TuA1	Egan Center Street Level Room Arteaga
Aerial Robotics: Communication, Perception and Control (Regular Sessions)
Chair: Roy, Nicholas	Massachusetts Inst. of Tech.
Co-Chair: Floreano, Dario	Ec. Pol. Federal, Lausanne
08:30-08:45	TuA1.1
Efficient Planning under Uncertainty for a Target-Tracking Micro-Aerial Vehicle, pp. 1-8.
He, Ruijie	Massachusetts Inst. of Tech.
Bachrach, Abraham	Massachusetts Inst. of Tech.
Roy, Nicholas	Massachusetts Inst. of Tech.
08:45-09:00	TuA1.2
Homography-Based Visual Servoing of an Aircraft for Automatic Approach and Landing, pp. 9-14.
Gonçalves, Tiago	IST/TULisbon
Azinheira, Jose Raul	IST, T.U.Lisbon
Rives, Patrick	INRIA
09:00-09:15	TuA1.3
Communication-Based Leashing of Real Flying Robots, pp. 15-20.
Hauert, Sabine	EPFL
Leven, Severin	Ec. Pol. Federale de Lausanne
Zufferey, Jean-Christophe	EPFL
Floreano, Dario	Ec. Pol. Federal, Lausanne
09:15-09:30	TuA1.4
Vision Based MAV Navigation in Unknown and Unstructured Environments, pp. 21-28.
Blösch, Michael	ETH Zurich
Weiss, Stephan	ETH Zurich
Scaramuzza, Davide	ETH Zurich
Siegwart, Roland	ETH Zurich
09:30-09:45	TuA1.5
UAV Altitude and Attitude Stabilisation Using a Coaxial Stereo Vision System, pp. 29-34. Attachment
Moore, Richard James Donald	Univ. of Queensland
Thurrowgood, Saul	Univ. of Queensland
Bland, Daniel Peter	Univ. of Queensland
Soccol, Dean	Univ. of Queensland
Srinivasan, Mandyam	The Univ. of Queensland
09:45-10:00	TuA1.6
3D Pose Estimation Based on Planar Object Tracking for UAVs Control, pp. 35-41. Attachment
Mondragón, Iván Fernando	Computer Vision Group. Univ. Pol. de Madrid
Campoy, Pascual	Computer Vision Group. Univ. Pol. de Madrid
Martínez, Carol	UPM
Olivares, Miguel	Univ. Pol. Madrid,

TuA2	Egan Center Lower Level Room 6
Novel Designs and Architectures (Invited Sessions)
Chair: Cheng, Harry	Univ. of California, Davis
Co-Chair: Green, Keith Evan	Clemson Univ.
08:30-08:45	TuA2.1
Mechanism Design and Air Pressure Control System Improvements of the Waseda Saxophonist Robot, pp. 42-47. Attachment
Solis, Jorge	Waseda Univ.
Petersen, Klaus	Waseda Univ.
Yamamoto, Tetsuro	Waseda Univ.
Takeuchi, Masaki	Waseda Univ.
Ishikawa, Shimpei	Waseda Univ.
Takanishi, Atsuo	Waseda Univ.
Hashimoto, Kunimatsu	Toyota Motor Corp.
08:45-09:00	TuA2.2
"Architectural Robotics": An Interdisciplinary Course Rethinking the Machines We Live In, pp. 48-53.
Kapadia, Apoorva	Clemson Univ.
Walker, Ian	Clemson Univ.
Green, Keith Evan	Clemson Univ.
Manganelli, Joseph Charles	Clemson Univ.
Houayek, Henrique	Clemson Univ.
James, Adam	Clemson Univ.
Kanuri, Venkata Krishna Teja	Clemson Univ.
Mokhtar, Tarek	Clemson Univ.
Siles, Ivan	Clemson Univ.
Yanik, Paul	Clemson Univ.
09:00-09:15	TuA2.3
A Hovering Control Strategy for a Tail-Sitter VTOL UAV That Increases Stability against Large Disturbance, pp. 54-59. Attachment
Matsumoto, Takaaki	Tohoku Univ.
Kita, Koichi	Fuji Heavy Industries Ltd.
Suzuki, Ren	Tohoku Univ.
Oosedo, Atsushi	Tohoku Univ.
Go, Kenta	Tohoku Univ.
Hoshino, Yuta	Tohoku Univ.
Konno, Atsushi	Tohoku Univ.
Uchiyama, Masaru	Tohoku Univ.
09:15-09:30	TuA2.4
Design of Imobot, an Intelligent Reconfigurable Mobile Robot with Novel Locomotion, pp. 60-65. Attachment
Ryland, Graham	Univ. of Californial, Davis
Cheng, Harry	Univ. of California, Davis
09:30-09:45	TuA2.5
Sambot: A Self-Assembly Modular Robot for Swarm Robot, pp. 66-71. Attachment
Wei, Hongxing	Beihang Univ.
Cai, Yingpeng	Beihang Univ.
Li, Haiyuan	Beihang Univ.
Li, Dezhong	Beihang Univ.
Wang, Tianmiao	Beihang Univ.
09:45-10:00	TuA2.6
Hybrid Aerial and Scansorial Robotics, pp. 72-77. Attachment
Lussier Desbiens, Alexis	Stanford Univ.
Asbeck, Alan	Stanford Univ.
Cutkosky, Mark	Stanford Univ.

TuA3	Egan Center Street Level Room Boardroom
Biologically Inspired Swimming Robots (Regular Sessions)
Chair: Fiorini, Paolo	Univ. of Verona
Co-Chair: Kratochvil, Bradley	ETH Zurich
08:30-08:45	TuA3.1
An Improved Semi-Empirical Model for a Body And/or Caudal Fin (BCF) Fish Robot, pp. 78-83.
Low, K. H.	Nanyang Tech. Univ.
Chong, Chee Wee	Nanyang Tech. Univ.
Zhou, Chunlin	Nanyang Tech. Univ.
Seet, Gim Lee, Gerald	NTU
08:45-09:00	TuA3.2
Myometry-Driven Compliant-Body Design for Underwater Propulsion, pp. 84-89.
Akanyeti, Otar	Univ. of Verona
Ernits, Andres	Tallinn Univ. of Tech.
Fiazza, Maria-Camilla	Univ. of Verona
Toming, Gert	Tallinn Univ. of Tech.
Kunlikovskis, Guntis	Riga Tech. Univ.
Listak, Madis	Tallinn Univ. of Tech.
Raag, Rasmus	Tallinn Univ. of Tech.
Salumae, Taavi	Tallinn Univ. of Tech.
Fiorini, Paolo	Univ. of Verona
Kruusmaa, Maarja	Tallinn Univ. of Tech.
09:00-09:15	TuA3.3
Performance Study of a Fish Robot Propelled by a Flexible Caudal Fin, pp. 90-95.
Low, K. H.	Nanyang Tech. Univ.
Chong, Chee Wee	Nanyang Tech. Univ.
Zhou, Chunlin	Nanyang Tech. Univ.
09:15-09:30	TuA3.4
Non-Ideal Swimming of Artificial Bacterial Flagella Near a Surface, pp. 96-101.
Peyer, Kathrin Eva	ETH Zurich
Zhang, Li	ETH Zurich
Kratochvil, Bradley	ETH Zurich
Nelson, Bradley J.	ETH Zurich
09:30-09:45	TuA3.5
Analytical Modeling and Experimental Studies of Robotic Fish Turning, pp. 102-108.
Tan, Xiaobo	Michigan State Univ.
Carpenter, Michael	Michigan State Univ.
Thon, John	Michigan State Univ.
Alequin-Ramos, Freddie	Michigan State Univ.
09:45-10:00	TuA3.6
Omegabot: Crawling Robot Inspired by Ascotis Selenaria, pp. 109-114. Attachment
Koh, Je-Sung	Seoul National Univ.
Cho, Kyu-Jin	Seoul National Univ.

TuA4	Egan Center Lower Level Room 1
Range Sensing (Regular Sessions)
Chair: Durrant-Whyte, Hugh	The Univ. of Sydney
Co-Chair: Xi, Ning	Michigan State Univ.
08:30-08:45	TuA4.1
Inferring Motion Uncertainty from Shape-Matching, pp. 115-120.
Sun, Zuolei	Shanghai Jiao Tong Univ.
van de Ven, Joop	Univ. of Sydney
Ramos, Fabio	Univ. of Sydney
Mao, Xuchu	Shanghai Jiao Tong Univ.
Durrant-Whyte, Hugh	The Univ. of Sydney
08:45-09:00	TuA4.2
Real-Time 3D Shape Measurement System Based on Single Structure Light Pattern, pp. 121-126.
Xu, Jing	Michigan State Univ.
Xi, Ning	Michigan State Univ.
Zhang, Chi	Michigan State Univ.
Shi, Quan	Michigan State Univ.
09:00-09:15	TuA4.3
Scene Understanding in a Large Dynamic Environment through a Laser-Based Sensing, pp. 127-133.
Zhao, Huijing	Peking Univ.
Liu, Yiming	Peking Univ.
Zhu, Xiaolong	Peking Univ.
Zhao, Yipu	Peking Univ.
Zha, Hongbin	Peking Univ.
09:15-09:30	TuA4.4
Dynamic 3D Scene Analysis for Acquiring Articulated Scene Models, pp. 134-141. Attachment
Swadzba, Agnes	Bielefeld Univ.
Beuter, Niklas	Bielefeld Univ.
Wachsmuth, Sven	Bielefeld Univ.
Kummert, Franz	Univ. of Bielefeld
09:30-09:45	TuA4.5
Motion Estimation from Range Images in Dynamic Outdoor Scenes, pp. 142-147.
Moosmann, Frank	Univ. of Karlsruhe
Fraichard, Thierry	Inria
09:45-10:00	TuA4.6
Projected Texture Stereo, pp. 148-155.
Konolige, Kurt	Willow Garage

TuA5	Egan Center Lower Level Room 13/14
Human Robot Interaction (Regular Sessions)
Chair: Campbell, Mark	Cornell Univ.
Co-Chair: Burschka, Darius	Tech. Univ. München
08:30-08:45	TuA5.1
Dynamic Facial Expression Recognition Using Laplacian Eigenmaps-Based Manifold Learning, pp. 156-161. Attachment
Raducanu, Bogdan	Computer Vision Center
Dornaika, Fadi	Univ. of the Basque Country
08:45-09:00	TuA5.2
Representation and Constrained Planning of Manipulation Strategies in the Context of Programming by Demonstration, pp. 162-169.
Jäkel, Rainer	Univ. of Karlsruhe
Schmidt-Rohr, Sven R.	Univ. of Karlsruhe
Lösch, Martin	Univ. Karlsruhe (TH)
Dillmann, Rüdiger	Univ. of Karlsruhe
09:00-09:15	TuA5.3
Understanding a Child's Play for Robot Interaction by Sequencing Play Primitives Using Hidden Markov Models, pp. 170-177.
Park, Hae Won	Georgia Inst. of Tech.
Howard, Ayanna	Georgia Inst. of Tech.
09:15-09:30	TuA5.4
Predictive State Representations for Grounding Human-Robot Communication, pp. 178-185.
Meisner, Eric M.	Johns Hopkins Univ.
Das, Sanmay	RPI
Isler, Volkan	Univ. of Minnesota
Trinkle, Jeff	Rensselaer Pol. Inst.
Sabanovic, Selma	Indiana Univ.
Caporael, Linnda	Rensselaer Pol. Inst.
09:30-09:45	TuA5.5
Variational Bayesian Data Fusion of Multi-Class Discrete Observations with Applications to Cooperative Human-Robot Estimation, pp. 186-191.
Ahmed, Nisar	Cornell Univ.
Campbell, Mark	Cornell Univ.
09:45-10:00	TuA5.6
Estimation of Spatio-Temporal Object Properties for Manipulation Tasks from Observation of Humans, pp. 192-198.
Petsch, Susanne	Tech. Univ. München
Burschka, Darius	Tech. Univ. München

TuA6	Egan Center Lower Level Room 2
Human Robot Interaction for Assistive Technology (Invited Sessions)
Chair: Behal, Aman	Univ. of Central Florida
Co-Chair: Howard, Ayanna	Georgia Inst. of Tech.
Organizer: Behal, Aman	Univ. of Central Florida
Organizer: Kim, Dae-Jin	Univ. of Central Florida
08:30-08:45	TuA6.1
Ef_; Ciency Based Modulation for Wheelchair Driving Collaborative Control (I), pp. 199-204.
Urdiales, Cristina	Univ. de Málaga
Fernandez-Carmona, Manuel	Univ. de Málaga
Peula Palacios, Jose Manuel	Univ. of Málaga
Annicchiarico, Roberta	IRCCS Fondazione Santa Lucia
Sandoval, Francisco	Univ. Málaga
Caltagirone, Carlo	IRCCS Fondazione Santa Lucia - Univ. Tor Vergata Roma
08:45-09:00	TuA6.2
Real Time Estimation of Thumb Forces Using Surface Electromyogram for a Novel Human Machine Interface (I), pp. 205-210.
Park, Wonil	Korea Adv. Inst. of Science & Tech.
Kwon, Suncheol	KAIST
Kim, Jung	KAIST
09:00-09:15	TuA6.3
Stroke Survivor Gait Adaptation and Performance after Training on a Powered Ankle Foot Orthosis (I), pp. 211-216.
Ward, Jeffrey	Arizona State Univ.
Sugar, Thomas	Arizona State Univ.
Standeven, John	Washington Univ.
Engsberg, Jack	Washington Univ.
09:15-09:30	TuA6.4
On the Relationship between Autonomy, Performance, and Satisfaction: Lessons from a Three-Week User Study with Post-SCI Patients Using a Smart 6DOF Assistive Robotic Manipulator (I), pp. 217-222.
Kim, Dae-Jin	Univ. of Central Florida
Hazeltt, Rebekah	Univ. of Central Florida
Godfrey, Heather	Orlando Health
Rucks, Greta	Orlando Health
Portee, David	Orlando Health
John, Bricout	Univ. of Central Florida
Cunningham, Tara	Orlando Health
Behal, Aman	Univ. of Central Florida
09:30-09:45	TuA6.5
Linear-Quadratic-Gaussian Torque Control: Application to a Flexible Joint of a Rehabilitation Exoskeleton, pp. 223-228.
Vertechy, Rocco	Scuola Superiore Sant' Anna
Frisoli, Antonio	Scuola Superiore Sant'Anna
Solazzi, Massimiliano	Scuola Superiore Sant'Anna
Dettori, Andrea	Scuola Superiore Sant'Anna
Bergamasco, Massimo	Scuola Superiore S.Anna
09:45-10:00	TuA6.6
Transfer of Skills between Human Operators through Haptic Training with Robot Coordination, pp. 229-235. Attachment
Park, Chung Hyuk	Georgia Inst. of Tech.
Yoo, Jae Wook	Georgia Inst. of Tech.
Howard, Ayanna	Georgia Inst. of Tech.

TuA7	Egan Center Lower Level Room 11/12
Algorithms and Representations for SLAM (Regular Sessions)
Chair: Munich, Mario	Evolution Robotics
Co-Chair: Chung, Wan Kyun	POSTECH
08:30-08:45	TuA7.1
Vector Field SLAM, pp. 236-242.
Gutmann, Jens-Steffen	Evolution Robotics Inc.
Brisson, Gabriel	unaffiliated
Eade, Ethan	Evolution Robotics
Fong, Philip	Evolution Robotics
Munich, Mario	Evolution Robotics
08:45-09:00	TuA7.2
Rao-Blackwellized Particle Filters Multi Robot SLAM with Unknown Initial Correspondences and Limited Communication, pp. 243-249.
Carlone, Luca	Pol. di Torino
Kaouk Ng, Miguel Efrain	Pol. di Torino
Du, Jingjing	Pol. di torino
Bona, Basilio	Pol. di Torino
Indri, Marina	Pol. di Torino
09:00-09:15	TuA7.3
Robust RBPF-SLAM Using Sonar Sensors in Non-Static Environments, pp. 250-256.
Lee, Jung-Suk	POSTECH
Kim, Chanki	POSTECH
Chung, Wan Kyun	POSTECH
09:15-09:30	TuA7.4
A Hybrid SLAM Representation for Dynamic Marine Environments, pp. 257-264. Attachment
Bibby, Charles	Univ. of Oxford
Reid, Ian	Univ. of Oxford
09:30-09:45	TuA7.5
AntSLAM: Global Map Optimization Using Swarm Intelligence, pp. 265-272.
Iser, Rene	Tech. Univ. of Braunschweig
Wahl, Friedrich M.	Tech. Univ. of Braunschweig
09:45-10:00	TuA7.6
Hierarchical Optimization on Manifolds for Online 2D and 3D Mapping, pp. 273-278.
Grisetti, Giorgio	Unviersität Freiburg
Kuemmerle, Rainer	Univ. of Freiburg
Stachniss, Cyrill	Univ. of Freiburg
Frese, Udo	Univ. Bremen
Hertzberg, Christoph	Univ. Bremen

TuA8	Egan Center Street Level Room Cook Hall
Autonomous Navigation (Regular Sessions)
Chair: Spletzer, John	Lehigh Univ.
Co-Chair: Sadler, Brian	Army Res. Lab.
08:30-08:45	TuA8.1
On-Line Calibration of Multiple LIDARs on a Mobile Vehicle Platform, pp. 279-284.
Gao, Chao	Lehigh Univ.
Spletzer, John	Lehigh Univ.
08:45-09:00	TuA8.2
Planes, Trains and Automobiles -- Autonomy for the Modern Robot, pp. 285-292.
Sibley, Gabe	Univ. of Oxford
Mei, Christopher	Univ. of Oxford
Reid, Ian	Univ. of Oxford
Newman, Paul	Oxford Univ.
09:00-09:15	TuA8.3
Repeated AUV Surveying of Urchin Barrens in North Eastern Tasmania, pp. 293-299.
Williams, Stefan Bernard	Univ. of Sydney
Pizarro, Oscar	Australian Centre for Field Robotics
Jakuba, Michael	Univ. of Sydney
Mahon, Ian	Univ. of Sydney
Ling, Scott	Univ. of Tasmania
Johnson, Craig	Univ. of Tasmania
09:15-09:30	TuA8.4
The Office Marathon: Robust Navigation in an Indoor Office Environment, pp. 300-307. Attachment
Marder-Eppstein, Eitan	Willow Garage
Berger, Eric	Willow Garage
Foote, Tully	Willow Garage Inc.
Gerkey, Brian	Willow Garage
Konolige, Kurt	Willow Garage
09:30-09:45	TuA8.5
Toward Autonomous Scientific Exploration of Ice-Covered Lakes - Field Experiments with the ENDURANCE AUV in an Antarctic Dry Valley, pp. 308-315.
Gulati, Shilpa	Univ. of Texas at Austin
Richmond, Kristof	Stone Aerospace
Flesher, Christopher	Stone Aerospace
Hogan, Bart	Stone Aerospace
Murarka, Aniket	The Univ. of Texas at Austin
Kuhlmann, Gregory	The Univ. of Texas at Austin
Sridharan, Mohan	Texas Tech. Univ.
Stone, William	Stone Aerospace
Doran, Peter	Univ. of Illinois at Chicago
09:45-10:00	TuA8.6
Parallel Grid-Based Recursive Bayesian Estimation Using GPU for Real-Time Autonomous Navigation, pp. 316-321.
Furukawa, Tomonari	Virginia Pol. Inst. and State Univ.
Lavis, Benjamin	Univ. of California, Berkeley
Durrant-Whyte, Hugh	The Univ. of Sydney

TuA9	Egan Center Lower Level Room 3
Path Planning and Coordination for Multiple Robots (Regular Sessions)
Chair: Reveliotis, Spiridon	Georgia Inst. of Tech.
Co-Chair: Kaminka, Gal A	Bar Ilan Univ.
08:30-08:45	TuA9.1
Establishing the NP-Hardness of Maximally RAS-Based Approaches to Multi-Vehicle System Safety, pp. 322-327.
Roszkowska, Elzbieta	Wroclaw Univ. of Tech.
Reveliotis, Spiridon	Georgia Inst. of Tech.
08:45-09:00	TuA9.2
Adaptive Multi-Robot Coordination: A Game-Theoretic Perspective, pp. 328-334.
Kaminka, Gal A	Bar Ilan Univ.
Erusalimchik, Dan	Bar-Ilan Univ.
Kraus, Sarit	Bar-Ilan Univ.
09:00-09:15	TuA9.3
A Potential Field Approach to Finding Minimum-Exposure Paths in Wireless Sensor Networks, pp. 335-341.
Ferrari, Silvia	Duke Univ.
Foderaro, Greg	Duke Univ.
09:15-09:30	TuA9.4
Controllability for Pairs of Vehicles Maintaining Constant Distance, pp. 342-349.
Wang, Huifang	Univ. of Pisa
Pallottino, Lucia	Univ. di Pisa
Bicchi, Antonio	Univ. of Pisa
09:30-09:45	TuA9.5
Behavior-Based Evacuation Planning, pp. 350-355.
Rodriguez, Samuel	Texas A&M Univ.
Amato, Nancy	Texas A&M Univ.
09:45-10:00	TuA9.6
A Multi-Robot System for Unconfined Video-Conferencing, pp. 356-361.
Karnad, Nikhil	Univ. of Minnesota, Twin-Cities
Isler, Volkan	Univ. of Minnesota

TuA10	Egan Center Lower Level Room 9/10
AI Reasoning Methods (Regular Sessions)
Chair: Konolige, Kurt	Willow Garage
Co-Chair: Schermerhorn, Paul	Indiana Univ.
08:30-08:45	TuA10.1
Vision-Based Detection for Learning Articulation Models of Cabinet Doors and Drawers in Household Environments, pp. 362-368. Attachment
Sturm, Jürgen	Univ. of Freiburg
Konolige, Kurt	Willow Garage
Stachniss, Cyrill	Univ. of Freiburg
Burgard, Wolfram	Univ. of Freiburg
08:45-09:00	TuA10.2
Variable Resolution Decomposition for Robotic Navigation under a POMDP Framework, pp. 369-376.
Kaplow, Robert	McGill Univ.
Atrash, Amin	McGill Univ.
Pineau, Joelle	McGill Univ.
09:00-09:15	TuA10.3
Multi-Tasking SLAM, pp. 377-384. Attachment
Guez, Arthur	McGill Univ.
Pineau, Joelle	McGill Univ.
09:15-09:30	TuA10.4
Integrated Motor Control, Planning, Grasping and High-Level Reasoning in a Blocks World Using Probabilistic Inference, pp. 385-391. Attachment
Toussaint, Marc	TU Berlin
Nils, Plath	TU Berlin
Lang, Tobias	TU Berlin
Jetchev, Nikolay	TU Berlin
09:30-09:45	TuA10.5
Using Logic to Handle Conflicts between System, Component, and Infrastructure Goals in Complex Robotic Architectures, pp. 392-397.
Schermerhorn, Paul	Indiana Univ.
Scheutz, Matthias	Indiana Univ. Bloomington
09:45-10:00	TuA10.6
Categorizing Object-Action Relations from Semantic Scene Graphs, pp. 398-405.
Aksoy, Eren Erdal	Univ. of Goettingen
Abramov, Alexey	Univ. of Goettingen
Woergoetter, Florentin	Univ. of Goettingen, Inst. of Physics III
Dellen, Babette	Max Planck Inst. for Dynamics and Self-Organization

TuA11	Egan Center Lower Level Room 5
Detection and Surveillance (Regular Sessions)
Chair: Papanikolopoulos, Nikos	Univ. of Minnesota
Co-Chair: Young, Stuart	Army Res. Lab.
08:30-08:45	TuA11.1
Fusion of Laser and Vision for Multiple Targets Tracking Via On-Line Learning, pp. 406-411. Attachment
Song, Xuan	Peking Univ.
Zhao, Huijing	Peking Univ.
Cui, Jinshi	Peking Univ.
Shao, Xiaowei	Univ. of Tokyo
Shibasaki, Ryosuke	Univ. of Tokyo
Zha, Hongbin	Peking Univ.
08:45-09:00	TuA11.2
Multi-Camera Object Detection for Robotics, pp. 412-419.
Coates, Adam	Stanford Univ.
Ng, Andrew	Stanford Univ.
09:00-09:15	TuA11.3
A Strategy for Improving Observability with Mobile Robots, pp. 420-425.
Drenner, Andrew	ReconRobotics
Janssen, Michael	Univ. of Minnesota
Papanikolopoulos, Nikos	Univ. of Minnesota
09:15-09:30	TuA11.4
Moving Game Theoretical Patrolling Strategies from Theory to Practice: An USARSim Simulation, pp. 426-431.
Amigoni, Francesco	Pol. di Milano
Basilico, Nicola	Pol. di Milano
Gatti, Nicola	Pol. di Milano
Saporiti, Alessandro	Pol. di Milano
Troiani, Stefano	Pol. di Milano
09:30-09:45	TuA11.5
A Probability Density Function Approach to Distributed Sensors' Path Planning, pp. 432-439.
Ferrari, Silvia	Duke Univ.
Foderaro, Greg	Duke Univ.
Tremblay, Andrew	Carnegie Mellon Univ.
09:45-10:00	TuA11.6
Probabilistic Surveillance with Multiple Active Cameras, pp. 440-445.
Sommerlade, Eric	Univ. of Oxford
Reid, Ian	Univ. of Oxford

TuA12	Egan Center Lower Level Room 4
Human Detection, Tracking and Listening (Regular Sessions)
Chair: Kyriakopoulos, Kostas	National Tech. Univ. of Athens
Co-Chair: Okuno, Hiroshi G.	Kyoto Univ.
08:30-08:45	TuA12.1
A Multiple Hypothesis People Tracker for Teams of Mobile Robots, pp. 446-451.
Tsokas, Nicolas	National Tech. Univ. of Athens
Kyriakopoulos, Kostas	National Tech. Univ. of Athens
08:45-09:00	TuA12.2
Human Detection and Tracking Via Ultra-Wideband (UWB) Radar, pp. 452-457.
Chang, SangHyun	California Inst. of Tech.
Wolf, Michael	Jet Propulsion Lab.
Burdick, Joel	California Inst. of Tech.
09:00-09:15	TuA12.3
Hands in Action: Real-Time 3D Reconstruction of Hands in Interaction with Object, pp. 458-463. Attachment
Romero, Javier	KTH
Kjellstrom, Hedvig	KTH
Kragic, Danica	KTH
09:15-09:30	TuA12.4
People Tracking with Human Motion Predictions from Social Forces, pp. 464-469.
Luber, Matthias	Univ. of Freiburg
Stork, Johannes Andreas	Univ. of Freiburg
Tipaldi, Gian Diego	Univ. of Freiburg
Arras, Kai Oliver	Univ. of Freiburg
09:30-09:45	TuA12.5
Improvement in Listening Capability for Humanoid Robot HRP-2, pp. 470-475.
Takahashi, Toru	Kyoto Univ.
Nakadai, Kazuhiro	Honda Res. Inst. Japan Co., Ltd.
Komatani, Kazunori	Kyoto Univ.
Ogata, Tetsuya	Kyoto Univ.
Okuno, Hiroshi G.	Kyoto Univ.
09:45-10:00	TuA12.6
Mapping Indoor Environments Based on Human Activity, pp. 476-481.
Grzonka, Slawomir	Albert-Ludwigs-Univ. of Freiburg
Dijoux, Frederic	Albert-Ludwigs-Univ. Freiburg
Karwath, Andreas	Albert-Ludwigs Univ. Freiburg
Burgard, Wolfram	Univ. of Freiburg

TuA13	Egan Center Lower Level Room 7/8
Micro and Nano Scale Automation (Regular Sessions)
Chair: Arai, Fumihito	Tohoku Univ.
Co-Chair: Martel, Sylvain	Ec. Pol. de Montreal (EPM)
08:30-08:45	TuA13.1
Massive Parallel Assembly of Microbeads Fabrication of Microtools Having Spherical Structure and Powerful Laser Manipulation, pp. 482-487.
Maruyama, Hisataka	Tohoku Univ.
Iitsuka, Ryo	Tohoku Univ.
Onda, Kazuhisa	Tohoku Univ.
Arai, Fumihito	Tohoku Univ.
08:45-09:00	TuA13.2
Millimeter Scale Microrobots for the Nanoassembly Applications, pp. 488-493.
Murthy, Rakesh	Univ. of Texas at Arlington
Popa, Dan	The Univ. of Texas at Arlington
09:00-09:15	TuA13.3
A Micromanipulation System for Single Cell Deposition, pp. 494-499.
Lu, Zhe	Univ. of Toronto
Moraes, Christopher	Univ. of Toronto
Zhao, Yan	Univ. of Toronto
You, LiDan	Univ. of Toronto
Simmons, Craig A.	Univ. of Toronto
Sun, Yu	Univ. of Toronto
09:15-09:30	TuA13.4
Using a Swarm of Self-Propelled Natural Microrobots in the Form of Flagellated Bacteria to Perform Complex Micro-Assembly Tasks, pp. 500-505.
Martel, Sylvain	Ec. Pol. de Montreal (EPM)
Mohammadi, Mahmood	Ec. Pol. de Montreal (EPM)
09:30-09:45	TuA13.5
Closed Loop Performance of Polypyrrole Linear Contractile Actuators, pp. 506-511.
Paster, Eli	Massachusetts Inst. of Tech.
Ruddy, Bryan	Massachusetts Inst. of Tech.
Pillai, Priam	Massachusetts Inst. of Tech.
Hunter, Ian	MIT
09:45-10:00	TuA13.6
Compensation of Rate-Dependent Hysteresis Nonlinearities in a Piezo Micro-Positioning Stage, pp. 512-517.
Al Janaideh, Mohammad	Concordia Univ.
Su, Chun-Yi	Concordia Univ.

TuB1	Dena'ina Center Tikahtnu A
50 Years of Robotics: Field Robotics (Regular Sessions)
Chair: Tadokoro, Satoshi	Tohoku Univ.
Co-Chair: Teller, Seth	MIT
10:25-11:00	TuB1.1
50 Years of Robotics and Automation: Field Robotics (I)*.
Hirose, Shigeo	Tokyo Inst. of Tech.
11:00-11:15	TuB1.2
Coping with Imbalanced Training Data for Improved Terrain Prediction in Autonomous Outdoor Robot Navigation, pp. 518-525.
Procopio, Michael	Sandia National Lab.
Mulligan, Jane	Univ. of Colorado at Boulder
Grudic, Greg	Univ. of Colorado at Boulder
11:15-11:30	TuB1.3
A Voice-Commandable Robotic Forklift Working Alongside Humans in Minimally-Prepared Outdoor Environments, pp. 526-533. Attachment
Teller, Seth	MIT
Walter, Matthew	MIT
Antone, Matthew	BAE Systems
Correa, Andrew	A
Davis, Randall	MIT
Fletcher, Luke	MIT
Frazzoli, Emilio	Massachusetts Inst. of Tech.
Glass, Jim	MIT
How, Jonathan	Massachusetts Inst. of Tech.
Huang, Albert S.	Massachusetts Inst. of Tech.
Jeon, Jeong hwan	Massachusetts Inst. of Tech.
Karaman, Sertac	Massachusetts Inst. of Tech.
Luders, Brandon	MIT
Roy, Nicholas	Massachusetts Inst. of Tech.
Sainath, Tara	IBM
11:30-11:45	TuB1.4
Visual Path Following on a Manifold in Unstructured Three-Dimensional Terrain, pp. 534-539. Attachment
Furgale, Paul Timothy	Univ. of Toronto
Barfoot, Timothy	Univ. of Toronto

TuB4	Dena'ina Center Kahtnu 1/2
50 Years of Robotics: Energy, Environment and Society (Regular Sessions)
Chair: Sukhatme, Gaurav	Univ. of Southern California
Co-Chair: Whitcomb, Louis	The Johns Hopkins Univ.
10:25-11:00	TuB4.1
Robots for Energy and Environment: Evolution and Revolution (I)*.
Yoerger, Dana	Woods Hole Oceanographic Inst.
11:00-11:15	TuB4.2
Gesture-Based Human-Robot Jazz Improvisation, pp. 582-587. Attachment
Hoffman, Guy	Georgia Tech.
Weinberg, Gil	Georgia Inst. of Tech.
11:15-11:30	TuB4.3
Statistical Mobility Prediction for Planetary Surface Exploration Rovers in Uncertain Terrain, pp. 588-593.
Ishigami, Genya	Massachusetts Inst. of Tech.
Kewlani, Gaurav	Massachusetts Inst. of Tech.
Iagnemma, Karl	MIT
11:30-11:45	TuB4.4
Navigation and Control of the Nereus Hybrid Underwater Vehicle for Global Ocean Science to 10, 903 M Depth: Preliminary Results, pp. 594-600.
Whitcomb, Louis	The Johns Hopkins Univ.
Jakuba, Michael	Univ. of Sydney
Kinsey, James	The Johns Hopkins Univ.
Martin, Stephen	John Hopkins Univ.
Webster, Sarah E.	Johns Hopkins Univ.
Howland, Jonathan	Woods Hole Oceanographic Inst.
Taylor, Chris	WHOI
Gomez-Ibanez, Daniel	WHOI
Yoerger, Dana	Woods Hole Oceanographic Inst.

TuD1	Egan Center Street Level Room Arteaga
Aerial Robotics: Design, Modeling and Control (Regular Sessions)
Chair: Agrawal, Sunil	Univ. of Delaware
Co-Chair: Christoforou, Eftychios	Univ. of Cyprus
14:20-14:35	TuD1.1
The Distributed Flight Array, pp. 601-607. Attachment
Oung, Raymond	ETH Zurich
Bourgault, Frederic	ETH Zürich
Donovan, Matthew	ETH Zurich
D'Andrea, Raffaello	ETHZ
14:35-14:50	TuD1.2
A New Method of Modeling the Actuation Dynamics of a Miniature Hingeless Helicopter Using Gyroscopic Moments, pp. 608-613.
Lau, Tak Kit	The Chinese Univ. of Hong Kong
Liu, Yunhui	Chinese Univ. of Hong Kong
Lin, Kai Wun	The Chinese Univ. of Hong Kong
14:50-15:05	TuD1.3
Angular Elevation Control of Robotic Kite Systems, pp. 614-619.
Christoforou, Eftychios	Univ. of Cyprus
15:05-15:20	TuD1.4
Flight Formation of Multiple Mini Rotorcraft Via Coordination Control, pp. 620-625.
Guerrero Mata, Jose Alfredo	Univ. of Tech. of Compičgne
Fantoni, Isabelle	Univ. of Tech. of Compičgne
Salazar, Sergio	Unisersité de Compiégne
Lozano, Rogelio	Univ. de Tech. de Compičgne
15:20-15:35	TuD1.5
Experimental Investigation of Effects of Flapping Wing Aspect Ratio and Flexibility on Aerodynamic Performance, pp. 626-631.
Zhang, Chengkun	Univ. of Delaware
Khan, Zaeem	Univ. of Delaware
Agrawal, Sunil	Univ. of Delaware
15:35-15:50	TuD1.6
Design of an Improved Land/Air Miniature Robot, pp. 632-637.
Kossett, Alex	Univ. of Minnesota
D'Sa, Ruben	Univ. of Minnesota
Purvey, Jesse	Univ. of Minnesota
Papanikolopoulos, Nikos	Univ. of Minnesota

TuD2	Egan Center Lower Level Room 6
Control of Parallel Robots (Regular Sessions)
Chair: Krovi, Venkat	Univ. at Buffalo (SUNY)
Co-Chair: Martinet, Philippe	Blaise Pascal Univ.
14:20-14:35	TuD2.1
Vector-Based Dynamic Modeling and Control of the Quattro Parallel Robot by Means of Leg Orientations, pp. 638-643.
Ozgur, Erol	Blaise Pascal Univ.
Andreff, Nicolas	Univ. de Franche Comté
Martinet, Philippe	Blaise Pascal Univ.
14:35-14:50	TuD2.2
Efficient High-Speed Vision-Based Computed Torque Control of the Orthoglide Parallel Robot, pp. 644-649.
Dahmouche, Redwan	Univ. Blaise Pascal
Andreff, Nicolas	Univ. de Franche Comté
Mezouar, Youcef	Blaise Pascal Univ.
Martinet, Philippe	Blaise Pascal Univ.
14:50-15:05	TuD2.3
Integrated Controller for an Over-Constrained Cable Driven Parallel Manipulator: KNTU CDRPM, pp. 650-655.
Vafaei, Alaleh	Advanced Robotics and Automated Systems(ARAS), K.N.ToosiUniversi
M. Aref, Mohammad	K.N. Toosi Univ. of Tech.
Taghirad, Hamid	K.N.Toosi Univ. of Tech.
15:05-15:20	TuD2.4
Optimization Strategies for Additional Actuators of Kinematically Redundant Parallel Kinematic Machines, pp. 656-661.
Kotlarski, Jens	Leibniz Univ. Hannover
Do Thanh, Trung	Hannover
Heimann, Bodo	Leibniz Univ. Hannover
Ortmaier, Tobias	Leibniz Univ. Hanover
15:20-15:35	TuD2.5
Implementation of a 4-DOF Parallel Mechanism As a Needle Insertion Device, pp. 662-668. Attachment
Chung, Jaeheon	Kyushu Univ.
Cha, Hyo Jung	Hanyang Univ.
Yi, Byung-Ju	Hanayang Univ.
Kim, Whee Kuk	Korea Univ.
15:35-15:50	TuD2.6
Enhanced Trajectory Tracking Performance with a Lower-Bound Stiffness Controller for Cable-Robot Systems, pp. 669-674.
Yu, Kun	Univ. at Buffalo
Lee, Leng-Feng	Univ. at Buffalo
Tang, Chinpei	The Univ. of Texas at Dallas
Krovi, Venkat	Univ. at Buffalo (SUNY)

TuD3	Egan Center Street Level Room Boardroom
Snake Robot Locomotion (Regular Sessions)
Chair: Gravdahl, Jan Tommy	Norwegian Univ. of Science and Tech.
Co-Chair: Matsuno, Fumitoshi	Kyoto Univ.
14:20-14:35	TuD3.1
A Hybrid Model of Obstacle-Aided Snake Robot Locomotion, pp. 675-682.
Liljebäck, Pĺl	SINTEF IKT
Pettersen, Kristin Y.	Norwegian Univ. of Science and Tech.
Stavdahl, Řyvind	Norwegian Univ. of Science and Tech. (NTNU)
Gravdahl, Jan Tommy	Norwegian Univ. of Science and Tech.
14:35-14:50	TuD3.2
A Snake Robot with a Contact Force Measurement System for Obstacle-Aided Locomotion, pp. 683-690.
Liljebäck, Pĺl	SINTEF IKT
Pettersen, Kristin Y.	Norwegian Univ. of Science and Tech.
Stavdahl, Řyvind	Norwegian Univ. of Science and Tech. (NTNU)
14:50-15:05	TuD3.3
Sidewinding on Slopes, pp. 691-696.
Hatton, Ross	Carnegie Mellon Univ.
Choset, Howie	Carnegie Mellon Univ.
15:05-15:20	TuD3.4
Optimal Shape of a Snake Robot for Jumping, pp. 697-702.
Hoshino, Keiichi	The Univ. of Electro-Communications
Tanaka, Motoyasu	The Univ. of Electro-Communications
Matsuno, Fumitoshi	Kyoto Univ.
15:20-15:35	TuD3.5
Approximations to Continuous Curves of Active Cord Mechanism Made of Arc-Shaped Joints or Double Joints, pp. 703-708. Attachment
Yamada, Hiroya	Tokyo Inst. of Tech.
Hirose, Shigeo	Tokyo Inst. of Tech.
15:35-15:50	TuD3.6
An Adaptive Decentralized Control of a Serpentine Robot Based on the Discrepancy between Body, Brain and Environment, pp. 709-714. Attachment
Sato, Takahide	Tohoku Univ.
Watanabe, Wataru	Tohoku Univ.
Ishiguro, Akio	Tohoku Univ.

TuD4	Egan Center Lower Level Room 1
Personal and Service Robots (Regular Sessions)
Chair: Burgard, Wolfram	Univ. of Freiburg
Co-Chair: Bradski, Gary	Stanford Univ. and Willow Garage
14:20-14:35	TuD4.1
Robot, Feed Thyself: Plugging in to Unmodified Electrical Outlets by Sensing Emitted AC Electric Fields, pp. 715-722. Attachment
Mayton, Brian	Univ. of Washington
LeGrand, Louis	Intel Res.
Smith, Joshua R.	Intel
14:35-14:50	TuD4.2
Searching for Objects: Combining Multiple Cues to Object Locations Using a Maximum Entropy Model, pp. 723-728. Attachment
Joho, Dominik	Univ. of Freiburg
Burgard, Wolfram	Univ. of Freiburg
14:50-15:05	TuD4.3
Autonomous Door Opening and Plugging in with a Personal Robot, pp. 729-736. Attachment
Meeussen, Wim	Willow Garage inc.
Wise, Melonee	Willow Garage
Glaser, Stuart	Washington Univ. in St. Louis
Chitta, Sachin	Willow Garage Inc.
McGann, Conor	Willow Garage
Mihelich, Patrick	Willow Garage
Marder-Eppstein, Eitan	Willow Garage
Muja, Marius Constantin	Univ. of British Columbia
Eruhimov, Victor	Itseez Corp.
Foote, Tully	Willow Garage Inc.
Hsu, John	Willow Garage
Rusu, Radu Bogdan	Willow Garage, Inc
Marthi, Bhaskara	Willow Garage
Bradski, Gary	Stanford Univ. and Willow Garage
Konolige, Kurt	Willow Garage
Gerkey, Brian	Willow Garage
Berger, Eric	Willow Garage
15:05-15:20	TuD4.4
Intelligent Ambience That Can Lead Robot's Actions -System Design Concept and Experimental Evaluation of Intelligent Ambience, pp. 737-744. Attachment
Sakaguchi, Takeshi	AIST
Yokoi, Kazuhito	National Inst. of AIST
Wada, Kazuyoshi	Tokyo Metropolitan Univ.
15:20-15:35	TuD4.5
Learning Novel Objects Using Out-Of-Vocabulary Word Segmentation and Object Extraction for Home Assistant Robots, pp. 745-750.
Attamimi, Muhammad	The Univ. of Electro-Communications
Mizutani, Akira	The Univ. of Electro-Communicatuins
Nakamura, Tomoaki	Univ. of Electro-Communications
Sugiura, Komei	National Inst. of Information and Communications Tech.
Nagai, Takayuki	Univ. of Electro-Communications
Iwahashi, Naoto	National Inst. ofInformationandCommunicationsTechnology
Okada, Hiroyuki	Tamagawa Univ.
Omori, Takashi	Tamagawa Univ.
15:35-15:50	TuD4.6
Autonomous Operation of Novel Elevators for Robot Navigation, pp. 751-758. Attachment
Klingbeil, Ellen	Stanford Univ.
Carpenter, Blake	Stanford Univ.
Russakovsky, Olga	Stanford Univ.
Ng, Andrew	Stanford Univ.

TuD5	Egan Center Lower Level Room 13/14
Grasping Mechanisms (Regular Sessions)
Chair: Desai, Jaydev P.	Univ. of Maryland
Co-Chair: Melchiorri, Claudio	Univ. of Bologna
14:20-14:35	TuD5.1
Tailoring the Viscoelastic Properties of Soft Pads for Robotic Limbs through Purposely Designed Fluid Filled Structures, pp. 759-764.
Berselli, Giovanni	Univ. di Bologna
Vassura, Gabriele	Univ. of Bologna
Piccinini, Marco	Univ. of Bologna
14:35-14:50	TuD5.2
Design, Fabrication, and Implementation of Self-Sealing Suction Cup Arrays for Grasping, pp. 765-770. Attachment
Kessens, Chad C.	Univ. of Maryland
Desai, Jaydev P.	Univ. of Maryland
14:50-15:05	TuD5.3
Port-Hamiltonian Analysis of a Novel Robotic Finger Concept for Minimal Actuation Variable Impedance Grasping, pp. 771-776.
Wassink, Martin	Univ. of Twente
Carloni, Raffaella	Univ. of Twente
Stramigioli, Stefano	Univ. of Twente
15:05-15:20	TuD5.4
Development of Intelligent Robot Hand Using Proximity, Contact and Slip Sensing, pp. 777-784.
Hasegawa, Hiroaki	the Univ. of Electro-Communications
Mizoguchi, Yoshitomo	Univ. of Electro-Communications
Tadakuma, Kenjiro	Massachusetts Inst. of Tech.
Ming, Aiguo	The Univ. of Electro-Communications
Ishikawa, Masatoshi	Univ. of Tokyo
Shimojo, Makoto	Univ. of Electro-COmmunications
15:20-15:35	TuD5.5
Weighted Barrier Functions for Computation of Force Distributions with Friction Cone Constraints, pp. 785-792.
Borgstrom, Per Henrik	UCLA
Batalin, Maxim	ITA and WHI, UCLA
Sukhatme, Gaurav	Univ. of Southern California
Kaiser, William	UCLA
15:35-15:50	TuD5.6
Design of Tendon-Driven Robotic Fingers: Modeling and Control Issues, pp. 793-798.
Borghesan, Gianni	Univ. of Bologna
Palli, Gianluca	Univ. of Bologna
Melchiorri, Claudio	Univ. of Bologna

TuD6	Egan Center Lower Level Room 2
Compliant Control and Robot Safety (Regular Sessions)
Chair: Kawamura, Sadao	Ritsumeikan Univ.
Co-Chair: Hirche, Sandra	Tech. Univ. München
14:20-14:35	TuD6.1
Analysis of Torque Capacities in Hybrid Actuation for Human-Friendly Robot Design, pp. 799-804.
Shin, Dongjun	Stanford Univ.
Seitz, Fabian	ETH Zürich
Khatib, Oussama	Stanford Univ.
Cutkosky, Mark	Stanford Univ.
14:35-14:50	TuD6.2
Design of Redundant Drive Joints with Double Actuation Using Springs in the Second Actuator to Avoid Excessive Active Torques, pp. 805-812.
Nagai, Kiyoshi	Ritsumeikan Univ.
Dake, Yuichiro	Ritsumeikan Univ.
Shiigi, Yasuto	Ritsumeikan Univ.
Loureiro, Rui C. V.	The Univ. of Reading
Harwin, William	Univ. of Reading
14:50-15:05	TuD6.3
Safe Joint Mechanism Using Inclined Link with Springs for Collision Safety and Positioning Accuracy of a Robot Arm, pp. 813-818. Attachment
Park, Jung-Jun	Korea Univ.
Song, Jae-Bok	Korea Univ.
15:05-15:20	TuD6.4
A Control Strategy for Operating Unknown Constrained Mechanisms, pp. 819-824.
Lutscher, Ewald	Tech. Univ. München
Lawitzky, Martin	Inst. of Automtic Control Engineering, Tech. Univ.
Cheng, Gordon	Tech. Univ. Munich
Hirche, Sandra	Tech. Univ. München
15:20-15:35	TuD6.5
Resonance-Based Task Space Controller for Multi-Joint Robot with Adjustable Equilibrium Angle of Elastic Element, pp. 825-830.
Uemura, Mitsunori	Ritsumeikan Univ.
Kawamura, Sadao	Ritsumeikan Univ.
15:35-15:50	TuD6.6
An Electric Field Pretouch System for Grasping and Co-Manipulation, pp. 831-838. Attachment
Mayton, Brian	Univ. of Washington
LeGrand, Louis	Intel Res.
Smith, Joshua R.	Intel

TuD7	Egan Center Lower Level Room 11/12
Behavior Learning (Regular Sessions)
Chair: Peters, Jan	Max-Planck Inst. for Bio. Cybernetics
Co-Chair: Lee, Daniel D.	Univ. of Pennsylvania
14:20-14:35	TuD7.1
A Probabilistic Approach to Mixed Open-Loop and Closed-Loop Control, with Application to Extreme Autonomous Driving, pp. 839-845. Attachment
Kolter, J. Zico	Stanford Univ.
Plagemann, Christian	Stanford Univ.
Jackson, David T.	Stanford
Ng, Andrew	Stanford Univ.
Thrun, Sebastian	Stanford Univ.
14:35-14:50	TuD7.2
Learning and Planning High-Dimensional Trajectories Via Structured Lagrangians, pp. 846-852. Attachment
Vernaza, Paul	Univ. of Pennsylvania
Yi, Seung Joon	Univ. OF PENNSYLVANIA
Lee, Daniel D.	Univ. of Pennsylvania
14:50-15:05	TuD7.3
Movement Templates for Learning of Hitting and Batting, pp. 853-858. Attachment
Kober, Jens	Max-Planck Inst. for Biological Cybernetics
Muelling, Katharina	Max Planck Inst. for Biological Cybernetics
Kroemer, Oliver	Max-Planck Inst. for Biological Cybernetics
Lampert, Christoph H.	Max-Planck Inst. for Biological Cybernetics
Schoelkopf, Bernhard	Max Planck Inst. for Biological Cybernetics
Peters, Jan	Max-Planck Inst. for Bio. Cybernetics
15:05-15:20	TuD7.4
Machine-Learning Based Control of a Human-Like Tendon-Driven Neck, pp. 859-865.
Jamone, Lorenzo	Univ. OF GENOA
Fumagalli, Matteo	Univ. OF GENOA
Natale, Lorenzo	Istutito Italiano di Tecnologia
Nori, Francesco	Italian Inst. of Tech.
Metta, Giorgio	Univ. of Genoa
Sandini, Giulio	Italian Inst. of Tech.
15:20-15:35	TuD7.5
Behavior Recognition for Learning from Demonstration, pp. 866-872.
Billing, Erik Alexander	Umeĺ Univ.
Hellström, Thomas	Umeĺ Univ.
Janlert, Lars-Erik	Umeĺ Univ.
15:35-15:50	TuD7.6
Learning of Probabilistic Grasping Strategies Using Programming by Demonstration, pp. 873-880.
Jäkel, Rainer	Univ. of Karlsruhe
Schmidt-Rohr, Sven R.	Univ. of Karlsruhe
Xue, Zhixing	FZI
Lösch, Martin	Univ. Karlsruhe (TH)
Dillmann, Rüdiger	Univ. of Karlsruhe

TuD8	Egan Center Street Level Room Cook Hall
Sensing and Perception for Autonomous Navigation (Regular Sessions)
Chair: Daniilidis, Kostas	Univ. of Pennsylvania
Co-Chair: Mulligan, Jane	Univ. of Colorado at Boulder
14:20-14:35	TuD8.1
Global Rover Localization by Matching Lidar and Orbital 3D Maps, pp. 881-886.
Carle, Patrick	Univ. of Toronto
Barfoot, Timothy	Univ. of Toronto
14:35-14:50	TuD8.2
An Integrated Probabilistic Model for Scan-Matching, Moving Object Detection and Motion Estimation, pp. 887-894.
van de Ven, Joop	Univ. of Sydney
Ramos, Fabio	Univ. of Sydney
Tipaldi, Gian Diego	Univ. of Freiburg
14:50-15:05	TuD8.3
A Segmentation Guided Label Propagation Scheme for Autonomous Navigation, pp. 895-902.
Ghosh, Soumya	Brown Univ.
Mulligan, Jane	Univ. of Colorado at Boulder
15:05-15:20	TuD8.4
A Real-Time Pedestrian Detection System Based on Structure and Appearance Classification, pp. 903-909.
Bansal, Mayank	Sarnoff Corp.
Jung, Sang-Hack	Sarnoff Corp.
Matei, Bogdan	Sarnoff Corp.
Eledath, Jayan	Sarnoff Corp.
Sawhney, Harpreet	Sarnoff Corp.
15:20-15:35	TuD8.5
Homography-Based Ground Plane Detection for Mobile Robot Navigation Using a Modified EM Algorithm, pp. 910-915.
Conrad, Daniel	Univ. of Missouri, Columbia
DeSouza, Guilherme	Univ. of Missouri-Columbia
15:35-15:50	TuD8.6
A Mobile Robotic Platform Exploiting the Navigational Capabilities of the Carassius Auratus Using a Natural Interface, pp. 916-921.
Accoto, Dino	Univ. Campus Bio-Medico
Lucibello, Luca	Univ. Campus Bio-medico di Roma
Campolo, Domenico	Nanyang Tech. Univ.
Guglielmelli, Eugenio	Univ. Campus Bio-Medico

TuD9	Egan Center Lower Level Room 3
Path Planning for Multi-Agent Systems (Regular Sessions)
Chair: Vaughan, Richard	Simon Fraser Univ.
Co-Chair: Jadbabaie, Ali	Univ. of Pennsylvania
14:20-14:35	TuD9.1
Constraint-Based Multi-Robot Path Planning, pp. 922-928.
Ryan, Malcolm	Univ. of New South Wales
14:35-14:50	TuD9.2
DisCoverage: A New Paradigm for Multi-Robot Exploration, pp. 929-934.
Haumann, A. Dominik	Tech. Univ. Darmstadt
Listmann, Kim Daniel	Tech. Univ. Darmstadt
Willert, Volker	Tech. Univ. of Darmstadt
14:50-15:05	TuD9.3
A Duality Approach to Path Planning for Multiple Robots, pp. 935-940.
Motee, Nader	Caltech
Jadbabaie, Ali	Univ. of Pennsylvania
Pappas, George J.	Univ. of Pennsylvania
15:05-15:20	TuD9.4
Solving the Continuous Time Multiagent Patrol Problem, pp. 941-946.
Marier, Jean-Samuel	Laval Univ.
Besse, Camille	Univ. Laval
Chaib-draa, Brahim	Laval Univ.
15:20-15:35	TuD9.5
Blinkered LOST: Restricting Sensor Field of View Can Improve Scalability in Emergent Multi-Robot Trail Following, pp. 947-952.
Sadat, Abbas	Simon Fraser Univ.
Vaughan, Richard	Simon Fraser Univ.
15:35-15:50	TuD9.6
Multi-Agent Path Planning with Multiple Tasks and Distance Constraints, pp. 953-959.
Bhattacharya, Subhrajit	Univ. of Pennsylvania
Likhachev, Maxim	Univ. of Pennsylvania
Kumar, Vijay	Univ. of Pennsylvania

TuD10	Egan Center Lower Level Room 9/10
Motion Planning in Dynamic Environments (Regular Sessions)
Chair: Fox, Dieter	Univ. of Washington
Co-Chair: Stilwell, Daniel	Virginia Tech.
14:20-14:35	TuD10.1
Control and Planning for Vehicles with Uncertainty in Dynamics, pp. 960-965. Attachment
Mellinger, Daniel	Univ. of Pennsylvania
Kumar, Vijay	Univ. of Pennsylvania
14:35-14:50	TuD10.2
Robotic Motion Planning in Dynamic, Cluttered, Uncertain Environments, pp. 966-973.
Du Toit, Noel E.	Caltech
Burdick, Joel	California Inst. of Tech.
14:50-15:05	TuD10.3
A Receding Horizon Controller for Motion Planning in the Presence of Moving Obstacles, pp. 974-980.
Stilwell, Daniel	Virginia Tech.
Xu, Bin	Virginia Tech.
Kurdila, Andrew	Virginia Tech.
15:05-15:20	TuD10.4
Learning to Navigate through Crowded Environments, pp. 981-986. Attachment
Henry, Peter	Univ. of Washington
Vollmer, Christian	Ilmenau Univ. of Tech.
Ferris, Brian	Univ. of Washington
Fox, Dieter	Univ. of Washington
15:20-15:35	TuD10.5
Optimal Trajectory Generation for Dynamic Street Scenarios in a Frenét Frame, pp. 987-993.
Werling, Moritz	Karlsruhe Inst. of Tech.
Ziegler, Julius	Univ. of Karlsruhe
Kammel, Sören	Bosch LLC
Thrun, Sebastian	Stanford Univ.
15:35-15:50	TuD10.6
A Dynamic Subgoal Path Planner for Unpredictable Environments, pp. 994-1001.
Liu, Hong	Peking Univ.
Wan, Weiwei	Peking Univ.
Zha, Hongbin	Peking Univ.

TuD11	Egan Center Lower Level Room 5
Image Matching and Registration (Regular Sessions)
Chair: Lee, Sukhan	Sungkyunkwan Univ.
Co-Chair: Scaramuzza, Davide	ETH Zurich
14:20-14:35	TuD11.1
Registration of 3D Facial Surfaces Using Covariance Matrix Pyramids, pp. 1002-1007.
Kaiser, Moritz	Tech. Univ. München
Kwolek, Bogdan	Rzeszow Univ. of Tech.
Staub, Christoph	TUM
Rigoll, Gerhard	Tech. Univ. München
14:35-14:50	TuD11.2
Improved Appearance-Based Matching in Similar and Dynamic Environments Using a Vocabulary Tree, pp. 1008-1013.
Sabatta, Deon George	CSIR
Scaramuzza, Davide	ETH Zurich
Siegwart, Roland	ETH Zurich
14:50-15:05	TuD11.3
A Novel Line Matching Method Based on Intersection Context, pp. 1014-1021.
Kim, Hyunwoo	Korean German Inst. of Tech.
Lee, Sukhan	Sungkyunkwan Univ.
15:05-15:20	TuD11.4
Physical Road Marker Property Estimation Using Monoscopic Vision, pp. 1022-1027.
Gumpp, Thomas	FZI Forschungszentrum Informatik
Nienhüser, Dennis	FZI Forschungszentrum Informatik
Zöllner, Johann Marius	FZI Forschungszentrum Informatik
15:20-15:35	TuD11.5
Feature Detection and Matching in Images with Radial Distortion, pp. 1028-1034.
Lourenço, Miguel	Univ. of Coimbra
Barreto, Joăo P.	Univ. of Coimbra
Malti, Abed	Inst. of Systems and Robotics-Univ. of Coimbra
15:35-15:50	TuD11.6
Minimum-Error Active Matching for Real-Time Vision, pp. 1035-1040.
Liu, Zhibin	Tsinghua Univ.
Shi, Zongying	Tsinghua Univ.
Xu, Wenli	Tsinghua Univ.

TuD12	Egan Center Lower Level Room 4
Surgical Robot Design (Regular Sessions)
Chair: Dupont, Pierre	Children's Hospital, Harvard Medical School
Co-Chair: Webster III, Robert James	Vanderbilt Univ.
14:20-14:35	TuD12.1
Outer Shell Type 2 DOF Bending Manipulator Using Spring-Link Mechanism for Medical Applications, pp. 1041-1046. Attachment
Arata, Jumpei	Nagoya Insititute of Tech.
Saito, Yoshitaka	Nagoya Inst. of Tech.
Fujimoto, Hideo	Nagoya Inst. of Tech.
14:35-14:50	TuD12.2
A Model for Concentric Tube Continuum Robots under Applied Wrenches, pp. 1047-1052.
Rucker, Caleb	Vanderbilt Univ.
Jones, Bryan	Mississippi State Univ.
Webster III, Robert James	Vanderbilt Univ.
14:50-15:05	TuD12.3
Design, Simulation and Evaluation of Kinematic Alternatives for Insertable Robotic Effectors Platforms in Single Port Access Surgery, pp. 1053-1058. Attachment
Ding, Jienan	Columbia Univ.
Xu, Kai	Shanghai Jiao Tong Univ.
Goldman, Roger E.	Columbia Univ.
Allen, Peter	Columbia Univ.
Fowler, Dennis	Columbia Univ.
Simaan, Nabil	Columbia Univ.
15:05-15:20	TuD12.4
Design and Control of Motion Compensation Cardiac Catheters, pp. 1059-1065.
Kesner, Samuel B.	Harvard Univ.
Howe, Robert D.	Harvard Univ.
15:20-15:35	TuD12.5
Development and Preliminary Evaluation of an Actuated MRI-Compatible Robotic Device for MRI-Guided Prostate Intervention, pp. 1066-1073.
Krieger, Axel	JHU
Iordachita, Iulian	Johns Hopkins Univ.
Song, Sang-Eun	The Johns Hopkins Univ.
Cho, Nathan Bongjoon	Johns Hopkins Univ.
Guion, Peter	National Inst. of Health
Fichtinger, Gabor	Queen's Univ.
Whitcomb, Louis	The Johns Hopkins Univ.
15:35-15:50	TuD12.6
Control of Cable Actuated Devices Using Smooth Backlash Inverse, pp. 1074-1079.
Agrawal, Varun	Purdue Univ.
Peine, William	Purdue Univ.
Yao, Bin	Purdue Univ.
Choi, SeungWook	REBO

TuD13	Egan Center Lower Level Room 7/8
Video Session: Novel Robotic Systems (Video Sessions)
Chair: Thompson, David	Jet Propulsion Lab. California Inst. of Tech.
Co-Chair: Kratochvil, Bradley	ETH Zurich
14:20-14:25	TuD13.1
OctoMag: An Electromagnetic System for 5-DOF Wireless Manipulation, pp. 1080-1081. Attachment
Kratochvil, Bradley	ETH Zurich
Kummer, Michael	ETH Zurich
Abbott, Jake	Univ. of Utah
Borer, Ruedi	ETH Zurich
Ergeneman, Olgaç	ETH Zurich
Nelson, Bradley J.	ETH Zurich
14:25-14:30	TuD13.2
Automated Micorassembly of Tissue Engineering Scaffold, pp. 1082-1083. Attachment
Zhao, Guoyong	National Univ. of Singapore
Teo, Chee Leong	National Univ. of Singapore
Hutmache, Dietmar Werner	Queensland Univ. of Tech.
Burdet, Etienne	imperial Coll. london
14:30-14:35	TuD13.3
From Compliant Balancing to Dynamic Walking on Humanoid Robot: Integration of CNS and CPG, pp. 1084-1085. Attachment
Hyon, Sang-Ho	ATR/NICT
Morimoto, Jun	ATR Computational Neuroscience Lab.
Kawato, Mitsuo	Press
14:35-14:40	TuD13.4
An Automatic and Complete Self-Calibration Method for Robotic Guided Laser Ablation, pp. 1086-1087. Attachment
Mönnich, Holger	Univ. of Karlsruhe
Stein, Daniel	Univ. of Karlsruhe
Raczkowsky, Joerg	Univ. of Karlsruhe (TH)
Woern, Heinz	Univ. Karlsruhe
14:40-14:45	TuD13.5
A Multi-Vehicle Testbed for Multi-Modal, Decentralized Sensing of the Environment, pp. 1088-1089. Attachment
Cortez, Andres	Univ. of New Mexico
Luna, Jose-Marcio	The Univ. of New Mexico
Fierro, Rafael	Univ. of New Mexico
Wood, John	Univ. of New Mexico
14:45-14:50	TuD13.6
Demonstration of a Prototype for Robot Assisted Endoscopic Sinus Surgery, pp. 1090-1091. Attachment
Rilk, Markus	Tech. Univ. Braunschweig
Kubus, Daniel	Tech. Univ. of Braunschweig
Wahl, Friedrich M.	Tech. Univ. of Braunschweig
Eichhorn, Klaus W.G.	Univ. of Bonn
Wagner, Ingo	Univ. of Bonn
Bootz, Friedrich	Univ. of Bonn
14:50-14:55	TuD13.7
High-Fidelity Telepresence and Teleaction, pp. 1092-1093. Attachment
Bauernschmitt, Robert	German Heart Center Munich
Buss, Martin	Tech. Univ. München
Deml, Barbara	Univ. der Bundeswehr München
Diepold, Klaus	Tech. Univ. München
Färber, Berthold	Univ. der Bundeswehr München
Faerber, Georg	TU Munchen
Hagn, Ulrich	DLR German Aerospace Center
Hirzinger, Gerd	German Aerospace Center (DLR)
Hirche, Sandra	Tech. Univ. München
Knoll, Alois	TU Munich
Müller, Hermann	Ludwigs-Maximilians-Univ. München
Ortmaier, Tobias	Leibniz Univ. Hanover
Peer, Angelika	Tech. Univ. München
Popp, Michael	Faculty Aerospace Tech. Univ. der Bundeswehr
Preusche, Carsten	DLR
Reinhart, Gunter	Tech. Univ. München
Shi, Zhuanghua	Ludwigs-Maximilians-Univ. München
Steinbach, Eckehard	Munich Univ. of Tech.
Ulbrich, Heinz	Tech. Univ. Muenchen
Walter, Ulrich	Tech. Univ. Munich
Zäh, Michael Friedrich	Tech. Univ. München
14:55-15:00	TuD13.8
Demonstration of Quadrupedal Locomotion Over Rough Terrain Using the LittleDog Robot, pp. 1094-1095. Attachment
Neuhaus, Peter	Inst. for Human and Machine Cognition
Pratt, Jerry	Inst. for Human and Machine Cognition
Johnson, Matthew	Inst. for Human & Machine Cognition
15:00-15:05	TuD13.9
RANGE - Robust Autonomous Navigation in GPS-Denied Environments, pp. 1096-1097. Attachment
Bachrach, Abraham	Massachusetts Inst. of Tech.
de Winter, Anton	Massachusetts Inst. of Tech.
He, Ruijie	Massachusetts Inst. of Tech.
Hemann, Garrett	Massachusetts Inst. of Tech.
Prentice, Samuel	Massachusetts Inst. of Tech.
Roy, Nicholas	Massachusetts Inst. of Tech.
15:05-15:10	TuD13.10
Autonomous Re-Alignment of Multiple Table Robots, pp. 1098-1099. Attachment
Sawada, Yukiko	Univ. of Tsukuba
Tsubouchi, Takashi	Sys. and Info. Eng., U of Tsukuba
15:10-15:15	TuD13.11
Minimalistic, Dynamic, Tube Climbing Robot, pp. 1100-1101. Attachment
Degani, Amir	Carnegie Mellon Univ.
Feng, Siyuan	Carnegie Mellon Univ.
Choset, Howie	Carnegie Mellon Univ.
Mason, Matthew T.	Carnegie Mellon Univ.
15:15-15:20	TuD13.12
Reporting on a Large Ocean Inlet Crossing Live Transmission Line Inspection Performed by LineScout Technology, pp. 1102-1103. Attachment
Montambault, Serge	Hydro-Québec Res. Inst.
Pouliot, Nicolas	Hydro-Québec Res. Inst.
Toth, Janos	British Columbia Transmission Corp.
Spalteholz, Bernhard	BC Hydro
15:20-15:25	TuD13.13
Integration of Aerial Robots and Wireless Sensor and Actuator Networks. the AWARE Project, pp. 1104-1105. Attachment
Ollero, Anibal	Univ. of Seville
Maza, Ivan	Univ. of Seville
Caballero, Fernando	Univ. of Seville
Martínez-de Dios, J.R.	Univ. of Seville
15:25-15:30	TuD13.14
EXOSTATION: Haptic Exoskeleton Based Control Station, pp. 1106-1107. Attachment
Letier, Pierre	ULB
Motard, Elvina	Space Applications Services
Verschueren, Jean-Philippe	Micromega Dynamics
15:30-15:35	TuD13.15
Novel Locomotion of Imobot, an Intelligent Reconfigurable Mobile Robot, pp. 1108-1109. Attachment
Ryland, Graham	Univ. of Californial, Davis
Cheng, Harry	Univ. of California, Davis
15:35-15:40	TuD13.16
Science on the Fly: Enabling Science Autonomy During Robotic Traverse, pp. 1110-1111. Attachment
Wettergreen, David	Carnegie Mellon Univ.
Thompson, David	Jet Propulsion Lab. California Inst. of Tech.
15:40-15:45	TuD13.17
MagMites - Microrobots for Wireless Microhandling in Dry and Wet Environments, pp. 1112-1113. Attachment
Frutiger, Dominic R.	ETH Zurich
Kratochvil, Bradley	ETH Zurich
Nelson, Bradley J.	ETH Zurich
15:45-15:50	TuD13.18
Hybrid Aerial and Scansorial Robotics, pp. 1114-1115. Attachment
Lussier Desbiens, Alexis	Stanford Univ.
Asbeck, Alan	Stanford Univ.
Dastoor, Sanjay	Stanford Univ.
Cutkosky, Mark	Stanford Univ.

TuE1	Egan Center Street Level Room Arteaga
Aerial Vehicles: Planning and Control (Regular Sessions)
Chair: Michael, Nathan	Univ. of Pennsylvania
Co-Chair: Abbeel, Pieter	Stanford Univ.
16:10-16:25	TuE1.1
A Robust State Estimation Method against GNSS Outage for Unmanned Miniature Helicopters, pp. 1116-1122.
Lau, Tak Kit	The Chinese Univ. of Hong Kong
Liu, Yunhui	Chinese Univ. of Hong Kong
Lin, Kai Wun	The Chinese Univ. of Hong Kong
16:25-16:40	TuE1.2
Probabilistic Motion Planning of Balloons in Strong, Uncertain Wind Fields, pp. 1123-1129.
Wolf, Michael	Jet Propulsion Lab.
Blackmore, Lars	Jet Propulsion Lab. California Inst. of
Kuwata, Yoshiaki	Jet Propulsion Lab.
Fathpour, Nanaz	Jet Propulsion Lab.
Newman, Claire	California Inst. of Tech.
Elfes, Alberto	Jet Propulsion Lab.
16:40-16:55	TuE1.3
Out-Of-Plane Orbit Estimation and Tracking for Aerial Recovery of Micro Air Vehicles, pp. 1130-1135.
Carlson, Daniel	Brigham Young Univ.
Colton, Mark	Brigham Young Univ.
16:55-17:10	TuE1.4
Circulation of Curves Using Vector Fields: Actual Robot Experiments in 2D and 3D Workspaces, pp. 1136-1141.
Gonçalves, Vinicius Mariano	UFMG
Pimenta, Luciano	Univ. Federal de Minas Gerais
Maia, Carlos Andrey	UFMG
Pereira, Guilherme	Univ. Federal de Minas Gerais
Dutra, Bruno C. O.	Univ. Federal de Minas Gerais
Michael, Nathan	Univ. of Pennsylvania
Fink, Jonathan	Univ. of Pennsylvania
Kumar, Vijay	Univ. of Pennsylvania
17:10-17:25	TuE1.5
Parameterized Maneuver Learning for Autonomous Helicopter Flight, pp. 1142-1148.
Tang, Jie	Univ. of California, Berkeley
Singh, Arjun	Univ. of California, Berkeley
Goehausen, Nimbus	Univ. of California, Berkeley
Abbeel, Pieter	Stanford Univ.
17:25-17:40	TuE1.6
Hovering Control of Vectored Thrust Aerial Vehicles, pp. 1149-1154.
Kumon, Makoto	Graduate School of Science and Tech. Kumamoto
Cover, Hugh	The Univ. of New South Wales
Katupitiya, Jayantha	The Univ. of New South Wales

TuE2	Egan Center Lower Level Room 6
Mechanism Design for Manipulators (Regular Sessions)
Chair: Arsenault, Marc	Royal Military Coll. of Canada
Co-Chair: Krovi, Venkat	Univ. at Buffalo (SUNY)
16:10-16:25	TuE2.1
Optimal Technology-Oriented Design of Parallel Robots for High-Speed Machining Applications, pp. 1155-1161.
Briot, Sébastien	IRCCyN
Pashkevich, Anatol	Ec. des Mines de Nantes
Chablat, Damien	IRCCyN
16:25-16:40	TuE2.2
Development of Power Robot Hand with Shape Adaptability Using Hydraulic McKibben Muscles, pp. 1162-1168.
Mori, Mayuko	Okayama Univ.
Suzumori, Koichi	Okayama Univ.
Wakimoto, Shuichi	Okayama Univ.
Kanda, Takefumi	Okayama Univ.
Masayuki, Takahashi	Company
Takashi, Hosoya	Company
Takematu Emi, Takematu Emi	ShinMaywa Industries, Ltd.
16:40-16:55	TuE2.3
Flexible Space Robotic Manipulator with Passively Switching Free Joint to Drive Joint, pp. 1169-1174.
Otsuki, Masatsugu	Inst. of Space and Astronautical Science, JAXA
16:55-17:10	TuE2.4
Torque and Stiffness Workspace Analysis for Flexible Tendon Driven Mechanisms, pp. 1175-1181.
Chalon, Maxime	German Aerospace Center (DLR)
Wimboeck, Thomas	German Aerospace Center (DLR)
Hirzinger, Gerd	German Aerospace Center (DLR)
17:10-17:25	TuE2.5
Optimization of the Prestress Stable Wrench Closure Workspace of Planar Parallel Three-Degree-Of-Freedom Cable-Driven Mechanisms with Four Cables, pp. 1182-1187.
Arsenault, Marc	Royal Military Coll. of Canada
17:25-17:40	TuE2.6
A Formal Methodology for Avoiding Hyperstaticity When Connecting an Exoskeleton to a Human Member, pp. 1188-1195.
Jarrassé, Nathanaël	Univ. Pierre et Marie Curie - Paris6
Morel, Guillaume	Univ. Pierre et Marie Curie - Paris 6

TuE3	Egan Center Street Level Room Boardroom
Biomimetic Robots (Regular Sessions)
Chair: Kim, Sangbae	Massachusetts Inst. of Tech.
Co-Chair: Quinn, Roger, D.	Case Western Res. Univ.
16:10-16:25	TuE3.1
Towards a Multi-Segment Ambulatory Microrobot, pp. 1196-1202.
Hoffman, Katie	Harvard Univ.
Wood, Robert	Harvard Univ.
16:25-16:40	TuE3.2
Development of a Low Motion-Noise Humanoid Neck: Statics Analysis and Experimental Validation, pp. 1203-1208.
Gao, Bingtuan	Southeast Univ.
Xi, Ning	Michigan State Univ.
Shen, Yantao	Univ. of Nevada, Reno
Zhao, Jianguo	Michigan State Univ.
Yang, Ruiguo	Michigan State Univ.
16:40-16:55	TuE3.3
Actuated Bivalve Robot Study of the Burrowing Locomotion in Sediment, pp. 1209-1214.
Koller-Hodac, Agathe	Univ. of Applied Sciences Rapperswil
Germann, Daniel Peter	Univ. of Zurich, Switzerlad
Gilgen, Alexander	HSR Hochschule für Tech. Rapperswil
Dietrich, Katja	HSR
Hadorn, Maik	Univ. of Zurich
Schatz, Wolfgang	Univ. of Lucerne
Eggenberger Hotz, Peter	Univ. of Southern Denmark
16:55-17:10	TuE3.4
Spatial Memory and Learning: Towards a Set of Metrics to Evaluate Task Performance in Rats and Robots, pp. 1215-1220.
Weitzenfeld, Alfredo	Univ. of South Florida Pol.
Barrera, Alejandra	ITAM
Ramirez-Amaya, Victor	INB-UNAM
Caceres, Alejandra	UNAM
17:10-17:25	TuE3.5
A New Theory and Methods for Creating Peristaltic Motion in a Robotic Platform, pp. 1221-1227. Attachment
Boxerbaum, Alexander	Case Western Res. Univ.
Chiel, Hillel	Case Western Res. Univ.
Quinn, Roger, D.	Case Western Res. Univ.
17:25-17:40	TuE3.6
Peristaltic Locomotion with Antagonistic Actuators in Soft Robotics, pp. 1228-1233. Attachment
Seok, SangOk	MIT
Onal, Cagdas Denizel	Massachusetts Inst. of Tech.
Wood, Robert	Harvard Univ.
Rus, Daniela	MIT
Kim, Sangbae	Massachusetts Inst. of Tech.

TuE4	Egan Center Lower Level Room 1
Field Robotics (Regular Sessions)
Chair: Sugano, Shigeki	Waseda Univ.
Co-Chair: Martinet, Philippe	Blaise Pascal Univ.
16:10-16:25	TuE4.1
Automated Robotic Grinding of the Control Rod Drive Mechanism J-Groove Weld at PWR Nuclear Power Plants, pp. 1234-1240.
Smoljkic, Gabrijel	Inetec, Inst. for nuclear Tech.
Sinkic, Marko	Inetec, Inst. for nuclear Tech.
Hrvoje, Franjic	Inetec, Inst. for nuclear Tech.
16:25-16:40	TuE4.2
Adaptive Formation Control of a Fleet of Mobile Robots: Application to Autonomous Field Operations, pp. 1241-1246.
Lenain, Roland	Cemagref
Preynat, Johan	Cemagref
Thuilot, Benoit	Clermont-Ferrand Univ.
Avanzini, Pierre	Univ. Blaise Pascal
Martinet, Philippe	Blaise Pascal Univ.
16:40-16:55	TuE4.3
Anytime Online Novelty Detection for Vehicle Safeguarding, pp. 1247-1254.
Sofman, Boris	Carnegie Mellon Univ.
Bagnell, James	Carnegie Mellon Univ.
Stentz, Anthony	Carnegie Mellon Univ.
16:55-17:10	TuE4.4
Continuous Path Tracing by a Cable-Suspended, Under-Actuated Robot: The Winch-Bot, pp. 1255-1260.
Cunningham, Daniel	MIT
Asada, Harry	MIT
17:10-17:25	TuE4.5
Mathematical Modelling of Container Transfers for a Fleet of Autonomous Straddle Carriers, pp. 1261-1266. Attachment
Yuan, Shuai	Univ. of Tech. Sydney
Skinner, Brad	Unversity of Tech. Sydney
Huang, Shoudong	Univ. of Tech. Sydney
Liu, Dikai	FacultyofEngineering
Dissanayake, Gamini	Univ. of Tech. Sydney
Lau, Haye	Univ. of Tech. Sydney
Pagac, Daniel	Patrick Tech. Systems
Pratley, Tim	Patrick Tech. Systems
17:25-17:40	TuE4.6
A Framework of State Identification for Operational Support Based on Task-Phase and Attentional-Condition Identification, pp. 1267-1272.
Kamezaki, Mitsuhiro	Waseda Univ.
Iwata, Hiroyasu	Waseda Univ.
Sugano, Shigeki	Waseda Univ.

TuE5	Egan Center Lower Level Room 13/14
Grasping: Algorithms (Regular Sessions)
Chair: Allen, Peter	Columbia Univ.
Co-Chair: Rimon, Elon	Tech.
16:10-16:25	TuE5.1
Performances of the Central-Axis Approach in Grasp Analysis, pp. 1273-1278.
Bounab, Belkacem	Military Pol. School
Sidobre, Daniel	Univ. of toulouse
Zaatri, Abdelouahab	Univ. Mentouri_Constantine
16:25-16:40	TuE5.2
Efficient Grasping of Novel Objects through Dimensionality Reduction, pp. 1279-1285. Attachment
Balaguer, Benjamin	Univ. of California, Merced
Carpin, Stefano	Univ. of California, Merced
16:40-16:55	TuE5.3
Immobilizing 2D Serial Chains in Form Closure Grasps, pp. 1286-1291.
Rimon, Elon	Tech.
van der Stappen, Frank	Utrecht Univ.
16:55-17:10	TuE5.4
Data-Driven Optimization for Underactuated Robotic Hands, pp. 1292-1299.
Ciocarlie, Matei	Columbia Univ.
Allen, Peter	Columbia Univ.
17:10-17:25	TuE5.5
A Fast N-Dimensional Ray-Shooting Algorithm for Grasping Force Optimization, pp. 1300-1305.
Zheng, Yu	Univ. of North Carolina at Chapel Hill
Lin, Ming C.	Univ. of North Carolina
Manocha, Dinesh	UNC at Chapel Hill
17:25-17:40	TuE5.6
Object Modeling Using a ToF Camera under an Uncertainty Reduction Approach, pp. 1306-1312.
Foix, Sergi	CSIC-UPC
Alenyŕ, Guillem	CSIC-UPC
Andrade-Cetto, Juan	CSIC-UPC
Torras, Carme	CSIC - UPC

TuE6	Egan Center Lower Level Room 2
Haptic Controls (Regular Sessions)
Chair: Kuchenbecker, Katherine J.	Univ. of Pennsylvania
Co-Chair: Cavusoglu, M. Cenk	Case Western Res. Univ.
16:10-16:25	TuE6.1
Time Domain Passivity Control for Multi-Degree of Freedom Haptic Systems with Time Delay, pp. 1313-1319.
Hertkorn, Katharina	German Aerospace Center (DLR)
Hulin, Thomas	German Aerospace Center (DLR)
Kremer, Philipp	German Aerospace Center (DLR)
Preusche, Carsten	DLR
Hirzinger, Gerd	German Aerospace Center (DLR)
16:25-16:40	TuE6.2
Multi-Dimensional Passive Sampled Port-Hamiltonian Systems, pp. 1320-1326.
Franken, Michel	Univ. of Twente
Reilink, Rob	Univ. of Twente
Misra, Sarthak	Univ. of Twente
Stramigioli, Stefano	Univ. of Twente
16:40-16:55	TuE6.3
A Digital Input Shaper for Stable and Transparent Haptic Interaction, pp. 1327-1332.
Lim, Yo-An	Gwangju Inst. of Science and Tech.
Ryu, Jeha	Gwangju Inst. Science & Tech.
16:55-17:10	TuE6.4
Peer-To-Peer Control Architecture for Multiuser Haptic Collaboration Over Undirected Delayed Packet-Switching Network, pp. 1333-1338.
Lee, Dongjun	Univ. of Tennessee-Knoxville
Huang, Ke	Univ. of Tennessee
17:10-17:25	TuE6.5
Three-Dimensional Human Arm and Hand Dynamics and Variability Model for a Stylus-Based Haptic Interface, pp. 1339-1346.
Fu, Michael J.	Case Western Res. Univ.
Cavusoglu, M. Cenk	Case Western Res. Univ.
17:25-17:40	TuE6.6
Control of a High Fidelity Ungrounded Torque Feedback Device: The Itorqu 2.1, pp. 1347-1352.
Winfree, Kyle	Univ. of Delaware
Romano, Joseph M.	Univ. of Pennsylvania
Gewirtz, Jamie	Univ. of Pennsylvania
Kuchenbecker, Katherine J.	Univ. of Pennsylvania

TuE7	Egan Center Lower Level Room 11/12
Feature Matching for SLAM (Regular Sessions)
Chair: Holz, Dirk	Univ. of Bonn
Co-Chair: Park, Sung-Kee	Korea Inst. of Science and Tech.
16:10-16:25	TuE7.1
High Quality Pose Estimation by Aligning Multiple Scans to a Latent Map, pp. 1353-1360.
Huang, Qi-Xing	Stanford Univ.
Anguelov, Dragomir	Google
16:25-16:40	TuE7.2
Spectral Scan Matching and Its Application to Global Localization for Mobile Robots, pp. 1361-1366.
Park, Soonyong	Korea Inst. of Science and Tech.
Park, Sung-Kee	Korea Inst. of Science and Tech.
16:40-16:55	TuE7.3
A Generalization of the Metric-Based Iterative Closest Point Technique for 3D Scan Matching, pp. 1367-1372.
Armesto, Leopoldo	Tech. Univ. of valencia
Minguez, Javier	Univ. of Zaragoza
Montesano, Luis	Univ. de Zaragoza
16:55-17:10	TuE7.4
Linearization of Rotations for Globally Consistent N-Scan Matching, pp. 1373-1379. Attachment
Nuechter, Andreas	Jacobs Univ. Bremen gGmbH
Elseberg, Jan	Jacobs Univ. Bremen
Schneider, Peter	Univ. of Koblenz-Landau
Paulus, Dietrich	Univ. Koblenz-Landau
17:10-17:25	TuE7.5
Sancta Simplicitas - on the Efficiency and Achievable Results of SLAM Using ICP-Based Incremental Registration, pp. 1380-1387.
Holz, Dirk	Univ. of Bonn
Behnke, Sven	Univ. of Bonn
17:25-17:40	TuE7.6
Extracting General-Purpose Features from LIDAR Data, pp. 1388-1393.
Li, Yangming	Univ. of Michigan
Olson, Edwin	Univ. of Michigan

TuE8	Egan Center Street Level Room Cook Hall
Place Recognition and Localization (Regular Sessions)
Chair: Burgard, Wolfram	Univ. of Freiburg
Co-Chair: Lyons, Damian	Fordham Univ.
16:10-16:25	TuE8.1
Visual Landmark Generation and Redetection with a Single Feature Per Frame, pp. 1394-1399.
Frintrop, Simone	Univ. of Bonn
Cremers, Armin	Univ. of Bonn
16:25-16:40	TuE8.2
Robust Place Recognition for 3D Range Data Based on Point Features, pp. 1400-1405.
Steder, Bastian	Univ. of Freiburg
Grisetti, Giorgio	Unviersität Freiburg
Burgard, Wolfram	Univ. of Freiburg
16:40-16:55	TuE8.3
Indoor Scene Recognition through Object Detection, pp. 1406-1413.
Espinace, Pablo	Pontificia Univ. Catolica de Chile
Kollar, Thomas	MIT
Soto, Alvaro	Pontificia Univ. Catolica de Chile
Roy, Nicholas	Massachusetts Inst. of Tech.
16:55-17:10	TuE8.4
Detection and Filtering of Landmark Occlusions Using Terrain Spatiograms, pp. 1414-1419.
Lyons, Damian	Fordham Univ.
17:10-17:25	TuE8.5
Geo-Referencing for UAV Navigation Using Environmental Classification, pp. 1420-1425.
Lindsten, Fredrik	Linköping Univ.
Callmer, Jonas	Linköping Univ.
Ohlsson, Henrik	Linköping Univ.
Törnqvist, David	Linköping Univ.
Schön, Thomas	Linköping Univ.
Gustafsson, Fredrik	Linköping Univ.
17:25-17:40	TuE8.6
A Saliency-Based Approach to Boost Trail Detection, pp. 1426-1431.
Santana, Pedro	Univ. of Lisbon
Alves, Nelson	Univ. Nova de Lisboa
Correia, Luís	Univ. of Lisbon
Barata, Jose	Univ. Nova de Lisboa

TuE9	Egan Center Lower Level Room 3
Task Allocation, Coordination and Control in Distributed Robot Systems (Regular Sessions)
Chair: Martinoli, Alcherio	EPFL
Co-Chair: Parker, Lynne	Univ. of Tennessee
16:10-16:25	TuE9.1
A Fast and Frugal Method for Team-Task Allocation in a Multi-Robot Transportation System, pp. 1432-1437.
Wawerla, Jens	Simon Fraser Univ.
Vaughan, Richard	Simon Fraser Univ.
16:25-16:40	TuE9.2
Comparing and Modeling Distributed Control Strategies for Miniature Self-Assembling Robots, pp. 1438-1445. Attachment
Evans, William C.	Ec. Pol. Fédérale de Lausanne
Mermoud, Gregory	EPFL
Martinoli, Alcherio	EPFL
16:40-16:55	TuE9.3
Multirobot Coordination by Auctioning POMDPs, pp. 1446-1451.
Spaan, Matthijs	Inst. Superior Técnico - Inst. for Systems and Robotics
Goncalves, Nelson	Inst. Superior Técnico - Inst. for Systems and Robotics
Sequeira, Joao	Inst. Superior Técnico - Inst. for Systems andRobotics
16:55-17:10	TuE9.4
A General Information Quality Based Approach for Satisfying Sensor Constraints in Multirobot Tasks, pp. 1452-1459.
Zhang, Yu (Tony)	Univ. of Tennessee
Parker, Lynne	Univ. of Tennessee
17:10-17:25	TuE9.5
Dynamic Vehicle Routing with Stochastic Time Constraints, pp. 1460-1467.
Pavone, Marco	Massachusetts Inst. of Tech.
Frazzoli, Emilio	Massachusetts Inst. of Tech.
17:25-17:40	TuE9.6
Cooperative Control Synthesis for Moving-Target-Enclosing with Changing Topologies, pp. 1468-1473.
Guo, Jing	Zhejiang Univ.
Yan, Gangfeng	Zhejiang Univ.
Lin, Zhiyun	Zhejiang Univ.

TuE10	Egan Center Lower Level Room 9/10
Motion Planning, Scheduling and Coordination (Regular Sessions)
Chair: Zhang, Jianwei	Univ. of Hamburg
Co-Chair: Beetz, Michael	Tech. Univ. München
16:10-16:25	TuE10.1
On the Transparency of Automata As Discrete-Event Control Specifications, pp. 1474-1479.
Pham, Manh Tung	Nanyang Tech. Univ.
Dhananjayan, Amrith	Nanyang Tech. Univ.
Seow, Kiam Tian	Nanyang Tech. Univ.
16:25-16:40	TuE10.2
A Door Opening Method by Modular Re-Configurable Robot with Joints Working on Passive and Active Modes, pp. 1480-1485.
Ahmad, Saleh	Ryerson Univ.
Liu, Guangjun	Ryerson Univ.
16:40-16:55	TuE10.3
Understanding and Executing Instructions for Everyday Manipulation Tasks from the World Wide Web, pp. 1486-1491.
Tenorth, Moritz	TU München
Nyga, Daniel	Tech. Univ. München
Beetz, Michael	Tech. Univ. München
16:55-17:10	TuE10.4
Probabilistic Collision State Checker for Crowded Environments, pp. 1492-1498.
Althoff, Daniel	Tech. Univ. München
Althoff, Matthias	Tech. Univ. München
Wollherr, Dirk	Tech. Univ. München
Buss, Martin	Tech. Univ. München
17:10-17:25	TuE10.5
Priming Transformational Planning with Observations of Human Activities, pp. 1499-1504.
Tenorth, Moritz	TU München
Beetz, Michael	Tech. Univ. München
17:25-17:40	TuE10.6
HTN Robot Planning in Partially Observable Dynamic Environments, pp. 1505-1510.
Weser, Martin	Univ. of Hamburg
Off, Dominik	Univ. of Hamburg
Zhang, Jianwei	Univ. of Hamburg

TuE11	Egan Center Lower Level Room 5
Image Processing, Estimation and Calibration (Regular Sessions)
Chair: Chaumette, Francois	INRIA Rennes-Bretagne Atlantique
Co-Chair: Tsuji, Toshiaki	Saitama Univ.
16:10-16:25	TuE11.1
Motion Estimation Using Physical Simulation, pp. 1511-1517.
Duff, Damien Jade	Univ. of Birmingham
Wyatt, Jeremy	Univ. of Birmingham
Stolkin, Rustam	Univ. of Birmingham
16:25-16:40	TuE11.2
Camera Parameters Auto-Adjusting Technique for Robust Robot Vision, pp. 1518-1523.
Lu, Huimin	National Univ. of Defense Tech.
Zhang, Hui	National Univ. of Defense Tech.
Yang, Shaowu	National Univ. of Defense Tech.
Zheng, Zhiqiang	National Univ. of Defense Tech.
16:40-16:55	TuE11.3
A New Sensor Self-Calibration Framework from Velocity Measurements, pp. 1524-1529.
Kermorgant, Olivier	IRISA/INRIA Rennes Bretagne Atlantique
Folio, David	IRISA
Chaumette, Francois	INRIA Rennes-Bretagne Atlantique
16:55-17:10	TuE11.4
Stacked Integral Image, pp. 1530-1535.
Bhatia, Amit	North Carolina State Univ.
Snyder, Wesley	North Carolina State Univ.
Bilbro, Griff	NC State Univ.
17:10-17:25	TuE11.5
2000 Fps Real-Time Vision System with High-Frame-Rate Video Recording, pp. 1536-1541. Attachment
Ishii, Idaku	Hiroshima Univ.
Tatebe, Tetsuro	Hiroshima Univ.
Gu, Qingyi	Hiroshima Univ.
Moriue, Yuta	Hiroshima Univ.
Takaki, Takeshi	Hiroshima Univ.
Tajima, Kenji	Photron Limited
17:25-17:40	TuE11.6
Specular Reflection Removal on High-Speed Camera for Robot Vision, pp. 1542-1547.
Tsuji, Toshiaki	Saitama Univ.

TuE12	Egan Center Lower Level Room 4
Medical Robot Systems I (Regular Sessions)
Chair: Woern, Heinz	Univ. Karlsruhe
Co-Chair: Reed, Kyle Brandon	Univ. of South Florida
16:10-16:25	TuE12.1
Preoperative Planning of Robotics-Assisted Minimally Invasive Coronary Artery Bypass Grafting, pp. 1548-1553.
Azimian, Hamidreza	The Univ. of Western Ontario
Breetzke, Jeremy	The Univ. of Western Ontario
Trejos, Ana Luisa	The Univ. of Western Ontario
Patel, Rajni	The Univ. of Western Ontario
Naish, Michael David	Univ. of Western Ontario
Peters, Terry M.	Robarts Res. Inst.
Moore, John T.	Robarts Res. Inst.
Wedlake, Chris	Robarts Res. Inst.
Kiaii, Bob	Lawson Health Res. Inst.
16:25-16:40	TuE12.2
Hazard Analysis of Fracture Reduction Robot and Its Application to Safety Design of Fracture-Reduction Assisting Robotic System, pp. 1554-1561.
Joung, Sanghyun	the Univ. fo tokyo
Liao, Hongen	The Univ. of Tokyo
Kobayashi, Etsuko	The Univ. of Tokyo
Mitsuishi, Mamoru	The Univ. of Tokyo
Nakajima, Yoshikazu	The Univ. of Tokyo
Sugano, Nobuhiko	Osaka Univ.
Sakuma, Ichiro	The Univ. of Tokyo
16:40-16:55	TuE12.3
Kinematic Path-Following Control of a Mobile Robot on Arbitrary Surface, pp. 1562-1567.
Kane, Gavin John	Univ. of Karlsruhe
Boesecke, Robert	Medical Univ. of Heidelberg
Raczkowsky, Joerg	Univ. of Karlsruhe (TH)
Woern, Heinz	Univ. Karlsruhe
16:55-17:10	TuE12.4
A New Micromanipulator System for Middle Ear Surgery, pp. 1568-1573.
Maier, Thomas	Tech. Univ. München
Strauß, Gero	Univ. Leipzig
Hofer, Mathias	Univ. Hospital Leipzig
Kraus, Tobias	TU München
Runge, Annette	Univ. Hospital Leipzig
Stenzel, Roland	Tech. Univ. München
Gumprecht, Jan David Jerome	Tech. Univ. München
Berger, Thomas	Department of ENT, Univ. Hospital Leipzig
Dietz, Andreas	Univ. Hospital Leipzig
Lueth, Tim C.	Tech. Univ. München
17:10-17:25	TuE12.5
Analysis of Earthworm Like Robotic Locomotion on Compliant Surface, pp. 1574-1579.
Zarrouk, David	Tech.
Sharf, Inna	McGill Univ.
Shoham, Moshe	Tech. Israel Inst. of Tech.

TuE13	Egan Center Lower Level Room 7/8
Microscale Actuation and Manipulation (Regular Sessions)
Chair: Dario, Paolo	Scuola Superiore Sant'Anna
Co-Chair: Kummer, Michael	ETH Zurich
16:10-16:25	TuE13.1
Principle, Characterization and Control of a New Hybrid Thermo-Piezoelectric Microactuator, pp. 1580-1585.
Rakotondrabe, Micky	FEMTO-st Inst.
Ivan, Ioan Alexandru	AS2M department, FEMTO-st Inst. 24, rue Alain Savary Besanç
16:25-16:40	TuE13.2
Rotary Nanomotors Based on Head-To-Head Nanotube Shuttles, pp. 1586-1591.
Hamdi, Mustapha	Ec. Nationale des Ponts et Chaussees
Subramanian, Arunkumar	Swiss Federal Inst. of Tech. (ETH), Zurich
Dong, Lixin	Michigan State Univ.
Ferreira, Antoine	Univ. of Orléans
Nelson, Bradley J.	ETH Zurich
16:40-16:55	TuE13.3
Design of an Autonomous Swimming Miniature Robot Based on a Novel Concept of Magnetic Actuation, pp. 1592-1597. Attachment
Tortora, Giuseppe	Scuola Superiore Sant'Anna
Caccavaro, Sebastiano	Scuola Superiore Sant'Anna
Valdastri, Pietro	Scuola Superiore Sant'Anna
Menciassi, Arianna	Scuola Superiore Sant'Anna - SSSA
Dario, Paolo	Scuola Superiore Sant'Anna
16:55-17:10	TuE13.4
Modeling and Analysis of Wireless Resonant Magnetic Microactuators, pp. 1598-1603.
Nagy, Zoltan	ETH Zurich
Frutiger, Dominic R.	ETH Zurich
Leine, Remco I.	ETH Zurich
Glocker, Christoph	ETH Zurich
Nelson, Bradley J.	ETH Zurich
17:10-17:25	TuE13.5
Magnetic Nanosheets Manipulation: Modeling, Development and Validation, pp. 1604-1609.
Mattoli, Virgilio	Istituto Italiano di Tecnologia, IIT
Sinibaldi, Edoardo	Istituto Italiano di Tecnologia, IIT
Pensabene, Virginia	Univ. di Genova, IIT
Taccola, Silvia	Scuola Superiore Sant'Anna
Menciassi, Arianna	Scuola Superiore Sant'Anna - SSSA
Dario, Paolo	Scuola Superiore Sant'Anna
17:25-17:40	TuE13.6
OctoMag: An Electromagnetic System for 5-DOF Wireless Micromanipulation, pp. 1610-1616. Attachment
Kummer, Michael	ETH Zurich
Abbott, Jake	Univ. of Utah
Kratochvil, Bradley	ETH Zurich
Borer, Ruedi	ETH Zurich
Sengul, Ali	Ec. Pol. Federale de Lausanne (EPFL)
Nelson, Bradley J.	ETH Zurich

TuF1	Egan Center Street Level Room Arteaga
Quadrotor Control (Regular Sessions)
Chair: Tzes, Anthony	Univ. of Patras
Co-Chair: Michael, Nathan	Univ. of Pennsylvania
17:45-18:00	TuF1.1
Mini-Quadrotor Attitude Control Based on Hybrid Backstepping & Frenet-Serret Theory, pp. 1617-1622. Attachment
Colorado, Julian	Pol. Univ. of Madrid
Barrientos, Antonio	UPM
Martinez, Alexander	UPM
Benjamin Lafaverges, Benjamin	INSA Lyon Inst. in France
Valente, Joao	Tech. Univ. of Madrid
18:00-18:15	TuF1.2
The True Role of Accelerometer Feedback in Quadrotor Control, pp. 1623-1629.
Martin, Philippe	MINES ParisTech
Salaün, Erwan	Georgia Inst. of Tech.
18:15-18:30	TuF1.3
Robust Take-Off and Landing for a Quadrotor Vehicle, pp. 1630-1635.
Cabecinhas, David	Inst. Superior Tecnico
Naldi, Roberto	CASY - D.E.I.S. - Univ. di Bologna
Marconi, Lorenzo	Univ. of Bologna
Silvestre, Carlos	Inst. Superior Tecnico
Cunha, Rita	Inst. Superior Tecnico
18:30-18:45	TuF1.4
Design and Experimental Verification of a Constrained Finite Time Optimal Control Scheme for the Attitude Control of a Quadrotor Helicopter Subject to Wind Gusts, pp. 1636-1641.
Alexis, Kostas	Univ. of Patras
Nikolakopoulos, George	Univ. of Patras
Tzes, Anthony	Univ. of Patras
18:45-19:00	TuF1.5
A Simple Learning Strategy for High-Speed Quadrocopter Multi-Flips, pp. 1642-1648. Attachment
Lupashin, Sergei	ETH Zurich
Schöllig, Angela	ETH Zürich
Sherback, Michael	ETH Zurich
D'Andrea, Raffaello	ETHZ
19:00-19:15	TuF1.6
Design of Guaranteed Safe Maneuvers Using Reachable Sets: Autonomous Quadrotor Aerobatics in Theory and Practice, pp. 1649-1654.
Gillula, Jeremy	Stanford Univ.
Huang, Haomiao	Stanford Univ.
Vitus, Michael	Stanford Univ.
Tomlin, Claire	UC Berkeley

TuF2	Egan Center Lower Level Room 6
Compliance in Actuation and Design (Regular Sessions)
Chair: Asada, Harry	MIT
Co-Chair: Song, Jae-Bok	Korea Univ.
17:45-18:00	TuF2.1
Hybrid Dual Actuator Unit: A Design of a Variable Stiffness Actuator Based on an Adjustable Moment Arm Mechanism, pp. 1655-1660. Attachment
Kim, Byeong-Sang	Korea Univ.
Song, Jae-Bok	Korea Univ.
18:00-18:15	TuF2.2
Phased-Array Piezoelectric Actuators Using a Buckling Mechanism Having Large Displacement Amplification and Nonlinear Stiffness, pp. 1661-1667.
Neal, Devin	MIT
Asada, Harry	MIT
18:15-18:30	TuF2.3
A Variable Physical Damping Actuator (VPDA) for Compliant Robotic Joints, pp. 1668-1674. Attachment
Laffranchi, Matteo	Italian Inst. of Tech.
Tsagarakis, Nikolaos	Italian Inst. of Tech. (IIT)
Caldwell, Darwin G.	Italian Inst. of Tech.
18:30-18:45	TuF2.4
Scaling up Shape Memory Alloy Actuators Using a Recruitment Control Architecture, pp. 1675-1680. Attachment
Odhner, Lael	Yale Univ.
Asada, Harry	MIT
18:45-19:00	TuF2.5
Modeling and Implementation of Solder-Activated Joints for Single-Actuator, Centimeter-Scale Robotic Mechanisms, pp. 1681-1686.
Telleria, Maria	Massachusetts Insitute of Tech.
Hansen, Malik	Boston Dynamics
Campbell, Donald	Boston Dynamics
Culpepper, Martin	MIT
Servi, Amelia	Massachusetts Inst. of Tech.
19:00-19:15	TuF2.6
On Joint Design with Intrinsic Variable Compliance: Derivation of the DLR QA-Joint, pp. 1687-1694. Attachment
Eiberger, Oliver	DLR - German Aerospace Center
Haddadin, Sami	German Aerospace Center (DLR)
Weis, Michael	German Aerospace Center
Albu-Schäffer, Alin	DLR - German Aerospace Center
Hirzinger, Gerd	German Aerospace Center (DLR)

TuF3	Egan Center Street Level Room Boardroom
Bipedal Locomotion (Regular Sessions)
Chair: Spong, Mark	Univ. of Texas at Dallas
Co-Chair: Asano, Fumihiko	Japan Advanced Inst. of Science and Tech.
17:45-18:00	TuF3.1
Asymptotically Stable Gait Primitives for Planning Dynamic Bipedal Locomotion in Three Dimensions, pp. 1695-1702. Attachment
Gregg, Robert	Univ. of Illinois at Urbana-Champaign
Bretl, Timothy	Univ. of Illinois at Urbana-Champaign
Spong, Mark	Univ. of Texas at Dallas
18:00-18:15	TuF3.2
Simulation and Experimental Studies on Passive-Dynamic Walker That Consists of Two Identical Crossed Frames, pp. 1703-1708. Attachment
Asano, Fumihiko	Japan Advanced Inst. of Science and Tech.
18:15-18:30	TuF3.3
Biped Blind Walking on Changing Slope with Reflex Control System, pp. 1709-1714.
Tan, Feng	Tsinghua Univ.
Fu, Chenglong	Tsinghua Univ.
Chen, Ken	Tsinghua Univ.
18:30-18:45	TuF3.4
Gait Synthesis for a Three-Link Planar Biped Walker with One Actuator, pp. 1715-1720.
La Hera, Pedro	Umeĺ Univ.
Shiriaev, Anton	Umea Univ.
Freidovich, Leonid	Umeĺ Univ.
Mettin, Uwe	Umeĺ Univ.
18:45-19:00	TuF3.5
Bifurcations and Chaos in Passive Walking of a Compass-Gait Biped with Asymmetries, pp. 1721-1726.
Moon, Jae-Sung	Univ. of Illinois at Urbana-Champaign
Spong, Mark	Univ. of Texas at Dallas
19:00-19:15	TuF3.6
Joint Proprioception Acquisition Strategy Based on Joints-Muscles Topological Maps for Musculoskeletal Humanoids, pp. 1727-1732.
Nakanishi, Yuto	The Univ. of Tokyo
Hongo, Kazuo	The Univ. of Tokyo
Mizuuchi, Ikuo	Tokyo Univ. of Agriculture and Tech.
Inaba, Masayuki	The Univ. of Tokyo

TuF4	Egan Center Lower Level Room 1
Teleoperation and Networked Robots (Regular Sessions)
Chair: Chopra, Nikhil	Univ. of Maryland, Coll. Park
Co-Chair: Tadokoro, Satoshi	Tohoku Univ.
17:45-18:00	TuF4.1
Plugfest 2009: Global Interoperability in Telerobotics and Telemedicine, pp. 1733-1738.
King, H. Hawkeye	Univ. of Washington
Hannaford, Blake	Univ. of Washington
Kwok, Ka Wai	Imperial Coll. London
Yang, Guang-Zhong	Imperial Coll. London
Griffiths, Paul	Johns Hopkins Univ.
Okamura, Allison M.	Johns Hopkins Univ.
Farkhatdinov, Ildar	Korea Univ. of Tech. and Education
Ryu, Jee-Hwan	Korea Univ. of Tech. and Education
Sankaranarayanan, Ganesh	Rensselaer Pol. Inst.
Arikatla, Venkata Sreekanth	Rensselaer Pol. Inst.
Tadano, Kotaro	Tokyo Inst. of Tech.
Kawashima, Kenji	Tokyo Inst. of Tech.
Peer, Angelika	Tech. Univ. München
Schauß, Thomas	Tech. Univ. München
Buss, Martin	Tech. Univ. München
Miller, Levi Makaio	Univ. of Washington
Glozman, Daniel	Univ. of California Santa Cruz
Rosen, Jacob	Univ. of California at Santa Cruz
Low, Thomas	SRI International
18:00-18:15	TuF4.2
Towards a Situated, Multimodal Interface for Multiple UAV Control, pp. 1739-1744.
Jones, Geraint	Univ. Coll. London
Berthouze, Nadia	UCL
Bielski, Roman	Univ. Coll. London
Julier, Simon Justin	Univ. Coll. London
18:15-18:30	TuF4.3
An Evaluation of Local Autonomy Applied to Teleoperated Vehicles in Underground Mines, pp. 1745-1752.
Larsson, Johan	Örebro Univ.
Broxvall, Mathias	Örebro Univ.
Saffiotti, Alessandro	Orebro Univ.
18:30-18:45	TuF4.4
Real-Time Remote Transmission of Multiple Tactile Properties through Master-Slave Robot System, pp. 1753-1760.
Yamauchi, Takahiro	Tohoku Univ.
Okamoto, Shogo	Tohoku Univ.
Konyo, Masashi	Tohoku Univ.
Hidaka, Yusuke	Keio Univ.
Maeno, Takashi	Keio Univ.
Tadokoro, Satoshi	Tohoku Univ.
18:45-19:00	TuF4.5
An Attitude Control System for Underwater Vehicle-Manipulator Systems, pp. 1761-1767.
Sakagami, Norimitsu	Tokai Univ.
Shibata, Mizuho	Ritsumeikan Univ.
Kawamura, Sadao	Ritsumeikan Univ.
Inoue, Toshifumi	Dainippon Screen Manufacturing Co. Ltd.
Onishi, Hiroyuki	Dainippon Screen Manufacturing Co. Ltd.
Murakami, Shigeo	Dainippon Screen Manufacturing Co. Ltd.
19:00-19:15	TuF4.6
Control of Robotic Manipulators under Time-Varying Sensing-Control Delays, pp. 1768-1773.
Chopra, Nikhil	Univ. of Maryland, Coll. Park

TuF5	Egan Center Lower Level Room 13/14
Mobile Manipulation (Regular Sessions)
Chair: Kemp, Charlie	Georgia Inst. of Tech.
Co-Chair: Morrell, John	Yale Univ.
17:45-18:00	TuF5.1
Contact Feature Extraction on a Balancing Manipulation Platform, pp. 1774-1779.
McClung, Arthur	Yale Univ.
Zheng, Ying (Jean)	Yale Univ.
Morrell, John	Yale Univ.
18:00-18:15	TuF5.2
Interaction Analysis and Posture Optimization for a Reconfigurable Tracked Mobile Modular Manipulator Negotiating Slopes, pp. 1780-1785.
Liu, Yugang	Ryerson Univ.
Liu, Guangjun	Ryerson Univ.
18:15-18:30	TuF5.3
Optimized Dual-Trajectory Tracking Control of a 9-DoF WMRA System for ADL Tasks, pp. 1786-1791.
Farelo, Fabian	Univ. of South Florida
Alqasemi, Redwan	Univ. of South Florida
Dubey, Rajiv	Univ. of South Florida
18:30-18:45	TuF5.4
Kinematic Control of Nonholonomic Mobile Manipulators in the Presence of Steering Wheels, pp. 1792-1798. Attachment
De Luca, Alessandro	Univ. di Roma "La Sapienza"
Oriolo, Giuseppe	Univ. di Roma "La Sapienza"
Robuffo Giordano, Paolo	Max Planck Inst. for Biological Cybernetics
18:45-19:00	TuF5.5
Planning for Autonomous Door Opening with a Mobile Manipulator, pp. 1799-1806. Attachment
Chitta, Sachin	Willow Garage Inc.
Cohen, Benjamin	Univ. of Pennsylvania
Likhachev, Maxim	Univ. of Pennsylvania
19:00-19:15	TuF5.6
Pulling Open Doors and Drawers: Coordinating an Omni-Directional Base and a Compliant Arm with Equilibrium Point Control, pp. 1807-1814. Attachment
Jain, Advait	Georgia Inst. of Tech.
Kemp, Charlie	Georgia Inst. of Tech.

TuF6	Egan Center Lower Level Room 2
Haptic Interfaces (Regular Sessions)
Chair: Kuchenbecker, Katherine J.	Univ. of Pennsylvania
Co-Chair: Motard, Elvina	Space Applications Services
17:45-18:00	TuF6.1
Automatic Filter Design for Synthesis of Haptic Textures from Recorded Acceleration Data, pp. 1815-1821.
Romano, Joseph M.	Univ. of Pennsylvania
Yoshioka, Takashi	Johns Hopkins Univ.
Kuchenbecker, Katherine J.	Univ. of Pennsylvania
18:00-18:15	TuF6.2
Development of a 2-DOF Softness Feeling Display for Tactile Tele-Presentation of Deformable Surfaces, pp. 1822-1827.
Kimura, Fuminobu	Univ. of Tokyo
Yamamoto, Akio	Univ. of Tokyo
Higuchi, Toshiro	The Univ. of Tokyo
18:15-18:30	TuF6.3
Accurate Modeling of Low-Cost Piezoresistive Force Sensors for Haptic Interfaces, pp. 1828-1833.
Paredes-Madrid, Leonel	Inst. of Industrial Automation-CSIC
Torruella Naranjo, Pedro Manuel	Inst. of Industrial Automation - CSIC
Solaeche Estrada, Paul	Inst. of Industrial Automation - CSIC
Galiana, Ignacio	Univ. Pol. de Madrid
Gonzalez de Santos, Pablo	Industrial Automation Inst. - CSIC
18:30-18:45	TuF6.4
Shared Decision Making in a Collaborative Task with Reciprocal Haptic Feedback - an Efficiency-Analysis, pp. 1834-1839.
Groten, Raphaela	Tech. Univ. München
Feth, Daniela	Tech. Univ. München
Peer, Angelika	Tech. Univ. München
Buss, Martin	Tech. Univ. München
18:45-19:00	TuF6.5
EXOSTATION : Haptic Exoskeleton Based Control Station, pp. 1840-1845.
Letier, Pierre	ULB
Motard, Elvina	Space Applications Services
Verschueren, Jean-Philippe	Micromega Dynamics
19:00-19:15	TuF6.6
A Robotic Hand Rehabilitation System with Interactive Gaming Using Novel Electro-Rheological Fluid Based Actuators, pp. 1846-1851.
Unluhisarcikli, Ozer	Northeastern Univ.
Weinberg, Brian	Northeastern Univ.
Sivak, Mark	Northeastern Univ.
Mirelman, Anat	Tel-Aviv Sourasky Medical Center, Israel
Bonato, Paolo	Harvard Medical School
Mavroidis, Constantinos	Northeastern Univ.

TuF7	Egan Center Lower Level Room 11/12
Learning and Adaptation for Sensing (Regular Sessions)
Chair: Siskind, Jeffrey Mark	Purdue Univ.
Co-Chair: Papanikolopoulos, Nikos	Univ. of Minnesota
17:45-18:00	TuF7.1
How to Separate Containers from Non-Containers? a Behavior-Grounded Approach to Acoustic Object Categorization, pp. 1852-1859.
Griffith, Shane	Iowa State Univ.
Sinapov, Jivko	Iowa State Univ.
Sukhoy, Vlad	Iowa State Univ.
Stoytchev, Alexander	Iowa State Univ.
18:00-18:15	TuF7.2
Body Schema Acquisition through Active Learning, pp. 1860-1866.
Martinez-Cantin, Ruben	Inst. Superior Tecnico
Lopes, Manuel	Univ. of Plymouth
Montesano, Luis	Univ. de Zaragoza
18:15-18:30	TuF7.3
Fully Autonomous Trajectory Estimation with Long-Range Passive RFID, pp. 1867-1872.
Vorst, Philipp	Univ. of Tübingen
Zell, Andreas	Univ. of Tübingen
18:30-18:45	TuF7.4
Multi-Class Batch-Mode Active Learning for Image Classification, pp. 1873-1878.
Joshi, Ajay	Univ. of Minnesota
Porikli, Fatih	Mitsubishi Electric Res. Lab.
Papanikolopoulos, Nikos	Univ. of Minnesota
18:45-19:00	TuF7.5
Learning Physically-Instantiated Game Play through Visual Observation, pp. 1879-1886.
Barbu, Andrei	Purdue Univ.
Narayanaswamy, Siddharth	Purdue Univ.
Siskind, Jeffrey Mark	Purdue Univ.
19:00-19:15	TuF7.6
Inferring the Semantics of Direction Signs in Public Places, pp. 1887-1892.
Maye, Jerome	ETH Zurich
Spinello, Luciano	Albert-Ludwigs-Univ. Freiburg
Triebel, Rudolph	ETH Zurich
Siegwart, Roland	ETH Zurich

TuF8	Egan Center Street Level Room Cook Hall
Visual Odometry (Regular Sessions)
Chair: Kim, Jinwook	Korea Inst. of Science and Tech.
Co-Chair: Vasseur, Pascal	Univ. of Picardie - Jules Verne
17:45-18:00	TuF8.1
VICP: Velocity Updating Iterative Closest Point Algorithm, pp. 1893-1898.
Hong, Seungpyo	Korea Inst. of Science and Tech.
Ko, Heedong	KIST
Kim, Jinwook	Korea Inst. of Science and Tech.
18:00-18:15	TuF8.2
A Bearing-Only 2D/3D-Homing Method under Visual Servoing Framework, pp. 4062-4067.
Liu, Ming	ETH Zurich
Pradalier, Cedric	ETH Zurich
Chen, Qijun	Tongji Univ.
Siegwart, Roland	ETH Zurich
18:15-18:30	TuF8.3
RANSAC Matching: Simultaneous Registration and Segmentation, pp. 1905-1912.
Yang, Shao-Wen	National Taiwan Univ.
Wang, Chieh-Chih	National Taiwan Univ.
Chang, Chun-Hua	Nation Taiwan Univ.
18:30-18:45	TuF8.4
Vision-Based Pose Estimation for Autonomous Indoor Navigation of Micro-Scale Unmanned Aircraft Systems, pp. 1913-1920.
Rudol, Piotr	Linköping Univ.
Wzorek, Mariusz	Linkoping Univ.
Doherty, Patrick	AIICS - Univ. of Linkopings
18:45-19:00	TuF8.5
Vision-Based Navigation with Pose Recovery under Visual Occlusion and Kidnapping, pp. 1921-1927. Attachment
Kim, Jungho	KAIST
Kweon, In So	KAIST
19:00-19:15	TuF8.6
Translation Estimation for Single Viewpoint Cameras Using Lines, pp. 1928-1933.
Ly, Sang	Univ. de Picardie Jules Verne
Demonceaux, Cédric	Univ. of Picardie - Jules Verne
Vasseur, Pascal	Univ. of Picardie - Jules Verne

TuF9	Egan Center Lower Level Room 3
Communication and Motion Planning in Robot Networks (Invited Sessions)
Chair: Fierro, Rafael	Univ. of New Mexico
Co-Chair: Mostofi, Yasamin	Univ. of New Mexico
Organizer: Mostofi, Yasamin	Univ. of New Mexico
Organizer: Fierro, Rafael	Univ. of New Mexico
17:45-18:00	TuF9.1
Adaptive Exploitation of Multipath Fading for Mobile Sensors, pp. 1934-1939.
Lindhé, Magnus	Royal Inst. of Tech.
Johansson, Karl H.	Royal Inst. of Tech.
18:00-18:15	TuF9.2
Online Methods for Radio Signal Mapping with Mobile Robots (I), pp. 1940-1945. Attachment
Fink, Jonathan	Univ. of Pennsylvania
Kumar, Vijay	Univ. of Pennsylvania
18:15-18:30	TuF9.3
Estimation of Communication Signal Strength in Robotic Networks (I), pp. 1946-1951.
Mostofi, Yasamin	Univ. of New Mexico
Malmirchegini, Mehrzad	Univ. of New Mexico
Ghaffarkhah, Alireza	Univ. of New Mexico
18:30-18:45	TuF9.4
Maintaining Connectivity in Environments with Obstacles, pp. 1952-1957.
Tekdas, Onur	Univ. of Minnesota
Plonski, Patrick	Univ. of Minnesota
Karnad, Nikhil	Univ. of Minnesota, Twin-Cities
Isler, Volkan	Univ. of Minnesota
18:45-19:00	TuF9.5
Semi-Autonomous Networks: Theory and Decentralized Protocols (I), pp. 1958-1963.
Chapman, Airlie	Univ. of Washington
Schoof, Eric	Univ. of Washington
Mesbahi, Mehran	Univ. of Washington
19:00-19:15	TuF9.6
Distributed Control for Optimization of a Communication Network, pp. 1964-1971.
Gil, Stephanie	MIT
Schwager, Mac	Massachusetts Inst. of Tech.
Julian, Brian	MIT
Rus, Daniela	MIT
Gil, Stephanie	MIT

TuF10	Egan Center Lower Level Room 9/10
Motion and Path Planning (Regular Sessions)
Chair: Geraerts, Roland	Utrecht Univ.
Co-Chair: Knepper, Ross A	Carnegie Mellon Univ.
17:45-18:00	TuF10.1
Calculus of Variations for Guaranteed Optimal Path Planning of Aircraft Formations, pp. 1972-1977.
L'Afflitto, Andrea	Virginia Pol. Inst. and State Univ.
Sultan, Cornel	Virginia Tech.
18:00-18:15	TuF10.2
Path Planning Based on Fluid Mechanics for Mobile Robots Using Unstructured Terrain Models, pp. 1978-1984. Attachment
Gingras, David	Canadian Space Agency
Dupuis, Erick	Canadian Space Agency
Payre, Guy	Univ. of Sherbrooke
De Lafontaine, Jean	Univ. of Sherbrooke
18:15-18:30	TuF10.3
Hierarchical Planning Architectures for Mobile Manipulation Tasks in Indoor Environments, pp. 1985-1990.
Knepper, Ross A	Carnegie Mellon Univ.
Srinivasa, Siddhartha	Intel Lab. Pittsburgh
Mason, Matthew T.	Carnegie Mellon Univ.
18:30-18:45	TuF10.4
A New Approach to Time-Optimal Straight-Line Trajectory for Omni-Directional Mobile Robots with Multi-Objective Costs, pp. 1991-1996.
Kim, Ki Bum	KAIST (Korea Advanced Inst. of Science and Tech.
Kim, Byung Kook	KAIST
18:45-19:00	TuF10.5
Planning Short Paths with Clearance Using Explicit Corridors, pp. 1997-2004.
Geraerts, Roland	Utrecht Univ.
19:00-19:15	TuF10.6
On the Implementation of Single-Query Sampling-Based Motion Planners, pp. 2005-2011.
Sucan, Ioan Alexandru	Rice Univ.
Kavraki, Lydia	Rice Univ.

TuF11	Egan Center Lower Level Room 5
Multi-View Recognition and Pose Estimation (Regular Sessions)
Chair: Dillmann, Rüdiger	Univ. of Karlsruhe
Co-Chair: Daniilidis, Kostas	Univ. of Pennsylvania
17:45-18:00	TuF11.1
Autonomous Acquisition of Visual Multi-View Object Representations for Object Recognition on a Humanoid Robot, pp. 2012-2019.
Welke, Kai	Univ. of Karlsruhe
Issac, Jan	Univ. of Karlsruhe
Schiebener, David	Univ. of Karlsruhe
Asfour, Tamim	Univ. of Karlsruhe
Dillmann, Rüdiger	Univ. of Karlsruhe
18:00-18:15	TuF11.2
Simultaneous Object Class and Pose Estimation for Mobile Robotic Applications with Minimalistic Recognition, pp. 2020-2027.
Aydemir, Alper	Royal Inst. of Tech. (KTH)
Bishop, Adrian	Royal Inst. of Tech. (KTH)
Jensfelt, Patric	Royal Inst. of Tech.
18:15-18:30	TuF11.3
Pose Estimation in Heavy Clutter Using a Multi-Flash Camera, pp. 2028-2035. Attachment
Liu, Ming-Yu	Univ. of Maryland Coll. Park
Tuzel, Oncel	MERL
Veeraraghavan, Ashok	Mitsubishi Electric Res. Lab.
Chellappa, Rama	Univ. of Maryland, Coll. Park
Agrawal, Amit	Mitsubishi Electric Res. Lab.
Okuda, Haruhisa	Mitsubishi Electric Corp.
18:30-18:45	TuF11.4
A Probabilistic Framework for Stereo-Vision Based 3D Object Search with 6D Pose Estimation, pp. 2036-2042.
Ma, Jeremy	California Inst. of Tech.
Burdick, Joel	California Inst. of Tech.
18:45-19:00	TuF11.5
MOPED: A Scalable and Low Latency Object Recognition and Pose Estimation System, pp. 2043-2049.
Martinez, Manuel	Carnegie Mellon Univ.
Collet, Alvaro	Carnegie Mellon Univ.
Srinivasa, Siddhartha	Intel Lab. Pittsburgh
19:00-19:15	TuF11.6
Efficient Multi-View Object Recognition and Full Pose Estimation, pp. 2050-2055. Attachment
Collet, Alvaro	Carnegie Mellon Univ.
Srinivasa, Siddhartha	Intel Lab. Pittsburgh

TuF12	Egan Center Lower Level Room 4
Medical Robot Systems II (Regular Sessions)
Co-Chair: Alterovitz, Ron	Univ. of North Carolina at Chapel Hill
17:45-18:00	TuF12.1
Robotic Delivery of Complex Radiation Volumes for Small Animal Research, pp. 2056-2061.
Matinfar, Mohammad	Johns Hopkins Univ.
Iordachita, Iulian	Johns Hopkins Univ.
Wong, John	Johns Hopkins Univ.
Kazanzides, Peter	Johns Hopkins Univ.
18:00-18:15	TuF12.2
Needle Path Planning for Digital Breast Tomosynthesis Biopsy, pp. 2062-2067.
Vancamberg, Laurence	General Electric Healthcare and ISIR-Inst. des systčmesintell
Sahbani, Anis	Univ. Pierre et Marie Curie - Paris 6, ISIR, CNRS-UMR 7222
Muller, Serge	GE Healthcare
Morel, Guillaume	Univ. Pierre et Marie Curie - Paris 6
18:15-18:30	TuF12.3
Evaluation of Robotic Needle Steering in Ex Vivo Tissue, pp. 2068-2073.
Majewicz, Ann	Johns Hopkins Univ.
Wedlick, Thomas	Johns Hopkins Univ.
Reed, Kyle Brandon	Univ. of South Florida
Okamura, Allison M.	Johns Hopkins Univ.
18:30-18:45	TuF12.4
Superhuman Performance of Surgical Tasks by Robots Using Iterative Learning from Human-Guided Demonstrations, pp. 2074-2081. Attachment
van den Berg, Jur	Univ. of California at Berkeley
Miller, Stephen	Univ. of Califonia at Berkeley
Duckworth, Daniel	Univ. of California in Berkeley
Hu, Humphrey	Univ. of California at Berkeley
Wan, Andrew	Univ. of California at Berkeley
Fu, Xiao-Yu	Univ. of California at Berkeley
Goldberg, Ken	UC Berkeley
Abbeel, Pieter	UC Berkeley
18:45-19:00	TuF12.5
Planning Active Cannula Configurations through Tubular Anatomy, pp. 2082-2087.
Lyons, Lisa	Univ. of North Carolina at Chapel Hill
Webster III, Robert James	Vanderbilt Univ.
Alterovitz, Ron	Univ. of North Carolina at Chapel Hill
19:00-19:15	TuF12.6
Toward Automated Tissue Retraction in Robot-Assisted Surgery, pp. 2088-2094. Attachment
Patil, Sachin	UNC Chapel Hill
Alterovitz, Ron	Univ. of North Carolina at Chapel Hill

TuF13	Egan Center Lower Level Room 7/8
Flexible Automation and Manufacturing (Regular Sessions)
Chair: Li, Jingshan	Univ. of Kentucky
Co-Chair: Kiguchi, Kazuo	Saga Univ.
17:45-18:00	TuF13.1
Desktop Orthogonal-Type Robot with Abilities of Compliant Motion and Stick-Slip Motion for Lapping of LED Lens Molds, pp. 2095-2100.
Nagata, Fusaomi	Tokyo Univ. of Science, Yamaguchi
Mizobuchi, Takanori	Tokyo Univ. of Science, Yamaguchi
Tani, Shintaro	Tokyo Univ. of Science, Yamaguchi
Hase, Tetsuo	Meiho Co. Ltd.
Haga, Zenku	Meiho Co. Ltd.
Watanabe, Keigo	Saga Univ.
Habib, Maki Khalil	Saga Univ.
Kiguchi, Kazuo	Saga Univ.
18:00-18:15	TuF13.2
Autonomous Cruise Control of Circulating Multi-Robot for Congestion, pp. 2101-2106.
Hoshino, Satoshi	Tokyo Inst. of Tech.
Seki, Hiroya	Tokyo Inst. of Tech.
Naka, Yuji	Tokyo Inst. of Tech.
Ota, Jun	The Univ. of Tokyo
18:15-18:30	TuF13.3
Developing a Dual-Stage Indirect Virtual Metrology Architecture, pp. 2107-2112.
Tsai, Wen-Huang	National Cheng Kung Univ.
Cheng, Fan-Tien	National Cheng Kung Univ.
Wu, Wei-Ming	National Cheng Kung Univ.
Lin, Tung-Ho	National Cheng Kung Univ.
18:30-18:45	TuF13.4
Embodiment Independent Manipulation through Action Abstraction, pp. 2113-2118. Attachment
Laaksonen, Janne	Lappeenranta Univ. of Tech.
Felip, Javier	Univ. Jaume I
Morales, Antonio	Univ. Jaume I
Kyrki, Ville	Lappeenranta Univ. of Tech.
18:45-19:00	TuF13.5
Quality Improvement through Product Sequencing in Flexible Manufacturing Systems, pp. 2119-2124.
Wang, Junwen	Univ. of Kentucky
Li, Jingshan	Univ. of Kentucky
Arinez, Jorge	General Motors Res. & Development Center
Biller, Stephan	General Motors Corp.
19:00-19:15	TuF13.6
Performance Approximation and Bottleneck Identification in Re-Entrant Lines, pp. 2125-2130.
Liu, Yang	Univ. of Kentucky
Li, Jingshan	Univ. of Kentucky
Chiang, Shu-Yin	Ming Chuan Univ.

WeA1	Egan Center Street Level Room Arteaga
Compliance and Force Control (Regular Sessions)
Chair: Newman, Wyatt	Case Western Res. Univ.
Co-Chair: Haddadin, Sami	German Aerospace Center (DLR)
08:30-08:45	WeA1.1
A Compliant Constant-Force Mechanism for Adaptive Robot End-Effector Operations, pp. 2131-2136.
Lan, Chao-Chieh	National Cheng Kung Univ.
Wang, Jhe-Hong	National Cheng Kung Univ.
Chen, Yi-Ho	National Cheng Kung Univ.
08:45-09:00	WeA1.2
Active Force Control for Robotic Micro-Assembly: Application to Guiding Tasks, pp. 2137-2142.
Rabenorosoa, Kanty	FEMTO-st Inst.
Clévy, Cédric	Franche-Comté Univ.
Lutz, Philippe	Lab. d'Automatique de Besançon
09:00-09:15	WeA1.3
Assessing Internal Models for Faster Learning of Robotic Assembly, pp. 2143-2148.
Marvel, Jeremy	Case Western Res. Univ.
Newman, Wyatt	Case Western Res. Univ.
09:15-09:30	WeA1.4
Optimal Passive Dynamics for Torque/Force Control, pp. 2149-2154.
Kemper, Kevin	Oregon State Univ.
Koepl, Devin	Oregon State Univ.
Hurst, Jonathan	Oregon State Univ.
09:30-09:45	WeA1.5
Dynamic Modelling and Control of Variable Stiffness Actuators, pp. 2155-2162.
Albu-Schäffer, Alin	DLR - German Aerospace Center
Wolf, Sebastian	DLR - German Aerospace Center
Eiberger, Oliver	DLR - German Aerospace Center
Haddadin, Sami	German Aerospace Center (DLR)
Petit, Florian	Inst. of Robotics and Mechatronics, German Aerospace Center
Chalon, Maxime	German Aerospace Center (DLR)
09:45-10:00	WeA1.6
Classification and Prediction for Accurate Sensor-Based Assembly to Moving Objects, pp. 2163-2168. Attachment
Lange, Friedrich	German Aerospace Center (DLR)
Scharrer, Johannes	Inst. für Werkzeugmaschinen und BetriebswissenschaftenTU Münc
Hirzinger, Gerd	German Aerospace Center (DLR)

WeA2	Egan Center Street Level Room Cook Hall
Novel Actuators (Regular Sessions)
Chair: Suzuki, Kenji	Univ. of Tsukuba
Co-Chair: Goldfarb, Michael	Vanderbilt Univ.
08:30-08:45	WeA2.1
A Multi-Cell Piezoelectric Device for Tunable Resonance Actuation and Energy Harvesting, pp. 2169-2176.
Secord, Thomas	MIT
Mazumdar, Anirban	Massachusetts Inst. of Tech.
Asada, Harry	MIT
08:45-09:00	WeA2.2
New Magnetic Rotational Drive by Use of Magnetic Particles with Specific Gravity Smaller Than a Liquid, pp. 2177-2182.
Nokata, Makoto	Ritsumeikan Univ.
09:00-09:15	WeA2.3
New Actuator System Using Movable Pulley for Bio-Mimetic System and Wearable Robot Applications, pp. 2183-2188. Attachment
Lee, Hoyul	Hanyang Univ.
Lee, Chulwoo	Hanyang Univ.
Kim, Seong-Jin	Hanyang Univ.
Choi, Youngjin	Hanyang Univ.
09:15-09:30	WeA2.4
Design of a Multi-Disc Electromechanical Modulated Dissipator, pp. 2189-2196.
Farris, Ryan	Vanderbilt Univ.
Goldfarb, Michael	Vanderbilt Univ.
09:30-09:45	WeA2.5
Low-Temperature H2O2-Powered Actuators for Biorobotics: Thermodynamic and Kinetic Analysis, pp. 2197-2202.
Vitale, Flavia	Univ. "La Sapienza"
Accoto, Dino	Univ. Campus Bio-Medico
Turchetti, Luca	Univ. "La Sapienza"
Indini, Stefano	Univ. Campus Bio-Medico di Roma
Annesini, Maria Cristina	Univ. "La Sapienza"
Guglielmelli, Eugenio	Univ. Campus Bio-Medico
09:45-10:00	WeA2.6
A Multiple SMA Hybrid Actuator to Generate Expressions on the Face, pp. 2203-2208.
Jayatilake, Prabhath Dushyantha	Univ. of Tsukuba
Suzuki, Kenji	Univ. of Tsukuba

WeA3	Egan Center Street Level Room Boardroom
Lower Limb Rehabilitation (Regular Sessions)
Chair: Caldwell, Darwin G.	Italian Inst. of Tech.
Co-Chair: Furusho, Junji	Osaka Univ.
08:30-08:45	WeA3.1
Development of Third-Generation Intelligently Controllable Ankle-Foot Orthosis with Compact MR Fluid Brake, pp. 2209-2214. Attachment
Kikuchi, Takehito	Graduate School of Science and Engineering, Yamagata Univ.
Tanida, Sosuke	Osaka Univ.
Otsuki, Kikuko	Osaka Univ.
Yasuda, Takashi	Shiga School of Medical Tech.
Furusho, Junji	Osaka Univ.
08:45-09:00	WeA3.2
MoonWalker, a Lower Limb Exoskeleton Able to Sustain Bodyweight Using a Passive Force Balancer, pp. 2215-2220. Attachment
Krut, Sebastien	LIRMM (CNRS & Univ. Montpellier 2)
Benoit, Michel	LIRMM
Dombre, Etienne	Univ. Montpellier II & CNRS
Pierrot, François	CNRS - LIRMM
09:00-09:15	WeA3.3
Control Strategies for Ankle Rehabilitation Using a High Performance Ankle Exerciser, pp. 2221-2227. Attachment
Saglia, Jody Alessandro	King's Coll. London
Tsagarakis, Nikolaos	Italian Inst. of Tech. (IIT)
Dai, Jian	King's Coll. London, Univ. of London
Caldwell, Darwin G.	Italian Inst. of Tech.
09:15-09:30	WeA3.4
Fast Operation of Anatomical and Stiff Tendon Neuromuscular Models in EMG-Driven Modeling, pp. 2228-2234.
Sartori, Massimo	Univ. of Padova
Lloyd, David	Univ. of Western Australia, M408
Reggiani, Monica	Univ. of Padua
Pagello, Enrico	Univ. of Padua
09:30-09:45	WeA3.5
Leg-Dependent Force Control for Body Weight Support by Gait Cycle Estimation from Pelvic Movement, pp. 2235-2240.
Watanabe, Takao	Waseda Univ.
Ohki, Eiichi	Waseda Univ.
Fujie, Masakatsu G.	Waseda Univ.
Kobayashi, Yo	Waseda Univ.
09:45-10:00	WeA3.6
A Novel Passive Pelvic Device for Assistance During Locomotion, pp. 2241-2246.
Mokhtarian, Ali	Isfahan Univ. of Tech.
Fattah, Abbas	Isfahan Univ. of Tech.
Agrawal, Sunil	Univ. of Delaware

WeA4	Egan Center Lower Level Room 1
Space and Underwater Applications (Regular Sessions)
Chair: Papadopoulos, Evangelos	NTUA
Co-Chair: Cheng, Yang	JPL
08:30-08:45	WeA4.1
Towards Passive Object On-Orbit Manipulation by Cooperating Free-Flying Robots, pp. 2247-2252.
Rekleitis, Georgios	National Tech. Univ. of Athens
Papadopoulos, Evangelos	National Tech. Univ. of Athens
08:45-09:00	WeA4.2
Biomimetic Optic Flow Sensing Applied to a Lunar Landing Scenario, pp. 2253-2260. Attachment
Valette, Florent	CNRS/ Univ. de la méditerranée
Ruffier, Franck	CNRS / Univ. de la Méditerranée
Viollet, Stephane	Univ. Mediterranée/CNRS
Seidl, Tobias	ESA-European Space Agency
09:00-09:15	WeA4.3
Experimental Results of a Novel Amphibian Solution for Aquatic Robot, pp. 2261-2266. Attachment
Ju, Liang	Scuola Superiore Sant’Anna
Ferri, Gabriele	Scuola Superiore Sant'Anna, Pisa
Laschi, Cecilia	Scuola Superiore Sant'Anna
Mazzolai, Barbara	Scuola Superiore S.Anna
Dario, Paolo	Scuola Superiore Sant'Anna
09:15-09:30	WeA4.4
Two Steps Natural Actor Critic Learning for Underwater Cable Tracking, pp. 2267-2272. Attachment
El-Fakdi, Andres	Univ. of Girona - VAT:ESQ6750002E
Carreras, Marc	Univ. de Girona
Galceran, Enric	Univ. of Girona
09:30-09:45	WeA4.5
Visually Aided Feature Extraction from 3D Range Data, pp. 2273-2279.
Sok, Chhay	Nanyang Tech. Univ.
Adams, Martin	Nanyang Tech. Univ.
09:45-10:00	WeA4.6
Real-Time Surface Slope Estimation by Homography Alignment for Spacecraft Safe Landing, pp. 2280-2286.
Cheng, Yang	JPL

WeA5	Egan Center Lower Level Room 13/14
Models for Grasping (Regular Sessions)
Chair: Piater, Justus	Univ. of Liege
Co-Chair: Matsuoka, Yoky	Univ. of Washington
08:30-08:45	WeA5.1
Refining Grasp Affordance Models by Experience, pp. 2287-2293.
Detry, Renaud	Univ. of Ličge
Kraft, Dirk	Univ. of Southern Denmark
Buch, Anders Glent	Univ. of Southern Denmark
Krüger, Norbert	Univ. of Southern Denmark
Piater, Justus	Univ. of Liege
08:45-09:00	WeA5.2
Human-Guided Grasp Measures Improve Grasp Robustness on Physical Robot, pp. 2294-2301.
Balasubramanian, Ravi	Yale Univ.
Xu, Ling	Carnegie Mellon Univ.
Brook, Peter	Univ. of Washington
Smith, Joshua R.	Intel
Matsuoka, Yoky	Univ. of Washington
09:00-09:15	WeA5.3
Visual Tracking of a Jaw Gripper Based on Articulated 3D Models for Grasping, pp. 2302-2307. Attachment
Sorribes, José Juan	Jaume-I Univ.
Prats, Mario	Univ. Jaume I
Morales, Antonio	Univ. Jaume I
09:15-09:30	WeA5.4
Cloth Grasp Point Detection Based on Multiple-View Geometric Cues with Application to Robotic Towel Folding, pp. 2308-2315.
Maitin-Shepard, Jeremy	Univ. of California, Berkeley
Lei, Jinna	Univ. of California, Berkeley
Cusumano-Towner, Marco	Univ. of California, Berkeley
Abbeel, Pieter	UC Berkeley
09:30-09:45	WeA5.5
Modeling Non-Convex Configuration Space Using Linear Complementarity Problems, pp. 2316-2321. Attachment
Nguyen, Binh	Rensselaer Pol. Inst.
Trinkle, Jeff	Rensselaer Pol. Inst.
09:45-10:00	WeA5.6
Implicit Nonlinear Complementarity: A New Approach to Contact Dynamics, pp. 2322-2329. Attachment
Todorov, Emanuel	Univ. of Washington

WeA6	Egan Center Lower Level Room 2
Haptics and Human Augmentation (Regular Sessions)
Chair: Chitta, Sachin	Willow Garage Inc.
Co-Chair: Kawashima, Kenji	Tokyo Inst. of Tech.
08:30-08:45	WeA6.1
An Inertia-Based Surface Identification System, pp. 2330-2335.
Windau, Jens	Univ. of Southern California
Shen, Wei-Min	USC Information Science Inst.
08:45-09:00	WeA6.2
Material Classification by Tactile Sensing Using Surface Textures, pp. 2336-2341.
Jamali, Nawid	Univ. of New South Wales
Sammut, Claude	Univ. of New South Wales
09:00-09:15	WeA6.3
Tactile Object Class and Internal State Recognition for Mobile Manipulation, pp. 2342-2348.
Chitta, Sachin	Willow Garage Inc.
Piccoli, Matthew	Univ. of Pennsylvania
Sturm, Jürgen	Univ. of Freiburg
09:15-09:30	WeA6.4
Haptic Object Recognition Using Passive Joints and Haptic Key Features, pp. 2349-2355.
Gorges, Nicolas	Karlsruhe Inst. of Tech.
Escaida Navarro, Stefan	Univ. Karlsruhe
Goeger, Dirk	Univ. Karlsruhe
Woern, Heinz	Univ. Karlsruhe
09:30-09:45	WeA6.5
Controlling a Power Assist Robot for Lifting Objects Considering Human's Unimanual, Bimanual and Cooperative Weight Perception, pp. 2356-2362.
Rahman, S.M.Mizanoor	Mie Univ.
Ikeura, Ryojun	Mie Univ.
Nobe, Masaya	Mie Univ.
Sawai, Hideki	Mie Univ.
09:45-10:00	WeA6.6
Development of Grip Amplified Glove Using Bi-Articular Mechanism with Pneumatic Artificial Rubber Muscle, pp. 2363-2368.
Tadano, Kotaro	Tokyo Inst. of Tech.
Akai, Masao	Tokyo Inst. of Tech.
Kadota, Kazuo	Tokyo Inst. of Tech.
Kawashima, Kenji	Tokyo Inst. of Tech.

WeA7	Egan Center Lower Level Room 11/12
Learning and Adaptation in Humanoids (Regular Sessions)
Chair: Schaal, Stefan	Univ. of Southern California
Co-Chair: Mistry, Michael	Disney Res. Pittsburgh
08:30-08:45	WeA7.1
Generalized Model Learning for Reinforcement Learning on a Humanoid Robot, pp. 2369-2374. Attachment
Hester, Todd	Univ. of Texas at Austin
Quinlan, Michael	Univ. of Texas at Austin
Stone, Peter	Univ. of Texas at Austin
08:45-09:00	WeA7.2
Learning Reliable and Efficient Navigation with a Humanoid, pp. 2375-2380. Attachment
Oßwald, Stefan	Univ. of Freiburg
Hornung, Armin	Univ. of Freiburg
Bennewitz, Maren	Univ. of Freiburg
09:00-09:15	WeA7.3
BM: An Iterative Algorithm to Learn Stable Non-Linear Dynamical Systems with Gaussian Mixture Models, pp. 2381-2388.
Khansari-Zadeh, Seyed Mohammad	EPFL
Billard, Aude	EPFL
09:15-09:30	WeA7.4
Hierarchical, Knowledge-Oriented Opto-Acoustic Scene Analysis for Humanoid Robots and Man-Machine Interaction, pp. 2389-2396.
Machmer, Timo	Karlsruhe Inst. of Tech. (KIT)
Swerdlow, Alexej	Karlsruhe Inst. of Tech. (KIT)
Kuehn, Benjamin	Karlsruhe Inst. of Tech. (KIT)
Kroschel, Kristian	Fraunhofer Inst. of Optronics, System Tech. and Image
09:30-09:45	WeA7.5
Reinforcement Learning of Motor Skills in High Dimensions: A Path Integral Approach, pp. 2397-2403.
Theodorou, Evangelos	Univ. of Southern California
Buchli, Jonas	Univ. of Southern California
Schaal, Stefan	Univ. of Southern California
09:45-10:00	WeA7.6
Associative Processes between Behavioral Symbols and a Large Scale Language Model, pp. 2404-2409.
Takano, Wataru	Tokyo Univ.
Nakamura, Yoshihiko	Univ. of Tokyo

WeA8	Egan Center Lower Level Room 3
Visual Tracking and Navigation (Regular Sessions)
Chair: Sagues, Carlos	Univ. of Zaragoza
Co-Chair: Das, Aveek	Sarnoff Corp.
08:30-08:45	WeA8.1
A Hybrid Estimation Approach for Autonomous Dirt Road Following Using Multiple Clothoid Segments, pp. 2410-2415. Attachment
Manz, Michael	Univ. of the Bundeswehr Munich
von Hundelshausen, Felix	UniBW
Wuensche, Hans J	UniBw Munich
08:45-09:00	WeA8.2
Concurrent Visual Multiple Lane Detection for Autonomous Vehicles, pp. 2416-2422.
Gupta, Rachana	North Carolina State Univ.
Snyder, Wesley	North Carolina State Univ.
Pitts, W. Shepherd	Lotus Engineering USA INC
09:00-09:15	WeA8.3
Ground Robot Navigation Using Uncalibrated Cameras, pp. 2423-2430. Attachment
Koch, Olivier	Massachusetts Inst. of Tech.
Walter, Matthew	MIT
Huang, Albert S.	Massachusetts Inst. of Tech.
Teller, Seth	MIT
09:15-09:30	WeA8.4
Robust Visual Path Following for Heterogeneous Mobile Platforms, pp. 2431-2437.
Das, Aveek	Sarnoff Corp.
Naroditsky, Oleg	Sarnoff, Univ. of Pennsylvania
Zhu, Zhiwei	Sarnoff
Samarasekera, Supun	Sarnoff
Kumar, Rakesh	Sarnoff
09:30-09:45	WeA8.5
3D Reconstruction of Fish Schooling Kinematics from Underwater Video, pp. 2438-2443.
Butail, Sachit	Univ. of Maryland
Paley, Derek	Univ. of Maryland
09:45-10:00	WeA8.6
Omnidirectional Visual Homing Using the 1D Trifocal Tensor, pp. 2444-2450. Attachment
Aranda, Miguel	Univ. of Zaragoza
Lopez-Nicolas, Gonzalo	Univ. de Zaragoza
Sagues, Carlos	Univ. of Zaragoza

WeA9	Egan Center Lower Level Room 9/10
Stochastic Multi-Robot and Modular Robot Systems (Invited Sessions)
Chair: Yim, Mark	Univ. of Pennsylvania
Co-Chair: Napp, Nils	Univ. of Washington
Organizer: Napp, Nils	Univ. of Washington
Organizer: Shaw, Fayette	Univ. of Washington
08:30-08:45	WeA9.1
Adaptation to Robot Failures and Shape Change in Decentralized Construction (I), pp. 2451-2458. Attachment
Yun, Seung-kook	MIT
Rus, Daniela	MIT
08:45-09:00	WeA9.2
Robust by Composition: Programs for Multi Robot Systems (I), pp. 2459-2466.
Napp, Nils	Univ. of Washington
Klavins, Eric	Univ. of Washington
09:00-09:15	WeA9.3
Factory Floor: A Robotically Reconfigurable Construction Platform (I), pp. 2467-2472.
Galloway, Kevin	Univ. of Pennslyvannia
Jois, Rekha	Univ. of Pennsylvania
Yim, Mark	Univ. of Pennsylvania
09:15-09:30	WeA9.4
Fluidic Manipulation for Scalable Stochastic 3D Assembly of Modular Robots (I), pp. 2473-2478. Attachment
Tolley, Michael Thomas	Cornell Univ.
Lipson, Hod	Cornell Univ.
09:30-09:45	WeA9.5
A Robotic Module for Stochastic Fluidic Assembly of 3D Self-Reconfiguring Structures (I), pp. 2479-2484.
Neubert, Jonas	Cornell Univ.
Cantwell, Abraham	Cornell Univ.
Constantin, Stephane	Cornell Univ.
Kalontarov, Michael	Cornell Univ.
Erickson, David	Cornell Univ.
Lipson, Hod	Cornell Univ.
09:45-10:00	WeA9.6
Robot Pebbles: One Centimeter Modules for Programmable Matter through Self-Disassembly, pp. 2485-2492.
Gilpin, Kyle	Massachusetts Inst. of Tech.
Knaian, Ara	Massachusetts Inst. of Tech.
Rus, Daniela	MIT

WeA10	Egan Center Lower Level Room 4
Motion and Path Planning for Articulated Systems (Regular Sessions)
Chair: Manocha, Dinesh	UNC at Chapel Hill
Co-Chair: Hauser, Kris	Indiana Univ.
08:30-08:45	WeA10.1
Fast Smoothing of Manipulator Trajectories Using Optimal Bounded-Acceleration Shortcuts, pp. 2493-2498.
Hauser, Kris	Indiana Univ.
Ng-Thow-Hing, Victor	Honda Res. Inst.
08:45-09:00	WeA10.2
Constrained Closed Loop Inverse Kinematics, pp. 2499-2506.
Dariush, Behzad	Honda Res. Inst. USA
Zhu, Youding	The Ohio State Univ.
Arumbakkam, Arjun	Honda Res. Inst. USA, Inc.
Fujimura, Kikuo	Honda Res. Inst.
09:00-09:15	WeA10.3
A Skill-Based Motion Planning Framework for Humanoids, pp. 2507-2514. Attachment
Kallmann, Marcelo	Univ. of California, Merced
Huang, Yazhou	Univ. of California Merced
Backman, Robert	Univ. of California, Merced
09:15-09:30	WeA10.4
High-Dimensional Planning on the GPU, pp. 2515-2522.
Kider Jr., Joseph T.	Univ. of Pennsylvania
Henderson, Mark	Univ. of Pennsylvania
Likhachev, Maxim	Univ. of Pennsylvania
Safonova, Alla	Univ. of Pennsylvania
09:30-09:45	WeA10.5
Trajectory Prediction in Cluttered Voxel Environments, pp. 2523-2528. Attachment
Jetchev, Nikolay	TU Berlin
Toussaint, Marc	TU Berlin
09:45-10:00	WeA10.6
Retraction-Based RRT Planner for Articulated Models, pp. 2529-2536.
Pan, Jia	UNC Chapel Hill
Zhang, Liangjun	Univ. of North Carolina at Chapel Hill
Manocha, Dinesh	UNC at Chapel Hill

WeA11	Egan Center Lower Level Room 7/8
Omnidirectional Vision (Regular Sessions)
Chair: Bayro-Corrochano, Eduardo-Jose	CINVESTAV, Unidad Guadalajara
Co-Chair: Guerrero, J.J.	Univ. de Zaragoza
08:30-08:45	WeA11.1
3-D Shape Measurement of Pipe by Range Finder Constructed with Omni-Directional Laser and Omni-Directional Camera, pp. 2537-2542. Attachment
Matsui, Kenki	Shizuoka Univ.
Yamashita, Atsushi	Shizuoka Univ.
Kaneko, Toru	Shizuoka Univ.
08:45-09:00	WeA11.2
Vision-Based Robot Control with Omnidirectional Cameras and Conformal Geometric Algebra, pp. 2543-2548.
López-Franco, Carlos Alberto	Univ. of Guadalajara
Arana Daniel, Nancy Guadalupe	Univ. of Guadalajara
Bayro-Corrochano, Eduardo-Jose	CINVESTAV, Unidad Guadalajara
09:00-09:15	WeA11.3
Self-Orientation of a Hand-Held Catadioptric System in Man-Made Environments, pp. 2549-2555. Attachment
Puig, Luis	Univ. de Zaragoza
Bermúdez, Jesús	Univ. de Zaragoza
Guerrero, J.J.	Univ. de Zaragoza
09:15-09:30	WeA11.4
Application of Particle Filters to Vision-Based Orientation Estimation Using Harmonic Analysis, pp. 2556-2561. Attachment
Schairer, Timo	Univ. of Tuebingen
Huhle, Benjamin	Univ. of Tuebingen
Strasser, Wolfgang	Univ. of Tuebingen
09:30-09:45	WeA11.5
Central Catadioptric Line Matching for Robotic Applications, pp. 2562-2567.
Vasseur, Pascal	Univ. of Picardie - Jules Verne
Demonceaux, Cédric	Univ. of Picardie - Jules Verne
09:45-10:00	WeA11.6
Cooperative Tracking of Moving Objects and Face Detection with a Dual Camera Sensor, pp. 2568-2573.
Ghidoni, Stefano	Univ. of Padua
Pretto, Alberto	Univ. of Padua
Menegatti, Emanuele	The Univ. of Padua

WeA12	Egan Center Lower Level Room 5
MRI-Compatible Robots (Regular Sessions)
Chair: Althoefer, Kaspar	Kings Coll. London
Co-Chair: Iordachita, Iulian	Johns Hopkins Univ.
08:30-08:45	WeA12.1
Cardiac Interventions under MRI Guidance Using Robotic Assistance, pp. 2574-2579.
Li, Ming	National Inst. of Health
Kapoor, Ankur	National Inst. of Health
Mazilu, Dumitru	National Inst. of Health
Wood, Brad	National Inst. of Health
Horvath, Keith	National Inst. of Health
08:45-09:00	WeA12.2
Development of a Pneumatic Robot for MRI-Guided Transperineal Prostate Biopsy and Brachytherapy: New Approaches, pp. 2580-2585.
Song, Sang-Eun	The Johns Hopkins Univ.
Cho, Nathan Bongjoon	Johns Hopkins Univ.
Fischer, Gregory	Worcester Pol. Inst.
Hata, Nobuhiko	Brigham and Women's Hospital
Tempany, Clare	Brigham & Women's hospital, Harvard MEDICAL sCHOOL
Fichtinger, Gabor	Queen's Univ.
Iordachita, Iulian	Johns Hopkins Univ.
09:00-09:15	WeA12.3
Design and Development of a 3-Axis MRI-Compatible Force Sensor, pp. 2586-2591.
Tan, U-Xuan	Univ. of Maryland
Yang, Bo	Univ. of Maryland, Coll. Park
Gullapalli, Rao	Univ. of Maryland School of Medicine
Desai, Jaydev P.	Univ. of Maryland
09:15-09:30	WeA12.4
Miniaturized Triaxial Optical Fiber Force Sensor for MRI-Guided Minimally Invasive Surgery, pp. 2592-2597.
Puangmali, Pinyo	King's Coll. London
Dasgupta, Prokar	King's Coll. London
Seneviratne, Lakmal	Kings Coll. London
Althoefer, Kaspar	Kings Coll. London
09:30-09:45	WeA12.5
Novel Miniature MRI-Compatible Fibre-Optic Force Sensor for Cardiac Catheterization Procedures, pp. 2598-2603.
Polygerinos, Panagiotis	King's Coll. London
Puangmali, Pinyo	King's Coll. London
Schaeffter, Tobias	King's Coll. London
Razavi, Reza	King's Coll. London
Seneviratne, Lakmal	Kings Coll. London
Althoefer, Kaspar	Kings Coll. London

WeA13	Egan Center Lower Level Room 6
Filtering, Estimation and Localization (Regular Sessions)
Chair: Hagita, Norihiro	ATR
Co-Chair: Choi, Hyouk Ryeol	Sungkyunkwan Univ.
08:30-08:45	WeA13.1
Improved Monte Carlo Localization of Autonomous Robots through Simultaneous Estimation of Motion Model Parameters, pp. 2604-2609.
Mueller, Joerg	Univ. of Freiburg
Gonsior, Christoph	Univ. of Freiburg
Burgard, Wolfram	Univ. of Freiburg
08:45-09:00	WeA13.2
Rao-Blackwellized Particle Filtering for Probing-Based 6-DOF Localization in Robotic Assembly, pp. 2610-2617. Attachment
Taguchi, Yuichi	Mitsubishi Electric Res. Lab.
Marks, Tim K.	Mitsubishi Electric Res. Lab. (MERL)
Okuda, Haruhisa	Mitsubishi Electric Corp.
09:00-09:15	WeA13.3
Global Localization for a Small Mobile Robot Using Magnetic Pattern, pp. 2618-2623. Attachment
You, Won Suk	Sungkyunkwan
Choi, Byung June	Sungkyunkwan Univ.
Kim, Bumsoo	Sungkyunkwan Univ.
Koo, Ja Choon	Sungkyunkwan Univ.
Moon, Hyungpil	SungKyunKwan Univ.
Chung, Wan Kyun	POSTECH
Choi, Hyouk Ryeol	Sungkyunkwan Univ.
09:15-09:30	WeA13.4
Low-Cost Attitude and Heading Reference System: Filter Design and Experimental Evaluation, pp. 2624-2629.
Batista, Pedro	Inst. Superior Técnico
Silvestre, Carlos	Inst. Superior Tecnico
Oliveira, Paulo	Inst. Superior Técnico
Cardeira, Bruno	Inst. Superior Técnico
09:30-09:45	WeA13.5
Accelerometer-Based Tilt Estimation of a Rigid Body with Only Rotational Degrees of Freedom, pp. 2630-2636. Attachment
Trimpe, Sebastian	ETH Zurich
D'Andrea, Raffaello	ETHZ
09:45-10:00	WeA13.6
Person Identification by Integrating Wearable Sensors and Tracking Results from Environmental Sensors, pp. 2637-2642.
Ikeda, Tetsushi	ATR
Ishiguro, Hiroshi	Osaka Univ.
Glas, Dylan F.	ATR
Shiomi, Masahiro	ATR
Miyashita, Takahiro	ATR
Hagita, Norihiro	ATR

WeD1	Egan Center Street Level Room Arteaga
Mechanics and Planning for Multibody Systems (Invited Sessions)
Chair: Murphey, Todd	Northwestern Univ.
Co-Chair: Li, Zexiang	HKUST
Organizer: Selig, J.M.	London South Bank Univ.
14:20-14:35	WeD1.1
Probabilistically Complete Planning with End-Effector Pose Constraints, pp. 2724-2730.
Berenson, Dmitry	Carnegie Mellon Univ.
Srinivasa, Siddhartha	Intel Lab. Pittsburgh
14:35-14:50	WeD1.2
Variational Solutions to Simultaneous Collisions between Multiple Rigid Bodies, pp. 2731-2738.
Seghete, Vlad	Northwestern Univ.
Murphey, Todd	Northwestern Univ.
14:50-15:05	WeD1.3
Quotient Kinematics Machines: Concept, Analysis and Synthesis, pp. 2739-2744.
Wu, Yuanqing	Shanghai Jiaotong Univ.
Wang, Hong	Harbin Inst. of Tech. Shenzhen Graduate
Li, Zexiang	HKUST
Lou, Yunjiang	Shenzhen Graduate School, Harbin Inst. of Tech.
Shi, Jinbo	Hong Kong Univ. of Science and Tech.
15:05-15:20	WeD1.4
Graph Theory Roots of Spatial Operators for Kinematics and Dynamics, pp. 2745-2750.
Jain, Abhinandan	Jet Propulsion Lab.
15:20-15:35	WeD1.5
Information Theory on Lie Groups and Mobile Robotics Applications (I), pp. 2751-2757.
Chirikjian, Gregory	Johns Hopkins Univ.

WeD2	Egan Center Street Level Room Cook Hall
Cellular and Modular Robots (Regular Sessions)
Chair: Stoy, Kasper	Univ. of Southern Denmark
Co-Chair: Nagpal, Radhika	Harvard Univ.
14:20-14:35	WeD2.1
Design of a New Independently-Mobile Reconfigurable Modular Robot, pp. 2758-2764.
Kutzer, Michael Dennis Mays	Johns Hopkins Univ. Applied Physics Lab.
Moses, Matthew S	Johns Hopkins Univ.
Brown, Christopher	MIT
Scheidt, David	Johns Hopkins Univ.
Chirikjian, Gregory	Johns Hopkins Univ.
Armand, Mehran	Johns Hopkins Univ. Applied Physics Lab.
14:35-14:50	WeD2.2
A Distributed Strategy for Gait Adaptation in Modular Robots, pp. 2765-2770. Attachment
Christensen, David Johan	Univ. of Southern Denmark
Schultz, Ulrik Pagh	Univ. of Southern Denmark
Stoy, Kasper	Univ. of Southern Denmark
14:50-15:05	WeD2.3
An Autonomous Robot That Duplicates Itself from Low-Complexity Components, pp. 2771-2776.
Lee, Kiju	Case Western Res. Univ.
Chirikjian, Gregory	Johns Hopkins Univ.
15:05-15:20	WeD2.4
Coordinating Collective Locomotion in an Amorphous Modular Robot, pp. 2777-2784.
Yu, Chih-Han	Harvard Univ.
Werfel, Justin	Harvard Univ.
Nagpal, Radhika	Harvard Univ.
15:20-15:35	WeD2.5
Strength Analysis of Miniature Folded Right Angle Tetrahedron Chain Programmable Matter, pp. 2785-2790. Attachment
White, Paul	Univ. of Pennsylvania
Posner, Michael	Univ. of Pennsylvania
Yim, Mark	Univ. of Pennsylvania
15:35-15:50	WeD2.6
On the Complexity of Optimal Reconfiguration Planning for Modular Reconfigurable Robots, pp. 2791-2796.
Hou, Feili	Univ. of Soutern California
Shen, Wei-Min	USC Information Science Inst.

WeD3	Egan Center Street Level Room Boardroom
Climbing and Navigating Rough Terrain (Regular Sessions)
Chair: Choset, Howie	Carnegie Mellon Univ.
Co-Chair: Zhang, Jianwei	Univ. of Hamburg
14:20-14:35	WeD3.1
Adhesion Recovery and Passive Peeling in a Wall Climbing Robot Using Adhesives, pp. 2797-2802.
Kute, Casey	Carnegie Mellon Univ.
Murphy, Michael	Boston Dynamics
Menguc, Yigit	Carnegie Mellon Univ.
Sitti, Metin	Carnegie Mellon Univ.
14:35-14:50	WeD3.2
DSAC – Dynamic, Single Actuated Climber: Local Stability and Bifurcations, pp. 2803-2809. Attachment
Degani, Amir	Carnegie Mellon Univ.
Choset, Howie	Carnegie Mellon Univ.
Mason, Matthew T.	Carnegie Mellon Univ.
14:50-15:05	WeD3.3
Toward a Rapid and Robust Attachment Strategy for Vertical Climbing, pp. 2810-2815. Attachment
Palmer III, Luther R.	Univ. of South Florida
Diller, Eric D.	Case Western Res. Univ.
Quinn, Roger, D.	Case Western Res. Univ.
15:05-15:20	WeD3.4
Internal Force Compensating Method for Wall-Climbing Caterpillar Robot, pp. 2816-2820.
Wang, Wei	Beihang Univ.
Wang, Kun	Beihang Univ.
Zhang, Houxiang	Computer Science
Zhang, Jianwei	Univ. of Hamburg
15:20-15:35	WeD3.5
Axel Rover Paddle Wheel Design, Efficiency, and Sinkage on Deformable Terrain, pp. 2821-2827. Attachment
Abad-Manterola, Pablo	California Inst. of Tech.
Burdick, Joel	California Inst. of Tech.
Nesnas, Issa	Jet Propulsion Lab.
Chinchali, Sandeep	Caltech
Fuller, Christine	Caltech
Zhou, Xuecheng	Caltech
15:35-15:50	WeD3.6
Haptic Terrain Classification for Legged Robots, pp. 2828-2833.
Hoepflinger, Mark	Swiss Federal Inst. of Tech.
Remy, C. David	ETH Zurich
Hutter, Marco	ETH Zurich
Siegwart, Roland	ETH Zurich
Spinello, Luciano	ETH Zurich

WeD4	Egan Center Lower Level Room 1
Search and Rescue Robots (Regular Sessions)
Chair: Merlet, Jean-Pierre	INRIA
Co-Chair: Nejat, Goldie	Univ. of Toronto
14:20-14:35	WeD4.1
A Portable, Modular Parallel Wire Crane for Rescue Operations, pp. 2834-2839.
Merlet, Jean-Pierre	INRIA
Daney, David	INRIA Sophia Antipolis
14:35-14:50	WeD4.2
Probabilistic Search with Agile UAVs, pp. 2840-2845.
Waharte, Sonia	Univ. of Oxford
Symington, Andrew Colquhoun	Oxford Univ.
Trigoni, Niki	Univ. of Oxford
14:50-15:05	WeD4.3
User Interfaces for Human Robot Interactions with a Swarm of Robots in Support to Firefighters, pp. 2846-2851.
Gancet, Jeremi	Space Applications Services
Motard, Elvina	Space Applications Services
Naghsh, Amir	Sheffield Hallam Univ.
Roast, Chris	Sheffield Hallam Univ.
Munoz, Miguel	Space Applications Services
Marques, Lino	Univ. of Coimbra
15:05-15:20	WeD4.4
Feature Selection for Gas Identification with a Mobile Robot, pp. 2852-2857.
Trincavelli, Marco	Örebro Univ.
Loutfi, Amy	Örebro Univ.
15:20-15:35	WeD4.5
The Search for Survivors: Cooperative Human-Robot Interaction in Search and Rescue Environments Using Semi-Autonomous Robots, pp. 2858-2863.
Doroodgar, Barzin	Univ. of Toronto
Ficocelli, Maurizio	State Univ. of New York (SUNY) at Stony Brook
Mobedi, Babak	Univ. of Toronto
Nejat, Goldie	Univ. of Toronto
15:35-15:50	WeD4.6
Trials of 3-D Map Construction Using the Tele-Operated Crawler Robot Kenaf at Disaster City, pp. 2864-2870. Attachment
Ohno, Kazunori	Tohoku Univ.
Tadokoro, Satoshi	Tohoku Univ.
Nagatani, Keiji	Tohoku Univ.
Koyanagi, Eiji	Chiba Inst. of Tech.
Yoshida, Tomoaki	Chiba Inst. of Tech.

WeD5	Egan Center Lower Level Room 1/14
Motion Planning for Manipulation and Grasping (Regular Sessions)
Chair: Likhachev, Maxim	Univ. of Pennsylvania
Co-Chair: Chitta, Sachin	Willow Garage Inc.
14:20-14:35	WeD5.1
An Adaptive Roadmap Guided Multi-RRTs Strategy for Single Query Path Planning, pp. 2871-2876. Attachment
Wang, Wei	National Univ. of Defense Tech.
Li, Yan	National Univ. of Defense Tech.
Xu, Xin	National Univ. of Defense Tech.
Yang, Simon X.	Univ. of Guelph
14:35-14:50	WeD5.2
Planning and Control of an Internal Point of a Deformable Object, pp. 2877-2882.
Das, Jadav	Vanderbilt Univ.
Sarkar, Nilanjan	Vanderbilt Univ.
14:50-15:05	WeD5.3
Integrated Grasp and Motion Planning, pp. 2883-2888.
Vahrenkamp, Nikolaus	Univ. of Karlsruhe
Do, Martin	Karlsruhe Inst. of Tech. (KIT)
Asfour, Tamim	Univ. of Karlsruhe
Dillmann, Rüdiger	Univ. of Karlsruhe
15:05-15:20	WeD5.4
Towards One Shot Learning by Imitation for Humanoid Robots, pp. 2889-2894.
Wu, Yan	Imperial Coll. London
Demiris, Yiannis	Imperial Coll. London
15:20-15:35	WeD5.5
Combining Planning Techniques for Manipulation Using Realtime Perception, pp. 2895-2901. Attachment
Sucan, Ioan Alexandru	Rice Univ.
Kalakrishnan, Mrinal	Univ. of Southern California
Chitta, Sachin	Willow Garage Inc.
15:35-15:50	WeD5.6
Search-Based Planning for Manipulation with Motion Primitives, pp. 2902-2908. Attachment
Cohen, Benjamin	Univ. of Pennsylvania
Chitta, Sachin	Willow Garage Inc.
Likhachev, Maxim	Univ. of Pennsylvania

WeD6	Egan Center Lower Level Room 2
Orthoses, Protheses and Rehabilitation Systems (Regular Sessions)
Chair: Kong, Kyoungchul	Univ. of California, Berkeley
Co-Chair: Kuchenbecker, Katherine J.	Univ. of Pennsylvania
14:20-14:35	WeD6.1
Classification of Individual Finger Motions Hybridizing Electromyogram in Transient and Converged States, pp. 2909-2915.
Kondo, Genta	The Univ. of Tokyo
Kato, Ryu	The Univ. of Tokyo
Yokoi, Hiroshi	the Univ. of Electro-Communications
Arai, Tamio	Univ. of Tokyo
14:35-14:50	WeD6.2
EMG Based Design and Evaluation of Micro Macro Neural Network for Rollover Support Trunk Orthosis, pp. 2916-2921.
Ando, Takeshi	Waseda Univ.
Okamoto, Jun	Waseda Univ.
Takahashi, Mitsuru	Shizuoka Cancer Center
Fujie, Masakatsu G.	Waseda Univ.
14:50-15:05	WeD6.3
Estimation of Instantaneous Tremor Parameters for FES–Based Tremor Suppression, pp. 2922-2927.
Gallego, Juan Alvaro	Consejo Superior de Investigaciones Científicas
Rocon, Eduardo	Inst. de Automática Industrial
Pons, Jose Luis	CSIC
15:05-15:20	WeD6.4
Tremor Attenuation Using FES-Based Joint Stiffness Control, pp. 2928-2933.
Bó, Antônio Padilha Lanari	LIRMM UMR 5506 CNRS UM2
Poignet, Philippe	LIRMM UMR 5506 CNRS UM2
15:20-15:35	WeD6.5
Through the Development of a Biomechatronic Knee Prosthesis for Transfemoral Amputees: Mechanical Design and Manufacture, Human Gait Characterization, Intelligent Control Strategies and Tests, pp. 2934-2939. Attachment
Torrealba, Rafael R.	Simón Bolívar Univ.
Pérez-D'Arpino, Claudia	Simón Bolívar Univ.
Cappelletto, Jose	Simón Bolívar Univ.
Fermín-León, Leonardo	Simón Bólivar Univ.
Fernandez-Lopez, Gerardo	Simon Bolivar Univ.
Grieco, Juan Carlos	Simon Bolivar Univ.
15:35-15:50	WeD6.6
A Compact Rotary Series Elastic Actuator for Knee Joint Assistive System, pp. 2940-2945.
Kong, Kyoungchul	Univ. of California, Berkeley
Bae, Joonbum	Univ. of California, Berkeley
Tomizuka, Masayoshi	Univ. of California

WeD7	Egan Center Lower Level Room 11/12
Learning Models, Trajectories and Strategies (Regular Sessions)
Chair: Ramamoorthy, Subramanian	The Univ. of Edinburgh
Co-Chair: Mistry, Michael	Disney Res. Pittsburgh
14:20-14:35	WeD7.1
Geodesic Trajectory Generation on Learnt Skill Manifolds, pp. 2946-2952. Attachment
Havoutis, Ioannis	Univ. of Edinburgh
Ramamoorthy, Subramanian	The Univ. of Edinburgh
14:35-14:50	WeD7.2
Dimensionality Reduction for Trajectory Learning from Demonstration, pp. 2953-2958.
Melchior, Nik	Carnegie Mellon Univ.
Simmons, Reid	Carnegie Mellon Univ.
14:50-15:05	WeD7.3
Supervised Learning of Internal Models for Autonomous Goal-Oriented Robot Navigation Using Reservoir Computing, pp. 2959-2964.
Antonelo, Eric Aislan	Ghent Univ.
Schrauwen, Benjamin	Ghent Univ.
15:05-15:20	WeD7.4
A HMM-Based Approach to Learning Probability Models of Programming Strategies for Industrial Robots, pp. 2965-2970.
Hollmann, Rebecca	Fraunhofer Inst. Manufacturing Engineering and Automation
Haegele, Martin	Fraunhofer IPA
Verl, Alexander	Fraunhofer-Gesellschaft
Rost, Arne	Fraunhofer IPA
15:20-15:35	WeD7.5
Apprenticeship Learning Via Soft Local Homomorphisms, pp. 2971-2976.
Boularias, Abdeslam	Laval Univ.
Chaib-draa, Brahim	Laval Univ.
15:35-15:50	WeD7.6
A Game-Theoretic Procedure for Learning Hierarchically Structured Strategies, pp. 2977-2983.
Rosman, Benjamin	The Univ. of Edinburgh
Ramamoorthy, Subramanian	The Univ. of Edinburgh

WeD8	Egan Center Lower Level Room 3
Navigation and Control (Regular Sessions)
Chair: Guglielmelli, Eugenio	Univ. Campus Bio-Medico
Co-Chair: Richards, Arthur	Univ. of Bristol
14:20-14:35	WeD8.1
Sensor-Based Tracking of Environmental Level Sets by a Unicycle-Like Mobile Robot, pp. 2984-2988.
Matveev, Alexey	Saint Petersburg Univ.
Teimoori Sangani, Hamid	The Univ. of New South Wales (UNSW)
Savkin, Andrey	Univ. of New South Wales
14:35-14:50	WeD8.2
Design of Navigation Behaviors and the Selection Framework with Generalized Stochastic Petri Nets Toward Dependable Navigation of a Mobile Robot, pp. 2989-2994. Attachment
Moon, Chang-bae	Korea Univ.
Chung, Woojin	Korea Univ.
14:50-15:05	WeD8.3
An AUVs Path Planner Using Genetic Algorithms with a Deterministic Crossover Operator, pp. 2995-3000.
Cheng, Chi-Tsun	The Hong Kong Pol. Univ.
Fallahi, Kia	Univ. of Calgary
Leung, Henry	Univ. of Calgary
Tse, Chi K.	The Hong Kong Pol. Univ.
15:05-15:20	WeD8.4
Robust Adaptive Formation Control of Fully Actuated Marine Vessels Using Local Potential Functions, pp. 3001-3007.
Ghommam, Jawhar	Orléans
Saad, Maarouf	École de Tech. supérieure
Mnif, Faiçal	Sultan Qaboos Univ.
15:20-15:35	WeD8.5
Receding Horizon Control in Unknown Environments: Experimental Results, pp. 3008-3013. Attachment
Deittert, Markus	Univ. of Bristol
Richards, Arthur	Univ. of Bristol
Mathews, George	The Univ. of Sydney
15:35-15:50	WeD8.6
Variable-Resolution Map Building and Real-Time Path Planning of Omni-Directional Mobile Robots, pp. 3014-3019.
Xiang, Jingyu	Nagoya Univ.
Tazaki, Yuichi	Nagoya Univ.
Inagaki, Shinkichi	Nagoya Univ.
Suzuki, Tatsuya	Nagoya Univ.

WeD9	Egan Center Lower Level Room 9/10
Distributed Systems for Estimation, Tracking and Pursuit (Regular Sessions)
Chair: Fierro, Rafael	Univ. of New Mexico
Co-Chair: Michael, Nathan	Univ. of Pennsylvania
14:20-14:35	WeD9.1
Model-Based Motion Tracking System Using Distributed Network Cameras, pp. 3020-3025. Attachment
Iwashita, Yumi	Kyushu Univ.
Kurazume, Ryo	Kyushu Univ.
Mori, Takamitsu	Kyushu Univ.
Saito, Masaki	Kyushu Univ.
Hasegawa, Tsutomu	Kyushu Univ.
14:35-14:50	WeD9.2
Distributed Nonlinear Estimation for Robot Localization Using Weighted Consensus, pp. 3026-3031.
Simonetto, Andrea	TU Delft
Keviczky, Tamas	Delft Univ. of Tech.
Babuska, Robert	Delft Univ. of Tech.
14:50-15:05	WeD9.3
Dynamic Consensus for Merging Visual Maps under Limited Communications, pp. 3032-3037.
Aragues, Rosario	Univ. de Zaragoza, DIIS-I3A
Cortes, Jorge	Univ. of California, San Diego
Sagues, Carlos	Univ. of Zaragoza
15:05-15:20	WeD9.4
Detecting Anomalies in Unmanned Vehicles Using the Mahalanobis Distance, pp. 3038-3044.
Lin, Raz	Bar-Ilan Univ.
Khalastchi, Eliahu	Bar-Ilan
Kaminka, Gal A	Bar Ilan Univ.
15:20-15:35	WeD9.5
Multi-Robot Pursuit-Evasion without Maps, pp. 3045-3051. Attachment
Kolling, Andreas	Univ. of California Merced
Carpin, Stefano	Univ. of California, Merced
15:35-15:50	WeD9.6
Multi-Vehicle Testbed for Decentralized Environmental Sensing, pp. 3052-3058. Attachment
Cortez, Andres	Univ. of New Mexico
Luna, Jose-Marcio	The Univ. of New Mexico
Fierro, Rafael	Univ. of New Mexico
Wood, John	Univ. of New Mexico

WeD10	Egan Center Lower Level Room 4
Motion and Trajectory Planning (Regular Sessions)
Chair: Gupta, Kamal	Simon Fraser Univ.
Co-Chair: Claassens, Jonathan	CSIR
14:20-14:35	WeD10.1
Planning Most-Likely Paths from Overhead Imagery, pp. 3059-3064.
Murphy, Elizabeth	Oxford Univ.
Newman, Paul	Oxford Univ.
14:35-14:50	WeD10.2
B-Spline Based Filters for Multi-Point Trajectories Planning, pp. 3065-3070.
Biagiotti, Luigi	Univ. of Modena and Reggio Emilia
Melchiorri, Claudio	Univ. of Bologna
14:50-15:05	WeD10.3
On the Design of Deformable Input / State-Lattice Graphs, pp. 3071-3077.
Rufli, Martin	ETH Zurich
Siegwart, Roland	ETH Zurich
15:05-15:20	WeD10.4
Distributed Roadmaps for Robot Navigation in Sensor Networks, pp. 3078-3083. Attachment
Yao, Zhenwang	Simon Fraser Univ.
Gupta, Kamal	Simon Fraser Univ.
15:20-15:35	WeD10.5
DAvinCi: A Cloud Computing Framework for Service Robots, pp. 3084-3089.
Arumugam, Rajesh	A*Star Data Storage Inst.
Enti Ranga Reddy, Vikas Reddy	Data Storage Inst.
Liu, Bingbing	Data Storage Inst.
Wu, Xiaojun	Data Storage Inst.
Baskaran, Krishnamoorthy	Data storage Inst.
Foong, Foo Kong	DATA STORAGE Inst.
Kumar, Appadorai Senthil	Data Storage Inst.
Kang, Dee Meng	Data Storage Inst.
Goh, Wai Kit	NUS
15:35-15:50	WeD10.6
An RRT-Based Path Planner for Use in Trajectory Imitation, pp. 3090-3095. Attachment
Claassens, Jonathan	CSIR

WeD11	Egan Center Lower Level Room 7/8
Recognition and Detection (Regular Sessions)
Chair: Kragic, Danica	KTH
Co-Chair: Christensen, Henrik Iskov	Georgia Inst. of Tech.
14:20-14:35	WeD11.1
A Saliency-Based Solution for Robust Off-Road Obstacle Detection, pp. 3096-3101.
Santana, Pedro	Univ. of Lisbon
Guedes, Magno	Univ. Nova de Lisboa
Correia, Luís	Univ. of Lisbon
Barata, Jose	Univ. Nova de Lisboa
14:35-14:50	WeD11.2
Scalable Real-Time Object Recognition and Segmentation Via Cascaded, Discriminative Markov Random Fields, pp. 3102-3107. Attachment
Vernaza, Paul	Univ. of Pennsylvania
Lee, Daniel D.	Univ. of Pennsylvania
14:50-15:05	WeD11.3
Real-Time Identification and Localization of Body Parts from Depth Images, pp. 3108-3113.
Plagemann, Christian	Stanford Univ.
Ganapathi, Varun	Stanford Univ.
Koller, Daphne	Stanford Univ.
Thrun, Sebastian	Stanford Univ.
15:05-15:20	WeD11.4
Active 3D Scene Segmentation and Detection of Unknown Objects, pp. 3114-3120. Attachment
Björkman, Mĺrten	KTH
Kragic, Danica	KTH
15:20-15:35	WeD11.5
Using Stereo for Object Recognition, pp. 3121-3127.
Helmer, Scott	Univ. of British Columbia
Lowe, David	UBC
15:35-15:50	WeD11.6
High-Speed 3D Object Recognition Using Additive Features in a Linear Subspace, pp. 3128-3134.
Kanezaki, Asako	Grad. School of Information Science and Tech. Univ. Toky
Nakayama, Hideki	Grad. School of Information Science and Tech. Univ. of Tok
Harada, Tatsuya	The Univ. of Tokyo
Kuniyoshi, Yasuo	The Univ. of Tokyo

WeD12	Egan Center Lower Level Room 5
Microrobot Design (Regular Sessions)
Chair: Bergbreiter, Sarah	Univ. of Maryland, Coll. Park
Co-Chair: Cho, Jung	Lehigh Univ.
14:20-14:35	WeD12.1
Brake Design for Dynamic Modular Robots, pp. 3135-3140.
Thorne, Chris	Univ. of Pennsylvania
Yim, Mark	Univ. of Pennsylvania
Skorodinski, Nikita	Univ. of Pennsylvania
Tipton, Hughes	Univ. of Pennsylvania
Van Schoyck, Travis	Univ. of Pennsylvania
14:35-14:50	WeD12.2
Biosensing and Actuation for Microbiorobots, pp. 3141-3146.
Sakar, Mahmut Selman	Univ. of Pennsylvania
Steager, Edward	Drexel Univ.
Julius, Agung	Univ. of Pennsylvania
Kim, MinJun	Drexel Univ.
Kumar, Vijay	Univ. of Pennsylvania
Pappas, George J.	Univ. of Pennsylvania
14:50-15:05	WeD12.3
Dual-Stylus-Arm Scratch Drive Micro-Robots Controlled by an Onboard Parallax Algorithm, pp. 3147-3152.
Cho, Jung	Lehigh Univ.
Arnold, Mark	Lehigh Univ.
15:05-15:20	WeD12.4
Integrated Silicon-PDMS Process for Microrobot Mechanisms, pp. 3153-3158.
Gerratt, Aaron P.	Univ. of Maryland, Coll. Park
Penskiy, Ivan	Univ. of Maryland, Coll. Park
Bergbreiter, Sarah	Univ. of Maryland, Coll. Park
15:20-15:35	WeD12.5
Model-Based Control of a High-Precision Imprinting Actuator for Micro-Channel Fabrications, pp. 3159-3164.
Teo, Tat Joo	Nanyang Tech. Univ.
Chen, I-Ming	Nanyang Tech. Univ.
Kiew, Choon Meng	Singapore Inst. of Manufacturing Tech.
Yang, Guilin	Singapore Inst. of Manufacturing Tech.
Lin, Wei	SIMTech
15:35-15:50	WeD12.6
Three-Axis Micro-Force Sensor with Tunable Force Range and Sub-Micronewton Measurement Uncertainty, pp. 3165-3170.
Muntwyler, Simon	ETH Zurich
Beyeler, Felix	ETH Zurich
Nelson, Bradley J.	ETH Zurich

WeD13	Egan Center Lower Level Room 6
Localization, Mapping and Control for Multiple Vehicles (Regular Sessions)
Chair: Oriolo, Giuseppe	Univ. di Roma
Co-Chair: Teller, Seth	MIT
14:20-14:35	WeD13.1
Nonlinear Observability of the Centralized Multi-Vehicle SLAM Problem, pp. 3171-3178.
Perera, Linthotage Dushantha Lochana	The Univ. of Sydney
Nettleton, Eric	The Univ. of Sydney
14:35-14:50	WeD13.2
Localization of Probabilistic Robot Formations in SLAM, pp. 3179-3184.
Lazaro, Maria Teresa	Inst. de Investigación en Ingeniería de Aragón,Univ. of
Castellanos, Jose A.	Univ. of Zaragoza
14:50-15:05	WeD13.3
Multiple Relative Pose Graphs for Robust Cooperative Mapping, pp. 3185-3192. Attachment
Kim, Been	MIT, CSAIL
Kaess, Michael	MIT
Fletcher, Luke	MIT
Leonard, John	MIT
Bachrach, Abraham	Massachusetts Inst. of Tech.
Roy, Nicholas	Massachusetts Inst. of Tech.
Teller, Seth	MIT
15:05-15:20	WeD13.4
On the Solvability of the Mutual Localization Problem with Anonymous Position Measures, pp. 3193-3199. Attachment
Franchi, Antonio	Sapienza Univ. of Rome
Stegagno, Paolo	Univ. La Sapienza, Roma
Oriolo, Giuseppe	Univ. di Roma "La Sapienza"
15:20-15:35	WeD13.5
On the Global Optimum of Planar, Range-Based Robot-To-Robot Relative Pose Estimation, pp. 3200-3206.
Trawny, Nikolas	Univ. of Minnesota
Roumeliotis, Stergios	Univ. of Minnesota
15:35-15:50	WeD13.6
Graph Based Distributed Control of Non-Holonomic Vehicles Endowed with Local Positioning Information Engaged in Escorting Missions, pp. 3207-3214.
Falconi, Riccardo	Univ. of Bologna
Gowal, Sven	EPFL
Martinoli, Alcherio	EPFL

ThA1	Egan Center Street Level Room Boardroom
Control and Planning (Regular Sessions)
Chair: Kress-Gazit, Hadas	Cornell Univ.
Co-Chair: Techy, Laszlo	Univ. of Washington
08:30-08:45	ThA1.1
Automatic Synthesis of Robot Controllers for Tasks with Locative Prepositions, pp. 3215-3220.
Kress-Gazit, Hadas	Cornell Univ.
Pappas, George J.	Univ. of Pennsylvania
08:45-09:00	ThA1.2
High Quality Goal Connection for Nonholonomic Obstacle Navigation Allowing for Drift Using Dynamic Potential Fields, pp. 3221-3226.
Weir, Michael Kenneth	Univ. of St Andrews
Bott, Matthew Paul	Univ. of St Andrews
09:00-09:15	ThA1.3
Motion Planning and Control from Temporal Logic Specifications with Probabilistic Satisfaction Guarantees, pp. 3227-3232.
Lahijanian, Morteza	Boston Univ.
Wasniewski, Joseph	Boston Univ.
Andersson, Sean	Boston Univ.
Belta, Calin	Boston Univ.
09:15-09:30	ThA1.4
Dynamic Sensor Planning with Stereo for Model Identification on a Mobile Platform, pp. 3233-3239.
Ma, Jeremy	California Inst. of Tech.
Burdick, Joel	California Inst. of Tech.
09:30-09:45	ThA1.5
Planar Path Planning for Flight Vehicles in Wind with Turn Rate and Acceleration Bounds, pp. 3240-3245.
Techy, Laszlo	Univ. of Washington
Woolsey, Craig	Virginia Tech.
Morgansen, Kristi	Univ. of Washington
09:45-10:00	ThA1.6
Balanced State-Space Coverage in Planning with Dynamics, pp. 3246-3253.
Li, Yanbo	Univ. of Nevada at Reno
Bekris, Kostas E.	Univ. of Nevada, Reno

ThA2	Egan Center Lower Level Room 1
Flexible Actuators (Regular Sessions)
Chair: Suzumori, Koichi	Okayama Univ.
Co-Chair: Verl, Alexander	Fraunhofer-Gesellschaft
08:30-08:45	ThA2.1
The QuadHelix-Drive - an Improved Rope Actuator for Robotic Applications, pp. 3254-3259.
Rost, Arne	Fraunhofer IPA
Verl, Alexander	Fraunhofer-Gesellschaft
08:45-09:00	ThA2.2
Fabrication and Basic Experiments of Pneumatic Multi-Chamber Rubber Tube Actuator for Assisting Colonoscope Insertion, pp. 3260-3265. Attachment
Wakimoto, Shuichi	Okayama Univ.
Suzumori, Koichi	Okayama Univ.
09:00-09:15	ThA2.3
Flexible Sliding Actuator Using a Flat Tube and Its Application to the Rescue Operation, pp. 3266-3272.
Mori, Yotaro	Tokyo Inst. of Tech.
Tsukagoshi, Hideyuki	Tokyo Inst. of Tech.
Kitagawa, Ato	Tokyo Inst. of Tech.
09:15-09:30	ThA2.4
Modeling and Design of Energy Efficient Variable Stiffness Actuators, pp. 3273-3278.
Visser, Ludo C.	Univ. of Twente
Carloni, Raffaella	Univ. of Twente
Unal, Ramazan	Univ. of Twente
Stramigioli, Stefano	Univ. of Twente
09:30-09:45	ThA2.5
Variable Stiffness Actuators: A Port-Based Analysis and a Comparison of Energy Efficiency, pp. 3279-3284.
Visser, Ludo C.	Univ. of Twente
Carloni, Raffaella	Univ. of Twente
Stramigioli, Stefano	Univ. of Twente
09:45-10:00	ThA2.6
Mechanism Design for Variable Stiffness Actuation Based on Enumeration and Analysis of Performance, pp. 3285-3291.
Catalano, Manuel	Faculty of Engineering - Univ. of Pisa
Schiavi, Riccardo	Univ. of Pisa
Bicchi, Antonio	Univ. of Pisa

ThA3	Egan Center Lower Level Room 13/14
Dynamically Stable Humanoids (Regular Sessions)
Chair: Goswami, Ambarish	Honda Res. Inst.
Co-Chair: Ruiz-del-Solar, Javier	Univ. de Chile
08:30-08:45	ThA3.1
Switching Control and Quick Stepping Motion Generation Based on the Maximal CPI Sets for Falling Avoidance of Humanoid Robots, pp. 3292-3297.
Yamamoto, Ko	Tokyo Inst. of Tech.
Nakamura, Yoshihiko	Univ. of Tokyo
08:45-09:00	ThA3.2
A Study of Bouncing Rod Dynamics Aiming at Passive Running, pp. 3298-3303. Attachment
Miyamoto, Hiroki	Nagoya Inst. of Tech.
Sano, Akihito	Nagoya Inst. of Tech.
Ikemata, Yoshito	Nagoya Inst. of Tech.
Maruyama, Shintaro	Nagoya Inst. of Tech.
Fujimoto, Hideo	Nagoya Inst. of Tech.
09:00-09:15	ThA3.3
Golem Krang: Dynamically Stable Humanoid Robot for Mobile Manipulation, pp. 3304-3309.
Stilman, Mike	Georgia Tech.
Olson, Jon	Georgia Inst. of Tech.
Gloss, William	Georgia Tech.
09:15-09:30	ThA3.4
Control of Bipedal Running by the Angular-Momentum-Based Synchronization Structure, pp. 3310-3315.
Nakamura, Keisuke	Tokyo Inst. of Tech.
Nakaura, Shigeki	Sasebo National Coll. of Tech.
Sampei, Mitsuji	Tokyo Inst. of Tech.
09:30-09:45	ThA3.5
Generalized Direction Changing Fall Control of Humanoid Robots among Multiple Objects, pp. 3316-3322. Attachment
Goswami, Ambarish	Honda Res. Inst.
Nagarajan, Umashankar	Carnegie Mellon Univ.
09:45-10:00	ThA3.6
Fall Detection and Management in Biped Humanoid Robots, pp. 3323-3328.
Ruiz-del-Solar, Javier	Univ. de Chile
Moya, Javier	Univ. de Chile
Parra-Tsunekawa, Isao	Univ. de Chile

ThA4	Egan Center Lower Level Room 2
Multi-UAV Systems and Collision Avoidance (Regular Sessions)
Chair: Floreano, Dario	Ec. Pol. Federal, Lausanne
Co-Chair: Mahony, Robert	Australian National Univ.
08:30-08:45	ThA4.1
Autonomous Flight at Low Altitude with Vision-Based Collision Avoidance and GPS-Based Path Following, pp. 3329-3334. Attachment
Zufferey, Jean-Christophe	EPFL
Beyeler, Antoine	EPFL
Floreano, Dario	Ec. Pol. Federal, Lausanne
08:45-09:00	ThA4.2
Autonomous Battery Swapping System for Small-Scale Helicopters, pp. 3335-3340.
Swieringa, Kurt	Univ. of Michigan
Hanson, Clarence	Univ. of Michigans
Richardson, Johnhenri	Univ. of Michigan
White, Jonathan	Univ. of Michigan
Hasan, Zahid	Univ. of Michigan, Ann Arbor
Qian, Elizabeth	Univ. of Michigan
Girard, Anouck	Univ. of Michigan at Ann Arbor
09:00-09:15	ThA4.3
A General Optical Flow Based Terrain-Following Strategy for a VTOL UAV Using Multiple Views, pp. 3341-3348. Attachment
Herisse, Bruno	CEA
Oustričres, Sophie	CEA
Hamel, Tarek	UNSA-CNRS
Mahony, Robert	Australian National Univ.
Russotto, Francois-Xavier	French Atomic Energy Commission (CEA)
09:15-09:30	ThA4.4
An Indoor Flying Platform with Collision Robustness and Self-Recovery, pp. 3349-3354. Attachment
Klaptocz, Adam	Ec. Pol. Federale de Lausanne
Boutinard Rouelle, Grégoire	Ec. Pol. Federale de Lausanne
Briod, Adrien	Ec. Pol. Federale de Lausanne
Zufferey, Jean-Christophe	EPFL
Floreano, Dario	Ec. Pol. Federal, Lausanne
09:30-09:45	ThA4.5
Synchronizing the Motion of a Quadrocopter to Music, pp. 3355-3360. Attachment
Schöllig, Angela	ETH Zürich
Augugliaro, Federico	ETH Zurich
Lupashin, Sergei	ETH Zurich
D'Andrea, Raffaello	ETHZ
09:45-10:00	ThA4.6
MAV Navigation through Indoor Corridors Using Optical Flow, pp. 3361-3368.
Scaramuzza, Davide	ETH Zurich
Weiss, Stephan	ETH Zurich
Siegwart, Roland	ETH Zurich
Zingg, Simon	ETH Zurich

ThA5	Egan Center Lower Level Room 11/12
Anthropomorphic Robot Systems (Regular Sessions)
Chair: Mukherjee, Ranjan	Michigan State Univ.
Co-Chair: Orin, David	The Ohio State Univ.
08:30-08:45	ThA5.1
HRP-2 Plays the Yoyo: From Human to Humanoid Yoyo Playing Using Optimal Control, pp. 3369-3376.
Mombaur, Katja	LAAS-CNRS
Sreenivasa, Manish N.	LAAS-CNRS
08:45-09:00	ThA5.2
Whole-Body Cooperative Force Control for a Two-Armed and Two-Wheeled Mobile Robot Using Generalized Inverse Dynamics and Idealized Joint Units, pp. 3377-3383. Attachment
Nagasaka, Kenichiro	Sony Corp.
Kawanami, Yasunori	Sony Corp.
Shimizu, Satoru	Sony Corp.
Kito, Takashi	Sony Corp.
Tsuboi, Toshimitsu	Sony Corp.
Miyamoto, Atsushi	Sony Corp.
Fukushima, Tetsuharu	Sony Corp.
Shimomura, Hideki	Sony Corp.
09:00-09:15	ThA5.3
The Bielefeld Anthropmorphic Robot Head ``Flobi'', pp. 3384-3391.
Lütkebohle, Ingo	Bielefeld Univ.
Hegel, Frank	Bielefeld Univ.
Schulz, Simon	Bielefeld Univ.
Hackel, Matthias	Mabotics GmbH
Wrede, Britta	Bielefeld Univ.
Wachsmuth, Sven	Bielefeld Univ.
Sagerer, Gerhard	Univ. of Bielefeld
09:15-09:30	ThA5.4
Design and Control of an Underactuated Three-Link Rolling Biped, pp. 3392-3397.
Flynn, Louis	Michigan State Univ.
Jafari, Rouhollah	Michigan State Univ.
Mukherjee, Ranjan	Michigan State Univ.
09:30-09:45	ThA5.5
Whole-Body Humanoid Control from Upper-Body Task Specifications, pp. 3398-3405.
Bin Hammam, Ghassan	The Ohio State Univ.
Orin, David	The Ohio State Univ.
Dariush, Behzad	Honda Res. Inst. USA
09:45-10:00	ThA5.6
Inverse Dynamics Control of Floating Base Systems Using Orthogonal Decomposition, pp. 3406-3412. Attachment
Mistry, Michael	Disney Res. Pittsburgh
Buchli, Jonas	Univ. of Southern California
Schaal, Stefan	Univ. of Southern California

ThA6	Egan Center Street Level Room Cook Hall
Physical Human Robot Interaction (Regular Sessions)
Chair: Haddadin, Sami	German Aerospace Center (DLR)
Co-Chair: Kermani, Mehrdad R.	Univ. of Western Ontario
08:30-08:45	ThA6.1
Distributed Motion Control of Multiple Passive Object Handling Robots Considering Feasible Region of Brake Control, pp. 3413-3419.
Hirata, Yasuhisa	Tohoku Univ.
Ojima, Yosuke	Tohoku Univ.
Kosuge, Kazuhiro	Tohoku Univ.
08:45-09:00	ThA6.2
3-DOF Cartesian Force Limiting Device Based on the Delta Architecture for Safe Physical Human-Robot Interaction, pp. 3420-3425. Attachment
Lauzier, Nicolas	Univ. Laval
Gosselin, Clement	Univ. Laval
09:00-09:15	ThA6.3
Soft-Tissue Injury in Robotics, pp. 3426-3433. Attachment
Haddadin, Sami	German Aerospace Center (DLR)
Albu-Schäffer, Alin	DLR - German Aerospace Center
Hirzinger, Gerd	German Aerospace Center (DLR)
09:15-09:30	ThA6.4
Prediction-Based Reactive Control Strategy for Human-Robot Interactions, pp. 3434-3439.
Najmaei, Nima	Univ. of Western Ontario
Kermani, Mehrdad R.	Univ. of Western Ontario
09:30-09:45	ThA6.5
Pushing a Robot Along - a Natural Interface for Human-Robot Interaction, pp. 3440-3445.
Frémy, Julien	Univ. de Sherbrooke
Lauria, Michel	Univ. of Applied Sciences Western Switzerland (HES-SO)
Michaud, Francois	Univ. de Sherbrooke
09:45-10:00	ThA6.6
Ankle and Hip Balance Control Strategies with Transitions, pp. 3446-3451. Attachment
Kanamiya, Yoshikazu	Tokyo City Univ.
Ota, Shun	Tokyo City Univ.
Sato, Daisuke	Tokyo City Univ.

ThA7	Egan Center Lower Level Room 3
Data Fusion and Mapping (Regular Sessions)
Chair: Ramos, Fabio	Univ. of Sydney
Co-Chair: Birk, Andreas	Jacobs Univ.
08:30-08:45	ThA7.1
Heteroscedastic Gaussian Processes for Data Fusion in Large Scale Terrain Modeling, pp. 3452-3459.
Vasudevan, Shrihari	Univ. of Sydney
Ramos, Fabio	Univ. of Sydney
Nettleton, Eric	The Univ. of Sydney
Durrant-Whyte, Hugh	The Univ. of Sydney
08:45-09:00	ThA7.2
Generating Individual Maps from Universal Map for Heterogeneous Mobile Robots, pp. 3460-3465. Attachment
Takemura, Kentaro	Nara Inst. of Science and Tech.
Araki, Ato	Nara Inst. of Science and Tech.
Ido, Junichi	Nara Inst. of Science and Tech.
Matsumoto, Yoshio	Osaka Univ.
Takamatsu, Jun	Nara Inst. of Science and Tech.
Ogasawara, Tsukasa	Nara Inst. of Science and Tech.
09:00-09:15	ThA7.3
Extraction of Quadrics from Noisy Point-Clouds Using a Sensor Noise Model, pp. 3466-3471.
Vaskevicius, Narunas	Jacobs Univ.
Pathak, Kaustubh	Jacobs Univ. Bremen
Pascanu, Razvan	Jacobs Univ. Bremen
Birk, Andreas	Jacobs Univ.
09:15-09:30	ThA7.4
Using Recursive Spectral Registrations to Determine Brokenness As Measure of Structural Map Errors, pp. 3472-3477.
Birk, Andreas	Jacobs Univ.
09:30-09:45	ThA7.5
Contextual Occupancy Maps Incorporating Sensor and Location Uncertainty, pp. 3478-3485.
O'Callaghan, Simon Timothy	Univ. of Sydney
Ramos, Fabio	Univ. of Sydney
Durrant-Whyte, Hugh	The Univ. of Sydney
09:45-10:00	ThA7.6
Automatic Reconstruction of Textured 3D Models, pp. 3486-3493. Attachment
Pitzer, Benjamin	Robert Bosch LLC
Kammel, Sören	Bosch LLC
DuHadway, Charles	Robert Bosch LLC
Becker, Jan	Robert Bosch LLC

ThA8	Egan Center Lower Level Room 9/10
3D and Vision Based SLAM (Regular Sessions)
Chair: Rives, Patrick	INRIA
Co-Chair: Solŕ, Joan	LAAS-CNRS, Univ. of Toulouse
08:30-08:45	ThA8.1
On Combining Visual SLAM and Visual Odometry, pp. 3494-3500.
Williams, Brian Patrick	Univ. of Oxford
Reid, Ian	Univ. of Oxford
08:45-09:00	ThA8.2
Visual Odometry Priors for Robust EKF-SLAM, pp. 3501-3506. Attachment
Fernández Alcantarilla, Pablo	Univ. of Alcalá
Bergasa, Luis Miguel	Univ. of Alcala
Dellaert, Frank	Georgia Inst. of Tech.
09:00-09:15	ThA8.3
FAB-MAP + RatSLAM: Appearance-Based SLAM for Multiple Times of Day, pp. 3507-3512. Attachment
Glover, Arren	Univ. of Queensland
Maddern, William	Univ. of Queensland
Milford, Michael	The Univ. of Queensland
Wyeth, Gordon	Queensland Univ. of Tech.
09:15-09:30	ThA8.4
Consistency of the Monocular EKF-SLAM Algorithm for Three Different Landmark Parametrizations, pp. 3513-3518. Attachment
Solŕ, Joan	LAAS-CNRS, Univ. of Toulouse
09:30-09:45	ThA8.5
Indoor SLAM Based on Composite Sensor Mixing Laser Scans and Omnidirectional Images, pp. 3519-3524. Attachment
Gallegos, Gabriela	INRIA
Rives, Patrick	INRIA
09:45-10:00	ThA8.6
Optimization Techniques for Laser-Based 3D Particle Filter SLAM, pp. 3525-3530.
Welle, Jochen	Fraunhofer FKIE
Schulz, Dirk	Fraunhofer Inst. for Communication, Information Processing a
Bachran, Thomas	Fraunhofer
Cremers, Armin	Univ. of Bonn

ThA9	Egan Center Lower Level Room 4
Distributed Systems: Coordinated Control (Regular Sessions)
Chair: Tanner, Herbert G.	Univ. of Delaware
Co-Chair: Poduri, Sameera	USC
08:30-08:45	ThA9.1
Multiple Vehicles Mission Coordination Using Petri Nets, pp. 3531-3536. Attachment
Palomeras, Narcis	Univ. de Girona - VAT:ESQ6750002E
Ridao, Pere	Univ. de Girona
Silvestre, Carlos	Inst. Superior Tecnico
El-Fakdi, Andres	Univ. of Girona
08:45-09:00	ThA9.2
Abstractions and Controllers for Groups of Robots in Environments with Obstacles, pp. 3537-3542.
Ayanian, Nora	Univ. of Pennsylvania
Kumar, Vijay	Univ. of Pennsylvania
09:00-09:15	ThA9.3
Probabilistic Shadow Information Spaces, pp. 3543-3549.
Yu, Jingjin	U of Illinois at Urbana Champaign
LaValle, Steven M	Univ. of Illinois
09:15-09:30	ThA9.4
Multi-Agent Search Strategy Based on Centroidal Voronoi Configuration, pp. 3550-3555.
Guruprasad, Kr	National Inst. of Tech. Karnataka
Ghose, Debasish	Indian Inst. of Science
09:30-09:45	ThA9.5
Decentralized Stabilization of Heterogeneous Linear Multi-Agent Systems, pp. 3556-3561.
Gasparri, Andrea	Univ. degli Studi Roma Tre
Franceschelli, Mauro	Univ. of Cagliari, Italy
Ulivi, Giovanni	Univ. di Roma Tre
Giua, Alessandro	Univ. of Cagliari, Italy
09:45-10:00	ThA9.6
Distributed Pursuit-Evasion with Limited-Visibility Sensors Via Frontier-Based Exploration, pp. 3562-3568. Attachment
Durham, Joseph W.	UCSB
Franchi, Antonio	Sapienza Univ. of Rome
Bullo, Francesco	UCSB

ThA10	Egan Center Lower Level Room 7/8
Motion Planning and Learning (Regular Sessions)
Chair: Tovar, Benjamin	Northwestern Univ.
Co-Chair: Kavraki, Lydia	Rice Univ.
08:30-08:45	ThA10.1
Searching and Mapping among Indistinguishable Convex Obstacles, pp. 3569-3574.
Tovar, Benjamin	Northwestern Univ.
LaValle, Steven M	Univ. of Illinois
08:45-09:00	ThA10.2
Rapid Updating for Path-Planning Using Nonlinear Branch-And-Bound, pp. 3575-3580.
Eele, Alison Jennifer	Univ. of Bristol
Richards, Arthur	Univ. of Bristol
09:00-09:15	ThA10.3
Global Reachability and Path Planning for Planetary Exploration with Montgolfiere Balloons, pp. 3581-3588.
Blackmore, Lars	Jet Propulsion Lab. California Inst. of
Kuwata, Yoshiaki	Jet Propulsion Lab.
Wolf, Michael	Jet Propulsion Lab.
Assad, Chris	Jet Propulsion Lab.
Fathpour, Nanaz	Jet Propulsion Lab.
Newman, Claire	California Inst. of Tech.
Elfes, Alberto	Jet Propulsion Lab.
09:15-09:30	ThA10.4
An Optimization Approach to Rough Terrain Locomotion, pp. 3589-3595. Attachment
Zucker, Matthew	Carnegie Mellon Univ.
Bagnell, James	Carnegie Mellon Univ.
Atkeson, Christopher	CMU
Kuffner, James	Carnegie Mellon Univ.
09:30-09:45	ThA10.5
Exploiting Domain Knowledge in Planning for Uncertain Robot Systems Modeled As POMDPs, pp. 3596-3603.
Candido, Salvatore	Univ. of Illinois
Davidson, James	Univ. of Illinois
Hutchinson, Seth	Univ. of Illinois
09:45-10:00	ThA10.6
A Hierarchical Decoupled Approach for Multi Robot Motion Planning on Trees, pp. 3604-3609.
Masehian, Ellips	Tarbiat Modares Univ.
Hassan Nejad, Azadeh	Tarbiat Modares Univ.

ThA11	Egan Center Lower Level Room 5
Sensing and Recognition (Regular Sessions)
Chair: Campos, Mario F. Montenegro	Federal Univ. of Minas Gerais
Co-Chair: Yamauchi, Brian	iRobot Corp.
08:30-08:45	ThA11.1
All-Weather Perception for Man-Portable Robots Using Ultra-Wideband Radar, pp. 3610-3615.
Yamauchi, Brian	iRobot Corp.
08:45-09:00	ThA11.2
FLIRT - Interest Regions for 2D Range Data, pp. 3616-3622. Attachment
Tipaldi, Gian Diego	Univ. of Freiburg
Arras, Kai Oliver	Univ. of Freiburg
09:00-09:15	ThA11.3
A Hybrid Framework for Ego Noise Cancellation of a Robot, pp. 3623-3628.
Ince, Gokhan	Honda Res. Inst. Japan Co., Ltd.
Nakadai, Kazuhiro	Honda Res. Inst. Japan Co., Ltd.
Rodemann, Tobias	Honda Res. Inst. Europe
Hasegawa, Yuji	Honda Res. Inst. Japan Co., Ltd.
Tsujino, Hiroshi	Honda Res. Inst. Co., Ltd.
Imura, Jun-ichi	Tokyo Inst. of Tech.
09:15-09:30	ThA11.4
Design and Validation of a Multi-Finger Sensing Device Based on Optical Linear Encoder, pp. 3629-3634.
Li, Kang	Nanyang Tech. Univ.
Chen, I-Ming	Nanyang Tech. Univ.
Yeo, Song Huat	Nanyang Tech. Univ.
09:30-09:45	ThA11.5
Novelty Detection and 3D Shape Retrieval Using Superquadrics and Multi-Scale Sampling for Autonomous Mobile Robots, pp. 3635-3640.
Drews Jr, Paulo	Federal Univ. of Minas Gerais
Núńez Trujillo, Pedro	Univ. de Extremadura
Rocha, Rui	Inst. of Systems and Robotics - Univ. of Coimbra
Campos, Mario F. Montenegro	Federal Univ. of Minas Gerais
Dias, Jorge	Univ. of Coimbra
09:45-10:00	ThA11.6
Wearable Accelerometer Based Extendable Activity Recognition System, pp. 3641-3647.
Yang, Jie	Shanghai Jiaotong Univ.
Shi, Pengfei	Shanghai Jiaotong Univ.

ThA12	Egan Center Street Level Room Arteaga
Force and Contact Sensing in Medicine (Regular Sessions)
Chair: Simaan, Nabil	Columbia Univ.
Co-Chair: Ishii, Idaku	Hiroshima Univ.
08:30-08:45	ThA12.1
Force Visualization Mechanism Using a Moire Fringe Applied to Endoscopic Surgical Instruments, pp. 3648-3653. Attachment
Takaki, Takeshi	Hiroshima Univ.
Omasa, Youhei	Hiroshima Univ.
Ishii, Idaku	Hiroshima Univ.
Kawahara, Tomohiro	Hiroshima Univ.
Okajima, Masazumi	Hiroshima Univ.
08:45-09:00	ThA12.2
Miniaturized Force-Indentation Depth Sensor for Tissue Abnormality Identification During Laparoscopic Surgery, pp. 3654-3659.
Liu, Hongbin	King's Coll. London
Li, Jichun	King's Coll. London,Univ. of London
Poon, Qi-Ian	King's Coll. London
Seneviratne, Lakmal	Kings Coll. London
Althoefer, Kaspar	Kings Coll. London
09:00-09:15	ThA12.3
Force/Position-Based Modular System for Minimally Invasive Surgery, pp. 3660-3665.
Trejos, Ana Luisa	The Univ. of Western Ontario
Lyle, Andrew	Lawson Health Res. Inst.
Escoto, Abelardo	Lawson Health Res. Inst.
Naish, Michael David	Univ. of Western Ontario
Patel, Rajni	The Univ. of Western Ontario
09:15-09:30	ThA12.4
Finding Lost Wrenches: Using Continuum Robots for Contact Detection and Estimation of Contact Location, pp. 3666-3673.
Simaan, Nabil	Columbia Univ.
Bajo, Andrea	Columbia Univ.
09:30-09:45	ThA12.5
A Force Sensing Automated Insertion Tool for Cochlear Electrode Implantation, pp. 3674-3679.
Schurzig, Daniel	Vanderbilt Univ. Medical Center
Labadie, Robert F	Vanderbilt Univ.
Webster III, Robert James	Vanderbilt Univ.
Hussong, Andreas	Leibniz Univ. Hannover
Rau, Thomas	Hannover Medical School
09:45-10:00	ThA12.6
Photoelastic Stress Analysis Error Quantification in Vasculature Models for Robot Feedback Control, pp. 3680-3685.
Tercero Villagran, Carlos Rafael	Nagoya Univ.
Ikeda, Seiichi	Nagoya Univ.
Matsushima, Motoki	Nagoya Univ.
Fukuda, Toshio	Nagoya Univ.
Negoro, Makoto	Fujita Health Univ.
Takahashi, Ikuo	Anjo Kosei Hospital

ThA13	Egan Center Lower Level Room 6
Calibration and System Identification (Regular Sessions)
Chair: Robertsson, Anders	LTH, Lund Univ.
Co-Chair: Chirikjian, Gregory	Johns Hopkins Univ.
08:30-08:45	ThA13.1
Calibration of a Structure Light Based Windshield Inspection System, pp. 3686-3691.
Zhang, Chi	Michigan State Univ.
Xi, Ning	Michigan State Univ.
Xu, Jing	Michigan State Univ.
Shi, Quan	Michigan State Univ.
08:45-09:00	ThA13.2
Thermal Calibration of a 3 DOF Ultra High-Precision Robot Operating in Industrial Environment, pp. 3692-3697.
Lubrano, Emanuele	EPFL
Clavel, Reymond	Ec. Pol. Fédérale de Lausanne (EPFL)
09:00-09:15	ThA13.3
A-Priori Fisher Information of Nonlinear State Space Models for Experiment Design, pp. 3698-3702.
Dietrich, Franz	Tech. Univ. Braunschweig
Raatz, Annika	Tech. Univ. Braunschweig
Hesselbach, Juergen	Tech. Univ. Braunschweig
09:15-09:30	ThA13.4
Estimation of Model Parameters for Steerable Needles, pp. 3703-3708.
Park, Wooram	Johns Hopkins Univ.
Reed, Kyle Brandon	Univ. of South Florida
Okamura, Allison M.	Johns Hopkins Univ.
Chirikjian, Gregory	Johns Hopkins Univ.
09:30-09:45	ThA13.5
A Kinematic Error Model for a Parallel Gantry-Tau Manipulator, pp. 3709-3714.
Dressler, Isolde	LTH, Lund Univ.
Brogardh, Torgny	ABB Robotics
Robertsson, Anders	LTH, Lund Univ.
09:45-10:00	ThA13.6
Identification of Flying Humanoids and Humans, pp. 3715-3720.
Ayusawa, Ko	Univ. of Tokyo
Venture, Gentiane	Tokyo Univ. of Agriculture and Tech.
Nakamura, Yoshihiko	Univ. of Tokyo

ThB1	Egan Center Street Level Room Boardroom
Kinematically Redundant Systems (Regular Sessions)
Chair: Papadopoulos, Evangelos	NTUA
Co-Chair: Chaumette, Francois	INRIA Rennes-Bretagne Atlantique
10:20-10:35	ThB1.1
General Parameterization of Holonomic Kinematic Inversion Algorithms for Redundant Manipulators, pp. 3721-3726. Attachment
Rocco, Paolo	Pol. di Milano
Zanchettin, Andrea Maria	Pol. di Milano
10:35-10:50	ThB1.2
A New Large Projection Operator for the Redundancy Framework, pp. 3727-3732.
Marey, Mohammed	INRIA Rennes-Bretagne Atlantique (IRISA)
Chaumette, Francois	INRIA Rennes-Bretagne Atlantique
10:50-11:05	ThB1.3
Fast Resolution of Hierarchized Inverse Kinematics with Inequality Constraints, pp. 3733-3738.
Escande, Adrien	CEA
Mansard, Nicolas	CNRS
Wieber, Pierre-Brice	INRIA Rhône-Alpes
11:05-11:20	ThB1.4
Control Design and Allocation of an Over-Actuated Triangular Floating Platform, pp. 3739-3744.
Vlachos, Kostas	National Tech. Univ. of Athens
Papadopoulos, Evangelos	NTUA
11:20-11:35	ThB1.5
Dynamic Pushing Strategies for Dynamically Stable Mobile Manipulators, pp. 3745-3750.
Kolhe, Pushkar	Georgia Inst. of Tech.
Dantam, Neil	Georgia Inst. of Tech.
Stilman, Mike	Georgia Tech.

ThB2	Egan Center Lower Level Room 1
Mechanism Design of Mobile Robots (Regular Sessions)
Chair: Nakamura, Taro	Chuo Univ.
Co-Chair: Wyeth, Gordon	Queensland Univ. of Tech.
10:20-10:35	ThB2.1
Design and Evaluation of a Fin-Based Underwater Propulsion System, pp. 3751-3756. Attachment
Peter, Benjamin Matthias	ETH Zurich
Ratnaweera, Roman	ETH Zürich
Pradalier, Cedric	ETH Zurich
Fischer, Wolfgang	ETH Zürich
Siegwart, Roland	ETH Zurich
10:35-10:50	ThB2.2
Self Locomotion of a Spherical Rolling Robot Using a Novel Deformable Pneumatic Method, pp. 3757-3762. Attachment
Wait, Keith	Vanderbilt Univ.
Jackson, Phil	Disney
Smoot, Lanny	Walt Disney Imagineering R&D
10:50-11:05	ThB2.3
Novel Differential Drive Steering System with Energy Saving and Normal Tire Using Spur Gear for an Omni-Directional Mobile Robot, pp. 3763-3768.
Ueno, Yuki	Toyohashi Univ. of Tech.
Ohno, Takashi	Toyohashi Univ. of Tech.
Terashima, Kazuhiko	Toyohashi Univ. of Tech.
Kitagawa, Hideo	Gifu National Coll. of Tech.
Funato, Kazuhiro	KER CO., LTD
Kakihara, Kiyoaki	KER CO., LTD
11:05-11:20	ThB2.4
Locomotion Strategies for an Omni-Directional Mobile Robot Using Traveling Waves Propagation, pp. 3769-3774.
Nakamura, Taro	Chuo Univ.
11:20-11:35	ThB2.5
A Practical Implementation of a Continuous Isotropic Spherical Omnidirectional Drive, pp. 3775-3780.
Ball, David	The Univ. of Queensland
Lehnert, Christopher	The Univ. of Queensland
Wyeth, Gordon	Queensland Univ. of Tech.

ThB3	Egan Center Lower Level Room 13/14
Robot Designs Inspired by Bacteria, Mold and Insects (Regular Sessions)
Chair: Sitti, Metin	Carnegie Mellon Univ.
Co-Chair: Kim, Sangbae	Massachusetts Inst. of Tech.
10:20-10:35	ThB3.1
Bacteria Controller Implementation on a Physical Platform for Pollution Monitoring, pp. 3781-3786.
Oyekan, John Oluwagbemiga	Univ. of Essex
Hu, Huosheng	Univ. of Essex
10:35-10:50	ThB3.2
Taming Large Degrees of Freedom –A Case Study with an Amoeboid Robot–, pp. 3787-3792. Attachment
Umedachi, Takuya	Tohoku Univ.
Takeda, Koichi	Tohoku Univ.
Nakagaki, Toshiyuki	Hokkaido Univ.
Kobayashi, Ryo	Hiroshima Univ.
Ishiguro, Akio	Tohoku Univ.
10:50-11:05	ThB3.3
A Tunable Physical Model of Arthropod Antennae, pp. 3793-3798.
Demir, Alican	Johns Hopkins Univ.
Samson, Edward	Johns Hopkins Univ.
Cowan, Noah J.	Johns Hopkins Univ.
11:05-11:20	ThB3.4
Surface Tension Driven Water Strider Robot Using Circular Footpads, pp. 3799-3804. Attachment
Ozcan, Onur	Carnegie Mellon Univ.
Wang, Han	Carnegie Mellon Univ.
Taylor, Jonathan D.	Carnegie Mellon Univ.
Sitti, Metin	Carnegie Mellon Univ.
11:20-11:35	ThB3.5
An Insect-Based Method for Learning Landmark Reliability Using Expectation Reinforcement in Dynamic Environments, pp. 3805-3812.
Mathews, Zenon	UPF Barcelona
Verschure, Paul	Catalan Inst. of Advanced Studies (ICREA), Foundation
Bermudez i Badia, Sergi	Univ. Pompeu Fabra (UPF)

ThB4	Egan Center Lower Level Room 2
Robotics in Agriculture, Construction and Forestry (Regular Sessions)
Chair: Sugano, Shigeki	Waseda Univ.
Co-Chair: Heger, Frederik W.	The Robotics Inst. Carnegie Mellon Univ.
10:20-10:35	ThB4.1
A New Device Dedicated to Autonomous Mobile Robot Dynamic Stability: Application to an Off-Road Mobile Robot, pp. 3813-3818.
Bouton, Nicolas	Cemagref
Lenain, Roland	Cemagref
Thuilot, Benoit	Clermont-Ferrand Univ.
Martinet, Philippe	Blaise Pascal Univ.
10:35-10:50	ThB4.2
Autonomous Maneuver of a Farm Vehicle with a Trailed Implement: Motion Planner and Lateral-Longitudinal Controllers, pp. 3819-3824.
Cariou, Christophe	Cemagref
Lenain, Roland	Cemagref
Thuilot, Benoit	Clermont-Ferrand Univ.
Martinet, Philippe	Blaise Pascal Univ.
10:50-11:05	ThB4.3
Robust Robotic Assembly through Contingencies, Plan Repair and Re-Planning, pp. 3825-3830.
Heger, Frederik W.	The Robotics Inst. Carnegie Mellon Univ.
Singh, Sanjiv	Carnegie Mellon Univ.
11:05-11:20	ThB4.4
Ground Plane Identification Using LIDAR in Forested Environments, pp. 3831-3836.
McDaniel, Matt	MIT
Nishihata, Takayuki	Massachusetts Inst. of Tech.
Brooks, Christopher	Massachusetts Inst. of Tech.
Iagnemma, Karl	MIT
11:20-11:35	ThB4.5
A Robotic Sensor Network for Monitoring Carp in Minnesota Lakes, pp. 3837-3842.
Bhadauria, Deepak	Univ. of Minnesota
Isler, Volkan	Univ. of Minnesota
Studenski, Andrew	Univ. of Minnesota
Tokekar, Pratap	Univ. of Minnesota

ThB5	Egan Center Lower Level Room 11/12
Industrial Robots (Regular Sessions)
Chair: Hirose, Shigeo	Tokyo Inst. of Tech.
Co-Chair: Newman, Wyatt	Case Western Res. Univ.
10:20-10:35	ThB5.1
A Passive Weight Compensation Mechanism with a Non-Circular Pulley and a Spring, pp. 3843-3848. Attachment
Endo, Gen	Tokyo Inst. of Tech.
Yamada, Hiroya	Tokyo Inst. of Tech.
Yajima, Akira	Canon Inc.
Ogata, Masaru	CANON INC.
Hirose, Shigeo	Tokyo Inst. of Tech.
10:35-10:50	ThB5.2
Intrinsic Repeatability: A New Index for Repeatability Characterisation, pp. 3849-3854.
Brethe, Jean-François	LE HAVRE Univ.
10:50-11:05	ThB5.3
The Adaptive Selection Matrix - a Key Component for Sensor-Based Control of Robotic Manipulators, pp. 3855-3862.
Finkemeyer, Bernd	KUKA Roboter GmbH
Kroeger, Torsten	Tech. Univ. Braunschweig
Wahl, Friedrich M.	Tech. Univ. of Braunschweig
11:05-11:20	ThB5.4
Assembling Wheels to Continuously Conveyed Car Bodies Using a Standard Industrial Robot, pp. 3863-3869. Attachment
Lange, Friedrich	German Aerospace Center (DLR)
Werner, Jochen	Tech. Univ. München
Scharrer, Johannes	Inst. für Werkzeugmaschinen und BetriebswissenschaftenTU Münc
Hirzinger, Gerd	German Aerospace Center (DLR)
11:20-11:35	ThB5.5
Independent Component Analysis and Bayes’ Theorem for Robotics and Automation, pp. 3870-3875.
Hudson, Richard	CWRU
Newman, Wyatt	Case Western Res. Univ.

ThB6	Egan Center Street Level Room Cook Hall
Force Sensing, Teleoperation and Virtual Reality (Regular Sessions)
Chair: Melchiorri, Claudio	Univ. of Bologna
Co-Chair: Buelthoff, Heinrich H.	Max Planck Inst. for Biol. Cybernetics
10:20-10:35	ThB6.1
A Novel Framework for Closed-Loop Robotic Motion Simulation - Part I: Inverse Kinematics Design, pp. 3876-3883. Attachment
Robuffo Giordano, Paolo	Max Planck Inst. for Biological Cybernetics
Masone, Carlo	Univ. di Roma "la Sapienza"
Tesch, Joachim	Max Planck Inst. for Biological Cybernetics
Breidt, Martin	Max Planck Inst. for Biological Cybernetics
Pollini, Lorenzo	Univ. of Pisa
Buelthoff, Heinrich H.	Max Planck Inst. for Biol. Cybernetics
10:35-10:50	ThB6.2
Motion Tracking in Robotic Manipulators in Presence of Sensor Delay, pp. 3884-3889.
Bahrami, Somayeh	Sharif Univ. of Tech.
Namvar, Mehrzad	Sharif Univ. of Tech.
10:50-11:05	ThB6.3
Friction and Visco-Elasticity Effects in Tendon-Based Transmission Systems, pp. 3890-3895.
Palli, Gianluca	Univ. of Bologna
Borghesan, Gianni	Univ. of Bologna
Melchiorri, Claudio	Univ. of Bologna
11:05-11:20	ThB6.4
A Novel Framework for Closed-Loop Robotic Motion Simulation - Part II: Motion Cueing Design and Experimental Validation, pp. 3896-3903. Attachment
Robuffo Giordano, Paolo	Max Planck Inst. for Biological Cybernetics
Masone, Carlo	Univ. di Roma "la Sapienza"
Tesch, Joachim	Max Planck Inst. for Biological Cybernetics
Breidt, Martin	Max Planck Inst. for Biological Cybernetics
Pollini, Lorenzo	Univ. of Pisa
Buelthoff, Heinrich H.	Max Planck Inst. for Biol. Cybernetics
11:20-11:35	ThB6.5
High-Fidelity Joint Drive System by Torque Feedback Control Using High Precision Linear Encoder, pp. 3904-3909.
Kawakami, Tomohiro	Univ. of Tokyo
Ayusawa, Ko	Univ. of Tokyo
Kaminaga, Hiroshi	The Univ. of Tokyo
Nakamura, Yoshihiko	Univ. of Tokyo

ThB7	Egan Center Lower Level Room 3
Sensor Fusion and Mapping (Regular Sessions)
Chair: Dillmann, Rüdiger	Univ. of Karlsruhe
Co-Chair: Lakaemper, Rolf	Temple Univ.
10:20-10:35	ThB7.1
Discovering and Mapping Complete Surfaces with Stereo, pp. 3910-3915.
Shade, Robert	Oxford Univ.
Newman, Paul	Oxford Univ.
10:35-10:50	ThB7.2
Multiple Depth/Presence Sensors: Integration and Optimal Placement for Human/Robot Coexistence, pp. 3916-3923.
Flacco, Fabrizio	Univ. di Roma "La Sapienza"
De Luca, Alessandro	Univ. di Roma "La Sapienza"
10:50-11:05	ThB7.3
A Line Segment Based System for 2D Global Mapping, pp. 3924-3931.
Elseberg, Jan	Jacobs Univ. Bremen
Creed, Ross	Saint Joseph's Univ.
Lakaemper, Rolf	Temple Univ.
11:05-11:20	ThB7.4
Recursive Importance Sampling for Efficient Grid-Based Occupancy Filtering in Dynamic Environments, pp. 3932-3938.
Brechtel, Sebastian	Karlsruhe Inst. of Tech.
Gindele, Tobias	Karlsruhe Inst. of Tech.
Dillmann, Rüdiger	Univ. of Karlsruhe
11:20-11:35	ThB7.5
Boundary Detection Based on Supervised Learning, pp. 3939-3945.
Kwak, Kiho	Carnegie Mellon Univ.
Huber, Daniel	CMU
Chae, Jeongsook	Agency for Defense Development
Kanade, Takeo	Carnegie Mellon Univ.

ThB8	Egan Center Lower Level Room 9/10
Intelligent Transportation Systems (Regular Sessions)
Chair: Belta, Calin	Boston Univ.
Co-Chair: Li, Shigang	Tottori Univ.
10:20-10:35	ThB8.1
Robust and Accurate Road Map Inference, pp. 3946-3953.
Agamennoni, Gabriel	The Univ. of Sydney
Nieto, Juan	Univ. of Sydney, Australian Centre for Field Robotics
Nebot, Eduardo	Unversity of Sydney
10:35-10:50	ThB8.2
Estimating Camera Pose from H-Pattern of Parking Lot, pp. 3954-3959.
Li, Shigang	Tottori Univ.
Hai, Ying	Tottori Univ.
10:50-11:05	ThB8.3
Recognition of Situation Classes at Road Intersections, pp. 3960-3965.
Kaefer, Eugen	Daimler AG
Hermes, Christoph	Bielefeld Univ.
Woehler, Christian	Daimler AG
Ritter, Helge Joachim	Bielefeld Univ.
Kummert, Franz	Univ. of Bielefeld
11:05-11:20	ThB8.4
An Online Algorithm for Constrained POMDPs, pp. 3966-3973.
Undurti, Aditya	Massachusetts Inst. of Tech.
How, Jonathan	Massachusetts Inst. of Tech.
11:20-11:35	ThB8.5
Navigating Multiple Simple-Airplanes in 3D Workspace, pp. 3974-3980.
Snape, Jamie	Univ. of North Carolina at Chapel Hill
Manocha, Dinesh	UNC at Chapel Hill

ThB9	Egan Center Lower Level Room 4
Control of Grasping and Manipulation (Regular Sessions)
Chair: Guarino Lo Bianco, Corrado	Univ. of Parma
Co-Chair: Schumacher, Walter	TU Braunschweig
10:20-10:35	ThB9.1
Frequency Criteria for the Grasping Control of a Hyper-Redundant Robot, pp. 3981-3988.
Ivanescu, Mircea	Univ. of Craiova
Bizdoaca, Nicu George	Univ. of CRaiova
Florescu, Mihaela Cecilia	Univ. of Craiova
Popescu, Nirvana	Univ. Pol. BUCURESTI
Popescu, Decebal	Univ. Pol. BUCURESTI
10:35-10:50	ThB9.2
A Discrete-Time Filter for the On-Line Generation of Trajectories with Bounded Velocity, Acceleration, and Jerk, pp. 3989-3994.
Gerelli, Oscar	Univ. of Parma
Guarino Lo Bianco, Corrado	Univ. of Parma
10:50-11:05	ThB9.3
Real-Time Collision Detection for Intrinsic Safety of Multi-Fingered SDH-2, pp. 3995-4000.
Haase, Thomas	Karlsruhe Inst. of Tech. (KIT)
Woern, Heinz	Univ. Karlsruhe
11:05-11:20	ThB9.4
Anti-Windup Design for Trajectory Tracking of a Parallel Robot - an Holistic Approach, pp. 4001-4008.
Wobbe, Frank	TU Braunschweig
Nguyen, Dang Hung	TU Braunschweig
Schumacher, Walter	TU Braunschweig
11:20-11:35	ThB9.5
Stabilizing Hybrid Switched Motion Control Systems with an On-Line Trajectory Generator, pp. 4009-4015.
Kroeger, Torsten	Tech. Univ. Braunschweig
Wahl, Friedrich M.	Tech. Univ. of Braunschweig

ThB10	Egan Center Lower Level Room 7/8
Collision Avoidance (Regular Sessions)
Chair: Xiao, Jing	UNC-Charlotte
Co-Chair: Bernabeu, Enrique J	Univ. Pol. de Valencia
10:20-10:35	ThB10.1
Continuous Collision Detection for Non-Rigid Contact Computations Using Local Advancement, pp. 4016-4021.
Tang, Min	Ewha Womans Univ.
Kim, Young J.	Ewha Womans Univ.
Manocha, Dinesh	UNC at Chapel Hill
10:35-10:50	ThB10.2
Inevitable Collision States: A Probabilistic Perspective, pp. 4022-4027.
Bautin, Antoine	INRIA-LORIA Henri Poincaré Univ.
Martinez-Gomez, Luis	INRIA
Fraichard, Thierry	INRIA
10:50-11:05	ThB10.3
Continuous Distance Computation for Planar Non-Holonomic Motions with Constant Accelerations, pp. 4028-4034.
Bernabeu, Enrique J	Univ. Pol. de Valencia
11:05-11:20	ThB10.4
Using Time-Of-Flight Cameras with Active Gaze Control for 3D Collision Avoidance, pp. 4035-4040.
Droeschel, David	Rheinische Friedrich-Wilhelms-Univ. Bonn
Holz, Dirk	Univ. of Bonn
Stückler, Jörg	Univ. of Bonn
Behnke, Sven	Univ. of Bonn
11:20-11:35	ThB10.5
An Efficient Algorithm for On-Line Determination of Collision-Free Configuration-Time Points Directly from Sensor Data, pp. 4041-4047. Attachment
Vatcha, Rayomand	Univ. of North Carolina - Charlotte
Xiao, Jing	UNC-Charlotte

ThB11	Egan Center Lower Level Room 5
Visual Tracking I (Regular Sessions)
Chair: Pradalier, Cedric	ETH Zurich
Co-Chair: Chung, Myung Jin	KAIST
10:20-10:35	ThB11.1
Real-Time 3D Model-Based Tracking Using Edge and Keypoint Features for Robotic Manipulation, pp. 4048-4055. Attachment
Choi, Changhyun	Georgia Inst. of Tech.
Christensen, Henrik Iskov	Georgia Inst. of Tech.
10:35-10:50	ThB11.2
Robust Unified Stereo-Based 3D Head Tracking and Its Application to Face Recognition, pp. 4056-4061. Attachment
An, Kwang Ho	KAIST
Chung, Myung Jin	KAIST
10:50-11:05	ThB11.3
A Constricted Bundle Adjustment Parameterization for Relative Scale Estimation in Visual Odometry, pp. 1899-1904.
Fraundorfer, Friedrich	ETH Zurich
Scaramuzza, Davide	ETH Zurich
Pollefeys, Marc	ETH Zurich
11:05-11:20	ThB11.4
A Vision-Based Method for Estimating Vibrations of a Flexible Arm Using On-Line Sinusoidal Regression, pp. 4068-4075. Attachment
Dubus, Gregory	CEA List
David, Olivier	CEA List
Measson, Yvan	CEA LIST
11:20-11:35	ThB11.5
Probabilistic Target Detection by Camera-Equipped UAVs, pp. 4076-4081.
Symington, Andrew Colquhoun	Oxford Univ.
Waharte, Sonia	Univ. of Oxford
Julier, Simon Justin	Univ. Coll. London
Trigoni, Niki	Univ. of Oxford

ThB12	Egan Center Street Level Room Arteaga
Micro-Nano Robotics (Invited Sessions)
Chair: Nakajima, Masahiro	Nagoya Univ.
Co-Chair: Arai, Fumihito	Tohoku Univ.
Organizer: Nakajima, Masahiro	Nagoya Univ.
Organizer: Sitti, Metin	Carnegie Mellon Univ.
Organizer: Fukuda, Toshio	Nagoya Univ.
10:20-10:35	ThB12.1
Manipulation of Flagellar Driving Force by Local Environmental Control System with Multiple Nanoprobes, pp. 4082-4087.
Nogawa, Kousuke	Nagoya Univ.
Kojima, Masaru	Nagoya Univ.
Nakajima, Masahiro	Nagoya Univ.
Homma, Michio	Nagoya Univ.
Fukuda, Toshio	Nagoya Univ.
10:35-10:50	ThB12.2
Combined Nanorobotic AFM/SEM System As Novel Toolbox for Automated Hybrid Analysis and Manipulation of Nanoscale Objects (I), pp. 4088-4093.
Mick, Uwe	Univ. of Oldenburg
Eichhorn, Volkmar	Univ. of Oldenburg
Wortmann, Tim	Univ. of Oldenburg
Diederichs, Claas	Department of Computing Science, Univ. of Oldenburg
Fatikow, Sergej	Univ. of Oldenburg
10:50-11:05	ThB12.3
On-Demand and Size-Controlled Production of Emulsion Droplets by Magnetically Driven Microtool (I), pp. 4094-4099.
Yamanishi, Yoko	Tohoku Univ.
Feng, Lin	Tohoku Univ.
Arai, Fumihito	Tohoku Univ.
11:05-11:20	ThB12.4
Novel Four-Point-Probe Design and Nanorobotic Dual Endeffector Strategy for Electrical Characterization of As-Grown SWCNT Bundles (I), pp. 4100-4105.
Eichhorn, Volkmar	Univ. of Oldenburg
Fatikow, Sergej	Univ. of Oldenburg
Sardan, Ozlem	Tech. Univ. of Denmark
Hansen, Torben Mikael	Tech. Univ. of Denmark
Břggild, Peter	Tech. Univ. of Denmark
Occhipinti, Luigi G.	STMicroelectronics
11:20-11:35	ThB12.5
Automated Microassembly Using Precision Based Hybrid Control (I), pp. 4106-4112. Attachment
Das, Aditya	Univ. of Texas at Arlington
Popa, Dan	The Univ. of Texas at Arlington
Stephanou, Harry	Univ. of Texas at Arlington

ThB13	Egan Center Lower Level Room 6
Micro and Nano Robotics for Biological Applications (Regular Sessions)
Chair: Chaillet, Nicolas	Univ. of Franche-Comté / FEMTO-ST Inst.
Co-Chair: Huang, Wenhao	Univ. of Science and Tech. of China
10:20-10:35	ThB13.1
A New Stiffness Evaluation Toward High Speed Cell Sorter, pp. 4113-4118. Attachment
Hirose, Yuki	Osaka Univ.
Tadakuma, Kenjiro	Massachusetts Inst. of Tech.
Higashimori, Mitsuru	Osaka Univ.
Arai, Tatsuo	Osaka Univ.
Kaneko, Makoto	Osaka Univ.
Iitsuka, Ryo	Tohoku Univ.
Yamanishi, Yoko	Tohoku Univ.
Arai, Fumihito	Tohoku Univ.
10:35-10:50	ThB13.2
Force Analysis and Path Planning of the Trapped Cell in Robotic Manipulation with Optical Tweezers, pp. 4119-4124.
Wu, Yanhua	City Univ. of Hong Kong
Tan, Youhua	City Univ. of HongKong
Sun, Dong	City Univ. of Hong Kong
Huang, Wenhao	Univ. of Science and Tech. of China
10:50-11:05	ThB13.3
Modeling the Trajectory of a Micro Particle in a Dielectrophoresis Device for Dynamic Control, pp. 4125-4130.
Kharboutly, Mohamed	FEMTO-ST Inst. CNRS UFC/ENSMM/UTBM
Gauthier, Michael	FEMTO-ST Inst.
Chaillet, Nicolas	Univ. of Franche-Comté / FEMTO-ST Inst.
11:05-11:20	ThB13.4
Computer-Assisted Patch Clamping, pp. 4131-4136.
Azizian, Mahdi	Univ. of Western Ontario
Patel, Rajni	The Univ. of Western Ontario
Gavrilovici, Cezar	Univ. of Western Ontario, Robarts Res. Inst.
Poulter, Michael	Univ. of Western Ontario, Robarts Res. Inst.

ThD1	Egan Center Street Level Room Boardroom
Motion Control of Manipulators I (Regular Sessions)
Chair: Doulgeri, Zoe	Aristotle Univ. of Thessaloniki
Co-Chair: Neubert, Jeremiah	Univ. of North Dakota
14:20-14:35	ThD1.1
PID Type Robot Joint Position Regulation with Prescribed Performance Guaranties, pp. 4137-4142.
Doulgeri, Zoe	Aristotle Univ. of Thessaloniki
Karayiannidis, Yiannis	Aristotle Univ. of Thessaloniki
14:35-14:50	ThD1.2
Optimal Feedback Control for Anthropomorphic Manipulators, pp. 4143-4150. Attachment
Mitrovic, Djordje	School of Informatics, Univ. of Edinburgh
Nagashima, Sho	NAIST
Klanke, Stefan	Univ. of Edinburgh
Matsubara, Takamitsu	NAIST/ATR
Vijayakumar, Sethu	Univ. of Edinburgh
14:50-15:05	ThD1.3
Redundant Control of a Humanoid Robot Head with Foveated Vision for Object Tracking, pp. 4151-4156. Attachment
Omrcen, Damir	Jozef Stefan Inst.
Ude, Ales	Jozef Stefan Inst.
15:05-15:20	ThD1.4
Motion Generation through Biologically-Inspired Torque Pulses, pp. 4157-4162. Attachment
Neubert, Jeremiah	Univ. of North Dakota
Ferrier, Nicola	Univ. of Wisconsin-Madison
15:20-15:35	ThD1.5
An Analysis of the Operational Space Control of Robots, pp. 4163-4168.
Vuong, Ngoc Dung	National Univ. of Singapore
Ang Jr, Marcelo H	National Univ. of Singapore
Lim, Tao Ming	SIMTech
Lim, Ser Yong	Singapore Inst. of Manufacturing Tech.
15:35-15:50	ThD1.6
Design and Control of a Novel 3D Casting Manipulator, pp. 4169-4174. Attachment
Fagiolini, Adriano	Univ. of Pisa
Belo, Felipe	Univ. of Pisa
Catalano, Manuel	Faculty of Engineering - Univ. of Pisa
Bonomo, Fabio	Faculty of Engineering - Univ. of Pisa
Alicino, Simone	Faculty of Engineering - Univ. of Pisa
Bicchi, Antonio	Univ. of Pisa

ThD2	Egan Center Lower Level Room 1
Mechanism Design and Actuation (Regular Sessions)
Chair: Albu-Schäffer, Alin	DLR - German Aerospace Center
Co-Chair: Sensinger, Jonathon	Northwestern Univ.
14:20-14:35	ThD2.1
Selecting Motors for Robots Using Biomimetic Trajectories: Optimum Benchmarks, Windings, and Other Considerations, pp. 4175-4181.
Sensinger, Jonathon	Northwestern Univ.
14:35-14:50	ThD2.2
Control of a Hydraulically-Actuated Quadruped Robot Leg, pp. 4182-4188. Attachment
Focchi, Michele	Italian Inst. of Tech.
Guglielmino, Emanuele	Fondazione Istituto Italiano di Tecnologia
Semini, Claudio	Italian Inst. of Tech. and Univ. of Genoa
Boaventura Cunha, Thiago	Italian Inst. of Tech.
Yang, Yousheng	Italian Inst. of Tech.
Caldwell, Darwin G.	Italian Inst. of Tech.
14:50-15:05	ThD2.3
Bidirectional Antagonistic Variable Stiffness Actuation: Analysis, Design & Implementation, pp. 4189-4196.
Petit, Florian	Inst. of Robotics and Mechatronics, German Aerospace Center
Chalon, Maxime	German Aerospace Center (DLR)
Friedl, Werner	Inst. of Robotics and Mechatronics, German Aerospace Center
Grebenstein, Markus	German Aerospace Center (DLR)
Albu-Schäffer, Alin	DLR - German Aerospace Center
Hirzinger, Gerd	German Aerospace Center (DLR)
15:05-15:20	ThD2.4
A Novel Compact and Lightweight Actuator for Wearable Robots, pp. 4197-4203.
Bergamasco, Massimo	Scuola Superiore S.Anna
Salsedo, Fabio	PERCRO - Scuola Superiore S.Anna
Marcheschi, Simone	PERCRO - Scuola Superiore S.Anna
Lucchesi, Nicola	Scuola Superiore Sant' Anna
Fontana, Marco	PERCRO - Scuola Superiore Sant'Anna
15:20-15:35	ThD2.5
Backdrivability Analysis of Electro-Hydrostatic Actuator and Series Dissipative Actuation Model, pp. 4204-4211.
Kaminaga, Hiroshi	The Univ. of Tokyo
Amari, Tomoya	The Univ. of Tokyo
Katayama, Yukihiro	The Univ. of Tokyo
Ono, Junya	The Univ. of Tokyo
Shimoyama, Yuto	Univ. of Tokyo
Nakamura, Yoshihiko	Univ. of Tokyo
15:35-15:50	ThD2.6
Stretchable Liquid Tactile Sensor for Robot-Joints, pp. 4212-4217.
Noda, Kentaro	Univ. of Tokyo
Iwase, Eiji	The Univ. of Tokyo
Matsumoto, Kiyoshi	The Univ. of Tokyo
Shimoyama, Isao	Univ. of Tokyo

ThD3	Egan Center Lower Level Room 13/14
Humanoid Locomotion (Regular Sessions)
Chair: Sugihara, Tomomichi	Kyushu Univ.
Co-Chair: Goswami, Ambarish	Honda Res. Inst.
14:20-14:35	ThD3.1
Eulerian ZMP Resolution Based Bipedal Walking: Discussions on the Intrinsic Angular Momentum Rate Change about Center of Mass, pp. 4218-4223.
Ugurlu, Barkan	Italian Inst. of Tech.
Kawamura, Atsuo	Yokohama National Univ.
14:35-14:50	ThD3.2
Consistent Biped Step Control with COM-ZMP Oscillation Based on Successive Phase Estimation in Dynamics Morphing, pp. 4224-4229.
Sugihara, Tomomichi	Kyushu Univ.
14:50-15:05	ThD3.3
Strategies for Adjusting the ZMP Reference Trajectory for Maintaining Balance in Humanoid Walking, pp. 4230-4236. Attachment
Nishiwaki, Koichi	National Inst. of AIST
Kagami, Satoshi	National Inst. of AIST
15:05-15:20	ThD3.4
Trajectory Generation with Natural ZMP References for the Biped Walking Robot SURALP, pp. 4237-4242. Attachment
Taskiran, Evrim	Sabanci Univ.
Yilmaz, Metin	Sabanci Univ.
Koca, Ozer	Sabanci Univ.
Seven, Utku	Sabanci Univ.
Erbatur, Kemalettin	Sabanci Univ.
15:20-15:35	ThD3.5
Approximation of Feasibility Tests for Reactive Walk on HRP-2, pp. 4243-4248. Attachment
Perrin, Nicolas	Univ. de Toulouse ; UPS, INSA, INP, ISAE ; LAAS
Stasse, Olivier	CNRS/AIST
Lamiraux, Florent	CNRS
Yoshida, Eiichi	National Inst. of AIST
15:35-15:50	ThD3.6
Analysis on a Friction Based ``Twirl" for Biped Robots, pp. 4249-4255.
Miura, Kanako	National Inst. of Advanced IndustrialScienceandTechnology
Nakaoka, Shin'ichiro	AIST
Morisawa, Mitsuharu	National Inst. of AIST
Kanehiro, Fumio	National Inst. of AIST
Harada, Kensuke	National Inst. of AIST
Kajita, Shuuji	National Inst. of AIST

ThD4	Egan Center Lower Level Room 2
Marine Robotics: Localization, Control and Navigation (Invited Sessions)
Chair: Antonelli, Gianluca	Univ. degli Studi di Cassino
Co-Chair: Kondo, Hayato	Tokyo Univ. of Marine Science and Tech.
Organizer: Antonelli, Gianluca	Univ. degli Studi di Cassino
Organizer: Kondo, Hayato	Tokyo Univ. of Marine Science and Tech.
Organizer: Marani, Giacomo	Univ. of Hawaii
Organizer: Stack, Jason	Office of Naval Res.
Organizer: Wettergren, Thomas	Naval Undersea Warfare Center
14:20-14:35	ThD4.1
A Measurement Distribution Framework for Cooperative Navigation Using Multiple AUVs (I), pp. 4256-4263.
Fallon, Maurice	MIT
Papadopoulos, Georgios	NTUA
Leonard, John	MIT
14:35-14:50	ThD4.2
Design and Experimental Evaluation of an Integrated USBL/INS System for AUVs (I), pp. 4264-4269.
Morgado, Marco	Inst. for Systems and Robotics - Lisbon - Inst. Superior
Oliveira, Paulo Jorge Ramalho	ISR- Inst. of Systems and Robotics - IST-Tech.
Silvestre, Carlos	Inst. Superior Tecnico
14:50-15:05	ThD4.3
Designing Behaviors to Improve Observability for Relative Localization of AUVs (I), pp. 4270-4275.
Antonelli, Gianluca	Univ. degli Studi di Cassino
Caiti, Andrea	Univ. of Pisa
Calabro', Vincenzo	Univ. degli studi di Pisa
Chiaverini, Stefano	Univ. di Cassino
15:05-15:20	ThD4.4
Observability Analysis of Relative Localization for AUVs Based on Ranging and Depth Measurements, pp. 4276-4281.
Antonelli, Gianluca	Univ. degli Studi di Cassino
Arrichiello, Filippo	Univ. di Cassino
Chiaverini, Stefano	Univ. di Cassino
Sukhatme, Gaurav	Univ. of Southern California
15:20-15:35	ThD4.5
Maximum Likelihood Mapping with Spectral Image Registration, pp. 4282-4287. Attachment
Pfingsthorn, Max	Jacobs Univ.
Birk, Andreas	Jacobs Univ.
Schwertfeger, Sören	Jacobs Univ.
Buelow, Heiko	Jacobs Univ.
Pathak, Kaustubh	Jacobs Univ. Bremen
15:35-15:50	ThD4.6
Geometric Formation Control for Autonomous Underwater Vehicles, pp. 4288-4293.
Yang, Huizhen	Northwestern Pol. Univ.
Zhang, Fumin	Georgia Inst. of Tech.

ThD5	Egan Center Lower Level Room 11/12
Dynamic Manipulation (Regular Sessions)
Chair: Platt, Robert	NASA
Co-Chair: Sudsang, Attawith	Chulalongkorn Univ.
14:20-14:35	ThD5.1
Two-Phased Controller for a Pair of 2-DOF Soft Fingertips Based on the Qualitative Relationship between Joint Angles and Object Location, pp. 4294-4301.
Yamazaki, Yujiro	Ritsumeikan Univ.
Inoue, Takahiro	Okayama Prefectural Univ.
Hirai, Shinichi	Ritsumeikan Univ.
14:35-14:50	ThD5.2
A Measurement Model for Tracking Hand-Object State During Dexterous Manipulation, pp. 4302-4308.
Corcoran, Craig	Rice Univ.
Platt, Robert	MIT
14:50-15:05	ThD5.3
External Sensorless Dynamic Object Manipulation by a Dual Soft-Fingered Robotic Hand with Torsional Fingertip Motion, pp. 4309-4314. Attachment
Tahara, Kenji	Kyushu Univ.
Maruta, Keigo	Kyushu Univ.
Yamamoto, Motoji	Kyushu Univ.
15:05-15:20	ThD5.4
Two-Dimensional Dynamic Modeling of a Sliding Motion of a Soft Fingertip Focusing on Stick-To-Slip Transition, pp. 4315-4321. Attachment
Ho, Van	Ritsumeikan Univ.
Hirai, Shinichi	Ritsumeikan Univ.
15:20-15:35	ThD5.5
Dynamic Object Manipulation Using a Virtual Frame by a Triple Soft-Fingered Robotic Hand, pp. 4322-4327. Attachment
Tahara, Kenji	Kyushu Univ.
Arimoto, Suguru	Ritsumeikan Univ.
Yoshida, Morio	RIKEN
15:35-15:50	ThD5.6
Regrasp Planning of Three-Fingered Hand for a Polygonal Object, pp. 4328-4333.
Phoka, Thanathorn	Chulalongkorn Univ.
Sudsang, Attawith	Chulalongkorn Univ.

ThD6	Egan Center Street Level Room Cook Hall
Rehabilitation Robotics and Human-Robot Interaction (Regular Sessions)
Chair: Agrawal, Sunil	Univ. of Delaware
Co-Chair: Munih, Marko	Univ. of Ljubljana
14:20-14:35	ThD6.1
Wearable Cable-Driven Upper Arm Exoskeleton - Motion with Transmitted Joint Force and Moment Minimization, pp. 4334-4339.
Mao, Ying	Univ. of Delaware
Agrawal, Sunil	Univ. of Delaware
14:35-14:50	ThD6.2
Visualizing Perspectives and Trends in Robotics Based on Patent Mining, pp. 4340-4347.
Ruffaldi, Emanuele	Scuola Superiore S.Anna
Sani, Elisabetta	Scuola Superiore S.Anna
Bergamasco, Massimo	Scuola Superiore S.Anna
14:50-15:05	ThD6.3
A Robot Companion for Inclusive Games: A User-Centred Design Perspective, pp. 4348-4353.
Marti, Patrizia	Univ. of Siena
Giusti, Leonardo	Univ. of Siena
15:05-15:20	ThD6.4
Trends and Considerations in Robot-Assisted Autism Therapy, pp. 4354-4359.
Ricks, Daniel	Brigham Young Univ. Provo, UT
Colton, Mark	Brigham Young Univ.
15:20-15:35	ThD6.5
Robotic Rehabilitation Tasks and Measurements of Psychophysiological Responses, pp. 4360-4365.
Munih, Marko	Univ. of Ljubljana
Novak, Domen	Univ. of Ljubljana
Ziherl, Jaka	Univ. of Ljubljana
Olenšek, Andrej	Univ. of Ljubljana
Podobnik, Janez	Unioversity of Ljubljana, Faculty of Electrical Engineering
Bajd, Tadej	Univ. of Ljubljana, Faculty of Electrical Engineering
Mihelj, Matjaž	Univ. of Ljubljana
15:35-15:50	ThD6.6
Upper-Limit Evaluation of a Robot Audition Based on ICA-BSS in Multi-Source, Barge-In and Highly Reveberant Conditions, pp. 4366-4371.
Takeda, Ryu	Kyoto Univ.
Nakadai, Kazuhiro	Honda Res. Inst. Japan Co., Ltd.
Takahashi, Toru	Kyoto Univ.
Komatani, Kazunori	Kyoto Univ.
Ogata, Tetsuya	Kyoto Univ.
Okuno, Hiroshi G.	Kyoto Univ.

ThD7	Egan Center Lower Level Room 3
Localization for Mobile Robots I (Regular Sessions)
Chair: Stump, Ethan	Univ. of Pennsylvania
Co-Chair: Kleiner, Alexander	Univ. of Freiburg
14:20-14:35	ThD7.1
Robust Vehicle Localization in Urban Environments Using Probabilistic Maps, pp. 4372-4378.
Levinson, Jesse	Stanford Univ.
Thrun, Sebastian	Stanford Univ.
14:35-14:50	ThD7.2
WiFi Localization and Navigation for Autonomous Indoor Mobile Robots, pp. 4379-4384.
Biswas, Joydeep	Carnegie Mellon Univ.
Veloso, Manuela	Carnegie Mellon Univ.
14:50-15:05	ThD7.3
Improved GPS Sensor Model for Mobile Robots in Urban Terrain, pp. 4385-4390.
Maier, Daniel	Univ. of Freiburg
Kleiner, Alexander	Univ. of Freiburg
15:05-15:20	ThD7.4
Accurate Mobile Robot Localization in Indoor Environments Using Bluetooth, pp. 4391-4396.
Raghavan, Aswin	National Inst. of Tech. Trichy
Ravindran, Balaraman	IIT Madras
Sivasamy Sivamurugan, Manimaran	National Inst. of Tech. Tiruchirapalli
Ananthapadmanaban, Harini	National Inst. of Tech. Tiruchirapalli
15:20-15:35	ThD7.5
Visual Robot Localization Using Compact Binary Landmarks, pp. 4397-4403.
Ikeda, Kouichirou	Univ. of Fukui
Tanaka, Kanji	Fukui Univ.
15:35-15:50	ThD7.6
A General Gaussian-Mixture Approach for Range-Only Mapping Using Multiple Hypotheses, pp. 4404-4409.
Caballero, Fernando	Univ. of Seville
Merino, Luis	Pablo de Olavide Univ.
Ollero, Anibal	Univ. of Seville

ThD8	Egan Center Lower Level Room 9/10
Navigation on Uneven Terrain (Regular Sessions)
Chair: Collins, Emmanuel	FAMU-FSU Coll. of Engineering
Co-Chair: Ramos, Fabio	Univ. of Sydney
14:20-14:35	ThD8.1
Stereo Mapping and Localization for Long-Range Path Following on Rough Terrain, pp. 4410-4416.
Furgale, Paul Timothy	Univ. of Toronto
Barfoot, Timothy	Univ. of Toronto
14:35-14:50	ThD8.2
Updating Control Modes Based on Terrain Classification, pp. 4417-4423.
Coyle, Eric Joe	Florida State Univ. Florida A&M Univ.
Collins, Emmanuel	FAMU-FSU Coll. of Engineering
Lu, Liang	FAMU-FSU Coll. of Engineering
14:50-15:05	ThD8.3
Integrated Planning and Control of Large Tracked Vehicles in Open Terrain, pp. 4424-4430.
Singh, Surya	Univ. of Sydney
Nettleton, Eric	The Univ. of Sydney
Durrant-Whyte, Hugh	The Univ. of Sydney
Fan, Xiuyi	Imperial Coll. London
Oppolzer, Florian	Univ. of Sydney
15:05-15:20	ThD8.4
Real-World Validation of Three Tipover Algorithms for Mobile Robots, pp. 4431-4436.
Roan, Philip	Univ. of Washington
Burmeister, Aaron	SPAWAR Systems Center, Pacific
Rahimi, Amin	SPAWAR Systems Center, Pacific
Holz, Kevin	SPAWAR Systems Center, Pacific
Hooper, David	SPAWAR Systems Center, Pacific
15:20-15:35	ThD8.5
Inferring Geometry from Imagery - Enabling High Speed Traversal, pp. 4437-4443.
Broten, Gregory, S	DRDC
Mackay, David	Defence Res. and Development Canada
15:35-15:50	ThD8.6
Automated Rock Recognition with Wavelet Feature Space Projection and Gaussian Process Classification, pp. 4444-4450.
Zhou, Hang	Univ. of Sydney
Monteiro, Sildomar	Univ. of Sydney
Hatherly, Peter	Univ. of Sydney
Ramos, Fabio	Univ. of Sydney
Nettleton, Eric	The Univ. of Sydney
Oppolzer, Florian	Univ. of Sydney

ThD9	Egan Center Lower Level Room 4
Multi-Agent Coordination (Regular Sessions)
Chair: Goodwine, Bill	Univ. of Notre Dame
Co-Chair: Egerstedt, Magnus	Georgia Inst. of Tech.
14:20-14:35	ThD9.1
On the Need for Communication in Distributed Implementations of LTL Motion Specifications, pp. 4451-4456.
Kloetzer, Marius	Tech. Univ. of Iasi
Itani, Sara	Massachusetts Inst. of Tech.
Birch, Sam	Boston Univ. Acad.
Belta, Calin	Boston Univ.
14:35-14:50	ThD9.2
Multi-Robot Coordination with Periodic Connectivity, pp. 4457-4462. Attachment
Hollinger, Geoffrey	Carnegie Mellon Univ.
Singh, Sanjiv	Carnegie Mellon Univ.
14:50-15:05	ThD9.3
Decentralized Grid-Based Algorithms for Formation Reconfiguration and Synchronization, pp. 4463-4468.
Miklic, Damjan	Univ. of Zagreb
Bogdan, Stjepan	Univ. of Zagreb
Fierro, Rafael	Univ. of New Mexico
15:05-15:20	ThD9.4
Optimal Motion Primitives for Multi-UAV Convoy Protection, pp. 4469-4474.
Rahmani, Amir	Georgia Inst. of Tech.
Ding, Xu Chu	Georgia Inst. of Tech.
Egerstedt, Magnus	Georgia Inst. of Tech.
15:20-15:35	ThD9.5
Bifurcations of Optimal Solutions for Coordinated Robotic Systems: Numerical and Homotopy Methods, pp. 4475-4480.
Deng, Baoyang	Univ. of Notre Dame
Valenzuela, Andres	Massachusetts Inst. of Tech.
Goodwine, Bill	Univ. of Notre Dame
15:35-15:50	ThD9.6
On Agreement Problems with Gossip Algorithms in Absence of Common Reference Frames, pp. 4481-4486.
Gasparri, Andrea	Univ. degli Studi Roma Tre
Franceschelli, Mauro	Univ. of Cagliari, Italy

ThD10	Egan Center Lower Level Room 7/8
Motion Planning and Trajectory Control (Regular Sessions)
Chair: Tanner, Herbert G.	Univ. of Delaware
Co-Chair: Stilman, Mike	Georgia Tech.
14:20-14:35	ThD10.1
Computing Push Plans for Disk-Shaped Robots, pp. 4487-4492.
Gerrits, Dirk	Tech. Univ. Eindhoven
de Berg, Mark	TU Eindhoven
14:35-14:50	ThD10.2
Optimizing Coordinate Choice for Locomoting Systems, pp. 4493-4498.
Hatton, Ross	Carnegie Mellon Univ.
Choset, Howie	Carnegie Mellon Univ.
14:50-15:05	ThD10.3
Dipole-Like Fields for Stabilization of Systems with Pfaffian Constraints, pp. 4499-4504.
Panagou, Dimitra	National Tech. Univ. of Athens
Tanner, Herbert G.	Univ. of Delaware
Kyriakopoulos, Kostas	National Tech. Univ. of Athens
15:05-15:20	ThD10.4
From Motion Planning to Trajectory Control with Bounded Jerk for Service Manipulator Robots, pp. 4505-4510.
Broquere, Xavier	Univ. de Toulouse
Sidobre, Daniel	Univ. of toulouse
Nguyen, Khoi	Univ. of Toulouse
15:20-15:35	ThD10.5
Application of Caging Manipulation and Compliant Mechanism for a Container Case Hand-Over Task, pp. 4511-4518.
Fukui, Rui	The Univ. of Tokyo
Mori, Taketoshi	The Univ. of Tokyo
Sato, Tomomasa	The Univ. of Tokyo
15:35-15:50	ThD10.6
Robot Limbo: Optimized Planning and Control for Dynamically Stable Robots under Vertical Obstacles, pp. 4519-4524. Attachment
Teeyapan, Kasemsit	Georgia Inst. of Tech.
Wang, Jiuguang	Georgia Inst. of Tech.
Kunz, Tobias	Georgia Tech.
Stilman, Mike	Georgia Tech.

ThD11	Egan Center Lower Level Room 5
Visual Tracking II (Regular Sessions)
Chair: Yagi, Yasushi	Osaka Univ.
Co-Chair: Kweon, In So	KAIST
14:20-14:35	ThD11.1
Object Tracking with Measurements from Single or Multiple Cameras, pp. 4525-4530. Attachment
Linderoth, Magnus	Lund Univ.
Johansson, Rolf	LTH, Lund Univ.
Robertsson, Anders	LTH, Lund Univ.
Ǻström, Karl	LTH, Lund Univ.
14:35-14:50	ThD11.2
General Object Tracking with a Component-Based Target Descriptor, pp. 4531-4536. Attachment
Frintrop, Simone	Univ. of Bonn
14:50-15:05	ThD11.3
Visual Tracking for Non-Rigid Objects Using Rao-Blackwellized Particle Filter, pp. 4537-4544. Attachment
Kim, Jungho	KAIST
Park, Chaehoon	KAIST
Kweon, In So	KAIST
15:05-15:20	ThD11.4
A Salient Feature and Scene Semantics Based Attention Model for Human Tracking on Mobile Robot, pp. 4545-4552. Attachment
Liu, Hong	Peking Univ.
He, Huijun	Peking Univ.
15:20-15:35	ThD11.5
Consecutive Visual Tracking and Segmentation Using Appearance and Spatial Information of Patches, pp. 4553-4558.
Wang, Junqiu	OSAKA Univ.
Yagi, Yasushi	Osaka Univ.
15:35-15:50	ThD11.6
Using Multiple Hypothesis in Model-Based Tracking, pp. 4559-4565. Attachment
Teuličre, Céline	CEA-LIST
Marchand, Eric	Univ. de Rennes 1
Eck, Laurent	CEA

ThD12	Egan Center Street Level Room Arteaga
Vision and Motion Compensation for Medical Robots (Regular Sessions)
Chair: Webster III, Robert James	Vanderbilt Univ.
Co-Chair: Desai, Jaydev P.	Univ. of Maryland
14:20-14:35	ThD12.1
Towards Accurate Motion Compensation in Surgical Robotics, pp. 4566-4572. Attachment
Tobergte, Andreas	German Aerospace Centre
Fröhlich, Florian Alexander	DLR (German Aerospace Center)
Pomarlan, Mihai	German Aerospace Centre
Hirzinger, Gerd	German Aerospace Center (DLR)
14:35-14:50	ThD12.2
Breathing Motion Compensation for Robot Assisted Laser Osteotomy, pp. 4573-4578.
Busack, Martin	Univ. Pierre et Marie Curie, Paris 6
Morel, Guillaume	Univ. Pierre et Marie Curie - Paris 6
Bellot, Delphine	Univ. Pierre et Marie Curie - Paris 6
14:50-15:05	ThD12.3
Beating Heart Motion Prediction for Robust Visual Tracking, pp. 4579-4584. Attachment
Richa, Rogerio	Univ. Montpellier 2
Bó, Antônio Padilha Lanari	LIRMM UMR 5506 CNRS UM2
Poignet, Philippe	LIRMM UMR 5506 CNRS UM2
15:05-15:20	ThD12.4
Automation of Tissue Piercing Using Circular Needles and Vision Guidance for Computer Aided Laparoscopic Surgery, pp. 4585-4590. Attachment
Staub, Christoph	TU Munich
Osa, Takayuki	The Univ. of Tokyo
Knoll, Alois	TU Munich
Bauernschmitt, Robert	German Heart Center Munich
15:20-15:35	ThD12.5
Visual Sensing of Continuum Robot Shape Using Self-Organizing Maps, pp. 4591-4596.
Croom, Jordan	Vanderbilt Univ.
Rucker, Caleb	Vanderbilt Univ.
Romano, Joseph M.	Univ. of Pennsylvania
Webster III, Robert James	Vanderbilt Univ.
15:35-15:50	ThD12.6
Visual Vein-Finding for Robotic IV Insertion, pp. 4597-4602.
Brewer, Reuben	Stanford Univ.
Salisbury, Kenneth	Stanford Univ.

ThD13	Egan Center Lower Level Room 6
Software Tools for Robotics (Regular Sessions)
Chair: Biggs, Geoffrey	National Inst. of Advanced Industrial Science and Tech. (AIST)
Co-Chair: Morbidi, Fabio	Univ. of Siena
14:20-14:35	ThD13.1
KCT: A MATLAB Toolbox for Motion Control of KUKA Robot Manipulators, pp. 4603-4608.
Chinello, Francesco	Univ. of Siena
Scheggi, Stefano	Univ. of Siena
Morbidi, Fabio	Univ. of Siena
Prattichizzo, Domenico	Univ. of Siena
14:35-14:50	ThD13.2
Graphical State-Space Programmability As a Natural Interface for Robotic Control, pp. 4609-4614.
Sattar, Junaed	McGill Univ.
Xu, Anqi	McGill Univ.
Dudek, Gregory	McGill Univ.
Charette, Gabriel	McGill Univ.
14:50-15:05	ThD13.3
Flexible, Adaptable Utility Components for Component-Based Robot Software, pp. 4615-4620.
Biggs, Geoffrey	National Inst. of Advanced Industrial Science and Tech.
15:05-15:20	ThD13.4
Applying Regression Testing to Software for Robot Hardware Interaction, pp. 4621-4626.
Biggs, Geoffrey	National Inst. of Advanced Industrial Science and Tech.
15:20-15:35	ThD13.5
GenoM3: Building Middleware-Independent Robotic Components, pp. 4627-4632.
Mallet, Anthony	LAAS/CNRS
Pasteur, Cédric	Ec. Pol.
Herrb, Matthieu	LAAS/CNRS
Lemaignan, Séverin	LAAS/CNRS
Ingrand, Francois Felix	LAAS/CNRS
15:35-15:50	ThD13.6
The CBC: A LINUX-Based Low-Cost Mobile Robot Controller, pp. 4633-4638.
Miller, David	Univ. of Oklahoma
Oelke, Matthew	KIPR
Roman, Matthew	Univ. of Oklahoma
Villatoro, Jorge	KIPR
Winton, Charles	Univ. of North Florida

ThE1	Egan Center Street Level Room Boardroom
Motion Control of Manipulators II (Regular Sessions)
Chair: Poignet, Philippe	LIRMM UMR 5506 CNRS UM2
Co-Chair: Zhu, Wen-Hong	Canadian Space Agency
16:10-16:25	ThE1.1
Adaptive Control of Robot Manipulators Including Actuator Dynamics and without Joint Torque Measurement, pp. 4639-4644.
Salimi, Yahya	Sharif Univ. of Tech.
Namvar, Mehrzad	Sharif Univ. of Tech.
16:25-16:40	ThE1.2
A Globally Convergent Observer for Velocity Estimation in Robotic Manipulators with Uncertain Dynamics, pp. 4645-4650.
Lotfi, Nima	Sharif Univ. of Tech.
Namvar, Mehrzad	Sharif Univ. of Tech.
16:40-16:55	ThE1.3
A Simple Nonlinear PID Control for Global Finite-Time Regulation of Robot Manipulators without Velocity Measurements, pp. 4651-4656.
Su, Yuxin	Xidian Univ.
Zheng, Chunhong	Xidian Univ.
16:55-17:10	ThE1.4
FPGA-Based Adaptive Friction Compensation for Precision Control of Harmonic Drivers, pp. 4657-4662.
Zhu, Wen-Hong	Canadian Space Agency
17:10-17:25	ThE1.5
SP-ID Regulation of Rigid-Link Electrically-Driven Robots with Uncertain Kinematics, pp. 4663-4668.
Liu, Chao	LIRMM (UMR5506), CNRS, France
Poignet, Philippe	LIRMM UMR 5506 CNRS UM2
17:25-17:40	ThE1.6
Ball Dribbling with an Underactuated Continuous-Time Control Phase, pp. 4669-4674.
Mettin, Uwe	Umeĺ Univ.
Shiriaev, Anton	Umea Univ.
Bätz, Georg	Tech. Univ. München
Wollherr, Dirk	Tech. Univ. München

ThE2	Egan Center Lower Level Room 1
Kinematics of Parallel Robots (Regular Sessions)
Chair: Torras, Carme	CSIC - UPC
Co-Chair: Merlet, Jean-Pierre	INRIA
16:10-16:25	ThE2.1
Towards 100G with PKM. Is Actuation Redundancy a Good Solution for Pick-And-Place, pp. 4675-4682.
Corbel, David	LIRMM - CNRS
Gouttefarde, Marc	LIRMM
Company, Olivier	Univ. of Montpellier 2
Pierrot, François	CNRS - LIRMM
16:25-16:40	ThE2.2
Improving the Kinematic Performance of the SCARA-Tau PKkM, pp. 4683-4690.
Isaksson, Mats	Deakin Univ.
Brogardh, Torgny	ABB Robotics
Lundberg, Ivan	ABB Corp. Res.
Nahavandi, Saeid	Deakin Univ.
16:40-16:55	ThE2.3
A PSO Algorithm for Mapping the Workspace Boundary of Parallel Manipulators, pp. 4691-4696. Attachment
Saputra, Vincensius Billy	National Univ. of Singapore
Nee, A.Y.C.	National Univ. of Singapore
16:55-17:10	ThE2.4
Motion Planning for a Novel Reconfigurable Parallel Manipulator with Lockable Revolute Joints, pp. 4697-4702. Attachment
Grosch, Patrick	Consejo Superior de Investigaciones Científicas (CSIC) and Tech.
Di Gregorio, Raffaele	Univ. di Ferrara
López, Javier	Inst. de Robňtica i Informŕtica Industrial (CSIC-UPC)
Thomas, Federico	CSIC-UPC
17:10-17:25	ThE2.5
A Family of Quadratically-Solvable 5-SPU Parallel Robots, pp. 4703-4708.
Borrŕs Sol, Júlia	CSIC-UPC
Thomas, Federico	CSIC-UPC
Torras, Carme	CSIC - UPC
17:25-17:40	ThE2.6
On the Determination of Cable Characteristics for Large Dimension Cable-Driven Parallel Mechanisms, pp. 4709-4714.
Riehl, Nicolas	LIRMM
Gouttefarde, Marc	LIRMM
Baradat, Cédric	Fondation Fatronik
Pierrot, François	CNRS - LIRMM

ThE3	Egan Center Lower Level Room 13/14
Legged Robots (Regular Sessions)
Chair: Clark, Jonathan	Florida State Univ.
Co-Chair: Buehler, Martin	iRobot
16:10-16:25	ThE3.1
Avoidance Behavior from External Forces for Biped Vehicle, pp. 4715-4720. Attachment
Hashimoto, Kenji	Waseda Univ.
Sawato, Terumasa	Waseda Univ.
Hayashi, Akihiro	Waseda Univ.
Yoshimura, Yuki	Waseda Univ.
Asano, Teppei	Waseda Univ.
Hattori, Kentaro	Waseda Univ.
Sugahara, Yusuke	Tohoku Univ.
Lim, Hun-ok	Kanagawa Univ.
Takanishi, Atsuo	Waseda Univ.
16:25-16:40	ThE3.2
Control of Underactuated Planar Hexapedal Pronking through a Dynamically Embedded SLIP Monopod, pp. 4721-4727.
Ankarali, Mustafa Mert	Middle East Tech. Univ.
Saranli, Uluc	Bilkent Univ.
Saranli, Afsar	Middle East Tech. Univ.
16:40-16:55	ThE3.3
Analysis and Evaluation of the Stability of a Biologically Inspired, Leg Loss Tolerant Gait for Six and Eight-Legged Walking Robots, pp. 4728-4735.
Goerner, Martin	German Aerospace Center (DLR)
Hirzinger, Gerd	German Aerospace Center (DLR)
16:55-17:10	ThE3.4
Autonomous Navigation for BigDog, pp. 4736-4741.
Wooden, David	Boston Dynamics
Malchano, Matthew	Boston Dynamics
Blankespoor, Kevin	Boston Dynamics
Howard, Andrew	JPL
Rizzi, Alfred	Boston Dynamics
Raibert, Marc	Boston Dynamics
17:10-17:25	ThE3.5
Pushing Methods for Working Six-Legged Robots Capable of Locomotion and Manipulation in Three Modes, pp. 4742-4748.
Inoue, Kenji	Yamagata Univ.
Ooe, Kanjiro	Yamagata Univ.
Lee, Suwoong	Yamagata Univ.
17:25-17:40	ThE3.6
Design of a Dynamically Stable Horizontal Plane Runner, pp. 4749-4754.
Shill, Jacob	Florida State Univ.
Miller, Bruce	Florida State Univ.
Schmitt, John	Oregon State Univ.
Clark, Jonathan	Florida State Univ.

ThE4	Egan Center Lower Level Room 2
Marine Robotics: Motion and Path Planning (Invited Sessions)
Chair: Stack, Jason	Office of Naval Res.
Co-Chair: Wettergren, Thomas	Naval Undersea Warfare Center
Organizer: Antonelli, Gianluca	Univ. degli Studi di Cassino
Organizer: Kondo, Hayato	Tokyo Univ. of Marine Science and Tech.
Organizer: Marani, Giacomo	Univ. of Hawaii
Organizer: Stack, Jason	Office of Naval Res.
Organizer: Wettergren, Thomas	Naval Undersea Warfare Center
16:10-16:25	ThE4.1
On Optimal AUV Track-Spacing for Underwater Mine Detection (I), pp. 4755-4762.
Williams, David	NATO Undersea Res. Centre
16:25-16:40	ThE4.2
Cooperative Caging Using Autonomous Aquatic Surface Vehicles (I), pp. 4763-4769. Attachment
Arrichiello, Filippo	Univ. di Cassino
Heidarsson, Hordur Kristinn	Univ. of Southern California
Chiaverini, Stefano	Univ. di Cassino
Sukhatme, Gaurav	Univ. of Southern California
16:40-16:55	ThE4.3
Autonomous Underwater Vehicle Trajectory Design Coupled with Predictive Ocean Models: A Case Study (I), pp. 4770-4777.
Smith, Ryan	Univ. of Southern California
Arvind, Pereira	Univ. of Southern California
Chao, Yi	California Inst. of Tech.
Li, Peggy	California Inst. of Tech.
Caron, David A.	Univ. of Southern California
Jones, Burton	Univ. of Southern California
Sukhatme, Gaurav	Univ. of Southern California
16:55-17:10	ThE4.4
Spatiotemporal Path Planning in Strong, Dynamic, Uncertain Currents, pp. 4778-4783.
Thompson, David	Jet Propulsion Lab. California Inst. of Tech.
Chien, Steve	Jet Propulsion Lab.
Balasuriya, Arjuna	MIT
Petillo, Stephanie	Massachusetts Inst. of Tech.
Chao, Yi	California Inst. of Tech.
Li, Peggy	California Inst. of Tech.
Arrott, Matt	California Inst. for Telecommunications and Information Tech.
Meisinger, Michael	California Inst. for Telecommunications and Information Tech.
Cahill, Bronwyn	Rutgers Univ.
Levin, Julia	Rutgers Univ.
Schofield, Oscar	Rutgers Univ.
17:10-17:25	ThE4.5
Towards Marine Bloom Trajectory Prediction for AUV Mission Planning (I), pp. 4784-4790.
Das, Jnaneshwar	Univ. of Southern California
Rajan, Kanna	Monterey Bay Aquarium Res. Inst.
Frolov, Sergey	Monterey Bay Aquarium Res. Inst.
Py, Frederic	Monterey Bay Aquarium Res. Inst.
Ryan, John	Monterey Bay Aquarium Res. Inst.
Caron, David A.	Univ. of Southern California
Sukhatme, Gaurav	Univ. of Southern California
17:25-17:40	ThE4.6
Informative Path Planning for an Autonomous Underwater Vehicle, pp. 4791-4796.
Binney, Jonathan	Univ. of Southern California
Krause, Andreas	California Inst. of Tech.
Sukhatme, Gaurav	Univ. of Southern California

ThE5	Egan Center Lower Level Room 11/12
Cognitive Human Robot Recognition and Learning (Regular Sessions)
Chair: Choi, Jongsuk	Korea Inst. of Sci. and Tech.
Co-Chair: Tacchella, Armando	Univ. di Genova
16:10-16:25	ThE5.1
Training Special Needs Infants to Drive Mobile Robots Using Force-Feedback Joystick, pp. 4797-4802. Attachment
Agrawal, Sunil	Univ. of Delaware
Chen, Xi	Univ. of Delaware
Galloway, James	Univ. of Delaware
16:25-16:40	ThE5.2
Learning Discriminative MspLBP Features Based on Ada-LDA for Multi-Class Pattern Classification, pp. 4803-4808.
An, Kwang Ho	KAIST
Chung, Myung Jin	KAIST
16:40-16:55	ThE5.3
Safe and Effective Learning: A Case Study, pp. 4809-4814. Attachment
Metta, Giorgio	Univ. of Genoa
Natale, Lorenzo	Istutito Italiano di Tecnologia
Pathak, Shashank	Univ. di Genova
Pulina, Luca	Univ. di Genova
Tacchella, Armando	Univ. di Genova
16:55-17:10	ThE5.4
Activation of a Mobile Robot through a Brain Computer Interface, pp. 4815-4821.
Achanccaray, David Ronald	Pontificia Univ. Catolica de Rio de Janeiro
Meggiolaro, Marco Antonio	Pontifical Catholic Univ. of Rio de Janeiro
Barbosa, Alexandre Ormiga Galvăo	Pontifical Catholic Univ. of Rio de Janeiro
17:10-17:25	ThE5.5
Robot Reinforcement Learning Using EEG-Based Reward Signals, pp. 4822-4829.
Iturrate, Ińaki	Centro Pol. Superior, Univ. of Zaragoza
Montesano, Luis	Inst. Superior Tecnico
Minguez, Javier	Univ. of Zaragoza
17:25-17:40	ThE5.6
DSP Integration of Sound Source Localization and Multi-Channel Wiener Filter, pp. 4830-4835.
Lee, Byoung-gi	Korea Inst. of Science and Tech.
Kim, Hyun-dong	Korea Inst. of Science and Tech.
Choi, Jongsuk	Korea Inst. of Sci. and Tech.
Kim, Se-yun	Seoul National Univ.
Cho, Nam-ik	Seoul National Univ.

ThE6	Egan Center Street Level Room Cook Hall
Tactile Sensing (Regular Sessions)
Chair: Mastrogiovanni, Fulvio	Univ. of Genova, Italy
Co-Chair: Hirai, Shinichi	Ritsumeikan Univ.
16:10-16:25	ThE6.1
A Robust, Low-Cost and Low-Noise Artificial Skin for Human-Friendly Robots, pp. 4836-4841.
Ulmen, John	Stanford Univ.
Cutkosky, Mark	Stanford Univ.
16:25-16:40	ThE6.2
Characterization of the Electrical Resistance of Carbon-Black-Filled Silicone: Application to a Flexible and Stretchable Robot Skin, pp. 4842-4848.
Lacasse, Marc-Antoine	Laval Univ.
Duchaine, Vincent	Univ. Laval
Gosselin, Clement	Univ. Laval
16:40-16:55	ThE6.3
Towards Automated Self-Calibration of Robot Skin, pp. 4849-4854.
Denei, Simone	Univ. of Genova
Cannata, Giorgio	Univ. of Genova
Mastrogiovanni, Fulvio	Univ. of Genova, Italy
16:55-17:10	ThE6.4
Design of a Small-Scale Tactile Sensor with Three Sensing Points for Using in Robotic Fingertips, pp. 4855-4860. Attachment
Ho, Van	Ritsumeikan Univ.
Dao, Viet Dzung	Ritsumeikan Univ.
Sugiyama, Susumu	Ritsumeikan Univ.
Hirai, Shinichi	Ritsumeikan Univ.
17:10-17:25	ThE6.5
Development of a Sensor System with Syringe Based on Tactile Sensing Using Balloon Expansion, pp. 4861-4866.
Tanaka, Yoshihiro	Nagoya Inst. of Tech.
Doumoto, Kazuki	Nagoya Inst. of Tech.
Sano, Akihito	Nagoya Inst. of Tech.
Fujimoto, Hideo	Nagoya Inst. of Tech.
17:25-17:40	ThE6.6
High Sensitivity Initial Slip Sensor for Dexterous Grasp, pp. 4867-4872. Attachment
Teshigawara, Seiichi	The Univ. of Electro-Communications
Tadakuma, Kenjiro	Massachusetts Inst. of Tech.
Ming, Aiguo	The Univ. of Electro-Communications
Ishikawa, Masatoshi	Univ. of Tokyo
Shimojo, Makoto	Univ. of Electro-COmmunications

ThE7	Egan Center Lower Level Room 3
Localization for Mobile Robots II (Regular Sessions)
Chair: Borges, Paulo Vinicius Koerich	CSIRO
Co-Chair: Behnke, Sven	Univ. of Bonn
16:10-16:25	ThE7.1
Localization of Mobile Robots Using Incremental Local Maps, pp. 4873-4880.
Iser, Rene	Tech. Univ. of Braunschweig
Martens, Arthur	Tech. Univ. Braunschweig
Wahl, Friedrich M.	Tech. Univ. of Braunschweig
16:25-16:40	ThE7.2
Learning Visibility of Landmarks for Vision-Based Localization, pp. 4881-4888. Attachment
Fernández Alcantarilla, Pablo	Univ. of Alcalá
Oh, Sang Min	Kitware Inc.
Mariottini, Gian Luca	Dept. of Computer Science and Engineering
Bergasa, Luis Miguel	Univ. of Alcala
Dellaert, Frank	Georgia Inst. of Tech.
16:40-16:55	ThE7.3
Explicit Coordinated Localization Using Common Visual Objects, pp. 4889-4894.
Peula Palacios, Jose Manuel	Univ. of Málaga
Cebolla, Javier	UMA
Urdiales, Cristina	Univ. de Málaga
Sandoval, Francisco	Univ. Málaga
16:55-17:10	ThE7.4
Improving Indoor Navigation of Autonomous Robots by an Explicit Representation of Doors, pp. 4895-4901.
Nieuwenhuisen, Matthias	Univ. of Bonn
Stückler, Jörg	Univ. of Bonn
Behnke, Sven	Univ. of Bonn
17:10-17:25	ThE7.5
Vision-Based Localization Using an Edge Map Extracted from 3D Laser Range Data, pp. 4902-4909. Attachment
Borges, Paulo Vinicius Koerich	CSIRO
Zlot, Robert	CSIRO
Bosse, Michael	CSIRO ICT Centre
Nuske, Stephen	CMU Robotics Inst.
Tews, Ashley Desmond	CSIRO
17:25-17:40	ThE7.6
Topological Localization Using Sonar Gridmap Matching in Home Environment, pp. 4910-4915.
Choi, Jinwoo	POSTECH
Choi, Minyong	POSTECH
Suh, Il Hong	Hanyang Univ.
Chung, Wan Kyun	POSTECH

ThE8	Egan Center Lower Level Room 9/10
Wheeled Robots: Dynamics, Control and Planning (Regular Sessions)
Chair: Lee, Kok-Meng	Georgia Inst. of Tech.
Co-Chair: Xi, Ning	Michigan State Univ.
16:10-16:25	ThE8.1
Recursive Convex Replanning for the Trajectory Tracking of Wheeled Mobile Robots, pp. 4916-4921. Attachment
Argenti, Mauro	Univ. of Parma
Consolini, Luca	Univ. of Parma
Lini, Gabriele	Univ. di Parma
Piazzi, Aurelio	Univ. di Parma
16:25-16:40	ThE8.2
Terramechanics-Based High-Fidelity Dynamics Simulation for Wheeled Mobile Robot on Deformable Rough Terrain, pp. 4922-4927. Attachment
Ding, Liang	Harbin Inst. of Tech.
Nagatani, Keiji	Tohoku Univ.
Sato, Keisuke	Tohoku Univ.
Mora Vargas, Andres Esteban	Tohoku Univ.
Yoshida, Kazuya	Tohoku Univ.
Gao, Haibo	Harbin Inst. of Tech.
16:40-16:55	ThE8.3
Pushing Motion Control of N Passive Off-Hooked Trailers by a Car-Like Mobile Robot, pp. 4928-4933. Attachment
Yoo, Kwanghyun	Korea Univ.
Chung, Woojin	Korea Univ.
16:55-17:10	ThE8.4
Development of Falcon III: Terrain-Adaptive Body-Stabilizing Three-Wheeled Vehicle, pp. 4934-4939.
Ickowzcy, Ewerton	Tokyo Inst. of Tech.
Aoki, Takeshi	Tokyo Inst. of Tech.
Hirose, Shigeo	Tokyo Inst. of Tech.
17:10-17:25	ThE8.5
Dynamic Model and Adaptive Tracking Controller for 4-Powered Caster Vehicle, pp. 4940-4945.
Liu, Yong	Michigan State Univ.
Jia, Yunyi	Michigan State Univ.
Xi, Ning	Michigan State Univ.
17:25-17:40	ThE8.6
Near-Optimal Autonomous Pursuit Evasion for Nonholonomic Wheeled Mobile Robot Subject to Wheel Slip, pp. 4946-4951.
Tian, Yu	Vanderbilt Univ.
Das, Jadav	Vanderbilt Univ.
Sarkar, Nilanjan	Vanderbilt Univ.

ThE9	Egan Center Lower Level Room 4
Multi-Robot Systems and Swarms (Regular Sessions)
Chair: Hsieh, M. Ani	Drexel Univ.
Co-Chair: Marques, Lino	Univ. of Coimbra
16:10-16:25	ThE9.1
Near Optimal Swarm Deployment Using Descriptor Functions, pp. 4952-4957.
Niccolini, Marta	Univ. of Pisa
Innocenti, Mario	Univ. of Pisa
Pollini, Lorenzo	Univ. of Pisa
16:25-16:40	ThE9.2
An Olfactory-Based Robot Swarm Navigation Method, pp. 4958-4963. Attachment
Marjovi, Ali	Univ. of Coimbra
Nunes, Joăo Gonçalo	Inst. of Systems and Robotics (ISR) - Univ. of Coimbra
Sousa, Pedro	Univ. of Coimbra
Faria, Ricardo	Univ. of Coimbra
Marques, Lino	Univ. of Coimbra
16:40-16:55	ThE9.3
Flocking Control of Multiple Agents in Noisy Environments, pp. 4964-4969.
La, Hung	Oklahoma State Univ.
Sheng, Weihua	Oklahoma State Univ.
16:55-17:10	ThE9.4
Towards Dynamic Team Formation for Robot Ensembles, pp. 4970-4975.
Mather, T, William	Drexel Univ.
Hsieh, M. Ani	Drexel Univ.
Frazzoli, Emilio	Massachusetts Inst. of Tech.
17:10-17:25	ThE9.5
Non-Rigid Formations of Nonholonomic Robots, pp. 4976-4981.
Consolini, Luca	Univ. of Parma
Morbidi, Fabio	Univ. of Siena
Prattichizzo, Domenico	Univ. of Siena
Tosques, Mario	Univ. of Parma
17:25-17:40	ThE9.6
Voronoi Coverage of Non-Convex Environments with a Group of Networked Robots, pp. 4982-4989. Attachment
Breitenmoser, Andreas	ETH Zurich
Schwager, Mac	Massachusetts Inst. of Tech.
Metzger, Jean-Claude	ETH Zurich
Siegwart, Roland	ETH Zurich
Rus, Daniela	MIT

ThE10	Egan Center Lower Level Room 7/8
Motion Planning for Nonholonomic Systems (Regular Sessions)
Chair: Tedrake, Russ	Massachusetts Inst. of Tech.
Co-Chair: Plaku, Erion	Johns Hopkins Univ.
16:10-16:25	ThE10.1
Towards Constrained Motion Planning of Mobile Manipulators, pp. 4990-4995.
Janiak, Mariusz	Wroclaw Univ. of Tech.
Tchon, Krzysztof	WrocB;aw Univ. of Tech.
16:25-16:40	ThE10.2
Trajectory Generation and Steering Optimization for Self-Assembly of a Modular Robotic System, pp. 4996-5001.
Wolfe, Kevin	Johns Hopkins Univ.
Kutzer, Michael Dennis Mays	Johns Hopkins Univ. Applied Physics Lab.
Armand, Mehran	Johns Hopkins Univ. Applied Physics Lab.
Chirikjian, Gregory	Johns Hopkins Univ.
16:40-16:55	ThE10.3
Sampling-Based Motion and Symbolic Action Planning with Geometric and Differential Constraints, pp. 5002-5008.
Plaku, Erion	Johns Hopkins Univ.
Hager, Gregory	Johns Hopkins Univ.
16:55-17:10	ThE10.4
Optimal Ball Pitching with an Underactuated Model of a Human Arm, pp. 5009-5014.
Mettin, Uwe	Umeĺ Univ.
Shiriaev, Anton	Umea Univ.
Freidovich, Leonid	Umeĺ Univ.
Sampei, Mitsuji	Tokyo Inst. of Tech.
17:10-17:25	ThE10.5
Single-Query, Bi-Directional, Lazy Roadmap Planner Applied to Car-Like Robots, pp. 5015-5020.
Balakirsky, Stephen	NIST
Dimitrov, Denis	Georgetown Univ.
17:25-17:40	ThE10.6
A Quadratic Regulator-Based Heuristic for Rapidly Exploring State Space, pp. 5021-5028.
Glassman, Elena Leah	Massachusetts Inst. of Tech.
Tedrake, Russ	Massachusetts Inst. of Tech.

ThE11	Egan Center Lower Level Room 5
Visual Learning (Regular Sessions)
Chair: Burschka, Darius	Tech. Univ. München
Co-Chair: Triebel, Rudolph	ETH Zurich
16:10-16:25	ThE11.1
Illumination-Invariant Image-Based Novelty Detection in a Cognitive Mobile Robot's Environment, pp. 5029-5034.
Maier, Werner	Tech. Univ. Muenchen
Bao, Fengqing	Tech. Univ. München
Mair, Elmar	Tech. Univ. München (TUM)
Steinbach, Eckehard	Munich Univ. of Tech.
Burschka, Darius	Tech. Univ. München
16:25-16:40	ThE11.2
Online Navigation Summaries, pp. 5035-5040.
Girdhar, Yogesh	McGill Univ.
Dudek, Gregory	McGill Univ.
16:40-16:55	ThE11.3
Unsupervised Discovery of Repetitive Objects, pp. 5041-5046.
Shin, Jiwon	ETH Zurich
Triebel, Rudolph	ETH Zurich
Siegwart, Roland	ETH Zurich
16:55-17:10	ThE11.4
Self-Supervised Cross-Modal Online Learning of Basic Object Affordances for Developmental Robotic Systems, pp. 5047-5054.
Ridge, Barry	Univ. of Ljubljana
Sko ;aj, Danijel	Univ. of Ljubljana
Leonardis, Ales	Univ. of Ljubljana
17:10-17:25	ThE11.5
Viewpoint Detection Models for Sequential Embodied Object Category Recognition, pp. 5055-5061.
Meger, David Paul	Univ. of British Columbia
Ankur, Gupta	The Univ. of British Columbia
Little, James J.	UBC
17:25-17:40	ThE11.6
Learning to Grasp Objects with Multiple Contact Points, pp. 5062-5069. Attachment
Le, Quoc	Stanford Univ.
Kamm, David	Stanford Univ.
Ng, Andrew	Stanford Univ.

ThE12	Egan Center Street Level Room Arteaga
Neurorobotics and Human Measurement (Regular Sessions)
Chair: Morellas, Vassilios	U. of Minnesota
Co-Chair: Gassert, Roger	ETH Zurich
16:10-16:25	ThE12.1
Highly-Accurate, Implantable Micromanipulator for Single Neuron Recordings, pp. 5070-5075.
Yang, Sungwook	Korea Inst. of Science and Tech.
Kim, Jinseok	KIST
Yoon, Eui-Sung	Korea Inst. of Science and Tech.
16:25-16:40	ThE12.2
Effects of Nerve Signal Transmission Delay in Somatosensory Reflex Modeling Based on Inverse Dynamics and Optimization, pp. 5076-5083.
Murai, Akihiko	The Univ. of Tokyo
Yamane, Katsu	Disney
Nakamura, Yoshihiko	Univ. of Tokyo
16:40-16:55	ThE12.3
ReGrasp, a Robotic Tool to Investigate Fine Motor Control and Track Therapy-Induced Neuroplasticity, pp. 5084-5089.
Duenas, Julio	ETH
Lambercy, Olivier	ETH Zurich
Chapuis, Dominique	Ec. Pol. Federale de Lausanne
Gassert, Roger	ETH Zurich
16:55-17:10	ThE12.4
Investigating Human Balance Using a Robotic Motion Platform, pp. 5090-5095.
Huryn, Thomas Peter	Univ. of British Columbia
Luu, Billy Liang	Univ. of British Columbia
Van der Loos, H.F. Machiel	Univ. of British Columbia (UBC)
Blouin, Jean Sebastien	Univ. of British Columbia
Croft, Elizabeth	Univ. of British Columbia
17:10-17:25	ThE12.5
Walking Speed Estimation Using Shank-Mounted Accelerometers, pp. 5096-5101.
Bishop, Emily Lynn	Univ. of Calgary
Li, Qingguo	Queen's Univ.
17:25-17:40	ThE12.6
Human Motion Patterns from Single Camera Cues for Medical Applications, pp. 5102-5107.
Ribnick, Evan	Univ. of Minnesota
Morellas, Vassilios	U. of Minnesota
Papanikolopoulos, Nikos	Univ. of Minnesota

ThE13	Egan Center Lower Level Room 6
Planning with Deformation and Contact (Regular Sessions)
Chair: Kaneko, Makoto	Osaka Univ.
Co-Chair: Schmidt, Daniel	Robotics Res. Lab. Tech. Univ. Kaiserslautern
16:10-16:25	ThE13.1
Simulation and Control of an Autonomous Bucket Excavator for Landscaping Tasks, pp. 5108-5113.
Schmidt, Daniel	Robotics Res. Lab. Tech. Univ. Kaiserslautern
Proetzsch, Martin Johannes	Univ. of Kaiserslautern
Berns, Karsten	Univ. of Kaiserslautern
16:25-16:40	ThE13.2
A Dipole Field for Object Delivery by Pushing on a Flat Surface, pp. 5114-5119. Attachment
Igarashi, Takeo	The Univ. of Tokyo
Inami, Masahiko	Keio Univ.
Kamiyama, Yoichi	JST ERATO Igarashi Design Interface Project
16:40-16:55	ThE13.3
Active Shaping of an Unknown Rheological Object Based on Deformation Decomposition into Elasticity and Plasticity, pp. 5120-5126. Attachment
Higashimori, Mitsuru	Osaka Univ.
Yoshimoto, Kayo	Osaka Univ.
Kaneko, Makoto	Osaka Univ.
16:55-17:10	ThE13.4
Avoiding Zeno's Paradox in Impulse-Based Rigid Body Simulation, pp. 5127-5132. Attachment
Drumwright, Evan	Univ. of Southern California
17:10-17:25	ThE13.5
Deformable Robot Motion Planning in a Reduced-Dimension Configuration Space, pp. 5133-5138.
Mahoney, Arthur	Univ. of Utah
Bross, Joshua	Univ. of Utah
Johnson, David	Univ. of Utah
17:25-17:40	ThE13.6
An Efficient Algorithm for Self-Reconfiguration Planning in a Modular Robot, pp. 5139-5146.
Larkworthy, Tom	Univ. of Edinburgh
Ramamoorthy, Subramanian	The Univ. of Edinburgh

ThF1	Egan Center Street Level Room Boardroom
Robust and Adaptive Control (Regular Sessions)
Chair: Liu, Guangjun	Ryerson Univ.
Co-Chair: Fraisse, Philippe	LIRMM
17:45-18:00	ThF1.1
A Mixed GPC-H Infinity Robust Cascade Position-Pressure Control Strategy for Electropneumatic Cylinders, pp. 5147-5154.
Chikh, Lotfi	LIRMM (Lab. d'Informatique de Robotique et de Microélectr
Poignet, Philippe	LIRMM UMR 5506 CNRS UM2
Pierrot, François	CNRS - LIRMM
Baradat, Cédric	Fondation Fatronik
18:00-18:15	ThF1.2
Reach Then See: A New Adaptive Controller for Robot Manipulator Based on Dual Task-Space Information, pp. 5155-5160.
Cheah, C. C.	Nanyang Tech. Univ.
Li, Xiang	Nanyang Tech. Univ.
18:15-18:30	ThF1.3
Spring Assisted Modular and Reconfigurable Robot: Design, Analysis and Control, pp. 5161-5166.
Liu, Guangjun	Ryerson Univ.
Liu, Yugang	Ryerson Univ.
18:30-18:45	ThF1.4
Realization of Biped Walking on Uneven Terrain by New Foot Mechanism Capable of Detecting Ground Surface, pp. 5167-5172.
Kang, Hyun-jin	Waseda Univ.
Hashimoto, Kenji	Waseda Univ.
Kondo, Hideki	Waseda Univ.
Hattori, Kentaro	Waseda Univ.
Nishikawa, Kosuke	Waseda Univ.
Hama, Yuichiro	Waseda Univ.
Lim, Hun-ok	Kanagawa Univ.
Takanishi, Atsuo	Waseda Univ.
Suga, Keisuke	TOYOTA motor Corp.
Kato, Keisuke	Sony Corp.
18:45-19:00	ThF1.5
Improving Stability and Performance of Digitally Controlled Systems: The Concept of Modified Holds, pp. 5173-5180. Attachment
Ghaffari Toiserkan, Kamran	McGill Univ.
Kovecses, Jozsef	McGIll Univ.
19:00-19:15	ThF1.6
Adaptive Admittance Control of a Robot Manipulator under Task Space Constraint, pp. 5181-5186.
Tee, Keng Peng	Inst. for Infocomm Res.
Yan, Rui	Inst. for Infocomm Res.
Li, Haizhou	Inst. for Infocomm Res.

ThF2	Egan Center Lower Level Room 1
Underactuated Robots (Regular Sessions)
Chair: Bobrow, James	Univ. of California, Irvine
Co-Chair: Poulakakis, Ioannis	Princeton Univ.
17:45-18:00	ThF2.1
Point-To-Point Motion Control of a Pendulum-Like 3-Dof Underactuated Cable-Driven Robot, pp. 5187-5193. Attachment
Lefrancois, Simon	Univ. Laval
Gosselin, Clement	Univ. Laval
18:00-18:15	ThF2.2
Stabilizing a Vehicle Near Rollover: An Analogy to Cart-Pole Stabilization, pp. 5194-5200. Attachment
Peters, Steven	Massachusetts Inst. of Tech.
Bobrow, James	Univ. of California, Irvine
Iagnemma, Karl	MIT
18:15-18:30	ThF2.3
Differentially Flat Mobile Manipulators Mounted with an Under-Actuated Vertical Arm, pp. 5201-5206.
Ryu, Ji-Chul	Univ. of Delaware
Agrawal, Sunil	Univ. of Delaware
18:30-18:45	ThF2.4
Design and Analysis of a Soft Mobile Robot Composed of Multiple Thermally Activated Joints Driven by a Single Actuator, pp. 5207-5212. Attachment
Cheng, Nadia	Massachusetts Inst. of Tech.
Ishigami, Genya	Massachusetts Inst. of Tech.
Hawthorne, Stephan	Massachusetts Inst. of Tech.
Chen, Hao	Univ. of California, Berkeley
Hansen, Malik	Boston Dynamics
Telleria, Maria	Massachusetts Insitute of Tech.
Playter, Robert	Boston Dynamics
Iagnemma, Karl	MIT
18:45-19:00	ThF2.5
The Effect of Dynamic Singularities on Robotic Control and Design, pp. 5213-5218.
Goodwine, Bill	Univ. of Notre Dame
Nightingale, Jason	Univ. of Notre Dame
19:00-19:15	ThF2.6
Spring Loaded Inverted Pendulum Embedding: Extensions Toward the Control of Compliant Running Robots, pp. 5219-5224.
Poulakakis, Ioannis	Princeton Univ.

ThF3	Egan Center Lower Level Room 13/14
Walking Robots (Regular Sessions)
Chair: Goswami, Ambarish	Honda Res. Inst.
Co-Chair: Kimura, Hiroshi	Kyoto Inst. of Tech.
17:45-18:00	ThF3.1
Stable Dynamic Walking of a Quadruped Robot ``Kotetsu'' Using Phase Modulations Based on Leg Loading/Unloading, pp. 5225-5230. Attachment
Maufroy, Christophe	Univ. of Electro-Communications
Nishikawa, Tomohiro	Kyoto Inst. of Tech.
Kimura, Hiroshi	Kyoto Inst. of Tech.
18:00-18:15	ThF3.2
Passive Dynamic Walking with Quadrupeds - Extensions towards 3D, pp. 5231-5236.
Remy, C. David	ETH Zurich
Hutter, Marco	ETH Zurich
Siegwart, Roland	ETH Zurich
18:15-18:30	ThF3.3
A Two-Dimensional Passive Dynamic Running Biped with Knees, pp. 5237-5242. Attachment
Owaki, Dai	Tohoku Univ.
Koyama, Masatoshi	Tohoku Univ.
Yamaguchi, Shin'ichi	Tohoku Univ.
Kubo, Shota	Tohoku Univ.
Ishiguro, Akio	Tohoku Univ.
18:30-18:45	ThF3.4
Constrained Convergent Gait Regulation for a Climbing Robot, pp. 5243-5249.
Trujillo, Salomon	Stanford Univ.
Heyneman, Barrett	Stanford Univ.
Cutkosky, Mark	Stanford Univ.
18:45-19:00	ThF3.5
Stable and Robust Walking with Compliant Legs, pp. 5250-5255.
Rummel, Juergen	Univ. of Jena
Blum, Yvonne	Univ. of Jena
Maus, Horst Moritz	Univ. of Jena
Rode, Christian	Univ. of Jena
Seyfarth, Andre	Univ. of Jena
19:00-19:15	ThF3.6
Map-Based Adaptive Foothold Planning for Unstructured Terrain Walking, pp. 5256-5261.
Belter, Dominik	Poznan Univ. of Tech.
Labecki, Przemyslaw	Poznan Univ. of Tech.
Skrzypczynski, Piotr	Poznan Univ. of Tech.

ThF4	Egan Center Lower Level Room 2
Marine Robotics: Autonomous Underwater and Surface Vehicles (Regular Sessions)
Chair: Kyriakopoulos, Kostas	National Tech. Univ. of Athens
Co-Chair: Abbeel, Pieter	Stanford Univ.
17:45-18:00	ThF4.1
A Visual-Servoing Scheme for Semi-Autonomous Operation of an Underwater Robotic Vehicle Using an IMU and a Laser Vision System, pp. 5262-5267.
Karras, George	National Tech. Univ. of Athens
Loizou, Savvas	Frederick Univ.
Kyriakopoulos, Kostas	National Tech. Univ. of Athens
18:00-18:15	ThF4.2
Experimental Evaluation of an Autonomous Surface Vehicle for Water Quality and Greenhouse Gas Emission Monitoring, pp. 5268-5274.
Dunbabin, Matthew David	CSIRO ICT Centre
Grinham, Alistair	Univ. of Queensland
18:15-18:30	ThF4.3
Control-Oriented Modelling of a Hybrid AUV, pp. 5275-5280.
Calabro', Vincenzo	Univ. degli studi di Pisa
Caiti, Andrea	Univ. of Pisa
18:30-18:45	ThF4.4
On the Influence of Ship Motion Prediction Accuracy on Motion Planning and Control of Robotic Manipulators on Seaborne Platforms, pp. 5281-5288.
From, Pĺl Johan	Norwegian Univ. of Science and Tech.
Gravdahl, Jan Tommy	Norwegian Univ. of Science and Tech.
Abbeel, Pieter	UC Berkeley
18:45-19:00	ThF4.5
Design of an Omnidirectional Propulsion System for Small Jet-Boats, pp. 5289-5294.
Foley, David	Univ. de Sherbrooke
Plante, Jean-Sebastien	Univ. de Sherbrooke
19:00-19:15	ThF4.6
Complete SE(3) Underwater Robot Control with Arbitrary Thruster Configurations, pp. 5295-5301. Attachment
Doniec, Marek	MIT
Vasilescu, Iuliu	MIT
Detweiler, Carrick	MIT
Rus, Daniela	MIT

ThF5	Egan Center Lower Level Room 11/12
Teleoperation Systems (Regular Sessions)
Chair: Mahony, Robert	Australian National Univ.
Co-Chair: Oyama, Eimei	AIST
17:45-18:00	ThF5.1
A Novel Approach to Haptic Teleoperation of Aerial Robot Vehicles, pp. 5302-5308.
Stramigioli, Stefano	Univ. of Twente
Mahony, Robert	Australian National Univ.
Corke, Peter	QUT
18:00-18:15	ThF5.2
Performance Evaluation of Monocular Predictive Display, pp. 5309-5314.
Rachmielowski, Adam	Univ. of Alberta
Birkbeck, Neil	Univ. of Alberta
Jagersand, Martin	Univ. of Alberta
18:15-18:30	ThF5.3
A Study on Wearable Behavior Navigation System - Development of Simple Parasitic Humanoid System -, pp. 5315-5321.
Oyama, Eimei	AIST
18:30-18:45	ThF5.4
Remote Teleoperation of an Unmanned Aircraft with a Brain-Machine Interface: Theory and Preliminary Results, pp. 5322-5327. Attachment
Akce, Abdullah	Univ. of Illinois at Urbana-Champaign
Johnson, Miles	Univ. oif Illinois at Urbana Champaign
Bretl, Timothy	Univ. of Illinois at Urbana-Champaign
18:45-19:00	ThF5.5
Generalized Bilateral MIMO Control by States Convergence with Time Delay and Application for the Teleoperation of a 2-DOF Helicopter, pp. 5328-5333.
Pérez-D'Arpino, Claudia	Simón Bolívar Univ.
Medina-Meléndez, Wilfredis	Simón Bolívar Univ.
Fermín-León, Leonardo	Simón Bólivar Univ.
Bogado, Juan Manuel	Simón Bolívar Univ.
Torrealba, Rafael R.	Simón Bolívar Univ.
Fernandez-Lopez, Gerardo	Simon Bolivar Univ.
19:00-19:15	ThF5.6
Online Intention Recognition for Computer-Assisted Teleoperation, pp. 5334-5339.
Stefanov, Nikolay	Tech. Univ. München
Peer, Angelika	Tech. Univ. München
Buss, Martin	Tech. Univ. München

ThF6	Egan Center Street Level Room Cook Hall
Teleoperation with Haptics (Regular Sessions)
Chair: Niemeyer, Gunter	Willow Garage and Stanford Univ.
Co-Chair: Cavusoglu, M. Cenk	Case Western Res. Univ.
17:45-18:00	ThF6.1
Haptics-Enabled Teleoperation for Robot-Assisted Tumor Localization, pp. 5340-5345.
Talasaz, Ali	Univ. of Western Ontario
Patel, Rajni	The Univ. of Western Ontario
Naish, Michael David	Univ. of Western Ontario
18:00-18:15	ThF6.2
Psychophysical Evaluation of Control Scheme Designed for Optimal Kinesthetic Perception in Scaled Teleoperation, pp. 5346-5351.
Son, Hyoung Il	KAIST
Bhattacharjee, Tapomayukh	KAIST
Jung, Hoeryong	KAIST
Lee, Doo Yong	KAIST
18:15-18:30	ThF6.3
User-Controlled Variable Impedance Teleoperation, pp. 5352-5357.
Walker, Daniel S.	Stanford
Wilson, Robert	Stanford Univ.
Niemeyer, Gunter	Willow Garage and Stanford Univ.
18:30-18:45	ThF6.4
Improvement of Model-Mediated Teleoperation Using a New Hybrid Environment Estimation Technique, pp. 5358-5363.
Achhammer, Andreas	TU Munich
Weber, Carolina	Univ. München
Peer, Angelika	Tech. Univ. München
Buss, Martin	Tech. Univ. München
18:45-19:00	ThF6.5
Restriction Space Projection Method for Position Sensor Based Force Reflection of Multi Degrees-Of-Freedom Bilateral Teleoperation Systems in Unstructured Environments, pp. 5364-5369.
Kim, Keehoon	Korea Inst. of Science and Tech.
Chung, Wan Kyun	POSTECH
Cavusoglu, M. Cenk	Case Western Res. Univ.
19:00-19:15	ThF6.6
Position Tracking Using Adaptive Control for Bilateral Teleoperators with Time-Delays, pp. 5370-5375.
Nuńo, Emmanuel	Tech. Univ. of Catalonia
Basanez, Luis	Tech. Univ. of Catalonia
Ortega, Romeo	supelec
Obregón-Pulido, Guillermo	Univ. de Guadalajara

ThF7	Egan Center Lower Level Room 3
SLAM Solutions for Indoor Environments (Regular Sessions)
Chair: Adams, Martin	Nanyang Tech. Univ.
Co-Chair: Roumeliotis, Stergios	Univ. of Minnesota
17:45-18:00	ThF7.1
A Laser-Aided Inertial Navigation System (L-INS) for Human Localization in Unknown Indoor Environments, pp. 5376-5382.
Hesch, Joel	Univ. of Minnesota
Mirzaei, Faraz	Univ. of Minnesota
Mariottini, Gian Luca	Dept. of Computer Science and Engineering
Roumeliotis, Stergios	Univ. of Minnesota
18:00-18:15	ThF7.2
Consistent Mapping of Multistory Buildings by Introducing Global Constraints to Graph-Based SLAM, pp. 5383-5388. Attachment
Karg, Michael	Univ. of Ulm
Wurm, Kai M.	Univ. of Freiburg
Stachniss, Cyrill	Univ. of Freiburg
Dietmayer, Klaus	Univ. of Ulm
Burgard, Wolfram	Univ. of Freiburg
18:15-18:30	ThF7.3
Applying Domain Knowledge to SLAM Using Virtual Measurements, pp. 5389-5394.
Trevor, Alexander J B	Georgia Inst. of Tech.
Rogers III, John G.	Georgia Inst. of Tech.
Nieto-Granda, Carlos	Georgia Inst. of Tech.
Christensen, Henrik Iskov	Georgia Inst. of Tech.
18:30-18:45	ThF7.4
Affordable SLAM through the Co-Design of Hardware and Methodology, pp. 5395-5401.
Magnenat, Stéphane	EPFL
Longchamp, Valentin	Pol. Fédérale de Lausanne
Bonani, Michael	EPFL
Rétornaz, Philippe	École Pol. Fédérale de Lausanne
Germano, Paolo	EPFL
Bleuler, Hannes	Ec. Pol. Federale de Lausanne
Mondada, Francesco	EPFL
18:45-19:00	ThF7.5
Probabilistic Mapping for Mobile Robots Using Spatial Correlation Models, pp. 5402-5409.
Pitzer, Benjamin	Robert Bosch LLC
Stiller, Christoph	Univ. Karlsruhe (TH)
19:00-19:15	ThF7.6
Rao-Blackwellised PHD SLAM, pp. 5410-5416.
Mullane, John	Nanyang Tech. Univ.
Vo, Ba-Ngu	Univ. of Melbourne
Adams, Martin	Nanyang Tech. Univ.

ThF8	Egan Center Lower Level Room 9/10
Wheeled Robots: Sensing, Estimation and Calibration (Regular Sessions)
Chair: Lee, Kok-Meng	Georgia Inst. of Tech.
Co-Chair: Hofbaur, Michael	Private Univ. UMIT
17:45-18:00	ThF8.1
Simultaneous Calibration of Odometry and Camera for a Differential Drive Mobile Robot, pp. 5417-5422.
Antonelli, Gianluca	Univ. degli Studi di Cassino
Caccavale, Fabrizio	Univ. degli Studi della Basilicata
Grossi, Flavio	Univ. degli Studi di Cassino
Marino, Alessandro	Univ. degli Studi della Basilicata
18:00-18:15	ThF8.2
Relaxed Optimization for Mode Estimation in Skid Steering, pp. 5423-5428.
Caldwell, Timothy	Northwestern Univ.
Murphey, Todd	Northwestern Univ.
18:15-18:30	ThF8.3
Location of Optical Mouse Sensors on Mobile Robots for Odometry, pp. 5429-5434.
Cimino, Mauro	Oklahoma State Univ.
Pagilla, Prabhakar	Oklahoma State Univ.
18:30-18:45	ThF8.4
Instantaneous Centre of Rotation Estimation of an Omnidirectional Mobile Robot, pp. 5435-5440.
Clavien, Lionel	Univ. de Sherbrooke
Lauria, Michel	Univ. of Applied Sciences Western Switzerland (HES-SO)
Michaud, Francois	Univ. de Sherbrooke
18:45-19:00	ThF8.5
On-Line Kinematics Reasoning for Reconfigurable Robot Drives, pp. 5441-5446.
Hofbaur, Michael	Private Univ. UMIT
Brandstötter, Mathias	Private Univ. UMIT
Schoerghuber, Christoph	Graz Univ. of Tech.
Steinbauer, Gerald	Graz Univ. of Tech.
19:00-19:15	ThF8.6
Magnetic Field-Based Sensing Method for Spherical Joint, pp. 5447-5452.
Foong, Shaohui	Georgia Inst. of Tech.
Lee, Kok-Meng	Georgia Inst. of Tech.
Bai, Kun	Georgia Inst. of Tech.

ThF9	Egan Center Lower Level Room 4
Networked Robots (Regular Sessions)
Chair: Sycara, Katia	Carnegie Mellon Univ.
Co-Chair: Derenick, Jason	Univ. of Pennsylvania
17:45-18:00	ThF9.1
Towards Optimally Efficient Field Estimation with Threshold-Based Pruning in Real Robotic Sensor Networks, pp. 5453-5459.
Prorok, Amanda	EPFL
Martinoli, Alcherio	EPFL
Cianci, Christopher M.	EPFL
18:00-18:15	ThF9.2
Coordinated Multi-Robot Real-Time Exploration with Connectivity and Bandwidth Awareness, pp. 5460-5465.
Pei, Yuanteng	Michigan State Univ.
Mutka, Matt	Michigan State Uinversity
Xi, Ning	Michigan State Univ.
18:15-18:30	ThF9.3
RSS-Based Relative Localization and Tethering for Moving Robots in Unknown Environments, pp. 5466-5471. Attachment
Zickler, Stefan	Carnegie Mellon Univ.
Veloso, Manuela	Carnegie Mellon Univ.
18:30-18:45	ThF9.4
Towards Simplicial Coverage Repair for Mobile Robot Teams, pp. 5472-5477.
Derenick, Jason	Univ. of Pennsylvania
Kumar, Vijay	Univ. of Pennsylvania
Jadbabaie, Ali	Univ. of Pennsylvania
18:45-19:00	ThF9.5
Multi-Robot Flooding Algorithm for the Exploration of Unknown Indoor Environments, pp. 5478-5483.
Cabrera-Mora, Flavio	The Graduate Center of the City Univ. of New York
Xiao, Jizhong	City Coll. of New York
Brass, Peter	City Coll. New York
19:00-19:15	ThF9.6
Reconfiguration Algorithms for Mobile Robotic Networks, pp. 5484-5489.
Chakraborty, Nilanjan	Carnegie Mellon Univ.
Sycara, Katia	Carnegie Mellon Univ.

ThF10	Egan Center Lower Level Room 7/8
Surveillance and Spatio-Temporal Coverage (Regular Sessions)
Chair: Tedrake, Russ	Massachusetts Inst. of Tech.
Co-Chair: Rekleitis, Ioannis	McGill Univ.
17:45-18:00	ThF10.1
Modeling and Decision Making in Spatio-Temporal Processes for Environmental Surveillance, pp. 5490-5497.
Singh, Amarjeet	Univ. of California, Los Angeles
Ramos, Fabio	Univ. of Sydney
Durrant-Whyte, Hugh	The Univ. of Sydney
Kaiser, William	UCLA
18:00-18:15	ThF10.2
An Iterative Mixed Integer Linear Programming Approach to Pursuit Evasion Problems in Polygonal Environments, pp. 5498-5503.
Thunberg, Johan	Royal Inst. of Tech. (KTH)
Ogren, Petter	Swedish Defence Res. Agency
18:15-18:30	ThF10.3
Simulation-Based LQR-Trees with Input and State Constraints, pp. 5504-5510. Attachment
Reist, Philipp	Swiss Federal Inst. of Tech.
Tedrake, Russ	Massachusetts Inst. of Tech.
18:30-18:45	ThF10.4
Evader Surveillance under Incomplete Information, pp. 5511-5518.
Becerra, Israel	Centro de Investigacion en Matematicas
Murrieta-Cid, Rafael	Center for Mathematical Res.
Monroy, Raúl	Tecnológico de Monterrey, Campus Estado de México
18:45-19:00	ThF10.5
Guaranteed Navigation with an Unreliable Blind Robot, pp. 5519-5524.
Lewis, Jeremy	Univ. of South Carolina
O'Kane, Jason	Univ. of South Carolina
19:00-19:15	ThF10.6
Optimal Coverage of a Known Arbitrary Environment, pp. 5525-5530.
Rekleitis, Ioannis	McGill Univ.
Mannadiar, Raphael	McGill Univ.

ThF11	Egan Center Lower Level Room 5
Visual Servoing (Regular Sessions)
Chair: Marchand, Eric	Univ. de Rennes 1, IRISA, INRIA Rennes
Co-Chair: Jagersand, Martin	Univ. of Alberta
17:45-18:00	ThF11.1
Improving Mutual Information Based Visual Servoing, pp. 5531-5536.
Dame, Amaury	CNRS
Marchand, Eric	Univ. de Rennes 1
18:00-18:15	ThF11.2
Visual Servoing from Three Points Using a Spherical Projection Model, pp. 5537-5542.
Fomena Tatsambon, Romeo	Univ. de Rennes 1, IRISA
Tahri, Omar	Inst. de Sistemas e Robótica, Univ. de Coimbra
Chaumette, Francois	INRIA Rennes-Bretagne Atlantique
18:15-18:30	ThF11.3
Robust Hand-Eye Calibration for Computer Aided Medical Endoscopy, pp. 5543-5549.
Malti, Abed	Inst. of Systems and Robotics-Univ. of Coimbra
Barreto, Joăo P.	Univ. of Coimbra
18:30-18:45	ThF11.4
Spherical Image-Based Visual Servo and Structure Estimation, pp. 5550-5555. Attachment
Corke, Peter	QUT
18:45-19:00	ThF11.5
A Switching Control Law for a Networked Visual Servo Control System, pp. 5556-5563.
Wu, Haiyan	Tech. Univ. Muenchen
Chen, Chih-Chung	Tech. Univ. München
Feng, Jiayun	Tech. Univ. Muenchen
Kühnlenz, Kolja	Tech. Univ. München
Hirche, Sandra	Tech. Univ. München
19:00-19:15	ThF11.6
Robust Jacobian Estimation for Uncalibrated Visual Servoing, pp. 5564-5569.
Shademan, Azad	Univ. of Alberta
Farahmand, Amir-massoud	Univ. of Alberta
Jagersand, Martin	Univ. of Alberta

ThF12	Egan Center Street Level Room Arteaga
Human Augmentation and Medical Applications (Regular Sessions)
Chair: Mavroidis, Constantinos	Northeastern Univ.
Co-Chair: Jiang, Xin	Tohoku Univ.
17:45-18:00	ThF12.1
Multi-Turn, Tension-Stiffening Catheter Navigation System, pp. 5570-5575.
Chen, Yi	Massachusetts Inst. of Tech.
Chang, Jean	Massachusetts Inst. of Tech.
Greenlee, Alison S.	Massachusetts Inst. of Tech.
Cheung, Kenneth C.	Massachusetts Inst. of Tech.
Slocum, Alexander	Massachusetts Inst. of Tech.
Gupta, Rajiv	Massachusetts General Hospital
18:00-18:15	ThF12.2
Intuitive Human Skill Reconstruction for Compliance Control, pp. 5576-5581. Attachment
Okodi, Samuel M.	Tohoku Univ.
Jiang, Xin	Tohoku Univ.
Abiko, Satoko	Tohoku Univ.
Konno, Atsushi	Tohoku Univ.
Uchiyama, Masaru	Tohoku Univ.
18:15-18:30	ThF12.3
Increasing Robotic Wheelchair Safety with Collaborative Control: Evidence from Secondary Task Experiments, pp. 5582-5587.
Carlson, Tom	Imperial Coll. London
Demiris, Yiannis	Imperial Coll. London
18:30-18:45	ThF12.4
Precise Bending Angle Control of Hydraulic Active Catheter by Pressure Pulse Drive, pp. 5588-5593.
Ikuta, Koji	Nagoya Univ.
Matsuda, Yoshikatsu	Nagoya Univ.
Yajima, Daisuke	Nagoya Univ.
Ota, Yusuke	Chiba Inst. of Tech.
18:45-19:00	ThF12.5
Simulation Platform for Self-Assembly Structures in MRI-Guided Nanorobotic Drug Delivery Systems, pp. 5594-5600.
Vartholomeos, Panagiotis	National Tech. Univ. of Athens
Mavroidis, Constantinos	Northeastern Univ.
19:00-19:15	ThF12.6
Guidance of a Steerable Cannula Robot in Soft Tissue Using Preoperative Imaging and Conoscopic Surface Contour Sensing, pp. 5601-5606.
Lathrop, Ray	Vanderbilt Univ.
Rucker, Caleb	Vanderbilt Univ.
Webster III, Robert James	Vanderbilt Univ.

TuB2	Dena'ina Center Tikahtnu B/C
50 Years of Robotics: Industrial Robotics and Automation (Regular Sessions)
Chair: Goldberg, Ken	UC Berkeley
Co-Chair: Lynch, Kevin	Northwestern Univ.
10:25-11:00	TuB2.1
Automation and Robotics (I)*.
Mason, Matthew T.	Carnegie Mellon Univ.
11:00-11:15	TuB2.2
Toward the Set of Frictional Velocity Fields Generable by 6-Degree-Of-Freedom Oscillatory Motion of a Rigid Plate, pp. 540-547.
Vose, Thomas	Northwestern Univ.
Umbanhowar, Paul	Northwestern Univ.
Lynch, Kevin	Northwestern Univ.
11:15-11:30	TuB2.3
A ZigBee Indoor Positioning Scheme Using Signal-Index-Pair Data Preprocess Method to Enhance Precision, pp. 548-553.
Hung, Min-Hsiung	Chung Cheng Inst. of Tech. National DefenseUniversity
Lin, Shih-Sung	Chung Cheng Inst. of Tech. National Defense Univ.
Cheng, Jui-Yu	Chung Cheng Inst. of Tech. National Defense Univ.
Chien, Wu-Lung	Chung Cheng Inst. of Tech. National DefenseUniversity
11:30-11:45	TuB2.4
Unified Impedance and Admittance Control, pp. 554-561.
Ott, Christian	German Aerospace Center (DLR)
Mukherjee, Ranjan	Michigan State Univ.
Nakamura, Yoshihiko	Univ. of Tokyo

TuB3	Dena'ina Center Tikahtnu D/E
50 Years of Robotics: Medical and Life Sciences (Regular Sessions)
Chair: Hager, Gregory	Johns Hopkins Univ.
Co-Chair: Sakuma, Ichiro	The Univ. of Tokyo
10:25-11:00	TuB3.1
50 Years of Robotics and Automation: Robotics in Medical and Life Sciences (I)*.
Hannaford, Blake	Univ. of Washington
11:00-11:15	TuB3.2
Real-Time Position Control of Concentric Tube Robots, pp. 562-568. Attachment
Dupont, Pierre	Boston Univ.
Lock, Jesse	Boston Univ.
Itkowitz, Brandon	Boston Univ.
11:15-11:30	TuB3.3
Robotically Generated Force Fields for Stroke Patient Pelvic Obliquity Gait Rehabilitation, pp. 569-575.
Pietrusinski, Maciej	Northeastern Univ.
Cajigas, Iahn	MIT
Goldsmith, Mary	Department of Biomedical Engineering, Boston Univ.
Bonato, Paolo	Harvard Medical School
Mavroidis, Constantinos	Northeastern Univ.
11:30-11:45	TuB3.4
Wireless Control of Magnetic Helical Microrobots Using a Rotating-Permanent-Magnet Manipulator, pp. 576-581. Attachment
Fountain, Thomas	Univ. of Utah
Kailat, Prem	Univ. of Utah
Abbott, Jake	Univ. of Utah

WeB1	Dena'ina Center Tikahtnu A
50 Years of Robotics: Perception (Regular Sessions)
Chair: Corke, Peter	CSIRO
Co-Chair: Kragic, Danica	KTH
10:25-11:00	WeB1.1
Robot Vision: Where It Has Been and Where It Will Be (I)*.
Kanade, Takeo	Carnegie Mellon Univ.
11:00-11:15	WeB1.2
High-Speed Liquid Lens for Computer Vision, pp. 2643-2648.
Oku, Hiromasa	Univ. of Tokyo
Ishikawa, Masatoshi	Univ. of Tokyo
11:15-11:30	WeB1.3
FAB-MAP 3D: Topological Mapping with Spatial and Visual Appearance, pp. 2649-2656.
Paul, Rohan	Univ. of Oxford
Newman, Paul	Oxford Univ.
11:30-11:45	WeB1.4
Real-Time Monocular SLAM: Why Filter?, pp. 2657-2664.
Strasdat, Hauke	Imperial Coll.
Montiel, J.M.M	Univ. de Zaragoza
Davison, Andrew J	Imperial Coll. London

WeB2	Dena'ina Center Tikahtnu B/C
50 Years of Robotics: Learning (Regular Sessions)
Chair: Oh, Paul Y.	Drexel Univ.
Co-Chair: Billard, Aude	EPFL
10:25-11:00	WeB2.1
Machine Learning for Robotic Perception and Control (I)*.
Thrun, Sebastian	Stanford Univ.
11:00-11:15	WeB2.2
Fast, Robust Quadruped Locomotion Over Challenging Terrain, pp. 2665-2670. Attachment
Kalakrishnan, Mrinal	Univ. of Southern California
Buchli, Jonas	Univ. of Southern California
Pastor, Peter	Univ. of Southern California
Mistry, Michael	Disney Res. Pittsburgh
Schaal, Stefan	Univ. of Southern California
11:15-11:30	WeB2.3
Evaluation of a Probabilistic Approach to Learn and Reproduce Gestures by Imitation, pp. 2671-2676. Attachment
Calinon, Sylvain	FONDAZIONE IST. ITALIANO DI TECNOLOGIA
Sauser, Eric	EPFL
Billard, Aude	EPFL
Caldwell, Darwin G.	Italian Inst. of Tech.
11:30-11:45	WeB2.4
Using Model Knowledge for Learning Inverse Dynamics, pp. 2677-2682.
Nguyen-Tuong, Duy	Max Planck Inst. for Biological Cybernetics
Peters, Jan	Max-Planck Inst. for Bio. Cybernetics

WeB3	Dena'ina Center Tikahtnu D/E
50 Years of Robotics: Planning (Regular Sessions)
Chair: Amato, Nancy	Texas A&M Univ.
Co-Chair: Hsu, David	National Univ. of Singapore
10:25-11:00	WeB3.1
Motion Planning: What Does It Move For? (I)*.
Laumond, Jean-Paul	LAAS-CNRS
11:00-11:15	WeB3.2
Object Caging under Imperfect Shape Knowledge, pp. 2683-2688.
Pipattanasomporn, Peam	Chulalongkorn Univ.
Sudsang, Attawith	Chulalongkorn Univ.
11:15-11:30	WeB3.3
Sampling-Based Motion Planning with Temporal Goals, pp. 2689-2696.
Bhatia, Amit	Rice Univ.
Kavraki, Lydia	Rice Univ.
Moshe, Vardi	Rice Univ.
11:30-11:45	WeB3.4
Planning Pre-Grasp Manipulation for Transport Tasks, pp. 2697-2704. Attachment
Chang, Lillian	Carnegie Mellon Univ.
Srinivasa, Siddhartha	Intel Lab. Pittsburgh
Pollard, Nancy S	Carnegie Mellon Univ.

WeB4	Dena'ina Center Kahtnu 1/2
50 Years of Robotics: Control (Regular Sessions)
Chair: De Luca, Alessandro	Univ. di Roma
Co-Chair: Albu-Schäffer, Alin	DLR - German Aerospace Center
10:25-11:00	WeB4.1
The Interplay between Robotics and Control Theory (I)*.
Spong, Mark	Univ. of Texas at Dallas
11:00-11:15	WeB4.2
Biomimetic Motor Behavior for Simultaneous Adaptation of Force, Impedance and Trajectory in Interaction Tasks, pp. 2705-2711.
Ganesh, Gowrishankar	ATR International
Albu-Schäffer, Alin	DLR - German Aerospace Center
Haruno, Masahiko	ATR International
Kawato, Mitsuo	Press
Burdet, Etienne	imperial Coll. london
11:15-11:30	WeB4.3
Human-In-The-Loop: Terminal Constraint Receding Horizon Control with Human Inputs, pp. 2712-2717.
Chipalkatty, Rahul	Georgia Inst. of Tech.
Egerstedt, Magnus	Georgia Inst. of Tech.
11:30-11:45	WeB4.4
Topology Control of Dynamic Networks in the Presence of Local and Global Constraints, pp. 2718-2723.
Moshtagh, Nima	Scientific System Company Inc.
Mesbahi, Mehran	Univ. of Washington
Mehra, Raman	Scientific System Company Inc.

ThF13	Egan Center Lower Level Room 6
Actuation and Control (Regular Sessions)
Chair: Liu, Peter	Tamkang Univ.
Co-Chair: Papadopoulos, Evangelos	National Tech. Univ. of Athens
17:45-18:00	ThF13.1
Using Tilt-Control in Non-Contact Manipulation Systems: Development of 2-DOF Tilting Actuator with Remote Center of Rotation, pp. 5607-5612. Attachment
van West, Ewoud Frank	The Univ. of Tokyo
Yamamoto, Akio	Univ. of Tokyo
Higuchi, Toshiro	The Univ. of Tokyo
18:00-18:15	ThF13.2
Precise Robot Motions Using Dual Motor Control, pp. 5613-5620.
Robertz, Sven	Lund Univ.
Halt, Lorenz	Lund Univ.
Kelkar, Sameer	Gudel AG
Nilsson, Klas	Lund Univ.
Robertsson, Anders	LTH, Lund Univ.
Schaer, Dominique	Gudel AG
Schiffer, Johannes	TU Berlin
18:15-18:30	ThF13.3
Sensorless Linear Induction Motor Control Using Fuzzy Observers for Speed Tracking, pp. 5621-5626.
Liu, Peter	Tamkang Univ.
Hung, Cheng-Yao	Wistron
Chiu, Chian-Song	Chung-Yuan Christian Univ.
Lian, Kuang-Yow	National Taipei Univ. of Tech.

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