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 Thursday October 1, 2009



Main Hall
Plenary III Plenary Session


Detecting and Understanding Human Activity I Regular Session
Chair: Lee, Joo-HoRitsumeikan Univ.
Co-Chair: Noguchi, HiroshiThe Univ. of Tokyo

10:20-10:40, Paper ThA1.1

Behavior Labeling Algorithms from Accumulated Sensor Data Matched to Usage of Livelihood Support Application
Oshima, KanaThe Univ. of Tokyo
Urushibata, RyoUniv. of Tokyo
Fujii, AkinoriThe Univ. of Tokyo
Noguchi, HiroshiThe Univ. of Tokyo
Shimosaka, MasamichiUniv. of Tokyo
Sato, TomomasaThe Univ. of Tokyo
Mori, TaketoshiThe Univ. of Tokyo

10:40-11:00, Paper ThA1.2

Visual Motion Capture from an Interactive Robot
Fontmarty, MathiasLAAS-CNRS
Lerasle, FredericLAAS - CNRS
Danès, PatrickUniv. de Toulouse ; LAAS-CNRS ; UPS ; F-31077

11:00-11:20, Paper ThA1.3

Development of Coimagination Method towards Cognitive Enhancement Via Image Based Interactive Communication
Otake, MihokoThe Univ. of Tokyo
Kato, MotoichiroKeio Univ. School of Medicine
Takagi, ToshihisaThe Univ. of Tokyo
Asama, HajimeThe Univ. of Tokyo

11:20-11:40, Paper ThA1.4

Fast Hand Gesture Recognition Based on Saliency Maps: An Application to Interactive Robotic Marionette Playing
Ajallooeian, MostafaRobolab, Ec. dept. Faculty of Engineering, Univ. of Tehran,
Borji, AliInst. for Res. in Fundamental Sciences,(IPM)
Nadjar Araabi, BabakUniv. of Tehran
Nili Ahmadabadi, MajidUniv. of Tehran
Moradi, HadiThe Univ. of Tehran, Robotics and AI Lab.


Visual Sensing and Cognition I Regular Session
Chair: Yoon, HosubETRI

10:20-10:40, Paper ThA2.1

A Method for Synchronizing Nods of a CG Character and a Human Using Thermal Image Processing
Kato, RyotaKyoto Prefectural Univ.
Yoshitomi, YasunariKyoto Prefectural Univ.
Asada, TaroKyoto Prefectutral Univ.
Fujita, YokoNara Inst. of Science and Tech.
Tabuse, MasayoshiKyoto Prefectural Univ.

10:40-11:00, Paper ThA2.2

Directed Attention - a Cognitive Vision System for a Mobile Robot
Beuter, NiklasBielefeld Univ.
Lohmann, OkkoBielefeld Univ.
Schmidt, JoachimUniv. of Bielefeld, Faculty of Tech.
Kummert, FranzUniv. of Bielefeld

11:00-11:20, Paper ThA2.3

Coordinated Multi-Focal Feature Tracking for an Interactive Mobile Robot
Xu, TingtingTech. Univ. München
Guo, YiNTD Patent & Trademark Agency Ltd.
Kühnlenz, KoljaTech. Univ. München
Buss, MartinTech. Univ. München

11:20-11:40, Paper ThA2.4

Establishing Affective Human Robot Interaction through Contextual Information
Valibeik, Salmanimperial Coll.
Ballantyne, JamesImperial Coll.
Ping Lai Lo, BennyImperial Coll. London
Darzi, AraImperial Coll. London
Yang, Guang-ZhongImperial Coll. London


Multimodal Interaction and Conversational Skills I Regular Session
Chair: Pitsch, KarolaBielefeld Univ.
Co-Chair: Watanabe, TomioOkayama Prefectural Univ.

10:20-10:40, Paper ThA3.1

Evaluation of Impression for Virtual and Real Robots
Ohara, KenichiOsaka Univ.
Negi, ShunsukeOsaka Univ.
Takubo, TomohitoOsaka Univ.
Mae, YasushiOsaka Univ.
Arai, TatsuoOsaka Univ.

10:40-11:00, Paper ThA3.2

Towards a Minimal Interaction Scheme: Initial Observations on Gesture Repertoire and Communication Strategies
Green, AndersKTH Royal Inst. of Tech.

11:00-11:20, Paper ThA3.3

Efficient Parsing of Spoken Inputs for Human-Robot Interaction
Lison, PierreDeutsches Forschungszentrum für Kunstliche Intelligenz (DFKI Gmb
Kruijff, Geert-JanGerman Res. Center for AI

11:20-11:40, Paper ThA3.4

The Humanoid Museum Tour Guide Robotinho
Faber, FelixUniv. of Freiburg
Bennewitz, MarenUniv. of Freiburg
Eppner, ClemensUniv. of Freiburg
Goeroeg, AttilaUniv. of Freiburg
Gonsior, ChristophUniv. of Freiburg
Joho, DominikUniv. of Freiburg
Schreiber, MichaelUniv. of Freiburg
Behnke, SvenUniv. of Bonn


Haptic Interaction I Regular Session
Chair: Takasaki, MasayaSaitama Univ.
Co-Chair: Bergamasco, MassimoScuola Superiore S.Anna

10:20-10:40, Paper ThA4.1

Development of Bilateral Wearable Device ``Kento'' for Control Robots Using Muscle Actuator Modules
Hongo, KazuoThe Univ. of Tokyo
Yoshida, MarikoThe Univ. of Tokyo
Nakanishi, YutoThe Univ. of Tokyo
Mizuuchi, IkuoTokyo Univ. of Agriculture and Tech.
Inaba, MasayukiThe Univ. of Tokyo

10:40-11:00, Paper ThA4.2

Haptic Guidance of Light-Exoskeleton for Arm-Rehabilitation Tasks
Lugo Villeda, Luis IvanScuola Superiore Sant'Anna, PERCRO
Frisoli, AntonioScuola Superiore Sant'Anna
Sandoval Gonzalez, Oscar OsvaldoScuola Superior Sant'Anna, PERCRO
Padilla Castañeda, Miguel AngelScuola Superiore Sant' Anna
Parra Vega, VicenteCINVESTAV
Avizzano, Carlo AlbertoScuola Superiore S. Anna
Ruffaldi, EmanueleScuola Superiore S.Anna
Bergamasco, MassimoScuola Superiore S.Anna

11:00-11:20, Paper ThA4.3

Passive Force Display Method to Actualize Virtual Clay
Ogawa, YutaroToyamaPrefectural Univ.
Koyanagi, Ken'ichiToyama Prefectural Univ.
Oshima, ToruToyama Prefectural Univ.

11:20-11:40, Paper ThA4.4

Active and Efficient Motor Skill Learning Method Used in a Haptic Teleoperated System
Garcia, Nadia VanessaIstituto Italiano di Tecnologia
Parra, VicenteCenter for Res. and Advanced Studies,


Detecting and Understanding Human Activity II Regular Session
Chair: Koyanagi, Ken'ichiToyama Prefectural Univ.
Co-Chair: Bak, ThomasAalborg Univ.

13:00-13:20, Paper ThB1.1

Development of Robot Leg Which Provided with the Bi-Articular Actuator for Training Techniques of Rehabilitation
Shimizu, ShinyaToyama prefectual Univ.
Momose, NoboruToyama National Coll. of Maritime Tech.
Oshima, ToruToyama Prefectural Univ.
Koyanagi, Ken'ichiToyama Prefectural Univ.

13:20-13:40, Paper ThB1.2

Adaptive Human Aware Navigation Based on Motion Pattern Analysis
Hansen, Søren TranbergDanish Tech. Inst.
Svenstrup, MikaelAalborg Univ.
Andersen, Hans JørgenAalborg Univ.
Bak, ThomasAalborg Univ.

13:40-14:00, Paper ThB1.3

Mobile Robot with Following and Returning Mode
Tsuda, NaokiTottori Univ.
Harimoto, ShujiTottori Univ.
Saitoh, TakeshiTottori Univ.
Konishi, RyosukeTottori Univ.

14:00-14:20, Paper ThB1.4

Recognizing Human Intentional Actions from the Relative Movement between Human and Robot
Koo, SeongyongKAIST
Kwon, Dong-SooKAIST


Visual Sensing and Cognition II Regular Session
Chair: Yoshitomi, YasunariKyoto Prefectural Univ.
Co-Chair: Yoon, HosubETRI

13:00-13:20, Paper ThB2.1

Real Time Tracking by Vision Simplifying the Interaction between Human and Robot for Remote Control of Mobile Robot
Bonnin, PatrickISTY
Blazevic, PierreLab. d'Ingénierie des Systèmes de Versailles
Morillon, JoelTHALES Optronics S.A.
Fialaire, CecileTHALES

13:20-13:40, Paper ThB2.2

An Experimental Comparison of Preprocessing Methods for Age Classification
Yoon, YoungwooElectronics and Telecommunications Res. Inst.
Yoon, HosubETRI
Lee, JaeyeonETRI

13:40-14:00, Paper ThB2.3

A Facial Expression Recognition for a Speaker of a Phoneme of Vowel Using Thermal Image Processing and a Speech Recognition System
Koda, YasunariKyoto Prefectural Univ.
Yoshitomi, YasunariKyoto Prefectural Univ.
Nakano, MariNissay Information Tech.
Tabuse, MasayoshiKyoto Prefectural Univ.

14:00-14:20, Paper ThB2.4

Facial Feature Localization Using Statistical Models and SIFT Descriptors
Li, ZishengGraduate School of Electro-Communications, The Univ.
Imai, Jun-ichiThe Univ. of Electro-Communications
Kaneko, MasahideGraduate School of Electro-Communications, The Univ.


Multimodal Interaction and Conversational Skills II Regular Session
Chair: Kruijff, Geert-JanGerman Res. Center for AI
Co-Chair: Ohara, KenichiOsaka Univ.

13:00-13:20, Paper ThB3.1

Midas Touch - Chunking Information on a Robotic User Interface Using Spatial and Functional Metaphor
Kim, Seung-ChanKAIST
Koo, SeongyongKAIST
Kwon, Dong-SooKAIST

13:20-13:40, Paper ThB3.2

Incorporating a User Model to Improve Detection of Unhelpful Robot Answers
Makatchev, MaximCarnegie Mellon Univ.
Simmons, ReidCarnegie Mellon Univ.

13:40-14:00, Paper ThB3.3

An Embodied Virtual Communication System with a Speech-Driven Embodied Entrainment Picture
Sejima, YoshihiroOkayama Prefectural Univ.
Watanabe, TomioOkayama Prefectural Univ.

14:00-14:20, Paper ThB3.4

"The First Five Seconds": Contingent Stepwise Entry into an Interaction As a Means to Secure Sustained Engagement in HRI
Pitsch, KarolaBielefeld Univ.
Kuzuoka, HideakiUniv. of Tsukuba
Suzuki, YuyaUniv. of Tsukuba
Süssenbach, LuiseBielefeld Univ.
Luff, Paul KeithKing's Coll. London
Heath, ChristianKing's Coll. London


Haptic Interaction II Regular Session
Chair: Nahavandi, SaeidDeakin Univ.
Co-Chair: Tani, KazuoGifu Univ.

13:00-13:20, Paper ThB4.1

Characterising a Novel Interface for Event-Based Haptic Grasping
Najdovski, ZoranDeakin Univ.
Nahavandi, SaeidDeakin Univ.

13:20-13:40, Paper ThB4.2

Effect of Touching Manner and Motion Direction of Human Finger on Human Tactile Recognition
Kawamura, TakuyaGifu Univ.
Otobe, YukiGifu Univ.
Tani, KazuoGifu Univ.

13:40-14:00, Paper ThB4.3

Incremental Reconstruction of Texture Based on Spatial Information
Ye, XianmingSungkyunkwan Univ.
Moon, HyungpilSungKyunKwan Univ.
Choi, Hyouk RyeolSungkyunkwan Univ.

14:00-14:20, Paper ThB4.4

Directionality of Human Tactile Sensation Capability in Discriminating Fine Step-Heights
Tanaka, NaokiGifu Univ.
Kawamura, TakuyaGifu Univ.
Tani, KazuoGifu Univ.


Creating Human-Robot Relationships I Regular Session
Chair: Dias, JorgeUniv. of Coimbra
Co-Chair: Ge, Shuzhi SamNational Univ. of Singapore

14:30-14:50, Paper ThC1.1

Real-Time Face Detection for Human Robot Interaction
Pan, YaozhangNational Univ. of Singapore
Ge, Shuzhi SamNational Univ. of Singapore
He, HongshengNational Univ. of Singapore
Chen, LeiNUS

14:50-15:10, Paper ThC1.2

Timing Control of Utterance and Gesture in Interaction between Human and Humanoid Robot 
Muto, YumikoTokyo Inst. of Tech.
Takasugi, ShojiTokyo Inst. of Tech.
Yamamoto, TomohitoKanazawa Inst. of Tech.
Miyake, YoshihiroTokyo Inst. of Tech.

15:10-15:30, Paper ThC1.3

Beat Gesture Generation Rules for Human-Robot Interaction
Bremner, PaulUniv. of the West of England
Pipe, TonyBristol Robotics Lab.
Fraser, MikeUniv. of Bristol
Subramanian, SriramUniv. of Bristol
Melhuish, ChrisBRL

15:30-15:50, Paper ThC1.4

A Technique for Dynamic Background Segmentation Using a Robotic Stereo Vision Head
Prado, José AugustoUniv. of Coimbra
Luis, SantosUniv. of Coimbra
Dias, JorgeUniv. of Coimbra


Cognitive Intelligent Mechatronics I Special Session
Chair: Cao, JiantingDepartment of Electronic Engineering
Co-Chair: Suzuki, SatoshiTokyo Denki Univ.

14:30-14:50, Paper ThC2.1

Relations between Eye Gaze and Cognitive Factors in a Transportation Task Using Remote Control (I)
Kobayashi, HarumiTokyo Denki Univ.
Yasuda, TetsuyaTokyo Denki Univ.
Nakata, ShuichiTokyo Denki Univ.
Suzuki, SatoshiTokyo Denki Univ.

14:50-15:10, Paper ThC2.2

The Role of Attention in Robot Self-Awareness
Novianto, RonyUniv. of Tech. Sydney
Williams, Mary-AnneUniv. of Tech. Sydney

15:10-15:30, Paper ThC2.3

Analysis of the EEG During the Sleeping by the Rhythmic Component Extraction (I)
Tomita, YoheiGraduate School of Bio-Applications and System Engineering
Mitsukura, YasueGraduate School of Bio-Applications and System Engineering
Tanaka, ToshihisaGraduate School of Engineering
Cao, JiantingDepartment of Electronic Engineering

15:30-15:50, Paper ThC2.4

Role Sharing Analysis on Multi-Operator Cooperative Work (I)
Igarashi, HiroshiTokyo Denki Univ.
Suzuki, SatoshiTokyo Denki Univ.
Kobayashi, HarumiTokyo Denki Univ.
Harashima, FumioTokyo Denki Univ.


Novel Interfaces and Interaction Modalities I Regular Session
Chair: Arvind, DkUniv. of Edinburgh
Co-Chair: Tzafestas, Costas S.ICCS / NTUA

14:30-14:50, Paper ThC3.1

A Comparison of Three Interfaces Using Handheld Devices to Intuitively Drive and Show Objects to a Social Robot: The Impact of Underlying Metaphors
Rouanet, PierreINRIA Bordeaux Sud-Ouest
Bechu, JeromeINRIA Bordeaux Sud-Ouest
Oudeyer, Pierre-YvesINRIA

14:50-15:10, Paper ThC3.2

Gestural Teleoperation of a Mobile Robot Based on Visual Recognition of Sign Language Static Handshapes
Tzafestas, Costas S.ICCS / NTUA
Mitsou, NikosNational Tech. Univ. of Athens
Georgakarakos, NikosNTUA
Diamanti, OlgaNTUA
Maragos, PetrosNational Tech. Univ. of Athens
Fotinea, Stavroula-EvitaATHENA R.C.
Efthimiou, EleniATHENA R.C.

15:10-15:30, Paper ThC3.3

Prediction of Head-Rotation Movements Using Neck EMG Signals for Auditory Tele-Existence Robot “TeleHead”
Morishige, Ken-ichiToyama Prefectural Univ.
Kurokawa, TakayukiToyama Prefectural Univ.
Takano, HironobuToyama Prefectural Univ.
Hirahara, TatsuyaToyama Prefectural Univ.

15:30-15:50, Paper ThC3.4

Motion Capture and Classification for Real-Time Interaction with a Bipedal Robot Using On-Body, Fully Wireless, Motion Capture Specknets
Arvind, DkUniv. of Edinburgh
Bartosik, MichalUniv. of Edinburgh


Haptic Interaction III Regular Session
Chair: Chellali, Ryadiit
Co-Chair: Yoshikai, TomoakiThe Univ. of Tokyo

14:30-14:50, Paper ThC4.1

Development of Soft Sensor Exterior Embedded with Multi-Axis Deformable Tactile Sensor System
Kadowaki, AsukaThe Univ. of Tokyo
Yoshikai, TomoakiThe Univ. of Tokyo
Hayashi, MarikaThe Univ. of Tokyo
Inaba, MasayukiThe Univ. of Tokyo

14:50-15:10, Paper ThC4.2

Frequency Modulation Based Vibrotactile Feedback for 1-D and 2-D Pointing Tasks in Virtual Reality
Pham, Huynh PhongItalian Inst. of Tech.
Chellali, Ryadiit
Ammi, MehdiUniv. of Paris-XI
Fontaine, Jean-GuyItalian Inst. of Tech.

15:10-15:30, Paper ThC4.3

Control-Theoretic Model of Haptic Human-Human Interaction in a Pursuit Tracking Task
Feth, DanielaTech. Univ. München
Groten, RaphaelaTech. Univ. München
Peer, AngelikaTech. Univ. München
Buss, MartinTech. Univ. München

15:30-15:50, Paper ThC4.4

Multi-Point Multi-Hand Haptic Teleoperation of a Mobile Robot
Horan, BenDeakin Univ.
Najdovski, ZoranDeakin Univ.
Nahavandi, SaeidDeakin Univ.


Creating Human-Robot Relationships II Regular Session
Chair: Matsusaka, YosukeNational Inst. of Advanced Industrial Science andTechnology (AIST)
Co-Chair: Okita, SandraTeachers Coll. Columbia Univ.

16:10-16:30, Paper ThD1.1

Social Balancing Effect of Eye Contact
Shimada, MichihiroOsaka Univ.
Yoshikawa, YuichiroErato, JST
Ishiguro, HiroshiOsaka Univ.

16:30-16:50, Paper ThD1.2

Learning Together: ASIMO Developing an Interactive Learning Partnership with Children
Okita, SandraTeachers Coll. Columbia Univ.
Ng-Thow-Hing, VictorHonda Res. Inst.
Sarvadevabhatla, Ravi KiranHonda Res. Inst. USA

16:50-17:10, Paper ThD1.3

Investigation on People Living with Paro at Home Effects of Sex Difference and Owners’ Animal Preference
Shibata, TakanoriNational Inst. of AIST
Kawaguchi, YukitakaNational Inst. of Advanced IndustrialScienceandTechnology
Wada, KazuyoshiTokyo Metropolitan Univ.

17:10-17:30, Paper ThD1.4

How Robots' Questions Affect the Accuracy of the Human Responses
Rosenthal, StephanieCarnegie Mellon Univ.
Dey, AnindCarnegie Mellon Univ.
Veloso, ManuelaCarnegie Mellon Univ.


Cognitive Intelligent Mechatronics II Special Session
Chair: Wada, KazuyoshiTokyo Metropolitan Univ.
Co-Chair: Suzuki, SatoshiTokyo Denki Univ.

16:10-16:30, Paper ThD2.1

Age and Gender Estimation System Based on Human Perception (I)
Fukai, HironobuTokyo Univ. of Agriculture and Tech.
Takimoto, HironoriSasebo National Coll. of Tech.
Mitsukura, YasueGraduate School of Bio-Applications and System Engineering
Fukumi, MinoruThe Univ. of Tokushima

16:30-16:50, Paper ThD2.2

Real Time Detection and Evaluation of Region of Interest by Mobile Robot Using Vision
Rokunuzzaman, Md.Nagoya Univ.
Sekiyama, KosukeNagoya Univ.
Fukuda, ToshioNagoya Univ.

16:50-17:10, Paper ThD2.3

Obtaining an Object Position Using Multimodal Interaction for a Service Robot (I)
Iwasawa, MasayaTokyoMetropolitanUniversity
Fukusato, YusukeTokyo Metropolitan Univ.
sato-Shimokawara, EriTokyo Metropolitan Univ.
Yamaguchi, ToruTokyo Metropolitan Univ.

17:10-17:30, Paper ThD2.4

Visible Classification of Task-Switching Strategies in Vehicle Operation (I)
Suzuki, SatoshiTokyo Denki Univ.
Harashima, FumioTokyo Denki Univ.


Novel Interfaces and Interaction Modalities II Regular Session
Chair: Muto, TakeshiAoyama Gakuin Univ.
Co-Chair: Avizzano, Carlo AlbertoScuola Superiore S. Anna

16:10-16:30, Paper ThD3.1

Modeling and Identification of 2 DOF Low Cost Driving Simulator: Experimental Results
Arioui, HichemEvry Val d'Essonne Univ.
Nehaoua, LamriINRETS

16:30-16:50, Paper ThD3.2

Inter-Personal Interaction for Handwrite Training ~ a Study for Development of Handwrite Skill Training Robot ~
Muto, TakeshiAoyama Gakuin Univ.
Komiyama, SetsuAoyama Gakuin Univ.
Ishikawa, RikoAoyama Gakuin Univ.

16:50-17:10, Paper ThD3.3

Human Forces in Hands Free Interaction: A New Paradigm for Immersive Virtual Environments
Tripicchio, PaoloPercro
Sandoval Gonzalez, Oscar OsvaldoScuola Superior Sant'Anna, PERCRO
Filippeschi, AlessandroScuola Superiore Sant'Anna
Ruffaldi, EmanueleScuola Superiore S.Anna
Avizzano, Carlo AlbertoScuola Superiore S. Anna
Bergamasco, MassimoScuola Superiore S.Anna

17:10-17:30, Paper ThD3.4

Development of a 3D Pointing Voice Interface Using a Three-Axis Microphone Array
Hashimoto, YasuharuNational Inst. of Advanced Industrial Science and
Sasou, AkiraNational Inst. of Advanced Industrial Science and Tech.


Programming by Demonstration Regular Session
Chair: Alissandrakis, ArisTokyo Inst. of Tech.
Co-Chair: Miura, JunToyohashi Univ. of Tech.

16:10-16:30, Paper ThD4.1

Accelerometer-Based Control of an Industrial Robotic Arm
Neto, PedroUniv. of Coimbra
Pires, NorbertoUniv. of Coimbra
Moreira, Antonio PauloUniv. of Porto, Faculty of Engineering

16:30-16:50, Paper ThD4.2

Development of a Vision-Based Interface for Instructing Robot Motion
Sugiyama, JunichiToyohashi Univ. of Tech.
Miura, JunToyohashi Univ. of Tech.

16:50-17:10, Paper ThD4.3

Robust Trajectory Segmentation and Modeling for Programming Mobile Robots by Demonstration
Abbas, TanveerThe Univ. of Auckland
MacDonald, BruceUniv. of Auckland

17:10-17:30, Paper ThD4.4

Online Acquisition and Visualization of Motion Primitives for Humanoid Robots
Kulic, DanaUniv. of Waterloo
Imagawa, HirotakaUniv. of Tokyo
Nakamura, YoshihikoUniv. of Tokyo