IROS 2006 Detailed Program

WA1-1: Mobile Robot Control I
Room: Convention Hall No. 3, Level 3 < map >
Time: 9:30-10:45
Wednesday October 11, 2006
Chairs: Rajiv Dubey, Yangmin Li
#1 (9:30~9:48)
Paper ID: 139
Title: A New Method of Executing Multiple Auxiliary Tasks by Redundant Nonholonomic Mobile Manipulators
Authors: Yugang Liu, Yangmin Li
#2 (9:48~10:06)
Paper ID: 1205
Title: Motion Planning for a Mobile Manipulator Based on Joint Motions for Error Recovery
Authors: Kimitoshi Yamazaki, Masahiro Tomono, Takashi Tsubouchi, Shin'ichi Yuta
#3 (10:06~10:24)
Paper ID: 518
Title: Development and Implementation of a Fault-Tolerant Vehicle-Following Controller for a Four-Wheel-Steering Vehicle
Authors: Danwei Wang, Minhtuan Pham, Chang Boon Low, Chaisoon Tan
#4 (10:24~10:42)
Paper ID: 2163
Title: Design, Construction and Control of a 7 DoF Wheelchair-Mounted Robotic Arm
Authors: Redwan Alqasemi, Kevin Edwards, Rajiv Dubey
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WA1-2: Localization I
Room: Convention Hall No. 4, Level 3 < map >
Time: 9:30-10:45
Wednesday October 11, 2006
Chairs: Daniel Goehring, Weingarten Jan
#1 (9:30~9:48)
Paper ID: 918
Title: Mutual Information Based Sensor Registration and Callibration
Authors: Alen Alempijevic, Sarath Kodagoda, James Underwood, Suresh Kumar, Gamini Dissanayake
#2 (9:48~10:06)
Paper ID: 99
Title: Multi Robot Object Tracking and Self Localization Using Visual Percept Relations
Authors: Daniel Goehring, Hans-Dieter Burkhard
#3 (10:06~10:24)
Paper ID: 1085
Title: Robot Localization Sensor for Development of Wireless Location Sensing Network
Authors: Heesung Chae, Wonpil Yu, Jaeyeong Lee, Young-Jo Cho
#4 (10:24~10:42)
Paper ID: 739
Title: Theoretical Results on On-line Sensor Self-Calibration
Authors: Agostino Martinelli, Jan Weingarten, Roland Siegwart
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WA1-3: Vision Applications
Room: Convention Hall No. 6, Level 2 < map >
Time: 9:30-10:45
Wednesday October 11, 2006
Chairs: Patrick Rives, Yan-Bin Jia
#1 (9:30~9:48)
Paper ID: 821
Title: Real-time Robust Detection of Planar Regions in a Pair of Images
Authors: Geraldo Silveira, Ezio Malis, Patrick Rives
#2 (9:48~10:06)
Paper ID: 749
Title: Surface Recognition by Registering Data Curves from Touch
Authors: Rinat Ibrayev, Yan-Bin Jia
#3 (10:06~10:24)
Paper ID: 82
Title: Online Approaches to Camera Pose Recalibration
Authors: Fangwu Shu, Werner Neddermeyer, Jianwei Zhang
#4 (10:24~10:42)
Paper ID: 1227
Title: An Embedded Optical Flow Processor for Visual Navigation Using Optical Correlator Technology
Authors: Valerij Tchernykh, Martin Beck, Klaus Janschek
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WA1-4: Wire Driven Manipulators
Room: Convention Hall No. 5, Level 2 < map >
Time: 9:30-10:45
Wednesday October 11, 2006
Chairs: Hisashi Osumi, Ou Ma
#1 (9:30~9:48)
Paper ID: 304
Title: Control of a Redundant Manipulator Mounted on a Base Plate Suspended by Six Wires
Authors: Hisashi Osumi, Masayuki Saitoh
#2 (9:48~10:06)
Paper ID: 603
Title: Adaptive Position Control for Fully Constrained Parallel Wire Driven Systems
Authors: H. Kino, T. Yahiro, F. Takemura, T. Morizono
#3 (10:06~10:24)
Paper ID: 1064
Title: Workspace Performance Optimization of Fully Restrained Cable-Driven Parallel Manipulators
Authors: Guilin Yang, Cong Bang Pham, Song Huat Yeo
#4 (10:24~10:42)
Paper ID: 1301
Title: Reactionless Control for Two Manipulators Mounted on a Cable-Suspended Platform
Authors: Roberto Lampariello, Johann Heindl, Ralf Koeppe, Gerd Hirzinger
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WA1-5: Perception and Navigation for Automated Vehicles I
Room: Convention Hall No. 14, Level 3 < map >
Time: 9:30-10:45
Wednesday October 11, 2006
Chairs: Christian Laugier, Thierry Fraichard
#1 (9:30~9:48)
Paper ID: 494
Title: Integrating Perception and Planning for Autonomous Navigation of Urban Vehicles
Authors: Rodrigo Benenson, Stephane Petti, Thierry Fraichard, Michel Parent
#2 (9:48~10:06)
Paper ID: 604
Title: Efficient GPU-based Construction of Occupancy Grids Using Several Laser Range-finders
Authors: Manuel Yguel, Olivier Aycard, Christian Laugier
#3 (10:06~10:24)
Paper ID: 693
Title: A Laserscanner-Vision Fusion System Implemented on the TerraMax Autonomous Vehicle
Authors: Alberto Broggi, Stefano Cattani, Pier Paolo Porta, Paolo Zani
#4 (10:24~10:42)
Paper ID: 909
Title: Lane Detection in Some Complex Conditions
Authors: Wennan Zhu, Qiang Chen, Hong Wang
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WA1-6: Autonomous Aerial Vehicles
Room: Convention Hall No. 12, Level 3 < map >
Time: 9:30-10:45
Wednesday October 11, 2006
Chairs: Hiroshi Kawano, Sang Chul Ahn
#1 (9:30~9:48)
Paper ID: 158
Title: Three Dimensional Obstacle Avoidance of Autonomous Blimp Flying in Unknown Disturbance
Authors: Hiroshi Kawano
#2 (9:48~10:06)
Paper ID: 1154
Title: Flying Display: Autonomous Blimp with Real-Time Visual Tracking and Image Projection
Authors: Seungyong Oh, Sungchul Kang, Kyungjoon Lee, Sangchul Ahn, Euntai Kim
#3 (10:06~10:24)
Paper ID: 1055
Title: Trim Trajectories Characterization for an Unmanned Autonomous Airship
Authors: Salim Hima, Yasmina Bestaoui
#4 (10:24~10:42)
Paper ID: 566
Title: Adaptive Robust Control Techniques Applied to the Yaw Control of a Small-scale Helicopter
Authors: Xingang Zhao, Zhe Jiang, Jianda Han, Guangjun Liu
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WA1-7: Diagnostic Tools
Room: Convention Hall No. 13, Level 3 < map >
Time: 9:30-10:45
Wednesday October 11, 2006
Chairs: Mamoru Mitsuishi, Max Meng
#1 (9:30~9:48)
Paper ID: 283
Title: A Training Simulator for Intraoral Radiography
Authors: Tatushi Tokuyasu, Yusuke Fujii, Motoji Yamamoto, Kazutoshi Okamura, Kazunori Yoshiura
#2 (9:48~10:06)
Paper ID: 416
Title: Probe Positioning Support Utilizing Shoulder Model for Ultrasound Diagnosis
Authors: Norihiro Koizumi, Takehiko Tsurumi, Shin'ichi Warisawa, Mamoru Mitsuishi, Hiroyuki Hashizume
#3 (10:06~10:24)
Paper ID: 1545
Title: The Calibration of 3-Axis Magnetic Sensor Array System for Tracking Wireless Capsule Endoscope
Authors: Chao Hu, Max Q.-H. Meng, Mrinal Mandal
#4 (10:24~10:42)
Paper ID: 1175
Title: Development and Kinematic Analysis of a Silicone-rubber Bending tip for Colonoscopy
Authors: G. Chen, M. T. Pham, T. Redarce
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WA1-8: Mobiligence
Room: Convention Hall No. 15, Level 3 < map >
Time: 9:30-10:45
Wednesday October 11, 2006
Chairs: Akio Ishiguro, Hajime Asama
#1 (9:30~9:48)
Paper ID: 596
Title: A Development of a Modular Robot That Enables Adaptive Reconfiguration
Authors: Masahiro Shimizu, Takafumi Mori, Akio Ishiguro
#2 (9:48~10:06)
Paper ID: 615
Title: Turning Maneuvers of a Multi-legged Modular Robot Using Its Inherent Dynamic Characteristics
Authors: Shinya Aoi, Hitoshi Sasaki, Kazuo Tsuchiya
#3 (10:06~10:24)
Paper ID: 660
Title: Obstacle Avoidance of a Mobile Robot Group Using a Nonlinear Oscillator Network
Authors: Daisuke Kurabayashi, Kunio Okita, Tetsuro Funato
#4 (10:24~10:42)
Paper ID: 1224
Title: A Distributed Motor Control System based on Spinal Cord and Musculoskeletal Mechanisms
Authors: Tomoaki Nagano, Toshiyuki Kondo, Koji Ito
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WA1-9: Mobile Robots I
Room: Convention Hall No. 8, Level 2 < map >
Time: 9:30-10:45
Wednesday October 11, 2006
Chairs: Arthur Sanderson, Udo Frese
#1 (9:30~9:48)
Paper ID: 422
Title: Location-driven Retrieval of Images Collected by a Mobile Robot
Authors: Kanji Tanaka, Mitsuru Hirayama, Nobuhiro Okada, Eiji Kondo
#2 (9:48~10:06)
Paper ID: 86
Title: Robot Navigation Based on the Mapping of Coarse Qualitative Route Descriptions to Route Graphs
Authors: Christian Mandel, Udo Frese, Thomas Rofer
#3 (10:06~10:24)
Paper ID: 390
Title: ARGOS C System for Heterogeneous Mobile Robot Teleoperation
Authors: Ludek Zalud
#4 (10:24~10:42)
Paper ID: 1509
Title: A Non-Parametric Iterative Algorithm For Adaptive Sampling And Robotic Vehicle Path Planning
Authors: Vadiraj Hombal, Arthur C. Sanderson, Richard Blidberg
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WA1-10: Vision Algorithms
Room: Convention Hall No. 16A, Level 3 < map >
Time: 9:30-10:45
Wednesday October 11, 2006
Chairs: Ezio Malis, Richard Alan Peters
#1 (9:30~9:48)
Paper ID: 1065
Title: Experiments with Robust Estimation Techniques in Real-time Robot Vision
Authors: Ezio Malis, Eric Marchand
#2 (9:48~10:06)
Paper ID: 585
Title: Wavelet-based Focus Measure and 3-D Surface Reconstruction Method for Microscopy Images
Authors: Hui Xie, Weibin Rong, Lining Sun
#3 (10:06~10:24)
Paper ID: 913
Title: Registration of Point Clouds for 3D Shape Inspection
Authors: Quan Shi, Ning Xi, Yifan Chen, Weihua Sheng
#4 (10:24~10:42)
Paper ID: 22
Title: Image Mapping and Visual Attention on a Sensory Ego-Sphere
Authors: Katherine Achim Fleming, Richard Alan Peters II, Robert E. Bodenheimer
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WA1-11: Rehabilitation Robotics
Room: Convention Hall No. 10, Level 3 < map >
Time: 9:30-10:45
Wednesday October 11, 2006
Chairs: Fathi Ouezdou, Philippe Fraisse
#1 (9:30~9:48)
Paper ID: 1086
Title: A Reconfigurable Evaluation and Assistance Platform for Handicapped People
Authors: H. Peralta, C. Riman, R. Thieffry, E. Monacelli, F.B. Ouezdou, Y. Alayli, G. De Matteo, J. Bouteille, I. Laffont, I. Mougharbel, A. El-Hajj
#2 (9:48~10:06)
Paper ID: 1630
Title: Design and Kinematics Analysis of Parallel Robots for Ankle Rehabilitation
Authors: Gengqian Liu, Jinlian Gao, Hong Yue, Xiaojun Zhang, Guangda Lu
#3 (10:06~10:24)
Paper ID: 1174
Title: Closed Loop Nonlinear Model Predictive Control Applied On Paralyzed Muscles To Restore Lower Limbs Functions
Authors: Samer Mohammed, Philippe Poignet, David Guiraud
#4 (10:24~10:42)
Paper ID: 373
Title: A Cooperative Control Scheme for Robotic Rehabilitation of Arm Impairment after Stroke
Authors: P. Culmer, A. Jackson, M.C. Levesley, R. Richardson, J.A. Cozens, M. Mon Williams, B.B. Bhakta
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WA1-12: Collision Avoidance
Room: Convention Hall No. 16B, Level 3 < map >
Time: 9:30-10:45
Wednesday October 11, 2006
Chairs: Alicia Casals, Gary M. Bone
#1 (9:30~9:48)
Paper ID: 1324
Title: Motion Generation for Human-Robot Cooperation considering Range of Joint Movement
Authors: Fumi Seto, Yasuhisa Hirata, Kazuhiro Kosuge
#2 (9:48~10:06)
Paper ID: 221
Title: Real-time 3D Collision Avoidance Method for Safe Human and Robot Coexistance
Authors: Lucian Balan, Gary M. Bone
#3 (10:06~10:24)
Paper ID: 43
Title: Human-robot Interaction Based on a Sensitive Bumper Skin
Authors: Manel Frigola, Alicia Casals, Josep Amat
#4 (10:24~10:42)
Paper ID: 242
Title: Signature Graphs for Effective Localization
Authors: Sven Ronnback, Tomas Berglund, Hakan Fredriksson, Kalevi Hyyppa
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WA1-13: Micro Manipulation and Assembly I
Room: Convention Hall No. 11, Level 3 < map >
Time: 9:30-10:45
Wednesday October 11, 2006
Chairs: Metin Sitti, Sergej Fatikow
#1 (9:30~9:48)
Paper ID: 488
Title: Assembly inside a Scanning Electron Microscope Using Electron Beam induced Deposition
Authors: T. Wich, T. Sievers, S. Fatikow
#2 (9:48~10:06)
Paper ID: 125
Title: Stiffness Modeling of a Spatial 3-DOF Compliant Parallel Micromanipulator
Authors: Qingsong Xu, Yangmin Li
#3 (10:06~10:24)
Paper ID: 31
Title: Voxel-based Modeling and Rendering for Virtual MEMS Fabrication Proces
Authors: Guangyi Sun, Xin Zhao, Guizhang Lu
#4 (10:24~10:42)
Paper ID: 658
Title: A Layered Control Architecture for Autonomous Robotic Fish
Authors: Jindong Liu, Huosheng Hu, Dongbing Gu
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WA1-14: Mobile Sensing
Room: Convention Hall No. 3030, Level 3 < map >
Time: 9:30-10:45
Wednesday October 11, 2006
Chairs: Ehud Rivlin, Michael Pardowitz
#1 (9:30~9:48)
Paper ID: 1334
Title: Concurrent Path and Sensor Planning for a UAV - Towards an Information Based Approach Incorporating Models of Environment and Sensor
Authors: Per Skoglar, Jonas Nygards, Morgan Ulvklo
#2 (9:48~10:06)
Paper ID: 679
Title: Experimental Analysis of Overhead Data Processing to Support Long Range Navigation
Authors: David Silver, Boris Sofman, Nicolas Vandapel, J. Andrew Bagnell, Anthony Stentz
#3 (10:06~10:24)
Paper ID: 843
Title: EKF-based Adaptive Sampling with Mobile Robotic Sensor Nodes
Authors: D. O. Popa, M. F. Mysorewala, F. L. Lewis
#4 (10:24~10:42)
Paper ID: 1333
Title: A Randomized Method for Integrated Exploration
Authors: Luigi Freda, Francesco Loiudice, Giuseppe Oriolo
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WA1-15: Humanoid Robots I: Walking Algorithms
Room: Convention Hall No. 7, Level 2 < map >
Time: 9:30-10:45
Wednesday October 11, 2006
Chairs: Changjiu Zhou, Jindong Tan
#1 (9:30~9:48)
Paper ID: 85
Title: Parametric Walking Patterns and Optimum Atlases for Underactuated Biped Robots
Authors: Chenglong Fu, Mei Shuai, Yuanlin Huang, Jianmei Wang, Ken Chen
#2 (9:48~10:06)
Paper ID: 814
Title: Real-time 3D SLAM for Humanoid Robot Considering Pattern Generator Information
Authors: Olivier Stasse, Andrew J. Davison, Ramzi Sellaouti, Kazuhito Yokoi
#3 (10:06~10:24)
Paper ID: 567
Title: Gait Perception and Coordinated Control of a Novel Biped Robot with Heterogeneous Legs
Authors: Xinhe Xu, Hualong Xie, Binrui Wang, Jindong Tan
#4 (10:24~10:42)
Paper ID: 517
Title: Estimating Probability Distribution with Q-learning for Biped Gait Generation and Optimization
Authors: Lingyun Hu, Changjiu Zhou, Zengqi Sun
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WA1-16: Robot Audition I
Room: Convention Hall No. 16C, Level 3 < map >
Time: 9:30-10:45
Wednesday October 11, 2006
Chairs: Hiroshi G. Okuno, Tobias Rodemann
#1 (9:30~9:48)
Paper ID: 312
Title: Auditory Inspired Binaural Robust Sound Source Localization in Echoic and Noisy Environments
Authors: Martin Heckmann, Tobias Rodemann, Frank Joublin, Christian Goerick, Bjoern Schoelling
#2 (9:48~10:06)
Paper ID: 519
Title: Evaluation of Prosodic and Voice Quality Features on Automatic Extraction of Paralinguistic Information
Authors: Carlos Toshinori Ishi, Hiroshi Ishiguro, Norihiro Hagita
#3 (10:06~10:24)
Paper ID: 866
Title: Multiple Sound Source Mapping for a Mobile Robot by Self-motion Triangulation
Authors: Yoko Sasaki, Satoshi Kagami, Hiroshi Mizoguchi
#4 (10:24~10:42)
Paper ID: 996
Title: Spectral Cues for Robust Sound Localization with Pinnae
Authors: Tomoko Shimoda, Toru Nakashima, Makoto Kumon, Ryuichi Kohzawa, Ikuro Mizumoto, Zenta Iwai
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WA2-1: Distributed Robot Control
Room: Convention Hall No. 3, Level 3 < map >
Time: 11:00-12:30
Wednesday October 11, 2006
Chairs: Majid Nil Ahmadabad, Vicente Parra-Vega
#1 (11:00~11:18)
Paper ID: 528
Title: Decentralized Kinematic Motion Control for Multiple Axle Compliant Framed Modular Wheeled Mobile Robots
Authors: Youngshik Kim, Mark A. Minor
#2 (11:18~11:36)
Paper ID: 938
Title: An Analysis of Random Peer-to-Peer Communication for System-Level Coordination in Decentralized Multiple-Robot Systems
Authors: Chris A. C. Parker, Hong Zhang
#3 (11:36~11:54)
Paper ID: 1529
Title: A Decentralized Algorithm to Adaptive Trajectory Planning for a Group of Nonholonomic Mobile Robots
Authors: A. Gil-Pinto, P. Fraisse, R. Zapata
#4 (11:54~12:12)
Paper ID: 1998
Title: Superposition of Quadratic Potential Force Fields for Distributed Manipulation
Authors: Konstantinos Varsos, Jonathan Luntz
#5 (12:12~12:30)
Paper ID: 2121
Title: Learning Distributed Object Pushing: Individual Learning and Distributed Cooperation Protocol
Authors: Hossein Aminaiee, Majid Nili Ahmadabadi
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WA2-2: Localization II
Room: Convention Hall No. 4, Level 3 < map >
Time: 11:00-12:30
Wednesday October 11, 2006
Chairs: Hyun Myung, Philippe Poignet
#1 (11:00~11:18)
Paper ID: 617
Title: Efficiency Improvement in Monte Carlo Localization through Topological Information
Authors: Tae-Bum Kwon, Ju-Ho Yang, Jae-Bok Song, Woojin Chung
#2 (11:18~11:36)
Paper ID: 388
Title: Bug-based T2: A New Globally Convergent Potential Field Approach to Obstacle Avoidance
Authors: Javier Antich, Alberto Ortiz
#3 (11:36~11:54)
Paper ID: 738
Title: Relative-Absolute Map Filter for Simultaneous Localization and Mapping
Authors: Shu Yun Chung, Han Pang Huang
#4 (11:54~12:12)
Paper ID: 433
Title: Constrained Kalman Filter for Mobile Robot Localization with Gyroscope
Authors: Hyun Myung, Hyoung-Ki Lee, Kiwan Choi, Seok-Won Bang, Yong-Beom Lee, Sang-Ryoung Kim
#5 (12:12~12:30)
Paper ID: 273
Title: Localization of Autonomous Robotic Vehicles Using A Neural-Network Approach
Authors: Joseph Wong, Goldie Nejat, Robert G. Fenton, Beno Benhabib
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WA2-3: Haptics and Haptic Devices I
Room: Convention Hall No. 6, Level 2 < map >
Time: 11:00-12:30
Wednesday October 11, 2006
Chairs: Seungmoon Choi, Sung-Uk Lee
#1 (11:00~11:18)
Paper ID: 265
Title: Haptic Control Design for Robotic-Assisted Minimally Invasive Surgery
Authors: Rui Cortesao, Walid Zarrad, Philippe Poignet, Olivier Company, Etienne Dombre
#2 (11:18~11:36)
Paper ID: 1002
Title: Analysis and Optimal Design of a New 6 DOF Parallel Type Haptic Device
Authors: Sung-Uk Lee, Seungho Kim
#3 (11:36~11:54)
Paper ID: 1023
Title: Development of Wearable Haptic System for Tangible Studio to Experience a Virtual Heritage Alive
Authors: Dongseok Ryu, Kyoungwon Moon, Sungchul Kang, Munsang Kim, Jae-Bok Song
#4 (11:54~12:12)
Paper ID: 1455
Title: Detection Threshold and Mechanical Impedance of the Hand in a Pen-Hold Posture
Authors: Ali Israr, Seungmoon Choi, Hong Z. Tan
#5 (12:12~12:30)
Paper ID: 1239
Title: Texture Display Mouse KAT: Vibrotactile Pattern and Roughness Display
Authors: Ki-Uk Kyung, Seung-Chan Kim, Dong-Soo Kwon, Mandayam A. Srinivasan
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WA2-4: Parallel Manipulators I
Room: Convention Hall No. 5, Level 2 < map >
Time: 11:00-12:30
Wednesday October 11, 2006
Chairs: Chunping Sui, Wang Hongguang
#1 (11:00~11:18)
Paper ID: 83
Title: Static Measuring Model and Deadweight Compensation of a Stewart Platform Based Force/Torque Sensor
Authors: Chunping Sui, Hongguang Wang, Lijin Fang, Mingyang Zhao
#2 (11:18~11:36)
Paper ID: 216
Title: Finite Element Analysis and Comparison of Two Hybrid Robots-the Tricept and the TriVariant
Authors: Y. Y. Wang, T. Huang, X. M. Zhao, J. P. Mei, D. G. Chetwynd, S. J. Hu
#3 (11:36~11:54)
Paper ID: 748
Title: Dynamic Modeling and Identification of Par4, A Very High Speed Parallel Manipulator
Authors: Vincent Nabat, Olivier Company, Francois Pierrot, Philippe Poigent
#4 (11:54~12:12)
Paper ID: 1078
Title: Finite Motion Validation for Parallel Manipulators: A Differential Geometry Approach
Authors: Yuanqing Wu, Han Ding, Jian Meng, Zexiang Li
#5 (12:12~12:30)
Paper ID: 1332
Title: Kinematic Calibration of the 3-DOF Module of a 5-DOF Reconfigurable Hybrid Robot using a Double-Ball-Bar System
Authors: T. Huang, Z.Y. Hong, J. P. Mei, D. G. Chetwynd
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WA2-5: Perception and Navigation for Automated Vehicles II
Room: Convention Hall No. 14, Level 3 < map >
Time: 11:00-12:30
Wednesday October 11, 2006
Chairs: Anne Spalanzai, Urbano Nunes
#1 (11:00~11:18)
Paper ID: 1161
Title: Pedestrians Tracking Using Offboard Cameras
Authors: Olivier Aycard, Anne Spalanzani, Julien Burlet, Chiara Fulgenzi, Trung Dung Vu, David Raulo, Manuel Yguel
#2 (11:18~11:36)
Paper ID: 1254
Title: Localization of a Group of Communicating Vehicles by State Exchange
Authors: Nadir Karam, Frederic Chausse, Romuald Aufrere, Roland Chapuis
#3 (11:36~11:54)
Paper ID: 1348
Title: Adaptive Interacting Multiple Models Applied on Pedestrian Tracking in Car Parks
Authors: Julien Burlet, Olivier Aycard, Anne Spalanzani, Christian Laugier
#4 (11:54~12:12)
Paper ID: 1100
Title: Real-time Stereo and Optical Flow Data Fusion
Authors: Christophe Braillon, Kane Usher, Cedric Pradalier, James L. Crowley, Christian Laugier
#5 (12:12~12:30)
Paper ID: 1458
Title: A Complete System for High-Speed Navigation of Prescribed Routes
Authors: Chris Urmson, Alexander Gutierrez, Nick Miller, Kevin Peterson, Spencer Spiker, Josh Struble, William Whittaker
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WA2-6: Object Manipulation
Room: Convention Hall No. 12, Level 3 < map >
Time: 11:00-12:30
Wednesday October 11, 2006
Chairs: Jing Xiao, Mikhail Svinin
#1 (11:00~11:18)
Paper ID: 1456
Title: A System for Robotic Heart Surgery that Learns to Tie Knots Using Recurrent Neural Networks
Authors: Hermann Mayer, Faustino Gomez, Daan Wierstra, Istvan Nagy, Alois Knoll, Jurgen Schmidhuber
#2 (11:18~11:36)
Paper ID: 940
Title: Modeling of Human-Like Reaching Movements in the Manipulation of Flexible Objects
Authors: M. Svinin, I. Goncharenko, Z.W Luo, S. Hosoe
#3 (11:36~11:54)
Paper ID: 458
Title: Real-time and Accurate Multiple Contact Detection between General Curved Objects
Authors: Wusheng Chou, Jing Xiao
#4 (11:54~12:12)
Paper ID: 675
Title: Experimental Study on Reaching Movements of Robot Arms with Redundant DOFs Based upon Virtual Spring-Damper Hypothesis
Authors: Masahiro Sekimoto, Suguru Arimoto
#5 (12:12~12:30)
Paper ID: 1452
Title: Characterization of Living Drosophila Embryos Using Micro Robotic Manipulation System
Authors: Yantao Shen, U. C. Wejinya, Ning Xi, Craig A. Pomeroy, Yonghui Xue, Zhun Fan
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WA2-7: Redundant and Underactuated Robots
Room: Convention Hall No. 13, Level 3 < map >
Time: 11:00-12:30
Wednesday October 11, 2006
Chairs: Ioannis Iossifidis, Xuzhi Lai
#1 (11:00~11:18)
Paper ID: 272
Title: Unified Treatment of Motion Control of Underacutuated Two-link Manipulators
Authors: Xu-Zhi Lai, Jin-Hua She, Simon X. Yang, Min Wu
#2 (11:18~11:36)
Paper ID: 782
Title: Dynamical Systems Approach for the Autonomous Avoidance of Obstacles and Joint-limits for an Redundant Robot Arm
Authors: Ioannis Iossifidis, Gregor Schoner
#3 (11:36~11:54)
Paper ID: 1135
Title: Fuzzy Switching Control of Underactuated Manipulators with Approximated Switching Regions
Authors: Keisuke Ichida, Keigo Watanabe, Kiyotaka Izumi, Nobuhiro Uchida
#4 (11:54~12:12)
Paper ID: 1249
Title: On-line Optimization of Avoidance Ability for Redundant Manipulator
Authors: Keiji Ikeda, Hiroshi Tanaka, Tong-xiao Zhang, Mamoru Minami, Yasushi Mae
#5 (12:12~12:30)
Paper ID: 1316
Title: Redundancy Resolution With Multiple Criteria
Authors: Kwang-Kyu Lee, Martin Buss
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WA2-8: Modular and Reconfigurable Robots
Room: Convention Hall No. 15, Level 3 < map >
Time: 11:00-12:30
Wednesday October 11, 2006
Chairs: Katsuyuki Ukegawa, Wei-Min Shen
#1 (11:00~11:18)
Paper ID: 1111
Title: Modular Structure Assembly Using Gradient Field
Authors: Yuzuru Terada, Satoshi Murata
#2 (11:18~11:36)
Paper ID: 355
Title: Transformation of Control in Congruent Self-Reconfigurable Robot Topologies
Authors: Jacob Everist, Feili Hou, Wei-Min Shen
#3 (11:36~11:54)
Paper ID: 237
Title: Deadlock Resolution in Self-Assembly of Modular Structure Systems
Authors: Katsuyuki Ukegawa, M.C. Natori
#4 (11:54~12:12)
Paper ID: 1124
Title: Docking Experiments of a Modular Robot by Visual Feedback
Authors: Satoshi Murata, Kiyoharu Kakomura, Haruhisa Kurokawa
#5 (12:12~12:30)
Paper ID: 119
Title: Self-Assembly Through the Interplay between Control and Mechanical Systems
Authors: Akio Ishiguro, Tomoki Maegawa
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WA2-9: Navigation I
Room: Convention Hall No. 8, Level 2 < map >
Time: 11:00-12:30
Wednesday October 11, 2006
Chairs: Raja Chatila, Takashi Kubota
#1 (11:00~11:18)
Paper ID: 175
Title: Avoiding Static and Dynamic Objects in Navigation
Authors: Han Li, Yili Fu, He Xu, Yulin Ma
#2 (11:18~11:36)
Paper ID: 243
Title: A Fast Memory-Efficient Incremental Decision Tree Algorithm in its Application to Mobile Robot Navigation
Authors: Erick Swere, David Mulvaney, Ian Sillitoe
#3 (11:36~11:54)
Paper ID: 882
Title: Linking Mobile Robot Performances with the Environment Using System Maps
Authors: Jason Held, Alexandre Lampe, Raja Chatila
#4 (11:54~12:12)
Paper ID: 1245
Title: Collision Dynamics of Target Maker for Visual Navigation in Small Body Exploration
Authors: Takashi Kubota, Shujiro Sawai, Tatsuaki Hashimoto, Junichiro Kawaguchi
#5 (12:12~12:30)
Paper ID: 1405
Title: Pair-wise Registration of 3D/Color Data Sets with ICP
Authors: Lounis Douadi, Marie-Jose Aldon, Andre Crosnier
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WA2-10: Visual Tracking
Room: Convention Hall No. 16A, Level 3 < map >
Time: 11:00-12:30
Wednesday October 11, 2006
Chairs: Li-Chen Fu, Wolfram Burgard
#1 (11:00~11:18)
Paper ID: 67
Title: Homography-based Tracking for Central Catadioptric Cameras
Authors: Christopher Mei, Selim Benhimane, Ezio Malis, Patrick Rives
#2 (11:18~11:36)
Paper ID: 239
Title: Multiple People Visual Tracking in a Multi-Camera System for Cluttered Environments
Authors: Yu-Shan Cheng, Cheng-Ming Huang, Li-Chen Fu
#3 (11:36~11:54)
Paper ID: 353
Title: Real-time Vision-based Object Tracking from a Moving Platform in the Air
Authors: Wei Ding, Zhenbang Gong, Shaorong Xie, Hairong Zou
#4 (11:54~12:12)
Paper ID: 1004
Title: Real-time Object Tracking of a Robot Head Based on Multiple Visual Cues Integration
Authors: Yunting Pang, Qiang Huang, Weimin Zhang, Zhangfeng Hu, Altaf Hussain Rajpar, Kejie Li
#5 (12:12~12:30)
Paper ID: 1442
Title: Multiple Hypothesis Tracking of Clusters of People
Authors: Manuel Mucientes, Wolfram Burgard
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WA2-11: Assistive Devices I
Room: Convention Hall No. 10, Level 3 < map >
Time: 11:00-12:30
Wednesday October 11, 2006
Chairs: Hiroshi Kobayashi, Lee Middleton
#1 (11:00~11:18)
Paper ID: 218
Title: A Virtual Nursing Simulator with Haptic Feedback for Nasotracheal Suctioning
Authors: Lidia Mudura, Matthew Bruer, Imad H. Elhajj
#2 (11:18~11:36)
Paper ID: 730
Title: Experimentations with Handicapped Users on the Adaptation of the Wheelchair Control
Authors: Thieffry Roland, Monacelli Eric, Delaplace Stephane
#3 (11:36~11:54)
Paper ID: 1105
Title: Towards the Adaptation of a Robotic Wheelchair for Cognitive Disabled Children
Authors: L. Montesano, J. Minguez, J.M. Alcubierre, Luis Montano
#4 (11:54~12:12)
Paper ID: 956
Title: Development of Feeding Support System and Its Quantitative Estimation
Authors: Hiroshi Kobayashi, Kentaro Konishi
#5 (12:12~12:30)
Paper ID: 1166
Title: Developing a Non-intrusive Biometric Environment
Authors: Lee Middleton, David K. Wagg, Alex I. Bazin, John N. Carter, Mark S. Nixon
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WA2-12: Trajectory Planning
Room: Convention Hall No. 16B, Level 3 < map >
Time: 11:00-12:30
Wednesday October 11, 2006
Chairs: Chien Chern Cheah, Kroeger Torsten
#1 (11:00~11:18)
Paper ID: 90
Title: Suboptimal Trajectory Generation for Industrial Robots Using Trapezoidal Velocity Profiles
Authors: T. Chettibi, M. Haddad, H. E. Lehtihet, W. Khalil
#2 (11:18~11:36)
Paper ID: 264
Title: Towards On-Line Trajectory Computation
Authors: Torsten Kroeger, Adam Tomiczek, Friedrich M. Wahl
#3 (11:36~11:54)
Paper ID: 1096
Title: Optimal Trajectory Generation for Manipulator Robots under Thermal Constraints
Authors: Matthieu Guilbert, Pierre-Brice Wieber, Luc Joly
#4 (11:54~12:12)
Paper ID: 440
Title: Study on Kinematics Decoupling for Parallel Manipulator with Perpendicular Structures
Authors: Jianjun Zhang, Weimin Li, Xiaohui Wang, Feng Gao
#5 (12:12~12:30)
Paper ID: 1204
Title: Time-Optimal Trajectory Generation of a Fast-Motion Planar Parallel Manipulator
Authors: Yanjie Liu, Chenqi Wang, Juan Li, Lining Sun
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WA2-13: Micro Manipulation and Assembly II
Room: Convention Hall No. 11, Level 3 < map >
Time: 11:00-12:30
Wednesday October 11, 2006
Chairs: Kenji Inoue, Yu Sun
#1 (11:00~11:18)
Paper ID: 989
Title: Design of Compliant MEMS Grippers for Micro-Assembly Tasks
Authors: Byoung Hun Kang, John T. Wen
#2 (11:18~11:36)
Paper ID: 1018
Title: Effect of the Capillary Force on Force Measurements in Submerged Micromanipulations
Authors: Mourad Nourine, Michael Gauthier
#3 (11:36~11:54)
Paper ID: 459
Title: Design of a Micro-Gripper and an Ultrasonic Manipulator for Handling Micron Sized Objects
Authors: F. Beyeler, D.J. Bell, B.J. Nelson, Y. Sun, A. Neild, S. Oberti, J. Dual
#4 (11:54~12:12)
Paper ID: 973
Title: Design Optimization of a Compact 3-DOF Parallel Micro/Nano Finger Manipulator
Authors: Ahmed A. Ramadan, Kenji Inoue, Tatsuo Arai, Tomohito Takubo
#5 (12:12~12:30)
Paper ID: 1389
Title: Submerged Freeze Gripper to Manipulate Micro-objects
Authors: Beatriz Lopez Walle, Michael Gauthier, Nicolas Chaillet
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WA2-14: Range Sensors and Applications
Room: Convention Hall No. 3030, Level 3 < map >
Time: 11:00-12:30
Wednesday October 11, 2006
Chairs: George Mann, Jose A. Castellanos
#1 (11:00~11:18)
Paper ID: 1393
Title: 3D Time-of-flight Cameras for Mobile Robotics
Authors: Stefan May, Bjorn Werner, Hartmut Surmann, Kai Pervolz
Related Video: 025(Video Session 2)
#2 (11:18~11:36)
Paper ID: 880
Title: Adaptive Scale Robust Segmentation for 2D Laser Scanner
Authors: Ruben Martinez-Cantin, Jose A. Castellanos, Juan D. Tardos, J. M. M. Montiel
#3 (11:36~11:54)
Paper ID: 1244
Title: Moving Object Detection in Indoor Environments Using Laser Range Data
Authors: Dilan Amarasinghe, George K. I. Mann, Raymond G. Gosine
#4 (11:54~12:12)
Paper ID: 883
Title: Motion Estimation from Map Quality with Millimeter Wave Radar
Authors: Manjari Chandran, Paul Newman
#5 (12:12~12:30)
Paper ID: 1247
Title: Rotating IR Sensor System for 2.5D Sensing
Authors: Sooyong Lee, Wan-Kyun Chung
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WA2-15: Humanoid Robots II: Motion Planning
Room: Convention Hall No. 7, Level 2 < map >
Time: 11:00-12:30
Wednesday October 11, 2006
Chairs: Eiichi Yoshida, Kazuhito Yokoi
#1 (11:00~11:18)
Paper ID: 786
Title: Planning and Executing Navigation Among Movable Obstacles
Authors: Mike Stilman, Koichi Nishiwaki, Satoshi Kagami, James J. Kuffner
#2 (11:18~11:36)
Paper ID: 770
Title: Smooth Collision Avoidance: Practical Issues in Dynamic Humanoid Motion
Authors: Eiichi Yoshida, Claudia Esteves, Takeshi Sakaguchi, Jean-Paul Laumond, Kazuhito Yokoi
#3 (11:36~11:54)
Paper ID: 771
Title: Natural Motion Generation for Humanoid Robots
Authors: Kensuke Harada, Kris Hauser, Tim Bretl, Jean-Claude Latombe
#4 (11:54~12:12)
Paper ID: 684
Title: Motion Pattern Generator and Reflex System for Humanoid Robots
Authors: Riadh Zaier, Fumio Nagashima
#5 (12:12~12:30)
Paper ID: 1485
Title: Toward Interactive Reaching in Static Environments for Humanoid Robots
Authors: Evan Drumwright, Victor Ng-Thow-Hing
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WA2-16: Robot Audition II
Room: Convention Hall No. 16C, Level 3 < map >
Time: 11:00-12:30
Wednesday October 11, 2006
Chairs: Kazhihiro Nakadai, Philippe Sou??????res
#1 (11:00~11:18)
Paper ID: 291
Title: Real-Time Tracking of Multiple Sound Sources by Integration of In-Room and Robot-Embedded Microphone Arrays
Authors: Kazuhiro Nakadai, Hirofumi Nakajima, Masamitsu Murase, Hiroshi G. Okuno, Yuji Hasegawa, Hiroshi Tsujino
#2 (11:18~11:36)
Paper ID: 467
Title: Real-time Sound Localization with a Binaural Head-system Using a Biologically-inspired Cue-triple Mapping
Authors: Tobias Rodemann, Martin Heckmann, Frank Joublin, Christian Goerick, Bjorn Scholling
#3 (11:36~11:54)
Paper ID: 703
Title: Modal Analysis Based Beamforming for Nearfield or Farfield Speaker Localization in Robotics
Authors: Sylvain Argentieri, Patrick Danes, Philippe Soueres
#4 (11:54~12:12)
Paper ID: 965
Title: The Effect of Head Movement on Sound Localization in an Acoustical Telepresence Robot: TeleHead
Authors: Iwaki Toshima, Shigeaki Aoki
#5 (12:12~12:30)
Paper ID: 1288
Title: Missing-Feature based Speech Recognition for Two Simultaneous Speech Signals Separated by ICA with a Pair of Humanoid Ears
Authors: Ryu Takeda, Shun'ichi Yamamoto, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
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WP1-1: Motion Planning and Control
Room: Convention Hall No. 3, Level 3 < map >
Time: 14:00-15:50
Wednesday October 11, 2006
Chairs: David Brandt, Hiroe Hashiguchi
#1 (14:00~14:18)
Paper ID: 841
Title: Hierarchical Motion Planning for Self-reconfigurable Modular Robots
Authors: Preethi Bhat, James Kuffner, Seth Goldstein, Siddhartha Srinivasa
#2 (14:18~14:36)
Paper ID: 1532
Title: Comparison of A* and RRT-Conect Motion Planning Techniques for Self-Reconfiguration Planning
Authors: David Brandt
#3 (14:36~14:54)
Paper ID: 2038
Title: Dynamic Stabilization of an Under-Actuated Robot Using Dynamic Effects of the Legs and the Trunk
Authors: Anthony David, Olivier Bruneau
#4 (14:54~15:12)
Paper ID: 1006
Title: Generation of Large Gymnastic Motions for a Family of Under-Actuated Robots by Zero-Moment-Manifold Control
Authors: Hiroe Hashiguchi, Suguru Arimoto, Toyohide Sakamoto, Shoji Namikawa
#5 (15:12~15:30)
Paper ID: 1285
Title: Vision-based Control of Multi-fingered Robot Hands Using Neural Networks
Authors: Y. Zhao, C. C. Cheah
#6 (15:30~15:48)
Paper ID: 165
Title: Ball Catching by a Puma Arm: a Nonlinear Dynamical Systems Approach
Authors: Cristina Santos, Manuel Ferreira
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WP1-2: Vision Based Localization
Room: Convention Hall No. 4, Level 3 < map >
Time: 14:00-15:50
Wednesday October 11, 2006
Chairs: Darius Burschka, Gamini Dissanayake
#1 (14:00~14:18)
Paper ID: 14
Title: Simultaneous Localization and Mapping: A Stereo Vision Based Approach
Authors: D. C. Herath, Sarath Kodagoda, Gamini Dissanayake
#2 (14:18~14:36)
Paper ID: 74
Title: A Visual Based Extended Monte Carlo Localization for Autonomous Mobile Robots
Authors: Wen Shang, Dong Sun, Xudong Ma, Xianzhong Dai
#3 (14:36~14:54)
Paper ID: 1381
Title: BIRON, Where Are You? Enabling a Robot to Learn New Places in a Real Home Environment by Integrating Spoken Dialog and Visual Localization
Authors: Thorsten Spexard, Shuyin Li, Britta Wrede, Jannik Fritsch, Gerhard Sagerer, Olaf Booij, Zoran Zivkovic, Bas Terwijn, Ben Krose
#4 (14:54~15:12)
Paper ID: 1336
Title: Fault-Tolerant 3D Localization for Outdoor Vehicles
Authors: Norbert Schmitz, Jan Koch, Martin Proetzsch, Karsten Berns
#5 (15:12~15:30)
Paper ID: 997
Title: Robust Feature Correspondences for Vision-based Navigation with Slow Frame-Rate Cameras
Authors: Darius Burschka
#6 (15:30~15:48)
Paper ID: 141
Title: A Framework for Automatic Deployment of Robots in 2D and 3D Environments
Authors: Marius Kloetzer, Calin Belta
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WP1-3: Haptics and Haptic Devices II
Room: Convention Hall No. 6, Level 2 < map >
Time: 14:00-15:50
Wednesday October 11, 2006
Chairs: Mehdi Boukallel, Ryuta Ozawa
#1 (14:00~14:18)
Paper ID: 1446
Title: Haptic Rendering of Biological Elastic Properties based on Biomechanical Characterization
Authors: Mehdi Boukallel, Maxime Girot, Stephane Regnier
#2 (14:18~14:36)
Paper ID: 888
Title: Supervisory Control Strategies in a Multi-Fingered Robotic Hand System
Authors: R. Ozawa, T. Yoshinari, H. Hashiguchi, S. Arimoto
#3 (14:36~14:54)
Paper ID: 697
Title: FPGA-based Controller for Haptic Devices
Authors: Stefano Galvan, Debora Botturi, Paolo Fiorini
#4 (14:54~15:12)
Paper ID: 150
Title: A Haptic Knob for Rehabilitation of Stroke Patients
Authors: L Dovat, O Lambercy, Y Ruffieux, D Chapuis, R Gassert, H Bleuler, CL Teo, E Burdet
#5 (15:12~15:30)
Paper ID: 1412
Title: Preliminary Evaluation of a Force-Sensing Human-Machine Interface for an Interactive Robotic System
Authors: Andreas Hein, Carsten Lenze, Melina Brell
#6 (15:30~15:48)
Paper ID: 915
Title: Human Perception of Haptic Force Direction
Authors: Imad Elhajj, Hesiri Weerasinghe, Ali Dika, Ranald Hansen
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WP1-4: Space Robotics I
Room: Convention Hall No. 5, Level 2 < map >
Time: 14:00-15:50
Wednesday October 11, 2006
Chairs: Bin Liang, Ou Ma
#1 (14:00~14:18)
Paper ID: 602
Title: Development of the Chinese Intelligent Space Robotic System
Authors: X.H. Gao, M.H. Jin, Z.W. Xie, L. Jiang, F.L. Ni, Sh.C. Shi, R. Wei, Y.Y. Zhu, H.G. Cai, H. Liu, A. Beyer, E. Kraemer, K. Landzettel, J. Schott, G. Hirzinger
#2 (14:18~14:36)
Paper ID: 898
Title: Development of a General 2-DOF Space Module
Authors: Zhiyu Shao, Hanxu Sun, Qingxuan Jia, Ping Ye, Yuesheng Tan
#3 (14:36~14:54)
Paper ID: 919
Title: Autonomous Trajectory Planning of Free-floating Robot for Capturing Space Target
Authors: Cheng Li, Bin Liang, Wenfu Xu
#4 (14:54~15:12)
Paper ID: 1054
Title: Autonomous Grasping of a Space Robot Multisensory Gripper
Authors: Minzhou Luo, Wei Lu, Bingyu Sun, Tao Mei
#5 (15:12~15:30)
Paper ID: 1092
Title: Impedance Control for a Free-Floating Robot in the Grasping of a Tumbling Target with Parameter Uncertainty
Authors: Satoko Abiko, Roberto Lampariello, Gerd Hirzinger
#6 (15:30~15:48)
Paper ID: 1513
Title: Modeling and Simulation of Robotic System for Servicing Hubble Space Telescope
Authors: Jiegao Wang, Raja Mukherji, Mariano Ficocelli, Andrew Ogilvie, Michael Liu, Craig Rice
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WP1-5: Interaction and Intelligence
Room: Convention Hall No. 14, Level 3 < map >
Time: 14:00-15:50
Wednesday October 11, 2006
Chairs: Hideki Hashimoto, Masaya Takasaki
#1 (14:00~14:18)
Paper ID: 978
Title: Proposal of Tele-touch Using Active Type SAW Tactile Display
Authors: Masaya Takasaki, Yousuke Fujii, Hiroyuki Kotani, Takeshi Mizuno, Takaaki Nara
#2 (14:18~14:36)
Paper ID: 1326
Title: Perceptual System of A Partner Robot for Natural Communication Restricted by Environments
Authors: Naoyuki Kubota, Kenichiro Nishida, Hiroyuki Kojima
#3 (14:36~14:54)
Paper ID: 1169
Title: Human Observation Based Mobile Robot Navigation in Intelligent Space
Authors: Takeshi Sasaki, Hideki Hashimoto
#4 (14:54~15:12)
Paper ID: 1201
Title: Motion Control of Intelligent Walker based on Renew of Estimation Parameters for User State
Authors: Yasuhisa Hirata, Asami Muraki, Kazuhiro Kosuge
#5 (15:12~15:30)
Paper ID: 961
Title: Development of a Muscle Suit for the Upper Limb - Proposal of Posture Control Methods -
Authors: Hiroshi Kobayashi, Masaya Iba, Hidetoshi Suzuki
#6 (15:30~15:48)
Paper ID: 1551
Title: Collective Motion and Formation of Simple Interacting Robots
Authors: Ken Sugawara, Hiroumi Tanigawa, Kazuhiro Kosuge, Yoshinori Hayakawa, Tsuyoshi Mizuguchi, Masaki Sano
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WP1-6: Robot Kinematics and Dynamics I
Room: Convention Hall No. 12, Level 3 < map >
Time: 14:00-15:50
Wednesday October 11, 2006
Chairs: Alessio Turetta, Jon Selig
#1 (14:00~14:18)
Paper ID: 498
Title: On the Importance of Asymmetries in Grasp Quality Metrics for Tendon Driven Hands
Authors: Jiaxin L. Fu, Nancy S. Pollard
#2 (14:18~14:36)
Paper ID: 289
Title: Mobility Characteristics of a Flexure-based Compliant Manipulator with Three Legs
Authors: Jingjun Yu, Shusheng Bi, Guanghua Zong, Jian S. Dai, Xin-Jun Liu
#3 (14:36~14:54)
Paper ID: 906
Title: Reconfiguration Research on Modular Mobile Robot
Authors: Dan Zou, Tianmiao Wang, Jianhong Liang
#4 (14:54~15:12)
Paper ID: 76
Title: Interpolated Rigid-Body Motions and Robotics
Authors: J.M. Selig, Yuanqing Wu
#5 (15:12~15:30)
Paper ID: 1076
Title: Dynamic Programming based Computationally Distributed Kynematic Inversion Technique
Authors: G. Casalino, A. Turetta, A. Sorbara
#6 (15:30~15:48)
Paper ID: 1440
Title: Robot Task Space Analyzer System Calibration
Authors: Andrzej Nycz, William R. Hamel
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WP1-7: Bilateral Teleoperation I
Room: Convention Hall No. 13, Level 3 < map >
Time: 14:00-15:50
Wednesday October 11, 2006
Chairs: Martin Buss, Peter Berkelman
#1 (14:00~14:18)
Paper ID: 252
Title: A New Indicator for Gain-Switching Control of Position Error-based Teleoperation System
Authors: Kamran Razi, Reza Monfaredi, Saeed Shiri Ghydari, S. M. Rezaei
#2 (14:18~14:36)
Paper ID: 1013
Title: A Visual Tele-operation System for the Humanoid Robot BHR-02
Authors: Lei Zhang, Qiang Huang, Yuepin Lu, Tao Xiao, Jiapeng Yang, Muhammadusman Keerio
#3 (14:36~14:54)
Paper ID: 512
Title: Effects of Friction Parameters on Completion Times for Sustained Planar Positioning Tasks with a Haptic Interface
Authors: Peter Berkelman, Ji Ma
#4 (14:54~15:12)
Paper ID: 187
Title: A Delay-tolerant, Potential field-based, Network Implementation of an Integrated Navigation System
Authors: Rachana Ashok Gupta, Ahmad A Masoud, Mo-Yuen Chow
#5 (15:12~15:30)
Paper ID: 762
Title: Experimental Bilateral Control by State Convergence
Authors: Jordi Barrio, Jose Maria Azorin, Rafael Aracil, Manuel Ferre, Jose M. Sabater, Nicolas M. Garcia
#6 (15:30~15:48)
Paper ID: 595
Title: Image Sequence Prediction for Remote Robot Control
Authors: Masafumi Tominaga, Hirotaka Ohta, Shuji Hashimoto
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WP1-8: Sound Localization and Intelligence
Room: Convention Hall No. 15, Level 3 < map >
Time: 14:00-15:50
Wednesday October 11, 2006
Chairs: Hiroshi G. Okuno, Hong Zhang
#1 (14:00~14:18)
Paper ID: 181
Title: Auditory Evidence Grids
Authors: Eric Martinson, Alan Schultz
#2 (14:18~14:36)
Paper ID: 946
Title: Multiple Acoustical Holography Method for Localization of Objects in Broad Range Using Audible Sound
Authors: Haruhiko Niwa, Tetsuya Ogata, Kazunori Komatani, Hiroshi G. Okuno
#3 (14:36~14:54)
Paper ID: 1179
Title: Location and Orientation Detection of Mobile Robots Using Sound Field Features under Complex Environments
Authors: Jwu-Sheng Hu, Wei-Han Liu, Chieh-Cheng Cheng, Chia-Hsing Yang
#4 (14:54~15:12)
Paper ID: 1447
Title: Rapid Environment Identification for Intelligent Mobile Robot
Authors: Ren C. Luo, Chun C. Lai, Chung T. Liao
#5 (15:12~15:30)
Paper ID: 1195
Title: Review of Crosstalk Elimination Methods for Ultrasonic Range Systems in Mobile Robots
Authors: Qinghao Meng, Fengjuan Yao, Yuehua Wu
#6 (15:30~15:48)
Paper ID: 1356
Title: Sound Localization for Humanoid Robots - Building Audio-Motor Maps based on the HRTF
Authors: Jonas Hornstein, Manuel Lopes, Jose Santos-Victor, Francisco Lacerda
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WP1-9: Navigation II
Room: Convention Hall No. 8, Level 2 < map >
Time: 14:00-15:50
Wednesday October 11, 2006
Chairs: Chris Urmson, Jun Xiao
#1 (14:00~14:18)
Paper ID: 177
Title: Mobile Sensor Navigation with Miniature Active Camera for Structure Inspection
Authors: Weihua Sheng, Yantao Shen, Ning Xi
#2 (14:18~14:36)
Paper ID: 725
Title: A Hybrid Robot Navigation Approach Based on Partial Planning and Emotion-based Behavior Coordination
Authors: Huidi Zhang, Shirong Liu, Simon X. Yang
#3 (14:36~14:54)
Paper ID: 1507
Title: Driving Beyond Stopping Distance Constraints
Authors: Chris Urmson
#4 (14:54~15:12)
Paper ID: 504
Title: The Trajectory Parameter Space (TP-Space): A New Space Representation for Non-Holonomic Mobile Robot Reactive Navigation
Authors: Jose-Luis Blanco, Javier Gonzalez, Juan-Antonio Fernandez-Madrigal
#5 (15:12~15:30)
Paper ID: 2068
Title: Ultra Low Frequency Electromagnetic Wave Localization and Appication to Pipeline Robot
Authors: Hongjun Chen, Xiaohua Zhang, Junyuan Li
#6 (15:30~15:48)
Paper ID: 339
Title: Bioinspired Auditory Sound Localisation for Improving the Signal to Noise Ratio of Socially Interactive Robots
Authors: John C. Murray, Stefan Wermter, Harry R. Erwin
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WP1-10: Visual Filtering
Room: Convention Hall No. 16A, Level 3 < map >
Time: 14:00-15:50
Wednesday October 11, 2006
Chairs: Anders Robertsson, Masaru Uchiyama
#1 (14:00~14:18)
Paper ID: 1178
Title: High-speed Visual Robot Control Using an Optimal Linearizing Intensity-based Filtering Approach
Authors: Tomas Olsson, Rolf Johansson, Anders Robertsson
#2 (14:18~14:36)
Paper ID: 643
Title: Integration of Euclidean Constraints in Template Based Visual Tracking of Piecewise-planar Scenes
Authors: Selim Benhimane, Ezio Malis
#3 (14:36~14:54)
Paper ID: 489
Title: Visual Servoing Experiment Using a 3D Flexible-Link Manipulator
Authors: Xin Jiang, Atsushi Konno, Masaru Uchiyama
#4 (14:54~15:12)
Paper ID: 417
Title: Tracking Articulating Objects from Ground Vehicles Using Mixtures of Mixtures
Authors: Wael Abd-Almageed, Mohamed Hussein, Larry Davis
#5 (15:12~15:30)
Paper ID: 554
Title: Redundant Arm Control by Linear Visual Servoing Using Pseudo Inverse Matrix
Authors: Satoshi Mukai, Noriaki Maru
#6 (15:30~15:48)
Paper ID: 128
Title: A Visual Positioning Method Based on Relative Orientation Detection for Mobile Robots
Authors: De Xu, Youfu Li, Min Tan
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WP1-11: Medical Robots
Room: Convention Hall No. 10, Level 3 < map >
Time: 14:00-15:50
Wednesday October 11, 2006
Chairs: Hideaki Takanobu, Max Meng
#1 (14:00~14:18)
Paper ID: 105
Title: Destination Planning and Space Mapping in the Robot-aided Coagulation Therapy System
Authors: Yangyu Luo, Xiangdong Yang, Senqiang Zhu, Jing Xu, Ken Chen
#2 (14:18~14:36)
Paper ID: 129
Title: Design of a Parallel Long Bone Fracture Reduction Robot with Planning Treatment Tool
Authors: A. E. Graham, S. Q. Xie, K. C. Aw, W. L. Xu, S. Mukherjee
#3 (14:36~14:54)
Paper ID: 537
Title: Dynamics Modeling and Analysis of a Micro-particle Based Shooting and Harvesting System for Blood Vessel Cleaning and Enlargement
Authors: Huaming Li, Mingjun Zhang, Jindong Tan
#4 (14:54~15:12)
Paper ID: 1012
Title: An Inchworm-like Locomotion Mechanism Based on Magnetic Actuator for Active Capsule Endoscope
Authors: Xiaona Wang, Max Q.-H. Meng
#5 (15:12~15:30)
Paper ID: 1176
Title: Dental Patient Robot
Authors: Hideaki Takanobu, Akihisa Okino, Atsuo Takanishi, Mutsumi Madokoro, Yoshikazu Miyazaki, Koutarou Maki
#6 (15:30~15:48)
Paper ID: 1479
Title: Semi-automated Needling and Seed Delivery Device for Prostate Brachytherapy
Authors: Y.D. Zhang, T.K. Podder, W.S. Ng, J. Sherman, V. Misic, D. Fuller, E.M. Messing, D.J. Rubens, J.G. Strang, R. Brasacchio, Y. Yu
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WP1-12: Environmental Modelling for Mobile Robots
Room: Convention Hall No. 16B, Level 3 < map >
Time: 14:00-15:50
Wednesday October 11, 2006
Chairs: Gerold Kloos, Junichi Ido
#1 (14:00~14:18)
Paper ID: 120
Title: Development of a Parametric Model for the Environment of a Mobile Robot
Authors: Tahir Yaqub, Ray Eaton, Jayantha Katupitiya
#2 (14:18~14:36)
Paper ID: 327
Title: A Configuration Space View of View Planning
Authors: Pengpeng Wang, Kamal Gupta
#3 (14:36~14:54)
Paper ID: 450
Title: A Robust Estimator for Structure from Motion Based on Kernel Density Estimation
Authors: Tai Chen, Yun-hui Liu
#4 (14:54~15:12)
Paper ID: 496
Title: Range Based Localisation Using RF and the Application to Mining Safety
Authors: Gerold Kloos, Jose E. Guivant, Eduardo M. Nebot, Favio Masson
#5 (15:12~15:30)
Paper ID: 979
Title: Adaptive Particle Filter for Unknown Fault Detection of Wheeled Mobile Robots
Authors: Zhuohua Duan, Zixing Cai, Jinxia Yu
#6 (15:30~15:48)
Paper ID: 1342
Title: Humanoid with Interaction Ability Using Vision and Speech Information
Authors: Junichi Ido, Yoshio Matsumoto, Tsukasa Ogasawara, Ryuichi Nisimura
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WP1-13: Micro Manipulation and Assembly III
Room: Convention Hall No. 11, Level 3 < map >
Time: 14:00-15:50
Wednesday October 11, 2006
Chairs: Sylvain Martel, Tao Mei
#1 (14:00~14:18)
Paper ID: 395
Title: Power Electronics Design Choice for Piezoelectric Microrobots
Authors: E. Steltz, M. Seeman, S. Avadhanula, R.S. Fearing
#2 (14:18~14:36)
Paper ID: 1231
Title: A 2 DoF Servomotor-based Module for Pipe Inspection Modular Micro-robots
Authors: A. Brunete, E. Gambao, J.E. Torres, M. Hernando
#3 (14:36~14:54)
Paper ID: 1466
Title: Design of Photovoltaic Cells to Power Control Electronics Embedded in Untethered Aqueous Microrobots Propelled by Bacteria
Authors: Walder Andre, Sylvain Martel
#4 (14:54~15:12)
Paper ID: 1553
Title: A Dynamic JKR Model with Application to Vibrational Release in Micromanipulation
Authors: Yang Fang, Xiaobo Tan
#5 (15:12~15:30)
Paper ID: 2119
Title: Vision-based Assembly of Capillary for Microfluidic Device
Authors: Xiaodong Wang, Xiujun Wang, Yi Luo, Chong Liu, Liqun Ma
#6 (15:30~15:48)
Paper ID: 499
Title: Haptic Simulation for Micro/Nano-Scale Optical Fiber Assembly
Authors: Qi Luo, Jing Xiao
< Go to Top >
WP1-14: Vision Sensors
Room: Convention Hall No. 3030, Level 3 < map >
Time: 14:00-15:50
Wednesday October 11, 2006
Chairs: Atsushi Konno, Shinichi Hirata
#1 (14:00~14:18)
Paper ID: 976
Title: Stereo Vision System on Programmable Chip (SVSoC) for Small Robot Navigation
Authors: Mingxiang Li, Yunde Jia
#2 (14:18~14:36)
Paper ID: 1695
Title: Implementing Planar Motion Tracking Algorithms on CMOS+FPGA Vision System
Authors: Kazuhiro Shimizu, Shinichi Hirai
#3 (14:36~14:54)
Paper ID: 546
Title: Development of a High Speed Vision System for Mobile Robots
Authors: Atsushi Konno, Ryo Uchikura, Toshiyuki Ishihara, Teppei Tsujita, Takeaki Sugimura, Jun Deguchi, Mitsumasa Koyanagi, Masaru Uchiyama
#4 (14:54~15:12)
Paper ID: 971
Title: Vision-based Cellular Force Measurement Using an Elastic Microfabricated Device
Authors: Xinyu Liu, Wenhui Wang, Bob M. Lansdorp, Yu Sun
#5 (15:12~15:30)
Paper ID: 1060
Title: A New 3D Sensor System for Mobile Robots Based on Moire and Stereo Vision Technique
Authors: Hyunki Lee, Hyungsuck Cho, Minyoung Kim
#6 (15:30~15:48)
Paper ID: 1048
Title: Virtual Camera Synthesis for Micromanipulation and Microassembly
Authors: Julien Bert, Sounkalo Dembele, Nadine Lefort-Piat
< Go to Top >
WP1-15: Humanoid Robots III: Exoskeleton
Room: Convention Hall No. 7, Level 2 < map >
Time: 14:00-15:50
Wednesday October 11, 2006
Chairs: Frank Park, Toshio Hori
#1 (14:00~14:18)
Paper ID: 1341
Title: Towards Intuitive Control of Space Robots: A Ground Development Facility with Exoskeleton
Authors: Andre Schiele, Maurizio De Bartolomei, Frans van der Helm
#2 (14:18~14:36)
Paper ID: 234
Title: On Control Mechanism of Human-Like Reaching Movements with Musculo-Skeletal Redundancy
Authors: Kenji Tahara, Zhi-Wei Luo, Suguru Arimoto
#3 (14:36~14:54)
Paper ID: 1495
Title: An Autonomous, Underactuated Exoskeleton for Load-carrying Augmentation
Authors: Conor James Walsh, Kenneth Pasch, Hugh Herr
#4 (14:54~15:12)
Paper ID: 364
Title: An IEEE 1394 Based Real-Time Robot Control System for Efficient Controlling of Humanoids
Authors: M. Omar Faruque Sarker, ChangHwan Kim, Seungheon Baek, Bum-Jae You
#5 (15:12~15:30)
Paper ID: 1499
Title: Gyro Stabilized Biped Walking
Authors: N. Michael Mayer, Kazuhiro Masui, Matthew Browne, Minoru Asada
#6 (15:30~15:48)
Paper ID: 453
Title: Design of Android type Humanoid Robot Albert HUBO
Authors: Jun-Ho Oh, David Hanson, Won-Sup Kim, Il Young Han, Jung-Yup Kim, Ill-Woo Park
< Go to Top >
WP1-16: Sensor Network I
Room: Convention Hall No. 16C, Level 3 < map >
Time: 14:00-15:50
Wednesday October 11, 2006
Chairs: Jizhong Xiao, Seul Jung
#1 (14:00~14:18)
Paper ID: 1472
Title: Sensor Network and Robot Interaction Using Coarse Localization
Authors: Imad H. Elhajj, Jason Gorski
#2 (14:18~14:36)
Paper ID: 822
Title: Micro Mobile Robots in Active Sensor Networks: Closing the Loop
Authors: Weihua Sheng, Girma Tewolde, Song Ci
#3 (14:36~14:54)
Paper ID: 307
Title: Scalable Self-Deployment of Mobile Sensor Networks: A Fluid Dynamics Approach
Authors: Muhammed R. Pac, Aydan M. Erkmen, Ismet Erkmen
#4 (14:54~15:12)
Paper ID: 991
Title: Effects of Communication on Mobile Sensor Networks
Authors: Flavio Cabrera-Mora, Jizhong Xiao, Yi Sun
#5 (15:12~15:30)
Paper ID: 927
Title: ISOGRID: an Efficient Algorithm for Coverage Enhancement in Mobile Sensor Networks
Authors: Miu-ling Lam, Yun-hui Liu
#6 (15:30~15:48)
Paper ID: 146
Title: Guidance and Control of a Mobile Robot Using Neural Network Correction Based on a Remotely Located Sensor
Authors: Pyung Soo Jang, Seul Jung
< Go to Top >
WP2-1: Vision and Force Control
Room: Convention Hall No. 3, Level 3 < map >
Time: 16:05-17:55
Wednesday October 11, 2006
Chairs: Bruno Siciliano, Ume R. Zimmer
#1 (16:05~16:23)
Paper ID: 300
Title: Robot Interaction Control Using Force and Vision
Authors: Vincenzo Lippiello, Bruno Siciliano, Luigi Villani
#2 (16:23~16:41)
Paper ID: 415
Title: Modeling and Control of Interaction Forces in Dynamically-Coupled Robotic Systems
Authors: Goo Bong Chung, Byung-Ju Yi, Whee-Kuk Kim
#3 (16:41~16:59)
Paper ID: 1158
Title: Adaptive Vision and Force Tracking Control for Constrained Robots
Authors: Y. Zhao, C. C. Cheah, J.J.E. Slotine
#4 (16:59~17:17)
Paper ID: 102
Title: A Formation Control Approach to Adaptation of Contour-Shaped Robotic Formations
Authors: Shahab Kalantar, Uwe R. Zimmer
#5 (17:17~17:35)
Paper ID: 281
Title: Constraint Force Formulation for Industrial Manipulators
Authors: Himanshu Chaudhary, Subir Kumar Saha
#6 (17:35~17:53)
Paper ID: 925
Title: A Cascaded Feedback Control Scheme for Trajectory Tracking of Robot Manipulator Systems with Actuator Dynamics
Authors: Sadao Kawamura, Jinwoo Jun, Katsuya Kanaoka, Hiroaki Ichii
< Go to Top >
WP2-2: Localization III
Room: Convention Hall No. 4, Level 3 < map >
Time: 16:05-17:55
Wednesday October 11, 2006
Chairs: Daniel Lecking, SangJoo Kwon
#1 (16:05~16:23)
Paper ID: 1399
Title: Sparse Appearance based Modeling for Robot Localization
Authors: Olaf Booij, Zoran Zivkovic, Ben Krose
#2 (16:23~16:41)
Paper ID: 266
Title: Mobile Robot with Preliminary-Announcement Function of Forthcoming Motion Using Light-ray
Authors: Takafumi Matsumaru, Takashi Kusada, Kazuya Iwase
#3 (16:41~16:59)
Paper ID: 1101
Title: An Effective Kalman Filter Localization Method for Mobile Robots
Authors: SangJoo Kwon, KwangWoong Yang, Sangdeok Park
#4 (16:59~17:17)
Paper ID: 240
Title: Robust Self-Localization in Industrial Environments Based on 3D Ceiling Structures
Authors: Oliver Wulf, Daniel Lecking, Bernardo Wagner
Related Video: 008(Video Session 3)
#5 (17:17~17:35)
Paper ID: 685
Title: A Combined Monte-Carlo Localization and Tracking Algorithm for RoboCup
Authors: Patrick Heinemann, Juergen Haase, Andreas Zell
#6 (17:35~17:53)
Paper ID: 896
Title: Mobile Robot Localization Based on Improved Model Matching in Hough Space
Authors: Fang Fang, Xudong Ma, Xianzhong Dai
< Go to Top >
WP2-3: Haptics and Haptic Devices III
Room: Convention Hall No. 6, Level 2 < map >
Time: 16:05-17:55
Wednesday October 11, 2006
Chairs: Antonio Bicchi, Shuxiang Guo
#1 (16:05~16:23)
Paper ID: 255
Title: Rendering a Rigid Virtual World through an Impulsive Haptic Interface
Authors: Emmanuel Vander Poorten, Yasuyoshi Yokokohji
#2 (16:23~16:41)
Paper ID: 1368
Title: Hybrid Ultrasonic Motor and Electrorheological Clutch System for MR-Compatible Haptic Rendering
Authors: Dominique Chapuis, Roger Gassert, Etienne Burdet, Hannes Bleuler
#3 (16:41~16:59)
Paper ID: 1409
Title: Advanced Modeling and Preliminary Psychophysical Experiments for a Free-hand Haptic Device
Authors: Nicola Sgambelluri, Enzo Pasquale Scilingo, A. Bicchi, Rocco Rizzo, Marco Raugi
#4 (16:59~17:17)
Paper ID: 16
Title: Force Feedback Augmentation Method for the Minimally Invasive Surgical System
Authors: Phongsaen Pitakwatchara, Shin-ichi Warisawa, Mamoru Mitsuishi
#5 (17:17~17:35)
Paper ID: 477
Title: Stability Boundary for Haptic Rendering: Influence of Physical Damping
Authors: Thomas Hulin, Carsten Preusche, Gerd Hirzinger
#6 (17:35~17:53)
Paper ID: 1142
Title: Novel Control Methods for Multi-fingered Haptic Interface Robot
Authors: Tetsuya Mouri, Haruhisa Kawasaki, Kazushige Kigaku, Yoshio Ohtsuka
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WP2-4: Grasping Optimization
Room: Convention Hall No. 5, Level 2 < map >
Time: 16:05-17:55
Wednesday October 11, 2006
Chairs: Ji-Hun Bae, Satoshi Ito
#1 (16:05~16:23)
Paper ID: 700
Title: Grasping Force Optimization for Whole Hand Grasp
Authors: Jijie Xu, Yunjiang Lou, Zexiang Li
#2 (16:23~16:41)
Paper ID: 1203
Title: Optimal Direction of Grasped Object Minimizing Contact Forces
Authors: Satoshi ITO, Yuuki Mizukoshi, Koji Ishihara, Minoru Sasaki
#3 (16:41~16:59)
Paper ID: 1628
Title: Chaos Optimization Strategy on Fuzzy-immune-PID Control of the Turbine Governing System
Authors: Shuangxin Wang, Yan Jiang, Hui Yang
#4 (16:59~17:17)
Paper ID: 542
Title: Computing All Force-Closure Grasps of 2D Objects from Contact Point Set
Authors: Nattee Niparnan, Attawith Sudsang
#5 (17:17~17:35)
Paper ID: 998
Title: Reaching to Grasp and Preshaping of Multi-DOFs Robotic Hand-Arm Systems Using Approximate Configuration of Objects
Authors: Ji-Hun Bae, Suguru Arimoto, Yuuichi Yamamoto, Hiroe Hashiguchi, Masahiro Sekimoto
#6 (17:35~17:53)
Paper ID: 714
Title: Design Considerations for Underactuated Grasp with a one D.O.F. Anthropomorphic Finger Mechanism
Authors: Marco Ceccarelli, Cristina Tavolieri, Zhen Lu
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WP2-5: Intelligent Systems
Room: Convention Hall No. 14, Level 3 < map >
Time: 16:05-17:55
Wednesday October 11, 2006
Chairs: Ceravola Antonello, Xueshan Gao
#1 (16:05~16:23)
Paper ID: 35
Title: Development of an Embedded Control Platform of a Continuous Passive Motion Machine
Authors: Yili Fu, Fuxiang Zhang, Shuguo Wang, Qinggang Meng
#2 (16:23~16:41)
Paper ID: 219
Title: Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm
Authors: Alessandro De Luca, Alin Albu-Schaffer, Sami Haddadin, Gerd Hirzinger
#3 (16:41~16:59)
Paper ID: 306
Title: Integrated Research and Development Environment for Real-Time Distributed Embodied Intelligent Systems
Authors: Antonello Ceravola, Frank Joublin, Mark Dunn, Julian Eggert, Marcus Stein, Christian Goerick
#4 (16:59~17:17)
Paper ID: 1118
Title: Study on the Symmetry of Evolutionary Robotic System
Authors: Xueshan Gao, Koki Kikuchi, Xiaobing Wu, Katsuya Kanai, Keisuke Somiya
#5 (17:17~17:35)
Paper ID: 1781
Title: RTOC: A Rt-Linux Based Open Robot Controller
Authors: Hua Xu, Peifa Jia
< Go to Top >
WP2-6: Novel Robot Systems
Room: Convention Hall No. 12, Level 3 < map >
Time: 16:05-17:55
Wednesday October 11, 2006
Chairs: Francois Pierrot, I-Ming Chen
#1 (16:05~16:23)
Paper ID: 286
Title: Kinematics Control for a 7-DOF Cable-Driven Anthropomorphic Arm
Authors: Weihai Chen, Quanzhu Chen, Jianbin Zhang, Shouqian Yu
#2 (16:23~16:41)
Paper ID: 680
Title: Heli4: A Parallel Robot for Scara Motions with a Very Compact Traveling Plate and a Symmetrical Design
Authors: Sebastien Krut, Olivier Company, Vincent Nabat, Francois Pierrot
#3 (16:41~16:59)
Paper ID: 926
Title: A Development of a Fully Self-contained Real-time Tunable Spring
Authors: Takuya Umedachi, Akio Ishiguro
#4 (16:59~17:17)
Paper ID: 1029
Title: A Large-Displacement 3-DOF Flexure Parallel Mechanism with Decoupled Kinematics Structure
Authors: Xueyan Tang, I-Ming Chen
#5 (17:17~17:35)
Paper ID: 1181
Title: Casting and Winding Manipulation with Hyper-flexible Manipulator
Authors: Takahiro Suzuki, Yuji Ebihara, Takahiro Suzuki, Yoshinobu Ando, Makoto Mizukawa
< Go to Top >
WP2-7: Bilateral Teleoperation II
Room: Convention Hall No. 13, Level 3 < map >
Time: 16:05-17:55
Wednesday October 11, 2006
Chairs: Debora Botturi, Vicente Parra-Vega
#1 (16:05~16:23)
Paper ID: 479
Title: Advanced Teleoperation Architecture
Authors: S. Galvan, A. Castellani, D. Botturi, P. Fiorini
#2 (16:23~16:41)
Paper ID: 1392
Title: Achieving High Transparency in Bilateral Teleoperation Using Stiffness Observer for Passivity Control
Authors: Reza Monfaredi, Kamran Razi, Saeed Shiri Ghydari, Seied Mehdi Rezaei
#3 (16:41~16:59)
Paper ID: 118
Title: Observer-based Higher-Order Sliding Mode Impedance Control of Bilateral Teleoperation under Constant Unknown Time Delay
Authors: L.G. Garcia-Valdovinos, V. Parra-Vega, Marco A. Arteaga
#4 (16:59~17:17)
Paper ID: 217
Title: Design of a Control Strategy for Teleoperation of a Platform with Significant Dynamics
Authors: Mattias Bratt, Christian Smith, Henrik I. Christensen
#5 (17:17~17:35)
Paper ID: 1021
Title: Basic Study on Sensory Aspects of a Master/Slave System for Force Telecommunication
Authors: Masayuki Hara, Young-Mi Jung
#6 (17:35~17:53)
Paper ID: 1481
Title: Coordinate Frames in Robotic Teleoperation
Authors: Laura M. Hiatt, Reid Simmons
< Go to Top >
WP2-8: Legged Robots
Room: Convention Hall No. 15, Level 3 < map >
Time: 16:05-17:55
Wednesday October 11, 2006
Chairs: Jindong Tan, Tatsuo Arai
#1 (16:05~16:23)
Paper ID: 2055
Title: Development of an Artistic Robot "Jumping Joe"
Authors: Amir A.F. Nassiraei, Seiji Masakado, Takayuki Matsuo, Takashi Sonoda, Isao Takahira, Hajime Fukushima, Masayuki Murata, Koudai Ichikawa, Kazuo Ishii, Tsutomu Miki
#2 (16:23~16:41)
Paper ID: 301
Title: Motion having a Flight Phase: Experiments Involving a One-Legged Robot
Authors: Ryosuke Tajima, Keisuke Suga
Related Video: 007(Video Session 2)
#3 (16:41~16:59)
Paper ID: 646
Title: Omni-directional Gait of Limb Mechanism Robot Hanging from Grid-like Structure
Authors: Kenji Inoue, Taisuke Tsurutani, Tomohito Takubo, Tatsuo Arai
#4 (16:59~17:17)
Paper ID: 1378
Title: Opitcal Flow Aided Motion Estimation for Legged Locomotion
Authors: Surya P. N. Singh, Paul J. Csonka, Kenneth J. Waldron
#5 (17:17~17:35)
Paper ID: 1026
Title: Stability and Adaptability Analysis for Legged Robots Intended for Asteroid Exploration
Authors: Marco Chacin, Kazuya Yoshida
#6 (17:35~17:53)
Paper ID: 1153
Title: Robust Control for Stable Dynamic Walking of Biped Robot
Authors: Chuangfeng Huai, Yuefa Fang
< Go to Top >
WP2-9: Route Planning and Navigation
Room: Convention Hall No. 8, Level 2 < map >
Time: 16:05-17:55
Wednesday October 11, 2006
Chairs: Ahmad Masoud, Antonio Sgorbissa
#1 (16:05~16:23)
Paper ID: 860
Title: Landing Pattern Modification Method with Predictive Attitude and Compliance Control to Deal with Uneven Terrain
Authors: Kenji Hashimoto, Yusuke Sugahara, Masamiki Kawase, Akihiro Ohta, Chiaki Tanaka, Akihiro Hayashi, Nobutsuna Endo, Terumasa Sawato, Hun-ok Lim, Atsuo Takanishi
#2 (16:23~16:41)
Paper ID: 1401
Title: Nav: Navigation without Localization
Authors: Antonio Sgorbissa, Renato Zaccaria
#3 (16:41~16:59)
Paper ID: 1394
Title: The Fuzzy Sarsa() Learning Approach Applied to a Strategic Route Learning Robot Behaviour
Authors: Theodoros Theodoridis, Huosheng Hu
#4 (16:59~17:17)
Paper ID: 454
Title: Hybrid Behavior Coordination Mechanism for Navigation of Reconnaissance Robot
Authors: Hongru Tang, Aiguo Song, Xiaobing Zhang
#5 (17:17~17:35)
Paper ID: 244
Title: A Discrete Harmonic Potential Field for Optimum Point-to-point Routing on a Weighted Graph
Authors: Ahmad A. Masoud
#6 (17:35~17:53)
Paper ID: 764
Title: Multi-robot SLAM with Unknown Initial Correspondence: The Robot Rendezvous Case
Authors: Xun S. Zhou, Stergios I. Roumeliotis
< Go to Top >
WP2-10: People Finding
Room: Convention Hall No. 16A, Level 3 < map >
Time: 16:05-17:55
Wednesday October 11, 2006
Chairs: Hong Qiao, Toru Nakata
#1 (16:05~16:23)
Paper ID: 1141
Title: Recognizing Human Activities in Video by Multi-resolutional Optical Flows
Authors: Toru Nakata
#2 (16:23~16:41)
Paper ID: 3
Title: Laser-based Interacting People Tracking Using Multi-level Observations
Authors: Jinshi Cui, Hongbin Zha, Huijing Zhao, Ryosuke Shibasaki
#3 (16:41~16:59)
Paper ID: 2152
Title: Person-Tracking with Occlusion Using Appearance Filters
Authors: Peng Bai, Hong Qiao, Anhua Wan, Yu Liu
#4 (16:59~17:17)
Paper ID: 1373
Title: A Mobile Robot that Performs Human Acceptable Motions
Authors: Emrah Akin Sisbot, Luis F. Marin, Rachid Alami, Thierry Simeon
#5 (17:17~17:35)
Paper ID: 1364
Title: Towards an Integrated Robotic System for Interactive Learning in a Social Context
Authors: B. Wrede, M. Kleinehagenbrock, J. Fritsch
#6 (17:35~17:53)
Paper ID: 79
Title: Advanced Animation Engine for User-Interface Robots
Authors: A.J.N. van Breemen, Yan Xue
< Go to Top >
WP2-11: Tissue and Muscles Modelling
Room: Convention Hall No. 10, Level 3 < map >
Time: 16:05-17:55
Wednesday October 11, 2006
Chairs: Minoru Hashimoto, Takahiko Nakamura
#1 (16:05~16:23)
Paper ID: 784
Title: Modeling Soft Contact Mechanism of Biological Cells Using an Atomic Force Bio-Microscope
Authors: Maxime Girot, Mehdi Boukallel, Stephane Regnier
#2 (16:23~16:41)
Paper ID: 750
Title: A Cockroach Inspired Robot with Artificial Muscles
Authors: Daniel A. Kingsley, Roger D. Quinn, Roy E. Ritzmann
#3 (16:41~16:59)
Paper ID: 672
Title: Human Cooperative Motion Adapted Wearable Anti-Gravity Muscle Support System
Authors: Takahiko Nakamura, Kazunari Saito, ZhiDong Wang, Kazuhiro Kosuge, Masaya Tajika
#4 (16:59~17:17)
Paper ID: 2166
Title: Engineering Intelligent Materials for the Interrogation of Bio-robotic Architectures and Regulatory Networks
Authors: Dean Ho
#5 (17:17~17:35)
Paper ID: 2039
Title: Development and Control of a Face Robot Imitating Human Muscular Structures
Authors: Minoru Hashimoto, Chisaki Yokogawa, Tsugutake Sadoyama
#6 (17:35~17:53)
Paper ID: 884
Title: Development of a Rajiform Swimming Robot Using Ionic Polymer Artificial Muscles
Authors: Kentaro Takagi, Masanori Yamamura, Zhi-Wei Luo, Masaki Onishi, Shinya Hirano, Kinji Asaka, Yoshikazu Hayakawa
< Go to Top >
WP2-12: Mobile Robots II
Room: Convention Hall No. 16B, Level 3 < map >
Time: 16:05-17:55
Wednesday October 11, 2006
Chairs: Agrawal Motilal, Mamoru Minami
#1 (16:05~16:23)
Paper ID: 1374
Title: Modeling Skidding and Slipping in Wheeled Mobile Robots: Control Design Perspective
Authors: Danwei Wang, Chang Boon Low
#2 (16:23~16:41)
Paper ID: 1240
Title: Fastest Guidance Control with Acceleration Restriction of PWS Mobile Robot
Authors: Yasuhiro Yazaki, Takeshi Ikeda, Mamoru Minami, Yasushi Mae
#3 (16:41~16:59)
Paper ID: 1198
Title: Tracking Control of Mobile Robots Based on Improved RBF Neural Networks
Authors: Shirong Liu, Qijiang Yu, Weijie Lin, Simon X. Yang
#4 (16:59~17:17)
Paper ID: 536
Title: 3-D Object Map Building Using Dense Object Models with SIFT-based Recognition Features
Authors: Masahiro Tomono
#5 (17:17~17:35)
Paper ID: 1448
Title: A Lie Algebraic Approach for Consistent Pose Registration for General Euclidean Motion
Authors: Motilal Agrawal
< Go to Top >
WP2-13: Nano Robot and Assembly
Room: Convention Hall No. 11, Level 3 < map >
Time: 16:05-17:55
Wednesday October 11, 2006
Chairs: Masahiro Nakajima, Mehdi Ammi
#1 (16:05~16:23)
Paper ID: 1079
Title: Design and Control of a Nano-precision Cartesian Platform
Authors: Yung Ting, Chun-Chung Li, Ho-Chin Jar, Chang-Wei Chiang
#2 (16:23~16:41)
Paper ID: 1663
Title: Nanorobotic Manipulator Controlled Nanowire Growth
Authors: Pou Liu, Fumihito Arai, Toshio Fukuda
#3 (16:41~16:59)
Paper ID: 1522
Title: Accurate Positioning of AFM Probe for AFM Based Robotic Nanomanipulation System
Authors: Xiaojun Tian, Yuechao Wang, Ning Xi, Zaili Dong, Wenjung Li
#4 (16:59~17:17)
Paper ID: 1865
Title: In situ Fabrication and Electric Actuation of Telescoping Nanotube inside TEM through Hybrid Nanorobotic Manipulation System
Authors: Masahiro Nakajima, Fumihito Arai, Toshio Fukuda
#5 (17:17~17:35)
Paper ID: 1300
Title: DNA-based Bio-Nanorobotic Components Using VR-Enhanced CAD Design
Authors: Mustapha Hamdi, Antoine Ferreira
#6 (17:35~17:53)
Paper ID: 1047
Title: Fabrication and Characterization of Nanowires by Atomic Force Microscope Lithography
Authors: L. M. Fok, Y. H. Liu, Wen J. Li
< Go to Top >
WP2-14: Sensor Hardware
Room: Convention Hall No. 3030, Level 3 < map >
Time: 16:05-17:55
Wednesday October 11, 2006
Chairs: Imad Elhajj, Yantao Shen
#1 (16:05~16:23)
Paper ID: 1328
Title: Analysis of Static and Dynamic Characteristics of a Tactile Sensor using Carbon Micro Coil inside an Elastic Material
Authors: Masato Homma, Masashi Konyo, Takashi Maeno, Seiji Motojima
#2 (16:23~16:41)
Paper ID: 598
Title: Tactile Measurement of Local Contact Geometry Using Soft Fingertip with Force/Torque Sensor
Authors: Kouji Murakami, Tsutomu Hasegawa
#3 (16:41~16:59)
Paper ID: 2027
Title: Piezoelectric Vibration-Type Tactile Sensor with Wide Measurement Range Using Elasticity and Viscosity Change
Authors: Kohei Motoo, Toshio Fukuda, Fumihito Arai, Takayuki Matsuno
#4 (16:59~17:17)
Paper ID: 143
Title: A Sensitive Skin for Robotic Companions Featuring Temperature, Force, and Electric Field Sensors
Authors: Walter Dan Stiehl, Cynthia Breazeal
#5 (17:17~17:35)
Paper ID: 2159
Title: PVDF-based Biomimetic Sensor for Application in Crawling Soft-body Mini-Robots
Authors: Weiting Liu, A. Menciassi, S. Scapellato, P. Dario, Yuquan Chen
#6 (17:35~17:53)
Paper ID: 825
Title: Operation Principle of a Bend Enhanced Curvature Optical Fiber Sensor
Authors: Renqiang Liu, Zhuang Fu, Yanzheng Zhao, Qixin Cao, Shuguo Wang
< Go to Top >
WP2-15: Humanoid Robots IV: Modelling
Room: Convention Hall No. 7, Level 2 < map >
Time: 16:05-17:55
Wednesday October 11, 2006
Chairs: Jean-Paul Laumond, T. I. James Tsay
#1 (16:05~16:23)
Paper ID: 773
Title: Synthesizing and Modeling Human Locomotion Using System Identification
Authors: Wael Suleiman, Andre Monin, Jean-Paul Laumond
#2 (16:23~16:41)
Paper ID: 2148
Title: Research on the Walking Modes Shifting Based on the Variable ZMP and 3-D.O.F Inverted Pendulum Model for a Humanoid and Gorilla Robot
Authors: Weiguo Wu, Yu Wang, Yunzhong Pan, Feng Liang
#3 (16:41~16:59)
Paper ID: 1109
Title: Reachable Space Generation of a Humanoid Robot Using the Monte Carlo Method
Authors: Yisheng Guan, Kazuhito Yokoi
#4 (16:59~17:17)
Paper ID: 1131
Title: Using Hidden Markov Models to Generate Natural Humanoid Movement
Authors: Junghyun Kwon, Frank C. Park
#5 (17:17~17:35)
Paper ID: 1257
Title: Balance Control of a Humanoid Robot Based on the Reaction Null Space Method
Authors: Akinori Nishio, Kentaro Takahashi, Dragomir N. Nenchev
#6 (17:35~17:53)
Paper ID: 1273
Title: Design and Control of a Humanoid Robot
Authors: T. I. James Tsay, C. H. Lai
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WP2-16: Sensor Network II
Room: Convention Hall No. 16C, Level 3 < map >
Time: 16:05-17:55
Wednesday October 11, 2006
Chairs: Jun Xiao, Weihua Sheng
#1 (16:05~16:23)
Paper ID: 1050
Title: Automatic Generation and Connection of Program Components based on RDF Sensor Description in Network Middleware
Authors: Hiroshi Noguchi, Taketoshi Mori, Tomomasa Sato
#2 (16:23~16:41)
Paper ID: 1077
Title: Investigating Network Optimization Approaches in Wireless Sensor Networks
Authors: Hongliang Ren, Max Q.-H. Meng, Xijun Chen
#3 (16:41~16:59)
Paper ID: 1441
Title: Blom-based Q-composite: A Generalized Framework of Random Key Pre-distribution Schemes for Wireless Sensor Networks
Authors: Huirong Fu, Satoshi Kawamura, Chengzhi Li
#4 (16:59~17:17)
Paper ID: 663
Title: Cross-Layer Optimization Framework for Wireless Sensor Networks
Authors: Jun-Zhao Sun, Jaakko Sauvola
#5 (17:17~17:35)
Paper ID: 403
Title: Research of TDOA Based Self-localization Approach in Wireless Sensor Network
Authors: Jun Xiao, Lirong Ren, Jindong Tan
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TA1-1: Robot Control
Room: Convention Hall No. 3, Level 3 < map >
Time: 9:00-10:30
Thursday October 12, 2006
Chairs: Qiao Liu, Shinichi Hirai
#1 (9:00~9:18)
Paper ID: 197
Title: Optimal LQG Control and Stability of Networked Robot System with Data Dropout
Authors: Qiao Liu, Ke-xue He, Liang-zhong Jiang
#2 (9:18~9:36)
Paper ID: 471
Title: Task Space Based Contouring Control of Parallel Machining Systems
Authors: Yunjiang Lou, Ni Chen, Zexiang Li
#3 (9:36~9:54)
Paper ID: 1317
Title: Exact Structured Singular Value of Robotic Manipulators and Quantitative Analysis of Passivity Based Control
Authors: Satoru Sakai, Koichi Osuka, Kenji Fujimoto
#4 (9:54~10:12)
Paper ID: 1696
Title: Cartesian Controller's Evaluation in Joint Space
Authors: Pablo Sanchez-Sanchez, Fernando Reyes-Cortes
#5 (10:12~10:30)
Paper ID: 1493
Title: Multi Robot System Based on Boundary Value Problems
Authors: Gedson Faria, Edson Prestes, Marco A. P. Idiart, Roseli A. F. Romero
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TA1-2: Visual SLAM I
Room: Convention Hall No. 4, Level 3 < map >
Time: 9:00-10:30
Thursday October 12, 2006
Chairs: Luis M. Bergasa, Manuel Oca?a
#1 (9:00~9:18)
Paper ID: 803
Title: Robot and Landmark localization Using Scene Planes and the 1D Trifocal Tensor
Authors: A.C. Murillo, J.J. Guerrero, C. Sagues
#2 (9:18~9:36)
Paper ID: 1156
Title: Improving Data Association in Vision-based SLAM
Authors: Arturo Gil, Oscar Reinoso, Oscar Martinez Mozos, Cyrill Stachniss, Wolfram Burgard
#3 (9:36~9:54)
Paper ID: 1523
Title: Autonomous Vision-based Exploration and Mapping Using Hybrid Maps and Rao-Blackwellised Particle Filters
Authors: Robert Sim, James J. Little
#4 (9:54~10:12)
Paper ID: 251
Title: Real-Time Simultaneous Localization and Mapping Using a Wide-Angle Stereo Camera and Adaptive Patches
Authors: David Schleicher, Luis M. Bergasa, Rafael Barea, Elena Lopez, Manuel Ocana
#5 (10:12~10:30)
Paper ID: 257
Title: Towards Vision Based Navigation in Large Indoor Environments
Authors: Jaime Valls Miro, Weizhen Zhou, Gamini Dissanayake
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TA1-3: Haptics and Haptic Devices IV
Room: Convention Hall No. 6, Level 2 < map >
Time: 9:00-10:30
Thursday October 12, 2006
Chairs: Dong-Soo Kwon, Mehdi Ammi
#1 (9:00~9:18)
Paper ID: 1261
Title: An Evaluation of Human Tactile Sensibility and Its Analysis Based on Physiology and Biomechanics
Authors: Seung-Chan Kim, Dong-Soo Kwon, Ki-Uk Kyung
#2 (9:18~9:36)
Paper ID: 1461
Title: Haptic Cooperation between People, and between People and Machines
Authors: Kyle B. Reed, Michael Peshkin, Mitra J. Hartmann, James Patton, Peter M. Vishton, Marcia Grabowecky
#3 (9:36~9:54)
Paper ID: 1266
Title: Evaluation of 3D Pseudo-Haptic Rendering Using Vision for Cell Micromanipulation
Authors: Mehdi Ammi, Hamid Ladjal, Antoine Ferreira
#4 (9:54~10:12)
Paper ID: 1218
Title: Intrinsically Passive Force Scaling in Haptic Interfaces
Authors: Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi
#5 (10:12~10:30)
Paper ID: 970
Title: Real-time Learning Method for Adaptable Motion-Discrimination Using Surface EMG Signal
Authors: Ryu Kato, Hiroshi Yokoi, Tamio Arai
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TA1-4: Parallel Manipulators II
Room: Convention Hall No. 5, Level 2 < map >
Time: 9:00-10:30
Thursday October 12, 2006
Chairs: Guilin Yang, Wisama Khalil
#1 (9:00~9:18)
Paper ID: 25
Title: Finite-Partition of SE(3) and its Applications on Workspace Optimization of Parallel Manipulators
Authors: Yan Jin, I-Ming Chen, Guilin Yang
#2 (9:18~9:36)
Paper ID: 198
Title: A Novel Method for Jacobian Analysis of Lower-Mobility Parallel Mechanism
Authors: Sijun Zhu, Zhen Huang
#3 (9:36~9:54)
Paper ID: 470
Title: A Novel 3-DoF Purely Translational Parallel Mechanism
Authors: Yunjiang Lou, Zexiang Li
#4 (9:54~10:12)
Paper ID: 508
Title: Collision-Free Workspace Design of the 5-Axis Gantry-Tau Parallel Kinematic Machine
Authors: Matthew Murray, Geir Hovland, Torgny Brogardh
#5 (10:12~10:30)
Paper ID: 799
Title: Inverse Dynamic Modeling of Serial-Parallel Hybrid Robots
Authors: Ouarda Ibrahim, Wisama Khalil
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TA1-5: Fuzzy Control
Room: Convention Hall No. 14, Level 3 < map >
Time: 9:00-10:30
Thursday October 12, 2006
Chairs: George C.S. Lee, Ata Allah Eftekharian
#1 (9:00~9:18)
Paper ID: 78
Title: Passive Fault Tolerant Robotic Control Based on Fuzzy Rules against Actuator Constraints
Authors: Jinzhuang Xiao, Hongrui Wang
#2 (9:18~9:36)
Paper ID: 147
Title: Fuzzy Adaptive Kalman Filtering Based Estimation of Image Jacobian for Uncalibrated Visual Servoing
Authors: Xiadong Lv, Xinhan Huang
#3 (9:36~9:54)
Paper ID: 214
Title: Design of Mixed Fuzzy-GA Controller for SCARA Type Robot
Authors: Ata Allah Eftekharian, Hassan Sayyaadi
#4 (9:54~10:12)
Paper ID: 594
Title: Robust Adaptive Fuzzy Control Law for Locomotion Control of a Hexapod Robot Actuated by Hydraulic Actuators with Dead Zone
Authors: Ranjit Kumar Barai, Kenzo Nonami
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TA1-6: Multi-robot Systems I
Room: Convention Hall No. 12, Level 3 < map >
Time: 9:00-10:30
Thursday October 12, 2006
Chairs: Lynne Parker, Trung Dung Ngo
#1 (9:00~9:18)
Paper ID: 114
Title: SwisTrack: A Tracking Tool for Multi-Unit Robotic and Biological Systems
Authors: Nikolaus Correll, Gregory Sempo, Yuri Lopez de Meneses, Jose Halloy, Jean-Louis Deneubourg, Alcherio Martinoli
Related Video: 039(Video Session 3)
#2 (9:18~9:36)
Paper ID: 492
Title: An Approach to Sociable Robots through Self-distributed Energy
Authors: Trung Dung Ngo, Henrik Schioler
#3 (9:36~9:54)
Paper ID: 947
Title: Reconfigurable Group Robots Adaptively Transforming a Mechanical Structure - Crawl Motion and AdaptiveTransformation with New Algorithms -
Authors: Yousuke Suzuki, Norio Inou, Hitoshi Kimura, Michihiko Koseki
#4 (9:54~10:12)
Paper ID: 1434
Title: Mission Reliability Estimation for Multirobot Team Design
Authors: S.B. Stancliff, J.M. Dolan, A. Trebi-Ollennu
#5 (10:12~10:30)
Paper ID: 2126
Title: Behaviors for Physical Cooperation Between Robots for Mobility Improvement: Hardware Results and Use of Dynamics
Authors: Ashish Deshpande, Jonathan Luntz
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TA1-7: Scheduling
Room: Convention Hall No. 13, Level 3 < map >
Time: 9:00-10:30
Thursday October 12, 2006
Chairs: Mark Spong, Peijiang Yuan
#1 (9:00~9:18)
Paper ID: 185
Title: Policy Gradient Methods for Robotics
Authors: Jan Peters, Stefan Schaal
#2 (9:18~9:36)
Paper ID: 208
Title: An Adaptive Feedback Scheduling Algorithm for Robot Assembly and Real-Time Control Systems
Authors: Peijiang Yuan
#3 (9:36~9:54)
Paper ID: 622
Title: Robot Motion Planning by Reusing Multiple Knowledge under Uncertain Conditions
Authors: Natsuki Yamanobe, Tamio Arai, Ryuichi Ueda
#4 (9:54~10:12)
Paper ID: 853
Title: Improving Sequential Single-Item Auctions
Authors: Xiaoming Zheng, Sven Koenig, Craig Tovey
#5 (10:12~10:30)
Paper ID: 948
Title: Online Rescheduling in Semiconductor Manufacturing
Authors: Mingang Cheng, Masao Sugi, Jun Ota, Masashi Yamamoto, Hiroki Ito, Kazuyoshi Inoue
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TA1-8: Mapping
Room: Convention Hall No. 15, Level 3 < map >
Time: 9:00-10:30
Thursday October 12, 2006
Chairs: Ehud Rivlin, Juan Nieto
#1 (9:00~9:18)
Paper ID: 801
Title: Pose and Motion from Omnidirectional Optical Flow and a Digital Terrain Map
Authors: Ronen Lerner, Oleg Kupervasser, Ehud Rivlin
#2 (9:18~9:36)
Paper ID: 1147
Title: Topological Modelling for Human Augmented Mapping
Authors: Elin A. Topp, Henrik I. Christensen
#3 (9:36~9:54)
Paper ID: 551
Title: Integrated Sensing Framework for 3D Mapping in Outdoor Navigation
Authors: R. Katz, N. Melkumyan, J. Guivant, T. Bailey, J. Nieto, E. Nebot
#4 (9:54~10:12)
Paper ID: 179
Title: A Three-Level Motion Texture for Human Motion Modeling
Authors: Tianyu Huang, Fengxia Li, Shouyi Zhan
#5 (10:12~10:30)
Paper ID: 759
Title: Multi-Level Surface Maps for Outdoor Terrain Mapping and Loop Closing
Authors: Rudolph Triebel, Patrick Pfaff, Wolfram Burgard
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TA1-9: Navigation III
Room: Convention Hall No. 8, Level 2 < map >
Time: 9:00-10:30
Thursday October 12, 2006
Chairs: Joseph Nsasi Bakambu, Jun Miura
#1 (9:00~9:18)
Paper ID: 635
Title: Mobile Manipulator Motion Planning Towards Multiple Goal Configurations
Authors: James Ward, Jayantha Katupitiya
#2 (9:18~9:36)
Paper ID: 777
Title: Visual Homing Navigation With Two Landmarks: The Balanced Proportional Triangulation Method
Authors: Jose Francisco Bonora, Domingo Gallardo
#3 (9:36~9:54)
Paper ID: 431
Title: Spline-based Robot Navigation
Authors: Evgeni Magid, Daniel Keren, Ehud Rivlin, Irad Yavneh
#4 (9:54~10:12)
Paper ID: 1052
Title: Panoramic View-Based Navigation in Outdoor Environments Based on Support Vector Learning
Authors: Hideo Morita, Michael Hild, Jun Miura, Yoshiaki Shirai
#5 (10:12~10:30)
Paper ID: 847
Title: Integrated Autonomous System for Exploration and Navigation in Underground Mines
Authors: Joseph Nsasi Bakambu
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TA1-10: Visual Servoing I
Room: Convention Hall No. 16A, Level 3 < map >
Time: 9:00-10:30
Thursday October 12, 2006
Chairs: Enric Cervera, Ezio Malis
#1 (9:00~9:18)
Paper ID: 329
Title: A Cross-Platform Network-Ready Visual Servo Simulator
Authors: Enric Cervera
#2 (9:18~9:36)
Paper ID: 336
Title: Integration Framework for Improved Visual Servoing in Image and Cartesian Spaces
Authors: A. H. Abdul Hafez, C. V. Jawahar
#3 (9:36~9:54)
Paper ID: 437
Title: Active Stereovision Using Invariant Visual Servoing
Authors: Vincent Brandou, Ezio Malis, Patrick Rives, Anne-Gaelle Allais, Michel Perrier
#4 (9:54~10:12)
Paper ID: 819
Title: Decoupled Homography-based Visual Servoing with Omnidirectional Cameras
Authors: Hicham Hadj-Abdelkader, Youcef Mezouar, Nicolas Andreff, Philippe Martinet
#5 (10:12~10:30)
Paper ID: 984
Title: A Hybrid Visual Servo System Considering the Workspace Boundary Singularity
Authors: Do Hyoung Kim, Myung Jin Chung
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TA1-11: Robotic Surgery I
Room: Convention Hall No. 10, Level 3 < map >
Time: 9:00-10:30
Thursday October 12, 2006
Chairs: Florent Nageotte, Peter Berkelman
#1 (9:00~9:18)
Paper ID: 522
Title: Control Software Design of a Compact Laparoscopic Surgical Robot System
Authors: Ji Ma, Peter Berkelman
#2 (9:18~9:36)
Paper ID: 1250
Title: Improving Navigation Precision of Milling Operations in Surgical Robotics
Authors: Philipp J. Stolka, Dominik Henrich
#3 (9:36~9:54)
Paper ID: 1363
Title: Visually Servoed Suturing for Robotic Microsurgical Keratoplasty
Authors: Guanghua Zong, Yida Hu, Dazhai Li, Xuguang Sun
#4 (9:54~10:12)
Paper ID: 1115
Title: Visual Servoing-Based Endoscopic Path Following for Robot-Assisted Laparoscopic Surgery
Authors: Florent Nageotte, Philippe Zanne, Christophe Doignon, Michel de Mathelin
#5 (10:12~10:30)
Paper ID: 1103
Title: Automatic Childbirth Procedures Implanted on the BirthSIM Simulator
Authors: O. Olaby, R. Moreau, X. Brun, T. Redarce, O. Dupuis
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TA1-12: Path Planning I
Room: Convention Hall No. 16B, Level 3 < map >
Time: 9:00-10:30
Thursday October 12, 2006
Chairs: Bart Nabbe, Weihua Sheng
#1 (9:00~9:18)
Paper ID: 1460
Title: Path Planning for Mobile Robot Navigation Using Voronoi Diagram and Fast Marching
Authors: Santiago Garrido, Luis Moreno, Mohamed Abderrahim, Fernando Martin
#2 (9:18~9:36)
Paper ID: 1516
Title: Planning and Acting in Uncertain Environments Using Probabilistic Inference
Authors: Deepak Verma, Rajesh P. N. Rao
#3 (9:36~9:54)
Paper ID: 81
Title: Opportunistic Use of Vision to Push back The Path-planning Horizon
Authors: Bart Nabbe, Derek Hoiem, Alexei A.A. Efros, Martial Hebert
#4 (9:54~10:12)
Paper ID: 201
Title: Ant Colony Optimization for Tool Path Integration in Spray Forming Processes
Authors: Girma S. Tewolde, Weihua Sheng
#5 (10:12~10:30)
Paper ID: 269
Title: On-Line Path Generation for Robotic Deburring of Cast Aluminum Wheels
Authors: Hui Zhang, Heping Chen, Ning Xi, George Zhang, Jianmin He
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TA1-13: Biologically Inspired Robotic Fish
Room: Convention Hall No. 11, Level 3 < map >
Time: 9:00-10:30
Thursday October 12, 2006
Chairs: Huosheng Hu, Shuxiang Guo
#1 (9:00~9:18)
Paper ID: 809
Title: Design of 3D Swim Patterns for Autonomous Robotic Fish
Authors: Huosheng Hu, Jindong Liu, Ian Dukes, George Francis
#2 (9:18~9:36)
Paper ID: 968
Title: Generating Thrust with a Biologically-Inspired Robotic Ribbon Fin
Authors: Michael Epstein, J. Edward Colgate, Malcolm A. MacIver
#3 (9:36~9:54)
Paper ID: 202
Title: A Tripodic Biomimetic Underwater Microrobots Utilizing ICPF Actuators
Authors: Wei Zhang, Shuxiang Guo, Kinji Asaka
#4 (9:54~10:12)
Paper ID: 1330
Title: Locomotion Consideration and Implementation of Robotic Fish with Modular Undulating Fins: Analysis and Experimental Study
Authors: K. H. Low
#5 (10:12~10:30)
Paper ID: 447
Title: The Development of a Hybrid Type of Underwater Micro Biped Robot
Authors: Shuxiang Guo, Xiufen Ye, Yuya Okuda, Kinji Asaka
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TA1-14: Acoustic Sensing
Room: Convention Hall No. 3030, Level 3 < map >
Time: 9:00-10:30
Thursday October 12, 2006
Chairs: David Silver, Shigeaki Aoki
#1 (9:00~9:18)
Paper ID: 2020
Title: The Speech Recognition Based on the Bark Wavelet and CZCPA Features
Authors: Xueying Zhang, Jing Bai
#2 (9:18~9:36)
Paper ID: 1307
Title: Using Physical Demonstrations, Background Knowledge and Vocal Comments for Task Learning
Authors: M. Pardowitz, R. Zollner, S. Knoop, R. Dillmann
#3 (9:36~9:54)
Paper ID: 834
Title: Multiscale Sensing: A New Paradigm for Actuated Sensing of High Frequency Dynamic Phenomena
Authors: Amarjeet Singh, Diane Budzik, Willie Chen, Maxim A. Batalin, Michael Stealey, Henrik Borgstrom, William J. Kaiser
#4 (9:54~10:12)
Paper ID: 719
Title: Function-based Classification from 3D Data and Audio
Authors: Aliza Amsellem, Octavian Soldea, Ehud Rivlin
#5 (10:12~10:30)
Paper ID: 878
Title: Frequency-Hopping Pseudo-Random Pulse Width Modulation to Eliminate Crosstalk of Sonar Sensors in Mobile Robots
Authors: Qinghao Meng, Qiong Liang, Juncai Li
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TA1-15: Humanoid Robots V: Hardware Design
Room: Convention Hall No. 7, Level 2 < map >
Time: 9:00-10:30
Thursday October 12, 2006
Chairs: Fumio Kanehiro, Yonghwan Oh
#1 (9:00~9:18)
Paper ID: 404
Title: Distributed Control System of Humanoid Robots Based on Real-time Ethernet
Authors: Fumio Kanehiro, Yoichi Ishiwata, Hajime Saito, Kazuhiko Akachi, Gou Miyamori, Takakatsu Isozumi, Kenji Kaneko, Hirohisa Hirukawa
#2 (9:18~9:36)
Paper ID: 581
Title: Walking Control of a Humanoid Robot via Explicit and Stable CoM Manipulation with the Angular Momentum Resolution
Authors: Kyung-ho Ahn, Yonghwan Oh
#3 (9:36~9:54)
Paper ID: 305
Title: Exploiting Task Intervals for Whole Body Robot Control
Authors: Michael Gienger, Herbert Janssen, Christian Goerick
#4 (9:54~10:12)
Paper ID: 1019
Title: Humanoid Motion Design Considering Rhythm Based on Human Motion Capture
Authors: Lige Zhang, Qiang Huang, Shusheng Lv, You Shi, Zhijie Wang, Ali Raza Jafri
#5 (10:12~10:30)
Paper ID: 1107
Title: Walking Pattern Generation of a Biped Walking Vehicle Using a Dynamic Human Model
Authors: Yusuke Sugahara, Kenji Hashimoto, Masamiki Kawase, Terumasa Sawato, Akihiro Hayashi, Nobutsuna Endo, Akihiro Ohta, Chiaki Tanaka, Hun-Ok Lim, Atsuo Takanishi
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TA1-16: Formation Control I
Room: Convention Hall No. 16C, Level 3 < map >
Time: 9:00-10:30
Thursday October 12, 2006
Chairs: Long Wang, N.M. Kwok
#1 (9:00~9:18)
Paper ID: 50
Title: Formation Control of Multiple Biomimetic Robotic Fish
Authors: Jinyan Shao, Junzhi Yu, Long Wang
#2 (9:18~9:36)
Paper ID: 190
Title: Collision-Free Formations with Reactively-Controlled Virtual Head Robot Tracking
Authors: A.D. Nguyen, N.M. Kwok, V.T. Ngo, Q.P. Ha
#3 (9:36~9:54)
Paper ID: 599
Title: A Fuzzy Leader-Follower Approach to Formation Control of Multiple Mobile Robots
Authors: Marianne Sisto, Dongbing Gu
#4 (9:54~10:12)
Paper ID: 1217
Title: Robust Formation Adaptation for Mobile Robots
Authors: Tove Gustavi, Xiaoming Hu
#5 (10:12~10:30)
Paper ID: 1265
Title: Robust Formation Adaptation for Mobile Platforms with Noisy Sensor Information
Authors: Johan Samuelsson, Tove Gustavi, Maja Karasalo, Xiaoming Hu
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TA2-1: Motion Control
Room: Convention Hall No. 3, Level 3 < map >
Time: 10:45-12:15
Thursday October 12, 2006
Chairs: Aiguo Ming, James K. Mills
#1 (10:45~11:03)
Paper ID: 235
Title: Path Following Control for Tractor-Trailer Mobile Robots with Two Kinds of Connection Structures
Authors: Jing Yuan, Yalou Huang
#2 (11:03~11:21)
Paper ID: 320
Title: Performance Improvement of Tracking Control for a Planar Parallel Robot Using Synchronized Control
Authors: Lu Ren, James K. Mills, Dong Sun
#3 (11:21~11:39)
Paper ID: 444
Title: Motion Control of Golf Swing Robot Based on Target Dynamics
Authors: Chunquan Xu, Takeharu Nagaoka, Aiguo Ming, Makoto Shimojo
#4 (11:39~11:57)
Paper ID: 741
Title: Mission Control System for Dam Inspection with an AUV
Authors: Narcis Palomeras, Marc Carreras, Pere Ridao, Emili Hernandez
#5 (11:57~12:15)
Paper ID: 982
Title: Creation and Compression of Global Control Policy for Swinging up Control of the Acrobot
Authors: Ryuichi Ueda, Tamio Arai, Kojiro Matsushita
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TA2-2: Visual SLAM II
Room: Convention Hall No. 4, Level 3 < map >
Time: 10:45-12:15
Thursday October 12, 2006
Chairs: Henrik Christensen, Wan Kyun Chung
#1 (10:45~11:03)
Paper ID: 1030
Title: Grid-based Visual SLAM in Complex Environment
Authors: Young-Ho Choi, Se-Young Oh
#2 (11:03~11:21)
Paper ID: 952
Title: Visual SLAM with Lines and Corner Features
Authors: Woo Yeon Jeong, Kyoung Mu Lee
#3 (11:21~11:39)
Paper ID: 1010
Title: Good Image Features for Bearing-only SLAM
Authors: Xiang Wang, Hong Zhang
#4 (11:39~11:57)
Paper ID: 1375
Title: Attentional Landmark Selection for Visual SLAM
Authors: Simone Frintrop, Patric Jensfelt, Henrik I. Christensen
#5 (11:57~12:15)
Paper ID: 1221
Title: Data Association Using Visual Object Recognition for EKF-SLAM in Home Environment
Authors: Sunghwan Ahn, Minyong Choi, Jinwoo Choi, Wan Kyun Chung
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TA2-3: Human-Machine Interaction I
Room: Convention Hall No. 6, Level 2 < map >
Time: 10:45-12:15
Thursday October 12, 2006
Chairs: Shotaro Kamio, Takanori Shibata
#1 (10:45~11:03)
Paper ID: 29
Title: Neurocognitive Affective System for an Emotive Robot
Authors: Gunn-Yong Park, Seung-Ik Lee, Woo-Young Kwon, Joong-Bae Kim
#2 (11:03~11:21)
Paper ID: 1028
Title: Cognitive Robotic Engine for HRI
Authors: Sukhan Lee, Hun-Sue Lee, Dong-Wook Shin
#3 (11:21~11:39)
Paper ID: 354
Title: Cooperative Object Transport with Humanoid Robots Using RRT Path Planning and Re-Planning
Authors: Shotaro Kamio, Hitoshi Iba
#4 (11:39~11:57)
Paper ID: 1230
Title: Designing Simple and Effective Expression of Robot's Primitive Minds to a Human
Authors: Seiji Yamada, Takanori Komatsu
#5 (11:57~12:15)
Paper ID: 1303
Title: Development of a Bioinstrumentation System in the Interaction between a Human and a Robot
Authors: Kazuko Itoh, Hiroyasu Miwa, Yuko Nukariya, Massimiliano Zecca, Hideaki Takanobu, Stefano Roccella, Maria Chiara Carrozza, Paolo Dario, Atsuo Takanishi
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TA2-4: Robot Manipulation
Room: Convention Hall No. 5, Level 2 < map >
Time: 10:45-12:15
Thursday October 12, 2006
Chairs: JungHyun Han, Kroeger Torsten
#1 (10:45~11:03)
Paper ID: 260
Title: 6D Force and Acceleration Sensor Fusion for Compliant Manipulation Control
Authors: Torsten Kroeger, Daniel Kubus, Friedrich M. Wahl
#2 (11:03~11:21)
Paper ID: 1032
Title: Spatial Reasoning for Real-time Robotic Manipulation
Authors: Han-Young Jang, Hadi Moradi, Suyeon Hong, Sukhan Lee, JungHyun Han
#3 (11:21~11:39)
Paper ID: 1662
Title: Manipulation of Flexible Rope Using Topological Model Based on Sensor Information
Authors: Takayuki Matsuno, Toshio Fukuda
#4 (11:39~11:57)
Paper ID: 1073
Title: Global Color Model Based Object Matching in the Multi-Camera Environment
Authors: Kazuyuki Morioka, Xuchu Mao, Hideki Hashimoto
#5 (11:57~12:15)
Paper ID: 57
Title: A Novel Modular Fixture Design and Assembly System Based on VR
Authors: Gaoliang Peng, Wenjian Liu
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TA2-5: Learning I
Room: Convention Hall No. 14, Level 3 < map >
Time: 10:45-12:15
Thursday October 12, 2006
Chairs: Darrin Bentivegna, Lilienthal Achim
#1 (10:45~11:03)
Paper ID: 241
Title: Q-RAN: A Constructive Reinforcement Learning Approach for Robot Behavior Learning
Authors: Jun Li, Achim Lilienthal, Tomas Martinez-Marin, Tom Duckett
#2 (11:03~11:21)
Paper ID: 387
Title: Learning to Drive Among Obstacles
Authors: Bradley Hamner, Sebastian Scherer, Sanjiv Singh
#3 (11:21~11:39)
Paper ID: 443
Title: Learning Sensory-Motor Maps for Redundant Robots
Authors: Manuel Lopes, Jose Santos-Victor
#4 (11:39~11:57)
Paper ID: 576
Title: Learning Similar Tasks from Observation and Practice
Authors: Darrin C. Bentivegna, Christopher G. Atkeson, Gordon Cheng
#5 (11:57~12:15)
Paper ID: 757
Title: Heterogeneous and Hierarchical Cooperative Learning via Combining Decision Trees
Authors: Masoud Asadpour, Majid Nili Ahmadabadi, Roland Siegwart
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TA2-6: Multi-robot Systems II
Room: Convention Hall No. 12, Level 3 < map >
Time: 10:45-12:15
Thursday October 12, 2006
Chairs: Hong Zhang, Zhidong Wang
#1 (10:45~11:03)
Paper ID: 223
Title: Multi-robot Aggregation Strategies with Limited Communication
Authors: Yan Meng, Jeffrey V. Nickerson, Jing Gan
#2 (11:03~11:21)
Paper ID: 278
Title: A Variable Speed Force Field Method for Multi-Robot Collaboration
Authors: Dalong Wang, Dikai Liu, Gamini Dissanayake
#3 (11:21~11:39)
Paper ID: 389
Title: Adaptive Causal Models for Fault Diagnosis and Recovery in Multi-Robot Teams
Authors: Lynne E. Parker, Balajee Kannan
#4 (11:39~11:57)
Paper ID: 490
Title: Sounds Good: Simulation and Evaluation of Audio Communication for Multi-Robot Exploration
Authors: Pooya Karimian, Richard Vaughan, Sarah Brown
#5 (11:57~12:15)
Paper ID: 1506
Title: On Foraging Strategies for Large-scale Multi-robot Systems
Authors: Dylan A. Shell, Maja J. Mataric
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TA2-7: Industrial Applications
Room: Convention Hall No. 13, Level 3 < map >
Time: 10:45-12:15
Thursday October 12, 2006
Chairs: Tangwen Yang, Weihua Sheng
#1 (10:45~11:03)
Paper ID: 463
Title: Wave Based Robust Control of a Crane System
Authors: T. W. Yang, W. J. O'Connor
#2 (11:03~11:21)
Paper ID: 1089
Title: Optimization of Industrial Applications with Hardware in the Loop
Authors: Matthieu Guilbert, Pierre-Brice Wieber, Luc Joly
#3 (11:21~11:39)
Paper ID: 1177
Title: Visual Feedback Tracking of Crane Hook
Authors: Shunsuke Nara, Daisuke Miyamoto, Satoru Takahashi, Shun'ichi Kaneko
#4 (11:39~11:57)
Paper ID: 1339
Title: Implementation of Industrial Robot Force Control Case Study: High Power Stub Grinding and Deburring
Authors: A. Robertsson, T. Olsson, R. Johansson, A. Blomdell, K. Nilsson, M. Haage, B. Lauwers, H. de Baerdemaeker, T. Brogardh, H. Brantmark
#5 (11:57~12:15)
Paper ID: 2025
Title: Wall-climbing Robot Path Planning for Testing Cylindrical Oilcan Weld Based on Voronoi Diagram
Authors: Zhuang Fu, Yan-zheng Zhao, Zhi-yuan Qian, Qi-xin Cao
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TA2-8: Topological Mapping and Learning
Room: Convention Hall No. 15, Level 3 < map >
Time: 10:45-12:15
Thursday October 12, 2006
Chairs: Tomomasa Sato, Wolfram Burgard
#1 (10:45~11:03)
Paper ID: 904
Title: Topological Mapping Inspired by Techniques in DNA Sequence Alignment
Authors: Alan M. Zhang, Lindsay Kleeman, R. Andrew Russell
#2 (11:03~11:21)
Paper ID: 1577
Title: Topological Navigation of Mobile Robot in Corridor Environment Using Sonar Sensor
Authors: Kyoungmin Lee, Namyoung Cho, Wan Kyun Chung, Nakju Lett Doh
#3 (11:21~11:39)
Paper ID: 526
Title: Simple yet Effective Visuo-Spatial Topological Mapping
Authors: David Rawlinson, Ray Jarvis
#4 (11:39~11:57)
Paper ID: 396
Title: Supervised Learning of Topological Maps Using Semantic Information Extracted from Range Data
Authors: Oscar Martinez Mozos, Wolfram Burgard
#5 (11:57~12:15)
Paper ID: 768
Title: Efficient Margin-based Query Learning on Action Classification
Authors: Masamichi Shimosaka, Taketoshi Mori, Tomomasa Sato
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TA2-9: Navigation IV
Room: Convention Hall No. 8, Level 2 < map >
Time: 10:45-12:15
Thursday October 12, 2006
Chairs: Alan Zhang, Michail G. Lagoudakis
#1 (10:45~11:03)
Paper ID: 142
Title: Landmark Selection for Task-Oriented Navigation
Authors: Ronen Lerner, Ehud Rivlin, Ilan Shimshoni
#2 (11:03~11:21)
Paper ID: 1138
Title: Learning Relational Navigation Policies
Authors: Alexandru Cocora, Kristian Kersting, Christian Plagemann, Wolfram Burgard, Luc De Raedt
#3 (11:21~11:39)
Paper ID: 776
Title: Real Time Object Tracking Using Reflectional Symmetry and Motion
Authors: Wai Ho Li, Lindsay Kleeman
#4 (11:39~11:57)
Paper ID: 398
Title: Incremental Multi-Objective Motion Control of Nonholonomic Mobile Robots
Authors: Michail G. Lagoudakis
#5 (11:57~12:15)
Paper ID: 580
Title: Multi-agent Based Surveillance
Authors: Yufeng Chen, Zhi Zhong, Ka Keung Lee, Yangsheng Xu
< Go to Top >
TA2-10: Motion Tracking
Room: Convention Hall No. 16A, Level 3 < map >
Time: 10:45-12:15
Thursday October 12, 2006
Chairs: Federica Pascucci, Toshihiko Yasuda
#1 (10:45~11:03)
Paper ID: 1396
Title: Multirobot Localisation Using Interlaced Extended Kalman Filter
Authors: Stefano Panzieri, Federica Pascucci, Roberto Setola
#2 (11:03~11:21)
Paper ID: 1542
Title: A Real-Time Object Tracking System Using a Particle Filter
Authors: Jung Uk Cho, Seung Hun Jin, Xuan Dai Pham, Jae Wook Jeon, Jong Eun Byun, Hoon Kang
#3 (11:21~11:39)
Paper ID: 2151
Title: Multi-Information Fusion for Scale Selection in Robot Tracking
Authors: Xiaoqin Zhang, Hong Qiao, Zhiyong Liu
#4 (11:39~11:57)
Paper ID: 916
Title: One Hand Drive Wheelchair with New Manipulation Mechanism and Assist Functions
Authors: Toshihiko Yasuda, Daisuke Furikado, Katsuyuki Tanaka
#5 (11:57~12:15)
Paper ID: 1435
Title: Team-Driven Multi-Model Motion Tracking with Communication
Authors: Yang Gu, Manuela Veloso
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TA2-11: Robotic Surgery II
Room: Convention Hall No. 10, Level 3 < map >
Time: 10:45-12:15
Thursday October 12, 2006
Chairs: Da Liu, Pierre Dupont
#1 (10:45~11:03)
Paper ID: 401
Title: An Internet Robot Assistant Tele-neurosurgery System Case
Authors: Tianmiao Wang, Jun Wei, Da Liu, Lei Hu, Wenyong Liu
#2 (11:03~11:21)
Paper ID: 313
Title: A Steerable Needle Technology Using Curved Concentric Tubes
Authors: Patrick Sears, Pierre Dupont
#3 (11:21~11:39)
Paper ID: 1475
Title: Toward Active Cannulas: Miniature Snake-Like Surgical Robots
Authors: Robert J. Webster III, Allison M. Okamura, Noah J. Cowan
#4 (11:39~11:57)
Paper ID: 667
Title: Kinematic Design for Robot-assisted Laryngeal Surgery Systems
Authors: Shuxin Wang, Qunzhi Li, Jienan Ding, Zhijian Zhang
#5 (11:57~12:15)
Paper ID: 80
Title: A Workflow for Robot Assisted Neurosurgery
Authors: Da Liu, Tianmiao Wang
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TA2-12: Path Planning II
Room: Convention Hall No. 16B, Level 3 < map >
Time: 10:45-12:15
Thursday October 12, 2006
Chairs: Ferando Martin Monar, Jun Miura
#1 (10:45~11:03)
Paper ID: 275
Title: Toward Online Probabilistic Path Replanning in Dynamic Environments
Authors: Roland Philippsen, Bjorn Jensen, Roland Siegwart
#2 (11:03~11:21)
Paper ID: 32
Title: Log of the Inverse of the Distance Transform and Fast Marching Applied to Path Planning
Authors: Santiago Garrido, Luis Moreno, Dolores Blanco, Fernando Martin
#3 (11:21~11:39)
Paper ID: 95
Title: Collision-free Path Planning and Trajectory Generation for MAVs Flying in Urban Terrain
Authors: Rong Zhu, Xiaoying Guan, Zhaoying Zhou, Dong Sun
#4 (11:39~11:57)
Paper ID: 212
Title: Support Vector Path Planning
Authors: Jun Miura
#5 (11:57~12:15)
Paper ID: 495
Title: Path Planning for Manipulation Environments through Interpolated Walks
Authors: Andres S. Vazquez, Roberto Torres, Antonio Adan, Carlos Cerrada
< Go to Top >
TA2-13: Control of Mini Helicopter
Room: Convention Hall No. 11, Level 3 < map >
Time: 10:45-12:15
Thursday October 12, 2006
Chairs: Kazuyuki Morioka, Isabelle Fantoni
#1 (10:45~11:03)
Paper ID: 1270
Title: Autonomous Control for Micro-Flying Robot and Small Wireless Helicopter X.R.B
Authors: Wei Wang, Gang Song, Kenzou Nonami, Mitsuo Hirata, Osamu Miyazawa
#2 (11:03~11:21)
Paper ID: 1267
Title: Development of 3D Vision Enabled Small-scale Autonomous Helicopter
Authors: Zhenyu Yu, Demian Celestino, Kenzo Nonami
#3 (11:21~11:39)
Paper ID: 1879
Title: Intelligent Rotor Speed Controller for a Mini Autonomous Helicopter
Authors: Yu Xu, Ping Li, Bo Han, Qinyuan Ren
#4 (11:39~11:57)
Paper ID: 503
Title: Real-Time Control of a Small-Scale Helicopter Having Three Rotors
Authors: Sergio Salazar-Cruz, Farid Kendoul, Rogelio Lozano, Isabelle Fantoni
#5 (11:57~12:15)
Paper ID: 1041
Title: Design and Control of an Indoor Coaxial Helicopter
Authors: Samir Bouabdallah, Roland Siegwart, Gilles Caprari
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TA2-14: Sensor Fusion
Room: Convention Hall No. 3030, Level 3 < map >
Time: 10:45-12:15
Thursday October 12, 2006
Chairs: Anibal De Almeida, Takashi Tsubouchi
#1 (10:45~11:03)
Paper ID: 1137
Title: People Tracking Using a Robot in Motion with Laser Range Finder
Authors: Jae Hoon Lee, Takashi Tsubouchi, Kenjiro Yamamoto, Saku Egawa
#2 (11:03~11:21)
Paper ID: 397
Title: Multi-Stage Sensor Fusion for Landmine Detection
Authors: Svetlana Larionova, Lino Marques, Anibal Traca de Almeida
#3 (11:21~11:39)
Paper ID: 914
Title: Panoramic Vision and Laser Range Finder Fusion for Multiple Person Tracking
Authors: Punarjay Chakravarty, Ray Jarvis
#4 (11:39~11:57)
Paper ID: 1188
Title: 3D Object Recognition Using Spin-images for a Humanoid Stereoscopic Vision System
Authors: Olivier Stasse, Sylvain Dupitier, Kazuhito Yokoi
#5 (11:57~12:15)
Paper ID: 728
Title: Measuring the Deformation of a Parallel Kinematics Machine under Dynamic Conditions, by Combining Video and Accelerometers
Authors: Tony Cano, Frederic Chapelle, Pascal Ray, Jean-Marc Lavest
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TA2-15: Humanoid Robots VI: Sensing and Control
Room: Convention Hall No. 7, Level 2 < map >
Time: 10:45-12:15
Thursday October 12, 2006
Chairs: Abderrahmane Kheddar, Shuuji Kajita
#1 (10:45~11:03)
Paper ID: 1416
Title: Instability Detection and Fall Avoidance for a Humanoid Using Attitude Sensors and Reflexes
Authors: Reimund Renner, Sven Behnke
#2 (11:03~11:21)
Paper ID: 849
Title: Planning Support Contact-points for Humanoid Robots and Experiments on HRP-2
Authors: Adrien Escande, Abderrahmane Kheddar, Sylvain Miossec
#3 (11:21~11:39)
Paper ID: 621
Title: Humanoid Head Prototype with Uncoupled Eyes and Vestibular Sensors
Authors: F. B. Ouezdou, S. Alfayad, P. Pirim, S. Barthelemy
#4 (11:39~11:57)
Paper ID: 1165
Title: Motion Planning of Emergency Stop for Humanoid Robot by State Space Approach
Authors: Mitsuharu Morisawa, Kenji Kaneko, Fumio Kanehiro, Shuuji Kajita, Kiyoshi Fujiwara, Kensuke Harada, Hirohisa Hirukawa
#5 (11:57~12:15)
Paper ID: 156
Title: Biped Walking Pattern Generator allowing Auxiliary ZMP Control
Authors: Shuuji Kajita, Mistuharu Morisawa, Kensuke Harada, Kenji Kaneko, Fumio Kanehiro, Kiyoshi Fujiwara, Hirohisa Hirukawa
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TA2-16: Underwater Robots
Room: Convention Hall No. 16C, Level 3 < map >
Time: 10:45-12:15
Thursday October 12, 2006
Chairs: Hiroshi Kawano, Yuechao Wang
#1 (10:45~11:03)
Paper ID: 876
Title: Characterization and Modeling of Rotational Responses for an Oscillating Foil Underwater Robot
Authors: Philippe Giguere, Chris Prahacs, Gregory Dudek
#2 (11:03~11:21)
Paper ID: 1838
Title: Motion Control System of Underwater Robot without Rudder and Wing
Authors: Yong Gan, Yushan Sun, Lei Wan, Yongjie Pang
#3 (11:21~11:39)
Paper ID: 131
Title: Underwater Robot with a Buoyancy Control System Based on the Spermaceti Oil Hypothesis
Authors: Koji Shibuya, Yuichi Kado, Suguru Honda, Taro Iwamoto, Kazuyoshi Tsutsumi
#4 (11:39~11:57)
Paper ID: 805
Title: Motion Coordination for Underwater Vehicle-Manipulator Systems Using a Fuzzy Hybrid Strategy
Authors: Carlos Henrique dos Santos, Guilherme Bittencourt, Raul Guenther, Edson De Pieri
#5 (11:57~12:15)
Paper ID: 157
Title: Real-time Obstacle Avoidance for Underactuated Autonomous Underwater Vehicles in Unknown Vortex Sea Flow by the MDP Approach
Authors: Hiroshi Kawano
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TP1-1: Robot Control with Uncertainties
Room: Convention Hall No. 3, Level 3 < map >
Time: 13:30-15:00
Thursday October 12, 2006
Chairs: Dong Sun, Hideo Fujimoto
#1 (13:30~13:48)
Paper ID: 15
Title: Global Stability of a Saturated Nonlinear PID Controller for Robotic Manipulators
Authors: Dong Sun, Xiaoyin Shao, Yuxin Su
#2 (13:48~14:06)
Paper ID: 123
Title: Robust Robot Controller Design Using Joint Position and Velocity Dependent Uncertainty Bound
Authors: Mohammad Danesh, Farid Sheikholeslam, Mehdi Keshmiri
#3 (14:06~14:24)
Paper ID: 869
Title: Adaptive Jacobian PID Regulation for Robots with Uncertain Kinematics and Actuator Model
Authors: Chao Liu, Chien Chern Cheah, Jean-Jacques Slotine
#4 (14:24~14:42)
Paper ID: 964
Title: Velocity-Bounding Stiff Position Controller
Authors: Ryo Kikuuwe, Takahiro Yamamoto, Hideo Fujimoto
#5 (14:42~15:00)
Paper ID: 1222
Title: 3D Dynamical Analysis for a Caster Wheeled Mobile Robot Moving on the Frictional Surface
Authors: Po-Chih Chen, Han-Pang Huang
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TP1-2: SLAM Algorithms I
Room: Convention Hall No. 4, Level 3 < map >
Time: 13:30-15:00
Thursday October 12, 2006
Chairs: Jan Weingarten, Takashi Tsubouchi
#1 (13:30~13:48)
Paper ID: 692
Title: 3D SLAM Using Planar Segments
Authors: Jan Weingarten, Roland Siegwart
#2 (13:48~14:06)
Paper ID: 908
Title: A 3-D Scan Matching Using Improved 3-D Normal Distributions Transform for Mobile Robotic Mapping
Authors: Eijiro Takeuchi, Takashi Tsubouchi
#3 (14:06~14:24)
Paper ID: 747
Title: Localization of Avalanche Victims Using Robocentric SLAM
Authors: Pedro Pinies, Juan D. Tardos, Jose Neira
#4 (14:24~14:42)
Paper ID: 558
Title: Robust and Efficient Mobile Robot Self-localization Using Laser Scanner and Geometric Maps
Authors: L. Armesto, J. Tornero
#5 (14:42~15:00)
Paper ID: 582
Title: Using Orthogonal Surface Directions for Autonomous 3D-Exploration of Indoor Environments
Authors: Peter Kohlhepp, Georg Bretthauer, Marcus Walther, Ruediger Dillmann
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TP1-3: Social Interactive Robots I
Room: Convention Hall No. 6, Level 2 < map >
Time: 13:30-15:00
Thursday October 12, 2006
Chairs: Kazuko Itoh, Martin Buss
#1 (13:30~13:48)
Paper ID: 593
Title: Design of a Social Mobile Robot Using Emotion-based Decision Mechanisms
Authors: Geoffrey A. Hollinger, Yavor Georgiev, Anthony Manfredi, Bruce A. Maxwell, Zachary A. Pezzementi, Benjamin Mitchell
#2 (13:48~14:06)
Paper ID: 994
Title: Affective State Recognition and Adaptation in Human-Robot Interaction: A Design Approach
Authors: Changchun Liu, Pramila Rani, Nilanjan Sarkar
#3 (14:06~14:24)
Paper ID: 1520
Title: Development of a Facial Expression Imitation System
Authors: Do Hyoung Kim, Sung Uk Jung, Kwang Ho An, Hui Sung Lee, Myung Jin Chung
#4 (14:24~14:42)
Paper ID: 172
Title: Design and Evaluation of Emotion-Display EDDIE
Authors: Stefan Sosnowski, Ansgar Bittermann, Kolja Kuhnlenz, Martin Buss
Related Video: 055(Video Session 1)
#5 (14:42~15:00)
Paper ID: 1410
Title: Control of Facial Expression of the Humanoid Robot Head ROMAN
Authors: Karsten Berns, Jochen Hirth
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TP1-4: Free Flying Robots
Room: Convention Hall No. 5, Level 2 < map >
Time: 13:30-15:00
Thursday October 12, 2006
Chairs: Hiroki Nakanishi, S. Ali. A Moosavian
#1 (13:30~13:48)
Paper ID: 988
Title: Multiple Impedance Control of Space Free-Flying Robots Using Virtual Object Grasp
Authors: Rambod Rastegari, S. Ali A. Moosavian
#2 (13:48~14:06)
Paper ID: 999
Title: Control of Space Free-Flying Robots Using Regulated Sliding Mode Controller
Authors: S. Ali A. Moosavian, M. Reza Homaeinejad
#3 (14:06~14:24)
Paper ID: 673
Title: Impedance Control for Free-flying Space Robots -Basic Equations and Applications-
Authors: Hiroki Nakanishi, Kazuya Yoshida
#4 (14:24~14:42)
Paper ID: 2011
Title: A Remote Aerial Robot for Topographic Survey
Authors: Xiaoguang Zhao, Jing Liu, Min Tan
#5 (14:42~15:00)
Paper ID: 34
Title: A Nonholonomic Motion Planning and Control Based on Chained Form Transformation
Authors: Yuegang Tan, Ziqing Jiang, Zude Zhou
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TP1-5: Learning II
Room: Convention Hall No. 14, Level 3 < map >
Time: 13:30-15:00
Thursday October 12, 2006
Chairs: Tetsuya Ogata, Volker Graefe
#1 (13:30~13:48)
Paper ID: 368
Title: Efficient Organization of Network Topology Based on Reinforcement Signals
Authors: Chyon Hae Kim, Shigeki Sugano, Tetsuya Ogata
#2 (13:48~14:06)
Paper ID: 379
Title: Learning from Nature to Build Intelligent Autonomous Robots
Authors: Rainer Bischoff, Volker Graefe
#3 (14:06~14:24)
Paper ID: 597
Title: Utilization of Semantic Information for Robust Task Execution by Autonomous Robots
Authors: Hideyuki Tanaka, Takehisa Yairi, Kazuo Machida
#4 (14:24~14:42)
Paper ID: 721
Title: Improving Reinforcement Learning Speed for Robot Control
Authors: Laetitia Matignon, Guillaume J. Laurent, Nadine Le Fort-Piat
#5 (14:42~15:00)
Paper ID: 1192
Title: Towars Direct Policy Search Reinforcement Learning for Robot control
Authors: Andres El-Fakdi, Marc Carreras, Pere Ridao
< Go to Top >
TP1-6: Multi-agent Systems
Room: Convention Hall No. 12, Level 3 < map >
Time: 13:30-15:00
Thursday October 12, 2006
Chairs: Dongning Gu, Shugen Ma
#1 (13:30~13:48)
Paper ID: 253
Title: Continuous and Embedded Learning for Multi-Agent Systems
Authors: Zsolt Kira, Alan C. Schultz
#2 (13:48~14:06)
Paper ID: 412
Title: Configuration Analysis for Reconfigurable Modular Planetary Robots Based on MSV and CSM
Authors: Minghui Wang, Shugen Ma, Bin Li, Yuechao Wang
#3 (14:06~14:24)
Paper ID: 497
Title: A Multiagent Fuzzy Policy Reinforcement Learning Algorithm with Application to Leader-Follower Robotic Systems
Authors: Erfu Yang, Dongbing Gu
#4 (14:24~14:42)
Paper ID: 591
Title: Self-Organization of General Multi-Agent Systems with Complex Interactions
Authors: Hong Shi, Long Wang, Tianguang Chu, Feng Xiao
#5 (14:42~15:00)
Paper ID: 1057
Title: Coordinated Control of Multiple Interactive Dynamical Agents with Asymmetric Coupling Pattern and Switching Topology
Authors: Hong Shi, Long Wang, Tianguang Chu
< Go to Top >
TP1-7: Vibration Control
Room: Convention Hall No. 13, Level 3 < map >
Time: 13:30-15:00
Thursday October 12, 2006
Chairs: Dragomir N. Nenchev, Yanfei Liu
#1 (13:30~13:48)
Paper ID: 9
Title: EMG Control for a Five-fingered Underactuated Prosthetic Hand Based on Wavelet Transform and Sample Entropy
Authors: Jingdong Zhao, Zongwu Xie, Li Jiang, Hegao Cai, Hong Liu, Gerd Hirzinger
#2 (13:48~14:06)
Paper ID: 37
Title: Error Model and Vibration Analysis of Timoshenko Beam Subjected to a Moving Mass
Authors: Zhiyong Qu, Yu Yao
#3 (14:06~14:24)
Paper ID: 789
Title: Modal Control Design of Configuration-Dependent Linkage Vibration in a Parallel Robot Through Experimental Identification
Authors: Xiaoyun Wang, James K. Mills
#4 (14:24~14:42)
Paper ID: 2125
Title: Handling Uncertainty due to the Delay Between Complex Sensing and Manipulation in an Industrial Workcell
Authors: Yanfei Liu, Adam Hoover, Ian Walker
#5 (14:42~15:00)
Paper ID: 1066
Title: Singularity-Consistent Vibration Suppression Control With a Redundant Manipulator Mounted on a Flexible Base
Authors: Toshimitsu Hishinuma, Dragomir N. Nenchev
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TP1-8: Unconventional UAVs
Room: Convention Hall No. 15, Level 3 < map >
Time: 13:30-15:00
Thursday October 12, 2006
Chairs: Dario Floreano, Yunjian Ge
#1 (13:30~13:48)
Paper ID: 1504
Title: Identification of Attitude Flight Dynamics for An Unconventional UAV
Authors: Ming Liu, Gregory Egan, Yunjian Ge
#2 (13:48~14:06)
Paper ID: 1228
Title: Control Laws for the Tele Operation of an Unmanned Aerial Vehicle Known as an X4-flyer
Authors: Nicolas Guenard, Tarek Hamel, Laurent Eck
#3 (14:06~14:24)
Paper ID: 1189
Title: Backstepping Control for a Quadrotor Helicopter
Authors: Tarek Madani, Abdelaziz Benallegue
#4 (14:24~14:42)
Paper ID: 541
Title: Developement of a Cyclogyro-based Flying Robot with Variable Attack Angle Mechanisms
Authors: Yoshiyuki Higashi, Kazuo Tanaka
#5 (14:42~15:00)
Paper ID: 369
Title: A 10-gram Microflyer for Vision-based Indoor Navigation
Authors: Jean-Christophe Zufferey, Adam Klaptocz, Antoine Beyeler, Jean-Daniel Nicoud, Dario Floreano
Related Video: 053(Video Session 2)
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TP1-9: Visual Navigation
Room: Convention Hall No. 8, Level 2 < map >
Time: 13:30-15:00
Thursday October 12, 2006
Chairs: Ju-Jang Lee, Stefano Chiaverini
#1 (13:30~13:48)
Paper ID: 980
Title: Vision-based Drivable Surface Detection in Autonomous Ground Vehicles
Authors: Ying Guo, Vadim Gerasimov, Geoff Poulton
#2 (13:48~14:06)
Paper ID: 1671
Title: Vision-based Motion Planning for an Autonomous Motorcycle on Ill-Structured Road
Authors: Dezhen Song, Hyun Nam Lee, Jingang Yi, Anthony Levandowski
#3 (14:06~14:24)
Paper ID: 97
Title: Linear Estimation of the Odometric Parameters for Differential-Drive Mobile Robots
Authors: Gianluca Antonelli, Stefano Chiaverini
#4 (14:24~14:42)
Paper ID: 173
Title: Robust Mapless Outdoor Vision-based Navigation
Authors: Christophe Giovannangeli, Philippe Gaussier, Gael Desilles
#5 (14:42~15:00)
Paper ID: 356
Title: Learning from Human Cognition: Collaborative Localization for Vision-based Autonomous Robots
Authors: Qining Wang, Lianghuan Liu, Guangming Xie, Long Wang
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TP1-10: Visual Tracking Control
Room: Convention Hall No. 16A, Level 3 < map >
Time: 13:30-15:00
Thursday October 12, 2006
Chairs: Thomas Nierobisch, Kai-Tai Song
#1 (13:30~13:48)
Paper ID: 319
Title: Large View Visual Servoing of a Mobile Robot with a Pan-Tilt Camera
Authors: Thomas Nierobisch, Wladimir Fischer, Frank Hoffmann
#2 (13:48~14:06)
Paper ID: 810
Title: Vision Based Trajectory Tracking Controller for a B21R Mobile Robot
Authors: Xiusong Yang, Abdelhamid Tayebi
#3 (14:06~14:24)
Paper ID: 942
Title: Face Tracking Interaction Control of a Nonholonomic Mobile Robot
Authors: Chi-Yi Tsai, Kai-Tai Song
#4 (14:24~14:42)
Paper ID: 1749
Title: Research on System Design and Control Technology of Vision-Based CyberCar
Authors: Rong-ben Wang, Rong-hui Zhang, Li-sheng Jin, Xiu-hong Guo, Lie Guo
#5 (14:42~15:00)
Paper ID: 2112
Title: An Evolutionary Artificial Potential Field Algorithm for Dynamic Path Planning of Mobile Robot
Authors: Qixin Cao, Yanwen Huang, Jingliang Zhou
< Go to Top >
TP1-11: Vision Based Recognition I
Room: Convention Hall No. 10, Level 3 < map >
Time: 13:30-15:00
Thursday October 12, 2006
Chairs: Jens Kubacki, Yoshio Iwai
#1 (13:30~13:48)
Paper ID: 620
Title: Environment Understanding: Robust Feature Extraction from Range Sensor Data
Authors: Antonio Romeo, Luis Montano
#2 (13:48~14:06)
Paper ID: 357
Title: Performance Evaluation of Face Recognition in the Wavelet Domain
Authors: Yuzuko Utsumi, Yoshio Iwai, Masahiko Yachida
#3 (14:06~14:24)
Paper ID: 1934
Title: Towards Open-Ended 3D Rotation and Shift Invariant Object Detection for Robot Companions
Authors: Jens Kubacki, Winfried Baum
#4 (14:24~14:42)
Paper ID: 493
Title: A Robust Barcode Reading Method Based on Image Analysis of a Hierarchical Feature Classification
Authors: Xiangju Lu, Guoliang Fan, Yunkuan Wang
#5 (14:42~15:00)
Paper ID: 651
Title: Structure-Constrained Obstacles Recognition for Power Transmission Line Inspection Robot
Authors: Siyao Fu, Weiming Li, Yunchu Zhang, Zize Liang, Zengguang Hou, Min Tan, Wenbo Ye, Bo Lian, Qi Zuo
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TP1-12: Path Planning III
Room: Convention Hall No. 16B, Level 3 < map >
Time: 13:30-15:00
Thursday October 12, 2006
Chairs: Ross Knepper, Zhiyang Yao
#1 (13:30~13:48)
Paper ID: 45
Title: Finding Efficient Robot Path for the Complete Coverage of a Known Space
Authors: Zhiyang Yao
#2 (13:48~14:06)
Paper ID: 473
Title: High Performance State Lattice Planning Using Heuristic Look-Up Tables
Authors: Ross A. Knepper, Alonzo Kelly
#3 (14:06~14:24)
Paper ID: 706
Title: 3D Field D*: Improved Path Planning and Replanning in Three Dimensions
Authors: Joseph Carsten, Dave Ferguson, Anthony Stentz
#4 (14:24~14:42)
Paper ID: 425
Title: Utilization of Holonomic Distribution Control for Reactionless Path Planning
Authors: Dimitar Dimitrov, Kazuya Yoshida
#5 (14:42~15:00)
Paper ID: 408
Title: Probabilistic Search for a Moving Target in an Indoor Environment
Authors: Haye Lau, Shoudong Huang, Gamini Dissanayake
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TP1-13: Wall-climbing Robots
Room: Convention Hall No. 11, Level 3 < map >
Time: 13:30-15:00
Thursday October 12, 2006
Chairs: Hidenori Ishihara, Metin Sitti
#1 (13:30~13:48)
Paper ID: 871
Title: FPGA-based Control System for Miniature Robots
Authors: Narashiman Chakravarthy, Jizhong Xiao
#2 (13:48~14:06)
Paper ID: 484
Title: A New Principle for Climbing Wheeled Robots:Serpentine Climbing with the OpenWHEEL Platform
Authors: J.C. Fauroux, F. Chapelle, B.C. Bouzgarrou
#3 (14:06~14:24)
Paper ID: 857
Title: Waalbot: An Agile Small-Scale Wall Climbing Robot Utilizing Pressure Sensitive Adhesives
Authors: Michael P. Murphy, William Tso, Michael Tanzini, Metin Sitti
#4 (14:24~14:42)
Paper ID: 1769
Title: Development of Wall-climbing Robots with Sliding Suction Cups
Authors: Zhi-yuan Qian, Yan-zheng Zhao, Zhuang Fu
#5 (14:42~15:00)
Paper ID: 588
Title: A Novel Approach to Fault Detection and Identification in Suction Foot Control of a Climbing Robot
Authors: Yong Jiang, Hongguang Wang, Lijin Fang, Mingyang Zhao
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TP1-14: Omnidirectional Vision
Room: Convention Hall No. 3030, Level 3 < map >
Time: 13:30-15:00
Thursday October 12, 2006
Chairs: Christoffer Valgren, Jun Miura
#1 (13:30~13:48)
Paper ID: 41
Title: Stable Symmetry Feature Detection and Classification in Panoramic Robot Vision Systems
Authors: Kai Huebner, Jianwei Zhang
Related Video: 001(Video Session 3)
#2 (13:48~14:06)
Paper ID: 1087
Title: 3D Indoor Environment Modeling by a Mobile Robot with Omnidirectional Stereo and Laser Range Finder
Authors: Suguru Ikeda, Jun Miura
#3 (14:06~14:24)
Paper ID: 485
Title: Incremental Topological Mapping Using Omnidirectional Vision
Authors: Christoffer Valgren, Achim Lilienthal, Tom Duckett
#4 (14:24~14:42)
Paper ID: 577
Title: Robust Attitude Estimation with Catadioptric Vision
Authors: Cedric Demonceaux, Pascal Vasseur, Claude Pegard
#5 (14:42~15:00)
Paper ID: 744
Title: Evaluation of HBP Mirror System for Remote Surveillance
Authors: Kazuaki Kondo, Yasuhiro Mukaigawa, Toshiya Suzuki, Yasushi Yagi
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TP1-15: Humanoid Robots VII: Intelligence
Room: Convention Hall No. 7, Level 2 < map >
Time: 13:30-15:00
Thursday October 12, 2006
Chairs: ChangHwan Kim, Hiroshi Ishiguro
#1 (13:30~13:48)
Paper ID: 740
Title: Motor Synergies for Coordinated Movements in Humanoids
Authors: Xue Gu, Dana H. Ballard
#2 (13:48~14:06)
Paper ID: 865
Title: Behavior Selection and Environment Recognition Methods for Humanoids Based on Sensor History
Authors: Takahiro Miyashita, Kazuhiko Shinozawa, Norihiro Hagita, Hiroshi Ishiguro
#3 (14:06~14:24)
Paper ID: 705
Title: On the Discrete-Continuous Control of Basic Skills for Humanoid Robots
Authors: G. Milighetti, H.-B. Kuntze
#4 (14:24~14:42)
Paper ID: 1290
Title: How Can Humanoid Acquire Lexicon-Active Approach by Attention and Learning Biases based on Curiosity-
Authors: Masaki Ogino, Masaaki Kikuchi, Minoru Asada
#5 (14:42~15:00)
Paper ID: 607
Title: Human-like Arm Motion Generation for Humanoid Robots Using Motion Capture Database
Authors: Seungsu Kim, ChangHwan Kim, Jong Hyeon Park
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TP1-16: Safety, Security and Rescue Robotics I
Room: Convention Hall No. 16C, Level 3 < map >
Time: 13:30-15:00
Thursday October 12, 2006
Chairs: Fumiaki Takemura, Satoshi Tadokoro
#1 (13:30~13:48)
Paper ID: 399
Title: Field Test for Verifying The Capability of Two High-powered Hydraulic Small Robots for Rescue Operations
Authors: Mayuko Mori, Junichi Tanaka, Koichi Suzumori, Takefumi Kanda
#2 (13:48~14:06)
Paper ID: 1417
Title: A Novel USAR Digging Mechanism
Authors: Robin G. Scott, Robert C. Richardson
#3 (14:06~14:24)
Paper ID: 1243
Title: Attitude Stability of a Cable Driven Balloon Robot
Authors: Fumiaki Takemura, Kiyoshi Maeda, Satoshi Tadokoro
#4 (14:24~14:42)
Paper ID: 1501
Title: Rescue Communicators for Global Victim Search and Local Rescue Planning
Authors: Yasushi Hada, Kuniaki Kawabata, Harutoshi Koguchi, Hayato Kaetsu, Hajime Asama
#5 (14:42~15:00)
Paper ID: 990
Title: Disaster Information Collection into Geographic Information System Using Rescue Robots
Authors: Jun-ichi Meguro, Kiitirou Ishikawa, Takumi Hasizume, Jun-ichi Takiguchi, Itsuki Noda, Mitinori Hatayama
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TP2-1: UAV Control
Room: Convention Hall No. 3, Level 3 < map >
Time: 15:15-16:45
Thursday October 12, 2006
Chairs: Brian White, Paul Oh
#1 (15:15~15:33)
Paper ID: 557
Title: Hardware-in-the-loop Test Rig to Capture Aerial Robot and Sensor Suite Performance Metrics
Authors: Vefa Narli, Paul Y. Oh
#2 (15:33~15:51)
Paper ID: 195
Title: Two Seconds to Touchdown - Vision-based Controlled Forced Landing
Authors: Luis Mejias, Pascual Campoy, Kane Usher, Jonathan Roberts, Peter Corke
#3 (15:51~16:09)
Paper ID: 761
Title: A Robust Approach to Multiple Sensor Based Navigation for an Aerial Robot
Authors: Immanuel Ashokaraj, Antonios Tsourdos, Peter M. G. Silson, Brian A. White
#4 (16:09~16:27)
Paper ID: 1666
Title: Feature Based Navigation for UAVs
Authors: W.Y. Kong, G.K. Egan, T. Cornall
#5 (16:27~16:45)
Paper ID: 613
Title: Waypoint Navigation Control of a VTOL UAV Amidst Obstacles
Authors: Jean Michel Pflimlin, Philippe Soueres, Tarek Hamel
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TP2-2: SLAM Algorithms II
Room: Convention Hall No. 4, Level 3 < map >
Time: 15:15-16:45
Thursday October 12, 2006
Chairs: Javier Gonzalez, Juan Nieto
#1 (15:15~15:33)
Paper ID: 507
Title: An Entropy-based Measurement of Certainty in Rao-Blackwellized Particle Filter Mapping
Authors: Jose-Luis Blanco, Juan-Antonio Fernandez-Madrigal, Javier Gonzalez
#2 (15:33~15:51)
Paper ID: 1313
Title: Improving the Consistency of Relative Map
Authors: Viet Nguyen, Agostino Martinelli, Roland Siegwart
#3 (15:51~16:09)
Paper ID: 887
Title: Consistency of the EKF-SLAM Algorithm
Authors: Tim Bailey, Juan Nieto, Jose Guivant, Michael Stevens, Eduardo Nebot
#4 (16:09~16:27)
Paper ID: 910
Title: On the Observability and Observability Analysis of SLAM
Authors: Kwang Wee Lee, W Sardha Wijesoma, Javier Ibanez-Guzman
#5 (16:27~16:45)
Paper ID: 600
Title: SLAM with Consistent Mapping in an Hybrid Model
Authors: Alessandro Correa Victorino, Patrick Rives
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TP2-3: Tactile Sensing
Room: Convention Hall No. 6, Level 2 < map >
Time: 15:15-16:45
Thursday October 12, 2006
Chairs: Dong-Soo Kwon, Satoshi Tadokoro
#1 (15:15~15:33)
Paper ID: 274
Title: Real-time Estimation of Touch Feeling Factors Using Human Finger Mimetic Tactile Sensor
Authors: Shogo Okamoto, Masashi Konyo, Yuka Mukaibo, Takashi Maeno, Satoshi Tadokoro
#2 (15:33~15:51)
Paper ID: 465
Title: Free to Touch: A Portable Tactile Display For 3D Surface Texture Exploration
Authors: I. Sarakoglou, M. Bezdicek, N. Tsagarakis, D.G. Caldwell
#3 (15:51~16:09)
Paper ID: 1128
Title: Tactile Sensing to Display for Tangible Interface
Authors: Seung-kook Yun, Sungchul Kang, Dong-Soo Kwon, Hyoukreol Choi
#4 (16:09~16:27)
Paper ID: 1388
Title: Bowden Cable Actuator for Force-Feedback Exoskeletons
Authors: Andre Schiele, Pierre Letier, Richard van der Linde, Frans van der Helm
#5 (16:27~16:45)
Paper ID: 1024
Title: Combined Impedance/Direct Control of Robot Manipulators
Authors: Heng Wang, K. H. Low, Michael Yu Wang
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TP2-4: Robot Design
Room: Convention Hall No. 5, Level 2 < map >
Time: 15:15-16:45
Thursday October 12, 2006
Chairs: Max Meng, William Hamel
#1 (15:15~15:33)
Paper ID: 967
Title: Reliability-based Design Optimization of Robotic System Dynamic Performance
Authors: Alan P. Bowling, John E. Renaud, Jeremy T. Newkirk, Neal M. Patel, Harish Agarwal
#2 (15:33~15:51)
Paper ID: 1937
Title: Environment-Adaptive Antipersonnel Mine Detection System -Advanced Mine Sweeper-
Authors: Toshio Fukuda, Yasuhisa Hasegawa, Kazuhiro Kosuge, Kiyoshi Komoriya, Fumihisa Kitagawa, Tomohiro Ikegami
#3 (15:51~16:09)
Paper ID: 1072
Title: Design and Implementation of a Fencing Training Robot
Authors: Hua-wei Liang, Tao Mei, Max Meng
#4 (16:09~16:27)
Paper ID: 845
Title: NIMS3D: A Novel Rapidly Deployable Robot for 3-Dimensional Applications
Authors: Per Henrik Borgstrom, Michael J. Stealey, Maxim A. Batalin, William J. Kaiser
#5 (16:27~16:45)
Paper ID: 792
Title: SUPERBOT: A Deployable, Multi-Functional, and Modular Self-Reconfigurable Robotic System
Authors: Behnam Salemi, Mark Moll, Wei-Min Shen
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TP2-5: Learning and Cognition I
Room: Convention Hall No. 14, Level 3 < map >
Time: 15:15-16:45
Thursday October 12, 2006
Chairs: Ignazio Infantino, Tetsuya Ogata
#1 (15:15~15:33)
Paper ID: 1140
Title: Learning Predictive Features in Affordance-based Robotic Perception Systems
Authors: Gerald Fritz, Lucas Paletta, Ralph Breithaupt, Erich Rome, Georg Dorffner
#2 (15:33~15:51)
Paper ID: 656
Title: Learning High-level Tasks Through Imitation
Authors: Antonio Chella, Haris Dindo, Ignazio Infantino
#3 (15:51~16:09)
Paper ID: 1145
Title: Imitation Learning System to Assist Human Task Interactively
Authors: So Taoka, Tatsuya Harada, Tomomasa Sato, Taketoshi Mori
#4 (16:09~16:27)
Paper ID: 851
Title: Adaptive Human-Robot Interaction System Using Interactive EC
Authors: Yuki Suga, Chihiro Endo, Daizo Kobayashi, Tetsuya Ogata
#5 (16:27~16:45)
Paper ID: 1134
Title: Experience Based Imitation Using RNNPB
Authors: Ryunosuke Yokoya, Tetsuya Ogata, Jun Tani, Kazunori Komatani, Hiroshi G. Okuno
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TP2-6: Multi-robot Cooperation
Room: Convention Hall No. 12, Level 3 < map >
Time: 15:15-16:45
Thursday October 12, 2006
Chairs: Majid Nil Ahmadabad, Zhidong Wang
#1 (15:15~15:33)
Paper ID: 372
Title: Dynamic Object Closure by Multiple Mobile Robots and Random Caging Formation Testing
Authors: Zhidong Wang, Yasuhisa Hirata, Kazuhiro Kosuge
#2 (15:33~15:51)
Paper ID: 1258
Title: Dynamical Modeling of Kinematically Defcient Cooperating Manipulators
Authors: S. Murat Yesiloglu, Hakan Temeltas
#3 (15:51~16:09)
Paper ID: 1259
Title: Cooperative Control of Three Snake Robots
Authors: Motoyasu Tanaka, Fumitoshi Matsuno
#4 (16:09~16:27)
Paper ID: 1528
Title: Multi-robot Box-pushing: Single-Agent Q-Learning vs. Team Q-Learning
Authors: Ying Wang, Clarence W. de Silva
#5 (16:27~16:45)
Paper ID: 2052
Title: Knowledge-based Extraction of Area of Expertise for Cooperation in Learning
Authors: Majid Nili Ahmadabadi, Ahmad Imanipour, Babak N. Araabi, Masoud Asadpour, Roland Siegwart
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TP2-7: Manufacturing
Room: Convention Hall No. 13, Level 3 < map >
Time: 15:15-16:45
Thursday October 12, 2006
Chairs: Dan Popa, Yanfei Liu
#1 (15:15~15:33)
Paper ID: 937
Title: Resource Management with RFID Technology in Automatic Warehouse System
Authors: Guidong Liu, Wensheng Yu, Yu Liu
#2 (15:33~15:51)
Paper ID: 515
Title: M3-Modular Multi-Scale Assembly System for MEMS Packaging
Authors: Dan Popa, Rakesh Murthy, Manoj Mittal, Jeongsik Sin, Harry Stephanou
#3 (15:51~16:09)
Paper ID: 1702
Title: Information System Unit Model of Distributed Manufacturing Enterprises
Authors: Kaisheng Zhang, Yanming Sun, Shixiong Zheng, Wei Chen
#4 (16:09~16:27)
Paper ID: 2008
Title: A Multi-Agent Model for Reconfigurable Manufacturing System Based on Complex Adaptive System
Authors: Peng He, QingLin Wang, JiaCheng Yu
#5 (16:27~16:45)
Paper ID: 6
Title: Combinatorial Optimization of Sensing for Rule-based Planar Distributed Assembly
Authors: Jonathan Kelly, Hong Zhang
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TP2-8: Robot Software
Room: Convention Hall No. 15, Level 3 < map >
Time: 15:15-16:45
Thursday October 12, 2006
Chairs: Berthold Bauml, William D. Smart
#1 (15:15~15:33)
Paper ID: 348
Title: Specifying Robot Reactivity in Procedural Languages
Authors: Geoffrey Biggs, Bruce A. MacDonald
#2 (15:33~15:51)
Paper ID: 439
Title: Agile Robot Development (aRD): A Pragmatic Approach to Robotic Software
Authors: Berthold Bauml, Gerd Hirzinger
#3 (15:51~16:09)
Paper ID: 939
Title: A Video Game-based Mobile Robot Simulation Environment
Authors: Josh Faust, Cheryl Simon, William D. Smart
#4 (16:09~16:27)
Paper ID: 1292
Title: Flexible Signal-Oriented Hardware Abstraction for Rapid Prototyping of Robotic Systems
Authors: Stefan Jorg, Mathias Nickl, Gerd Hirzinger
#5 (16:27~16:45)
Paper ID: 1420
Title: Contextual Management of Tasks and Instrumentation within an AUV Control Software Architecture
Authors: Abdellah El Jalaoui, David Andreu, Bruno Jouvencel
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TP2-9: Contact and Touch
Room: Convention Hall No. 8, Level 2 < map >
Time: 15:15-16:45
Thursday October 12, 2006
Chairs: Tsukasa Ogasawara, Yantao Shen
#1 (15:15~15:33)
Paper ID: 487
Title: Manipulative Familiarization and Fatigue Evaluation Using Contact State Transition
Authors: Masahiro Kondo, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara
#2 (15:33~15:51)
Paper ID: 1491
Title: Quantification and Verification of Automobile Interior Textures by a High Performance Tactile-Haptic Interface
Authors: Yantao Shen, Craig A. Pomeory, Ning Xi, Yifan Chen
#3 (15:51~16:09)
Paper ID: 993
Title: Development of Anthropomorphic Robot Hand with Tactile Sensor : SKKU Hand II
Authors: Byungjune Choi, Sanghun Lee, Hyouk Ryeol Choi, Sungchul Kang
#4 (16:09~16:27)
Paper ID: 27
Title: Modelling and Estimation for Tire-Road System Using Bond Graph Approch
Authors: R. Merzouki, B. Ould Bouamama, M.A. Djeziri, M. Bouteldja
#5 (16:27~16:45)
Paper ID: 343
Title: The Development on a New Biomechatronic Prosthetic Hand Based on Under-actuated Mechanism
Authors: H. Huang, L. Jiang, D.W. Zhao, J.D. Zhao, H.G. Cai, H. Liu, P. Meusel, B. Willberg, G. Hirzinger
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TP2-10: Visual Servoing II
Room: Convention Hall No. 16A, Level 3 < map >
Time: 15:15-16:45
Thursday October 12, 2006
Chairs: Seth A. Hutchinson, Vicente Parra-Vega
#1 (15:15~15:33)
Paper ID: 94
Title: Dynamic Visual Servoing of Robots Using Uncalibrated Eye-in-hand Visual Feedback
Authors: Hesheng Wang, Yun-Hui Liu
#2 (15:33~15:51)
Paper ID: 521
Title: Switch Images Based on Fusion in Uncalibrated Visual Servoing
Authors: Zhendong Gao, Jianbo Su
#3 (15:51~16:09)
Paper ID: 1450
Title: Global Uncalibrated Visual Servoing for Constrained Robots Working on an Uncalibrated Environments
Authors: E.C Dean-Leon, V. Parra-Vega, A. Espinosa-Romero
#4 (16:09~16:27)
Paper ID: 1984
Title: Using Neural Network Technique in Vision-based Robot Curve Tracking
Authors: Qingjie Zhao, Fasheng Wang, Zengqi Sun
#5 (16:27~16:45)
Paper ID: 1502
Title: Visual Servo Velocity and Pose Control of a Wheeled Inverted Pendulum through Partial-Feedback Linearization
Authors: Nicholas R. Gans, Seth A. Hutchinson
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TP2-11: Vision Based Recognition II
Room: Convention Hall No. 10, Level 3 < map >
Time: 15:15-16:45
Thursday October 12, 2006
Chairs: Patric Jensfelt, Takahiro Hara
#1 (15:15~15:33)
Paper ID: 1331
Title: A Discriminative Approach to Robust Visual Place Recognition
Authors: A. Pronobis, B. Caputo, P. Jensfelt, H.I. Christensen
Related Video: 037(Video Session 3)
#2 (15:33~15:51)
Paper ID: 1539
Title: Inspection of Visible and Invisible Features of Objects with Image and Sound Signal Processing
Authors: Atsushi Yamashita, Takahiro Hara, Toru Kaneko
#3 (15:51~16:09)
Paper ID: 367
Title: An Efficient Face Normalization Algorithm Based on Eyes Detection
Authors: Ganhua Li, Xuanping Cai, Xianshuai Li, Yunhui Liu
#4 (16:09~16:27)
Paper ID: 228
Title: Moving Vehicle Classification Using Eigenspace
Authors: Anand Santhanam, M. Masudur Rahman
#5 (16:27~16:45)
Paper ID: 560
Title: Visual Object Recognition in Diverse Scenes with Multiple Instance Learning
Authors: Dong Wang, Bo Zhang, Jianwei Zhang
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TP2-12: Path Planning IV
Room: Convention Hall No. 16B, Level 3 < map >
Time: 15:15-16:45
Thursday October 12, 2006
Chairs: Robert Haschke, Zhao Jing
#1 (15:15~15:33)
Paper ID: 2150
Title: An Improved Gilbert Algorithm with Rapid Convergence
Authors: Liang Chang, Hong Qiao, Anhua Wan, John Keane
#2 (15:33~15:51)
Paper ID: 315
Title: Efficient Smoothing of Piecewise Linear Paths with Minimal Deviation
Authors: Michel Waringo, Dominik Henrich
#3 (15:51~16:09)
Paper ID: 854
Title: Unraveling of Deformable Linear Objects Based on 2D Information about Their Crossing States
Authors: Hidefumi Wakamatsu, Akira Tsumaya, Eiji Arai, Shinichi Hirai
#4 (16:09~16:27)
Paper ID: 676
Title: Dynamic Path Planning for a 7-DOF Robot Arm
Authors: Stefan Klanke, Dmitry Lebedev, Robert Haschke, Jochen Steil, Helge Ritter
#5 (16:27~16:45)
Paper ID: 17
Title: On the Sudden Change in Joint Velocity during Fault Tolerant Operations for Spatial Coordinating Redundant Manipulators
Authors: Jing Zhao, Yanbin Yao, Xuebin Yao
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TP2-13: Biomimetic Robots
Room: Convention Hall No. 11, Level 3 < map >
Time: 15:15-16:45
Thursday October 12, 2006
Chairs: Jonas Buchli, Bin Li
#1 (15:15~15:33)
Paper ID: 303
Title: Development of Multi-mode Biomimetic Robotic Fish Based on Central Pattern Generator
Authors: Wei Zhao, Junzhi Yu, Yimin Fang, Long Wang
#2 (15:33~15:51)
Paper ID: 516
Title: 3D Locomotion of a Snake-like Robot Controlled by Cyclic Inhibitory CPG Model
Authors: Zhenli Lu, Shugen Ma, Bin Li, Yuechao Wang
#3 (15:51~16:09)
Paper ID: 318
Title: Finding Resonance: Adaptive Frequency Oscillators for Dynamic Legged Locomotion
Authors: Jonas Buchli, Fumiya Iida, Auke Jan Ijspeert
#4 (16:09~16:27)
Paper ID: 1631
Title: Motion Control of Underwater Vehicles Based on Robust Neural Network
Authors: Xiao Liang, Ye Li, Lei Wan
#5 (16:27~16:45)
Paper ID: 975
Title: Dynamic Modeling of Three-Dimensional Swimming for Biomimetic Robotic Fish
Authors: Lizhong Liu, Junzhi Yu, Long Wang
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TP2-14: Sensors and Sensor Control
Room: Convention Hall No. 3030, Level 3 < map >
Time: 15:15-16:45
Thursday October 12, 2006
Chairs: Alois Knoll, Toshio Fukuda
#1 (15:15~15:33)
Paper ID: 1503
Title: Optimum Camera Angle for Optic Flow-based Centering Response
Authors: Stefan Hrabar, Gaurav S. Sukhatme
#2 (15:33~15:51)
Paper ID: 1422
Title: Atomic Force Microscopy Sensing Using Multiple Modes
Authors: Jiangbo Zhang, Ning Xi, Guangyong Li, Chanmin Su
#3 (15:51~16:09)
Paper ID: 780
Title: Magnetic Hair for Wall Mobility
Authors: Jose Berengueres, Kunio Takahashi, Shigeki Saito, Kenjiro Tadakuma
#4 (16:09~16:27)
Paper ID: 779
Title: Implementation of Listing's Law for a Tendon Driven Robot Eye
Authors: Giorgio Cannata, Marco Maggiali
#5 (16:27~16:45)
Paper ID: 382
Title: Development of an Active Flexible Cable by Ciliary Vibration Drive for Scope Camera
Authors: Kazuya Isaki, Akira Niitsuma, Masashi Konyo, Fumiaki Takemura, Satoshi Tadokoro
< Go to Top >
TP2-15: Humanoid Robots VIII: Strategy
Room: Convention Hall No. 7, Level 2 < map >
Time: 15:15-16:45
Thursday October 12, 2006
Chairs: Jong Hyeon Park, Kei Okada
#1 (15:15~15:33)
Paper ID: 1160
Title: A Hybrid Approach to Practical Self Collision Detection System of Humanoid Robot
Authors: Kei Okada, Masayuki Inaba
#2 (15:33~15:51)
Paper ID: 186
Title: Wire-Driven Bipedal Robot
Authors: Yuji Tsusaka, Yasuhiro Ota
#3 (15:51~16:09)
Paper ID: 1062
Title: Comparison of a Humanoid Robot and an On-Screen Agent as Presenters to Audiences
Authors: Johane Takeuchi, Kazutaka Kushida, Yoshitaka Nishimura, Hiroshi Dohi, Mitsuru Ishizuka, Mikio Nakano, Hiroshi Tsujino
#4 (16:09~16:27)
Paper ID: 1237
Title: Emergent stop for Humanoid Robots
Authors: Takeshi Tanaka, Tomohito Takubo, Kenji Inoue, Tatsuo Arai
#5 (16:27~16:45)
Paper ID: 1246
Title: Human-like Walking with Knee Stretched, Heel-contact and Toe-off Motion by a Humanoid Robot
Authors: Yu Ogura, Kazushi Shimomura, Hideki Kondo, Akitoshi Morishima, Tatsu Okubo, Shimpei Momoki, Hun-ok Lim, Atsuo Takanishi
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TP2-16: Safety, Security and Rescue Robotics II
Room: Convention Hall No. 16C, Level 3 < map >
Time: 15:15-16:45
Thursday October 12, 2006
Chairs: Changlong Ye, Hitoshi Kimura
#1 (15:15~15:33)
Paper ID: 1014
Title: Design and Manufacturing of a Mobile Rescue Robot
Authors: S. Ali A. Moosavian, Hesam Semsarilar, Arash Kalantari
#2 (15:33~15:51)
Paper ID: 704
Title: RAPOSA: Semi-Autonomous Robot for Rescue Operations
Authors: Carlos Marques, Joao Cristovao, Pedro Lima, Joao Frazao, Isabel Ribeiro, Rodrigo Ventura
#3 (15:51~16:09)
Paper ID: 288
Title: Design and Basic Experiments of a Shape-shifting Mobile Robot for Urban Search and Rescue
Authors: Changlong Ye, Shugen Ma, Bin Li
#4 (16:09~16:27)
Paper ID: 1058
Title: Development and Control of a High Maneuverability Wheeled Robot with Variable-Structure Functionality
Authors: Naoji Shiroma, Yu-huan Chiu, Zi Min, Ichiro Kawabuchi, Fumitoshi Matsuno
#5 (16:27~16:45)
Paper ID: 626
Title: Flexible Hermetically-Sealed Mobile Robot for Narrow Spaces Using Hydrostatic Skeleton Driving Mechanism
Authors: Hitoshi Kimura, Fumihiro Kajimura, Daisuke Maruyama, Michihiko Koseki, Norio Inou
Related Video: 058(Video Session 2)
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FA1-1: Dexterous Hands and Grasping Control
Room: Convention Hall No. 3, Level 3 < map >
Time: 9:00-10:30
Friday October 13, 2006
Chairs: Darwin Caldwell, Shinya Kajikawa
#1 (9:00~9:18)
Paper ID: 1241
Title: Effect of Layer Compliance on Frictional Behavior of Soft Robotic Fingers
Authors: Paolo Tiezzi, Imin Kao, Gabriele Vassura
#2 (9:18~9:36)
Paper ID: 1425
Title: Tele-Operated High Speed Anthropomorphic Dextrous Hands with Object Shape and Texture Identification
Authors: P.Y. Chua, M. Bezdicek, S. Davis, D.G. Caldwell, J. O. Gray
#3 (9:36~9:54)
Paper ID: 182
Title: Development of a Robot Finger Module with Multi-directional Passive Compliance
Authors: Shinya Kajikawa
#4 (9:54~10:12)
Paper ID: 84
Title: FACL Based 3D Grasping Controller for a Snake Robot During Locomotion
Authors: Evrim Onur Arl, Ismet Erkmen, Aydan M. Erkmen
#5 (10:12~10:30)
Paper ID: 1097
Title: Coverage Diameters of Polygons
Authors: Pawin Vongmasa, Attawith Sudsang
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FA1-2: Multi-sensor SLAM
Room: Convention Hall No. 4, Level 3 < map >
Time: 9:00-10:30
Friday October 13, 2006
Chairs: Alexander Kleiner, Michael Milford
#1 (9:00~9:18)
Paper ID: 710
Title: SLAM Using Visual Scan-Matching with Distinguishable 3D Points
Authors: Federico Bertolli, Patric Jensfelt, Henrik I. Christensen
#2 (9:18~9:36)
Paper ID: 1248
Title: Metric SLAM in Home Environment with Visual Objects and Sonar Features
Authors: Jinwoo Choi, Sunghwan Ahn, Minyong Minyong, Wan Kyun Chung
#3 (9:36~9:54)
Paper ID: 122
Title: RFID Technology-based Exploration and SLAM for Search And Rescue
Authors: Alexander Kleiner, Johann Prediger, Bernhard Nebel
#4 (9:54~10:12)
Paper ID: 230
Title: RatSLAM on the Edge: Revealing a Coherent Representation from an Overloaded Rat Brain
Authors: Michael Milford, Gordon Wyeth, David Prasser
#5 (10:12~10:30)
Paper ID: 109
Title: An Evolutionary SLAM Algorithm for Mobile Robots
Authors: Momotaz Begum, George K. I. Mann, Raymond G. Gosine
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FA1-3: Task Planning
Room: Convention Hall No. 6, Level 2 < map >
Time: 9:00-10:30
Friday October 13, 2006
Chairs: Satoshi Tadokoro, Yoshio Yamamoto
#1 (9:00~9:18)
Paper ID: 1423
Title: Improved Markov Models for Indoor Surveillance
Authors: Mark Moors, Dirk Schulz
#2 (9:18~9:36)
Paper ID: 873
Title: A Path Planner in Changing Environments by Using W-C Nodes Mapping Coupled with Lazy Edges Evaluation
Authors: Hong Liu, Xuezhi Deng, Hongbin Zha, Ding Ding
#3 (9:36~9:54)
Paper ID: 342
Title: Where to Build a Door
Authors: John Z. Zhang, Tsunehiko Kameda
#4 (9:54~10:12)
Paper ID: 1168
Title: Dynamic Decision Making of Mobile Robot under Obstructed Environment
Authors: Ya-Chun Chang, Yoshio Yamamoto
#5 (10:12~10:30)
Paper ID: 1234
Title: Search Algorithm of the Order of Object Transportation by Multiple Robots
Authors: Shotaro Kamio, Hitoshi Iba
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FA1-4: Space Robotics II
Room: Convention Hall No. 5, Level 2 < map >
Time: 9:00-10:30
Friday October 13, 2006
Chairs: Kazuya Yoshida, Ou Ma
#1 (9:00~9:18)
Paper ID: 277
Title: Workspace Analysis of 6-DOF Cable Robot for Hardware-in-the-Loop Dynamic Simulation
Authors: Xumin Diao, Ou Ma
#2 (9:18~9:36)
Paper ID: 326
Title: Optimal Control for Spacecraft to Rendezvous with a Tumbling Satellite in a Close Range
Authors: Zhanhua Ma , Ou Ma, Banavara N. Shashikanth
#3 (9:36~9:54)
Paper ID: 712
Title: Validation of A Satellite Docking Simulator Using the SOSS Experimental Testbed
Authors: Ou Ma, George Yang
#4 (9:54~10:12)
Paper ID: 840
Title: Rover Localization through 3D Terrain Registration in Natural Environments
Authors: Joseph Nsasi Bakambu, Sebastien Gemme, Erick Dupuis
#5 (10:12~10:30)
Paper ID: 1129
Title: On the Capture of Tumbling Satellite by a Space Robot
Authors: Kazuya Yoshida, Dimitar Dimitrov, Hiroki Nakanishi
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FA1-5: Behavior Based Robots
Room: Convention Hall No. 14, Level 3 < map >
Time: 9:00-10:30
Friday October 13, 2006
Chairs: Cecilia Laschi, Il Hong Suh
#1 (9:00~9:18)
Paper ID: 370
Title: A New Method for Simultaneous Evolution of Robot Behaviors Based on Multiobjective Evolution
Authors: Genci Capi
#2 (9:18~9:36)
Paper ID: 923
Title: A Programming Framework Supporting an Ethology-based Behavior Control Architecture
Authors: Sanghoon Lee, Il Hong Suh
#3 (9:36~9:54)
Paper ID: 108
Title: A Behavior-based Control of an Object-pulling Robot Using Fuzzy Discrete Event System
Authors: Rajibul Huq, George K. I. Mann, Raymond G. Gosine
#4 (9:54~10:12)
Paper ID: 678
Title: Extension to End-effector Position and Orientation Control of a Learning-based Neurocontroller for a Humanoid Arm
Authors: Gioel Asuni, Giancarlo Teti, Cecilia Laschi, Eugenio Guglielmelli, Paolo Dario
#5 (10:12~10:30)
Paper ID: 733
Title: Topological Characterization of Mobile Robot Behavior
Authors: Aurelien Hazan, Frederic Davesne, Vincent Vigneron, Hichem Maaref
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FA1-6: Robot Kinematics and Dynamics II
Room: Convention Hall No. 12, Level 3 < map >
Time: 9:00-10:30
Friday October 13, 2006
Chairs: Devin Balkcom, Kok-Meng Lee
#1 (9:00~9:18)
Paper ID: 393
Title: Continuous Newton-Euler Algorithms for Geometrically Exact Flexible Beams
Authors: Georges Le Vey
#2 (9:18~9:36)
Paper ID: 2042
Title: Kinmatics Analysis of A Six-Wheeled Mobile Robot
Authors: Yong Chang, Dalong Tan, Hongguang Wang, Shugen Ma
#3 (9:36~9:54)
Paper ID: 351
Title: Forward/Inverse Models Using Global Coordinates for Analytical Design of Compliant Mechanisms
Authors: Chao-Chieh Lan, Kok-Meng Lee
#4 (9:54~10:12)
Paper ID: 1347
Title: Computation Reuse for Rigid-body Dynamics
Authors: Anne Loomis, Devin Balkcom
#5 (10:12~10:30)
Paper ID: 669
Title: Cayley-Hamilton for Roboticists
Authors: Martijn Visser, Stefano Stramigioli, Cock Heemskerk
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FA1-7: Telerobotic Systems I
Room: Convention Hall No. 13, Level 3 < map >
Time: 9:00-10:30
Friday October 13, 2006
Chairs: Antonie Ferreira, Ken Goldberg
#1 (9:00~9:18)
Paper ID: 1653
Title: Bilateral Teleoperation of Mobile Robot over Delayed Communication Network: Implementation
Authors: Oscar Martinez-Palafox, Dongjun Lee, Mark W. Spong, I. Lopez, C.T. Abdallah
#2 (9:18~9:36)
Paper ID: 420
Title: A Novel Distributed Telerobotic System for Construction Machines Based on Modules Synchronization
Authors: E. Rohmer, K. Yoshida, Eiji Nakano
#3 (9:36~9:54)
Paper ID: 486
Title: Time Domain Passivity Control -based Telepresence with Time Delay
Authors: Jordi Artigas, Jordi Vilanova, Carsten Preusche, Gerd Hirzinger
#4 (9:54~10:12)
Paper ID: 1206
Title: Position Drift Compensation in Port-Hamiltonian Based Telemanipulation
Authors: Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi
#5 (10:12~10:30)
Paper ID: 718
Title: Stability and Transparency for Scaled Teleoperation System
Authors: Moussa Boukhnifer, Antoine Ferreira
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FA1-8: Classification and Inspection
Room: Convention Hall No. 15, Level 3 < map >
Time: 9:00-10:30
Friday October 13, 2006
Chairs: Falko Schultke, Yong Yu
#1 (9:00~9:18)
Paper ID: 1774
Title: An Evolutionary Support Vector Machines Classifier for Pedestrian Detection
Authors: D. Chen, X.B. Cao, Y.W. Xu, H. Qiao
#2 (9:18~9:36)
Paper ID: 564
Title: Neurodynamics Based Complete Coverage Navigation with Real-time Map Building in Unknown Environments
Authors: Chaomin Luo, Simon X. Yang, Max Q.-H. Meng
#3 (9:36~9:54)
Paper ID: 1380
Title: Fully Automatic Inspection Systems for Large Underground Concrete Pipes Partially Filled with Wastewater
Authors: Norbert Elkmann, Sven Kutzner, Jose Saenz, Bert Reimann, Falko Schultke, Heiko Althoff
#4 (9:54~10:12)
Paper ID: 1530
Title: The Design of Digital Handwriting Forces Vector Ink and its Application in Online Signature Verification
Authors: ZhongCheng Wu, Fei Shen, Yong Yu
#5 (10:12~10:30)
Paper ID: 912
Title: A Novel On-board Temperature Monitoring Approach in the Reflow Soldering Process
Authors: Zhancheng Wang, Weimin Li, Hang Tong, Yangsheng Xu
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FA1-9: Mobile Robots in All-Terrain
Room: Convention Hall No. 8, Level 2 < map >
Time: 9:00-10:30
Friday October 13, 2006
Chairs: Shin'ichi Yuta, Takashi Tsubouchi
#1 (9:00~9:18)
Paper ID: 1232
Title: Mechanical Design of Joint Braking and Underactuated Mechanism of "Tri-Star3"; Horizontal Polyarticular Arm Equipped 3-Wheeled Expandable Mobile Robot
Authors: Kenjiro Tadakuma, Matsumoto Masatsugu, Shigeo Hirose
Related Video: 047(Video Session 2)
#2 (9:18~9:36)
Paper ID: 686
Title: Performance Optimization of All-Terrain Robots: A 2D Quasi-Static Tool
Authors: Ambroise Krebs, Thomas Thueer, Stephane Michaud, Roland Siegwart
#3 (9:36~9:54)
Paper ID: 491
Title: Comprehensive Locomotion Performance Evaluation of All-Terrain Robots
Authors: Thomas Thueer, Ambroise Krebs, Roland Siegwart
#4 (9:54~10:12)
Paper ID: 974
Title: Study on Wheel of Exploration Robot on Sandy Terrain
Authors: Kojiro Iizuka, Yoshinori Sato, Yoji Kuroda, Takashi Kubota
#5 (10:12~10:30)
Paper ID: 1284
Title: Human Machine Cooperative Tele-Drive by Path Compensation for Long Range Traversability
Authors: Yasuharu Kunii, Takashi Kubota
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FA1-10: Visual Servoing III
Room: Convention Hall No. 16A, Level 3 < map >
Time: 9:00-10:30
Friday October 13, 2006
Chairs: Francois Chaumette, Manuel Lopes
#1 (9:00~9:18)
Paper ID: 483
Title: Jacobian Learning Methods for Tasks Sequencing in Visual Servoing
Authors: Nicolas Mansard, Manuel Lopes, Jose Santos-Victor, Francois Chaumette
#2 (9:18~9:36)
Paper ID: 677
Title: 3D Pose Visual Servoing Relieves Parallel Robot Control from Joint Sensing
Authors: Tej Dallej, Nicolas Andreff, Youcef Mezouar, Philippe Martinet
#3 (9:36~9:54)
Paper ID: 1071
Title: A Qualitative Visual Servoing to Ensure the Visibility Constraint
Authors: Anthony Remazeilles, Nicolas Mansard, Francois Chaumette
#4 (9:54~10:12)
Paper ID: 1372
Title: Stability and Performance of Image based Visual Servo Control Using First Order Spherical Image Moments
Authors: Odile Bourquardez, Robert Mahony, Tarek Hamel, Francois Chaumette
#5 (10:12~10:30)
Paper ID: 1400
Title: Hierarchical Featureless Tracking for Position-Based 6-DoF Visual Servoing
Authors: Wolfgang Sepp, Stefan Fuchs, Gerd Hirzinger
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FA1-11: Assistive Devices II
Room: Convention Hall No. 10, Level 3 < map >
Time: 9:00-10:30
Friday October 13, 2006
Chairs: Osamu Matsumoto, Zhidong Wang
#1 (9:00~9:18)
Paper ID: 627
Title: Power Assist Systems Based on Resonance of Passive Elements
Authors: Mitsunori Uemura, Katsuya Kanaoka, Sadao Kawamura
#2 (9:18~9:36)
Paper ID: 505
Title: Autonomous Traveling Control of the "TAO Aicle" Intelligent Wheelchair
Authors: Osamu Matsumoto, Kiyoshi Komoriya, Tsutomu Hatase, Hideki Nishimura, Koji Toda, Shigeki Goto
#3 (9:36~9:54)
Paper ID: 562
Title: Development of a Power Assist System of a Walking Chair Based on Human Arm Characteristics
Authors: Yunfeng Wu, Hitoshi Nakamura, Yukio Takeda, Masaru Higuchi, Koichi Sugimoto
#4 (9:54~10:12)
Paper ID: 589
Title: An fMRI Study on the Effects of Electrical Stimulation as Biofeedback
Authors: Alejandro Hernandez Arieta, Ryu Kato, Hiroshi Yokoi, Tamio Arai, Takashi Ohnishi
#5 (10:12~10:30)
Paper ID: 530
Title: Approach in Assisting a Sit-to-Stand Movement Using Robotic Walking Support System
Authors: Oscar Chuy Jr., Yasuhisa Hirata, Zhidong Wang, Kazuhiro Kosuge
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FA1-12: Motion Planning I
Room: Convention Hall No. 16B, Level 3 < map >
Time: 9:00-10:30
Friday October 13, 2006
Chairs: Kamal Gupta, Roland Geraerts
#1 (9:00~9:18)
Paper ID: 1988
Title: Optimal Motion Planning Passing Through Kinematic Singularities for Robot Arms
Authors: Guangyu Lian, Zengqi Sun, Chundi Mu
#2 (9:18~9:36)
Paper ID: 1335
Title: Creating High-quality Roadmaps for Motion Planning in Virtual Environments
Authors: Roland Geraerts, Mark H. Overmars
#3 (9:36~9:54)
Paper ID: 783
Title: A Hybrid Two-layered Approach to Real-Time Motion Planning of Multiple Agents in Virtual Environments
Authors: Yi Li, Kamal Gupta
#4 (9:54~10:12)
Paper ID: 816
Title: A Robocentric Motion Planner for Dynamic Environments Using the Velocity Space
Authors: Eduardo Owen, Luis Montano
#5 (10:12~10:30)
Paper ID: 1419
Title: Motion Planning for Car-like Vehicles in Dynamic Urban Scenarios
Authors: Kristijan Macek, Marcelo Becker, Roland Siegwart
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FA1-13: Optimization in Robotics and Automatics
Room: Convention Hall No. 11, Level 3 < map >
Time: 9:00-10:30
Friday October 13, 2006
Chairs: Philippe Martinet, Toshio Fukuda
#1 (9:00~9:18)
Paper ID: 215
Title: Kinematic Design Optimization of an Actuated Carrier for the DLR Multi-Arm Surgical System
Authors: Rainer Konietschke, Tobias Ortmaier, Ulrich Hagn, Gerd Hirzinger, Silvia Frumento
#2 (9:18~9:36)
Paper ID: 1727
Title: Topology Optimization of Compliant Mechanisms Using Sequential Convex Programming
Authors: Hua Ying, Hongmei Xu, Zhen Luo
#3 (9:36~9:54)
Paper ID: 1821
Title: Mechanical Design and Optimization of Ubiquitous Power Generator Suited for Mechanical Input
Authors: Junji Takahasi, Toshio Fukuda, Kouhei Motoo, Fumihito Arai, Kouichi Itoigawa, Kenji Tanaka
#4 (9:54~10:12)
Paper ID: 1421
Title: Application of Optimization Techniques for an Optimal Fertilization by Centrifugal Spreading
Authors: Teddy Virin, Jonas Koko, Emmanuel Piron, Philippe Martinet, Michel Berducat
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FA1-14: Force and Motion Sensing
Room: Convention Hall No. 3030, Level 3 < map >
Time: 9:00-10:30
Friday October 13, 2006
Chairs: Aiguo Song, Wen J. Li
#1 (9:00~9:18)
Paper ID: 2165
Title: Development of a Human Airbag System for Falling Protection Using MEMS Motion Sensing Technology
Authors: Guangyi Shi, Cheung-Shing Chan, Yilun Luo, Guanglie Zhang, Wen J. Li, Philip H. W. Leong, Kwok-Sui Leung
#2 (9:18~9:36)
Paper ID: 563
Title: On-Line Vibration Source Detection of Running Trains Based on Acceleration Measurement
Authors: Chengyou Wang, Qiugen Xiao, Hua Liang, Xin Chen, Xuanping Cai, Yunhui Liu
#3 (9:36~9:54)
Paper ID: 2036
Title: High-Stiffness and High-Sensitivity 3-Axis Force Sensor Using Strain-deformation Expansion Mechanism
Authors: Yong Yu, Takashi Chaen, Showzow Tsujio
#4 (9:54~10:12)
Paper ID: 308
Title: A Novel Four Degree-of-Freedom Wrist Force/Torque Sensor with Low Coupled Interference
Authors: Aiguo Song, Juan Wu, Jianqing Li, Qingjun Zeng, Weiyi Huang
#5 (10:12~10:30)
Paper ID: 106
Title: Vibration-based Terrain Classification Using Support Vector Machines
Authors: Christian Weiss, Holger Froehlich, Andreas Zell
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FA1-15: Humanoid Robots IX: Dynamics
Room: Convention Hall No. 7, Level 2 < map >
Time: 9:00-10:30
Friday October 13, 2006
Chairs: Chee-Meng Chew, Dragomir N. Nenchev
#1 (9:00~9:18)
Paper ID: 321
Title: Adjustable Bipedal Gait Generation Using Genetic Algorithm Optimized Fourier Series Formulation
Authors: L. Yang, C. M. Chew, A. N. Poo, T. Zielinska
#2 (9:18~9:36)
Paper ID: 1046
Title: Walking Pattern Generation for Humanoid Robot Considering Upper Body Motion
Authors: Jie Yang, Qiang Huang, Jianxi Li, Chenchen Li, Kejie Li
#3 (9:36~9:54)
Paper ID: 1150
Title: The Importance of Gaze Control Mechanism on Vision-based Motion Control of a Biped Robot
Authors: Shun Ushida, Kousuke Yoshimi, Takayuki Okatani, Koichiro Deguchi
#4 (9:54~10:12)
Paper ID: 2123
Title: Analytical Approach for the Generation of Highly Dynamic Gaits for Walking Robots
Authors: Olivier Bruneau, Anthony David
#5 (10:12~10:30)
Paper ID: 852
Title: Wholebody Teleoperation for Humanoid Robot by Marionette System
Authors: Tomohito Takubo, Kenji Inoue, Tatsuo Arai, Kazutoshi Nishii
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FA1-16: Service Robots I
Room: Convention Hall No. 16C, Level 3 < map >
Time: 9:00-10:30
Friday October 13, 2006
Chairs: Pedro J. Sanz, Imad Elhajj
#1 (9:00~9:18)
Paper ID: 149
Title: A Pilot Study on Teleoperated Mobile Robots in Home Environments
Authors: Daniel Labonte, Francois Michaud, Patrick Boissy, Helene Corriveau, Richard Cloutier, Marc Andre Roux
#2 (9:18~9:36)
Paper ID: 436
Title: A Control Architecture for Compliant Execution of Manipulation Tasks
Authors: Mario Prats, Angel P. del Pobil, Pedro J. Sanz
Related Video: 023(Video Session 4)
#3 (9:36~9:54)
Paper ID: 1847
Title: Intelligent Home Service Robotic System Based on Robot Technology Middleware
Authors: Songmin Jia, Yoshiro Hada, Harunori Gakuhari, Kunikatsu Takase, Takayuki Ohnishi, Hiroyuki Nakamoto
#4 (9:54~10:12)
Paper ID: 1051
Title: Remote Control Based Hybrid-Structure Robot Design for Home Security Applications
Authors: C.H. Kuo, C.C. Chen, W.C. Wang, Y.C. Hung, E.C. Lin, K.M. Lee, Y.M. Lin
#5 (10:12~10:30)
Paper ID: 691
Title: Bridging the Gap between Task Planning and Path Planning
Authors: Franziska Zacharias, Christoph Borst, Gerd Hirzinger
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FA2-1: Force Control
Room: Convention Hall No. 3, Level 3 < map >
Time: 10:45-12:15
Friday October 13, 2006
Chairs: Christian Ott, Mingguo Zhao
#1 (10:45~11:03)
Paper ID: 199
Title: Geometric Contouring Control on the Smooth Surface
Authors: Dongjun Zhang, Yunjiang Lou, Zexiang Li
#2 (11:03~11:21)
Paper ID: 380
Title: A Cartesian Compliance Controller for a Manipulator Mounted on a Flexible Structure
Authors: Christian Ott, Alin Albu-Schaeffer, Gerd Hirzinger
#3 (11:21~11:39)
Paper ID: 881
Title: A New Method of Force Control for Unknown Environments
Authors: Vishnu Mallapragada, Duygun Erol, Nilanjan Sarkar
#4 (11:39~11:57)
Paper ID: 1251
Title: A Hybrid Controller of Adaptive and Learning Control for Geometrically Constrained Robot Manipulators
Authors: Sumito Nakada, Tomohide Naniwa
#5 (11:57~12:15)
Paper ID: 889
Title: Decentrailized Robust Control of Uncertain Robots with Backlash and Flexibility at Joints
Authors: Zongying Shi, Yisheng Zhong, Wenli Xu, Mingguo Zhao
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FA2-2: Localization IV
Room: Convention Hall No. 4, Level 3 < map >
Time: 10:45-12:15
Friday October 13, 2006
Chairs: Federica Pascucci , Jizhong Xiao
#1 (10:45~11:03)
Paper ID: 828
Title: A Mobile Robots PSO-based for Odor Source Localization in Dynamic Advection-Diffusion Environment
Authors: Wisnu Jatmiko, Kosuke Sekiyama, Toshio Fukuda
#2 (11:03~11:21)
Paper ID: 674
Title: Heterogeneous Multi-Robot Localization in Unknown 3D Space
Authors: Yi Feng, Zhigang Zhu, Jizhong Xiao
#3 (11:21~11:39)
Paper ID: 662
Title: A Decentralised Particle Filtering Algorithm for Multi-target Tracking Across Multiple Flight Vehicles
Authors: Lee-Ling Ong, Ben Upcroft, Tim Bailey, Matthew Ridley, Salah Sukkarieh, Hugh Durrant-Whyte
#4 (11:39~11:57)
Paper ID: 1271
Title: Robust Background Subtraction with Shadow and Highlight Removal for Indoor Surveillance
Authors: Jwu-Sheng Hu, Tzung-Min Su, Shr-Chi Jeng
#5 (11:57~12:15)
Paper ID: 1182
Title: A Real-Time Wall Detection Method for Indoor Environments
Authors: Hadi Moradi, Jongmoo Choi, Eunyoung Kim, Sukhan Lee
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FA2-3: Social Interactive Robots II
Room: Convention Hall No. 6, Level 2 < map >
Time: 10:45-12:15
Friday October 13, 2006
Chairs: Kazuhkio Shinozawa, Ho Sub Yoon
#1 (10:45~11:03)
Paper ID: 1155
Title: A Robust Human Head Detection Method for Human Tracking
Authors: Hosub Yoon, Dohyung Kim, Suyoung Chi, Youngjo Cho
#2 (11:03~11:21)
Paper ID: 1061
Title: The Effects of Responsive Eye Movement and Blinking Behavior in a Communication Robot
Authors: Yuichiro Yoshikawa, Kazuhiko Shinozawa, Hiroshi Ishiguro, Norihiro Hagita, Takanori Miyamoto
#3 (11:21~11:39)
Paper ID: 790
Title: Relaxing Passivity for Human-Robot Interaction
Authors: Stephen P. Buerger, Neville Hogan
#4 (11:39~11:57)
Paper ID: 1512
Title: ADE: A Framework for Robust Complex Robotic Architectures
Authors: James Kramer, Matthias Scheutz
#5 (11:57~12:15)
Paper ID: 1895
Title: Conceptual Design and Implementation of Arm Wrestling Robot
Authors: Zhen Gao, Quanjun Song, Yuman Nie, Jianhe Lei, Yu Yong, Yunjian Ge
< Go to Top >
FA2-4: Space Robotics III
Room: Convention Hall No. 5, Level 2 < map >
Time: 10:45-12:15
Friday October 13, 2006
Chairs: Carsten Preusche, Hongbin Zha
#1 (10:45~11:03)
Paper ID: 649
Title: Robotic On-Orbit Servicing - DLR's Experience and Perspective
Authors: K. Landzettel, C. Preusche, A. Albu-Schaffer, D. Reintsema, B. Rebele, G. Hirzinger
#2 (11:03~11:21)
Paper ID: 723
Title: Robotics Component Verification on ISS ROKVISS C Preliminary Results for Telepresence
Authors: Carsten Preusche, Detlef Reintsema, Klaus Landzettel, Gerd Hirzinger
#3 (11:21~11:39)
Paper ID: 977
Title: A Chinese Small Intelligent Space Robotic System for On-Orbit Servicing
Authors: Bin Liang, Cheng Li, Lijun Xue, Wenyi Qiang
#4 (11:39~11:57)
Paper ID: 1426
Title: Design of a Reconfigurable Space Robot with Lockable Telescopic Joints
Authors: Farhad Aghili, Kourosh Parsa
< Go to Top >
FA2-5: Learning and Cognition II
Room: Convention Hall No. 14, Level 3 < map >
Time: 10:45-12:15
Friday October 13, 2006
Chairs: Andreas Wege, Thomas Wimb?ck
#1 (10:45~11:03)
Paper ID: 1411
Title: Force Control Strategy for a Hand Exoskeleton Based on Sliding Mode Position Control
Authors: Andreas Wege, Konstantin Kondak, Guenter Hommel
#2 (11:03~11:21)
Paper ID: 445
Title: Passivity-based Object-Level Impedance Control for a Multfingered Hand
Authors: Thomas Wimboeck, Christian Ott, Gerhard Hirzinger
#3 (11:21~11:39)
Paper ID: 1080
Title: Hybrid Automaton: A Better Model of Finger Gaits
Authors: Jijie Xu, Yunjiang Lou, Zexiang Li
#4 (11:39~11:57)
Paper ID: 601
Title: A Control Approach for Real Time Human Grasp Simulation with Deformable Fingertips
Authors: M. Rougeron, J. Le Garrec, A. Micaelli, F.B. Ouezdou
#5 (11:57~12:15)
Paper ID: 544
Title: Grasping Force Control in Master-Slave System with Partial Slip Sensor
Authors: Yuta Koda, Takashi Maeno
< Go to Top >
FA2-6: Vision Based Robot Calibration
Room: Convention Hall No. 12, Level 3 < map >
Time: 10:45-12:15
Friday October 13, 2006
Chairs: Jingyan Song, Philippe Martinet
#1 (10:45~11:03)
Paper ID: 830
Title: Optimal Hand-Eye Calibration
Authors: Klaus H. Strobl, Gerd Hirzinger
#2 (11:03~11:21)
Paper ID: 572
Title: Autonomous Kinematic Self-Calibration of a Novel Haptic Device
Authors: Yanhe Zhu, Jihong Yan, Jie Zhao, Hegao Cai
#3 (11:21~11:39)
Paper ID: 638
Title: A Novel Kinematic Calibration Method for a 3DOF Flexure-based Parallel Mechanism
Authors: Daihong Chao, Guanghua Zong, Rong Liu, Jingjun Yu
#4 (11:39~11:57)
Paper ID: 774
Title: Kinematic Calibration of a Gough-Stewart Platform Using an Omnidirectional Camera
Authors: Tej Dallej, Hicham Hadj-Abdelkader, Nicolas Andreff, Philippe Martinet
#5 (11:57~12:15)
Paper ID: 899
Title: A Novel Calibration System for a Space Manipulator
Authors: Jingyan Song, Danya Yao, Jianming Hu, Jingran Ma, Jingchun Wang
< Go to Top >
FA2-7: Speech Interface
Room: Convention Hall No. 13, Level 3 < map >
Time: 10:45-12:15
Friday October 13, 2006
Chairs: Britta Wrede, Hideyuki Sawada
#1 (10:45~11:03)
Paper ID: 574
Title: Integrating Miscommunication Analysis in Natural Language Interface Design for a Service Robot
Authors: Anders Green, Kerstin Severinson Eklundh, Britta Wrede, Shuyin Li
#2 (11:03~11:21)
Paper ID: 874
Title: Talking Robot and the Analysis of Autonomous Voice Acquisition
Authors: Mitsuhiro Nakamura, Hideyuki Sawada
#3 (11:21~11:39)
Paper ID: 144
Title: Grounded Situation Models for Robots: Where Words and Percepts Meet
Authors: Nikolaos Mavridis, Deb Roy
Related Video: 013(Video Session 1)
#4 (11:39~11:57)
Paper ID: 481
Title: Service Robots Dealing with Indirect Speech Acts
Authors: Sabrina Wilske, Geert-Jan Kruijff
#5 (11:57~12:15)
Paper ID: 1498
Title: Probabilistic Speaker Localization in Noisy Environments by Audio-Visual Integration
Authors: Jong-Suk Choi, Munsang Kim, Hyun-Don Kim
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FA2-8: Modular Robotic Systems
Room: Convention Hall No. 15, Level 3 < map >
Time: 10:45-12:15
Friday October 13, 2006
Chairs: Mark Moll, Sang Chul Ahn
#1 (10:45~11:03)
Paper ID: 413
Title: Distributed Control of the Center of Mass of a Modular Robot
Authors: Mark Moll, Peter Will, Maks Krivokon, Wei-Min Shen
#2 (11:03~11:21)
Paper ID: 568
Title: Requirements to UPnP for Robot Middleware
Authors: Sang Chul Ahn, Jung-Woo Lee, Ki-Woong Lim, Heedong Ko, Yong-Moo Kwon, Hyoung-Gon Kim
#3 (11:21~11:39)
Paper ID: 1233
Title: Modular Mobile Docking Station Design
Authors: Casey Carlson, Andrew Drenner, Ian Burt, Nikolaos Papanikolopoulos
#4 (11:39~11:57)
Paper ID: 1406
Title: A 3D Fax Machine based on Claytronics
Authors: Padmanabhan Pillai, Jason Campbell, Gautam Kedia, Shishir Moudgal, Kaushik Sheth
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FA2-9: Mapping and Representation
Room: Convention Hall No. 8, Level 2 < map >
Time: 10:45-12:15
Friday October 13, 2006
Chairs: Alfredo Weitzenfeld, Domenico Campolo
#1 (10:45~11:03)
Paper ID: 2002
Title: Probability Map Building Algorithms Design for an Unknown Dynamic Environment
Authors: Y. Fang, M. Campbell, B. Ma
#2 (11:03~11:21)
Paper ID: 1408
Title: Biologically Inspired Automatic Construction of Cross-modal Mapping in Robotic Eye/hand Systems
Authors: Q. Meng, M.H. Lee
#3 (11:21~11:39)
Paper ID: 817
Title: Bio-inspired Model of Robot Adaptive Learning and Mapping
Authors: Alejandra Barrera Ramirez, Alfredo Weitzenfeld Ridel
#4 (11:39~11:57)
Paper ID: 20
Title: Vision-based Scene Representation for 3D Interaction of Service Robots
Authors: Ken-ichi Kitahama, Akihiro Tsukada, Franck Galpin, Toshiyuki Matsubara, Yutaka Hirano
#5 (11:57~12:15)
Paper ID: 575
Title: Inertial/Magnetic Sensors Based Orientation Tracking on the Group of Rigid Body Rotations with Application to Wearable Devices
Authors: Domenico Campolo, Flavio Keller, Eugenio Guglielmelli
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FA2-10: Stereo Vision I
Room: Convention Hall No. 16A, Level 3 < map >
Time: 10:45-12:15
Friday October 13, 2006
Chairs: Ezio Malis, Martin Stommel
#1 (10:45~11:03)
Paper ID: 1038
Title: Vehicle Trajectory from an Uncalibrated Stereo-Rig with Super-Homography
Authors: Nicolas Simond, Claude Laurgeau
#2 (11:03~11:21)
Paper ID: 797
Title: Fast Central Catadioptric Line Extraction, Estimation, Tracking and Structure From Motion
Authors: Christopher Mei, Ezio Malis
#3 (11:21~11:39)
Paper ID: 1391
Title: Fusion of Stereo-Camera and PMD-Camera Data for Real-Time Suited Precise 3D Environment Reconstruction
Authors: Klaus-Dieter Kuhnert, Martin Stommel
#4 (11:39~11:57)
Paper ID: 360
Title: Trinocular Spherical Stereo
Authors: Shigang li
#5 (11:57~12:15)
Paper ID: 429
Title: An Omnidirectional Vision Sensor with Single Viewpoint and Constant Resolution
Authors: Koji Yoshida, Hajime Nagahara, Masahiko Yachida
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FA2-11: Network Robotics
Room: Convention Hall No. 10, Level 3 < map >
Time: 10:45-12:15
Friday October 13, 2006
Chairs: Bong Keun Kim, Bum-Jae You
#1 (10:45~11:03)
Paper ID: 1016
Title: Intelligent Environment and Network-based Humanoids
Authors: Dong To Nguyen, Bum-Jae You, Sang-Rok Oh, Do-Ik Kim
#2 (11:03~11:21)
Paper ID: 1151
Title: Wireless Assistive Sensor Networks for the Deaf
Authors: Hongliang Ren, Max Q.-H. Meng, Xijun Chen
#3 (11:21~11:39)
Paper ID: 583
Title: Ubiquitous Localization and Mapping for Robots with Ambient Intelligence
Authors: Bong Keun Kim, Nobuyasu Tomokuni, Kenichi Ohara, Tamio Tanikawa, Kohtaro Ohba, Shigeoki Hirai
#4 (11:39~11:57)
Paper ID: 1484
Title: Modeling and Control of Mobile Surveillance Networks Using Mutational Hybrid Systems
Authors: Amit Goradia, Clayton Haffner, Michael Huntwork, Ning Xi, Matt Mutka
#5 (11:57~12:15)
Paper ID: 229
Title: Development of a Networked Robotic System for Disaster Mitigation-Navigation System Based on 3D Geometry Acquisition-
Authors: Andres E. Mora Vargas, Kenzuke Mizuuchi, Daisuke Endo, Eric Rohmer, Keiji Nagatani, Kazuya Yoshida
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FA2-12: Motion Planning II
Room: Convention Hall No. 16B, Level 3 < map >
Time: 10:45-12:15
Friday October 13, 2006
Chairs: Ahmad Masoud, Tsai-Yen Li
#1 (10:45~11:03)
Paper ID: 729
Title: Trajectory and Spline Generation for All-Wheel Steering Mobile Robots
Authors: Thomas M. Howard, Alonzo Kelly
#2 (11:03~11:21)
Paper ID: 249
Title: Distributed Sensing and Prediction of Obstacle Motions for Mobile Robot Motion Planning
Authors: Thorsten Rennekamp, Kai Homeier, Torsten Kroeger
#3 (11:21~11:39)
Paper ID: 245
Title: Kino-Dynamic, Harmonic, Potential-based Motion Planning
Authors: Ahmad A. Masoud
#4 (11:39~11:57)
Paper ID: 271
Title: Third-Person Interactive Control of Humanoid with Real-Time Motion Planning Algorithm
Authors: Shu-Wei Hsu, Tsai-Yen Li
#5 (11:57~12:15)
Paper ID: 337
Title: Learning Traffic Patterns at Intersections by Spectral Clustering of Motion Trajectories
Authors: Stefan Atev, Osama Masoud, Nikos Papanikolopoulos
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FA2-13: Object Detection and Segmentation
Room: Convention Hall No. 11, Level 3 < map >
Time: 10:45-12:15
Friday October 13, 2006
Chairs: Hong Qiao, Thierry Fraichard
#1 (10:45~11:03)
Paper ID: 310
Title: A Novel Self Organizing Network to Perform Fast Moving Object Extraction from Video Streams
Authors: Dizan Vasquez, Thierry Fraichard
#2 (11:03~11:21)
Paper ID: 1611
Title: Glomerulus Extraction Based on Genetic Algorithm and Watershed Transform
Authors: Jun Zhang, Jiulun Fan
#3 (11:21~11:39)
Paper ID: 162
Title: Real Time Detection and Segmentation of Reflectionally Symmetric Objects in Digital Images
Authors: Wai Ho Li, Alan M. Zhang, Lindsay Kleeman
#4 (11:39~11:57)
Paper ID: 657
Title: Color Segmentation Robust to Brightness Variations by Using B-spline Curve Modeling
Authors: Chi-Ho Kim, Bum-Jae You, Hagbae Kim
#5 (11:57~12:15)
Paper ID: 689
Title: An Automatic Approach to Online Color Training in RoboCup Environments
Authors: Patrick Heinemann, Frank Sehnke, Felix Streichert, Andreas Zell
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FA2-14: Actuator Control
Room: Convention Hall No. 3030, Level 3 < map >
Time: 10:45-12:15
Friday October 13, 2006
Chairs: Ju-Jang Lee, Takanori Miyoshi
#1 (10:45~11:03)
Paper ID: 1752
Title: Low Speed Control of PMAC Servo System Based on Reduced-order Observer
Authors: Shuai Yan, Dianguo Xu, Gaolin Wang, Ming Yang, Yong Yu, Xianguo Gui
#2 (11:03~11:21)
Paper ID: 1687
Title: Study on the Vector Control Method of IM for Variable Speed Drive Based on DSP
Authors: PingHua Zhang, GuiJie Yang, TieCai Li
#3 (11:21~11:39)
Paper ID: 1020
Title: Control of Artificial Pneumatic Muscle for Robot Application
Authors: Tae-Yong Choi, Joon-Yong Lee, Ju-Jang Lee
#4 (11:39~11:57)
Paper ID: 1315
Title: Development of Vertical Power-Assisted Crane System Considering Absolute Stability
Authors: Takanori Miyoshi, Hideto Kojima, Kazuhiko Terashima
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FA2-15: Humanoid Robots X: Passive Walking
Room: Convention Hall No. 7, Level 2 < map >
Time: 10:45-12:15
Friday October 13, 2006
Chairs: Hugh Herr, Sang-ho Hyon
#1 (10:45~11:03)
Paper ID: 204
Title: Faster and Smoother Walking of Humanoid HRP-2 with Passive Toe Joints
Authors: Ramzi Sellaouti, Olivier Stasse, Shuuji Kajita, Kazuhito Yokoi, Abderrahmane Kheddar
#2 (11:03~11:21)
Paper ID: 1263
Title: Passivity-Based Full-Body Force Control for Humanoids and Application to Dynamic Balancing and Locomotion
Authors: Sang-Ho Hyon, Gordon Cheng
#3 (11:21~11:39)
Paper ID: 629
Title: Enhancing Stability of a Passive Dynamic Running Biped by Exploiting a Nonlinear Spring
Authors: Dai Owaki, Akio Ishiguro
#4 (11:39~11:57)
Paper ID: 1114
Title: Simulation of Acquisition of Locomotion of an Infant Robot
Authors: Katsuyoshi Tsujita, Tatsuya Masuda
#5 (11:57~12:15)
Paper ID: 1387
Title: A Quasi-passive Model of Human Leg Function in Level-ground Walking
Authors: Ken Endo, Daniel Paluska, Hugh Herr
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FA2-16: Service Robots II
Room: Convention Hall No. 16C, Level 3 < map >
Time: 10:45-12:15
Friday October 13, 2006
Chairs: Henrik Christensen, Kazuyoshi Wada
#1 (10:45~11:03)
Paper ID: 1034
Title: Living with Seal Robots in a Care House - Evaluations of Social and Physiological Influences -
Authors: Kazuyoshi Wada, Takanori Shibata
#2 (11:03~11:21)
Paper ID: 767
Title: Bringing Together Human and Robotic Environment Representations - A Pilot Study
Authors: Elin A. Topp, Helge Huettenrauch, Henrik I. Christensen, Kerstin Severinson Eklundh
#3 (11:21~11:39)
Paper ID: 1190
Title: Remote Shopping Robot System -Development of a hand mechanism for grasping fresh foods in a supermarket-
Authors: Tetsuo Tomizawa, Akihisa Ohya, Shin'ichi Yuta
#4 (11:39~11:57)
Paper ID: 806
Title: Detection of Natural Landmarks for Mapping by a Demining Robot
Authors: Svetlana Larionova, Lino Marques, Anbal Traca de Almeida
#5 (11:57~12:15)
Paper ID: 731
Title: Design of an Office-Guide Robot for Social Interaction Studies
Authors: Elena Pacchierotti, Henrik I. Christensen, Patric Jensfelt
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FP1-1: Robot Design and Control
Room: Convention Hall No. 3, Level 3 < map >
Time: 14:00-15:50
Friday October 13, 2006
Chairs: Jianqiang Yi, Yalou Huang
#1 (14:00~14:18)
Paper ID: 233
Title: Optimization Design for Connection Relation of Tractor-Trailer Mobile Robot with Variable Structure
Authors: Jing Yuan, Yalou Huang, Fengchi Sun, Yewei Kang
#2 (14:18~14:36)
Paper ID: 358
Title: Hierarchical Sliding Mode Control for Series Double Inverted Pendulums System
Authors: Dianwei Qian, Jianqiang Yi, Dongbin Zhao, Yinxing Hao
#3 (14:36~14:54)
Paper ID: 500
Title: Belief Driven Manipulator Control for Integrated Searching and Tracking
Authors: Stephen Webb, Tomonari Furukawa
#4 (14:54~15:12)
Paper ID: 1382
Title: A New Internet Architecture for Robot Remote Control
Authors: Quanyu Wang, Siyin Liu, Zhe Wang
#5 (15:12~15:30)
Paper ID: 1470
Title: Stochastic Model of Imitating a New Observed Motion Based on the Acquired Motion Primitives
Authors: Dongheui Lee, Yoshihiko Nakamura
#6 (15:30~15:48)
Paper ID: 2083
Title: Delay-dependent Robust Stabilization of Uncertain Systems with Interval Time-varying State and Input Delays
Authors: Tao Zhang, Yuanchun Li
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FP1-2: SLAM Algorithms III
Room: Convention Hall No. 4, Level 3 < map >
Time: 14:00-15:50
Friday October 13, 2006
Chairs: Jose Neira, Udo Frese
#1 (14:00~14:18)
Paper ID: 586
Title: Orthogonal SLAM: a Step toward Lightweight Indoor Autonomous Navigation
Authors: Viet Nguyen, Ahad Harati, Agostino Martinelli, Roland Siegwart, Nicola Tomatis
#2 (14:18~14:36)
Paper ID: 983
Title: FastSLAM 2.0: Least-Squares Approach
Authors: L. Armesto, G. Ippoliti, S. Longhi, J. Tornero
#3 (14:36~14:54)
Paper ID: 737
Title: Optimal Local Map Size for EKF-based SLAM
Authors: Lina M. Paz, Jose Neira
#4 (14:54~15:12)
Paper ID: 421
Title: Active SLAM Using Model Predictive Control and Attractor Based Exploration
Authors: Cindy Leung, Shoudong Huang, Gamini Dissanayake
#5 (15:12~15:30)
Paper ID: 434
Title: Closing a Million-Landmarks Loop
Authors: Udo Frese, Lutz Schroder
#6 (15:30~15:48)
Paper ID: 610
Title: SLAM Using an Imaging Sonar for Partially Structured Underwater Environments
Authors: David Ribas, Pere Ridao, Jose Neira, Juan D. Tardos
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FP1-3: Human-Machine Interaction II
Room: Convention Hall No. 6, Level 2 < map >
Time: 14:00-15:50
Friday October 13, 2006
Chairs: Helge Huettenrauch, Takahiro Miyashita
#1 (14:00~14:18)
Paper ID: 1609
Title: Effect of Tactile Display in Visually Guiding Input Device
Authors: Myung-Jin Jung, Takayuki Matusno, Sang-Ho Kim, Toshio Fukuda, Fumihito Arai
#2 (14:18~14:36)
Paper ID: 1352
Title: Investigating Spatial Relationships in Human-Robot Interaction
Authors: Helge Huettenrauch, Kerstin Severinson Eklundh, Anders Green, Elin A. Topp
#3 (14:36~14:54)
Paper ID: 753
Title: Unsupervised and Incremental Acquisition of and Reasoning on Holistic Task Knowledge for Household Robot Companions
Authors: M. Pardowitz, R. Zollner, R. Dillmann
#4 (14:54~15:12)
Paper ID: 870
Title: Robovie-IV: A Communication Robot Interacting with People Daily in an Office
Authors: Noriaki Mitsunaga, Takahiro Miyashita, Hiroshi Ishiguro, Kiyoshi Kogure, Norihiro Hagita
#5 (15:12~15:30)
Paper ID: 176
Title: Cooperative Driving Based on Inter-vehicle Communications: Experimental Platform and Algorithm
Authors: Weihua Sheng, Qingyan Yang, Yi Guo
#6 (15:30~15:48)
Paper ID: 169
Title: Basic Design of Human-symbiotic Robot EMIEW
Authors: Yuji Hosoda, Saku Egawa, Junichi Tamamoto, Kenjiro Yamamoto, Ryousuke Nakamura, Masahito Togami
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FP1-4: Space Robotics IV
Room: Convention Hall No. 5, Level 2 < map >
Time: 14:00-15:50
Friday October 13, 2006
Chairs: Hong Liu, Yishen Guo
#1 (14:00~14:18)
Paper ID: 2103
Title: A Robotic Testbed for Positioning and Attitude Accuracy Test of Space Manipulator
Authors: Lijun Xue, Wenyi Qiang, Bin Liang, Cheng Li
#2 (14:18~14:36)
Paper ID: 1915
Title: Robust Control of Dual-arm Space Robot System with Two Objects in Joint Space
Authors: Yishen Guo, Li Chen
#3 (14:36~14:54)
Paper ID: 533
Title: Adaptive Control of Dual-arm Space Robot System in Joint Space
Authors: Li Chen, Yishen Guo
#4 (14:54~15:12)
Paper ID: 1042
Title: System Design of Robots for Application to In-space Assembly
Authors: Harshit Suri, Peter Will, Wei-Min Shen
#5 (15:12~15:30)
Paper ID: 644
Title: High Fidelity Distributed Hardware-in-the-Loop Simulation For Space Robot on CAN-based Network
Authors: R. Wei, M.H. Jin, J.J. Xia, Z.W. Xie, J.X. Shi, H. Liu
#6 (15:30~15:48)
Paper ID: 788
Title: A Bayesian Framework for Landing Site Selection during Autonomous Spacecraft Descent
Authors: Navid Serrano
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FP1-5: Neural Network and Learning
Room: Convention Hall No. 14, Level 3 < map >
Time: 14:00-15:50
Friday October 13, 2006
Chairs: Danica Kragic, Koji Ito
#1 (14:00~14:18)
Paper ID: 1074
Title: A Reactive Assistive Role Switching For Interaction Management in Cooperative Tasks
Authors: E. Monacelli, C. Riman, R. Thieffry, I. Mougharbel, S. Delaplace
#2 (14:18~14:36)
Paper ID: 1432
Title: XABSL - A Pragmatic Approach to Behavior Engineering
Authors: Martin Loetzsch, Max Risler, Matthias Jungel
#3 (14:36~14:54)
Paper ID: 112
Title: Layered HMM for Motion Intention Recognition
Authors: Daniel Aarno, Danica Kragic
#4 (14:54~15:12)
Paper ID: 87
Title: An Interpolation Method Based on Generalized Regression Neural Network for Ultrasonic 3D Reconstruction
Authors: Babakhani Asad, Zhijiang Du, Lining Sun, Mianji Abdollah Fereidoon, Kardan Mohammad Reza
#5 (15:12~15:30)
Paper ID: 1286
Title: Skill Acquisition of a Ball Lifting Task Using a Mobile Robot with a Monocular Vision System
Authors: Ryosuke Mori, Fumiaki Takagi, Fumio Miyazaki
#6 (15:30~15:48)
Paper ID: 1531
Title: Situation Recognition and Behavior Induction Based on Geometric Symbol Representation of Multimodal Sensorimotor Patterns
Authors: Tetsunari Inamura, Naoki Kojo, Masayuki Inaba
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FP1-6: Robot Applications
Room: Convention Hall No. 12, Level 3 < map >
Time: 14:00-15:50
Friday October 13, 2006
Chairs: Michael Liu, Masao Sugi
#1 (14:00~14:18)
Paper ID: 331
Title: Residual Vibration Analysis and Suppression for SCARA Robot Arm in Semiconductor Manufacturing
Authors: WeiMin Tao, MingJun Zhang, Michael Liu, XiaoPing Yun
#2 (14:18~14:36)
Paper ID: 1299
Title: Computer Graphics Simulator for a Power Distribution Line Maintenance Robot
Authors: Kiyoshi Tsukahara, Yorihiko Tanaka, Kazuhide Sawa, Yingxin He, Hiroki Tatematsu, Yoshihiro Kaji, Kyouichi Tatsuno
#3 (14:36~14:54)
Paper ID: 103
Title: Design and Test of Object Aligning Grippers for Industrial Applications
Authors: Lars-Peter Ellekilde, Henrik Gorden Petersen
#4 (14:54~15:12)
Paper ID: 929
Title: Development of Gesture-based Interface for Deskwork Support System
Authors: Masao Sugi, Makoto Nikaido, Yusuke Tamura, Jun Ota, Tamio Arai
#5 (15:12~15:30)
Paper ID: 53
Title: Multi-Objective Genetic Algorithm for Hybrid Electric Vehicle Parameter Optimization
Authors: Bufu Huang, Zhancheng Wang, Yangsheng Xu
#6 (15:30~15:48)
Paper ID: 1053
Title: Brush Footprint Acquisition and Preliminary Analysis for Chinese Calligraphy using a Robot Drawing Platform
Authors: Ka Wah Lo, Ka Wai Kwok, Sheung Man Wong, Yeung Yam
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FP1-7: Telerobotic Systems II
Room: Convention Hall No. 13, Level 3 < map >
Time: 14:00-15:50
Friday October 13, 2006
Chairs: Hiroshi G. Okuno, Sewoong Kim
#1 (14:00~14:18)
Paper ID: 1172
Title: Simultaneous Motion Compression for Multi-User Extended Range Telepresence
Authors: Patrick Roessler, Uwe D. Hanebeck
#2 (14:18~14:36)
Paper ID: 619
Title: Error Analysis and Calibration of Camera/LRF Sensor Head for Telerobotic Systems
Authors: Sewoong Kim, Prem S. Chidambaram, Hariharan Ananthanarayanan, William R. Hamel
#3 (14:36~14:54)
Paper ID: 1116
Title: 3D Interaction Technique to Enhance Telemanipulation Tasks Using Virtual Environment
Authors: Nassima Ouramdane, Frederic Davesne, Samir Otmane, Mallik Mallem
#4 (14:54~15:12)
Paper ID: 61
Title: Internet-based Tele-rehabilitation System --Bilateral Tele-control with Variable Time Delay--
Authors: Zhen Xiu, Ato Kitagawa, Hideyuki Tsukagoshi, Canghai Liu, Monda Ido, Pingdong Wu
#5 (15:12~15:30)
Paper ID: 406
Title: A Criterion for Evaluating Competitive Teleoperation System
Authors: Xingbo Huang, Jingtai Liu, Lei Sun, Weiwei Sun, Tao Chen
#6 (15:30~15:48)
Paper ID: 631
Title: Task Planner Design Based on Petri Net for Multi-robot Teleoperation over Internet
Authors: Jihong Yan, Yanhe Zhu, Jie Zhao, Hegao Cai
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FP1-8: Multi-legged Robots I
Room: Convention Hall No. 15, Level 3 < map >
Time: 14:00-15:50
Friday October 13, 2006
Chairs: Koh Hosoda, Shugen Ma
#1 (14:00~14:18)
Paper ID: 1276
Title: Fast and Stable Learning of Quasi-Passive Dynamic Walking by an Unstable Biped Robot based on Off-Policy Natural Actor-Critic
Authors: Tsuyoshi Ueno, Yutaka Nakamura, Takashi Takuma, Tomohiro Shibata, Koh Hosoda, Shin Ishii
#2 (14:18~14:36)
Paper ID: 1193
Title: Posture and Vibration Control Based on Virtual Suspension Model Using Sliding Mode Control for Six-Legged Walking Robot
Authors: Qingjiu Huang, Yasuyuki Fukuhara
#3 (14:36~14:54)
Paper ID: 292
Title: The Stability Analysis for Quadruped Bionic Robot
Authors: Pengfei Wang, Lining Sun
#4 (14:54~15:12)
Paper ID: 647
Title: Locomotion via Impact Switching between Decoupling Vector Fields
Authors: Heeseon Hwang, Kevin M. Lynch, Youngil Youm
#5 (15:12~15:30)
Paper ID: 192
Title: Several Insights into Omnidirectional Static Walking of a Quadruped Robot on a Slope
Authors: Lei Zhang, Shugen Ma, Kousuke Inoue
#6 (15:30~15:48)
Paper ID: 1955
Title: Vibration Dynamic Deflection Analysis for Suspension System of Planetary-wheel Lunar Rover
Authors: Haibo Gao, Zongquan Deng, Haitao Fang
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FP1-9: Mobile Robots III
Room: Convention Hall No. 8, Level 2 < map >
Time: 14:00-15:50
Friday October 13, 2006
Chairs: Nobuto Matsuhira, Takashi Yoshimi
#1 (14:00~14:18)
Paper ID: 140
Title: Training Method Improvements of a WiFi Navigation System Based on POMDP
Authors: Manuel Ocana, Luis Miguel Bergasa, Miguel Angel Sotelo, Ramon Flores, Elena Lopez, Rafael Barea
#2 (14:18~14:36)
Paper ID: 468
Title: Mobile Robot Exploration in Indoor Environment Using Topological Structure with Invisible Barcode
Authors: Jinwook Huh, Kyungmin Lee, Wan Kyun Chung, Woong Shik Jeong, Kyung Keun Kim
#3 (14:36~14:54)
Paper ID: 30
Title: Dual Arms Running Control Method of Inspection Robot Based on Obliquitous Sensor
Authors: Xinglong Zhu, Hongguang Wang, Lijin Fang, Mingyang Zhao, Jiping Zhou
#4 (14:54~15:12)
Paper ID: 1360
Title: Real-Time Robot Trajectory Estimation and 3D Map Construction Using 3D Camera
Authors: Kazunori Ohno, Takafumi Nomura, Satoshi Tadokoro
#5 (15:12~15:30)
Paper ID: 2032
Title: Development of a Person Following Robot with Vision Based Target Detection
Authors: Takashi Yoshimi, Manabu Nishiyama, Takafumi Sonoura, Hideichi Nakamoto, Seiji Tokura, Hirokazu Sato, Fumio Ozaki, Nobuto Matsuhira, Hiroshi Mizoguchi
Related Video: 060(Video Session 1)
#6 (15:30~15:48)
Paper ID: 1404
Title: Characteristic Analysis of a Two-wheeled Robotic Rover with Anti-overturn Ability and Combinability
Authors: Jianguo Tao, Zongquan Deng, Zhenfa Bi, Rongqiang Liu, Jicheng Liu
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FP1-10: Stereo Vision II
Room: Convention Hall No. 16A, Level 3 < map >
Time: 14:00-15:50
Friday October 13, 2006
Chairs: Andrzej Sluzek, Jun Xiao
#1 (14:00~14:18)
Paper ID: 653
Title: Scanning the Environment with Two Independent Cameras - Biologically Motivated Approach
Authors: Ofir Avni, Francesco Borrelli, Gadi Katzir, Ehud Rivlin, Hector Rotstein
#2 (14:18~14:36)
Paper ID: 171
Title: A Multi-Camera View Stabilization Strategy
Authors: Kolja Kuehnlenz, Martin Buss
#3 (14:36~14:54)
Paper ID: 432
Title: A Fast Stereo Vision Algorithm With Improved Performance at Object Borders
Authors: Jun Zhao, Jayantha Katupitiya
#4 (14:54~15:12)
Paper ID: 717
Title: A Dynamic Programming Approach Based Stereo Vision Algorithm Improving Object Border Performance
Authors: Jun Zhao, Jayantha Katupitiya
#5 (15:12~15:30)
Paper ID: 707
Title: Using Interest Points for Robust Visual Detection and Identification of Objects in Complex Scenes
Authors: Andrzej Sluzek, Md Saiful Islam, Palaniappan Annamalai
#6 (15:30~15:48)
Paper ID: 2118
Title: A Realistic 3-D Reverse Modeling System Based on Real-World Sampling Dataset
Authors: Zhidong Deng, Jianjun Niu, Jingdan Zhang
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FP1-11: Vision Based Recognition III
Room: Convention Hall No. 10, Level 3 < map >
Time: 14:00-15:50
Friday October 13, 2006
Chairs: Frederic Lersale, Youfu Li
#1 (14:00~14:18)
Paper ID: 1099
Title: Real-Time Robot Audition System That Recognizes Simultaneous Speech in The Real World
Authors: Shunichi Yamamoto, Kazuhiro Nakadai, Mikio Nakano, Hiroshi Tsujino, Jean-Marc Valin, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno
#2 (14:18~14:36)
Paper ID: 1223
Title: Combining Appearance-based and Model-based Methods for Real-time Object Recognition and 6D Localization
Authors: Pedram Azad, Tamim Asfour, Ruediger Dillmann
#3 (14:36~14:54)
Paper ID: 1095
Title: A Next-Best-View Method With Self-termination in Active Modeling of 3D Objects
Authors: B. W. He, Y. F. Li
#4 (14:54~15:12)
Paper ID: 1386
Title: Development of an Underwater Vision Sensor for 3D Reef Mapping
Authors: Andrew Hogue, Michael Jenkin
#5 (15:12~15:30)
Paper ID: 920
Title: A Focal Cue for Metric Measurement of 3D Surfaces
Authors: S. Y. Chen, Y. F. Li, Jianwei Zhang
#6 (15:30~15:48)
Paper ID: 623
Title: Visual Tracking Modalities for a Companion Robot
Authors: Paulo Menezes, Frederic Lerasle, Jorge Dias
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FP1-12: Path Planning V
Room: Convention Hall No. 16B, Level 3 < map >
Time: 14:00-15:50
Friday October 13, 2006
Chairs: Alain Lambert, Raymond Jarvis
#1 (14:00~14:18)
Paper ID: 702
Title: Anytime RRTs
Authors: Dave Ferguson, Anthony Stentz
#2 (14:18~14:36)
Paper ID: 838
Title: Safe Path Planning in an Uncertain-Configuration Space Using RRT
Authors: Romain Pepy, Alain Lambert
#3 (14:36~14:54)
Paper ID: 1383
Title: Sensor Based Randomized Diffusion Planner for Higher Order Manipulators in Unknown Environments
Authors: Dugan Um
#4 (14:54~15:12)
Paper ID: 166
Title: Turn on a Dime
Authors: Scott W. H. Robertson, Hugh Durrant-Whyte
#5 (15:12~15:30)
Paper ID: 91
Title: Distance Transform Based Gaussian Distribution for Probabilistic Target Tracking
Authors: Mohamed S. Marzouqi, Ray A. Jarvis
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FP1-13: Swimming Robots
Room: Convention Hall No. 11, Level 3 < map >
Time: 14:00-15:50
Friday October 13, 2006
Chairs: Shuxiang Guo, Xiaobo Tan
#1 (14:00~14:18)
Paper ID: 227
Title: Dynamics and Control of Turning Maneuver for Biomimetic Robotic Fish
Authors: Junzhi Yu, Lizhong Liu, Long Wang
#2 (14:18~14:36)
Paper ID: 71
Title: The Posture Control and 3-D Locomotion Implementation of Biomimetic Robot Fish
Authors: Chao Zhou, Zhiqiang Cao, Shuo Wang, Min Tan
#3 (14:36~14:54)
Paper ID: 1489
Title: Towards the Body Shape Design of a Hydrodynamically Stable Robotic Boxfish
Authors: Parasar Kodati, Xinyan Deng
#4 (14:54~15:12)
Paper ID: 1487
Title: Experimental Studies on the Hydrodynamics of a Robotic Ostraciiform Tail Fin
Authors: Parasar Kodati, Xinyan Deng
#5 (15:12~15:30)
Paper ID: 502
Title: An Autonomous Robotic Fish for Mobile Sensing
Authors: Xiaobo Tan, Drew Kim, Nathan Usher, Dan Laboy, Joel Jackson, Azra Kapetanovic, Jason Rapai, Beniamin Sabadus, Xin Zhou
#6 (15:30~15:48)
Paper ID: 796
Title: A Novel Water Running Robot Inspired by Basilisk Lizards
Authors: Steven Floyd, Terence Keegan, John Palmisano, Metin Sitti
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FP1-14: Actuator Design and Analysis
Room: Convention Hall No. 3030, Level 3 < map >
Time: 14:00-15:50
Friday October 13, 2006
Chairs: Aiguo Ming, Gordon Lee
#1 (14:00~14:18)
Paper ID: 1139
Title: Hysteretic Modelling of Piezoelectric Actuator Attached on Flexure Hinge Mechanism
Authors: Adha Cahyadi, Yoshio Yamamoto
#2 (14:18~14:36)
Paper ID: 1164
Title: Validating Usability of Ionomeric Polymer-Metal Composite Actuators for Real World Applications
Authors: Mart Anton, Maarja Kruusmaa, Alvo Aabloo, Andres Punning
#3 (14:36~14:54)
Paper ID: 51
Title: Torque Modeling of Spherical Actuators with Double-layer Poles
Authors: Liang Yan, I-Ming Chen, Chee Kian Lim, Guilin Yang, Wei Lin, Kok-Meng Lee
#4 (14:54~15:12)
Paper ID: 897
Title: An Adaptive Meshless Computation Method for Design of Electromechanical Actuators
Authors: Qiang Li, Kok-Meng Lee
#5 (15:12~15:30)
Paper ID: 1429
Title: Dynamic Modeling of Segmented Ionic Polymer Metal Composite (IPMC) Actuator
Authors: Woosoon Yim, Mohamed B. Trabia, Jamil M. Renno, Joonsoo Lee, Kwang J. Kim
#6 (15:30~15:48)
Paper ID: 279
Title: Force Analysis and Characterization of Polymer Actuators
Authors: Nam N. Huynh, Gursel Alici, Geoff M. Spinks
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FP1-15: Humanoid Robots XI: Pattern Generation
Room: Convention Hall No. 7, Level 2 < map >
Time: 14:00-15:50
Friday October 13, 2006
Chairs: Kazuhito Yokoi, Zengqi Sun
#1 (14:00~14:18)
Paper ID: 1355
Title: Online Walking Pattern Generation and System Software of Humanoid BHR-2
Authors: Zhaoqin Peng, Yongling Fu, Zhiyong Tang, Qiang Huang, Tao Xiao
#2 (14:18~14:36)
Paper ID: 1415
Title: Motion Pattern for the Landing Phase of a Vertical Jump for Humanoid Robots
Authors: Sophie Sakka, Neo Ee Sian, Kazuhito Yokoi
#3 (14:36~14:54)
Paper ID: 1070
Title: Static Walk of a Humanoid Robot Based on the Singularity-Consistent Method
Authors: K. Takahashi, M. Noda, D. N. Nenchev, Y. Tsumaki, A. Sekiguchi
#4 (14:54~15:12)
Paper ID: 482
Title: Human-Like Approach to Footstep Planning Among Obstacles for Humanoid Robots
Authors: Yasar Ayaz, Khalid Munawar, M. Bilal Malik, Atsushi Konno, Masaru Uchiyama
#5 (15:12~15:30)
Paper ID: 238
Title: Motion Suspension System for Humanoids in case of Emergency - Real-time Motion Generation and Judgment to suspend Humanoid -
Authors: Kenji Kaneko, Fumio Kanehiro, Shuuji Kajita, Mitsuharu Morisawa, Kiyoshi Fujiwara, Kensuke Harada, Hirohisa Hirukawa
#6 (15:30~15:48)
Paper ID: 1537
Title: Brain Activity in the Evaluation of the Impression of Robot Bodily Expressions
Authors: Abdelaziz Khiat, Masataka Toyota, Yoshio Matsumoto, Tsukasa Ogasawara
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FP1-16: General Sensor or Networks
Room: Convention Hall No. 16C, Level 3 < map >
Time: 14:00-15:50
Friday October 13, 2006
Chairs: Hideki Hashimoto, Jean-Marc Breguet
#1 (14:00~14:18)
Paper ID: 2092
Title: Research on the Hierarchical Supervisory Control of Underwater Glider
Authors: Yu Zhang, Jiaping Tian, Donghai Su, Shijie Wang
#2 (14:18~14:36)
Paper ID: 1465
Title: Adaptive Control of Heterogeneous Marine Sensor Platforms in an Autonomous Sensor Network
Authors: Donald P. Eickstedt, Michael R. Benjamin, Henrik Schmidt, John J. Leonard
#3 (14:36~14:54)
Paper ID: 446
Title: Autonomous Detection of Safe Landing Areas for an UAV from Moncular Images
Authors: Sebastien Bosch, Simon Lacroix, Fernando Caballero
#4 (14:54~15:12)
Paper ID: 441
Title: Solar Cell Powering with Integrated Global Positioning System for mm3 Size Robots
Authors: A. Boletis, W. Driesen, J.-M. Breguet, A. Brunete
#5 (15:12~15:30)
Paper ID: 11
Title: Multisensor Integration for Declaring the Odor Source of a Plume in Turbulent Fluid-Advected Environments
Authors: Wei Li, Mohamoud M. Elgassier, Carl Bloomquist, Karan Srivastava
#6 (15:30~15:48)
Paper ID: 531
Title: Multi-robot Coordination for Elusive Target Interception Aided by Sensor Networks
Authors: Xiaoning Shan, Jindong Tan
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FP2-1: Mobile Robot Control II
Room: Convention Hall No. 3, Level 3 < map >
Time: 16:05-17:55
Friday October 13, 2006
Chairs: Daisuke Chugo, Hajime Asama
#1 (16:05~16:23)
Paper ID: 1003
Title: Moment-Height Tip-Over Measure for Stability Analysis of Mobile Robotic Systems
Authors: S. Ali A. Moosavian, Khalil Alipour
#2 (16:23~16:41)
Paper ID: 442
Title: Path Following Control with Slip Compensation on Loose Soil for Exploration Rover
Authors: Genya Ishigami, Keiji Nagatani, Kazuya Yoshida
#3 (16:41~16:59)
Paper ID: 361
Title: Plural Wheels Control Based on Slip Estimation
Authors: Daisuke Chugo, Kuniaki Kawabata, Hayato Kaetsu, Hajime Asama, Taketoshi Mishima
#4 (16:59~17:17)
Paper ID: 400
Title: A Robust Docking Strategy for a Mobile Robot Using Flow Field Divergence
Authors: Chris McCarthy, Nick Barnes
#5 (17:17~17:35)
Paper ID: 2028
Title: Motion Synchronization in Mobile Robot Networks: Robustness
Authors: Fei Zhang, Weidong Chen, Yugeng Xi
#6 (17:35~17:53)
Paper ID: 168
Title: Optimal Isotropic Characteristics of Caster Wheeled Omnidirectional Mobile Robot
Authors: Sungbok Kim, Byoungkwon Moon, Ilhwa Jung
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FP2-2: Locomotion and Control
Room: Convention Hall No. 4, Level 3 < map >
Time: 16:05-17:55
Friday October 13, 2006
Chairs: Jianwei Zhang, Matthew T. Mason
#1 (16:05~16:23)
Paper ID: 813
Title: Kinematic Modeling of a Small Mobile Robot with Mulit-Locomotion Modes
Authors: Xingguang Duan, Qiang Huang, Nasir Rahman, Jingtao Li, Qinjun Du
#2 (16:23~16:41)
Paper ID: 608
Title: Locomotion Capabilities of a Novel Reconfigurable Robot with 3 DOF Active Joints for Rugged Terrain
Authors: Houxiang Zhang, Zhicheng Deng, Wei Wang, Jianwei Zhang, Guanghua Zong
#3 (16:41~16:59)
Paper ID: 474
Title: Toward Legless Locomotion Control
Authors: Ravi Balasubramanian, Alfred A. Rizzi, Matthew T. Mason
#4 (16:59~17:17)
Paper ID: 167
Title: Collision Detection of Deformable Polyhedral Objects via Inner-outer Ellipsoids
Authors: Jing-Sin Liu, Ju-I Kao, Yau-Zen Chang
#5 (17:17~17:35)
Paper ID: 868
Title: Experimental Study of Automatic Control of Bicycle with Balancer
Authors: M. Yamakita, A. Utano, K. Sekiguchi
#6 (17:35~17:53)
Paper ID: 451
Title: Control of a Nonholonomic Mobile Robot via Sensor-based Target Tracking and Pose Estimation
Authors: M. Maya-Mendez, P. Morin, C. Samson
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FP2-3: Human-Machine Interaction III
Room: Convention Hall No. 6, Level 2 < map >
Time: 16:05-17:55
Friday October 13, 2006
Chairs: Aude Billard, Yasuhisa Hirata
#1 (16:05~16:23)
Paper ID: 213
Title: Biologically Inspired Multimodal Integration: Interferences in a Human-Robot Interaction Game
Authors: Eric L. Sauser, Aude G. Billard
Related Video: 024(Video Session 1)
#2 (16:23~16:41)
Paper ID: 47
Title: Adapting Playgrounds for Children's Play Using Ambient Playware
Authors: Alireza Derakhshan, Frodi Hammer, Henrik Hautop Lund
#3 (16:41~16:59)
Paper ID: 381
Title: HMM-based Error Detection of Dance Step Selection for Dance Partner Robot -MS DanceR-
Authors: Takahiro Takeda, Yasuhisa Hirata, ZhiDong Wang, Kazuhiro Kosuge
#4 (16:59~17:17)
Paper ID: 864
Title: A Robot Photographer with User Interactivity
Authors: Hyunsang Ahn, Dohyung Kim, Jaeyeon Lee, Suyoung Chi, Kyekyung Kim, Jinsul Kim, Minsoo Hahn, Hyunseok Kim
#5 (17:17~17:35)
Paper ID: 295
Title: Machine-mediated Motor Skill Training Method in Haptic-enabled Chinese Handwriting Simulation System
Authors: Dangxiao Wang, Yuru Zhang, Chong Yao
#6 (17:35~17:53)
Paper ID: 1294
Title: Locomotion Imitation of Humanoid Using Goal-directed Self-adjusting Adaptor
Authors: Woosung Yang, Nak Young Chong, ChangHwan Kim, Bum Jae You
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FP2-4: Grasp Planning
Room: Convention Hall No. 5, Level 2 < map >
Time: 16:05-17:55
Friday October 13, 2006
Chairs: Tetsuyou Watanabe, Yong Yu
#1 (16:05~16:23)
Paper ID: 815
Title: Imitation Learning of Whole-Body Grasps
Authors: Kaijen Hsiao, Tomas Lozano-Perez
#2 (16:23~16:41)
Paper ID: 682
Title: Integrated Grasp Planning and Visual Object Localization for a Humanoid Robot with Five-Fingered Hands
Authors: Antonio Morales, Tamim Asfour, Pedram Azad, Steffen Knoop, Rudiger Dillmann
#3 (16:41~16:59)
Paper ID: 196
Title: Manipulation of a Circular Object by a Pair of Multi-DOF Robotic Fingers
Authors: Pham Thuc Anh Nguyen, Ryuta Ozawa, Suguru Arimoto
#4 (16:59~17:17)
Paper ID: 1075
Title: Modeling and Computer Simulation of 3D Object Grasping and Manipulation by Dual Fingers under Nonholonomic Constraints
Authors: Morio Yoshida, Suguru Arimoto, Ji-Hun Bae, Yashutoshi Kishi
#5 (17:17~17:35)
Paper ID: 875
Title: Towards Whole Arm Manipulation by Contact State Transition
Authors: Tetsuyou Watanabe, Kensuke Harada, Tsuneo Yoshikawa, Zhongwei Jiang
#6 (17:35~17:53)
Paper ID: 752
Title: A New Framework for Planning Three-Finger Grasps of 2D Irregular Objects
Authors: Jordi Cornella, Raul Suarez
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FP2-5: Camera Calibration
Room: Convention Hall No. 14, Level 3 < map >
Time: 16:05-17:55
Friday October 13, 2006
Chairs: Beiwei Zhang, Youfu Li
#1 (16:05~16:23)
Paper ID: 1136
Title: A Toolbox for Easily Calibrating Omnidirectional Cameras
Authors: Davide Scaramuzza, Agostino Martinelli, Roland Siegwart
#2 (16:23~16:41)
Paper ID: 180
Title: Automatic Recalibration of the Relative Pose in a Structured Light System
Authors: Y. F. Li, B. Zhang
#3 (16:41~16:59)
Paper ID: 1883
Title: Camera Calibration Based on the RBF Neural Network with Tunable Nodes for Visual Servoing in Robotics
Authors: Xiaoping Zong, Yan Xu, Lei Hao, Xiaoli Huai
#4 (16:59~17:17)
Paper ID: 1756
Title: A New Calibration Model and Method of Camera Lens Distortion
Authors: Jianhua Wang, Fanhuai Shi, Jing Zhang, Yuncai Liu
#5 (17:17~17:35)
Paper ID: 302
Title: Easy Calibration for Para-catadioptric-like Camera
Authors: Yihong Wu, Youfu Li, Zhanyi Hu
#6 (17:35~17:53)
Paper ID: 645
Title: Object Recognition Using 3D tag-based RFID System
Authors: Se-gon Roh, Young Hoon Lee, Hyouk Ryeol Choi
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FP2-8: Multi-legged Robots II
Room: Convention Hall No. 15, Level 3 < map >
Time: 16:05-17:55
Friday October 13, 2006
Chairs: David Orin, Katsuyoshi Tsujita
#1 (16:05~16:23)
Paper ID: 1343
Title: A Four-Leg Locomotion Robot for Heavy Load Transportation
Authors: Hidenori Ishihara, Kiyoshi Kuroi
#2 (16:23~16:41)
Paper ID: 681
Title: Biological Modeling Control of a Multilegged Walking Robot
Authors: Wenchuan Jia, Xuedong Chen, Tianhong Yan, Yi Sun, MingHao Zhou
#3 (16:41~16:59)
Paper ID: 736
Title: Attitude Control of a Quadruped Trot While Turning
Authors: Luther R. Palmer III, David E. Orin
#4 (16:59~17:17)
Paper ID: 798
Title: Bounding Gait in a Hybrid Wheeled-Leg Robot
Authors: James Andrew Smith, Inna Sharf, Michael Trentini
#5 (17:17~17:35)
Paper ID: 1056
Title: Gait Planning of Quadruped Robot Based On Third-Order Spline Interpolation
Authors: Hao Dong, Mingguo Zhao, Ji Zhang, Zongying Shi, Naiyao Zhang
#6 (17:35~17:53)
Paper ID: 1036
Title: What Is the Real Frictional Constraint in Biped Walking C Discussion on Frictional Slip with Rotation
Authors: Chi Zhu, Atsuo Kawamura
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FP2-9: Mobile Robots IV
Room: Convention Hall No. 8, Level 2 < map >
Time: 16:05-17:55
Friday October 13, 2006
Chairs: Alan Ettlin, Danica Kragic
#1 (16:05~16:23)
Paper ID: 837
Title: Obstacle Avoidance Behavior for a Biologically-inspired Mobile Robot Using Binaural Ultrasonic Sensors
Authors: William A. Lewinger, Michael S. Watson, Roger D. Quinn
Related Video: 015(Video Session 2)
#2 (16:23~16:41)
Paper ID: 1428
Title: Bayesian Estimation of Wheelchair Driver Intents: Modeling Intents as Geometric Paths Tracked by the Driver
Authors: Eric Demeester, Alexander Huntemann, Dirk Vanhooydonck, Gerolf Vanacker, Alexandra Degeest, Hendrik Van Brussel, Marnix Nuttin
#3 (16:41~16:59)
Paper ID: 1414
Title: Pushing and Steering Wheelchairs Using a Holonomic Mobile Robot with a Single Arm
Authors: Nandagopal S. Methil, Ranjan Mukherjee
#4 (16:59~17:17)
Paper ID: 284
Title: Optimal Guidance by Omnidirectional Passive Mobility Aid System
Authors: Naemeh Nejatbakhsh, Kazuhiro Kosuge
#5 (17:17~17:35)
Paper ID: 769
Title: Integrating Active Mobile Robot Object Recognition and SLAM in Natural Environments
Authors: Staffan Ekvall, Patric Jensfelt, Danica Kragic
#6 (17:35~17:53)
Paper ID: 323
Title: Randomised Rough-Terrain Robot Motion Planning
Authors: Alan Ettlin, Hannes Bleuler
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FP2-10: Machine Vision
Room: Convention Hall No. 16A, Level 3 < map >
Time: 16:05-17:55
Friday October 13, 2006
Chairs: Koh Hosoda, Koichi Hashimoto
#1 (16:05~16:23)
Paper ID: 1359
Title: The Resection Filter: An Alternative Approach to Filtering Gaussian Pose Estimates with Bearing Observations
Authors: Adam Easton, Stephen Cameron
#2 (16:23~16:41)
Paper ID: 587
Title: Acquisition of Multi-Modal Expression of Slip through Pick-Up Experiences
Authors: Yasunori Tada, Koh Hosoda
#3 (16:41~16:59)
Paper ID: 1773
Title: An Efficient and Reliable Segmentation Method Based on Active Contour Model
Authors: Da Yuan
#4 (16:59~17:17)
Paper ID: 1438
Title: Saccades and Fixating Using Artificial Potential Functions
Authors: B. Deniz Ilhan, Ozgur Erkent, H. Isil Bozma
#5 (17:17~17:35)
Paper ID: 1225
Title: Speeding Up Video Processing for Blastocyst Microinjection
Authors: Leonardo Mattos, Edward Grant, Randy Thresher
#6 (17:35~17:53)
Paper ID: 324
Title: A Real-Time Framework for Vision Based Human Robot Interaction
Authors: Randeep Singh, Bhartendu Seth, Uday Desai
< Go to Top >
FP2-11: Intelligent Space
Room: Convention Hall No. 10, Level 3 < map >
Time: 16:05-17:55
Friday October 13, 2006
Chairs: Gordon Lee, Hideki Hashimoto
#1 (16:05~16:23)
Paper ID: 363
Title: Hierarchical Environment Model for Fusing Information from Human Operators and Robots
Authors: Tobias Kaupp, Bertrand Douillard, Ben Upcroft, Alexei Makarenko
#2 (16:23~16:41)
Paper ID: 962
Title: Three-Layer Model for Generation and Recognition of Attention-Drawing Behavior
Authors: Osamu Sugiyama, Takayuki Kanda, Michita Imai, Hiroshi Ishiguro, Norihiro Hagita
#3 (16:41~16:59)
Paper ID: 715
Title: Fast Online Action Recognition with Boosted Combinational Motion Features
Authors: Masamichi Shimosaka, Takayuki Nishimura, Yu Nejigane, Taketoshi Mori, Tomomasa Sato
#4 (16:59~17:17)
Paper ID: 371
Title: Human Like Segmentation of Daily Actions Based on Switching Model of Linear Dynamical Systems and Human Body Hierarchy
Authors: Yushi Segawa, Taketoshi Mori, Masamichi Shimosaka, Tomomasa Sato
#5 (17:17~17:35)
Paper ID: 411
Title: Recongnising and Segmenting Objects in Natural Environments
Authors: Fabio T. Ramos, Ben Upcroft, Suresh Kumar, Hugh F. Durrant-Whyte
< Go to Top >
FP2-14: Actuator Design and Modelling
Room: Convention Hall No. 3030, Level 3 < map >
Time: 16:05-17:55
Friday October 13, 2006
Chairs: Bryan A. Jones, Zhi-Wei Luo
#1 (16:05~16:23)
Paper ID: 695
Title: Three-Dimensional Modeling and Display of Continuum Robots
Authors: Bryan A. Jones, Ian D. Walker
#2 (16:23~16:41)
Paper ID: 2026
Title: Autoregressive Trispectral Characteristics of Magnetorheological Damping Device
Authors: Yijian Huang, Xiaomei Liu, Bingsan Chen
#3 (16:41~16:59)
Paper ID: 559
Title: Microhandling Using Robotic Manipulation and Capillary Self-alignment
Authors: Quan Zhou, Bo Chang
#4 (16:59~17:17)
Paper ID: 547
Title: General Kinematic Synthesis Method for a Discretely Actuated Robotic Manipulator (D-ARM)
Authors: Keizo Miyahara, Gregory S. Chirikjian
< Go to Top >
FP2-15: Biped Robots
Room: Convention Hall No. 7, Level 2 < map >
Time: 16:05-17:55
Friday October 13, 2006
Chairs: Fumihiko Asano, Yifa Jiang
#1 (16:05~16:23)
Paper ID: 410
Title: Mixed Logic Dynamical Modeling and On Line Optimal Control of Biped Robot
Authors: Yingjie Yin, Shigeyuki Hosoe
#2 (16:23~16:41)
Paper ID: 616
Title: On Energy-Efficient and High-Speed Dynamic Biped Locomotion with Semicircular Feet
Authors: Fumihiko Asano, Zhi-Wei Luo
#3 (16:41~16:59)
Paper ID: 954
Title: Gait Generation for Passive Running via Iterative Learning Control
Authors: Satoshi Satoh, Kenji Fujimoto, Sang-Ho Hyon
#4 (16:59~17:17)
Paper ID: 1186
Title: Energy-Efficient Trajectory Plannning using Inequality State Constraint for Biped Walking Robot with Upper Body Mass
Authors: Takamasa Hase, Qingjiu Huang
#5 (17:17~17:35)
Paper ID: 478
Title: A Humanoid Robot that Breaks Wooden Boards Applying Implusive Force
Authors: Takaaki Matsumoto, Atsushi Konno, Linlin Gou, Masaru Uchiyama
#6 (17:35~17:53)
Paper ID: 152
Title: A PID Model of Balance Keeping Control and Its Application to Stability Assessment
Authors: Yifa Jiang, Hidenori Kimura
< Go to Top >
FP2-16: Formation Control II
Room: Convention Hall No. 16C, Level 3 < map >
Time: 16:05-17:55
Friday October 13, 2006
Chairs: Rachid Alami, Stefano Chiaverini
#1 (16:05~16:23)
Paper ID: 735
Title: Planning and Control for Unmanned Air Vehicle Formation Flight
Authors: Gautier Hattenberger, Rachid Alami, Simon Lacroix
#2 (16:23~16:41)
Paper ID: 405
Title: The Application of Robot Formation Approach in the Control of Subway Train
Authors: Fei Lu, Mu-min Song, Guo-hui Tian, Xiao-lei Li
#3 (16:41~16:59)
Paper ID: 637
Title: Formation Control of Underactuated Surface Vessels Using the Null-Space-based Behavioral Control
Authors: Filippo Arrichiello, Stefano Chiaverini, Thor I. Fossen
#4 (16:59~17:17)
Paper ID: 1323
Title: Flocking of Multi-Vehicle Systems With A Leader
Authors: Bo Liu, Tianguang Chu, Long Wang
#5 (17:17~17:35)
Paper ID: 170
Title: Cooperative Multi-robot Path Planning by Heuristic Priority Adjustment
Authors: Ralf Regele, Paul Levi
#6 (17:35~17:53)
Paper ID: 340
Title: Multi-Robot Motion Planning by Incremental Coordination
Authors: Mitul Saha, Pekka Isto
< Go to Top >

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