IEEE Catalog Number: ISBN:

CFP09581-PRT 978-1-4244-4774-9

2009 IEEE International Conference on Robotics and Biomimetics (ROBIO 2009)

Guilin, China 19 – 23 December 2009

Pages 1-626

Table of ContentsSuA1: Micro/Nano System (I)

Scanning and Measurement of Carbon Nanofiber Nanoelectrode Arrays Using Atomic ForceMicroscopy

1

Zhuxin Dong, Uchechukwu C. Wejinya, Holly D. Tourtillott, Imad H. Elhajj, Meyya Meyyappan

Motility of Bacteria Actuated Microstructures with Selective Bacteria Adhesion using BSA 7Hyeoni Bae, Sungjun Park, Joonhwuy Kim, Byunggik Lim, Jongoh Park, Sukho Park

An Artificial Compound Eyes Imaging System Based on MEMS Technology 13Si Di, Hui Lin, Ruxu Du

Combination of Piezoelectric Printing and E-jet for Microfabrication 19FuhYingHis Jerry, Jie Sun, YokeSan Wong, HanTong Loh, SheueLian Chan

SuA2: Multiple Robots (I)Lek Behavior as a Model for Multi-Robot Systems 25Brittany A. Duncan, Patrick D. Ulam, Ronald C. Arkin

Networked Architecture for Multi-Robot Task Reallocation in Dynamic Environment 33Xiangpeng Li, Dong Sun, Jie Yang

Towards Bacterial Swarms in Environmental Mapping 39John Oyekan, Huosheng Huosheng, Dongbing Gu

Multi-Sensory Motion Estimation and Control of a Mini-Quadrotor in an Air-Ground Multi-RobotSystem

45

Tianguang Zhang, Wei Li, Markus Achtelik, Kolja Kuhnlenz, Martin Buss

SuA3: Snake RobotsTROBS - A Biological Inspired Robot 51Jan Schmitt, Philipp Last, Christian Lochte, Annika Raatz, Jurgen Hesselbach

Passive Creeping of a Snake-like Robot 57Zhifeng Wang, Shugen Ma, Bin Li, Yuechao Wang

Module Design with Wireless Communication for Modular Reconfigurable Systems 63PingChih Lin, FengLi Lian

CPG-controlled Asymmetric Locomotion of a Snake-like Robot for Obstacle Avoidance 69Xiaodong Wu, Shugen Ma

SuA4: Mobile Robots (I)modeling and control of wheeled mobile robot in constrained environment based on hybrid controlframework

75

Jianning Hua, Yujie Cui, Wei Ding, Hongyi Li, Yuechao Wang, Ning Xi

Implementation of an Interactive Mobile Robot Over Mixed Reality 80WenYo Lee, JhuSyuan Guo, ChiouYng Lee, ChanAn Pao, TaChih Hung

Analysis on the Interaction between the Nonholonomic Mobile Modular Robot and the Environment 86Jingguo Wang, Yangmin Li

92Pierre Delmas, Nicolas Bouton, Christophe Debain, Roland Chapuis

SuA5: Robot Control (I)Mathematical Modeling of Brain Circuitry during Cerebellar Movement Control 98Henrik Jörntell, Per-Ola Forsberg, Fredrik Bengtsson, Rolf Johansson

Environment characterization and path optimization to ensure the integrity of a mobile robot

Motion Control of Passive Dance Partner Robot by Using Servo Brakes 104Yasuhisa Hirata, Yoshinori Koike, Kasuhiro Kosuge

Integration of a Loop Based and an Event Based Framework for Control of a Bimanual DextrousService Robot

110

Strffen W. Ruhl, Zhixing Xue, J. Marius Zollner, Rudiger Dillmann

Optimal Braking Control for UW-Car Using Sliding Mode 117Feng Ding, Jian Huang, Yongji Wang, Xueshan Geo, Takayuki Matsuno, Toshio Fukuda, Kosuke Sekiyama

SuA6: Tactile SensorsDevelopment of a stretchable skin-like tactile sensor based on polymeric composites 123Letizia Ventrelli, Lucia Beccai, Virgilio Mattoli, Arianna Menciassi, Paolo Dario

Signal Processing and Fabrication of a Biomimetic Tactile Sensor Array with Thermal, Force andMicrovibration Modalities

129

Chia Hsien Lin, Todd W. Erickson, Jeremy A. Fishel, Nicholas Wettels, Gerald E. Loeb

Intuitive Vibro-Tactile Feedback for Human Body Movement Guidance 135Wenjiang Guo, Wei Ni, I-Ming Chen, Zhong Qiang Ding, Song Huat Yeo

Structural Design and Simulation Research of a Novel Three-dimensional Force Tactile Sensor 141Fei Xu, Ying Huang, Yong Yu, Junxiang Ding, Chuanguang Hao, Yunjian Ge

SuB1: Micro Robotics and Mechatronics for Desk-top Bio-plantAutomatic Single Cell Transfer Module 147Akiyuki Hasegawa, Huseyin Uvet, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

Automatic cell cutting and nucleus detection 153Akihiko Ichikawa, Tamio Tanikawa, Satoshi Akagi, Kohtaro Ohba

Formation of Microdroplets Utilizing Hybrid Magnetically Driven Microtool on a Microfluidic Chip 159Yoko Yamanishi, Lin Feng, Yuki Kihara, Shinya Sakuma, Fumihito Arai

Cell Coupling System for Somatic Cell Cloning Using Microfluidic Chip 165Akiyuki Hasegawa, Huseyin Uvet, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai, Osamu Satoh,Akihiro Nakayama

SuB2: Path PlanningHybrid Nested Partitions Algorithm for scheduling in job shop problem 171Wei Wu, Junhu Wei, Xiaohong Guan

Tele-Operation Master-Slave System for Minimal Invasive Brain Surgery 177Sungmin Seung, Byungjeon Kang, Hongmo Je, Jongoh Park, Kyunghwan Kim, Sukho Park

Sculpting Potential Fields in the BVP Path Planner 183Edson Prestes, Marco Idiart

Hierarchical Roadmap Based Rapid Path Planning for High-DOF Mobile Manipulators in ComplexEnvironments

189

Hong Liu, Yan Liu, He Wen, Jingyan Xia, Tianguang Chu

SuB3: Rehabilitation and WheelchairImprovements of Manipulation Torque Transfer Mechanism and Assist Unit for One Hand DriveWheelchair with a Triple Ring

196

Kazuaki Sakai, Toshihiko Yasuda, Katsuyuki Tanaka

Strategies for Collision Prevention of a Compact Powered Wheelchair using SOKUIKI Sensor andapplying Fuzzy Theory

202

Toshihiko Yasuda, Naoya Suehiro, Katsuyuki Tanaka

Development of Hand Rehabilitation System Using Wire-Driven Link Mechanism for ParalysisPatients

209

Hiroshi Yamaura, Kojiro Matsushita, Ryu Kato, Hiroshi Yokoi

Qualitative Evaluations of Gait Rehabilitation via EMG Muscle Activation pattern: Repetition,Symmetry, and Smoothness

215

Ping Wang, K.H. Low

SuB4: Legged RoboticsSwitching Max-Plus Models for Legged Locomotion 221Gabriel Lopes, Robert Babuska, Bart De Schutter, Ton van den Boom

Estimation and Verification of the Trajectory Forms Generated by a Legged Sliding Robot 227Abeer Mahmoud, Tokuji Okada, W.T. Botelho

Kinematics-based Bait Planning of a Quadruped Gecko-like Model 233Doyoung Chang, Donghoon Son, TaeWon Seo, Dongsu Jeon, Woochul Nam, Jongwon Kim

Impedance Control for Biped Robot Walking on Uneven Terrain 239Bum Gyu Son, Jin Tak Kim, Jong Hyeon Park

SuB5: Robot Control (II)Modeling and Control of a 7DOF Exoskeleton Robot for Arm Movements 245Mohammad H. Rahman, Maarouf Saad, Jean P. Kenne, Philippe S. Archambault

Design and Implementation of Mobile Humanoid Robot Control System Based on Dual Network 251Young-Su Cha, Bun-Jae You

Translational and Rotational Movement Control Considering Width for Autonomous Mobile Robotby Using Fuzzy Inference

257

Takafuma Suzuki, Masaki Takahashi

Bucket Wheel Reclaimer Modeling as a Robotic Arm 263Tien-Fu Lu

SuB6: Laser Image Sensing and Panoramic VisionAutonomously generating a 3D map of unknown environment by using mobile robots equipped withLRF

269

Tsuyoshi Yokoya, Tsutomu Hasegawa, Ryo Kurazume

Laser Scan Matching Using Multiplex Histograms with Feature Components 275Quan Qiu, Jianda Han

A method for Calibrating the Parabolic Camera using 281Beiwei Zhang, Bin Zhu, Y. F. Li

Walkthrough in Large Environments Using Concatenated Panoramas 286Xianghua Ying, Kun Peng, Hongbin Zha

SuP: Biorobotics and Service RoboticsA New Design of Biomechanical Experimental Jip for Pelvic Acetabulum 292Hui Li, Haitang Sen, Baoqing Pei

Study on Hydrodynamics of a Bionic Flapping Hydrofoil 297Yumin Su, Zhaoli Wang, Yanli Li, Zaibai Qin, Wenke Chen

Map Building Based on Clustering Method for Mobile Robots 303Hui Zhang, Ying Qu, Dan Hai, Yong Li, Dachuan Wang

Relative Motion Model of Satellites Formation Flying Base on the Influence of the J2 Perturbation 308Ligong Pan, Zhuren Feng, Ganhua Li, Minzhang Han

Comparison Experiment on Biorobotics Autonomous Undersea Vehicles SPC-III 314Jianhong Liang, Weifeng Zheng, Li Wen, Tianmiao Wang, Chengyin Xie

Study on Navigation System of Mobile Robot Based on Auditory Localization 321Linan Zu, Peng Yang, Yang Zhang, Lingling Chen, Hao Sun

The Study on the Stiffness Performance of Compliant Double Parallel Four-bar Mechanism 327Guo Ye, Wei Li, Yuqiao Wang, Xuefeng Yang

Dynamic Modeling and Trajectory Tracking Control for a 3-DOF Instrument in Minimally InvasiveSurgery

331

Hongqiang Sang, Chao HE, Jianmin Li, Lin'an Zhang

Multi-robot Formation Control Using Leader-follower for MANET 337Yi Zhang, Li Zeng, Yanhua Li, Quanjie Liu

Human Limb Motion Real-time Tracking Based on CamShift for Intelligent Rehabilitation System 343Yuan Luo, Hongmei Yang, Zhangfang Hu

Controlling a Powered Exoskeleton System via Electromyographic Signals 349Hui Yan, Ray P. S. Han, Yu Wang, Jieru Chi

Distributed Suboptimal Cooperative Localization for Multiple Underwater Vehicles 354Yao Yao, Demin Xu, Weisheng Yan

Micro In-pipe Robot Mechanical Structure Design of Shape Memory Alloy Driving 360Yuxia Zhao, Guangping He, Dewen Gao

The Research on Evolution Mechanism of Artificial Fish 366Li Peng, Jiaping Du

Coordinated manipulator and spacecraft motion planning for free-floating space robots 371Haitao Shui, Shengjun Peng, Xun Li, Hongxu Ma

The Study of humanoid robot head motion planning 376Shuai Guo, Leying Dai, Yuping Ouyang, Feng Ye

A Bionic Hopping Mechanism for Over-obstacle 380Hui Chai, Wenjie Ge, Dunwen Wei, Long Bai

Analysis and Experiment Research of The Turtle Forelimb’s Hydrofoil Propulsion Method 386Jian'an Xu, Xiaobai Liu, Dinghui Chu, Lining Sun, Mingjun Zhang

Path Planning Algorithm for Bending Robots 392Xingguo Yin, Haipeng Wang, Gang Wu

Indoor Dangerous Gas Environment Detection by Mobile Robot 396Fujun He, Zhijiang Du, Xiaolei Liu, Yingfei Sun

A Spherical Hopping Robot for Exploration in Complex Environments 402Bing Li, Qiang Deng, Zhichao Liu

Autonomous Indoor Exploration of Mobile Robots based on Door-Guidance and Improved DynamicWindow Approach

408

Haiqiang Zhang, Lihua Dou, Hao Fang, Jie Chen

Optimal Design for a Self-Adaptive Mobile Robot Based on Virtual Center of Motion 414Songlin Li, Jinhua Liu, Minglei Sun, Wen Wen, Shusheng Bi

Sliding Mode Tracking for Actuators Comprising Pneumatic Muscle and Torsion Spring 420Kexin Xing, Jian Huang, Yongji Wang, Jiping He, Qi Xu, Jun Wu

Design Frame of a Leg Exoskeleton for Load-Carrying Augmentation 426Heng Cao, Zhengyang Ling, Jun Zhu, Yu Wang, Wei Wang

Principle and Mechanical Analysis of a Pneumatic Underactuated Bionic Hand 432Zhuang Ye, Duanling Li

Research on Motion Control Algorithm for Mirosot Soccer Robot 437Weibing Zhu, Longjun Wu, Zaixin Liu, Xinqiao Deng

Experimental Study on the Bionic Undulate Thruster Driven by a Hydraulic System 441Haijun Xu, Longxin Lin, Daibing Zhang, Haibin Xie

Design and Experiments of Robot Fish Propelled by Pectoral Fins 445Jun Gao, Shusheng Bi, Ji Li, Cong Liu

Dynamic Model and Attitude Control of Flapping Wing Micro Aerial Vehicle 451Hongjun Duan, Qingwei Li

Humanoid Walking Pattern Modification Based on Foot-Ground Equivalent Contact Control 457Hongxu Ma, Guang Li, Jian Wang

Research on Rapid Walking of Biped Based on Parametric Surface Table Cart Model 463Wei-guo Wu, Yue-yang Hou

Research and Design on Optimal Controller of Aerial Robotics 469Jianqiang Li, Jianfei Yin, Haobo Lu, Hailong Pei

Smooth Joint Trajectory Planning for Humanoid Robots Based on B-Splines 475Wenxiang Wu, Shiqiang Zhu, Songguo Liu

SuC1: Human-Machine Interface (I)Bimanual Haptic–Desktop Platform for Upper-limb Post–Stroke Rehabilitation: Practical Trials 480Siqiao Li, Antonio Frisoli, Carlo Alberto Avizzano, Emanuele Ruffaldi, Luis I. Lugo–Villeda,Massimo Bergamasco

Human inspired task-space setpoint control of robot manipulator: see only when necessary 486C.C. Cheah, X. Li

Design of a Face Robot with Facial Expression 492Chia-Chen Lin, Han-Pang Huang

Bathing Care Assistance with Robot Suit HAL 498Hozumi Satoh, Tomoyoshi Kawabata, Yoshiyuki Sankai

Substitution of Motor Function of Polio Survivors Who Have Permanent Paralysis of Limbs by usingCybernic Voluntary Control

504

Masahiro Shingu, Kiyoshi Eguchi, Yoshiyuki Sankai

Machine-induced Coordination Behavior in Human-Machine Interaction 510Gonzalo C. de Guzman, Emmanuelle Tognoli, J.A. Scott Kelso

SuC2: LocalizationA Practical Evaluation of Radio Signal Strength for Mobile Robot Localization 516Lingfei Wu, Max Q. -H. Meng, Zijing Lin, Wu He, Chao Peng, Huawei Liang

Digital Elevation Map Estimation by Vision-Lidar fusion 523Florent Malartre, Thomas Feraud, Christophe Debain, Roland Chapuis

Recognition and Decision-making algorithm in Human Locomotion based on the Principles of FuzzyReasoning

529

Thompson Sarkodie-Gyan, Huiying Yu, Murad Alaqtash, Eric Spier, Richard Brower

A Slope K Method for Image Based Localization 535Hong Liu, Haitao Yu, Yuexian Zou, Zhenhua Huo

Cost-effective Active Localization Technique for Mobile Robots 539Sepideh Seifzadeh, Dan Wu, Yuefeng Wang

Reactive Deformation of Path for Navigation Among Dynamic Obstacles 544Anand TM

SuC3: Bio-Robotics and Energy TransductionDevelopment of Bio-mimetic Robot Hand Using Parallel Mechanisms 550Seokwon Lee, Samyeul Noh, YongKwun Lee, Jong Hyeong Park

Mechanical Characterization of Human Red Blood Cells by Robotic Manipulation with OpticalTweezers

556

Youhua Tan, Dong Sun, Wenhao Huang, Hanxiong Li

Biologically Inspired Posture Recognition and Posture Change Detection for Humanoid Robots 562Michael Spranger, Sebastian Hofer, Manfred Hild

Eye-centered vs body-centered reaching control: A robotics insight into the neuroscience debate 568Tranminh Tuan, Philippe Souères, Michel Taïx, Benoît Girard

Design of the new modular tendon-driven manipulator TENDRIM 574Yevgen Sklyarenko, Frank Schreiber, Michael Kolbus, Frank Wobbe, Walter Schumacher

A Fluttering-to-Electrical Energy Transduction System for Consumer Electronics Applications 580Fei Fei, Wen J. Li

SuC4: Legged Robot and NavigationInternal Force Control for Rolling Operation of Polygonal Prism 586Gaku Takeo, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

Dynamic Rolling-walk Motion with Sensory Compensation 592Chayooth Theeravithayangkura, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

Design Considerations for a Biologically Inspired Compliant Four-Legged Robot 598Katayon Radkhah, Stefan Kurowski, Oskar Von Stryk

Obstacle Avoidance Using Virtual Impedance Wall for Limb Mechanism Robot 604Kenji Tsukamoto, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

Armadillo-Inspired Wheel-Leg Retractable Module 610Kenjiro Tadakuma, Riichiro Tadakuma, Akira Maruyama, Eric Rohmer, Keiji Nagatani, Kazuya Yoshida,Aiguo Ming, Shimojo Makoto, Mitsuru Higashimori, Makoto Kaneko

Step Over Motion of Four Wheeled and Four Legged Flexible Personal Robot 616Noriho Koyachi, Ken-ichi Maruyama, Yoshihiro Kawai, Fumiaki Tomita, Yasushi Morikawa

SuC5: Learning (I)Multi-Agent Reinforcement Learning and Chimpanzee Hunting 622Michael Z. Sauter, Dongqing Shi, Jerald D. Kralik

Effective Motion Control of the Biomimetic Undulating Fin via Iterative Learning 627Tianjiang Hu, Longxin Lin, Daibing Zhang, Danwei Wang, Lincheng Shen

Action oriented bayesian learning of the operating space for a humanoid robot 633Atsushi Harada, Kenji Suzuki

3D CAD Model Search: A Regularized Manifold Learning Approach 639Kunpeng Zhu, Yoke San Wang, Han Tong Loh, Wen Feng Lu, Ying His Jerry Fuh

Improvement of Redundant Manipulator Task Agility Using Multiobjective Weighted Isotropy-BasedPlacement Optimization

645

Frank L. Hammond III, Kenji Shimada

Distributed, Heterogeneous, Multi-Agent Social Coordination via Reinforcement Learning 653Dongqing Shi, Michael A. Sauter, Jerald D. Kralik

SuC6: Visual Servo and TrackingImproved Visual Tracking Using the Technique of Image Pyramid 659Chicheng Cheng, Chunghsing Ho

Position Based Visual Servoing for Catching a 3-D Flying Object Using RLS Trajectory Estimationfrom a Monocular Image Sequence

665

Rafael Herrejon, Shingo Kagami, Koichi Hashimoto

Uncalibrated Visual Servoing Feedback Based Exponential Stabilization of Nonholonomic MobileRobots

671

Zhenying Liang, Chaoli Wang, Yan Sun, Yamin Yang, Yunhui Liu

Detection of Moving Targets with a Moving Camera 677Dongxiang Zhou, Liangfen Wang, Xuanping Cai, Yunhui Liu

Cascade Particle Filter for Human Tracking with Multiple and Heterogeneous Cameras 682Keisuke Kobayashi, Tamio Arai

Tracking-Based Deer Vehicle Collision Detection Using Thermal Imaging 688Debao Zhou, Matt Dillon, Eil Kwon

SuD1: Human-Machine Interface (II)2D and 3D Virtual Environment for Human Robot Interaction: from Virtual Perception to RealLocalization

694

Ryad Chellali, Kehlifa Baizid, Zhao Li, Nicolas Mollet

Optimized Design Method of Three-axis Force Sensor for Robot Fingers 700Hiroko Oshima, Nobutaka Tsujiuchi, Takayuki Koizumi, Yuichiro Hayashi, Akihito Ito, Youtaro Tsuchiya

Synchronized Multimodal Expression Generation using Editing Toolkit for a Human-friendly Robot 706Woo Hyun Kim, Jeong Woo Park, Won Hyong Lee, Won Hwa Kim, Myung Jin Chung

Teleoperation through Eye Gaze (TeleGaze): A Multimodal Approach 711Hemin Omer Latif, Nasser Sherkat, Ahmad Lotfi

Motion Constraints Simulation Based on MATLAB and Haptic Interface 717Lin Qi, Max Q.-H Meng

Design of Internet-based Teleoperation Platform with Brain-Computer Interface 723Kuangzheng Xue, Rong Liu, Max Meng

SuD2: Formation and SLAMFormation and Obstacle Avoidance in the Unknown Environment of Multi-Robot System 729Tao Zhang, Xiaqin Li, Yi Zhu, Song Chen, Yu Cheng, Jingyan Song

A fault-tolerant modular control approach to multi-robot perimeter patrol 735Alessandro Marino, Lynna E. Parker, Gianluca Antonelli, Fabrizio Caccavale, Stefano Chiaverini

Bring Consciousness to Mobile Robot Being Localized 741Dan Wu, Jingxi Chen, Yuefeng Wang

Research and Design of Rigid Docking Mechanism Applied on Field Modular Self-reconfigurableRobot System

747

Wenpeng Yu, Wei Wang, Zongliang Li, Huilin Tang, Guanghua Zong

Evidence Reasoning Machine Based on DSmT for Mobile Robot SLAM in Unknown DynamicEnvironment

753

Xinhan Huang, Peng Li, Min Wang

SuD3: Biomimetics (I)Initial Home–Based Foot-Mat Design & Analysis of Bio-Gait Characteristics to Prevent Fall inElderly People

759

K.H. Low, Jeffry William Tani, Teguh Chandra, Ping Wang

A C. elegans-Inspired Micro-Robot with Polymeric Actuators and Online Vision 765Bao Kha Nguyen, Jordan H. Boyle, Abbas A. Dehghani-Sanij, Netta Cohen

Study on turning in place of a spherical robot based on stick-slip principle 771Bo Zhao, Pengfei Wang, Haiyan Hu, Mantian Li, Lining Sun

Development of a Four-Drive Bionic Fitness Bike 776Zhijian Long, Jun Zhang, Haiyang Jin, Ying Hu, Jianwei Zhang

A Master-Slave Robot System for Minimally Invasive Laryngeal Surgery 782Haifeng Luo, Jienan Ding, Shuxin Wang

Motion Analysis of an Underconstrained Cable Suspended Mobile Robot 788Alon Capua, Amir Shapiro, Shraga Shoval

SuD4: Mobile Robots (II)Evolution of a Four Wheeled Active Suspension Rover with Minimal Actuation for Rough TerrainMobility

794

Arun Kumar Singh, Vijay Prakash Eathakota, K. Madhava Krishna, Arun.H. Patil

Wheelchair.q, a mechanical concept for a stair climbing wheelchair 800Giuseppe Quaglia, Walter Franco, Riccardo Oderio

A Novel Mobile Robot Capable of Changing Its Wheel Distance and Body Configuration 806Yisheng Guan, Xuechao Shi, Xuefeng Zhou, Xianmin Zhang, Hong Zhang

Singularity and Kinematics Analysis for a Class of PPUU Mobile Parallel Robots 812Ying Hu, Zhong Wan, Junfeng Yao, Jianwei Zhang

Effects of the Fiber Releasing on Step-climbing Performance of the Articulated Tracks Robots 818Yunwang Li, Shirong Ge, Haifeng Fang, Chengcheng Chu, Yuanyuan Liu

Non-contact Terrain Classification for Autonomous Mobile Robot 824Jayoung Kim, Doogyu Kim, Jonghwa Lee, Jihong Lee, Hanbyul Joo, In-So Kweon

SuD5: Robot Learning and ControlLifelike Facial Expression of Mascot-Type Robot based on Emotional Boundaries 830Jeong Woo Park, Woo Hyun Kim, Won Hyong Lee, Won Hwa Kim, Myung Jin Chung

A Wearable Force Plate System to Successively Measure Multi-axial Ground Reaction Force forGait Analysis

836

Tao Liu, Yoshio Inoue, Kyoko Shibata

Energy Management in Hybrid Electric Vehicle using Fuzzy Logic Controller 842Laila Majdi, Ali Ghaffari, Nima Fatehi

Feedback Fuzzy-PI Control Dynamic Voltage Scaling for Real-Time Control Tasks 848Seong Jin Cho, Jar Chol Lee, Yong Han Jeon, Jar Wook Jeon

A Saturated PD plus Scheme for Asymptotic Tracking of Robot Manipulators 853Yuxin Su, Chunhong Zheng

Mathematical-based Benchmarking and Performance Improvement for ANT Exploration Algorithm 859Panteha Saeedi, Soren Aksel Sorensen

SuD6: Sensor NetworksScalable Vision Graph Estimation for a Vision Sensor Network 865Shin Kondo, Shingo Kagami, Koichi Hashimoto

Sensory-Objects Network Driven by Intrinsic Motivation for Survival Abilities 871Vincent Berenz, Kenji Suzuki

Hybrid Multi-robot Path Planning strategy based on RRT and Fuzzy control in Wireless SensorNetwork

877

Ping Song, Jiangfeng Li, Kejie Li, Jinlong Liang

A recursive fusion filter for angular data 882Monir Azmani, Serge Reboul, Jean-Bernard Choquel, Mohammed Benjelloun

MoA1: Micro/Nano Systems (II)Development of a Paddling Type of Microrobot for Biomedical Application 888Qinxue Pan, Shuxiang Guo, Desheng Li

A Biomimetic MEMS-based Tactile Sensor Array with Fingerprints integrated in a Robotic Fingertipfor Artificial Roughness Encoding

894

Calogero M. Oddo, Lucia Beccai, Giovanni G. Muscolo, Maria Chiara Carrozza

Design of a New Decoupled XYZ Compliant Parallel Micropositioning Stage with Compact Structure 901Qingsong Xu, Yangmin Li

Visual Traversability Analysis for Micro Planetary Rover 907Weiqiang Wang, Minyi Shen, Jin Xu, Wenhui Zhou, Jilin Liu

MoA2: Grasping (I)Efficient Template-based Path Imitation by Invariant Feature Mapping 913Yan Wu, Yiannis Demiris

Obstacle avoidance in a Pick-and-place Task 919Jun Li, Alexis Maldonado, Michael Beetz, Anna Schuboe

Fingertip stiffness control using antagonistic pairs of polyarticular tendons drive system 925Masahiro Iwaki, Yasuhisa Hasegawa, Yoshiyuki Sankai

Two-Phased Force and Coordinates Controller for A Pair of 2-DOF Soft Fingers 931Yujiro Yamazaki, Takaihro Inoue, Shinichi Hirai

MoA3: Information AcquisitionRemarks on Emotion Recognition from Breath Gas Information 938Kazuhiko Takahashi, Iwao Sugimoto

A Preliminary Study on Detection of Muscle Activity using a Flexible AlN Piezoelectric Thin FilmSensor

944

Nan Bu, Osamu Fukuda, Naohiro Ueno, Masahiro Inoue

A research on automatic human fall detection method based on wearable inertial force informationacquisition system

949

Lina Tong, Wei Chen, Quanjun Song, Yunjian Ge

Real-time Image Recognition using HLAC Features at 1000 fps 954Idaku Ishii, Ryo Sukenobe, Kenkichi Yamamoto, Takeshi Takaki

MoA4: Reconstruction3D Reconstruction Based on SIFT and Harris Feature Points 960Keju Peng, Xin Chen, Dongxiang Zhou, Yunhui Liu

Research on New View Planning Method for Automatic Reconstruction of Unknown 3D Objects 965Xiaolong Zhou, Bingwei He, Y. F. Li

Progressive 3D Reconstruction of Unknown Objects using one Eye-in-Hand Camera 971Guillaume Walck, Michael Drouin

Data Composite Supplementation on Sereo Image processing with Shadow Casting 977Takuya Niibori, Yasuharu Kunii, Takahiro Shinotsuka

MoA5: Control and StabilityControl Methodology of Stacker Cranes for Collision Avoidance Considering Dynamics in aWarehouse

983

Hisato Hino, Yoshimasa Kobayashi, Toshimitsu Higashi, Jun Ota

Double loops controller design for vehicle's heading control 989Horwimanporn Suppachai, Chaiyaporn Silawatchananai, Manukid Parnichkun, Chairit Wuthishuwong

Positioning Control of a Capsule Robot Using Sliding Mode Control 995Namkon Lee, Norihiro Kamamichi, Jun Ishikawa, Katsuhisa Furuta

Stability of Coupled Oscillators using Frenkel-Kontorova Model 1001Yi Guo, Zhihua Qu

MoA6: Modeling and Task PlanningA Parallel Mechanism Used on Human Hip Joint Power Assist 1007Yong Yu, Wenyuan Liang, Yunjian Ge

Generalization of Arithmetic and Visual Fuzzy Logic-based Representations for Nonlinear Modelingand Optimization in Fully Fuzzy Environment

1013

Hassen Taher Dorrah, Walla Ibrahim Mahmoud Gabr

Modeling of Top-down Influences on Object-based Visual Attention for Robots 1021Yuanlong Yu, George K.I. Mann, Raymond G. Gosine

Calculation of Tei Index and LV Motion Amplitude Based on Cardiac Physical Phase 1027Qiu Guan, Yahui Du, S. Y. Chen, Fang Wang

MoB1: ManipulationGrasp Stability Analysis of Multiple Planar Objects 1032Takayoshi Yamada, Shuichi Yamanaka, Manabu Yamada, Yasuyuki Funahashi, Hidehiko Yamamoto

Manipulability Analysis for Gimbal Driven Robotic Arms 1039Foad Mohammadi, Iman Hemmatian, Kambiz Ghaemi Osgouie

An Interactive Intelligent Robot System for Supporting Book Acquisition 1045Songmin Jia, Mimura Yusuke, Mingai Li, Jinfu Yang, Guoyu Zuo

Construction of Vision-based Manipulation System for 3D Industrial Objects 1051Guangtao Zhao, Ying Jia, Zhicai Ou

MoB2: Grasping (II)Scanning Control and Estimation of Unknown Surfaces Using a Robotic Finger with a ResonantEnd-effector

1057

Kiyoshi Ioi, Hirofumi Maeda, Yoshikazu Ohtsubo

Flexible FPGA-Based Controller Architecture for Five-fingered Dexterous Robot Hand with EffectiveImpedance Control

1063

Zhaopeng Chen, Neal Lii, Ke Wu, Hong Liu, Zhixing Xue, Minghe Jin, Yiwei Liu, Shaowei Fan, Tian Lan

Task Priority Grasping and Locomotion Control of Modular Robot 1069Gionata Salvietti, Houxiang Zhang, Juan Gonzalez-G`omez, Domenico Prattichizzo, Jianwei Zhang

Object Shape recognition and grasping by five fingered robotic hand based on E-ANFIS Model 1075Shaowei Fan, Yiwei Liu, Ke Wu, Zhaopeng Chen, Zainan Liang, Li Jiang, Hong Liu

MoB3: Flying Robots (I)Nonlinear System and Control of the Model-scale Helicopter 1081Baoquan Song, Caizhi Fan, Yunhui Liu, James K. Mills, Xuanping Cai

A Motor-driven Flapping-wing System Mimicking Beetle Flight 1087Quoc Viet Nguyen, Quang Tri Truong, Hoon Cheol Park, Nam Seo Goo, Doyoung Byun

An Adaptive System Identification Method for a Micro Unmanned Helicopter Robot 1093Chaolei Wang, Xusheng Lei, Jianhong Liang, Yongliang Wu, Tianmiao Wang

The Martian Man – A Heuristic Approach on Robots to MARS 1099Sonaimuthu Ramesh, Murali Sairam, Selvaseenan Manoj Kumar, Asst Prof Sreekanth, Ravindran Harikrishnan

MoB4: Image Processing (I)Detecting Ventricular Fibrillation by Fast Algorithm of Dynamic Sample Entropy 1105Haiyan Li, Wengguang Han, Chao Hu, Max Q.-H Meng

Machine Learning of Shooting Technique for Controlling a Robot Camera 1111Makoto Okuda, Seiki Inoue, Mahito Fujii

Learning Discriminative Multi-scale and Multi-position LBP Features for Face Detection Based onAda-LDA

1117

Kwang Ho An, So Hee Park, Yun Su Chung, Ki Young Moon, Myung Jin Chung

Adaptive Local Threshold with Shape Information and Its Application to Object Segmentation 1123Jichuan Shi, Hong Zhang

MoB5: Service Robots (I)3D Scene Reconstruction Based on a Moving 2D Laser Range Finder for Service-Robots 1129Denis Klimentjew, Mehtap Arli, Jianwei Zhang

Field Trial of Android-type Remote Class Support System in Elementary School and EffectEvaluation

1135

Takuya Hashimoto, Naoki Kato, Hiroshi Kobayashi

Development of Motion Instruction System with Interactive Robot Suit HAL 1141Takeru Sakurai, Yoshiyuki Sankai

MoB6: Smart ActuatorsA Force Retention Mechanism by MR Spring for Walking Support 1148Shinya Shimizu, Kenji Suzuki

Omegabot : Biomimetic Inchworm Robot Using SMA Coil Actuator and Smart CompositeMicrostructures (SCM)

1154

Je-Sung Koh, Kyu-Jin Cho

Stator Analysis and Design of a Spherical Piezoelectric Motor 1160Yung Ting, Yu-Ren Tsai, Bing-Kuan Hou, Shuo-Chun Lin, Cheng-Chin Lu

Two-dimensional Locomotive Permanent magnet using Electromagnetic Actuation system with TwoPairs Stationary Coils

1166

Jongho Choi, Hyunchul Choi, Kyoungrae Cha, Jong-oh Park, Sukho Park

MoP: Vision, Sensing and Intelligent SystemsResearch of Pedestrian Detection for Intelligent Vehicle Based in Machine Vision 1172Lie Guo, Mingheng Zhang, Linhui Li, Yibing Zhao, Rongben Wang

Statistics of SDH Target Decomposition Theorems in Radar Polarimetry 1178Tao Liu, Gaoming Huang, Xuesong Wang, Shunping Xiao

Study on Distributed Optic Fiber gas Sensors 1184Jin Liu, Haima Yang, Yang Yue

A New Uncertainty Measure of Rough Sets 1189Shuhua Teng, Dingqun Zhang, Lingyun Cui, Jixiang Sun, Zhiyong Li

Research of Network Pressure-superposed Water Supply System Based on Fuzzy-PID Controller 1194Hongfeng Li, Zhenfei Chen, Wei Chen

Covariant Support Region and Detection Algorithm Based on LoG Corners 1200Yawei Liu, Jianwei Li

A Multi-scale Visual Salient Feature Points Extraction Method Based on Gabor Wavelets 1205Wanying Xu, Xinsheng Huang, Wei Zhang

An LMI-Based Controller Design of Uncertain Nonlinear System using Takagi-Sugeno FuzzyRegion Model

1209

Shengjian Bai, Xinsheng Huand, Wanying Xu, Lundong Zhang

Miniature five-coordinate compound measuring machine 1215Zhigen Fei, Junjie Guo, Jindong Wang, Yong Li

Study on AGV Posture Estimating Based on Distributed Kalman Fusion for Multi-Sensor 1219Enxiu Shi, Zhen Wang, Xiaogang Huang, Yumei Huang

Palmprint Verification System using Moiré Pattern 1224Huan Zhang, Dewen Huan

Image-Based Visual Seam Tracking System for Fillet Joint 1230Zaojun Fang, De Xu

A Novel Feature Based Rapid Eye State Detection Method 1236Feng Wang, Mi Zhou, Bingchu Zhu

Combining KPCA and LSSVM for HVAC Fan MachineryFault Recognition 1241Xuemei Li, Lixing Ding, Jincheng Li, Gang Xu

Time Series Modeling for an Adaptive Visibility Improvement of the Outdoor Image Sequences inWavelet Domain

1247

Haoting Liu, Hanqing Lu, Fenggang Xu

An Improved Localization Algorithm in Wireless Sensor Network 1253Diansheng Chen, Wei Xiao, Xiaochuan Zhao

Design and Implementation a real-time TV Tracking System Based on TMS320DM642 1259Shiqiang Li, Tianding Chen, Changhong Yu

An Automatic Classification Method for Betel Nut Based on Computer Vision 1264Tong Liu, Jianbin Xie, Yizheng He, Ming Xu, Chengang Qin

A New Method to Identify the Authenticity of Banknotes Based On the Texture Roughness 1268Jianbin Xie, Chengang Qin, Tong Liu, Yizheng He, Ming Xu

Omni-directional Vision for Robot Navigation in Substation Environments 1272Rui Guo, Lei Han, Xueqi Cheng

A Novel Local Descriptor Based on Image Patch Gray-value Coding 1276Yongbin Zheng, Xinsheng Huang, Wanying Xu, Yiping Wang

Experimental Studies of Crack Sizing and Location Based on Ultrasonic Nondestructive Testing 1281Yonghong Zhang, Honglian Zhu, Ming J. Zuo

Fault diagnosis of Rotor System Using ICA Based Feature Extraction 1286Weidong Jiao, Yongping Chang

An Efficient Fake Boundary Removing Algorithm Based on Sets Operation 1292Gang Wu, Xingguo Yin, Liwei Qi

A Novel Sub-pixel Edge Detection for Micro-parts Manipulation 1297Min Wang, Xiangjin Zeng, Xinhan Huang

Parameters Optimization of Support Vector Machine based on Simulated Annealing and GeneticAlgorithm

1302

Qilong Zhang, Ganlin Shan, Xiusheng Duan, Zining Zhang

Study on Pattern Recognition of EEG Based on Imagination and Hand Movement 1307Yutao Yang, Xiaodong Zhang

On Structured Light Vision Sensor Calibration in a Robot Based 3D Laser Scanning System 1312Tiecheng Fan, Defeng Wu, Zi Ma, Aiguo Li

An ASP Based Method for Subassembly Identification 1317Lingzhong Zhao, Weizhi Liao, Yili Fang, Junyan Qian, Congwen Zeng

Multi-objective Pareto Genetic Algorithms Using Fast Elite Updating 1323Guanqi Guo, Zhumei Tan, Guanci Yang

Research on multi-sensor fusion of underwater robot Research on multi-sensor fusion ofunderwater robot navigation system

1327

Hong Zhang, Zhen-hua Song

Automatic Aurora Images Classification Algorithm Based on Separated Texture 1331Rong Fu, Jie Li, Xinbo Gao, Yongjun Jian

Fabric Defect Detection Based on Adaptive Local Binary Patterns 1336Rong Fu, Meihong Shi, Hongli Wei, Huijuan Chen

Robot Behavior Coordination using Decision-making 1341Ting Lan, Shirong Liu

Needle Target-Insertion Trajectory Planning based on Reforcement Learning Expert’s skill 1346Dexue Bi, Zegui Li, Qiang Xue, Demin Yu

Robot Calibration by observing a virtue fixed point 1351Wenbiao Wang, Aiguo Li, Defeng Wu

Active Fault Tolerant Control for Maglev Train against Accelerometer Failure 1356Zhizhou Zhang, Lingling Zhang, Zhiqiang Long

Calibration of a Robot-based Measuring System 1361Aiguo Li, Wenbiao Wang, Defeng Wu

Identification of the transfer function for dual-rate system based on IPSO 1365Qiting Gu, Weixing Lin

Fusion of SVMs in Wavelet Domain for Hyperspectral Data Classification 1372Jin Chen, Cheng Wang, Runsheng Wang

Single-class Support Vector Machine for an Out-of-Vocabulary Rejection of Isolated Words 1376Dongzhi He, Yibin Hou, Zhangqin Huang, Zhihao Ding

MoC1: Manipulators (I)State-Feedback and Linear Quadratic Regulator Applied to a Single-Link Flexible Manipulator 1381Mariam Baroudi, Mohamad Saad, Walid Ghie

Weeding Manipulator Exploiting Its Oscillatory Motion for Force Generation: ParameterOptimization of VDP Oscillator using Real-Coded Genetic Algorithm

1387

Jun Kobayashi

Redundancy Resolution for Underwater Vehicle-Manipulator Systems with Congruent Gravity andBuoyancy Loading Optimization

1393

Zool H. Ismail, Matthew W. Dunnigan

Simplification of Task Teaching for Human-Friendly Small Robot Arm 1400Nobutaka Tsujiuchi, Takayuki Koizumi, Tohru Hiroshima, Hiroko Oshima, Ryohei Fujikura

Performance Analysis of FIK and DLS Inverse Kinematics Using Six Degree of FreedomManipulator

1405

Sajid M. Ahmed, Alexander N. Pechev

Optimal Cyclic Vertical Juggling Using 1-DoF Arm 1411Adel Akbarimajd

MoC2: Multiple Robots (II)Robot Swarm MANET Cooperation Based on Mobile Agent 1416Yong Li, Shufei Du, Younghan Kim

Multi-Agent Prototyping for a Cooperative Carrying Task 1421Salima Djebrani, Foudil Abdessemed

Parent-child Robot System for Rescue Missions 1427Yong Yang, Guiyun Xu, Xinyu Wu, Huiwei Feng, Yangsheng Xu

Flocking of a Team of Lagrangian Agents 1433Ali Tavasoli, Sajjad Taghvaee, Mohammad Eghtesad

Distribution and Communication of Multi-robot System for Detection in the Underground MineDisasters

1439

Gangfeng Liu, Lei Zhu, Zhenfeng Han, Jie Zhao

MoC3: Biomimetics (II)Analysis of a Biped Powered Walking Model Based on Potential Energy Compensation 1445Xiaoyue Zhang, Mingguo Zhao

Dynamic Modeling of Pneumatic Muscles Using Modified Fuzzy Inference Mechanism 1451Prashant K. Jamwal, Shahid Hussain, Sheng Quan Xie

Development of Very High Force Hydraulic McKibben Artificial Muscle and Its Application toShape-Adaptable Power Hand

1457

Mayuko Mori, Koichi Suzumori, Syukushi Seita, Masayuki Takahashi, Takashi Hosoya, Koji Kusumoto

Study on the Workspace of 6-PSS Bionic Parallel Machine Horse 1463Qiguang Zhu, Hongrui Wang, Ying Chen

MoC4: Visual Human-Robot InteractionA Novel Robotic Visual Perception Method Using Object-based Attention 1467Yuanlong Yu, George K.I. Mann, Raymond G. Gosine

An Autonomous Visual Perception Model for Robots Using Object-based Attention Mechanism 1474Yuanlong Yuanlong, George K.I. Mann, Raymond G. Gosine

Detection of Hands-Raising Gestures Using Shape and Edge Features 1480Hong Liu, Xiaodong Duan, Yuexian Zou, Dengke Gao

Experimental Platform for Wizard-of-Oz Evaluations of Biomimetic Active Vision in Robots 1484Erich Schneider, Stefan Kohlbecher, Klaus Bartl, Frank Wallhoff, Thomas Trandt

Intestinal Polyp Recognition in Capsule Endoscopy Images Using Color and Shape Features 1490Baopu Li, Yichen Fan, Max Q.-H Meng, Lin Qi

Learning from object motion using visual saliency and speech phonemes by a humanoid robot 1495Guolin Jin, Kenji Suzuki

MoC5: Intelligent System (I)Terrain Roughness Assessment for Human Assisted UGV Navigation within HeterogeneousTerrains

1501

Ahmed El-Kabbany, Alejandro Ramirez-Serrano

A Fuzzy ARTMAP Model with Contraction Procedure 1507Xianglin Meng, Zhengzhi Wang

Robot application development framework based on database 1513S Subhash, K. Madhava Krishna

Robot Failure Presiction Using Incomplete Data 1518Bhekisipho Twala

Experimentation to evaluate EmotiRob interaction model 1524Sebastien Saint-Aime, Brigitte Le-Pevedic, Dominique Duhaut

Virtual Sphere Algorithms for Orthodrome-based Callision-free & Smooth Robot Motion 1530Anand TM

MoC6: Medical Sensor and MonitoringAn extensible telemonitoring architecture based on mobile agent method 1537Jingsheng Liao, Chao Hu, Guan Guan, Max Q.-H Meng

A Mobile Robot for Transport Applications in Hospital Domain with Safe Human Detection Algorithm 1543Masaki Takahashi, Takafumi Suzuki, Francesco Cinquegrani, Rosario Sorbello, Enrico Pagello

HealthAware: Tackling Obesity with Health Aware Smart Phone Systems 1549Chunming Gao, Fanyu Kong, Jindong Tan

Measurement of Brain Activity Using Optical and Electrical Method 1555Atsushi Saito, Alexsandr Ianov, Yoshiyuki Sankai

A New Calibration Method for Magnetic Sensor Array for Tracking Capsule Endoscope 1561Mao Li, Shuang Song, Chao Hu, Wanan Yang, Lujia Wang, Max Q.-H Meng

Remote Pulse Wave Monitoring System 1567Wei Liu, Zhao Shen, Chao Hu, Max Q.-H Meng

MoD1: KinematicsA Guaranteed Approach For Kinematic Analysis of Continuum Robot Based Catheter 1573Sohail Iqbal, Samer Mohammed, Yacine Amirat

Analytic Study on Screw Drilling Mechanism 1579Kenji Nagaoka, Takashi Kubota

Simulation of Soft Fingertip Deformation under Contact and Rolling Constraints using FEM andCSM

1585

Kazuki Namima, Zhongkui Wang, Shinichi Hirai

Kinematic Analysis of a 6-DOF Wire-based Tracking Device and Control Strategy for its Applicationin Robot Easy Programming

1591

Jiafan Zhang, Jinsong Li, Liwei Qi, Dandan Zhang

Comparison between A 4-DOF Hybrid Module and Tricept Module Focusing on Inverse Kinematics 1597Tao Sun, Yimin Song

MoD2: Underwater RobotsThrust Improvement of an Fish Robot Actuated by Compressed Unimorph Piezoelectric CompositeActuator

1603

Quang Sang Nguyen, Hoon Cheol Park, Doyoung Byun

Principle and Application of Underwater Vibration Suction Method 1609Qingfeng Hong, Rong Liu, Yuan Qu

Path-planning Optimization of Underwater Microrobots in 3-D Space by PSO Approach 1615Shuxiang Guo, Baofeng Gao

Dynamic Analysis on the underwater swimming Robot 1621Da-Xu Zhao, Bai Chen, Shuang Qian, Hong-tao Wu, Fu-yang Tian

Work-Energy Principle-Based Model Parameter Identification Method for Underwater Vehicle andits Application

1627

Jianjun Long, Baihai Wu, Jinping Wu

Development and Experiment of an Underwater Vehicle Test-bed Controlled by Rudders andThrusters

1633

Ming-jun Zhang, Li-ping Yang, Yu-jia Wang, Qing-zhu Dyan, Xiao-bai Liu

MoD3: Fish Robots (I)Visually Realistic Environment for Safety Development of Vision-based Robot 1639Seigen Hane, Hiroshi Takemura, Hiroshi Mizoguchi

Induction of Variation in Impedance of Zebrafish Embryos by Explicit Force Feedback Control 1645Joo Hoo Nam, Peter C. Y. Chen, Zhe Lu, Hong Luo, Rouwen Ge, Wei Lin

An Analytical Approach for Better Swimming Efficiency of Slender Fish Robots Based on Lighthill’sModel

1651

Chunlin Zhou, K.H. Low, C.W. Chong

CPG-based Dynamics Modeling and Simulation for a Biomimetic Amphibious Robot 1657Rui Ding, Junzhi Yu, Qinghai Yang, Min Tan, Jianwei Zhang

Statistical Hydrodynamics Modeling of Two-dimensional Undulating Fins for Robotic Fish 1663Han Zhou, Daibing Zhang, Tianjiang Hu, Haibin Xie, Lincheng Shen

MoD4: Humanoid Robot (I)Dummy Finger for Surface Acoustic Wave Tactile Display -Vibration Characteristics- 1669Masaya Takasaki, Soju Nakajima, Takeshi Mizuno

Development of Vision Based Person Following Module for Mobile Robots In/Out Door Environment 1675Hiroshi Takemura, Nemoto Zentaro, Hiroshi Mizoguchi

Mechanical Design of a light weight and high stiffness humanoid arm of BHR-03 1681Weimin Zhang, Qiang Huang, Dongyong Jia, Hongbing Xin, Mingbo Li, Kejie Li

Whole-Body Humanoid Balance Control with Dynamically Loading/Unloading Objects 1687Young-Soo Cha, Seok-Min Hong, Doik Kim, Bum-Jae You, Sang-Rok Oh

MoD5: Motion PlanningA New Strategy in Dynamic Time-dependent Motion Planning for Nonholonomic Mobile Robots 1692Sani Hashim, Tienfu Lu

AMF: A Novel Reactive Approach for Motion Planning of Mobile Robots in Unknown DynamicEnvironments

1698

Reza Iraji, Mohammad Taghi Manzuri-Shalmani

An Efficient Path Planning Algorithm for Mobile Robot Using Improved Potential Field 1704Pu Shi, Yiwen Zhao

Abnormal Crowd Motion Analysis 1709Tian Cao, Xinyu Wu, Jinnian Guo, Shiqi Yu, Yangsheng Xu

Tripod Gait Planning of a Rimless-wheeled Robot with Changeable Spokes 1715Minglei Sun, Songlin Li, Xiuchun Liu, Rong Zhang, Guanghua Zong

MoD6: Sensor ApplicationsQuantitatively Characterizing Automotive Interior Surfaces Using an Optical TIR-Based TextureSensor

1721

Josette Zaklit, Yongxiong Wang, Yantao Shen, Ning Xi

Design of the Force Sense Unit for Space Robot End-effector 1727Qingli Zhang, Yingyuan Zhu, Fenglei Ni, Yongbin Wang, Hong Liu

Robot hand discovery based on visuomotor coherence 1732Ryo Saegusa, Giorgio Metta, Giulio Sandini

Application of Feature Tracking in a Vision Based Human Machine Interface for XBOX 1738Mohammadreza Asghari Oskoei, Huosheng Hu

An Autonomous Docking Method Based on Ultrasonic Sensors for Self-reconfigurable MobileRobot

1744

Wei Wang, Zongliang Li, Wenpeng Yu, Jianwei Zhang

Structural Optimization of the Thin-Type Four-Axis Force/Moment Sensor for a Robot Finger UsingResponse Surface Methodology and Desirability Function

1750

Yuichiro Hayashi, Nobutaka Tsujiuchi, Takayuki Koizumi, Hiroko Oshima, Tohru Hiroshima, Akihito Ito,Youtaro Tsuchiya

TuA1: Manipulators (II)Dynamic Identification of a Redundantly Actuated Parallel Manipulator 1756Weiwei Shang, Shuang Cong

Research on A Novel Four-Degree-of-Freedom Parallel Manipulator with Scaling Unit 1762Hairong Fang, Jianghong Chen, Haibo Qu

Vision-Based Space Manipulator Online Self-Calibration 1768Hui Li, Zhihong Jiang, Yu He, Qiang Huang

A Lead-Through Robot Programming Approach Using A 6-DOF Wire-based Motion TrackingDevice

1773

Liwei Qi, Dandan Zhang, Jiafan Zhang, Jinsong Li

TuA2: Grasping (III)Integrated Gripper and Cutter in a Mobile Manipulation Robotic System for Harvesting GreenhouseProducts

1778

Baozeng Jia, Anmin Zhu, Simon X. Yang, Gauri Mittal

1-DOF motion-coupling anthropomorphic fingers based on linkage 1784Yuwang Liu, Hongguang Wang, Weijia Zhou

The indirect style under-actuated robotic finger with tendon-slider mechanisms 1790Long Wang, Wenzeng Zhang, Yuming Ye, Qiang Chen, Dong Du

Safe Grasping with Multi-link Fingers Based on Force Sensing 1796Mohamad Jafar Sadigh, Habib Ahmadi

TuA3: Fish Robots (II)Bio-inspired Design of Body Wave and Morphology in Fish Swimming Based on Linear Density 1803Zongshuai Su, Junzhi Yu, Min Tan, Jianwei Zhang

A micro biomimetic manta ray robot fish actuated by SMA 1809Zhenlong Wang, Yangwei Wang, Jian Li, Guanrong Hang

Preliminary Study of Flexible Pectoral Fin Capable of 3D Motions Actuated by Shape Memory Alloy 1814Qin Yan, Wen-guang Wu, Shi-wu Zhang, Min Xu, Jie Yang

2D-Numerical Simulation of Flexible Oscillating Fin Mimetic Bony Fishes Fin 1820Jian Li, Zhenlong Wang, Yangwei Wang, Guanrong Hang

TuA4: Image Processing (II)A Simple Optical Audio Signal Transmitting System Using Maximum Length Sequence 1826Atushi Minato, Shun Liu, Fuhui Guo, Masanori Itaba, Satoru Ozawa

A Novel X-corner Detector Based On Video 1832Qing He, Chao Hu, Wei Liu, Max Q.-H Meng

Image Segmentation Using Adaptively Selected Color Space 1838Gu Fang, N.M. Kwok

A Multi-scale Image Inpainting Algorithm Based on GMRF Model 1844Rui Wang, Dongbing Gu, Guangwen Liu, Junxi Sun

TuA5: Robust and Intelligent ControlRobustness of Evolvable Hardware in the Case of Fault and Environmental Change 1849Jian Gong, Menggei Yang

High Performance HDD servo system using GA based Fixed Structure Robust Loop ShapingControl

1854

Amar Nath, Somyot Kaitwanidvilai

Intelligent Control of a Four-rope-driven Level-adjustment Device with Constrained Outputs 1860Jianhong Zhang, Jianqiang Yi, Yi Yu

Multi-Point Cartesian Compliance Control of Manipulators Using the Dynamically ConsistentExtended Jacobian and Its Pseudo-Inverse

1866

Phongsaen Pitakwatchara

TuA6: Industrial ApplicationsDynamic drift compensation for the Distributed Clock in EtherCAT 1872Jae Chol Lee, Seong Jin Cho, Yong Han Jeon, Jar Wook Jeon

A Highly Integrated and Flexible Joint Test System Based on DSP/FPGA-FPGA 1877Jin Dang, Fenglei Ni, Yikun Gu, Minghe Jin, Hong Liu

Magnetorheological Fluids Based Multifunctional Actuator for Assistive Knee Braces 1883H.T. Guo, W. H. Liao

A Low Cost Hand-Eye Calibration Method for Arc Welding Robots 1889Mitchell Dinham, Gu Fang

TuB1: Mobile Robots and Legged RoboticsThe development of a biomechanical leg system and its neural control 1894Danial Renjewski, Andre Seyfarth, Poramate Manoonpong, Florentin Worgotter

Platform Development of an Omnidirectional Mobile Robot for the Elderly's Walking Support andthe Caregiver's Power Assistance

1900

Chi Zhu, Masashi Oda, Xiang Luo, Hideomi Watanabe, Yuling Yan

Properties Validation of an An isotropic Dry Adhesion Designed for Legged Climbing Robots 1906Yasong Li, Dan Sameoto, Carlo Menon

A Novel Stability Criterion for Underactuated Biped Robot 1912Sheng-jun Peng, Hai-tao Shui, Tao Sheng-jun, Hong-xu Ma

TuB2: Modeling and ControlPath Planning for Redundant Manipulator without Explicit Inverse Kinematics Solution 1918Wei Wang, Yan Li

Analysis on Simplified Engineering Model and Vibration Feature of Spherical Micromanipulator 1924Pengfei Wang, Mantian Li, Haiyan Hu, Lining Sun

Analysis of Gait Control of Wall-Climbing Caterpillar Robot 1929Dazhai Li, Xianyue Ma, Kun Wang, Wei Wang, Houxiang Zhang, Guanghua Zong

Design of Neural Network and Backstepping based Adaptive Flight Controller for Multi-Effector UAV 1935Liwei Qiu, Guoliang Fan, Jianqiang Yi, Wensheng Yu

TuB3: Surgical RobotsThe Kinematics Analysis for a Hybrid Robot in Minimally Invasive Surgery 1941Can Tang, Jianwei Zhang, Sheng Cheng

Orthopedic Surgery Robotic System 1947Duygun Erol Barkana

Force-driven Robotic Drag Control for Freehand 3D Ultrasound-guided Robot-assistedPercutaneous Surgery

1953

Yinshan Sun, Dongmei Wu, Zhijiang Du, Lining Sun

Design of a novel snake-like robotic colonoscope 1957Haiyan Hu, Pengfei Wang, Bo Zhao, Mantian Li, Lining Sun

TuB4: Image Processing (III)License Plate Detection Algorithm Based on Gentle AdaBoost Algorithm with a Cascade Structure 1962Dong Cui, Dongbing Gu, Hua Cai, Junxi Sun

ECoG Recognition of Motor Imagery Based on SVM Ensemble 1967Mingai Li, Jinfu Yang, Dongmei Hao, Songmin Jia

Fast Person-Specific Image Retrieval Using a Simple and Efficient Clustering Method 1973Yu Cheng, Tao Zhang, Song Chen

Human-Inspired Order-based Block Feature in the HSI Color Space for Image Retrieval 1978Hong Qin, Shoujue Wang, Huaxiang Lu, Xinliang Chen

TuB5: Service Robots (II)An Uninterrupted Bird Repeller on Transmission Line 1983Fuliang Le, Jiawei Luo, Gongping Wu

Design, Modeling and Control of a Line-Walking Robot for Inspection of Power Transmission Lines 1990Ludan Wang, Sheng Cheng, Haojun Guan, Jianwei Zhang

Dynamic Analysis and Robust Reliability Design of Pan Mechanism for a cooking Robot 1996Hong Wang, Wei Zhao, Bing Li, Xiaorui Lin, Donglai Zhang

A Robotic Nursing Bed Design and Its Control System 2002Lin Tan, Shouyin Lu, Wei Zhang

TuB6: System ControlsA Simple Nonlinear Proportional-Derivative Controller for Friction Compensation 2007Yuxin Su, Chunhong Zheng

Working Posture Control of Robot Suit HAL for Reducing Structural Stress 2013Tomoyoshi Kawabata, Hozumi Satoh, Yoshiyuki Sankai

The Development of a Position Conversion Controller for Hydraulic Press Systems WorkingPosture Control of Robot Suit HAL for Reducing Structural Stress

2019

Seong Jin Cho, Jae Chol Lee, Yong han Jeon, Jar Wook Jeon

Haptic Controls in Cars for Making Driving More Safe 2023Fayez Asif, Janan Vinayakamoorthy, Jing Ren, Mark Green

TuP: Control, Optimization, Interface and ApplicationsSliding-Mode Control for a telemanipulation robot system with elastic-joint slave 2029Qingjun Zeng, Chunjing Wang

A Method Based on Center Pattern Generator for Quadruped Leg Control 2035Bin Li, Xun Li, Wei Wang, Yanfen Tang, Yiping Yang

Learning-based Action Planning for Real-time Robot Telecontrol with Binocular Vision in EnhancedReality Environment

2041

Chensheng Wang, Liang Chen, Cong Zhang, Wangpeng Zhang

An Improved Particle Filter for WSN-aided Robot Localization 2047Hui Zhang, Yong Li, Ying Qu, Dan Hai, Huaping Zhou, Dachuan Wang

Kinematics of a Wrist Based on Spherical Gear & Ring-rack 2052Qiang Li, Cunyun Pan, Xiang Zhang

An Improved Bacterial Foraging Optimization 2057Yanhai Chen, Weixing Lin

Master-slave Control Strategy of Tele-Manipulator 2063Zhuxin Zhang, Dingxuan Zhao

Central Pattern Generators Based Adaptive Control for a Quadruped Robot 2068Xun Li, Wei Wang, Bin Li, Yanjun Wang, Yiping Yang

A Novel LMI Based Swing-up Robust Controller for a Serial Double Inverted Pendulum 2073Yong Zeng, Chunming Xia, Heng Cao

Design of Observer-Based Robust Repetitive-Control System 2079Lan Zhou, Min Wu, Jinhua She

Dynamic Performance Indices Analysis for One-loop Planar Mechanism 2085Yulin Yang, Xiong Du, Qingjia Geng, Xijuan Guo

The Flexible Two-wheeled Self-balancing Robot Intelligence Controlling Based on Boltzmann 2090Jianwei Zhao, Xiaogang Ruan

a vision-based gesture recognition system for human-robot interaction 2096Jian jie Zhang, Mingguo Zhao

A Linear SolvingMethod for Rank 2 FundamentalMatrix of Noncompulsory Constraint 2102Shimin Wang, Juan Wang, Yue Zhao

Intelligent Wheelchair Multi-modal Human-machine Interfaces in Lip Contour Extraction Based onPMM

2108

Yi Zhang, Quanjie Liu, Yanhua Li, Li Zeng

Commercial CAD Tools Based Digital Integrated Development Platform for Laser Cutting Robot 2114Ting Yao, Yuxian Gai, Huiying Liu

Direct Torque Control of an IPM Synchronous Motor Drive Using Model Reference AdaptiveBackstepping Approach

2119

Hai Lin, Weisheng Yan, Mingfeng Li, Peng Wen, Chunhui Zhang, Mei Li

Research on Improving the Haptic Texture Display Using Stochastic Noise 2125Juan Wu

Predictive Control for Multi-joint Manipulator with Polytopic Model 2130Zhilin Liu, Qidan Zhu, Lihui Wang

Particle Swarm Optimization Algorithm with Asymmetric Time Varying Acceleration Coefficients 2134Guangqing Bao, K.F. Mao

The Virtual Prototype Design and Simulation of Amphibious Bio-crab Robot with Variable Posture 2140Liquan Wang, Defeng Liu, Dongliang Chen, Gang Wang

Experimental study of corona discharge current with carbon nanotubes electrode 2146Lili Wu, Aiying Lin, Baiji Lu, Baozhou Zheng, Miao Guo, Guohua Hui

IPMC Propelled Biomimetics Robotic Fish Energy Consumption Model Construction and Itsapplication to Energy-saving Control

2151

Qingsong Hu, Hua Zhou

Study of Feature Reconstruction Algorithm for Surface Mesh 2157Shaowei Feng, Jing Zhang, Bin Zeng

Static Model of Pneumatic Flexible Rotary Joint 2163Guanjun Bao, Qinghua Yang, Shanghui Li, Libin Zhang

Dynamic Analysis of a No-Coupling and Large Stroke Two-Dimension Micro-Stage 2168Wei Li, Xuefeng Yang, Yuqiao Wang, Guo Ye

Asymmetric S-curve Trajectory Planning for Robot Point-to-point Motion 2172Fengshan Zou, Daokui Qu, Fang Xu

On the Global Optimum Motion Planning for Dynamic Coupling Robotic Manipulators Using ParticleSwarm Optimization Technique

2177

Zhijie Wen, Jun Luo, Zhijun Li

Yoyo Motion Planning Using Inversion-based Optimization 2183De-Hu Yuan, Hui-Liang Jin

Variable Structure Sliding Mode based Unknown Input Observer for Speed Identification ofBrushless DC Motors

2188

Weicheng Yan, Hai Lin, Ming Wang, Xiaochuan Li, Mei Li, Yintao Wang

Tracking Control in Space Robot Grasping a Floating Object 2194Yang Zhao, Cheng Wei, Hongliu Wang

Speaker Identification and Verification from Audio Coded Speech in Matched and MismatchedConditions

2199

Tao Jiang, Boyang Gao, Jiqing Han

Application of Kalman Filter in Track Prediction of Shuttlecock 2205Yongkui Man, Liang Zhao, Jingxin Hu

Modeling and Simulation on the Contact Deformation Distribution in a Wire Race Ball Bearing 2211Xiaobiao Shan, Tao Xie, Weishan Chen, Lili Wang

A deadband-control and prediction co-design approach for networked robotic systems 2215Zhengnan Gao, Ronghua Xie, Qingwei Chen, Weili Hu

Nonlinear attitude control of rigid body with bounded control input and velocity-free 2221Qiang Tang, Yan Wang, Xinglin Chen, Yongjun Lei

A Networked Teleoperation System for Mobile Robot with Wireless Serial Communication 2227Lei Zhang, Zhixin Chen, Jia Wang, Shitian Yan

Comparative Study on Dynamic Identification of Parallel Motion Platform for a Novel FlightSimulator

2232

Dongsu Wu, Hongbin Gu, Peng Li

Sliding Mode Controller Design for Rigid Satellite Attitude Tracking 2238Shunan Wu, Zhaowei Sun, Hui Li

Blind Rate Detection for CDMA2000 1x EV-DO Reverse Traffic Channel 2244Peng Li, Shan-shan Wang, Xing-guo Luo

TuC1: Mobile Robot Control and PlanningAn Estimation-based Plume Tracing Method in Time-variant Airflow-field via Mobile Robot 2249Jigong Li, Qinghao Meng, Ming Zeng

MDL-based Posture Stabilization for Wheeled Mobile Robots with Nonholonomic Constraints 2255Pu Shi, Yiwen Zhao, Jianning Hua

A Random Local-DRM Path Planning Algorithm for High-DOF Mobile Robots in ChangingEnvironments

2261

Hong Liu, Weiwei Wan

Differential Flatness-based Kinematic and Dynamic Control of a Differentially Driven WheeledMobile Robot

2267

ChinPei Tang

Formation and Obstacle-Avoidance Control for Mobile Swarm Robots Based on Artificial PotentialField

2273

Ping Song, Kejie Li, Xiaobing Han, Guangping Qi

Non-linear Observer for Slip Parameter Estimation of Unmanned Wheeled Robots 2278Zibin Song, Yongchao Cao, Xueliang Peng, Wei Zhang, Keren Shi

TuC2: Active RecognitionRobust Laser Scan Matching in Dynamic Environments 2284Hee-Young Kim, Sung-On Lee, Bum-Jae You

Automated Selecting Subset of Channels Based on CSP in Motor Imagery Brain-ComputerInterface System

2290

Jianjun Meng, Guangquan Liu, Gan Huang, Xiangyang Zhu

HMMs-Based Human Action Recognition for an Intelligent Household Surveillance Robot 2295Qiaoyun Zhou, Shiqi Yu, Xinyu Wu, Qiaoyun Gao, Chongguo Li, Yangsheng Xu

Digital Image Stabilization for Humanoid Eyes Inspired by Human VOR System 2301Yeong Geol Ryu, Hyun Chul Roh, Si Jong Kim, Kwang Ho An, Myung Jin Chung

Robust Face Tracking Based on Active Stereo Camera System 2307Yuzhang Gu, Makoto Sato, Xiaolin Zhang

A faster B Spline Snake 2314Xin Wang, Yunxia Tu

TuC3: Capsule EndoscopeDevelopment of Large Intestine Endoscope Changing Its Stiffness 2320Shuichi Wakimoto, Issei Kumagai, Koichi Suzumori

Using Ensemble Classifier for Small Bowel Ulcer Detection in Wireless Capsule Endoscopy Images 2326Baopu Li, Lin Qi, Max Q.-H Meng, Yichen Fan

A Novel Radio Propagation Radiation Model for Location of the Capsule in GI Tract 2332Luijia Wang, Chao Hu, Longqiang Tian, Mao Li, Max Q.-H Meng

Two-Magnet-based 6D-Localization and Orientation for Wireless Capsule Endoscope 2338Shuang Song, Chao Hu, Mao Li, Wanan Yang, Max Q.-H Meng

Locomotion and Steering Design of an Active Capsule Robot for Endoscopic Inspection 2344Jia Chen, Xiaorui Zhu, Chunxin Qiu

TuC4: Humanoid Robot (II)A Orbit Based Control for Biomimetic Biped Walking 2349Xiang Luo, Rui Guo, Chi Zhu

Design and Analysis of Underactuated Humanoid Robotic Hand Based on Slip Block-CamMechanism

2356

Shengqi Tan, Wenzeng Zhang, Qiang Chen, Dong Du

Effects of Joint Torque Constraints on Humanoid Robot Balance Recovery in the Presence ofExternal Disturbance

2362

Wei Yu, Gang Bao, Zuwen Wang

An Arm Wrestling Robot System Designed to Imitate the Force-applying Process of Human Playe 2368Lei He, Yunjian Ge, Kaiguo Yong

Dynamic Stability Gait Planning of kid Humanoid Robot 2373Jie Zhao, Le Qi, Jihong Yan, Yanhe Zhu

Ball's Flight Trajectory Prediction for Table-tennis Game by Humanoid Robot 2379Lei Sun, Jingtai Liu, Yingshi Wang, Lu Zhou, Qi Yang, Shan He

TuC5: Robot Control (III)Modeling and Path Planning of the City-Climber Robot Part I: Dynamic Modeling 2385Ronggang Yue, Jizhong Xiao, Shaoping Wang, Samleo L. Joseph

Modeling and Path Planning of the City-Climber Robot Part II: 3D Path Planning Using MixedInteger Linear Programming

2391

Ronggang Yue, Jizhong Xiao, Shaoping Wang, Samleo L. Joseph

Bi-Criteria Torque Minimization of Redundant Robot Arms with Schemes, Models and MethodsCompared

2397

Yunong Zhang, Ning Tan, Chunyan Lai

Workspace analysis of a novel 6-dof cable-driven parallel robot 2403Yaojun Zhang, Yuru Zhang, Xiaowei Dai, Yi Yang

SALSA-based Motion Optimization for Robotic Manipulators with Strong Nonlinear DynamicCoupling

2409

Kun Yang, Zhijun Li, Jun Luo, Chunquan Xu

Kinematic Control of Dual-tripod Walking Robot with a Steering-wheel 2415Guofu Wang, Feng Gao, Ying Cui, Xinhong Yang

TuC6: Robot ApplicationDynamic Electrode Force Control of Resistance Spot Welding Robot 2421Bin Niu, Yonglin Chi, Hui Zhang

Study on the Control System of a Hardware-in-Loop Micro-Satellite Simulator 2427Qian Wang, Tao Zhang, Jingyan Song

Multiple Robots Plume-Tracing in Open Space Obstructed Environments 2433Zhenzhang Liu, Tienfu Lu

Design and Experimental Research on an Undulatory Robotic Fin 2440Wen-guang Wu, Qin Yan, Shi-wu Zhang, Yong-hua Zhang, Jie Yang

A Moving Grid Cell Based MCL Algorithm for Mobile Robot Localization 2445Yuefeng Wang, Dan Wu, Sepideh Seifzadeh, Jingxi Chen

On-Orbit Servicing to GEO Satellite Using Dual Arm Free-Flying Space Robot 2451Yue Qiu, BiBo Guo, Lijun Xue, Bin Liang, Cheng Li

TuD1: Flying RobotsControl of Autonomous Airship 2457Yiwei Liu, Zengxi Pan, David Stirling, Fazel Naghdy

Adaptive Unscented Kalman Filter for Estimation of Modelling Errors for Helicopter 2463Qi Song, Yuqing He

A Flying Robotic System for Power Line Corridor Inspection 2468Binhai Wang, Lei Han, Hailong Zhang, Qian Wang, Bingqiang Li

Automatic Takeoff of Unmanned Aerial Vehicle based on Active Disturbance Rejection Control 2474Hua Xiong, Feng-shui Jing, Jian-qiang Yi, Guo-liang Fan

TuD2: Learning (II)Language Models Learning for Domain-Specific Natural Language User Interaction 2480Shuanhu Bai, Chien-Lin Huang, Yeow-Kee Tan, Bin Ma

Application of Reinforcement Learning to Autonomous Heading Control for Bionic UnderwaterRobots

2486

Longxin Lin, Haibin Xie, Lincheng Shen

Design of Autonomous Navigation System Based on Affective Cognitive Learning andDecision-making

2491

Huidi Zhang, Shirong Liu

Fault Diagnosis of Underwater Robots Based on Recurrent Neural Network 2497Jianguo Wang, Gongxing Wu, Yushan Sun, Lei Wang, Dapeng Jiang

TuD3: Rehabilitation and Robot DesignA new concept of parallel robot for rehabilitation and fitness: The Lambda 2503Mohamed Bouri, Reymond Clavel, Berangère Le Gall

Modelling and Simulation of a Self-Tuning Rapid-Releasing Shock Absorber for Above-KneeProsthesis

2509

Yenchieh Mao

Improvement of Mechanism of Upper Extremity Exercise Support System “Robotherapist" andDevelopment of Application Software

2515

Kunihiko Oda, Takehito Kikuchi, Yuuki Ohyama, Shiro Isozumi, Kazuya Tamida, Junji Furusho

A Robot Leg based on Mammalian Muscle Architecture 2521Theresa J. Klein, M. Anthony Lewis

Mechanism Design and Motion Control of a Parallel Ankle Joint for Rehabilitation RoboticExoskeleton

2527

Yuanjie Fan, Yuehong Yin

Analysis and Synthesis of Ankle Motion and Rehabilitation Robots 2533Pengju Sui, Ligang Yao, Zhifeng Lin, Huayang Yan, Jian S. Dai Author Index