Session: TuA1-01HUMANOIDS I
Dynamic Control of a Bipedal Walking Robot Actuated with Pneumatic Artificial Muscles ........................... 1Bram Vanderborght, Björn Verrelst, Ronald Van Ham, Jimmy Vermeulen, Dirk Lefeber
Further Steps Toward More Human-like Passive Bipedal Walking Robots ...................................................... 7Andrej Olenšek, Zlatko Matjacic
A Bio-Inspired Neuro-Controller for an Anthropomorphic Head-Arm Robotic System ................................... 12Loredanza Zollo, Eugenio Guglielmelli, Giancarlo Teti, Cecilia Laschi, Selim Eskiizmirliler, Franck Carenzi,Patrice Bendahan, P. Gorce, Marc Maier, Yves Burnod, P. Dario
Motion Emergency of Humanoid Robots by an Attractor Design of a Nonlinear Dynamics .......................... 18Masafumi Okada, Kenta Osato, Yoshihiko Nakamura
Session: TuA1-02VISION/SLAM I
The vSLAM Algorithm for Robust Localization and Mapping ............................................................................ 24Niklas Karlsson, Enrico Di Bernardo, Jim Ostrowski, Luis Goncalves, Paolo Pirjanian, Mario E. Munich
Vision SLAM in the Measurement Subspace ..................................................................................................... 30John Folkesson, Patric Jensfelt, Henrik Christensen
Entropy Minimization SLAM Using Stereo Vision ............................................................................................... 36Juan Manuel Sáez Martínez, Francisco Escolano Ruiz
A Visual Front-end for Simultaneous Localization and Mapping ...................................................................... 44Luis Goncalves, Enrico Di Benardo, Dave Benson, Marcus Svedman, Jim Ostrowski, Niklas Karlsson, Paolo Pirjanian
Session: TuA1-03TELEPRESENCE
Tele-existence Vision System with Image Stabilization for Rescue Robots .................................................... 50Koichiro Hayashi, Yasuyoshi Yokokohji, Tsuneo Yoshikawa
Effect of Driving Delay with an Acoustical Tele-presence Robot, TeleHead .................................................... 56Iwaki Toshima, Shigeaki Aoki
Telepresence Systems With Automatic Preservation of User Head Height, Local Rotation,and Remote Translation ........................................................................................................................................ 62
Norman P. Jouppi, Stan Thomas
Incremental Motion Compression for Telepresent Walking Subject to Spatial Constraints ............................ 69Jianbo Su, Zhi-Wei Luo
Session: TuA1-04MULTI ROBOT COMMUNICATION
Competitive Multi-robot Teleoperation ................................................................................................................. 75Jingtai Liu, Lei Sun, Tao Chen, Xingbo Huang, Chunying Zhao
Making Collective Behaviours to Work through Implicit Communication ......................................................... 81Antonio D‘Angelo, Enrico Pagello
An Efficient Group Communication Protocol for Mobile Robots ....................................................................... 87Saumitra M. Das, Y. Charlie Hu, C. S. George Lee, Yung-Hsiang Lu
Efficient Unicast Messaging for Mobile Robots .................................................................................................. 93Saumitra M. Das, Y. Charlie Hu, C.S. George Lee, Yung-Hsiang Lu
Session: TuA1-05MULTI ROBOT PLANNING
Comparison of Alternate Methods for Distributed Motion Planning of Robot Collectives within
Leng-Feng Lee, Rajankumar Bhatt, Venkat Krovi
Experimental Research of a Passive Multiple Trailer System for Backward Motion Control ......................... 105Myoungkuk Park, Woojin Chung, Munsang Kim
Motion Planning Algorithms for a Group of Micro-robots Carrying an Object ................................................. 111Grigoris Lionis, Kostas J. Kyriakopoulos
a Potential Field Framework .................................................................................................................................. 99
Reconfiguration Planning Among Obstacles for Heterogeneous Self-Reconfiguring Robots........................ 117Robert Fitch, Zack Butler, Daniela Rus
Session: TuA1-06OBJECT RECOGNITION
Robust Object Detection at Regions of Interest with an Application in Ball Recognition .............................. 125Sara Mitri, Simone Frintrop, Kai Pervoelz, Hartmut Surmann, Andreas Nuechter
Urban Object Recognition from Informative Local Features ............................................................................. 131Gerald Fritz, Christin Seifert, Lucas Paletta
Fast Computational Methods for Visually Guided Robots ................................................................................. 138Maryam Mahdaviani, Nando de Freitas, Bob Fraser, Firas Hamze
Fast Appearance Based Object Recognition: A Hybrid Approach .................................................................... 144Philip Blackwell, David Austin
Session: TuA1-07NANOROBOTS I
Step Modelling of a High Precision 2DoF (Linear-Angular) Microsystem ....................................................... 150Micky Rakotondrabe, Yassine Haddab, Philippe Lutz
Modeling and Control of AFM-based Nano-manipulation Systems ................................................................. 157Khalid El Rifai, Osamah El Rifai, Kamal Youcef-Toumi
Modeling and Control of Active End Effector for the AFM Based Nano Robotic Manipulators ..................... 163Jiangbo Zhang, Guangyong Li, Ning Xi
Planning and Control for Automated Nanorobotic Assembly ............................................................................ 169Heping Chen, Ning Xi, Guangyong Li, Jiangbo Zhang, Mathew Prokos
Session: TuA1-08UNDERWATER ROBOTS I
Accurate and Practical Thruster Modeling for Underwater Vehicles ................................................................ 175Jinhyun Kim, Jonghui Han, Wan Kyun Chung, Junku Yuh, Pan-Mook Lee
Synthetic Jet Propulsion for Small Underwater Vehicles ................................................................................... 181AnnMarie Polsenberg Thomas, Michele Milano, Maxwell Grazier G‘Sell, Kathleen Fischer, Joel Burdick
Autonomous Towed Vehicle for Underwater Inspection in a Port Area ............................................................ 188Jin-Kyu Choi, Hiroshi Sakai, Toshinari Tanaka
Path Planning of Autonomous Underwater Vehicles in Current Fields with Complex Spatial Variability:an A* Approach ..................................................................................................................................................... 194
Bartolomé Garau, Alberto Álvarez, Gabriel Oliver
Session: TuA1-09SURGICAL ROBOTS I
A Robotic System with Force Feedback for Micro-Surgery ............................................................................... 199Shuxin Wang, Jienan Ding, Jintian Yun, Qunzhi Li , Baoping Han
Design of a High Fidelity Haptic Device for Telesurgery ................................................................................... 205Florian Gosselin, Catherine Bidard, Julien Brisset
BRIGIT, a Robotized Tool Guide for Orthopedic Surgery ................................................................................... 211Pierre Maillet, Bertin Nahum, Lucien Blondel, Philippe Poignet, Etienne Dombre
Performance of Surgical Robots with Automatically Generated Spatial Virtual Fixtures ............................... 217Ming Li, Russell Taylor
Session: TuA1-10ACTUATORS I
Task-Space Feedback Control for a Two-Link Arm Driven by Six Muscles with Variable Dampingand Elastic Properties .......................................................................................................................................... 223
Kenji Tahara, Zhi-Wei Luo, Suguru Arimoto, Hitoshi Kino
A High Authority Piezoelectric Stack Actuator for Structurally Flexible Mechanisms ..................................... 229Mehrdad Kermani, Rajni Patel, Mehrdad Moallem
Design of a Free Piston Pneumatic Compressor as a Mobile Robot Power Supply ....................................... 235Jose Riofrio, Eric Barth
Design and Energetic Characterization of a Solenoid Injected Liquid Monopropellant-powered Actuator forSelf-powered Robots............................................................................................................................................. 241
Bobby Shields, Michael Goldfarb
Session: TuA1-11CONTROL I
Computation and Graphical Characterization of Robust Multiple-Contact Postures in 2D GravitationalEnvironments ......................................................................................................................................................... 247
Yizhar Or, Elon Rimon
Safe Automatic Emergency Stop Control of Gantry Crane Including Moving Obstacles in Its Workspace . 253Motoji Yamamoto, Eiji Honda, Akira Mohri
Realtime Hybrid Task-Based Control for Robots and Machine Tools ............................................................... 259Peter Soetens, Herman Bruyninckx
Bandwidth Management for Distributed Control of Highly Articulated Robots ............................................... 265Manel Velasco, Pau Martí, Manel Frigola
Session: TuA1-12PETRI NETS I AND SCHEDULING
A Petri Net Structure-Based Deadlock Prevention Solution for Sequential Resource Allocation Systems .. 271Fernando Tricas, Fernando García-Vallés, José Manuel Colom, Joaquín Ezpeleta
Analysis of Andon Type Transfer Production Lines: A Quantitative Approach................................................. 278Jingshan Li, Dennis Blumenfeld
Modeling Admissible Behavior using Event Signals ........................................................................................ 284Luz Pinzon, Mohsen Jafari, Ardavan Amini, Hans-M. Hanisch
Steady-State Throughput and Scheduling Analysis of Multi-Cluster Tools for Semiconductor Manufacturing:A Decomposition Approach .................................................................................................................................. 292
Jingang Yi, Shengwei Ding, Dezhen Song
Session: TuA2-01HUMANOIDS II
Goal-Directed Imitation in a Humanoid Robot .................................................................................................... 299Sylvain Calinon, Florent Günter, Aude Billard
A Fast Online Gait Planning with Boundary Condition Relaxation for Humanoid Robots .............................. 305Tomomichi Sugihara, Yoshihiko Nakamura
Analysis of Human Motion for Humanoid Robots .............................................................................................. 311Jörg Moldenhauer, Ingo Boesnach, Thomas Beth, Veit Wank, Klaus Bös
Implementation and Experimental Results of a Quaternion-Based Kalman Filter for Human Body MotionTracking .................................................................................................................................................................. 317
Xiaoping Yun, Conrado Aparicio, Eric R. Bachmann, Robert B. McGhee
Session: TuA2-02SLAM / ESTIMATION
Unscented Transformation of Vehicle States in SLAM ...................................................................................... 323Juan Andrade-Cetto, Teresa Vidal-Calleja, Alberto Sanfeliu
A Proof for the Approximate Sparsity of SLAM Information Matrices ............................................................. 329Udo Frese
Using Absolute Non-Gaussian Non-White Observations in Gaussian SLAM ................................................. 336José Guivant, Favio Masson
SLAM using Incremental Probabilistic PCA and Dimensionality Reduction .................................................... 342Emma Brunskill, Nicholas Roy
Session: TuA2-03TELEOPERATION I
Modeling Induced Master Motion in Force-Reflecting Teleoperation................................................................ 348Katherine Kuchenbecker, Günter Niemeyer
Improving Perception in Time Delayed Teleoperation ........................................................................................ 354Neal A. Tanner, Günter Niemeyer
Bilateral Teleoperation of Multiple Cooperative Robots over Delayed Communication Networks: Theory ... 360Dongjun Lee, Mark Spong
Bilateral Teleoperation of Multiple Cooperative Robots over Delayed Communication Networks:Application ............................................................................................................................................................. 366
Dongjun Lee, Oscar Martinez-Palafox, Mark Spong
Session: TuA2-04MULTI ROBOT COORDINATION
Decentralized Collaborative Load Transport by Multiple Robots ...................................................................... 372Gustavo Montemayor, John T. Wen
Motion Planning of Multiple Agents in Virtual Environments using Coordination Graphs ............................. 378Yi Li, Kamal Gupta, Shahram Payandeh
Cooperative Multi-Robot Systems: A study of Vision-based 3-D Mapping using Information Theory........... 384Rui Rocha, Jorge Dias, Adriano Carvalho
A New Multi-Robot Self-Determination Cooperation Method based on Immune Agent Network .................. 390Gao Yunyuan, Wei Wei
Session: TuA2-05PLANNING I
Reaching Movements in Dynamic Environments: How Do We Move Flexible Objects? ................................. 396Mikhail Svinin, Igor Goncharenko, Zhi-Wei Luo, Shigeyuki Hosoe
Reachability Analysis of Sampling Based Planners .......................................................................................... 404Roland Geraerts, Mark H. Overmars
Adapted Time-Optimal Trajectory Planning for Parallel Manipulators with Full Dynamic Modelling ............. 411Houssem Abdellatif, Bodo Heimann
Motion Planning and Trajectory Tracking on 2-D Manifolds embedded in 3-D Workspaces .......................... 417Xanthi Papageorgiou, Savvas G. Loizou, Kostas J. Kyriakopoulos
Session: TuA2-06POSE ESTIMATION
Stereo Camera Pose Determination with Error Reduction and Tolerance Satisfaction for DimensionalMeasurements ....................................................................................................................................................... 423
Alexis Rivera-Rios, Fai-Lung Shih, Michael Marefat
Linear Design of a Nonlinear Observer for Perspective Systems .................................................................... 429Ola Dahl, Fredrik Nyberg, Jan Holst, Anders Heyden
Complex Objects Pose Estimation based on Image Moment Invariants .......................................................... 436Omar Tahri, François Chaumette
Pose Estimation and Structure Recovery from Point Pairs ............................................................................... 442Zhiguang Zhong, Jianqiang Yi, Dongbin Zhao
Session: TuA2-07MICRO ROBOTS I
Functionalized Nano-Robot End Effector for in situ Sensing and Manipulation of Biological Specimen ..... 448Guangyong Li, Ning Xi, Donna H. Wang
Integrating Microscope and Perspective Views .................................................................................................. 454Andrew Shacklock, Sun Wenting
Design of an Adaptive Scanning Optical Microscope for Simultaneous Large Field of View and HighResolution .............................................................................................................................................................. 460
Benjamin Potsaid, Yves Bellouard, John T. Wen
Analysis and Design of a Novel Micro-Dissection Manipulator Based on Ultrasonic Vibration .................... 466Guangzhong Wu, Jianfeng Li, Renyuan Fei, Xinhua Wang, Dezhong Liu
Session: TuA2-08TUBE/TUNNEL INSPECTION
Fuzzy Trajectory Planning and Redundancy Resolution for a Fire Fighting Robot Operating in Tunnels ......... 472Agostino De Santis, Bruno Siciliano, Luigi Villani
Motion Control of a Micro Biped Robot for Nondestructive Structure Inspection ............................................ 478Hongjun Chen, Weihua Sheng, Ning Xi, Jindong Tan
Genetic Optimization and Simulation of a Piezoelectric Pipe-Crawling Inspection Robot ............................... 484Geoffrey Hollinger, Jeri Briscoe
Modular Multiconfigurable Architecture for Low Diameter Pipe Inspection Microrobots ............................... 490Alberto Brunete, Miguel Hernando, Ernesto Gambao
Session: TuA2-09SURGICAL ROBOTS II
Prototype of Instrument for Minimally Invasive Surgery with 6-Axis Force Sensing Capability .................... 496Ulrich Seibold, Bernhard Kuebler, Gerd Hirzinger
Micro Manipulators for Intrauterine Fetal Surgery in an Open MRI .................................................................. 502Kanako Harada, Kota Tsubouchi, Toshio Chiba, Masakatsu Fujie
Automatic Guidance of a Surgical Instrument with Ultrasound Based Visual Servoing ................................ 508Marie-Aude Vitrani, Guillaume Morel, Tobias Ortmaier
A Circular Needle Path Planning Method for Suturing in Laparoscopic Surgery ............................................ 514Florent Nageotte, Philippe Zanne, Michel de Mathelin, Christophe Doignon
Session: TuA2-10SOFT ACTUATORS
Development of Active Support Splint driven by Pneumatic Soft Actuator (ASSIST) .................................... 520Daisuke Sasaki, Toshiro Noritsugu, Masahiro Takaiwa
Design and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human/Robot Interaction 526Giovanni Tonietti, Riccardo Schiavi, Antonio Bicchi
A Micro Artificial Muscle Actuator using Electro-conjugate Fluid ..................................................................... 532Kenjiro Takemura, Shinichi Yokota, Kazuya Edamura
Development of a Hybrid Element by using Sponge Core Soft Rubber Actuator ........................................... 538Yasuhiro Hayakawa, Shunmugham Pandian
Session: TuA2-11NONLINEAR CONTROL
Integration of Supervisory and Nonlinear Control for a Heating, Ventilating and Air Conditioning System . 544Ming-Li Chiang, Yuan-Ming Chan, Li-Chen Fu
Overall Stability Analysis of Hydraulic Actuator’s Switching Contact Control Using the Concept of LyapunovExponents .............................................................................................................................................................. 550
Pooya Sekhavat, Nariman Sepehri, Christine Qiong Wu
Nonlinear Bang-Bang Impact Control: A Seamless Control in All Contact Modes .......................................... 557Maolin Jin, Sang Hoon Kang, Pyung H. Chang, Eunjeong Lee
A Temporal Logic Specification Interface for Automata-Theoretic Finitary Control Synthesis ...................... 565Kiam Tian Seow, Ming Gai, Tong Lee Lim
Session: TuA2-12MANUFACTURING TOOLS
Hierarchical Segmentation of Surfaces Embedded in R^3 for Auto-Body Painting ........................................ 572Prasad N. Atkar, Aaron Greenfield, David C. Conner, Howie Choset, Alfred Rizzi
Integrated Process for Measurement of Free-Form Automotive Part Surface Using a Digital Area Sensor 578Quan Shi, Ning Xi, Heping Chen, Yifan Chen
Automated Desktop Manufacturing: Direct Metallic Rapid Tooling System ..................................................... 584Ren C. Luo, Cheng L. Chang, Jyh H. Tzou, Zhong H. Huang
Design of a Reconfigurable Robot Arm for Assembly Operations inside an Aircraft Wing-Box ..................... 590Binayak Roy, Harry Asada
Session: TuP1-01HUMANOIDS WALKING
Experimental Studies of a Neural Oscillator for Biped Locomotion with QRIO ................................................ 596Gen Endo, Jun Nakanishi, Jun Morimoto, Gordon Cheng
Evaluation of Various Walking Patterns of Biped Humanoid Robot ................................................................... 603Yu Ogura, Teruo Kataoka, Hiroyuki Aikawa, Kazushi Shimomura, Hun-Ok Lim, Atsuo Takanishi
Parametric Excitation Mechanisms for Dynamic Bipedal Walking ................................................................... 609Fumihiko Asano, Sang-Ho Hyon, Zhi-Wei Luo
A Running Controller of Humanoid Biped HRP-2LR ............................................................................................. 616Shuuji Kajita, Takashi Nagasaki, Kenji Kaneko, Kazuhito Yokoi, Kazuo Tanie
Autonomous 3D Walking System for a Humanoid Robot based on Visual Step Recognition and3D Foot Step Planner ......................................................................................................................................... 623
Kei Okada, Takashi Ogura, Atsushi Haneda, Masayuki Inaba
Foot Step Planning for the Honda ASIMO Humanoid .......................................................................................... 629Joel Chestnutt, Manfred Lau, German Cheung, James Kuffner, Jessica Hodgins, Takeo Kanade
Session: TuP1-02SLAM / CONSISTENCY
SLAM - Loop Closing with Visually Salient Features ......................................................................................... 635Paul Newman, Kin Leong Ho
A Markov Chain Monte Carlo Approach to Closing the Loop in SLAM ............................................................ 643Michael Kaess, Frank Dellaert
Handling the Inconsistency of Relative Map Filter ............................................................................................ 649Viet Nguyen, Agostino Martinelli, Roland Siegwart
Recovering Particle Diversity in a Rao-Blackwellized Particle Filter for SLAM After ActivelyClosing Loops ........................................................................................................................................................ 655
Cyrill Stachniss, Giorgio Grisetti, Wolfram Burgard
Global A-Optimal Robot Exploration in SLAM .................................................................................................... 661Robert Sim, Nicholas Roy
SLAM via Variable Reduction from Constraint Maps ......................................................................................... 667Kurt Konolige
Session: TuP1-03TELEOPERATION II
Web-based Teleoperation of the Robot Interacting with Fast Moving Objects ................................................ 673Igor Belousov, Sviatoslav Chebukov, Victor Sazonov
Improving the Operation Efficiency of Supermedia Enhanced Internet Based Teleoperation via anOverlay Network .................................................................................................................................................... 679
Zhiwei Cen, Amit Goradia, Matt Mutka, Ning Xi, Wai-keung Fung, Yun Hui Liu
Towards Constrained Teleoperation for Safe Long-Distance Robotic Surgical Operations ........................... 685Alessandro Casavola, Michela Sorbara
Bong Keun Kim, Manabu Miyazaki, Kohtaro Ohba, Shigeoki Hirai, Kazuo Tanie
Significance of Causality Analysis for Transparent Teleoperation .................................................................... 697Hyung-Soon Park, Pyung Hun Chang, Jong Hyun Kim
Multiple Model Control for Teleoperation in Unknown Environments ............................................................... 703Ali Shahdi, Shahin Sirouspour
Session: TuP1-04MULTI ROBOT EXPLORATION AND COVERAGE
Physical Path Planning Using the GNATs ........................................................................................................... 709Keith J. O‘Hara, Victor L. Bigio, Eric R. Dodson, Arya J. Irani, Daniel B. Walker, Tucker Balch
Complete Multi-Robot Coverage of Unknown Environments with Minimum Repeated Coverage ................. 715Shuzhi Sam Ge, Cheng-Heng Fua
All Terrain Exploration with the Cliff-bot System ................................................................................................ 721Gale L. Paulsen, Shane Farritor, Terry Huntsberger, Hrand Aghazarian
Web Services Based Robot Control Platform for Ubiquitous Functions ........................................................... 691
A Coverage Algorithm for Multi-robot Boundary Inspection ............................................................................... 727Kjerstin Easton, Joel Burdick
Redundancy, Efficiency and Robustness in Multi-Robot Coverage ................................................................... 735Noam Hazon, Gal Kaminka
Optimal Positioning Strategies for Shape Changes in Robot Teams ................................................................ 742John Spletzer, Rafael Fierro
Session: TuP1-05GRASPING I
Grasp Recognition for Programming by Demonstration .................................................................................... 748Staffan Ekvall, Danica Kragic
A Grasp Planner Based On Inertial Properties .................................................................................................. 754Efrain Lopez-Damian, Daniel Sidobre, Rachid Alami
Grasp Stability Analysis of Two Objects in Two Dimensions ............................................................................. 760Takayoshi Yamada, Toshinori Ooba, Tomoya Yamamoto, Nobuharu Mimura, Yasuyuki Funahashi
Fast and Flexible Determination of Force-closure Independent Regions to Grasp Polygonal Objects ........ 766Jordi Cornella, Raúl Suárez
Output-Sensitive Computation of All Form-Closure Grasps of a Semi-Algebraic Set .................................... 772Jae-Sook Cheong, A. Frank van der Stappen
Regrasp Planning of Four-Fingered Hand for Parallel Grasp of a Polygonal Object ..................................... 779Thanathorn Phoka, Peam Pipattanasomporn, Nattee Niparnan, Attawith Sudsang
Session: TuP1-06STEREO VISION + HEADS
Design and Development of a High Speed Binocular Camera Head ............................................................... 785Teppei Tsujita, Atsushi Konno, Masaru Uchiyama
Machine Vision System to Induct Binocular Wide-Angle Foveated Information into Both the Human
Sota Shimizu, Shinsuke Shimojo, Hao Jiang, Joel Burdick
Stereo Vision with a Single Camera and Multiple Mirrors ................................................................................. 800El Mustapha Mouaddib, Ryusuke Sagawa, Tomio Echigo, Yasushi Yagi
Wide-Area Recognition Using Hybrid Motion Stereo ......................................................................................... 806Shun Nishide, Tomohito Takubo, Kenji Inoue, Tatsuo Arai
Vision-Based 3D Scene Analysis for Driver Assistance .................................................................................... 812Darius Burschka, Gregory D. Hager
Robust Contrast Invariant Stereo Correspondence ........................................................................................... 819Abhijit Ogale, Yiannis Aloimonos
Session: TuP1-07MICRO ROBOTS II
Micro-Parts Feeding by a Saw-tooth Surface ..................................................................................................... 825Atsushi Mitani, Naoto Sugano, Shinichi Hirai
Task-Reconfigurable System for MEMS Assembly ............................................................................................ 832Lining Sun, Hui Xie, Weibin Rong, Liguo Chen
Laser Manipulation and Fabrication of Functional Microtool Using Photo-crosslinkable Resin ................... 838Hisataka Maruyama, Fumihito Arai, Toshio Fukuda
MICRON: Small Autonomous Robot for Cell Manipulation Applications .......................................................... 844Jordi Brufau, Manel Puig-Vidal, Jaime López-Sánchez, Josep Samitier, Walter Driesen, Jean Marc Breguet, Niklas Snis,Urban Simu, S. Johansson, T. Velten, J. Gao, J. Seyfried, R. Estaña and H. Woern
High Accuracy Micro-Displacement Sensor With Integrated Optics-based Detection Means ....................... 850Yves Bellouard, Ali A. Said, Mark Dugan, Philippe Bado
Towards Linear Nano Servomotors with Integrated Position Sensing ............................................................. 855Lixin Dong, Bradley Nelson, Toshio Fukuda, Fumihito Arai, Masahiro Nakajima
and Computers ...................................................................................................................................................... 793
Session: TuP1-08ALL-TERRAIN ROBOTS I
Dynamic Stability of a Rocker Bogie Vehicle: Longitudinal Motion .................................................................. 861Moshe P. Mann, Zvi Shiller
Wheel Torque Control in Rough Terrain - Modeling and Simulation ................................................................. 867Pierre Lamon, Roland Siegwart
First Experiments in the Robotic Investigation of Life in the Atacama Desert of Chile ................................. 873David Wettergreen, Nathalie Cabrol, James Teza, Paul Tompkins, Chris Urmson, Vandi Verma, Michael Wagner,
William Whittaker
Equations of Motion of a Single-Wheel Robot in a Rough Terrain ................................................................... 879Aria Alasty, Hodjat Pendar
Model Predictive Control for Vehicle Guidance in Presence of Sliding: Application to Farm VehiclesPath Tracking ........................................................................................................................................................ 885
Roland Lenain, Benoit Thuilot, Christophe Cariou, Philippe Martinet
Mattia Castelnovi, Ronald Arkin, Thomas Collins
Session: TuP1-09SURGICAL ROBOTS III
Yumi Iwashita, Ryo Kurazume, Kozo Konishi, Masahiko Nakamoto, Tsutomu Hasegawa, Makoto Hashizume
Robot Surgery based on the Physical Properties of the Brain -Physical Brain Model for Planning andNavigation of a Surgical Robot- ........................................................................................................................... 904
Aiko Yoshizawa, Jun Okamoto, Hiroshi Yamakawa, Masakatsu Fujie
Port Placement for Endoscopic Cardiac Surgery based on Robot Dexterity Optimization ............................ 912Ana Luisa Trejos, Rajni Patel
Realistic Visual and Haptic Rendering for Biological-Cell Injection ................................................................. 918Mehdi Ammi, Antoine Ferreira
Modeling and Control of a Hybrid Continuum Active Catheter for Aortic Aneurysm Treatment .................... 924Yan Bailly, Yacine Amirat
Safety and Accuracy Considerations in Developing a Small Sterilizable Robot of Orthopaedic Surgery .... 930Christopher Plaskos, Philippe Cinquin, Antony Hodgson, Stéphane Lavallée
Session: TuP1-10PARALLEL MANIPULATORS I
Tri-Symmetric Orthogonal Gough-Stewart Platforms ........................................................................................ 936John McInroy, Farhad Jafari, John O‘Brien
Dimensional Synthesis of Parallel Robots with a Guaranteed Given Accuracy over aSpecified Workspace ............................................................................................................................................ 942
Jean-Pierre Merlet, David Daney
Internal Preload Control of Redundantly Actuated Parallel Manipulators - Backlash Avoiding Control ....... 948Andreas Mueller
Self-Motion in Spatial Parallel Mechanisms with More than Three Legs ......................................................... 954John O‘Brien, Farhad Jafari, John T. Wen
On the Trilaterable Six-Degree-of-Freedom Parallel and Serial Manipulators ................................................ 960Josep M. Porta, Lluís Ros, Federico Thomas
Controller Design Applied to Planar Parallel Manipulators for Trajectory Tracking Control ........................... 968Lu Ren, James Mills, Dong Sun
Session: TuP1-11SPECIAL CONTROL TECHNIQUES I
Region Reaching Control of Robots: Theory and Experiments ........................................................................ 974Chien Chern Cheah, De Qun Wang
Model-Based Sliding Mode Control of Underwater Robot Manipulators ......................................................... 980Bin Xu, Shunmugham Pandian, Manabu Inoue, Norimitsu Sakagami, Sadao Kawamura
Impedance Control of a Pneumatic Actuator for Contact Tasks ....................................................................... 987Yong Zhu, Eric Barth
Reactive Speed Control System Based on Terrain Roughness Detection ....................................................... 891
Fast 2D-3D Registration for Navigation System of Surgical Robot .................................................................. 897
Eftychios Christoforou, Christopher Damaren
Alessandro De Luca, Raffaella Mattone
The Degree of Freedom of Parallel Robots: A Group-theoretic Approach ........................................................ 1005Jorge Angeles
Session: TuP1-12MANIPULATION
Object Manipulation under Hybrid Active/Passive Closure ............................................................................... 1013Tetsuyou Watanabe, Kensuke Harada, Zhongwei Jiang, Tsuneo Yoshikawa
Generation of Quadratic Force Fields from Potential Flow Fields for Distributed Manipulation .................... 1021Konstantinos Varsos, Hyungpil Moon, Jonathan Luntz
Dynamic Modeling of Linear Object Deformation based on Differential Geometry Coordinates .................. 1028Hidefumi Wakamatsu, Kousaku Takahashi, Shinichi Hirai
Reaction Force Inspection System Using Neural Network Classifier ............................................................... 1034Yasuhiro Yamada, Yoshiaki Komura
Pivoting Manipulation of a Large Object: A Study of Application using Humanoid Platform ......................... 1040Eiichi Yoshida, Pierre Blazevic, Vincent Hugel
Constraint-Based Motion Planning of Deformable Robots ............................................................................... 1046Russell Gayle, Ming Lin, Dinesh Manocha
Session: TuP2-01HUMANOID MOTION PLANNING
Feasibility: Can Humanoid Robots Overcome Given Obstacles? ..................................................................... 1054Yisheng Guan, Kazuhito Yokoi, Kazuo Tanie
Real-Time and Precise Self Collision Detection System for Humanoid Robots ............................................. 1060Kei Okada, Masayuki Inaba, Hirochika Inoue
A Floor and Obstacle Height Map for 3D Navigation of a Humanoid Robot ................................................... 1066Jens-Steffen Gutmann, Masaki Fukuchi, Masahiro Fujita
Whole Body Locomotion Planning of Humanoid Robots based on a 3D Grid Map ........................................ 1072Fumio Kanehiro, Takashi Yoshimi, Shuuji Kajita, Mitsuharu Morisawa, Kiyoshi Fujiwara, Kensuke Harada, Kenji Kaneko,Hirohisa Hirukawa, Fumiaki Tomita
Utilization of Movement Prioritization for Whole-Body Humanoid Robot Trajectory Generation .................... 1079Nirut Naksuk, C. S. George Lee
Session: TuP2-02SLAM AND NAVIGATION
Motion Constrained Simultaneous Localization and Mapping in Neighbourhood Environments .................. 1085Wijerupage Sardha Wijesoma, Kwangwee Lee, Javier Ibañez-Guzmán
Multi-Step Look-Ahead Trajectory Planning in SLAM: Possibility and Necessity ............................................ 1091Shoudong Huang, Ngai Ming Kwok, Gamini Dissanayake, Q. P. Ha, Gu Fang
Efficient Goal Directed Navigation using RatSLAM ........................................................................................... 1097Michael Milford, Gordon Wyeth, David Prasser
Interactive SLAM using Laser and Advanced Sonar .......................................................................................... 1103Albert Diosi, Geoffrey Taylor, Lindsay Kleeman
Bearing-only SLAM Using a SPRT Based Gaussian Sum Filter ....................................................................... 1109Ngai Ming Kwok, Gamini Dissanayake, Q. P. Ha
Session: TuP2-03TELEOPERATION III
Mobile Agent Gain Scheduler Control in Inter-Continental Intelligent Space .................................................. 1115Rangsarit Vanijjirattikhan, Mo-Yuen Chow, Peter Szemes, Hideki Hashimoto
Telemanipulation Assistance Based on Motion Intention Recognition ............................................................. 1121Wentao Yu, Redwan Alqasemi, Rajiv Dubey, Norali Pernalete
Sensorless Robot Collision Detection and Hybrid Force/Motion Control .......................................................... 999
A Passivity-Based Control Case Study of Flexible-Link Manipulators ............................................................... 993
Design of Bilateral Teleoperators for Soft Environments with Adaptive EnvironmentalImpedance Estimation .......................................................................................................................................... 1127
Xiaoguang Wang, Peter Xiaoping Liu, Brahim Chebbi, David Wang, Max Q.-H. Meng
Robust Control Design for Cooperative Teleoperation ....................................................................................... 1133Shahin Sirouspour
Adaptive Virtual Fixtures for Machine-Assisted Teleoperation Tasks ............................................................... 1139Daniel Aarno, Staffan Ekvall, Danica Kragic
Session: TuP2-04MULTI AGENT TASK ALLOCATION I
Combinatorial Bids based Multi-robot Task Allocation Method ......................................................................... 1145Liu Lin, Zheng Zhiqiang
Learning Opportunity Costs in Multi-Robot Market Based Planners ............................................................... 1151Jeff Schneider, David Apfelbaum, Drew Bagnell, Reid Simmons
Improving Collaboration through Fusion of Bid Information for Market-based Multi-robot Exploration ....... 1157Fei Zhang, Weidong Chen, Yugeng Xi
Game Theoretic Control for Robot Teams ........................................................................................................... 1163Rosemary Emery-Montemerlo, Geoff Gordon, Jeff Schneider, Sebastian Thrun
Hoplites: A Market-Based Framework for Planned Tight Coordination in Multi-Robot Teams ........................ 1170Nidhi Kalra, Dave Ferguson, Anthony Stentz
Session: TuP2-05GRASPING II
Finding Grasping Configurations of a Dexterous Hand and an Industrial Robot ............................................ 1178Jan Rosell, Xavier Sierra, Leopold Palomo, Raúl Suárez
Kinematic Redundancy in Robot Grasp Synthesis. An Efficient Tree-based Representation ........................ 1184César Fernández, Óscar Reinoso, Asunción Vicente, Rafael Aracil
Haptic Device with Gripping Force Feedback ..................................................................................................... 1190Qunzhi Li , Shuxin Wang, Jintian Yun, Dan Liu, Baoping Han
Two-Dimensional Stable Blind Grasping under the Gravity Effect ................................................................... 1196Suguru Arimoto, Ryuta Ozawa, Morio Yoshida
Enhancement of Dexterity in Robotic Grasping Referring to Characteristics of Human Grasping ............... 1203Ji-Hun Bae, Suguru Arimoto, Ryuta Ozawa, Masahiro Sekimoto
Session: TuP2-06PANORAMIC STEREOVISION
Fast Dense Panoramic Stereovision ................................................................................................................... 1210Jose-Joel Gonzalez-Barbosa, Simon Lacroix
Multi-Subspace Methods for Motion Segmentation from Affine, Perspective and CentralPanoramic Cameras .............................................................................................................................................. 1216
René Vidal
Omnidirectional Depth Computation from a Single Image ................................................................................ 1222Radu Orghidan, El Mustapha Mouaddib, Joaquim Salvi
Non-isotropic Omnidirectional Imaging System for an Autonomous Mobile Robot ........................................ 1228Kazuaki Kondo, Yasushi Yagi, Masahiko Yachida
Developing a Modular Active Spherical Vision System ..................................................................................... 1234Nicholas D. Jankovic, Michael D. Naish
Session: TuP2-07MICRO ROBOTS III
A Small, Insect-Inspired Robot that Runs and Jumps........................................................................................ 1240Bram Lambrecht, Andrew Horchler, Roger Quinn
Dynamics Model of Paramecium Galvanotaxis for Microrobotic Application .................................................. 1246Naoko Ogawa, Hiromasa Oku, Koichi Hashimoto, Masatoshi Ishikawa
Characterization of the Micromechanical Flying Insect by Optical Position Sensing ...................................... 1252Erik Steltz, Robert Wood, Srinath Avadhanula, Ronald Fearing
Carbon Fiber Components with Integrated Wiring for Millirobot Prototyping ................................................... 1258Ranjana Sahai, Erik Steltz, Ronald Fearing
A Deformable Object Tracking Algorithm Robust to Occlusions and Spurious Edges .................................... 1264Michael Greminger, Bradley Nelson
Session: TuP2-08ALL-TERRAIN ROBOTS II
Dynamic Modeling of a 3-D Serial Eel-like Robot .............................................................................................. 1270Wisama Khalil, Guillaume Gallot, Ouarda Ibrahim, Frédéric Boyer
Design of a Higher Jumping Rescue Robot with the Optimized Pneumatic Drive .......................................... 1276Hideyuki Tsukagoshi, Masashi Sasaki, Ato Kitagawa, Takahiro Tanaka
Quadruped Walking Robot Centered Demining System -Development of TITAN-IX and its Operation- ...... 1284Shigeo Hirose, Shingo Yokota, Akinori Torii, Masaru Ogata, Shin‘ichi Suganuma, Kensuke Takita, Keisuke Kato
Analysis on Weight Arrangement Scheme to Reduce the Weight of Multi-Legged Robot ............................. 1291Takashi Kubota, Hiroo Takahashi, Kojiro Iizuka
Study on Mole-Typed Deep Driller Robot for Subsurface Exploration ............................................................. 1297Takashi Kubota, Ichiro Nakatani, Keisuke Watanabe, Shingo Shimoda
Session: TuP2-09MICRO-MEDICAL ROBOTS
Bio-Material Property Measurement System for Locomotive Mechanism in Gastro-Intestinal Tract ............. 1303Jiwoon Kwon, Sukho Park, Byungkyu Kim, J-Oh Park
Clamping Tools of a Capsule for Monitoring the Gastrointestinal Tract ........................................................... 1309Arianna Menciassi, Samuele Gorini, Andrea Moglia, Giuseppe Pernorio, Cesare Stefanini, Paolo Dario
Ultrasound Guided Robotic System for Transperineal Biopsy of the Prostate ................................................ 1315Louis Phee, Di Xiao, John Yuen, Chee Fatt Chan, Henry Ho, Choon Hua Thng, Christopher Cheng, Wan Sing Ng
Pressure Monitoring System in Gastro-Intestinal Tract ..................................................................................... 1321Youngin Kim, Geunho Lee, Sukho Park, Byungkyu Kim, Jong-Oh Park, Jin-Ho Cho
Propulsion of a Swimming Micro Medical Robot ................................................................................................ 1327Gábor Kósa, Moshe Shoham, Menashe Zaaroor
Session: TuP2-10SMA ACTUATORS
Control Method for a 3D Form Display with Coil-type Shape Memory Alloy ................................................... 1332Masashi Nakatani, Hiroyuki Kajimoto, Kevin Vlack, Dairoku Sekiguchi, Naoki Kawakami, Susumu Tachi
Control of Scalable Wet SMA Actuator Arrays ................................................................................................... 1338Leslie Flemming, Stephen Mascaro
Miniature Shape Memory Alloy Actuator for Tactile Binary Information Display ............................................. 1344Ramiro Velázquez, Edwige Pissaloux, Moustapha Hafez, Jérôme Szewczyk
Multi-Segment State Coordination for Reducing Latency Time of Shape Memory Alloy Actuator Systems 1350Brian Selden, Kyu-Jin Cho, Harry Asada
Multi-Axis SMA Actuator Array for Driving Anthropomorphic Robot Hand ....................................................... 1356Kyu-Jin Cho, Harry Asada
Session: TuP2-11CONTROL II
Adaptive Control of Robot Manipulators Using CNN Under Actuator Constraints.......................................... 1362Shubhi Purwar, Indra Narayan Kar, Amar Nath Jha
Hybrid Vision-Force Control for Automatic Assembly of Miniaturized Gear System ...................................... 1368Hui Xie, Liguo Chen, Lining Sun, Weibin Rong
Nonlinear PD Synchronized Control for Parallel Manipulators ......................................................................... 1374Yuxin X. Su, Dong Sun, Lu Ren, Xiaoyun Wang, James Mills
Virtual Power Limiter System which Guarantees Stability of Control Systems............................................... 1380Katsuya Kanaoka, Mitsunori Uemura
Constructive Energy Shaping Based Impedance Control for a Class of UnderactuatedEuler-Lagrange Systems ...................................................................................................................................... 1387
Alin Albu-Schaeffer, Christian Ott, Gerd Hirzinger
Session: TuP2-12TRANSPORT
Rapid Transport of Suspended Payloads ........................................................................................................... 1394Gregory Starr, John Wood, Ron Lumia
Optimal Design, Evaluation, and Analysis of AGV Transportation Systems Based on VariousTransportation Demands ...................................................................................................................................... 1400
Satoshi Hoshino, Jun Ota, Akiko Shinozaki, Hideki Hashimoto
A Model-Based Framework for Optimal Measurements in Machine Tool Calibration ..................................... 1407Dietrich Brunn, Uwe Hanebeck
Intelligent Retrieval and Reuse of CAD Solid Models ....................................................................................... 1413Chandan Pitta, Michael Marefat
Group Elevator Scheduling with Advanced Traffic Information for Normal Operations and CoordinatedEmergency Evacuation ......................................................................................................................................... 1419
Bo Xiong, Peter B. Luh, Shi Chung Chang
Session: WeA1-01HUMANOIDS III
Robonaut Mobile Autonomy: Initial Experiments ................................................................................................ 1425Myron A. Diftler, Robert O. Ambrose, Stuart M. Goza, Kim S. Tyree, Eric L. Huber
System Design and Dynamic Walking of Humanoid Robot KHR-2 .................................................................. 1431Jung-Yup Kim, Ill-Woo Park, Jungho Lee, Min-Su Kim, Baek-Kyu Cho, Jun-Ho Oh
Development of a New Human-like Talking Robot for Human Vocal Mimicry .................................................. 1437Kotaro Fukui, Kazufumi Nishikawa, Toshiharu Kuwae, Hideaki Takanobu, Takemi Mochida, Masaaki Honda, Atsuo Takanishi
Symmetric Walking Control: Invariance and Global Stability ............................................................................ 1443Sang-Ho Hyon, Takashi Emura
Session: WeA1-02LOCALIZATION
Improving the Robustness Properties of Robot Localization Procedures with Respect to EnvironmentFeatures Uncertainties ......................................................................................................................................... 1451
Gianluca Ippoliti, Leopoldo Jetto, Alessia La Manna, Sauro Longhi
Simulated Mobile Self-Location Using 3D Range Sensing and an A-Priori Map ............................................ 1459Charles Little, Ralph Peters
Experimental Odometry Calibration of the Mobile Robot Khepera II Based on the Least-SquaresTechnique ............................................................................................................................................................... 1465
Gianluca Antonelli, Stefano Chiaverini
Localization of Walking Robots ........................................................................................................................... 1471Bernd Gaßmann, Franziska Zacharias, J. Marius Zöllner, Rüdiger Dillmann
Session: WeA1-03HUMAN ROBOT INTERACTION I
Enhanced Robot Speech Recognition Based on Microphone Array Source Separation and MissingFeature Theory ...................................................................................................................................................... 1477
Shun‘ichi Yamamoto, Jean-Marc Valin, Kazuhiro Nakadai, Jean Rouat, François Michaud, Tetsuya Ogata, Hiroshi Okuno
Towards New Human-humanoid Communication: Listening during Speaking by using UltrasonicDirectional Speaker ............................................................................................................................................... 1483
Kazuhiro Nakadai, Hiroshi Tsujino
Toward High-Speed Switching Motor Control for Human-Interactive Robotics ............................................... 1489Jonathan Fiene, Günter Niemeyer
Concept Oritented Imitation ................................................................................................................................. 1495Hossein Mobahi, Majid Nili Ahmadabadi, Babak Nadjar Araabi
Session: WeA1-04MULTI AGENT TASK ALLOCATION II
ASyMTRe: Automated Synthesis of Multi-Robot Task Solutions through Software Reconfiguration ............ 1501Fang Tang, Lynne Parker
Agent-based Application Framework for Multiple Mobile Robots Cooperation ............................................... 1509Patricio Nebot, Enric Cervera
Complex Task Allocation For Multiple Robots ..................................................................................................... 1515Robert Zlot, Antonhy Stentz
Task Assignment with Dynamic Perception and Constrained Tasks in a Multi-Robot System ....................... 1523Alessandro Farinelli, Luca Iocchi, Daniele Nardi, Vittorio Amos Ziparo
Session: WeA1-05MANIPULATION PLANNING I
Improved AFM Scanning Methodology with Adaptation to the Target Shape .................................................. 1529Luis Miguel Muñóz, Alicia Casals, Josep Amat, Manel Puig-Vidal, Josep Samitier
Towards Cognitive Robots: Building Hierarchical Task Representations of Manipulations from HumanDemonstration ....................................................................................................................................................... 1535
Raoul Zöllner, Michael Pardowitz, Steffen Knoop, Rüdiger Dillmann
Manipulation of Deformable Linear Objects: From Geometric Model Towards Program Generation ............ 1541Jürgen Acker, Dominik Henrich
An Extended Jacobian Inverse Kinematics Algorithm for Doubly Nonholonomic Mobile Manipulators ........ 1548Krzysztof Tchon, Janusz Jakubiak
Session: WeA1-063D TRACKING I
Integration of Model-based and Model-free Cues for Visual Object Tracking in 3D ....................................... 1554Ville Kyrki, Danica Kragic
Ball Detection and Predictive Ball Following based on a Stereoscopic Vision System .................................. 1561Davide Scaramuzza, Stefano Pagnottelli, Paolo Valigi
Variable Baseline Stereo Tracking Vision System Using High-Speed Linear Slider ....................................... 1567Yoshihiro Nakabo, Toshiharu Mukai, Yusuke Hattori, Yoshinori Takeuchi, Noboru Ohnishi
Cooperative Object Tracking by High-Speed Binocular Head ........................................................................... 1573Yoshihiro Nakabo, Toshiharu Mukai, Norihisa Fujikawa, Yoshinori Takeuchi, Noboru Ohnishi
Session: WeA1-07ROBOT DESIGN I
Flexure Design Rules for Carbon Fiber Microrobotic Mechanisms .................................................................. 1579Srinath Avadhanula, Ronald Fearing
Motion Study of an Omni-Directional Rover for Step Climbing ......................................................................... 1585Kin Huat Low, W.K. Loh, Jorge Angeles, Heng Wang
Rough Terrain Negotiable Mobile Platform with Passively Adaptive Double- Tracks and ItsApplication to Rescue Missions ........................................................................................................................... 1591
Woosub Lee, Sungchul Kang, Munsang Kim, Kyungchal Shin
RoboTrikke: A Novel Undulatory Locomotion System ........................................................................................ 1597Sachin Chitta, Peng Cheng, Emilio Frazzoli, Vijay Kumar
Session: WeA1-08UNDERWATER ROBOTS II
Autonomous Modular Optical Underwater Robot (AMOUR) Design, Prototype and Feasibility Study .......... 1603Iuliu Vasilescu, Paulina Varshavskaya, Keith Kotay, Daniela Rus
Trajectory Planning and Tracking Control of Underactuated AUVs .................................................................. 1610Filoktimon Repoulias, Evangelos Papadopoulos
A System for Real-Time Spatio-Temporal 3-D Data Visualization in Underwater Robotic Exploration ........ 1616Stephen C. Martin, Louis L. Whitcomb, Roland Arsenault, Matthew Plumlee, Colin Ware
Optimal Communication Control for Cooperative Autonomous Underwater Vehicle Networks ..................... 1624Joseph T. Napoli, Tzyh Jong Tarn, James R. Morrow, Edgar An
Session: WeA1-09ROBOT-ASSISTED NEEDLE INSERTION
Physical Properties of the Liver and the Development of an Intelligent Manipulatorfor Needle Insertion .............................................................................................................................................. 1632
Yo Kobayashi, Jun Okamoto, Masakatsu Fujie
Planning for Steerable Bevel-tip Needle Insertion Through 2D Soft Tissue with Obstacles .......................... 1640Ron Alterovitz, Ken Goldberg, Allison M. Okamura
Trajectory Optimization for Dynamic Needle Insertion ...................................................................................... 1646Matt Heverly, Pierre Dupont, John Triedman
Needle Guiding Robot for MR-guided Microwave Thermotherapy of Liver Tumor Using MotorizedRemote-Center-of-Motion Constraint ................................................................................................................... 1652
Nobuhiko Hata, Ryuji Hashimoto, Junichi Tokuda, Shigeo Morikawa
Session: WeA1-10SENSORS
Estimation of Object Inertia Parameters on Robot Pushing Operation ........................................................... 1657Yong Yu, Tetsu Arima, Showzow Tsujio
Attitude Estimation for Dynamic Legged Locomotion Using Range and Inertial Sensors ............................. 1663Surya Singh, Kenneth Waldron
Moth-Inspired Plume Tracking Strategies In Three-dimensions ........................................................................ 1669Shaun Edwards, Adam Rutkowski, Roger Quinn, Mark Willis
Automatic Error Detection and Reduction for an Odometric Sensor based on Two Optical Mice ................. 1675Andrea Bonarini, Matteo Matteucci, Marcello Restelli
Session: WeA1-11INDUSTRIAL ROBOT CONTROL + DYNAMICS
Identification of Industrial Robot Parameters for Advanced Model-Based Controllers Design ..................... 1681Basilio Bona, Aldo Curatella
Non-Linear Adaptive Output Feedback Control of Robot Manipulators. .......................................................... 1687John M. Daly, Howard M. Schwartz
Adaptive Control of Manipulators Using Uncalibrated Joint-Torque Sensing ................................................. 1694Farhad Aghili, Mehrzad Namvar
Stability Preserving Sensor-Based Control for Robots with Positional Interface ............................................ 1700Friedrich Lange, Gerd Hirzinger
Session: WeA2-01HUMANOIDS IV
Pushing an Object Considering the Hand Reflect Forces by Humanoid Robot in Dynamic Walking ............ 1706Tomohito Takubo, Kenji Inoue, Tatsuo Arai
A Humanoid Robot Carrying a Heavy Object ..................................................................................................... 1712Kensuke Harada, Shuuji Kajita, Hajime Saito, Mitsuharu Morisawa, Fumio Kanehiro, Kiyoshi Fujiwara,Kenji Kaneko,Hirohisa Hirukawa
Control of Free-Floating Humanoid Robots Through Task Prioritization .......................................................... 1718Luis Sentis, Oussama Khatib
Control of Ground Interaction at the Zero-Moment Point for Dynamic Control of Humanoid Robots ........... 1724Jonghoon Park, Youngil Youm, Wan-Kyun Chung
Session: WeA2-02MAPPING AND LEARNING
Supervised Learning of Places from Range Data using AdaBoost ................................................................. 1730Óscar Martínez Mozos , Cyrill Stachniss, Wolfram Burgard
Real-time Map Building and Area Coverage in Unknown Environments ......................................................... 1736Chaomin Luo, Simon X. Yang, Max Q.-H. Meng
The Strategy Entropy of Reinforcement Learning for Mobile Robot Navigation in Complex Environments . 1742X. Zhuang
Omnidirectional 3D Modeling on a Mobile Robot using Graph Cuts ................................................................ 1748Sven Fleck, Florian Busch, Peter Biber, Henrik Andreasson, Wolfgang Straßer
Session: WeA2-03HAPTIC INTERFACES
Basic Algorithm of Controlling Passive Force Display System with Redundant Brakes ................................. 1755Ken‘ichi Koyanagi, Tomoko Morita, Junji Furusho
How to Effectively Display Surface Properties Using an Integrated Tactile Display System ......................... 1761Ki-Uk Kyung, Seung-Woo Son, Gi-Hun Yang, Dong-Soo Kwon
Multisensor System for Safer Human-Robot Iteraction ..................................................................................... 1767Yucong Lu, Lingqi Zeng, Gary M. Bone
A Method for Modeling and Control Complex Tendon Transmissions in Haptic Interfaces ............................ 1773Simone Marcheschi, Antonio Frisoli, Carlo Alberto Avizzano, Massimo Bergamasco
Session: WeA2-04MULTI ROBOT FORMATIONS
Proportional Partition of Holed Rectilinear Region amongst Multiple URAVs ................................................ 1779Amit Agarwal, Meng-Hiot Lim, Meng Joo Er
Flocking with Obstacle Avoidance: A New Distributed Coordination Algorithm Based on VoronoiPartitions ................................................................................................................................................................ 1785
Magnus Lindhé, Petter Ögren, Karl Henrik Johansson
Formation Control for Mobile Robots with Limited Sensor Information ........................................................... 1791Tove Gustavi, Xiaoming Hu
Path Planning for Permutation-Invariant Multi-Robot Formations .................................................................... 1797Stephen Kloder, Seth Hutchinson
Session: WeA2-05PATH PLANNING I
Path Planning using Harmonic Functions and Probabilistic Cell Decomposition ........................................... 1803Jan Rosell, Pedro Iñiguez
Approach Path Generation to Scooping Position for Wheel Loader ................................................................ 1809Shigeru Sarata, Yossewee Weeramhaeng , Takashi Tsubouchi
A Potential-based Path Planning of Articulated Robots with 2-DOF Joints .................................................... 1815Jen-hui Chuang, Chien-Chou Lin, Jau-Hong Kao, Cheng-Tieng Hsieh
Near Time-optimal Constrained Trajectory Planning on Outdoor Terrain ......................................................... 1821Marin B. Kobilarov, Gaurav Sukhatme
Session: WeA2-06TRACKING I
Sensor Fusion based 3D Target Visual Tracking for Autonomous Vehicles with IMM ..................................... 1829Zhen Jia, Arjuna Balasuriya, Subhash Challa
Ephemera: Tracking of Motion in Microscope Views .......................................................................................... 1835Andrew Shacklock, Wenting Sun
Visual Tracking at Sea .......................................................................................................................................... 1841Charles Bibby, Ian Reid
Tracking and Predictive Display for a Remote Operated Robot using Uncalibrated Video ............................ 1847Dana Cobzas, Martin Jägersand
Session: WeA2-073D TRACKING II
Motion and Structure Estimation from Vision and Inertial Sensor Data with High Speed CMOS Camera ... 1853Peter Gemeiner, Markus Vincze
A 3D IR Camera with Variable Structured Light for Home Service Robots ..................................................... 1859Sukhan Lee, Jongmoo Choi, Seungmin Baek, Byungchan Jung, Changsik Choi, Hunmo Kim, Jeongtaek Oh, Seungsub Oh,Daesik Kim, Jaekeun Na
Reconstruction of Three Dimensional Models of Environments with a Mobile Robot .................................... 1865Janelcy Alferes, Eduardo Zalama, Jaime Gómez García-Bermejo
A New Approach to the Use of Edge Extremities for Model-based Object Tracking ...................................... 1871Youngrock Yoon, Akio Kosaka, Jae Byung Park, Avinash C. Kak
Session: WeA2-08FLYING: APPLICATIONS
A Vision Algorithm for Dynamic Detection of Moving Vehicles with a UAV ..................................................... 1878Khaled Kaâniche, Benjamin Champion, Claude Pégard, Pascal Vasseur
Cooperative Fire Detection using Unmanned Aerial Vehicles ........................................................................... 1884Luis Merino, Fernando Caballero, Ramiro Martínez-de Dios, Aníbal Ollero
An Integrated Spatial Path-planning and Controller Design Approach for a Hover-modeHelicopter Model ................................................................................................................................................... 1890
Kaustubh Pathak, Sunil Agrawal
Wind Estimation by Unmanned Air Vehicle with Delta Wing ............................................................................. 1896Makoto Kumon, Ikuro Mizumoto, Zenta Iwai, Masanobu Nagata
Session: WeA2-09MEDICAL ROBOTICS
A New Methodology for Deformable Object Simulation .................................................................................... 1902Yongmin Zhong, Bijan Shirinzadeh, Gursel Alici, Julian Smith
Cognitive Based Neural Prosthetics .................................................................................................................... 1908Richard A. Andersen, Sam Musallam, Joel Burdick, Jorge G. Cham
Rationale for Multiple Compensation of Muscle Weakness Walking with a Wearable Robotic Orthosis ..... 1914Juan C. Moreno, Fernando J. Brunetti, José L. Pons, José M. Baydal, Ricard Barberà
A Miniature Robot for Autonomous Single Neuron Recordings ........................................................................ 1920Edward A. Branchaud, Jorge G. Cham, Zoran Nenadic, Richard A. Andersen, Joel Burdick
Session: WeA2-10CONTACT FORCE DYNAMICS AND CONTROL
Experimental Impulse-Momentum-Based Dynamic Simulation for Rigid Bodies with SimultaneousContacts ................................................................................................................................................................. 1927
Hiroshi Noborio, Tetsuya Kodama, Kyoichiro Yoshida, Syuhei Kitayama
Quasi-Static Manipulation with Hemispherical Soft Fingertip via Two Rotational Fingers ............................. 1935Takahiro Inoue, Shinichi Hirai
On the Possibility of Excessive Internal Forces on Manipulated Objects in Robotic Contact Tasks ............ 1941Yusuke Maeda
Dynamic Ambiguities in Frictional Rigid-body Systems with Application to Climbing via Bracing ................ 1947Aaron Greenfield, Alfred Rizzi, Howie Choset
Session: WeA2-11CONTROL ARCHITECTURE
Echo State Networks used for Motor Control ..................................................................................................... 1953Matthias Salmen, Paul G. Plöger
UPnP Approach for Robot Middleware................................................................................................................ 1959Sang Chul Ahn, Jin Hak Kim, Kiwoong Lim, Heedong Ko, Yong-Moo Kwon, Hyoung-Gon Kim
A Distributed Real-time Software Framework for Robotic Applications ........................................................... 1964Yuan-hsin Kuo, Bruce MacDonald
YARA: A Software Framework Enhancing Service Robot Dependability ......................................................... 1970Stefano Caselli, Francesco Monica, Monica Reggiani
Session: WeP1-01BIPED LOCOMOTION I
Walking Control Method of Biped Locomotors on Inclined Plane .................................................................... 1977Yutaka Mikuriya, Hiroyuki Sunazuka, Kenji Hashimoto, Yusuke Sugahara, Masamiki Kawase, Hun-Ok Lim, Takuya Hosobata,Atsuo Takanishi
A Bipedal Walking Robot with Efficient and Human-Like Gait ......................................................................... 1983Steven Collins, Andy Ruina
Taku Komura, Howard Leung, Shunsuke Kudoh, James KuffnerA Feedback Controller for Biped Humanoids that Can Counteract Large Perturbations During Gait ........... 1989
Muhammad Abdallah, Ambarish Goswami
Optimal Reference Motions for Walking of a Biped Robot ................................................................................. 2002Dalila Djoudi, Christine Chevallereau, Yannick Aoustin
Locomoting with Less Computation but More Morphology ............................................................................... 2008Kojiro Matsushita, Max Lungarella, Chandana Paul, Hiroshi Yokoi
Session: WeP1-02NAVIGATION AND PLANNING
CBUG: A Quadratically Competitive Mobile Robot Navigation Algorithm ........................................................ 2014Yoav Gabriely, Elon Rimon
Temporal Logic Motion Planning for Mobile Robots .......................................................................................... 2020Georgios Fainekos, Hadas Kress-Gazit , George Pappas
Autonomous Terrain Mapping and Classification Using Hidden Markov Models ............................................ 2026Denis F. Wolf, Gaurav Sukhatme, Dieter Fox, Wolfram Burgard
Conflict Metric as a Measure of Sensing Quality ............................................................................................... 2032Jennifer Carlson, Robin Murphy, Svetlana Chistopher, Jennifer Casper
BSA: A Complete Coverage Algorithm ................................................................................................................ 2040Enrique González, Oscar Álvarez, Yul Díaz, Carlos Parra, Cesar Bustacara
The Delayed D* Algorithm for Efficient Path Replanning .................................................................................. 2045Dave Ferguson, Anthony Stentz
Session: WeP1-03TRACKING PEOPLE
Operator Engagement Detection and Robot Behaviour Adaptation in Human-Robot Interaction ................. 2051Pramila Rani, Nilanjan Sarkar
Collective Human Behavior in Interactive Spaces ............................................................................................. 2057Kynan Eng, Matti Mintz, Paul F.M.J. Verschure
A New Facial Features and Face Detection Method for Human-Robot Interaction ........................................ 2063Taigun Lee, Sung-Kee Park, Mignon Park
The Role of Motion Information in Learning Human-Robot Joint Attention ..................................................... 2069Yukie Nagai
Data Fusion for Visual Tracking Dedicated to Human-Robot Interaction ......................................................... 2075Ludovic Brèthes, Frederic Lerasle, Patrick Danès
Keeping Track of Humans: Have I Seen This Person Before? .......................................................................... 2081Wojciech Zajdel, Zoran Zivkovic, Ben J. A. Kröse
Session: WeP1-04MOBILE ROBOT APPLICATIONS I
Transference of Evolved Unmanned Aerial Vehicle Controllers to a Wheeled Mobile Robot ........................ 2087Gregory Barlow, Leonardo Mattos, Edward Grant, Choong Oh
Locomotion Analysis and Experiment for Climbing Motion of RPRS ............................................................... 2093Liping Zhang, Shugen Ma, Bin Li, Guowei Zhang, Xinyuan He, Minghui Wang, Zheng Zhang, Binggang Cao
Kinematics Modeling of a Wheel-Based Pole Climbing Robot (UT-PCR) ........................................................ 2099Ali Baghani, Majid Nili Ahmadabadi, Ahad Harati
A Hybrid AUV Design for Shallow Water Reef Navigation ................................................................................ 2105Matthew Dunbabin, Jonathan Roberts, Kane Usher, Graeme Winstanley, Peter Corke
The Design of a Mobile Robot for Instrument Network Deployment in Antarctica .......................................... 2111Laura Ray, Alexander Price, Alexander Streeter, Daniel Denton, James Lever
Towards Topological Exploration of Abandoned Mines ..................................................................................... 2117Aaron Morris, David Silver, Dave Ferguson, Scott Thayer
A Biomechanically Motivated Two-Phase Strategy for Biped Upright Balance Control ................................... 1996
Session: WeP1-05PATH PLANNING II
Single-Query Entropy-Guided Path Planning ..................................................................................................... 2124Brendan Burns, Oliver Brock
Path Planning for Variable Resolution Minimal-Energy Curves of Constant Length ...................................... 2130Mark Moll, Lydia Kavraki
An Incremental Harmonic Function-based Probabilistic Roadmap Approach to Robot Path Planning ........ 2136Moslem Kazemi, Mehran Mehrandezh, Kamal Gupta
Sampling SE(3) with a Deterministic Sequence for 3D Rigid-Body Path Planning ........................................ 2142Jan Rosell
Optimization of Robot Paths Computed by Randomized Planners .................................................................. 2148Stavros G. Vougioukas
Motion Planning for Mobile Manipulators Along Given End-effector Paths ..................................................... 2154Giuseppe Oriolo, Christian Mongillo
Session: WeP1-06VISION BASED CONTROL I
Vision-based Control for Car Platooning using Homography Decomposition ................................................. 2161Selim Benhimane, Ezio Malis, Patrick Rives, Jose Raul Azinheira
Robust Real-Time Instrument Tracking in Ultrasound Images for Visual Servoing ......................................... 2167Tobias Ortmaier, Marie-Aude Vitrani, Guillaume Morel, Samuel Pinault
3D Motion Planning for Image-Based Visual Servoing Tasks ........................................................................... 2173Benedetto Allotta, Duccio Fioravanti
A Region-Level Motion-Based Background Modeling and Subtraction Using MRFs ..................................... 2179Shih-Shinh Huang, Li-Chen Fu, Pei-Yung Hsiao
Planning and Control of Mobile Robots in Image Space from Overhead Cameras ........................................ 2185Rahul Rao, Vijay Kumar, Camillo Taylor
Visual-based Feedback Control of Casting Manipulation ................................................................................. 2191Adriano Fagiolini, Hitoshi Arisumi, Antonio Bicchi
Session: WeP1-07OUTDOOR SENSING I
A Hierarchical Multiple-Target Tracking Algorithm for Sensor Networks .......................................................... 2197Songhwai Oh, Luca Schenato, Shankar Sastry
Analysis and Removal of Artifacts in 3-D LADAR Data ..................................................................................... 2203John Tuley, Nicolas Vandapel, Martial Hebert
Information Driven Coordinated Air-Ground Proactive Sensing ....................................................................... 2211Ben Grocholsky, Rahul Swaminathan, James Keller, Vijay Kumar, George Pappas
Towards an Estimate of Confidence in a Road-Matched Location .................................................................. 2217Maan EL Badaoui EL Najjar , Philippe Bonnifait
Free Space Detection on Highways using Time Correlation Between Stabilized Sub-pixel PrecisionIPM Images ............................................................................................................................................................ 2223
Pietro Cerri, Paolo Grisleri
Detection of Sensor Faults in Autonomous Helicopters .................................................................................... 2229Guillermo Heredia, Aníbal Ollero, Rajesh Mahtani, Manuel Bejar, Volker Remuß, Marek Musial
Session: WeP1-08FLYING: DESIGN
Development of Micro Air Vehicle Based on Aerodynamic Modeling Analysis in Tunnel Tests ..................... 2235Dong Sun, Huaiyu Wu, Rong Zhu, Ling Che Hung
Air Vehicle Simulator: An Application for a Cable Array Robot ......................................................................... 2241Kane Usher, Graeme Winstanley, Peter Corke, Dirk Stauffacher, Ryan Carnie
Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor ...................................... 2247Samir Bouabdallah, Roland Siegwart
Design of Flexible Wing for Flapping Flight by Fluid-Structure Interaction Analysis ...................................... 2253Masaki Hamamoto, Yoshiji Ohta, Keita Hara, Toshiaki Hisada
Characterization of Non Trim Trajectories of an Autonomous Underactuated Airship in a LowVelocity Flight ........................................................................................................................................................ 2259
Yasmina Bestaoui
Stability and Robustness Analysis of the AURORA Airship Control System using Dynamic Inversion ........ 2265Alexandra Moutinho, José Raul Azinheira
Session: WeP1-09REHABILITATION ROBOTS
Rehabilitation Robotics: A Wearable Exo-Skeleton for Tremor Assessment and Suppression ...................... 2271Eduardo Rocon, Andrés F. Ruiz, José L. Pons, José M. Belda-Lois, Javier J. Sánchez-Lacuesta
Rehabilitation Robot Cell for Multimodal Standing-Up Motion Augmentation ................................................. 2277Roman Kamnik, Tadej Bajd, John Williamson, Roderick Murray-Smith
Rehabilitative Knee Orthosis Driven by Electro-Rheological Fluid Based Actuators ..................................... 2283Jason Nikitczuk, Brian Weinberg, Constantinos Mavroidis
A Novel Reconfigurable Ankle/Foot Rehabilitation Robot ................................................................................. 2290Jungwon Yoon, Jeha Ryu
Adaptation Strategy for the 3DOF Exoskeleton for Upper-Limb Motion Assist ............................................... 2296Kazuo Kiguchi, Mohammad Rahman, Takefumi Yamaguchi
Development of Wrist Rehabilitation Equipment Using Pneumatic Parallel Manipulator .............................. 2302Masahiro Takaiwa, Toshiro Noritsugu
Session: WeP1-10FINGERS
Local Minimum of Elastic Potential Energy on Hemispherical Soft Fingertip ................................................. 2308Takahiro Inoue, Shinichi Hirai
A Force-Isotropic Underactuated Finger ............................................................................................................. 2314Sébastien Krut
Fuzzy Enhanced Control of an Underactuated Finger Using Tactile and Position Sensors .......................... 2320Lionel Birglen, Clément M. Gosselin
Strategy of Picking Up Thin Plate by Robot Hand Using Deformation of Soft Fingertip ............................... 2326Takayuki Matsuno, Kensaku Kanada, Fumihito Arai, Hideo Matsuura, Toshio Fukuda
Development of the NAIST-Hand with Vision-based Tactile Fingertip Sensor ................................................. 2332Jun Ueda, Yutaka Ishida, Masahiro Kondo, Tsukasa Ogasawara
Geometric Reformulation of 3-Fingered Force-Closure Condition ................................................................... 2338Attawith Sudsang, Thanathorn Phoka
Session: WeP1-11SPECIAL CONTROL TECHNIQUES II
Control of a Manipulator with a Minimum Number of Motion Primitives .......................................................... 2344Francesco Nori, Ruggero Frezza
Analysis and Simulation of an Exoskeleton Controller that Accommodates Static and Reactive Loads ..... 2350Behzad Dariush
Design and Characterization of a Six-axis Accelerometer ............................................................................... 2356Ming Meng, Zhongcheng Wu, Yong Yu, Yu Ge, Yunjian Ge
A Robotic Head Neuro-Controller Based on Biologically-Inspired Neural Models ......................................... 2362Gioel Asuni, Giancarlo Teti, Cecilia Laschi, Eugenio Guglielmelli, Paolo Dario
Adaptive Control of Hydraulic Systems with MML Inferred RBF Networks ..................................................... 2368Daniel F. Schmidt, Andrew P. Paplinski, Gordon S. Lowe
Energy-Saving 3-Step Velocity Control Algorithm for Battery-Powered Wheeled Mobile Robots ................. 2375Chong Hui Kim, Byung Kook Kim
Session: WeP2-01BIPED LOCOMOTION II
Poincaré-Map-based Reinforcement Learning for Biped Walking .................................................................... 2381Jun Morimoto, Jun Nakanishi, Gen Endo, Gordon Cheng, Christopher G. Atkeson, Garth Zeglin
Synthesis of Controllers for Stylized Planar Bipedal Walking .......................................................................... 2387Dana Sharon, Michiel van de Panne
Experimental Validation of a Robust Control Strategy for the Robot RABBIT ................................................... 2393Christophe Sabourin, Olivier Bruneau, Gabriel Buche
Dynamic Programming in Reduced Dimensional Spaces: Dynamic Planning For Robust BipedLocomotion ............................................................................................................................................................ 2399
Mike Stilman, Christopher G. Atkeson, James Kuffner, Garth Zeglin
Pattern Generation of Biped Walking Constrained on Parametric Surface ..................................................... 2405Mitsuharu Morisawa, Shuuji Kajita, Kenji Kaneko, Kensuke Harada, Fumio Kanehiro, Kiyoshi Fujiwara, Hirohisa Hirukawa
Session: WeP2-02MAP ESTIMATION
Stable Exploration for Bearings-only SLAM ....................................................................................................... 2411Robert Sim
Exactly Sparse Delayed-State Filters .................................................................................................................. 2417Ryan Eustice, Hanumant Singh, John Leonard
CuikSLAM: A Kinematics-based Approach to SLAM ......................................................................................... 2425Josep M. Porta
Improving Grid-based SLAM with Rao-Blackwellized Particle Filters by Adaptive Proposalsand Selective Resampling .................................................................................................................................... 2432
Giorgio Grisetti, Cyrill Stachniss, Wolfram Burgard
Minimum Distance Localization for a Robot with Limited Visibility ................................................................... 2438Malvika Rao, Gregory Dudek, Sue Whitesides
Session: WeP2-03HAPTICS
Modeling of Haptic Sensing of Nanolithography with an Atomic Force Microscope ...................................... 2446Lo Ming Fok, Yun Hui Liu, Wen. J. Li
A Criterion for the Passivity of Haptic Devices .................................................................................................. 2452Nicola Diolaiti, Günter Niemeyer, Federico Barbagli, Kenneth Salisbury
Haptic Interaction with Constrained Dynamic Systems ..................................................................................... 2458Eric Faulring, Kevin Lynch, Edward Colgate, Michael Peshkin
Stable Haptic Display of Slowly Updated Virtual Environment with Multirate Wave Transform..................... 2465Changhyun Cho, Munsang Kim, Chang-Soon Hwang, Jaehyung Lee, Jae-Bok Song
Haptic Interface using Delayed Reflection Wave: Application to a Passive Haptic Device ............................ 2471Jae-Hyeong Lee, Chang-Hyun Cho, Jae-Bok Song, Chang-Soon Hwang, Munsang Kim
Session: WeP2-04SWARM ROBOTICS
Modeling and Analysis of Beaconless and Beacon-Based Policies for a Swarm-IntelligentInspection System ................................................................................................................................................. 2477
Nikolaus Correll, Alcherio Martinoli
A Miniature Mobile Robot With a Color Stereo Camera System for Swarm Robotics Research................... 2483Janne Haverinen, Mikko Parpala, Juha Röning
Controlling Swarms of Robots Using Interpolated Implicit Functions .............................................................. 2487Luiz Chaimowicz, Nathan Michael, Vijay Kumar
Swarm Coordination for Pursuit Evasion Games using Sensor Networks ...................................................... 2493Luca Schenato, Songhwai Oh, Shankar Sastry, Prasanta Bose
Combining Classical and Behavior-Based Control for Swarms of Cooperating Vehicles .............................. 2499Yong Chye Tan, Bradley E. Bishop
Session: WeP2-05MANIPULATION PLANNING II
Manipulation Planning for Knotting/Unknotting and Tightly Tying of Deformable Linear Objects ................. 2505Hidefumi Wakamatsu, Akira Tsumaya, Eiji Arai, Shinichi Hirai
Dynamic Manipulation of a Sphere on a Disk by Inclination Control of the Disk ........................................... 2511Masayuki Hara, Yoshinori Tanaka, Tetsuro Yabuta
CPG-Based Manipulation: Adaptive Switchings of Grasping Fingers by Joint Angle Feedback ................... 2517Yuichi Kurita, Kazuyuki Nagata, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara
Control Synthesis for Dynamic Contact Manipulation ........................................................................................ 2523Siddhartha Srinivasa, Michael Erdmann, Matthew Mason
3D Vision Sensing for Grasp Planning: A New, Robust and Affordable Structured Light Approach ............... 2529Tilo Gockel, Johannes Ahlmann, Rüdiger Dillmann, Pedram Azad
Session: WeP2-06VISION BASED CONTROL II
Vision-based Control of a Gough-Stewart Parallel Mechanism Using Legs Observation ............................. 2535Nicolas Andreff, Arnaud Marchadier, Philippe Martinet
Time Independent Tracking Using 2-D Movement Flow-Based Visual Servoing ............................................. 2541Jorge Pomares, Fernando Torres
An Optimal Path-Tracking Algorithm for Unstructured Environments based on Uncalibrated Vision............ 2547Emilio González-Galván, Ambrocio Loredo-Flores, Jesus Cervantes-Sánchez, Felipe Pazos-Flores
Adaptive Image-Based Trajectory Tracking of Robots ....................................................................................... 2553Hesheng Wang, Yun Hui Liu
Visual Servoing: Reaching the Desired Location Following a Straight Line Via PolynomialParameterizations ................................................................................................................................................. 2559
Graziano Chesi, Domenico Prattichizzo, Antonio Vicino
Session: WeP2-07FORCE/TACTILE SENSING
Development of a Texture Sensor Emulating the Tissue Structure and Perceptual Mechanismof Human Fingers ................................................................................................................................................. 2565
Yuka Mukaibo, Hirokazu Shirado, Masashi Konyo, Takashi Maeno
Kouji Murakami, Tsutomu Hasegawa
Design of Flexible Tactile Sensor Based on Three-Component Force and Its Fabrication ............................ 2578Jong-Ho Kim, Jeong-Il Lee, Hyo-Jik Lee, Yon-Kyu Park, Min-Seok Kim, Dae-Im Kang
Novel Force Sensor Using Vibrating Piezoelectric Element .............................................................................. 2582Kohei Motoo, Fumihito Arai, Yuji Yamada, Thoshio Fukuda, Takayuki Matsuno, Hideo Matsuura
Multifunctional Whisker Arrays for Distance Detection, Terrain Mapping, and Object Feature Extraction .... 2588Aimee Schultz, Joseph Solomon, Michael Peshkin, Mitra Hartmann
Session: WeP2-08FLYING: MINI ROBOTS
Toward 30-gram Autonomous Indoor Aircraft: Vision-based Obstacle Avoidance and Altitude Control ........ 2594Jean-Christophe Zufferey, Dario Floreano
Target Acquisition, Localization, and Surveillance using a Fixed-Wing Mini-UAV and Gimbaled Camera ... 2600Morgan Quigley, Michael A. Goodrich, Stephen Griffiths, Andrew Eldredge, Randal W. Beard
Kinematic and Dynamic Modeling and Control of a 3-Rotor Aircraft ............................................................... 2606Philippe Rongier, Erwann Lavarec, François Pierrot
Stabilization and Nonlinear Control for a Novel Trirotor Mini-Aircraft ............................................................... 2612Sergio Salazar-Cruz, Rogelio Lozano
Trajectory Generation and Tracking of a Mini-Rotorcraft .................................................................................. 2618Lotfi Beji, Azgal Abichou
Session: WeP2-09BIOSYSTEM MODELING ESTIMATION
Estimation of Physically and Physiologically Valid Somatosensory Information ............................................ 2624Katsu Yamane, Yusuke Fujita, Yoshihiko Nakamura
Hand Force Estimation using Electromyography Signals ................................................................................. 2631Farid Mobasser, Keyvan Hashtrudi-Zaad
Modeling Interactions of Pulpal Tissue with Deformable Tools in Endodontic Simulation ............................. 2637Min Li, Yun Hui Liu
Tactile Sensing of Edge Direction of an Object with a Soft Fingertip Contact ............................................... 2571
Adaptive Command and Generalization to Locomotion Aid Systems ............................................................... 2643Roland Thieffry, Eric Monacelli, Stéphane Delaplace
Wearable EMG-based HCI for Electric-Powered Wheelchair Users with Motor Disabilities ........................... 2649Inhyuk Moon, Myungjoon Lee, Junuk Chu, Museong Mun
Session: WeP2-10HANDS
The Analysis of High-speed Catching with a Multifingered Robot Hand ......................................................... 2655Akio Namiki, Masatoshi Ishikawa
A Cosmetic Prosthetic Hand with Tendon Driven Under-Actuated Mechanism and Compliant Joints:Ongoing Research and Preliminary Results ....................................................................................................... 2661
Maria Chiara Carrozza, Giovanni Cappiello, Giovanni Stellin, Franco Zaccone, Fabrizio Vecchi, Silvestro Micera, Paolo Dario
An Encounter-Type Multi-Fingered Master Hand Using Circuitous Joints ....................................................... 2667Shuhei Nakagawara, Hiroyuki Kajimoto, Naoki Kawakami, Susumu Tachi, Ichiro Kawabuchi
Five-fingered Robot Hand using Ultrasonic Motors and Elastic Elements ...................................................... 2673Ikuo Yamano, Takashi Maeno
A New Four-Fingered Robot Hand with Dual Turning Mechanism .................................................................... 2679Mitsuru Higashimori, Hieyong Jeong, Idaku Ishii, Akio Namiki, Masatoshi Ishikawa, Makoto Kaneko
Session: WeP2-11ADAPTIVE CONTROL + FORCE CONTROL
An Adaptive Force Regulator for a Robot in Compliant Contact with an Unknown Surface .......................... 2685Zoe Doulgeri, Yiannis Karayiannidis
Robotic Metal Spinning - Forming Non-axisymmetric Products Using Force Control- ................................... 2691Hirohiko Arai
Independent Stiffness and Force Control of Pneumatic Actuators for Contact Stability during RobotManipulation .......................................................................................................................................................... 2697
Xiangrong Shen, Michael Goldfarb
Automatic Calibration Procedure for a Robotic Manipulator Force Observer ................................................. 2703Javier Gámez García, Anders Robertsson, Juan Gómez Ortega, Rolf Johansson
Force and Acceleration Sensor Fusion for Compliant Robot Motion Control .................................................. 2709Javier Gámez García, Anders Robertsson, Juan Gómez Ortega, Rolf Johansson
Session: ThA1-01CLIMBING ROBOTS
Biologically Inspired Adhesion based Surface Climbing Robots ...................................................................... 2715Carlo Menon, Metin Sitti
Design, Kinematic Analysis, and Quasi-Steady Control of a Morphic Rolling Disk Biped Climbing Robot .. 2721Benjamin E. Shores, Mark A. Minor
Thermodynamical Modelling and Control of an Adhesion System for a Climbing Robot ............................... 2727Jens Wettach, Carsten Hillenbrand, Karsten Berns
Gait Planning of Quadruped Walking and Climbing Robot for Locomotion in 3D Environment .................... 2733Hyungseok Kim, Taehun Kang, Vo Gia Loc, Hyouk Ryeol Choi
Session: ThA1-02FEATURES DETECTION
Scan Matching in the Hough Domain .................................................................................................................. 2739Andrea Censi, Luca Iocchi, Giorgio Grisetti
Fast Circular Landmark Detection for Cooperative Localisation and Mapping ............................................... 2745Julian Ryde, Huosheng Hu
Coordinating Multiple Double Integrator Robots on a Roadmap: Convexity and Global Optimality .............. 2751Jufeng Peng, Srinivas Akella
Voronoi Toolpaths for PCB Mechanical Etch: Simple and Intuitive Algorithms with the 3D GPU .................. 2759Marsette Vona, Daniela Rus
Session: ThA1-03HUMAN-ROBOT RELATIONS
Human Mental Models of Humanoid Robots ...................................................................................................... 2767Sau-lai Lee, Sara Kiesler, Ivy Yee-man Lau, Chi-Yue Chiu
Robots, Gender and Sensemaking: Sex Segregation‘s Impact on Workers Making Sense of a MobileAutonomous Robot ................................................................................................................................................ 2773
Rosanne M. Siino, Pamela J. Hinds
The Pumapaint Project: Long Term Usage Trends And The Move To Three Dimensions ................................ 2779Matthew Stein R., Christopher P. Madden
Psychological and Social Effects of One Year Robot Assisted Activity on Elderly Peopleat a Health Service Facility for the Aged ............................................................................................................ 2785
Kazuyoshi Wada, Takanori Shibata, Tomoko Saito, Kayoko Sakamoto, Kazuo Tanie
Session: ThA1-04MULTI-ROBOT SYSTEMS I
Multi-Robot Terrain Servoing with Proximity Sensors ........................................................................................ 2791Maja Karasalo, Linda-Maria Johansson, Xiaoming Hu, Karl Henrik Johansson
Multi-Robot Localization Using Relative Observations ..................................................................................... 2797Agostino Martinelli, Frederic Pont, Roland Siegwart
Multi Robot Trajectory Generation for Single Source Explosion Parameter Estimation ................................. 2803Vassilios N. Christopoulos, Stergios I. Roumeliotis
Provably Correct Closed-Loop Control for Multiple Mobile Robot Systems .................................................... 2810Elzbieta Roszkowska
Session: ThA1-05MOBILE ROBOT PLANNING I
Deployment Strategy for Mobile Robots with Energy and Timing Constraints ................................................ 2816Yongguo Mei, Yung-Hsiang Lu, Y. Charlie Hu, C. S. George Lee
A Systematic Representation of Edges in Topological Maps for Mobile Robots using WaveletTransformation ....................................................................................................................................................... 2822
Nakju Lett Doh, Namyoung Cho, Kyoungmin Lee, Jungseok Lee, Wan Kyun Chung, Sang Rok Oh
Potential Field Navigation of High Speed Unmanned Ground Vehicles on Uneven Terrain .......................... 2828Shingo Shimoda, Yoji Kuroda, Karl Iagnemma
Impact Based Trajectory Planning of a Soccer Ball in a Kicking Robot ........................................................... 2834Je Youn Choi, Byung Rok So, Byung-Ju Yi, Wheekuk Kim, Il Hong Suh
Session: ThA1-06TRACKING II
Robust Real-Time Visual Tracking: Comparison, Theoretical and Performance Evaluation ........................... 2841Andrew Comport, Danica Kragic, Eric Marchand, François Chaumette
A Shape Tracking Algorithm for Visual Servoing ................................................................................................ 2847Peihua Li, François Chaumette, Omar Tahri
Optical Flow Calculation Using Data Fusion with Decentralized Information Filter ........................................ 2853Daniel Gamarra, Teodiano Bastos-Filho, Mario Sarcinelli-Filho, Carlos Miguel Soria, Ricardo Carelli
Modeling of Neuromorphic Vision Sensors in ODE ........................................................................................... 2859Vlatko Becanovic, Tobias Guenther, Ansgar Bredenfeld
Session: ThA1-07SENSING
Probabilistic Gaze Imitation and Saliency Learning in a Robotic Head........................................................... 2865Aaron Shon, David Grimes, Chris Baker, Matthew Hoffman, Shengli Zhou, Rajesh Rao
Dynamic Sensing of Human Eye ......................................................................................................................... 2871Makoto Kaneko, Kanichi Tokuda, Tomohiro Kawahara
Person Tracking with a Mobile Robot using Two Uncalibrated Independently Moving Cameras ................... 2877Hyukseong Kwon, Youngrock Yoon, Jae Byung Park, Avinash C. Kak
High Marker Density Motion Capture by Retroreflective Mesh Suit ................................................................. 2884Hiroaki Tanie, Katsu Yamane, Yoshihiko Nakamura
Session: ThA1-08SERVICE ROBOTS
Development of a Hydraulically-driven Flexible Manipulator Including Passive Safety Method ................... 2890Haruna Okayasu, Jun Okamoto, Hiroshi Iseki, Masakatsu Fujie
Time Series Action Support by Mobile Robot in Intelligent Environment ........................................................ 2897Tsukasa Fukuda, Yasushi Nakauchi, Katsunori Noguchi, Takashi Matsubara
3D Virtual Prototyping of Home Service Robots Using ASADAL/OBJ ............................................................. 2903Kyo Chul Kang, Moonzoo Kim, Jaejoon Lee, Byungkil Kim, Youngjin Hong, Hyoungki Lee, Seokwon Bang
Solving the Narrow Corridor Problem in Potential Field-Guided Autonomous Robots ................................... 2909Ahmad Masoud
Session: ThA1-09MEDICAL ROBOTIC DEVICES
A Soft Electrochemical Actuator for Biomedical Robotics ................................................................................. 2915Dino Accoto, Domenico Campolo, Piero Castrataro, Vito Surico, Eugenio Guglielmelli, Paolo Dario
Motion Control of Passive-type Walking Support System based on Environment Information ..................... 2921Yasuhisa Hirata, Asami Hara, Kazuhiro Kosuge
Enabling Technologies for Robotically-Assisted Sutureless Coronary Anastomosis ...................................... 2927Christopher Kennedy, Jaydev Desai
A Haptic Interface for Interventional Radiology ................................................................................................. 2933Dejan Ilic, Thomas Moix, Blaise Fracheboud, Hannes Bleuler, Ivan Vecerina
Session: ThA1-10PARALLEL MANIPULATORS II
A Geometric Theory for Synthesis and Analysis of Sub-6 DoF Parallel Manipulators ................................... 2938Jian Meng, Guangfeng Liu, Zexiang Li
Kinematics and Dexterity Analysis for a Novel 3-DOF Translational Parallel Manipulator ............................. 2944Yangmin Li, Qingsong Xu
Operational Space Control of Multibody Systems with Explicit Holonomic Constraints ................................ 2950Vincent De Sapio, Oussama Khatib
Singularity Loci of Spherical Parallel Mechanisms ............................................................................................ 2957Ilian A. Bonev, Clément M. Gosselin
Session: ThA1-11LOCOMOTION I
Efficient Locomotion for a Self-Reconfiguring Robot ......................................................................................... 2963Keith Kotay, Daniela Rus
Realization by Biped Leg-wheeled Robot of Biped Walking and Wheel-driven Locomotion ......................... 2970Kenji Hashimoto, Takuya Hosobata, Yusuke Sugahara, Yutaka Mikuriya, Hiroyuki Sunazuka, Masamiki Kawase,Hun-Ok Lim, Atsuo Takanishi
Omni-directional Walking of a Quadruped Robot with Optimal Body Postures on a Slope ........................... 2976Lei Zhang, Shugen Ma, Kousuke Inoue, Yoshinori Honda
Slimebot: A Modular Robot That Exploits Emergent Phenomena ..................................................................... 2982Masahiro Shimizu, Toshihiro Kawakatsu, Akio Ishiguro
Session: ThA1-12INNOVATIVE MANUFACTURING
Silkworm Handling Robot System ....................................................................................................................... 2988Hideaki Takanobu, Yasumasa Watanabe, Hiroshi Ishihara, Tomonari Aizawa, Masanobu Ohura
Bullwhip Effect in Integrated Manufacturing and Service Networks ................................................................ 2994Nukala Viswanadham, Vijay Desai, Roshan Gaonkar
An Unsupervised Self-Organizing Neural Network for Automatic Semiconductor Wafer Defect Inspection 3000Chuan-Yu Chang, Jia-Wei Chang, Mu Der Jeng
Associativity, Adaptivity and Behavior Aspects in Modeling for Manufacturing Related Robot Systems ....... 3006László Horváth, Imre J. Rudas
Session: ThA2-01SNAKE ROBOTS
Snake-Like Units Using Flexible Backbones and Actuation Redundancy for Enhanced Miniaturization ..... 3012Nabil Simaan
Polychaete-like Undulatory Robotic Locomotion ................................................................................................ 3018Dimitris P. Tsakiris, Michael Sfakiotakis, Arianna Menciassi, Gianni La Spina , Paolo Dario
Swimming and Crawling with an Amphibious Snake Robot .............................................................................. 3024Alessandro Crespi, André Badertscher, André Guignard, Auke Jan Ijspeert
Trajectory Tracking Control of Snake Robots Based on Dynamic Model ......................................................... 3029Fumitoshi Matsuno, Hiroki Sato
Session: ThA2-02SERVICE ROBOT NAVIGATION
Finding Tables for Home Service Tasks and Safe Mobile Robot Navigation ................................................... 3035Robert Vogl, Markus Vincze, Georg Biegelbauer
Decision Networks for Repair Strategies in Speech-Based Interaction with Mobile Tour-Guide Robots ...... 3041Plamen Prodanov, Andrzej Drygajlo
Language-based Feedback Control Using Monte Carlo Sensing ..................................................................... 3047Sean Andersson, Dimitrios Hristu-Varsakelis
A Biologically Based Flight Control System for a Blimp-based UAV ................................................................ 3053Sergi Bermúdez i Badia, Pawel Pyk, Paul F.M.J. Verschure
Session: ThA2-03LEARNING I
Behavior-Grounded Representation of Tool Affordances .................................................................................. 3060Alexander Stoytchev
Auto-Supervised Learning in the Bayesian Programming Framework ............................................................. 3066Pierre Dangauthier, Pierre Bessiere, Anne Spalanzani
Marginalized Bags of Vectors Kernels on Switching Linear Dynamics for Online Action Recognition ......... 3072Masamichi Shimosaka, Taketoshi Mori, Tatsuya Harada, Tomomasa Sato
Experimental Study on Automatic Learning Speed Acceleration for a Rat using a Robot ............................. 3078Hiroyuki Ishii, Masaki Nakasuji, Motonori Ogura, Hiroyasu Miwa, Atsuo Takanishi
Session: ThA2-04MOBILE ROBOT APPLICATIONS II
Extensible Hardware Architecture for Mobile Robots ........................................................................................ 3084Eric Park, Linda Kobayashi, Susan Lee
An Experimental Platform for Motion Estimation and Maneuver Characterization in High SpeedOff-Road Driving .................................................................................................................................................... 3090
Haomiao Huang, Lyle Chamberlain, Richard Murray
Development of an Autonomous Mobile Surveillance System Using a Network-based RTK-GPS ............... 3096Jun-ichi Meguro, Takumi Hashizume, Jun-ichi Takiguchi, Ryujirou Kurosaki
Robust Adaptive Control of Automatic Guidance of Farm Vehicles in the Presence of Sliding .................... 3102Hao Fang, Roland Lenain, Benoit Thuilot, Philippe Martinet
Session: ThA2-05MOTION PLANNING
Real-Time Sensor-Based Motion Planning for Robot Manipulators ................................................................. 3108Fu Yili, Jin Bao, Wang Shuguo, Cao Zhengcai
C-space Subdivision and Integration in Feature-Sensitive Motion Planning ................................................... 3114Marco A. Morales A., Lydia Tapia, Roger Pearce, Samuel Rodriguez, Nancy M. Amato
Sampling-Based Motion Planning Using Predictive Models ............................................................................. 3120Brendan Burns, Oliver Brock
Cubic-Spline Trajectory Planning of a Constrained Flexible Manipulator ........................................................ 3126Atef Ata, Habib Johar
Session: ThA2-06VISION BASED CONTROL III
Dynamic Visual Servoing of Robots in Uncalibrated Environments ................................................................. 3131Yun-Hui Liu, Hesheng Wang, Kinkwan Lam
A Fixed-Camera Controller for Visual Guidance of Mobile Robots via Velocity Fields .................................. 3137Rafael Kelly, Victor Sanchez, Eusebio Bugarin, Humberto Rodriguez
Visual Servoing Sequencing Able to Avoid Obstacles ....................................................................................... 3143Nicolas Mansard, François Chaumette
Discrete Control for Visual Servoing the ODIS Robot to Parking Lot Lines .................................................... 3149Matthew D. Berkemeier, Lili Ma
Session: ThA2-07OUTDOOR SENSING II
A Sensor Fusion Framework for On-line Sensor and Algorithm Selection ...................................................... 3155Ofir Cohen, Yael Edan
Active Sensing for High-Speed Offroad Driving ................................................................................................. 3162Kayur Patel, Walter Macklem, Sebastian Thrun, Mike Montemerlo
Multi-Vehicle Bayesian Search for Multiple Lost Targets ................................................................................... 3169El-Mane Wong, Frederic Bourgault, Tomonari Furukawa
Features Selection for Sensor Fusion in a Demining Robot ............................................................................. 3175Svetlana Larionova, Lino Marques, Anibal T. de Almeida
Session: ThA2-08APPLICATIONS I
Optimal Planning of a Mobile Sensor for Aircraft Rivet Inspection .................................................................. 3181Weihua Sheng, Hongjun Chen, Heping Chen, Ning Xi
Pre-Historical Cave Fruition through Robotic Inspection .................................................................................. 3187Tommaso Gramegna, Lea Venturino, Massimo Ianigro, Giovanni Attolico, Arcangelo Distante
Application of the Distributed Field Robot Architecture to a Simulated Demining Task ................................. 3193Matthew Long, Aaron Gage, Robin Murphy, Kimon Valavanis
Automation of an Agricultural Tractor for Fruit Picking ...................................................................................... 3201Jayantha Katupitiya, Ray Eaton, Guy Rodnay, Anthony Cole, Craig Meyer
Session: ThA2-09ROBOT DESIGN II
Optimizing Leg Distribution Around the Body in Walking Robots ..................................................................... 3207Pablo Gonzalez de Santos, Joaquin Estremera, Elena Garcia
The Design of A Gearless Pitch-Roll Wrist ......................................................................................................... 3213Shaoping P. Bai, Jorge Angeles
Optimal Design of a Parallel Machine Based on Multiple Criteria ................................................................... 3219Yunjiang Lou, Dongjun Zhang, Zexiang Li
The Design of a Highly Reliable Robot for Unmediated Museum Interaction ................................................. 3225Illah Nourbakhsh, Emily Hamner, Eric Porter, Brian Dunlavey, Ellen Ayoob, Thomas Hsiu, Mark Lotter, Skip Shelly
Session: ThA2-10PARALLEL MANIPULATORS III
A Method for Modeling Analytical Stiffness of a Lower Mobility Parallel Manipulator ................................... 3232Olivier Company, François Pierrot, Jean Christophe Fauroux
Direct Kinematic Singularity Detection of a Hexa Parallel Robot ..................................................................... 3238Jürgen Hesselbach, Carlos Bier, Alexandre Campos, Harald Löwe
Resolution of the Direct Position Problem of Parallel Kinematic Platforms Using theGeometrical-Iterative Method ............................................................................................................................... 3244
Víctor Petuya, Antonio Alonso, Oscar Altuzarra, Alfonso Hernández
Schoenflies Motion Generator: A New Non Redundant Parallel Manipulator with UnlimitedRotation Capability ................................................................................................................................................ 3250
Olivier Company, François Pierrot, Vincent Nabat, María de la O Rodríguez
Session: ThA2-11CONTROL THEORY
Adaptive Identification on the Group of Rigid Body Rotations ......................................................................... 3256James C. Kinsey, Louis L. Whitcomb
Adaptive Regulation of Rigid-Link Electrically Driven Robots with Uncertain Kinematics ............................. 3262Chao Liu, Chien Chern Cheah
A New Approach to Jacobian Formulation for a Class of Multi-Section Continuum Robots ......................... 3268Bryan A. Jones, Ian D. Walker
A Variable Length Tentacle Manipulator Control System .................................................................................. 3274Mircea Ivanescu, Nirvana Popescu, Decebal Popescu
Session: ThA2-12AUTOMATION + MANUFACTURING
Stable Pushing of Assemblies ............................................................................................................................. 3280Jay Bernheisel, Kevin Lynch
Dynamics of Vibratory Bowl Feeders .................................................................................................................. 3288Jon Selig, Jian Dai
Preliminary Design and Testing of a Novel Robot Design for Metal Finishing Applications .......................... 3294Steven Somes, Mark Dohring, Wyatt Newman
Minimization of Airtime in Cutting and Welding Applications ........................................................................... 3300Oliver Koenig, Musa Jouaneh
Session: ThP1-01ROBOTIC FISH
Parameter Optimization of Simplified Propulsive Model for Biomimetic Robot Fish ...................................... 3306Junzhi Yu, Long Wang
Biomimetic Micro Underwater Vehicle with Oscillating Fin Propulsion: System Design andForce Measurement .............................................................................................................................................. 3312
Xinyan Deng, Srinath Avadhanula
Mimicry of Sharp Turning Behaviours in a Robotic Fish ................................................................................... 3318Jindong Liu, Huosheng Hu
Performance of Machines with Flexible Bodies Designed for Biomimetic Locomotion inLiquid Environments ............................................................................................................................................. 3324
Pablo Valdivia y Alvarado, Kamal Youcef-Toumi
Simulation Study of Fish Swimming Modes for Aquatic Robot System ........................................................... 3330Eunjung Kim, Youngil Youm
Design of a Spherical Wrist with Parallel Architecture: Application to Vertebrae of an Eel Robot ............... 3336Damien Chablat , Philippe Wenger
Session: ThP1-02VISION/SLAM II
3-D Localization and Mapping Using a Single Camera Based on Structure-from-Motionwith Automatic Baseline Selection ........................................................................................................................ 3342
Masahiro Tomono
Localization for Mobile Robots using Panoramic Vision, Local Features and Particle Filter ......................... 3348Henrik Andreasson, Andre Treptow, Tom Duckett
Indoor Navigation of a Wheeled Mobile Robot along Visual Routes ............................................................... 3354Guillaume Blanc, Youcef Mezouar, Philippe Martinet
Absolute Stereo SFM without Stereo Correspondence for Vision Based SLAM ............................................. 3360Jae-Hean Kim, Myung Jin Chung
Practical Vision-Based Monte Carlo Localization on a Legged Robot ............................................................. 3366Mohan Sridharan, Gregory Kuhlmann, Peter Stone
Data- and Model-driven Attention Mechanism for Autonomous Visual Landmark Acquisition ...................... 3372Ricardo Vázquez Martín, José Carlos del Toro Lasanta, Antonio Bandera Rubio, Francisco Sandoval Hernández
Session: ThP1-03HUMAN ROBOT APPLICATIONS
Interactive Teaching of a Mobile Robot ............................................................................................................... 3378Jun Miura, Koji Iwase, Yoshiaki Shirai
A Time Delay Compensation Method Improving Registration for Augmented Reality .................................... 3384Jeam-Yves Didier, David Roussel, Malik Mallem
Implementing Map Based Navigation in Guido, the Robotic SmartWalker ...................................................... 3390Diego Rodriguez-Losada, Fernando Matia, Agustin Jimenez, Ramon Galan, Gerard Lacey
Leveraging Limited Autonomous Mobility to Frame Attractive Group Photos .................................................. 3396Jason Campbell, Padmanabhan Pillai
Shepherding Behaviors with Multiple Shepherds .............................................................................................. 3402Jyh-Ming Lien, Samuel Rodriguez, Jean-Phillipe Malric, Nancy M. Amato
A Flexible Infrastructure for the Development of a Robot Companion with Extensible HRI-Capabilities ..... 3408Jannik Fritsch, Marcus Kleinehagenbrock, Axel Haasch, Sebastian Wrede, Gerhard Sagerer
Session: ThP1-04MOBILE ROBOTS I
Vibration-based Terrain Analysis for Mobile Robots .......................................................................................... 3415Christopher Brooks, Karl Iagnemma, Steven Dubowsky
A Robust Visual Odometry and Precipice Detection System Using Consumer-grade Monocular Vision ..... 3421Jason Campbell, Rahul Sukthankar, Illah Nourbakhsh, Aroon Pahwa
Fault Diagnosis and Fault Tolerant Control for Wheeled Mobile Robots under Unknown Environments:A Survey ................................................................................................................................................................. 3428
Zhuo-hua Duan, Zi-xing Cai, Jin-xia Yu
C-Space Evaluation for Mobile Robots at Large Workspaces .......................................................................... 3434Francisco Javier Blanco, Vidal Moreno, Belén Curto, Roberto Therón
Topological Analysis and Control on Mobile Robot with Partially-Failed Propulsive Wheel .......................... 3440Yili Fu, Xu He, Shuoguo Wang, Li Han, Yulin Ma
Local and Global Isotropy of Caster Wheeled Omnidirectional Mobile Robot ................................................ 3446Sungbok Kim, Hyunggi Kim, Byoungkwon Moon
Session: ThP1-05PLANNING II
On Computing Complex Navigation Functions ................................................................................................... 3452Luciano Pimenta, Alexandre Fonseca, Guilherme Pereira, Renato Mesquita, Elson Silva, Walmir Caminhas, Mario Campos
Planning with Continuous Actions in Partially Observable Environments ....................................................... 3458Matthijs Spaan, Nikos Vlassis
Real-Time Decision Making with State-Value Function under Uncertainty of StateEstimation -Evaluation with Local Maxima and Discontinuity ........................................................................... 3464
Ryuichi Ueda, Tamio Arai, Kohei Sakamoto, Yoshiaki Jitsukawa, Kazunori Umeda, Hisashi Osumi, Toshifumi Kikuchi,Masaki Komura
Sensor-based Planning for Planar Multi-Convex Rigid Bodies ......................................................................... 3470Ji Yeong Lee, Howie Choset
The Analysis of an Efficient Algorithm for Robot Coverage and Exploration based on Sensor NetworkDeployment ............................................................................................................................................................ 3478
Maxim Batalin, Gaurav Sukhatme
A Sample-based Convex Cover for Rapidly Finding an Object in a 3-D Environment .................................... 3486Alejandro Sarmiento, Rafael Murrieta-Cid, Seth Hutchinson
Session: ThP1-06VISION BASED CONTROL IV
Parameters Selection and Stability Analysis of Invariant Visual Servoing with Weighted Features ............. 3492Nicolas García-Aracil, Rafael Aracil, Ezio Malis, Óscar Reinoso
Adaptive Jacobian Tracking Control of Robots based on Visual Task-space Information .............................. 3498Chien Chern Cheah, Chao Liu, Jean-Jacques E Slotine
Visual Servoing without Jacobian using Modified Simplex Optimization ......................................................... 3504Kanako Miura, Koichi Hashimoto, Jacques Gangloff, Michel de Mathelin
An Object Tracking and Visual Servoing System for the Visually Impaired ...................................................... 3510Duane J. Jacques, Ranga Rodrigo, Kenneth A. McIsaac, Jagath Samarabandu
Epipole-Based Visual Servoing with Central Catadioptric Camera ................................................................... 3516Gian Luca Mariottini, Eleonora Alunno, Jacopo Piazzi, Domenico Prattichizzo
Image-based Control of Mobile Robot with Central Catadioptric Cameras ...................................................... 3522Hicham Hadj Abdelkader, Youcef Mezouar, Nicolas Andreff, Philippe Martinet
Session: ThP1-07POSITIVE SENSING
Using Laser and Vision to Locate a Robot in an Industrial Environment: A Practical Experience ................ 3528Guillem Alenyà, Josep Escoda, Antonio B. Martínez, Carme Torras
Correspondenceless Ego-motion Estimation using an IMU .............................................................................. 3534Ameesh Makadia, Kostas Daniilidis
Robot Guidance with Neuromorphic Motion Sensors ........................................................................................ 3540Lukas Reichel, David Liechti, Karl Presser, Shih-Chii Liu
A Robust Localization Algorithm for Mobile Robots with Laser Range Finders .............................................. 3545Hee Jin Sohn, Byung Kook Kim
Prototyping Filter-Sum Beamformers for Sound Source Localization in Mobile Robotics ............................. 3551Sylvain Argentieri, Patrick Danès, Philippe Souères
Metric-Based Scan Matching Algorithms for Mobile Robot Displacement Estimation.................................... 3557Javier Minguez, Florent Lamiraux, Luis Montesano
Session: ThP1-08APPLICATIONS II
Model-based Shape Analysis of Gas Concentration Gridmaps for Improved Gas Source Localisation ...... 3564Achim Lilienthal, Felix Streichert, Andreas Zell
On Sensor Management of Calligraphic Robot ................................................................................................. 3570Kejun Zhang, Jianbo Su
Online Soil-bucket Interaction Identification for Autonomous Excavation ....................................................... 3576Choo Par Tan, Yahya H. Zweiri, Kaspar Althoefer, Lakmal D. Seneviratne
Design and Exploitation of an Autonomous Surface Vessel for the Study of Sea-Air Interactions .............. 3582Massimo Caccia, R. Bono, Ga. Bruzzone, Gi. Bruzzone, E. Spirandelli, G. Veruggio, A. Stortini
Design Considerations for Robotic Needle Steering ......................................................................................... 3588Robert J. Webster III, Jasenka Memisevic, Allison M. Okamura
Circular/Spherical Robots for Crawling and Jumping ........................................................................................ 3595Yuuta Sugiyama, Ayumi Shiotsu, Masashi Yamanaka, Shinichi Hirai
Session: ThP1-09SPECIAL SESSION-CONTRACT AND COMPLIANCE
Automatic Generation of High-level Contact State Space between Planar Curved Objects ......................... 3601Peng Tang, Jing Xiao
Unified Constraint-Based Task Specification for Complex Sensor-Based Robot Systems ............................ 3607Joris De Schutter, Johan Rutgeerts, Erwin Aertbelien, Friedl De Groote, Tinne De Laet, Tine Lefebvre, Walter Verdonck,Herman Bruyninckx
Multi-Link Multi-Contact Force Control for Manipulators ................................................................................... 3613Jaeheung Park, Oussama Khatib
A New Formalism to Characterize Contact States Involving Articulated Polyhedral Objects ........................ 3619Ernesto Staffetti, Wim Meeussen, Jing Xiao
Session: ThP1-10ACTUATORS II
Analysis and Design of a Novel Mini-platform Employing Vibration Micro-motors ......................................... 3627Panagiotis Vartholomeos, Evangelos Papadopoulos
Nonlinear Performance Limits for High Energy Density Piezoelectric Bending Actuators ............................. 3633Robert Wood, Erik Steltz, Ronald Fearing
Sliding Mode Control of a Piezoelectric Actuator with Neural Network CompensatingRate-dependent Hysteresis .................................................................................................................................. 3641
Shuanghe Yu, Bijan Shirinzadeh, Gursel Alici, Julian Smith
Torque Modeling of a Spherical Actuator Based on Lorentz Force Law.......................................................... 3646Liang Yan, I-Ming Chen, Chee Kian Lim, Guilin Yang, Wei Lin, Kok-Meng Lee
Concept Development and Design of a Spherical Wheel Motor (SWM) .......................................................... 3652Kok-Meng Lee, Hungsun Son, Jeffry Joni
Evaluation of MR-compatibility of Electrostatic Linear Motor .......................................................................... 3658Akio Yamamoto, Keigo Ichiyanagi, Toshiro Higuchi, Hiroshi Imamizu, Roger Gassert, Martin Ingold, Laurent Sache,Hannes Bleuler
Session: ThP1-11LOCOMOTION II
Natural Gait Generation Techniques for Multi-bodied Isolated Mechanical Systems ..................................... 3664Elie Shammas, Klaus Schmidt, Howie Choset
Energy Based Swing Control of a Brachiating Robot ........................................................................................ 3670Hideki Kajima, Masahiro Doi, Yasuhisa Hasegawa, Toshio Fukuda
Bounded Smooth Time Invariant Motion Control of Unicycle Kinematic Models ............................................ 3676Youngshik Kim, Mark A. Minor
CPG Design using Inhibitory Networks ............................................................................................................... 3682Anthony Lewis, Francesco Tenore, Ralph Etienne-Cummings
Implementation of Multi-valued Fuzzy Behavior Control for Robot Navigation in ClutteredEnvironments ......................................................................................................................................................... 3688
Majura F. Selekwa, Damion D. Dunlap, Emmanuel G. Collins Jr.
Rapid Development of Vision-Based Control for MAVs through a Virtual Flight Testbed ............................... 3696Jason Grzywna, Ashish Jain, Jason Plew, Michael Nechyba
Session: ThP1-12PETRI NETS II
A Virtual Preemption Paradigm for Using Priority Rules to Solve Job Shop Scheduling Problems .............. 3703Tsung-Che Chiang, Li-Chen Fu
A Supply Chain Model Using Complex-Valued Token Petri Nets ...................................................................... 3709Alan Desrochers, Maria Pia Fanti
A Constraint Programming Approach to Tool Allocation and Resource Scheduling in FMS .......................... 3715Oscar Quiroga, Luis Zeballos, Gabriela Henning
Continuous Petri Nets with Delays for Performance Evaluation of Transfer Lines ......................................... 3721Iyad Mourani, Sophie Hennequin, Xiaolan Xie
Admittance Design for Assembly of Polyhedral Parts with Modeling Errors ................................................... 3727Masayuki Shimizu, Kazuhiro Kosuge
Session: ThP2-01LEGGED LOCOMOTION I
Dimensional Analysis Based Design on Tracing Type Legged Robots ............................................................ 3733Mitsuru Higashimori, Manabu Harada, Masahiro Yuya, Idaku Ishii, Makoto Kaneko
Adaptive Running of a Quadruped Robot Using Delayed Feedback Control .................................................. 3739Zu Guang Zhang, Yasuhiro Fukuoka, Hiroshi Kimura
Impact Forces in Legged Robot Locomotion ...................................................................................................... 3745Pedro Bergés, Alan Bowling
Humanoid Vertical Jumping based on Force Feedback and Inertial Forces Optimization ............................. 3752Sophie Sakka, Kazuhito Yokoi
Humanoid On-line Pattern Generation Based on Parameters of Off-line Typical Walk Patterns .................. 3758Zhaoqin Peng, Qiang Huang, Lige Zhang, Ali Raza Jafri, Weiming Zhang, Kejie Li
Session: ThP2-02LOCALIZATION AND NAVIGATION
Almost-Sensorless Localization ........................................................................................................................... 3764Jason M. O‘Kane, Steven LaValle
Active Task-Space Sensing and Localization of Autonomous Vehicles ........................................................... 3770Goldie Nejat, Beno Benhabib, Arnaud Membre
Rendezvous Guidance for the Autonomous Interception of Moving Objects in Cluttered Environments ..... 3776Faraz Kunwar, Felix Wong, Ridha Ben Mrad, Beno Benhabib
An Interpolated Dynamic Navigation Function ................................................................................................... 3782Roland Philippsen, Roland Siegwart
A Selection Framework of Multiple Navigation Primitives Using Generalized Stochastic Petri Nets ............ 3790Gunhee Kim, Woojin Chung, Munsang Kim
Session: ThP2-03HUMAN ROBOT INTERACTION II
Human-Robot Collision Detection and Identification Based on Wrist and Base Force/Torque Sensors ...... 3796Shujun Lu, Jae H. Chung, Steven A. Velinsky
Human-Robot Handshaking using Neural Oscillators ....................................................................................... 3802Tomofumi Kasuga, Minoru Hashimoto
A Hierarchical Bayesian Network for Mixed-Initiative Human-Robot Interaction ............................................ 3808Jin-Hyuk Hong, Youn-Suk Song, Sung Bae Cho
Real World Speech Interaction with a Humanoid Robot on a Layered Robot BehaviorControl Architecture .............................................................................................................................................. 3814
Kazumi Aoyama, Hideki Shimomura
Haptic Rendering of Topological Constraints to Users Manipulating Serial Virtual Linkages ....................... 3820Daniela Constantinescu, Septimiu Salcudean, Elizabeth Croft
Session: ThP2-04MOBILE ROBOT NAVIGATION
Optimal Motion Strategies Based on Critical Events to Maintain Visibility of a Moving Target ..................... 3826Teja Muppirala, Rafael Murrieta-Cid, Seth Hutchinson
A Collision Detection System for a Mobile Robot Inspired by the Locust Visual System............................... 3832Shigang Yue, Claire Rind
Dynamical Wall Following for a Wheeled Robot Using a Passive Tactile Sensor ........................................... 3838Andrew G. Lamperski, Owen Y. Loh, Brett L. Kutscher, Noah J. Cowan
Controlling the Navigation of a Mobile Robot in a Corridor with Redundant Controllers ............................... 3844Daniel Gamarra, Teodiano Bastos-Filho, Mario Sarcinelli-Filho
A Multi-Objective Exploration Strategy for Mobile Robots ................................................................................ 3850Francesco Amigoni, Alessandro Gallo
Session: ThP2-05PLANNING ALGORITHMS
Dynamic-Domain RRTs: Efficient Exploration by Controlling the Sampling Domain....................................... 3856Anna Yershova, Léonard Jaillet, Thierry Siméon, Steven LaValle
Iteratively Locating Voronoi Vertices for Dispersion Estimation ....................................................................... 3862Stephen R. Lindemann, Peng Cheng
Distributed Sampling-Based Roadmap of Trees for Large-Scale Motion Planning ........................................ 3868Erion Plaku, Lydia Kavraki
Hybrid PRM Sampling with a Cost-Sensitive Adaptive Strategy ....................................................................... 3874David Hsu, Gildardo Sanchez-Ante, Zheng Sun
Frontier-Based Probabilistic Strategies for Sensor-Based Exploration ............................................................ 3881Luigi Freda, Giuseppe Oriolo
Session: ThP2-06CALIBRATION
Flexible Microscope Calibration using Virtual Pattern for 3D Telemicromanipulation .................................... 3888Mehdi Ammi, Vincent Fremont, Antoine Ferreira
Three Characterisations of 3D Reconstruction Uncertainty with Bounded Error ........................................... 3894Benoit Telle, Olivier Stasse, Kazuhito Yokoi, Toshio Ueshiba, Fumiaki Tomita
Calibration and Synchronization of a Robot-Mounted Camera for Fast Sensor-Based Robot Motion ......... 3900Friedrich Lange, Gerd Hirzinger
Dynamic Recalibration of an Active Vision System via Generic Homography ................................................ 3906B. Zhang, Y.F. Li
3-D Measurement of Objects in Unknown Aquatic Environments with a Laser Range Finder ...................... 3912Atsushi Yamashita, Shinsuke Ikeda, Toru Kaneko
Session: ThP2-07IDENTIFICATION
Non-Parametric Time Series Classification ........................................................................................................ 3918Scott Lenser, Manuela Veloso
A Context-Based State Estimation Technique for Hybrid Systems................................................................... 3924Sarjoun Skaff, Alfred Rizzi, Howie Choset, Pei-Chun Lin
Fast Line, Arc/Circle and Leg Detection from Laser Scan Data in a Player Driver ......................................... 3930João Xavier, Marco Pacheco, Daniel Castro, António Ruano, Urbano Nunes
Characterization of Infrared Range-Finder PBS-03JN for 2-D Mapping ......................................................... 3936Majd Alwan, Matthew Wagner, Glenn Wasson, Pradip Sheth
Integrating Tactile and Force Feedback with Finite Element Models ............................................................... 3942Christopher R. Wagner, Douglas P. Perrin, Ross L. Feller, Robert D. Howe, Olivier Clatz, Hervé Delingette, Nicholas Ayache
Session: ThP2-08FLYING: HELICOPTERS
Andrew Lookingbill, David Lieb, David Stavens, Sebastian Thrun
Developing a Control Architecture for Multiple Unmanned Aerial Vehicles to Search and Localize RFTime-Varying Mobile Targets: Part I ..................................................................................................................... 3954
Daniel Pack, George York
Autonomous Helicopter Landing on a Moving Platform Using a Tether ........................................................... 3960So-ryeok Oh, Kaustubh Pathak, Sunil Agrawal, Hemanshu Roy Pota, Matt Garrett
Vision Guided Landing of an Autonomous Helicopter in Hazardous Terrain ................................................... 3966Andrew Johnson, James Montgomery
Detection and Tracking of External Features in an Urban Environment Using an AutonomousHelicopter ............................................................................................................................................................... 3972
Luis Mejias, Srikanth Saripalli, Gaurav Sukhatme, Pascual Campoy
Session: ThP2-09SPECIAL SESSION:OBJECT-ORIENTED MODELLING AND FORMAL VALIDATIONMETHODOLOGIES IN MANUFACTURING AND A
Verification of Behavioral Substitutability in Object-Oriented Models for Industrial Controllers ................... 3978Marcello Bonfé, Cesare Fantuzzi, Cristian Secchi
Migration of a PLC Controller to an IEC 61499 Compliant Distributed Control System :Hands-on Experiences ......................................................................................................................................... 3984
Tanvir Hussain, Georg Frey
On the Use of UML for Modeling Physical Systems .......................................................................................... 3990Cristian Secchi, Cesare Fantuzzi, Marcello Bonfé
Engineering of Validatable Automation Systems Based on an Extension of UML CombinedWith Function Blocks of IEC 61499 .................................................................................................................... 3996
Viktor Dubinin, Valeriy Vyatkin, Thomas Pfeiffer
Specification of Function Block Applications with UML .................................................................................... 4002Wei Zhang, Christian Diedrich, Wolfgang A. Halang
Learning Activity-based Ground Models from a Moving Helicopter Platform .................................................. 3948
Session: ThP2-10PARALLEL MANIPULATORS IV
A Low-Cost Easy Operation 4-Cable Driven Parallel Manipulator ................................................................... 4008Erika Ottaviano, Marco Ceccarelli, Alessio Paone, Giuseppe Carbone
Fully-Isotropic Over-Constrained Parallel Wrists with Two Degrees of Freedom ............................................ 4014Grigore Gogu
Kinematics of the 3-CPU Parallel Manipulator Assembled for Motions of Pure Translation .......................... 4020Massimo Callegari, Matteo Palpacelli, Marco Scarponi
Dimensioning a Constrained Parallel Robot to Reach a Set of Task Positions ............................................... 4026Hai-Jun Su, J. Michael McCarthy
Conceptional Design and Kinematics Modeling of a Wide-Range Flexure Hinge-BasedParallel Manipulator .............................................................................................................................................. 4031
Wei Dong, Zhijiang Du, Lining Sun
Session: ThP2-11CONTROL III
Collision-Tolerant Control for Hybrid Joint based Arm of Nonholonomic Mobile Manipulator inHuman-Robot Symbiotic Environments ............................................................................................................... 4037
Zhijun Li, Aiguo Ming, Ning Xi, Zhaoxian Xie, Jiangong Gu, Makoto Shimojo
GPC Versus H infinity Control for Fast Visual Servoing of a Medical Manipulator IncludingFlexibilities ............................................................................................................................................................. 4044
Loïc Cuvillon, Edouard Laroche, Jacques Gangloff, Michel de Mathelin
Operational Space ................................................................................................................................................ 4050Giuseppe Casalino, Alessio Turetta
Ti-Chung Lee, Jing-Sin Liu
Application Cluster Service Scheme for Near-Zero-Downtime Services ......................................................... 4062Fan-Tien Cheng, Shang-Lun Wu, Ping-Yen Tsai, Yun-Ta Chung, Haw-Ching Yang
Session: ThP2-12ROBOT ASSISTANTS
Automatic Pallet Engagment by a Vision Guided Forklift .................................................................................. 4068Michael Seelinger, John-David Yoder
PowerMate - A Safe and Intuitive Robot Assistant for Handling and Assembly Tasks ................................... 4074Rolf Dieter Schraft, Christian Meyer, Christopher Parlitzer, Evert Helms
Motion Control of Self-Moving Trays for Human Supporting Production Cell «Attentive Workbench» ......... 4080Masao Sugi, Makoto Nikaido, Yusuke Tamura, Jun Ota, Tamio Arai, Kiyoshi Kotani, Kiyoshi Takamasu, Seiichi Shin,
Hiromasa Suzuki, Yoichi Sato
Haptic Desktop for Office Automation and Assisted Design ............................................................................. 4086Carlo Alberto Avizzano, Mirko Raspolli, Simone Marcheschi, Massimo Bergamasco
Geometric Computation for Assembly Planning with Planar Toleranced Parts ............................................... 4092Yaron Ostrovsky-Berman, Leo Joskowicz
Session: FrA1-01LEGGED LOCOMOTION II
Mobility and Dynamic Performance of Legged Robots ..................................................................................... 4100Alan Bowling
Self-Organizing Running in a Quadruped Robot Model .................................................................................... 4108Matthew D. Berkemeier, Pranav Sukthankar
Dynamic Recurrent Neural Network for Biped Robot Equilibrium Control: Preliminary Results .................... 4114Vincent Scesa, Bachar Mohamed, Patrick Henaff, Fethi Ben Ouezdou
Realization of 3-dimensional Dynamic Walking based on the Assumption of Point-contact ......................... 4120Masahiro Doi, Yasuhisa Hasegawa, Toshio Fukuda
A Computationally Distributed Self-Organizing Algorithm for the Control of Manipulators in the-
-Exponential Stabilization for Caplygin Systems: Simplified Controllability Condition and Examples ........ 4056ρ
∞
Session: FrA1-02COOPERATIVE LOCALIZATION
Optimal Formations for Cooperative Localization of Mobile Robots ................................................................. 4126Yukikazu S. Hidaka, Anastasios I. Mourikis, Stergios I. Roumeliotis
Towards Decentralization of Mulit-robot Navigation Functions ......................................................................... 4132Herbert Tanner, Amit Kumar
Nonlinear Control for Urban Vehicles Platooning, Relying upon a Unique Kinematic GPS ............................... 4138Jonathan Bom, Benoit Thuilot, François Marmoiton, Philippe Martinet
Dynamic Vehicle Localisation using Constraints Propagation Techniques on Intervals A comparisonwith Kalman Filtering ............................................................................................................................................ 4144
Amadou Gning, Philippe Bonnifait
Session: FrA1-03LEARNING II
Learning to track Multiple People in Omnidirectional Video ............................................................................. 4150Fernando De la Torre, Carlos Vallespi, Paul Rybski, Manuela Veloso, Takeo Kanade
Onboard Adaptive Learning for Planetary Surface Rover Control in Rough Terrain ....................................... 4156Terry Huntsberger, Hrand Aghazarian, Edward Tunstel
Learning Sensory Feedback to CPG with Policy Gradient for Biped Locomotion .......................................... 4164Takamitsu Matsubara, Jun Morimoto, Jun Nakanishi, Masa-aki Sato, Kenji Doya
Fast Reinforcement Learning for Vision-guided Mobile Robots ....................................................................... 4170Tomás Martínez-Marín, Tom Duckett
Session: FrA1-04MOBILE ROBOTS II
Insect-like Antennal Sensing for Climbing and Tunneling Behavior in a Biologically-inspiredMobile Robot .......................................................................................................................................................... 4176
William Lewinger, Cynthia Harley, Roy Ritzmann, Michael Branicky, Roger Quinn
What Are the Ants Doing? Vision-Based Tracking and Reconstruction of Control Programs ....................... 4182Magnus Egerstedt, Tucker Balch, Frank Dellaert, Florent Delmotte, Zia Khan
Introducing Neuromodulation to a Braitenberg Vehicle ..................................................................................... 4188Richard L. B. French, Lola Cañamero
Low-cost Bluetooth Communication for the Autonomous Mobile Minirobot Khepera ..................................... 4194Michael Grosseschallau, Ulf Witkowski, Ulrich Rückert
Session: FrA1-05CONTACT-HAPTIC PLANNING
Practical Local Planning in the Contact Space .................................................................................................. 4200Stephane Redon, Ming C. Lin
Achieving Desired Contact State Transitions of Polyhedral Parts with Compliant Motions ........................... 4206Fan Yang, Michael Marefat
Haptic Rendering of Compliant Motions using Contact Tracking in C-space .................................................. 4212Jan Rosell, Israel Vázquez
A Mapping Method for Telemanipulation of the Non-Anthropomorphic Robotic Hands withInitial Experimental Validation .............................................................................................................................. 4218
Heng Wang, Kin Huat Low, Michael Yu Wang, Feng Gong
Session: FrA1-06VISION BASED CONTROL V
Incremental Learning for Mapping Image Variations to Actions ....................................................................... 4224Simon Léonard, Martin Jägersand
Vision-based Global Localization Using a Visual Vocabulary ............................................................................ 4230Junqiu Wang, Roberto Cipolla, Hongbin Zha
Measuring Coverage Performances of a Floor Cleaning Mobile Robot using a Vision System ...................... 4236Jordi Palacín, Tomás Palleja, Ignasi Valgañón, Ramón Pernia, Joan Roca
Supervised Multispectral Image Segmentation using Active Contours ............................................................ 4242Cheolha Pedro Lee, Wesley Snyder, Cliff Wang
Session: FrA1-07EDUCATION
Robotics, Education, and Sustainable Development .......................................................................................... 4248M. Bernardine Dias, G. Ayorkor Mills-Tettey, Thrishantha Nanayakkara
RoboKing - Bringing Robotics Closer to Pupils .................................................................................................. 4254Niko Sünderhauf, Thomas Krause, Peter Protzel
A Distributed Multirobot System Based on Edutainment Robots...................................................................... 4260Josep Fernández, Pedro López, Joan Oliva
KiRo - A Table Soccer Robot Ready for the Market ........................................................................................... 4266Thilo Weigel
Session: FrA1-08SPACE ROBOT I
Smooth Planning for Free-floating Space Robots Using Polynomials ............................................................. 4272Evangelos Papadopoulos, Ioannis Tortopidis, Kostas Nanos
Educational Results of the Personal Exploration Rover Museum Exhibit ....................................................... 4278Illah Nourbakhsh, Emily Hamner, Brian Dunlavey, Debra Bernstein, Kevin Crowley
Applying Structural EM in Autonomous Planetary Exploration Missions using HyperspectralImage Spectroscopy ............................................................................................................................................. 4284
Rosalind Wang, Fabio Ramos
Scientific Visualization for the Mars Exploration Rovers ................................................................................... 4290Mark Powell, Jeffrey Norris, Marsette Vona, Paul Backes, Justin V. Wick
Session: FrA1-09ELASTIC MANIPULATORS
On the Control of Robots with Visco-Elastic Joints ........................................................................................... 4297Alessandro De Luca, Riccardo Farina, Pasquale Lucibello
Repetitive Control for Single Link Flexible Manipulators ................................................................................... 4303Vicente Feliu, Iván Muñoz, Pedro L. Roncero, Juan J. López
Generalized Shooting Method for Analyzing Compliant Mechanisms.............................................................. 4309Chao-Chieh Lan, Kok-Meng Lee
Kinematic Modeling and Visual Sensing of Multi-DOF Robot Manipulator with PatternedArtificial Muscle ..................................................................................................................................................... 4315
Yoshihiro Nakabo, Toshiharu Mukai, Kinji Asaka
Session: FrA1-10CONTROL IV
A Simulation/Experimental Study of the Noisy Behavior of the Time Domain PassivityController for Haptic Interfaces ............................................................................................................................ 4321
Jee-Hwan Ryu, Jong-Hwan Kim, Dong-Soo Kwon, Blake Hannaford
Active Control of Configuration-Dependent Linkage Vibration with Application to a PlanarParallel Platform .................................................................................................................................................... 4327
Xiaoyun Wang, James Mills
Efficient Closed Contour Extraction from Range Image’s Edge Points............................................................ 4333Angel Sappa
Determination of the Repeatability of a Kuka Robot Using the Stochastic Ellipsoid Approach .................... 4339Jean-François Brethé, Eric Vasselin, Dimitri Lefebvre, Brayima Dakyo
Session: FrA2-01EXOSKELETONS
On the Biomimetic Design of the Berkeley Lower Extremity Exoskeleton (BLEEX) ....................................... 4345Andrew Chu, Hami Kazerooni, Adam Zoss
On the Control of the Berkeley Lower Extremity Exoskeleton (BLEEX) ............................................................ 4353Hami Kazerooni, Jean-Louis Racine, Lihua Huang, Ryan Steger
Session: FrA2-02LOCALIZATION AND TOPOLOGY
A Robust Localization Algorithm in Topological Maps with Dynamics ............................................................. 4361Nakju Lett Doh, Kyoungmin Lee, Jinwook Huh, Namyoung Cho, Jungseok Lee, Wan Kyun Chung, Young Jo Cho
Loop Closing in Topological Maps ....................................................................................................................... 4367Kristopher Beevers, Wesley Huang
Towards Autonomous Topological Place Detection Using the Extended Voronoi Graph ................................ 4373Patrick Beeson, Nicholas K. Jong, Benjamin Kuipers
Session: FrA2-03IMITATION LEARNING
Fuzzy Computing for Communication of A Partner Robot Based on Imitation ............................................... 4380Naoyuki Kubota, Kenichiro Nishida
Robot Learning in Partially Observable, Noisy, Continuous Worlds ................................................................. 4386Reid Broadbent, Todd Peterson
Session: FrA2-04WEARABLE INTERFACES
Control of Wearable Walking Support System Based on Human-Model and GRF ........................................ 4394Takahiko Nakamura, Kazunari Saito, Kazuhiro Kosuge
A Wearable Translation Robot .............................................................................................................................. 4400Xi Shi, Yangsheng Xu
A Real-Time Haptic/Graphic Demonstration of how Error Augmentation can Enhance Learning ................ 4406Yejun Wei, James Patton, Preeti Bajaj, Robert Scheidt
Session: FrA2-05MOBILE ROBOT PLANNING II
An Optimal and Real-Time Solution to Parameterized Mobile Robot Trajectories in thePresence of Moving Obstacles ............................................................................................................................ 4412
Jian Yang, Abdelhay Daoui, Zhihua Qu, Jing Wang, Richard A. Hull
Collision Avoidance of a Mobile Robot Using Intelligent Hybrid Force Control Technique ............................ 4418Seul Jung, Eun Soo Jang, Tien C. Steve Hsia
Session: FrA2-06STRUCTURAL LIGHT
Automated Simultaneous Calibration of a Multi-View Laser Stripe Profiler .................................................... 4424Wolfgang Stöcher, Georg Biegelbauer
Signal Separation Coding for Robust Depth Imaging Based on Structured Light .......................................... 4430Sukhan Lee, Jongmoo Choi, Daesik Kim, Jaekeun Na, Seungsub Oh
Using Hierarchical EM to Extract Planes from 3D Range Scans ...................................................................... 4437Rudolph Triebel, Wolfram Burgard, Frank Dellaert
Session: FrA2-07ODOUR-CHEMICAL SENSING
Improving Odor Analysis Through Human-Robot Cooperation ......................................................................... 4443Amy Loutfi, Silvia Coradeschi
Adaptive Sensing for Instantaneous Gas Release Parameter Estimation ....................................................... 4450Vassilios N. Christopoulos, Stergios I. Roumeliotis
Information Based Distributed Control for Biochemical Source Detection and Localization ......................... 4457Panos Tzanos, Milos Zefran, Arye Nehorai
Session: FrA2-08SPACE ROBOT II
Field testing of the Mars Exploration Rovers Descent Image Motion Estimation System ............................. 4463Andrew Johnson, Reg Willson, Jay Goguen, James Alexander, David Meller
Landmark Based Position Estimation for Pinpoint Landing on Mars ............................................................... 4470Yang Cheng, Adnan Ansar
Shape, Motion, and Parameter Estimation of Large Flexible Space Structures using Range Images ......... 4476Matthew Lichter, Steven Dubowsky
Session: FrA2-09MANIPULATORS
Levenberg-Marquardt based Neural Network Control for a Five-fingered Prosthetic Hand ........................... 4482Jingdong Zhao, Zongwu Xie, Li Jiang, Hegao Cai, Hong Liu, Gerd Hirzinger
Development of UB Hand 3: Early Results ......................................................................................................... 4488Fabrizio Lotti, Paolo Tiezzi, Gabriele Vassura, Luigi Biagiotti, Gianluca Palli, Claudio Melchiorri
A Pneumatic Manipulator used in Direct Contact with an Operator ................................................................. 4494Michael Van Damme, Frank Daerden, Dirk Lefeber
Session: FrA2-10BIOLOGICALLY INSPIRED CONTROL
Physiologically Inspired Robot Control: A Challenge to Bernstein‘s Degrees-of-Freedom Problem............. 4500Suguru Arimoto, Masahiro Sekimoto, Hiroe Hashiguchi, Ryuta Ozawa
Biologically Inspired Joint Stiffness Control ....................................................................................................... 4508Shane A. Migliore, Edgar A. Brown, Stephen P DeWeerth
Hill-based Model as a Myoprocessor for a Neural Controlled Powered ExoskeletonArm - Parameters Optimization............................................................................................................................ 4514
Ettore Cavallaro, Jacob Rosen, Joel C. Perry, Stephan Burns, Blake Hannaford
Session: FrA3-01MODELING AND SIMULATION
Effective Constrained Dynamic Simulation Using Implicit Constraint Enforcement ....................................... 4520Min Hong, Min-Hyung Choi, Sunhwa Jung, Samuel Welch, John Trapp
High Fidelity Real-Time Simulator with Mixed Real and Virtual Sensors ........................................................ 4526Zoltan Papp, Michiel Dorrepaal, Andrew Thean, Michel van Elk
A Dynamics Simulation Architecture for Robotic Systems ................................................................................ 4532Benjamin Moores, Bruce MacDonald
Fast Implementation of Lemke‘s Algorithm for Rigid Body Contact Simulation .............................................. 4538John Lloyd
Session: FrA3-02NAVIGATION AND MODELING
On Optimal Sensor Placement and Motion Coordination for Target Tracking.................................................. 4544Sulema Aranda, Sonia Martínez, Francesco Bullo
Uncertainty and Imprecision Modeling for the Mobile Robot Localization Problem ....................................... 4550Melanie Delafosse, Arnaud Clérentin, Laurent Delahoche, Eric Brassart
Modeling the Static and the Dynamic Parts of the Environment to Improve Sensor-based Navigation ....... 4556Luis Montesano, Javier Minguez, Luis Montano
Simulatneous Calibration of Action and Sensor Models on a Mobile Robot ................................................... 4563Daniel Stronger, Peter Stone
Session: FrA3-03LEARNING III
Learning to Control a Real Micropositioning System in the STM-Q Framework ............................................. 4569Cédric Adda, Guillaume J. Laurent, Nadine Le Fort-Piat
Learning-Assisted Multi-Step Planning ............................................................................................................... 4575Kris Hauser, Tim Bretl, Jean-Claude Latombe
Learning Sensor Network Topology through Monte Carlo Expectation Maximization .................................... 4581Dimitri Marinakis, Gregory Dudek, David Fleet
Learning to Steer on Winding Tracks Using Semi-Parametric Control Policies .............................................. 4588Ken Alton, Michiel van de Panne
Session: FrA3-04NON HOLONOMIC MOBILE ROBOTS
An Integrated Path Planning and Control Framework for Nonholonomic Unicycles ....................................... 4594Kaustubh Pathak, Sunil Agrawal
Diffusion-Based Motion Planning for a Nonholonomic Flexible Needle Model ............................................... 4600Wooram Park, Jin Seob Kim, Yu Zhou, Noah J. Cowan, Allison M. Okamura, Gregory Chirikjian
Control of Platoons of Nonholonomic Vehicles Using Redundant Manipulator Analogs ............................... 4606Bradley E. Bishop
Fast Computation of Robot-Obstacle Interactions in Nonholonomic Trajectory Deformation ....................... 4612Olivier Lefebvre, Florent Lamiraux, David Bonnafous
Session: FrA3-05PLANNING APPLICATIONS
Mars Exploration Rover Operations with the Science Activity Planner ............................................................ 4618Jeffrey Norris, Mark Powell, Marsette Vona, Paul Backes, Justin V. Wick
Planning 3-D Path Networks in Unstructured Environments ............................................................................. 4624Nicolas Vandapel, James Kuffner, Omead Amidi
Movement Primitives, Principal Component Analysis, and the Efficient Generation of Natural Motions ...... 4630Bokman Lim, Syungkwon Ra, Frank C. Park
Matrix Formulation of Constraint Wrenches for Serial Manipulators ............................................................... 4636Himanshu Chaudhary, Subir Kumar Saha
Session: FrA3-06LANDMARKS
Vision-Based Indoor Scene Analysis for Natural Landmark Detection ............................................................ 4642Martin Rous, Henning Luepschen, K.-F. Kraiss
Detection and Localization of Curbs and Stairways Using Stereo Vision ....................................................... 4648Xiaoye Lu, Roberto Manduchi
A Sign Reading Driver Assistance System Using Eye Gaze ............................................................................. 4655Luke Fletcher, Lars Petersson, Nick Barnes, David Austin, Alex Zelinsky
Improved Signal to Noise Ratio and Computational Speed for Gradient-based Detection Algorithms......... 4661Nick Barnes
Session: FrA3-07VISION + SENSING
Experiments in Low Cost High Precision Motion Control for ROVs ................................................................. 4667Massimo Caccia
A Visual Odometer without 3D Reconstruction for Aerial Vehicles. Applications to Building Inspection ...... 4673Fernando Caballero, Luis Merino, Joaquín Ferruz, Aníbal Ollero
Obstacle Detection for Small Autonomous Aircraft Using Sky Segmentation ................................................. 4679Timothy McGee, Raja Sengupta, Karl Hedrick
Session: FrA3-08OUTDOOR NAVIGATION
Robotic Rock Climbing using Computer Vision and Force Feedback .............................................................. 4685Stephen Paul Linder, Edward Wei, Alexander Clay
Robot Visual Navigation in Semi-structured Outdoor Environments ................................................................ 4691Diana Mateus, Juan Gabriel Avina-Cervantes, Michel Devy
Fault-Tolerant Behavior-Based Motion Control for Offroad Navigation ............................................................ 4697Martin Proetzsch, Tobias Luksch, Karsten Berns
Multi-aided Inertial Navigation for Ground Vehicles in Outdoor Uneven Environments ................................. 4703Bingbing Liu, Martín Adams, Javier Ibañez-Guzmán
Session: FrA3-09SERIAL MANIPULATORS
Sizing a Serial Chain to Fit a Task Trajectory Using Clifford Algebra Exponentials .......................................... 4709Alba Perez, J. Michael McCarhty
A Geometric Theory for Synthesis and Analysis of Sub-6 DoF Serial Manipulator Subchains ........................ 4716Jian Meng, Guangfeng Liu, Zexiang Li
A New Perspective on O(n) Mass-Matrix Inversion for Serial Revolute Manipulators ..................................... 4722Kiju Lee, Gregory Chirikjian
Advanced Geometric Approach for Graphics and Visual Guided Robot Object Manipulation ......................... 4727Dietmar Hildenbrand, Eduardo Bayro-Corrochano, Julio Zamora-Esquivel
Session: FrA3-10CONTROL V
Sensor Data Fusion for Body State Estimation in a Hexapod Robot with Dynamical Gaits .......................... 4733Pei-Chun Lin, Haldun Komsuoglu, Daniel E. Koditschek
Formal Verification of Robot Movements - a Case Study on Home Service Robot SHR100 ......................... 4739Moonzoo Kim, Kyo Chul Kang, Hyungki Lee
Usability Study of a Control Framework for an Intelligent Wheelchair ............................................................ 4745Sarangi P. Parikh, Valdir Grassi Jr., Vijay Kumar, Jun Okamoto Jr.
Triangular Observers for Road Profiles Inputs Estimation and Vehicle Dynamics Analysis .......................... 4751Hocine Imine, Yves Delanne