Table of Contents with Videos

WeA1	Aula Magna
Multirobot Coordination (Regular Sessions)
09:20-09:38	WeA1.1
Dynamic Programming for Creating Cooperative Behavior of Two Soccer Robots --Part 1: Computation of State-Action Map, pp. 1-7.
Ueda, Ryuichi	Univ. of Tokyo
Sakamoto, Kohei	Univ. of Tokyo
Takeshita, Kazutaka	Univ. of Tokyo
Arai, Tamio	Univ. of Tokyo
09:38-09:56	WeA1.2
Rearrangement Task Realization by Multiple Mobile Robots with Efficient Calculation of Task Constraints, pp. 8-13.
Fujii, Norisuke	Univ. of Tokyo
Ota, Jun	Univ. of Tokyo
Chou, Tsai-Lin	Univ. of Tokyo
09:56-10:14	WeA1.3
Two Vision-Guided Vehicles: Temporal Coordination Using Nonlinear Dynamical Systems, pp. 14-19.
Santos, Cristina P.	Univ. of Minho
Ferreira, Manuel	Univ. of Minho
10:14-10:32	WeA1.4
Real-Time Motion Planning of Multiple Mobile Manipulators with a Common Task Objective in Shared Work Environments, pp. 20-26. Attachment
Vannoy, John	Univ. of North Carolina, Charlotte
Xiao, Jing	Univ. of North Carolina, Charlotte
10:32-10:50	WeA1.5
The Frugal Feeding Problem: Energy-Efficient, Multi-Robot/Multi-Place Rendezvous, pp. 27-32.
Litus, Yaroslav	Simon Fraser Univ.
Vaughan, Richard T.	Simon Fraser Univ.
Zebrowski, Pawel	Simon Fraser Univ.

WeA2	Aula Minor
Visual Tracking (Regular Sessions)
09:20-09:38	WeA2.1
Space-Time a Contrario Clustering for Detecting Coherent Motions, pp. 33-39. Attachment
Veit, Thomas	IRISA / INRIA
Bouthemy, Patrick	IRISA / INRIA
Cao, Frédéric	IRISA / INRIA
09:38-09:56	WeA2.2
Accurate Quadrifocal Tracking for Robust 3D Visual Odometry, pp. 40-45. Attachment
Comport, A. I.	INRIA
Malis, Ezio	INRIA
Rives, Patrick	INRIA
09:56-10:14	WeA2.3
Marker-Less Human Motion Estimation Using Articulated Deformable Model, pp. 46-51.
Ogawara, Koichi	Kyushu Univ.
Li, Xiaolu	Univ. of Tokyo
Ikeuchi, Katsushi	Univ. of Tokyo
10:14-10:32	WeA2.4
Fitting 3D Models on Central Catadioptric Images, pp. 52-57. Attachment
Marchand, Eric	INRIA
Chaumette, Francois	INRIA
10:32-10:50	WeA2.5
A Moment-Based 3D Object Tracking Algorithm for High-Speed Vision, pp. 58-63.
Komuro, Takashi	Univ. of Tokyo
Ishikawa, Masatoshi	Univ. of Tokyo

WeA3	Aula 1
Evolutionary Robotics (Regular Sessions)
09:20-09:38	WeA3.1
Plan-Based Configuration of an Ecology of Robots, pp. 64-70.
Lundh, Robert	Örebro Univ.
Karlsson, Lars	Örebro Univ.
Saffiotti, Alessandro	Örebro Univ.
09:38-09:56	WeA3.2
Mobile Robot Path Planning in Dynamic Environments, pp. 71-76.
Wang, Yang	Loughborough Univ.
Sillitoe, Ian P. W.	Scottish Association for Marine Science
Mulvaney, David J.	Loughborough Univ.
09:56-10:14	WeA3.3
Evolving a Scalable Multirobot Controller Using an Artificial Neural Tissue Paradigm, pp. 77-84. Attachment
Thangavelautham, Jekanthan	Univ. of Toronto
Smith, Alexander	Univ. of Toronto
Boucher, Dale	Northern Centre for Advanced Tech. [NORCAT]
Richard, Jim	Electric Vehicle Controllers [EVC] Ltd
D'Eleuterio, Gabriele M. T.	Univ. of Toronto
10:14-10:32	WeA3.4
Chaos-Driving Robotic Intelligence for Catching Fish, pp. 85-91.
Minami, Mamoru	Univ. of Fukui
Gao, Jingyu	Univ. of Fukui
Mae, Yasushi	Univ. of Fukui
10:32-10:50	WeA3.5
Enhancement of Self Organizing Network Elements for Supervised Learning, pp. 92-98.
Kim, Chyon Hae	Waseda Univ.
Ogata, Tetsuya	Kyoto Univ.
Sugano, Shigeki	Waseda Univ.

WeA4	Aula 2
Analysis of Haptic Systems (Regular Sessions)
09:20-09:38	WeA4.1
A Multi-Rate Control Approach to Haptic Interaction in Multi-User Virtual Environments, pp. 99-104.
Fotoohi, M.	McMaster Univ.
Sirouspour, Shahin	McMaster Univ.
Capson, D.	McMaster Univ.
09:38-09:56	WeA4.2
Frequency Domain Stability Observer and Active Damping Control for Stable Haptic Interaction, pp. 105-110.
Ryu, Dongseok	Korea Inst. of Science and Tech.
Song, Jae-Bok	Korea Univ.
Choi, Junho	Korea Inst. of Science and Tech.
Kang, Sung-Chul	Korea Inst. of Science and Tech.
Kim, Munsang	Korea Inst. of Science and Tech.
09:56-10:14	WeA4.3
Simulation Issues in Haptics, pp. 111-116.
Borghesan, Gianni	Univ. of Bologna
Macchelli, Alessandro	Univ. of Bologna
Melchiorri, Claudio	Univ. of Bologna
10:14-10:32	WeA4.4
High Fidelity Haptic Rendering of Stick-Slip Frictional Contact with Deformable Objects in Virtual Environments Using Multi-Rate Simulation, pp. 117-123.
Jacobs, Paul	Case Western Res. Univ.
Cavusoglu, M. Cenk	Case Western Res. Univ.
10:32-10:50	WeA4.5
Stability Boundary for Haptic Rendering: Influence of Damping and Delay, pp. 124-129.
Gil, Jorge Juan	CEIT
Sánchez, Emilio	CEIT
Hulin, Thomas	DLR
Preusche, Carsten	DLR
Hirzinger, Gerd	German Aerospace Center (DLR)

WeA5	Aula 3
Field Robotics: Systems and Applications (Regular Sessions)
09:20-09:38	WeA5.1
Development of Fully Automatic Inspection Systems for Large Underground Concrete Pipes Partially Filled with Wastewater, pp. 130-135.
Elkmann, N.	Fraunhofer Inst. for Factory Operation and Automation IFF
Althoff, H.	Emschergenossenschaft
Kutzner, S.	Fraunhofer Inst. for Factory Operation and Automation IFF
Stuerze, T.	Fraunhofer Inst. for Factory Operation and Automation IFF
Saenz, J.	Fraunhofer Inst. for Factory Operation and Automation IFF
Reimann, B.	Fraunhofer Inst. for Factory Operation and Automation IFF
09:38-09:56	WeA5.2
Concept and Design of a Fully Autonomous Sewer Pipe Inspection Mobile Robot "KANTARO", pp. 136-143.
Nassiraei, Amir A. F.	FAIS Robotics Development Support Office
Kawamura, Yoshinori	FAIS Robotics Development Support Office
Ahrary, Alireza	FAIS Robotics Development Support Office
Mikuriya, Yoshikazu	FAIS Robotics Development Support Office
Ishii, Kazuo	Kyushu Inst. of Tech.
09:56-10:14	WeA5.3
NIMS RD: A Rapidly Deployable Cable Based Robot, pp. 144-150.
Jordan, Brett L.	UCLA, CENS
Batalin, Maxim A.	UCLA, CENS
Kaiser, William J.	UCLA
10:14-10:32	WeA5.4
ICTINEU^AUV Wins the First SAUC-E Competition, pp. 151-156. Attachment
Ribas, D.	Univ. de Girona
Palomeras, N.	Univ. de Girona
Hernandez, E.	Univ. de Girona
Ridao, P.	Univ. de Girona
Carreras, M.	Univ. de Girona
10:32-10:50	WeA5.5
Combining Networks of Drifting Profiling Floats and Gliders for Adaptive Sampling of the Ocean, pp. 157-162.
Alvarez, Alberto	Inst. Mediterraneo de Estudios Avanzados - IMEDEA
Garau, Bartolomé	Inst. Mediterraneo de Estudios Avanzados-IMEDEA
Caiti, Andrea	Univ. of Pisa

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WeA6	Aula 5
Parallel Kinematic Machines: Design (Regular Sessions)
09:20-09:38	WeA6.1
The Optimum Design of a 6-DOF Parallel Manipulator with Large Orientation Workspace, pp. 163-168.
Hwang, Yoon-Kwon	Hyundai Mobis Company
Yoon, Jung-Won	Gyeongsang National Univ.
Ryu, Je-Ha	Gwangju Inst. of Science and Tech.
Christiand, Christiand	Gyeongsang National Univ.
09:38-09:56	WeA6.2
Development of a Novel 3-DoF Purely Translational Parallel Mechanism, pp. 169-174.
Lou, Yunjiang	Dept. Electronic and Computer Engineering, The Hong Kong Univ. o
Li, Jiangang	The Harbin Inst. of Tech. Shenzhen Graduate School
Shi, Jinbo	The Harbin Inst. of Tech. Shenzhen Graduate School
Li, Zexiang	Hong Kong Univ. of Science and Tech.
09:56-10:14	WeA6.3
Kinematic Analysis of the Spherically Actuated Platform Manipulator, pp. 175-180.
Pendar, H.	Sharif Univ. of Tech.
Vakil, M.	Univ. of Saskatchewan
Fotouhi, R.	Univ. of Saskatchewan
Zohoor, H.	Sharif Univ. of Tech.
10:14-10:32	WeA6.4
Simplectic Architectures for True Multi-Axial Accelerometers: A Novel Application of Parallel Robots, pp. 181-186.
Cardou, Philippe	McGill Univ.
Angeles, Jorge	McGill Univ.
10:32-10:50	WeA6.5
Mechanism and Control of a Novel Type Microrobot for Biomedical Application, pp. 187-192.
Guo, Shuxiang	Kagawa Univ.
Pan, Qinxue	Kagawa Univ.

WeA7	Aula 6
Grasping (Regular Sessions)
09:20-09:38	WeA7.1
Geometric Characterization and Experimental Validation of Frictional 3-Contact Equilibrium Stances in Three-Dimensions, pp. 193-198.
Or, Yizhar	Tech. - Israel Inst. of Tech.
Rimon, Elon	Tech. - Israel Inst. of Tech.
09:38-09:56	WeA7.2
Grasp Force Magnifying Mechanism for Parallel Jaw Grippers, pp. 199-204. Attachment
Takaki, Takeshi	Tokyo Inst. of Tech.
Omata, Toru	Tokyo Inst. of Tech.
09:56-10:14	WeA7.3
Two-Finger Squeezing Caging of Polygonal and Polyhedral Object, pp. 205-210.
Pipattanasomporn, Peam	Chulalongkorn Univ.
Vongmasa, Pawin	Chulalongkorn Univ.
Sudsang, Attawith	Chulalongkorn Univ.
10:14-10:32	WeA7.4
Force Analysis of Whole Hand Grasp by Multifingered Robotic Hand, pp. 211-216.
Xu, Jijie	Hong Kong Univ. of Science and Tech.
Li, Zexiang	Hong Kong Univ. of Science and Tech.
Wang, Michael Yu	The Chinese Univ. of Hong Kong
Wang, Hong	Harbin Inst. of Tech. Shenzhen Graduate
10:32-10:50	WeA7.5
Friction Independent Dynamic Capturing Strategy for a 2D Stick-Shaped Object, pp. 217-224. Attachment
Higashimori, Mitsuru	Osaka Univ.
Kimura, Maiko	Mazda Motor Corp.
Ishii, Idaku	Hiroshima Univ.
Kaneko, Makoto	Osaka Univ.

WeA8	Aula 7
Devices for Surgery (Regular Sessions)
09:20-09:38	WeA8.1
Whisker Sensor Design for Three Dimensional Position Measurement in Robotic Assisted Beating Heart Surgery, pp. 225-231.
Bebek, Ozkan	Case Western Res. Univ.
Cavusoglu, M. Cenk	Case Western Res. Univ.
09:38-09:56	WeA8.2
An Ultrasound Probe Holder for Image-Guided Robot-Assisted Prostate Brachytherapy, pp. 232-237.
Yousef, Basem	Univ. of Western Ontario
Patel, Rajni V.	Univ. of Western Ontario
Moallem, Mehrdad	Univ. of Western Ontario
09:56-10:14	WeA8.3
Development of a New Bending Mechanism and Its Application to Robotic Forceps Manipulator, pp. 238-243. Attachment
Ishii, Chiharu	Kogakuin Univ.
Kobayashi, Kosuke	Kogakuin Univ.
10:14-10:32	WeA8.4
Detachable-Fingered Hands for Manipulation of Large Internal Organs in Laparoscopic Surgery, pp. 244-249. Attachment
Takayama, Toshio	Tokyo Inst. of Tech.
Omata, Toru	Tokyo Inst. of Tech.
Futami, Takashi	Tokyo Inst. of Tech.
Ohya, Toshiki	Tokyo Medical and Dental Univ.
Kojima, Kazuyuki	Tokyo Medical and Dental Univ.
Takase, Kozo	Tokyo Medical and Dental Univ.
Tanaka, Naofumi	Tokyo Medical and Dental Univ.
Akamatsu, Hideki	Tokyo Medical and Dental Univ.
10:32-10:50	WeA8.5
A Modular, Automated Laparoscopic Grasper with Three-Dimensional Force Measurement Capability, pp. 250-255.
Tholey, Gregory	Drexel Univ.
Desai, Jaydev P.	Univ. of Maryland

WeA9	Aula 8
Bio-Inspired Locomotion (Regular Sessions)
09:20-09:38	WeA9.1
Feedback Design for 3D Movement of an Eel-Like Robot, pp. 256-261.
Alamir, M.	GIPSA-Lab.
El Rafei, M.	GIPSA-Lab.
Hafidi, G.	Supélec
Marchand, N.	GIPSA-Lab.
Porez, M.	IRCCyN
Boyer, F.	Ec. des Mines de Nantes
09:38-09:56	WeA9.2
Online Trajectory Generation in an Amphibious Snake Robot Using a Lamprey-Like Central Pattern Generator Model, pp. 262-268. Attachment
Ijspeert, Auke	EPFL (Ec. Pol. F´ed´erale de Lausanne)
Crespi, Alessandro	EPFL (Ec. Pol. F´ed´erale de Lausanne)
09:56-10:14	WeA9.3
Polychaete-Like Pedundulatory Robotic Locomotion, pp. 269-274.
Sfakiotakis, Michael	FORTH
Tsakiris, Dimitris P.	FORTH
Karakasiliotis, Kostas	FORTH
10:14-10:32	WeA9.4
A Biologically Inspired Approach to the Coordination of Hexapedal Gait, pp. 275-280. Attachment
Wait, Keith W.	Vanderbilt Univ.
Goldfarb, Michael	Vanderbilt Univ.
10:32-10:50	WeA9.5
Models for Global Synchronization in CPG-Based Locomotion, pp. 281-286.
Seo, Keehong	Massachusetts Inst. of Tech. (MIT)
Slotine, Jean-Jacques E.	Massachusetts Inst. of Tech. (MIT)

WeA10	Aula 9
Control Architectures and Programming (Regular Sessions)
09:20-09:38	WeA10.1
Control Architecture for Robot Cells to Enable Plug’n’Produce, pp. 287-292.
Naumann, Martin	Fraunhofer IPA
Wegener, Kai	Fraunhofer IPA
Schraft, Rolf Dieter	Fraunhofer IPA
09:38-09:56	WeA10.2
The Process Information Space: The Importance of Data Flow in Robotic Systems, pp. 293-298.
Morris, Aaron	Carnegie Mellon Univ.
09:56-10:14	WeA10.3
Enhancing Software Modularity and Extensibility: A Case for Using Generic Data Representations, pp. 299-304.
Broten, Gregory	Defence R&D Canada
10:14-10:32	WeA10.4
Task Instruction by Putting Task Information in Work Space, pp. 305-310.
Nagata, Kazuyuki	National Inst. of Advanced Industrial Science and Tech.
Wakita, Yujin	National Inst. of Advanced Industrial Science and Tech.
Ono, Eiichi	National Inst. of Advanced Industrial Science and Tech.
10:32-10:50	WeA10.5
Morphing Bus: A Rapid Deployment Computing Architecture for High Performance, Resource-Constrained Robots, pp. 311-316.
D'Souza, Colin	Univ. of Minnesota
Kim, Byung Hwa	Univ. of Minnesota
Voyles, Richard	Univ. of Denver

WeA11	Aula 10
Motion Planning (Regular Sessions)
09:20-09:38	WeA11.1
An Analytical Method for the Planning of Robust Assembly Tasks of Complex Shaped Planar Parts, pp. 317-323. Attachment
Stemmer, A.	DLR - German Aerospace Center
Albu-Schäffer, Alin	DLR - German Aeorspace Center
Hirzinger, Gerd	DLR - German Aerospace Center
09:38-09:56	WeA11.2
Pre-Positioning Assets to Increase Execution Efficiency, pp. 324-329.
Hiatt, Laura M.	Carnegie Mellon Univ.
Simmons, Reid	Carnegie Mellon Univ.
09:56-10:14	WeA11.3
Dynamic Modeling and Motion Planning for Marionettes: Rigid Bodies Articulated by Massless Strings, pp. 330-335. Attachment
Johnson, Elliot	Univ. of Colorado at Boulder
Murphey, Todd D.	Univ. of Colorado at Boulder
10:14-10:32	WeA11.4
Planar Batting under Shape, Pose, and Impact Uncertainty, pp. 336-342.
Fu, Jiaxin L.	Carnegie Mellon Univ.
Srinivasa, Siddhartha S.	Intel Res. Pittsburgh
Pollard, Nancy S	Carnegie Mellon Univ.
Nabbe, Bart C.	Intel Res. Pittsburgh
10:32-10:50	WeA11.5
A Practical Pursuit-Evasion Algorithm: Detection and Tracking, pp. 343-348.
AlDahak, Amna	Univ. of Sharjah
Elnagar, Ashraf	Univ. of Sharjah

WeA12	Aula 11
Aerial Robotics: Design and Modelling (Regular Sessions)
09:20-09:38	WeA12.1
Development of a Flying Robot with Pantograph-Based Variable Wing Mechanism, pp. 349-354.
Hara, Naohiro	The Univ. of Electro-Communications
Tanaka, Kazuo	The Univ. of Electro-Communications
Ohtake, Hiroshi	The Univ. of Electro-Communications
Wang, Hua O.	Boston Univ.
09:38-09:56	WeA12.2
The Design of a Tethered Aerial Robot, pp. 355-360.
McKerrow, Phillip J.	Univ. of Wollongong
Ratner, Danny	Univ. of Wollongong
09:56-10:14	WeA12.3
Energy-Efficient Autonomous Four-Rotor Flying Robot Controlled at 1 Khz, pp. 361-366. Attachment
Gurdan, Daniel	Massachusetts Inst. of Tech. (MIT)
Stumpf, Jan Carsten	Massachusetts Inst. of Tech. (MIT)
Achtelik, Michael	Tech. Univ. of Munich
Doth, Klaus-Michael	Friedrich-Alexander Univ. Erlangen
Hirzinger, Gerd	German Aerospace Center (DLR)
Rus, Daniela	Massachusetts Inst. of Tech. (MIT)
10:14-10:32	WeA12.4
A 1.5g SMA-Actuated Microglider Looking for the Light, pp. 367-372. Attachment
Kovac, Mirko	Ec. Pol. Federale de Lausanne (EPFL)
Guignard, Andre	Ec. Pol. Federale de Lausanne (EPFL)
Nicoud, Jean-Daniel	Didel SA
Zufferey, Jean-Christophe	Ec. Pol. Federale de Lausanne (EPFL)
Floreano, Dario	Ec. Pol. Federale de Lausanne (EPFL)
10:32-10:50	WeA12.5
Design and Optimization of a Biologically Inspired Flapping Mechanism for Flapping Wing Micro Air Vehicles, pp. 373-378.
Khan, Zaeem A.	Univ. of Delaware
Agrawal, Sunil K.	Univ. of Delaware

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WeB1	Aula Magna
Multirobot Coverage and Deployment (Regular Sessions)
11:10-11:28	WeB1.1
Robust Distributed Coverage Using a Swarm of Miniature Robots, pp. 379-384. Attachment
Correll, Nikolaus	EPFL
Martinoli, Alcherio	EPFL
11:28-11:46	WeB1.2
Multi-Robot Area Patrol under Frequency Constraints, pp. 385-390.
Elmaliah, Yehuda	Bar Ilan Univ.
Agmon, Noa	Bar Ilan Univ.
Kaminka, Gal A.	Bar Ilan Univ.
11:46-12:04	WeB1.3
Barrier Coverage for Variable Bounded-Range Line-Of-Sight Guards, pp. 391-396.
Kloder, Stephen	Univ. of Illinois
Hutchinson, Seth A.	Univ. of Illinois
12:04-12:22	WeB1.4
The Cost of Reality: Effects of Real-World Factors on Multi-Robot Search, pp. 397-404.
Pugh, Jim	EPFL
Martinoli, Alcherio	EPFL
12:22-12:40	WeB1.5
Distributed Cooperative Active Sensing Using Consensus Filters, pp. 405-410.
Yang, Peng	Northwestern Univ.
Lynch, Kevin M.	Northwestern Univ.
Freeman, Randy A.	Northwestern Univ.

WeB2	Aula Minor
Active Perception and Vision (Regular Sessions)
11:10-11:28	WeB2.1
Active Illumination for Robot Vision, pp. 411-416.
Chen, S. Y.	Zhejiang Univ. of Tech.
Zhang, Jianwei	Univ. of Hamburg
Zhang, Houxiang	Univ. of Hamburg
Wang, Wanliang	Zhejiang Univ. of Tech.
Li, Y. F.	City Univ. of Hong Kong
11:28-11:46	WeB2.2
Control Camera and Light Source Positions Using Image Gradient Information, pp. 417-422. Attachment
Marchand, Eric	INRIA
11:46-12:04	WeB2.3
Distance Estimation of Hidden Objects Based on Acoustical Holography by Applying Acoustic Diffraction of Audible Sound, pp. 423-428.
Niwa, Haruhiko	Kyoto Univ.
Ogata, Tetsuya	Kyoto Univ.
Komatani, Kazunori	Kyoto Univ.
Okuno, Hiroshi G.	Kyoto Univ.
12:04-12:22	WeB2.4
Realtime Structured Light Vision with the Principle of Unique Color Codes, pp. 429-434.
Chen, S. Y.	Zhejiang Univ. of Tech.
Li, Y. F.	City Univ. of Hong Kong
Zhang, Jianwei	Univ. of Hamburg
12:22-12:40	WeB2.5
Robotic Discovery of the Auditory Scene, pp. 435-440.
Martinson, E.	Georgia Inst. of Tech.
Schultz, A.	Naval Res. Lab.

WeB3	Aula 1
Micro/Nano Robots I (Regular Sessions)
11:10-11:28	WeB3.1
Nanorobotic Manipulator Assisted Assembly of Complex Nanostructures Based on Carbon Nanotubes, pp. 441-446.
Liu, Pou	Nagoya Univ.
Kantola, Kalle	Helsinki Univ. of Tech.
Fukuda, Toshio	Nagoya Univ.
Arai, Fumihito	Tohoku Univ.
11:28-11:46	WeB3.2
Design of an Autonomous Jumping Microrobot, pp. 447-453.
Bergbreiter, Sarah	Univ. of California, Berkeley
Pister, Kristofer S. J.	Univ. of California, Berkeley
11:46-12:04	WeB3.3
Robotic Assisted Micromanipulation System Using Virtual Fixtures and Metaphors, pp. 454-460.
Ammi, Mehdi	Univ. of Paris-XI
Ferreira, Antoine	Univ. of Orléans
12:04-12:22	WeB3.4
µł: Multiscale, Deterministic Micro-Nano Assembly System for Construction of On-Wafer Microrobots, pp. 461-466. Attachment
Das, Aditya N.	The Univ. of Texas at Arlington
Zhang, Ping	The Univ. of Texas at Arlington
Lee, Woo H.	The Univ. of Texas at Arlington
Popa, Dan	The Univ. of Texas at Arlington
Stephanou, Harry	The Univ. of Texas at Arlington
12:22-12:40	WeB3.5
Design and Development of the Long-Jumping ”Grillo” Mini Robot, pp. 467-472. Attachment
Scarfogliero, Umberto	IMT Alti Studi Lucca
Stefanini, Cesare	Scuola Superiore Sant'Anna
Dario, Paolo	Scuola Superiore Sant'Anna

WeB4	Aula 2
Haptic Devices (Regular Sessions)
11:10-11:28	WeB4.1
An Optical Fiber Proximity Sensor for Haptic Exploration, pp. 473-478.
Walker, Sean	Stanford Univ.
Loewke, Kevin	Stanford Univ.
Fischer, Michael	Stanford Univ.
Liu, Carl	Stanford Univ.
Salisbury, Kenneth	Stanford Univ.
11:28-11:46	WeB4.2
Encountered-Type Visual Haptic Display Using Flexible Sheet, pp. 479-484.
Furukawa, Tsuyoshi	Osaka Univ.
Inoue, Kenji	Osaka Univ.
Takubo, Tomohito	Osaka Univ.
Arai, Tatsuo	Osaka Univ.
11:46-12:04	WeB4.3
Design and Evaluation of a Linear Haptic Device, pp. 485-490.
Barbe, L.	Univ. of Strasbourg, LSIIT UMR CNRS
Bayle, B.	Univ. of Strasbourg, LSIIT UMR CNRS
Piccin, O.	INSA - Strasbourg
Gangloff, Jacques	Univ. of Strasbourg, LSIIT UMR CNRS
de Mathelin, Michel	Univ. of Strasbourg, LSIIT UMR CNRS
12:04-12:22	WeB4.4
Compact Tactile Display for Fingertips with Multiple Vibrotactile Actuator and Thermoelectric Module, pp. 491-496.
Yang, Gi-Hun	Korea Advanced Inst. of Science and Tech. (KAIST)
Yang, Tae-Heon	Korea Advanced Inst. of Science and Tech. (KAIST)
Kim, Seung-Chan	Korea Advanced Inst. of Science and Tech. (KAIST)
Kwon, Dong-Soo	Korea Advanced Inst. of Science and Tech. (KAIST)
Kang, Sung-Chul	Korea Inst. of Science and Tech.
12:22-12:40	WeB4.5
Reality-Based Haptic Force Models of Buttons and Switches, pp. 497-502.
Colton, Mark	Brigham Young Univ.
Hollerbach, John M.	Univ. of Utah

WeB5	Aula 3
Field Robotics: Planning and Navigation (Regular Sessions)
11:10-11:28	WeB5.1
Vegetation Detection for Driving in Complex Environments, pp. 503-508. Attachment
Bradley, David M.	Carnegie Mellon Univ.
Unnikrishnan, Ranjith	Carnegie Mellon Univ.
Bagnell, James	Carnegie Mellon Univ.
11:28-11:46	WeB5.2
Using Non-Parametric Filters and Sparse Observations to Localise a Fleet of Mining Vehicles, pp. 509-516.
Worrall, Stewart	Univ. of Sydney
Nebot, Eduardo	Univ. of Sydney
11:46-12:04	WeB5.3
Simultaneous Localization and Mapping for Forest Harvesters, pp. 517-522.
Miettinen, Mikko	Helsinki Univ. of Tech.
Öhman, Matti	Helsinki Univ. of Tech.
Visala, Arto	Helsinki Univ. of Tech.
Forsman, Pekka	Helsinki Univ. of Tech.
12:04-12:22	WeB5.4
Locating a Circular Biochemical Source: Modeling and Control, pp. 523-528.
Tzanos, Panos	Univ. of Illinois at Chicago
Žefran, Miloš	Univ. of Illinois at Chicago
12:22-12:40	WeB5.5
Global Correlation Based Ground Plane Estimation Using V-Disparity Image, pp. 529-534.
Zhao, Jun	The Univ. of New South Wales (UNSW)
Katupitiya, Jayantha	The Univ. of New South Wales (UNSW)
Ward, James	The Univ. of New South Wales (UNSW)

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WeB6	Aula 5
A Common Benchmark of a Group of Parallel Kinematic Machines (Invited Sessions)
Organizer: Hovland, Geir	The Univ. of Queensland
11:10-11:28	WeB6.1
Benchmark of the 3-DOF Gantry-Tau Parallel Kinematic Machine (I), pp. 535-542. Attachment
Hovland, Geir	Agder Univ. Coll.
Choux, Martin	The Univ. of Queensland
Murray, Matthew	The Univ. of Queensland
Brogardh, Torgny	ABB Robotics
11:28-11:46	WeB6.2
Development of a Triglide-Robot with Enlarged Workspace (I), pp. 543-548.
Budde, C.	Tech. Univ. Braunschweig
Last, P.	Tech. Univ. Braunschweig
Hesselbach, J.	Tech. Univ. Braunschweig
11:46-12:04	WeB6.3
Kinematic and Stiffness Analysis of the Orthoglide, a PKM with Simple, Regular Workspace and Homogeneous Performances (I), pp. 549-554.
Pashkevich, Anatoly	Robotic Lab. Minsk, Belarus
Wenger, Philippe	Ec. Centrale de Nantes
Chablat, Damien	Ec. Centrale de Nantes
12:04-12:22	WeB6.4
Parallel Mechanisms of the Multipteron Family: Kinematic Architectures and Benchmarking (I), pp. 555-560.
Gosselin, Clement M.	Univ. Laval
Tale Masouleh, Mehdi	Univ. Laval
Duchaine, Vincent	Univ. Laval
Richard, Pierre-Luc	Univ. Laval
Foucault, Simon	Univ. Laval
Kong, Xianwen	Univ. Laval
12:22-12:40	WeB6.5
Static and Stiffness Analyses of a Class of Over-Constrained Parallel Manipulators with Legs of Type US and UPS, pp. 561-567.
Vertechy, Rocco	Univ. of Bologna
Parenti Castelli, Vincenzo	Univ. of Bologna

WeB7	Aula 6
Contact Modelling and Touching (Regular Sessions)
11:10-11:28	WeB7.1
Probabilistic Estimation of Whole Body Contacts for Multi-Contact Robot Control, pp. 568-573.
Petrovskaya, Anna	Stanford Univ.
Park, Jaeheung	Stanford Univ.
Khatib, Oussama	Stanford Univ.
11:28-11:46	WeB7.2
Frictional Compliance Model Development and Experiments for Snake Robot Climbing, pp. 574-579. Attachment
Shapiro, Amir	Ben Gurion Univ. of the Negev
Greenfield, Aaron	Carnegie Mellon Univ.
Choset, Howie	Carnegie Mellon Univ.
11:46-12:04	WeB7.3
Experimental Verification and Graphical Characterization of Dynamic Jamming in Frictional Rigid-Body Mechanics, pp. 580-585.
Meltz, Daniel	Tech. - Israel Inst. of Tech.
Or, Yizhar	Tech. - Israel Inst. of Tech.
Rimon, Elon	Tech. - Israel Inst. of Tech.
12:04-12:22	WeB7.4
Dynamic Stable Manipulation Via Soft-Fingered Hand, pp. 586-591.
Inoue, Takahiro	Ritsumeikan Univ.
Hirai, Shinichi	Ritsumeikan Univ.
12:22-12:40	WeB7.5
On Control for ``Blind Touching'' by Human-Like Thumb Robots, pp. 592-598. Attachment
Tahara, Kenji	RIKEN
Arimoto, Suguru	Ritsumeikan Univ.
Luo, Zhi-Wei	Kobe Univ.
Yoshida, Morio	RIKEN

WeB8	Aula 7
Surgical Robots (Regular Sessions)
11:10-11:28	WeB8.1
Lightweight Hand-Held Robot for Laparoscopic Surgery, pp. 599-604.
Focacci, Francesco	Scuola Superiore Sant'Anna
Piccigallo, Marco	Univ. of Pisa
Tonet, Oliver	Scuola Superiore Sant'Anna
Megali, Giuseppe	Scuola Superiore Sant'Anna
Pietrabissa, Andrea	Univ. of Pisa
Dario, Paolo	Scuola Superiore Sant'Anna
11:28-11:46	WeB8.2
Adaptive Controlled Milling Robot for Orthopedic Surgery, pp. 605-610. Attachment
Sugita, Naohiko	Univ. of Tokyo
Genma, Fumiaki	Univ. of Tokyo
Nakajima, Yoshikazu	Univ. of Tokyo
Mitsuishi, Mamoru	Univ. of Tokyo
11:46-12:04	WeB8.3
Bending Laser Manipulator for Intrauterine Surgery and Viscoelastic Model of Fetal Rat Tissue, pp. 611-616. Attachment
Harada, Kanako	Waseda Univ. and the National Center for Child Health and Devel
Zhang, Bo	Waseda Univ.
Enosawa, Shin	National Center for Child Health and Development
Chiba, Toshio	National Center for Child Health and Development
Fujie, Masakatsu G.	Waseda Univ.
12:04-12:22	WeB8.4
A Novel Manipulator for 3-D Ultrasound Guided Percutaneous Needle Insertion, pp. 617-622. Attachment
Bassan, H.	The Univ. of Western Ontario
Hayes, T.	The Univ. of Western Ontario
Patel, Rajni V.	The Univ. of Western Ontario
Moallem, Mehrdad	The Univ. of Western Ontario
12:22-12:40	WeB8.5
Development and Application of a New Steady-Hand Manipulator for Retinal Surgery, pp. 623-629. Attachment
Mitchell, Ben	Johns Hopkins Univ.
Hager, Gregory D.	Johns Hopkins Univ.
Kazanzides, Peter	Johns Hopkins Univ.
Kapoor, Ankur	Johns Hopkins Univ.
Iordachita, Iulian	Johns Hopkins Univ.
Taylor, Russell	Johns Hopkins Univ.
Koo, John	Johns Hopkins Medical Inst.
Handa, James	Johns Hopkins Medical Inst.

WeB9	Aula 8
Bio-Inspired Control (Regular Sessions)
11:10-11:28	WeB9.1
Simple Muscle Models Regularize Motion in a Robotic Leg with Neurally-Based Step Generation, pp. 630-635. Attachment
Rutter, Brandon L.	Case Western Res. Univ.
Lewinger, William A.	Case Western Res. Univ.
Blümel, Marcus	Univ. Cologne
Büschges, Ansgar	Univ. of Cologne
Quinn, Roger D.	Case Western Res. Univ.
11:28-11:46	WeB9.2
Transforming Insect Electromyograms into Pneumatic Muscle Control, pp. 636-641.
Rutter, Brandon L.	Case Western Res. Univ.
Mu, Laiyong	Case Western Res. Univ.
Ritzmann, Roy Earl	Case Western Res. Univ.
Quinn, Roger D.	Case Western Res. Univ.
11:46-12:04	WeB9.3
Broadcast Feedback for Stochastic Cellular Actuator Systems Consisting of Nonuniform Actuator Units, pp. 642-647.
Ueda, Jun	Nara Inst. of science and Tech.
Odhner, Lael	Massachusetts Inst. of Tech. (MIT)
Asada, H. Harry	Massachusetts Inst. of Tech. (MIT)
12:04-12:22	WeB9.4
Control of a Scalable Matrix Vasoconstrictor Device for Wet Actuator Arrays, pp. 648-653.
Flemming, L.	The Univ. of Utah
Mascaro, Stephen A.	The Univ. of Utah
12:22-12:40	WeB9.5
A Novel Type of Micropump Using Solenoid Actuator for Biomedical Applications, pp. 654-659.
Guo, Shuxiang	Kagawa Univ. and Harbin Engineering Univ.
Wang, Jian	Kagawa Univ.
Guo, Jian	Kagawa Univ.

WeB10	Aula 9
Manufacturing Systems (Regular Sessions)
11:10-11:28	WeB10.1
Vibration-Induced Frictional Force Fields on a Rigid Plate, pp. 660-667.
Vose, Thomas H.	Northwestern Univ.
Umbanhowar, Paul	Northwestern Univ.
Lynch, Kevin M.	Northwestern Univ.
11:28-11:46	WeB10.2
Mł: Multiscale, Deterministic and Reconfigurable Macro-Micro Assembly System for Packaging of MEMS, pp. 668-673. Attachment
Murthy, Rakesh	The Univ. of Texas at Arlington
Das, Aditya N.	The Univ. of Texas at Arlington
Popa, Dan	The Univ. of Texas at Arlington
Stephanou, Harry	The Univ. of Texas at Arlington
11:46-12:04	WeB10.3
Implementing a Control System Framework for Automatic Generation of Manufacturing Cell Controllers, pp. 674-679.
Ljungkrantz, Oscar	Chalmers Univ. of Tech.
Ĺkesson, Knut	Chalmers Univ. of Tech.
Richardsson, Johan	Chalmers Univ. of Tech.
Andersson, Kristin	Chalmers Univ. of Tech.
12:04-12:22	WeB10.4
A New Solder Paste Inspection Device: Design and Algorithm, pp. 680-685.
Wu, Xinyu	The Chinese Univ. of Hong Kong
Chung, Wingkwong	The Chinese Univ. of Hong Kong
Tong, Hang	The Chinese Univ. of Hong Kong
Cheng, Jun	The Chinese Univ. of Hong Kong
Xu, Yangsheng	The Chinese Univ. of Hong Kong
12:22-12:40	WeB10.5
Quality Evaluation in Flexible Machining Systems: A Flexible Fixture Case Study, pp. 686-691.
Li, Jingshan	Univ. of Kentucky
Huang, Ningjian	GM Res. & Development Center

WeB11	Aula 10
Constrained Path Planning (Regular Sessions)
11:10-11:28	WeB11.1
A Motion Planner for a Hybrid Robotic System with Kinodynamic Constraints, pp. 692-697.
Plaku, Erion	Rice Univ.
Kavraki, Lydia E.	Rice Univ.
Vardi, Moshe Y.	Rice Univ.
11:28-11:46	WeB11.2
Coverage Algorithms for an Underactuated Car-Like Vehicle in an Uncertain Environment, pp. 698-703.
Bosse, Michael	CSIRO ICT Centre
Nourani-Vatani, Navid	CSIRO ICT Centre
Roberts, Jonathan	CSIRO ICT Centre
11:46-12:04	WeB11.3
Greedy but Safe Replanning under Kinodynamic Constraints, pp. 704-710.
Bekris, Kostas E.	Rice Univ.
Kavraki, Lydia E.	Rice Univ.
12:04-12:22	WeB11.4
View Planning Problem with Combined View and Traveling Cost, pp. 711-716.
Wang, Pengpeng	Simon Fraser Univ.
Gupta, Kamal	Simon Fraser Univ.
Krishnamurti, Ramesh	Simon Fraser Univ.
12:22-12:40	WeB11.5
Generation of Homotopic Paths for a Size-Changing Sphere, pp. 717-723.
Bernabeu, Enrique J.	Univ. Pol. de Valencia

WeB12	Aula 11
Aerial Robotics: Identification and Control (Regular Sessions)
11:10-11:28	WeB12.1
Stabilization of a Small Unmanned Aerial Vehicle Model without Velocity Measurement, pp. 724-729.
Bertrand, Sylvain	ONERA
Hamel, Tarek	UNSA-CNRS
Piet-Lahanier, Hélčne	ONERA
11:28-11:46	WeB12.2
Bounded Attitude Stabilization: Application on Four-Rotor Helicopter, pp. 730-735.
Guerrero Castellanos, J. F.	GIPSA-Lab.
Hably, A.	GIPSA-Lab.
Marchand, N.	GIPSA-Lab.
Lesecq, S.	GIPSA-Lab.
11:46-12:04	WeB12.3
Autonomously Flying VTOL-Robots: Modeling and Control, pp. 736-741.
Kondak, Konstantin	Tech. Univ. Berlin
Bernard, Markus	Tech. Univ. Berlin
Meyer, Nicolas	Tech. Univ. Berlin
Hommel, Günter	Tech. Univ. Berlin
12:04-12:22	WeB12.4
Gaussian Processes and Reinforcement Learning for Identification and Control of an Autonomous Blimp, pp. 742-747.
Ko, Jonathan	Univ. of Washington
Klein, Daniel J.	Univ. of Washington
Fox, Dieter	Univ. of Washington
Haehnel, Dirk	Intel Res. Seattle
12:22-12:40	WeB12.5
A Reinforcement Learning Approach to Lift Generation in Flapping MAVs: Experimental Results, pp. 748-754.
Motamed, Mehran	Motion Metrics International Corp.
Yan, Joseph	Univ. of British Columbia

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WeC1	Aula Magna
Multirobot Exploration (Regular Sessions)
14:10-14:28	WeC1.1
Adaptive Sampling for Multi-Robot Wide-Area Exploration, pp. 755-760.
Low, Kian Hsiang	Carnegie Mellon Univ.
Gordon, Geoffrey J.	Carnegie Mellon Univ.
Dolan, John M.	Carnegie Mellon Univ.
Khosla, Pradeep	Carnegie Mellon Univ.
14:28-14:46	WeC1.2
Brick&Mortar: An On-Line Multi-Agent Exploration Algorithm, pp. 761-767. Attachment
Ferranti, Ettore	Birkbeck Coll. Univ. of London
Trigoni, Niki	Birkbeck Coll. Univ. of London
Levene, Mark	Birkbeck Coll. Univ. of London
14:46-15:04	WeC1.3
A Randomized Strategy for Cooperative Robot Exploration, pp. 768-774. Attachment
Franchi, Antonio	Univ. di Roma “La Sapienza”
Freda, Luigi	Univ. di Roma “La Sapienza”
Oriolo, Giuseppe	Univ. di Roma “La Sapienza”
Vendittelli, Marilena	Univ. di Roma “La Sapienza”
15:04-15:22	WeC1.4
Exploring Mars Using a Group of Tumbleweed Rovers, pp. 775-780.
Southard, Lori	Case Western Res. Univ. Biologically Inspired
Hoeg, Thomas M.	Case Western Res. Univ. Biologically Inspired Robotics Lab.
Palmer, Daniel W.	John Carroll Univ.
Antol, Jeffrey	NASA/Langley Res. Center
Kolacinski, Richard M.	Charles Stark Draper Lab.
Quinn, Roger D.	Case Western Res. Univ. Biologically Inspired Robotics Lab.

WeC2	Aula Minor
Vision Hardware (Regular Sessions)
14:10-14:28	WeC2.1
The 3D-Modeller: A Multi-Purpose Vision Platform, pp. 781-787. Attachment
Suppa, Michael	German Aerospace Center (DLR)
Kielhöfer, Simon	German Aerospace Center (DLR)
Langwald, Jörg	German Aerospace Center (DLR)
Hacker, Franz	German Aerospace Center (DLR)
Strobl, Klaus H.	German Aerospace Center (DLR)
Hirzinger, Gerd	German Aerospace Center (DLR)
14:28-14:46	WeC2.2
Realtime and Robust Motion Tracking by Matched Filter on CMOS+FPGA Vision System, pp. 788-793.
Shimizu, Kazuhiro	Ritsumeikan Univ.
Hirai, Shinichi	Ritsumeikan Univ.
14:46-15:04	WeC2.3
Realtime Collision Avoidance Using a Robot Manipulator with Light-Weight Small High-Speed Vision Systems, pp. 794-799. Attachment
Morikawa, Sho	Univ. of Tokyo
Senoo, Taku	Univ. of Tokyo
Namiki, Akio	Univ. of Tokyo
Ishikawa, Masatoshi	Univ. of Tokyo
15:04-15:22	WeC2.4
Wearable Line-Of-Sight Detection System Using Dye-Sensitized Photovoltaic Devices, pp. 800-805.
Shigeoka, T.	Keio Univ.
Miki, N.	Keio Univ.

WeC3	Aula 1
Micro/Nano Robots II (Regular Sessions)
14:10-14:28	WeC3.1
Gel-Tool Sensor Positioned by Optical Tweezers for Local Ph Measurement in a Microchip, pp. 806-811.
Maruyama, Hisataka	Nagoya Univ.
Arai, Fumihito	Tohoku Univ.
Fukuda, Toshio	Nagoya Univ.
14:28-14:46	WeC3.2
Rapidly Prototyped Orthotweezers for Automated Microassembly, pp. 812-819.
Hoover, Aaron M.	Univ. of California, Berkeley
Fearing, Ronald S.	Univ. of California, Berkeley
14:46-15:04	WeC3.3
Polymer Sensorised Microgrippers Using SMA Actuation, pp. 820-825.
Houston, Keith	Pol. Sant'Anna Valdera
Eder, Clemens	Scuola Superiore Sant'Anna
Menciassi, Arianna	Scuola Superiore Sant'Anna
Dario, Paolo	Scuola Superiore Sant'Anna
Carrozza, Maria Chiara	Scuola Superiore Sant'Anna
Sieber, Arne	ARC Seibersdorf Res. GmbH
15:04-15:22	WeC3.4
A Submerged Freeze Microgripper for Micromanipulations, pp. 826-831.
Lopez Walle, Beatriz	Lab. D'AUTOMATIQUE DE BESANCON
Gauthier, Michael	Lab. D'AUTOMATIQUE DE BESANCON
Chaillet, Nicolas	Lab. D'AUTOMATIQUE DE BESANCON

WeC4	Aula 2
Haptics and Interfaces (Regular Sessions)
14:10-14:28	WeC4.1
Output Feedback Control of Wind Display in a Virtual Environment, pp. 832-839.
Kulkarni, Sandip D.	Univ. of Utah
Minor, Mark A.	Univ. of Utah
Deaver, Mark W.	Univ. of Utah
Pardyjak, Erik R.	Univ. of Utah
14:28-14:46	WeC4.2
6 DOF Haptic Feedback for Molecular Docking Using Wave Variables, pp. 840-845.
Daunay, Bruno	Commissariat ŕ l'Energie Atomique
Micaelli, Alain	Commissariat ŕ l'Energie Atomique
Régnier, Stéphane	Lab. de Robotique de Paris
14:46-15:04	WeC4.3
Intuitive Command of Manipulators in Micro-Scale Tasks, pp. 846-851.
Shacklock, Andrew P.	SIMTech
Luo, Hong	SIMTech
Lin, Wei	SIMTech
Burdet, Etienne	Imperial Coll.
Pritchard, Matthew C.	SIMTech
15:04-15:22	WeC4.4
A Survey of Commercial & Open Source Unmanned Vehicle Simulators, pp. 852-857.
Craighead, Jeff	Univ. of South Florida
Murphy, Robin	Univ. of South Florida
Burke, Jenny	Univ. of South Florida
Goldiez, Brian	Univ. of Central Florida

WeC5	Aula 3
Intelligent Transportation Systems (Regular Sessions)
14:10-14:28	WeC5.1
Integrated Design Methodology for an Automated Transportation System in a Seaport Terminal, pp. 858-863. Attachment
Hoshino, Satoshi	Tokyo Inst. of Tech.
Ota, Jun	Univ. of Tokyo
14:28-14:46	WeC5.2
Detecting Unusual Activities at Vehicular Intersections, pp. 864-869. Attachment
Salas, Joaquin	CICATA-IPN Unidad Quer´etaro
Jimenez, Hugo	CICATA-IPN Unidad Quer´etaro
Gonzalez, Joel	CICATA-IPN Unidad Quer´etaro
Hurtado, Juan B.	CICATA-IPN Unidad Quer´etaro
14:46-15:04	WeC5.3
Generating Traffic Statistical Profiles Using Unmanned Helicopter-Based Video Data, pp. 870-876.
Puri, Anuj	Univ. of South Florida
Valavanis, Kimon	Univ. of South Florida
Kontitsis, Michael	Univ. of South Florida
15:04-15:22	WeC5.4
MRBUG: A Competitive Multi-Robot Path Finding Algorithm, pp. 877-882.
Sarid, Shahar	Ben-Gurion Univ. of the Negev
Shapiro, Amir	Ben Gurion Univ. of the Negev
Gabriely, Yoav	Tech. - Israel Inst. of Tech.

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WeC6	Aula 5
Parallel Kinematic Machines: Kinematics (Regular Sessions)
14:10-14:28	WeC6.1
Accuracy of Kinematic and Dynamic Models of a Gantry-Tau Parallel Kinematic Robot, pp. 883-888.
Dressler, Isolde	LTH, Lund Univ.
Robertsson, Anders	LTH, Lund Univ.
Johansson, Rolf	Lund Univ.
14:28-14:46	WeC6.2
Accuracy Analysis of General Parallel Manipulators with Joint Clearance, pp. 889-894.
Meng, Jian	ATC, HKUST
Zhang, Dongjun	Hong Kong Univ. of Science and Tech.
Zhang, Tinghua	Harbin Inst. of Tech. Shenzhen Graduate
Hong, Wang	Harbin Inst. of Tech. Shenzhen Graduate
Li, Zexiang	Hong Kong Univ. of Science and Tech.
14:46-15:04	WeC6.3
Fully-Isotropic Three-Degree-Of-Freedom Parallel Wrists, pp. 895-900.
Gogu, G.	French Inst. of Advanced Mechanics and Blaise Pascal Univ.
15:04-15:22	WeC6.4
Real Time Forward Kinematics Solutions for General Stewart Platforms, pp. 901-906.
Tarokh, Mahmoud	San Diego State Univ.

WeC7	Aula 6
Hand Design (Regular Sessions)
14:10-14:28	WeC7.1
Design Tradeoffs for Electrothermal Microgrippers, pp. 907-912.
Mayyas, Mohammad	The Univ. of Texas at Arlington
Zhang, Ping	The Univ. of Texas at Arlington
Lee, Woo H.	The Univ. of Texas at Arlington
Shiakolas, Panos	The Univ. of Texas at Arlington
Popa, Dan	The Univ. of Texas at Arlington
14:28-14:46	WeC7.2
Development of Multi-Fingered Hand for Life-Size Humanoid Robots, pp. 913-920.
Kaneko, Kenji	National Inst. of Advanced Industrial Science and Tech.
Harada, Kensuke	National Inst. of Advanced Industrial Science and Tech.
Kanehiro, Fumio	National Inst. of Advanced Industrial Science and Tech.
14:46-15:04	WeC7.3
SBC Hand: A Lightweight Robotic Hand with an SMA Actuator Array Implementing C-Segmentation, pp. 921-926. Attachment
Cho, Kyu-Jin	MIT
Rosmarin, Josiah	Massachusetts Inst. of Engineering
Asada, H. Harry	MIT
15:04-15:22	WeC7.4
Mechanical Design of a New Pneumatically Driven Underactuated Hand, pp. 927-933.
Begoc, V.	LIRMM / B+ Development
Krut, S.	LIRMM
Dombre, E.	LIRMM
Durand, C.	B+ Development
Pierrot, F.	LIRMM

WeC8	Aula 7
Teleoperation in Medical Procedures (Regular Sessions)
14:10-14:28	WeC8.1
Teleoperation of Steerable Needles, pp. 934-939.
Romano, Joseph M.	Johns Hopkins Univ.
Webster, III, Robert James	Johns Hopkins Univ.
Okamura, Allison M.	Johns Hopkins Univ.
14:28-14:46	WeC8.2
A Noble Bilateral Teleoperation System for Human Guided Spinal Fusion, pp. 940-946.
Kim, Keehoon	Northwestern Univ.
Lee, Jongwon	POSTECH
Chung, Wan Kyun	POSTECH
Choi, Seungmoon	POSTECH
Kim, Young Soo	School of Medicine, Hanyang Univ.
Suh, Il Hong	Hanyang Univ.
14:46-15:04	WeC8.3
Development of a Master Slave System with Force Sensing Using Pneumatic Servo System for Laparoscopic Surgery, pp. 947-952.
Tadano, Kodak	Tokyo Inst. of Tech.
Kawashima, Kenji	Tokyo Inst. of Tech.
15:04-15:22	WeC8.4
A Remote Surgery Experiment between Japan and Thailand Over Internet Using a Low Latency CODEC System, pp. 953-959.
Arata, Jumpei	Nagoya Insititute of Tech.
Takahashi, Hiroki	The Univ. of Tokyo
Pitakwatchara, Phongsaen	The Univ. of Tokyo
Warisawa, Shin'ichi	The Univ. of Tokyo
Tanoue, Kazuo	Kyushu Univ.
Konishi, Kozo	Kyushu Univ.
Ieiri, Satoshi	Kyushu Univ.
Shimizu, Shuji	Kyushu Univ.
Nakashima, Naoki	Kyushu Univ.
Okamura, Koji	Kyushu Univ.
Fujino, Yuichi	NTT Communications
Ueda, Yukihiro	NTT Communications
Chotiwan, Pornarong	Chulalongkorn Univ.
Mitsuishi, Mamoru	The Univ. of Tokyo
Hashizume, Makoto	Kyushu Univ.

WeC9	Aula 8
Bio-Inspired Design (Regular Sessions)
14:10-14:28	WeC9.1
Micro Autonomous Robotic Ostraciiform (MARCO): Design and Fabrication, pp. 960-965.
Kodati, Parasar	Univ. of Delaware
Hinkle, Jonathan	Univ. of Delaware
Deng, Xinyan	Univ. of Delaware
14:28-14:46	WeC9.2
Design of a Biomimetic Controlled-Curvature Robotic Pectoral Fin, pp. 966-973.
Palmisano, John	Naval Res. Lab.
Ramamurti, Ravi	Naval Res. Lab.
Lu, Kerr-Jia	George Washington Univ.
Cohen, Jonah	Naval Res. Lab.
Sandberg, William	Naval Res. Lab.
Ratna, Banahalli	Naval Res. Lab.
14:46-15:04	WeC9.3
Design and Control of a Fish-Like Robot Using an Electrostatic Motor, pp. 974-979. Attachment
Zhang, Zu Guang	The Univ. of Tokyo
Gondo, Masahiko	The Univ. of Tokyo
Yamashita, Norio	The Univ. of Tokyo
Yamamoto, Akio	The Univ. of Tokyo
Higuchi, Toshiro	The Univ. of Tokyo
15:04-15:22	WeC9.4
STRIDE: A Highly Maneuverable and Non-Tethered Water Strider Robot, pp. 980-984. Attachment
Song, Yun Seong	Carnegie Mellon Univ.
Sitti, Metin	Carnegie Mellon Univ.

WeC10	Aula 9
Discrete Event Systems and Scheduling (Regular Sessions)
14:10-14:28	WeC10.1
Scheduling Analysis of Cluster Tools with Buffer/Process Modules, pp. 985-990.
Yi, Jingang	San Diego State Univ.
Ding, Shengwei	Univ. of California at Berkeley
Song, Dezhen	Texas A&M Univ.
Zhang, Mike Tao	Intel Corp.
14:28-14:46	WeC10.2
Generalized Algebraic Deadlock Avoidance Policies for Sequential Resource Allocation Systems, pp. 991-996.
Reveliotis, Spyros	Georgia Inst. of Tech.
Roszkowska, Elzbieta	Wroclaw Univ. of Tech.
Choi, Jin Young	Samsung Networks Inc.
14:46-15:04	WeC10.3
Optimal Admission Polices for a Retailer of Seasonal Products with Drop-Shipping, pp. 997-1002.
Chen, Frank Y.	The Chinese Univ. of Hong Kong
Chen, Jian	Tsinghua Univ.
Xiao, Yongbo	Tsinghua Univ.
15:04-15:22	WeC10.4
Monitoring of a Class of Timed Discrete Events Systems, pp. 1003-1008.
Allahham, Adib	Univ. Joseph Fourier
Alla, Hassane	Univ. Joseph Fourier

WeC11	Aula 10
Path Planning (Regular Sessions)
14:10-14:28	WeC11.1
Motion Planning of Multiple Agents in Virtual Environments on Parallel Architectures, pp. 1009-1014. Attachment
Li, Yi	Simon Fraser Univ.
Gupta, Kamal	Simon Fraser Univ.
14:28-14:46	WeC11.2
Planning with Uncertainty in Position Using High-Resolution Maps, pp. 1015-1022.
Gonzalez, Juan Pablo	Carnegie Mellon Univ.
Stentz, Anthony	Carnegie Mellon Univ.
14:46-15:04	WeC11.3
The Corridor Map Method: Real-Time High-Quality Path Planning, pp. 1023-1028.
Geraerts, Roland	Univ. Utrecht
Overmars, Mark H.	Univ. Utrecht
15:04-15:22	WeC11.4
Analysis of the Evolution of C-Space Models Built through Incremental Exploration, pp. 1029-1034.
Morales, Marco	Texas A&M Univ.
Pearce, Roger	Texas A&M Univ.
Amato, Nancy M.	Texas A&M Univ.

WeC12	Aula 11
Aerial Robotics: Motion Planning (Regular Sessions)
14:10-14:28	WeC12.1
Efficient Two-Phase 3D Motion Planning for Small Fixed-Wing UAVs, pp. 1035-1041. Attachment
Hwangbo, Myung	Carnegie Mellon Univ.
Kuffner, James	Carnegie Mellon Univ.
Kanade, Takeo	Carnegie Mellon Univ.
14:28-14:46	WeC12.2
3D Path Planning and Target Trajectory Prediction for the Oxford Aerial Tracking System, pp. 1042-1048.
Helble, Heiko	Oxford Univ.
Cameron, Stephen	Oxford Univ.
14:46-15:04	WeC12.3
Method for Designating the Wind Condition in MDP-Based Motion Planning of Under-Actuated Blimp Type UAV, pp. 1049-1055.
Kawano, Hiroshi	NTT Corp.
15:04-15:22	WeC12.4
Trajectory Generation for Rendezvous of Unmanned Aerial Vehicles with Kinematic Constraints, pp. 1056-1061. Attachment
Lee, Jin-Wook	Seoul National Univ.
Kim, H. Jin	Seoul National Univ.

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WeD1	Aula Magna
Multirobot Control (Regular Sessions)
15:28-15:46	WeD1.1
Remote Formation Control and Collision Avoidance for Multi-Agent Nonholonomic Systems, pp. 1062-1067.
Mastellone, Silvia	Univ. of Illinois
Stipanovic, Dusan	Univ. of Illinois
Spong, Mark W.	Univ. of Illinois
15:46-16:04	WeD1.2
Experiences of Formation Control of Multi-Robot Systems with the Null-Space-Based Behavioral Control, pp. 1068-1073.
Antonelli, Gianluca	Univ. degli Studi di Cassino
Arrichiello, Filippo	Univ. degli Studi di Cassino
Chiaverini, Stefano	Univ. degli Studi di Cassino
Chakraborti, Suryarghya	Indian Inst. of Tech.
16:04-16:22	WeD1.3
A Computationally Efficient Path Planner for a Collection of Wheeled Mobile Robots with Limited Sensing Zones, pp. 1074-1079.
Sahin, Turker	Gebze Inst. of Tech.
Zergeroglu, Erkan	Gebze Inst. of Tech.
16:22-16:40	WeD1.4
Control for Multi-Subsystem Synchronization with Invariant Local Natural Dynamics, pp. 1080-1085.
Cheong, Joono	Korea Univ.
Kim, Chano	Korea Univ.

WeD2	Aula Minor
3D Range Sensing and Registration (Regular Sessions)
15:28-15:46	WeD2.1
Efficient 3D Object Detection by Fitting Superquadrics to Range Image Data for Robot's Object Manipulation, pp. 1086-1091.
Biegelbauer, Georg	Vienna Univ. of Tech.
Vincze, Markus	Vienna Univ. of Tech.
15:46-16:04	WeD2.2
A Study on the Relative Pose Problem in an Active Vision System with Varying Focal Lengths, pp. 1092-1097.
Zhang, B.	City Univ. of Hong Kong
Li, Y. F.	City Univ. of Hong Kong
16:04-16:22	WeD2.3
Feature Extraction on Range Images – a New Approach, pp. 1098-1103.
Coleman, S. A.	Univ. of Ulster
Scotney, B. W.	Univ. of Ulster
Suganthan, S.	Univ. of Ulster
16:22-16:40	WeD2.4
Spherical Laser Point Sampling with Application to 3D Scene Genetic Registration, pp. 1104-1109.
Martinez, Jorge L.	Univ. of Malaga
Reina, Antonio	Univ. of Malaga
Mandow, Anthony	Univ. of Malaga

WeD3	Aula 1
Micro/Nano Robots III (Regular Sessions)
15:28-15:46	WeD3.1
Robust Adaptive Motion Tracking Control of Piezoelectric Actuation Systems for Micro/Nano Manipulation, pp. 1110-1115.
Liaw, Hwee-Choo	Monash Univ.
Shirinzadeh, Bijan	Monash Univ.
Smith, Julian	Monash Univ.
15:46-16:04	WeD3.2
On the Force Capabilities of Centripetal Force-Actuated Microrobotic Platforms, pp. 1116-1121.
Vartholomeos, P.	National Tech. Univ. of Athens
Vlachos, K.	National Tech. Univ. of Athens
Papadopoulos, Evangelos	National Tech. Univ. of Athens
16:04-16:22	WeD3.3
Measuring the Magnetic and Hydrodynamic Properties of Assembled-MEMS Microrobots, pp. 1122-1127.
Kummer, Michael P.	ETH Zurich
Abbott, Jake J.	ETH Zurich
Vollmers, Karl	ETH Zurich
Nelson, Bradley J.	ETH Zurich
16:22-16:40	WeD3.4
Flagella-Like Propulsion for Microrobots Using a Nanocoil and a Rotating Electromagnetic Field, pp. 1128-1133.
Bell, D. J.	ETH Zurich
Leutenegger, S.	ETH Zurich
Hammar, M. K.	ETH Zurich
Dong, L.	ETH Zurich
Nelson, B. J.	ETH Zurich

WeD4	Aula 2
Methods for Safe Control of Robots (Regular Sessions)
15:28-15:46	WeD4.1
Don’t Do Things That You Can't Undo: Reversibility Models for Generating Safe Behaviours, pp. 1134-1139.
Kruusmaa, Maarja	Tartu Univ.
Gavshin, Yuri	Tartu Univ.
Eppendahl, Adam	Univ. of Malaya
15:46-16:04	WeD4.2
A Short Paper about Motion Safety, pp. 1140-1145.
Fraichard, Thierry	Inria
16:04-16:22	WeD4.3
Double Actuator Unit with Planetary Gear Train for a Safe Manipulator, pp. 1146-1151.
Kim, Byeong-Sang	Korea Univ.
Park, Jung-Jun	Korea Univ.
Song, Jae-Bok	Korea Univ.
16:22-16:40	WeD4.4
Safe Link Mechanism Based on Passive Compliance for Safe Human-Robot Collision, pp. 1152-1157.
Park, Jung-Jun	Korea Univ.
Kim, Byeong-Sang	Korea Univ.
Song, Jae-Bok	Korea Univ.
Kim, Hong-Seok	Korea Inst. of Industrial Tech.

WeD5	Aula 3
Ground and All Terrain Vehicles (Regular Sessions)
15:28-15:46	WeD5.1
A Rollover Indicator Based on the Prediction of the Load Transfer in Presence of Sliding: Application to an All Terrain Vehicle, pp. 1158-1163.
Bouton, Nicolas	Cemagref
Lenain, Roland	Cemagref
Thuilot, Benoit	Clermont-Ferrand Univ.
Fauroux, Jean-Christophe	IFMA (French Inst. for Advanced Mechanics)
15:46-16:04	WeD5.2
Trajectory Control of a Four-Wheel Skid-Steering Vehicle Over Soft Terrain Using a Physical Interaction Model, pp. 1164-1169.
Lhomme-Desages, D.	Lab. de Robotique de Paris
Grand, Ch.	Lab. de Robotique de Paris
Guinot, J. C.	Lab. de Robotique de Paris
16:04-16:22	WeD5.3
Dynamic Stability of Off-Road Vehicles Considering a Longitudinal Terramechanics Model, pp. 1170-1175.
Shiller, Zvi	Coll. of Judea and Samaria
Mann, Moshe P.	Coll. of Judea and Samaria
Rubinstein, Dror	Coll. of Judea and Samaria
16:22-16:40	WeD5.4
Autonomous Hot Metal Carrier, pp. 1176-1182.
Tews, Ashley Desmond	CSIRO ICT Centre
Pradalier, Cedric	CSIRO ICT Centre
Roberts, Jonathan	CSIRO ICT Centre

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WeD6	Aula 5
Parallel Kinematic Machines: Singularities (Regular Sessions)
15:28-15:46	WeD6.1
Assembly Problem of Overconstrained and Clearance-Free Parallel Manipulators, pp. 1183-1188.
Meng, Jian	Hong Kong Univ. of Science and Tech.
Zhang, Dongjun	Hong Kong Univ. of Science and Tech.
Li, Zexiang	Hong Kong Univ. of Science and Tech.
15:46-16:04	WeD6.2
Singularity Analysis for a 5-DoF Fully-Symmetrical Parallel Manipulator 5-RRR(RR), pp. 1189-1194.
Zhu, Si-Jun	Yanshan Univ. & Shenyang Inst. Automation of CAS
Huang, Zhen	Yanshan Univ.
Zhao, Ming-Yang	Shenyang Inst. Automation of CAS
16:04-16:22	WeD6.3
Singularity Avoidance for the 3-RRR Mechanism Using Kinematic Redundancy, pp. 1195-1200.
Cha, Sung-Hoon	Univ. of California, Davis
Lasky, Ty A.	Univ. of California, Davis
Velinsky, Steven A.	Univ. of California, Davis
16:22-16:40	WeD6.4
Avoiding Parallel Singularities of 3UPS and 3UPU Spherical Wrists, pp. 1201-1206. Attachment
Paganelli, Davide	Univ. of Bologna

WeD7	Aula 6
Handling Deformable Objects (Regular Sessions)
15:28-15:46	WeD7.1
An Adaptive Meshless Method for Modeling Large Mechanical Deformation and Contacts, pp. 1207-1212.
Li, Qiang	Georgia Inst. of Tech.
Lee, Kok-Meng	Georgia Inst. of Tech.
15:46-16:04	WeD7.2
Automated Handling, Assembly and Packaging of Highly Variable Compliant Food Products - Making a Sandwich, pp. 1213-1218.
Davis, Steven	Univ. of Salford
Gray, John O	Univ. of Salford
King, Martin G	Univ. of Salford
Casson, John W	Univ. of Salford
Caldwell, Darwin G.	Italian Inst. of Tech.
16:04-16:22	WeD7.3
An Optimum Design of Robotic Hand for Handling a Visco-Elastic Object Based on Maxwell Model, pp. 1219-1225.
Sakamoto, Naoki	Mayekawa Mfg. Co., Ltd.
Higashimori, Mitsuru	Osaka Univ.
Tsuji, Toshio	Hiroshima Univ.
Kaneko, Makoto	Osaka Univ.
16:22-16:40	WeD7.4
Design of an Automated Handling System for Limp, Flexible Sheet Lasagna Pasta, pp. 1226-1231. Attachment
Moreno Masey, R. J.	Univ. of Salford
Caldwell, Darwin G.	Italian Inst. of Tech.

WeD8	Aula 7
Rehabilitation Robotics I (Regular Sessions)
15:28-15:46	WeD8.1
Biorhythm-Based Awakening Timing Modulation, pp. 1232-1237.
Wakuda, Yuki	Nagoya Univ.
Noda, Akiko	Nagoya Univ.
Sekiyama, Kosuke	Nagoya Univ.
Hasegawa, Yasuhisa	Univ. of Tsukuba
Fukuda, Toshio	Nagoya Univ.
15:46-16:04	WeD8.2
Intelligent Control Framework for Robotic Rehabilitation after Stroke, pp. 1238-1243.
Erol, Duygun	Vanderbilt Univ.
Sarkar, Nilanjan	Vanderbilt Univ.
16:04-16:22	WeD8.3
Development of Roll-Over Support System with EMG Control for Cancer Bone Metastasis Patients, pp. 1244-1249.
Ando, Takeshi	Waseda Univ.
Okamoto, Jun	Waseda Univ.
Fujie, Masakatsu G.	Waseda Univ.
16:22-16:40	WeD8.4
Social Effects of Robot Therapy in a Care House - Change of Social Network of the Residents for Two Months -, pp. 1250-1255.
Wada, Kazuyoshi	National Inst. Advance Science and Tech. (AIST)
Shibata, Takanori	National Inst. Advance Science and Tech. (AIST)

WeD9	Aula 8
Bio-Inspired Climbing (Regular Sessions)
15:28-15:46	WeD9.1
Compliant Distributed Magnetic Adhesion Device for Wall Climbing, pp. 1256-1261. Attachment
Berengueres, Jose	TokyoTech
Tadakuma, Kenjiro	Massachusetts Inst. of Tech. (MIT)
Kamoi, Tatsuaki	TokyoTech
Kratz, R.	Darmstadt Univ. of Tech.
15:46-16:04	WeD9.2
Directional Adhesive Structures for Controlled Climbing on Smooth Vertical Surfaces, pp. 1262-1267.
Santos, Daniel	Stanford Univ.
Kim, Sangbae	Stanford Univ.
Spenko, Matthew	Stanford Univ.
Parness, Aaron	Stanford Univ.
Cutkosky, Mark R.	Stanford Univ.
16:04-16:22	WeD9.3
Whole Body Adhesion: Hierarchical, Directional and Distributed Control of Adhesive Forces for a Climbing Robot, pp. 1268-1273. Attachment
Kim, Sangbae	Stanford Univ.
Spenko, Matthew	Stanford Univ.
Trujillo, Salomon	Stanford Univ.
Heyneman, Barrett	Stanford Univ.
Mattoli, Virgilio	Scuola Superiore S.Anna
Cutkosky, Mark R.	Stanford Univ.
16:22-16:40	WeD9.4
Passive Foot Design and Contact Area Analysis for Climbing Mini-Whegs(TM), pp. 1274-1279. Attachment
Daltorio, Kathryn A.	Case Western Res. Univ.
Wei, Terence E.	Case Western Res. Univ.
Gorb, Stanislav N.	Max-Planck-Inst. for Metals Res.
Ritzmann, Roy Earl	Case Western Res. Univ.
Quinn, Roger D.	Case Western Res. Univ.

WeD10	Aula 9
Production Planning (Regular Sessions)
15:28-15:46	WeD10.1
Robotic Cycle Shop Control Based on Deterministic Correlation Maps, pp. 1280-1285.
Meyer, Wolfgang	Hamburg Univ. of Tech.
Fiedler, Claudia	Hamburg Univ. of Tech.
15:46-16:04	WeD10.2
Optimal MultiPeriod Inventory Decisions with Partially Observed Markovian Supply Information, pp. 1286-1291.
Wang, Haifeng	Tsinghua Univ. Beijing, China
Yan, Houmin	Chinese Univ. of Hong Kong
16:04-16:22	WeD10.3
Metric View Planning Problem with Traveling Cost and Visibility Range, pp. 1292-1297.
Wang, Pengpeng	Simon Fraser Univ.
Krishnamurti, Ramesh	Simon Fraser Univ.
Gupta, Kamal	Simon Fraser Univ.
16:22-16:40	WeD10.4
E-Negotiation of Dependent Multiple Issues by Using a Joint Search Strategy, pp. 1298-1303.
Chou, Ta-Chiun	National Taiwan Univ.
Fu, Li-Chen	National Taiwan Univ.
Liu, Kuang-Ping	National Taiwan Univ.

WeD11	Aula 10
Path Planning in Dynamic Environments (Regular Sessions)
15:28-15:46	WeD11.1
Safe Navigation of a Mobile Robot Using the Visibility Information, pp. 1304-1309.
Kim, Seokgyu	Korea Univ.
Chung, Woojin	Korea Univ.
Moon, Chang-bae	Korea Univ.
Song, Jae-Bok	Korea Univ.
15:46-16:04	WeD11.2
Anytime, Dynamic Planning in High-Dimensional Search Spaces, pp. 1310-1315.
Ferguson, Dave	Intel
Stentz, Anthony	Carnegie Mellon Univ.
16:04-16:22	WeD11.3
Lazy Reconfiguration Forest (LRF) - an Approach for Motion Planning with Multiple Tasks in Dynamic Environments, pp. 1316-1323.
Gayle, Russell	Univ. of North Carolina at Chapel Hill
Klingler, Kristopher R.	Sandia National Lab.
Xavier, Patrick G.	Sandia National Lab.
16:22-16:40	WeD11.4
Global Trajectory Generation for Nonholonomic Robots in Dynamic Environments, pp. 1324-1329.
Guo, Yi	Stevens Inst. of Tech.
Long, Yi	Stevens Inst. of Tech.
Sheng, Weihua	Oklahoma State Univ.

WeD12	Aula 11
Aerial Robotics: Visual Servoing (Regular Sessions)
15:28-15:46	WeD12.1
Visual Servoing of an Airplane for Alignment with Respect to a Runway, pp. 1330-1335. Attachment
Bourquardez, Odile	IRISA - CNRS
Chaumette, Francois	INRIA
15:46-16:04	WeD12.2
3D Vision-Based Navigation for Indoor Microflyers, pp. 1336-1341. Attachment
Beyeler, Antoine	Ec. Pol. Fédérale de Lausanne (EPFL)
Zufferey, Jean-Christophe	Ec. Pol. Fédérale de Lausanne (EPFL)
Floreano, Dario	Ec. Pol. Fédérale de Lausanne (EPFL)
16:04-16:22	WeD12.3
A Practical Visual Servo Control for a Unmanned Aerial Vehicle., pp. 1342-1348.
Gurnard, Nicolas	CEA
Hamel, Tarek	UNSA-CNRS
Mahony, Robert	Australian National Univ.
16:22-16:40	WeD12.4
Autonomous Vision-Based Landing and Terrain Mapping Using an MPC-Controlled Unmanned Rotorcraft, pp. 1349-1356.
Templeton, Todd	Univ. of California, Berkeley
Shim, David Hyunchul	Korea Advanced Inst. of Science and Tech.
Geyer, Christopher	Carnegie Mellon Univ.
Sastry, S. Shankar	Univ. of California, Berkeley

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WeE1	Aula Magna
Continuum and Redundant Systems (Regular Sessions)
17:00-17:18	WeE1.1
Dynamic Modelling for Planar Extensible Continuum Robot Manipulators, pp. 1357-1362.
Tatlicioglu, Enver	Clemson Univ.
Walker, Ian D.	Clemson Univ.
Dawson, Darren M.	Clemson Univ.
17:18-17:36	WeE1.2
Limiting-Case Analysis of Continuum Trunk Kinematics, pp. 1363-1368.
Jones, Bryan A.	Mississippi State Univ.
Walker, Ian D.	Clemson Univ.
17:36-17:54	WeE1.3
Casting Control for Hyper-Flexible Manipulation, pp. 1369-1374.
Suzuki, Takahiro	Univ. of Tokyo
Ebihara, Yuji	Univ. of Tokyo
17:54-18:12	WeE1.4
A Dynamic Programming Approach to Redundancy Resolution with Multiple Criteria, pp. 1375-1380.
Guigue, A.	Carleton Univ.
Ahmadi, M.	Carleton Univ.
Hayes, M. J. D.	Carleton Univ.
Langlois, R.	Carleton Univ.
Tang, F. C.	IAR, NRC Canada

WeE2	Aula Minor
Educational Robotics (Regular Sessions)
17:00-17:18	WeE2.1
A Web Lab for Mobile Robotic Education, pp. 1381-1386.
Coelho, Paulo R. S. L.	UNICAMP
Sassi, Rodrigo F.	UNICAMP
Cardozo, Eleri	UNICAMP
Guimarăes, Eliane G.	CenPRA
Faina, Luis F.	Federal Univ. of Uberlândia
Lima, Alex Z.	UNICAMP
Pinto, Rossano P.	UNICAMP
17:18-17:36	WeE2.2
Undergraduate Robotics Education in Technologically Underserved Communities, pp. 1387-1392.
Dias, M. Bernardine	Carnegie Mellon Univ.
Browning, Brett	Carnegie Mellon Univ.
Mills-Tettey, G. Ayorkor	Carnegie Mellon Univ.
Amanquah, Nathan	Ashesi Univ.
El-Moughny, Noura	Carnegie Mellon Univ. in Qatar
17:36-17:54	WeE2.3
Evaluating the Roomba: A Low-Cost, Ubiquitous Platform for Robotics Research and Education, pp. 1393-1399.
Tribelhorn, Ben	Harvey Mudd Coll.
Dodds, Zachary	Harvey Mudd Coll.
17:54-18:12	WeE2.4
USARSim: A Robot Simulator for Research and Education, pp. 1400-1405.
Carpin, Stefano	Univ. of California, Merced
Lewis, Mike	Univ. of Pittsburgh
Wang, Jijun	Univ. of Pittsburgh
Balakirsky, Stephen	NIST
Scrapper, Chris	NIST

WeE3	Aula 1
Nanoscale Automation (Regular Sessions)
17:00-17:18	WeE3.1
Automated Nanomanipulation with Atomic Force Microscopes, pp. 1406-1412.
Mokaberi, Babak	Univ. of Southern California
Yun, Jaehong	Univ. of Southern California
Wang, Michael	Univ. of Southern California
Requicha, Aristides A. G.	Univ. of Southern California
17:18-17:36	WeE3.2
A Strategy for Vision-Based Controlled Pushing of Microparticles, pp. 1413-1418.
Lynch, Nicholas A.	Lehigh Univ.
Schuster, Eugenio	Lehigh Univ.
Sitti, Metin	Carnegie Mellon Univ.
Onal, Cagdas	Carnegie Mellon Univ.
17:36-17:54	WeE3.3
A Novel Actuator for High-Precision Alignment in a Nano-Imprint Multi-Layers-Interconnection Fabrication, pp. 1419-1424.
Teo, Tat Joo	Nanyang Tech. Univ.
Chen, I-Ming	Nanyang Tech. Univ.
Yang, Guilin	Singapore Inst. of Manufacturing Tech.
Lin, Wei	Singapore Inst. of Manufacturing Tech.
17:54-18:12	WeE3.4
Nanorobotic Spot Welding by Attogram Precision Metal Deposition from Copper-Filled Carbon Nanotubes, pp. 1425-1430.
Dong, Lixin	ETH Zurich
Tao, Xinyong	Zhejiang Univ.
Zhang, Li	ETH Zurich
Zhang, Xiaobin	Zhejiang Univ.
Nelson, Bradley J.	ETH Zurich

WeE4	Aula 2
Underactuation and Control Methods (Regular Sessions)
17:00-17:18	WeE4.1
Mixed Initiative Control of Autonomous Vehicles, pp. 1431-1436.
Loizou, Savvas G.	Department of Mechanical Engineering, Univ. of Pennsylvania
Kumar, Vijay	Department of Mechanical Engineering, Univ. of Pennsylvania
17:18-17:36	WeE4.2
A New Control Method Utilizing Stiffness Adjustment of Mechanical Elastic Elements for Serial Link Systems, pp. 1437-1442.
Uemura, Mitsunori	Ritsumeikan Univ.
Kanaoka, Katsuya	Ritsumeikan Univ.
Kawamura, Sadao	Ritsumeikan Univ.
17:36-17:54	WeE4.3
On Robot Gymnastics Planning with Non-Zero Angular Momentum, pp. 1443-1448.
Papadopoulos, Evangelos	National Tech. Univ. of Athens
Fragkos, Ioannis	National Tech. Univ. of Athens
Tortopidis, Ioannis	National Tech. Univ. of Athens
17:54-18:12	WeE4.4
Robust Control Using Sliding Mode for a Class of Under-Actuated Systems with Mismatched Uncertainties, pp. 1449-1454.
Qian, Dianwei	Chinese Acad. of Sciences
Yi, Jianqiang	Chinese Acad. of Sciences
Zhao, Dongbin	Chinese Acad. of Sciences

WeE5	Aula 3
Legged Locomotion on Rough Terrain (Regular Sessions)
17:00-17:18	WeE5.1
A Policy for Open-Loop Attenuation of Disturbance Effects Caused by Uncertain Ground Properties in Running, pp. 1455-1460.
Hurst, Jonathan W.	Carnegie Mellon Univ.
Morris, Benjamin	Univ. of Michigan
Chestnutt, Joel E.	Carnegie Mellon Univ.
Rizzi, Alfred A.	Boston Dynamics
17:18-17:36	WeE5.2
Search-Based Foot Placement for Quadrupedal Traversal of Challenging Terrain, pp. 1461-1466.
Hofmann, Andreas G.	Massachusetts Inst. of Tech. (MIT)
Williams, Brian C.	Massachusetts Inst. of Tech. (MIT)
Mitchell, Barrett	Massachusetts Inst. of Tech. (MIT)
17:36-17:54	WeE5.3
A Controller for the LittleDog Quadruped Walking on Rough Terrain, pp. 1467-1473.
Rebula, John R.	Inst. for Human and Machine Cognition
Neuhaus, Peter D.	Inst. for Human and Machine Cognition
Bonnlander, Brian V.	Inst. for Human and Machine Cognition
Johnson, Matt J.	Inst. for Human and Machine Cognition
Pratt, Jerry E.	Inst. for Human and Machine Cognition
17:54-18:12	WeE5.4
A Robust Quadruped Walking Gait for Traversing Rough Terrain, pp. 1474-1479. Attachment
Pongas, Dimitris	Univ. of Southern California
Mistry, Michael	Univ. of Southern California
Schaal, Stefan	Univ. of Southern California

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WeE6	Aula 5
Parallel Kinematic Machines: Statics and Dynamics (Regular Sessions)
17:00-17:18	WeE6.1
Dynamics and Control of Actuated Parallel Structures As a Constrained Optimization Problem through Gauss' Principle and Appell's Equations, pp. 1480-1485.
Le Vey, Georges	Ec. des Mines de Nantes, France
17:18-17:36	WeE6.2
Dynamic Modeling and Simulation of a 3-D Hybrid Structure Eel-Like Robot, pp. 1486-1491.
Gallot, Guillaume	Ec. Centrale de Nantes
Ibrahim, Ouarda	Ec. Centrale de Nantes
Khalil, Wisama	Ec. Centrale de Nantes
17:36-17:54	WeE6.3
Wrench-Feasible Workspace of Parallel Cable-Driven Mechanisms, pp. 1492-1497.
Gouttefarde, Marc	INRIA
Merlet, Jean-Pierre	INRIA
Daney, David	INRIA
17:54-18:12	WeE6.4
Minimum-Norm Solution for the Actuator Forces in Cable-Based Parallel Manipulators Based on Convex Optimization, pp. 1498-1503.
Hassan, Mahir	Univ. of Waterloo
Khajepour, Amir	Univ. of Waterloo

WeE7	Aula 6
Force and Tactile Sensing (Regular Sessions)
17:00-17:18	WeE7.1
Microforce Sensor for Microbiological Applications Based on a Floating-Magnetic Principle, pp. 1504-1509.
Cherry, A.	UFC ENSMM
Abadie, J.	UFC ENSMM
Piat, E.	UFC ENSMM
17:18-17:36	WeE7.2
Force Sensing Robot Fingers Using Embedded Fiber Bragg Grating Sensors and Shape Deposition Manufacturing, pp. 1510-1516.
Park, Yong-Lae	Stanford Univ.
Chau, Kelvin	Intelligent Fiber Optic Systems
Black, Richard J.	Intelligent Fiber Optic Systems Corp.
Cutkosky, Mark R.	Stanford Univ.
17:36-17:54	WeE7.3
Acquisition and Application of a Tactile Database, pp. 1517-1522. Attachment
Schöpfer, Matthias	Bielefeld Univ.
Ritter, Helge	Bielefeld Univ.
Heidemann, Gunther	Stuttgart Univ.
17:54-18:12	WeE7.4
A Thermal Slip Sensor for Biorobotic Applications, pp. 1523-1528.
Accoto, Dino	Scuola Superiore Sant'Anna
Damiani, Francesco	Scuola Superiore Sant'Anna
Sahai, Ranjana	Scuola Superiore Sant'Anna, CRIM Lab. - Pol. Sant'Anna
Campolo, Domenico	Univ. Campus Bio-Medico
Guglielmelli, Eugenio	Univ. Campus Bio-Medico
Dario, Paolo	Scuola Superiore Sant'Anna

WeE8	Aula 7
Rehabilitation Robotics II (Regular Sessions)
17:00-17:18	WeE8.1
Design of a Sensorized Ball for Ecological Behavioral Analysis of Infants, pp. 1529-1534. Attachment
Campolo, Domenico	Univ. Campus Bio-Medico
Maini, E. S.	Scuola Superiore Sant'Anna
Patane, F.	Scuola Superiore Sant'Anna
Laschi, C.	Scuola Superiore Sant'Anna
Dario, Paolo	Scuola Superiore Sant'Anna
Keller, F.	Univ. Campus Bio-Medico
Guglielmelli, Eugenio	Univ. Campus Bio-Medico
17:18-17:36	WeE8.2
Towards Application of a Mechatronic Platform for Whole-Body Isometric Force-Torque Measurements to Functional Assessment in Neuro-Rehabilitation, pp. 1535-1540.
Mazzoleni, S.	ARTS Lab. Scuola Superiore Sant'Anna, Pisa, Italy
Cavallo, G.	Univ. Campus Bio-Medico
Munih, M.	Univ. of Ljubljana, Slovenia
Cinkelj, J.	Univ. of Ljubljana, Slovenia
Jurak, M.	Budapest Univ. of Tech. and Ec. Hungary
Van Vaerenbergh, J.	Arteveldehogeschool, Gent, Belgium
Campolo, Domenico	Univ. Campus Bio-Medico
Dario, Paolo	ARTS Lab. and CRIM Lab. Scuola Superiore Sant'Anna, Pisa, Italy
Guglielmelli, Eugenio	Univ. Campus Bio-Medico
17:36-17:54	WeE8.3
Dynamically Controlled Ankle-Foot Orthosis (DCO) with Regenerative Kinetics: Incrementally Attaining User Portability, pp. 1541-1546.
Hitt, Joseph	Arizona State Univ.
Oymagil, A. Mehmet	Arizona State Univ.
Sugar, Thomas	Arizona State Univ.
Hollander, Kevin	Augspurger-Komm Engineering, Inc.
Boehler, Alex	Arizona State Univ.
Fleeger, Jennifer	Arizona State Univ.
17:54-18:12	WeE8.4
Hands-Off Therapist Robot Behavior Adaptation to User Personality for Post-Stroke Rehabilitation Therapy, pp. 1547-1553.
Tapus, Adriana	Univ. of Southern California
Tapus, Cristian	Caltech
Mataric, Maja J.	Univ. of Southern California

WeE9	Aula 8
Smart Actuators (Regular Sessions)
17:00-17:18	WeE9.1
Stochastic Optimal Control Laws for Cellular Artificial Muscles, pp. 1554-1559.
Odhner, Lael	Massachusetts Inst. of Tech. (MIT)
Ueda, Jun	Nara Inst. of Science and Tech.
Asada, H. Harry	Massachusetts Inst. of Tech. (MIT)
17:18-17:36	WeE9.2
How Does the Time Delay of an ER Fluid's Response Affect Control Performance of Servo-Systems?, pp. 1560-1565.
Koyanagi, Ken'ichi	Toyama Prefectural Univ.
17:36-17:54	WeE9.3
DP-RE Type Micromotors Using Electro-Conjugate Fluid, pp. 1566-1571.
Yokota, Shinichi	Tokyo Inst. of Tech.
Kozuki, Hiroto	Tokyo Inst. of Tech.
Takemura, Kenjiro	Tokyo Inst. of Tech.
Edamura, Kazuya	New Tech. Management Co.,Ltd.
17:54-18:12	WeE9.4
Evaluation of an Electrostatic Film Motor Driven by Two-Four-Phase AC Voltage and Electrostatic Induction, pp. 1572-1577. Attachment
Yamashita, Norio	Univ. of Tokyo
Yamamoto, Akio	Univ. of Tokyo
Gondo, Masahiko	Univ. of Tokyo
Higuchi, Toshiro	Univ. of Tokyo

WeE10	Aula 9
Logistic and Production Systems (Invited Sessions)
Organizer: Fanti, Maria Pia	Pol. di Bari
Organizer: Ferrarini, Luca	Pol. di Milano - Dip. di Elettronica e Informazione
17:00-17:18	WeE10.1
Optimization of Multi-Product Nodes in Supply Chains (I), pp. 1578-1583.
Giglio, Davide	Univ. of Genova
Minciardi, Riccardo	Univ. of Genova
Sacone, Simona	Univ. of Genova
Siri, Silvia	Univ. of Genova
17:18-17:36	WeE10.2
Dependability Analysis of Power System Protections Using Stochastic Hybrid Simulation with Modelica (I), pp. 1584-1589.
Ferrarini, Luca	Pol. di Milano
Radaelli, Simone	Pol. di Milano
Carneiro, Juliano S. A.	Pol. di Milano
Ciapessoni, Emanuele	Pol. di Milano
17:36-17:54	WeE10.3
Method for Evaluating Reliance Level of a Virtual Metrology System, pp. 1590-1596.
Cheng, Fan-Tien	National Cheng Kung Univ.
Chen, Yeh-Tung	National Cheng Kung Univ.
Su, Yu-Chuan	National Cheng Kung Univ.
Zeng, Deng-Lin	National Cheng Kung Univ.
17:54-18:12	WeE10.4
Novel Semiconductor Business Model - Engineering Chain for the Semiconductor Industry, pp. 1597-1602.
Chang, Yung-Cheng	National Cheng Kung Univ.
Cheng, Fan-Tien	National Cheng Kung Univ.
Wang, Tsung-Li	National Cheng Kung Univ.

WeE11	Aula 10
Probabilistic Motion Planning (Regular Sessions)
17:00-17:18	WeE11.1
Multipartite RRTs for Rapid Replanning in Dynamic Environments, pp. 1603-1609.
Zucker, Matt	Carnegie Mellon Univ.
Kuffner, James	Carnegie Mellon Univ.
Branicky, Michael	Case Western Res. Univ.
17:18-17:36	WeE11.2
Dynamic Obstacle Avoidance in Uncertain Environment Combining PVOs and Occupancy Grid, pp. 1610-1616.
Fulgenzi, Chiara	INPG, INRIA Rhône-Alpes
Spalanzani, Anne	LIG, INRIA Rhône-Alpes
Laugier, Christian	LIG, INRIA Rhône-Alpes
17:36-17:54	WeE11.3
Particle RRT for Path Planning with Uncertainty, pp. 1617-1624.
Melchior, Nik A.	Carnegie Mellon Univ.
Simmons, Reid	Carnegie Mellon Univ.
17:54-18:12	WeE11.4
Biasing Samplers to Improve Motion Planning Performance, pp. 1625-1630.
Thomas, Shawna	Texas A&M Univ.
Morales, Marco	Texas A&M Univ.
Tang, Xinyu	Texas A&M Univ.
Amato, Nancy M.	Texas A&M Univ.

WeE12	Aula 11
Teleoperation Control (Regular Sessions)
17:00-17:18	WeE12.1
A Four-Channel Adaptive Structure for High Friction Teleoperation Systems in Contact with Soft Environments, pp. 1631-1636.
Delwiche, Thomas	Univ. Libre de Bruxelles
Kinnaert, Michel	Univ. Libre de Bruxelles
17:18-17:36	WeE12.2
A Framework for Quantitative Comparison of Bilateral Teleoperation Systems Using Mu-Synthesis, pp. 1637-1644.
Kim, Keehoon	Northwestern Univ.
Cavusoglu, M. Cenk	Case Western Res. Univ.
Chung, Wan Kyun	POSTECH
17:36-17:54	WeE12.3
Passive Bilateral Teleoperation Framework for Assisted Robotic Tasks, pp. 1645-1650.
Nuńo, Emmanuel	Tech. Univ. of Catalonia (UPC)
Basańez, Luis	Tech. Univ. of Catalonia (UPC)
Ortega, Romeo	Supelec
17:54-18:12	WeE12.4
Bilateral Teleoperation of Robotic Systems with Predictive Control, pp. 1651-1656.
Gu, Jason	Dalhousie Univ.
Pan, Yajun	Dalhousie Univ.
Jayachandran, Jayaprashanth	Dalhousie Univ.
Meng, Max	Chinese Univ. of Hong Kong

Thursday

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ThA1	Aula Magna
SLAM: New Frameworks (Regular Sessions)
08:00-08:18	ThA1.1
EKF-SLAM Updates in O(n) with Divide and Conquer SLAM, pp. 1657-1663.
Paz, L. M.	Univ. de Zaragoza
Jensfelt, P.	Royal Inst. of Tech.
Tardos, Juan D.	Univ. de Zaragoza
Neira, J.	Univ. de Zaragoza
08:18-08:36	ThA1.2
A UPF-UKF Framework for SLAM, pp. 1664-1669.
Wang, Xiang	Univ. of Alberta
Zhang, Hong	Univ. of Alberta
08:36-08:54	ThA1.3
iSAM: Fast Incremental Smoothing and Mapping with Efficient Data Association, pp. 1670-1677.
Kaess, Michael	Georgia Inst. of Tech.
Ranganathan, Ananth	Georgia Inst. of Tech.
Dellaert, Frank	Georgia Inst. of Tech.
08:54-09:12	ThA1.4
Tectonic SAM: Exact, Out-Of-Core, Submap-Based SLAM, pp. 1678-1685.
Ni, Kai	Georgia Inst. of Tech.
Steedly, Drew	Microsoft
Dellaert, Frank	Georgia Inst. of Tech.
09:12-09:30	ThA1.5
Neural Network-Aided Extended Kalman Filter for SLAM Problem, pp. 1686-1690.
Choi, Minyong	Pohang Univ. of Science and Tech. (POSTECH)
Sakthivel, R.	Pohang Univ. of Science and Tech. (POSTECH)
Chung, Wan Kyun	Pohang Univ. of Science and Tech. (POSTECH)

ThA2	Aula Minor
Visual Servoing I (Regular Sessions)
08:00-08:18	ThA2.1
Visual Servoing by Optimization of a 2D/3D Hybrid Objective Function, pp. 1691-1696.
Abdul Hafez, A. H.	Osmania Uiversity
Jawahar, C. V.	IIIT, Hyderabad
08:18-08:36	ThA2.2
Decoupled Visual Servoing from a Set of Points Imaged by an Omnidirectional Camera, pp. 1697-1702.
Hadj-Abdelkader, Hicham	Blaise Pascal Univ.
Mezouar, Youcef	Blaise Pascal Univ.
Martinet, Philippe	Blaise Pascal Univ.
08:36-08:54	ThA2.3
Homography-Based Visual Control of Nonholonomic Vehicles, pp. 1703-1708. Attachment
Lopez-Nicolas, Gonzalo	Univ. de Zaragoza
Sagues, Carlos	Univ. de Zaragoza
Guerrero, J. J.	Univ. de Zaragoza
08:54-09:12	ThA2.4
Image-Based Visual Servoing of the I4R Parallel Robot without Proprioceptive Sensors, pp. 1709-1714.
Dallej, Tej	Blaise Pascal Univ.
Andreff, Nicolas	Blaise Pascal Univ.
Martinet, Philippe	Blaise Pascal Univ.
09:12-09:30	ThA2.5
Nonlinear Image Based Visual Servoing Using Parallel Robots, pp. 1715-1720.
Qi, Zhen	Univ. of Wyoming
McInroy, John E.	Univ. of Wyoming

ThA3	Aula 1
Learning I (Regular Sessions)
08:00-08:18	ThA3.1
The Learning and Use of Traversability Affordance Using Range Images on a Mobile Robot, pp. 1721-1726.
Ugur, Emre	Middle East Tech. Univ.
Dogar, Mehmet R.	Middle East Tech. Univ.
Cakmak, Maya	Middle East Tech. Univ.
Sahin, Erol	Middle East Tech. Univ.
08:18-08:36	ThA3.2
A Robot in a Water Maze: Learning a Spatial Memory Task, pp. 1727-1732.
Busch, Mark A.	Univ. of Missouri - Columbia
Skubic, Marjorie	Univ. of Missouri - Columbia
Keller, James M.	Univ. of Missouri - Columbia
Stone, Kevin E.	Univ. of Missouri - Columbia
08:36-08:54	ThA3.3
Value Function Approximation on Non-Linear Manifolds for Robot Motor Control, pp. 1733-1740. Attachment
Sugiyama, Masashi	Tokyo Inst. of Tech.
Hachiya, Hirotaka	Tokyo Inst. of Tech.
Towell, Christopher	Univ. of Edinburgh
Vijayakumar, Sethu	Univ. of Edinburgh
08:54-09:12	ThA3.4
Learning Slip Behavior Using Automatic Mechanical Supervision, pp. 1741-1748.
Angelova, Anelia	California Inst. of Tech.
Matthies, Larry	Jet Propulsion Lab.
Helmick, Daniel	Jet Propulsion Lab.
Perona, Pietro	California Inst. of Tech.
09:12-09:30	ThA3.5
Adaptive Play Q-Learning with Initial Heuristic Approximation, pp. 1749-1754.
Burkov, Andriy	Laval Univ.
Chaib-draa, Brahim	Laval Univ.

ThA4	Aula 2
Human-Robot Interaction I (Regular Sessions)
08:00-08:18	ThA4.1
Affect Recognition in Robot Assisted Rehabilitation of Children with Autism Spectrum Disorder, pp. 1755-1760.
Liu, Changchun	Vanderbilt Univ.
Conn, Karla	Vanderbilt Univ.
Sarkar, Nilanjan	Vanderbilt Univ.
Stone, Wendy	Vanderbilt Univ.
08:18-08:36	ThA4.2
Dynamic Guidance with Pseudoadmittance Virtual Fixtures, pp. 1761-1767.
Pezzementi, Zachary	Johns Hopkins Univ.
Okamura, Allison M.	Johns Hopkins Univ.
Hager, Gregory D.	Johns Hopkins Univ.
08:36-08:54	ThA4.3
HMM-Based Error Recovery of Dance Step Selection for Dance Partner Robot, pp. 1768-1773.
Takeda, Takahiro	Tohoku Univ.
Hirata, Yasuhisa	Tohoku Univ.
Kosuge, Kazuhiro	Tohoku Univ.
08:54-09:12	ThA4.4
Mobile Robot with Preliminary-Announcement and Indication Function of Forthcoming Operation Using Flat-Panel Display, pp. 1774-1781.
Matsumaru, Takafumi	Shizuoka Univ.
09:12-09:30	ThA4.5
Adaptive Noise Reduction and Voice Activity Detection for Improved Verbal Human-Robot Interaction Using Binaural Data, pp. 1782-1787.
Brueckmann, Robert	Ilmenau Tech. Univ.
Scheidig, Andrea	Ilmenau Tech. Univ.
Gross, Horst-Michael	Ilmenau Tech. Univ.

ThA5	Aula 3
Human Modelling for Robot Control (Regular Sessions)
08:00-08:18	ThA5.1
Extensive Human Training for Robot Skill Synthesis: Validation on a Robotic Hand, pp. 1788-1793.
Oztop, Erhan	JST-ICORP / ATR Computational Neuroscience Lab.
Lin, Li-Heng	ATR Computational Neuroscience Lab.
Kawato, Mitsuo	ATR Computational Neuroscience Lab.
Cheng, Gordon	ATR Computational Neuroscience Lab.
08:18-08:36	ThA5.2
Task-Oriented Grasping Using Hand Preshapes and Task Frames, pp. 1794-1799.
Prats, Mario	Univ. Jaume I
Sanz, Pedro J.	Univ. Jaume I
del Pobil, Angel P.	Univ. Jaume I
08:36-08:54	ThA5.3
Adaptive Control for Human-Robot Skilltransfer: Trajectory Planning Based on Fluid Dynamics, pp. 1800-1807.
Mayer, H.	TU Munich
Nagy, I.	TU Munich
Knoll, A.	TU Munich
Braun, E. U.	German Heart Center Munich
Bauernschmitt, R.	German Heart Center Munich
Lange, R.	German Heart Center Munich
08:54-09:12	ThA5.4
Analysis of Human Weight Perception for Sudden Weight Changes During Lifting Task Using a Force Display Device, pp. 1808-1813.
Hara, Masayuki	Yokohama National Univ.
Higuchi, Takahiro	Tokyo Metropolitan Univ.
Yamagishi, Takeo	Yokohama National Univ.
Ashitaka, Naoya	Yokohama National Univ.
Huang, Jian	Yokohama National Univ.
Yabuta, Tetsuro	Yokohama National Univ.
09:12-09:30	ThA5.5
Extraction of Space-Human Activity Association for Design of Intelligent Environment, pp. 1814-1819.
Niitsuma, Mihoko	Univ. of Tokyo
Hashimoto, Hideki	Univ. of Tokyo

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ThA6	Aula 5
Nonholonomic Motion Planning (Regular Sessions)
08:00-08:18	ThA6.1
On Motion Planning for Ball-Plate Systems with Limited Contact Area, pp. 1820-1825.
Svinin, Mikhail	RIKEN
Hosoe, Shigeyuki	RIKEN
08:18-08:36	ThA6.2
Decidability of Motion Planning with Differential Constraints, pp. 1826-1831.
Cheng, Peng	Univ. of Pennsylvania
Pappas, George J.	Univ. of Pennsylvania
Kumar, Vijay	Department of Mechanical Engineering, Univ. ofPennsylvania
08:36-08:54	ThA6.3
Optimal Control Using Nonholonomic Integrators, pp. 1832-1837.
Kobilarov, Marin	Univ. of Southern California
Sukhatme, Gaurav S.	Univ. of Southern California
08:54-09:12	ThA6.4
Fast Regulation of the Rolling Sphere: A Motion Planning Approach, pp. 1838-1842.
Lee, Ti-Chung	Minghsin Univ. of Science and Tech.
Lin, Shir-Kuan	National Chiao Tung Univ.
09:12-09:30	ThA6.5
A Genetic Algorithm for Nonholonomic Motion Planning, pp. 1843-1849.
Erinc, Gorkem	International Univ. Bremen
Carpin, Stefano	Univ. of California, Merced

ThA7	Aula 6
Design of Legged Robots (Regular Sessions)
08:00-08:18	ThA7.1
Development of a Biped Locomotor with the Double Stage Linear Actuator, pp. 1850-1855.
Sugahara, Yusuke	Waseda Univ.
Hashimoto, Kenji	Waseda Univ.
Endo, Nobutsuna	Waseda Univ.
Sawato, Terumasa	Waseda Univ.
Kawase, Masamiki	Waseda Univ.
Ohta, Akihiro	Waseda Univ.
Tanaka, Chiaki	Waseda Univ.
Hayashi, Akihiro	Waseda Univ.
Lim, Hun-ok	Kanagawa Univ.
Takanishi, Atsuo	Waseda Univ.
08:18-08:36	ThA7.2
Design of a Pill-Sized 12-Legged Endoscopic Capsule Robot, pp. 1856-1862.
Quirini, Marco	Scuola Superiore Sant'Anna
Webster, III, Robert James	Johns Hopkins Univ.
Menciassi, Arianna	Scuola Superiore Sant'Anna
Dario, Paolo	Scuola Superiore Sant'Anna
08:36-08:54	ThA7.3
Design and Philosophy of the BiMASC, a Highly Dynamic Biped, pp. 1863-1868.
Hurst, Jonathan W.	Carnegie Mellon Univ.
Chestnutt, Joel E.	Carnegie Mellon Univ.
Rizzi, Alfred A.	Boston Dynamics
08:54-09:12	ThA7.4
New Foot System Adaptable to Convex and Concave Surface, pp. 1869-1874. Attachment
Hashimoto, Kenji	Waseda Univ.
Sugahara, Yusuke	Waseda Univ.
Hayashi, Akihiro	Waseda Univ.
Kawase, Masamiki	Waseda Univ.
Sawato, Terumasa	Waseda Univ.
Endo, Nobutsuna	Waseda Univ.
Ohta, Akihiro	Waseda Univ.
Tanaka, Chiaki	Waseda Univ.
Lim, Hun-ok	Kanagawa Univ.
Takanishi, Atsuo	Waseda Univ.
09:12-09:30	ThA7.5
Kinematic Design and Dynamic Analysis of a Planar Biped Robot Mechanically Coordinated by a Single Degree of Freedom, pp. 1875-1880. Attachment
McKendry, J.	The Ohio State Univ.
Brown, B.	The Ohio State Univ.
Westervelt, E. R.	The Ohio State Univ.
Schmiedeler, J.	The Ohio State Univ.

ThA8	Aula 7
Medical Robotics I (Regular Sessions)
08:00-08:18	ThA8.1
Physiological Motion Compensation in Robotized Surgery Using Force Feedback Control, pp. 1881-1886.
Cagneau, Barthélemy	Univ. Pierre et Marie Curie, Paris 6
Zemiti, Nabil	Univ. Pierre et Marie Curie, Paris 6
Bellot, Delphine	Univ. Pierre et Marie Curie, Paris 6
Morel, Guillaume	Univ. Pierre et Marie Curie, Paris 6
08:18-08:36	ThA8.2
Inverse Kinematics of Concentric Tube Steerable Needles, pp. 1887-1892.
Sears, Patrick	Alliance Spacesystems
Dupont, Pierre E.	Boston Univ.
08:36-08:54	ThA8.3
Control Method for Surgical Robot to Prevent Overload at Vulnerable Tissue, pp. 1893-1899.
Kobayashi, Yo	Waseda Univ.
Hoshi, Takeharu	Waseda Univ.
Kawamura, Kazuya	Waseda Univ.
Fujie, Masakatsu G.	Waseda Univ.
08:54-09:12	ThA8.4
Optimal Remote Center-Of-Motion Location for Robotics-Assisted Minimally-Invasive Surgery, pp. 1900-1905.
Locke, Roderick C. O.	The Univ. of Western Ontario
Patel, Rajni V.	The Univ. of Western Ontario
09:12-09:30	ThA8.5
Contact Probe Based Stiffness Sensing of Human Eye by Considering Contact Area, pp. 1906-1911.
Kurita, Yuichi	Hiroshima Univ.
Iida, Yoshichika	Hiroshima Univ.
Kempf, Roland	Hiroshima Univ.
Kaneko, Makoto	Hiroshima Univ.
Tsukamoto, Hidetoshi	Hiroshima Univ.
Sugimoto, Eiichiro	Chugoku Rosai Hospital
Katakura, Seiki	Hiroshima Univ.
Mishima, Hiromu	Hiroshima General Hospital of West JR

ThA9	Aula 8
Life Sciences: Biotechnology (Regular Sessions)
08:00-08:18	ThA9.1
Patient-Specific Blood Vessel Scaffold for Regenerative Medicine, pp. 1912-1917.
Ikeda, Seiichi	Tohoku Univ.
Arai, Fumihito	Tohoku Univ.
Fukuda, Toshio	Nagoya Univ.
Negoro, Makoto	Fujita Health Univ.
Oura, Hiroyuki	Nagoya Univ.
08:18-08:36	ThA9.2
Microrobotically Frabricated Biological Scaffolds for Tissue Engineering, pp. 1918-1923.
Nain, Amrinder S.	Carnegie Mellon Univ.
Chung, Franklin	Carnegie Mellon Univ.
Rule, Michael	California Inst. of Tech.
Jadlowiec, Julie A.	Carnegie Mellon Univ.
Campbell, Phil G.	Carnegie Mellon Univ.
Amon, Cristina	Carnegie Mellon Univ.
Sitti, Metin	Carnegie Mellon Univ.
08:36-08:54	ThA9.3
New Developments towards Automated Blastocyst Microinjections, pp. 1924-1929.
Mattos, Leonardo	North Carolina State Univ.
Grant, Edward	North Carolina State Univ.
Thresher, Randy	UNC Chapel Hill
Kluckman, Kim	UNC Chapel Hill
08:54-09:12	ThA9.4
Real-Time High-Accuracy Micropipette Aspiration for Characterizing Mechanical Properties of Biological Cells, pp. 1930-1935.
Liu, Xinyu	Univ. of Toronto
Wang, Yifei	Univ. of Toronto
Sun, Yu	Univ. of Toronto
09:12-09:30	ThA9.5
Automated Tool Handling for the Trauma Pod Surgical Robot, pp. 1936-1941. Attachment
Friedman, Diana C. W.	Univ. of Washington
Dosher, Jesse	Univ. of Washington
Kowalewski, Timothy	Univ. of Washington
Rosen, Jacob	Univ. of Washington
Hannaford, Blake	Univ. of Washington

ThA10	Aula 9
Dynamics (Regular Sessions)
08:00-08:18	ThA10.1
Inverse Dynamics Control with Floating Base and Constraints, pp. 1942-1947.
Nakanishi, Jun	ATR/JST-ICORP
Mistry, Michael	Univ. of Southern California
Schaal, Stefan	Univ. of Southern California
08:18-08:36	ThA10.2
Port-Hamiltonian Approaches to Motion Generation for Mechanical Systems, pp. 1948-1953.
Sakai, Satoru	Chiba Univ.
Stramigioli, Stefano	Univ. of Twente
08:36-08:54	ThA10.3
Minimization of Constraint Forces in Industrial Manipulators, pp. 1954-1959.
Chaudhary, Himanshu	M.L.V. Textile and Engineering Coll. Bhilwara (Raj.)
Saha, Subir Kumar	Indian Inst. of Tech. Madras
08:54-09:12	ThA10.4
Adaptive Control of Manipulators Via an Extension to the Error-Based Minimal Control Synthesis with Integral Action Algorithm, pp. 1960-1967.
Koganezawa, Koichi	Tokai Univ.
Stoten, D. P.	Univ. of Bristol
09:12-09:30	ThA10.5
Analysis of Circular Robot Jumping by Body Deformation, pp. 1968-1973.
Matsuyama, Yoshinari	Ritsumeikan Univ.
Hirai, Shinichi	Ritsumeikan Univ.

ThA11	Aula 10
Mobile Robot Navigation (Regular Sessions)
08:00-08:18	ThA11.1
Switching Control of Mobile Robots for Autonomous Navigation in Unknown Environments, pp. 1974-1979. Attachment
Toibero, J. M.	Univ. Nacional de San Juan
Carelli, Ricardo	Univ. Nacional de San Juan
Kuchen, B.	Univ. Nacional de San Juan
08:18-08:36	ThA11.2
Dynamic Trajectory Generation for Spatially Constrained Mechanical Systems Using Harmonic Potential Fields, pp. 1980-1985.
Masoud, Ahmad A.	KFUPM
08:36-08:54	ThA11.3
Dynamic Window Based Approach to Mobile Robot Motion Control in the Presence of Moving Obstacles, pp. 1986-1991.
Seder, Marija	Univ. of Zagreb, Faculty of Electrical Engineering and Computing
Petrovi_;, Ivan	Univ. of Zagreb, Faculty of Electrical Engineering and Computing
08:54-09:12	ThA11.4
Fully Continuous Vector Fields for Mobile Robot Navigation on Sequences of Discrete Triangular Regions, pp. 1992-1997.
Pimenta, Luciano C. A.	Univ. Federal de Minas Gerais
Pereira, Guilherme A. S.	Univ. Federal de Minas Gerais
Mesquita, Renato C.	Univ. Federal de Minas Gerais
09:12-09:30	ThA11.5
Locally Computable Navigation Functions for Sphere Worlds, pp. 1998-2003.
Lionis, Grigoris	National Tech. Univ. of Athens
Papageorgiou, Xanthi	National Tech. Univ. of Athens
Kyriakopoulos, Kostas J.	National Tech. Univ. of Athens

ThA12	Aula 11
Aerial Robotics: Navigation and Landing (Regular Sessions)
08:00-08:18	ThA12.1
Homography Based Kalman Filter for Mosaic Building. Applications to UAV Position Estimation, pp. 2004-2009.
Caballero, Fernando	Univ. of Seville
Merino, Luis	Pablo de Olavide Univ.
Ferruz, Joaquín	Univ. of Sevilla
Ollero, Anibal	Univ. of Seville
08:18-08:36	ThA12.2
Robust Nonlinear Fusion of Inertial and Visual Data for Position, Velocity and Attitude Estimation of UAV, pp. 2010-2016.
Cheviron, T.	DGA
Hamel, Tarek	UNSA-CNRS
Mahony, Robert	Australian National Univ.
Baldwin, G.	Australian National Univ.
08:36-08:54	ThA12.3
UAV Attitude Computation by Omnidirectional Vision in Urban Environment, pp. 2017-2022.
Demonceaux, Cédric	Univ. of Picardie - Jules Verne
Vasseur, Pascal	Univ. of Picardie - Jules Verne
Pégard, Claude	Univ. of Picardie - Jules Verne
08:54-09:12	ThA12.4
Flying Fast and Low among Obstacles, pp. 2023-2029. Attachment
Scherer, Sebastian	Carnegie Mellon Univ.
Singh, Sanjiv	Carnegie Mellon Univ.
Chamberlain, Lyle	Carnegie Mellon Univ.
Saripalli, Srikanth	Univ. of Southern California
09:12-09:30	ThA12.5
Landing a Helicopter on a Moving Target, pp. 2030-2035.
Saripalli, Srikanth	Univ. of Southern California
Sukhatme, Gaurav S.	Univ. of Southern California

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ThB1	Aula Magna
SLAM: Topological Methods and Loop Closure (Regular Sessions)
10:50-11:08	ThB1.1
Recognising and Modelling Landmarks to Close Loops in Outdoor SLAM, pp. 2036-2041. Attachment
Ramos, Fabio T.	Univ. of Sydney
Nieto, Juan	Univ. of Sydney, Australian Centre for Field Robotics
Durrant-Whyte, Hugh F.	Univ. of Sydney
11:08-11:26	ThB1.2
Probabilistic Appearance Based Navigation and Loop Closing, pp. 2042-2048.
Cummins, Mark	Oxford Univ.
Newman, Paul	Oxford Univ.
11:26-11:44	ThB1.3
Incremental On-Line Topological Map Learning for a Visual Homing Application, pp. 2049-2054. Attachment
Motard, Elvina	Paul Sabatier Univ.
Raducanu, Bogdan	Computer Vision Center
Cadenat, Viviane	Centre National de la Recherche Scientifique
Vitria, Jordi	Computer Vision Center
11:44-12:02	ThB1.4
Exploiting the Information at the Loop Closure in SLAM, pp. 2055-2060.
Martinelli, A.	ETH Zurich - INRIA
Siegwart, Roland	ETH Zurich
12:02-12:20	ThB1.5
A New Approach for Large-Scale Localization and Mapping: Hybrid Metric-Topological SLAM, pp. 2061-2067.
Blanco, Jose-Luis	Univ. of Malaga
Fernandez-Madrigal, Juan-Antonio	Univ. of Malaga
Gonzalez, Javier	Univ. of Malaga

ThB2	Aula Minor
Visual Servoing II (Regular Sessions)
10:50-11:08	ThB2.1
A Position-Based Visual Impedance Control for Robot Manipulators, pp. 2068-2073.
Lippiello, Vincenzo	Univ. Napoli Federico II
Siciliano, Bruno	Univ. Napoli Federico II
Villani, Luigi	Univ. Napoli Federico II
11:08-11:26	ThB2.2
Calibration Free Image Point Path Planning Simultaneously Ensuring Visibility and Controlling Camera Path, pp. 2074-2079.
Schramm, Florian	Univ. Pierre et Marie Curie - Paris 6
Geffard, Franck	CEA-LIST
Morel, Guillaume	Univ. Pierre et Marie Curie - Paris 6
Micaelli, Alain	CEA-LIST
11:26-11:44	ThB2.3
Visual Servoing from Spheres Using a Spherical Projection Model, pp. 2080-2085.
Fomena Tatsambon, Romeo	Univ. de Rennes 1, IRISA
Chaumette, Francois	INRIA
11:44-12:02	ThB2.4
Visual Servoing: A Global Path-Planning Approach, pp. 2086-2091.
Chesi, G.	Univ. of Hong Kong
Hung, Y. S.	Univ. of Hong Kong
12:02-12:20	ThB2.5
Optimal Large View Visual Servoing with Sets of SIFT Features, pp. 2092-2097. Attachment
Nierobisch, Thomas	Univ. Dortmund
Krettek, Johannes	Univ. Dortmund
Khan, Umar	Univ. of Dortmund
Hoffmann, Frank	Univ. Dortmund

ThB3	Aula 1
Learning II (Regular Sessions)
10:50-11:08	ThB3.1
Neural Reinforcement Learning Controllers for a Real Robot Application, pp. 2098-2103.
Riedmiller, Martin	Univ. of Osnabrueck
Hafner, Roland	Univ. of Osnabrueck
11:08-11:26	ThB3.2
A Formal Framework for Robot Learning and Control under Model Uncertainty, pp. 2104-2110.
Jaulmes, Robin	McGill Univ.
Pineau, Joelle	McGill Univ.
Precup, Doina	McGill Univ.
11:26-11:44	ThB3.3
Reinforcement Learning for Operational Space Control, pp. 2111-2116.
Peters, Jan	Univ. of Southern California
Schaal, Stefan	Univ. of Southern California
11:44-12:02	ThB3.4
Context Estimation and Learning Control through Latent Variable Extraction: From Discrete to Continuous Contexts, pp. 2117-2123.
Petkos, Georgios	Univ. of Edinburgh
Vijayakumar, Sethu	Univ. of Edinburgh
12:02-12:20	ThB3.5
Learning to Select State Machines Using Expert Advice on an Autonomous Robot, pp. 2124-2129.
Argall, Brenna	Carnegie Mellon Univ.
Browning, Brett	Carnegie Mellon Univ.
Veloso, Manuela	Carnegie Mellon Univ.

ThB4	Aula 2
Human-Robot Interaction II (Regular Sessions)
10:50-11:08	ThB4.1
Robopal: Modeling Role Transitions in Human-Robot Interaction, pp. 2130-2137.
Glas, Dylan F.	ATR
Miyashita, Takahiro	ATR
Ishiguro, Hiroshi	ATR
Hagita, Norihiro	ATR
11:08-11:26	ThB4.2
On the Evaluation of Emotion Expressing Robots, pp. 2138-2143.
Bittermann, Ansgar	TU Munich
Kuehnlenz, Kolja	TU Munich
Buss, Martin	TU Munich
11:26-11:44	ThB4.3
Natural Emotion Expression of a Robot Based on Reinforcer Intensity and Contingency, pp. 2144-2149.
Lee, Seung-Ik	Electronics and Telecommunications Res. Inst.
Park, Gunn-Yong	Electronics and Telecommunications Res. Inst.
Kim, Joong-Bae	Electronics and Telecommunications Res. Inst.
11:44-12:02	ThB4.4
Emotional Architecture for the Humanoid Robot Head ROMAN, pp. 2150-2155.
Hirth, Jochen	Univ. of Kaiserslautern
Schmitz, Norbert	Univ. of Kaiserslautern
Berns, Karsten	Univ. of Kaiserslautern
12:02-12:20	ThB4.5
Human-Robot Cooperation Using Quasi-Symbols Generated by RNNPB Model, pp. 2156-2161.
Ogata, Tetsuya	Kyoto Univ.
Matsumoto, Shohei	Kyoto Univ.
Tani, Jun	Riken
Komatani, Kazunori	Kyoto Univ.
Okuno, Hiroshi G.	Kyoto Univ.

ThB5	Aula 3
Humanoid Robotics (Regular Sessions)
10:50-11:08	ThB5.1
Mimesis Scheme Using a Monocular Vision System on a Humanoid Robot, pp. 2162-2168.
Lee, Dongheui	Univ. of Tokyo
Nakamura, Yoshihiko	Univ. of Tokyo
11:08-11:26	ThB5.2
Progress in Programming the HRP-2 Humanoid Using Spoken Language, pp. 2169-2174. Attachment
Dominey, Peter Ford	CNRS
Mallet, Anthony	LAAS/CNRS
Yoshida, Eiichi	National Inst. of Advanced Industrial Science andTechnology (AIS
11:26-11:44	ThB5.3
Realization of Dynamics Simulator Embedded Robot Brain for Humanoid Robots, pp. 2175-2180.
Ogura, Takashi	Univ. of Tokyo
Okada, Kei	Univ. of Tokyo
Inaba, Masayuki	Univ. of Tokyo
11:44-12:02	ThB5.4
A Pattern Generator of Humanoid Robots Walking on a Rough Terrain, pp. 2181-2187. Attachment
Hirukawa, Hirohisa	National Inst. of Advanced Industrial Science and Tech.
Hattori, Shizuko	National Inst. of Advanced Industrial Science and Tech.
Kajita, Shuuji	National Inst. of Advanced Industrial Science and Tech.
Harada, Kensuke	National Inst. of Advanced Industrial Science and Tech.
Kaneko, Kenji	National Inst. of Advanced Industrial Science and Tech.
Kanehiro, Fumio	National Inst. of Advanced Industrial Science and Tech.
Morisawa, Mitsuharu	National Inst. of Advanced Industrial Science and Tech.
Nakaoka, Shin'ichiro	National Inst. of Advanced Industrial ScienceandTechnology
12:02-12:20	ThB5.5
Piecewise-Linear Pattern Generator and Reflex System for Humanoid Robots, pp. 2188-2195. Attachment
Zaier, Riadh	Fujitsu Lab. Limited
Kanda, Shinji	Fujitsu Lab. Limited

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ThB6	Aula 5
Nonholonomic Vehicles and Mobile Robots (Regular Sessions)
10:50-11:08	ThB6.1
A Stable Vision-Based Control Scheme for Nonholonomic Vehicles to Keep a Landmark in the Field of View, pp. 2196-2201. Attachment
Gans, Nicholas R	Univ. of Florida
Hutchinson, Seth A.	Univ. of Illinois
11:08-11:26	ThB6.2
High Speed Differential Drive Mobile Robot Path Following Control with Bounded Wheel Speed Commands, pp. 2202-2207.
Indiveri, Giovanni	Univ. of Lecce
Nuechter, Andreas	Univ. of Osnabrueck
Lingemann, Kai	Univ. of Osnabrueck
11:26-11:44	ThB6.3
A Simple and Efficient Control Scheme to Reverse a Tractor-Trailer System on a Trajectory, pp. 2208-2214. Attachment
Pradalier, Cedric	CSIRO ICT Centre
Usher, Kane	CSIRO ICT Centre
11:44-12:02	ThB6.4
Dual Adaptive Control for Trajectory Tracking of Mobile Robots, pp. 2215-2220.
Bugeja, Marvin K.	Univ. of Malta
Fabri, Simon G.	Univ. of Malta
12:02-12:20	ThB6.5
Experimental Motion Planning and Control for an Autonomous Nonholonomic Mobile Robot, pp. 2221-2226. Attachment
Defoort, Michael	Ec. Centrale de Lille
Palos, Jorge	ISEN
Kokosy, Annemarie	ISEN
Floquet, Thierry	Ec. Centrale de Lille
Perruquetti, Wilfrid	Ec. Centrale de Lille
Boulinguez, David	ISEN

ThB7	Aula 6
Modular Robots (Regular Sessions)
10:50-11:08	ThB7.1
Integrated Debugging of Large Modular Robot Ensembles, pp. 2227-2234.
Rister, Benjamin D.	Carnegie Mellon Univ.
Campbell, Jason	Intel Res. Pittsburgh
Pillai, Padmanabhan	Intel Res. Pittsburgh
Mowry, Todd C.	Carnegie Mellon Univ.
11:08-11:26	ThB7.2
Modular Robot Manipulators Based on Virtual Decomposition Control, pp. 2235-2240.
Zhu, Wen-Hong	Canadian Space Agency
Lamarche, Tom	Canadian Space Agency
11:26-11:44	ThB7.3
Miche: Modular Shape Formation by Self-Dissasembly, pp. 2241-2247.
Gilpin, Kyle	Massachusetts Inst. of Tech. (MIT)
Kotay, Keith	Massachusetts Inst. of Tech. (MIT)
Rus, Daniela	Massachusetts Inst. of Tech. (MIT)
11:44-12:02	ThB7.4
Scalable Locomotion for Large Self-Reconfiguring Robots, pp. 2248-2253.
Fitch, Robert	NICTA
Butler, Zack	Rochester Inst. of Tech.
12:02-12:20	ThB7.5
Locomotion of Miniature Catom Chains: Scale Effects on Gait and Velocity, pp. 2254-2260. Attachment
Christensen, David Johan	Univ. of Southern Denmark
Campbell, Jason	Intel Americas, Inc.

ThB8	Aula 7
Medical Robotics II (Regular Sessions)
10:50-11:08	ThB8.1
Model-Based Motion Estimation of Elastic Surfaces for Minimally Invasive Cardiac Surgery, pp. 2261-2266.
Bader, Thomas	Univ. Karlsruhe (TH)
Wiedemann, Alexander	Univ. Karlsruhe (TH)
Roberts, Kathrin	Univ. Karlsruhe (TH)
Hanebeck, Uwe D.	Univ. Karlsruhe (TH)
11:08-11:26	ThB8.2
Needle Insertion Point and Orientation Optimization in Non-Linear Tissue with Application to Brachytherapy, pp. 2267-2272.
Dehghan, Ehsan	Univ. of British Columbia
Salcudean, Septimiu E.	Univ. of British Columbia
11:26-11:44	ThB8.3
Toolpath Optimization for a Milling Robot for Minimally Invasive Orthopedic Surgery, pp. 2273-2278. Attachment
Sugita, Naohiko	Univ. of Tokyo
Genma, Fumiaki	Univ. of Tokyo
Nakajima, Yoshikazu	Univ. of Tokyo
Mitsuishi, Mamoru	Univ. of Tokyo
11:44-12:02	ThB8.4
A New Learning Method for Obstetrics Gestures Using the BirthSIM Simulator, pp. 2279-2284.
Moreau, R.	Lab. Ampere - UMR CNRS 5005 - INSA-Lyon
Pham, M. T.	Lab. Ampere - UMR CNRS 5005 - INSA-Lyon
Redarce, T.	Lab. Ampere - UMR CNRS 5005 - INSA-Lyon
Dupuis, O.	HCL - CHU Lyon Sud
12:02-12:20	ThB8.5
Development of a Suture/Ligature Training System Designed to Provide Quantitative Information of the Learning Progress of Trainees, pp. 2285-2291.
Oshima, Nobuki	Waseda Univ.
Muhamad, Aizuddin	Waseda Univ.
Midorikawa, Ryu	Waseda Univ.
Solis, Jorge	Waseda Univ.
Ogura, Yu	Waseda Univ.
Takanishi, Atsuo	Waseda Univ.

ThB9	Aula 8
Robot Swarms (Regular Sessions)
10:50-11:08	ThB9.1
Multi-Vehicle Flocking: Scalability of Cooperative Control Algorithms Using Pairwise Potentials, pp. 2292-2299.
Chuang, Yao-li	UCLA
Huang, Yuan R.	UCLA
D'Orsogna, Maria R.	UCLA
Bertozzi, Andrea L.	UCLA
11:08-11:26	ThB9.2
Controlling Swarms of Mobile Robots for Switching between Formations Using Synchronization Concept, pp. 2300-2305.
Sun, Dong	City Univ. of Hong Kong
Wang, Can	City Univ. of Hong Kong
11:26-11:44	ThB9.3
On the Use of Capability Functions for Cooperative Objective Coverage in Robot Swarms, pp. 2306-2311.
Bishop, Bradley E.	United States Naval Acad.
11:44-12:02	ThB9.4
Stabilization of Multiple Robots on Stable Orbits Via Local Sensing, pp. 2312-2317.
Hsieh, Mong-ying	Univ. of Pennsylvania
Loizou, Savvas G.	Univ. of Pennsylvania
Kumar, Vijay	Univ. of Pennsylvania
12:02-12:20	ThB9.5
Bio-Inspired Group Behaviors for the Deployment of a Swarm of Robots to Multiple Destinations, pp. 2318-2323.
Berman, Spring	Department of Mechanical Engineering, Univ. of Pennsylvania
Halasz, Adam	Department of Mechanical Engineering, Univ. of Pennsylvania
Kumar, Vijay	Department of Mechanical Engineering, Univ. of Pennsylvania
Pratt, Stephen	School of Life Sciences, Arizona State Univ.

ThB10	Aula 9
Motion Control (Regular Sessions)
10:50-11:08	ThB10.1
PWM Control for a Micro-Robot Moving on a Discrete Curvature Trajectory Set, pp. 2324-2329.
Lionis, Grigoris	National Tech. Univ. of Athens
Kyriakopoulos, Kostas J.	National Tech. Univ. of Athens
11:08-11:26	ThB10.2
Acceleration-Level Control of the CyberCarpet, pp. 2330-2335. Attachment
De Luca, Alessandro	Univ. di Roma “La Sapienza”
Mattone, R.	Univ. di Roma “La Sapienza”
Robuffo Giordano, Paolo	Univ. di Roma “La Sapienza”
11:26-11:44	ThB10.3
Development of a Multimode Navigation System for an Assistive Robotics Project, pp. 2336-2342. Attachment
Cherubini, A.	Univ. di Roma “La Sapienza”
Oriolo, Giuseppe	Univ. di Roma “La Sapienza”
Macrě, F.	Univ. di Roma “La Sapienza”
Aloise, F.	Fondazione Santa Lucia IRCCS
Babiloni, F.	Univ. di Roma "La Sapienza"
Cincotti, F.	Fondazione Santa Lucia IRCCS
Mattia, D.	Fondazione Santa Lucia IRCCS
11:44-12:02	ThB10.4
Remote Control of a Moving Robot Using the Virtual Link, pp. 2343-2348.
Suh, Young Soo	Univ. of Ulsan
Park, Sang Kyeong	Univ. of Ulsan
Kim, Dae-Nyeon	Univ. of Ulsan
Jo, Kang-Hyun	Univ. of Ulsan
12:02-12:20	ThB10.5
Adaptive Vision and Force Tracking Control of Constrained Robots with Structural Uncertainties, pp. 2349-2354.
Zhao, Yu	Nanyang Tech. Univ.
Cheah, C. C.	Nanyang Tech. Univ.
Slotine, Jean-Jacques E.	Massachusetts Inst. of Tech. (MIT)

ThB11	Aula 10
Mobile Robots and Wheel Slippage (Regular Sessions)
10:50-11:08	ThB11.1
Integrated Estimation for Wheeled Mobile Robot Posture, Velocities, and Wheel Skidding Perturbations, pp. 2355-2360.
Low, Chang Boon	Nanyang Tech. Univ.
Wang, Danwei	Nanyang Tech. Univ.
11:08-11:26	ThB11.2
Path Planning for Planetary Exploration Rovers and Its Evaluation Based on Wheel Slip Dynamics, pp. 2361-2366.
Ishigami, Genya	Tohoku Univ.
Nagatani, Keiji	Tohoku Univ.
Yoshida, Kazuya	Tohoku Univ.
11:26-11:44	ThB11.3
Nonlinear Slip Dynamics for an Omniwheel Mobile Robot Platform, pp. 2367-2372.
Stonier, Daniel	Korea Advanced Inst. of Science and Tech.
Cho, Se-Hyoung	Korea Advanced Inst. of Science and Tech.
Choi, Sung-Lok	Korea Advanced Inst. of Science and Tech.
Kuppuswamy, Naveen Suresh	Korea Advanced Inst. of Science and Tech.
Kim, Jong-Hwan	Korea Advanced Inst. of Science and Tech.
11:44-12:02	ThB11.4
Hybrid Model Predictive Control for Stabilization of Wheeled Mobile Robots Subject to Wheel Slippage, pp. 2373-2378.
Wei, Shangming	Univ. of Illinois at Chicago
Žefran, Miloš	Univ. of Illinois at Chicago
Uthaichana, Kasemsak	Purdue Univ.
DeCarlo, Raymond A.	Purdue Univ.
12:02-12:20	ThB11.5
An Analysis of Wheeled Mobile Robots in the Presence of Skidding and Slipping: Control Design Perspective, pp. 2379-2384.
Wang, Danwei	Nanyang Tech. Univ.
Low, Chang Boon	Nanyang Tech. Univ.

ThB12	Aula 11
Formation Control (Regular Sessions)
10:50-11:08	ThB12.1
Multi-Robot Formations Based on the Queue-Formation Scheme with Limited Communications, pp. 2385-2390.
Fua, Cheng-Heng	National Univ. of Singapore
Ge, Shuzhi Sam	National Univ. of Singapore
Do, Khac Duc	Univ. of Western Australia
Lim, Khiang Wee	Singapore Inst. of Manufacturing Tech.
11:08-11:26	ThB12.2
Formation Tracking Control of Unicycle-Type Mobile Robots, pp. 2391-2396.
Do, Khac Duc	Univ. of Western Australia
11:26-11:44	ThB12.3
A Geometric Characterization of Leader-Follower Formation Control, pp. 2397-2402.
Consolini, Luca	Univ. of Parma
Morbidi, Fabio	Univ. of Siena
Prattichizzo, Domenico	Univ. of Siena
Tosques, Mario	Univ. of Parma
11:44-12:02	ThB12.4
Leader-Follower Formations: Uncalibrated Vision-Based Localization and Control, pp. 2403-2408.
Mariottini, Gian Luca	Univ. of Siena
Morbidi, Fabio	Univ. of Siena
Prattichizzo, Domenico	Univ. of Siena
Pappas, George J.	Univ. of Pennsylvania
Daniilidis, Kostas	Univ. of Pennsylvania
12:02-12:20	ThB12.5
Nonlinear Control Techniques and Omnidirectional Vision for Team Formation on Cooperative Robotics, pp. 2409-2414.
Gava, Christiano Couto	UFES - Univ. Federal do Espírito Santo
Vassallo, Raquel Frizera	UFES - Univ. Federal do Espírito Santo
Roberti, Flavio	Univ. Nacional de San Juan
Carelli, Ricardo	Univ. Nacional de San Juan
Bastos-Filho, Teodiano Freire	Federal Univ. of Espirito Santo

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ThC1	Aula Magna
SLAM Rao-Blackwellization (Regular Sessions)
13:50-14:08	ThC1.1
Analysis of Particle Methods for Simultaneous Robot Localization and Mapping and a New Algorithm: Marginal-SLAM, pp. 2415-2420.
Martinez-Cantin, Ruben	Univ. of Zaragoza
de Freitas, Nando	Univ. of British Columbia
Castellanos, Jose A.	Univ. of Zaragoza
14:08-14:26	ThC1.2
Monocular SLAM Using a Rao-Blackwellised Particle Filter with Exhaustive Pose Space Search, pp. 2421-2426.
Tomono, Masahiro	Toyo Univ.
14:26-14:44	ThC1.3
An Efficient Rao-Blackwellized Genetic Algorithmic Filter for SLAM, pp. 2427-2432.
Dong, J. F.	Nanyang Tech. Univ.
Wijesoma, W. S.	Nanyang Tech. Univ.
Shacklock, Andrew P.	SIMTECH
14:44-15:02	ThC1.4
Fixed-Lag Sampling Strategies for Particle Filtering SLAM, pp. 2433-2438.
Beevers, Kristopher R.	Rensselaer Pol. Inst.
Huang, Wes H.	Applied Perception, Inc.
15:02-15:20	ThC1.5
Unscented FastSLAM: A Robust Algorithm for the Simultaneous Localization and Mapping Problem, pp. 2439-2445.
Kim, Chanki	Pohang Univ. of Science and Tech. POSTECH
Sakthivel, R.	Pohang Univ. of Science and Tech. POSTECH
Chung, Wan Kyun	Pohang Univ. of Science and Tech. POSTECH

ThC2	Aula Minor
Visual Servoing III (Regular Sessions)
13:50-14:08	ThC2.1
Visual Servoing on Non-Planar Objects from Active Vision, pp. 2446-2451. Attachment
Collewet, Christophe	INRIA
Chaumette, Francois	INRIA
14:08-14:26	ThC2.2
Visual Servoing in Non-Rigid Environments: A Space-Time Approach, pp. 2452-2457.
Santosh, D.	IIIT Hyderabad
Jawahar, C. V.	IIIT Hyderabad
14:26-14:44	ThC2.3
Full Motion Tracking in Ultrasound Using Image Speckle Information and Visual Servoing, pp. 2458-2464. Attachment
Krupa, Alexandre	IRISA / INRIA Rennes
Fichtinger, Gabor	Johns Hopkins Univ.
Hager, Gregory D.	Johns Hopkins Univ.
14:44-15:02	ThC2.4
An Algorithm for Optimal Closed-Path Generation Over Arbitrary Surfaces Using Uncalibrated Vision, pp. 2465-2470.
Gonzalez-Galvan, Emilio J.	Univ. Autonoma de San Luis Potosi
Loredo-Flores, Ambrocio	Univ. Autonoma de San Luis Potosi
Laborico-Aviles, Erika D.	Univ. Autonoma de San Luis Potosi
Cervantes-Sanchez, J. Jesus	Univ. de Guanajuato
Pazos-Flores, Felipe	Univ. Autonoma de San Luis Potosi
15:02-15:20	ThC2.5
One Click Focus with Eye-In-Hand/eye-To-Hand Cooperation, pp. 2471-2476.
Dune, Claire	IRISA-INRIA Rennes
Marchand, Eric	IRISA-INRIA Rennes
Christophe, Leroux	CEA

ThC3	Aula 1
Learning III (Regular Sessions)
13:50-14:08	ThC3.1
Oracular Partially Observable Markov Decision Processes: A Very Special Case, pp. 2477-2482.
Armstrong-Crews, Nicholas	Carnegie Mellon Univ.
Veloso, Manuela	Carnegie Mellon Univ.
14:08-14:26	ThC3.2
Dogged Learning for Robots, pp. 2483-2488. Attachment
Grollman, Daniel H	Brown Univ.
Jenkins, Odest Chadwicke	Brown Univ.
14:26-14:44	ThC3.3
Automatic Outlier Detection: A Bayesian Approach, pp. 2489-2494.
Ting, Jo-Anne	Univ. of Southern California
D'Souza, Aaron	Google, Inc.
Schaal, Stefan	Univ. of Southern California
14:44-15:02	ThC3.4
Indirect Adaptive Learning of Acceleration Feedback Control for Chained Multiple Mass-Spring-Damper Systems, pp. 2495-2500.
Dieulot, J.-Y.	Tech. Res. Team (ENSAM)
Colas, F.	Tech. Res. Team (ENSAM)
Barre, P.-J.	Tech. Res. Team (ENSAM)
Borne, P.	LAGIS
15:02-15:20	ThC3.5
Predicting Object Dynamics from Visual Images through Active Sensing Experiences, pp. 2501-2506.
Nishide, Shun	Kyoto Univ.
Ogata, Tetsuya	Kyoto Univ.
Tani, Jun	Riken
Komatani, Kazunori	Kyoto Univ.
Okuno, Hiroshi G.	Kyoto Univ.

ThC4	Aula 2
Human-Robot Interaction III (Regular Sessions)
13:50-14:08	ThC4.1
A Visual Language for Robot Control and Programming: A Human-Interface Study, pp. 2507-2513.
Dudek, Gregory	McGill Univ.
Sattar, Junaed	McGill Univ.
Xu, Anqi	McGill Univ.
14:08-14:26	ThC4.2
Calibration of an EMG-Based Body Model with Six Muscles to Control a Leg Exoskeleton, pp. 2514-2519.
Fleischer, Christian	Tech. Univ. Berlin
Hommel, Günter	Tech. Univ. Berlin
14:26-14:44	ThC4.3
Pick and Place of Hard Disk Media Using Electrostatic Levitation, pp. 2520-2525. Attachment
van West, Ewoud Frank	Univ. of Tokyo
Yamamoto, Akio	Univ. of Tokyo
Higuchi, Toshiro	Univ. of Tokyo
14:44-15:02	ThC4.4
Self-Contained Position Tracking of Human Movement Using Small Inertial/Magnetic Sensor Modules, pp. 2526-2533.
Yun, Xiaoping	Naval Postgraduate School
Bachmann, Eric R.	Miami Univ.
Moore IV, Hyatt	Naval Postgraduate School
Calusdian, James	Naval Postgraduate School
15:02-15:20	ThC4.5
Modeling of Human Behavior in Man-Machine Cooperative System Based on Hybrid System Framework, pp. 2534-2539.
Okuda, Hiroyuki	Toyota Tech. Inst.
Hayakawa, Soichiro	Toyota Tech. Inst.
Suzuki, Tatsuya	Nagoya Univ.
Tsuchida, Nuio	Toyota Tech. Inst.

ThC5	Aula 3
Skills in Humanoid Robotics (Regular Sessions)
13:50-14:08	ThC5.1
Getting up Motion Planning Using Mahalanobis Distance, pp. 2540-2545.
Kanehiro, Fumio	National Inst. of Advanced Industrial Science andTechnology (AIS
Fujiwara, Kiyoshi	National Inst. of Advanced Industrial Science andTechnology (AIS
Hirukawa, Hirohisa	National Inst. of Advanced Industrial Science andTechnology (AIS
Nakaoka, Shin'ichiro	National Inst. of Advanced Industrial Science andTechnology (AIS
Morisawa, Mitsuharu	National Inst. of Advanced Industrial Science andTechnology (AIS
14:08-14:26	ThC5.2
Mowgli: A Bipedal Jumping and Landing Robot with an Artificial Musculoskeletal System, pp. 2546-2551. Attachment
Niiyama, Ryuma	Univ. of Tokyo
Nagakubo, Akihiko	Intelligent Systems Res. Inst. ,AIST
Kuniyoshi, Yasuo	Univ. of Tokyo
14:26-14:44	ThC5.3
Implementation of Expressive Performance Rules on the WF-4RII by Modeling a Professional Flutist Performance Using NN, pp. 2552-2557. Attachment
Solis, Jorge	Waseda Univ.
Suefuji, Kei	Waseda Univ.
Taniguchi, Koichi	Waseda Univ.
Ninomiya, Takeshi	Waseda Univ.
Maeda, Maki	Waseda Univ.
Takanishi, Atsuo	Waseda Univ.
14:44-15:02	ThC5.4
Toward an Unified Representation for Imitation of Human Motion on Humanoids, pp. 2558-2563.
Azad, Pedram	Univ. of Karlsruhe (TH)
Asfour, Tamim	Univ. of Karlsruhe (TH)
Dillmann, Rüdiger	Univ. of Karlsruhe (TH)
15:02-15:20	ThC5.5
Robot Communication Principal by Motion Synchronization Using Orbit Attractor, pp. 2564-2569. Attachment
Okada, Masafumi	Tokyo Inst. of Tech.
Murakami, Kenji	Tokyo Inst. of Tech.

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ThC6	Aula 5
Simulation Algorithms (Regular Sessions)
13:50-14:08	ThC6.1
Real-Time Knotting and Unknotting, pp. 2570-2575. Attachment
Shi, Hans Fuhan	Simon Fraser Univ.
Payandeh, Shahram	Simon Fraser Univ.
14:08-14:26	ThC6.2
Interactive Cross Cutting, pp. 2576-2581.
Cha, Jekeon Jack	Simon Fraser Univ.
Payandeh, Shahram	Simon Fraser Univ.
14:26-14:44	ThC6.3
Interactive Motion Control of Deformable Objects Using Localized Optimal Control, pp. 2582-2587.
Jeon, Hongjun	Univ. of Colorado at Boulder
Choi, Min-Hyung	Univ. of Colorado at Denver and Health Sciences Center
14:44-15:02	ThC6.4
Davinci Code: A Multi-Model Simulation and Analysis Tool for Multi-Body Systems, pp. 2588-2593.
Berard, Stephen	Rensselaer Pol. Inst.
Trinkle, Jeff	Rensselaer Pol. Inst.
Nguyen, Binh	Rensselaer Pol. Inst.
Roghani, Ben	Rensselaer Pol. Inst.
Kumar, Vijay	Univ. of Pennsylvania
Fink, Jonathan	Univ. of Pennsylvania
15:02-15:20	ThC6.5
Exploring Different Coherence Dimensions to Answer Proximity Queries for Convex Polyhedra, pp. 2594-2599.
Mirolo, Claudio	Univ. of Udine
Carpin, Stefano	Univ. of California, Merced
Pagello, Enrico	Univ. of Padua

ThC7	Aula 6
Wheeled Robots I (Regular Sessions)
13:50-14:08	ThC7.1
Control of a Wheeled Stair-Climbing Robot Using Linear Programming, pp. 2600-2604.
Jaulin, Luc	ENSIETA
14:08-14:26	ThC7.2
Adaptive Trajectory Tracking Control of Skid-Steered Mobile Robots, pp. 2605-2610.
Yi, Jingang	San Diego State Univ.
Song, Dezhen	Texas A&M Univ.
Zhang, Junjie	Texas A&M Univ.
Goodwin, Zane	Texas A&M Univ.
14:26-14:44	ThC7.3
Task Based Kinematical Robot Control in the Presence of Actuator Velocity Saturation and Its Application to Trajectory Tracking for an Omni-Wheeled Mobile Robot, pp. 2611-2616.
Plöger, Paul G.	Univ. Appl. Science Bonn-Rhein-Sieg and Fraunhofer IAIS
Indiveri, Giovanni	Univ. of Lecce
Paulus, Jan	Univ. Appl. Science Bonn-Rhein-Sieg and Fraunhofer IAIS
14:44-15:02	ThC7.4
Simultaneous Path Following and Obstacle Avoidance Control of a Unicycle-Type Robot, pp. 2617-2622.
Lapierre, Lionel	LIRMM - Univ. of Montpellier II
Zapata, René	LIRMM - Univ. of Montpellier II
Lépinay, Pascal	LIRMM - Univ. of Montpellier II
15:02-15:20	ThC7.5
Dribbling Control of Omnidirectional Soccer Robots, pp. 2623-2628.
Li, Xiang	Univ. of Tübingen
Wang, Maosen	Univ. of Tübingen
Zell, Andreas	Univ. of Tübingen

ThC8	Aula 7
Medical Robotics III (Regular Sessions)
13:50-14:08	ThC8.1
A Dual-Function Wheeled Probe for Tissue Viscoelastic Property Identification During Minimally Invasive Surgery, pp. 2629-2634.
Noonan, David	King's Coll. London
Liu, Hongbin	King's Coll. London
Zweiri, Yahya	Mu'tah Univ.
Althoefer, Kaspar	King's Coll. London
Seneviratne, Lakmal	King's Coll. London
14:08-14:26	ThC8.2
Robot-Based 3D Ultrasound Scanning and Registration with Infrared Navigation Support, pp. 2635-2641.
Stolka, Philipp J	Univ. of Bayreuth
Waringo, Michel	Univ. of Bayreuth
Henrich, Dominik	Univ. of Bayreuth
Tretbar, Steffen H	Univ. of Heidelberg
Federspil, Philipp A	Univ. of Heidelberg
14:26-14:44	ThC8.3
Assisting Minimally Invasive Surgery through Exterior Orientation to Enhance Perception, pp. 2642-2647.
Navarro, Agustin A.	Tech. Univ. of Catalonia (UPC)
Aranda, Joan	Tech. Univ. of Catalonia (UPC)
14:44-15:02	ThC8.4
Robotic Creation of Operating Space for Minimally Invasive Hip Joint Surgery, pp. 2648-2654.
Yanagihara, Masaru	Waseda Univ.
Okamoto, Jun	Waseda Univ.
Fujie, Masakatsu G.	Waseda Univ.
Mitsui, Norihiro	Hitachi, Ltd.
15:02-15:20	ThC8.5
Real-Time Visual Servoing of a Robot Using Three-Dimensional Ultrasound, pp. 2655-2660.
Novotny, Paul M.	Harvard Univ.
Stoll, Jeff A.	Boston Univ.
Dupont, Pierre E.	Boston Univ.
Howe, Robert D.	Harvard Univ.

ThC9	Aula 8
Dynamics and Control of Humanoid Robots (Regular Sessions)
13:50-14:08	ThC9.1
Dynamic Lifting Motion of Humanoid Robots, pp. 2661-2667. Attachment
Arisumi, Hitoshi	National Inst. of Advanced Industrial Science andTechnology (AIS
Chardonnet, Jean-Remy	LIRMM and the AIST-CNRS Joint Japanese-French Robotics Lab.
Kheddar, Abderrahmane	AIST-CNRS Joint Japanese-French Robotics Lab.
Yokoi, Kazuhito	National Inst. of Advanced Industrial Science and Tech. (AI
14:08-14:26	ThC9.2
Disturbance Rejection for Biped Humanoids, pp. 2668-2675. Attachment
Hyon, Sang-Ho	ATR/JST-ICORP
Cheng, Gordon	ATR/JST-ICORP
14:26-14:44	ThC9.3
Emergent Walking Stop Using 3-D ZMP Modification Criteria Map for Humanoid Robot, pp. 2676-2681.
Takubo, Tomohito	Osaka Univ.
Tanaka, Takeshi	Osaka Univ.
Inoue, Kenji	Osaka Univ.
Arai, Tatsuo	Osaka Univ.
14:44-15:02	ThC9.4
General ZMP Preview Control for Bipedal Walking, pp. 2682-2687.
Park, Jonghoon	Pohang Inst. of Intelligent Robotics (PIRO)
Youm, Youngil	Pohang Univ. of Science and Tech. (POSTECH)
15:02-15:20	ThC9.5
Learning to Acquire Whole-Body Humanoid CoM Movements to Achieve Dynamic Tasks, pp. 2688-2693.
Matsubara, Takamitsu	ATR Computational Neuroscience Lab. and Nara Inst. o
Morimoto, Jun	ATR Computational Neuroscience Lab. and ICORP
Nakanishi, Jun	ATR Computational Neuroscience Lab. and ICORP
Hyon, Sang-Ho	ATR Computational Neuroscience Lab. and ICORP
Hale, Joshua G.	ATR Computational Neuroscience Lab. and ICORP
Cheng, Gordon	ATR Computational Neuroscience Lab. and ICORP

ThC10	Aula 9
Planning and Motion Control (Regular Sessions)
13:50-14:08	ThC10.1
Planning with Reachable Distances: Fast Enforcement of Closure Constraints, pp. 2694-2699.
Tang, Xinyu	Texas A&M Univ.
Thomas, Shawna	Texas A&M Univ.
Amato, Nancy M.	Texas A&M Univ.
14:08-14:26	ThC10.2
Faster Motion Planning Using Learned Local Viability Models, pp. 2700-2705.
Kalisiak, Maciej	Univ. of Toronto
van de Panne, Michiel	Univ. of British Columbia
14:26-14:44	ThC10.3
Optimal Velocity Planning for Autonomous Vehicles Considering Curvature Constraints, pp. 2706-2711.
Guarino Lo Bianco, Corrado	Univ. of Parma
Romano, Massimo	Univ. of Parma
14:44-15:02	ThC10.4
Autonomous Robot Navigation with a Global and Asymptotic Convergence, pp. 2712-2717.
Berti, Hugo	Univ. Nacional de La Pampa
Sappa, Angel D.	Computer Vision Center
Agamennoni, Osvaldo E.	Univ. Nacional del Sur
15:02-15:20	ThC10.5
Minimum Wheel-Rotation Paths for Differential Drive Mobile Robots among Piecewise Smooth Obstacles, pp. 2718-2723.
Chitsaz, Hamidreza	Univ. of Illinois at Urbana-Champaign
LaValle, Steven M.	Univ. of Illinois at Urbana-Champaign

ThC11	Aula 10
Mobile Robot Fault/Slip Detection (Regular Sessions)
13:50-14:08	ThC11.1
Model-Based Wheel Slip Detection for Outdoor Mobile Robots, pp. 2724-2729.
Ward, Chris C.	Massachusetts Inst. of Tech. (MIT)
Iagnemma, Karl	Massachusetts Inst. of Tech. (MIT)
14:08-14:26	ThC11.2
Classification-Based Wheel Slip Detection and Detector Fusion for Outdoor Mobile Robots, pp. 2730-2735.
Ward, Chris C.	Massachusetts Inst. of Tech. (MIT)
Iagnemma, Karl	Massachusetts Inst. of Tech. (MIT)
14:26-14:44	ThC11.3
Model-Based Sensor Fault Detection and Isolation System for Unmanned Ground Vehicles: Theoretical Aspects (part I), pp. 2736-2743.
Monteriů, Andrea	Univ. Pol. delle Marche
Asthana, Prateek	Univ. of South Florida
Valavanis, Kimon	Univ. of South Florida
Longhi, Sauro	Univ. Pol. delle Marche
14:44-15:02	ThC11.4
Model-Based Sensor Fault Detection and Isolation System for Unmanned Ground Vehicles: Experimental Validation (part II), pp. 2744-2751.
Monteriů, Andrea	Univ. Pol. delle Marche
Asthana, Prateek	Univ. of South Florida
Valavanis, Kimon	Univ. of South Florida
Longhi, Sauro	Univ. Pol. delle Marche
15:02-15:20	ThC11.5
Improvement of the Odometry Accuracy of a Crawler Vehicle with Consideration of Slippage, pp. 2752-2757.
Nagatani, Keiji	Tohoku Univ.
Endo, Daisuke	Tohoku Univ.
Yoshida, Kazuya	Tohoku Univ.

ThC12	Aula 11
Video Session I (Video Sessions)
13:50-13:59	ThC12.1
The MIT Indoor Multi-Vehicle Flight Testbed, pp. 2758-2759. Attachment
Valenti, Mario	Massachusetts Inst. of Tech. (MIT)
Bethke, Brett	Massachusetts Inst. of Tech. (MIT)
Dale, Daniel	Massachusetts Inst. of Tech. (MIT)
Frank, Adrian	Massachusetts Inst. of Tech. (MIT)
McGrew, James	Massachusetts Inst. of Tech. (MIT)
Ahrens, Spencer	Massachusetts Inst. of Tech. (MIT)
How, Jonathan P.	Massachusetts Inst. of Tech.
Vian, John	The Boeing Company
13:59-14:08	ThC12.2
COLIBRI: Vision-Guided Helicopter for Surveillance and Visual Inspection, pp. 2760-2761. Attachment
Mejias, Luis	Computer Vision Group. Univ. Pol. de Madrid
Campoy, Pascual	Computer Vision Group. Univ. Pol. de Madrid
Correa, Juan Fernando	Computer Vision Group. Univ. Pol. de Madrid
Mondragon, Ivan	Computer Vision Group. Univ. Pol. de Madrid
14:08-14:17	ThC12.3
Development of a Throw & Collect Type Rescue Inspector, pp. 2762-2763. Attachment
Watari, Eyri	Tokyo Inst. of Tech.
Tsukagoshi, Hideyuki	Tokyo Inst. of Tech.
Tanaka, Takahiro	Tokyo Inst. of Tech.
Kimura, Daichi	Tokyo Inst. of Tech.
Kitagawa, Ato	Tokyo Inst. of Tech.
14:17-14:26	ThC12.4
City-Climbers at Work, pp. 2764-2765. Attachment
Elliott, Matthew	City Coll. of New York
Xiao, Jizhong	City Coll. of New York and the Graduate Center of the City Univ.
Morris, William	City Coll. of New York
Calle, Angel	City Coll. of New York
14:26-14:35	ThC12.5
A Humanoid Upper Body System for Two-Handed Manipulation, pp. 2766-2767. Attachment
Borst, Christoph	German Aerospace Center (DLR)
Ott, Christian	German Aerospace Center (DLR)
Wimboeck, Thomas	German Aerospace Center (DLR)
Brunner, Bernhard	German Aerospace Center (DLR)
Zacharias, Franziska	German Aerospace Center (DLR)
Bäuml, Berthold	German Aerospace Center (DLR)
Hillenbrand, Ulrich	German Aerospace Center (DLR)
Haddadin, Sami	German Aerospace Center (DLR)
Albu-Schäffer, Alin	German Aerospace Center (DLR)
Hirzinger, Gerd	German Aerospace Center (DLR)
14:35-14:44	ThC12.6
Neptus, Command and Control Infrastructure for Heterogeneous Teams of Autonomous Vehicles, pp. 2768-2769. Attachment
Dias, Paulo Sousa	Univ. do Porto
Pinto, José	Univ. do Porto
Gonçalves, Rui	Univ. do Porto
Sousa, Joăo Borges	Univ. do Porto
Gonçalves, Gil	Univ. of Porto
Pereira, Fernando Lobo	FEUP - Faculdade de Engenharia da Univ. do Porto
14:44-14:53	ThC12.7
Autonomous Hot Metal Carrier - Navigation and Manipulation with a 20 Tonne Industrial Vehicle, pp. 2770-2771. Attachment
Roberts, Jonathan	CSIRO ICT Centre
Tews, Ashley Desmond	CSIRO ICT Centre
Pradalier, Cedric	CSIRO ICT Centre
Usher, Kane	CSIRO ICT Centre
14:53-15:02	ThC12.8
Integrating Vision and Walking to Increase Robot, pp. 2772-2773. Attachment
Stasse, Olivier	JRL, CNRS-AIST, ISRI Tsukuba Japan
Verrelst, Bjorn	Univ. of Bruxelles
Davison, Andrew J.	Imperial Coll. London
Mansard, Nicolas	IRISA / INRIA Rennes
Vanderborght, Bram	Vrije Univ. Brussel
Esteves, Claudia	JRL, CNRS-AIST, LAAS Toulouse France
Saidi, Francois	JRL, CNRS-AIST, ISRI Tsukuba Japan
Yokoi, Kazuhito	JRL, CNRS-AIST, ISRI Tsukuba Japan
15:02-15:11	ThC12.9
Process Control for Robotic Surface Finishing, pp. 2774-2775. Attachment
Newman, Wyatt S.	Case Western Res. Univ.
Somes, Steven D.	Western Robotics Co.
Buckmaster, David J.	Case Western Res. Univ.
15:11-15:20	ThC12.10
STriDER: Self-Excited Tripedal Dynamic Experimental Robot, pp. 2776-2777. Attachment
Hong, Dennis	Virginia Tech.
Heaston, Jeremy	Virginia Tech.
Morazzani, Ivette	Virginia Tech.
Ren, Ping	Virginia Tech.
Goldman, Gabriel	Virginia Tech.

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ThD1	Aula Magna
SLAM: Monocular Vision (Regular Sessions)
15:40-15:58	ThD1.1
Inverse Depth to Depth Conversion for Monocular SLAM, pp. 2778-2783. Attachment
Civera, Javier	Univ. de Zaragoza
Davison, Andrew J.	Imperial Coll. London
Montiel, J.M.M.	Univ. de Zaragoza
15:58-16:16	ThD1.2
Automatic Relocalisation for a Single-Camera Simultaneous Localisation and Mapping System, pp. 2784-2790. Attachment
Williams, Brian	Univ. of Oxford
Smith, Paul	Univ. of Oxford
Reid, Ian	Univ. of Oxford
16:16-16:34	ThD1.3
Monocular-Vision Based SLAM Using Line Segments, pp. 2791-2796.
Lemaire, Thomas	LAAS-CNRS
Lacroix, Simon	LAAS-CNRS
16:34-16:52	ThD1.4
Inertial Aiding of Inverse Depth SLAM Using a Monocular Camera, pp. 2797-2802.
Pinies, Pedro	Univ. de Zaragoza
Lupton, Todd	Univ. of Sydney
Sukkarieh, Salah	Univ. of Sydney
Tardos, Juan D.	Univ. de Zaragoza
16:52-17:10	ThD1.5
Frame-Frame Matching for Realtime Consistent Visual Mapping, pp. 2803-2810.
Konolige, Kurt	SRI International
Agrawal, Motilal	SRI International

ThD2	Aula Minor
Adaptive Visual Servoing (Regular Sessions)
15:40-15:58	ThD2.1
Adaptive Visual Servoing by Simultaneous Camera Calibration, pp. 2811-2816.
Pomares, J.	Univ. of Alicante
Chaumette, Francois	INRIA
Torres, F.	Univ. of Alicante
15:58-16:16	ThD2.2
Adaptive Vision Based Tracking Control of Robots with Uncertainty in Depth Information, pp. 2817-2822.
Cheah, C. C.	Nanyang Tech. Univ.
Liu, C.	LIRMM
Slotine, Jean-Jacques E.	Massachusetts Inst. of Tech. (MIT)
16:16-16:34	ThD2.3
On-Line Estimation of Feature Depth for Image-Based Visual Servoing Schemes, pp. 2823-2828. Attachment
De Luca, Alessandro	Univ. di Roma “La Sapienza”
Oriolo, Giuseppe	Univ. di Roma “La Sapienza”
Robuffo Giordano, Paolo	Univ. di Roma “La Sapienza”
16:34-16:52	ThD2.4
On with the Visuomotor Function: A 6DOF Adaptive Approach for Modeling Image-Based Variations and Visual Servoing, pp. 2829-2834.
Leonard, Simon	Univ. of Alberta
Jagersand, Martin	Univ. of Alberta
16:52-17:10	ThD2.5
Using Robust Estimation for Visual Servoing Based on Dynamic Vision, pp. 2835-2840. Attachment
Collewet, Christophe	INRIA
Chaumette, Francois	INRIA

ThD3	Aula 1
Learning IV (Regular Sessions)
15:40-15:58	ThD3.1
Optimal Control Subsumes Harmonic Control, pp. 2841-2846.
Boumaza, Amine	LORIA
Scherrer, Bruno	INRIA
15:58-16:16	ThD3.2
Towards a Real-Time Bayesian Imitation System for a Humanoid Robot, pp. 2847-2852. Attachment
Shon, Aaron P.	Univ. of Washington
Storz, Joshua J.	Univ. of Washington
Rao, Rajesh P. N.	Univ. of Washington
16:16-16:34	ThD3.3
Ubiquitous Robot: A New Paradigm for Integrated Services, pp. 2853-2858. Attachment
Kim, Jong-Hwan	Korea Advanced Inst. of Science and Tech.
Lee, Kang-Hee	Samsung Electronics Co. Ltd.
Kim, Yong-Duk	Korea Advanced Inst. of Science and Tech.
Kuppuswamy, Naveen Suresh	Korea Advanced Inst. of Science and Tech.
Jo, Jun	Griffith Univ. Gold Coast Campus
16:34-16:52	ThD3.4
Integration of Coordination Mechanisms in the BITE Multi-Robot Architecture, pp. 2859-2866.
Kaminka, Gal A.	Bar Ilan Univ.
Frenkel, Inna	Bar Ilan Univ.
16:52-17:10	ThD3.5
Iterative Learning of Specified Motions in Task-Space for Redundant Multi-Joint Hand-Arm Robots, pp. 2867-2873. Attachment
Arimoto, Suguru	Ritsumeikan Univ.
Sekimoto, Masahiro	Ritsumeikan Univ.
Kawamura, Sadao	Ritsumeikan Univ.

ThD4	Aula 2
Personal Robots and Home Automation (Regular Sessions)
15:40-15:58	ThD4.1
Control Passive Mobile Robots for Object Transportation -Braking Torque Analysis and Motion Control, pp. 2874-2879.
Wang, ZhiDong	Chiba Inst. of Tech.
Fukaya, Kenta	Tohoku Univ.
Hirata, Yasuhisa	Tohoku Univ.
Kosuge, Kazuhiro	Tohoku Univ.
15:58-16:16	ThD4.2
A RTM-Based Home Service Robots Monitoring System, pp. 2880-2885.
Jia, Songmin	Univ. of Electro-Communications
Takase, Kunikatsu	Univ. of Electro-Communications
16:16-16:34	ThD4.3
New Interactions between LV Customers and the Network: Further Possibilities for Home Automation Functions, pp. 2886-2891.
Moneta, Diana	CESI RICERCA
Bisone, Luigi	CESI RICERCA
Meda, Roberto	CESI RICERCA
Mauri, Giuseppe	CESI RICERCA
16:34-16:52	ThD4.4
MOVEMENT – Modular Versatile Mobility Enhancement System, pp. 2892-2897.
Mayer, Peter	Vienna Univ. of Tech.
Edelmayer, Georg	Vienna Univ. of Tech.
Gelderblom, Gert Jan	Inst. for Rehabilitation Res.
Vincze, Markus	Vienna Univ. of Tech.
Einramhof, Peter	Vienna Univ. of Tech.
Nuttin, Marnix	K.U.Leuven
Fuxreiter, Thomas	Austrian Res. Centers GmbH
Kronreif, Gernot	Austrian Res. Centers GmbH
16:52-17:10	ThD4.5
Robot Assistance in Playful Environment – User Trials and Results, pp. 2898-2903.
Kronreif, Gernot	Austrian Res. Centers GmbH
Kornfeld, Martin	Austrian Res. Centers GmbH
Prazak, Barbara	Austrian Res. Centers GmbH
Mina, Stefan	Austrian Res. Centers GmbH
Fuerst, Martin	Austrian Res. Centers GmbH

ThD5	Aula 3
Design of Humanoid Robots (Regular Sessions)
15:40-15:58	ThD5.1
A Humanoid Foot with Polypyrrole Conducting Polymer Artificial Muscles for Energy Dissipation and Storage, pp. 2904-2909.
Secord, Thomas W.	Massachusetts Inst. of Tech. (MIT)
Asada, H. Harry	Massachusetts Inst. of Tech. (MIT)
15:58-16:16	ThD5.2
Human-Oriented Biped Robot Design: Insights into the Development of a Truly Anthropomorphic Leg, pp. 2910-2915. Attachment
Gini, Giuseppina	Pol. di Milano
Scarfogliero, Umberto	IMT Lucca
Folgheraiter, Michele	Pol. di Milano
16:16-16:34	ThD5.3
Models for the Design of a Tendon Driven Robot Eye, pp. 2916-2921.
Cannata, Giorgio	Univ. of Genova
Maggiali, Marco	Univ. of Genova and Italian Inst. of Tech.
16:34-16:52	ThD5.4
New Anthropomorphic Talking Robot Having a Three-Dimensional Articulation Mechanism and Improved Pitch Range, pp. 2922-2927.
Fukui, Kotaro	Waseda Univ.
Ishikawa, Yuma	Waseda Univ.
Sawa, Takashi	Waseda Univ.
Shintaku, Eiji	Waseda Univ.
Honda, Masaaki	Waseda Univ.
Takanishi, Atsuo	Waseda Univ.
16:52-17:10	ThD5.5
Centaur: NASA's Mobile Humanoid Designed for Field Work, pp. 2928-2933.
Mehling, Joshua S.	NASA / Johnson Space Center
Strawser, Philip	NASA / Johnson Space Center
Bridgwater, Lyndon	NASA / Johnson Space Center
Verdeyen, W. K.	NASA / Johnson Space Center
Rovekamp, Roger	Hamilton Sundstrand

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ThD6	Aula 5
Advancements in Industrial Automation and Robotics: Ubiquitous Industrial Robotics and Automation Systems I (Invited Sessions)
Organizer: Eberst, Christof	PROFACTOR GmbH
Organizer: Sallinen, Mikko Sakari	VTT
Organizer: Madsen, Ole	Aalborg Univ.
Organizer: Colombo, Armando	Schneider Electric
Organizer: Pires, Norberto	Univ. of Coimbra
15:40-15:58	ThD6.1
Robot-Dummy Crash Tests for Robot Safety Assessment (I), pp. 2934-2939. Attachment
Oberer, Susanne	Fraunhofer Inst. for Manufacturing Engineering and Automation (I
Schraft, Rolf Dieter	Fraunhofer Inst. for Manufacturing Engineering and Automation (I
15:58-16:16	ThD6.2
Semantic Web Services in the Development of Distributed Control and Automation Systems (I), pp. 2940-2945.
Thramboulidis, Kleanthis C.	Univ. of Patras
Koumoutsos, Giannis V.	Univ. of Patras
Doukas, George S.	Univ. of Patras
16:16-16:34	ThD6.3
Complex Packaging Line Modelling and Simulation (I), pp. 2946-2950.
Cesare, Fantuzzi	Univ. di Modena e Reggio Emilia
Andrea, Grassi	Univ. di Modena e Reggio Emilia
Gebennini, Elisa	Univ. di Modena e Reggio Emilia
Gabriele, Goldoni	Univ. di Modena e Reggio Emilia
Gamberini, Rita	Univ. di Modena e Reggio Emilia
Nevin, Robert	Univ. di Modena e Reggio Emilia
Rimini, Bianca	Univ. di Modena e Reggio Emilia
16:34-16:52	ThD6.4
Using Acceleration Compensation to Reduce Liquid Surface Oscillation During a High Speed Transfer (I), pp. 2951-2956.
Chen, Suei Jen	Univ. Karlsruhe (TH)
Hein, Björn	Univ. Karlsruhe (TH)
Woern, Heinz	Univ. Karlsruhe (TH)
16:52-17:10	ThD6.5
Configuration Support and Kinematics for a Reconfigurable Gantry-Tau Manipulator (I), pp. 2957-2962.
Dressler, Isolde	Lund Univ.
Haage, Mathias	Lund Univ.
Nilsson, Klas	Lund Univ.
Johansson, Rolf	Lund Univ.
Robertsson, Anders	Lund Univ.
Brogardh, Torgny	ABB Robotics

ThD7	Aula 6
Wheeled Robots II (Regular Sessions)
15:40-15:58	ThD7.1
Application of Electronic Compass for Mobile Robot in an Indoor Environment, pp. 2963-2970.
Skvortzov, Vladimir Y.	Samsung Advanced Inst. of Tech.
Lee, Hyoung-Ki	Samsung Advanced Inst. of Tech.
Bang, SeokWon	Samsung Advanced Inst. of Tech.
Lee, YongBeom	Samsung Advanced Inst. of Tech.
15:58-16:16	ThD7.2
Systematic Isotropy Analysis of Caster Wheeled Mobile Robots with Steering Link Offset Different from Wheel Radius, pp. 2971-2976.
Kim, Sungbok	Hankuk Univ. of Foreign Studies
Jeong, Ilhwa	Hankuk Univ. of Foreign Studies
16:16-16:34	ThD7.3
Design and Implementation of a Quasiholonomic Mobile Robot, pp. 2977-2983.
Salerno, Alessio	Columbia Univ.
Angeles, Jorge	McGill Univ.
16:34-16:52	ThD7.4
The Design and Evolution of the Erosi Robot, pp. 2984-2989.
Walter, Maxwell	Univ. of Minnesota
Papanikolopoulos, Nikolaos	Univ. of Minnesota
Anderson, Monica	Univ. of Minnesota
Burt, Ian	Univ. of Minnesota
16:52-17:10	ThD7.5
Experimental Study of Redundant Snake Robot Based on Kinematic Model, pp. 2990-2995.
Tanaka, Motoyasu	The Univ. of Electro-Communications
Matsuno, Fumitoshi	The Univ. of Electro-Communications

ThD8	Aula 7
Perception for Medical Procedures (Regular Sessions)
15:40-15:58	ThD8.1
Tactile Imaging System for Localizing Lung Nodules During Video Assisted Thoracoscopic Surgery, pp. 2996-3001.
Miller, Andrew P.	Purdue Univ.
Peine, William J.	Purdue Univ.
Son, Jae S.	Medical Tactile, Inc.
Hammoud, Zane T.	Indiana Univ. School of Medicine
15:58-16:16	ThD8.2
3D Reconstruction of a Femoral Shape Using a Parametric Model and Two 2D Fluoroscopic Images, pp. 3002-3008.
Kurazume, Ryo	Kyushu Univ.
Nakamura, Kaori	Kyushu Univ.
Okada, Toshiyuki	Osaka Univ.
Sato, Yoshinobu	Osaka Univ.
Sugano, Nobuhiko	Osaka Univ.
Koyama, Tsuyoshi	Osaka Univ.
Iwashita, Yumi	Kyushu Univ.
Hasegawa, Tsutomu	Kyushu Univ.
16:16-16:34	ThD8.3
Active Strobe Imager for Visualizing Dynamic Behavior of Tumors, pp. 3009-3014.
Kaneko, Makoto	Osaka Univ.
Toya, Chisashi	Hiroshima Univ.
Okajima, Masazumi	Hiroshima Univ.
16:34-16:52	ThD8.4
Image-Guided Control of Flexible Bevel-Tip Needles, pp. 3015-3020.
Kallem, Vinutha	Johns Hopkins Univ.
Cowan, Noah J.	Johns Hopkins Univ.
16:52-17:10	ThD8.5
Robust Ultrasound-Based Visual Servoing for Beating Heart Intracardiac Surgery, pp. 3021-3027.
Vitrani, Marie-Aude	Univ. Pierre et Marie Curie - Paris6
Mitterhoffer, Hubert	Univ. Pierre et Marie Curie - Paris 6
Morel, Guillaume	Univ. Pierre et Marie Curie - Paris 6
Bonnet, Nicolas	Univ. Pierre et Marie Curie - Paris 6

ThD9	Aula 8
Perception for Humanoid Robots (Regular Sessions)
15:40-15:58	ThD9.1
Humanoid Robot Painter: Visual Perception and High-Level Planning, pp. 3028-3033.
Ruchanurucks, Miti	Univ. of Tokyo
Kudoh, Shunsuke	Univ. of Tokyo
Ogawara, Koichi	Kyushu Univ.
Shiratori, Takaaki	Univ. of Tokyo
Ikeuchi, Katsushi	Univ. of Tokyo
15:58-16:16	ThD9.2
Techniques and Applications for Persistent Backgrounding in a Humanoid Torso Robot, pp. 3034-3040.
Learned-Miller, Erik	Univ. of Massachusetts, Amherst
Duhon, David Walker	Univ. of Massachusetts, Amherst
Weinman, Jerod J.	Univ. of Massachusetts, Amherst
16:16-16:34	ThD9.3
Visually-Guided Grasping While Walking on a Humanoid Robot, pp. 3041-3047. Attachment
Mansard, Nicolas	IRISA / INRIA Rennes
Stasse, Olivier	with JRL ISRI/AIST-CNRS Tsukuba
Chaumette, Francois	IRISA / INRIA Rennes
Yokoi, Kazuhito	with JRL ISRI/AIST-CNRS Tsukuba
16:34-16:52	ThD9.4
Obstacle Detection of a Humanoid on a Plane Using a Relative Disparity Map Obtained by a Small Range Image Sensor, pp. 3048-3053. Attachment
Hikosaka, Naotaka	Chuo Univ.
Watanabe, Kei	Chuo Univ.
Umeda, Kazunori	Chuo Univ.
16:52-17:10	ThD9.5
Visually Guided Whole Body Interaction, pp. 3054-3061.
Bolder, Bram	Honda Res. Inst. Europe
Dunn, Mark	Honda Res. Inst. Europe
Gienger, Michael	Honda Res. Inst. Europe
Janssen, Herbert	Honda Res. Inst. Europe
Sugiura, Hisashi	Honda Res. Inst. Europe
Goerick, Christian	Honda Res. Inst. Europe

ThD10	Aula 9
Navigation Planning (Regular Sessions)
15:40-15:58	ThD10.1
Crowds of Moving Objects: Navigation Planning and Simulation, pp. 3062-3067. Attachment
Pettre, Julien	INRIA - IRISA
Grillon, Helena	EPFL
Thalmann, Daniel	EPFL
15:58-16:16	ThD10.2
An Inevitable Collision State-Checker for a Car-Like Vehicle, pp. 3068-3073.
Parthasarathi, Rishikesh	INRIA
Fraichard, Thierry	INRIA
16:16-16:34	ThD10.3
Reactive Trajectory Tracking for Mobile Robots Based on Non Linear Model Predictive Control, pp. 3074-3079.
Vougioukas, Stavros G.	Aristotle Univ. of Thessaloniki
16:34-16:52	ThD10.4
Taking into Account Velocity and Acceleration Bounds in Nonholonomic Trajectory Deformation, pp. 3080-3085.
Hillion, Mathieu	CNRS
Lamiraux, Florent	CNRS
16:52-17:10	ThD10.5
Localization and Trajectory Following for Multi-Body Wheeled Mobile Robots, pp. 3086-3091.
Lefebvre, Olivier	LAAS-CNRS
Lamiraux, Florent	CNRS

ThD11	Aula 10
Symbolic Methods for Control of Mobile Robots (Invited Sessions)
Organizer: Egerstedt, Magnus	Georgia Inst. of Tech.
Organizer: Belta, Calin	Boston Univ.
15:40-15:58	ThD11.1
Capture Database through Symbolization, Recognition and Generation of Motion Patterns (I), pp. 3092-3097.
Takano, Wataru	Univ. of Tokyo
Nakamura, Yoshihiko	Univ. of Tokyo
15:58-16:16	ThD11.2
A Dynamic Programming Approach to Optimal Planning for Vehicles with Trailers (I), pp. 3098-3103.
Pallottino, Lucia	Univ. di Pisa
Bicchi, Antonio	Univ. of Pisa
16:16-16:34	ThD11.3
Smooth Feedback for Car-Like Vehicles in Polygonal Environments (I), pp. 3104-3109.
Lindemann, Stephen R.	Univ. of Illiniois at Urbana-Champaign
LaValle, Steven M.	Univ. of Illiniois at Urbana-Champaign
16:34-16:52	ThD11.4
Managing Non-Determinism in Symbolic Robot Motion Planning and Control (I), pp. 3110-3115.
Kloetzer, Marius	Boston Univ.
Belta, Calin	Boston Univ.
16:52-17:10	ThD11.5
Where’s Waldo? Sensor-Based Temporal Logic Motion Planning (I), pp. 3116-3121.
Kress-Gazit, Hadas	Univ. of Pennsylvania
Fainekos, Georgios E.	Univ. of Pennsylvania
Pappas, George J.	Univ. of Pennsylvania

ThD12	Aula 11
Video Session II (Video Sessions)
15:40-15:49	ThD12.1
A Robotic Sculpture Speaking to People, pp. 3122-3123. Attachment
Menegatti, E.	Univ. of Padua
Pretto, A.	Univ. of Padua
Tonello, S.	Univ. of Padua
Lastra, A.	Univ. of Padua
Guatti, A.	Guatti Albano 43
15:49-15:58	ThD12.2
Demonstration of Effects-Based Operations Using Fully Autonomous Heterogeneous Vehicle Swarms, pp. 3124-3125. Attachment
Hawthorne, Robert C.	Johns Hopkins Univ. Applied Physics Lab.
Stipes, Jason A.	Johns Hopkins Univ. Applied Physics Lab.
Chalmers, Robert W.	Johns Hopkins Univ. Applied Physics Lab.
Scheidt, David H.	Johns Hopkins Univ. Applied Physics Lab.
15:58-16:07	ThD12.3
On the Form and Function of Gecko Foot-Hair for Wall Mobility, pp. 3126-3127. Attachment
Berengueres, Jose	TokyoTech
Tadakuma, Kenjiro	TokyoTech
Kamoi, Tatsuaki	TokyoTech
16:07-16:16	ThD12.4
Generation of Human Care Behaviors by Human-Interactive Robot RI-MAN, pp. 3128-3129. Attachment
Onishi, Masaki	AIST and RIKEN BMC
Luo, Zhi-Wei	Kobe Univ. and RIKEN BMC
Odashima, Tadashi	RIKEN BMC
Hirano, Shinya	RIKEN BMC
Tahara, Kenji	RIKEN BMC
Mukai, Toshiharu	RIKEN BMC
16:16-16:25	ThD12.5
A Haptic-Based Ultrasound Training/Examination System (HUTES), pp. 3130-3131. Attachment
Tahmasebi, Amir M.	Queen's Univ.
Abolmaesumi, Purang	Queen's Univ.
Hashtrudi-Zaad, Keyvan	Queen's Univ.
16:25-16:34	ThD12.6
LOPES: A Lower Extremity Powered Exoskeleton, pp. 3132-3133. Attachment
Ekkelenkamp, Ralf	Univ. of Twente
Venemen, J.	Univ. of Twente
van der Kooij, H.	Univ. of Twente
16:34-16:43	ThD12.7
A Micromanipulation System for Automatic Batch Microinjection, pp. 3134-3135. Attachment
Lu, Zhe	National Univ. of Singapore
Chen, Peter C. Y.	National Univ. of Singapore
Nam, Joohoo	National Univ. of Singapore
Ge, Ruowen	National Univ. of Singapore
Lin, Wei	Singapore Inst. of Manufacturing Tech.
16:43-16:52	ThD12.8
The Gait Orthosis. a Robotic System for Functional Compensation and Biomechanical Evaluation., pp. 3136-3137. Attachment
Cullell, A.	Spanish Council for Scientific Res.
Moreno, J. C.	Spanish Council for Scientific Res.
Pons, J. L.	Spanish Council for Scientific Res.
16:52-17:01	ThD12.9
A Fluid Self-Excited Oscillation Peculiar to Flat Ring Tube and Its Application to Wearable Robots, pp. 3138-3139. Attachment
Tsukagoshi, Hideyuki	Tokyo Inst. of Tech.
Kitagawa, Ato	Tokyo Inst. of Tech.
Tambo, Keisuke	Tokyo Inst. of Tech.
Chiba, Hiroyuki	Tokyo Inst. of Tech.
17:01-17:10	ThD12.10
A Tracker for Multiple Dynamic Targets Using Multiple Sensors, pp. 3140-3141. Attachment
Feldman, Adam	Georgia Inst. of Tech.
Adams, Summer	Georgia Inst. of Tech.
Hybinette, Maria	Univ. of Georgia
Balch, Tucker	Georgia Inst. of Tech.

Friday

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FrA1	Aula Magna
Localization (Regular Sessions)
08:00-08:18	FrA1.1
CRF-Filters: Discriminative Particle Filters for Sequential State Estimation, pp. 3142-3147.
Limketkai, Benson	Univ. of Washington
Fox, Dieter	Univ. of Washington
Liao, Lin	Univ. of Washington
08:18-08:36	FrA1.2
A Hybrid Active Global Localisation Algorithm for Mobile Robots, pp. 3148-3153.
Gasparri, Andrea	Univ. degli Studi Roma Tre
Panzieri, Stefano	Univ. degli Studi Roma Tre
Pascucci, Federica	Univ. degli Studi Roma Tre
Ulivi, Giovanni	Univ. degli Studi Roma Tre
08:36-08:54	FrA1.3
Probabilistic Sonar Scan Matching for Robust Localization, pp. 3154-3160. Attachment
Burguera, Antoni	Univ. de les Illes Balears
Gonzalez, Yolanda	Univ. de les Illes Balears
Oliver, Gabriel A.	Univ. de les Illes Balears
08:54-09:12	FrA1.4
Improved Data Association for ICP-Based Scan Matching in Noisy and Dynamic Environments, pp. 3161-3166.
Minguez, Javier	Univ. of Zaragoza
Rodriguez-losada, Diego	Univ. Pol. of Madrid
09:12-09:30	FrA1.5
An Accurate Closed-Form Estimate of ICP's Covariance, pp. 3167-3172.
Censi, Andrea	Univ. degli Studi di Roma "La Sapienza"

FrA2	Aula Minor
Active Vision (Regular Sessions)
08:00-08:18	FrA2.1
View Planning of Multiple Active Cameras for Wide Area Surveillance, pp. 3173-3179.
Takemura, Noriko	Osaka Univ.
Miura, Jun	Osaka Univ.
08:18-08:36	FrA2.2
A New Approach for Active Stereo Camera Calibration, pp. 3180-3185.
Kwon, Hyukseong	Purdue Univ.
Park, Johnny	Purdue Univ.
Kak, Avinash C.	Purdue Univ.
08:36-08:54	FrA2.3
Calibrating Pan-Tilt Cameras in Robot Hand-Eye Systems Using a Single Point, pp. 3186-3191.
Gatla, Chandra Sekhar	Univ. of New Mexico
Lumia, Ron	Univ. of New Mexico
Wood, John	Univ. of New Mexico
Starr, Greg	Univ. of New Mexico
08:54-09:12	FrA2.4
955-Fps Real-Time Shape Measurement of a Moving/Deforming Object Using High-Speed Vision for Numerous-Point Analysis, pp. 3192-3197. Attachment
Watanabe, Yoshihiro	Univ. of Tokyo
Komuro, Takashi	Univ. of Tokyo
Ishikawa, Masatoshi	Univ. of Tokyo
09:12-09:30	FrA2.5
Uncalibrated Dynamic Visual Tracking of Manipulators, pp. 3198-3203.
Wang, Hesheng	Chinese Univ. of Hong Kong
Liu, Yun-Hui	Chinese Univ. of Hong Kong

FrA3	Aula 1
Biped Locomotion I (Regular Sessions)
08:00-08:18	FrA3.1
Stability Proof of Biped Walking Control Based on Point-Contact, pp. 3204-3209.
Doi, Masahiro	Nagoya Univ.
Hasegawa, Yasuhisa	Univ. of Tsukuba
Matsuno, Takayuki	Toyama Prefectural Univ.
Fukuda, Toshio	Nagoya Univ.
08:18-08:36	FrA3.2
Dynamic Analyses of Underactuated Virtual Passive Dynamic Walking, pp. 3210-3217.
Asano, Fumihiko	RIKEN BMC
Luo, Zhi-Wei	Kobe Univ.
08:36-08:54	FrA3.3
Generation and Local Stabilization of Fixed Point Based on a Stability Mechanism of Passive Walking, pp. 3218-3223.
Ikemata, Yoshito	Nagoya Inst. of Tech.
Sano, Akihito	Nagoya Inst. of Tech.
Fujimoto, Hideo	Nagoya Inst. of Tech.
08:54-09:12	FrA3.4
Level-Ground Walk Based on Passive Dynamic Walking for a Biped Robot with Torso, pp. 3224-3229.
Narukawa, Terumasa	Keio Univ.
Takahashi, Masaki	Keio Univ.
Yoshida, Kazuo	Keio Univ.
09:12-09:30	FrA3.5
Landing Motion Control of Articulated Legged Robot, pp. 3230-3236. Attachment
Sung, Sanghak	POSTECH, Pohang Univ. of Science and Tech.
Youm, Youngil	POSTECH, Pohang Univ. of Science and Tech.

FrA4	Aula 2
Haptics (Regular Sessions)
08:00-08:18	FrA4.1
Robust Control of Interaction with Haptic Interfaces, pp. 3237-3244.
Surdilovic, Dragoljub	Fraunhofer Inst. for Production Systems and DesignTechnology
Radojicic, Jelena	Fraunhofer Inst. for Production Systems and DesignTechnology
08:18-08:36	FrA4.2
A Force-Feedback Algorithm for Adaptive Articulated-Body Dynamics Simulation, pp. 3245-3250.
Morin, Sandy	INRIA
Redon, Stephane	INRIA
08:36-08:54	FrA4.3
EigenNail for Finger Force Direction Recognition, pp. 3251-3256. Attachment
Sun, Yu	Univ. of Utah
Hollerbach, John M.	Univ. of Utah
Mascaro, Stephen A.	Univ. of Utah
08:54-09:12	FrA4.4
Performance Issues in Collaborative Haptic Training, pp. 3257-3262.
Khademian, Behzad	Queen's Univ.
Hashtrudi-Zaad, Keyvan	Queen's Univ.
09:12-09:30	FrA4.5
Passive Virtual Fixtures Based on Simulated Position-Dependent Anisotropic Plasticity, pp. 3263-3268.
Kikuuwe, Ryo	Nagoya Inst. of Tech.
Takesue, Naoyuki	Nagoya Inst. of Tech.
Fujimoto, Hideo	Nagoya Inst. of Tech.

FrA5	Aula 3
Sensor Networks I (Regular Sessions)
08:00-08:18	FrA5.1
Sensor Analysis for Fault Detection in Tightly-Coupled Multi-Robot Team Tasks, pp. 3269-3276.
Li, Xingyan	Univ. of Tennessee, Knoxville
Parker, Lynne E.	Univ. of Tennessee, Knoxville
08:18-08:36	FrA5.2
Cooperative Standoff Tracking of Uncertain Moving Targets Using Active Robot Networks, pp. 3277-3282.
Frew, Eric W.	Univ. of Colorado
08:36-08:54	FrA5.3
Triangulation Based Multi Target Tracking with Mobile Sensor Networks, pp. 3283-3288.
Kamath, Seema	Rensselaer Pol. Inst.
Meisner, Eric	Rensselaer Pol. Inst.
Isler, Volkan	Rensselaer Pol. Inst.
08:54-09:12	FrA5.4
Decentralized, Adaptive Control for Coverage with Networked Robots, pp. 3289-3294.
Schwager, Mac	Massachusetts Inst. of Tech. (MIT)
Slotine, Jean-Jacques E.	Massachusetts Inst. of Tech. (MIT)
Rus, Daniela	Massachusetts Inst. of Tech. (MIT)
09:12-09:30	FrA5.5
Latency Analysis of Coalescence for Robot Groups, pp. 3295-3300.
Poduri, Sameera	Univ. of Southern California
Sukhatme, Gaurav S.	Univ. of Southern California

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FrA6	Aula 5
Sampling-Based Motion Planning (Regular Sessions)
08:00-08:18	FrA6.1
Molecular Disassembly with RRT-Like Algorithms, pp. 3301-3306. Attachment
Cortes, Juan	LAAS-CNRS
Jaillet, Leonard	LAAS-CNRS
Simeon, Thierry	LAAS-CNRS
08:18-08:36	FrA6.2
Single-Query Motion Planning with Utility-Guided Random Trees, pp. 3307-3312.
Burns, Brendan	Union Coll.
Brock, Oliver	Univ. of Massachusetts, Amherst
08:36-08:54	FrA6.3
Sampling-Based Motion Planning with Sensing Uncertainty, pp. 3313-3318.
Burns, Brendan	Union Coll.
Brock, Oliver	Univ. of Massachusetts, Amherst
08:54-09:12	FrA6.4
Efficient Motion Planning of Highly Articulated Chains Using Physics-Based Sampling, pp. 3319-3326. Attachment
Gayle, Russell	Univ. of North Carolina at Chapel Hill
Sud, Avneesh	Univ. of North Carolina at Chapel Hill
Redon, Stephane	INRIA
Lin, Ming C.	Univ. of North Carolina at Chapel Hill
Manocha, Dinesh	Univ. of north carolina at chapel hill
09:12-09:30	FrA6.5
Manipulation Planning among Movable Obstacles, pp. 3327-3332.
Stilman, Mike	Carnegie Mellon Univ.
Schamburek, Jan-Ullrich	Univ. of Karlsruhe (TH)
Kuffner, James	Carnegie Mellon Univ.
Asfour, Tamim	Univ. of Karlsruhe (TH)

FrA7	Aula 6
Multirobot Task Allocation (Regular Sessions)
08:00-08:18	FrA7.1
Sensor-Based Dynamic Assignment in Distributed Motion Planning, pp. 3333-3338.
Zavlanos, Michael M.	Univ. of Pennsylvania
Pappas, George J.	Univ. of Pennsylvania
08:18-08:36	FrA7.2
SET: An Algorithm for Distributed Multirobot Task Allocation with Dynamic Negotiation Based on Task Subsets, pp. 3339-3344.
Viguria, Antidio	Georgia Inst. of Tech.
Maza, Ivan	Univ. of Seville
Ollero, Anibal	Univ. of Seville
08:36-08:54	FrA7.3
Comparative Experiments on Optimization Criteria and Algorithms for Auction Based Multi-Robot Task Allocation, pp. 3345-3350. Attachment
Mosteo, Alejandro R.	Univ. de Zaragoza
Montano, Luis	Univ. de Zaragoza
08:54-09:12	FrA7.4
A Complete Methodology for Generating Multi-Robot Task Solutions Using ASyMTRe-D and Market-Based Task Allocation, pp. 3351-3358. Attachment
Tang, Fang	California State Pol. Univ. Pomona
Parker, Lynne E.	Univ. of Tennessee
09:12-09:30	FrA7.5
A Generalized Framework for Solving Tightly-Coupled Multirobot Planning Problems, pp. 3359-3364.
Kalra, Nidhi	RAND
Ferguson, Dave	Intel
Stentz, Anthony	Carnegie Mellon Univ.

FrA8	Aula 7
Medical Microrobots (Regular Sessions)
08:00-08:18	FrA8.1
Trajectory Planning for Functional Wrist Movements in an ADL-Oriented, Robot-Assisted Therapy Environment, pp. 3365-3370.
Wisneski, Kimberly J.	Marquette Univ.
Johnson, Michelle J.	Medical Coll. of Wisconsin/Marquette Univ.
08:18-08:36	FrA8.2
Electrolytic Silicone Bourdon Tube Microactuator for Reconfigurable Surgical Robots, pp. 3371-3376.
Ng Pak, Nicola	Scuola Superiore Sant'Anna
Webster, III, Robert James	Johns Hopkins Univ.
Menciassi, Arianna	Scuola Superiore Sant'Anna
Dario, Paolo	Scuola Superiore Sant'Anna
08:36-08:54	FrA8.3
Paddling Based Microrobot for Capsule Endoscopes, pp. 3377-3382.
Park, Hyunjun	Korea Inst. of Science and Tech.
Park, Sungjin	Korea Inst. of Science and Tech.
Yoon, Euisung	Korea Inst. of Science and Tech.
Kim, Byungkyu	Korea Inst. of Science and Tech.
Park, Jongoh	Chonnam National Univ.
Park, Sukho	Chonnam National Univ.
08:54-09:12	FrA8.4
Design and Calibration of an Optical Micro Motion Sensing System for Micromanipulation Tasks, pp. 3383-3388.
Win, T. L.	Nanyang Tech. Univ.
Tan, U.X.	Nanyang Tech. Univ.
Shee, C.Y.	Nanyang Tech. Univ.
Ang, W.T.	Nanyang Tech. Univ.
09:12-09:30	FrA8.5
Design and Theoretical Evaluation of Micro-Surgical Manipulators for Orbital Manipulation and Intraocular Dexterity, pp. 3389-3395. Attachment
Wei, Wei	Columbia Univ.
Goldman, Roger	Columbia Univ.
Simaan, Nabil	Columbia Univ.
Fine, Howard	Columbia Univ.
Chang, Stanley	Columbia Univ.

FrA9	Aula 8
Detection of Dynamic Objects (Regular Sessions)
08:00-08:18	FrA9.1
A Data Fusion Architecture for the Dynamic Follow-Up of Vehicles, pp. 3396-3401.
Clerentin, Arnaud	IUT Amiens
Brassart, Eric	IUT Amiens
Delahoche, Laurent	IUT Amiens
Marhic, Bruno	IUT Amiens
Izri, Sonia	IUT Amiens
08:18-08:36	FrA9.2
Using Boosted Features for the Detection of People in 2D Range Data, pp. 3402-3407.
Arras, Kai Oliver	Univ. of Freiburg
Martinez Mozos, Oscar	Univ. of Freiburg
Burgard, Wolfram	Univ. of Freiburg
08:36-08:54	FrA9.3
Training and Optimization of Operating Parameters for Flash LADAR Cameras, pp. 3408-3413.
Price, Michael	Massachusetts Inst. of Tech. (MIT)
Kenney, Jacqueline	Loyola Coll. in Maryland
Eastman, Roger D.	Loyola Coll. in Maryland
Hong, Tsai	National Inst. of Standards and Tech.
08:54-09:12	FrA9.4
Outdoor Navigation of a Mobile Robot Using Differential GPS and Curb Detection, pp. 3414-3419.
Kim, Seung-Hun	Korea Inst. of Science and Tech.
Roh, Chi-Won	Korea Inst. of Science and Tech.
Kang, Sung-Chul	Korea Inst. of Science and Tech.
Park, Min-Yong	Yonsei Univ.
09:12-09:30	FrA9.5
Property Modifiable Discreet Active Landmarks, pp. 3420-3426.
Tomizawa, Tetsuo	National Inst. of AIST
Morales Saiki, Luis Yoichi	Univ. of Tsukuba
Ohya, Akihisa	Univ. of Tsukuba
Yuta, Shin'ichi	Univ. of Tsukuba

FrA10	Aula 9
Flexible Arms I (Regular Sessions)
08:00-08:18	FrA10.1
A Vision-Based Endpoint Trajectory and Vibration Control for Flexible Manipulators, pp. 3427-3432.
Jiang, Xin	Tohoku Univ.
Konno, Atsushi	Tohoku Univ.
Uchiyama, Masaru	Tohoku Univ.
08:18-08:36	FrA10.2
Numerical Implementation and Comparison between the Viscous, Fractional and Hysteretic Damping Models of a Rigid-Flexible Planar Manipulator, pp. 3433-3438. Attachment
Martins, Jorge M.	Tech. Univ. of Lisbon - Inst. Superior Técnico
Paris, Alexandre N.	Tech. Univ. of Lisbon, Inst. Superior Tecnico
Sá da Costa, José M.	Tech. Univ. of Lisbon, Inst. Superior Técnico
08:36-08:54	FrA10.3
A DAE Approach to Feedforward Control of Flexible Manipulators, pp. 3439-3444.
Moberg, Stig	Linköpings Univ.
Hanssen, Sven	Royal Inst. of Tech.
08:54-09:12	FrA10.4
Fast Identification Method to Control a Flexible Manipulator with Parameter Uncertainties, pp. 3445-3450.
Becedas, J.	Univ. de Castilla La-Mancha
Trapero-Arenas, J. R.	Univ. de Castilla La-Mancha
Sira-Ramírez, H.	CINVESTAV
Feliu, V.	Univ. de Castilla La-Mancha
09:12-09:30	FrA10.5
Control of Harmonic Drive Motor Actuated Flexible Linkages, pp. 3451-3456.
Hauschild, J.-P.	Tech. Univ. of Hamburg-Harburg
Heppler, G. R.	Univ. of Waterloo

FrA11	Aula 10
Distributed Target Tracking (Regular Sessions)
08:00-08:18	FrA11.1
Switched UAV-UGV Cooperation Scheme for Target Detection, pp. 3457-3462.
Tanner, Herbert G.	Univ. of New Mexico
08:18-08:36	FrA11.2
A Dynamic Target Tracking of Car-Like Wheeled Robot in a Sensor-Network Environment Via Fuzzy Decentralized Sliding-Mode Grey Prediction Control, pp. 3463-3469.
Hwang, Chih-Lyang	Tamkang Univ. Tamsui, Taiwan
Wang, Tsai-Hsiang	Tatung Univ. Taipei, Taiwan
Wong, Ching-Chang	Tamkang Univ. Tamsui, Taiwan
08:36-08:54	FrA11.3
Switched Video Feedback for Sensor Deployment and Target Tracking in a Surveillance Network, pp. 3470-3475.
Goradia, Amit	Michigan State Univ.
Cen, Zhiwei	Michigan State Univ.
Haffner, Clayton	Michigan State Univ.
Xi, Ning	Michigan State Univ.
Mutka, Matt	Michigan State Univ.
08:54-09:12	FrA11.4
Optimality Framework for Hausdorff Tracking Using Mutational Dynamics and Physical Programming, pp. 3476-3481.
Goradia, Amit	Michigan State Univ.
Haffner, Clayton	Michigan State Univ.
Xi, Ning	Michigan State Univ.
Mutka, Matt	Michigan State Univ.
09:12-09:30	FrA11.5
On the Performance of Multi-Robot Target Tracking, pp. 3482-3489.
Mirzaei, Faraz M.	Univ. of Minnesota
Mourikis, Anastasios I.	Univ. of Minnesota
Roumeliotis, Stergios I.	Univ. of Minnesota

FrA12	Aula 11
Networked Teleoperation (Regular Sessions)
08:00-08:18	FrA12.1
Bilateral Delayed Teleoperation: The Effects of a Passivated Channel Model and Force Sensing, pp. 3490-3495.
Aziminejad, A.	Univ. of Western Ontario
Tavakoli, M.	Univ. of Western Ontario
Patel, Rajni V.	Univ. of Western Ontario
Moallem, Mehrdad	Univ. of Western Ontario
08:18-08:36	FrA12.2
Automatic Regulation of the Information Flow in the Control Loops of a Web Teleoperated Robot, pp. 3496-3501.
Fernandez-Madrigal, Juan-Antonio	Univ. of Málaga
Galindo, C.	Univ. of Málaga
Cruz-Martín, E.	Univ. of Málaga
Cruz-Martín, A.	Univ. of Málaga
Gonzalez, Javier	Univ. of Málaga
08:36-08:54	FrA12.3
Remote Low Frequency State Feedback Kinematic Motion Control for Mobile Robot Trajectory Tracking, pp. 3502-3507. Attachment
Flickinger, Daniel Montrallo	Univ. of Utah
Minor, Mark A.	Univ. of Utah
08:54-09:12	FrA12.4
Stable Bilateral Control of Teleoperators under Time-Varying Communication Delay: Time Domain Passivity Approach, pp. 3508-3513.
Ryu, Jee-Hwan	Korea Univ. of Tech. and Education
Preusche, Carsten	DLR
09:12-09:30	FrA12.5
Control of a Teleoperated Nanomanipulator with Time Delay under Direct Vision Feedback, pp. 3514-3519.
Tonet, Oliver	Scuola Superiore Sant'Anna
Marinelli, Martina	Scuola Superiore Sant'Anna
Megali, Giuseppe	Scuola Superiore Sant'Anna
Sieber, Arne	ARC Seibersdorf Res. GmbH
Valdastri, Pietro	Scuola Superiore Sant'Anna
Menciassi, Arianna	Scuola Superiore Sant'Anna
Dario, Paolo	Scuola Superiore Sant'Anna

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FrB1	Aula Magna
Localization Concepts (Regular Sessions)
10:50-11:08	FrB1.1
Map Matching Scheme for Position Estimation of Planetary Explorer in Natural Terrain, pp. 3520-3525.
Kubota, Takashi	JAXA Inst. of Space and Astronautical Science
Moesl, Klaus G.	JAXA Inst. of Space and Astronautical Science
Nakatani, Ichiro	JAXA Inst. of Space and Astronautical Science
11:08-11:26	FrB1.2
Multi-Hypothesis Outdoor Localization Using Multiple Visual Features with a Rough Map, pp. 3526-3532.
Yun, Jooseop	Osaka Univ.
Miura, Jun	Osaka Univ.
11:26-11:44	FrB1.3
Mobile Robot Localization Using Fusion of Object Recognition and Range Information, pp. 3533-3538.
Yim, Byung-Doo	Korea Univ.
Lee, Yong-Ju	Korea Univ.
Song, Jae-Bok	Korea Univ.
Chung, Woojin	Korea Univ.
11:44-12:02	FrB1.4
Mobile Robot Localization Based on a Polynomial Approach, pp. 3539-3544.
Manes, C.	Univ. of L'Aquila
Martinelli, A.	ETHZ Switzerland - INRIA France
Martinelli, F.	Univ. of Rome Tor Vergata
Palumbo, P.	Consiglio Nazionale delle Ricerche
12:02-12:20	FrB1.5
An Indoor Localization Aid for the Visually Impaired, pp. 3545-3551.
Hesch, Joel A.	Univ. of Minnesota
Roumeliotis, Stergios I.	Univ. of Minnesota

FrB2	Aula Minor
Vision and Estimation (Regular Sessions)
10:50-11:08	FrB2.1
Particle Filtering on the Euclidean Group, pp. 3552-3557.
Kwon, Junghyun	Seoul National Univ.
Chun, Changmook	KIST
Choi, Minseok	Seoul National Univ.
Park, Frank C.	Seoul National Univ.
11:08-11:26	FrB2.2
Inertial Navigation Aided by Monocular Camera Observations of Unknown Features, pp. 3558-3564.
George, Michael	Univ. of Sydney
Sukkarieh, Salah	Univ. of Sydney
11:26-11:44	FrB2.3
A Multi-State Constraint Kalman Filter for Vision-Aided Inertial Navigation, pp. 3565-3572.
Mourikis, Anastasios I.	Univ. of Minnesota
Roumeliotis, Stergios I.	Univ. of Minnesota
11:44-12:02	FrB2.4
Visual Odometry Based on Gabor Filters and Sparse Bundle Adjustment, pp. 3573-3578.
Kwolek, Bogdan	Rzeszow Univ. of Tech.
12:02-12:20	FrB2.5
A Model-Free Vision-Based Robot Control for Minimally Invasive Surgery Using ESM Tracking and Pixels Color Selection, pp. 3579-3584.
Bourger, Frédéric	Univ. of Strasbourg
Doignon, Christophe	Univ. of Strasbourg
Zanne, Philippe	Univ. of Strasbourg
de Mathelin, Michel	Univ. of Strasbourg

FrB3	Aula 1
Biped Locomotion II (Regular Sessions)
10:50-11:08	FrB3.1
Differentially Flat Design of Bipeds Ensuring Limit-Cycles, pp. 3585-3590.
Sangwan, Vivek	Univ. of Delaware
Agrawal, Sunil K.	Univ. of Delaware
11:08-11:26	FrB3.2
Energetic Effects of Adding Springs at the Passive Ankles of a Walking Biped Robot, pp. 3591-3596.
Farrell, K. D.	Ohio State Univ.
Chevallereau, C.	Ec. Centrale de Nantes, CNRS, Univ. de Nantes
Westervelt, E. R.	Ohio State Univ.
11:26-11:44	FrB3.3
A Path-Following Approach to Stable Bipedal Walking and Zero Moment Point Regulation, pp. 3597-3602.
Djoudi, D.	Ec. Centrale de Nantes, CNRS, Univ. de Nantes
Chevallereau, C.	Ec. Centrale de Nantes, CNRS, Univ. de Nantes
Grizzle, J. W.	Univ. of Michigan
11:44-12:02	FrB3.4
Time-Scaling Trajectories of Passive-Dynamic Bipedal Robots, pp. 3603-3608. Attachment
Holm, Jonathan K.	Univ. of Illinois at Urbana-Champaign
Lee, Dongjun	Univ. of Tennessee-Knoxville
Spong, Mark W.	Univ. of Illinois at Urbana-Champaign
12:02-12:20	FrB3.5
A Reinforcement Learning Based Dynamic Walking Control, pp. 3609-3614.
Mao, Yong	Tsinghua Univ.
Wang, Jiaxin	Tsinghua Univ.
Jia, Peifa	Tsinghua Univ.
Li, Shi	Tsinghua Univ.
Qiu, Zhen	Tsinghua Univ.
Zhang, Le	Beijing Inst. of Machinery
Han, Zhuo	Tsinghua Univ.

FrB4	Aula 2
Physical Human-Robot Interaction I (Regular Sessions)
10:50-11:08	FrB4.1
Replicating Human-Human Physical Interaction, pp. 3615-3620.
Reed, Kyle Brandon	Northwestern Univ.
Patton, James	Northwestern Univ.
Peshkin, Michael	Northwestern Univ.
11:08-11:26	FrB4.2
Pinpointed Control of Muscles by Using Power-Assisting Device, pp. 3621-3626.
Ueda, Jun	Nara Inst. of Science and Tech.
Ding, Ming	Nara Inst. of Science and Tech.
Oya, Reishi	Nara Inst. of Science and Tech.
Matsugashita, Masayuki	Nara Inst. of Science and Tech.
Ogasawara, Tsukasa	Nara Inst. of Science and Tech.
11:26-11:44	FrB4.3
Analysis and Modeling of Human Impedance Properties for Designing a Human-Machine Control System, pp. 3627-3632.
Tanaka, Yoshiyuki	Hiroshima Univ.
Onishi, Teruyuki	Hiroshima Univ.
Tsuji, Toshio	Hiroshima Univ.
Yamada, Naoki	Mazda Motor Corp.
Takeda, Yuusaku	Mazda Motor Corp.
Masamori, Ichiro	Mazda Motor Corp.
11:44-12:02	FrB4.4
Environment Feedback for Robotic Walking Support System Control, pp. 3633-3638.
Chuy, Oscar Jr.	Tohoku Univ.
Hirata, Yasuhisa	Tohoku Univ.
Kosuge, Kazuhiro	Tohoku Univ.
12:02-12:20	FrB4.5
Human-Inspired Robot Assistant for Fast Point-To-Point Movements, pp. 3639-3644.
Corteville, B.	Katholieke Univ. Leuven
Aertbelien, E.	Katholieke Univ. Leuven
Bruyninckx, H.	Katholieke Univ. Leuven
De Schutter, J.	Katholieke Univ. Leuven
Van Brussel, H.	Katholieke Univ. Leuven

FrB5	Aula 3
Sensor Networks II (Regular Sessions)
10:50-11:08	FrB5.1
Adaptive Embedded Roadmaps for Sensor Networks, pp. 3645-3652. Attachment
Alankus, Gazihan	Washington Univ. in St. Louis
Atay, Nuzhet	Washington Univ. in St. Louis
Lu, Chenyang	Washington Univ. in St. Louis
Bayazit, O. Burchan	Washington Univ. in St. Louis
11:08-11:26	FrB5.2
Energy Saving Target Tracking Using Mobile Sensor Networks, pp. 3653-3658.
Li, Yingying	Chinese Univ. of Hong Kong
Liu, Yunhui	Chinese Univ. of Hong Kong
11:26-11:44	FrB5.3
Leveraging RSSI for Robotic Repair of Disconnected Wireless Sensor Networks, pp. 3659-3664.
Luthy, Kyle A.	North Carolina State Univ.
Grant, Edward	North Carolina State Univ.
Henderson, Thomas C.	Univ. of Utah
11:44-12:02	FrB5.4
Detecting and Tracking Level Sets of Scalar Fields Using a Robotic Sensor Network, pp. 3665-3672.
Dantu, Karthik	Univ. of Southern California
Sukhatme, Gaurav S.	Univ. of Southern California
12:02-12:20	FrB5.5
Adaptive Sampling for Estimating a Scalar Field Using a Robotic Boat and a Sensor Network, pp. 3673-3680.
Zhang, Bin	Univ. of Southern California
Sukhatme, Gaurav S.	Univ. of Southern California

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FrB6	Aula 5
Reasoning for Robots (Regular Sessions)
10:50-11:08	FrB6.1
A CBR Approach to Behaviour-Based Navigation for an Autonomous Mobile Robot, pp. 3681-3686.
Poncela, Alberto	Univ. de Málaga
Urdiales, Cristina	Univ. de Málaga
Sandoval, Francisco	Univ. de Málaga
11:08-11:26	FrB6.2
Seamless Execution of Action Sequences, pp. 3687-3692.
Stulp, Freek	Tech. Univ. München
Maldonado, Alexis	Tech. Univ. München
Koska, Wolfram	Tech. Univ. München
Beetz, Michael	Tech. Univ. München
11:26-11:44	FrB6.3
Semantic Knowledge-Based Execution Monitoring for Mobile Robots, pp. 3693-3698.
Bouguerra, Abdelbaki	Örebro Univ.
Karlsson, Lars	Örebro Univ.
Saffiotti, Alessandro	Orebro Univ.
11:44-12:02	FrB6.4
Reflection and Reasoning Mechanisms for Failure Detection and Recovery in a Distributed Robotic Architecture for Complex Robots, pp. 3699-3704.
Scheutz, Matthias	Univ. of Notre Dame
Kramer, James	Univ. of Notre Dame
12:02-12:20	FrB6.5
Using Constrained Intuitionistic Linear Logic for Hybrid Robotic Planning Problems, pp. 3705-3710.
Saranli, Uluc	Bilkent Univ.
Pfenning, Frank	Carnegie Mellon Univ.

FrB7	Aula 6
Software Architectures for Multirobot Systems (Regular Sessions)
10:50-11:08	FrB7.1
OOPS for Motion Planning: An Online, Open-Source, Programming System, pp. 3711-3716.
Plaku, Erion	Rice Univ.
Bekris, Kostas E.	Rice Univ.
Kavraki, Lydia E.	Rice Univ.
11:08-11:26	FrB7.2
A Multi-Vehicle Framework for the Development of Robotic Games: The Marco Polo Case, pp. 3717-3722. Attachment
Perteet, Brent	Oklahoma State Univ.
McClintock, James	Oklahoma State Univ.
Fierro, Rafael	Oklahoma State Univ.
11:26-11:44	FrB7.3
Distributed Watchpoints: Debugging Large Multi-Robot Systems, pp. 3723-3729.
De Rosa, Michael	Carnegie Mellon Univ.
Lee, Peter	Carnegie Mellon Univ.
Goldstein, Seth	Carnegie Mellon Univ.
Campbell, Jason	Intel Americas, Inc.
Pillai, Padmanabhan	Intel Res. Pittsburgh
Mowry, Todd C.	Carnegie Mellon Univ.
11:44-12:02	FrB7.4
A Practical Implementation of Random Peer-To-Peer Communication for a Multiple-Robot System, pp. 3730-3735.
Parker, Chris A. C.	Univ. of Alberta
Zhang, Hong	Univ. of Alberta
12:02-12:20	FrB7.5
Building a Software Architecture for a Human-Robot Team Using the Orca Framework, pp. 3736-3741.
Kaupp, Tobias	Univ. of Sydney
Brooks, Alex	Univ. of Sydney
Upcroft, Ben	Univ. of Sydney
Makarenko, Alexei	Univ. of Sydney

FrB8	Aula 7
Rehabilitation Systems (Regular Sessions)
10:50-11:08	FrB8.1
Upper Body Posture Estimation for Standing Function Restoration, pp. 3742-3747.
Pages, Gael	Univ. Montpellier 2
Ramdani, Nacim	Univ. Montpellier 2
Fraisse, Philippe	Univ. Montpellier 2
Guiraud, David	Univ. Montpellier 2
11:08-11:26	FrB8.2
A Gas-Actuated Anthropomorphic Transhumeral Prosthesis, pp. 3748-3754. Attachment
Fite, Kevin B.	Vanderbilt Univ.
Withrow, Thomas J.	Vanderbilt Univ.
Wait, Keith W.	Vanderbilt Univ.
Goldfarb, Michael	Vanderbilt Univ.
11:26-11:44	FrB8.3
Gravity Balancing of a Human Leg Using an External Orthosis, pp. 3755-3760.
Fattah, Abbas	Isfahan Univ. of Tech.
Agrawal, Sunil K.	Univ. of Delaware
11:44-12:02	FrB8.4
Passive Swing Assistive Exoskeletons for Motor-Incomplete Spinal Cord Injury Patients, pp. 3761-3766. Attachment
Mankala, Kalyan K.	Univ. of Delaware
Banala, Sai K.	Univ. of Delaware
Agrawal, Sunil K.	Univ. of Delaware
12:02-12:20	FrB8.5
Self-Identification of the Joint Centre of a Cable-Driven Shoulder Rehabilitator, pp. 3767-3772.
Mustafa, Shabbir Kurbanhusen	Nanyang Tech. Univ.
Yang, Guilin	Singapore Inst. of Manufacturing Tech.
Yeo, Song Huat	Nanyang Tech. Univ.
Lin, Wei	Singapore Inst. of Manufacturing Tech.

FrB9	Aula 8
Recognition of Dynamic Objects (Regular Sessions)
10:50-11:08	FrB9.1
Robust Recognition and Pose Estimation of 3D Objects Based on Evidence Fusion in a Sequence of Images, pp. 3773-3779.
Lee, Sukhan	Sungkyunkwan Univ.
Lee, Seongsoo	Sungkyunkwan Univ.
Lee, Jeihun	Sungkyunkwan Univ.
Moon, Dongju	Sungkyunkwan Univ.
Kim, Eunyoung	Sungkyunkwan Univ.
Seo, Jeonghyun	Sungkyunkwan Univ.
11:08-11:26	FrB9.2
Robust Action Recognition and Segmentation with Multi-Task Conditional Random Fields, pp. 3780-3786.
Shimosaka, Masamichi	Univ. of Tokyo
Mori, Taketoshi	Univ. of Tokyo
Sato, Tomomasa	Univ. of Tokyo
11:26-11:44	FrB9.3
Real-Time Keypoints Matching: Application to Visual Servoing, pp. 3787-3792. Attachment
Tran, Thi Thanh Hai	IRISA
Marchand, Eric	INRIA
11:44-12:02	FrB9.4
Visual Categorization Robust to Large Intra-Class Variations Using Entropy-Guided Codebook, pp. 3793-3798. Attachment
Kim, Sungho	Korea Advanced Inst. of Science and Tech.
Kweon, In So	Korea Advanced Inst. of Science and Tech.
Lee, Chil-Woo	Chonnam National Univ.
12:02-12:20	FrB9.5
Improved Response Modelling on Weak Classifiers for Boosting, pp. 3799-3804.
Overett, Gary	Australian National Univ.
Petersson, Lars	National ICT Australia

FrB10	Aula 9
Flexible Arms II (Regular Sessions)
10:50-11:08	FrB10.1
Robust Control Using Recursive Design Method for Flexible Joint Robot Manipulator, pp. 3805-3810.
Yeon, Je Sung	Hanyang Univ.
Park, Jong Hyeon	Hanyang Univ.
Yim, Jong-Guk	Hanyang Univ.
Lee, Sang-Hun	Hyundai Heavy Industries Co.
Hur, Jong-Sung	Hyundai Heavy Industries Co.
11:08-11:26	FrB10.2
Minimum-Time Control of Flexible Joints with Input and Output Constraints, pp. 3811-3816. Attachment
Consolini, Luca	Univ. of Parma
Gerelli, Oscar	Univ. of Parma
Guarino Lo Bianco, Corrado	Univ. of Parma
Piazzi, Aurelio	Univ. di Parma
11:26-11:44	FrB10.3
An Acceleration-Based State Observer for Robot Manipulators with Elastic Joints, pp. 3817-3823.
De Luca, Alessandro	Univ. di Roma “La Sapienza”
Schröder, Dierk	Tech. Univ. München
Thümmel, Michael	DLR Oberpfaffenhofen
11:44-12:02	FrB10.4
MIMO State Feedback Controller for a Flexible Joint Robot with Strong Joint Coupling, pp. 3824-3830.
Le Tien, Luc	German Aerospace Center (DLR)
Albu-Schäffer, Alin	German Aerospace Center (DLR)
Hirzinger, Gerd	German Aerospace Center (DLR)
12:02-12:20	FrB10.5
Precision Control of Robots with Harmonic Drives, pp. 3831-3836.
Zhu, Wen-Hong	Canadian Space Agency

FrB11	Aula 10
Sensor Fusion Based on Particle Filtering (Regular Sessions)
10:50-11:08	FrB11.1
Multi Sensor Fusion in Robot Assembly Using Particle Filters, pp. 3837-3843.
Thomas, U.	TU Braunschweig
Molkenstruck, S.	TU Braunschweig
Iser, R.	TU Braunschweig
Wahl, F. M.	TU Braunschweig
11:08-11:26	FrB11.2
A New Estimation Method for Multisensor Fusion by Using Interval Analysis and Particle Filtering, pp. 3844-3849.
Gning, Amadou	Univ. of Tech. of Compiegne
Abdallah, Fahed	Univ. de Tech. de Compičgne
Bonnifait, Philippe	Univ. of Tech. of Compiegne
11:26-11:44	FrB11.3
Heterogeneous Feature State Estimation with Rao-Blackwellized Particle Filters, pp. 3850-3855.
Tipaldi, Gian Diego	Univ. of Rome "La Papienza"
Farinelli, Alessandro	Univ. of Rome "La Sapirnza"
Iocchi, Luca	Univ. of Rome "La Sapienza"
Nardi, Daniele	Univ. of Rome "La Sapienza"
11:44-12:02	FrB11.4
Distributed Particle Filter for Target Tracking, pp. 3856-3861.
Gu, Dongbing	Univ. of Essex
12:02-12:20	FrB11.5
Rao-Blackwellized Particle Filtering for Mapping Dynamic Environments, pp. 3862-3869.
Miller, Isaac	Cornell Univ.
Campbell, Mark	Cornell Univ.

FrB12	Aula 11
Search and Rescue Robotics (Regular Sessions)
10:50-11:08	FrB12.1
Probabilistic Strategies for Pursuit in Cluttered Environments with Multiple Robots, pp. 3870-3876. Attachment
Hollinger, Geoffrey	Carnegie Mellon Univ.
Kehagias, Athanasios	Aristotle Univ.
Singh, Sanjiv	Carnegie Mellon Univ.
11:08-11:26	FrB12.2
Development of an Unit Type Robot "KOHGA2" with Stuck Avoidance Ability, pp. 3877-3882.
Miyanaka, Hitoshi	The Univ. of Electro-Communications
Wada, Norihiko	The Univ. of Electro-Communications
Kamegawa, Tetsushi	Okayama Univ.
Sato, Noritaka	The Univ. of Electro-Communications
Tsukui, Shingo	TOPY INDUSTRIES, LIMITED
Igarashi, Hiroki	SGI Japan, Ltd
Matsuno, Fumitoshi	The Univ. of Electro-Communications
11:26-11:44	FrB12.3
Control of a Snake-Like Robot Using the Screw Drive Mechanism, pp. 3883-3888.
Hara, Masaya	The Univ. of Electro-Communications
Satomura, Shogo	The Univ. of Electro-Communications
Fukushima, Hiroaki	Univ. of Electro-Communications
Kamegawa, Tetsushi	Okayama Univ.
Igarashi, Hiroki	SGI Japan, Ltd
Matsuno, Fumitoshi	The Univ. of Electro-Communications
11:44-12:02	FrB12.4
Finding Disaster Victims: A Sensory System for Robot-Assisted 3D Mapping of Urban Search and Rescue Environments, pp. 3889-3894.
Zhang, Zhe	Autonomous Systems Lab. State Univ. of NewYorkat Stony Brook
Guo, Hong	Optical Metrology Lab. SUNY at Stony Brook
Nejat, Goldie	State Univ. of New York at Stony Brook
Huang, Peisen	State Univ. of New York at Stony Brook
12:02-12:20	FrB12.5
Development of Three-Legged Modular Robots and Demonstration of Collaborative Task Execution, pp. 3895-3900.
Ohira, Masaki	The Univ. of Electro-Communications
Chatterjee, Ranajit	Internation Res. System Inst.
Kamegawa, Tetsushi	Okayama Univ.
Matsuno, Fumitoshi	The Univ. of Electro-Communications

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FrC1	Aula Magna
Image-Based Localization (Regular Sessions)
13:50-14:08	FrC1.1
SURF Features for Efficient Robot Localization with Omnidirectional Images, pp. 3901-3907.
Murillo, A. C.	Univ. de Zaragoza
Guerrero, J. J.	Univ. de Zaragoza
Sagues, Carlos	Univ. de Zaragoza
14:08-14:26	FrC1.2
High Precision Relative Localization Using a Single Camera, pp. 3908-3914.
Zaman, Munir	Univ. of Surrey
14:26-14:44	FrC1.3
A Comparison of Two Approaches for Vision and Self-Localization on a Mobile Robot, pp. 3915-3920.
Stronger, Daniel	Univ. of Texas at Austin
Stone, Peter	Univ. of Texas at Austin
14:44-15:02	FrC1.4
A Visual Bag of Words Method for Interactive Qualitative Localization and Mapping, pp. 3921-3926.
Filliat, David	ENSTA
15:02-15:20	FrC1.5
Navigation Using an Appearance Based Topological Map, pp. 3927-3932.
Booij, O.	Univ. of Amsterdam
Terwijn, B.	Univ. of Amsterdam
Zivkovic, Z.	Univ. of Amsterdam
Kröse, B.	Univ. of Amsterdam

FrC2	Aula Minor
Computer Vision Systems (Regular Sessions)
13:50-14:08	FrC2.1
3-D Human Posture Recognition System Using 2-D Shape Features, pp. 3933-3938.
Hu, Jwu-Sheng	National Chiao Tung Univ.
Su, Tzung-Min	National Chiao Tung Univ.
Lin, Pei-Ching	National Chiao Tung Univ.
14:08-14:26	FrC2.2
Calibration of Catadioptric Sensors by Polarization Imaging, pp. 3939-3944.
Morel, Olivier	Univ. of Burgundy
Fofi, David	Univ. of Burgundy
14:26-14:44	FrC2.3
Single View Point Omnidirectional Camera Calibration from Planar Grids, pp. 3945-3950.
Mei, Christopher	INRIA
Rives, Patrick	INRIA
14:44-15:02	FrC2.4
Stereo-Based Markerless Human Motion Capture for Humanoid Robot Systems, pp. 3951-3956. Attachment
Azad, Pedram	Univ. of Karlsruhe (TH)
Ude, Ales	ATR Computational Neuroscience Lab.
Asfour, Tamim	Univ. of Karlsruhe (TH)
Dillmann, Rüdiger	Univ. of Karlsruhe (TH)
15:02-15:20	FrC2.5
Mirror Localization for Catadioptric Imaging System by Projecting Parallel Lights, pp. 3957-3962.
Sagawa, Ryusuke	Osaka Univ.
Aoki, Nobuya	Osaka Univ.
Mukaigawa, Yasuhiro	Osaka Univ.
Echigo, Tomio	Osaka Electro-Communication Univ.
Yagi, Yasushi	Osaka Univ.

FrC3	Aula 1
Biped Locomotion III (Regular Sessions)
13:50-14:08	FrC3.1
ZMP-Based Biped Running Enhanced by Toe Springs, pp. 3963-3969.
Kajita, Shuuji	Intelligent Systems Res. Inst. (AIST)
Kaneko, Kenji	Intelligent Systems Res. Inst. (AIST)
Morisawa, Mitsuharu	Intelligent Systems Res. Inst. (AIST)
Nakaoka, Shin'ichiro	Intelligent Systems Res. Inst. (AIST)
Hirukawa, Hirohisa	Intelligent Systems Res. Inst. (AIST)
14:08-14:26	FrC3.2
Bipedal Walking and Running with Compliant Legs, pp. 3970-3975. Attachment
Iida, Fumiya	Massachusetts Inst. of Tech. (MIT)
Rummel, Juergen	Univ. of Jena
Seyfarth, Andre	Univ. of Jena
14:26-14:44	FrC3.3
The Effect of Semicircular Feet on Energy Dissipation by Heel-Strike in Dynamic Biped Locomotion, pp. 3976-3981.
Asano, Fumihiko	RIKEN BMC
Luo, Zhi-Wei	Kobe Univ.
14:44-15:02	FrC3.4
A Physical Model and Control Strategy for Biped Running, pp. 3982-3988. Attachment
Abdallah, Muhammad E.	Stanford Univ.
Waldron, Kenneth John	Stanford Univ.
15:02-15:20	FrC3.5
Experimentation of Humanoid Walking Allowing Immediate Modification of Foot Place Based on Analytical Solution, pp. 3989-3994. Attachment
Morisawa, Mitsuharu	National Inst. of Advanced Industrial Science and Tech.
Harada, Kensuke	National Inst. of Advanced Industrial Science and Tech.
Kajita, Shuuji	National Inst. of Advanced Industrial Science and Tech.
Nakaoka, Shin'ichiro	National Inst. of Advanced Industrial Science and Tech.
Fujiwara, Kiyoshi	National Inst. of Advanced Industrial Science and Tech.
Kanehiro, Fumio	National Inst. of Advanced Industrial Science and Tech.
Kaneko, Kenji	National Inst. of Advanced Industrial Science and Tech.
Hirukawa, Hirohisa	National Inst. of Advanced Industrial Science and Tech.

FrC4	Aula 2
Physical Human-Robot Interaction II (Regular Sessions)
13:50-14:08	FrC4.1
Conveying Virtual Tactile Feedback Via Augmented Kinesthetic Stimulation, pp. 3995-4000.
Formaglio, Alessandro	Univ. of Siena
Baud-Bovy, Gabriel	Vita-Salute San-Raffaele Univ.
Prattichizzo, Domenico	Univ. of Siena
14:08-14:26	FrC4.2
Development of a Wearable Vibrotactile Feedback Suit for Accelerated Human Motor Learning, pp. 4001-4006.
Lieberman, Jeff	Massachusetts Inst. of Tech. (MIT)
Breazeal, Cynthia	Massachusetts Inst. of Tech. (MIT)
14:26-14:44	FrC4.3
Scene Matching between a Map and a Hand Drawn Sketch Using Spatial Relations, pp. 4007-4012.
Parekh, Gaurav	Univ. of Missouri-Columbia
Skubic, Marjorie	Univ. of Missouri-Columbia
Sjahputera, Ozy	Univ. of Missouri-Columbia
Keller, James M.	Univ. of Missouri-Columbia
14:44-15:02	FrC4.4
Assisting to Sketch Unskilled People with Fixed and Interactive Virtual Templates, pp. 4013-4017.
Avizzano, Carlo Alberto	Scuola Superiore S.Anna Avizzano
Portillo-Rodriguez, Otniel	Scuola Superiore S.Anna Avizzano
Bergamasco, Massimo	Scuola Superiore S.Anna Avizzano
15:02-15:20	FrC4.5
Virtual Fixture Control for Compliant Human-Machine Interfaces, pp. 4018-4024.
Marayong, Panadda	Johns Hopkins Univ.
Na, Hye Sun	Univ. of Texas, Austin
Okamura, Allison M.	Johns Hopkins Univ.

FrC5	Aula 3
Sensor Modelling and Uncertainty (Regular Sessions)
13:50-14:08	FrC5.1
Determining the Robot-To-Robot Relative Pose Using Range-Only Measurements, pp. 4025-4031.
Zhou, Xun	Univ. of Minnesota
Roumeliotis, Stergios I.	Univ. of Minnesota
14:08-14:26	FrC5.2
A Consensus-Based Approach for Estimating the Observation Likelihood of Accurate Range Sensors, pp. 4032-4037.
Blanco, Jose-Luis	Univ. of Malaga
Gonzalez, Javier	Univ. of Malaga
Fernandez-Madrigal, Juan-Antonio	Univ. of Malaga
14:26-14:44	FrC5.3
Mobile Sensor Networks Self Localization Based on Multi-Dimensional Scaling, pp. 4038-4043.
Wu, Chang-Hua	Kettering Univ.
Sheng, Weihua	Oklahoma State Univ.
Zhang, Ying	Palo Alto Res. Center
14:44-15:02	FrC5.4
Combined Trajectory Planning and Gaze Direction Control for Robotic Exploration, pp. 4044-4049.
Lidoris, Georgios	Tech. Univ. München
Kuehnlenz, Kolja	Tech. Univ. München
Wollherr, Dirk	Tech. Univ. München
Buss, Martin	Tech. Univ. München
15:02-15:20	FrC5.5
Spatial Uncertainty Management for Simultaneous Localization and Mapping, pp. 4050-4055.
Skrzypczynski, Piotr	Poznan Univ. of Tech.

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FrC6	Aula 5
Robot Design and Performance Evaluation I (Regular Sessions)
13:50-14:08	FrC6.1
Using COTS to Construct a High Performance Robot Arm, pp. 4056-4063.
Smith, Christian	Royal Inst. of Tech.
Christensen, Henrik I	Georgia Inst. of Tech.
14:08-14:26	FrC6.2
A Pick-And-Place Hand Mechanism without Any Actuators and Sensors, pp. 4064-4070.
Sakai, Satoru	Chiba Univ.
Nakamura, Yashuhide	Chiba Univ.
Nonami, Kenzo	Chiba Univ.
14:26-14:44	FrC6.3
Shady3D: A Robot That Climbs 3D Trusses, pp. 4071-4076.
Yoon, Yeoreum	Massachusetts Inst. of Tech. (MIT)
Rus, Daniela	Massachusetts Inst. of Tech. (MIT)
14:44-15:02	FrC6.4
Configuration Control and Recalibration of a New Reconfigurable Robot, pp. 4077-4083.
Aghili, Farhad	Canadian Space Agency
Parsa, Kourosh	Canadian Space Agency
15:02-15:20	FrC6.5
Sloppy Motors, Flaky Sensors, and Virtual Dirt: Comparing Imperfect, Ill-Informed Robots, pp. 4084-4089.
O'Kane, Jason M.	Univ. of Illinois
LaValle, Steven M.	Univ. of Illinois

FrC7	Aula 6
Visual SLAM (Regular Sessions)
13:50-14:08	FrC7.1
An Efficient Direct Method for Improving Visual SLAM, pp. 4090-4095. Attachment
Silveira, Geraldo	INRIA Sophia-Antipolis – Project ICARE,
Malis, Ezio	INRIA Sophia-Antipolis – Project ICARE,
Rives, Patrick	INRIA Sophia-Antipolis – Project ICARE,
14:08-14:26	FrC7.2
Mini-SLAM: Minimalistic Visual SLAM in Large-Scale Environments Based on a New Interpretation of Image Similarity, pp. 4096-4101.
Andreasson, Henrik	Örebro Univ.
Duckett, Tom	Univ. of Lincoln
Lilienthal, Achim	Örebro Univ.
14:26-14:44	FrC7.3
Towards Simultaneous Recognition, Localization and Mapping for Hand-Held and Wearable Cameras, pp. 4102-4107. Attachment
Castle, Robert	Univ. of Oxford
Gawley, Darren	Univ. of Oxford
Klein, Georg	Univ. of Oxford
Murray, David	Univ. of Oxford
14:44-15:02	FrC7.4
Data Association in Bearing-Only SLAM Using a Cost Function-Based Approach, pp. 4108-4113.
Kwok, N.M.	Univ. of Tech. Sydney
Ha, Q.P.	Univ. of Tech. Sydney
Fang, G.	Univ. of Western Sydney
15:02-15:20	FrC7.5
On the Observability of Bearing-Only SLAM, pp. 4114-4119.
Vidal-Calleja, Teresa A.	CSIC-UPC
Bryson, Mitch	Univ. of Sydney
Sukkarieh, Salah	Univ. of Sydney
Sanfeliu, Alberto	CSIC-UPC
Andrade-Cetto, Juan	CSIC-UPC

FrC8	Aula 7
Rehabilitation Devices (Regular Sessions)
13:50-14:08	FrC8.1
ARMin II - 7 DoF Rehabilitation Robot: Mechanics and Kinematics, pp. 4120-4125.
Mihelj, Matjaž	Univ. of Ljubljana
Nef, Tobias	ETH Zurich
Riener, Robert	ETH Zurich
14:08-14:26	FrC8.2
Design, Control and Human Testing of an Active Knee Rehabilitation Orthotic Device, pp. 4126-4133.
Weinberg, Brian	Northeastern Univ.
Nikitczuk, Jason	Northeastern Univ.
Patel, Shyamal	Northeastern Univ.
Patritti, Benjamin	Harvard Medical School
Mavroidis, Constantinos	Northeastern Univ.
Bonato, Paolo	Harvard Medical School
Canavan, Paul	Northeastern Univ.
14:26-14:44	FrC8.3
Design and Control of a Powered Knee and Ankle Prosthesis, pp. 4134-4139. Attachment
Sup, Frank	Vanderbilt Univ.
Bohara, Amit	Vanderbilt Univ.
Goldfarb, Michael	Vanderbilt Univ.
14:44-15:02	FrC8.4
A Powered Leg Orthosis for Gait Rehabilitation of Motor-Impaired Patients, pp. 4140-4145.
Banala, Sai K.	Univ. of Delaware
Kulpe, Alexander	Univ. of Delaware
Agrawal, Sunil K.	Univ. of Delaware
15:02-15:20	FrC8.5
A Prototype of Index-Finger PIP Joint Motion Amplifier for Assisting Patients with Impaired Hand Mobility, pp. 4146-4151.
Watanabe, Keisuke	Univ. of Tokyo
Morishita, Hiroshi	Univ. of Tokyo
Mori, Taketoshi	Univ. of Tokyo
Sato, Tomomasa	Univ. of Tokyo

FrC9	Aula 8
Mapping: Features and Modelling (Regular Sessions)
13:50-14:08	FrC9.1
Sonar Feature Map Building for a Mobile Robot, pp. 4152-4157.
Wang, Hong-Ming	Chinese Acad. of Science
Hou, Zeng-Guang	Chinese Acad. of Science
Tan, Min	Chinese Acad. of Science
Ma, Jia	Chinese Acad. of Science
Zhang, Yun-Chu	Chinese Acad. of Science
Zhang, Yong-Quin	Chinese Acad. of Science
14:08-14:26	FrC9.2
Sensor Selection Using Information Complexity for Multi-Sensor Mobile Robot Localization, pp. 4158-4163.
Sukumar, Sreenivas R.	Univ. of Tennessee, Knoxville
Bozdogan, Hamparsum	Univ. of Tennessee, Knoxville
Page, David L.	Univ. of Tennessee, Knoxville
Koschan, Andreas F.	Univ. of Tennessee, Knoxville
Abidi, Mongi A.	Univ. of Tennessee, Knoxville
14:26-14:44	FrC9.3
Noise Covariance Identification Based Adaptive UKF with Application to Mobile Robot System, pp. 4164-4169.
Song, Qi	Shenyang Inst. of Automation, Chinese Acad.
Jiang, Zhe	Shenyang Inst. of Automation, Chinese Acad.
Han, Jianda	Shenyang Inst. of Automation, Chinese Acad.
14:44-15:02	FrC9.4
On Achievable Accuracy for Range-Finder Localization, pp. 4170-4175.
Censi, Andrea	Univ. de Roma "La Sapienza"
15:02-15:20	FrC9.5
Good Experimental Methodologies for Robotic Mapping: A Proposal, pp. 4176-4181.
Amigoni, Francesco	Pol. di Milano
Gasparini, Simone	Pol. di Milano
Gini, Maria	Univ. of Minnesota

FrC10	Aula 9
Force Control (Regular Sessions)
13:50-14:08	FrC10.1
Impedance Behaviors for Two-Handed Manipulation: Design and Experiments, pp. 4182-4189. Attachment
Wimboeck, Thomas	German Aerospace Center (DLR)
Ott, Christian	German Aerospace Center (DLR)
Hirzinger, Gerd	German Aerospace Center (DLR)
14:08-14:26	FrC10.2
Force/Position Tracking of a Robot in Compliant Contact with Unknown Stiffness and Surface Kinematics, pp. 4190-4195.
Doulgeri, Zoe	Aristotle Univ. of Thessaloniki
Karayiannidis, Yiannis	Aristotle Univ. of Thessaloniki
14:26-14:44	FrC10.3
Visual-Based Impedance Force Control of Three-Dimensional Cell Injection System, pp. 4196-4201.
Huang, Haibo	City Univ. of Hong Kong
Sun, Dong	City Univ. of Hong Kong
Mills, James K.	Univ. of Toronto
Li, Wen J.	The Chinese Univ. of Hong Kong
14:44-15:02	FrC10.4
Motion Tasks and Force Control for Robot Manipulators on Embedded 2-D Manifolds, pp. 4202-4207.
Papageorgiou, Xanthi	National Tech. Univ. of Athens
Loizou, Savvas G.	Univ. of Pennsylvania
Kyriakopoulos, Kostas J.	National Tech. Univ. of Athens
15:02-15:20	FrC10.5
Force Estimation Based Compliance Control of Harmonically Driven Manipulators, pp. 4208-4213.
Aksman, Leon M.	Univ. of Maryland
Carignan, Craig R.	Georgetown Univ. ISIS Center
Akin, David L.	Univ. of Maryland

FrC11	Aula 10
Pose Estimation (Regular Sessions)
13:50-14:08	FrC11.1
Eccentricity Compensator for Log-Polar Sensor, pp. 4214-4219.
Shimizu, Sota	California Inst. of Tech.
Burdick, Joel W.	California Inst. of Tech.
14:08-14:26	FrC11.2
A Degenerate Conic-Based Method for a Direct Fitting and 3-D Pose of Cylinders with a Single Perspective View, pp. 4220-4225.
Doignon, Christophe	Univ. of Strasbourg
de Mathelin, Michel	Univ. of Strasbourg
14:26-14:44	FrC11.3
Robust and Real-Time Rotation Estimation of Compound Omnidirectional Sensor, pp. 4226-4231.
Ngo Thanh, Trung	The Inst. of Scientific and Industrial Res. Osaka
Nagahara, Hajime	Osaka Univ.
Sagawa, Ryusuke	Osaka Univ.
Mukaigawa, Yasuhiro	Osaka Univ.
Yachida, Masahiko	Osaka Univ.
Yagi, Yasushi	Osaka Univ.
14:44-15:02	FrC11.4
Nearly Analytical Pose Estimation, pp. 4232-4237.
McInroy, John E.	Univ. of Wyoming
15:02-15:20	FrC11.5
Switched Homography-Based Visual Control of Differential Drive Vehicles with Field-Of-View Constraints, pp. 4238-4244. Attachment
Lopez-Nicolas, Gonzalo	Univ. de Zaragoza
Bhattacharya, S.	Univ. of Illinois
Guerrero, J.J.	Univ. de Zaragoza
Sagues, Carlos	Univ. de Zaragoza
Hutchinson, Seth A.	Univ. of Illinois

FrC12	Aula 11
Marine Robotics: Planning and Navigation (Regular Sessions)
13:50-14:08	FrC12.1
Behavior Based Adaptive Control for Autonomous Oceanographic Sampling, pp. 4245-4250.
Eickstedt, Donald P.	Massachusetts Inst. of Tech. (MIT)
Benjamin, Michael R.	Massachusetts Inst. of Tech. (MIT)
Wang, Ding	Massachusetts Inst. of Tech. (MIT)
Curcio, Joseph	Massachusetts Inst. of Tech. (MIT)
Schmidt, Henrik	Massachusetts Inst. of Tech. (MIT)
14:08-14:26	FrC12.2
Model-Based Nonlinear Observers for Underwater Vehicle Navigation: Theory and Preliminary Experiments, pp. 4251-4256.
Kinsey, James C.	The Johns Hopkins Univ.
Whitcomb, Louis L.	The Johns Hopkins Univ.
14:26-14:44	FrC12.3
Experimental Results in Synchronous-Clock One-Way-Travel-Time Acoustic Navigation for Autonomous Underwater Vehicles, pp. 4257-4264.
Eustice, Ryan M.	Univ. of Michigan
Whitcomb, Louis L.	The Johns Hopkins Univ.
Singh, Hanumant	Woods Hole Oceanographic Inst.
Grund, Matthew	Woods Hole Oceanographic Inst.
14:44-15:02	FrC12.4
Optimal AUV Path Planning for Extended Missions in Complex, Fast-Flowing Estuarine Environments, pp. 4265-4270. Attachment
Kruger, Dov	Stevens Inst. of Tech.
Stolkin, Rustam	Stevens Inst. of Tech.
Blum, Aaron	Stevens Inst. of Tech.
Briganti, Joseph	Stevens Inst. of Tech.
15:02-15:20	FrC12.5
Global Robust and Adaptive Output Feedback Dynamic Positioning of Surface Ships, pp. 4271-4276.
Do, Khac Duc	Univ. of Western Australia

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FrD1	Aula Magna
Localization: Learning and Clustering (Regular Sessions)
15:28-15:46	FrD1.1
A Spatially Structured Genetic Algorithm Over Complex Networks for Mobile Robot Localization, pp. 4277-4282. Attachment
Gasparri, Andrea	Univ. degli Studi Roma Tre
Panzieri, Stefano	Univ. degli Studi Roma Tre
Pascucci, Federica	Univ. degli Studi Roma Tre
Ulivi, Giovanni	Univ. degli Studi Roma Tre
15:46-16:04	FrD1.2
Incremental Spectral Clustering and Its Application to Topological Mapping, pp. 4283-4288. Attachment
Valgren, Christoffer	Örebro Univ.
Duckett, Tom	Univ. of Lincoln
Lilienthal, Achim	Örebro Univ.
16:04-16:22	FrD1.3
Outdoor Landmark-View Recognition Based on Bipartite-Graph Matching and Logistic Regression, pp. 4289-4294.
Todt, Eduardo	PUCRS
Torras, Carme	UPC - CSIC
16:22-16:40	FrD1.4
Learning Combinatorial Information from Alignments of Landmarks, pp. 4295-4300.
Freda, Luigi	Univ. di Roma "La Sapienza"
Tovar, Benjamin	Univ. of Illinois
LaValle, Steven M.	Univ. of Illinois

FrD2	Aula Minor
Telepresence (Regular Sessions)
15:28-15:46	FrD2.1
Quantitative Evaluation of Delay Time of Head Movement for an Acoustical Telepresence Robot: TeleHead, pp. 4301-4306. Attachment
Toshima, Iwaki	NTT Communication Science Lab.
Aoki, Shigeaki	NTT Communication Science Lab.
15:46-16:04	FrD2.2
Stable Non-Linear Force/Position Mapping for Enhanced Telemanipulation of Soft Environments, pp. 4307-4312. Attachment
Malysz, Pawel	McMaster Univ.
Sirouspour, Shahin	McMaster Univ.
16:04-16:22	FrD2.3
Design and Evaluation of Telepresence Vision System for Manipulation Tasks, pp. 4313-4318.
Shiratsuchi, Koji	Kyoto Univ.
Kawata, Kohei	Kyoto Univ.
Vander Poorten, Emmanuel	Kyoto Univ.
Yokokohji, Yasuyoshi	Kyoto Univ.
16:22-16:40	FrD2.4
A Transparent Bilateral Controller for Teleoperation Considering the Transition of Motion, pp. 4319-4324.
Wang, Heng	Nanyang Tech. Univ.
Low, K. H.	Nanyang Tech. Univ.
Wang, Michael Yu	The Chinese Univ. of Hong Kong Shatin

FrD3	Aula 1
Quadrupeds (Regular Sessions)
15:28-15:46	FrD3.1
Towards Realization of Adaptive Running of a Quadruped Robot Using Delayed Feedback Control, pp. 4325-4330. Attachment
Zhang, Zu Guang	Univ. of Tokyo
Masuda, Toshiki	The Univ. of Electro-Communications
Kimura, Hiroshi	The Univ. of Electro-Communications
Takase, Kunikatsu	Univ. of Electro-communications
15:46-16:04	FrD3.2
Inverse Kinematics for a Point-Foot Quadruped Robot with Dynamic Redundancy Resolution, pp. 4331-4336.
Shkolnik, Alexander	Massachusetts Inst. of Tech. (MIT)
Tedrake, Russ	Massachusetts Inst. of Tech. (MIT)
16:04-16:22	FrD3.3
A Hybrid Motion Model for Aiding State Estimation in Dynamic Quadrupedal Locomotion, pp. 4337-4342.
Singh, Surya P. N.	Univ. of Western Australia
Waldron, Kenneth John	Stanford Univ.
16:22-16:40	FrD3.4
Force Redistribution in a Quadruped Running Trot, pp. 4343-4348.
Palmer, III, Luther R.	The Ohio State Univ.
Orin, David E.	The Ohio State Univ.

FrD4	Aula 2
Physical Human-Robot Interaction Devices and Their Control (Regular Sessions)
15:28-15:46	FrD4.1
A Comparative Dependability Analysis of Antagonistic Actuation Arrangements for Enhanced Robotic Safety, pp. 4349-4354.
Filippini, Roberto	Univ. of Pisa
Sen, Soumen	Univ. of Pisa
Tonietti, Giovanni	Univ. of Pisa
Bicchi, Antonio	Univ. of Pisa
15:46-16:04	FrD4.2
Proxy-Based Sliding Mode Control of a Manipulator Actuated by Pleated Pneumatic Artificial Muscles, pp. 4355-4360. Attachment
Van Damme, Michaël	Vrije Univ. Brussel
Vanderborght, Bram	Vrije Univ. Brussel
Van Ham, Ronald	Vrije Univ. Brussel
Verrelst, Bjorn	Vrije Univ. Brussel
Daerden, Frank	Vrije Univ. Brussel
Lefeber, Dirk	Vrije Univ. Brussel
16:04-16:22	FrD4.3
Position and Force Control Based on Mathematical Models of Pneumatic Artificial Muscles Reinforced by Straight Glass Fibers, pp. 4361-4366.
Nakamura, Taro	Chuo Univ.
Shinohara, Hitomi	Chuo Univ.
16:22-16:40	FrD4.4
Feedback Linearization and Simultaneous Stiffness-Position Control of Robots with Antagonistic Actuated Joints, pp. 4367-4372.
Palli, G.	Univ. of Bologna
Melchiorri, Claudio	Univ. of Bologna
Wimboeck, Thomas	German Aerospace Center (DLR)
Grebenstein, M.	German Aerospace Center (DLR)
Hirzinger, Gerd	German Aerospace Center (DLR)

FrD5	Aula 3
Fuzzy, Neural and Probabilistic Control (Regular Sessions)
15:28-15:46	FrD5.1
Towards Probabilistic Operator-Multiple Robot Decision Models, pp. 4373-4379.
Campbell, Mark	Cornell Univ.
Bourgault, Frederic	Cornell Univ.
Galster, Scott	Wright-Patterson Air Force Base
Schneider, David	Cornell Univ.
15:46-16:04	FrD5.2
Fuzzy Control of Inverted Robot Arm with Perturbed Time-Delay Affine Takagi-Sugeno Fuzzy Model, pp. 4380-4385.
Chang, Wen-Jer	National Taiwan Ocean Univ.
Huang, Wei-Han	National Taiwan Ocean Univ.
Chang, Wei	National Taiwan Ocean Univ.
16:04-16:22	FrD5.3
A Decision-Making Framework for Control Strategies in Probabilistic Search, pp. 4386-4393.
Chung, Timothy H.	California Inst. of Tech.
Burdick, Joel W.	California Inst. of Tech.
16:22-16:40	FrD5.4
On-Line Evolutionary Head Pose Measurement by Feedforward Stereo Model Matching, pp. 4394-4400.
Song, Wei	Univ. of Fukui
Minami, Mamoru	Univ. of Fukui
Mae, Yasushi	Univ. of Fukui
Aoyagi, Seiji	Kansai Univ.

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FrD6	Aula 5
Robot Design and Performance Evaluation II (Regular Sessions)
15:28-15:46	FrD6.1
Statics As a Means to Assess the Sensitivity of a Manipulator to Kinematic Parameter Deviations, pp. 4401-4406.
Innocenti, Carlo	Univ. of Modena and Reggio Emilia, Italy
15:46-16:04	FrD6.2
Effect of Gravity on Manipulation Performance of Robotic Arm, pp. 4407-4413.
Yamawaki, Tasuku	National Defense Acad. of Japan
Yashima, Masahito	National Defense Acad. of Japan
16:04-16:22	FrD6.3
Progressive Clamping, pp. 4414-4419. Attachment
Raunhardt, Daniel	Swiss Federal Inst. of Tech. Lausanne
Boulic, Ronan	wiss Federal Inst. of Tech. Lausanne
16:22-16:40	FrD6.4
A Unified Geometric Approach for Inverse Kinematics of a Spatial Chain with Spherical Joints, pp. 4420-4427.
Han, Li	Clark Univ.
Rudolph, Lee	Clark Univ.

FrD7	Aula 6
Coordination and Deployment (Regular Sessions)
15:28-15:46	FrD7.1
Integrated Mission Specification and Task Allocation for Robot Teams - Design and Implementation, pp. 4428-4435.
Ulam, Patrick	Georgia Inst. of Tech.
Endo, Yoichiro	Georgia Inst. of Tech.
Wagner, Alan Richard	Georgia Inst. of Tech.
Arkin, Ronald	Georgia Inst. of Tech.
15:46-16:04	FrD7.2
Job-Agents: How to Coordinate them?, pp. 4436-4441.
Koh, Niak Wu	National Univ. of Singapore
Zielinski, Cezary	Warsaw Univ. of Tech.
Ang Jr, Marcelo H	National Univ. of Singapore
Lim, Ser Yong	Singapore Inst. of Manufacturing Tech.
16:04-16:22	FrD7.3
Heterogeneous Sensor Network Deployment Using Circle Packings, pp. 4442-4447.
Lam, Miu-Ling	The Chinese Univ. of Hong Kong
Liu, Yun-Hui	The Chinese Univ. of Hong Kong
16:22-16:40	FrD7.4
Sensor Placement Algorithms for Triangulation Based Localization, pp. 4448-4453.
Tekdas, Onur	Rensselaer Pol. Inst.
Isler, Volkan	Rensselaer Pol. Inst.

FrD8	Aula 7
Actuators (Regular Sessions)
15:28-15:46	FrD8.1
Accurate Force Control and Motion Disturbance Rejection for Shape Memory Alloy Actuators, pp. 4454-4459.
Teh, Yee Harn	The Australian National Univ.
Featherstone, Roy	The Australian National Univ.
15:46-16:04	FrD8.2
Loosely Coupled Joint Driven by SMA Coil Actuators, pp. 4460-4465.
Shibata, Mizuho	Ritsumeikan Univ.
Yoshimura, Takahiro	Ritsumeikan Univ.
Hirai, Shinichi	Ritsumeikan Univ.
16:04-16:22	FrD8.3
Development of a Spherical Ultrasonic Motor with an Attitude Sensing System Using Optical Fibers, pp. 4466-4471.
Mashimo, Tomoaki	Tokyo Univ. of Agriculture and Tech.
Awaga, Kosuke	Tokyo Univ. of Agriculture and Tech.
Toyama, Shigeki	Tokyo Univ. of Agriculture and Tech.
16:22-16:40	FrD8.4
High Speed Visual Servoing with Ultrasonic Motors, pp. 4472-4477.
Ranftl, Andrea	Katholieke Univ. Leuven
Cuvillon, Loic	Strasbourg I Univ.
Gangloff, Jacques	Strasbourg I Univ.
Vander Sloten, Jos	Katholieke Univ. Leuven

FrD9	Aula 8
Novel Robot Control Techniques (Regular Sessions)
15:28-15:46	FrD9.1
Revising the Robust Control Design for Rigid Robot Manipulators, pp. 4478-4483.
Bascetta, Luca	Pol. di Milano
Rocco, Paolo	Pol. di Milano
15:46-16:04	FrD9.2
A Global Asymptotic Stable Output Feedback PID Regulator for Robot Manipulators, pp. 4484-4489.
Su, Yuxin	Xidian Univ.
Müller, Peter C.	Univ. of Wuppertal
Zheng, Chunhong	Xidian Univ.
16:04-16:22	FrD9.3
High-Stroke Motion Modelling and Voltage/Frequency Proportionnal Control of a Stick-Slip Microsystem, pp. 4490-4496.
Rakotondrabe, Micky	CNRS - ENSMM - Univ. de Franche-Comté
Haddab, Yassine	CNRS - ENSMM - Univ. de Franche-Comté
Lutz, Philippe	CNRS - ENSMM - Univ. de Franche-Comté
16:22-16:40	FrD9.4
Application of Passive Dynamic Control to Pneumatic Cylinders, pp. 4497-4502.
Minamiyama, Yasuhiro	The Univ. of Kitakyushu
Kiyota, Takanori	The Univ. of Kitakyushu
Sasaki, Takumi	The Univ. of Kitakyushu
Sugimoto, Noboru	Nagaoka Univ. of Tech.

FrD10	Aula 9
Redundant Robots (Regular Sessions)
15:28-15:46	FrD10.1
Posture Control of Redundant Manipulators Based on the Task Oriented Stiffness Regulation, pp. 4503-4509.
Koganezawa, Koichi	Tokai Univ.
15:46-16:04	FrD10.2
A Practical Redundancy Resolution for 7 DOF Redundant Manipulators with Joint Limits, pp. 4510-4516.
Shimizu, Masayuki	AIST
Yoon, Woo-Keun	AIST
Kitagaki, Kosei	AIST
16:04-16:22	FrD10.3
Identifying the Failure-Tolerant Workspace Boundaries of a Kinematically Redundant Manipulator, pp. 4517-4523.
Roberts, Rodney G.	Florida State Univ.
Jamisola, Rodrigo S.	Colorado State Univ.
Maciejewski, Anthony A.	Colorado State Univ.
16:22-16:40	FrD10.4
Combined Mobility and Manipulation Control of a Newly Developed 9-DOF Wheelchair-Mounted Robotic Arm System, pp. 4524-4529.
Alqasemi, Redwan	Univ. of South Florida
Dubey, Rajiv	Univ. of South Florida

FrD11	Aula 10
Oscillation/Vibration Control (Regular Sessions)
15:28-15:46	FrD11.1
Wide Band Suppression of Motion-Induced Vibration, pp. 4530-4536. Attachment
Bowling, David	Applied Res. Associates
Starr, Greg	Univ. of New Mexico
Wood, John	Univ. of New Mexico
Lumia, Ron	Univ. of New Mexico
15:46-16:04	FrD11.2
Curvilinear Transport of Suspended Payloads, pp. 4537-4543. Attachment
Williams, Christine	Univ. of New Mexico
Starr, Greg	Univ. of New Mexico
Wood, John	Univ. of New Mexico
Lumia, Ron	Univ. of New Mexico
16:04-16:22	FrD11.3
A Control Lyapunov Approach for Feedback Control of Cable-Suspended Robots, pp. 4544-4549.
Oh, So-Ryeok	Univ. of Delaware
Agrawal, Sunil K.	Univ. of Delaware
16:22-16:40	FrD11.4
Manipulation with Tower Cranes Exhibiting Double-Pendulum Oscillations, pp. 4550-4555.
Singhose, William	Georgia Tech.
Kim, Dooroo	Georgia Tech.

FrD12	Aula 11
Marine Robotics: Sensing and Control (Regular Sessions)
15:28-15:46	FrD12.1
Experiments with Underwater Robot Localization and Tracking, pp. 4556-4561.
Corke, Peter	CSIRO
Detweiler, Carrick	Massachusetts Inst. of Tech. (MIT)
Dunbabin, Matthew	CSIRO ICT Centre
Rus, Daniela	Massachusetts Inst. of Tech. (MIT)
Vasilescu, Iuliu	MIT
Hamilton, Michael	James San Jacinto Mountains Res.
15:46-16:04	FrD12.2
Autonomous Control of an Autonomous Underwater Vehicle Towing a Vector Sensor Array, pp. 4562-4569.
Benjamin, Michael R.	NUWC-Newport and Massachusetts Inst. of Tech. (MIT)
Battle, David	Massachusetts Inst. of Tech. (MIT)
Eickstedt, Donald P.	Massachusetts Inst. of Tech. (MIT)
Schmidt, Henrik	Massachusetts Inst. of Tech. (MIT)
Balasuriya, Arjuna	Massachusetts Inst. of Tech. (MIT)
16:04-16:22	FrD12.3
Color Registration of Underwater Images for Underwater Sensing with Consideration of Light Attenuation, pp. 4570-4575.
Yamashita, Atsushi	Shizuoka Univ.
Fujii, Megumi	Shizuoka Univ.
Kaneko, Toru	Shizuoka Univ.
16:22-16:40	FrD12.4
A Region Reaching Control Scheme for Underwater Vehicle-Manipulator Systems, pp. 4576-4581.
Sun, Y. C.	Nanyang Tech. Univ.
Cheah, C. C.	Nanyang Tech. Univ.

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FrE1	Aula Magna
Localization: Motion Estimation and RFID (Regular Sessions)
17:00-17:18	FrE1.1
Proprioceptive Localization for a Quadrupedal Robot on Known Terrain, pp. 4582-4587.
Chitta, Sachin	Univ. of Pennsylvania
Vernaza, Paul	Univ. of Pennsylvania
Geykhman, Roman	Univ. of Pennsylvania
Lee, Daniel D.	Univ. of Pennsylvania
17:18-17:36	FrE1.2
Automated Robot Docking Using Direction Sensing RFID, pp. 4588-4593.
Kim, MyungSik	Japan Advanced Inst. of Science and Tech.
Kim, Hyung Wook	Japan Advanced Inst. of Science and Tech.
Chong, Nak Young	Japan Advanced Inst. of Science and Tech.
17:36-17:54	FrE1.3
Robust Design for RFID System Testing and Applications, pp. 4594-4599.
Huang, Han-Pang	National Taiwan Univ.
Chang, Ying-Ting	National Taiwan Univ.
17:54-18:12	FrE1.4
Laser-Activated RFID-Based Indoor Localization System for Mobile Robots, pp. 4600-4605.
Zhou, Yu	State Univ. of New York at Stony Brook
Liu, Wenfei	State Univ. of New York at Stony Brook
Huang, Peisen	State Univ. of New York at Stony Brook
18:12-18:30	FrE1.5
RFID-Based Exploration for Large Robot Teams, pp. 4606-4613. Attachment
Ziparo, Vittorio Amos	Univ. di Roma "La Sapienza"
Kleiner, Alexander	Univ. of Freiburg
Nebel, Bernhard	Univ. of Freiburg
Nardi, Daniele	Univ. di Roma "La Sapienza"

FrE2	Aula Minor
Probabilistic Approaches to Visual Tracking (Regular Sessions)
17:00-17:18	FrE2.1
A Robust Multiple Cues Fusion Based Bayesian Tracker, pp. 4614-4619. Attachment
Zhang, Xiaoqin	Chinese Acad. of Sciences
Liu, Zhiyong	Chinese Acad. of Sciences
Qiao, Hong	Chinese Acad. of Sciences
17:18-17:36	FrE2.2
Combining Texture and Edge Planar Trackers Based on a Local Quality Metric, pp. 4620-4625.
Abdul Hafez, A. H.	Osmania Uiversity
Jawahar, C.V.	IIIT, Hyderabad
Chari, Visesh	IIIT, Hyderabad
17:36-17:54	FrE2.3
Interacting Object Tracking in Crowded Urban Areas, pp. 4626-4632. Attachment
Wang, Chieh-Chih	National Taiwan Univ.
Lo, Tzu-Chien	National Taiwan Univ.
Yang, Shao-Wen	National Taiwan Univ.
17:54-18:12	FrE2.4
Symmetry-Aided Particle Filter for Vehicle Tracking, pp. 4633-4638.
Liu, Huaping	Tsinghua Univ.
Sun, Fuchun	Tsinghua Univ.
He, Kezhong	Tsinghua Univ.
18:12-18:30	FrE2.5
Multiple Objects Tracking Circuit Using Particle Filters with Multiple Features, pp. 4639-4644.
Cho, Jung Uk	Sungkyunkwan Univ.
Jin, Seung Hun	Sungkyunkwan Univ.
Pham, Xuan Dai	Sungkyunkwan Univ.
Jeon, Jae Wook	Sungkyunkwan Univ.

FrE3	Aula 1
Stability and Control of Dynamic Walking and Running (Invited Sessions)
Organizer: Mombaur, Katja	Univ. of Heidelberg
17:00-17:18	FrE3.1
Heterogeneous Leg Stiffness and Roll in Dynamic Running (I), pp. 4645-4652.
Burden, Samuel	Univ. of Washington
Clark, Jonathan	Univ. of Pennsylvania
Weingarten, Joel	Univ. of Pennsylvania
Komsuoglu, Haldun	Univ. of Pennsylvania
Koditschek, Daniel	Univ. of Pennsylvania
17:18-17:36	FrE3.2
Derivation and Application of a Conserved Orbital Energy for the Inverted Pendulum Bipedal Walking Model (I), pp. 4653-4660.
Pratt, Jerry E.	Inst. for Human and Machine Cognition (IHMC)
Drakunov, Sergey V.	Inst. for Human and Machine Cognition (IHMC)
17:36-17:54	FrE3.3
A Framework for the Control of Stable Aperiodic Walking in Underactuated Planar Bipeds (I), pp. 4661-4666.
Yang, T.	The Ohio State Univ.
Westervelt, E. R.	The Ohio State Univ.
Serrani, A.	The Ohio State Univ.
17:54-18:12	FrE3.4
Reaction Mass Pendulum (RMP): An Explicit Model for Centroidal Angular Momentum of Humanoid Robots (I), pp. 4667-4672.
Lee, Sung-Hee	Comp Science, UCLA
Goswami, Ambarish	Honda Res. Inst.
18:12-18:30	FrE3.5
Using Time-Reversal Symmetry for Stabilizing a Simple 3D Walker Model (I), pp. 4673-4678.
van Oort, Gijs	Univ. of Twente
Stramigioli, Stefano	Univ. of Twente

FrE4	Aula 2
Grasp Planning (Regular Sessions)
17:00-17:18	FrE4.1
Grasp Planning Via Decomposition Trees, pp. 4679-4684.
Goldfeder, Corey	Columbia Univ.
Allen, Peter K.	Columbia Univ.
Pelossof, Raphael	Columbia Univ.
Lackner, Claire	Columbia Univ.
17:18-17:36	FrE4.2
Grasping POMDPs, pp. 4685-4692.
Hsiao, Kaijen	Massachusetts Inst. of Tech. (MIT)
Kaelbling, Leslie Pack	Massachusetts Inst. of Tech. (MIT)
Lozano-Perez, Tomas	Massachusetts Inst. of Tech. (MIT)
17:36-17:54	FrE4.3
Simple, Robust Autonomous Grasping in Unstructured Environments, pp. 4693-4700. Attachment
Dollar, Aaron M.	Harvard Univ.
Howe, Robert D.	Harvard Univ.
17:54-18:12	FrE4.4
Positive Span of Force and Torque Components of Four-Fingered Three-Dimensional Force-Closure Grasps, pp. 4701-4706.
Niparnan, Nattee	Chulalongkorn Univ.
Sudsang, Attawith	Chulalongkorn Univ.
18:12-18:30	FrE4.5
Blind Grasp and Manipulation of a Rigid Object by a Pair of Robot Fingers with Soft Tips, pp. 4707-4714. Attachment
Yoshida, Morio	RIKEN BMC
Arimoto, Suguru	RIKEN BMC and Ritsumeikan Univ.
Bae, Ji-Hun	Pohang Inst. of Intelligent Robotics
18:30-18:48	FrE4.6
Learning and Evaluation of the Approach Vector for Automatic Grasp Generation and Planning, pp. 4715-4720.
Ekvall, Staffan	Royal Inst. of Tech.
Kragic, Danica	Royal Inst. of Tech.

FrE5	Aula 3
Range Sensing and Monitoring 3D Scenes (Regular Sessions)
17:00-17:18	FrE5.1
Accurate Motion Estimation and High-Precision 3D Reconstruction by Sensor Fusion, pp. 4721-4726.
Bok, Yunsu	Korea Advanced Inst. of Science and Tech.
Hwang, Youngbae	Korea Advanced Inst. of Science and Tech.
Kweon, In So	Korea Advanced Inst. of Science and Tech.
17:18-17:36	FrE5.2
Depth from the Visual Motion of a Planar Target Induced by Zooming, pp. 4727-4732.
Alenyŕ, Guillem	UPC - CSIC
Alberich-Carramińana, Maria	UPC - CSIC
Torras, Carme	UPC - CSIC
17:36-17:54	FrE5.3
Real Time Robot Audition System Incorporating Both 3D Sound Source Localisation and Voice Characterisation, pp. 4733-4738.
Rudzyn, Ben	Univ. of New South Wales
Kadous, Mohammed Waleed	Univ. of New South Wales
Sammut, Claude	Univ. of New South Wales
17:54-18:12	FrE5.4
Monitoring a Populated Environment Using Single-Row Laser Range Scanners from a Mobile Platform, pp. 4739-4745. Attachment
Zhao, Huijing	Univ. of Tokyo
Chen, Yuzhong	Univ. of Tokyo
Shao, Xiaowei	Univ. of Tokyo
Katabira, Kyoichiro	Univ. of Tokyo
Shibasaki, Ryosuke	Univ. of Tokyo
18:12-18:30	FrE5.5
Three Nested Kalman Filters-Based Algorithm for Real-Time Estimation of Optical Flow, UAV Motion and Obstacles Detection, pp. 4746-4751.
Kendoul, Farid	Univ. of Tech. of Compičgne
Fantoni, Isabelle	Univ. of Tech. of Compičgne
Dherbomez, Gerald	Univ. of Tech. of Compičgne

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FrE6	Aula 5
Advancements in Industrial Automation and Robotics: Ubiquitous Industrial Robotics and Automation Systems II (Invited Sessions)
Organizer: Eberst, Christof	PROFACTOR GmbH
Organizer: Sallinen, Mikko Sakari	VTT
Organizer: Madsen, Ole	Aalborg Univ.
Organizer: Colombo, Armando	Schneider Electric
Organizer: Pires, Norberto	Univ. of Coimbra
17:00-17:18	FrE6.1
On the Robot Based Surface Finishing of Moving Unknown Parts by Means of a New Slip and Force Control Concept (I), pp. 4752-4757.
Milighetti, Giulio	Fraunhofer Inst. IITB
Buerger, Sebastian	Fraunhofer Inst. IITB
Kuntze, Helge-Bjoern	Fraunhofer-Inst. IITB
17:18-17:36	FrE6.2
Optical Seam Following for Automated Robot Sewing (I), pp. 4758-4763.
Biegelbauer, Georg	Vienna Univ. of Tech.
Richtsfeld, Mario	Vienna Univ. of Tech. (VUT)
Wohlkinger, Walter	Vienna Univ. of Tech. (VUT)
Vincze, Markus	Vienna Univ. of Tech.
Herkt, Manuel Erik	EADS Deutschland GmbH
17:36-17:54	FrE6.3
Recursive Measurement Process for Improving Accuracy of Dimensional Inspection of Automotive Body Parts (I), pp. 4764-4769.
Shi, Quan	Michigan State Univ.
Xi, Ning	Michigan State Univ.
Sheng, Weihua	Oklahoma State Univ.
17:54-18:12	FrE6.4
Flexible Force Control for Accurate Low-Cost Robot Drilling (I), pp. 4770-4775.
Olsson, Tomas	LTH, Lund Univ.
Robertsson, Anders	LTH, Lund Univ.
Johansson, Rolf	LTH, Lund Univ.
18:12-18:30	FrE6.5
Virtual 3D Environment for Planning Robotic Paint Routes (I), pp. 4776-4781.
Nissum, Kĺre Storgaard	Aalborg Univ.
Larsen, Troels Hessner	Inropa A/S
Madsen, Ole	Aalborg Univ.
Nielsen, Henning	Aalborg Univ.
18:30-18:48	FrE6.6
Motion Planning for Gantry Mounted Manipulators: A Ship-Welding Application Example (I), pp. 4782-4786.
Olsen, Anders Lau	Univ. of Southern Denmark
Petersen, Henrik Gordon	Univ. of Southern Denmark

FrE7	Aula 6
SLAM and Stereo-Based Applications (Regular Sessions)
17:00-17:18	FrE7.1
SLAM with Visual Plane: Extracting Vertical Plane by Fusing Stereo Vision and Ultrasonic Sensor for Indoor Environment, pp. 4787-4794.
Ahn, Sunghwan	Pohang Univ. of Science and Tech. (POSTECH)
Lee, Kyoungmin	Pohang Univ. of Science and Tech. (POSTECH)
Chung, Wan Kyun	Pohang Univ. of Science and Tech. (POSTECH)
Oh, Sang-Rok	Inst. for Information Tech. Advancement (IITA)
17:18-17:36	FrE7.2
BiCamSLAM: Two Times Mono Is More Than Stereo, pp. 4795-4800. Attachment
Solŕ, Joan	LAAS-CNRS
Monin, André	LAAS-CNRS
Devy, Michel	LAAS-CNRS
17:36-17:54	FrE7.3
Particle-Based Sensor Modeling for 3D-Vision SLAM, pp. 4801-4806.
Marzorati, Daniele	Univ. di Milano - Bicocca
Matteucci, Matteo	Pol. di Milano
Sorrenti, Domenico G.	Univ. di Milano - Bicocca
17:54-18:12	FrE7.4
Towards Mapping of Cities, pp. 4807-4813.
Pfaff, Patrick	Univ. of Freiburg
Triebel, Rudolph	ETH Zurich
Stachniss, Cyrill	Univ. of Freiburg
Lamon, Pierre	ETH Zurich
Burgard, Wolfram	Univ. of Freiburg
Siegwart, Roland	ETH Zurich
18:12-18:30	FrE7.5
Efficient 6-DOF SLAM with Treemap As a Generic Backend, pp. 4814-4819. Attachment
Frese, Udo	Univ. Bremen
18:30-18:48	FrE7.6
Histogram Matching and Global Initialization for Laser-Only SLAM in Large Unstructured Environments, pp. 4820-4826. Attachment
Bosse, Michael	CSIRO ICT Centre
Roberts, Jonathan	CSIRO ICT Centre

FrE8	Aula 7
Surveillance and Modelling (Regular Sessions)
17:00-17:18	FrE8.1
Moving Shadow Detection with Low and Mid-Level Reasoning, pp. 4827-4832. Attachment
Joshi, Ajay J.	Univ. of Minnesota
Atev, Stefan	Univ. of Minnesota
Masoud, Osama	Univ. of Minnesota
Papanikolopoulos, Nikolaos	Univ. of Minnesota
17:18-17:36	FrE8.2
Gait Modeling for Human Identification, pp. 4833-4838.
Huang, Bufu	The Chinese Univ. of Hong Kong
Chen, Meng	The Chinese Univ. of Hong Kong
Huang, Panfeng	Northwestern Pol. Univ.
Xu, Yangsheng	The Chinese Univ. of Hong Kong
17:36-17:54	FrE8.3
Multi-Hypothesized Oscillation Models Employing Floor Sensors for Tracking People, pp. 4839-4845. Attachment
Murakita, Takuya	Osaka Univ.
Ishiguro, Hiroshi	Osaka Univ.
17:54-18:12	FrE8.4
Analysis of People Trajectories with Ubiquitous Sensors in a Science Museum, pp. 4846-4853.
Kanda, Takayuki	ATR
Shiomi, Masahiro	ATR
Perrin, Laurent	ATR
Nomura, Tatsuya	ATR
Ishiguro, Hiroshi	Osaka Univ.
Hagita, Norihiro	ATR
18:12-18:30	FrE8.5
Swept Volume Approximation of Polygon Soups, pp. 4854-4860.
Himmelstein, Jesse C.	LAAS-CRNS
Ferré, Etienne	Kineo Computer Aided Motion
Laumond, Jean-Paul	LAAS-CNRS

FrE9	Aula 8
Bio-Inspired Perception (Regular Sessions)
17:00-17:18	FrE9.1
Implementation of Bio-Inspired Vestibulo-Ocular Reflex in a Quadrupedal Robot, pp. 4861-4866.
Kaushik, Ravi	The Graduate Center, The City Univ. of New York
Marcinkiewicz, Marek	The Graduate Center, The City Univ. of New York
Xiao, Jizhong	City Coll. of the City Univ. of New York
Parsons, Simon	City Univ. of New York (Brooklyn Coll. Graduate Center)
Raphan, Theodore	City Univ. of New York (Brooklyn Coll. Graduate
17:18-17:36	FrE9.2
Neuromorphic Binocular Vision System for Real-Time Disparity Estimation, pp. 4867-4872.
Shimonomura, Kazuhiro	Osaka Univ.
Kushima, Takayuki	Osaka Univ.
Yagi, Tetsuya	Osaka Univ.
17:36-17:54	FrE9.3
A Sensor Fusion Approach to Odor Source Localization Inspired by the Pheromone Tracking Behavior of Moths, pp. 4873-4878.
Rutkowski, Adam J.	Case Western Res. Univ.
Quinn, Roger D.	Case Western Res. Univ.
Willis, Mark A.	Case Western Res. Univ.
17:54-18:12	FrE9.4
Robotic Electrolocation: Active Underwater Target Localization with Electric Fields, pp. 4879-4886.
Solberg, James R.	Northwestern Univ.
Lynch, Kevin M.	Northwestern Univ.
MacIver, Malcolm A.	Northwestern Univ.
18:12-18:30	FrE9.5
Real Time Biologically-Inspired Depth Maps from Spherical Flow, pp. 4887-4892.
McCarthy, Chris	National ICT Australia
Barnes, Nick	National ICT Australia
Srinivasan, Mandyam	The Australian National Univ.

FrE10	Aula 9
Space Robotics (Regular Sessions)
17:00-17:18	FrE10.1
Mobility and Power Feasibility of a Microbot Team System for Extraterrestrial Cave Exploration, pp. 4893-4898.
Kesner, Samuel Benjamin	Massachusetts Inst. of Tech. (MIT)
Plante, Jean-Sebastien	Massachusetts Inst. of Tech. (MIT)
Boston, Penelope	NM Inst. of Mining and Tech.
Fabian, Tibor	Stanford Univ.
Dubowsky, Steven	Massachusetts Inst. of Tech. (MIT)
17:18-17:36	FrE10.2
Landing Site Selection Using Fuzzy Rule-Based Reasoning, pp. 4899-4904.
Serrano, Navid	NASA-JPL
Seraji, Homayoun	NASA-JPL
17:36-17:54	FrE10.3
A Systematic Approach to Kinematics Modeling of High Mobility Wheeled Rovers, pp. 4905-4910.
Tarokh, Mahmoud	San Diego State Univ.
McDermott, Gregory	BAE Systems
17:54-18:12	FrE10.4
Increased Mars Rover Autonomy Using AI Planning, Scheduling and Execution, pp. 4911-4918.
Estlin, Tara	NASA Jet Propulsion Lab.
Gaines, Daniel	NASA Jet Propulsion Lab.
Chouinard, Caroline	NASA Jet Propulsion Lab.
Castano, Rebecca	NASA Jet Propulsion Lab.
Bornstein, Benjamin	NASA Jet Propulsion Lab.
Judd, Michele	NASA Jet Propulsion Lab.
Anderson, Robert	NASA Jet Propulsion Lab.
Nesnas, Issa	NASA Jet Propulsion Lab.
18:12-18:30	FrE10.5
The Mobility System of the Multi-Tasking Rover (MTR), pp. 4919-4924. Attachment
Bouloubasis, Antonios	Univ. of Reading
McKee, Gerard T.	Univ. of Reading

FrE11	Aula 10
Calibration and Identification (Regular Sessions)
17:00-17:18	FrE11.1
A New Pose Measuring and Kinematics Calibrating Method for Manipulators, pp. 4925-4930.
Ji, Junhong	Harbin Inst. of Tech.
Sun, Lining	Harbin Inst. of Tech.
Yu, Lingtao	Harbin Inst. of Tech.
17:18-17:36	FrE11.2
Granular Space Structure on a Micrometric Scale for Industrial Robots, pp. 4931-4936.
Brethe, Jean-François	Univ. of LE HAVRE
Lefebvre, Dimitri	Univ. of LE HAVRE
17:36-17:54	FrE11.3
Performing Weak Calibration at the Microscale, Application to Micromanipulation, pp. 4937-4942.
Bert, Julien	Lab. d'Automatique de Besançon
Dembélé, Sounkalo	Lab. d'Automatique de Besançon
Lefort-Piat, Nadine	Lab. d'Automatique de Besançon
17:54-18:12	FrE11.4
Identification of the Payload Inertial Parameters of Industrial Manipulators, pp. 4943-4948.
Khalil, Wisama	Ec. Centrale de Nantes
Gautier, Maxime	Univ. de Nantes
Lemoine, Philippe	Ec. Centrale de Nantes
18:12-18:30	FrE11.5
Modeling and Identification of a 3 DOF Haptic Interface, pp. 4949-4955.
Janot, Alexandre	CEA-LIST and IRCCyN
Bidard, Catherine	CEA-LIST
Gosselin, Florian	CEA-LIST
Gautier, Maxime	IRCCyN
Keller, Delphine	CEA-LIST
Perrot, Yann	CEA-LIST
18:30-18:48	FrE11.6
On-Line Parameter Identification and Adaptive Control of Rigid Robots Using Base Reaction Forces/torques, pp. 4956-4961.
Christoforou, Eftychios	Washington Univ.

FrE12
Field Robots (Regular Sessions)
17:00-17:18	FrE12.1
Describing Composite Urban Workspaces, pp. 4962-4968.
Posner, Ingmar	Oxford Univ.
Schroeter, Derik	Oxford Univ.
Newman, Paul	Oxford Univ.
17:18-17:36	FrE12.2
Identification of Suitable Interest Points Using Geometric and Photometric Cues in Motion Video for Efficient 3-D Environmental Modeling, pp. 4969-4974.
Nicosevici, Tudor	Univ. of Girona
Garcia, Rafael	Univ. of Girona
Negahdaripour, Shahriar	Univ. of Miami
Kudzinava, Maryna	Univ. of Girona
Ferrer, Jordi	Univ. of Girona
17:36-17:54	FrE12.3
A Bending Pneumatic Rubber Actuator Realizing Soft-Bodied Manta Swimming Robot, pp. 4975-4980.
Suzumori, Koichi	Okayama Univ.
Endo, Satoshi	Okayama Univ.
Kanda, Takefumi	Okayama Univ.
Kato, Naomi	Osaka Univ.
Suzuki, Hiroyoshi	Osaka Univ.
17:54-18:12	FrE12.4
Free Space Mapping and Motion Planning in Configuration Space for Mobile Manipulators, pp. 4981-4986.
Ward, James	UNSW
Katupitiya, Jayantha	UNSW
18:12-18:30	FrE12.5
Autonomous Robotic Sensing Experiments at San Joaquin River, pp. 4987-4993.
Singh, Amarjeet	UCLA
Batalin, Maxim A.	CENS and UCLA
Chen, Victor	UCLA
Stealey, Michael	UCLA
Fisher, Jason C.	Univ. of California, Merced
Harmon, Thomas C.	Univ. of California, Merced
Hansen, Mark H.	UCLA
Kaiser, William J.	UCLA
Jordan, Brett L.	UCLA
18:30-18:48	FrE12.6
Autonomous Surface Vehicle Docking Manoeuvre with Visual Information, pp. 4994-4999.
Martins, Alfredo	Inst. Superior de Engenharia do Porto (ISEP-IPP)
Almeida, Jose	Inst. Superior de Engenharia do Porto (ISEP-IPP)
Ferreira, Hugo	Inst. Superior de Engenharia do Porto (ISEP-IPP)
Silva, Hugo	Inst. Superior de Engenharia do Porto (ISEP-IPP)
Dias, Nuno	Inst. Superior de Engenharia do Porto (ISEP-IPP)
Dias, Andre	Inst. Superior de Engenharia do Porto (ISEP-IPP)
Almeida, Carlos	Inst. Superior de Engenharia do Porto (ISEP-IPP)
Silva, Eduardo	Inst. Superior de Engenharia do Porto (ISEP-IPP)

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