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Technical Program for Wednesday October 20, 2010

WePP Plenary Sessions, Plenary Hall
The Status of ROS and the PR2 Beta Program (Dr. Steve Cousins)
Chair: Luo, Ren	National Taiwan Univ.

WeAT1 Regular Sessions, 101A
Slam I
Chair: Yuta, Shinichi	Univ. of Tsukuba
Co-Chair: Zhang, Hong	Univ. of Alberta
09:30-09:50, Paper WeAT1.1
Towards a Consistent SLAM Algorithm Using B-Splines to Represent Environments
Liu, Minjie	Univ. of Tech.
Huang, Shoudong	Univ. of Tech. Sydney
Dissanayake, Gamini	Univ. of Tech. Sydney
Kodagoda, Sarath	Univ. of Tech. Sydney
09:50-10:10, Paper WeAT1.2
Keyframe Detection for Appearance-Based Visual SLAM
Zhang, Hong	Univ. of Alberta
Li, Bo	Chongqing Univ.
Yang, Dan	Chongqing Univ.
10:10-10:30, Paper WeAT1.3
SLAM with Expectation Maximization for Moveable Object Tracking
Rogers III, John G.	Georgia Inst. of Tech.
Trevor, Alexander J B	Georgia Inst. of Tech.
Nieto-Granda, Carlos	Georgia Inst. of Tech.
Christensen, Henrik Iskov	Georgia Inst. of Tech.
10:30-10:50, Paper WeAT1.4
SoF-SLAM: Segments-On-Floor-Based Monocular SLAM
Zhang, Guoxuan	Hanyang Univ.
Suh, Il Hong	Hanyang Univ.
10:50-11:10, Paper WeAT1.5
Learning to Close the Loop from 3D Point Clouds
Granström, Karl	Linköping Univ.
Schön, Thomas	Linköping Univ.

WeAT2 Regular Sessions, 101B
Grasping III
Chair: Liu, Yunhui	Chinese Univ. of Hong Kong
Co-Chair: Chiu, Han-Pang	Sarnoff Corp. USA
09:30-09:50, Paper WeAT2.1
Derivation of Optimal Robust Grasping Strategy under Initial Object Pose Errors
Dobashi, Hiroki	Graduate School of Engineering, Kyoto Univ.
Noda, Akio	Mitsubishi Electric Corp.
Yokokohji, Yasuyoshi	Kobe Univ.
Nagano, Hikaru	Ctec Company
Nagatani, Tatsuya	Mitsubishi Electric Corp.
Okuda, Haruhisa	Mitsubishi Electric Corp.
09:50-10:10, Paper WeAT2.2
Spatio-Temporal Modeling of Grasping Actions
Romero, Javier	KTH
Feix, Thomas	Otto Bock Healthcare Gmbh
Kjellstrom, Hedvig	KTH
Kragic, Danica	KTH
10:10-10:30, Paper WeAT2.3
Picking up an Indicated Object in a Complex Environment
Nagata, Kazuyuki	National Inst. of AIST
Miyasaka, Takashi	Tokyo City Univ.
Nenchev, Dragomir	Tokyo City Univ.
Yamanobe, Natsuki	Advanced Industrial Science and Tech.
Maruyama, Kenichi	National Inst. of Advanced Industrial Science andTechnology
Kawabata, Satoshi	National Inst. of Advanced Industrial Science and Tech.
Kawai, Yoshihiro	National Inst. of Advanced Industrial Science and Tech.
10:30-10:50, Paper WeAT2.4
People Helping Robots Helping People: Crowdsourcing for Grasping Novel Objects
Sorokin, Alexander	Univ. of Illinois at Urbana-Champaign
Berenson, Dmitry	Carnegie Mellon Univ.
Srinivasa, Siddhartha	Intel Lab. Pittsburgh
Hebert, Martial	CMU
10:50-11:10, Paper WeAT2.5
Push-Grasping with Dexterous Hands: Mechanics and a Method
Dogar, Mehmet Remzi	Carnegie Mellon Univ.
Srinivasa, Siddhartha	Intel Lab. Pittsburgh

WeAT3 Regular Sessions, 101C
Range Sensing I
Chair: Nunes, Urbano	Univ. of Coimbra
Co-Chair: Rusu, Radu Bogdan	Willow Garage, Inc
09:30-09:50, Paper WeAT3.1
Graph-Based Segmentation for Colored Laser Point Clouds
Strom, Johannes H.	Univ. of Michigan
Richardson, Andrew	Univ. of Michigan
Olson, Edwin	Univ. of Michigan
09:50-10:10, Paper WeAT3.2
Unsupervised Learning of Compact 3D Models Based on the Detection of Recurrent Structures
Ruhnke, Michael	Univ. of Freiburg
Steder, Bastian	Univ. of Freiburg
Grisetti, Giorgio	Unviersität Freiburg
Burgard, Wolfram	Univ. of Freiburg
10:10-10:30, Paper WeAT3.3
Improving Depth Measurement of Textured Surface by a Boundary Estimator for Structured Light Patterns  (Video)
Bui, Lam Quang	Sungkyunkwan Univ.
Lee, Sukhan	Sungkyunkwan Univ.
10:30-10:50, Paper WeAT3.4
Automated Safety Inspection of Grade Crossings
Ranganathan, Pradeep	Univ. of Michigan
Olson, Edwin	Univ. of Michigan
10:50-11:10, Paper WeAT3.5
Fast 3D Recognition and Pose Using the Viewpoint Feature Histogram
Rusu, Radu Bogdan	Willow Garage, Inc
Bradski, Gary	Stanford Univ. and Willow Garage
Romain, Thibaux	Willow Garage, Inc
Hsu, John	Willow Garage

WeAT4 Regular Sessions, 101D
Physical Human-Robot Interaction I
Chair: Dias, Jorge	Univ. of Coimbra
Co-Chair: Fontanelli, Daniele	Univ. of Trento
09:30-09:50, Paper WeAT4.1
Development of a Child-Oriented Social Robot for Safe and Interactive Physical Interaction
Ma, Xiaoning	National Univ. of Singapore
Quek, Francis	Virginia Tech.
09:50-10:10, Paper WeAT4.2
Kinetostatic Danger Field - a Novel Safety Assessment for Human-Robot Interaction
Lacevic, Bakir	Pol. di Milano
Rocco, Paolo	Pol. di Milano
10:10-10:30, Paper WeAT4.3
Safety Provisions for Human/Robot Interactions Using Stochastic Discrete Abstractions
Asaula, Ruslan	Univ. of Trento
Fontanelli, Daniele	Univ. of Trento
Palopoli, Luigi	Univ. of Trento
10:30-10:50, Paper WeAT4.4
New Insights Concerning Intrinsic Joint Elasticity for Safety  (Video)
Haddadin, Sami	German Aerospace Center (DLR)
Albu-Schäffer, Alin	DLR - German Aerospace Center
Eiberger, Oliver	DLR - German Aerospace Center
Hirzinger, Gerd	German Aerospace Center (DLR)
10:50-11:10, Paper WeAT4.5
A Study on Dynamical Role Division in a Crank-Rotation Task from the View Point of Kinetics and Muscle Activity Analysis
Pham, Hang	Graduate School of Engineering Science, Osaka Univ.
Ueha, Ryohei	Graduate School of Engineering Science, Osaka Univ.
Hirai, Hiroaki	Graduate School of Engineering Science, Osaka Univ.
Miyazaki, Fumio	Graduate School of Engineering Science, Osaka Univ.

WeAT5 Regular Sessions, 103
Humanoid Robots IV
Chair: Konno, Atsushi	Tohoku Univ.
Co-Chair: Metta, Giorgio	Univ. of Genoa
09:30-09:50, Paper WeAT5.1
Water/Air Performance Analysis of a Fluidic Muscle
Focchi, Michele	Italian Inst. of Tech.
Guglielmino, Emanuele	Italian Inst. of Tech.
Semini, Claudio	Italian Inst. of Tech.
Parmiggiani, Alberto	IIT (Italian Inst. of Tech. Univ. of Genoa
Tsagarakis, Nikolaos	Italian Inst. of Tech. (IIT)
Vanderborght, Bram	Vrije Univ. Brussel
Caldwell, Darwin G.	Italian Inst. of Tech.
09:50-10:10, Paper WeAT5.2
The Design of an Anthropomorphic Dexterous Humanoid Foot
Davis, Steven	Italian Inst. of Tech.
Caldwell, Darwin G.	Italian Inst. of Tech.
10:10-10:30, Paper WeAT5.3
A Study of Function of Foot's Medial Longitudinal Arch Using Biped Humanoid Robot
Hashimoto, Kenji	Waseda Univ.
Takezaki, Yuki	Waseda Univ.
Hattori, Kentaro	Waseda Univ.
Kondo, Hideki	Waseda Univ.
Takashima, Takamichi	National Rehabilitation Center for Persons with Disabilities
Lim, Hun-ok	Kanagawa Univ.
Takanishi, Atsuo	Waseda Univ.
10:30-10:50, Paper WeAT5.4
A Tactile Sensor for the Fingertips of the Humanoid Robot Icub
Schmitz, Alexander	Italian Inst. of Tech.
Maggiali, Marco	Univ. of Genoa
Natale, Lorenzo	Istutito Italiano di Tecnologia
Bonino, Bruno	Italian Inst. of Tech.
Metta, Giorgio	Univ. of Genoa
10:50-11:10, Paper WeAT5.5
Adaptive Multi-Dimensional Compliance Control of a Humanoid Robotic Arm with Anti-Windup Compensation
Khan, Said Ghani	Univ. of West England, Bristol, UK
Herrmann, Guido	Univ. of Bristol
Pipe, Tony	Bristol Robotics Lab.
Melhuish, Chris	BRL

WeAT6 Regular Sessions, 201A
AI Reasoning Methods
Chair: Stilman, Mike	Georgia Tech.
Co-Chair: Suzuki, Satoshi	Tokyo Denki Univ.
09:30-09:50, Paper WeAT6.1
Service Level Differentiation in Multi-Robots Control
Xu, Ying	Carnegie Mellon Univ.
Dai, Tinglong	Carnegie Mellon Univ.
Sycara, Katia	Carnegie Mellon Univ.
Lewis, Michael	Univ. of Pittsburgh
09:50-10:10, Paper WeAT6.2
Becoming Action-Aware through Reasoning about Logged Plan Execution Traces
Mösenlechner, Lorenz	Tech. Univ. München
Demmel, Nikolaus	Tech. Univ. München
Beetz, Michael	Tech. Univ. München
10:10-10:30, Paper WeAT6.3
Contingency Planning Over Probabilistic Hybrid Obstacle Predictions for Autonomous Road Vehicles
Hardy, Jason	Cornell Univ.
Campbell, Mark	Cornell Univ.
10:30-10:50, Paper WeAT6.4
Efficient Nearest-Neighbor Computation for GPU-Based Motion Planning
Pan, Jia	UNC Chapel Hill
Lauterbach, Christian	UNC Chapel Hill
Manocha, Dinesh	UNC at Chapel Hill
10:50-11:10, Paper WeAT6.5
Estimation of Operational Intentions Utilizing Self-Organizing Map with Bayes Filtering
Suzuki, Satoshi	Tokyo Denki Univ.
Harashima, Fumio	Tokyo Metropolitan Univ.

WeAT7 Regular Sessions, 201B
Entertainment Robotics
Chair: Ogata, Tetsuya	Kyoto Univ.
Co-Chair: Aleotti, Jacopo	Univ. of Parma
09:30-09:50, Paper WeAT7.1
Temporal Scaling of Leg Motion for Music Feedback System of a Dancing Humanoid Robot  (Video)
Okamoto, Takahiro	The Univ. Tokyo
Shiratori, Takaaki	Carnegie Mellon Univ.
Kudoh, Shunsuke	The Univ. of Electro-Communications
Ikeuchi, Katsushi	The Univ. of Tokyo
09:50-10:10, Paper WeAT7.2
Detecting Dance Motion Structure Using Body Components and Turning Motions
Rennhak, Bjoern	The Univ. of Tokyo
Shiratori, Takaaki	Carnegie Mellon Univ.
Kudoh, Shunsuke	The Univ. of Electro-Communications
Vinayavekhin, Phongtharin	Univ. of Tokyo
Ikeuchi, Katsushi	The Univ. of Tokyo
10:10-10:30, Paper WeAT7.3
Designing Reactive Emotion Generation Model for Interactive Robots
Kim, Hyoung-Rock	KAIST
Koo, Seongyong	KAIST
Kwon, Dong-Soo	KAIST
10:30-10:50, Paper WeAT7.4
Full-Body Gesture Recognition Using Inertial Sensors for Playful Interaction with Small Humanoid Robot
Cooney, Martin D.	Osaka Univ. ATR
Becker-Asano, Christian	ATR
Kanda, Takayuki	ATR
Alissandrakis, Aris	Advanced Telecommunications Res. Inst. International (AT
Ishiguro, Hiroshi	Osaka Univ.
10:50-11:10, Paper WeAT7.5
Implementation of a Musical Performance Interaction System for the Waseda Flutist Robot: Combining Visual and Acoustic Sensor Input Based on Sequential Bayesian Filtering
Petersen, Klaus	Waseda Univ.
Solis, Jorge	Waseda Univ.
Takanishi, Atsuo	Waseda Univ.

WeAT8 Regular Sessions, 201C
Parallel Robots I
Chair: Arai, Tatsuo	Osaka Univ.
Co-Chair: Kim, Whee Kuk	Korea Univ.
09:30-09:50, Paper WeAT8.1
Forward Kinematics of Redundantly Actuated, Tendon-Based Robots  (Video)
v. Zitzewitz, Joachim	ETH Zurich
Rauter, Georg	ETH Zurich
Vallery, Heike	ETH Zurich
Morger, André	ETH Zurich
Riener, Robert	ETH Zurich
09:50-10:10, Paper WeAT8.2
Forward Kinematic Analysis of a Planar Cable Driven Redundant Parallel Manipulator Using Force Sensors
Oftadeh, Reza	K. N. Toosi U. of Tech.
M. Aref, Mohammad	K.N. Toosi Univ. of Tech.
Taghirad, Hamid	K.N.Toosi Univ. of Tech.
10:10-10:30, Paper WeAT8.3
An Experimental Comparison of State Observers for the Control of a Parallel Manipulator without Velocity Measurements
Sartori Natal, Guilherme	LIRMM, Univ. of Montpellier 2
Chemori, Ahmed	LIRMM
Pierrot, François	CNRS - LIRMM
Company, Olivier	Univ. of Montpellier 2
10:30-10:50, Paper WeAT8.4
Geometric Properties of Zero-Torsion Parallel Kinematics Machines
Wu, Yuanqing	Shanghai Jiaotong Univ.
Li, Zexiang	HKUST
Shi, Jinbo	Hong Kong Univ. of Science and Tech.
10:50-11:10, Paper WeAT8.5
On Contact Models for Assembly Tasks: Experimental Investigation Beyond the Peg-In-Hole Problem on the Example of Force-Torque Maps
Dietrich, Franz	Tech. Univ. Braunschweig
Buchholz, Dirk	TU Braunschweig
Wobbe, Frank	TU Braunschweig
Sowinski, Frank	TU Braunschweig
Raatz, Annika	Tech. Univ. Braunschweig
Schumacher, Walter	TU Braunschweig
Wahl, Friedrich M.	Tech. Univ. of Braunschweig

WeAT9 Regular Sessions, 201D
Medical Robots and Systems IV
Chair: Ko, Seong Young	Imperial Coll. London
Co-Chair: Misra, Sarthak	Univ. of Twente
09:30-09:50, Paper WeAT9.1
Two-Dimensional Needle Steering with a “Programmable Bevel” Inspired by Nature: Modeling Preliminaries
Ko, Seong Young	Imperial Coll. London
Davies, Brian L.	Imperial Coll.
Rodriguez y Baena, Ferdinando	Imperial Coll. London, UK
09:50-10:10, Paper WeAT9.2
Quasistatic Modeling of Concentric Tube Robots with External Loads
Lock, Jesse	Boston Univ.
Laing, Genevieve	Boston Univ.
Mahvash, Mohsen	Children's Hospital, Harvard Medical School
Dupont, Pierre	Children's Hospital, Harvard Medical School
10:10-10:30, Paper WeAT9.3
Trajectory Planning with Task Constraints in Densely Filled Environments
Maris, Bogdan Mihai	Univ. of Verona
Botturi, Debora	Univ. of Verona
Fiorini, Paolo	Univ. of Verona
10:30-10:50, Paper WeAT9.4
Image-Based Flexible Endoscope Steering
Reilink, Rob	Univ. of Twente
Stramigioli, Stefano	Univ. of Twente
Misra, Sarthak	Univ. of Twente
10:50-11:10, Paper WeAT9.5
Control of a Multiple Sections Flexible Endoscopic System
Bardou, Berengere	Univ. of Strasbourg
Zanne, Philippe	Univ. of Strasbourg
Nageotte, Florent	Univ. of Strasbourg
de Mathelin, Michel	Univ. of Strasbourg

WeAT10 Regular Sessions, 201E
Mechanism Design I
Chair: Fukushima, Edwardo F.	Tokyo Inst. of Tech.
Co-Chair: Chen, I-Ming	Nanyang Tech. Univ.
09:30-09:50, Paper WeAT10.1
A New Contactless Conveyor System for Handling Clean and Delicate Products Using Induced Air Flows  (Video)
Delettre, Anne	FEMTO-ST Inst. - CNRS - ENSMM - Univ. de Franche-Comté
Laurent, Guillaume J.	FEMTO-ST Inst. - CNRS - ENSMM - Univ. de Franche-Comté
Le Fort-Piat, Nadine	FEMTO-ST
09:50-10:10, Paper WeAT10.2
Fabrication and Analysis of Dielectric-Elastomer Minimum-Energy Structures for Highly-Deformable Soft Robotic Systems
Petralia, Michael	Harvard Univ.
Wood, Robert	Harvard Univ.
10:10-10:30, Paper WeAT10.3
A New Mechanical Structure for Adjustable Stiffness Devices with Lightweight and Small Size
Uemura, Mitsunori	Ritsumeikan Univ.
Kawamura, Sadao	Ritsumeikan Univ.
10:30-10:50, Paper WeAT10.4
Analysis of Task Feasibility for a Home Robot Using Prismatic Joints
Mashimo, Tomoaki	Carnegie Mellon Univ.
Diankov, Rosen	Carnegie Mellon Univ.
Urakubo, Takateru	Kobe Univ.
Kanade, Takeo	Carnegie Mellon Univ.
10:50-11:10, Paper WeAT10.5
Parallel Forward Dynamics: A Geometric Approach
Zamora-Esquivel, Julio	CINVESTAV del IPN, Unidad Guadalajara
Bayro-Corrochano, Eduardo-Jose	CINVESTAV, Unidad Guadalajara

WeAT11 Invited Sessions, 201F
Mobiligence - Adaptive Behavior of Biological Systems and Robotic Systems
Chair: Asama, Hajime	The Univ. of Tokyo
Co-Chair: Ota, Jun	The Univ. of Tokyo
Organizer: Asama, Hajime	The Univ. of Tokyo
Organizer: Ota, Jun	The Univ. of Tokyo
09:30-09:50, Paper WeAT11.1
Biological System Models Reproducing Snakes' Musculoskeletal System (I)
Inoue, Kousuke	Ibaraki Univ.
Nakamura, Kaita	Mori Seiki Co., Ltd.
Suzuki, Masatoshi	Ibaraki Univ.
Mori, Yoshikazu	Ibaraki Univ.
Fukuoka, Yasuhiro	Ibaraki Univ.
Shiroma, Naoji	Ibaraki Univ.
09:50-10:10, Paper WeAT11.2
Construction of the Brain-Machine Hybrid System to Analyze Adaptive Behavior of Silkworm Moth (I)
Takashima, Atsushi	Tokyo Inst. of Tech.
Minegishi, Ryo	The Univ. of Tokyo
Kurabayashi, Daisuke	Tokyo Inst. of Tech.
Kanzaki, Ryohei	The Univ. of Tokyo
10:10-10:30, Paper WeAT11.3
Neural Network Estimation of LAL/VPC Resions of Silkmoth Using Genetic Algorithm (I)
Chiba, Ryosuke	Tokyo Metropolitan Univ.
Hashimoto, Sunao	The Univ. of Tokyo
Kazawa, Tomoki	The Univ. of Tokyo
Kanzaki, Ryohei	The Univ. of Tokyo
Ota, Jun	The Univ. of Tokyo
10:30-10:50, Paper WeAT11.4
A Soft-Bodied Fluid-Driven Amoeboid Robot Inspired by Plasmodium of True Slime Mold (I)  (Video)
Umedachi, Takuya	Tohoku Univ.
Takeda, Koichi	Tohoku Univ.
Nakagaki, Toshiyuki	Hokkaido Univ.
Kobayashi, Ryo	Hiroshima Univ.
Ishiguro, Akio	Tohoku Univ.
10:50-11:10, Paper WeAT11.5
Dual Structure of Mobiligence --Implicit Control and Explicit Control (I)
Osuka, Koichi	Osaka Univ.
Ishiguro, Akio	Tohoku Univ.
Zheng, Xin-Zhi	ASTEM RI
Sugimoto, Yasuhiro	Osaka Univ.
Owaki, Dai	Tohoku Univ.

WeAT12 Regular Sessions, 202A
Robotics in Hazardous Fields
Chair: Ferre, Manuel	Univ. Pol. de Madrid
Co-Chair: Taylor, C. James	Lancaster Univ.
09:30-09:50, Paper WeAT12.1
State Dependent Control of a Robotic Manipulator Used for Nuclear Decommissioning Activities
Taylor, C. James	Lancaster Univ.
Chotai, Arun	Lancaster Univ.
Robertson, David	Lancaster Univ.
09:50-10:10, Paper WeAT12.2
Robust 3D Scan Segmentation for Teleoperation Tasks in Areas Contaminated by Radiation
Roennau, Arne	FZI Forschungszentrum Informatik
Liebel, Grischa	FZI Forschungszentrum Informatik
Schamm, Thomas	FZI Forschungszentrum Informatik
Kerscher, Thilo	FZI Forschungszentrum Informatik
Dillmann, Rüdiger	KIT Karlsruher Inst. für Tech.
10:10-10:30, Paper WeAT12.3
Hybrid Data Fusion for 3D Localization under Heavy Disturbances
Santana, Pedro Henrique de Rodrigues Quemel e Assis	Univ. of Brasilia
Borges, Geovany Araujo	Univ. de Brasilia
Ishihara, João Yoshiyuki	Univ. de Brasilia
10:30-10:50, Paper WeAT12.4
Tetrabot: Resonance Based Locomotion for Harsh Environments  (Video)
Neubert, Jonas	Cornell Univ.
Stockton, Jonathan	Cornell Univ.
Blechman, Benjamin	Cornell Univ.
Lipson, Hod	Cornell Univ.
10:50-11:10, Paper WeAT12.5
Design and Compatibility of a High-Performance Actuation System for Fmri-Based Neuroscience Studies
Hara, Masayuki	École Pol. Fédérale de Lausanne
Duenas, Julio	ETH
Kober, Tobias	Ec. Pol. fédérale de Lausanne (EPFL)
Chapuis, Dominique	Ec. Pol. Federale de Lausanne
Lambercy, Olivier	ETH Zurich
Bleuler, Hannes	Ec. Pol. Federale de Lausanne
Gassert, Roger	ETH Zurich

WeAT13 Regular Sessions, 202B
Surveillance Systems
Chair: Laugier, Christian	INRIA Rhône-Alpes
Co-Chair: Anderson, Monica	The Univ. of Alabama
09:30-09:50, Paper WeAT13.1
Target Acquisition in Resource Constrained Stationary Camera Systems
Veluchamy, Aparna	Univ. of Alabama
Anderson, Monica	The Univ. of Alabama
09:50-10:10, Paper WeAT13.2
Real-Time Moving Object Recognition and Tracking Using Computation Offloading
Nimmagadda, Yamini	Purdue Univ.
Kumar, Karthik	Purdue Univ.
Lu, Yung-Hsiang	Purdue Univ.
Lee, C. S. George	Purdue Univ.
10:10-10:30, Paper WeAT13.3
A Novel Approach for Object Extraction from Video Sequences Based on Continuous Background/Foreground Classification  (Video)
Craesmeyer Bellardi, Thiago	INRIA Rhone-Alpes
Rios-Martinez, Jorge	INRIA Rhone-Alpes
Vasquez, Alejandro	ETHZ
Laugier, Christian	INRIA Rhône-Alpes
10:30-10:50, Paper WeAT13.4
Mixing Differential Inclusions with Markov Decision Processes
Goncalves, Nelson	Inst. Superior Técnico
Sequeira, Joao	Inst. Superior Técnico - Inst. for SystemsandRobotics
10:50-11:10, Paper WeAT13.5
Multiple-Person Tracking Devoted to Distributed Multi Smart Camera Networks  (Video)
Zuriarrain, Iker	Univ. of Mondragon
Aizpurua, Jose Ignacio	Univ. of Mondragon
Lerasle, Frederic	LAAS - CNRS
Arana, Nestor	Univ. of Mondragon

WeAT14 Regular Sessions, 203A
Human Performance Augmentation
Chair: Shiroma, Naoji	Ibaraki Univ.
Co-Chair: Han, Chang-Soo	Hanyang Univ.
09:30-09:50, Paper WeAT14.1
Energy-Efficient Gait Pattern Generation of the Powered Robotic Exoskeleton Using DME
Kim, Wan-Soo	Hanyang Univ.
Lee, Seunghoon	Hanyang Univ.
Kang, Min-Sung	Hanyang Univ.
Han, Jungsoo	hansung Univ.
Han, Chang-Soo	Hanyang Univ.
09:50-10:10, Paper WeAT14.2
Investigation of Reducing Fatigue and Musculoskeletal Disorder with Passive Actuators
Carmichael, Marc	Centre for Autonomous Systems
Liu, Dikai	Facultyof Engineering and Information Tech.
Waldron, Kenneth John	Stanford Univ.
10:10-10:30, Paper WeAT14.3
Human Force Amplification with Industrial Robot : Study of Dynamic Limitations
Lamy, Xavier	French Atomic Energy Commission (CEA)
Colledani, Frédéric	CEA-LIST
Geffard, Franck	Atomic Energy Commissariat (CEA)
Measson, Yvan	CEA LIST
Morel, Guillaume	Univ. Pierre et Marie Curie - Paris 6
10:30-10:50, Paper WeAT14.4
Evolving Aggressive Biomechanical Models with Genetic Programming
Theodoridis, Theodoros	Uni. of Essex
10:50-11:10, Paper WeAT14.5
Asynchronous Visual Information Sharing System with Image Stabilization
Shiroma, Naoji	Ibaraki Univ.
Oyama, Eimei	AIST

WeAV Video Sessions, 203B
Video Session
Chair: Oh, Paul Y.	Drexel Univ.
Co-Chair: Hong, Dennis	Virginia Tech.
09:30-09:33, Paper WeAV.1
Playing Pylos with an Autonomous Robot  (Video)
Aichholzer, Oswin	Graz Univ. of Tech.
Detassis, Daniel	Graz Univ. of Tech.
Hackl, Thomas	Graz Univ. of Tech.
Steinbauer, Gerald	Graz Univ. of Tech.
Thonhauser, Johannes	Graz Univ. of Tech.
09:33-09:36, Paper WeAV.2
Mixed Reality for Unmanned Aerial Vehicle Operations in Near Earth Environments
Hing, James	Drexel Univ.
Oh, Paul Y.	Drexel Univ.
09:36-09:39, Paper WeAV.3
A Ball-Throwing Robot with Visual Feedback  (Video)
Hu, Jwu-Sheng	National Chiao Tung Univ.
Chien, Ming-Chih	Industrial Tech. Res. Inst.
Chang, Yung-Jung	National Chiao Tung Univ.
Su, Shyh-Haur	Industrial Tech. Res. Inst.
Kai, Chen-Yu	National Taiwan Univ. of Science and Tech.
09:39-09:42, Paper WeAV.4
A Robotic Ball Catcher with Embedded Visual Servo Processor  (Video)
Hu, Jwu-Sheng	National Chiao Tung Univ.
Chien, Ming-Chih	Industrial Tech. Res. Inst.
Chang, Yung-Jung	National Chiao Tung Univ.
Chang, Nelson Yen-Chung	Industrial Tech. Res. Inst.
Su, Shyh-Haur	Industrial Tech. Res. Inst.
Yang, Jwu-Jiun	Industrial Tech. Res. Inst.
Kai, Chen-Yu	National Taiwan Univ. of Science and Tech.
09:52-09:55, Paper WeAV.5
Teleoperation of AZIMUT-3, an Omnidirectional Non-Holonomic Platform with Steerable Wheels  (Video)
Ferland, François	Univ. de Sherbrooke
Clavien, Lionel	Univ. de Sherbrooke
Frémy, Julien	Univ. de Sherbrooke
Létourneau, Dominic	Univ. de Sherbrooke
Michaud, Francois	Univ. de Sherbrooke
Lauria, Michel	Univ. of Applied Sciences Western Switzerland (HES-SO)
09:55-09:58, Paper WeAV.6
Force-Controlled Motion of a Mobile Platform  (Video)
Frémy, Julien	Univ. de Sherbrooke
Ferland, François	Univ. de Sherbrooke
Clavien, Lionel	Univ. de Sherbrooke
Létourneau, Dominic	Univ. de Sherbrooke
Michaud, Francois	Univ. de Sherbrooke
Lauria, Michel	Univ. of Applied Sciences Western Switzerland (HES-SO)
09:58-10:01, Paper WeAV.7
Using a Dual Differential Rheological Actuator As a High-Performance Haptic Interface  (Video)
Heintz, Benoît	Univ. de Sherbrooke
Fauteux, Philippe	Univ. de Sherbrooke
Létourneau, Dominic	Univ. de Sherbrooke
Michaud, Francois	Univ. de Sherbrooke
Lauria, Michel	Univ. of Applied Sciences Western Switzerland (HES-SO)
10:01-10:04, Paper WeAV.8
Empirical Evaluation of a Practical Indoor Mobile Robot Navigation Method Using Hybrid Maps  (Video)
Özkil, Ali Gürcan	Tech. Univ. of Denmark
Fan, Zhun	Tech. Univ. of Denmark
Xiao, Jizhong	City Coll. of New York
Jens, Kristensen	FORCE Tech.
Dawids, Steen	DTU, Tech. Univ. of Denmark
Christensen, Kim Hardam	Force Tech. Denmark
Aanæs, Henrik	Tech. Univ. of Denmark
10:24-10:27, Paper WeAV.9
Robotic Jerboa: A Compact Bipedal Kick-And-Slide Robot Powered by Unidirectional Impulse Force Generators  (Video)
Tsuda, Takashi	Univ. of Tsukuba
Mochiyama, Hiromi	Univ. of Tsukuba
Fujimoto, Hideo	Nagoya Inst. of Tech.
10:27-10:30, Paper WeAV.10
Acroban the Humanoid: Compliance for Stabilization and Human Interaction  (Video)
Ly, Olivier	INRIA / Lab. - Bordeaux Univ.
Oudeyer, Pierre-Yves	INRIA
10:30-10:33, Paper WeAV.11
Multi-Fingered Robotic Hand Employing Strings Transmission Named “Twist Drive” — Video Contribution  (Video)
Sonoda, Takashi	Fukuoka Industry, Science & Tech. Foundation
Godler, Ivan	Univ. of Kitakyushu
10:33-10:36, Paper WeAV.12
Novel Air Blowing Control for Balancing a Unicycle Robot
Lee, Jong Hyun	Chungnam National Univ.
Shin, Hye Jung	Chungnam National Univ.
Lee, SeungJun	Chungnam National Univ.
Jung, Seul	Chung Nam National Univ.
10:46-10:49, Paper WeAV.13
Airport Snow Shoveling
Saska, Martin	Czech Tech. Univ. in Prague
Vonasek, Vojtech	Czech Tech. Univ. in Prague
Krajnik, Tomas	Faculty of Electrical Engineering, Czech Tech. Univ.
10:49-10:52, Paper WeAV.14
R&D Phases of a Mobile Robot Prototype Applied to Underground Distribution Lines  (Video)
Allan, Jean-Francois	Hydro-Quebec Res. Inst.
Reiher, Stephane	Hydro-Quebec Res. Inst.
Lambert, Ghislain	Hydro-Quebec Res. Inst.
Lavoie, Samuel	Hydro-Quebec Res. Inst.
10:52-10:55, Paper WeAV.15
Actuation Mechanisms for Biologically Inspired Everting Toroidal Robots
Orekhov, Viktor	Virginia Tech.
Hong, Dennis	Virginia Tech.
Yim, Mark	Univ. of Pennsylvania
10:55-10:58, Paper WeAV.16
A Hardware-In-The-Loop Testing Facility for UAV Sensor Suites and Control Algorithms  (Video)
Sevcik, Keith	Drexel Univ.
Oh, Paul Y.	Drexel Univ.

WeBT1 Regular Sessions, 101A
Slam Ii
Chair: Ila, Viorela	UPC-CSIC
Co-Chair: Burguera, Antoni	Univ. de les Illes Balears
11:20-11:40, Paper WeBT1.1
3 Known Landmarks Are Enough for Solving Planar Bearing SLAM and Fully Reconstruct Unknown Inputs
Belo, Felipe	Univ. of Pisa
Salaris, Paolo	Univ. of Pisa
Bicchi, Antonio	Univ. of Pisa
11:40-12:00, Paper WeBT1.2
Scan-Based SLAM with Trajectory Correction in Underwater Environments
Burguera, Antoni	Univ. de les Illes Balears
Oliver, Gabriel A.	Univ. of the Balearic Islands
Gonzalez, Yolanda	Balearic Islands Univ.
12:00-12:20, Paper WeBT1.3
Selective Submap Joining for Underwater Large Scale 6-DOF SLAM
Aulinas, Josep	Univ. of Girona
Lladó, Xavier	Univ. of Girona
Salvi, Joaquim	Univ. of Girona
Petillot, Yvan R.	Heriot-Watt Univ.
12:20-12:40, Paper WeBT1.4
Multi-Level Submap Based SLAM Using Nested Dissection  (Video)
Ni, Kai	Georgia Inst. of Tech.
Dellaert, Frank	Georgia Inst. of Tech.
12:40-13:00, Paper WeBT1.5
Subgraph-Preconditioned Conjugate Gradients for Large Scale SLAM
Dellaert, Frank	Georgia Inst. of Tech.
Carlson, Justin	Carnegie Mellon Univ. - Qatar Campus
Ila, Viorela	UPC-CSIC
Ni, Kai	Georgia Inst. of Tech.
Thorpe, Charles	Carnegie Mellon Univ. - Qatar Campus

WeBT2 Regular Sessions, 101B
Grasping IV
Chair: Moon, Hyungpil	SungKyunKwan Univ.
Co-Chair: Endo, Gen	Tokyo Inst. of Tech.
11:20-11:40, Paper WeBT2.1
Human-Like Reflexes for Robotic Manipulation Using Leaky Integrate-And-Fire Neurons
Bauer, Christian	Karlsruhe Inst. of Tech.
Milighetti, Giulio	Fraunhofer-Gesellschaft
Yan, Wenjie	Karlsruhe Inst. of Tech.
Mikut, Ralf	Karlsruhe Inst. of Tech.
11:40-12:00, Paper WeBT2.2
Grasping Novel Objects with Depth Segmentation  (Video)
Rao, Deepak	Stanford Univ.
Le, Quoc	Stanford Univ.
Phoka, Thanathorn	Chulalongkorn Univ.
Quigley, Morgan	Stanford Univ.
Sudsang, Attawith	Chulalongkorn Univ.
Ng, Andrew	Stanford Univ.
12:00-12:20, Paper WeBT2.3
Robotic Grasping of Unmodeled Objects Using Time-Of-Flight Range Data and Finger Torque Information  (Video)
Maldonado, Alexis	Tech. Univ. München
Klank, Ulrich	Tech. Univ. München
Beetz, Michael	Tech. Univ. München
12:20-12:40, Paper WeBT2.4
Kinematically Optimal Catching a Flying Ball with a Hand-Arm-System  (Video)
Baeuml, Berthold	German Aerospace Center (DLR)
Wimboeck, Thomas	German Aerospace Center (DLR)
Hirzinger, Gerd	German Aerospace Center (DLR)
12:40-13:00, Paper WeBT2.5
Development of a Light Duty Arm with an Active-Fingertip Gripper for Handling Discoid Objects
Endo, Gen	Tokyo Inst. of Tech.
Yamada, Hiroya	Tokyo Inst. of Tech.
Hirose, Shigeo	Tokyo Inst. of Tech.

WeBT3 Regular Sessions, 101C
Range Sensing II
Chair: Arai, Tamio	The Univ. of Tokyo
Co-Chair: Núñez Trujillo, Pedro	Univ. de Extremadura
11:20-11:40, Paper WeBT3.1
Moving Objects Detection and Classification Based on Trajectories of LRF Scan Data on a Grid Map  (Video)
Mori, Taketoshi	The Univ. of Tokyo
Sato, Takahiro	The Univ. of Tokyo
Noguchi, Hiroshi	The Univ. of Tokyo
Shimosaka, Masamichi	Univ. of Tokyo
Fukui, Rui	The Univ. of Tokyo
Sato, Tomomasa	The Univ. of Tokyo
11:40-12:00, Paper WeBT3.2
Robotized Inspection System of the External Aircraft Fuselage Based on Ultrasounds  (Video)
Sanz, José I.	Airbus
Ferre, Manuel	Univ. Pol. de Madrid
Espada, Alvaro	Airbus
Collar, Matias	Univ. Pol. DE MADRID
Fenández, Jose	Univ. Pol. de Madrid
12:00-12:20, Paper WeBT3.3
Micro/Nano Displacement Sensor for Piezoelectric Actuator with Multi-Stage Expansion Mechanism
Yu, Yong	Kagoshima Univ.
Song, Bo	Univ. of Science and Tech. of China
Chen, Renbing	Robot sensor Lab. IIM, CAS
Ge, Yunjian	Chinese Acad. of Sciences
12:20-12:40, Paper WeBT3.4
Laser-Camera Data Discrepancies and Reliable Perception in Outdoor Robotics
Peynot, Thierry	The Univ. of Sydney
Kassir, Abdallah	ACFR, The Univ. of Sydney
12:40-13:00, Paper WeBT3.5
Change Detection in 3D Environments Based on Gaussian Mixture Model and Robust Structural Matching for Autonomous Robotic Applications
Núñez Trujillo, Pedro	Univ. de Extremadura
Drews Jr, Paulo	Univ. of Coimbra
Bandera, Antonio	Univ. de Málaga
Rocha, Rui	Inst. of Systems and Robotics - Univ. of Coimbra
Campos, Mario F. Montenegro	Federal Univ. of Minas Gerais
Dias, Jorge	Univ. of Coimbra

WeBT4 Regular Sessions, 101D
Physical Human-Robot Interaction II
Chair: Hirata, Yasuhisa	Tohoku Univ.
Co-Chair: Hasegawa, Yasuhisa	Univ. of Tsukuba
11:20-11:40, Paper WeBT4.1
Design of a Variable Impedance Differential Actuator for Wearable Robotics Applications
Tagliamonte, Nevio Luigi	Univ. Campus Bio-Medico di Roma
Sergi, Fabrizio	Univ. Campus Bio-Medico di Roma
Carpino, Giorgio	Univ. Campus Bio-Medico
Accoto, Dino	Univ. Campus Bio-Medico
Guglielmelli, Eugenio	Univ. Campus Bio-Medico
11:40-12:00, Paper WeBT4.2
Performance Evaluations of Hand and Forearm Support System
Hasegawa, Yasuhisa	Univ. of Tsukuba
Watanabe, Kosuke	Univ. of Tsukuba
Sankai, Yoshiyuki	Univ. of Tsukuba
12:00-12:20, Paper WeBT4.3
Minimal Force Jump within Human and Assistive Robot Cooperation
Abdi, Hamid	Deakin Univ.
Nahavandi, Saeid	Deakin Univ.
Tale Masouleh, Mehdi	Univ. Laval
12:20-12:40, Paper WeBT4.4
Benchmark Tools for Evaluating AGVs at Industrial Environments
Yuste, Hector	Tech. Univ. of Valencia
Armesto, Leopoldo	Univ. Pol. de Valencia Q4618002B
Tornero, Josep	Tech. Univ. of valencia
12:40-13:00, Paper WeBT4.5
Natural-Language Command of an Autonomous Micro-Air Vehicle  (Video)
Huang, Albert S.	Massachusetts Inst. of Tech.
Tellex, Stefanie	MIT Media Lab.
Bachrach, Abraham	Massachusetts Inst. of Tech.
Kollar, Thomas	MIT
Roy, Deb	MIT
Roy, Nicholas	Massachusetts Inst. of Tech.

WeBT5 Regular Sessions, 103
Humanoid Robots V
Chair: Lee, C. S. George	Purdue Univ.
Co-Chair: Morimoto, Jun	ATR Computational Neuroscience Lab.
11:20-11:40, Paper WeBT5.1
Constrained Geodesic Trajectory Generation on Learnt Skill Manifolds
Havoutis, Ioannis	Univ. of Edinburgh
Ramamoorthy, Subramanian	The Univ. of Edinburgh
11:40-12:00, Paper WeBT5.2
Imitation Learning of Globally Stable Non-Linear Point-To-Point Robot Motions Using Nonlinear Programming  (Video)
Khansari-Zadeh, Seyed Mohammad	EPFL
Billard, Aude	EPFL
12:00-12:20, Paper WeBT5.3
A Full-Body Motion Control Method for a Humanoid Robot Based on On-Line Estimation of the Operational Force of an Object with an Unknown Weight
Nozawa, Shunichi	The Univ. of Tokyo
Ueda, Ryohei	The Univ. of Tokyo
Kakiuchi, Yohei	The Univ. of Tokyo
Okada, Kei	The Univ. of Tokyo
Inaba, Masayuki	The Univ. of Tokyo
12:20-12:40, Paper WeBT5.4
Online Footprint Imitation of a Humanoid Robot by Walking Motion Parameterization
Kim, Sung-Kyun	Korea Inst. of Science and Tech.
Hong, Seokmin	Univ. of Science and Tech.
Kim, Doik	KIST
Oh, Yonghwan	KIST
You, Bum Jae	KIST
Oh, Sang-Rok	KIST
12:40-13:00, Paper WeBT5.5
Constructing of Efficient Database Structure by Imitation Learning Based on Evolutionary Algorithm
Park, Ga-Ram	Korea Univ.
Kim, ChangHwan	Korea Inst. of Science and Tech.

WeBT6 Regular Sessions, 201A
Computer Vision III
Chair: Corke, Peter	QUT
Co-Chair: Kita, Yasuyo	Inst. of Advanced Industrial Sci. & Tech.
11:20-11:40, Paper WeBT6.1
High-Speed Stroboscope for Specular Reflection Removal of DC Illumination
Tsuji, Toshiaki	Saitama Univ.
11:40-12:00, Paper WeBT6.2
Clothes Handling Using Visual Recognition in Cooperation with Actions  (Video)
Kita, Yasuyo	Inst. of Advanced Industrial Sci. & Tech.
Neo, Ee Sian	National Inst. of Advanced Industrial Science and Tech.
Ueshiba, Toshio	National Inst. of Advanced Industrial Science and
Kita, Nobuyuki	National Inst. of Advanced Industrial Science andTechnology
12:00-12:20, Paper WeBT6.3
Improving Feature Based Object Recognition in Service Robotics by Disparity Map Based Segmentation
Asanza, Diego	Hochschule Mannheim
Wirnitzer, Bernhard	Hochschule Mannheim
12:20-12:40, Paper WeBT6.4
Using the Disparity Space to Compute Occupancy Grids from Stereo-Vision
Perrollaz, Mathias	INRIA Grenoble - Rhône-Alpes
Yoder, John David	Ohio Northern Univ.
Spalanzani, Anne	INRIA Rhône-Alpes
Laugier, Christian	INRIA Rhône-Alpes
12:40-13:00, Paper WeBT6.5
Automatic Observation for 3D Reconstruction of Unknown Objects Using Visual Servoing
Walck, Guillaume	UPMC Univ. Paris 06, ISIR
Drouin, Michel	UPMC Univ. Paris 06, ISIR

WeBT7 Regular Sessions, 201B
Domestic Robots
Chair: Godler, Ivan	Univ. of Kitakyushu
Co-Chair: Lee, Sukhan	Sungkyunkwan Univ.
11:20-11:40, Paper WeBT7.1
Multi-Fingered Robotic Hand Employing Strings Transmission Named ``Twist Drive''  (Video)
Sonoda, Takashi	Fukuoka Industry, Science & Tech. Foundation
Godler, Ivan	Univ. of Kitakyushu
11:40-12:00, Paper WeBT7.2
Robustly Operating Articulated Objects Based on Experience  (Video)
Sturm, Jürgen	Univ. of Freiburg
Jain, Advait	Georgia Inst. of Tech.
Stachniss, Cyrill	Univ. of Freiburg
Kemp, Charlie	Georgia Inst. of Tech.
Burgard, Wolfram	Univ. of Freiburg
12:00-12:20, Paper WeBT7.3
Learning a Probabilistic Self-Awareness Model for Robotic Systems
Golombek, Raphael	Res. Inst. for Cognition and Robotics, Bielefeld Univ.
Wrede, Sebastian	Bielefeld Univ.
Hanheide, Marc	Univ. of Birmingham
Heckmann, Martin	Honda Res. Inst. Europe GmbH
12:20-12:40, Paper WeBT7.4
Learning to Open New Doors
Klingbeil, Ellen	Stanford Univ.
Saxena, Ashutosh	Cornell Univ.
Ng, Andrew	Stanford Univ.
12:40-13:00, Paper WeBT7.5
3D Room Modeling and Doorway Detection from Indoor Stereo Imagery Using Feature Guided Piecewise Depth Diffusion
Varadarajan, Karthik Mahesh	ACIN, TU Wien (Tech. Univ. of Vienna)
Vincze, Markus	Vienna Univ. of Tech.

WeBT8 Regular Sessions, 201C
Parallel Robots II
Chair: Yamawaki, Tasuku	National Defense Acad. of Japan
Co-Chair: Choi, Youngjin	Hanyang Univ.
11:20-11:40, Paper WeBT8.1
Singularity-Invariant Leg Substitutions in Pentapods
Borràs Sol, Júlia	CSIC-UPC
Thomas, Federico	CSIC-UPC
11:40-12:00, Paper WeBT8.2
Explicit Dynamic Equations of Stewart--Gough Platform: A Newton--Euler Approach
Oftadeh, Reza	K. N. Toosi U. of Tech.
M. Aref, Mohammad	K.N. Toosi Univ. of Tech.
Taghirad, Hamid	K.N.Toosi Univ. of Tech.
12:00-12:20, Paper WeBT8.3
Comparison of 3-PPR Parallel Planar Manipulators Based on Their Sensitivity to Joint Clearances
Binaud, Nicolas	IRCCyN
Caro, Stéphane	Ec. Centrale de Nantes
Bai, Shaoping	Aalborg Univ.
Wenger, Philippe	Ec. Centrale de Nantes
12:20-12:40, Paper WeBT8.4
A New Concept of Self-Reconfigurable Mobile Machining Centers
Yang, Hai	Fatronik France Tecnalia
Krut, Sebastien	LIRMM (CNRS & Univ. Montpellier 2)
Pierrot, François	CNRS - LIRMM
Baradat, Cédric	Fondation Fatronik
12:40-13:00, Paper WeBT8.5
Stackable 4-BAR Mechanisms and Their Robotic Applications
Lee, Hoyul	Hanyang Univ.
Choi, Youngjin	Hanyang Univ.

WeBT9 Regular Sessions, 201D
Medical Robots and Systems V
Chair: Kobayashi, Yo	Waseda Univ.
Co-Chair: Ferreira, Antoine	Univ. of Orléans
11:20-11:40, Paper WeBT9.1
Control Electronics Integration Toward Endoscopic Capsule Robot Performing Legged Locomotion and Illumination
Alonso, Oscar	Univ. of Barcelona
Freixas, Lluis	Univ. de Barcelona
Canals, Joan	Univ. of Barcelona
Susilo, Ekawahyu	Scuola Superiore Sant'Anna
Dieguez, Angel	Univ. of Barcelona
11:40-12:00, Paper WeBT9.2
Endovascular Navigation of a Ferromagnetic Microrobot Using MRI-Based Predictive Control
Belharet, Karim	Ec. National Supérieure d'Ingénieurs de Bourges (Univ. d'
Folio, David	ENSI de Bourges
Ferreira, Antoine	Univ. of Orléans
12:00-12:20, Paper WeBT9.3
Development of a Broad-View Camera System for Minimally Invasive Surgery
Kawahara, Tomohiro	Nagoya Univ.
Takaki, Takeshi	Hiroshima Univ.
Ishii, Idaku	Hiroshima Univ.
Okajima, Masazumi	Hiroshima Univ.
12:20-12:40, Paper WeBT9.4
A Study on Wire-Wire Driven Abdominal Cavity Mobile Micro Robot
Hiroki, Chika	Chiba Univ.
Ohno, Satoshi	Chiba Univ.
Ikemoto, Yu	Chiba Univ. Chiba, Japan
Yu, Wenwei	Chiba Univ.
12:40-13:00, Paper WeBT9.5
Quantitative Palpation to Identify the Material Parameters of Tissues Using Reactive Force Measurement and Finite Element Simulation
Hoshi, Takeharu	Waseda Univ.
Kobayashi, Yo	Waseda Univ.
Miyashita, Tomoyuki	Waseda Univ.
Fujie, Masakatsu G.	Waseda Univ.

WeBT10 Regular Sessions, 201E
Mechanism Design II
Chair: Li, Yangmin	Univ. of Macau
Co-Chair: Yi, Byung-Ju	Hanayang Univ.
11:20-11:40, Paper WeBT10.1
Optimization and Dynamic Simulation of a Parallel Three Three Degree-of-Freedom Camera Orientation System
Villgrattner, Thomas	Tech. Univ. München
Ulbrich, Heinz	Tech. Univ. Muenchen
11:40-12:00, Paper WeBT10.2
Dynamical Analysis and Improvement of Velocity for 3 DOF Precise Inchworm Mechanism
Fuchiwaki, Ohmi	Yokohama National Univ. (YNU)
Arafuka, Kazushi	Yokohama National Univ. (YNU)
12:00-12:20, Paper WeBT10.3
Self-Rescue Mechanism for Screw Drive In-Pipe Robots
Li, Peng	The Chinese Univ. of Hong Kong
Ma, Shugen	Ritsumeikan Univ.
Li, Bin	Shenyang Inst. of Automation
Wang, Yuechao	Shenyang Inst. of Automation
Liu, Yunhui	Chinese Univ. of Hong Kong
12:20-12:40, Paper WeBT10.4
A Pipeline Inspection Robot with a Linkage Type Mechanical Clutch  (Video)
Kwon, Young-Sik	Hanyang Univ.
Lee, Bae	Doobae system co., ltd.
Hwang, In-Cheol	DOOBAE System Co., Ltd.
Yi, Byung-Ju	Hanayang Univ.
12:40-13:00, Paper WeBT10.5
Decentralized Control of Serpentine Locomotion That Enables Well-Balanced Coupling between Phasic and Tonic Control  (Video)
Kano, Takeshi	Graduate School of Engineering, Tohoku Univ.
Sato, Takahide	Tohoku Univ.
Kobayashi, Ryo	Hiroshima Univ.
Ishiguro, Akio	Tohoku Univ.

WeBT11 Regular Sessions, 201F
Underactuated Robots
Chair: Guo, Shuxiang	Kagawa Univ.
Co-Chair: Matsuno, Fumitoshi	Kyoto Univ.
11:20-11:40, Paper WeBT11.1
Underactuated Control for Nonholonomic Mobile Robots by Using Double Integrator Model and Invariant Manifold Theory
Watanabe, Keigo	Okayama Univ.
Yamamoto, Takahiro	Okayama Univ.
Izumi, Kiyotaka	Saga Univ.
Maeyama, Shoichi	Okayama Univ.
11:40-12:00, Paper WeBT11.2
A Simplified Model of Planar Snake Robot Locomotion
Liljebäck, Pål	SINTEF IKT
Pettersen, Kristin Y.	Norwegian Univ. of Science and Tech.
Stavdahl, Øyvind	Norwegian Univ. of Science and Tech. (NTNU)
Gravdahl, Jan Tommy	Norwegian Univ. of Science and Tech.
12:00-12:20, Paper WeBT11.3
Fundamental Properties of Snake Robot Locomotion
Liljebäck, Pål	SINTEF IKT
Pettersen, Kristin Y.	Norwegian Univ. of Science and Tech.
Stavdahl, Øyvind	Norwegian Univ. of Science and Tech. (NTNU)
Gravdahl, Jan Tommy	Norwegian Univ. of Science and Tech.
12:20-12:40, Paper WeBT11.4
1-DOF Spherical Mobile Robot That Can Generate Two Motions
Toyoizumi, Teppei	the Univ. of Tokyo
Yonekura, Shogo	the Univ. of Tokyo
Kamimura, Akiya	National Inst. ofAdvancedIndustrialScienceandTechnology
Tadakuma, Riichiro	Yamagata Univ.
Kawaguchi, Yoichiro	the Univ. of Tokyo
12:40-13:00, Paper WeBT11.5
Ball Dribbling with an Underactuated Continuous-Time Control Phase: Theory & Experiments
Bätz, Georg	Tech. Univ. München
Mettin, Uwe	Norwegian Univ. of Science and Tech.
Scheint, Michael	Tech. Univ. München
Schmidts, Alexander	Tech. Univ. München
Wollherr, Dirk	Tech. Univ. München
Shiriaev, Anton	Umea Univ.

WeBT12 Regular Sessions, 202A
Visual Tracking I
Chair: Wang, Hesheng	Shanghai Jiao Tong Univ.
Co-Chair: Hashimoto, Koichi	Tohoku Univ.
11:20-11:40, Paper WeBT12.1
Vision-Based Robotic Tracking of Moving Object with Dynamic Uncertainty
Wang, Hesheng	Shanghai Jiao Tong Univ.
Liu, Yunhui	Chinese Univ. of Hong Kong
Chen, Weidong	Shanghai Jiao Tong Univ.
11:40-12:00, Paper WeBT12.2
Target Tracking for Moving Robots Using Object-Based Visual Attention  (Video)
Yu, Yuanlong	Memorial Univ. of Newfoundland
Mann, George K. I.	Memorial Univ. of Newfoundland
Gosine, Raymond G.	Memorial Univ. of Newfoundland
12:00-12:20, Paper WeBT12.3
An Object-Tracking Algorithm Based on Particle Filtering with Region-Based Level Set Method
Fei, Xianfeng	Tohoku Univ.
Hashimoto, Koichi	Tohoku Univ.
12:20-12:40, Paper WeBT12.4
Multiple Plane Tracking Using Unscented Kalman Filter
Chari, Visesh	INRIA Rhône-Alpes
Jawahar, C.V.	IIIT, Hyderabad
12:40-13:00, Paper WeBT12.5
Sensor Data Fusion Using Fuzzy Control for VOR-Based Vision Tracking System
Kwon, Hyun-il	Seoul National Univ.
Park, Jaehong	Seoul National Univ.
Hwang, Wonsang	Seoul National Univ.
Kim, Jong-hyeon	Seoul National Univ.
Lee, Chang-hun	Seoul National Univ.
Latif Anjum, Muhammad	Seoul National Univ.
Kim, Kwang-soo	Hanbat National Univ.
Cho, Dongil Dan	Seoul National Univ.

WeBT13 Regular Sessions, 202B
Sensor Networks
Chair: Parker, Lynne	Univ. of Tennessee
Co-Chair: Miyashita, Takahiro	ATR
11:20-11:40, Paper WeBT13.1
Environmental Field Estimation of Mobile Sensor Networks Using Support Vector Regression
Lu, Bowen	Univ. of Essex
Gu, Dongbing	Univ. of Essex
Hu, Huosheng	Univ. of Essex
11:40-12:00, Paper WeBT13.2
Mobile Robot Task Allocation in Hybrid Wireless Sensor Networks
Coltin, Brian	Carnegie Mellon Univ.
Veloso, Manuela	Carnegie Mellon Univ.
12:00-12:20, Paper WeBT13.3
Automatic Calibration and Sensor Displacement Detection for Networks of Laser Range Finders
Glas, Dylan F.	ATR
Miyashita, Takahiro	ATR
Ishiguro, Hiroshi	Osaka Univ.
Hagita, Norihiro	ATR
12:20-12:40, Paper WeBT13.4
Detecting Time-Related Changes in Wireless Sensor Networks Using Symbol Compression and Probabilistic Suffix Trees
Li, YuanYuan	The Univ. of Tennessee, Knoxville
Thomason, Michael	Univ. of Tennessee
Parker, Lynne	Univ. of Tennessee
12:40-13:00, Paper WeBT13.5
Cooperative Target Localization Using Heterogeneous Unmanned Ground and Aerial Vehicles
Pack, Daniel	US Air Force Acad.

WeBT14 Regular Sessions, 203A
Kinematics I
Chair: Brethe, Jean-François	LE HAVRE Univ.
Co-Chair: Semini, Claudio	Italian Inst. of Tech.
11:20-11:40, Paper WeBT14.1
A 3-Way Valve-Controlled Spring Assisted Rotary Actuator
Yang, Yousheng	Italian Inst. of Tech.
Guglielmino, Emanuele	Italian Inst. of Tech.
Semini, Claudio	Italian Inst. of Tech.
Dai, Jian	King's Coll. London, Univ. of London
Caldwell, Darwin G.	Italian Inst. of Tech.
11:40-12:00, Paper WeBT14.2
Models for Pushing Objects with a Mobile Robot Using Single Point Contact
Behrens, Michael	Univ. of Tech. Sydney
Huang, Shoudong	Univ. of Tech. Sydney
Dissanayake, Gamini	Univ. of Tech. Sydney
12:00-12:20, Paper WeBT14.3
Modeling of the Orientation Repeatability for Industrial Manipulators
Dandash, Diala	LE HAVRE Univ.
Brethe, Jean-François	LE HAVRE Univ.
Vasselin, Eric	Univ. du Havre - IUT
Lefebvre, Dimitri	Univ. LE HAVRE
12:20-12:40, Paper WeBT14.4
An Analytical Solution for the Inverse Kinematics of a Redundant 7DoF Manipulator with Link Offsets
Singh, G.K.	National Aerospace Lab. CSIR
Claassens, Jonathan	CSIR
12:40-13:00, Paper WeBT14.5
Determining the Robot-To-Robot 3D Relative Pose Using Combinations of Range and Bearing Measurements: 14 Minimal Problems and Closed-Form Solutions to Three of Them
Zhou, Xun	Univ. of Minnesota
Roumeliotis, Stergios	Univ. of Minnesota

WeCT1 Regular Sessions, 101A
Slam Iii
Chair: Burgard, Wolfram	Univ. of Freiburg
Co-Chair: Eade, Ethan	Evolution Robotics
14:00-14:20, Paper WeCT1.1
Towards the Exploitation of Prior Information in SLAM
Parsley, Martin Peter	Univ. Coll. London
Julier, Simon Justin	Univ. Coll. London
14:20-14:40, Paper WeCT1.2
Hybrid Hessians for Flexible Optimization of Pose Graphs
Grimes, Matthew Koichi	New York Univ.
Anguelov, Dragomir	Google
LeCun, Yann	New York Univ.
14:40-15:00, Paper WeCT1.3
Appearance-Based SLAM Relying on a Hybrid Laser/Omnidirectional Sensor  (Video)
Gallegos, Gabriela	INRIA
Meilland, Maxime	INRIA Sophia Antipolis
Rives, Patrick	INRIA
Comport, Andrew Ian	CNRS
15:00-15:20, Paper WeCT1.4
How Far Is SLAM from a Linear Least Squares Problem?
Huang, Shoudong	Univ. of Tech. Sydney
Lai, Yingwu	CNPC Liaoyang Petrochemical Company Machinary Factory
Frese, Udo	Univ. Bremen
Dissanayake, Gamini	Univ. of Tech. Sydney
15:20-15:40, Paper WeCT1.5
Monocular Graph SLAM with Complexity Reduction
Eade, Ethan	Evolution Robotics
Fong, Philip	Evolution Robotics
Munich, Mario Enrique	Evolution Robotics
15:40-16:00, Paper WeCT1.6
DDF-SAM: Fully Distributed SLAM Using Constrained Factor Graphs
Cunningham, Alexander	Georgia Inst. of Tech.
Paluri, Balamanohar	Georgia Inst. of Tech.
Dellaert, Frank	Georgia Inst. of Tech.

WeCT2 Regular Sessions, 101B
Smart Actuators
Chair: Choi, Hyouk Ryeol	Sungkyunkwan Univ.
Co-Chair: Lan, Chao-Chieh	National Cheng Kung Univ.
14:00-14:20, Paper WeCT2.1
Power Hydraulics - Switched Mode Control of Hydraulic Actuation
Guglielmino, Emanuele	Italian Inst. of Tech.
Semini, Claudio	Italian Inst. of Tech.
Kogler, Helmut	Johannes Kepler Univ. Linz, Austria
Scheidl, Rudolf	Johannes Kepler Univ. Linz, Austria
Caldwell, Darwin G.	Italian Inst. of Tech.
14:20-14:40, Paper WeCT2.2
A New Control Method Utilizing Multiplex Air Vibration for Multi-DOF Pneumatic Mechatronics Systems
Nishioka, Yasutaka	Okayama Univ.
Suzumori, Koichi	Okayama Univ.
Kanda, Takefumi	Okayama Univ.
Wakimoto, Shuichi	Okayama Univ.
14:40-15:00, Paper WeCT2.3
Investigation on Pretensioned Shape Memory Alloy Actuators for Force and Displacement Self-Sensing
Lan, Chao-Chieh	National Cheng Kung Univ.
Fan, Chen-Hsien	National Cheng Kung Univ.
15:00-15:20, Paper WeCT2.4
Stability Analysis of Robot Motions Driven by McKibben Pneumatic Actuator
Sugimoto, Yasuhiro	Osaka Univ.
Naniwa, Keisuke	Kobe Univ.
Osuka, Koichi	Osaka Univ.
15:20-15:40, Paper WeCT2.5
Intelligent Control of Piezoelectric Micropump Based on MEMS Flow Sensor
Liguo, Chen	Soochow Univ.
Liu, Yaxin	harbin Inst. of Tech.
Sun, Lining	harbin Inst. of Tech.
Dongsheng, Qu	Robotics Inst. of Harbin
Jijiang, Min	Changzhou Mingseal Robotic Tech. LTD., Co.
15:40-16:00, Paper WeCT2.6
Position Control Methods of Spherical Ultrasonic Motor
Takesue, Naoyuki	Tokyo Metropolitan Univ.
Ohara, Tomohiro	Tokyo Metropolitan Univ.
Ishibashi, Ryota	Nagoya Inst. of Tech.
Toyama, Shigeki	TUAT
Hoshina, Masahiko	Tokyo Univ. of Agriculture and Tech.
Hirai, Yoshiyuki	Tokyo Univ. of Agriculture and Tech.
Fukaya, Naoki	Tokyo Metropolitan Coll. of Industrial Tech.
Arata, Jumpei	Nagoya Insititute of Tech.
Fujimoto, Hideo	Nagoya Inst. of Tech.

WeCT3 Regular Sessions, 101C
Biomimetics
Chair: Caldwell, Darwin G.	Italian Inst. of Tech.
Co-Chair: Nakamura, Taro	Chuo Univ.
14:00-14:20, Paper WeCT3.1
Robust Gait Control in Biomimetic Amphibious Robot Using Central Pattern Generator
Ding, Rui	Inst. of Automation, Chinese Acad. of Sciences
Yu, Junzhi	Inst. of Automation, Chinese Acad. of Sciences
Yang, Qinghai	Inst. of Automation, Chinese Acad. of Sciences,Beijing, Ch
Tan, Min	Inst. of Automation,Chinese Acad. of Sciences
Zhang, Jianwei	Univ. of Hamburg
14:20-14:40, Paper WeCT3.2
Development of a Novel Quadruped Mobile Robot for Behavior Analysis of Rats
Shi, Qing	Waseda Univ.
Ishii, Hiroyuki	Waseda Univ.
Takanishi, Atsuo	Waseda Univ.
Laschi, Cecilia	Scuola Superiore Sant'Anna
Mazzolai, Barbara	Italian Inst. of Tech.
Mattoli, Virgilio	Istituto Italiano di Tecnologia, IIT
Dario, Paolo	IIT Ialian Inst. of Tech.
14:40-15:00, Paper WeCT3.3
Biomimetic Sonar: 3D-Localization of Multiple Reflectors
Schillebeeckx, Filips	Univ. of Antwerp
Peremans, Herbert	Univ. Antwerpen
15:00-15:20, Paper WeCT3.4
Development of a Peristaltic Pump Based on Bowel Peristalsis Using for Artificial Rubber Muscle
Suzuki, Kazuyuki	Chuo Univ.
Nakamura, Taro	Chuo Univ.
15:20-15:40, Paper WeCT3.5
An Octopus Anatomy-Inspired Robotic Arm
Guglielmino, Emanuele	Italian Inst. of Tech.
Tsagarakis, Nikolaos	Italian Inst. of Tech. (IIT)
Caldwell, Darwin G.	Italian Inst. of Tech.
15:40-16:00, Paper WeCT3.6
A Biomimetic Honeybee Robot for the Analysis of the Honeybee Dance Communication System
Landgraf, Tim	Free Univ. Berlin
Oertel, Michael	Free Univ. Berlin
Rhiel, Daniel	Free Univ. Berlin
Rojas, Raul	Freie Univ. Berlin

WeCT4 Regular Sessions, 101D
Physical Human-Robot Interaction III
Chair: Liu, Dikai	Facultyof Engineering and Information Tech.
Co-Chair: Colledani, Frédéric	CEA-LIST
14:00-14:20, Paper WeCT4.1
Human Arm Impedance: Characterization and Modeling in 3D Space
Artemiadis, Panagiotis	Massachusetts Inst. of Tech.
Katsiaris, Pantelis	National Tech. Univ. of Athens
Liarokapis, Minas	National Tech. Univ. of Athens
Kyriakopoulos, Kostas	National Tech. Univ. of Athens
14:20-14:40, Paper WeCT4.2
Realtime Reactive Motion Generation Based on Variable Attractor Dynamics and Shaped Velocities  (Video)
Haddadin, Sami	German Aerospace Center (DLR)
Urbanek, Holger	German Aerospace Center
Parusel, Sven	German Aerospace Center
Burschka, Darius	Tech. Univ. München
Rossmann, Juergen	RWTH Aachen Univ.
Albu-Schäffer, Alin	DLR - German Aerospace Center
Hirzinger, Gerd	German Aerospace Center (DLR)
14:40-15:00, Paper WeCT4.3
Workspace Comparisons of Setup Configurations for Human-Robot Interaction
Zacharias, Franziska	German Aerospace Center (DLR)
Howard, Ian Spencer	Univ. of Cambridge
Hulin, Thomas	German Aerospace Center (DLR)
Hirzinger, Gerd	German Aerospace Center (DLR)
15:00-15:20, Paper WeCT4.4
Motion Control of Passive Haptic Device Using Wires with Servo Brakes
Hirata, Yasuhisa	Tohoku Univ.
Suzuki, Keitaro	Tohoku Univ.
Kosuge, Kazuhiro	Tohoku Univ.
15:20-15:40, Paper WeCT4.5
Motion Control of Passive Mobile Robot with Multiple Casters Based on Feasible Braking Force and Moment
Saida, Masao	Tohoku Univ.
Hirata, Yasuhisa	Tohoku Univ.
Kosuge, Kazuhiro	Tohoku Univ.
15:40-16:00, Paper WeCT4.6
Identification and Experimentation of an Industrial Robot Operating in Varying-Impedance Environments
Lamy, Xavier	French Atomic Energy Commission (CEA)
Colledani, Frédéric	CEA-LIST
Gutman, Per-Olof	Tech. - Israel Inst. of Tech.

WeCT5 Regular Sessions, 103
Humanoid Robots VI
Chair: Yokoi, Kazuhito	National Inst. of AIST
Co-Chair: Morisawa, Mitsuharu	National Inst. of AIST
14:00-14:20, Paper WeCT5.1
Dynamic Obstacle Crossing by a Biped Robot, Based on Control of the Propulsion Energy  (Video)
Doubliez, Paul-Francois	Lab. d'ingénierie des systèmes de Versailles
Bruneau, Olivier	UVSQ / LISV
Ouezdou, Fathi	Univ. de Versailles
14:20-14:40, Paper WeCT5.2
Combining Suppression of the Disturbance and Reactive Stepping for Recovering Balance  (Video)
Morisawa, Mitsuharu	National Inst. of AIST
Kanehiro, Fumio	National Inst. of AIST
Kaneko, Kenji	National Inst. of AIST
Mansard, Nicolas	CNRS
Solà, Joan	LAAS-CNRS, Univ. of Toulouse
Yoshida, Eiichi	National Inst. of AIST
Yokoi, Kazuhito	National Inst. of AIST
Laumond, Jean-Paul	LAAS-CNRS
14:40-15:00, Paper WeCT5.3
Ground Reaction Force Control at Each Foot: A Momentum-Based Humanoid Balance Controller for Non-Level and Non-Stationary Ground
Lee, Sung-Hee	Gwangju Inst. of Science and Tech. (GIST)
Goswami, Ambarish	Honda Res. Inst.
15:00-15:20, Paper WeCT5.4
3-D Biped Walking Over Rough Terrain Based on the Assumption of Point-Contact
Aoyama, Tadayoshi	Nagoya Univ.
Sekiyama, Kosuke	Nagoya Univ.
Hasegawa, Yasuhisa	Univ. of Tsukuba
Fukuda, Toshio	Nagoya Univ.
15:20-15:40, Paper WeCT5.5
Adaptive Motion Control with Visual Feedback for a Humanoid Robot  (Video)
Mellmann, Heinrich	Humboldt Univ. zu Berlin
Xu, Yuan	Humboldt Univ. zu Berlin
15:40-16:00, Paper WeCT5.6
Visual Servoing of Dynamic Walking Motion by Ignoring the Sway Motion
Dune, Claire	National Inst. of Advanced Industrial Science and Tech.
Herdt, Andrei	LAAS
Stasse, Olivier	CNRS/AIST
Wieber, Pierre-Brice	INRIA Rhône-Alpes
Yokoi, Kazuhito	National Inst. of AIST
Yoshida, Eiichi	National Inst. of AIST

WeCT6 Regular Sessions, 201A
Computer Vision IV
Chair: Umeda, Kazunori	Chuo Univ.
Co-Chair: Wu, Xiaojun	Harbin Inst. of Tech. Shenzhen Graduate School
14:00-14:20, Paper WeCT6.1
Using Text-Spotting to Query the World
Posner, Ingmar	Oxford Univ.
Corke, Peter	QUT
Newman, Paul	Oxford Univ.
14:20-14:40, Paper WeCT6.2
Household Object Management Via Integration of Object Movement Detection from Multiple Cameras  (Video)
Odashima, Shigeyuki	The Univ. of Tokyo
Sato, Tomomasa	The Univ. of Tokyo
Mori, Taketoshi	The Univ. of Tokyo
14:40-15:00, Paper WeCT6.3
A Cloud Computing Approach to Complex Robot Vision Tasks Using Smart Camera Systems
Bistry, Hannes	Univ. of Hamburg, Germany
Zhang, Jianwei	Univ. of Hamburg
15:00-15:20, Paper WeCT6.4
Monocular Depth Cue Fusion for Image Segmentation and Grouping in Outdoor Navigation
Zhou, Wenhui	Hangzhou Dianzi Univ.
Lin, Lili	Zhejiang Gongshang Univ.
Lou, Bin	Hangzhou Dianzi Univ.
Wei, Xuehui	Hangzhou Dianzi Univ.
15:20-15:40, Paper WeCT6.5
An Analysis of Depth Estimation within Interaction Range
Karaoguz, Cem	Bielefeld Univ.
Dankers, Andrew	Honda Res. Inst. Europe GmbH
Rodemann, Tobias	Honda Res. Inst. Europe
Dunn, Mark	Honda Res. Inst. Europe
15:40-16:00, Paper WeCT6.6
Expansion-Based Depth Map Estimation for Multi-View Stereo
Song, Peng	Harbin Inst. of Tech. Shenzhen Graduate School
Wu, Xiaojun	Harbin Inst. of Tech. Shenzhen Graduate School
Wang, Yu Michael	Chinese Univ. of Hong Kong
Wu, Jianhuang	The Chinese Univ. of Hong Kong

WeCT7 Regular Sessions, 201B
Learning and Adaptive Systems IV
Chair: Dillmann, Rüdiger	KIT Karlsruher Inst. für Tech.
Co-Chair: Kormushev, Petar	Italian Inst. of Tech.
14:00-14:20, Paper WeCT7.1
Using Dimensionality Reduction to Exploit Constraints in Reinforcement Learning  (Video)
Bitzer, Sebastian	Univ. of Edinburgh
Howard, Matthew	Univ. of Edinburgh
Vijayakumar, Sethu	Univ. of Edinburgh
14:20-14:40, Paper WeCT7.2
Control Delay in Reinforcement Learning for Real-Time Dynamic Systems: A Memoryless Approach
Schuitema, Erik	Delft Univ. of Tech.
Busoniu, Lucian	Delft Univ. of Tech.
Babuska, Robert	Delft Univ. of Tech.
Jonker, Pieter	Delft Univ. of Tech.
14:40-15:00, Paper WeCT7.3
Robot Motor Skill Coordination with EM-Based Reinforcement Learning  (Video)
Kormushev, Petar	Italian Inst. of Tech.
Calinon, Sylvain	Italian Inst. of Tech.
Caldwell, Darwin G.	Italian Inst. of Tech.
15:00-15:20, Paper WeCT7.4
The Design of {LEO}: A {2D} Bipedal Walking Robot for Online Autonomous Reinforcement Learning  (Video)
Schuitema, Erik	Delft Univ. of Tech.
Wisse, Martijn	Delft Univ. of Tech.
Ramakers, Thijs	TU Delft
Jonker, Pieter	Delft Univ. of Tech.
15:20-15:40, Paper WeCT7.5
Socially Augmented Hierarchical Reinforcement Learning for Reducing Complexity in Cooperative Multi-Agent Systems
Sun, Xueqing	Dartmouth Coll.
Ray, Laura	Dartmouth Coll.
Kralik, Jerald	Dartmouth Coll.
Shi, Dongqing	Florida State Univ.
15:40-16:00, Paper WeCT7.6
Transfer Learning across Heterogeneous Robots with Action Sequence Mapping
Lakshmanan, Balaji	India Inst. of Tech. Madras
Ravindran, Balaraman	IIT Madras

WeCT8 Regular Sessions, 201C
Navigation IV
Chair: Smith, Stephen L.	MIT
Co-Chair: DeSouza, Guilherme	Univ. of Missouri-Columbia
14:00-14:20, Paper WeCT8.1
Describing the Environment Using Semantic Labelled Polylines from 2D Laser Scanned Raw Data: Application to Autonomous Navigation  (Video)
Pavon, Nieves	Univ. of Huelva
Ferruz, Joaquín	Univ. of Sevilla
Ollero, Anibal	Univ. of Seville
14:20-14:40, Paper WeCT8.2
Path Planning in 3D Environments Using the Normal Distributions Transform
Stoyanov, Todor	Learning Systems Lab. Center for Applied Autonomous Sensor Syste
Magnusson, Martin	Örebro Univ.
Andreasson, Henrik	Örebro Univ.
Lilienthal, Achim, J.	Örebro Univ.
14:40-15:00, Paper WeCT8.3
Motion Planning of an Autonomous Mobile Robot Considering Regions with Velocity Constraint  (Video)
Goto, Kiyohiro	The Univ. of Electro-Communications
Kon, Kazuyuki	Kyoto Univ.
Matsuno, Fumitoshi	Kyoto Univ.
15:00-15:20, Paper WeCT8.4
Dynamic Path Planning Adopting Human Navigation Strategies for a Domestic Mobile Robot
Yuan, Fang	Univ. Bielefeld
Twardon, Lukas	Bielefeld Univ.
Hanheide, Marc	Univ. of Birmingham
15:20-15:40, Paper WeCT8.5
A Real-Time Path Planner for a Smart Wheelchair Using Harmonic Potentials and a Rubber Band Model
Hong, Ruizhi	Univ. of Missouri-Columbia
DeSouza, Guilherme	Univ. of Missouri-Columbia
15:40-16:00, Paper WeCT8.6
Optimal Path Planning under Temporal Logic Constraints  (Video)
Smith, Stephen L.	MIT
Tumova, Jana	Boston Univ.
Belta, Calin	Boston Univ.
Rus, Daniela	MIT

WeCT9 Regular Sessions, 201D
Cooperating Robots I
Chair: Sanfeliu, Alberto	Univ. Pol. de Cataluyna
Co-Chair: Clark, Christopher M.	California Pol. State Univ.
14:00-14:20, Paper WeCT9.1
Local Optimization of Cooperative Robot Movements for Guiding and Regrouping People in a Guiding Mission
Garrell, Anais	UPC-CSIC
Sanfeliu, Alberto	Univ. Pol. de Cataluyna
14:20-14:40, Paper WeCT9.2
A Novel Stochastic Clustering Auction for Task Allocation in Multi-Robot Teams
Zhang, Kai	FAMU-FSU Coll. of Engineering, Florida State Univ.
Collins, Emmanuel	FAMU-FSU Coll. of Engineering
Barbu, Adrian	Florida State Univ.
14:40-15:00, Paper WeCT9.3
Adaptive Control for the Synchronization of Multiple Robot Manipulators with Coupling Time-Delays
Nuño, Emmanuel	Tech. Univ. of Catalonia
Basanez, Luis	Tech. Univ. of Catalonia
Ortega, Romeo	supelec
15:00-15:20, Paper WeCT9.4
Cognitive-Based Adaptive Control for Cooperative Multi-Robot Coverage
Renzaglia, Alessandro	INRIA
Doitsidis, Lefteris	Tech. Educational Inst. of Crete
Martinelli, Agostino	INRIA Grenoble-Rhone-Alpes
Kosmatopoulos, Elias	Tech. Univ. of Crete
15:20-15:40, Paper WeCT9.5
Multi-Robot Boundary Tracking with Phase and Workload Balancing
Boardman, Michael	California Pol. State Univ. San Luis Obispo
Francis, Kyle	Clark Coll.
Edmonds, Jeremy	Cuesta Coll.
Clark, Christopher M.	California Pol. State Univ.
15:40-16:00, Paper WeCT9.6
An Integrated Testbed for Heterogeneous Mobile Robots and Other Cooperating Objects
Jimenez-Gonzalez, Adrian	Univ. of Seville, AICIA, GRVC
Martínez-de Dios, J.R.	Univ. of Seville
Ollero, Anibal	Univ. of Seville

WeCT10 Regular Sessions, 201E
Mechanism Design III
Chair: Kumagai, Masaaki	Tohoku Gakuin Univ.
Co-Chair: Sugahara, Yusuke	Tohoku Univ.
14:00-14:20, Paper WeCT10.1
A Novel Stair-Climbing Wheelchair with Transformable Wheeled Four-Bar Linkages
Sugahara, Yusuke	Tohoku Univ.
Yonezawa, Naoaki	Tohoku Univ.
Kosuge, Kazuhiro	Tohoku Univ.
14:20-14:40, Paper WeCT10.2
Development of Track-Changeable Quadruped Walking Robot TITAN X -Design of Leg Driving Mechanism and Basic Experiment
Hodoshima, Ryuichi	Saitama Univ.
Fukumura, Yasuaki	Tokyo Inst. of Tech.
Amano, Hisanori	National Res. Inst. of Fire and Disaster
Hirose, Shigeo	Tokyo Inst. of Tech.
14:40-15:00, Paper WeCT10.3
Design and Testing of a Controllable Miniature Jumping Robot
Zhao, Jianguo	Michigan State Univ.
Xi, Ning	Michigan State Univ.
Gao, Bingtuan	Southeast Univ.
Mutka, Matt	Michigan State Uinversity
Xiao, Li	Michigan State Univ.
15:00-15:20, Paper WeCT10.4
Development of a Ball Drive Unit Using Partially Sliding Rollers  (Video)
Kumagai, Masaaki	Tohoku Gakuin Univ.
15:20-15:40, Paper WeCT10.5
Mechanical Design of the Wheel-Leg Hybrid Mobile Robot to Realize a Large Wheel Diameter
Tadakuma, Kenjiro	Osaka Univ.
Tadakuma, Riichiro	Yamagata Univ.
Maruyama, Akira	Univ. of Electro-Communications
Rohmer, Eric	Tohoku Univ.
Nagatani, Keiji	Tohoku Univ.
Yoshida, Kazuya	Tohoku Univ.
Ming, Aiguo	The Univ. of Electro-Communications
Shimojo, Makoto	Univ. of Electro-COmmunications
Higashimori, Mitsuru	Osaka Univ.
Kaneko, Makoto	Osaka Univ.
15:40-16:00, Paper WeCT10.6
Connected Tracked Robot with Offset Joint Mechanism for Multiple Configurations
Tadakuma, Kenjiro	Osaka Univ.
Ohishi, Chigusa	The Univ. of Electro-Communications
Maruyama, Akira	Univ. of Electro-Communications
Tadakuma, Riichiro	Yamagata Univ.
Nagatani, Keiji	Tohoku Univ.
Yoshida, Kazuya	Tohoku Univ.
Ming, Aiguo	The Univ. of Electro-Communications
Shimojo, Makoto	Univ. of Electro-COmmunications

WeCT11 Regular Sessions, 201F
Biologically-Inspired Robots IV
Chair: Chong, Nak Young	Japan Advanced Inst. of Sci. and Tech.
Co-Chair: Carloni, Raffaella	Univ. of Twente
14:00-14:20, Paper WeCT11.1
Locomotion Transition Scheme with Instability Evaluation Using Bayesian Network
Sawada, Hiroyoshi	Nagoya Univ.
Sekiyama, Kosuke	Nagoya Univ.
Aoyama, Tadayoshi	Nagoya Univ.
Hasegawa, Yasuhisa	Univ. of Tsukuba
Fukuda, Toshio	Nagoya Univ.
14:20-14:40, Paper WeCT11.2
Stroke Plane Deviation for a Microrobotic Fly
Finio, Benjamin	Harvard Univ.
Whitney, John Peter	Harvard Univ.
Wood, Robert	Harvard Univ.
14:40-15:00, Paper WeCT11.3
A Hexapod Walks Over Irregular Terrain Using a Controller Adapted from an Insect’s Nervous System
Lewinger, William	Case Western Res. Univ.
Quinn, Roger, D.	Case Western Res. Univ.
15:00-15:20, Paper WeCT11.4
Omnidirectional Locomotion in a Quadruped Robot: A CPG-Based Approach
Matos, Vítor	Univ. of Minho
Santos, Cristina	Univ. of Minho
15:20-15:40, Paper WeCT11.5
Biomechanics Study of Human Lower Limb Walking: Implication for Design of Power-Assisted Robot
Han, Yali	Southeast Univ.
Wang, Xingsong	Southeast Univ.
15:40-16:00, Paper WeCT11.6
The Development of a Biologically Inspired Multi-Modal Wing Model for Aerial-Aquatic Robots
Lock, Richard	Mechanical Engineering
Vaidyanathan, Ravi	Univ. of Bristol
Burgess, Stuart	Univ. of Bristol

WeCT12 Regular Sessions, 202A
Visual Tracking II
Chair: Lopes, Gabriel	Tech. Univ. Delft
Co-Chair: Nagai, Isaku	Okayama Univ.
14:00-14:20, Paper WeCT12.1
Goal-Oriented and Map-Based People Tracking Using Virtual Force Field
Tseng, Kuo-Shih	Res.
Tang, Chih-Wei	National Central Univ.
14:20-14:40, Paper WeCT12.2
Visual Tracking of Human Head and Arms with a Single Camera
Chen, Yi-Ru	National Taiwan Univ.
Huang, Cheng-Ming	National Taiwan Univ.
Fu, Li-Chen	National Taiwan Univ.
14:40-15:00, Paper WeCT12.3
Noncontact Position Estimation Device with Optical Sensor and Laser Sources for Mobile Robots Traversing Slippery Terrains
Nagai, Isaku	Okayama Univ.
Watanabe, Keigo	Okayama Univ.
Nagatani, Keiji	Tohoku Univ.
Yoshida, Kazuya	Tohoku Univ.
15:00-15:20, Paper WeCT12.4
A Stereo Camera Based Full Body Human Motion Capture System Using a Partitioned Particle Filter
Li, Zhenning	Univ. of Waterloo
Kulic, Dana	Univ. of Waterloo
15:20-15:40, Paper WeCT12.5
Motion Estimation Based on Predator/Prey Vision
van der Lijn, David	Delft Univ. of Tech.
Lopes, Gabriel	Tech. Univ. Delft
Babuska, Robert	Delft Univ. of Tech.
15:40-16:00, Paper WeCT12.6
An Online Learning Approach to In-Vivo Tracking Using Synergistic Features  (Video)
Reiter, Austin	Columbia Univ.
Allen, Peter	Columbia Univ.

WeCT13 Invited Sessions, 202B
Kukanchi
Chair: Wada, Kazuyoshi	Tokyo Metropolitan Univ.
Co-Chair: Nakauchi, Yasushi	Univ. of Tsukuba
Organizer: Wada, Kazuyoshi	Tokyo Metropolitan Univ.
14:00-14:20, Paper WeCT13.1
System of Recognizing Human Action by Mining in Time-Series Motion Logs and Applications (I)
Ho, YiHsin	Tokyo Metropolitan Univ.
Nakamura, Kota	Tokyo Metropolitan Inst. of Tech.
Shibano, Tomomi	Tokyo Metropolitan Univ.
sato-Shimokawara, Eri	Tokyo Metropolitan Univ.
Yamaguchi, Toru	Tokyo Metropolitan Univ.
14:20-14:40, Paper WeCT13.2
Motion Generation Based on Reliable Predictability Using Self-Organized Object Features (I)
Nishide, Shun	Kyoto Univ.
Ogata, Tetsuya	Kyoto Univ.
Tani, Jun	RIKEN Brain Science Inst.
Takahashi, Toru	Kyoto Univ.
Komatani, Kazunori	Kyoto Univ.
Okuno, Hiroshi G.	Kyoto Univ.
14:40-15:00, Paper WeCT13.3
3D Topological Reconstruction Based on Hough Transform and Growing Neural Gas for Informationally Structured Space (I)
Kubota, Naoyuki	Tokyo Metropolitan Univ.
Narita, Tsubasa	Tokyo Metropolitan Univ.
Lee, Beom-Hee	Seoul National Univ.
15:00-15:20, Paper WeCT13.4
Development and Evolution of RT Ontology for Automatic Service Generation System in Kukanchi (I)
Ngo, Trung L.	Shibaura Inst. of Tech.
Ukai, Ken	Shibaura Inst. of Tech.
Mizukawa, Makoto	Shibaura Inst. of Tech.
15:20-15:40, Paper WeCT13.5
Intelligent Medicine Case for Dosing Monitoring and Support (I)
Suzuki, Takuo	Univ. of Tsukuba
Nakauchi, Yasushi	Univ. of Tsukuba
15:40-16:00, Paper WeCT13.6
Daily Support System for Care Prevention by Using Interaction Monitoring Robot (I)
Shibano, Tomomi	Tokyo Metropolitan Univ.
Ho, YiHsin	Tokyo Metropolitan Univ.
Kono, Yuri	Tokyo Metropolitan Univ.
Fujimoto, Yasunari	Tokyo Metropolitan Univ.
Yamaguchi, Toru	Tokyo Metropolitan Univ.

WeCT14 Regular Sessions, 203A
Kinematics II
Chair: Hong, Dennis	Virginia Tech.
Co-Chair: Nenchev, Dragomir	Tokyo City Univ.
14:00-14:20, Paper WeCT14.1
Natural Motion: Efficient Path Tracking with Robotic Limbs  (Video)
Dragomir, Nenchev	Tokyo City Univ.
Handa, Yoichi	Tokyo City Univ.
Sato, Daisuke	Tokyo City Univ.
14:20-14:40, Paper WeCT14.2
Input Shaping Control to Suppress Sloshing on Liquid Container Transfer Using Multi-Joint Robot Arm
Aribowo, Wisnu	Toyohashi Univ. of Tech.
Yamashita, Takahito	Toyohashi Univ. of Tech.
Terashima, Kazuhiko	Toyohashi Univ. of Tech.
Kitagawa, Hideo	Gifu National Coll. of Tech.
14:40-15:00, Paper WeCT14.3
Innovative Kinematics and Control to Improve Robot Spatial Resolution
Brethe, Jean-François	LE HAVRE Univ.
15:00-15:20, Paper WeCT14.4
Optimization of a 4 Dof Tele-Echography Robot
Nouaille, Laurence	Univ. or Orleans
Smith-Guerin, Natalie	Univ. of Orleans
Poisson, Gérard	Univ. d'Orléans
15:20-15:40, Paper WeCT14.5
Modeling Anthropomorphism in Dynamic Human Arm Movements
Katsiaris, Pantelis	National Tech. Univ. of Athens
Artemiadis, Panagiotis	Massachusetts Inst. of Tech.
Kyriakopoulos, Kostas	National Tech. Univ. of Athens
15:40-16:00, Paper WeCT14.6
Generating Natural Hand Motion in Playing a Piano
Yamamoto, Kazuki	Nara Inst. of Science and Tech.
Ueda, Etsuko	Nara Sangyo Univ.
Suenaga, Tsuyoshi	Nara Inst. of Science and Tech.
Takemura, Kentaro	Nara Inst. of Science and Tech.
Takamatsu, Jun	Nara Inst. of Science and Tech.
Ogasawara, Tsukasa	Nara Inst. of Science and Tech.

WeDInA Interactive Sessions, 1F Corridor
Interactive Session IIA
16:00-17:20, Paper WeDInA.1
Semantic Evaluation of Region of Interest for Intelligent Robot
Rokunuzzaman, Md.	Nagoya Univ.
Sekiyama, Kosuke	Nagoya Univ.
Fukuda, Toshio	Nagoya Univ.
16:00-17:20, Paper WeDInA.2
Design and Implication of a Bionic Pectoral Fin Imitating Cow-Nosed Ray
Cai, Yueri	Beijing Univ. of Aeronautics and Astronautics
Bi, Shusheng	Beihang Univ. of Aeronatics and Astronautics
Zhang, Lige	Beihang Univ. of Aeronautics and Astronautics
16:00-17:20, Paper WeDInA.3
Design and Implementation of an SMA-Actuated Jumping Robot
Ho, Thanhtam	Konkuk Univ.
Lee, Sangyoon	Konkuk Univ.
16:00-17:20, Paper WeDInA.4
Modeling and Property Estimation of Japanese Sweets for Their Manufacturing Simulation
Wang, Zhongkui	Ritsumeikan Univ.
Hirai, Shinichi	Ritsumeikan Univ.
16:00-17:20, Paper WeDInA.5
Sound Source Localization in Reverberant Environment Using Visual Information
Lee, Byoung-gi	Korea Inst. of Science and Tech.
Choi, Jongsuk	Korea Inst. of Sci. and Tech.
Kim, Daijin	POSTECH
Kim, Munsang	KIST
16:00-17:20, Paper WeDInA.6
ORO, a Knowledge Management Platform for Cognitive Architectures in Robotics
Lemaignan, Séverin	LAAS/CNRS
Ros Espinoza, Raquel	LAAS - CNRS
Mösenlechner, Lorenz	Tech. Univ. München
Alami, Rachid	CNRS
Beetz, Michael	Tech. Univ. München
16:00-17:20, Paper WeDInA.7
Decentralized Cooperative Simultaneous Localization and Mapping for Dynamic and Sparse Robot Networks  (Video)
Leung, Keith Yu Kit	Univ. of Toronto
Barfoot, Timothy	Univ. of Toronto
Liu, Hugh H.T.	Univ. of Toronto
16:00-17:20, Paper WeDInA.8
Distributed Minimax Filter for Tracking and Flocking
Gu, Dongbing	Univ. of Essex
Hu, Huosheng	Univ. of Essex
16:00-17:20, Paper WeDInA.9
Imitation Learning for Task Allocation
Duvallet, Felix	Carnegie Mellon Univ.
Stentz, Anthony	Carnegie Mellon Univ.
16:00-17:20, Paper WeDInA.10
Evolutionary Task Assignment in Distributed Multi-Agent Networks with Local Interactions
Wang, Yue	Worcester Pol. Inst.
Hussein, Islam	Worcester Pol. Inst.
Hera, Adriana	Worcester Pol. Inst. Information Tech.
16:00-17:20, Paper WeDInA.11
Dynamic State Feedback Control of Robotic Formation System
Chang, Chih-Fu	National Taiwan Univ.
Fu, Li-Chen	National Taiwan Univ.
16:00-17:20, Paper WeDInA.12
Integral Nested Super-Twisting Algorithm for Robotic Manipulators
González Jiménez, Luis Enrique	Centro de Investigaciones y Estudios Avanzados del IPN (CINVESTA
Loukianov, Alexander	Centro de Investigaciones y Estudios Avanzados del IPN (CINVESTA
Bayro-Corrochano, Eduardo-Jose	CINVESTAV, Unidad Guadalajara
16:00-17:20, Paper WeDInA.13
Reinterpretation of Force Integral Control Considering the Ability of System Input
Park, Young Jin	POSTECH
Chung, Wan Kyun	POSTECH
16:00-17:20, Paper WeDInA.14
Generating Robot Gesture Using a Virtual Agent Framework
Salem, Maha	Bielefeld Univ.
Kopp, Stefan	Bielefeld Univ.
Wachsmuth, Ipke	Bielefeld Univ.
Joublin, Frank	Honda Res. Inst. Europe
16:00-17:20, Paper WeDInA.15
Real-Time Vehicle Detection in Urban Traffic Using AdaBoost
Park, Jong-Min	POSTECH
Choi, Hyun-Chul	POSTECH
Oh, Se-Young	POSTECH
16:00-17:20, Paper WeDInA.16
Minimalist Approach to Path Following among Unknown Obstacles
Sgorbissa, Antonio	Univ. of Genova
Capezio, Francesco	Univ. of Genova
Zaccaria, Renato	Univ. of Genova
Rebora, Alberto	DIST Univ. of Genova
Campani, Matteo	DIST Univ. of Genova
16:00-17:20, Paper WeDInA.17
The D++ Algorithm: Real-Time and Collision-Free Path-Planning for Mobile Robot
Cheng, Pi-Ying	National Chiao Tung Univ.
Chen, Pin-Jyun	National Chiao Tung Univ.
16:00-17:20, Paper WeDInA.18
Control of a Powered Planar Biped without Ankle Actuation
Ozawa, Ryuta	Ritsumeikan Univ.
Kojima, Yoshimasa	Disco Corp.
16:00-17:20, Paper WeDInA.19
Limit Cycle Based Walk of a Powered 7DOF 3D Biped with Flat Feet  (Video)
Harada, Yuzuru	Tokyo City Univ.
Takahashi, Jun	Tokyo City Univ.
Nenchev, Dragomir	Tokyo City Univ.
Sato, Daisuke	Tokyo City Univ.
16:00-17:20, Paper WeDInA.20
Passively Stable Hopping of an Articulated Leg with a Tendon-Coupled Ankle
Csonka, Paul	Stanford Univ.
Perkins, Alexander	Stanford Univ.
Waldron, Kenneth John	Stanford Univ.
16:00-17:20, Paper WeDInA.21
Nonlinear Model Predictive Running Control of Kangaroo Robot: A One-Leg Planar Underactuated Hopping Robot  (Video)
Carlési, Nicolas	LIRMM, Univ. Montpellier 2
Chemori, Ahmed	LIRMM
16:00-17:20, Paper WeDInA.22
Design and Experimental Evaluation of the Hydraulically Actuated Prototype Leg of the HyQ Robot  (Video)
Semini, Claudio	Italian Inst. of Tech.
Tsagarakis, Nikolaos	Italian Inst. of Tech. (IIT)
Guglielmino, Emanuele	Italian Inst. of Tech.
Caldwell, Darwin G.	Italian Inst. of Tech.
16:00-17:20, Paper WeDInA.23
Stable Stacking for the Distributor's Pallet Packing Problem
Schuster, Martin Johannes	Georgia Inst. of Tech.
Bormann, Richard	Georgia Inst. of Tech.
Steidl, Daniela	Georgia Inst. of Tech.
Reynolds-Haertle, Saul	Georgia Inst. of Tech.
Stilman, Mike	Georgia Tech.
16:00-17:20, Paper WeDInA.24
Monocular Underwater Stereo - 3D Measurement Using Difference of Appearance Depending on Optical Paths -
Yamashita, Atsushi	Shizuoka Univ.
Shirane, Yudai	Shizuoka Univ.
Kaneko, Toru	Shizuoka Univ.
16:00-17:20, Paper WeDInA.25
Novel and Safe Linear Actuator Using ER Gel
Koyanagi, Ken'ichi	Toyama Prefectural Univ.
Yasuhiro, Kakinuma	Keio Univ.
Anzai, Hidenobu	FUJIKURAKASEI CO.,LTD.
Sakurai, Koji	FUJIKURA KASEI
Yamaguchi, Tomoya	Konami Degital Entertainment Co.,Ltd.
Oshima, Toru	Toyama Prefectural Univ.
16:00-17:20, Paper WeDInA.26
An Active-Passive Variable Stiffness Elastic Actuator for Safety Robot Systems
Wang, Renjeng	National Taiwan Univ.
Huang, Han-Pang	National Taiwan Univ.
16:00-17:20, Paper WeDInA.27
Study on Wearable System for Daily Life Support Using McKibben Pneumatic Artificial Muscle
Iwaki, Masahiro	Univ. of Tsukuba
Hasegawa, Yasuhisa	Univ. of Tsukuba
Sankai, Yoshiyuki	Univ. of Tsukuba
16:00-17:20, Paper WeDInA.28
VSA-HD: From the Enumeration Analysis to the Prototypical Implementation
Catalano, Manuel	Faculty of Engineering - Univ. of Pisa
Grioli, Giorgio	Univ. di Pisa
Bonomo, Fabio	Faculty of Engineering - Univ. of Pisa
Schiavi, Riccardo	Univ. of Pisa
Bicchi, Antonio	Univ. of Pisa
16:00-17:20, Paper WeDInA.29
Optimal Design and Fabrication of a Piezoactuated Flexure XYZ Parallel Micropositioning Stage
Xu, Qingsong	Univ. of Macau
Li, Yangmin	Univ. of Macau
16:00-17:20, Paper WeDInA.30
A Goal-Oriented Fuzzy Reactive Control for Mobile Robots with Automatic Rule Optimization
Zhu, Anmin	Shenzhen Univ.
Yang, Simon X.	Univ. of Guelph
16:00-17:20, Paper WeDInA.31
Slope-Based Point Pursuing Maneuvers of Nonholonomic Robots Using FPGA
Yu, Ying-Hao	Univ. of Tech. Sydney
Kodagoda, Sarath	Univ. of Tech. Sydney
Ha, Q P	Univ. of Tech. Sydney
16:00-17:20, Paper WeDInA.32
General 3D Modelling of Novel Objects from a Single View
Marton, Zoltan-Csaba	Tech. Univ. Muenchen
Pangercic, Dejan	TU Muenchen
Blodow, Nico	Computer Science Department, Tech. Univ.
Kleinehellefort, Jonathan	TU München
Beetz, Michael	Tech. Univ. München
16:00-17:20, Paper WeDInA.33
Robust Ground Plane Detection for Obstacle Avoidance of Mobile Robots Using a Monocular Camera
Lin, Chia-How	National Chiao Tung Univ.
Jiang, Sin-Yi	National Chiao Tung Univ.
Pu, Yueh-Ju	Mechanical and Systems Res. Lab. Industrial Tech.
Song, Kai-Tai	National Chiao Tung Univ.
16:00-17:20, Paper WeDInA.34
Position Tracking System of Everyday Objects in an Everyday Environment
Murakami, Kouji	Kyushu Univ.
Hasegawa, Tsutomu	Kyushu Univ.
Shigematsu, Kousuke	Kyushu Univ.
Sueyasu, Fumichika	Kyushu Univ.
Nohara, Yasunobu	Kyushu Univ.
Ahn, Byong-won	Mokpo National Maritime Univ.
Kurazume, Ryo	Kyushu Univ.
16:00-17:20, Paper WeDInA.35
RFID Sensor Deployment Using Differential Evolution for Indoor Mobile Robot Localization
Seok, Joon-Hong	KAIST
Lee, Joon-Yong	KAIST
Oh, Changmok	KAIST
Lee, Ju-Jang	KAIST
Lee, Ho Joo	ADD
16:00-17:20, Paper WeDInA.36
Augmented EKF Based SLAM Method for Improving the Accuracy of the Feature Map
Kang, Jeong-Gwan	POSTECH(Pohang Univ. of Science and Tech.
Choi, Won-Seok	POhang Univ. of Science and Tech. (POSTECH)
An, Su-Yong	Pohang Univ. of science and Tech. (POSTECH)
Oh, Se-Young	POSTECH
16:00-17:20, Paper WeDInA.37
Evaluation of Pose Only SLAM Algorithms
Hu, Gibson	Univ.
Huang, Shoudong	Univ. of Tech. Sydney
Dissanayake, Gamini	Univ. of Tech. Sydney
16:00-17:20, Paper WeDInA.38
Closing Loops without Places
Mei, Christopher	Univ. of Oxford
Sibley, Gabe	Univ. of Oxford
Newman, Paul	Oxford Univ.
16:00-17:20, Paper WeDInA.39
Toward Understanding the Effects of Visual and Force-Feedback on Robotic Hand Grasping Performance for Space Teleoperation
Lii, Neal Y	German Aerospace Center (DLR)
Chen, Zhaopeng	Inst. of Robotics and Mechatronics, German Aerospace Center,
Pleintinger, Benedikt	Inst. of Robotics and Mechatronics, GermanAerospaceCenter (D
Borst, Christoph	German Aerospace Center (DLR)
Hirzinger, Gerd	German Aerospace Center (DLR)
Schiele, Andre	European Space Agency
16:00-17:20, Paper WeDInA.40
Interaction Models for Multiple-Resident Activity Recognition in a Smart Home
Chiang, Yi-Ting	National Taiwan Univ.
Hsu, Kuo-Chung	National Taiwan Univ.
Lu, Ching-Hu	National Taiwan Univ.
Fu, Li-Chen	National Taiwan Univ.
Hsu, Yung-jen	National Taiwan Univ.
16:00-17:20, Paper WeDInA.41
Motion Planning and Control of an Underactuated 3DOF Helicopter
Westerberg, Simon	Umeå Univ.
Mettin, Uwe	Norwegian Univ. of Science and Tech.
Shiriaev, Anton	Umea Univ.
16:00-17:20, Paper WeDInA.42
On-Line Estimation of Time Varying Capture Delay for Vision-Based Vibration Control of Flexible Manipulators Deployed in Hostile Environments
Dubus, Gregory	Fusion for Energy (F4E)
16:00-17:20, Paper WeDInA.43
Visual Servoing of Presenters in Augmented Virtual Reality TV Studios
Nair, Suraj	Tech. Univ. München
Röder, Thorsten	Tech. Univ. München
Panin, Giorgio	Tech. Univ. Muenchen
Knoll, Alois	TU Munich
16:00-17:20, Paper WeDInA.44
High Performance Vision Tracking System for Mobile Robot Using Sensor Data Fusion with Kalman Filter
Park, Jaehong	Seoul National Univ.
Hwang, Wonsang	Seoul National Univ.
Kwon, Hyun-il	Seoul National Univ.
Kim, Jong-hyeon	Seoul National Univ.
Lee, Chang-hun	Seoul National Univ.
Latif Anjum, Muhammad	Seoul National Univ.
Kim, Kwang-soo	Hanbat National Univ.
Cho, Dongil Dan	Seoul National Univ.

WeDInB Interactive Sessions, 2F Corridor
Interactive Session IIB
16:00-17:20, Paper WeDInB.45
A Pure Vision-Based Approach to Topological SLAM
Lui, Wen Lik Dennis	Monash Univ.
Jarvis, Raymond Austin	Monash Univ.
16:00-17:20, Paper WeDInB.46
Scene Change Detection for Vision-Based Topological Mapping and Localization  (Video)
Nourani Vatani, Navid	CSIRO
Pradalier, Cedric	ETH Zurich
16:00-17:20, Paper WeDInB.47
Localization of an Omnidirectional Transport Robot Using IEEE 802.15.4a Ranging and Laser Range Finder  (Video)
Roehrig, Christof	Univ. of Appl. Sci. Dortmund
Hess, Daniel	Univ. of Applied Sciences and Arts in Dortmund
Kirsch, Christopher	Univ. of Applied Sciences and Arts in Dortmund
Kuenemund, Frank	Univ. of Applied Sciences and Arts in Dortmund
16:00-17:20, Paper WeDInB.48
Temporal and Spatial 3D Motion Vector Filtering Based Visual Odometry for Outdoor Service Robot
Kwon, Giil	KAIST
Chae, Yeong nam	KAIST
Yang, Hyun S.	KAIST
16:00-17:20, Paper WeDInB.49
Improving Monocular Plane-Based SLAM with Inertial Measures  (Video)
Servant, Fabien	INRIA Sophia Antipolis
Marchand, Eric	Univ. de Rennes 1, IRISA, INRIA Rennes
Houlier, Pascal	Orange Lab.
16:00-17:20, Paper WeDInB.50
SKYLINE2GPS: Localization in Urban Canyons Using Omni-Skylines  (Video)
Ramalingam, Srikumar	Mitsubishi Electric Res. Lab.
Bouaziz, Sofien	EPFL
Sturm, Peter	INRIA Rhone Alpes
Brand, Matthew	Mitsubishi Electric Res. Lab.
16:00-17:20, Paper WeDInB.51
Realizing Autonomous Valet Parking with Automotive Grade Sensors
Jeevan, Prasanth	Volksagen Group of America Electronics Res. Lab.
Harchut, Frank	Volksagen AG Group Res.
Mueller, Bernhard	Volkswagen Group of America Electronics Res. Lab.
Huhnke, Burkhard	Volkswagen Group of America Electronics Res. Lab.
16:00-17:20, Paper WeDInB.52
The Unconstrained and Inequality Constrained Moving Horizon Approach to Robot Localization
Pillonetto, Gianluigi	U. Padova
Aravkin, Aleksandr	Univ. of Washington
Carpin, Stefano	Univ. of California, Merced
16:00-17:20, Paper WeDInB.53
Steps in Trajectory Planning and Controller Design for a Hydraulically Driven Crane with Limited Sensing (I)
Ortíz Morales, Daniel	Umeå Univ.
La Hera, Pedro	Umeå Univ.
Mettin, Uwe	Norwegian Univ. of Science and Tech.
Freidovich, Leonid	Umeå Univ.
Shiriaev, Anton	Umea Univ.
Westerberg, Simon	Umeå Univ.
16:00-17:20, Paper WeDInB.54
Motion Planning for Cooperative Manipulators Folding Flexible Planar Objects
Balaguer, Benjamin	Univ. of California, Merced
Carpin, Stefano	Univ. of California, Merced
16:00-17:20, Paper WeDInB.55
Motion Planning of Multirobot Formation
Liu, Shuang	Suzhou Res. Inst. of City Univ. Uni
Sun, Dong	City Univ. of Hong Kong
Zhu, Changan	Univ. of Science and Tech. of China
16:00-17:20, Paper WeDInB.56
Coordinated Navigation of Multi-Robot Systems with Binary Constraints
Brüggemann, Bernd	Fraunhofer FKIE
Schulz, Dirk	FKIE
16:00-17:20, Paper WeDInB.57
PROT — an Embodied Agent for Intelligible and User-Friendly Human-Robot Interaction
Fujimura, Ryota	Keio Univ.
Nakadai, Kazuhiro	Honda Res. Inst. Japan Co., Ltd.
Imai, Michita	Keio Univ.
Ohmura, Ren	Toyohashi Univ. of Tech.
16:00-17:20, Paper WeDInB.58
The Application of the Grey-Based Taguchi Method to Optimize the Global Performances of the Robot Manipulator
Lim, Hyunseop	Hanyang Univ.
Hwang, Soonwoong	Hanyang Univ.
Shin, Kyoosik	Pohang Inst. of Intelligent Robotics
Han, Chang-Soo	Hanyang Univ.
16:00-17:20, Paper WeDInB.59
Extraction of Candidate Points for a Destination Estimation Method Based on Behavior Dynamics
Terada, Yoshitaka	The Univ. of Tokyo
Morishita, Soichiro	The Univ. of Tokyo
Asama, Hajime	The Univ. of Tokyo
16:00-17:20, Paper WeDInB.60
Electromyographic Signal Integrated Robot Hand Control for Massage Therapy Applications
Luo, Ren	National Taiwan Univ.
Chang, Chih-Chia	National Chung Cheng Univ.
16:00-17:20, Paper WeDInB.61
Smooth Collision Avoidance in Human-Robot Coexisting Environment
Tamura, Yusuke	The Univ. of Tokyo
Tomohiro, Fukuzawa	The Univ. of Tokyo
Asama, Hajime	The Univ. of Tokyo
16:00-17:20, Paper WeDInB.62
Design of a Personalized R-Learning System for Children
Ko, Woo Hyun	Korea Inst. of Industrial Tech.
Ji, Sang Hoon	Korea Inst. of Industrial Tech.
Lee, Sang Mu	kitech
Nam, Kyung-Tae	Kitech
Son, Woong Hee	Korea Inst. of Industrial Tech.
16:00-17:20, Paper WeDInB.63
“Could I Have a Word?”: Effects of Robot’s Whisper
Shiomi, Masahiro	ATR
Nakagawa, Kayako	ATR
Matsumura, Reo	Osaka Univ. ATR Intelligent Robotics andCommunication Lab.
Shinozawa, Kazuhiko	Advanced Telecommunications Res. Inst.
Ishiguro, Hiroshi	Osaka Univ.
Hagita, Norihiro	ATR
16:00-17:20, Paper WeDInB.64
Development of Experimental Setup to Create Novel Mental Disorder Model Rats Using Small Mobile Robot
Ishii, Hiroyuki	Waseda Univ.
Shi, Qing	Waseda Univ.
Takanishi, Atsuo	Waseda Univ.
Okabayashi, Satoshi	Waseda Univ.
Iida, Naritoshi	Waseda Univ.
Kimura, Hiroshi	Waseda Univ.
Tahara, Yu	Waseda Univ.
Hirao, Akiko	Waseda Univ.
Shibata, Shigenobu	Waseda Univ.
16:00-17:20, Paper WeDInB.65
Time-Delayed Bilateral Teleoperation with Force Estimation for N-DOF Nonlinear Robot Manipulators
Daly, John Michael	Univ. of Waterloo
Wang, David	Univ. of Waterloo
16:00-17:20, Paper WeDInB.66
The Development of a Real-Time Wearable Motion Replication Platform with Spatial Sensing and Tactile Feedback
Zhongqiang, Ding	NANYANG Tech. Univ.
Chen, I-Ming	NANYANG Tech. Univ.
Yeo, Song Huat	NANYANG Tech. Univ.
16:00-17:20, Paper WeDInB.67
On-Line Estimation of the Reference Visual Features Application to Vision Based Long Range Navigation Task
Durand Petiteville, Adrien, Adrien	LAAS/CNRS; Univ. de Toulouse UPS
Courdesses, Michel	LAAS-CNRS
Cadenat, Viviane	Centre National de la Recherche Scientifique
Baillion, Philippe, Philippe	AIP PRIMECA, Univ. de Toulouse UPS
16:00-17:20, Paper WeDInB.68
Statistical Visual-Dynamic Model for Hand-Eye Coordination
Beale, Daniel	Univ. of Bath
Iravani, Pejman	Univ. of Bath
Hall, Peter	Univ. of Bath
16:00-17:20, Paper WeDInB.69
Using GPUs to Improve System Performance in Visual Servo Systems
Zang, Chuantao	Tohoku Univ.
Hashimoto, Koichi	Tohoku Univ.
16:00-17:20, Paper WeDInB.70
Trajectory Tracking of a Self-Balancing Two-Wheeled Robot Using Backstepping Sliding-Mode Control and Fuzzy Basis Function Networks
Tsai, Ching-Chih	National Chung Hsing Univ.
Ju, Shang-Yu	Nation Chung Hsing Univ.
Hsieh, Shih-Min	National Chung Hsing Univ.
16:00-17:20, Paper WeDInB.71
Two-Leveled Obstacle Avoidance Scheme Using a Kinematically Redundant Omni-Directional Mobile Robot
Jung, Eui-jung	Hanyang Univ.
Kim, Sung Mok	Korea Univ. korea
Yi, Byung-Ju	Hanayang Univ.
Kim, Whee Kuk	Korea Univ.
16:00-17:20, Paper WeDInB.72
Dual Position Control Strategies Using the Cooperative Dual Task-Space Framework
Adorno, Bruno Vilhena	Lab. d'Informatique, de Robotique et de Microélectronique
Fraisse, Philippe	LIRMM
Druon, Sebastien	LIRMM

WeET1 Regular Sessions, 101A
Slam Iv
Chair: Watanabe, Keigo	Okayama Univ.
Co-Chair: Wang, Chieh-Chih	National Taiwan Univ.
17:20-17:40, Paper WeET1.1
Parallel, Real-Time Visual SLAM  (Video)
Clipp, Brian	The Univ. of North Carolina at Chapel Hill
Lim, Jongwoo	Honda Res. Inst. USA inc.
Frahm, Jan-Michael	The Univ. North Carolina Chapel Hill
Pollefeys, Marc	ETH Zurich
17:40-18:00, Paper WeET1.2
The Causal Update Filter - a Novel Filter Paradigm Applied to SLAM
Sünderhauf, Niko	Chemnitz Univ. of Tech.
Neubert, Peer	Chemnitz Univ. of Tech.
Protzel, Peter	Chemnitz Univ. of Tech.
18:00-18:20, Paper WeET1.3
Stereo-Based Simultaneous Localization, Mapping and Moving Object Tracking  (Video)
Lin, Kuen-Han	National Taiwan Univ.
Wang, Chieh-Chih	National Taiwan Univ.
18:20-18:40, Paper WeET1.4
6 DoF SLAM Using a ToF Camera: The Challenge of a Continuously Growing Number of Landmarks  (Video)
Hochdorfer, Siegfried	Univ. of Applied Sciences Ulm
Schlegel, Christian	Univ. of Applied Sciences Ulm

WeET2 Invited Sessions, 101B
Nano-Micro Robotics for Bio-Medical Science
Chair: Arai, Tatsuo	Osaka Univ.
Organizer: Fukuda, Toshio	Nagoya Univ.
Organizer: Nakajima, Masahiro	Nagoya Univ.
Organizer: Ohara, Kenichi	Osaka Univ.
17:20-17:40, Paper WeET2.1
High Precision Control of Magnetically Driven Microtools for Cell Manipulations (I)
Hagiwara, Masaya	Nagoya Univ.
Kawahara, Tomohiro	Nagoya Univ.
Yamanishi, Yoko	Nagoya Univ.
Lee, Beom-Hee	Seoul National Univ.
Arai, Fumihito	Nagoya Univ.
17:40-18:00, Paper WeET2.2
Realistic Visual and Haptic Feedback Simulator for Real-Time Cell Indentation
Ladjal, Hamid	ENSI Bourges, Univ. Orleans
Hanus, Jean Luc	ENSI Bourges
Ferreira, Antoine	Univ. of Orléans
Keefer, Carol	UMCP
Pillarisetti, Anand	Univ. of Pennsylvania
Desai, Jaydev P.	Univ. of Maryland
18:00-18:20, Paper WeET2.3
Automated Handling of Bio-Nanowires for Nanopackaging (I)
Fatikow, Sergej	Univ. of Oldenburg
Mikczinski, Manuel Rolf	OFFIS Inst. for Information Tech.
Bartenwerfer, Malte	Carl von Ossietzky Univ. Oldenburg, Div. Microrobotics
Niewiera, Florian	Carl von Ossietzky Univ. Oldenburg, Div. Microrobotics
Weigel-Jech, Michael	Carl von Ossietzky Univ. Oldenburg, Div. Microrobotics
Saketi, Pooya	Tampere Univ. of Tech.
Kallio, Pasi Johannes	Tampere Univ. of Tech.
18:20-18:40, Paper WeET2.4
Demonstration of Muscle-Powered Autonomous Micro Mobile Gel (I)
Morishima, Keisuke	Tokyo Univ. of Agriculture & Tech.
Imagawa, Kentaro	Tokyo Univ. of Agriculture & Tech.
Hoshino, Takayuki	Tokyo Univ. of Agriculture & Tech.

WeET3 Regular Sessions, 101C
Marine Robotics I
Chair: Rus, Daniela	MIT
Co-Chair: Shibata, Mizuho	Ritsumeikan Univ.
17:20-17:40, Paper WeET3.1
Experimental Evaluation of a Flexible Joint Driven by Water Pressure for Underwater Robots
Shibata, Mizuho	Ritsumeikan Univ.
Onishi, Yuusuke	Ritsumeikan Univ.
Kawamura, Sadao	Ritsumeikan Univ.
17:40-18:00, Paper WeET3.2
Using Optical Communication for Remote Underwater Robot Operation
Doniec, Marek	MIT
Detweiler, Carrick	MIT
Vasilescu, Iuliu	TIA Res.
Rus, Daniela	MIT
18:00-18:20, Paper WeET3.3
Swimming with Robots: Human Robot Communication at Depth
Verzijlenberg, Bart	York Univ.
Jenkin, Michael	York Univ.
18:20-18:40, Paper WeET3.4
3D Path Following with No Bounds on the Path Curvature through Surface Intersection
Sgorbissa, Antonio	Univ. of Genova
Zaccaria, Renato	Univ. of Genova

WeET4 Regular Sessions, 101D
Programming Environment
Chair: Nowak, Walter	GPS GmbH
Co-Chair: Soerensen, Anders Stengaard	Univ. of Southern Denmark
17:20-17:40, Paper WeET4.1
The Robotics API: An Object-Oriented Framework for Modeling Industrial Robotics Applications
Angerer, Andreas	Univ. of Augsburg
Hoffmann, Alwin	Univ. of Augsburg
Schierl, Andreas	Univ. of Augsburg
Vistein, Michael	Univ. of Augsburg
Reif, Wolfgang	Univ. of Augsburg
17:40-18:00, Paper WeET4.2
Component-Based Refactoring of Motion Planning Libraries
Brugali, Davide	Univ. degli Studi di Bergamo
Nowak, Walter	GPS GmbH
Gherardi, Luca	Univ. degli Studi di Bergamo
Zakharov, Alexey	GPS Gesellschaft für Produktionssysteme GmbH
Prassler, Erwin	Bonn-Rhein-Sieg Univ. of Applied Sciences
18:00-18:20, Paper WeET4.3
A System on Chip Approach to Enhanced Learning in Interdisciplinary Robotics
Soerensen, Anders Stengaard	Univ. of Southern Denmark
Falsig, Simon	Univ. of Southern Denmark
18:20-18:40, Paper WeET4.4
LCM: Lightweight Communications and Marshalling
Huang, Albert S.	Massachusetts Inst. of Tech.
Olson, Edwin	Univ. of Michigan
Moore, David C.	MIT

WeET5 Regular Sessions, 103
Humanoid Robots VII
Chair: Yoshida, Eiichi	National Inst. of AIST
Co-Chair: Wang, Qining	Peking Univ.
17:20-17:40, Paper WeET5.1
Gain Scheduled Control of Perturbed Standing Balance
Xing, Dengpeng	Shanghai Jiaotong Univ.
Atkeson, Christopher	CMU
Su, Jianbo	Shanghai Jiao Tong Univ.
Stephens, Benjamin	Carnegie Mellon Univ.
17:40-18:00, Paper WeET5.2
Integrating Geometric Constraints into Reactive Leg Motion Generation  (Video)
Kanehiro, Fumio	National Inst. of AIST
Morisawa, Mitsuharu	National Inst. of AIST
Suleiman, Wael	The National Inst. of Advanced Industrial Science and
Kaneko, Kenji	National Inst. of AIST
Yoshida, Eiichi	National Inst. of AIST
18:00-18:20, Paper WeET5.3
Energetic Efficiency and Stability of Dynamic Bipedal Walking Gaits with Different Step Lengths
Huang, Yan	Peking Univ.
Chen, Baojun	Peking Univ.
Wang, Qining	Peking Univ.
Wei, Kunlin	Peking Univ.
Wang, Long	Peking Univ.
18:20-18:40, Paper WeET5.4
Stability of Time-Varying Control for an Underactuated Biped Robot Based on Choice of Controlled Outputs
Wang, Ting	IRCCyN, Ec. Cantral de Nantes, France
Chevallereau, Christine	Univ. de Nantes

WeET6 Regular Sessions, 201A
Space Robotics I
Chair: Dolan, John M.	Carnegie Mellon Univ.
Co-Chair: Nakanishi, Hiroki	Tohoku Univ.
17:20-17:40, Paper WeET6.1
A Space Robotic System Used for the On-Orbit Servicing in the Geostationary Orbit
Xu, Wenfu	Harbin Inst. of Tech.
Liang, Bin	Harbin Inst. of Tech.
Xu, Yangsheng	The Chinese Univ. of Hong Kong
17:40-18:00, Paper WeET6.2
Reliability Impact on Planetary Robotic Missions
Asikin, David	Carnegie Mellon Univ.
Dolan, John M.	Carnegie Mellon Univ.
18:00-18:20, Paper WeET6.3
Virtual Mass of Impedance System for Free-Flying Target Capture
Nakanishi, Hiroki	Tohoku Univ.
Uyama, Naohiro	Tohoku Univ.
Yoshida, Kazuya	Tohoku Univ.
18:20-18:40, Paper WeET6.4
Energy Efficient Trajectory Generation for a State-Space Based JPL Aerobot
Zhang, Weizhong	Univ. of Louisville
Inanc, Tamer	Univ. of Louisville
Elfes, Alberto	Jet Propulsion Lab.

WeET7 Regular Sessions, 201B
Learning and Adaptive Systems V
Chair: Zhu, Kunpeng	National Univ. of Singapore
Co-Chair: Lee, Dongheui	Tech. Univ. of Munich
17:20-17:40, Paper WeET7.1
Interconnected Performance Optimization in Complex Robotic Systems
Rohrmüller, Florian	Tech. Univ. München
Kourakos, Omiros	Tech. Univ. München
Rambow, Matthias	Tech. Univ. Muenchen
Brscic, Drazen	Tech. Univ. Munich
Wollherr, Dirk	Tech. Univ. München
Hirche, Sandra	Tech. Univ. München
Buss, Martin	Tech. Univ. München
17:40-18:00, Paper WeET7.2
Learning Interaction Protocols Using Augmented Baysian Networks Applied to Guided Navigation  (Video)
Mohammad, Yasser F. O.	Assiut Univ.
Nishida, Toyoaki	Kyoto Univ.
18:00-18:20, Paper WeET7.3
Models of Motion Patterns for Mobile Robotic Systems
Sehestedt, Stephan	Univ. of Tech. Sydney
Kodagoda, Sarath	Univ. of Tech. Sydney
Dissanayake, Gamini	Univ. of Tech. Sydney
18:20-18:40, Paper WeET7.4
Incremental Motion Primitive Learning by Physical Coaching Using Impedance Control
Lee, Dongheui	Tech. Univ. of Munich
Ott, Christian	German Aerospace Center (DLR)

WeET8 Regular Sessions, 201C
Navigation V
Chair: Tsubouchi, Takashi	Sys. and Info. Eng., U of Tsukuba
Co-Chair: Tardif, Jean-Philippe	Carnegie Mellon Univ.
17:20-17:40, Paper WeET8.1
Autonomous Navigation for Urban Service Mobile Robots
Corominas Murtra, Andreu	CSIC-UPC
Trulls, Eduard	CSIC-UPC
Sandoval Torres, Oscar	Consejo Nacional de Ciencia y Tecnología de México, Univ.
Perez-Ibarz, Joan	Univ. Pol. de Catalunya
Vasquez, Alejandro	ETHZ
Mirats Tur, Josep M.	CSIC-UPC
Ferrer Sumsi, Miquel	Univ. Pol. de Catalunuya
Sanfeliu, Alberto	Univ. Pol. de Cataluyna
17:40-18:00, Paper WeET8.2
Mobile Robot Vision Navigation & Localization Using Gist and Saliency
Chang, Chin-Kai	iLab Univ. of Southern California
Siagian, Christian	Univ. of Southern California
Itti, Laurent	Univ. of Southern California
18:00-18:20, Paper WeET8.3
Improved Visual Localization and Navigation Using Proprioceptive Sensors
Karam, Nadir	Lasmea, Blaise Pascal Univ.
Hadj-Abdelkader, Hicham	LASMEA
Deymier, Clement Claude Bruno	LASMEA
Ramadasan, Datta	lasmea
18:20-18:40, Paper WeET8.4
A New Approach to Vision-Aided Inertial Navigation
Tardif, Jean-Philippe	Carnegie Mellon Univ.
George, Michael David	Carnegie Mellon Univ.
Laverne, Michel	Carnegie Mellon Univ.
Kelly, Alonzo	Carnegie Mellon Univ.
Stentz, Anthony	Carnegie Mellon Univ.

WeET9 Regular Sessions, 201D
Cooperating Robots II
Chair: Marques, Lino	Univ. of Coimbra
Co-Chair: Wei, Hongxing	Beihang Univ.
17:20-17:40, Paper WeET9.1
The Distributed Control and Experiments of Directional Self-Assembly for Modular Swarm Robots  (Video)
Wei, Hongxing	Beihang Univ.
Li, Dezhong	Beihang Univ.
Tan, Jindong	Michigan Tech. Univ.
Wang, Tianmiao	Beijing Univ. of Aeronautics and Astronautics
17:40-18:00, Paper WeET9.2
Cooperative Chemical Concentration Map Building Using Decentralized Asynchronous Particle Swarm Optimization Based Search Algorithm by Mobile Robots
Turduev, Mirbek	TOBB Univ. of Ec. and Tech.
Atas, Yunus	TOBB Univ. of Ec. and Tech.
Sousa, Pedro	Univ. of Coimbra
Gazi, Veysel	TOBB Univ. of Ec. and Tech.
Marques, Lino	Univ. of Coimbra
18:00-18:20, Paper WeET9.3
Introducing Wanda - a New Robot for Research, Education, and Arts  (Video)
Kettler, Alexander	Inst. for Process Control and Robotics, Karlsruhe Inst.
Szymanski, Marc	Karlsruhe Inst. of Tech.
Liedke, Jens	Faculty of Computer Science, Inst. for Process Control and R
Woern, Heinz	Karlsruhe Inst. of Tech. (KIT)
18:20-18:40, Paper WeET9.4
The MarXbot, a Miniature Mobile Robot Opening New Perspectives for the Collective-Robotic Research
Bonani, Michael	EPFL
Longchamp, Valentin	Pol. Fédérale de Lausanne
Magnenat, Stéphane	EPFL
Rétornaz, Philippe	École Pol. Fédérale de Lausanne
Burnier, Daniel	EPFL
Roulet, Gilles	EPFL
Vaussard, Florian	EPFL
Bleuler, Hannes	Ec. Pol. Federale de Lausanne
Mondada, Francesco	EPFL

WeET10 Regular Sessions, 201E
Mechanism Design IV
Chair: Transeth, Aksel Andreas	SINTEF ICT
Co-Chair: Okada, Masafumi	Tokyo Inst. of Tech.
17:20-17:40, Paper WeET10.1
Joint Mechanism with a Multi-Directional Stiffness Adjuster
Kajikawa, Shinya	Tohoku Gakuin Univ.
Yonemoto, Yasuo	Tohoku Gakuin Univ.
17:40-18:00, Paper WeET10.2
A Novel Actuator with Adjustable Stiffness (AwAS)  (Video)
Jafari, Amir	Italian Inst. of Tech.
Tsagarakis, Nikolaos	Italian Inst. of Tech. (IIT)
Vanderborght, Bram	Vrije Univ. Brussel
Caldwell, Darwin G.	Italian Inst. of Tech.
18:00-18:20, Paper WeET10.3
Singularity-Based Mechanism with High Responsiveness
Mashimo, Tomoaki	Carnegie Mellon Univ.
Urakubo, Takateru	Kobe Univ.
Kanade, Takeo	Carnegie Mellon Univ.
18:20-18:40, Paper WeET10.4
Kineto-Static Mechanical Synthesis for Nonlinear Property Design of Passive Stiffness Using Closed Kinematic Chain
Okada, Masafumi	Tokyo Inst. of Tech.
Takeishi, Jun	Tokyo Inst. of Tech.

WeET11 Regular Sessions, 201F
Biologically-Inspired Robots V
Chair: Xiao, Jizhong	City Coll. of New York
Co-Chair: Takuma, Takashi	Osaka Inst. of Tech.
17:20-17:40, Paper WeET11.1
Underwater Box-Pushing with Multiple Vision-Based Autonomous Robotic Fish
Hu, Yonghui	Beihang Univ.
Wang, Long	Peking Univ.
Liang, Jianhong	Beihang Univ.
Wang, Tianmiao	Beihang Univ.
17:40-18:00, Paper WeET11.2
Underwater Robot Navigation Around a Sphere Using Electrolocation Sense and Kalman Filter
Lebastard, Vincent	Ec. des Mines de Nantes
Chevallereau, Christine	CNRS
Amrouche, Ali	Ec. des Mines de Nantes
Jawad, Brahim	Ec. des Mines de Nantes
Girin, Alexis	IRCCyN
Boyer, Frédéric	Ec. des mines de Nantes
Gossiaux, Pol Bernard	Ec. des Mines de Nantes
18:00-18:20, Paper WeET11.3
Teaching RoboClam to Dig: The Design, Testing, and Genetic Algorithm Optimization of a Biomimetic Robot
Winter, Amos Greene	MIT
Deits, Robin	MIT
Dorsch, Daniel	MIT
Hosoi, Anette	MIT
Slocum, Alexander	Massachusetts Inst. of Tech.
18:20-18:40, Paper WeET11.4
CPG Based Self-Adapting Multi-DOF Robotic Arm Control
Yang, Woosung	Korea Inst. of Science & Tech.
Bae, Ji-Hun	Korea Inst. of Industrial Tech.
Oh, Yonghwan	KIST
Chong, Nak Young	Japan Advanced Inst. of Sci. and Tech.
You, Bum Jae	KIST
Oh, Sang-Rok	KIST

WeET12 Invited Sessions, 202A
Advanced Teleoperation Control Architectures
Chair: Peer, Angelika	Tech. Univ. München
Co-Chair: Ferre, Manuel	Univ. Pol. de Madrid
Organizer: Peer, Angelika	Tech. Univ. München
Organizer: Ferre, Manuel	Univ. Pol. de Madrid
Organizer: Secchi, Cristian	Univ. of Modena & Reggio Emilia
Organizer: Chopra, Nikhil	Univ. of Maryland, Coll. Park
17:20-17:40, Paper WeET12.1
Nonlinear Adaptive Bilateral Control of Teleoperation Systems with Uncertain Dynamics and Kinematics (I)
Liu, Xia	Univ. of Alberta
Tavakoli, Mahdi	Univ. of Alberta
Huang, Qi	Univ. of Electronic Science and Tech.
17:40-18:00, Paper WeET12.2
Position Drift Compensation in Time Domain Passivity Based Teleoperation (I)
Artigas, Jordi	DLR - German Aerospace Center
Preusche, Carsten	DLR
Ryu, Jee-Hwan	Korea Univ. of Tech. and Education
18:00-18:20, Paper WeET12.3
Incorporating Human Haptic Interaction Models into Teleoperation Systems (I)
Feth, Daniela	Tech. Univ. München
Peer, Angelika	Tech. Univ. München
Buss, Martin	Tech. Univ. München
18:20-18:40, Paper WeET12.4
Model-Mediated Teleoperation for Multi-Operator Multi-Robot Systems (I)
Passenberg, Carolina	Univ. München
Peer, Angelika	Tech. Univ. München
Buss, Martin	Tech. Univ. München

WeET13 Regular Sessions, 202B
Contact Modelling
Chair: Kaneko, Makoto	Osaka Univ.
Co-Chair: Kao, Imin	SUNY at Stony Brook
17:20-17:40, Paper WeET13.1
Robotic Manipulation of Human Red Blood Cells with Optical Tweezers for Cell Property Characterization
Tan, Youhua	City Univ. of HongKong
Sun, Dong	City Univ. of Hong Kong
Huang, Wenhao	Univ. of Science and Tech. of China
Cheng, Jinping	City Univ. of Hong Kong
Cheng, Shuk Han	City Univ. of Hong Kong
17:40-18:00, Paper WeET13.2
Experimental Study of Creep Response of Viscoelastic Contact Interface under Force Control
Tsai, Chia-Hung	SUNY@Stony Brook
Kao, Imin	SUNY at Stony Brook
Shibata, Akihide	Osaka Univ.
Yoshimoto, Kayo	Osaka Univ.
Higashimori, Mitsuru	Osaka Univ.
Kaneko, Makoto	Osaka Univ.
18:00-18:20, Paper WeET13.3
Port Hamiltonian Modeling for Soft-Finger Manipulation  (Video)
Ficuciello, Fanny	Univ. of Napoli
Carloni, Raffaella	Univ. of Twente
Visser, Ludo C.	Univ. of Twente
Stramigioli, Stefano	Univ. of Twente
18:20-18:40, Paper WeET13.4
Force Based Manipulation of Jenga Blocks
Kimura, Shinya	Univ. of Tsukuba
Watanabe, Tsutomu	Univ. of Tsukuba
Aiyama, Yasumichi	Univ. of Tsukuba

WeET14 Regular Sessions, 203A
Nonholonomic Motion Planning
Chair: Secchi, Cristian	Univ. of Modena & Reggio Emilia
Co-Chair: Bonfe, Marcello	Univ. of Ferrara
17:20-17:40, Paper WeET14.1
Trajectory Planning for Robots in Dynamic Human Environments
Svenstrup, Mikael	Aalborg Univ.
Bak, Thomas	Aalborg Univ.
Andersen, Hans Jørgen	Aalborg Univ.
17:40-18:00, Paper WeET14.2
Online Smooth Trajectory Planning for Mobile Robots by Means of Nonlinear Filters  (Video)
Bonfe, Marcello	Univ. of Ferrara
Secchi, Cristian	Univ. of Modena & Reggio Emilia
18:00-18:20, Paper WeET14.3
Motion Planning for an Omnidirectional Robot with Steering Constraints
Chamberland, Simon	Univ. de Sherbrooke
Beaudry, Eric	Univ. de Sherbrooke
Clavien, Lionel	Univ. de Sherbrooke
Kabanza, Froduald	Univ. de Sherbrooke
Michaud, Francois	Univ. de Sherbrooke
Lauria, Michel	Univ. of Applied Sciences Western Switzerland (HES-SO)
18:20-18:40, Paper WeET14.4
Non-Parametric Learning for Natural Plan Generation
Baldwin, Ian Alan	Oxford
Newman, Paul	Oxford Univ.