TuPP Plenary Sessions, Plenary Hall
"Soft Robotics" -- Self-Organization, Embodiment, and Biological Inspiration (Prof. Rolf Pfeifer)
Chair: Asama, Hajime	The Univ. of Tokyo

TuOP , Plenary Hall
Opening

TuBT1 Regular Sessions, 101A
Mapping I
Chair: Lyons, Damian	Fordham Univ.
Co-Chair: Miura, Jun	Toyohashi Univ. of Tech.
10:20-10:40, Paper TuBT1.1
Selection and Recognition of Landmarks Using Terrain Spatiograms
Lyons, Damian	Fordham Univ.
10:40-11:00, Paper TuBT1.2
Robust Online Map Merging System Using Laser Scan Matching and Omnidirectional Vision
Tungadi, Fredy	Monash Univ.
Lui, Wen Lik Dennis	Monash Univ.
Kleeman, Lindsay	Monash Univ.
Jarvis, Raymond Austin	Monash Univ.
11:00-11:20, Paper TuBT1.3
Online Road Surface Analysis Using Laser Remission Value in Urban Environments
Saitoh, Teppei	Meiji Univ.
Kuroda, Yoji	Meiji Univ.
11:20-11:40, Paper TuBT1.4
Sparse Pose Adjustment for 2D Mapping  (Video)
Konolige, Kurt	Willow Garage
Grisetti, Giorgio	Unviersität Freiburg
Limketkai, Benson	Univ. of Washington
Burgard, Wolfram	Univ. of Freiburg
Kuemmerle, Rainer	Univ. of Freiburg
Vincent, Regis	SRI International
11:40-12:00, Paper TuBT1.5
Observation Planning for Environment Information Summarization with Deadlines
Masuzawa, Hiroaki	Toyohashi Univ. of Tech.
Miura, Jun	Toyohashi Univ. of Tech.
12:00-12:20, Paper TuBT1.6
Active Sensing for Range-Only Mapping Using Multiple Hypothesis
Merino, Luis	Pablo de Olavide Univ.
Caballero, Fernando	Univ. of Seville
Ollero, Anibal	Univ. of Seville

TuBT2 Regular Sessions, 101B
Dexterous Manipulation
Chair: Harada, Kensuke	National Inst. of AIST
Co-Chair: Arisumi, Hitoshi	National Inst. of AIST
10:20-10:40, Paper TuBT2.1
Parts Assembly by Throwing Manipulation with a One-Joint Arm
Miyashita, Hideyuki	National Defense Acad. of Japan
Yamawaki, Tasuku	National Defense Acad. of Japan
Yashima, Masahito	National Defense Acad. of Japan
10:40-11:00, Paper TuBT2.2
Motion Planning for Dynamic Knotting of a Flexible Rope with a High-Speed Robot Arm
Yamakawa, Yuji	Univ. of Tokyo
Namiki, Akio	Chiba Univ.
Ishikawa, Masatoshi	Univ. of Tokyo
11:00-11:20, Paper TuBT2.3
Collecting an Object by Casting Manipulation
Arisumi, Hitoshi	National Inst. of AIST
Yokoi, Kazuhito	National Inst. of AIST
11:20-11:40, Paper TuBT2.4
Comparative Analysis of the Repeatability Performance of a Serial and Parallel Robot
Asssoumou Nzue, Rolland Michel	Univ. du havre
Brethe, Jean-François	LE HAVRE Univ.
Vasselin, Eric	Univ. du Havre - IUT
Lefebvre, Dimitri	Univ. LE HAVRE
11:40-12:00, Paper TuBT2.5
Motion-Planning Method with Active Body-Environment Contact for Hand-Arm System Including Passive Joints
Sugaiwa, Taisuke	Waseda Univ.
Nezumiya, Masanori	Graduate School of Creative Science and Engineering, Waseda Univ.
Iwata, Hiroyasu	Waseda Univ.
Sugano, Shigeki	Waseda Univ.
12:00-12:20, Paper TuBT2.6
Structured Unsupervised Kernel Regression for Closed-Loop Motion Control  (Video)
Steffen, Jan	Bielefeld Univ.
Oztop, Erhan	ATR / NICT
Ritter, Helge Joachim	Bielefeld Univ.

TuBT3 Regular Sessions, 101C
Aerial Robotics I
Chair: Gu, Dongbing	Univ. of Essex
Co-Chair: Kweon, In So	KAIST
10:20-10:40, Paper TuBT3.1
A Vision-Based Boundary Following Framework for Aerial Vehicles  (Video)
Xu, Anqi	McGill Univ.
Dudek, Gregory	McGill Univ.
10:40-11:00, Paper TuBT3.2
Vision-Based Detection and Tracking of Aerial Targets for UAV Collision Avoidance  (Video)
Mejias, Luis	Queensland Univ. of Tech.
McNamara, Scott	Queensland Univ. of Tech.
Lai, John	Queensland Univ. of Tech.
Ford, Jason	Queensland Univ. of Tech.
11:00-11:20, Paper TuBT3.3
Robust Visual Lock-On and Simultaneous Localization for an Unmanned Aerial Vehicle
Min, Jihong	Korea advanced Inst. of Tech.
Jeong, Yekeun	KAIST
Kweon, In So	KAIST
11:20-11:40, Paper TuBT3.4
Design and Validation of a System for Targeted Observations of Tornadic Supercells Using Unmanned Aircraft
Elston, Jack	Univ. of Colorado, Boulder
Argrow, Brian	Univ. of Colorado, Boulder
Houston, Adam	Univ. of Nebraska, Lincoln
Frew, Eric W.	Univ. of Colorado
11:40-12:00, Paper TuBT3.5
Autonomous Airborne Wildlife Tracking Using Radio Signal Strength
Goktogan, Ali Haydar	Australian Centre for Field Robotics (ACFR)
Sukkarieh, Salah	Univ. of Sydney
Speck, Raphael	Univ. Karlsruhe
12:00-12:20, Paper TuBT3.6
Optimal Geometrical Path in 3D with Curvature Constraint
Hota, Sikha	Indian Inst. of Science
Ghose, Debasish	Indian Inst. of Science

TuBT4 Regular Sessions, 101D
Motion Control I
Chair: Kawamura, Sadao	Ritsumeikan Univ.
Co-Chair: Li, Zhijun	Shanghai Jiao Tong Univ.
10:20-10:40, Paper TuBT4.1
Feedback Motion Planning Approach for Nonlinear Control Using Gain Scheduled RRTs
Maeda, Guilherme Jorge	The Univ. of Sydney
Singh, Surya	Univ. of Sydney
Durrant-Whyte, Hugh	The Univ. of Sydney
10:40-11:00, Paper TuBT4.2
Extending Rapidly-Exploring Random Trees for Asymptotically Optimal Anytime Motion Planning
Abbasi-Yadkori, Yasin	Univ. of Alberta
Modayil, Joseph	Univ. of Alberta
Szepesvari, Csaba	Univ. of Alberta
11:00-11:20, Paper TuBT4.3
Motion Control of an Autonomous Vehicle Based on Wheeled Inverted Pendulum Using Neural-Adaptive Implicit Control
Li, Zhijun	Shanghai Jiao Tong Univ.
Li, Yang	Shanghai Jiao Tong Univ.
Yang, Chenguang	Imperial Coll. London
Ding, Nan	Shanghai Jiao Tong Univ.
11:20-11:40, Paper TuBT4.4
Visual Odometry and Control for an Omnidirectional Mobile Robot with a Downward-Facing Camera
Killpack, Marc	Georgia Tech.
Deyle, Travis	Georgia Inst. of Tech.
Anderson, Cressel	Georgia Tech.
Kemp, Charlie	Georgia Inst. of Tech.
11:40-12:00, Paper TuBT4.5
Dynamics and Motion Control of a Two Pendulums Driven Spherical Robot
Zhao, Bo	Herbin Inst. of Tech.
Li, Mantian	Harbin Inst. of Tech.
Yu, Haitao	Harbin Inst. of Tech.
Hu, Haiyan	Harbin Inst. of Tech.
Sun, Lining	harbin Inst. of Tech.
12:00-12:20, Paper TuBT4.6
Navigation in Indoor Environment by an Autonomous Unicycle Robot with Wide-Type Wheel
Okumura, Junpei	Univ. of Tsukuba
Takei, Toshinobu	Univ. of Tsukuba Japan
Tsubouchi, Takashi	Univ. of Tsukuba

TuBT5 Regular Sessions, 103
Humanoid Robots I
Chair: Sekiyama, Kosuke	Nagoya Univ.
Co-Chair: Tsagarakis, Nikolaos	Italian Inst. of Tech. (IIT)
10:20-10:40, Paper TuBT5.1
Full-Body Joint Trajectory Generation Using an Evolutionary Central Pattern Generator for Stable Bipedal Walking  (Video)
Park, Chang-Soo	KAIST
Hong, Young-Dae	KAIST
Kim, Jong-Hwan	KAIST
10:40-11:00, Paper TuBT5.2
Walk-To-Brachiate Transfer of Multi-Locomotion Robot with Error Recovery
Lu, Zhiguo	Nagoya Univ.
Aoyama, Tadayoshi	Nagoya Univ.
Sekiyama, Kosuke	Nagoya Univ.
Hasegawa, Yasuhisa	Univ. of Tsukuba
Fukuda, Toshio	Nagoya Univ.
11:00-11:20, Paper TuBT5.3
Proposal of Augmented Linear Inverted Pendulum Model for Bipedal Gait Planning
Dau, Van Huan	National Univ. of Singapore (NUS)
Chew, Chee Meng	National Univ. of Singapore
Poo, Jim A.N.	National Univ. of Singapore
11:20-11:40, Paper TuBT5.4
Controlling Humanoid Robots in Topology Coordinates
Ho, Edmond	Univ. of Edinburgh
Komura, Taku	Univ. of Edinburgh
Ramamoorthy, Subramanian	The Univ. of Edinburgh
Vijayakumar, Sethu	Univ. of Edinburgh
11:40-12:00, Paper TuBT5.5
Integration of Vision and Central Pattern Generator Based Locomotion for Path Planning of a Nonholonomic Crawling Humanoid Robot
Gay, Sébastien	EPFL Ec. Pol. Fédérale de Lausanne
Degallier, Sarah	EPFL
Pattacini, Ugo	Italian Inst. of Tech.
Ijspeert, Auke	EPFL
Santos-Victor, José	Inst. Superior Técnico - Inst. for Systems and Robotics
12:00-12:20, Paper TuBT5.6
Walking without Thinking about It
Herdt, Andrei	LAAS
Perrin, Nicolas	Univ. de Toulouse ; UPS, INSA, INP, ISAE ; LAAS
Wieber, Pierre-Brice	INRIA Rhône-Alpes

TuBT6 Regular Sessions, 201A
Field Robots
Chair: Sasaki, Takeshi	Univ. of Tokyo
Co-Chair: Vasudevan, Shrihari	Univ. of Sydney
10:20-10:40, Paper TuBT6.1
Accurate and Stable Mobile Robot Path Tracking: An Integrated Solution for Off-Road and High Speed Context  (Video)
Lenain, Roland	Cemagref
Lucet, Eric	Univ. Pierre et Marie Curie - Paris6
Grand, Christophe	Univ. Pierre et Marie Curie - Paris6
Thuilot, Benoit	Clermont-Ferrand Univ.
Ben Amar, Faiz	Univ. Pierre et Marie Curie, Paris 6
10:40-11:00, Paper TuBT6.2
Using Simulation to Predict Multi-Robot Performance on Coverage Tasks
Dawson, Shameka	The Univ. of Alabama
Wellman, Briana	The Univ. of Alabama
Anderson, Monica	The Univ. of Alabama
11:00-11:20, Paper TuBT6.3
Circle Fitting Based Position Measurement System Using Laser Range Finder in Construction Fields
Tamura, Hajime	The Univ. of Tokyo
Sasaki, Takeshi	Univ. of Tokyo
Hashimoto, Hideki	Univ. of Tokyo
Inoue, Fumihiro	Obayashi Corp.
11:20-11:40, Paper TuBT6.4
Daytime Water Detection Based on Color Variation
Rankin, Arturo	Jet Propulsion Lab.
Matthies, Larry	California Inst. of Tech.
11:40-12:00, Paper TuBT6.5
Development of a Practical Power Transmission Line Inspection Robot Based on a Novel Line Walking Mechanism
Wang, Ludan	Lab. of Intelligent Robot Engineering, KunShanInstitute of
Liu, Fei	KUNSHAN INDUSTRIAL Tech. Res. Inst.
Xu, Shaoqiang	Kunshan Industrial Tech. Res. Inst.
Wang, Zhen	Kunshan Industrial Tech. Res. Inst.
Cheng, Sheng	Kunshan Inst. of Intelligent Robot Engineering
Zhang, Jianwei	Univ. of Hamburg
12:00-12:20, Paper TuBT6.6
Humanitarian Demining Robot Gryphon: New Vision Techniques and Optimization Methods
Kaneko, Alex Masuo	Tokyo Inst. of Tech.
Marino, Marco	Pol. di Milano
Fukushima, Edwardo F.	Tokyo Inst. of Tech.

TuBT7 Regular Sessions, 201B
Learning and Adaptive Systems I
Chair: Sardellitti, Irene	Italian Inst. of Tech.
Co-Chair: Tahara, Kenji	Kyushu Univ.
10:20-10:40, Paper TuBT7.1
Iterative Learning Control for a Redundant Musculoskeletal Arm: Acquisition of Adequate Internal Force  (Video)
Tahara, Kenji	Kyushu Univ.
Kino, Hitoshi	Fukuoka Inst. of Tech.
10:40-11:00, Paper TuBT7.2
Learning Nullspace Policies
Towell, Christopher Charles	Univ. of Edinburgh
Howard, Matthew	Univ. of Edinburgh
Vijayakumar, Sethu	Univ. of Edinburgh
11:00-11:20, Paper TuBT7.3
Learning-Based Control Strategy for Safe Human-Robot Interaction Exploiting Task and Robot Redundancies  (Video)
Calinon, Sylvain	Italian Inst. of Tech.
Sardellitti, Irene	Italian Inst. of Tech.
Caldwell, Darwin G.	Italian Inst. of Tech.
11:20-11:40, Paper TuBT7.4
Robot Learning by Demonstration with Local Gaussian Process Regression
Schneider, Markus	Univ. Ravensburg-Weingarten
Ertel, Wolfgang	Univ. of Applied Sciences, Ravensburg-Weingarten, Germany
11:40-12:00, Paper TuBT7.5
Incremental Learning of Subtasks from Unsegmented Demonstration
Grollman, Daniel	Brown Univ.
Jenkins, Odest Chadwicke	Brown Univ.
12:00-12:20, Paper TuBT7.6
Incremental Local Online Gaussian Mixture Regression for Imitation Learning of Multiple Tasks
Cederborg, Thomas	INRIA
Li, Ming	INRIA
Baranes, Adrien	INRIA
Oudeyer, Pierre-Yves	INRIA

TuBT8 Regular Sessions, 201C
Navigation I
Chair: Chatila, Raja	LAAS-CNRS
Co-Chair: Valls Miro, Jaime	Univ. of Tech. Sydney
10:20-10:40, Paper TuBT8.1
Distance Estimation Method with Snapshot Landmark Images in the Robotic Homing Navigation
Yu, Seung-Eun	Yonsei Univ.
Kim, DaeEun	Yonsei Univ.
10:40-11:00, Paper TuBT8.2
Improved Updating of Euclidean Distance Maps and Voronoi Diagrams
Lau, Boris	Univ. of Freiburg
Sprunk, Christoph	Univ. of Freiburg
Burgard, Wolfram	Univ. of Freiburg
11:00-11:20, Paper TuBT8.3
An Application of Kullback-Leibler Divergence to Active SLAM and Exploration with Particle Filters
Carlone, Luca	Pol. di Torino
Du, Jingjing	Pol. di torino
Kaouk Ng, Miguel Efrain	Pol. di Torino
Bona, Basilio	Pol. di Torino
Indri, Marina	Pol. di Torino
11:20-11:40, Paper TuBT8.4
A Kyno-Dynamic Metric to Plan Stable Paths Over Uneven Terrain
Valls Miro, Jaime	Univ. of Tech. Sydney
Dumonteil, Gautier	Univ. Paul Sabatier, Toulouse III, France
Beck, Christoph	Univ. of Karlsruhe
Dissanayake, Gamini	Univ. of Tech. Sydney
11:40-12:00, Paper TuBT8.5
Path Planning with Variable-Fidelity Terrain Assessment
Stenning, Braden	Univ. of Toronto
Barfoot, Timothy	Univ. of Toronto
12:00-12:20, Paper TuBT8.6
Passivity-Based Model Predictive Control for Mobile Robot Navigation Planning in Rough Terrains
Tahirovic, Adnan	Pol. di Milano
Magnani, Gianantonio	Pol. di Milano

TuBT9 Regular Sessions, 201D
Medical Robots and Systems I
Chair: Morishima, Keisuke	Tokyo Univ. of Agriculture & Tech.
Co-Chair: Stramigioli, Stefano	Univ. of Twente
10:20-10:40, Paper TuBT9.1
Implementation of an Automatic Scanning and Detection Algorithm for the Carotid Artery by an Assisted-Robotic Measurement System
Nakadate, Ryu	Waseda Univ.
Solis, Jorge	Waseda Univ.
Takanishi, Atsuo	Waseda Univ.
Minagawa, Eiichi	Aloka Co. Ltd.
Sugawara, Motoaki	Himeji Dokkyo Univ.
Niki, Kiyomi	Musashi Inst. of Tech.
10:40-11:00, Paper TuBT9.2
Towards an Assistive Robot That Autonomously Performs Bed Baths for Patient Hygiene  (Video)
King, Chih-Hung	Georgia Inst. of Tech.
Chen, Tiffany	Georgia Inst. of Tech.
Jain, Advait	Georgia Inst. of Tech.
Kemp, Charlie	Georgia Inst. of Tech.
11:00-11:20, Paper TuBT9.3
Automatic Focusing and Robotic Scanning Mechanism for Precision Laser Ablation in Neurosurgery
Liao, Hongen	The Univ. of Tokyo
Noguchi, Masafumi	The Univ. of Tokyo
Muragaki, Yoshihiro	Tokyo Women's Medical Univ.
Iseki, Hiroshi	Tokyo Women's Medical Univ.
Kobayashi, Etsuko	The Univ. of Tokyo
Sakuma, Ichiro	The Univ. of Tokyo
11:20-11:40, Paper TuBT9.4
Development of Patient Scenario Generation Which Can Reproduce Characteristics of the Patient for Simulating Real-World Conditions of Task for Airway Management Training System WKA-3
Noh, Yohan	Waseda Univ.
Shimomura, Akihiro	Waseda Uniuversity
Sato, Kei	Waseda Univ.
Segawa, Masanao	Waseda Univ.
Ishii, Hiroyuki	Waseda Univ.
Solis, Jorge	Waseda Univ.
Takanishi, Atsuo	Waseda Univ.
Hatake, Kazuyuki	KYOTOKAGAKU co., Ltd.
11:40-12:00, Paper TuBT9.5
Development of the Airway Management Training System WKA-3 : Integration of Evaluation Module to Provide Assessment of Clinical Competence and Feedback Module to Reproduce Different Cases of Airway Difficulties
Noh, Yohan	Waseda Univ.
Sato, Kei	Waseda Univ.
Shimomura, Akihiro	Waseda Uniuversity
Segawa, Masanao	Waseda Univ.
Ishii, Hiroyuki	Waseda Univ.
Solis, Jorge	Waseda Univ.
Takanishi, Atsuo	Waseda Univ.
Hatake, Kazuyuki	KYOTOKAGAKU co., Ltd.
12:00-12:20, Paper TuBT9.6
Conceptual Design of an Energy Efficient Transfemoral Prosthesis
Unal, Ramazan	Univ. of Twente
Carloni, Raffaella	Univ. of Twente
Hekman, Edsko E.G.	Univ. of Twente
Stramigioli, Stefano	Univ. of Twente
Koopman, Bart	Univ. of Twente

TuBT10 Regular Sessions, 201E
Search and Rescue Robots
Chair: Tadokoro, Satoshi	Tohoku Univ.
Co-Chair: Jeon, Jae Wook	Sungkyunkwan Univ.
10:20-10:40, Paper TuBT10.1
Static Balance for Rescue Robot Navigation : Losing Balance on Purpose within Random Step Environment
Magid, Evgeni	ROBOKEN Intelligent Robot Lab. Inst. of Engineering M
Tsubouchi, Takashi	Sys. and Info. Eng., U of Tsukuba
Koyanagi, Eiji	Chiba Inst. of Tech.
Yoshida, Tomoaki	Chiba Inst. of Tech.
10:40-11:00, Paper TuBT10.2
Shared Autonomy System for Tracked Vehicles to Traverse Rough Terrain Based on Continuous Three-Dimensional Terrain Scanning
Okada, Yoshito	Tohoku Univ.
Nagatani, Keiji	Tohoku Univ.
Yoshida, Kazuya	Tohoku Univ.
Yoshida, Tomoaki	Chiba Inst. of Tech.
Koyanagi, Eiji	Chiba Inst. of Tech.
11:00-11:20, Paper TuBT10.3
Improvement of Remote Operability for the Arm-Equipped Tracked Vehicle HELIOS IX
Ueda, Koji	Tokyo Insitute of Tech.
Guarnieri, Michele	HiBot Corp.
Hodoshima, Ryuichi	Saitama Univ.
Fukushima, Edwardo F.	Tokyo Inst. of Tech.
Hirose, Shigeo	Tokyo Inst. of Tech.
11:20-11:40, Paper TuBT10.4
Development of Motion Model and Position Correction Method Using Terrain Information for Tracked Vehicles with Sub-Tracks
Sakurada, Ken	Tohoku Univ.
Takeuchi, Eijiro	Tohoku Univ.
Ohno, Kazunori	Tohoku Univ.
Tadokoro, Satoshi	Tohoku Univ.
11:40-12:00, Paper TuBT10.5
Design and Implementation of User-Friendly Remote Controllers Forrescue Robots Used at Fire Sites
Kim, Young-Duk	DGIST
Kang, Jeong Ho	Company
Sun, Duk Han	HOYA Robot co.,ltd
Moon, Jeon-IL	Hoseo Univ.
Youngsun, Ryuh	Korea Inst. of Industrial Tech.
An, Jinung	DGIST
12:00-12:20, Paper TuBT10.6
Towards an Understanding of the Impact of Autonomous Path Planning on Victim Search in USAR
Scerri, Paul	Carnegie Mellon Univ.
Velagapudi, Prasanna	Carnegie Mellon Univ.
Sycara, Katia	Carnegie Mellon Univ.
Wang, Huadong	Univ. of Pittsburgh
Chien, Shih Yi James	Univ. of Pittsburgh
Lewis, Michael	Univ. of Pittsburgh

TuBT11 Regular Sessions, 201F
Biologically-Inspired Robots I
Chair: Zhang, Jianwei	Univ. of Hamburg
Co-Chair: Yamada, Hiroya	Tokyo Inst. of Tech.
10:20-10:40, Paper TuBT11.1
A Compact Jumping Robot Utilizing Snap-Through Buckling with Bend and Twist
Yamada, Atsushi	Nagoya Inst. of Tech.
Mameda, Hiroshi	Nagoya Inst. of Tech.
Mochiyama, Hiromi	Univ. of Tsukuba
Fujimoto, Hideo	Nagoya Inst. of Tech.
10:40-11:00, Paper TuBT11.2
Stability and Adaptability of Passive Creeping of a Snake-Like Robot
Wang, Zhifeng	Shenyang Inst. of Automation, CAS
Ma, Shugen	Ritsumeikan Univ.
Li, Bin	Shenyang Inst. of Automation
Wang, Yuechao	Shenyang Inst. of Automation
11:00-11:20, Paper TuBT11.3
Head-Navigated Locomotion of a Snake-Like Robot for Its Autonomous Obstacle Avoidance
Wu, Xiaodong	Ritsumeikan Univ.
Ma, Shugen	Ritsumeikan Univ.
11:20-11:40, Paper TuBT11.4
Design and Control of Thermal SMA Based Small Crawling Robot Mimicking C.elegans
Yuk, Hyunwoo	Korean Advanced Inst. of Science and Tech.
Shin, Jennifer Hyunjung	KAIST(Korea Advanced Inst. of Science and Tech.
Jo, Sungho	Korea Advanced Inst. of Science and Tech. (KAIST)
11:40-12:00, Paper TuBT11.5
Loop Forming Snake-Like Robot ACM-R7 and Its Serpenoid Oval Control
Ohashi, Taro	Tokyo Inst. of Tech.
Yamada, Hiroya	Tokyo Inst. of Tech.
Hirose, Shigeo	Tokyo Inst. of Tech.
12:00-12:20, Paper TuBT11.6
Steering of Pedal Wave of a Snake-Like Robot by Superposition of Curvatures
Yamada, Hiroya	Tokyo Inst. of Tech.
Hirose, Shigeo	Tokyo Inst. of Tech.

TuBT12 Invited Sessions, 202A
Robot Audition I
Chair: Nakadai, Kazuhiro	Honda Res. Inst. Japan Co., Ltd.
Co-Chair: Okuno, Hiroshi G.	Kyoto Univ.
Organizer: Nakadai, Kazuhiro	Honda Res. Inst. Japan Co., Ltd.
Organizer: Okuno, Hiroshi G.	Kyoto Univ.
Organizer: Danès, Patrick	Univ. de Toulouse ; LAAS-CNRS ; UPS ; F-31077
Organizer: Rodemann, Tobias	Honda Res. Inst. Europe
10:20-10:40, Paper TuBT12.1
A Study on Distance Estimation in Binaural Sound Localization (I)
Rodemann, Tobias	Honda Res. Inst. Europe
10:40-11:00, Paper TuBT12.2
Motion Planning Based on Simultaneous Perturbation Stochastic Approximation for Mobile Auditory Robots (I)
Kumon, Makoto	Graduate School of Science and Tech. Kumamoto
Fukushima, Keiichiro	Graduate School of Science and Tech. Kumamoto Univ.
Kunimatsu, Sadaaki	Osaka Univ.
Ishitobi, Mitsuaki	Graduate School of Science and Tech. KumamotoUniversity
11:00-11:20, Paper TuBT12.3
Map-Generation and Identification of Multiple Sound Sources from Robot in Motion (I)
Sasaki, Yoko	National Inst. of Advanced Industrial Science and Tech.
Thompson, Simon	National Inst. of Advanced Industrial Science
Kaneyoshi, Masahito	AIST
Kagami, Satoshi	National Inst. of AIST
11:20-11:40, Paper TuBT12.4
Speech Signal Enhancement under Multiple Interferences Using Transfer Function Ratio Beamformer (I)
Hu, Jwu-Sheng	National Chiao Tung Univ.
Yang, ChiaHsing	National Chiao Tung Univ.
11:40-12:00, Paper TuBT12.5
Exploiting Harmonic Structures to Improve Separating Simultaneous Speech in Under-Determined Conditions (I)
Hirasawa, Yasuharu	Kyoto Univ. Graduate School of Informatics
Takahashi, Toru	Kyoto Univ.
Komatani, Kazunori	Kyoto Univ.
Ogata, Tetsuya	Kyoto Univ.
Okuno, Hiroshi G.	Kyoto Univ.
12:00-12:20, Paper TuBT12.6
Sound Source Separation by Using Matched Beamforming and Time-Frequency Masking (I)
Beh, Jounghoon	Univ. of Maryland
Lee, Taekjin	Korea Univ.
Han, David	United States Naval Acad.
Ko, Hanseok	Korea Univ.

TuBT13 Regular Sessions, 202B
Manipulation and Compliant Assembly
Chair: Song, Jae-Bok	Korea Univ.
Co-Chair: Jiang, Xin	Tohoku Univ.
10:20-10:40, Paper TuBT13.1
A Methodology for Joint Stiffness Identifi Cation of Serial Robots
Dumas - Lecerf, Claire	IRCCyN
Caro, Stéphane	Ec. Centrale de Nantes
Chérif, Mehdi	LGM2B
Garnier, Sébastien	IRCCyN
Furet, Benoît	IRCCyN
10:40-11:00, Paper TuBT13.2
High Speed Electro-Hydraulic Actuator for a SCARA Type Robotic Arm
Liyanage, Migara	Memorial Univ.
Krouglicof, Nicholas	Memorial Univ.
Gosine, Raymond G.	Memorial Univ. of Newfoundland
11:00-11:20, Paper TuBT13.3
On-Line Human Motion Transition and Control for Humanoid Upper Body Manipulation  (Video)
Shin, Sung Yul	Univ. of Science and Tech.
Kim, ChangHwan	Korea Inst. of Science and Tech.
11:20-11:40, Paper TuBT13.4
Utilizing Compliance to Manipulate Doors with Unmodeled Constraints  (Video)
Kessens, Chad C.	Motile Robotics, Inc.
Rice, Joseph	Univ. of Maryland
Smith, Daniel	West Virginia Univ.
Biggs, Stephen	Motile Robotics,Inc.
Garcia, Richard	Motile Robotics Inc.
11:40-12:00, Paper TuBT13.5
Robotized Assembly of a Wire Harness in Car Production Line
Jiang, Xin	Tohoku Univ.
Koo, Kyongmo	Tohoku Univ.
Kikuchi, Kohei	Toyota Motor Corp.
Konno, Atsushi	Tohoku Univ.
Uchiyama, Masaru	Tohoku Univ.
12:00-12:20, Paper TuBT13.6
Model Based Deformable Object Manipulation Using Linear Robust Output Regulation
Fanson, Richard	McMaster Univ.
Patriciu, Alexandru	McMaster Univ.

TuBT14 Regular Sessions, 203A
Cellular and Modular Robots
Chair: Ishiguro, Akio	Tohoku Univ.
Co-Chair: Schultz, Ulrik Pagh	Univ. of Southern Denmark
10:20-10:40, Paper TuBT14.1
Design and Motion Analysis of Tetrahedral Rolling Robot
Zhang, Lige	Beihang Univ. of Aeronautics and Astronautics
Bi, Shusheng	Beihang Univ. of Aeronatics and Astronautics
Cai, Yueri	Beijing Univ. of Aeronautics and Astronautics
10:40-11:00, Paper TuBT14.2
Automatic Scalable Size Selection for the Shape of a Distributed Robotic Collective
Rubenstein, Michael	Univ. of southern california
Shen, Wei-Min	USC Information Science Inst.
11:00-11:20, Paper TuBT14.3
Automatic Gait Generation in Modular Robots: “to Oscillate or to Rotate; That Is the Question”  (Video)
Pouya, Soha	EPFL Ec. Pol. Federal de Lausanne
van den Kieboom, Jesse	EPFL Ec. Pol. Federal de Lausanne
Sproewitz, Alexander	EPFL
Ijspeert, Auke	EPFL
11:20-11:40, Paper TuBT14.4
Layering Algorithm for Collision-Free Traversal Using Hexagonal Self-Reconfigurable Gurable Metamorphic Robots  (Video)
Ivanov, Plamen	Vassar Coll.
Walter, Jennifer	Vassar Coll.
11:40-12:00, Paper TuBT14.5
A Modular Robot System Design and Control Motion Modes for Locomotion and Manipulation Tasks
Baca, Jose	Univ. Pol. de Madrid
Ferre, Manuel	Univ. Pol. de Madrid
Aracil, Rafael	Univ. Pol. de Madrid
Campos, Alexandre	Univ. Pol. de Madrid
12:00-12:20, Paper TuBT14.6
A Cuboctahedron Module for a Reconfigurable Robot
Li, Shuguang	Northwestern Pol.
Yuan, Jianping	Northwestern Pol. Univ.
Nigl, Franz	Cornell Univ.
Lipson, Hod	Cornell Univ.

TuCT1 Regular Sessions, 101A
Mapping II
Chair: Huang, Shoudong	Univ. of Tech. Sydney
Co-Chair: Lodi Rizzini, Dario	Univ. of Parma
13:20-13:40, Paper TuCT1.1
Building Efficient Topological Maps for Mobile Robot Localization: An Evaluation Study on COLD Benchmarking Database
Rady, Sherine	Univ. of Heidelberg
Wagner, Achim	Univ. of Heidelberg
Badreddin, Essameddin	Univ. of Mannheim
13:40-14:00, Paper TuCT1.2
A Hull Census Transform for Scene Change Detection and Recognition towards Topological Map Building  (Video)
Wang, Min Liang	National Chung Cheng Univ. Taiwan
Lin, Huei-Yung	National Chung Cheng Univ.
14:00-14:20, Paper TuCT1.3
A Distributed Transferable Belief Model for Collaborative Topological Map-Building in Multi-Robot Systems
Carletti, Cristina	Univ. Pol. DELLA MARCHE
Di Rocco, Maurizio	Univ. di Roma Tre
Gasparri, Andrea	Univ. degli Studi Roma Tre
Ulivi, Giovanni	Univ. di Roma Tre
14:20-14:40, Paper TuCT1.4
Using a String to Map the World
Wang, Hui	York Univ.
Jenkin, Michael	York Univ.
Dymond, Patrick	York Univ.
14:40-15:00, Paper TuCT1.5
Lattice Occupied Voxel Lists for Representation of Spatial Occupancy
Ryde, Julian	CSIRO
Bruenig, Michael	CSIRO ICT Centre
15:00-15:20, Paper TuCT1.6
A Distributed Maximum Likelihood Algorithm for Multi-Robot Mapping
Lodi Rizzini, Dario	Univ. of Parma
Caselli, Stefano	Univ. of Parma

TuCT2 Regular Sessions, 101B
Grasping I
Chair: Cheong, Joono	Korea Univ.
Co-Chair: Watanabe, Tetsuyou	Kanazawa Univ.
13:20-13:40, Paper TuCT2.1
Class-Specific Grasping of 3D Objects from a Single 2D Image
Chiu, Han-Pang	Sarnoff Corp. USA
Liu, Huan	MIT
Kaelbling, Leslie	MIT
Lozano-Perez, Tomas	MIT
13:40-14:00, Paper TuCT2.2
On the Efficient Computation of Independent Contact Regions for Force Closure Grasps
Krug, Robert	Oerebro Univ.
Dimitrov, Dimitar Nikolaev	Oerebro Univ.
Charusta, Krzysztof Andrzej	Center for Applied Autonomous Sensor Systems, Örebro Univ.
Iliev, Boyko	Orebro Univ.
14:00-14:20, Paper TuCT2.3
Study of the Relationship between the Strain and Strain Rate for Viscoelastic Contact Interface in Robotic Grasping
Tsai, Chia-Hung	SUNY@Stony Brook
Nishiyama, Jun	Stony Brook Univ.
Kao, Imin	SUNY at Stony Brook
Higashimori, Mitsuru	Osaka Univ.
Kaneko, Makoto	Osaka Univ.
14:20-14:40, Paper TuCT2.4
Manipulability Measures Taking Necessary Joint Torques for Grasping into Consideration
Watanabe, Tetsuyou	Kanazawa Univ.
14:40-15:00, Paper TuCT2.5
Evaluation of Grasps for 3D Objects with Physical Interpretations Using Object Wrench Space
Jeong, Hyunhwan	Korea Univ.
Cheong, Joono	Korea Univ.
15:00-15:20, Paper TuCT2.6
Simplified Human Hand Models Based on Grasping Analysis
Cobos Guzman, Salvador	Univ. Pol. de Madrid
Ferre, Manuel	Univ. Pol. de Madrid
Aracil, Rafael	Univ. Pol. de Madrid

TuCT3 Regular Sessions, 101C
Aerial Robotics II
Chair: Hamel, Tarek	UNSA-CNRS
Co-Chair: Fantoni, Isabelle	Univ. of Tech. of Compiègne
13:20-13:40, Paper TuCT3.1
Active Model Based Predictive Control for Unmanned Helicopter in Full Flight Envelope
Song, Dalei	Shenyang Inst. of Automation, Chinese Acad. Sciences
Qi, Juntong	Chinese Acad. of Sciences
Han, Jianda	Chinese Acad. of Sciences
Liu, Guangjun	Ryerson Univ.
13:40-14:00, Paper TuCT3.2
Design and Calibration of Single-Camera Catadioptric Omnistereo System for Miniature Aerial Vehicles (MAVs)
Guo, Ling	Nanjing Univ. of Science and Tech.
Labutov, Igor	The City Coll. of New York
Xiao, Jizhong	City Coll. of New York
14:00-14:20, Paper TuCT3.3
Vision-Based Altitude, Position and Speed Regulation of a Quadrotor Rotorcraft
Rondon, Eduardo	Heudiasyc UMR 6599. Univ. de Tech. de Compiègne
Garcia-Carrillo, Luis-Rodolfo	UMR 6599 Univ. de Tech. de Compiègne
Fantoni, Isabelle	Univ. of Tech. of Compiègne
14:20-14:40, Paper TuCT3.4
Flight Formation of Multiple Mini Rotorcraft Based on Nested Saturations
Guerrero Mata, Jose Alfredo	Univ. of Tech. of Compiègne
Lozano, Rogelio	Univ. de Tech. de Compiègne
14:40-15:00, Paper TuCT3.5
3D Trajectory Control for Quadrocopter
Puls, Tim	associated Inst. of the Univ. of oldenburg
Hein, Andreas	Univ. of Oldenburg
15:00-15:20, Paper TuCT3.6
UAV Altitude Estimation by Mixed Stereoscopic Vision  (Video)
Eynard, Damien	Univ. of Picardie Jules Verne
Vasseur, Pascal	Univ. of Picardie - Jules Verne
Demonceaux, Cédric	Univ. of Picardie - Jules Verne
Fremont, Vincent	UTC - HEUDIASYC CNRS

TuCT4 Regular Sessions, 101D
Motion Control II
Chair: Hwang, Kao-Shing	Nationa Chung-Cheng Univ.
Co-Chair: Agrawal, Sunil	Univ. of Delaware
13:20-13:40, Paper TuCT4.1
An Optimal Solution to the Linear Search Problem for a Robot with Dynamics  (Video)
Ruano de Pablo, Irene	Univ. Pontificia de Comillas de Madrid
Becker, Aaron	Univ. of Illinois at Urbana-Champaign
Bretl, Timothy	Univ. of Illinois at Urbana-Champaign
13:40-14:00, Paper TuCT4.2
Position and Orientation Control of Robot Manipulators Using Dual Quaternion Feedback
Pham, Hoang Lan	UPMC Univ. Paris 06, ISIR
Perdereau, Véronique	Univ. Pierre et Marie Curie - Paris 6
Adorno, Bruno Vilhena	Lab. d'Informatique, de Robotique et de Microélectronique
Fraisse, Philippe	LIRMM
14:00-14:20, Paper TuCT4.3
Passivity-Based Controllers for Periodic Motions of Multi-Joint Robots with Impact Phenomena
Uemura, Mitsunori	Ritsumeikan Univ.
Kawamura, Sadao	Ritsumeikan Univ.
14:20-14:40, Paper TuCT4.4
Basis-Motion Torque Composition Approach: Generation of Motions with Different Velocity Profiles among Joints
Sekimoto, Masahiro	Univ. of Toyama
Kawamura, Sadao	Ritsumeikan Univ.
Ishitsubo, Tomoya	Ritsumeikan Univ.
14:40-15:00, Paper TuCT4.5
Constraints Compliant Control: Constraints Compatibility and the Displaced Configuration Approach
Rubrecht, Sebastien	Bouygues Travaux Publics
Padois, Vincent	Univ. Pierre et Marie Curie
Bidaud, Philippe	Univ. Pierre et Marie Curie - Paris 6
de BROISSIA, Michel	Bouygues Travaux Publics
15:00-15:20, Paper TuCT4.6
An Approach to Posture Control of Free-Falling Twin Bodies Using Differential Flatness
Agrawal, Sunil	Univ. of Delaware
Zhang, Chengkun	Univ. of Delaware

TuCT5 Regular Sessions, 103
Humanoid Robots II
Chair: Knoll, Alois	TU Munich
Co-Chair: Yamane, Katsu	Disney
13:20-13:40, Paper TuCT5.1
Aiming for Multibody Dynamics on Stable Humanoid Motion with Special Euclideans Groups
Arbulu, Mario	Univ. Carlos III of Madrid
Balaguer, Carlos	Univ. Carlos III de Madrid
Monje, Concha	Univ. Carlos III of Madrid
Martinez, Santiago	Univ. Carlos III de Madrid
Jardon Huete, Alberto	Univ. CARLOS III DE MADRID
13:40-14:00, Paper TuCT5.2
Generation of Dynamic Motions under Continuous Constraints: Efficient Computation Using B-Splines and Taylor Polynomials
Lengagne, Sebastien	AIST/CNRS JRL
Mathieu, Paul	ISAE, CNRS-AIST
Kheddar, Abderrahmane	CNRS
Yoshida, Eiichi	National Inst. of AIST
14:00-14:20, Paper TuCT5.3
Closed-Form Inverse Kinematic Joint Solution for Humanoid Robots
Ali, Muhammad A.	Purdue Univ.
Park, Hyungju Andy	Purdue Univ.
Lee, C. S. George	Purdue Univ.
14:20-14:40, Paper TuCT5.4
Constrained Resolved Acceleration Control for Humanoids
Dariush, Behzad	Honda Res. Inst. USA
Bin Hammam, Ghassan	The Ohio State Univ.
Orin, David	The Ohio State Univ.
14:40-15:00, Paper TuCT5.5
Optimization of Impact Motions for Humanoid Robots Considering Multibody Dynamics and Stability
Tsujita, Teppei	Tohoku Univ.
Konno, Atsushi	Tohoku Univ.
Uchiyama, Masaru	Tohoku Univ.
15:00-15:20, Paper TuCT5.6
Control-Aware Mapping of Human Motion Data with Stepping for Humanoid Robots  (Video)
Yamane, Katsu	Disney
Hodgins, Jessica	Carnegie Mellon Univ.

TuCT6 Regular Sessions, 201A
Computer Vision I
Chair: Ogawara, Koichi	Kyushu Univ.
Co-Chair: Mei, Christopher	Univ. of Oxford
13:20-13:40, Paper TuCT6.1
Visual Segmentation of Lawn Grass for a Mobile Robotic Lawnmower
Schepelmann, Alexander	Case Western Res. Univ.
Hudson, Richard	CWRU
Merat, Francis	Case Western Res. Univ.
Quinn, Roger, D.	Case Western Res. Univ.
13:40-14:00, Paper TuCT6.2
Intelligent Road Sign Detection Using 3D Scene Geometry
Schlosser, Jeffrey	Stanford Univ.
Montemerlo, Mike	Stanford Univ.
Salisbury, Kenneth	Stanford Univ.
14:00-14:20, Paper TuCT6.3
ONSUM: A System for Generating Online Navigation Summaries
Girdhar, Yogesh	McGill Univ.
Dudek, Gregory	McGill Univ.
14:20-14:40, Paper TuCT6.4
An Original Approach for Automatic Plane Extraction by Omnidirectional Vision  (Video)
Bazin, Jean-Charles	RCV Lab. KAIST
Laffont, Pierre-Yves	INRIA Sophia-Antipolis
Kweon, In So	KAIST
Demonceaux, Cédric	Univ. of Picardie - Jules Verne
Vasseur, Pascal	Univ. of Picardie - Jules Verne
14:40-15:00, Paper TuCT6.5
Swarm-Based Visual Saliency for Trail Detection
Santana, Pedro	Univ. of Lisbon
Alves, Nelson	IntRoSys, S.A.
Correia, Luís	Univ. of Lisbon
Barata, Jose	Univ. Nova de Lisboa

TuCT7 Regular Sessions, 201B
Learning and Adaptive Systems II
Chair: Bradski, Gary	Stanford Univ. and Willow Garage
Co-Chair: Izumi, Kiyotaka	Saga Univ.
13:20-13:40, Paper TuCT7.1
An Adaptive Outdoor Terrain Classification Methodology Using Monocular Camera
Jakkoju, Chetan	IIIT Hyderabad
Krishna, Madhava	IIIT Hyderabad
Jawahar, C.V.	IIIT, Hyderabad
13:40-14:00, Paper TuCT7.2
Adaptive Real-Time Video-Tracking for Arbitrary Objects  (Video)
Klein, Dominik Alexander	Univ. of Bonn
Schulz, Dirk	FKIE
Frintrop, Simone	Univ. of Bonn
Cremers, Armin	Univ. of Bonn
14:00-14:20, Paper TuCT7.3
Interpretation of Fuzzy Voice Commands for Robots Based on Vocal Cues Guided by User's Willingness
Anandasetti Gamaethiralalaya, Buddhika Prabhath Jayasekara	Saga Univ.
Watanabe, Keigo	Okayama Univ.
Kiguchi, Kazuo	Saga Univ.
Izumi, Kiyotaka	Saga Univ.
14:20-14:40, Paper TuCT7.4
Programming by Demonstration of Probabilistic Decision Making on a Multi-Modal Service Robot  (Video)
Schmidt-Rohr, Sven R.	Karlsruhe Inst. of Tech.
Lösch, Martin	Karlsruhe Inst. of Tech.
Jäkel, Rainer	Karlsruhe Inst. of Tech.
Dillmann, Rüdiger	KIT Karlsruher Inst. für Tech.
14:40-15:00, Paper TuCT7.5
A Probabilistic Approach to Learning a Visually Grounded Language Model through Human-Robot Interaction
Dindo, Haris	Univ. of Palermo
Zambuto, Daniele	Univ. of Palermo
15:00-15:20, Paper TuCT7.6
Unfreezing the Robot: Navigation in Dense, Interacting Crowds
Trautman, Peter	CIT
Krause, Andreas	California Inst. of Tech.

TuCT8 Regular Sessions, 201C
Navigation II
Chair: Hoffmann, Frank	Tech. Univ. Dortmund
Co-Chair: Birchfield, Stan	Clemson Univ.
13:20-13:40, Paper TuCT8.1
Floor Segmentation of Omnidirectional Images for Mobile Robot Visual Navigation  (Video)
Posada, Luis Felipe	Tech. Univ. Dortmund
Narayanan, Krishna Kumar	Tech. Univ. Dortmund
Hoffmann, Frank	Tech. Univ. Dortmund
Bertram, Torsten	Tech. Univ. Dortmund
13:40-14:00, Paper TuCT8.2
Generalized Hough Transform and Conformal Geometric Algebra to Detect Lines and Planes for Building 3D Maps and Robot Navigation
Bayro-Corrochano, Eduardo-Jose	CINVESTAV, Unidad Guadalajara
Bernal-Marin, Miguel	CINVESTAV, Unidad Guadalajara
14:00-14:20, Paper TuCT8.3
Can't Take My Eye Off You: Attention-Driven Monocular Obstacle Detection and 3D Mapping  (Video)
Einhorn, Erik	Ilmenau Univ. of Tech.
Schroeter, Christof	Ilmenau Univ. of Tech.
Gross, Horst-Michael	Ilmenau Univ. of Tech.
14:20-14:40, Paper TuCT8.4
Monocular Ego-Motion Estimation with a Compact Omnidirectional Camera
Stuerzl, Wolfgang	Bielefeld Univ.
Burschka, Darius	Tech. Univ. München
Suppa, Michael	German Aerospace Center (DLR)
14:40-15:00, Paper TuCT8.5
Trail Following with Omnidirectional Vision
Rasmussen, Christopher	Univ. of Delaware
Lu, Yan	Univ. of Delaware
Kocamaz, Mehmet	Univ. of Delaware
15:00-15:20, Paper TuCT8.6
Image-Based Segmentation of Indoor Corridor Floors for a Mobile Robot
Li, Yinxiao	Clemson Univ.
Birchfield, Stan	Clemson Univ.

TuCT9 Regular Sessions, 201D
Medical Robots and Systems II
Chair: Dupont, Pierre	Children's Hospital, Harvard Medical School
Co-Chair: Tercero Villagran, Carlos Rafael	Nagoya Univ.
13:20-13:40, Paper TuCT9.1
Asynchronous Force and Visual Feedback in Teleoperative Laparoscopic Surgical System
Onda, Kazushi	The Univ. of Tokyo
Osa, Takayuki	The Univ. of Tokyo
Sugita, Naohiko	The Univ. of Tokyo
Hashizume, Makoto	Kyushu Univ.
Mitsuishi, Mamoru	The Univ. of Tokyo
13:40-14:00, Paper TuCT9.2
RobOtol : From Design to Evaluation of a Robot for Middle Ear Surgery
Miroir, Mathieu	UMR-S 867 Inserm / Univ. Paris 7 Denis Diderot
Nguyen, Yann	Unit-M 867 Inserm / Paris 7 Denis-Diderot
Szewczyk, Jérôme	Univ. Pierre et Marie Curie-Paris 6
Mazalaigue, Stéphane	Company Coll. inc
Ferrary, Evelyne	UMR-S 867 Inserm / Univ. Paris 7 Denis Diderot / AP-HP, hôp
Sterkers, Olivier	UFR de Médecine Paris 7 Denis Diderot Faculté Xavier Bichat
Bozorg Grayeli, Alexis	UMR-S 867 Inserm / Univ. Paris 7 Denis Diderot / AP-HP, hôp
14:00-14:20, Paper TuCT9.3
Master-Slave Robotic System for 3 Dimensional Needle Steering  (Video)
Cha, Hyo-Jeong	Hanyang Univ.
Chung, Jaeheon	Kyushu Univ.
Yi, Byung-Ju	Hanayang Univ.
Kim, Whee Kuk	Korea Univ.
14:20-14:40, Paper TuCT9.4
Stiffness Control of a Continuum Manipulator in Contact with a Soft Environment
Mahvash, Mohsen	Children's Hospital, Harvard Medical School
Dupont, Pierre	Children's Hospital, Harvard Medical School
14:40-15:00, Paper TuCT9.5
MICA - a New Generation of Versatile Instruments in Robotic Surgery
Thielmann, Sophie Charlotte Franziska	German Aerospace Center
Seibold, Ulrich	DLR
Haslinger, Robert	DLR - German Aerospace Center
Passig, Georg	German Aerospace Center
Bahls, Thomas	German Aerospace Center
Joerg, Stefan	German Aerospace Center (DLR e.V.)
Nickl, Mathias	German Aerospace Center (DLR e.V.)
Nothhelfer, Alexander	DLR, German Aerospace Center
Hagn, Ulrich	DLR German Aerospace Center
Hirzinger, Gerd	German Aerospace Center (DLR)
15:00-15:20, Paper TuCT9.6
Three-Dimensional Visualization of Photoelastic Stress Analysis for Catheter Insertion Robot
Matsushima, Motoki	Nagoya Univ.
Tercero Villagran, Carlos Rafael	Nagoya Univ.
Ikeda, Seiichi	Nagoya Univ.
Fukuda, Toshio	Nagoya Univ.
Negoro, Makoto	Fujita Health Univ.

TuCT10 Regular Sessions, 201E
Force and Tactile Sensing I
Chair: Kheddar, Abderrahmane	CNRS
Co-Chair: Goka, Masanori	Hyogo Prefectural Inst. of Tech.
13:20-13:40, Paper TuCT10.1
A Magnetic Type Tactile Sensor by GMR Elements and Inductors
Goka, Masanori	Hyogo Prefectural Inst. of Tech.
Nakamoto, Hiroyuki	Hyogo Prefectural Inst. of Tech.
Takenawa, Satoru	Kobe City Coll. of Tech.
13:40-14:00, Paper TuCT10.2
Acquisition of Tactile Information by Vision-Based Tactile Sensor for Dexterous Handling of Robot Hands
Ito, Yuji	Nagoya Univ.
Kim, Youngwoo	Nagoya Univ.
Nagai, Chikara	Nagoya Univ.
Obinata, Goro	Nagoya Univ.
14:00-14:20, Paper TuCT10.3
The DLR Touch Sensor I: A Flexible Tactile Sensor for Robotic Hands Based on a Crossed-Wire Approach
Strohmayr, Michael	German Aerospace Center
Saal, Hannes Philipp	Univ. of Edinburgh
Potdar, Abhijit	DLR
van der Smagt, Patrick	DLR
14:20-14:40, Paper TuCT10.4
Artificial Ridged Skin for Slippage Speed Detection in Prosthetic Hand Applications
Damian, Dana	Univ. of Zurich
Martinez Salazar, Harold Roberto	Univ. of zurich, Deparment of Informatics, Artificial Intel
Dermitzakis, Konstantinos	Univ. of Zurich
Hernandez Arieta, Alejandro	Artificial Intelligence Lab. Univ. of Zurich
Pfeifer, Rolf	Univ. of Zurich
14:40-15:00, Paper TuCT10.5
Tactile Sensor Array Using Prismatic-Tip Optical Fibers for Dexterous Robotic Hands
Ataollahi, Asghar	King's Coll. London
Polygerinos, Panagiotis	King's Coll. London
Puangmali, Pinyo	King's Coll. London
Seneviratne, Lakmal	Kings Coll. London
Althoefer, Kaspar	Kings Coll. London
15:00-15:20, Paper TuCT10.6
Active Estimation of Object Dynamics Parameters with Tactile Sensors  (Video)
Saal, Hannes Philipp	Univ. of Edinburgh
Ting, Jo-Anne	Univ. of Edinburgh
Vijayakumar, Sethu	Univ. of Edinburgh

TuCT11 Regular Sessions, 201F
Biologically-Inspired Robots II
Chair: Hirose, Shigeo	Tokyo Inst. of Tech.
Co-Chair: Ming, Aiguo	The Univ. of Electro-Communications
13:20-13:40, Paper TuCT11.1
Fuzzy Logic PID Based Control Design for a Biomimetic Underwater Vehicle with Two Undulating Long-Fins
Shang, Liu-Ji	Inst. of Automation, Chinese Acad. of Sciences
Wang, Shuo	Inst. of Automation,Chinese Acad. of Sciences
Tan, Min	Inst. of Automation, Chinese Acad. of Sciences
13:40-14:00, Paper TuCT11.2
Study and Implementation of Station-Holding Performance on a Fish Robot in Adverse Unsteady Flow
Zhou, Chunlin	Nanyang Tech. Univ.
Low, K. H.	Nanyang Tech. Univ.
14:00-14:20, Paper TuCT11.3
Kinematic Modeling Framework for Biomimetic Undulatory Fin Motion Based on Coupled Nonlinear Oscillators
Zhou, Chunlin	Nanyang Tech. Univ.
Low, K. H.	Nanyang Tech. Univ.
14:20-14:40, Paper TuCT11.4
Development of Flexible Underwater Robot with Caudal Fin Propulsion
Shintake, Jun	The Univ. of Electro-Communications
Ming, Aiguo	The Univ. of Electro-Communications
Shimojo, Makoto	Univ. of Electro-COmmunications
14:40-15:00, Paper TuCT11.5
Closed-Loop Precise Turning Control for a BCF-Mode Robotic Fish  (Video)
Su, Zongshuai	Inst. of Automation, Chinese Acad. of Sciences
Yu, Junzhi	Inst. of Automation, Chinese Acad. of Sciences
Tan, Min	Inst. of Automation, Chinese Acad. of Sciences
Zhang, Jianwei	Univ. of Hamburg
15:00-15:20, Paper TuCT11.6
A Novel Method for Simultaneous Measurement of Internal and External Hydrodynamic Force of Self-Propelled Robotic Fish
Li, Wen	Beihang Unvivercity

TuCT12 Invited Sessions, 202A
Robot Audition II
Chair: Danès, Patrick	Univ. de Toulouse ; LAAS-CNRS ; UPS ; F-31077
Co-Chair: Okuno, Hiroshi G.	Kyoto Univ.
Organizer: Nakadai, Kazuhiro	Honda Res. Inst. Japan Co., Ltd.
Organizer: Okuno, Hiroshi G.	Kyoto Univ.
Organizer: Danès, Patrick	Univ. de Toulouse ; LAAS-CNRS ; UPS ; F-31077
Organizer: Rodemann, Tobias	Honda Res. Inst. Europe
13:20-13:40, Paper TuCT12.1
An Easily-Configurable Robot Audition System Using Histogram-Based Recursive Level Estimation (I)
Nakajima, Hirofumi	Honda Res. Inst. Japan Co., Ltd.
Ince, Gokhan	Honda Res. Inst. Japan Co., Ltd.
Nakadai, Kazuhiro	Honda Res. Inst. Japan Co., Ltd.
Hasegawa, Yuji	Honda Res. Inst. Japan Co., Ltd.
13:40-14:00, Paper TuCT12.2
An Improvement in Automatic Speech Recognition Using Soft Missing Feature Masks for Robot Audition (I)
Takahashi, Toru	Kyoto Univ.
Nakadai, Kazuhiro	Honda Res. Inst. Japan Co., Ltd.
Komatani, Kazunori	Kyoto Univ.
Ogata, Tetsuya	Kyoto Univ.
Okuno, Hiroshi G.	Kyoto Univ.
14:00-14:20, Paper TuCT12.3
Improvement of Speech Recognition Performance for Spoken-Oriented Robot Dialog System Using End-Fire Array (I)
Sawada, Hiroshi	Nara Inst. of Science and Tech.
Even, Jani	Nara Inst. of Science and Tech.
Saruwatari, Hiroshi	Nara Inst. of Sci. and Tech.
Kiyohiro Shikano, '	Nara Inst. of Science and Tech.
Takatani, Tomoya	TOYOTA MOTOR Corp.
14:20-14:40, Paper TuCT12.4
Sound Source Separation and Automatic Speech Recognition for Moving Sources (I)
Nakadai, Kazuhiro	Honda Res. Inst. Japan Co., Ltd.
Nakajima, Hirofumi	Honda Res. Inst. Japan Co., Ltd.
Ince, Gokhan	Honda Res. Inst. Japan Co., Ltd.
Hasegawa, Yuji	Honda Res. Inst. Japan Co., Ltd.
14:40-15:00, Paper TuCT12.5
Multi-Talker Speech Recognition under Ego-Motion Noise Using Missing Feature Theory (I)
Ince, Gokhan	Honda Res. Inst. Japan Co., Ltd.
Nakadai, Kazuhiro	Honda Res. Inst. Japan Co., Ltd.
Rodemann, Tobias	Honda Res. Inst. Europe
Tsujino, Hiroshi	Honda Res. Inst. Co., Ltd.
Imura, Jun-ichi	Tokyo Inst. of Tech.
15:00-15:20, Paper TuCT12.6
Two-Layered Audio-Visual Speech Recognition for Robots in Noisy Environments (I)
Yoshida, Takami	Tokyo Inst. of Tech.
Nakadai, Kazuhiro	Honda Res. Inst. Japan Co., Ltd.
Okuno, Hiroshi G.	Kyoto Univ.

TuCT13 Regular Sessions, 202B
Control Architectures and Programming I
Chair: Bourgeois, Julien	Lab. d'Informatique de l'Univ. de Franche-Comté
Co-Chair: Biggs, Geoffrey	National Inst. of AIST
13:20-13:40, Paper TuCT13.1
Implementing a Reactive Semantics Using OpenRTM-Aist
Biggs, Geoffrey	National Inst. of AIST
MacDonald, Bruce	Univ. of Auckland
13:40-14:00, Paper TuCT13.2
A Platform for Networked Robotics
Cardozo, Eleri	UNICAMP
Guimarães, Eliane G.	CenPRA
Agostinho Rocha, Lucio	Univ. of Campinas
Silva Souza, Ricardo	Univ. of Campinas
Paolieri Neto, Fernando	Univ. of Campinas
Pinho, Fernando	Univ. of Campinas
14:00-14:20, Paper TuCT13.3
Efficient Communication in Autonomous Robot Software
Thomas, Dirk	TU-Darmstadt
von Stryk, Oskar	Tech. Univ. Darmstadt
14:20-14:40, Paper TuCT13.4
CRAM - a Cognitive Robot Abstract Machine for Everyday Manipulation in Human Environments
Beetz, Michael	Tech. Univ. München
Mösenlechner, Lorenz	Tech. Univ. München
Tenorth, Moritz	TU München
14:40-15:00, Paper TuCT13.5
Global Methodology in Control Architecture to Improve Mobile Robot Reliability
Durand, Bastien	LIRMM
Godary-Dejean, Karen	LIRMM
Lapierre, Lionel	LIRMM
Crestani, Didier	LIRMM
15:00-15:20, Paper TuCT13.6
Comparing Temporally Aware Mobile Robot Controllers Built with Sun's Java Real-Time System, OROCOS's Real-Time Toolkit and Player
McKenzie, Andrew	The Univ. of Alabama
Gay, Daniel	Univ. of Alabama, Tuscaloosa
Nori, Rahul	Univ. of Alabama
Davis, Trey	The Univ. of Alabama
Anderson, Monica	The Univ. of Alabama

TuCT14 Regular Sessions, 203A
Sensor Fusion I
Chair: Kodagoda, Sarath	Univ. of Tech. Sydney
Co-Chair: Olson, Edwin	Univ. of Michigan
13:20-13:40, Paper TuCT14.1
Floor Sensing System Using Laser Range Finder and Mirror for Localizing Daily Life Commodities
Nohara, Yasunobu	Kyushu Univ.
Hasegawa, Tsutomu	Kyushu Univ.
Murakami, Kouji	Kyushu Univ.
13:40-14:00, Paper TuCT14.2
Active Perception and Scene Modeling by Planning with Probabilistic 6D Object Poses
Eidenberger, Robert	Johannes Kepler Univ. Linz
Scharinger, Josef	Johannes Kepler Univ. Linz
14:00-14:20, Paper TuCT14.3
Own Body Perception Based on Visuomotor Correlation
Saegusa, Ryo	Italian Inst. of Tech.
Metta, Giorgio	ITALIAN Inst. OF Tech.
Sandini, Giulio	ITALIAN Inst. OF Tech.
14:20-14:40, Paper TuCT14.4
Personal Navigation Via Shoe Mounted Inertial Measurement Units
Bebek, Ozkan	Case Western Res. Univ.
Suster, Michael	Case Western Res. Univ.
Rajgopal, Srihari	Case Western Res. Univ.
Fu, Michael J.	Case Western Res. Univ.
Huang, Xuemei	Cleveland Clinic, Lerner Res. Inst.
Cavusoglu, M. Cenk	Case Western Res. Univ.
Young, Darrin	Univ. of Utah
Mehregany, Mehran	Case Western Res. Univ.
van den Bogert, Ton	Lerner Res. Inst. Cleveland Clinic
Mastrangelo, Carlos	Univ. of Utah
14:40-15:00, Paper TuCT14.5
A Passive Solution to the Sensor Synchronization Problem
Olson, Edwin	Univ. of Michigan
15:00-15:20, Paper TuCT14.6
Combining Perception and Knowledge Processing for Everyday Manipulation
Pangercic, Dejan	TU Muenchen
Tenorth, Moritz	TU München
Jain, Dominik	TU Muenchen
Beetz, Michael	Tech. Univ. München

TuDInA Interactive Sessions, 1F Corridor
Interactive Session IA
15:20-16:40, Paper TuDInA.1
Attitude Estimation and Control of a Quadrocopter  (Video)
Hoffmann, Frank	Tech. Univ. Dortmund
Goddemeier, Niklas	Tech. Univ. Dortmund
Bertram, Torsten	Tech. Univ. Dortmund
15:20-16:40, Paper TuDInA.2
Nonlinear Feedforward Control for Wind Disturbance Rejection on Autonomous Helicopter
Bisgaard, Morten	Aalborg Univ.
la Cour-Harbo, Anders	Aalborg Univ.
A. Danapalasingam, Kumeresan	Aalborg Univ.
15:20-16:40, Paper TuDInA.3
3D Model-Based Tracking for UAV Position Control  (Video)
Teuliere, Celine	CEA-LIST
Eck, Laurent	CEA
Marchand, Eric	Univ. de Rennes 1, IRISA, INRIA Rennes
Guenard, Nicolas	CEA
15:20-16:40, Paper TuDInA.4
Control Performance Simulation in the Design of a Flapping Wing MAV
Hines, Lindsey	Carnegie Mellon Univ.
Arabagi, Veaceslav	Carnegie Mellon Univ.
Sitti, Metin	Carnegie Mellon Univ.
15:20-16:40, Paper TuDInA.5
A Disaster Invariant Feature for Localization
Soleimani, Behdad	Univ. of Tehran
Zokaei Ashtiani, Mohammad Hassan	Univ. of Tehran
Haji Soleimani, Behrouz	Univ. of Tehran
Moradi, Hadi	The Univ. of Tehran, Robotics and AI Lab.
15:20-16:40, Paper TuDInA.6
Underwater Robot with a Buoyancy Control System Based on the Spermaceti Oil Hypothesis - Development of the Depth Control System -
Inoue, Tomotaka	Ryukoku Univ.
Shibuya, Koji	Ryukoku Univ.
Nagano, Akinori	Ryukoku Univ.
15:20-16:40, Paper TuDInA.7
On Internal Models for Representing Tactile Information
Cannata, Giorgio	Univ. of Genova
Denei, Simone	Univ. of Genova
Mastrogiovanni, Fulvio	Univ. of Genova, Italy
15:20-16:40, Paper TuDInA.8
Evolution of Artificial Muscle-Based Robotic Locomotion in PhysX
Glette, Kyrre	Univ. of Oslo
Hovin, Mats	Univ.
15:20-16:40, Paper TuDInA.9
Player/Stage Simulation of Olfactory Experiments
Cabrita, Gonçalo	Inst. of Systems and Robotics - Univ. of Coimbra
Sousa, Pedro	Univ. of Coimbra
Marques, Lino	Univ. of Coimbra
15:20-16:40, Paper TuDInA.10
Roombots—Towards Decentralized Reconfiguration with Self-Reconfiguring Modular Robotic Metamodules  (Video)
Sproewitz, Alexander	EPFL
Laprade, Philippe	EPFL Ec. Pol. Federale de Lausanne
Bonardi, Stephane	EPFL Ec. Pol. Federal de Lausanne
Mayer, Mikael	EPFL Ec. Pol. Federal de Lausanne
Moeckel, Rico	Univ. of Zurich and ETH Zurich
Mudry, Pierre-Andre	EPFL
Ijspeert, Auke	EPFL
15:20-16:40, Paper TuDInA.11
Characterization of Lattice Modular Robots by Discrete Displacement Groups
Brener, Nicolas	Univ. Pierre et Marie Curie Paris
Ben Amar, Faiz	Univ. Pierre et Marie Curie, Paris 6
Bidaud, Philippe	Univ. Pierre et Marie Curie - Paris 6
15:20-16:40, Paper TuDInA.12
Making Shapes from Modules by Magnification  (Video)
An, Byoungkwon	MIT, CSAIL
Rus, Daniela	MIT
15:20-16:40, Paper TuDInA.13
Electronic Image Stabilization Using Optical Flow with Inertial Navigation  (Video)
Smith, Michael	Air Force Inst. of Tech.
Peterson, Gilbert	Air Force Inst. of Tech.
Boxerbaum, Alexander	Case Western Res. Univ.
Quinn, Roger, D.	Case Western Res. Univ.
15:20-16:40, Paper TuDInA.14
Low Cost Synchronized Stereo Aquisition System for Single Port Camera Controllers
Fischer, Bennet	Free Univ. of Berlin
Moballegh, Hamid Reza	Free Univ. of Berlin
Rojas, Raul	Freie Univ. Berlin
15:20-16:40, Paper TuDInA.15
Wide-Baseline Image Matching Based on Coplanar Line Intersections
Kim, Hyunwoo	Korean German Inst. of Tech.
Lee, Sukhan	Sungkyunkwan Univ.
15:20-16:40, Paper TuDInA.16
Attention Based Active 3D Point Cloud Segmentation
Johnson-Roberson, Matthew	KTH Royal Inst. of Tech.
Bohg, Jeannette	KTH Stockholm
Björkman, Mårten	KTH
Kragic, Danica	KTH
15:20-16:40, Paper TuDInA.17
A Neuro-Dynamic Object Recognition Architecture Enhanced by Foveal Vision and a Gaze Control Mechanism
Faubel, Christian	Ruhr-Univ. Bochum
Zibner, Stephan Klaus Ulrich	Ruhr-Univ. Bochum
15:20-16:40, Paper TuDInA.18
Camera Auto-Exposing and Auto-Focusing for Edge-Related Applications Using a Particle Filter
Nguyen, Thuy Tuong	Sungkyunkwan Univ.
Jeon, Jae Wook	Sungkyunkwan Univ.
15:20-16:40, Paper TuDInA.19
Self-Supervised Learning Method for Unstructured Road Detection Using Fuzzy Support Vector Machines
Zhou, Shengyan	Beijing Inst. of Tech.
Iagnemma, Karl	MIT
15:20-16:40, Paper TuDInA.20
An Extended Normalized Cuts Method for Real-Time Planar Feature Extraction from Noisy Range Images
Ye, Cang	Univ. of Arkansas at Little Rock
Hegde, GuruPrasad M.	Univ. of Arkansas at Little Rock
Anderson, Gary	Univ. of Arkansas
15:20-16:40, Paper TuDInA.21
Strategies for Autonomous Robot to Inspect Pavement Distresses
Tseng, Yuan-Hsu	National Taiwan Univ.
Kang, Shih-Chung	National Taiwan Univ.
Su, Yung-Shun	National Taiwan Univ.
Lee, Cheng-Hao	National Taiwan Univ.
Chang, Jia-Ruey	Minghsin Univ. of Science and Tech.
15:20-16:40, Paper TuDInA.22
Robotic Manipulation with Enhanced Disturbance Rejection Using Fuzzy Control: Theory and Experiment
Goodwine, Bill	Univ. of Notre Dame
Petroff, Neil	I/N Kote & I/N Tek
15:20-16:40, Paper TuDInA.23
Proposition and Development of a Robot Manipulator for Humanitarian Demining
Silva, Dinesh Anton Lakmal	Univ. of Moratuwa
15:20-16:40, Paper TuDInA.24
Large-Scale Terrain Modeling from Multiple Sensors with Dependent Gaussian Processes
Vasudevan, Shrihari	Univ. of Sydney
Ramos, Fabio	Univ. of Sydney
Nettleton, Eric	The Univ. of Sydney
Durrant-Whyte, Hugh	The Univ. of Sydney
15:20-16:40, Paper TuDInA.25
Autonomous Navigation of Mobile Robot Based on DGPS/INS Sensor Fusion by EKF in Semi-Outdoor Structured Environment
Chae, Heesung	ETRI
Christiand, Christiand	ETRI
Choi, Sunglok	ETRI
Yu, Wonpil	ETRI
Cho, Jaeil	ETRI
15:20-16:40, Paper TuDInA.26
Contact-Reactive Grasping of Objects with Partial Shape Information  (Video)
Hsiao, Kaijen	Willow Garage
Chitta, Sachin	Willow Garage Inc.
Ciocarlie, Matei	Willow Garage
Jones, Edward Gil	Willow Garage, Inc.
15:20-16:40, Paper TuDInA.27
Robust Haptic Recognition by Anthropomorphic Bionic Hand through Dynamic Interaction
Hosoda, Koh	Osaka Univ.
Iwase, Tomoki	Osaka Univ.
15:20-16:40, Paper TuDInA.28
Steering of a 3D Bipedal Robot with an Underactuated Ankle
Chevallereau, Christine	CNRS
Grizzle, J.W	Univ. of Michigan
Shih, Ching Long	National Taiwan Univ. of Science and Tech.
15:20-16:40, Paper TuDInA.29
Dynamic Balance Force Control for Compliant Humanoid Robots
Stephens, Benjamin	Carnegie Mellon Univ.
Atkeson, Christopher	CMU
15:20-16:40, Paper TuDInA.30
An Auto-Adaptable Algorithm to Generate Human-Like Locomotion for Different Humanoid Robots Based on Motion Capture Data
Boutin, Luc	Inst. Pprime, CNRS, Univ. de Poitiers, ENSMA
Eon, Antoine	Inst. Pprime, CNRS, Univ. de Poitiers, ENSMA
Zeghloul, Said	Inst. Pprime, CNRS, Univ. de Poitiers, ENSMA
Lacouture, Patrick	Inst. Pprime, CNRS, Univ. de Poitiers ENSMA
15:20-16:40, Paper TuDInA.31
Imitating Object Movement Skills with Robots - a Task-Level Approach Exploiting Generalization and Invariance
Gienger, Michael	Honda Res. Inst. Europe
Mühlig, Manuel	CoR-Lab. Bielefeld, Honda Res. Inst. Europe
Steil, Jochen J.	Bielefeld Univ.
15:20-16:40, Paper TuDInA.32
Simultaneous Learning of Spatial Visual Attention and Physical Actions
Borji, Ali	Inst. for Res. in Fundamental Sciences,(IPM)
Nili Ahmadabadi, Majid	Univ. of Tehran
Nadjar Araabi, Babak	Univ. of Tehran
15:20-16:40, Paper TuDInA.33
Learning Stylistic Dynamic Movement Primitives from Multiple Demonstrations
Matsubara, Takamitsu	NAIST/ATR
Hyon, Sang-Ho	Ritsumeikan Univ.
Morimoto, Jun	ATR Computational Neuroscience Lab.
15:20-16:40, Paper TuDInA.34
Robot Learning of Everyday Object Manipulations Via Human Demonstration  (Video)
Dang, Hao	Columbia Univ.
Allen, Peter	Columbia Univ.
15:20-16:40, Paper TuDInA.35
Approximate Optimal Control for Reaching and Trajectory Planning in a Humanoid Robot
Ivaldi, Serena	Italian Inst. of Tech. Univ. of Genoa
Fumagalli, Matteo	Italian Inst. of Tech.
Nori, Francesco	Italian Inst. of Tech.
Baglietto, Marco	Univ. of Genoa
Metta, Giorgio	Univ. of Genoa
Sandini, Giulio	Italian Inst. of Tech.
15:20-16:40, Paper TuDInA.36
Pseudo-Reference for Motion Transfer Based on Autonomous Control System with an Orbit Attractor
Okada, Masafumi	Tokyo Inst. of Tech.
Watanabe, Masaaki	Tokyo Inst. of Tech.
15:20-16:40, Paper TuDInA.37
On Stability Region Analysis for a Class of Human Learning Controllers
Ou, Yongsheng	Lehigh Univ.
Qian, Huihuan	CAS/CUHK
Wu, Xinyu	Shenzhen Inst. of Advanced Tech.
Xu, Yangsheng	The Chinese Univ. of Hong Kong
15:20-16:40, Paper TuDInA.38
Haptic Based Optimized Path Planning Approach to Virtual Maintenance Assembly / Disassembly (MAD)
Syed, Hassan	Gyeongsang National Univ.
Yoon, Jungwon	Gyeongsang National Univ.
15:20-16:40, Paper TuDInA.39
A Visual Exploration Algorithm Using Semantic Cues That Constructs Image Based Hybrid Maps
Krishnan, Aravindhan	International Inst. of Information Tech. Hyderabad
Krishna, Madhava	IIIT Hyderabad
15:20-16:40, Paper TuDInA.40
Tumor CE Image Classification Using SVM-Based Feature Selection
Li, Baopu	Chinese Univ. of Hong Kong
Meng, Max Q.-H.	Shandong Univ.
15:20-16:40, Paper TuDInA.41
Trajectory Tracking and Point Stabilization of Noholonomic Mobile Robot
Cao, Zhengcai	Beijing Univ. of Chemical Tech.
Zhao, Yingtao	Beijing Univ. of Chemical Tech.
Wang, Shuguo	Harbin Inst. of Tech.
15:20-16:40, Paper TuDInA.42
Design and Basic Experiments of a Transformable Wheel-Track Robot with Self-Adaptive Mobile Mechanism
Li, Zhiqing	Shenyang Inst. ofAutomation, Chinese Acad. ofSciences
Ma, Shugen	Ritsumeikan Univ.
Li, Bin	Shenyang Inst. of Automation
Wang, Minghui	Shenyang Inst. of Automation, Chinese Acad. ofSciences
Wang, Yuechao	Shenyang Inst. of Automation
15:20-16:40, Paper TuDInA.43
Reconfigurable Robots with Heterogeneous Drive Mechanisms: The Kinematics of the Heterogeneous Differential Drive
Voyles, Richard	Univ. of Denver
Godzdanker, Roy	Univ. of Denver
15:20-16:40, Paper TuDInA.44
Search and Track Power Charge Docking Station Based on Sound Source for Autonomous Mobile Robot Applications
Luo, Ren	National Taiwan Univ.
Huang, Chien-Hao	National Taiwan Univ.
Huang, Chun-Yen	National Taiwan Univ.

TuDInB Interactive Sessions, 2F Corridor
Interactive Session IB
15:20-16:40, Paper TuDInB.45
Detecting Repeated Patterns Using Partly Locality Sensitive Hashing
Ogawara, Koichi	Kyushu Univ.
Tanabe, Yasufumi	Kyushu Univ.
Kurazume, Ryo	Kyushu Univ.
Hasegawa, Tsutomu	Kyushu Univ.
15:20-16:40, Paper TuDInB.46
Genetic Algorithms Based Method for Time Optimization in Robotized Site
Baizid, Khelifa	Italian Inst. of Tech.
Chellali, Ryad	iit
Yousnadj, Ali	Military Pol. School
Meddahi, Amal	Italian Inst. of Tech.
Bentaleb, Toufik	Italian Inst. of Tech.
15:20-16:40, Paper TuDInB.47
System Integration of a Daily Assistive Robot and Its Application to Tidying and Cleaning Rooms
Yamazaki, Kimitoshi	The Univ. of Tokyo
Ueda, Ryohei	The Univ. of Tokyo
Nozawa, Shunichi	The Univ. of Tokyo
Mori, Yuto	The Univ. of Tokyo
Maki, Toshiaki	The Univ. of Tokyo
Hatao, Naotaka	The Univ. of Tokyo
Okada, Kei	The Univ. of Tokyo
Inaba, Masayuki	The Univ. of Tokyo
15:20-16:40, Paper TuDInB.48
Efficient Pulling Motion of a Two-Link Robot Arm Near Singular Configuration
Urakubo, Takateru	Kobe Univ.
Mashimo, Tomoaki	Carnegie Mellon Univ.
Kanade, Takeo	Carnegie Mellon Univ.
15:20-16:40, Paper TuDInB.49
Applications of Potential Fields and Conformal Geometric Algebra for Humanoid Manipulation Maneuvering
Bayro-Corrochano, Eduardo-Jose	CINVESTAV, Unidad Guadalajara
Carbajal-Espinosa, Oscar	Centro de Investigaciones y Estudios Avanzados del IPN(CINVESTAV
Loukianov, Alexander	Centro de Investigaciones y Estudios Avanzados del IPN (CINVESTA
15:20-16:40, Paper TuDInB.50
Development of a Low Backlash Crown Reducer
Sasaki, Hiroyuki	Tsuruoka N.C.T.
Masuyama, Tomoya	Tsuruoka N.C.T.
Takahashi, Takayuki	Fukushima Univ.
15:20-16:40, Paper TuDInB.51
A Cooperative Approach for Multi-Robot Area Exploration
Yuan, Jing	Nankai Univ.
Huang, Yalou	Nankai Univ.
Tao, Tong	Nankai Univ.
Sun, Fengchi	Nankai Univ.
15:20-16:40, Paper TuDInB.52
Visual Route Navigation Using an Adaptive Extension of Rapidly-Exploring Random Trees
Lee, Heon-Cheol	Seoul National Univ.
Lee, SeungHwan	Seoul National Univ.
Kim, Doo-Jin	Seoul National Univ.
Lee, Beom-Hee	Seoul National Univ.
15:20-16:40, Paper TuDInB.53
Trajectory Tracking Using Environmental Magnetic Field for Outdoor Autonomous Mobile Robots
Sam Ann, Rahok	Utsunomiya Univ.
Shikanai, Yoshihito	Utsunomiya Univ.
Ozaki, Koichi	Utsunomiya Univ.
15:20-16:40, Paper TuDInB.54
Minimum Uncertainty Robot Path Planning Using a POMDP Approach
Candido, Salvatore	Univ. of Illinois
Hutchinson, Seth	Univ. of Illinois
15:20-16:40, Paper TuDInB.55
A Sensor Platform for Outdoor Navigation Using Gyro-Assisted Odometry and Roundly-Swinging 3D Laser Scanner  (Video)
Yoshida, Tomoaki	Chiba Inst. of Tech.
Irie, Kiyoshi	Chiba Insitute of Tech.
Koyanagi, Eiji	Chiba Inst. of Tech.
Tomono, Masahiro	Chiba Inst. of Tech.
15:20-16:40, Paper TuDInB.56
Path Planning of a Mobile Robot for Avoiding Moving Obstacles with Improved Velocity Control by Using the Hydrodynamic Potential
Sugiyama, Seiji	Ritsumeikan Univ.
Yamada, Jyun	Ritsumeikan Univ.
Yoshikawa, Tsuneo	Ritsumeikan Univ.
15:20-16:40, Paper TuDInB.57
Computing Navigational Routes in Inhomogeneous Environments Using BVP Path Planner
Prestes, Edson	UFRGS
Idiart, Marco	UFRGS
15:20-16:40, Paper TuDInB.58
Navigation among Movable Obstacles in Unknown Environments  (Video)
Wu, Hai-Ning	Georgia Inst. of Tech.
Levihn, Martin	Georgia Inst. of Tech.
Stilman, Mike	Georgia Tech.
15:20-16:40, Paper TuDInB.59
Tiji, a Generic Trajectory Generation Tool for Motion Planning and Control
Delsart, Vivien	UMR LIG - Lab. d'Informatique de Grenoble
Fraichard, Thierry	INRIA
15:20-16:40, Paper TuDInB.60
Feasible RRT-Based Path Planning Using Seventh Order Bézier Curves
Alves Neto, Armando	Univ. Federal de Minas Gerais
Macharet, Douglas Guimarães	Univ. Federal de Minas Gerais
Campos, Mario F. Montenegro	Federal Univ. of Minas Gerais
15:20-16:40, Paper TuDInB.61
Semantic Map Partitioning in Indoor Environments Using Regional Analysis
Nieto-Granda, Carlos	Georgia Inst. of Tech.
Rogers III, John G.	Georgia Inst. of Tech.
Trevor, Alexander J B	Georgia Inst. of Tech.
Christensen, Henrik Iskov	Georgia Inst. of Tech.
15:20-16:40, Paper TuDInB.62
Segmentation and Classification of Range Image from an Intelligent Vehicle in Urban Environment
Zhu, Xiaolong	Peking Univ.
Zhao, Huijing	Peking Univ.
Liu, Yiming	Peking Univ.
Zhao, Yipu	Peking Univ.
Zha, Hongbin	Peking Univ.
15:20-16:40, Paper TuDInB.63
Multi-Frequency Phase Unwrapping for Time-Of-Flight Cameras
Droeschel, David	Univ. of Bonn
Holz, Dirk	Univ. of Bonn
Behnke, Sven	Univ. of Bonn
15:20-16:40, Paper TuDInB.64
An Articulated Rehabilitation Robot for Upper Limb Physiotherapy and Training
Tsai, Bing-Chuen	National Taiwan Univ.
Wang, Wei-Wen	National Taiwan Univ.
Hsu, Li-Chun	National Tiawan Univ.
Fu, Li-Chen	National Taiwan Univ.
Lai, Jin-Shin	National Taiwan Univ.
15:20-16:40, Paper TuDInB.65
Improving Video Communication for Elderly and Disabled by Coordination of Robot's Active Listening Behaviors and Media Controls
Yonezawa, Tomoko	ATR Intelligent Robotics and Communication Lab.
Koyama, Yuichi	ATR IRC / Nagoya Univ.
Yamazoe, Hirotake	ATR Intelligent Robotics and Communication Lab.
Abe, Shinji	ATR Intelligent Robotics and Communication Lab.
Mase, Kenji	Nagoya Univ.
15:20-16:40, Paper TuDInB.66
Pitch Extraction in Human-Robot Interaction (I)
Heckmann, Martin	Honda Res. Inst. Europe GmbH
Joublin, Frank	Honda Res. Inst. Europe
Nakadai, Kazuhiro	Honda Res. Inst. Japan Co., Ltd.
15:20-16:40, Paper TuDInB.67
Compact Self-Contained Navigation System with MEMS Inertial Sensor and Optical Navigation Sensor for 3-D Pipeline Mapping
Hyun, Dongjun	Yonsei Univ.
Jegal, Minsu	Yonsei Univ.
Yang, Hyunseok	Yonsei Univ.
15:20-16:40, Paper TuDInB.68
Range Sensing, Localization, and Error Elimination of Two-Wheeled Mobile Robots
Lian, Feng-Li	National Taiwan Univ.
Tseng, Kuan-Chieh	National Taiwan Univ.
15:20-16:40, Paper TuDInB.69
On the Initialization of Statistical Optimum Filters with Application to Motion Estimation
Kneip, Laurent	ETHZ
Scaramuzza, Davide	ETH Zurich
Siegwart, Roland	ETH Zurich
15:20-16:40, Paper TuDInB.70
Indoor Human Localization and Tracking Using Wireless Pyroelectric Sensory Fusion System
Luo, Ren	National Taiwan Univ.
Chen, Ogst	National Chung Cheng Univ.
Lin, Cheng Wei	National Taiwan Univ.
15:20-16:40, Paper TuDInB.71
Multi-Modal Sensor Fusion Algorithm for Ubiquitous Infrastructure-Free Localization in Vision-Impaired Environments
Oskiper, Taragay	Sarnoff Corp.
Chiu, Han-Pang	Sarnoff Corp. USA
Zhu, Zhiwei	Sarnoff
Samarasekera, Supun	Sarnoff
Kumar, Rakesh	Sarnoff
15:20-16:40, Paper TuDInB.72
Space Dimension Perception from the Multimodal Sensorimotor Flow of a Naive Robotic Agent (I)
Laflaquière, Alban	Univ. Pierre et Marie Curie; Inst. des Systèmes Intellig
Argentieri, Sylvain	Univ. Pierre et Marie Curie; Inst. des Systèmes Intellig
Gas, Bruno	Univ. Pierre et Marie Curie
Castillo-Castaneda, Eduardo	Inst. Pol. Nacional, CICATA

TuET1 Regular Sessions, 101A
Mapping III
Chair: Rives, Patrick	INRIA
Co-Chair: Yamashita, Atsushi	Shizuoka Univ.
16:40-17:00, Paper TuET1.1
Outdoor 3D Map Generation Based on Planar Feature for Autonomous Vehicle Navigation in Urban Environment  (Video)
Kagami, Satoshi	National Inst. of AIST
Hanai, Ryo	The Univ. of Tokyo
Hatao, Naotaka	The Univ. of Tokyo
Inaba, Masayuki	The Univ. of Tokyo
17:00-17:20, Paper TuET1.2
Hybrid Elevation Maps: 3D Surface Models for Segmentation
Douillard, Bertrand	Univ. of Syndey
Underwood, James Patrick	The Univ. of Sydney
Melkumyan, Narek	The Univ. of Sydney
Singh, Surya	Univ. of Sydney
Vasudevan, Shrihari	Univ. of Sydney
Brunner, Christopher Joseph	The Univ. of Sydney
Quadros, Alastair James	Univ. of Sydney
17:20-17:40, Paper TuET1.3
Novel Robotic 3D Surface Mapping Using Range and Vision Fusion
Howarth, Blair	UNSW
Katupitiya, Jayantha	The Univ. of New South Wales
Guivant, Jose	UNSW
Szwec, Andrew	Univ. of New South Wales
17:40-18:00, Paper TuET1.4
View Planning and 3D Map Building by a Mobile Robot Equipped with Two Range Sensors
Yamashita, Atsushi	Shizuoka Univ.
Iwashina, Shinya	Shizuoka Univ.
Kaneko, Toru	Shizuoka Univ.
18:00-18:20, Paper TuET1.5
Non-Rigid Registration and Rectification of 3D Laser Scans
Elseberg, Jan	Jacobs Univ. Bremen
Borrmann, Dorit	Jacobs Univ.
Nuechter, Andreas	Jacobs Univ. Bremen gGmbH
Lingemann, Kai	Univ. of Osnabrueck
18:20-18:40, Paper TuET1.6
Multi-Volume Occupancy Grids: An Efficient Probabilistic 3D Mapping Model for Micro Aerial Vehicles
Dryanovski, Ivan	The Graduate Center, The City Univ. of New York (CUNY)
Morris, William	City Coll. of New York
Xiao, Jizhong	City Coll. of New York

TuET2 Regular Sessions, 101B
Grasping II
Chair: Hirai, Shinichi	Ritsumeikan Univ.
Co-Chair: Huebner, Kai	Royal Inst. of Tech. (KTH), Stockholm
16:40-17:00, Paper TuET2.1
Probabilistic Representation of 3D Object Shape by In-Hand Exploration
Faria, Diego	Univ. of Coimbra
Martins, Ricardo	Univ. of Coimbra
Lobo, Jorge	FCT - Univ. of Coimbra (nif 502 971 142)
Dias, Jorge	Univ. of Coimbra
17:00-17:20, Paper TuET2.2
Representations for Object Grasping and Learning from Experience
Rubio Martín, Óscar Jesús	Royal Inst. of Tech. (KTH)
Huebner, Kai	Royal Inst. of Tech. (KTH), Stockholm
Kragic, Danica	KTH
17:20-17:40, Paper TuET2.3
Object Recognition Using Visuo-Affordance Maps
Gijsberts, Arjan	Italian Inst. of Tech.
Tommasi, Tatiana	Idiap Res. Inst.
Metta, Giorgio	Univ. of Genoa
Caputo, Barbara	IDIAP Res. Inst.
17:40-18:00, Paper TuET2.4
Learning Task Constraints for Robot Grasping Using Graphical Models  (Video)
Song, Dan	Royal Inst. of Tech. (KTH), Stockholm
Huebner, Kai	Royal Inst. of Tech. (KTH), Stockholm
Kyrki, Ville	Lappeenranta Univ. of Tech.
Kragic, Danica	KTH
18:00-18:20, Paper TuET2.5
Learning Probabilistic Discriminative Models of Grasp Affordances under Limited Supervision
Erkan, Ayse	New York Univ.
Kroemer, Oliver	Max-Planck Inst. for Biological Cybernetics
Detry, Renaud	Univ. of Liège
Altun, Yasemin	Max Planck Inst. for Biological Cybernetics
Piater, Justus	Univ. of Liege
Peters, Jan	Max-Planck Inst. for Bio. Cybernetics
18:20-18:40, Paper TuET2.6
Unions of Balls for Shape Approximation in Robot Grasping
Przybylski, Markus	Karlsruhe Inst. of Tech. (KIT)
Asfour, Tamim	Karlsruhe Inst. of Tech. (KIT)
Dillmann, Rüdiger	KIT Karlsruher Inst. für Tech.

TuET3 Regular Sessions, 101C
Aerial Robotics III
Chair: Kyriakopoulos, Kostas	National Tech. Univ. of Athens
Co-Chair: Kumon, Makoto	Graduate School of Science and Tech. Kumamoto
16:40-17:00, Paper TuET3.1
The Landing Problem of a VTOL Unmanned Aerial Vehicle on a Moving Platform Using Optical Flow  (Video)
Herisse, Bruno	CEA LIST
Hamel, Tarek	UNSA-CNRS
Mahony, Robert	Australian National Univ.
Russotto, Francois-Xavier	French Atomic Energy Commission (CEA)
17:00-17:20, Paper TuET3.2
Robust Nonlinear Real-Time Control Strategy to Stabilize a PVTOL Aircraft in Crosswind
Muñoz Hernandez, Laura Elena	HEUDIASYC UMR UTC 6599
Santos Sanchez, Omar Jacobo	Univ. Autonoma del Estado de Hidalgo, Mexico
Castillo, Pedro	Univ. de Tech. de Compiègne
17:20-17:40, Paper TuET3.3
Agile Turnaround Using Post-Stall Maneuvers for Tail-Sitter VTOL UAVs
Matsumoto, Takaaki	Tohoku Univ.
Konno, Atsushi	Tohoku Univ.
Suzuki, Ren	Tohoku Univ.
Oosedo, Atsushi	Tohoku Univ.
Go, Kenta	Tohoku Univ.
Uchiyama, Masaru	Tohoku Univ.
17:40-18:00, Paper TuET3.4
Teleoperation of a Tail-Sitter VTOL UAV
Suzuki, Ren	Tohoku Univ.
Matsumoto, Takaaki	Tohoku Univ.
Konno, Atsushi	Tohoku Univ.
Hoshino, Yuta	Tohoku Univ.
Go, Kenta	Tohoku Univ.
Oosedo, Atsushi	Tohoku Univ.
Uchiyama, Masaru	Tohoku Univ.
18:00-18:20, Paper TuET3.5
Development of Flapping Robots Using Piezoelectric Fiber Composites - Performance Enhancement by Unique Structure and Drive Control -
Minagawa, Kentaro	The Univ. of Electro-Communications
Fukushima, Yuichi	The Univ. of Electro-Communications
Ming, Aiguo	The Univ. of Electro-Communications
Shimojo, Makoto	Univ. of Electro-COmmunications
18:20-18:40, Paper TuET3.6
Energetics of Flapping-Wing Robotic Insects: Towards Autonomous Hovering Flight
Karpelson, Michael	Harvard Univ.
Whitney, John Peter	Harvard Univ.
Wei, Gu-Yeon	Harvard Univ.
Wood, Robert	Harvard Univ.

TuET4 Regular Sessions, 101D
Motion Control III
Chair: Svinin, Mikhail	Kyushu Univ.
Co-Chair: Doulgeri, Zoe	Aristotle Univ. of Thessaloniki
16:40-17:00, Paper TuET4.1
Multi-Loop Model Based Parallel Control Systems
Osypiuk, Rafal	West Pomeranian Univ. of Tech. Szczecin
17:00-17:20, Paper TuET4.2
Robot Task Space PID Type Regulation with Prescribed Performance Guaranties
Doulgeri, Zoe	Aristotle Univ. of Thessaloniki
Droukas, Leonidas	Aristotle Univ. of Thessaloniki
17:20-17:40, Paper TuET4.3
Motion Control with Slow and Rapid Adaptation for Smooth Reaching Movement under External Force Disturbance
Seto, Fumi	Chiba Inst. of Tech.
Sugihara, Tomomichi	Kyushu Univ.
17:40-18:00, Paper TuET4.4
Analytic Collision Anticipation Technology Considering Agents' Future Behavior
Choi, Jeong-Sik	Seoul National Univ.
Eoh, Gyuho	Seoul National Univ.
Kim, Jimin	Seoul National Univ.
Yoon, Young-Hwan	LS Industrial Systems Co., Ltd
Park, Jung-Hee	Seoul National Univ.
Lee, Beom-Hee	Seoul National Univ.
18:00-18:20, Paper TuET4.5
Simple Models in Trajectory Planning of Human-Like Reaching Movements
Svinin, Mikhail	Kyushu Univ.
Yamamoto, Motoji	Kyushu Univ.
Goncharenko, Igor	3D Incorporated
18:20-18:40, Paper TuET4.6
An Experimental Evaluation of a Novel Minimum-Jerk Cartesian Controller for Humanoid Robots
Pattacini, Ugo	Italian Inst. of Tech.
Nori, Francesco	Italian Inst. of Tech.
Natale, Lorenzo	Istutito Italiano di Tecnologia
Metta, Giorgio	Univ. of Genoa
Sandini, Giulio	Italian Inst. of Tech.

TuET5 Regular Sessions, 103
Humanoid Robots III
Chair: Beetz, Michael	Tech. Univ. München
Co-Chair: Nakaoka, Shin'ichiro	AIST
16:40-17:00, Paper TuET5.1
Intuitive and Flexible User Interface for Creating Whole Body Motions of Biped Humanoid Robots
Nakaoka, Shin'ichiro	AIST
Kajita, Shuuji	National Inst. of AIST
Yokoi, Kazuhito	National Inst. of AIST
17:00-17:20, Paper TuET5.2
Navigation Framework for Humanoid Robots Integrating Gaze Control and Modified-Univector Field Method to Avoid Dynamic Obstacles  (Video)
Yoo, Jeong-Ki	Korea Advanced Inst. of Science and Tech. (KAIST)
Kim, Jong-Hwan	KAIST
17:20-17:40, Paper TuET5.3
Humanoid Robot Localization in Complex Indoor Environments
Hornung, Armin	Univ. of Freiburg
Wurm, Kai M.	Univ. of Freiburg
Bennewitz, Maren	Univ. of Freiburg
17:40-18:00, Paper TuET5.4
Working with Movable Obstacles Using On-Line Environment Perception Reconstruction Using Active Sensing and Color Range Sensor
Kakiuchi, Yohei	The Univ. of Tokyo
Ueda, Ryohei	The Univ. of Tokyo
Kobayashi, Kazuya	Univ. of Tokyo
Okada, Kei	The Univ. of Tokyo
Inaba, Masayuki	The Univ. of Tokyo
18:00-18:20, Paper TuET5.5
Thinning and Smoothing of Randomly-Sampled Support Transitions Toward Practical Motion Planning for Humanoid Robots
Nishi, Toshiya	Kyushu Univ.
Sugihara, Tomomichi	Graduate School of Engineering, Osaka Univ.
18:20-18:40, Paper TuET5.6
Prediction of Action Outcomes Using an Object Model
Ruiz, Federico	TU Muenchen
Cheng, Gordon	Tech. Univ. Munich
Beetz, Michael	Tech. Univ. München

TuET6 Regular Sessions, 201A
Computer Vision II
Chair: Peynot, Thierry	The Univ. of Sydney
Co-Chair: Yuan, Chunrong	Eberhard Karls Univ. of Tübingen
16:40-17:00, Paper TuET6.1
Stereo Vision Based Swing Angle Sensor for Mining Rope Shovel
Lin, Li-Heng	Univ. of British Columbia
Lawrence, Peter	Univ. of British Columbia
Hall, Robert	Univ. of British Columbia
17:00-17:20, Paper TuET6.2
Detection of Moving Objects by Statistical Motion Analysis
Yuan, Chunrong	Eberhard Karls Univ. of Tübingen
Schwab, Isabell	Univ. of Tübingen
Recktenwald, Fabian	Univ. of Tübingen
Mallot, Hanspeter	Eberhard Karls Univ. of Tübingen
17:20-17:40, Paper TuET6.3
Rigid and Non-Rigid Classification Using Interactive Perception
Willimon, Bryan	Clemson Univ.
Birchfield, Stan	Clemson Univ.
Walker, Ian	Clemson Univ.
17:40-18:00, Paper TuET6.4
On-Line Object Segmentation through Human-Robot Interaction
Kim, Soohwan	Korea Inst. of Science and Tech.
Park, Sung-Kee	Korea Inst. of Science and Tech.
Kim, Dong Hwan	Korea Inst. of Science and Tech.
18:00-18:20, Paper TuET6.5
Vision Based Victim Detection from Unmanned Aerial Vehicles
Andriluka, Mykhaylo	TU Darmstadt
Schnitzspan, Paul	TU Darmstadt
Meyer, Johannes	Tech. Univ. Darmstadt
Kohlbrecher, Stefan	TU Darmstadt
Petersen, Karen	TU Darmstadt
von Stryk, Oskar	Tech. Univ. Darmstadt
Roth, Stefan	TU Darmstadt
Schiele, Bernt	TU Darmstadt
18:20-18:40, Paper TuET6.6
SIFT-Cloud-Model for Object Detection and Pose Estimation with GPGPU Acceleration  (Video)
Nakada, Takahiro	Digital Human Res. Center, AIST
Kagami, Satoshi	National Inst. of AIST
Mizoguchi, Hiroshi	Tokyo Univ. of Science

TuET7 Regular Sessions, 201B
Learning and Adaptive Systems III
Chair: Calinon, Sylvain	Italian Inst. of Tech.
Co-Chair: Takano, Wataru	Univ. of Tokyo
16:40-17:00, Paper TuET7.1
Emergent Imitative Behavior on a Robotic Arm Based on Visuo-Motor Associative Memories
de Rengervé, Antoine	CNRS UMR 8051, ENSEA, Cergy-Pontoise Univ.
Boucenna, Sofiane	CNRS UMR 8051, ENSEA, Cergy-Pontoise Univ.
Andry, Pierre	CNRS UMR 8051, ENSEA, Cergy-Pontoise Univ.
Gaussier, Philippe	CNRS UMR 8051, ENSEA, Cergy-Pontoise Univ.
17:00-17:20, Paper TuET7.2
Emergence of Bipedal Walking through Body/environment Interactions
Shimoda, Shingo	RIKEN
Yoshihara, Yuki	Tohoku Univ.
Kimura, Hidenori	RIKEN
17:20-17:40, Paper TuET7.3
Intrinsically Motivated Goal Exploration for Active Motor Learning in Robots: A Case Study
Baranes, Adrien	INRIA
Oudeyer, Pierre-Yves	INRIA
17:40-18:00, Paper TuET7.4
Active Learning of Confidence Measure Function in Robot Language Acquisition Framework
Sugiura, Komei	National Inst. of Information and Communications Tech.
Iwahashi, Naoto	National Inst. ofInformationandCommunicationsTechnology
Kashioka, Hideki	NICT, Japan
Nakamura, Satoshi	ATR in Japan
18:00-18:20, Paper TuET7.5
What Do You Expect from a Robot That Tells Your Future? the Crystal Ball
Takano, Wataru	Tokyo Univ.
Imagawa, Hirotaka	Univ. of Tokyo
Kulic, Dana	Univ. of Waterloo
Nakamura, Yoshihiko	Univ. of Tokyo
18:20-18:40, Paper TuET7.6
Homeokinetic Proportional Control of Myoelectric Prostheses
Hesse, Frank	BCCN & BFNT Göttingen, Göttingen Univ. and Max-Planck-Inst.
Herrmann, J. Michael	Univ. of Edinburgh

TuET8 Regular Sessions, 201C
Navigation III
Chair: Martinet, Philippe	Blaise Pascal Univ.
Co-Chair: Fu, Li-Chen	National Taiwan Univ.
16:40-17:00, Paper TuET8.1
Effects of Increasing Autonomy on Tele-Operation Performance
O'Brien, Barry	U.S. Army Res. Lab.
Stump, Ethan	Army Res. Lab.
Pierce, Cynthia S.	US Army Res. Lab.
17:00-17:20, Paper TuET8.2
Mobile Robot Navigation with Reactive Free Space Estimation
Lee, Tae-Seok	Seoul National Univ.
Eoh, Gyuho	Seoul National Univ.
Kim, Jimin	Seoul National Univ.
Lee, Beom-Hee	Seoul National Univ.
17:20-17:40, Paper TuET8.3
Closest Gap Based (CG) Reactive Obstacle Avoidance Navigation for Highly Cluttered Environments
Mujahed, Muhannad	Al-Quds Univ. Palestine
Fischer, Dirk	Univ. of Paderborn
Mertsching, Bärbel	Univ. of Paderborn
Jaddu, Hussein	Faculty of Engineering, Al Quds Univ.
17:40-18:00, Paper TuET8.4
Human-Centered Robot Navigation Toward a Harmoniously Coexisting Multi-Human and Multi-Robot Environment
Lam, Chi Pang	National Taiwan Univ.
Chou, Chen Tun	National Taiwan Univ.
Fu, Li-Chen	National Taiwan Univ.
Chang, Chih-Fu	National Taiwan Univ.
18:00-18:20, Paper TuET8.5
Collision Avoidance Method for Mobile Robot Considering Motion and Personal Spaces of Evacuees  (Video)
Ohki, Takeshi	Tohoku Univ.
Nagatani, Keiji	Tohoku Univ.
Yoshida, Kazuya	Tohoku Univ.
18:20-18:40, Paper TuET8.6
Multi-Robot Navigation with Limited Communication - Deterministic vs Game-Theoretic Networks
Bayram, Haluk	Bogazici Univ.
Bozma, Isil	Bogazici Univ.

TuET9 Regular Sessions, 201D
Medical Robots and Systems III
Chair: Iwata, Hiroyasu	Waseda Univ.
Co-Chair: Chemori, Ahmed	LIRMM
16:40-17:00, Paper TuET9.1
Surgical Case Identification for an Image-Guided Interventional System
Haidegger, Tamas	Budapest Univ. of Tech. and Ec. (BME)
Kazanzides, Peter	Johns Hopkins Univ.
Benyó, Balázs	Budapest Univ. of Tech. and Ec.
Kovács, Levente	Budapest Univ. of Tech. and Ec. Dept. of Contro
Benyo, Zoltan	Budapest Univ. of Tech. and Ec. (BME)
17:00-17:20, Paper TuET9.2
Framework of Automatic Robot Surgery System Using Visual Servoing
Osa, Takayuki	The Univ. of Tokyo
Staub, Christoph	TU Munich
Knoll, Alois	TU Munich
17:20-17:40, Paper TuET9.3
Auto-Guided Movements on Minimally Invasive Surgery for Surgeon Assistance
Bauzano, Enrique	Univ. of Malaga, Spain
Muñoz, Victor	Univ. of Malaga
Garcia-Morales, Isabel	Univ. of Malaga, Spain
17:40-18:00, Paper TuET9.4
Robot Assisted Internal Mammary Artery Detection for Coronary Revascularisation Surgery
Fröhlich, Florian Alexander	DLR (German Aerospace Center)
Passig, Georg	German Aerospace Center
Vazquez, Adrian	Univ. Leipzig (ICCAS)
Hirzinger, Gerd	German Aerospace Center (DLR)
18:00-18:20, Paper TuET9.5
Adaptive Force Feedback Control for 3D Compensation of Physiological Motion in Beating Heart Surgery
Zarrouk, Zeineb	LIRMM, Univ. MONTPELLIER 2
Chemori, Ahmed	LIRMM
Poignet, Philippe	LIRMM UMR 5506 CNRS UM2
18:20-18:40, Paper TuET9.6
Reliable Estimation of Heart Surface Motion under Stochastic and Unknown but Bounded Systematic Uncertainties
Bogatyrenko, Evgeniya	Univ. Karlsruhe (TH)
Noack, Benjamin	Karlsruhe Inst. of Tech. (KIT)
Hanebeck, Uwe D.	Univ. Karlsruhe (TH)

TuET10 Regular Sessions, 201E
Force and Tactile Sensing II
Chair: Accoto, Dino	Univ. Campus Bio-Medico
Co-Chair: Tsuji, Toshiaki	Saitama Univ.
16:40-17:00, Paper TuET10.1
Exploiting Proximal F/T Measurements for the Icub Active Compliance
Fumagalli, Matteo	Italian Inst. of Tech.
Nori, Francesco	Italian Inst. of Tech.
Randazzo, Marco	Italian Inst. of Tech.
Natale, Lorenzo	Istutito Italiano di Tecnologia
Metta, Giorgio	Univ. of Genoa
Sandini, Giulio	ITALIAN Inst. OF Tech.
17:00-17:20, Paper TuET10.2
Learning the Elasticity Parameters of Deformable Objects with a Manipulation Robot
Frank, Barbara	Univ. of Freiburg
Schmedding, Ruediger	Univ. of Freiburg
Stachniss, Cyrill	Univ. of Freiburg
Teschner, Matthias	Univ. of Freiburg
Burgard, Wolfram	Univ. of Freiburg
17:20-17:40, Paper TuET10.3
A Tactile Sensing for Estimating the Position and Orientation of a Joint-Axis of a Linked Object
Matsuo, Kazuya	Kyushu Univ.
Murakami, Kouji	Kyushu Univ.
Niwaki, Katsuya	Kyushu Univ.
Hasegawa, Tsutomu	Kyushu Univ.
Tahara, Kenji	Kyushu Univ.
Kurazume, Ryo	Kyushu Univ.
17:40-18:00, Paper TuET10.4
Fault Tolerance Measurement Using a Six-Axis Force/Torque Sensing System with Redundancy
Tsuji, Toshiaki	Saitama Univ.
Hanyu, Ryosuke	Saitama Univ.
18:00-18:20, Paper TuET10.5
Empirical Based Optimal Design of Active Strobe Imager
Funai, Kohei	Osaka Univ.
Mizoue, Kouji	MIZOUE PROJECT JAPAN Corp.
Higashimori, Mitsuru	Osaka Univ.
Tadakuma, Kenjiro	Osaka Univ.
Kaneko, Makoto	Osaka Univ.
18:20-18:40, Paper TuET10.6
Markov Random Field-Based Clustering of Vibration Data
Komma, Philippe	Univ. of Tübingen
Zell, Andreas	Univ. of Tübingen

TuET11 Regular Sessions, 201F
Biologically-Inspired Robots III
Chair: Hosoda, Koh	Osaka Univ.
Co-Chair: Solis, Jorge	Waseda Univ.
16:40-17:00, Paper TuET11.1
Antagonistically Actuated Compliant Joint: Torque and Stiffness Control
Sardellitti, Irene	Italian Inst. of Tech.
Palli, Gianluca	Univ. of Bologna
Tsagarakis, Nikolaos	Italian Inst. of Tech. (IIT)
Caldwell, Darwin G.	Italian Inst. of Tech.
17:00-17:20, Paper TuET11.2
Hysteresis in Gait Transition Induced by Changing Waist Joint Stiffness of a Quadruped Robot Driven by Nonlinear Oscillators with Phase Resetting
Aoi, Shinya	Kyoto Univ.
Yamashita, Tsuyoshi	Kyoto Univ.
Ichikawa, Akira	Kyoto Univ.
Tsuchiya, Kazuo	Kyoto Univ.
17:20-17:40, Paper TuET11.3
A Biomimetic Approach to Robot Table Tennis
Muelling, Katharina	Max Planck Inst. for Biological Cybernetics
Kober, Jens	Max-Planck Inst. for Biological Cybernetics
Peters, Jan	Max-Planck Inst. for Bio. Cybernetics
17:40-18:00, Paper TuET11.4
An Adaptive Switching Behavior between Levy and Brownian Random Search in a Mobile Robot Based on Biological Fluctuation
Nurzaman, Surya G.	Osaka Univ.
Matsumoto, Yoshio	National Inst. of Advanced Industrial Science and Tech.
Nakamura, Yutaka	Osaka Univ.
Shirai, Kazumichi	Osaka Univ.
Koizumi, Satoshi	Osaka Univ.
Ishiguro, Hiroshi	Osaka Univ.
18:00-18:20, Paper TuET11.5
Allostatic Control for Robot Behaviour Regulation: An Extension to Path Planning  (Video)
Sanchez Fibla, Marti	Univ. Pompeu Fabra (UPF)
Bernardet, Ulysess	UPF
Verschure, Paul	Catalan Inst. of Advanced Studies (ICREA), Foundation
18:20-18:40, Paper TuET11.6
Implementation of an Overblowing Correction Controller and the Proposal of a Quantitative Assessment of the Sound%27s Pitch for the Anthropomorphic Saxophonist Robot WAS-2
Solis, Jorge	Waseda Univ.
Petersen, Klaus	Waseda Univ.
Yamamoto, Tetsuro	Waseda Univ.
Takeuchi, Masaki	Waseda Univ.
Ishikawa, Shimpei	Waseda Univ.
Takanishi, Atsuo	Waseda Univ.
Hashimoto, Kunimatsu	Toyota Motor Corp.

TuET12 Invited Sessions, 202A
Robot Audition III
Chair: Rodemann, Tobias	Honda Res. Inst. Europe
Co-Chair: Nakadai, Kazuhiro	Honda Res. Inst. Japan Co., Ltd.
Organizer: Nakadai, Kazuhiro	Honda Res. Inst. Japan Co., Ltd.
Organizer: Okuno, Hiroshi G.	Kyoto Univ.
Organizer: Danès, Patrick	Univ. de Toulouse ; LAAS-CNRS ; UPS ; F-31077
Organizer: Rodemann, Tobias	Honda Res. Inst. Europe
16:40-17:00, Paper TuET12.1
Speedup and Performance Improvement of ICA-Based Robot Audition by Parallel and Resampling-Based Block-Wise Processing (I)
Takeda, Ryu	Kyoto Univ.
Nakadai, Kazuhiro	Honda Res. Inst. Japan Co., Ltd.
Takahashi, Toru	Kyoto Univ.
Komatani, Kazunori	Kyoto Univ.
Ogata, Tetsuya	Kyoto Univ.
Okuno, Hiroshi G.	Kyoto Univ.
17:00-17:20, Paper TuET12.2
Human-Robot Ensemble between Robot Thereminst and Human Percussionist Using Coupled Oscillator Model (I)
Mizumoto, Takeshi	Kyoto Univ.
Otsuka, Takuma	Kyoto Univ.
Nakadai, Kazuhiro	Honda Res. Inst. Japan Co., Ltd.
Takahashi, Toru	Kyoto Univ.
Komatani, Kazunori	Kyoto Univ.
Ogata, Tetsuya	Kyoto Univ.
Okuno, Hiroshi G.	Kyoto Univ.
17:20-17:40, Paper TuET12.3
Robot Musical Accompaniment: Integrating Audio and Visual Cues for Real-Time Synchronization with a Human Flutist (I)
Lim, Angelica	Graduate School of Informatics, Kyoto Univ.
Mizumoto, Takeshi	Kyoto Univ.
Cahier, Louis-Kenzo	Kyoto Univ.
Otsuka, Takuma	Kyoto Univ.
Takahashi, Toru	Kyoto Univ.
Komatani, Kazunori	Kyoto Univ.
Ogata, Tetsuya	Kyoto Univ.
Okuno, Hiroshi G.	Kyoto Univ.
17:40-18:00, Paper TuET12.4
Detection of Acoustic Patterns by Stochastic Matched Filtering (I)
Bonnal, Julien	CNRS; LAAS
Danès, Patrick	Univ. de Toulouse ; LAAS-CNRS ; UPS ; F-31077
Renaud, Marc	Univ. de Toulouse ; UPS, INSA, INP, ISAE ; LAAS
18:00-18:20, Paper TuET12.5
Information-Theoretic Detection of Broadband Sources in a Coherent Beamspace MUSIC Scheme (I)
Danès, Patrick	Univ. de Toulouse ; LAAS-CNRS ; UPS ; F-31077
Bonnal, Julien	CNRS; LAAS
18:20-18:40, Paper TuET12.6
Sound Interval Detection of Multiple Sources Based on Sound Directivity (I)
Ishi, Carlos Toshinori	ATR
Liang, Dong	Osaka Univ.
Ishiguro, Hiroshi	Osaka Univ.
Hagita, Norihiro	ATR

TuET13 Regular Sessions, 202B
Control Architectures and Programming II
Chair: Luh, Peter	Univ. of Connecticut
Co-Chair: Powers, Matthew	Carnegie Mellon Univ.
16:40-17:00, Paper TuET13.1
LTLMoP: Experimenting with Language, Temporal Logic and Robot Control  (Video)
Finucane, Cameron	Cornell Univ.
Jing, Gangyuan	Cornell Univ.
Kress-Gazit, Hadas	Cornell Univ.
17:00-17:20, Paper TuET13.2
Deriving Concurrent Control Software from Behavioral Specifications
Ramanathan, Ganesh	Siemens AG, Switzerland
Morandi, Benjamin	Swiss Federal Inst. of Tech. Zurich
West, Scott	Swiss Federal Inst. of Tech. Zurich
Nanz, Sebastian	Swiss Federal Inst. of Tech. Zurich
Meyer, Bertrand	Swiss Federal Inst. of Tech. Zurich
17:20-17:40, Paper TuET13.3
Controlling Redundant Robot Arm-Trunk Systems for Human-Like Reaching Motion
Bhattacharjee, Tapomayukh	KAIST
Oh, Yonghwan	KIST
Bae, Ji-Hun	Korea Inst. of Industrial Tech.
Oh, Sang-Rok	KIST
17:40-18:00, Paper TuET13.4
Formal Design of a Provably Safe Robotic Roundabout System
Duperret, Jeffrey	Univ. of Michigan
Hafner, Michael	Univ. of Michigan
Del Vecchio, Domitilla	Univ. of Michigan, Ann Arbor
18:00-18:20, Paper TuET13.5
Incremental Adaptive Integration of Layers of a Hybrid Control Architecture
Powers, Matthew	Carnegie Mellon Univ.
Balch, Tucker	Georgia Inst. of Tech.
18:20-18:40, Paper TuET13.6
Distributed Control Architecture for Smart Surfaces  (Video)
Boutoustous, Kahina	Lab. d'Informatique de l'Univ. de Franche-Comté
Laurent, Guillaume J.	FEMTO-ST Inst. - CNRS - ENSMM - Univ. de Franche-Comté
Dedu, Eugen	Lab. d'Informatique de l'Univ. de Franche-Comté
Matignon, Laetitia	UMR CNRS 6174 - UFC / ENSMM / UTBM
Bourgeois, Julien	Lab. d'Informatique de l'Univ. de Franche-Comté
Le Fort-Piat, Nadine	FEMTO-ST

TuET14 Regular Sessions, 203A
Sensor Fusion II
Chair: Tsai, Ching-Chih	National Chung Hsing Univ.
Co-Chair: Aghili, Farhad	Canadian Space Agency
16:40-17:00, Paper TuET14.1
Integrating IMU and Landmark Sensors for 3D SLAM and the Observability Analysis
Aghili, Farhad	Canadian Space Agency
17:00-17:20, Paper TuET14.2
Segmentation of Dense Range Information in Complex Urban Scenes
Schoenberg, Jonathan R.	Cornell Univ.
Nathan, Aaron	Cornell Univ.
Campbell, Mark	Cornell Univ.
17:20-17:40, Paper TuET14.3
Sub-Meter Indoor Localization in Unmodified Environments with Inexpensive Sensors  (Video)
Quigley, Morgan	Stanford Univ.
Stavens, David Michael	Stanford Univ.
Coates, Adam	Stanford Univ.
Thrun, Sebastian	Stanford Univ.
17:40-18:00, Paper TuET14.4
Probabilistic Rule Set Joint State Update As Approximation to the Full Joint State Estimation Applied to Multi Object Scene Analysis
Grundmann, Thilo	Siemens AG
Fiegert, Michael	Siemens AG
Burgard, Wolfram	Univ. of Freiburg
18:00-18:20, Paper TuET14.5
Embedding Range Information on Omnidirectional Images through Laser Range Finder
Bacca Cortes, Eval Bladimir	Univ. of Girona
Mouaddib, El Mustapha	Univ. of Picardie Jules Verne
Cufi, Xavier	Univ. of Girona
18:20-18:40, Paper TuET14.6
Enriched Indoor Environment Map Building Using Multi-Sensor Based Fusion Approach
Luo, Ren	National Taiwan Univ.
Lai, Chun C.	National Chung Cheng Univ.
Hsiao, Chin-Chi	Industrial Tech. Res. Inst.