
Nikolaidis, StefanosUniv. of Tokyo
Arai, TamioUniv. of Tokyo

11:30-11:50, Paper WeA3.2

Identification and Control for an Unknown Robot in Intelligent Space
Kim, Joo-HyungKorea Univ.
Lee, Jeong-EumKorea Univ.
Lee, Hyun-GuKorea Univ.
Park, Gwi-TaeKorea Univ.

11:50-12:10, Paper WeA3.3

Comparison of Visual and Vibration Displays for Finding Spatial Memory in Intelligent Space
Niitsuma, MihokoChuo Univ.
Hashimoto, HidekiUniv. of Tokyo

12:10-12:30, Paper WeA3.4

Cooking Procedure Recoginition and Inference in Sensor Embedded Kitchen
Nakauchi, YasushiUniv. of Tsukuba
Suzuki, TakuoUniv. of Tsukuba
Tokumasu, AkiraUniv. of Tsukuba
Sho, MurakamiUniv. of Tsukuba


Motion Planning and Navigation in the Vicinity of Humans Regular Session
Chair: Hanai, RyoThe Univ. of Tokyo
Co-Chair: Kamejima, KohjiOsaka Inst. of Tech.

11:10-11:30, Paper WeA4.1

Dynamic Perception-Control Coupling for Anticipative Road Following on Satellite-Roadway-Vehicle Network
Kamejima, KohjiOsaka Inst. of Tech.

11:30-11:50, Paper WeA4.2

COMPANION: A Constraint-Optimizing Method for Person-Acceptable Navigation
Kirby, RachelCarnegie Mellon Univ.
Simmons, ReidCarnegie Mellon Univ.
Forlizzi, JodiCarnegie Mellon Univ.

11:50-12:10, Paper WeA4.3

Effectiveness Evaluation of Precomputation Search Using Steering Set
Suzuki, YumikoNara Inst. of Science and Tech.
Thompson, SimonNational Inst. of Advanced Industrial Science
Kagami, SatoshiNational Inst. of AIST

12:10-12:30, Paper WeA4.4

Real-Time Navigation for a Personal Mobility in an Environment with Pedestrians
Hatao, NaotakaThe Univ. of Tokyo
Hanai, RyoThe Univ. of Tokyo
Yamazaki, KimitoshiThe Univ. of Tokyo
Inaba, MasayukiThe Univ. of Tokyo


Interactive Oral Session II (discussion) Interactive Oral Session


Assistive Robotics II Regular Session
Chair: Arioui, HichemEvry Val d'Essonne Univ.
Co-Chair: Uno, YojiNagoya Univ.

14:50-15:10, Paper WeB1.1

Towards a Model of Emotion Expression in an Interactive Robot Head
Murray, John ChristopherHertfordshire Univ.
Canamero, LolaUniv. of Hertfordshire
Hiolle, AntoineUniv. of Hertforshire

15:10-15:30, Paper WeB1.2

Gait Pattern Generation for a Power-Assist Device of Paraplegic Gait
Kagawa, TakahiroNagoya Univ.
Uno, YojiNagoya Univ.

15:30-15:50, Paper WeB1.3

Evaluation of a Novel Biologically Inspired Trajectory Generator in Human-Robot Interaction
Huber, MarkusLMU Munich
Radrich, HelmuthTech. Univ. München
Wendt, CorneliaUniv. der Bundeswehr Muenchen
Rickert, MarkusTech. Univ. München
Knoll, AloisTU Munich
Brandt, ThomasLudwig-Maximilian Univ.
Glasauer, StefanLudwig-Maximilian Univ.

15:50-16:10, Paper WeB1.4

Retirement Home Staff and Residents’ Preferences for Healthcare Robots
Broadbent, ElizabethUniv. of Auckland
Tamagawa, RieThe Univ. of Auckland
Kerse, NgaireThe Univ. of Auckland
Knock, BrettThe Univ. of Auckland
Patience, AnnaThe Univ. of Auckland
MacDonald, BruceUniv. of Auckland


Interaction Design for Adaptation I Special Session
Chair: Yamada, SeijiNational Inst. of Informatics
Co-Chair: Komatsu, TakanoriShinshu Univ.

14:50-15:10, Paper WeB2.1

Investigating the Contributing Factors to Make Users React Toward an On-Screen Agent As If They Are Reacting Toward a Robotic Agent (I)
Komatsu, TakanoriShinshu Univ.
Kuki, NozomiShinshu Univ.

15:10-15:30, Paper WeB2.2

Attribution of Identity in Autonomous Action (I)
Nakagami, HikaruShizuoka Univ.
Takeuchi, YugoShizuoka Univ.

15:30-15:50, Paper WeB2.3

Showing Awareness of Humans' Context to Involve Humans in Interaction (I)
Hato, YasuhikoKeio Univ.
Kanold, Thomas GeorgKeio Univ. Tech. Univ. Darmstadt
Ishii, KentaroJapan Science Tech. Agency, ERATO
Imai, MichitaKeio Univ.

15:50-16:10, Paper WeB2.4

As Time Goes By: Long-Term Evaluation of Social Presence in Robotic Companions
Leite, IolandaTech. Univ. of Lisbon
Martinho, CarlosInst. Superior Técnico, Tech. Univ. of Lisbon
Pereira, André TiagoTech. Univ. of Lisbon
Paiva, AnaINESC-ID


Robots in Art, Education and Entertainment Regular Session
Chair: Solis, JorgeWaseda Univ.
Co-Chair: Mavridis, NikolaosInteractive Robots and Media Lab.

14:50-15:10, Paper WeB3.1

Characteristics of Young Children's Utilization of a Robot During Free Play Time at a Kindergarten: A Case Study
Hyun, EunJaSungkyunkwan
Yoon, HyunminUniv. of SungKyunKwan

15:10-15:30, Paper WeB3.2

The IbnSina Center: An Augmented Reality Theater with Intelligent Robotic and Virtual Characters
Mavridis, NikolaosInteractive Robots and Media Lab.
Hanson, DavidHanson Robotics

15:30-15:50, Paper WeB3.3

A Life-Size Robotic Lion Dance System with Integrated Motion Control
Han, Boon SiewInst. for Infocomm Res. (I2R)
Ho, DesmondSIMTech, ASTAR
Tay, AdrianASTAR
Ng, Tzer LiangSingapore Inst. of Manufacturing Tech.
Yow, Ai PingA*star
Chen, I-MingNanyang Tech. Univ.
Yeo, Song HuatNanyang Tech. Univ.
Li, HaizhouInst. for Infocomm Res.

15:50-16:10, Paper WeB3.4

Introduction of Mechatronics to Undergraduate Students Based on Robotic Platforms for Education Purposes
Solis, JorgeWaseda Univ.
Nakadate, RyuWaseda Univ.
Yamamoto, TetsuroWaseda Univ.
Takanishi, AtsuoWaseda Univ.


Robot Companions and Social Robots Regular Session
Chair: Ohya, AkihisaUniv. of Tsukuba
Co-Chair: Tokura, SeijiCorp.

14:50-15:10, Paper WeB4.1

Evaluations of Embedded Modules Dedicated to Multimodal Human-Robot Interaction
Burger, BriceUniv. de Toulouse ; LAAS-CNRS ; IRIT
Lerasle, FredericLAAS - CNRS
Ferrane, IsabelleIRIT - Paul Sabatier Univ.

15:10-15:30, Paper WeB4.2

EmI – My Emotional Cuddly Companion
Saint-Aimé, SébastienUniv. de Bretagne Sud
Le-Pévédic, BrigitteUniv.
Letellier-Zarshenas, SabineUniv.
Duhaut, DominiqueUniv. de Bretagne Sud

15:30-15:50, Paper WeB4.3

Panoramic Vision and LRF Sensor Fusion Based Human Identification and Tracking for Autonomous Luggage Cart
Kristou, MehrezTsukuba Univ.
Ohya, AkihisaUniv. of Tsukuba
Yuta, ShinichiUniv. of Tsukuba

15:50-16:10, Paper WeB4.4

Exploring Play Styles with a Robot Companion
Marti, PatriziaUniv. of Siena
Giusti, LeonardoUniv. of Siena
Pollini, AlessandroUniv. of Siena


Assistive Robotics III Regular Session
Chair: Buss, MartinTech. Univ. München
Co-Chair: Murray, John ChristopherHertfordshire Univ.

16:30-16:50, Paper WeC1.1

Experimental Analysis of Dominance in Haptic Collaboration
Groten, RaphaelaTech. Univ. München
Feth, DanielaTech. Univ. München
Goschy, HarrietTech. Univ. München
Peer, AngelikaTech. Univ. München
Kenny, David A.Univ. of Connecticut
Buss, MartinTech. Univ. München

16:50-17:10, Paper WeC1.2

Elevator Available Voice Activated Wheelchair
Murai, AkiraTottori Univ.
Mizuguchi, MasaharuTottori Univ.
Saitoh, TakeshiTottori Univ.
Osaki, TomoyukiTottori Univ.
Konishi, RyosukeTottori Univ.

17:10-17:30, Paper WeC1.3

Hand It Over or Set It Down: A User Study of Object Delivery with an Assistive Mobile Manipulator
Choi, Young SangGeorgia Inst. of Tech.
Chen, TiffanyGeorgia Inst. of Tech.
Jain, AdvaitGeorgia Inst. of Tech.
Anderson, CresselGeorgia Tech.
Glass, JonathanEmory Univ.
Kemp, CharlieGeorgia Inst. of Tech.

17:30-17:50, Paper WeC1.4

Environment Situation Reasoning Integrating Human Recognition and Life Sound Recognition Using DBN
Tokutsu, SatoruThe Univ. of Tokyo
Okada, KeiThe Univ. of Tokyo
Inaba, MasayukiThe Univ. of Tokyo


Interaction Design for Adaptation II Special Session
Chair: Avizzano, Carlo AlbertoScuola Superiore S. Anna
Co-Chair: Takeuchi, YugoShizuoka Univ.

16:30-16:50, Paper WeC2.1

Rebo: A Remote Control with Strokes (I)
Kobayashi, KazukiShinshu Univ.
Nakagawa, YutaroOsaka Univ. of Arts
Yamada, SeijiNational Inst. of Informatics
Nakagawa, ShinobuOsaka Univ. of Arts
Saito, YasunoriShinshu Univ.

16:50-17:10, Paper WeC2.2

Learning to Understand Parameterized Commands through a Human-Robot Training Task (I)
Austermann, AnjaSOKENDAI
Yamada, SeijiNational Inst. of Informatics

17:10-17:30, Paper WeC2.3

Conversation System Based on Boltzmann Selection and Bayesian Networks for a Partner Robot (I)
Kubota, NaoyukiTokyo Metropolitan Univ.
Mori, TakeruTokyo metropolitan Univ.

17:30-17:50, Paper WeC2.4

Digital Representation of SKILLS for Human Robot Interaction
Avizzano, Carlo AlbertoScuola Superiore S. Anna
Ruffaldi, EmanueleScuola Superiore S.Anna
Bergamasco, MassimoScuola Superiore S.Anna


Brain Machine Interface Regular Session
Chair: Otake, MihokoThe Univ. of Tokyo
Co-Chair: Capi, GenciUniv. of Toyama

16:30-16:50, Paper WeC3.1

Design of Differential Near-Infrared Spectroscopy Based Brain Machine Interface
Matsuyama, HiroshiThe Univ. of Tokyo
Asama, HajimeThe Univ. of Tokyo
Otake, MihokoThe Univ. of Tokyo

16:50-17:10, Paper WeC3.2

Controlling the Robot Using the Brain Signals
Capi, GenciUniv. of Toyama

17:10-17:30, Paper WeC3.3

Research on Intelligent Motorized Prosthetic Hand by Functional Analysis of Human Hand at Near Future
Saito, Yukiotokyo denki Univ.
Higashihara, TakanoriTakamatsu Gishu Production Co.Ltd.
Ohnishi, KengoOkayama Prefectural Univ.
Umemura, Atushitokyo denki Univ.

17:30-17:50, Paper WeC3.4

Towards an EEG-Based Emotion Recognizer for Humanoid Robots
Schaaff, KristinaUniv. of Karlsruhe (TH)
Schultz, TanjaUniv. of Karlsruhe


Social Intelligence for Robots Regular Session
Chair: Salichs, Miguel A.Univ. Carlos III of Madrid
Co-Chair: Igarashi, HiroshiTokyo Denki Univ.

16:30-16:50, Paper WeC4.1

Teaching Sequences to a Social Robot by Voice Interaction
F. Gorostiza, JaviUniv. Carlos III de Madrid
Salichs, Miguel A.Univ. Carlos III of Madrid

16:50-17:10, Paper WeC4.2

Entertainment Robot Personality Design Based on Basic Factors of Motions: A Case Study with ROLLY
Kim, JaewookLG electronics
Kwak, Sonya SonaKIPO(Korean Intellectual Property Office)
Kim, Myung SukKAIST

17:10-17:30, Paper WeC4.3

Human-Like Catching Motion of Humanoid Using Evolutionary Algorithm(EA)-Based Imitation Learning
Park, Ga-RamKorea Univ.
Kim, KangGeonKorea Inst. of Science and Tech.
Kim, ChangHwanKorea Inst. of Science and Tech.
Jeong, Mun-HoKorea Inst. of Science and Tech.
You, Bum JaeKIST
Ra, SyungkwonKorea Inst. of Science and Tech.

17:30-17:50, Paper WeC4.4

Rhythmic Attention in Child-Robot Dance Play
Michalowski, MarekCarnegie Mellon Univ.
Simmons, ReidCarnegie Mellon Univ.
Kozima, HidekiMiyagi Univ.