| WA1-1: | Mobile Robot Control I |
| Room: | Convention Hall No. 3, Level 3 < map > |
| Time: | 9:30-10:45 Wednesday October 11, 2006 |
| Chairs: | Rajiv Dubey, Yangmin Li |
| #1 (9:30~9:48) | |
| Paper ID: | 139 |
| Title: | A New Method of Executing Multiple Auxiliary Tasks by Redundant Nonholonomic Mobile Manipulators |
| Authors: | Yugang Liu, Yangmin Li |
| #2 (9:48~10:06) | |
| Paper ID: | 1205 |
| Title: | Motion Planning for a Mobile Manipulator Based on Joint Motions for Error Recovery |
| Authors: | Kimitoshi Yamazaki, Masahiro Tomono, Takashi Tsubouchi, Shin'ichi Yuta |
| #3 (10:06~10:24) | |
| Paper ID: | 518 |
| Title: | Development and Implementation of a Fault-Tolerant Vehicle-Following Controller for a Four-Wheel-Steering Vehicle |
| Authors: | Danwei Wang, Minhtuan Pham, Chang Boon Low, Chaisoon Tan |
| #4 (10:24~10:42) | |
| Paper ID: | 2163 |
| Title: | Design, Construction and Control of a 7 DoF Wheelchair-Mounted Robotic Arm |
| Authors: | Redwan Alqasemi, Kevin Edwards, Rajiv Dubey |
| < Go to Top > |
| WA1-2: | Localization I |
| Room: | Convention Hall No. 4, Level 3 < map > |
| Time: | 9:30-10:45 Wednesday October 11, 2006 |
| Chairs: | Daniel Goehring, Weingarten Jan |
| #1 (9:30~9:48) | |
| Paper ID: | 918 |
| Title: | Mutual Information Based Sensor Registration and Callibration |
| Authors: | Alen Alempijevic, Sarath Kodagoda, James Underwood, Suresh Kumar, Gamini Dissanayake |
| #2 (9:48~10:06) | |
| Paper ID: | 99 |
| Title: | Multi Robot Object Tracking and Self Localization Using Visual Percept Relations |
| Authors: | Daniel Goehring, Hans-Dieter Burkhard |
| #3 (10:06~10:24) | |
| Paper ID: | 1085 |
| Title: | Robot Localization Sensor for Development of Wireless Location Sensing Network |
| Authors: | Heesung Chae, Wonpil Yu, Jaeyeong Lee, Young-Jo Cho |
| #4 (10:24~10:42) | |
| Paper ID: | 739 |
| Title: | Theoretical Results on On-line Sensor Self-Calibration |
| Authors: | Agostino Martinelli, Jan Weingarten, Roland Siegwart |
| < Go to Top > |
| WA1-3: | Vision Applications |
| Room: | Convention Hall No. 6, Level 2 < map > |
| Time: | 9:30-10:45 Wednesday October 11, 2006 |
| Chairs: | Patrick Rives, Yan-Bin Jia |
| #1 (9:30~9:48) | |
| Paper ID: | 821 |
| Title: | Real-time Robust Detection of Planar Regions in a Pair of Images |
| Authors: | Geraldo Silveira, Ezio Malis, Patrick Rives |
| #2 (9:48~10:06) | |
| Paper ID: | 749 |
| Title: | Surface Recognition by Registering Data Curves from Touch |
| Authors: | Rinat Ibrayev, Yan-Bin Jia |
| #3 (10:06~10:24) | |
| Paper ID: | 82 |
| Title: | Online Approaches to Camera Pose Recalibration |
| Authors: | Fangwu Shu, Werner Neddermeyer, Jianwei Zhang |
| #4 (10:24~10:42) | |
| Paper ID: | 1227 |
| Title: | An Embedded Optical Flow Processor for Visual Navigation Using Optical Correlator Technology |
| Authors: | Valerij Tchernykh, Martin Beck, Klaus Janschek |
| < Go to Top > |
| WA1-4: | Wire Driven Manipulators |
| Room: | Convention Hall No. 5, Level 2 < map > |
| Time: | 9:30-10:45 Wednesday October 11, 2006 |
| Chairs: | Hisashi Osumi, Ou Ma |
| #1 (9:30~9:48) | |
| Paper ID: | 304 |
| Title: | Control of a Redundant Manipulator Mounted on a Base Plate Suspended by Six Wires |
| Authors: | Hisashi Osumi, Masayuki Saitoh |
| #2 (9:48~10:06) | |
| Paper ID: | 603 |
| Title: | Adaptive Position Control for Fully Constrained Parallel Wire Driven Systems |
| Authors: | H. Kino, T. Yahiro, F. Takemura, T. Morizono |
| #3 (10:06~10:24) | |
| Paper ID: | 1064 |
| Title: | Workspace Performance Optimization of Fully Restrained Cable-Driven Parallel Manipulators |
| Authors: | Guilin Yang, Cong Bang Pham, Song Huat Yeo |
| #4 (10:24~10:42) | |
| Paper ID: | 1301 |
| Title: | Reactionless Control for Two Manipulators Mounted on a Cable-Suspended Platform |
| Authors: | Roberto Lampariello, Johann Heindl, Ralf Koeppe, Gerd Hirzinger |
| < Go to Top > |
| WA1-5: | Perception and Navigation for Automated Vehicles I |
| Room: | Convention Hall No. 14, Level 3 < map > |
| Time: | 9:30-10:45 Wednesday October 11, 2006 |
| Chairs: | Christian Laugier, Thierry Fraichard |
| #1 (9:30~9:48) | |
| Paper ID: | 494 |
| Title: | Integrating Perception and Planning for Autonomous Navigation of Urban Vehicles |
| Authors: | Rodrigo Benenson, Stephane Petti, Thierry Fraichard, Michel Parent |
| #2 (9:48~10:06) | |
| Paper ID: | 604 |
| Title: | Efficient GPU-based Construction of Occupancy Grids Using Several Laser Range-finders |
| Authors: | Manuel Yguel, Olivier Aycard, Christian Laugier |
| #3 (10:06~10:24) | |
| Paper ID: | 693 |
| Title: | A Laserscanner-Vision Fusion System Implemented on the TerraMax Autonomous Vehicle |
| Authors: | Alberto Broggi, Stefano Cattani, Pier Paolo Porta, Paolo Zani |
| #4 (10:24~10:42) | |
| Paper ID: | 909 |
| Title: | Lane Detection in Some Complex Conditions |
| Authors: | Wennan Zhu, Qiang Chen, Hong Wang |
| < Go to Top > |
| WA1-6: | Autonomous Aerial Vehicles |
| Room: | Convention Hall No. 12, Level 3 < map > |
| Time: | 9:30-10:45 Wednesday October 11, 2006 |
| Chairs: | Hiroshi Kawano, Sang Chul Ahn |
| #1 (9:30~9:48) | |
| Paper ID: | 158 |
| Title: | Three Dimensional Obstacle Avoidance of Autonomous Blimp Flying in Unknown Disturbance |
| Authors: | Hiroshi Kawano |
| #2 (9:48~10:06) | |
| Paper ID: | 1154 |
| Title: | Flying Display: Autonomous Blimp with Real-Time Visual Tracking and Image Projection |
| Authors: | Seungyong Oh, Sungchul Kang, Kyungjoon Lee, Sangchul Ahn, Euntai Kim |
| #3 (10:06~10:24) | |
| Paper ID: | 1055 |
| Title: | Trim Trajectories Characterization for an Unmanned Autonomous Airship |
| Authors: | Salim Hima, Yasmina Bestaoui |
| #4 (10:24~10:42) | |
| Paper ID: | 566 |
| Title: | Adaptive Robust Control Techniques Applied to the Yaw Control of a Small-scale Helicopter |
| Authors: | Xingang Zhao, Zhe Jiang, Jianda Han, Guangjun Liu |
| < Go to Top > |
| WA1-7: | Diagnostic Tools |
| Room: | Convention Hall No. 13, Level 3 < map > |
| Time: | 9:30-10:45 Wednesday October 11, 2006 |
| Chairs: | Mamoru Mitsuishi, Max Meng |
| #1 (9:30~9:48) | |
| Paper ID: | 283 |
| Title: | A Training Simulator for Intraoral Radiography |
| Authors: | Tatushi Tokuyasu, Yusuke Fujii, Motoji Yamamoto, Kazutoshi Okamura, Kazunori Yoshiura |
| #2 (9:48~10:06) | |
| Paper ID: | 416 |
| Title: | Probe Positioning Support Utilizing Shoulder Model for Ultrasound Diagnosis |
| Authors: | Norihiro Koizumi, Takehiko Tsurumi, Shin'ichi Warisawa, Mamoru Mitsuishi, Hiroyuki Hashizume |
| #3 (10:06~10:24) | |
| Paper ID: | 1545 |
| Title: | The Calibration of 3-Axis Magnetic Sensor Array System for Tracking Wireless Capsule Endoscope |
| Authors: | Chao Hu, Max Q.-H. Meng, Mrinal Mandal |
| #4 (10:24~10:42) | |
| Paper ID: | 1175 |
| Title: | Development and Kinematic Analysis of a Silicone-rubber Bending tip for Colonoscopy |
| Authors: | G. Chen, M. T. Pham, T. Redarce |
| < Go to Top > |
| WA1-8: | Mobiligence |
| Room: | Convention Hall No. 15, Level 3 < map > |
| Time: | 9:30-10:45 Wednesday October 11, 2006 |
| Chairs: | Akio Ishiguro, Hajime Asama |
| #1 (9:30~9:48) | |
| Paper ID: | 596 |
| Title: | A Development of a Modular Robot That Enables Adaptive Reconfiguration |
| Authors: | Masahiro Shimizu, Takafumi Mori, Akio Ishiguro |
| #2 (9:48~10:06) | |
| Paper ID: | 615 |
| Title: | Turning Maneuvers of a Multi-legged Modular Robot Using Its Inherent Dynamic Characteristics |
| Authors: | Shinya Aoi, Hitoshi Sasaki, Kazuo Tsuchiya |
| #3 (10:06~10:24) | |
| Paper ID: | 660 |
| Title: | Obstacle Avoidance of a Mobile Robot Group Using a Nonlinear Oscillator Network |
| Authors: | Daisuke Kurabayashi, Kunio Okita, Tetsuro Funato |
| #4 (10:24~10:42) | |
| Paper ID: | 1224 |
| Title: | A Distributed Motor Control System based on Spinal Cord and Musculoskeletal Mechanisms |
| Authors: | Tomoaki Nagano, Toshiyuki Kondo, Koji Ito |
| < Go to Top > |
| WA1-9: | Mobile Robots I |
| Room: | Convention Hall No. 8, Level 2 < map > |
| Time: | 9:30-10:45 Wednesday October 11, 2006 |
| Chairs: | Arthur Sanderson, Udo Frese |
| #1 (9:30~9:48) | |
| Paper ID: | 422 |
| Title: | Location-driven Retrieval of Images Collected by a Mobile Robot |
| Authors: | Kanji Tanaka, Mitsuru Hirayama, Nobuhiro Okada, Eiji Kondo |
| #2 (9:48~10:06) | |
| Paper ID: | 86 |
| Title: | Robot Navigation Based on the Mapping of Coarse Qualitative Route Descriptions to Route Graphs |
| Authors: | Christian Mandel, Udo Frese, Thomas Rofer |
| #3 (10:06~10:24) | |
| Paper ID: | 390 |
| Title: | ARGOS ¨C System for Heterogeneous Mobile Robot Teleoperation |
| Authors: | Ludek Zalud |
| #4 (10:24~10:42) | |
| Paper ID: | 1509 |
| Title: | A Non-Parametric Iterative Algorithm For Adaptive Sampling And Robotic Vehicle Path Planning |
| Authors: | Vadiraj Hombal, Arthur C. Sanderson, Richard Blidberg |
| < Go to Top > |
| WA1-10: | Vision Algorithms |
| Room: | Convention Hall No. 16A, Level 3 < map > |
| Time: | 9:30-10:45 Wednesday October 11, 2006 |
| Chairs: | Ezio Malis, Richard Alan Peters |
| #1 (9:30~9:48) | |
| Paper ID: | 1065 |
| Title: | Experiments with Robust Estimation Techniques in Real-time Robot Vision |
| Authors: | Ezio Malis, Eric Marchand |
| #2 (9:48~10:06) | |
| Paper ID: | 585 |
| Title: | Wavelet-based Focus Measure and 3-D Surface Reconstruction Method for Microscopy Images |
| Authors: | Hui Xie, Weibin Rong, Lining Sun |
| #3 (10:06~10:24) | |
| Paper ID: | 913 |
| Title: | Registration of Point Clouds for 3D Shape Inspection |
| Authors: | Quan Shi, Ning Xi, Yifan Chen, Weihua Sheng |
| #4 (10:24~10:42) | |
| Paper ID: | 22 |
| Title: | Image Mapping and Visual Attention on a Sensory Ego-Sphere |
| Authors: | Katherine Achim Fleming, Richard Alan Peters II, Robert E. Bodenheimer |
| < Go to Top > |
| WA1-11: | Rehabilitation Robotics |
| Room: | Convention Hall No. 10, Level 3 < map > |
| Time: | 9:30-10:45 Wednesday October 11, 2006 |
| Chairs: | Fathi Ouezdou, Philippe Fraisse |
| #1 (9:30~9:48) | |
| Paper ID: | 1086 |
| Title: | A Reconfigurable Evaluation and Assistance Platform for Handicapped People |
| Authors: | H. Peralta, C. Riman, R. Thieffry, E. Monacelli, F.B. Ouezdou, Y. Alayli, G. De Matteo, J. Bouteille, I. Laffont, I. Mougharbel, A. El-Hajj |
| #2 (9:48~10:06) | |
| Paper ID: | 1630 |
| Title: | Design and Kinematics Analysis of Parallel Robots for Ankle Rehabilitation |
| Authors: | Gengqian Liu, Jinlian Gao, Hong Yue, Xiaojun Zhang, Guangda Lu |
| #3 (10:06~10:24) | |
| Paper ID: | 1174 |
| Title: | Closed Loop Nonlinear Model Predictive Control Applied On Paralyzed Muscles To Restore Lower Limbs Functions |
| Authors: | Samer Mohammed, Philippe Poignet, David Guiraud |
| #4 (10:24~10:42) | |
| Paper ID: | 373 |
| Title: | A Cooperative Control Scheme for Robotic Rehabilitation of Arm Impairment after Stroke |
| Authors: | P. Culmer, A. Jackson, M.C. Levesley, R. Richardson, J.A. Cozens, M. Mon Williams, B.B. Bhakta |
| < Go to Top > |
| WA1-12: | Collision Avoidance |
| Room: | Convention Hall No. 16B, Level 3 < map > |
| Time: | 9:30-10:45 Wednesday October 11, 2006 |
| Chairs: | Alicia Casals, Gary M. Bone |
| #1 (9:30~9:48) | |
| Paper ID: | 1324 |
| Title: | Motion Generation for Human-Robot Cooperation considering Range of Joint Movement |
| Authors: | Fumi Seto, Yasuhisa Hirata, Kazuhiro Kosuge |
| #2 (9:48~10:06) | |
| Paper ID: | 221 |
| Title: | Real-time 3D Collision Avoidance Method for Safe Human and Robot Coexistance |
| Authors: | Lucian Balan, Gary M. Bone |
| #3 (10:06~10:24) | |
| Paper ID: | 43 |
| Title: | Human-robot Interaction Based on a Sensitive Bumper Skin |
| Authors: | Manel Frigola, Alicia Casals, Josep Amat |
| #4 (10:24~10:42) | |
| Paper ID: | 242 |
| Title: | Signature Graphs for Effective Localization |
| Authors: | Sven Ronnback, Tomas Berglund, Hakan Fredriksson, Kalevi Hyyppa |
| < Go to Top > |
| WA1-13: | Micro Manipulation and Assembly I |
| Room: | Convention Hall No. 11, Level 3 < map > |
| Time: | 9:30-10:45 Wednesday October 11, 2006 |
| Chairs: | Metin Sitti, Sergej Fatikow |
| #1 (9:30~9:48) | |
| Paper ID: | 488 |
| Title: | Assembly inside a Scanning Electron Microscope Using Electron Beam induced Deposition |
| Authors: | T. Wich, T. Sievers, S. Fatikow |
| #2 (9:48~10:06) | |
| Paper ID: | 125 |
| Title: | Stiffness Modeling of a Spatial 3-DOF Compliant Parallel Micromanipulator |
| Authors: | Qingsong Xu, Yangmin Li |
| #3 (10:06~10:24) | |
| Paper ID: | 31 |
| Title: | Voxel-based Modeling and Rendering for Virtual MEMS Fabrication Proces |
| Authors: | Guangyi Sun, Xin Zhao, Guizhang Lu |
| #4 (10:24~10:42) | |
| Paper ID: | 658 |
| Title: | A Layered Control Architecture for Autonomous Robotic Fish |
| Authors: | Jindong Liu, Huosheng Hu, Dongbing Gu |
| < Go to Top > |
| WA1-14: | Mobile Sensing |
| Room: | Convention Hall No. 3030, Level 3 < map > |
| Time: | 9:30-10:45 Wednesday October 11, 2006 |
| Chairs: | Ehud Rivlin, Michael Pardowitz |
| #1 (9:30~9:48) | |
| Paper ID: | 1334 |
| Title: | Concurrent Path and Sensor Planning for a UAV - Towards an Information Based Approach Incorporating Models of Environment and Sensor |
| Authors: | Per Skoglar, Jonas Nygards, Morgan Ulvklo |
| #2 (9:48~10:06) | |
| Paper ID: | 679 |
| Title: | Experimental Analysis of Overhead Data Processing to Support Long Range Navigation |
| Authors: | David Silver, Boris Sofman, Nicolas Vandapel, J. Andrew Bagnell, Anthony Stentz |
| #3 (10:06~10:24) | |
| Paper ID: | 843 |
| Title: | EKF-based Adaptive Sampling with Mobile Robotic Sensor Nodes |
| Authors: | D. O. Popa, M. F. Mysorewala, F. L. Lewis |
| #4 (10:24~10:42) | |
| Paper ID: | 1333 |
| Title: | A Randomized Method for Integrated Exploration |
| Authors: | Luigi Freda, Francesco Loiudice, Giuseppe Oriolo |
| < Go to Top > |
| WA1-15: | Humanoid Robots I: Walking Algorithms |
| Room: | Convention Hall No. 7, Level 2 < map > |
| Time: | 9:30-10:45 Wednesday October 11, 2006 |
| Chairs: | Changjiu Zhou, Jindong Tan |
| #1 (9:30~9:48) | |
| Paper ID: | 85 |
| Title: | Parametric Walking Patterns and Optimum Atlases for Underactuated Biped Robots |
| Authors: | Chenglong Fu, Mei Shuai, Yuanlin Huang, Jianmei Wang, Ken Chen |
| #2 (9:48~10:06) | |
| Paper ID: | 814 |
| Title: | Real-time 3D SLAM for Humanoid Robot Considering Pattern Generator Information |
| Authors: | Olivier Stasse, Andrew J. Davison, Ramzi Sellaouti, Kazuhito Yokoi |
| #3 (10:06~10:24) | |
| Paper ID: | 567 |
| Title: | Gait Perception and Coordinated Control of a Novel Biped Robot with Heterogeneous Legs |
| Authors: | Xinhe Xu, Hualong Xie, Binrui Wang, Jindong Tan |
| #4 (10:24~10:42) | |
| Paper ID: | 517 |
| Title: | Estimating Probability Distribution with Q-learning for Biped Gait Generation and Optimization |
| Authors: | Lingyun Hu, Changjiu Zhou, Zengqi Sun |
| < Go to Top > |
| WA1-16: | Robot Audition I |
| Room: | Convention Hall No. 16C, Level 3 < map > |
| Time: | 9:30-10:45 Wednesday October 11, 2006 |
| Chairs: | Hiroshi G. Okuno, Tobias Rodemann |
| #1 (9:30~9:48) | |
| Paper ID: | 312 |
| Title: | Auditory Inspired Binaural Robust Sound Source Localization in Echoic and Noisy Environments |
| Authors: | Martin Heckmann, Tobias Rodemann, Frank Joublin, Christian Goerick, Bjoern Schoelling |
| #2 (9:48~10:06) | |
| Paper ID: | 519 |
| Title: | Evaluation of Prosodic and Voice Quality Features on Automatic Extraction of Paralinguistic Information |
| Authors: | Carlos Toshinori Ishi, Hiroshi Ishiguro, Norihiro Hagita |
| #3 (10:06~10:24) | |
| Paper ID: | 866 |
| Title: | Multiple Sound Source Mapping for a Mobile Robot by Self-motion Triangulation |
| Authors: | Yoko Sasaki, Satoshi Kagami, Hiroshi Mizoguchi |
| #4 (10:24~10:42) | |
| Paper ID: | 996 |
| Title: | Spectral Cues for Robust Sound Localization with Pinnae |
| Authors: | Tomoko Shimoda, Toru Nakashima, Makoto Kumon, Ryuichi Kohzawa, Ikuro Mizumoto, Zenta Iwai |
| < Go to Top > |
| WA2-1: | Distributed Robot Control |
| Room: | Convention Hall No. 3, Level 3 < map > |
| Time: | 11:00-12:30 Wednesday October 11, 2006 |
| Chairs: | Majid Nil Ahmadabad, Vicente Parra-Vega |
| #1 (11:00~11:18) | |
| Paper ID: | 528 |
| Title: | Decentralized Kinematic Motion Control for Multiple Axle Compliant Framed Modular Wheeled Mobile Robots |
| Authors: | Youngshik Kim, Mark A. Minor |
| #2 (11:18~11:36) | |
| Paper ID: | 938 |
| Title: | An Analysis of Random Peer-to-Peer Communication for System-Level Coordination in Decentralized Multiple-Robot Systems |
| Authors: | Chris A. C. Parker, Hong Zhang |
| #3 (11:36~11:54) | |
| Paper ID: | 1529 |
| Title: | A Decentralized Algorithm to Adaptive Trajectory Planning for a Group of Nonholonomic Mobile Robots |
| Authors: | A. Gil-Pinto, P. Fraisse, R. Zapata |
| #4 (11:54~12:12) | |
| Paper ID: | 1998 |
| Title: | Superposition of Quadratic Potential Force Fields for Distributed Manipulation |
| Authors: | Konstantinos Varsos, Jonathan Luntz |
| #5 (12:12~12:30) | |
| Paper ID: | 2121 |
| Title: | Learning Distributed Object Pushing: Individual Learning and Distributed Cooperation Protocol |
| Authors: | Hossein Aminaiee, Majid Nili Ahmadabadi |
| < Go to Top > |
| WA2-2: | Localization II |
| Room: | Convention Hall No. 4, Level 3 < map > |
| Time: | 11:00-12:30 Wednesday October 11, 2006 |
| Chairs: | Hyun Myung, Philippe Poignet |
| #1 (11:00~11:18) | |
| Paper ID: | 617 |
| Title: | Efficiency Improvement in Monte Carlo Localization through Topological Information |
| Authors: | Tae-Bum Kwon, Ju-Ho Yang, Jae-Bok Song, Woojin Chung |
| #2 (11:18~11:36) | |
| Paper ID: | 388 |
| Title: | Bug-based T2: A New Globally Convergent Potential Field Approach to Obstacle Avoidance |
| Authors: | Javier Antich, Alberto Ortiz |
| #3 (11:36~11:54) | |
| Paper ID: | 738 |
| Title: | Relative-Absolute Map Filter for Simultaneous Localization and Mapping |
| Authors: | Shu Yun Chung, Han Pang Huang |
| #4 (11:54~12:12) | |
| Paper ID: | 433 |
| Title: | Constrained Kalman Filter for Mobile Robot Localization with Gyroscope |
| Authors: | Hyun Myung, Hyoung-Ki Lee, Kiwan Choi, Seok-Won Bang, Yong-Beom Lee, Sang-Ryoung Kim |
| #5 (12:12~12:30) | |
| Paper ID: | 273 |
| Title: | Localization of Autonomous Robotic Vehicles Using A Neural-Network Approach |
| Authors: | Joseph Wong, Goldie Nejat, Robert G. Fenton, Beno Benhabib |
| < Go to Top > |
| WA2-3: | Haptics and Haptic Devices I |
| Room: | Convention Hall No. 6, Level 2 < map > |
| Time: | 11:00-12:30 Wednesday October 11, 2006 |
| Chairs: | Seungmoon Choi, Sung-Uk Lee |
| #1 (11:00~11:18) | |
| Paper ID: | 265 |
| Title: | Haptic Control Design for Robotic-Assisted Minimally Invasive Surgery |
| Authors: | Rui Cortesao, Walid Zarrad, Philippe Poignet, Olivier Company, Etienne Dombre |
| #2 (11:18~11:36) | |
| Paper ID: | 1002 |
| Title: | Analysis and Optimal Design of a New 6 DOF Parallel Type Haptic Device |
| Authors: | Sung-Uk Lee, Seungho Kim |
| #3 (11:36~11:54) | |
| Paper ID: | 1023 |
| Title: | Development of Wearable Haptic System for Tangible Studio to Experience a Virtual Heritage Alive |
| Authors: | Dongseok Ryu, Kyoungwon Moon, Sungchul Kang, Munsang Kim, Jae-Bok Song |
| #4 (11:54~12:12) | |
| Paper ID: | 1455 |
| Title: | Detection Threshold and Mechanical Impedance of the Hand in a Pen-Hold Posture |
| Authors: | Ali Israr, Seungmoon Choi, Hong Z. Tan |
| #5 (12:12~12:30) | |
| Paper ID: | 1239 |
| Title: | Texture Display Mouse KAT: Vibrotactile Pattern and Roughness Display |
| Authors: | Ki-Uk Kyung, Seung-Chan Kim, Dong-Soo Kwon, Mandayam A. Srinivasan |
| < Go to Top > |
| WA2-4: | Parallel Manipulators I |
| Room: | Convention Hall No. 5, Level 2 < map > |
| Time: | 11:00-12:30 Wednesday October 11, 2006 |
| Chairs: | Chunping Sui, Wang Hongguang |
| #1 (11:00~11:18) | |
| Paper ID: | 83 |
| Title: | Static Measuring Model and Deadweight Compensation of a Stewart Platform Based Force/Torque Sensor |
| Authors: | Chunping Sui, Hongguang Wang, Lijin Fang, Mingyang Zhao |
| #2 (11:18~11:36) | |
| Paper ID: | 216 |
| Title: | Finite Element Analysis and Comparison of Two Hybrid Robots-the Tricept and the TriVariant |
| Authors: | Y. Y. Wang, T. Huang, X. M. Zhao, J. P. Mei, D. G. Chetwynd, S. J. Hu |
| #3 (11:36~11:54) | |
| Paper ID: | 748 |
| Title: | Dynamic Modeling and Identification of Par4, A Very High Speed Parallel Manipulator |
| Authors: | Vincent Nabat, Olivier Company, Francois Pierrot, Philippe Poigent |
| #4 (11:54~12:12) | |
| Paper ID: | 1078 |
| Title: | Finite Motion Validation for Parallel Manipulators: A Differential Geometry Approach |
| Authors: | Yuanqing Wu, Han Ding, Jian Meng, Zexiang Li |
| #5 (12:12~12:30) | |
| Paper ID: | 1332 |
| Title: | Kinematic Calibration of the 3-DOF Module of a 5-DOF Reconfigurable Hybrid Robot using a Double-Ball-Bar System |
| Authors: | T. Huang, Z.Y. Hong, J. P. Mei, D. G. Chetwynd |
| < Go to Top > |
| WA2-5: | Perception and Navigation for Automated Vehicles II |
| Room: | Convention Hall No. 14, Level 3 < map > |
| Time: | 11:00-12:30 Wednesday October 11, 2006 |
| Chairs: | Anne Spalanzai, Urbano Nunes |
| #1 (11:00~11:18) | |
| Paper ID: | 1161 |
| Title: | Pedestrians Tracking Using Offboard Cameras |
| Authors: | Olivier Aycard, Anne Spalanzani, Julien Burlet, Chiara Fulgenzi, Trung Dung Vu, David Raulo, Manuel Yguel |
| #2 (11:18~11:36) | |
| Paper ID: | 1254 |
| Title: | Localization of a Group of Communicating Vehicles by State Exchange |
| Authors: | Nadir Karam, Frederic Chausse, Romuald Aufrere, Roland Chapuis |
| #3 (11:36~11:54) | |
| Paper ID: | 1348 |
| Title: | Adaptive Interacting Multiple Models Applied on Pedestrian Tracking in Car Parks |
| Authors: | Julien Burlet, Olivier Aycard, Anne Spalanzani, Christian Laugier |
| #4 (11:54~12:12) | |
| Paper ID: | 1100 |
| Title: | Real-time Stereo and Optical Flow Data Fusion |
| Authors: | Christophe Braillon, Kane Usher, Cedric Pradalier, James L. Crowley, Christian Laugier |
| #5 (12:12~12:30) | |
| Paper ID: | 1458 |
| Title: | A Complete System for High-Speed Navigation of Prescribed Routes |
| Authors: | Chris Urmson, Alexander Gutierrez, Nick Miller, Kevin Peterson, Spencer Spiker, Josh Struble, William Whittaker |
| < Go to Top > |
| WA2-6: | Object Manipulation |
| Room: | Convention Hall No. 12, Level 3 < map > |
| Time: | 11:00-12:30 Wednesday October 11, 2006 |
| Chairs: | Jing Xiao, Mikhail Svinin |
| #1 (11:00~11:18) | |
| Paper ID: | 1456 |
| Title: | A System for Robotic Heart Surgery that Learns to Tie Knots Using Recurrent Neural Networks |
| Authors: | Hermann Mayer, Faustino Gomez, Daan Wierstra, Istvan Nagy, Alois Knoll, Jurgen Schmidhuber |
| #2 (11:18~11:36) | |
| Paper ID: | 940 |
| Title: | Modeling of Human-Like Reaching Movements in the Manipulation of Flexible Objects |
| Authors: | M. Svinin, I. Goncharenko, Z.W Luo, S. Hosoe |
| #3 (11:36~11:54) | |
| Paper ID: | 458 |
| Title: | Real-time and Accurate Multiple Contact Detection between General Curved Objects |
| Authors: | Wusheng Chou, Jing Xiao |
| #4 (11:54~12:12) | |
| Paper ID: | 675 |
| Title: | Experimental Study on Reaching Movements of Robot Arms with Redundant DOFs Based upon Virtual Spring-Damper Hypothesis |
| Authors: | Masahiro Sekimoto, Suguru Arimoto |
| #5 (12:12~12:30) | |
| Paper ID: | 1452 |
| Title: | Characterization of Living Drosophila Embryos Using Micro Robotic Manipulation System |
| Authors: | Yantao Shen, U. C. Wejinya, Ning Xi, Craig A. Pomeroy, Yonghui Xue, Zhun Fan |
| < Go to Top > |
| WA2-7: | Redundant and Underactuated Robots |
| Room: | Convention Hall No. 13, Level 3 < map > |
| Time: | 11:00-12:30 Wednesday October 11, 2006 |
| Chairs: | Ioannis Iossifidis, Xuzhi Lai |
| #1 (11:00~11:18) | |
| Paper ID: | 272 |
| Title: | Unified Treatment of Motion Control of Underacutuated Two-link Manipulators |
| Authors: | Xu-Zhi Lai, Jin-Hua She, Simon X. Yang, Min Wu |
| #2 (11:18~11:36) | |
| Paper ID: | 782 |
| Title: | Dynamical Systems Approach for the Autonomous Avoidance of Obstacles and Joint-limits for an Redundant Robot Arm |
| Authors: | Ioannis Iossifidis, Gregor Schoner |
| #3 (11:36~11:54) | |
| Paper ID: | 1135 |
| Title: | Fuzzy Switching Control of Underactuated Manipulators with Approximated Switching Regions |
| Authors: | Keisuke Ichida, Keigo Watanabe, Kiyotaka Izumi, Nobuhiro Uchida |
| #4 (11:54~12:12) | |
| Paper ID: | 1249 |
| Title: | On-line Optimization of Avoidance Ability for Redundant Manipulator |
| Authors: | Keiji Ikeda, Hiroshi Tanaka, Tong-xiao Zhang, Mamoru Minami, Yasushi Mae |
| #5 (12:12~12:30) | |
| Paper ID: | 1316 |
| Title: | Redundancy Resolution With Multiple Criteria |
| Authors: | Kwang-Kyu Lee, Martin Buss |
| < Go to Top > |
| WA2-8: | Modular and Reconfigurable Robots |
| Room: | Convention Hall No. 15, Level 3 < map > |
| Time: | 11:00-12:30 Wednesday October 11, 2006 |
| Chairs: | Katsuyuki Ukegawa, Wei-Min Shen |
| #1 (11:00~11:18) | |
| Paper ID: | 1111 |
| Title: | Modular Structure Assembly Using Gradient Field |
| Authors: | Yuzuru Terada, Satoshi Murata |
| #2 (11:18~11:36) | |
| Paper ID: | 355 |
| Title: | Transformation of Control in Congruent Self-Reconfigurable Robot Topologies |
| Authors: | Jacob Everist, Feili Hou, Wei-Min Shen |
| #3 (11:36~11:54) | |
| Paper ID: | 237 |
| Title: | Deadlock Resolution in Self-Assembly of Modular Structure Systems |
| Authors: | Katsuyuki Ukegawa, M.C. Natori |
| #4 (11:54~12:12) | |
| Paper ID: | 1124 |
| Title: | Docking Experiments of a Modular Robot by Visual Feedback |
| Authors: | Satoshi Murata, Kiyoharu Kakomura, Haruhisa Kurokawa |
| #5 (12:12~12:30) | |
| Paper ID: | 119 |
| Title: | Self-Assembly Through the Interplay between Control and Mechanical Systems |
| Authors: | Akio Ishiguro, Tomoki Maegawa |
| < Go to Top > |
| WA2-9: | Navigation I |
| Room: | Convention Hall No. 8, Level 2 < map > |
| Time: | 11:00-12:30 Wednesday October 11, 2006 |
| Chairs: | Raja Chatila, Takashi Kubota |
| #1 (11:00~11:18) | |
| Paper ID: | 175 |
| Title: | Avoiding Static and Dynamic Objects in Navigation |
| Authors: | Han Li, Yili Fu, He Xu, Yulin Ma |
| #2 (11:18~11:36) | |
| Paper ID: | 243 |
| Title: | A Fast Memory-Efficient Incremental Decision Tree Algorithm in its Application to Mobile Robot Navigation |
| Authors: | Erick Swere, David Mulvaney, Ian Sillitoe |
| #3 (11:36~11:54) | |
| Paper ID: | 882 |
| Title: | Linking Mobile Robot Performances with the Environment Using System Maps |
| Authors: | Jason Held, Alexandre Lampe, Raja Chatila |
| #4 (11:54~12:12) | |
| Paper ID: | 1245 |
| Title: | Collision Dynamics of Target Maker for Visual Navigation in Small Body Exploration |
| Authors: | Takashi Kubota, Shujiro Sawai, Tatsuaki Hashimoto, Junichiro Kawaguchi |
| #5 (12:12~12:30) | |
| Paper ID: | 1405 |
| Title: | Pair-wise Registration of 3D/Color Data Sets with ICP |
| Authors: | Lounis Douadi, Marie-Jose Aldon, Andre Crosnier |
| < Go to Top > |
| WA2-10: | Visual Tracking |
| Room: | Convention Hall No. 16A, Level 3 < map > |
| Time: | 11:00-12:30 Wednesday October 11, 2006 |
| Chairs: | Li-Chen Fu, Wolfram Burgard |
| #1 (11:00~11:18) | |
| Paper ID: | 67 |
| Title: | Homography-based Tracking for Central Catadioptric Cameras |
| Authors: | Christopher Mei, Selim Benhimane, Ezio Malis, Patrick Rives |
| #2 (11:18~11:36) | |
| Paper ID: | 239 |
| Title: | Multiple People Visual Tracking in a Multi-Camera System for Cluttered Environments |
| Authors: | Yu-Shan Cheng, Cheng-Ming Huang, Li-Chen Fu |
| #3 (11:36~11:54) | |
| Paper ID: | 353 |
| Title: | Real-time Vision-based Object Tracking from a Moving Platform in the Air |
| Authors: | Wei Ding, Zhenbang Gong, Shaorong Xie, Hairong Zou |
| #4 (11:54~12:12) | |
| Paper ID: | 1004 |
| Title: | Real-time Object Tracking of a Robot Head Based on Multiple Visual Cues Integration |
| Authors: | Yunting Pang, Qiang Huang, Weimin Zhang, Zhangfeng Hu, Altaf Hussain Rajpar, Kejie Li |
| #5 (12:12~12:30) | |
| Paper ID: | 1442 |
| Title: | Multiple Hypothesis Tracking of Clusters of People |
| Authors: | Manuel Mucientes, Wolfram Burgard |
| < Go to Top > |
| WA2-11: | Assistive Devices I |
| Room: | Convention Hall No. 10, Level 3 < map > |
| Time: | 11:00-12:30 Wednesday October 11, 2006 |
| Chairs: | Hiroshi Kobayashi, Lee Middleton |
| #1 (11:00~11:18) | |
| Paper ID: | 218 |
| Title: | A Virtual Nursing Simulator with Haptic Feedback for Nasotracheal Suctioning |
| Authors: | Lidia Mudura, Matthew Bruer, Imad H. Elhajj |
| #2 (11:18~11:36) | |
| Paper ID: | 730 |
| Title: | Experimentations with Handicapped Users on the Adaptation of the Wheelchair Control |
| Authors: | Thieffry Roland, Monacelli Eric, Delaplace Stephane |
| #3 (11:36~11:54) | |
| Paper ID: | 1105 |
| Title: | Towards the Adaptation of a Robotic Wheelchair for Cognitive Disabled Children |
| Authors: | L. Montesano, J. Minguez, J.M. Alcubierre, Luis Montano |
| #4 (11:54~12:12) | |
| Paper ID: | 956 |
| Title: | Development of Feeding Support System and Its Quantitative Estimation |
| Authors: | Hiroshi Kobayashi, Kentaro Konishi |
| #5 (12:12~12:30) | |
| Paper ID: | 1166 |
| Title: | Developing a Non-intrusive Biometric Environment |
| Authors: | Lee Middleton, David K. Wagg, Alex I. Bazin, John N. Carter, Mark S. Nixon |
| < Go to Top > |
| WA2-12: | Trajectory Planning |
| Room: | Convention Hall No. 16B, Level 3 < map > |
| Time: | 11:00-12:30 Wednesday October 11, 2006 |
| Chairs: | Chien Chern Cheah, Kroeger Torsten |
| #1 (11:00~11:18) | |
| Paper ID: | 90 |
| Title: | Suboptimal Trajectory Generation for Industrial Robots Using Trapezoidal Velocity Profiles |
| Authors: | T. Chettibi, M. Haddad, H. E. Lehtihet, W. Khalil |
| #2 (11:18~11:36) | |
| Paper ID: | 264 |
| Title: | Towards On-Line Trajectory Computation |
| Authors: | Torsten Kroeger, Adam Tomiczek, Friedrich M. Wahl |
| #3 (11:36~11:54) | |
| Paper ID: | 1096 |
| Title: | Optimal Trajectory Generation for Manipulator Robots under Thermal Constraints |
| Authors: | Matthieu Guilbert, Pierre-Brice Wieber, Luc Joly |
| #4 (11:54~12:12) | |
| Paper ID: | 440 |
| Title: | Study on Kinematics Decoupling for Parallel Manipulator with Perpendicular Structures |
| Authors: | Jianjun Zhang, Weimin Li, Xiaohui Wang, Feng Gao |
| #5 (12:12~12:30) | |
| Paper ID: | 1204 |
| Title: | Time-Optimal Trajectory Generation of a Fast-Motion Planar Parallel Manipulator |
| Authors: | Yanjie Liu, Chenqi Wang, Juan Li, Lining Sun |
| < Go to Top > |
| WA2-13: | Micro Manipulation and Assembly II |
| Room: | Convention Hall No. 11, Level 3 < map > |
| Time: | 11:00-12:30 Wednesday October 11, 2006 |
| Chairs: | Kenji Inoue, Yu Sun |
| #1 (11:00~11:18) | |
| Paper ID: | 989 |
| Title: | Design of Compliant MEMS Grippers for Micro-Assembly Tasks |
| Authors: | Byoung Hun Kang, John T. Wen |
| #2 (11:18~11:36) | |
| Paper ID: | 1018 |
| Title: | Effect of the Capillary Force on Force Measurements in Submerged Micromanipulations |
| Authors: | Mourad Nourine, Michael Gauthier |
| #3 (11:36~11:54) | |
| Paper ID: | 459 |
| Title: | Design of a Micro-Gripper and an Ultrasonic Manipulator for Handling Micron Sized Objects |
| Authors: | F. Beyeler, D.J. Bell, B.J. Nelson, Y. Sun, A. Neild, S. Oberti, J. Dual |
| #4 (11:54~12:12) | |
| Paper ID: | 973 |
| Title: | Design Optimization of a Compact 3-DOF Parallel Micro/Nano Finger Manipulator |
| Authors: | Ahmed A. Ramadan, Kenji Inoue, Tatsuo Arai, Tomohito Takubo |
| #5 (12:12~12:30) | |
| Paper ID: | 1389 |
| Title: | Submerged Freeze Gripper to Manipulate Micro-objects |
| Authors: | Beatriz Lopez Walle, Michael Gauthier, Nicolas Chaillet |
| < Go to Top > |
| WA2-14: | Range Sensors and Applications |
| Room: | Convention Hall No. 3030, Level 3 < map > |
| Time: | 11:00-12:30 Wednesday October 11, 2006 |
| Chairs: | George Mann, Jose A. Castellanos |
| #1 (11:00~11:18) | |
| Paper ID: | 1393 |
| Title: | 3D Time-of-flight Cameras for Mobile Robotics |
| Authors: | Stefan May, Bjorn Werner, Hartmut Surmann, Kai Pervolz |
| Related Video: | 025(Video Session 2) |
| #2 (11:18~11:36) | |
| Paper ID: | 880 |
| Title: | Adaptive Scale Robust Segmentation for 2D Laser Scanner |
| Authors: | Ruben Martinez-Cantin, Jose A. Castellanos, Juan D. Tardos, J. M. M. Montiel |
| #3 (11:36~11:54) | |
| Paper ID: | 1244 |
| Title: | Moving Object Detection in Indoor Environments Using Laser Range Data |
| Authors: | Dilan Amarasinghe, George K. I. Mann, Raymond G. Gosine |
| #4 (11:54~12:12) | |
| Paper ID: | 883 |
| Title: | Motion Estimation from Map Quality with Millimeter Wave Radar |
| Authors: | Manjari Chandran, Paul Newman |
| #5 (12:12~12:30) | |
| Paper ID: | 1247 |
| Title: | Rotating IR Sensor System for 2.5D Sensing |
| Authors: | Sooyong Lee, Wan-Kyun Chung |
| < Go to Top > |
| WA2-15: | Humanoid Robots II: Motion Planning |
| Room: | Convention Hall No. 7, Level 2 < map > |
| Time: | 11:00-12:30 Wednesday October 11, 2006 |
| Chairs: | Eiichi Yoshida, Kazuhito Yokoi |
| #1 (11:00~11:18) | |
| Paper ID: | 786 |
| Title: | Planning and Executing Navigation Among Movable Obstacles |
| Authors: | Mike Stilman, Koichi Nishiwaki, Satoshi Kagami, James J. Kuffner |
| #2 (11:18~11:36) | |
| Paper ID: | 770 |
| Title: | Smooth Collision Avoidance: Practical Issues in Dynamic Humanoid Motion |
| Authors: | Eiichi Yoshida, Claudia Esteves, Takeshi Sakaguchi, Jean-Paul Laumond, Kazuhito Yokoi |
| #3 (11:36~11:54) | |
| Paper ID: | 771 |
| Title: | Natural Motion Generation for Humanoid Robots |
| Authors: | Kensuke Harada, Kris Hauser, Tim Bretl, Jean-Claude Latombe |
| #4 (11:54~12:12) | |
| Paper ID: | 684 |
| Title: | Motion Pattern Generator and Reflex System for Humanoid Robots |
| Authors: | Riadh Zaier, Fumio Nagashima |
| #5 (12:12~12:30) | |
| Paper ID: | 1485 |
| Title: | Toward Interactive Reaching in Static Environments for Humanoid Robots |
| Authors: | Evan Drumwright, Victor Ng-Thow-Hing |
| < Go to Top > |
| WA2-16: | Robot Audition II |
| Room: | Convention Hall No. 16C, Level 3 < map > |
| Time: | 11:00-12:30 Wednesday October 11, 2006 |
| Chairs: | Kazhihiro Nakadai, Philippe Sou??¡§???¡§?res |
| #1 (11:00~11:18) | |
| Paper ID: | 291 |
| Title: | Real-Time Tracking of Multiple Sound Sources by Integration of In-Room and Robot-Embedded Microphone Arrays |
| Authors: | Kazuhiro Nakadai, Hirofumi Nakajima, Masamitsu Murase, Hiroshi G. Okuno, Yuji Hasegawa, Hiroshi Tsujino |
| #2 (11:18~11:36) | |
| Paper ID: | 467 |
| Title: | Real-time Sound Localization with a Binaural Head-system Using a Biologically-inspired Cue-triple Mapping |
| Authors: | Tobias Rodemann, Martin Heckmann, Frank Joublin, Christian Goerick, Bjorn Scholling |
| #3 (11:36~11:54) | |
| Paper ID: | 703 |
| Title: | Modal Analysis Based Beamforming for Nearfield or Farfield Speaker Localization in Robotics |
| Authors: | Sylvain Argentieri, Patrick Danes, Philippe Soueres |
| #4 (11:54~12:12) | |
| Paper ID: | 965 |
| Title: | The Effect of Head Movement on Sound Localization in an Acoustical Telepresence Robot: TeleHead |
| Authors: | Iwaki Toshima, Shigeaki Aoki |
| #5 (12:12~12:30) | |
| Paper ID: | 1288 |
| Title: | Missing-Feature based Speech Recognition for Two Simultaneous Speech Signals Separated by ICA with a Pair of Humanoid Ears |
| Authors: | Ryu Takeda, Shun'ichi Yamamoto, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno |
| < Go to Top > |
| WP1-1: | Motion Planning and Control |
| Room: | Convention Hall No. 3, Level 3 < map > |
| Time: | 14:00-15:50 Wednesday October 11, 2006 |
| Chairs: | David Brandt, Hiroe Hashiguchi |
| #1 (14:00~14:18) | |
| Paper ID: | 841 |
| Title: | Hierarchical Motion Planning for Self-reconfigurable Modular Robots |
| Authors: | Preethi Bhat, James Kuffner, Seth Goldstein, Siddhartha Srinivasa |
| #2 (14:18~14:36) | |
| Paper ID: | 1532 |
| Title: | Comparison of A* and RRT-Conect Motion Planning Techniques for Self-Reconfiguration Planning |
| Authors: | David Brandt |
| #3 (14:36~14:54) | |
| Paper ID: | 2038 |
| Title: | Dynamic Stabilization of an Under-Actuated Robot Using Dynamic Effects of the Legs and the Trunk |
| Authors: | Anthony David, Olivier Bruneau |
| #4 (14:54~15:12) | |
| Paper ID: | 1006 |
| Title: | Generation of Large Gymnastic Motions for a Family of Under-Actuated Robots by Zero-Moment-Manifold Control |
| Authors: | Hiroe Hashiguchi, Suguru Arimoto, Toyohide Sakamoto, Shoji Namikawa |
| #5 (15:12~15:30) | |
| Paper ID: | 1285 |
| Title: | Vision-based Control of Multi-fingered Robot Hands Using Neural Networks |
| Authors: | Y. Zhao, C. C. Cheah |
| #6 (15:30~15:48) | |
| Paper ID: | 165 |
| Title: | Ball Catching by a Puma Arm: a Nonlinear Dynamical Systems Approach |
| Authors: | Cristina Santos, Manuel Ferreira |
| < Go to Top > |
| WP1-2: | Vision Based Localization |
| Room: | Convention Hall No. 4, Level 3 < map > |
| Time: | 14:00-15:50 Wednesday October 11, 2006 |
| Chairs: | Darius Burschka, Gamini Dissanayake |
| #1 (14:00~14:18) | |
| Paper ID: | 14 |
| Title: | Simultaneous Localization and Mapping: A Stereo Vision Based Approach |
| Authors: | D. C. Herath, Sarath Kodagoda, Gamini Dissanayake |
| #2 (14:18~14:36) | |
| Paper ID: | 74 |
| Title: | A Visual Based Extended Monte Carlo Localization for Autonomous Mobile Robots |
| Authors: | Wen Shang, Dong Sun, Xudong Ma, Xianzhong Dai |
| #3 (14:36~14:54) | |
| Paper ID: | 1381 |
| Title: | BIRON, Where Are You? Enabling a Robot to Learn New Places in a Real Home Environment by Integrating Spoken Dialog and Visual Localization |
| Authors: | Thorsten Spexard, Shuyin Li, Britta Wrede, Jannik Fritsch, Gerhard Sagerer, Olaf Booij, Zoran Zivkovic, Bas Terwijn, Ben Krose |
| #4 (14:54~15:12) | |
| Paper ID: | 1336 |
| Title: | Fault-Tolerant 3D Localization for Outdoor Vehicles |
| Authors: | Norbert Schmitz, Jan Koch, Martin Proetzsch, Karsten Berns |
| #5 (15:12~15:30) | |
| Paper ID: | 997 |
| Title: | Robust Feature Correspondences for Vision-based Navigation with Slow Frame-Rate Cameras |
| Authors: | Darius Burschka |
| #6 (15:30~15:48) | |
| Paper ID: | 141 |
| Title: | A Framework for Automatic Deployment of Robots in 2D and 3D Environments |
| Authors: | Marius Kloetzer, Calin Belta |
| < Go to Top > |
| WP1-3: | Haptics and Haptic Devices II |
| Room: | Convention Hall No. 6, Level 2 < map > |
| Time: | 14:00-15:50 Wednesday October 11, 2006 |
| Chairs: | Mehdi Boukallel, Ryuta Ozawa |
| #1 (14:00~14:18) | |
| Paper ID: | 1446 |
| Title: | Haptic Rendering of Biological Elastic Properties based on Biomechanical Characterization |
| Authors: | Mehdi Boukallel, Maxime Girot, Stephane Regnier |
| #2 (14:18~14:36) | |
| Paper ID: | 888 |
| Title: | Supervisory Control Strategies in a Multi-Fingered Robotic Hand System |
| Authors: | R. Ozawa, T. Yoshinari, H. Hashiguchi, S. Arimoto |
| #3 (14:36~14:54) | |
| Paper ID: | 697 |
| Title: | FPGA-based Controller for Haptic Devices |
| Authors: | Stefano Galvan, Debora Botturi, Paolo Fiorini |
| #4 (14:54~15:12) | |
| Paper ID: | 150 |
| Title: | A Haptic Knob for Rehabilitation of Stroke Patients |
| Authors: | L Dovat, O Lambercy, Y Ruffieux, D Chapuis, R Gassert, H Bleuler, CL Teo, E Burdet |
| #5 (15:12~15:30) | |
| Paper ID: | 1412 |
| Title: | Preliminary Evaluation of a Force-Sensing Human-Machine Interface for an Interactive Robotic System |
| Authors: | Andreas Hein, Carsten Lenze, Melina Brell |
| #6 (15:30~15:48) | |
| Paper ID: | 915 |
| Title: | Human Perception of Haptic Force Direction |
| Authors: | Imad Elhajj, Hesiri Weerasinghe, Ali Dika, Ranald Hansen |
| < Go to Top > |
| WP1-4: | Space Robotics I |
| Room: | Convention Hall No. 5, Level 2 < map > |
| Time: | 14:00-15:50 Wednesday October 11, 2006 |
| Chairs: | Bin Liang, Ou Ma |
| #1 (14:00~14:18) | |
| Paper ID: | 602 |
| Title: | Development of the Chinese Intelligent Space Robotic System |
| Authors: | X.H. Gao, M.H. Jin, Z.W. Xie, L. Jiang, F.L. Ni, Sh.C. Shi, R. Wei, Y.Y. Zhu, H.G. Cai, H. Liu, A. Beyer, E. Kraemer, K. Landzettel, J. Schott, G. Hirzinger |
| #2 (14:18~14:36) | |
| Paper ID: | 898 |
| Title: | Development of a General 2-DOF Space Module |
| Authors: | Zhiyu Shao, Hanxu Sun, Qingxuan Jia, Ping Ye, Yuesheng Tan |
| #3 (14:36~14:54) | |
| Paper ID: | 919 |
| Title: | Autonomous Trajectory Planning of Free-floating Robot for Capturing Space Target |
| Authors: | Cheng Li, Bin Liang, Wenfu Xu |
| #4 (14:54~15:12) | |
| Paper ID: | 1054 |
| Title: | Autonomous Grasping of a Space Robot Multisensory Gripper |
| Authors: | Minzhou Luo, Wei Lu, Bingyu Sun, Tao Mei |
| #5 (15:12~15:30) | |
| Paper ID: | 1092 |
| Title: | Impedance Control for a Free-Floating Robot in the Grasping of a Tumbling Target with Parameter Uncertainty |
| Authors: | Satoko Abiko, Roberto Lampariello, Gerd Hirzinger |
| #6 (15:30~15:48) | |
| Paper ID: | 1513 |
| Title: | Modeling and Simulation of Robotic System for Servicing Hubble Space Telescope |
| Authors: | Jiegao Wang, Raja Mukherji, Mariano Ficocelli, Andrew Ogilvie, Michael Liu, Craig Rice |
| < Go to Top > |
| WP1-5: | Interaction and Intelligence |
| Room: | Convention Hall No. 14, Level 3 < map > |
| Time: | 14:00-15:50 Wednesday October 11, 2006 |
| Chairs: | Hideki Hashimoto, Masaya Takasaki |
| #1 (14:00~14:18) | |
| Paper ID: | 978 |
| Title: | Proposal of Tele-touch Using Active Type SAW Tactile Display |
| Authors: | Masaya Takasaki, Yousuke Fujii, Hiroyuki Kotani, Takeshi Mizuno, Takaaki Nara |
| #2 (14:18~14:36) | |
| Paper ID: | 1326 |
| Title: | Perceptual System of A Partner Robot for Natural Communication Restricted by Environments |
| Authors: | Naoyuki Kubota, Kenichiro Nishida, Hiroyuki Kojima |
| #3 (14:36~14:54) | |
| Paper ID: | 1169 |
| Title: | Human Observation Based Mobile Robot Navigation in Intelligent Space |
| Authors: | Takeshi Sasaki, Hideki Hashimoto |
| #4 (14:54~15:12) | |
| Paper ID: | 1201 |
| Title: | Motion Control of Intelligent Walker based on Renew of Estimation Parameters for User State |
| Authors: | Yasuhisa Hirata, Asami Muraki, Kazuhiro Kosuge |
| #5 (15:12~15:30) | |
| Paper ID: | 961 |
| Title: | Development of a Muscle Suit for the Upper Limb - Proposal of Posture Control Methods - |
| Authors: | Hiroshi Kobayashi, Masaya Iba, Hidetoshi Suzuki |
| #6 (15:30~15:48) | |
| Paper ID: | 1551 |
| Title: | Collective Motion and Formation of Simple Interacting Robots |
| Authors: | Ken Sugawara, Hiroumi Tanigawa, Kazuhiro Kosuge, Yoshinori Hayakawa, Tsuyoshi Mizuguchi, Masaki Sano |
| < Go to Top > |
| WP1-6: | Robot Kinematics and Dynamics I |
| Room: | Convention Hall No. 12, Level 3 < map > |
| Time: | 14:00-15:50 Wednesday October 11, 2006 |
| Chairs: | Alessio Turetta, Jon Selig |
| #1 (14:00~14:18) | |
| Paper ID: | 498 |
| Title: | On the Importance of Asymmetries in Grasp Quality Metrics for Tendon Driven Hands |
| Authors: | Jiaxin L. Fu, Nancy S. Pollard |
| #2 (14:18~14:36) | |
| Paper ID: | 289 |
| Title: | Mobility Characteristics of a Flexure-based Compliant Manipulator with Three Legs |
| Authors: | Jingjun Yu, Shusheng Bi, Guanghua Zong, Jian S. Dai, Xin-Jun Liu |
| #3 (14:36~14:54) | |
| Paper ID: | 906 |
| Title: | Reconfiguration Research on Modular Mobile Robot |
| Authors: | Dan Zou, Tianmiao Wang, Jianhong Liang |
| #4 (14:54~15:12) | |
| Paper ID: | 76 |
| Title: | Interpolated Rigid-Body Motions and Robotics |
| Authors: | J.M. Selig, Yuanqing Wu |
| #5 (15:12~15:30) | |
| Paper ID: | 1076 |
| Title: | Dynamic Programming based Computationally Distributed Kynematic Inversion Technique |
| Authors: | G. Casalino, A. Turetta, A. Sorbara |
| #6 (15:30~15:48) | |
| Paper ID: | 1440 |
| Title: | Robot Task Space Analyzer System Calibration |
| Authors: | Andrzej Nycz, William R. Hamel |
| < Go to Top > |
| WP1-7: | Bilateral Teleoperation I |
| Room: | Convention Hall No. 13, Level 3 < map > |
| Time: | 14:00-15:50 Wednesday October 11, 2006 |
| Chairs: | Martin Buss, Peter Berkelman |
| #1 (14:00~14:18) | |
| Paper ID: | 252 |
| Title: | A New Indicator for Gain-Switching Control of Position Error-based Teleoperation System |
| Authors: | Kamran Razi, Reza Monfaredi, Saeed Shiri Ghydari, S. M. Rezaei |
| #2 (14:18~14:36) | |
| Paper ID: | 1013 |
| Title: | A Visual Tele-operation System for the Humanoid Robot BHR-02 |
| Authors: | Lei Zhang, Qiang Huang, Yuepin Lu, Tao Xiao, Jiapeng Yang, Muhammadusman Keerio |
| #3 (14:36~14:54) | |
| Paper ID: | 512 |
| Title: | Effects of Friction Parameters on Completion Times for Sustained Planar Positioning Tasks with a Haptic Interface |
| Authors: | Peter Berkelman, Ji Ma |
| #4 (14:54~15:12) | |
| Paper ID: | 187 |
| Title: | A Delay-tolerant, Potential field-based, Network Implementation of an Integrated Navigation System |
| Authors: | Rachana Ashok Gupta, Ahmad A Masoud, Mo-Yuen Chow |
| #5 (15:12~15:30) | |
| Paper ID: | 762 |
| Title: | Experimental Bilateral Control by State Convergence |
| Authors: | Jordi Barrio, Jose Maria Azorin, Rafael Aracil, Manuel Ferre, Jose M. Sabater, Nicolas M. Garcia |
| #6 (15:30~15:48) | |
| Paper ID: | 595 |
| Title: | Image Sequence Prediction for Remote Robot Control |
| Authors: | Masafumi Tominaga, Hirotaka Ohta, Shuji Hashimoto |
| < Go to Top > |
| WP1-8: | Sound Localization and Intelligence |
| Room: | Convention Hall No. 15, Level 3 < map > |
| Time: | 14:00-15:50 Wednesday October 11, 2006 |
| Chairs: | Hiroshi G. Okuno, Hong Zhang |
| #1 (14:00~14:18) | |
| Paper ID: | 181 |
| Title: | Auditory Evidence Grids |
| Authors: | Eric Martinson, Alan Schultz |
| #2 (14:18~14:36) | |
| Paper ID: | 946 |
| Title: | Multiple Acoustical Holography Method for Localization of Objects in Broad Range Using Audible Sound |
| Authors: | Haruhiko Niwa, Tetsuya Ogata, Kazunori Komatani, Hiroshi G. Okuno |
| #3 (14:36~14:54) | |
| Paper ID: | 1179 |
| Title: | Location and Orientation Detection of Mobile Robots Using Sound Field Features under Complex Environments |
| Authors: | Jwu-Sheng Hu, Wei-Han Liu, Chieh-Cheng Cheng, Chia-Hsing Yang |
| #4 (14:54~15:12) | |
| Paper ID: | 1447 |
| Title: | Rapid Environment Identification for Intelligent Mobile Robot |
| Authors: | Ren C. Luo, Chun C. Lai, Chung T. Liao |
| #5 (15:12~15:30) | |
| Paper ID: | 1195 |
| Title: | Review of Crosstalk Elimination Methods for Ultrasonic Range Systems in Mobile Robots |
| Authors: | Qinghao Meng, Fengjuan Yao, Yuehua Wu |
| #6 (15:30~15:48) | |
| Paper ID: | 1356 |
| Title: | Sound Localization for Humanoid Robots - Building Audio-Motor Maps based on the HRTF |
| Authors: | Jonas Hornstein, Manuel Lopes, Jose Santos-Victor, Francisco Lacerda |
| < Go to Top > |
| WP1-9: | Navigation II |
| Room: | Convention Hall No. 8, Level 2 < map > |
| Time: | 14:00-15:50 Wednesday October 11, 2006 |
| Chairs: | Chris Urmson, Jun Xiao |
| #1 (14:00~14:18) | |
| Paper ID: | 177 |
| Title: | Mobile Sensor Navigation with Miniature Active Camera for Structure Inspection |
| Authors: | Weihua Sheng, Yantao Shen, Ning Xi |
| #2 (14:18~14:36) | |
| Paper ID: | 725 |
| Title: | A Hybrid Robot Navigation Approach Based on Partial Planning and Emotion-based Behavior Coordination |
| Authors: | Huidi Zhang, Shirong Liu, Simon X. Yang |
| #3 (14:36~14:54) | |
| Paper ID: | 1507 |
| Title: | Driving Beyond Stopping Distance Constraints |
| Authors: | Chris Urmson |
| #4 (14:54~15:12) | |
| Paper ID: | 504 |
| Title: | The Trajectory Parameter Space (TP-Space): A New Space Representation for Non-Holonomic Mobile Robot Reactive Navigation |
| Authors: | Jose-Luis Blanco, Javier Gonzalez, Juan-Antonio Fernandez-Madrigal |
| #5 (15:12~15:30) | |
| Paper ID: | 2068 |
| Title: | Ultra Low Frequency Electromagnetic Wave Localization and Appication to Pipeline Robot |
| Authors: | Hongjun Chen, Xiaohua Zhang, Junyuan Li |
| #6 (15:30~15:48) | |
| Paper ID: | 339 |
| Title: | Bioinspired Auditory Sound Localisation for Improving the Signal to Noise Ratio of Socially Interactive Robots |
| Authors: | John C. Murray, Stefan Wermter, Harry R. Erwin |
| < Go to Top > |
| WP1-10: | Visual Filtering |
| Room: | Convention Hall No. 16A, Level 3 < map > |
| Time: | 14:00-15:50 Wednesday October 11, 2006 |
| Chairs: | Anders Robertsson, Masaru Uchiyama |
| #1 (14:00~14:18) | |
| Paper ID: | 1178 |
| Title: | High-speed Visual Robot Control Using an Optimal Linearizing Intensity-based Filtering Approach |
| Authors: | Tomas Olsson, Rolf Johansson, Anders Robertsson |
| #2 (14:18~14:36) | |
| Paper ID: | 643 |
| Title: | Integration of Euclidean Constraints in Template Based Visual Tracking of Piecewise-planar Scenes |
| Authors: | Selim Benhimane, Ezio Malis |
| #3 (14:36~14:54) | |
| Paper ID: | 489 |
| Title: | Visual Servoing Experiment Using a 3D Flexible-Link Manipulator |
| Authors: | Xin Jiang, Atsushi Konno, Masaru Uchiyama |
| #4 (14:54~15:12) | |
| Paper ID: | 417 |
| Title: | Tracking Articulating Objects from Ground Vehicles Using Mixtures of Mixtures |
| Authors: | Wael Abd-Almageed, Mohamed Hussein, Larry Davis |
| #5 (15:12~15:30) | |
| Paper ID: | 554 |
| Title: | Redundant Arm Control by Linear Visual Servoing Using Pseudo Inverse Matrix |
| Authors: | Satoshi Mukai, Noriaki Maru |
| #6 (15:30~15:48) | |
| Paper ID: | 128 |
| Title: | A Visual Positioning Method Based on Relative Orientation Detection for Mobile Robots |
| Authors: | De Xu, Youfu Li, Min Tan |
| < Go to Top > |
| WP1-11: | Medical Robots |
| Room: | Convention Hall No. 10, Level 3 < map > |
| Time: | 14:00-15:50 Wednesday October 11, 2006 |
| Chairs: | Hideaki Takanobu, Max Meng |
| #1 (14:00~14:18) | |
| Paper ID: | 105 |
| Title: | Destination Planning and Space Mapping in the Robot-aided Coagulation Therapy System |
| Authors: | Yangyu Luo, Xiangdong Yang, Senqiang Zhu, Jing Xu, Ken Chen |
| #2 (14:18~14:36) | |
| Paper ID: | 129 |
| Title: | Design of a Parallel Long Bone Fracture Reduction Robot with Planning Treatment Tool |
| Authors: | A. E. Graham, S. Q. Xie, K. C. Aw, W. L. Xu, S. Mukherjee |
| #3 (14:36~14:54) | |
| Paper ID: | 537 |
| Title: | Dynamics Modeling and Analysis of a Micro-particle Based Shooting and Harvesting System for Blood Vessel Cleaning and Enlargement |
| Authors: | Huaming Li, Mingjun Zhang, Jindong Tan |
| #4 (14:54~15:12) | |
| Paper ID: | 1012 |
| Title: | An Inchworm-like Locomotion Mechanism Based on Magnetic Actuator for Active Capsule Endoscope |
| Authors: | Xiaona Wang, Max Q.-H. Meng |
| #5 (15:12~15:30) | |
| Paper ID: | 1176 |
| Title: | Dental Patient Robot |
| Authors: | Hideaki Takanobu, Akihisa Okino, Atsuo Takanishi, Mutsumi Madokoro, Yoshikazu Miyazaki, Koutarou Maki |
| #6 (15:30~15:48) | |
| Paper ID: | 1479 |
| Title: | Semi-automated Needling and Seed Delivery Device for Prostate Brachytherapy |
| Authors: | Y.D. Zhang, T.K. Podder, W.S. Ng, J. Sherman, V. Misic, D. Fuller, E.M. Messing, D.J. Rubens, J.G. Strang, R. Brasacchio, Y. Yu |
| < Go to Top > |
| WP1-12: | Environmental Modelling for Mobile Robots |
| Room: | Convention Hall No. 16B, Level 3 < map > |
| Time: | 14:00-15:50 Wednesday October 11, 2006 |
| Chairs: | Gerold Kloos, Junichi Ido |
| #1 (14:00~14:18) | |
| Paper ID: | 120 |
| Title: | Development of a Parametric Model for the Environment of a Mobile Robot |
| Authors: | Tahir Yaqub, Ray Eaton, Jayantha Katupitiya |
| #2 (14:18~14:36) | |
| Paper ID: | 327 |
| Title: | A Configuration Space View of View Planning |
| Authors: | Pengpeng Wang, Kamal Gupta |
| #3 (14:36~14:54) | |
| Paper ID: | 450 |
| Title: | A Robust Estimator for Structure from Motion Based on Kernel Density Estimation |
| Authors: | Tai Chen, Yun-hui Liu |
| #4 (14:54~15:12) | |
| Paper ID: | 496 |
| Title: | Range Based Localisation Using RF and the Application to Mining Safety |
| Authors: | Gerold Kloos, Jose E. Guivant, Eduardo M. Nebot, Favio Masson |
| #5 (15:12~15:30) | |
| Paper ID: | 979 |
| Title: | Adaptive Particle Filter for Unknown Fault Detection of Wheeled Mobile Robots |
| Authors: | Zhuohua Duan, Zixing Cai, Jinxia Yu |
| #6 (15:30~15:48) | |
| Paper ID: | 1342 |
| Title: | Humanoid with Interaction Ability Using Vision and Speech Information |
| Authors: | Junichi Ido, Yoshio Matsumoto, Tsukasa Ogasawara, Ryuichi Nisimura |
| < Go to Top > |
| WP1-13: | Micro Manipulation and Assembly III |
| Room: | Convention Hall No. 11, Level 3 < map > |
| Time: | 14:00-15:50 Wednesday October 11, 2006 |
| Chairs: | Sylvain Martel, Tao Mei |
| #1 (14:00~14:18) | |
| Paper ID: | 395 |
| Title: | Power Electronics Design Choice for Piezoelectric Microrobots |
| Authors: | E. Steltz, M. Seeman, S. Avadhanula, R.S. Fearing |
| #2 (14:18~14:36) | |
| Paper ID: | 1231 |
| Title: | A 2 DoF Servomotor-based Module for Pipe Inspection Modular Micro-robots |
| Authors: | A. Brunete, E. Gambao, J.E. Torres, M. Hernando |
| #3 (14:36~14:54) | |
| Paper ID: | 1466 |
| Title: | Design of Photovoltaic Cells to Power Control Electronics Embedded in Untethered Aqueous Microrobots Propelled by Bacteria |
| Authors: | Walder Andre, Sylvain Martel |
| #4 (14:54~15:12) | |
| Paper ID: | 1553 |
| Title: | A Dynamic JKR Model with Application to Vibrational Release in Micromanipulation |
| Authors: | Yang Fang, Xiaobo Tan |
| #5 (15:12~15:30) | |
| Paper ID: | 2119 |
| Title: | Vision-based Assembly of Capillary for Microfluidic Device |
| Authors: | Xiaodong Wang, Xiujun Wang, Yi Luo, Chong Liu, Liqun Ma |
| #6 (15:30~15:48) | |
| Paper ID: | 499 |
| Title: | Haptic Simulation for Micro/Nano-Scale Optical Fiber Assembly |
| Authors: | Qi Luo, Jing Xiao |
| < Go to Top > |
| WP1-14: | Vision Sensors |
| Room: | Convention Hall No. 3030, Level 3 < map > |
| Time: | 14:00-15:50 Wednesday October 11, 2006 |
| Chairs: | Atsushi Konno, Shinichi Hirata |
| #1 (14:00~14:18) | |
| Paper ID: | 976 |
| Title: | Stereo Vision System on Programmable Chip (SVSoC) for Small Robot Navigation |
| Authors: | Mingxiang Li, Yunde Jia |
| #2 (14:18~14:36) | |
| Paper ID: | 1695 |
| Title: | Implementing Planar Motion Tracking Algorithms on CMOS+FPGA Vision System |
| Authors: | Kazuhiro Shimizu, Shinichi Hirai |
| #3 (14:36~14:54) | |
| Paper ID: | 546 |
| Title: | Development of a High Speed Vision System for Mobile Robots |
| Authors: | Atsushi Konno, Ryo Uchikura, Toshiyuki Ishihara, Teppei Tsujita, Takeaki Sugimura, Jun Deguchi, Mitsumasa Koyanagi, Masaru Uchiyama |
| #4 (14:54~15:12) | |
| Paper ID: | 971 |
| Title: | Vision-based Cellular Force Measurement Using an Elastic Microfabricated Device |
| Authors: | Xinyu Liu, Wenhui Wang, Bob M. Lansdorp, Yu Sun |
| #5 (15:12~15:30) | |
| Paper ID: | 1060 |
| Title: | A New 3D Sensor System for Mobile Robots Based on Moire and Stereo Vision Technique |
| Authors: | Hyunki Lee, Hyungsuck Cho, Minyoung Kim |
| #6 (15:30~15:48) | |
| Paper ID: | 1048 |
| Title: | Virtual Camera Synthesis for Micromanipulation and Microassembly |
| Authors: | Julien Bert, Sounkalo Dembele, Nadine Lefort-Piat |
| < Go to Top > |
| WP1-15: | Humanoid Robots III: Exoskeleton |
| Room: | Convention Hall No. 7, Level 2 < map > |
| Time: | 14:00-15:50 Wednesday October 11, 2006 |
| Chairs: | Frank Park, Toshio Hori |
| #1 (14:00~14:18) | |
| Paper ID: | 1341 |
| Title: | Towards Intuitive Control of Space Robots: A Ground Development Facility with Exoskeleton |
| Authors: | Andre Schiele, Maurizio De Bartolomei, Frans van der Helm |
| #2 (14:18~14:36) | |
| Paper ID: | 234 |
| Title: | On Control Mechanism of Human-Like Reaching Movements with Musculo-Skeletal Redundancy |
| Authors: | Kenji Tahara, Zhi-Wei Luo, Suguru Arimoto |
| #3 (14:36~14:54) | |
| Paper ID: | 1495 |
| Title: | An Autonomous, Underactuated Exoskeleton for Load-carrying Augmentation |
| Authors: | Conor James Walsh, Kenneth Pasch, Hugh Herr |
| #4 (14:54~15:12) | |
| Paper ID: | 364 |
| Title: | An IEEE 1394 Based Real-Time Robot Control System for Efficient Controlling of Humanoids |
| Authors: | M. Omar Faruque Sarker, ChangHwan Kim, Seungheon Baek, Bum-Jae You |
| #5 (15:12~15:30) | |
| Paper ID: | 1499 |
| Title: | Gyro Stabilized Biped Walking |
| Authors: | N. Michael Mayer, Kazuhiro Masui, Matthew Browne, Minoru Asada |
| #6 (15:30~15:48) | |
| Paper ID: | 453 |
| Title: | Design of Android type Humanoid Robot Albert HUBO |
| Authors: | Jun-Ho Oh, David Hanson, Won-Sup Kim, Il Young Han, Jung-Yup Kim, Ill-Woo Park |
| < Go to Top > |
| WP1-16: | Sensor Network I |
| Room: | Convention Hall No. 16C, Level 3 < map > |
| Time: | 14:00-15:50 Wednesday October 11, 2006 |
| Chairs: | Jizhong Xiao, Seul Jung |
| #1 (14:00~14:18) | |
| Paper ID: | 1472 |
| Title: | Sensor Network and Robot Interaction Using Coarse Localization |
| Authors: | Imad H. Elhajj, Jason Gorski |
| #2 (14:18~14:36) | |
| Paper ID: | 822 |
| Title: | Micro Mobile Robots in Active Sensor Networks: Closing the Loop |
| Authors: | Weihua Sheng, Girma Tewolde, Song Ci |
| #3 (14:36~14:54) | |
| Paper ID: | 307 |
| Title: | Scalable Self-Deployment of Mobile Sensor Networks: A Fluid Dynamics Approach |
| Authors: | Muhammed R. Pac, Aydan M. Erkmen, Ismet Erkmen |
| #4 (14:54~15:12) | |
| Paper ID: | 991 |
| Title: | Effects of Communication on Mobile Sensor Networks |
| Authors: | Flavio Cabrera-Mora, Jizhong Xiao, Yi Sun |
| #5 (15:12~15:30) | |
| Paper ID: | 927 |
| Title: | ISOGRID: an Efficient Algorithm for Coverage Enhancement in Mobile Sensor Networks |
| Authors: | Miu-ling Lam, Yun-hui Liu |
| #6 (15:30~15:48) | |
| Paper ID: | 146 |
| Title: | Guidance and Control of a Mobile Robot Using Neural Network Correction Based on a Remotely Located Sensor |
| Authors: | Pyung Soo Jang, Seul Jung |
| < Go to Top > |
| WP2-1: | Vision and Force Control |
| Room: | Convention Hall No. 3, Level 3 < map > |
| Time: | 16:05-17:55 Wednesday October 11, 2006 |
| Chairs: | Bruno Siciliano, Ume R. Zimmer |
| #1 (16:05~16:23) | |
| Paper ID: | 300 |
| Title: | Robot Interaction Control Using Force and Vision |
| Authors: | Vincenzo Lippiello, Bruno Siciliano, Luigi Villani |
| #2 (16:23~16:41) | |
| Paper ID: | 415 |
| Title: | Modeling and Control of Interaction Forces in Dynamically-Coupled Robotic Systems |
| Authors: | Goo Bong Chung, Byung-Ju Yi, Whee-Kuk Kim |
| #3 (16:41~16:59) | |
| Paper ID: | 1158 |
| Title: | Adaptive Vision and Force Tracking Control for Constrained Robots |
| Authors: | Y. Zhao, C. C. Cheah, J.J.E. Slotine |
| #4 (16:59~17:17) | |
| Paper ID: | 102 |
| Title: | A Formation Control Approach to Adaptation of Contour-Shaped Robotic Formations |
| Authors: | Shahab Kalantar, Uwe R. Zimmer |
| #5 (17:17~17:35) | |
| Paper ID: | 281 |
| Title: | Constraint Force Formulation for Industrial Manipulators |
| Authors: | Himanshu Chaudhary, Subir Kumar Saha |
| #6 (17:35~17:53) | |
| Paper ID: | 925 |
| Title: | A Cascaded Feedback Control Scheme for Trajectory Tracking of Robot Manipulator Systems with Actuator Dynamics |
| Authors: | Sadao Kawamura, Jinwoo Jun, Katsuya Kanaoka, Hiroaki Ichii |
| < Go to Top > |
| WP2-2: | Localization III |
| Room: | Convention Hall No. 4, Level 3 < map > |
| Time: | 16:05-17:55 Wednesday October 11, 2006 |
| Chairs: | Daniel Lecking, SangJoo Kwon |
| #1 (16:05~16:23) | |
| Paper ID: | 1399 |
| Title: | Sparse Appearance based Modeling for Robot Localization |
| Authors: | Olaf Booij, Zoran Zivkovic, Ben Krose |
| #2 (16:23~16:41) | |
| Paper ID: | 266 |
| Title: | Mobile Robot with Preliminary-Announcement Function of Forthcoming Motion Using Light-ray |
| Authors: | Takafumi Matsumaru, Takashi Kusada, Kazuya Iwase |
| #3 (16:41~16:59) | |
| Paper ID: | 1101 |
| Title: | An Effective Kalman Filter Localization Method for Mobile Robots |
| Authors: | SangJoo Kwon, KwangWoong Yang, Sangdeok Park |
| #4 (16:59~17:17) | |
| Paper ID: | 240 |
| Title: | Robust Self-Localization in Industrial Environments Based on 3D Ceiling Structures |
| Authors: | Oliver Wulf, Daniel Lecking, Bernardo Wagner |
| Related Video: | 008(Video Session 3) |
| #5 (17:17~17:35) | |
| Paper ID: | 685 |
| Title: | A Combined Monte-Carlo Localization and Tracking Algorithm for RoboCup |
| Authors: | Patrick Heinemann, Juergen Haase, Andreas Zell |
| #6 (17:35~17:53) | |
| Paper ID: | 896 |
| Title: | Mobile Robot Localization Based on Improved Model Matching in Hough Space |
| Authors: | Fang Fang, Xudong Ma, Xianzhong Dai |
| < Go to Top > |
| WP2-3: | Haptics and Haptic Devices III |
| Room: | Convention Hall No. 6, Level 2 < map > |
| Time: | 16:05-17:55 Wednesday October 11, 2006 |
| Chairs: | Antonio Bicchi, Shuxiang Guo |
| #1 (16:05~16:23) | |
| Paper ID: | 255 |
| Title: | Rendering a Rigid Virtual World through an Impulsive Haptic Interface |
| Authors: | Emmanuel Vander Poorten, Yasuyoshi Yokokohji |
| #2 (16:23~16:41) | |
| Paper ID: | 1368 |
| Title: | Hybrid Ultrasonic Motor and Electrorheological Clutch System for MR-Compatible Haptic Rendering |
| Authors: | Dominique Chapuis, Roger Gassert, Etienne Burdet, Hannes Bleuler |
| #3 (16:41~16:59) | |
| Paper ID: | 1409 |
| Title: | Advanced Modeling and Preliminary Psychophysical Experiments for a Free-hand Haptic Device |
| Authors: | Nicola Sgambelluri, Enzo Pasquale Scilingo, A. Bicchi, Rocco Rizzo, Marco Raugi |
| #4 (16:59~17:17) | |
| Paper ID: | 16 |
| Title: | Force Feedback Augmentation Method for the Minimally Invasive Surgical System |
| Authors: | Phongsaen Pitakwatchara, Shin-ichi Warisawa, Mamoru Mitsuishi |
| #5 (17:17~17:35) | |
| Paper ID: | 477 |
| Title: | Stability Boundary for Haptic Rendering: Influence of Physical Damping |
| Authors: | Thomas Hulin, Carsten Preusche, Gerd Hirzinger |
| #6 (17:35~17:53) | |
| Paper ID: | 1142 |
| Title: | Novel Control Methods for Multi-fingered Haptic Interface Robot |
| Authors: | Tetsuya Mouri, Haruhisa Kawasaki, Kazushige Kigaku, Yoshio Ohtsuka |
| < Go to Top > |
| WP2-4: | Grasping Optimization |
| Room: | Convention Hall No. 5, Level 2 < map > |
| Time: | 16:05-17:55 Wednesday October 11, 2006 |
| Chairs: | Ji-Hun Bae, Satoshi Ito |
| #1 (16:05~16:23) | |
| Paper ID: | 700 |
| Title: | Grasping Force Optimization for Whole Hand Grasp |
| Authors: | Jijie Xu, Yunjiang Lou, Zexiang Li |
| #2 (16:23~16:41) | |
| Paper ID: | 1203 |
| Title: | Optimal Direction of Grasped Object Minimizing Contact Forces |
| Authors: | Satoshi ITO, Yuuki Mizukoshi, Koji Ishihara, Minoru Sasaki |
| #3 (16:41~16:59) | |
| Paper ID: | 1628 |
| Title: | Chaos Optimization Strategy on Fuzzy-immune-PID Control of the Turbine Governing System |
| Authors: | Shuangxin Wang, Yan Jiang, Hui Yang |
| #4 (16:59~17:17) | |
| Paper ID: | 542 |
| Title: | Computing All Force-Closure Grasps of 2D Objects from Contact Point Set |
| Authors: | Nattee Niparnan, Attawith Sudsang |
| #5 (17:17~17:35) | |
| Paper ID: | 998 |
| Title: | Reaching to Grasp and Preshaping of Multi-DOFs Robotic Hand-Arm Systems Using Approximate Configuration of Objects |
| Authors: | Ji-Hun Bae, Suguru Arimoto, Yuuichi Yamamoto, Hiroe Hashiguchi, Masahiro Sekimoto |
| #6 (17:35~17:53) | |
| Paper ID: | 714 |
| Title: | Design Considerations for Underactuated Grasp with a one D.O.F. Anthropomorphic Finger Mechanism |
| Authors: | Marco Ceccarelli, Cristina Tavolieri, Zhen Lu |
| < Go to Top > |
| WP2-5: | Intelligent Systems |
| Room: | Convention Hall No. 14, Level 3 < map > |
| Time: | 16:05-17:55 Wednesday October 11, 2006 |
| Chairs: | Ceravola Antonello, Xueshan Gao |
| #1 (16:05~16:23) | |
| Paper ID: | 35 |
| Title: | Development of an Embedded Control Platform of a Continuous Passive Motion Machine |
| Authors: | Yili Fu, Fuxiang Zhang, Shuguo Wang, Qinggang Meng |
| #2 (16:23~16:41) | |
| Paper ID: | 219 |
| Title: | Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm |
| Authors: | Alessandro De Luca, Alin Albu-Schaffer, Sami Haddadin, Gerd Hirzinger |
| #3 (16:41~16:59) | |
| Paper ID: | 306 |
| Title: | Integrated Research and Development Environment for Real-Time Distributed Embodied Intelligent Systems |
| Authors: | Antonello Ceravola, Frank Joublin, Mark Dunn, Julian Eggert, Marcus Stein, Christian Goerick |
| #4 (16:59~17:17) | |
| Paper ID: | 1118 |
| Title: | Study on the Symmetry of Evolutionary Robotic System |
| Authors: | Xueshan Gao, Koki Kikuchi, Xiaobing Wu, Katsuya Kanai, Keisuke Somiya |
| #5 (17:17~17:35) | |
| Paper ID: | 1781 |
| Title: | RTOC: A Rt-Linux Based Open Robot Controller |
| Authors: | Hua Xu, Peifa Jia |
| < Go to Top > |
| WP2-6: | Novel Robot Systems |
| Room: | Convention Hall No. 12, Level 3 < map > |
| Time: | 16:05-17:55 Wednesday October 11, 2006 |
| Chairs: | Francois Pierrot, I-Ming Chen |
| #1 (16:05~16:23) | |
| Paper ID: | 286 |
| Title: | Kinematics Control for a 7-DOF Cable-Driven Anthropomorphic Arm |
| Authors: | Weihai Chen, Quanzhu Chen, Jianbin Zhang, Shouqian Yu |
| #2 (16:23~16:41) | |
| Paper ID: | 680 |
| Title: | Heli4: A Parallel Robot for Scara Motions with a Very Compact Traveling Plate and a Symmetrical Design |
| Authors: | Sebastien Krut, Olivier Company, Vincent Nabat, Francois Pierrot |
| #3 (16:41~16:59) | |
| Paper ID: | 926 |
| Title: | A Development of a Fully Self-contained Real-time Tunable Spring |
| Authors: | Takuya Umedachi, Akio Ishiguro |
| #4 (16:59~17:17) | |
| Paper ID: | 1029 |
| Title: | A Large-Displacement 3-DOF Flexure Parallel Mechanism with Decoupled Kinematics Structure |
| Authors: | Xueyan Tang, I-Ming Chen |
| #5 (17:17~17:35) | |
| Paper ID: | 1181 |
| Title: | Casting and Winding Manipulation with Hyper-flexible Manipulator |
| Authors: | Takahiro Suzuki, Yuji Ebihara, Takahiro Suzuki, Yoshinobu Ando, Makoto Mizukawa |
| < Go to Top > |
| WP2-7: | Bilateral Teleoperation II |
| Room: | Convention Hall No. 13, Level 3 < map > |
| Time: | 16:05-17:55 Wednesday October 11, 2006 |
| Chairs: | Debora Botturi, Vicente Parra-Vega |
| #1 (16:05~16:23) | |
| Paper ID: | 479 |
| Title: | Advanced Teleoperation Architecture |
| Authors: | S. Galvan, A. Castellani, D. Botturi, P. Fiorini |
| #2 (16:23~16:41) | |
| Paper ID: | 1392 |
| Title: | Achieving High Transparency in Bilateral Teleoperation Using Stiffness Observer for Passivity Control |
| Authors: | Reza Monfaredi, Kamran Razi, Saeed Shiri Ghydari, Seied Mehdi Rezaei |
| #3 (16:41~16:59) | |
| Paper ID: | 118 |
| Title: | Observer-based Higher-Order Sliding Mode Impedance Control of Bilateral Teleoperation under Constant Unknown Time Delay |
| Authors: | L.G. Garcia-Valdovinos, V. Parra-Vega, Marco A. Arteaga |
| #4 (16:59~17:17) | |
| Paper ID: | 217 |
| Title: | Design of a Control Strategy for Teleoperation of a Platform with Significant Dynamics |
| Authors: | Mattias Bratt, Christian Smith, Henrik I. Christensen |
| #5 (17:17~17:35) | |
| Paper ID: | 1021 |
| Title: | Basic Study on Sensory Aspects of a Master/Slave System for Force Telecommunication |
| Authors: | Masayuki Hara, Young-Mi Jung |
| #6 (17:35~17:53) | |
| Paper ID: | 1481 |
| Title: | Coordinate Frames in Robotic Teleoperation |
| Authors: | Laura M. Hiatt, Reid Simmons |
| < Go to Top > |
| WP2-8: | Legged Robots |
| Room: | Convention Hall No. 15, Level 3 < map > |
| Time: | 16:05-17:55 Wednesday October 11, 2006 |
| Chairs: | Jindong Tan, Tatsuo Arai |
| #1 (16:05~16:23) | |
| Paper ID: | 2055 |
| Title: | Development of an Artistic Robot "Jumping Joe" |
| Authors: | Amir A.F. Nassiraei, Seiji Masakado, Takayuki Matsuo, Takashi Sonoda, Isao Takahira, Hajime Fukushima, Masayuki Murata, Koudai Ichikawa, Kazuo Ishii, Tsutomu Miki |
| #2 (16:23~16:41) | |
| Paper ID: | 301 |
| Title: | Motion having a Flight Phase: Experiments Involving a One-Legged Robot |
| Authors: | Ryosuke Tajima, Keisuke Suga |
| Related Video: | 007(Video Session 2) |
| #3 (16:41~16:59) | |
| Paper ID: | 646 |
| Title: | Omni-directional Gait of Limb Mechanism Robot Hanging from Grid-like Structure |
| Authors: | Kenji Inoue, Taisuke Tsurutani, Tomohito Takubo, Tatsuo Arai |
| #4 (16:59~17:17) | |
| Paper ID: | 1378 |
| Title: | Opitcal Flow Aided Motion Estimation for Legged Locomotion |
| Authors: | Surya P. N. Singh, Paul J. Csonka, Kenneth J. Waldron |
| #5 (17:17~17:35) | |
| Paper ID: | 1026 |
| Title: | Stability and Adaptability Analysis for Legged Robots Intended for Asteroid Exploration |
| Authors: | Marco Chacin, Kazuya Yoshida |
| #6 (17:35~17:53) | |
| Paper ID: | 1153 |
| Title: | Robust Control for Stable Dynamic Walking of Biped Robot |
| Authors: | Chuangfeng Huai, Yuefa Fang |
| < Go to Top > |
| WP2-9: | Route Planning and Navigation |
| Room: | Convention Hall No. 8, Level 2 < map > |
| Time: | 16:05-17:55 Wednesday October 11, 2006 |
| Chairs: | Ahmad Masoud, Antonio Sgorbissa |
| #1 (16:05~16:23) | |
| Paper ID: | 860 |
| Title: | Landing Pattern Modification Method with Predictive Attitude and Compliance Control to Deal with Uneven Terrain |
| Authors: | Kenji Hashimoto, Yusuke Sugahara, Masamiki Kawase, Akihiro Ohta, Chiaki Tanaka, Akihiro Hayashi, Nobutsuna Endo, Terumasa Sawato, Hun-ok Lim, Atsuo Takanishi |
| #2 (16:23~16:41) | |
| Paper ID: | 1401 |
| Title: | ¦ÌNav: Navigation without Localization |
| Authors: | Antonio Sgorbissa, Renato Zaccaria |
| #3 (16:41~16:59) | |
| Paper ID: | 1394 |
| Title: | The Fuzzy Sars¡¯a¡¯(¦Ë) Learning Approach Applied to a Strategic Route Learning Robot Behaviour |
| Authors: | Theodoros Theodoridis, Huosheng Hu |
| #4 (16:59~17:17) | |
| Paper ID: | 454 |
| Title: | Hybrid Behavior Coordination Mechanism for Navigation of Reconnaissance Robot |
| Authors: | Hongru Tang, Aiguo Song, Xiaobing Zhang |
| #5 (17:17~17:35) | |
| Paper ID: | 244 |
| Title: | A Discrete Harmonic Potential Field for Optimum Point-to-point Routing on a Weighted Graph |
| Authors: | Ahmad A. Masoud |
| #6 (17:35~17:53) | |
| Paper ID: | 764 |
| Title: | Multi-robot SLAM with Unknown Initial Correspondence: The Robot Rendezvous Case |
| Authors: | Xun S. Zhou, Stergios I. Roumeliotis |
| < Go to Top > |
| WP2-10: | People Finding |
| Room: | Convention Hall No. 16A, Level 3 < map > |
| Time: | 16:05-17:55 Wednesday October 11, 2006 |
| Chairs: | Hong Qiao, Toru Nakata |
| #1 (16:05~16:23) | |
| Paper ID: | 1141 |
| Title: | Recognizing Human Activities in Video by Multi-resolutional Optical Flows |
| Authors: | Toru Nakata |
| #2 (16:23~16:41) | |
| Paper ID: | 3 |
| Title: | Laser-based Interacting People Tracking Using Multi-level Observations |
| Authors: | Jinshi Cui, Hongbin Zha, Huijing Zhao, Ryosuke Shibasaki |
| #3 (16:41~16:59) | |
| Paper ID: | 2152 |
| Title: | Person-Tracking with Occlusion Using Appearance Filters |
| Authors: | Peng Bai, Hong Qiao, Anhua Wan, Yu Liu |
| #4 (16:59~17:17) | |
| Paper ID: | 1373 |
| Title: | A Mobile Robot that Performs Human Acceptable Motions |
| Authors: | Emrah Akin Sisbot, Luis F. Marin, Rachid Alami, Thierry Simeon |
| #5 (17:17~17:35) | |
| Paper ID: | 1364 |
| Title: | Towards an Integrated Robotic System for Interactive Learning in a Social Context |
| Authors: | B. Wrede, M. Kleinehagenbrock, J. Fritsch |
| #6 (17:35~17:53) | |
| Paper ID: | 79 |
| Title: | Advanced Animation Engine for User-Interface Robots |
| Authors: | A.J.N. van Breemen, Yan Xue |
| < Go to Top > |
| WP2-11: | Tissue and Muscles Modelling |
| Room: | Convention Hall No. 10, Level 3 < map > |
| Time: | 16:05-17:55 Wednesday October 11, 2006 |
| Chairs: | Minoru Hashimoto, Takahiko Nakamura |
| #1 (16:05~16:23) | |
| Paper ID: | 784 |
| Title: | Modeling Soft Contact Mechanism of Biological Cells Using an Atomic Force Bio-Microscope |
| Authors: | Maxime Girot, Mehdi Boukallel, Stephane Regnier |
| #2 (16:23~16:41) | |
| Paper ID: | 750 |
| Title: | A Cockroach Inspired Robot with Artificial Muscles |
| Authors: | Daniel A. Kingsley, Roger D. Quinn, Roy E. Ritzmann |
| #3 (16:41~16:59) | |
| Paper ID: | 672 |
| Title: | Human Cooperative Motion Adapted Wearable Anti-Gravity Muscle Support System |
| Authors: | Takahiko Nakamura, Kazunari Saito, ZhiDong Wang, Kazuhiro Kosuge, Masaya Tajika |
| #4 (16:59~17:17) | |
| Paper ID: | 2166 |
| Title: | Engineering Intelligent Materials for the Interrogation of Bio-robotic Architectures and Regulatory Networks |
| Authors: | Dean Ho |
| #5 (17:17~17:35) | |
| Paper ID: | 2039 |
| Title: | Development and Control of a Face Robot Imitating Human Muscular Structures |
| Authors: | Minoru Hashimoto, Chisaki Yokogawa, Tsugutake Sadoyama |
| #6 (17:35~17:53) | |
| Paper ID: | 884 |
| Title: | Development of a Rajiform Swimming Robot Using Ionic Polymer Artificial Muscles |
| Authors: | Kentaro Takagi, Masanori Yamamura, Zhi-Wei Luo, Masaki Onishi, Shinya Hirano, Kinji Asaka, Yoshikazu Hayakawa |
| < Go to Top > |
| WP2-12: | Mobile Robots II |
| Room: | Convention Hall No. 16B, Level 3 < map > |
| Time: | 16:05-17:55 Wednesday October 11, 2006 |
| Chairs: | Agrawal Motilal, Mamoru Minami |
| #1 (16:05~16:23) | |
| Paper ID: | 1374 |
| Title: | Modeling Skidding and Slipping in Wheeled Mobile Robots: Control Design Perspective |
| Authors: | Danwei Wang, Chang Boon Low |
| #2 (16:23~16:41) | |
| Paper ID: | 1240 |
| Title: | Fastest Guidance Control with Acceleration Restriction of PWS Mobile Robot |
| Authors: | Yasuhiro Yazaki, Takeshi Ikeda, Mamoru Minami, Yasushi Mae |
| #3 (16:41~16:59) | |
| Paper ID: | 1198 |
| Title: | Tracking Control of Mobile Robots Based on Improved RBF Neural Networks |
| Authors: | Shirong Liu, Qijiang Yu, Weijie Lin, Simon X. Yang |
| #4 (16:59~17:17) | |
| Paper ID: | 536 |
| Title: | 3-D Object Map Building Using Dense Object Models with SIFT-based Recognition Features |
| Authors: | Masahiro Tomono |
| #5 (17:17~17:35) | |
| Paper ID: | 1448 |
| Title: | A Lie Algebraic Approach for Consistent Pose Registration for General Euclidean Motion |
| Authors: | Motilal Agrawal |
| < Go to Top > |
| WP2-13: | Nano Robot and Assembly |
| Room: | Convention Hall No. 11, Level 3 < map > |
| Time: | 16:05-17:55 Wednesday October 11, 2006 |
| Chairs: | Masahiro Nakajima, Mehdi Ammi |
| #1 (16:05~16:23) | |
| Paper ID: | 1079 |
| Title: | Design and Control of a Nano-precision Cartesian Platform |
| Authors: | Yung Ting, Chun-Chung Li, Ho-Chin Jar, Chang-Wei Chiang |
| #2 (16:23~16:41) | |
| Paper ID: | 1663 |
| Title: | Nanorobotic Manipulator Controlled Nanowire Growth |
| Authors: | Pou Liu, Fumihito Arai, Toshio Fukuda |
| #3 (16:41~16:59) | |
| Paper ID: | 1522 |
| Title: | Accurate Positioning of AFM Probe for AFM Based Robotic Nanomanipulation System |
| Authors: | Xiaojun Tian, Yuechao Wang, Ning Xi, Zaili Dong, Wenjung Li |
| #4 (16:59~17:17) | |
| Paper ID: | 1865 |
| Title: | In situ Fabrication and Electric Actuation of Telescoping Nanotube inside TEM through Hybrid Nanorobotic Manipulation System |
| Authors: | Masahiro Nakajima, Fumihito Arai, Toshio Fukuda |
| #5 (17:17~17:35) | |
| Paper ID: | 1300 |
| Title: | DNA-based Bio-Nanorobotic Components Using VR-Enhanced CAD Design |
| Authors: | Mustapha Hamdi, Antoine Ferreira |
| #6 (17:35~17:53) | |
| Paper ID: | 1047 |
| Title: | Fabrication and Characterization of Nanowires by Atomic Force Microscope Lithography |
| Authors: | L. M. Fok, Y. H. Liu, Wen J. Li |
| < Go to Top > |
| WP2-14: | Sensor Hardware |
| Room: | Convention Hall No. 3030, Level 3 < map > |
| Time: | 16:05-17:55 Wednesday October 11, 2006 |
| Chairs: | Imad Elhajj, Yantao Shen |
| #1 (16:05~16:23) | |
| Paper ID: | 1328 |
| Title: | Analysis of Static and Dynamic Characteristics of a Tactile Sensor using Carbon Micro Coil inside an Elastic Material |
| Authors: | Masato Homma, Masashi Konyo, Takashi Maeno, Seiji Motojima |
| #2 (16:23~16:41) | |
| Paper ID: | 598 |
| Title: | Tactile Measurement of Local Contact Geometry Using Soft Fingertip with Force/Torque Sensor |
| Authors: | Kouji Murakami, Tsutomu Hasegawa |
| #3 (16:41~16:59) | |
| Paper ID: | 2027 |
| Title: | Piezoelectric Vibration-Type Tactile Sensor with Wide Measurement Range Using Elasticity and Viscosity Change |
| Authors: | Kohei Motoo, Toshio Fukuda, Fumihito Arai, Takayuki Matsuno |
| #4 (16:59~17:17) | |
| Paper ID: | 143 |
| Title: | A Sensitive Skin for Robotic Companions Featuring Temperature, Force, and Electric Field Sensors |
| Authors: | Walter Dan Stiehl, Cynthia Breazeal |
| #5 (17:17~17:35) | |
| Paper ID: | 2159 |
| Title: | PVDF-based Biomimetic Sensor for Application in Crawling Soft-body Mini-Robots |
| Authors: | Weiting Liu, A. Menciassi, S. Scapellato, P. Dario, Yuquan Chen |
| #6 (17:35~17:53) | |
| Paper ID: | 825 |
| Title: | Operation Principle of a Bend Enhanced Curvature Optical Fiber Sensor |
| Authors: | Renqiang Liu, Zhuang Fu, Yanzheng Zhao, Qixin Cao, Shuguo Wang |
| < Go to Top > |
| WP2-15: | Humanoid Robots IV: Modelling |
| Room: | Convention Hall No. 7, Level 2 < map > |
| Time: | 16:05-17:55 Wednesday October 11, 2006 |
| Chairs: | Jean-Paul Laumond, T. I. James Tsay |
| #1 (16:05~16:23) | |
| Paper ID: | 773 |
| Title: | Synthesizing and Modeling Human Locomotion Using System Identification |
| Authors: | Wael Suleiman, Andre Monin, Jean-Paul Laumond |
| #2 (16:23~16:41) | |
| Paper ID: | 2148 |
| Title: | Research on the Walking Modes Shifting Based on the Variable ZMP and 3-D.O.F Inverted Pendulum Model for a Humanoid and Gorilla Robot |
| Authors: | Weiguo Wu, Yu Wang, Yunzhong Pan, Feng Liang |
| #3 (16:41~16:59) | |
| Paper ID: | 1109 |
| Title: | Reachable Space Generation of a Humanoid Robot Using the Monte Carlo Method |
| Authors: | Yisheng Guan, Kazuhito Yokoi |
| #4 (16:59~17:17) | |
| Paper ID: | 1131 |
| Title: | Using Hidden Markov Models to Generate Natural Humanoid Movement |
| Authors: | Junghyun Kwon, Frank C. Park |
| #5 (17:17~17:35) | |
| Paper ID: | 1257 |
| Title: | Balance Control of a Humanoid Robot Based on the Reaction Null Space Method |
| Authors: | Akinori Nishio, Kentaro Takahashi, Dragomir N. Nenchev |
| #6 (17:35~17:53) | |
| Paper ID: | 1273 |
| Title: | Design and Control of a Humanoid Robot |
| Authors: | T. I. James Tsay, C. H. Lai |
| < Go to Top > |
| WP2-16: | Sensor Network II |
| Room: | Convention Hall No. 16C, Level 3 < map > |
| Time: | 16:05-17:55 Wednesday October 11, 2006 |
| Chairs: | Jun Xiao, Weihua Sheng |
| #1 (16:05~16:23) | |
| Paper ID: | 1050 |
| Title: | Automatic Generation and Connection of Program Components based on RDF Sensor Description in Network Middleware |
| Authors: | Hiroshi Noguchi, Taketoshi Mori, Tomomasa Sato |
| #2 (16:23~16:41) | |
| Paper ID: | 1077 |
| Title: | Investigating Network Optimization Approaches in Wireless Sensor Networks |
| Authors: | Hongliang Ren, Max Q.-H. Meng, Xijun Chen |
| #3 (16:41~16:59) | |
| Paper ID: | 1441 |
| Title: | Blom-based Q-composite: A Generalized Framework of Random Key Pre-distribution Schemes for Wireless Sensor Networks |
| Authors: | Huirong Fu, Satoshi Kawamura, Chengzhi Li |
| #4 (16:59~17:17) | |
| Paper ID: | 663 |
| Title: | Cross-Layer Optimization Framework for Wireless Sensor Networks |
| Authors: | Jun-Zhao Sun, Jaakko Sauvola |
| #5 (17:17~17:35) | |
| Paper ID: | 403 |
| Title: | Research of TDOA Based Self-localization Approach in Wireless Sensor Network |
| Authors: | Jun Xiao, Lirong Ren, Jindong Tan |
| < Go to Top > |
| TA1-1: | Robot Control |
| Room: | Convention Hall No. 3, Level 3 < map > |
| Time: | 9:00-10:30 Thursday October 12, 2006 |
| Chairs: | Qiao Liu, Shinichi Hirai |
| #1 (9:00~9:18) | |
| Paper ID: | 197 |
| Title: | Optimal LQG Control and Stability of Networked Robot System with Data Dropout |
| Authors: | Qiao Liu, Ke-xue He, Liang-zhong Jiang |
| #2 (9:18~9:36) | |
| Paper ID: | 471 |
| Title: | Task Space Based Contouring Control of Parallel Machining Systems |
| Authors: | Yunjiang Lou, Ni Chen, Zexiang Li |
| #3 (9:36~9:54) | |
| Paper ID: | 1317 |
| Title: | Exact Structured Singular Value of Robotic Manipulators and Quantitative Analysis of Passivity Based Control |
| Authors: | Satoru Sakai, Koichi Osuka, Kenji Fujimoto |
| #4 (9:54~10:12) | |
| Paper ID: | 1696 |
| Title: | Cartesian Controller's Evaluation in Joint Space |
| Authors: | Pablo Sanchez-Sanchez, Fernando Reyes-Cortes |
| #5 (10:12~10:30) | |
| Paper ID: | 1493 |
| Title: | Multi Robot System Based on Boundary Value Problems |
| Authors: | Gedson Faria, Edson Prestes, Marco A. P. Idiart, Roseli A. F. Romero |
| < Go to Top > |
| TA1-2: | Visual SLAM I |
| Room: | Convention Hall No. 4, Level 3 < map > |
| Time: | 9:00-10:30 Thursday October 12, 2006 |
| Chairs: | Luis M. Bergasa, Manuel Oca?a |
| #1 (9:00~9:18) | |
| Paper ID: | 803 |
| Title: | Robot and Landmark localization Using Scene Planes and the 1D Trifocal Tensor |
| Authors: | A.C. Murillo, J.J. Guerrero, C. Sagues |
| #2 (9:18~9:36) | |
| Paper ID: | 1156 |
| Title: | Improving Data Association in Vision-based SLAM |
| Authors: | Arturo Gil, Oscar Reinoso, Oscar Martinez Mozos, Cyrill Stachniss, Wolfram Burgard |
| #3 (9:36~9:54) | |
| Paper ID: | 1523 |
| Title: | Autonomous Vision-based Exploration and Mapping Using Hybrid Maps and Rao-Blackwellised Particle Filters |
| Authors: | Robert Sim, James J. Little |
| #4 (9:54~10:12) | |
| Paper ID: | 251 |
| Title: | Real-Time Simultaneous Localization and Mapping Using a Wide-Angle Stereo Camera and Adaptive Patches |
| Authors: | David Schleicher, Luis M. Bergasa, Rafael Barea, Elena Lopez, Manuel Ocana |
| #5 (10:12~10:30) | |
| Paper ID: | 257 |
| Title: | Towards Vision Based Navigation in Large Indoor Environments |
| Authors: | Jaime Valls Miro, Weizhen Zhou, Gamini Dissanayake |
| < Go to Top > |
| TA1-3: | Haptics and Haptic Devices IV |
| Room: | Convention Hall No. 6, Level 2 < map > |
| Time: | 9:00-10:30 Thursday October 12, 2006 |
| Chairs: | Dong-Soo Kwon, Mehdi Ammi |
| #1 (9:00~9:18) | |
| Paper ID: | 1261 |
| Title: | An Evaluation of Human Tactile Sensibility and Its Analysis Based on Physiology and Biomechanics |
| Authors: | Seung-Chan Kim, Dong-Soo Kwon, Ki-Uk Kyung |
| #2 (9:18~9:36) | |
| Paper ID: | 1461 |
| Title: | Haptic Cooperation between People, and between People and Machines |
| Authors: | Kyle B. Reed, Michael Peshkin, Mitra J. Hartmann, James Patton, Peter M. Vishton, Marcia Grabowecky |
| #3 (9:36~9:54) | |
| Paper ID: | 1266 |
| Title: | Evaluation of 3D Pseudo-Haptic Rendering Using Vision for Cell Micromanipulation |
| Authors: | Mehdi Ammi, Hamid Ladjal, Antoine Ferreira |
| #4 (9:54~10:12) | |
| Paper ID: | 1218 |
| Title: | Intrinsically Passive Force Scaling in Haptic Interfaces |
| Authors: | Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi |
| #5 (10:12~10:30) | |
| Paper ID: | 970 |
| Title: | Real-time Learning Method for Adaptable Motion-Discrimination Using Surface EMG Signal |
| Authors: | Ryu Kato, Hiroshi Yokoi, Tamio Arai |
| < Go to Top > |
| TA1-4: | Parallel Manipulators II |
| Room: | Convention Hall No. 5, Level 2 < map > |
| Time: | 9:00-10:30 Thursday October 12, 2006 |
| Chairs: | Guilin Yang, Wisama Khalil |
| #1 (9:00~9:18) | |
| Paper ID: | 25 |
| Title: | Finite-Partition of SE(3) and its Applications on Workspace Optimization of Parallel Manipulators |
| Authors: | Yan Jin, I-Ming Chen, Guilin Yang |
| #2 (9:18~9:36) | |
| Paper ID: | 198 |
| Title: | A Novel Method for Jacobian Analysis of Lower-Mobility Parallel Mechanism |
| Authors: | Sijun Zhu, Zhen Huang |
| #3 (9:36~9:54) | |
| Paper ID: | 470 |
| Title: | A Novel 3-DoF Purely Translational Parallel Mechanism |
| Authors: | Yunjiang Lou, Zexiang Li |
| #4 (9:54~10:12) | |
| Paper ID: | 508 |
| Title: | Collision-Free Workspace Design of the 5-Axis Gantry-Tau Parallel Kinematic Machine |
| Authors: | Matthew Murray, Geir Hovland, Torgny Brogardh |
| #5 (10:12~10:30) | |
| Paper ID: | 799 |
| Title: | Inverse Dynamic Modeling of Serial-Parallel Hybrid Robots |
| Authors: | Ouarda Ibrahim, Wisama Khalil |
| < Go to Top > |
| TA1-5: | Fuzzy Control |
| Room: | Convention Hall No. 14, Level 3 < map > |
| Time: | 9:00-10:30 Thursday October 12, 2006 |
| Chairs: | George C.S. Lee, Ata Allah Eftekharian |
| #1 (9:00~9:18) | |
| Paper ID: | 78 |
| Title: | Passive Fault Tolerant Robotic Control Based on Fuzzy Rules against Actuator Constraints |
| Authors: | Jinzhuang Xiao, Hongrui Wang |
| #2 (9:18~9:36) | |
| Paper ID: | 147 |
| Title: | Fuzzy Adaptive Kalman Filtering Based Estimation of Image Jacobian for Uncalibrated Visual Servoing |
| Authors: | Xiadong Lv, Xinhan Huang |
| #3 (9:36~9:54) | |
| Paper ID: | 214 |
| Title: | Design of Mixed Fuzzy-GA Controller for SCARA Type Robot |
| Authors: | Ata Allah Eftekharian, Hassan Sayyaadi |
| #4 (9:54~10:12) | |
| Paper ID: | 594 |
| Title: | Robust Adaptive Fuzzy Control Law for Locomotion Control of a Hexapod Robot Actuated by Hydraulic Actuators with Dead Zone |
| Authors: | Ranjit Kumar Barai, Kenzo Nonami |
| < Go to Top > |
| TA1-6: | Multi-robot Systems I |
| Room: | Convention Hall No. 12, Level 3 < map > |
| Time: | 9:00-10:30 Thursday October 12, 2006 |
| Chairs: | Lynne Parker, Trung Dung Ngo |
| #1 (9:00~9:18) | |
| Paper ID: | 114 |
| Title: | SwisTrack: A Tracking Tool for Multi-Unit Robotic and Biological Systems |
| Authors: | Nikolaus Correll, Gregory Sempo, Yuri Lopez de Meneses, Jose Halloy, Jean-Louis Deneubourg, Alcherio Martinoli |
| Related Video: | 039(Video Session 3) |
| #2 (9:18~9:36) | |
| Paper ID: | 492 |
| Title: | An Approach to Sociable Robots through Self-distributed Energy |
| Authors: | Trung Dung Ngo, Henrik Schioler |
| #3 (9:36~9:54) | |
| Paper ID: | 947 |
| Title: | Reconfigurable Group Robots Adaptively Transforming a Mechanical Structure - Crawl Motion and AdaptiveTransformation with New Algorithms - |
| Authors: | Yousuke Suzuki, Norio Inou, Hitoshi Kimura, Michihiko Koseki |
| #4 (9:54~10:12) | |
| Paper ID: | 1434 |
| Title: | Mission Reliability Estimation for Multirobot Team Design |
| Authors: | S.B. Stancliff, J.M. Dolan, A. Trebi-Ollennu |
| #5 (10:12~10:30) | |
| Paper ID: | 2126 |
| Title: | Behaviors for Physical Cooperation Between Robots for Mobility Improvement: Hardware Results and Use of Dynamics |
| Authors: | Ashish Deshpande, Jonathan Luntz |
| < Go to Top > |
| TA1-7: | Scheduling |
| Room: | Convention Hall No. 13, Level 3 < map > |
| Time: | 9:00-10:30 Thursday October 12, 2006 |
| Chairs: | Mark Spong, Peijiang Yuan |
| #1 (9:00~9:18) | |
| Paper ID: | 185 |
| Title: | Policy Gradient Methods for Robotics |
| Authors: | Jan Peters, Stefan Schaal |
| #2 (9:18~9:36) | |
| Paper ID: | 208 |
| Title: | An Adaptive Feedback Scheduling Algorithm for Robot Assembly and Real-Time Control Systems |
| Authors: | Peijiang Yuan |
| #3 (9:36~9:54) | |
| Paper ID: | 622 |
| Title: | Robot Motion Planning by Reusing Multiple Knowledge under Uncertain Conditions |
| Authors: | Natsuki Yamanobe, Tamio Arai, Ryuichi Ueda |
| #4 (9:54~10:12) | |
| Paper ID: | 853 |
| Title: | Improving Sequential Single-Item Auctions |
| Authors: | Xiaoming Zheng, Sven Koenig, Craig Tovey |
| #5 (10:12~10:30) | |
| Paper ID: | 948 |
| Title: | Online Rescheduling in Semiconductor Manufacturing |
| Authors: | Mingang Cheng, Masao Sugi, Jun Ota, Masashi Yamamoto, Hiroki Ito, Kazuyoshi Inoue |
| < Go to Top > |
| TA1-8: | Mapping |
| Room: | Convention Hall No. 15, Level 3 < map > |
| Time: | 9:00-10:30 Thursday October 12, 2006 |
| Chairs: | Ehud Rivlin, Juan Nieto |
| #1 (9:00~9:18) | |
| Paper ID: | 801 |
| Title: | Pose and Motion from Omnidirectional Optical Flow and a Digital Terrain Map |
| Authors: | Ronen Lerner, Oleg Kupervasser, Ehud Rivlin |
| #2 (9:18~9:36) | |
| Paper ID: | 1147 |
| Title: | Topological Modelling for Human Augmented Mapping |
| Authors: | Elin A. Topp, Henrik I. Christensen |
| #3 (9:36~9:54) | |
| Paper ID: | 551 |
| Title: | Integrated Sensing Framework for 3D Mapping in Outdoor Navigation |
| Authors: | R. Katz, N. Melkumyan, J. Guivant, T. Bailey, J. Nieto, E. Nebot |
| #4 (9:54~10:12) | |
| Paper ID: | 179 |
| Title: | A Three-Level Motion Texture for Human Motion Modeling |
| Authors: | Tianyu Huang, Fengxia Li, Shouyi Zhan |
| #5 (10:12~10:30) | |
| Paper ID: | 759 |
| Title: | Multi-Level Surface Maps for Outdoor Terrain Mapping and Loop Closing |
| Authors: | Rudolph Triebel, Patrick Pfaff, Wolfram Burgard |
| < Go to Top > |
| TA1-9: | Navigation III |
| Room: | Convention Hall No. 8, Level 2 < map > |
| Time: | 9:00-10:30 Thursday October 12, 2006 |
| Chairs: | Joseph Nsasi Bakambu, Jun Miura |
| #1 (9:00~9:18) | |
| Paper ID: | 635 |
| Title: | Mobile Manipulator Motion Planning Towards Multiple Goal Configurations |
| Authors: | James Ward, Jayantha Katupitiya |
| #2 (9:18~9:36) | |
| Paper ID: | 777 |
| Title: | Visual Homing Navigation With Two Landmarks: The Balanced Proportional Triangulation Method |
| Authors: | Jose Francisco Bonora, Domingo Gallardo |
| #3 (9:36~9:54) | |
| Paper ID: | 431 |
| Title: | Spline-based Robot Navigation |
| Authors: | Evgeni Magid, Daniel Keren, Ehud Rivlin, Irad Yavneh |
| #4 (9:54~10:12) | |
| Paper ID: | 1052 |
| Title: | Panoramic View-Based Navigation in Outdoor Environments Based on Support Vector Learning |
| Authors: | Hideo Morita, Michael Hild, Jun Miura, Yoshiaki Shirai |
| #5 (10:12~10:30) | |
| Paper ID: | 847 |
| Title: | Integrated Autonomous System for Exploration and Navigation in Underground Mines |
| Authors: | Joseph Nsasi Bakambu |
| < Go to Top > |
| TA1-10: | Visual Servoing I |
| Room: | Convention Hall No. 16A, Level 3 < map > |
| Time: | 9:00-10:30 Thursday October 12, 2006 |
| Chairs: | Enric Cervera, Ezio Malis |
| #1 (9:00~9:18) | |
| Paper ID: | 329 |
| Title: | A Cross-Platform Network-Ready Visual Servo Simulator |
| Authors: | Enric Cervera |
| #2 (9:18~9:36) | |
| Paper ID: | 336 |
| Title: | Integration Framework for Improved Visual Servoing in Image and Cartesian Spaces |
| Authors: | A. H. Abdul Hafez, C. V. Jawahar |
| #3 (9:36~9:54) | |
| Paper ID: | 437 |
| Title: | Active Stereovision Using Invariant Visual Servoing |
| Authors: | Vincent Brandou, Ezio Malis, Patrick Rives, Anne-Gaelle Allais, Michel Perrier |
| #4 (9:54~10:12) | |
| Paper ID: | 819 |
| Title: | Decoupled Homography-based Visual Servoing with Omnidirectional Cameras |
| Authors: | Hicham Hadj-Abdelkader, Youcef Mezouar, Nicolas Andreff, Philippe Martinet |
| #5 (10:12~10:30) | |
| Paper ID: | 984 |
| Title: | A Hybrid Visual Servo System Considering the Workspace Boundary Singularity |
| Authors: | Do Hyoung Kim, Myung Jin Chung |
| < Go to Top > |
| TA1-11: | Robotic Surgery I |
| Room: | Convention Hall No. 10, Level 3 < map > |
| Time: | 9:00-10:30 Thursday October 12, 2006 |
| Chairs: | Florent Nageotte, Peter Berkelman |
| #1 (9:00~9:18) | |
| Paper ID: | 522 |
| Title: | Control Software Design of a Compact Laparoscopic Surgical Robot System |
| Authors: | Ji Ma, Peter Berkelman |
| #2 (9:18~9:36) | |
| Paper ID: | 1250 |
| Title: | Improving Navigation Precision of Milling Operations in Surgical Robotics |
| Authors: | Philipp J. Stolka, Dominik Henrich |
| #3 (9:36~9:54) | |
| Paper ID: | 1363 |
| Title: | Visually Servoed Suturing for Robotic Microsurgical Keratoplasty |
| Authors: | Guanghua Zong, Yida Hu, Dazhai Li, Xuguang Sun |
| #4 (9:54~10:12) | |
| Paper ID: | 1115 |
| Title: | Visual Servoing-Based Endoscopic Path Following for Robot-Assisted Laparoscopic Surgery |
| Authors: | Florent Nageotte, Philippe Zanne, Christophe Doignon, Michel de Mathelin |
| #5 (10:12~10:30) | |
| Paper ID: | 1103 |
| Title: | Automatic Childbirth Procedures Implanted on the BirthSIM Simulator |
| Authors: | O. Olaby, R. Moreau, X. Brun, T. Redarce, O. Dupuis |
| < Go to Top > |
| TA1-12: | Path Planning I |
| Room: | Convention Hall No. 16B, Level 3 < map > |
| Time: | 9:00-10:30 Thursday October 12, 2006 |
| Chairs: | Bart Nabbe, Weihua Sheng |
| #1 (9:00~9:18) | |
| Paper ID: | 1460 |
| Title: | Path Planning for Mobile Robot Navigation Using Voronoi Diagram and Fast Marching |
| Authors: | Santiago Garrido, Luis Moreno, Mohamed Abderrahim, Fernando Martin |
| #2 (9:18~9:36) | |
| Paper ID: | 1516 |
| Title: | Planning and Acting in Uncertain Environments Using Probabilistic Inference |
| Authors: | Deepak Verma, Rajesh P. N. Rao |
| #3 (9:36~9:54) | |
| Paper ID: | 81 |
| Title: | Opportunistic Use of Vision to Push back The Path-planning Horizon |
| Authors: | Bart Nabbe, Derek Hoiem, Alexei A.A. Efros, Martial Hebert |
| #4 (9:54~10:12) | |
| Paper ID: | 201 |
| Title: | Ant Colony Optimization for Tool Path Integration in Spray Forming Processes |
| Authors: | Girma S. Tewolde, Weihua Sheng |
| #5 (10:12~10:30) | |
| Paper ID: | 269 |
| Title: | On-Line Path Generation for Robotic Deburring of Cast Aluminum Wheels |
| Authors: | Hui Zhang, Heping Chen, Ning Xi, George Zhang, Jianmin He |
| < Go to Top > |
| TA1-13: | Biologically Inspired Robotic Fish |
| Room: | Convention Hall No. 11, Level 3 < map > |
| Time: | 9:00-10:30 Thursday October 12, 2006 |
| Chairs: | Huosheng Hu, Shuxiang Guo |
| #1 (9:00~9:18) | |
| Paper ID: | 809 |
| Title: | Design of 3D Swim Patterns for Autonomous Robotic Fish |
| Authors: | Huosheng Hu, Jindong Liu, Ian Dukes, George Francis |
| #2 (9:18~9:36) | |
| Paper ID: | 968 |
| Title: | Generating Thrust with a Biologically-Inspired Robotic Ribbon Fin |
| Authors: | Michael Epstein, J. Edward Colgate, Malcolm A. MacIver |
| #3 (9:36~9:54) | |
| Paper ID: | 202 |
| Title: | A Tripodic Biomimetic Underwater Microrobots Utilizing ICPF Actuators |
| Authors: | Wei Zhang, Shuxiang Guo, Kinji Asaka |
| #4 (9:54~10:12) | |
| Paper ID: | 1330 |
| Title: | Locomotion Consideration and Implementation of Robotic Fish with Modular Undulating Fins: Analysis and Experimental Study |
| Authors: | K. H. Low |
| #5 (10:12~10:30) | |
| Paper ID: | 447 |
| Title: | The Development of a Hybrid Type of Underwater Micro Biped Robot |
| Authors: | Shuxiang Guo, Xiufen Ye, Yuya Okuda, Kinji Asaka |
| < Go to Top > |
| TA1-14: | Acoustic Sensing |
| Room: | Convention Hall No. 3030, Level 3 < map > |
| Time: | 9:00-10:30 Thursday October 12, 2006 |
| Chairs: | David Silver, Shigeaki Aoki |
| #1 (9:00~9:18) | |
| Paper ID: | 2020 |
| Title: | The Speech Recognition Based on the Bark Wavelet and CZCPA Features |
| Authors: | Xueying Zhang, Jing Bai |
| #2 (9:18~9:36) | |
| Paper ID: | 1307 |
| Title: | Using Physical Demonstrations, Background Knowledge and Vocal Comments for Task Learning |
| Authors: | M. Pardowitz, R. Zollner, S. Knoop, R. Dillmann |
| #3 (9:36~9:54) | |
| Paper ID: | 834 |
| Title: | Multiscale Sensing: A New Paradigm for Actuated Sensing of High Frequency Dynamic Phenomena |
| Authors: | Amarjeet Singh, Diane Budzik, Willie Chen, Maxim A. Batalin, Michael Stealey, Henrik Borgstrom, William J. Kaiser |
| #4 (9:54~10:12) | |
| Paper ID: | 719 |
| Title: | Function-based Classification from 3D Data and Audio |
| Authors: | Aliza Amsellem, Octavian Soldea, Ehud Rivlin |
| #5 (10:12~10:30) | |
| Paper ID: | 878 |
| Title: | Frequency-Hopping Pseudo-Random Pulse Width Modulation to Eliminate Crosstalk of Sonar Sensors in Mobile Robots |
| Authors: | Qinghao Meng, Qiong Liang, Juncai Li |
| < Go to Top > |
| TA1-15: | Humanoid Robots V: Hardware Design |
| Room: | Convention Hall No. 7, Level 2 < map > |
| Time: | 9:00-10:30 Thursday October 12, 2006 |
| Chairs: | Fumio Kanehiro, Yonghwan Oh |
| #1 (9:00~9:18) | |
| Paper ID: | 404 |
| Title: | Distributed Control System of Humanoid Robots Based on Real-time Ethernet |
| Authors: | Fumio Kanehiro, Yoichi Ishiwata, Hajime Saito, Kazuhiko Akachi, Gou Miyamori, Takakatsu Isozumi, Kenji Kaneko, Hirohisa Hirukawa |
| #2 (9:18~9:36) | |
| Paper ID: | 581 |
| Title: | Walking Control of a Humanoid Robot via Explicit and Stable CoM Manipulation with the Angular Momentum Resolution |
| Authors: | Kyung-ho Ahn, Yonghwan Oh |
| #3 (9:36~9:54) | |
| Paper ID: | 305 |
| Title: | Exploiting Task Intervals for Whole Body Robot Control |
| Authors: | Michael Gienger, Herbert Janssen, Christian Goerick |
| #4 (9:54~10:12) | |
| Paper ID: | 1019 |
| Title: | Humanoid Motion Design Considering Rhythm Based on Human Motion Capture |
| Authors: | Lige Zhang, Qiang Huang, Shusheng Lv, You Shi, Zhijie Wang, Ali Raza Jafri |
| #5 (10:12~10:30) | |
| Paper ID: | 1107 |
| Title: | Walking Pattern Generation of a Biped Walking Vehicle Using a Dynamic Human Model |
| Authors: | Yusuke Sugahara, Kenji Hashimoto, Masamiki Kawase, Terumasa Sawato, Akihiro Hayashi, Nobutsuna Endo, Akihiro Ohta, Chiaki Tanaka, Hun-Ok Lim, Atsuo Takanishi |
| < Go to Top > |
| TA1-16: | Formation Control I |
| Room: | Convention Hall No. 16C, Level 3 < map > |
| Time: | 9:00-10:30 Thursday October 12, 2006 |
| Chairs: | Long Wang, N.M. Kwok |
| #1 (9:00~9:18) | |
| Paper ID: | 50 |
| Title: | Formation Control of Multiple Biomimetic Robotic Fish |
| Authors: | Jinyan Shao, Junzhi Yu, Long Wang |
| #2 (9:18~9:36) | |
| Paper ID: | 190 |
| Title: | Collision-Free Formations with Reactively-Controlled Virtual Head Robot Tracking |
| Authors: | A.D. Nguyen, N.M. Kwok, V.T. Ngo, Q.P. Ha |
| #3 (9:36~9:54) | |
| Paper ID: | 599 |
| Title: | A Fuzzy Leader-Follower Approach to Formation Control of Multiple Mobile Robots |
| Authors: | Marianne Sisto, Dongbing Gu |
| #4 (9:54~10:12) | |
| Paper ID: | 1217 |
| Title: | Robust Formation Adaptation for Mobile Robots |
| Authors: | Tove Gustavi, Xiaoming Hu |
| #5 (10:12~10:30) | |
| Paper ID: | 1265 |
| Title: | Robust Formation Adaptation for Mobile Platforms with Noisy Sensor Information |
| Authors: | Johan Samuelsson, Tove Gustavi, Maja Karasalo, Xiaoming Hu |
| < Go to Top > |
| TA2-1: | Motion Control |
| Room: | Convention Hall No. 3, Level 3 < map > |
| Time: | 10:45-12:15 Thursday October 12, 2006 |
| Chairs: | Aiguo Ming, James K. Mills |
| #1 (10:45~11:03) | |
| Paper ID: | 235 |
| Title: | Path Following Control for Tractor-Trailer Mobile Robots with Two Kinds of Connection Structures |
| Authors: | Jing Yuan, Yalou Huang |
| #2 (11:03~11:21) | |
| Paper ID: | 320 |
| Title: | Performance Improvement of Tracking Control for a Planar Parallel Robot Using Synchronized Control |
| Authors: | Lu Ren, James K. Mills, Dong Sun |
| #3 (11:21~11:39) | |
| Paper ID: | 444 |
| Title: | Motion Control of Golf Swing Robot Based on Target Dynamics |
| Authors: | Chunquan Xu, Takeharu Nagaoka, Aiguo Ming, Makoto Shimojo |
| #4 (11:39~11:57) | |
| Paper ID: | 741 |
| Title: | Mission Control System for Dam Inspection with an AUV |
| Authors: | Narcis Palomeras, Marc Carreras, Pere Ridao, Emili Hernandez |
| #5 (11:57~12:15) | |
| Paper ID: | 982 |
| Title: | Creation and Compression of Global Control Policy for Swinging up Control of the Acrobot |
| Authors: | Ryuichi Ueda, Tamio Arai, Kojiro Matsushita |
| < Go to Top > |
| TA2-2: | Visual SLAM II |
| Room: | Convention Hall No. 4, Level 3 < map > |
| Time: | 10:45-12:15 Thursday October 12, 2006 |
| Chairs: | Henrik Christensen, Wan Kyun Chung |
| #1 (10:45~11:03) | |
| Paper ID: | 1030 |
| Title: | Grid-based Visual SLAM in Complex Environment |
| Authors: | Young-Ho Choi, Se-Young Oh |
| #2 (11:03~11:21) | |
| Paper ID: | 952 |
| Title: | Visual SLAM with Lines and Corner Features |
| Authors: | Woo Yeon Jeong, Kyoung Mu Lee |
| #3 (11:21~11:39) | |
| Paper ID: | 1010 |
| Title: | Good Image Features for Bearing-only SLAM |
| Authors: | Xiang Wang, Hong Zhang |
| #4 (11:39~11:57) | |
| Paper ID: | 1375 |
| Title: | Attentional Landmark Selection for Visual SLAM |
| Authors: | Simone Frintrop, Patric Jensfelt, Henrik I. Christensen |
| #5 (11:57~12:15) | |
| Paper ID: | 1221 |
| Title: | Data Association Using Visual Object Recognition for EKF-SLAM in Home Environment |
| Authors: | Sunghwan Ahn, Minyong Choi, Jinwoo Choi, Wan Kyun Chung |
| < Go to Top > |
| TA2-3: | Human-Machine Interaction I |
| Room: | Convention Hall No. 6, Level 2 < map > |
| Time: | 10:45-12:15 Thursday October 12, 2006 |
| Chairs: | Shotaro Kamio, Takanori Shibata |
| #1 (10:45~11:03) | |
| Paper ID: | 29 |
| Title: | Neurocognitive Affective System for an Emotive Robot |
| Authors: | Gunn-Yong Park, Seung-Ik Lee, Woo-Young Kwon, Joong-Bae Kim |
| #2 (11:03~11:21) | |
| Paper ID: | 1028 |
| Title: | Cognitive Robotic Engine for HRI |
| Authors: | Sukhan Lee, Hun-Sue Lee, Dong-Wook Shin |
| #3 (11:21~11:39) | |
| Paper ID: | 354 |
| Title: | Cooperative Object Transport with Humanoid Robots Using RRT Path Planning and Re-Planning |
| Authors: | Shotaro Kamio, Hitoshi Iba |
| #4 (11:39~11:57) | |
| Paper ID: | 1230 |
| Title: | Designing Simple and Effective Expression of Robot's Primitive Minds to a Human |
| Authors: | Seiji Yamada, Takanori Komatsu |
| #5 (11:57~12:15) | |
| Paper ID: | 1303 |
| Title: | Development of a Bioinstrumentation System in the Interaction between a Human and a Robot |
| Authors: | Kazuko Itoh, Hiroyasu Miwa, Yuko Nukariya, Massimiliano Zecca, Hideaki Takanobu, Stefano Roccella, Maria Chiara Carrozza, Paolo Dario, Atsuo Takanishi |
| < Go to Top > |
| TA2-4: | Robot Manipulation |
| Room: | Convention Hall No. 5, Level 2 < map > |
| Time: | 10:45-12:15 Thursday October 12, 2006 |
| Chairs: | JungHyun Han, Kroeger Torsten |
| #1 (10:45~11:03) | |
| Paper ID: | 260 |
| Title: | 6D Force and Acceleration Sensor Fusion for Compliant Manipulation Control |
| Authors: | Torsten Kroeger, Daniel Kubus, Friedrich M. Wahl |
| #2 (11:03~11:21) | |
| Paper ID: | 1032 |
| Title: | Spatial Reasoning for Real-time Robotic Manipulation |
| Authors: | Han-Young Jang, Hadi Moradi, Suyeon Hong, Sukhan Lee, JungHyun Han |
| #3 (11:21~11:39) | |
| Paper ID: | 1662 |
| Title: | Manipulation of Flexible Rope Using Topological Model Based on Sensor Information |
| Authors: | Takayuki Matsuno, Toshio Fukuda |
| #4 (11:39~11:57) | |
| Paper ID: | 1073 |
| Title: | Global Color Model Based Object Matching in the Multi-Camera Environment |
| Authors: | Kazuyuki Morioka, Xuchu Mao, Hideki Hashimoto |
| #5 (11:57~12:15) | |
| Paper ID: | 57 |
| Title: | A Novel Modular Fixture Design and Assembly System Based on VR |
| Authors: | Gaoliang Peng, Wenjian Liu |
| < Go to Top > |
| TA2-5: | Learning I |
| Room: | Convention Hall No. 14, Level 3 < map > |
| Time: | 10:45-12:15 Thursday October 12, 2006 |
| Chairs: | Darrin Bentivegna, Lilienthal Achim |
| #1 (10:45~11:03) | |
| Paper ID: | 241 |
| Title: | Q-RAN: A Constructive Reinforcement Learning Approach for Robot Behavior Learning |
| Authors: | Jun Li, Achim Lilienthal, Tomas Martinez-Marin, Tom Duckett |
| #2 (11:03~11:21) | |
| Paper ID: | 387 |
| Title: | Learning to Drive Among Obstacles |
| Authors: | Bradley Hamner, Sebastian Scherer, Sanjiv Singh |
| #3 (11:21~11:39) | |
| Paper ID: | 443 |
| Title: | Learning Sensory-Motor Maps for Redundant Robots |
| Authors: | Manuel Lopes, Jose Santos-Victor |
| #4 (11:39~11:57) | |
| Paper ID: | 576 |
| Title: | Learning Similar Tasks from Observation and Practice |
| Authors: | Darrin C. Bentivegna, Christopher G. Atkeson, Gordon Cheng |
| #5 (11:57~12:15) | |
| Paper ID: | 757 |
| Title: | Heterogeneous and Hierarchical Cooperative Learning via Combining Decision Trees |
| Authors: | Masoud Asadpour, Majid Nili Ahmadabadi, Roland Siegwart |
| < Go to Top > |
| TA2-6: | Multi-robot Systems II |
| Room: | Convention Hall No. 12, Level 3 < map > |
| Time: | 10:45-12:15 Thursday October 12, 2006 |
| Chairs: | Hong Zhang, Zhidong Wang |
| #1 (10:45~11:03) | |
| Paper ID: | 223 |
| Title: | Multi-robot Aggregation Strategies with Limited Communication |
| Authors: | Yan Meng, Jeffrey V. Nickerson, Jing Gan |
| #2 (11:03~11:21) | |
| Paper ID: | 278 |
| Title: | A Variable Speed Force Field Method for Multi-Robot Collaboration |
| Authors: | Dalong Wang, Dikai Liu, Gamini Dissanayake |
| #3 (11:21~11:39) | |
| Paper ID: | 389 |
| Title: | Adaptive Causal Models for Fault Diagnosis and Recovery in Multi-Robot Teams |
| Authors: | Lynne E. Parker, Balajee Kannan |
| #4 (11:39~11:57) | |
| Paper ID: | 490 |
| Title: | Sounds Good: Simulation and Evaluation of Audio Communication for Multi-Robot Exploration |
| Authors: | Pooya Karimian, Richard Vaughan, Sarah Brown |
| #5 (11:57~12:15) | |
| Paper ID: | 1506 |
| Title: | On Foraging Strategies for Large-scale Multi-robot Systems |
| Authors: | Dylan A. Shell, Maja J. Mataric |
| < Go to Top > |
| TA2-7: | Industrial Applications |
| Room: | Convention Hall No. 13, Level 3 < map > |
| Time: | 10:45-12:15 Thursday October 12, 2006 |
| Chairs: | Tangwen Yang, Weihua Sheng |
| #1 (10:45~11:03) | |
| Paper ID: | 463 |
| Title: | Wave Based Robust Control of a Crane System |
| Authors: | T. W. Yang, W. J. O'Connor |
| #2 (11:03~11:21) | |
| Paper ID: | 1089 |
| Title: | Optimization of Industrial Applications with Hardware in the Loop |
| Authors: | Matthieu Guilbert, Pierre-Brice Wieber, Luc Joly |
| #3 (11:21~11:39) | |
| Paper ID: | 1177 |
| Title: | Visual Feedback Tracking of Crane Hook |
| Authors: | Shunsuke Nara, Daisuke Miyamoto, Satoru Takahashi, Shun'ichi Kaneko |
| #4 (11:39~11:57) | |
| Paper ID: | 1339 |
| Title: | Implementation of Industrial Robot Force Control Case Study: High Power Stub Grinding and Deburring |
| Authors: | A. Robertsson, T. Olsson, R. Johansson, A. Blomdell, K. Nilsson, M. Haage, B. Lauwers, H. de Baerdemaeker, T. Brogardh, H. Brantmark |
| #5 (11:57~12:15) | |
| Paper ID: | 2025 |
| Title: | Wall-climbing Robot Path Planning for Testing Cylindrical Oilcan Weld Based on Voronoi Diagram |
| Authors: | Zhuang Fu, Yan-zheng Zhao, Zhi-yuan Qian, Qi-xin Cao |
| < Go to Top > |
| TA2-8: | Topological Mapping and Learning |
| Room: | Convention Hall No. 15, Level 3 < map > |
| Time: | 10:45-12:15 Thursday October 12, 2006 |
| Chairs: | Tomomasa Sato, Wolfram Burgard |
| #1 (10:45~11:03) | |
| Paper ID: | 904 |
| Title: | Topological Mapping Inspired by Techniques in DNA Sequence Alignment |
| Authors: | Alan M. Zhang, Lindsay Kleeman, R. Andrew Russell |
| #2 (11:03~11:21) | |
| Paper ID: | 1577 |
| Title: | Topological Navigation of Mobile Robot in Corridor Environment Using Sonar Sensor |
| Authors: | Kyoungmin Lee, Namyoung Cho, Wan Kyun Chung, Nakju Lett Doh |
| #3 (11:21~11:39) | |
| Paper ID: | 526 |
| Title: | Simple yet Effective Visuo-Spatial Topological Mapping |
| Authors: | David Rawlinson, Ray Jarvis |
| #4 (11:39~11:57) | |
| Paper ID: | 396 |
| Title: | Supervised Learning of Topological Maps Using Semantic Information Extracted from Range Data |
| Authors: | Oscar Martinez Mozos, Wolfram Burgard |
| #5 (11:57~12:15) | |
| Paper ID: | 768 |
| Title: | Efficient Margin-based Query Learning on Action Classification |
| Authors: | Masamichi Shimosaka, Taketoshi Mori, Tomomasa Sato |
| < Go to Top > |
| TA2-9: | Navigation IV |
| Room: | Convention Hall No. 8, Level 2 < map > |
| Time: | 10:45-12:15 Thursday October 12, 2006 |
| Chairs: | Alan Zhang, Michail G. Lagoudakis |
| #1 (10:45~11:03) | |
| Paper ID: | 142 |
| Title: | Landmark Selection for Task-Oriented Navigation |
| Authors: | Ronen Lerner, Ehud Rivlin, Ilan Shimshoni |
| #2 (11:03~11:21) | |
| Paper ID: | 1138 |
| Title: | Learning Relational Navigation Policies |
| Authors: | Alexandru Cocora, Kristian Kersting, Christian Plagemann, Wolfram Burgard, Luc De Raedt |
| #3 (11:21~11:39) | |
| Paper ID: | 776 |
| Title: | Real Time Object Tracking Using Reflectional Symmetry and Motion |
| Authors: | Wai Ho Li, Lindsay Kleeman |
| #4 (11:39~11:57) | |
| Paper ID: | 398 |
| Title: | Incremental Multi-Objective Motion Control of Nonholonomic Mobile Robots |
| Authors: | Michail G. Lagoudakis |
| #5 (11:57~12:15) | |
| Paper ID: | 580 |
| Title: | Multi-agent Based Surveillance |
| Authors: | Yufeng Chen, Zhi Zhong, Ka Keung Lee, Yangsheng Xu |
| < Go to Top > |
| TA2-10: | Motion Tracking |
| Room: | Convention Hall No. 16A, Level 3 < map > |
| Time: | 10:45-12:15 Thursday October 12, 2006 |
| Chairs: | Federica Pascucci, Toshihiko Yasuda |
| #1 (10:45~11:03) | |
| Paper ID: | 1396 |
| Title: | Multirobot Localisation Using Interlaced Extended Kalman Filter |
| Authors: | Stefano Panzieri, Federica Pascucci, Roberto Setola |
| #2 (11:03~11:21) | |
| Paper ID: | 1542 |
| Title: | A Real-Time Object Tracking System Using a Particle Filter |
| Authors: | Jung Uk Cho, Seung Hun Jin, Xuan Dai Pham, Jae Wook Jeon, Jong Eun Byun, Hoon Kang |
| #3 (11:21~11:39) | |
| Paper ID: | 2151 |
| Title: | Multi-Information Fusion for Scale Selection in Robot Tracking |
| Authors: | Xiaoqin Zhang, Hong Qiao, Zhiyong Liu |
| #4 (11:39~11:57) | |
| Paper ID: | 916 |
| Title: | One Hand Drive Wheelchair with New Manipulation Mechanism and Assist Functions |
| Authors: | Toshihiko Yasuda, Daisuke Furikado, Katsuyuki Tanaka |
| #5 (11:57~12:15) | |
| Paper ID: | 1435 |
| Title: | Team-Driven Multi-Model Motion Tracking with Communication |
| Authors: | Yang Gu, Manuela Veloso |
| < Go to Top > |
| TA2-11: | Robotic Surgery II |
| Room: | Convention Hall No. 10, Level 3 < map > |
| Time: | 10:45-12:15 Thursday October 12, 2006 |
| Chairs: | Da Liu, Pierre Dupont |
| #1 (10:45~11:03) | |
| Paper ID: | 401 |
| Title: | An Internet Robot Assistant Tele-neurosurgery System Case |
| Authors: | Tianmiao Wang, Jun Wei, Da Liu, Lei Hu, Wenyong Liu |
| #2 (11:03~11:21) | |
| Paper ID: | 313 |
| Title: | A Steerable Needle Technology Using Curved Concentric Tubes |
| Authors: | Patrick Sears, Pierre Dupont |
| #3 (11:21~11:39) | |
| Paper ID: | 1475 |
| Title: | Toward Active Cannulas: Miniature Snake-Like Surgical Robots |
| Authors: | Robert J. Webster III, Allison M. Okamura, Noah J. Cowan |
| #4 (11:39~11:57) | |
| Paper ID: | 667 |
| Title: | Kinematic Design for Robot-assisted Laryngeal Surgery Systems |
| Authors: | Shuxin Wang, Qunzhi Li, Jienan Ding, Zhijian Zhang |
| #5 (11:57~12:15) | |
| Paper ID: | 80 |
| Title: | A Workflow for Robot Assisted Neurosurgery |
| Authors: | Da Liu, Tianmiao Wang |
| < Go to Top > |
| TA2-12: | Path Planning II |
| Room: | Convention Hall No. 16B, Level 3 < map > |
| Time: | 10:45-12:15 Thursday October 12, 2006 |
| Chairs: | Ferando Martin Monar, Jun Miura |
| #1 (10:45~11:03) | |
| Paper ID: | 275 |
| Title: | Toward Online Probabilistic Path Replanning in Dynamic Environments |
| Authors: | Roland Philippsen, Bjorn Jensen, Roland Siegwart |
| #2 (11:03~11:21) | |
| Paper ID: | 32 |
| Title: | Log of the Inverse of the Distance Transform and Fast Marching Applied to Path Planning |
| Authors: | Santiago Garrido, Luis Moreno, Dolores Blanco, Fernando Martin |
| #3 (11:21~11:39) | |
| Paper ID: | 95 |
| Title: | Collision-free Path Planning and Trajectory Generation for MAVs Flying in Urban Terrain |
| Authors: | Rong Zhu, Xiaoying Guan, Zhaoying Zhou, Dong Sun |
| #4 (11:39~11:57) | |
| Paper ID: | 212 |
| Title: | Support Vector Path Planning |
| Authors: | Jun Miura |
| #5 (11:57~12:15) | |
| Paper ID: | 495 |
| Title: | Path Planning for Manipulation Environments through Interpolated Walks |
| Authors: | Andres S. Vazquez, Roberto Torres, Antonio Adan, Carlos Cerrada |
| < Go to Top > |
| TA2-13: | Control of Mini Helicopter |
| Room: | Convention Hall No. 11, Level 3 < map > |
| Time: | 10:45-12:15 Thursday October 12, 2006 |
| Chairs: | Kazuyuki Morioka, Isabelle Fantoni |
| #1 (10:45~11:03) | |
| Paper ID: | 1270 |
| Title: | Autonomous Control for Micro-Flying Robot and Small Wireless Helicopter X.R.B |
| Authors: | Wei Wang, Gang Song, Kenzou Nonami, Mitsuo Hirata, Osamu Miyazawa |
| #2 (11:03~11:21) | |
| Paper ID: | 1267 |
| Title: | Development of 3D Vision Enabled Small-scale Autonomous Helicopter |
| Authors: | Zhenyu Yu, Demian Celestino, Kenzo Nonami |
| #3 (11:21~11:39) | |
| Paper ID: | 1879 |
| Title: | Intelligent Rotor Speed Controller for a Mini Autonomous Helicopter |
| Authors: | Yu Xu, Ping Li, Bo Han, Qinyuan Ren |
| #4 (11:39~11:57) | |
| Paper ID: | 503 |
| Title: | Real-Time Control of a Small-Scale Helicopter Having Three Rotors |
| Authors: | Sergio Salazar-Cruz, Farid Kendoul, Rogelio Lozano, Isabelle Fantoni |
| #5 (11:57~12:15) | |
| Paper ID: | 1041 |
| Title: | Design and Control of an Indoor Coaxial Helicopter |
| Authors: | Samir Bouabdallah, Roland Siegwart, Gilles Caprari |
| < Go to Top > |
| TA2-14: | Sensor Fusion |
| Room: | Convention Hall No. 3030, Level 3 < map > |
| Time: | 10:45-12:15 Thursday October 12, 2006 |
| Chairs: | Anibal De Almeida, Takashi Tsubouchi |
| #1 (10:45~11:03) | |
| Paper ID: | 1137 |
| Title: | People Tracking Using a Robot in Motion with Laser Range Finder |
| Authors: | Jae Hoon Lee, Takashi Tsubouchi, Kenjiro Yamamoto, Saku Egawa |
| #2 (11:03~11:21) | |
| Paper ID: | 397 |
| Title: | Multi-Stage Sensor Fusion for Landmine Detection |
| Authors: | Svetlana Larionova, Lino Marques, Anibal Traca de Almeida |
| #3 (11:21~11:39) | |
| Paper ID: | 914 |
| Title: | Panoramic Vision and Laser Range Finder Fusion for Multiple Person Tracking |
| Authors: | Punarjay Chakravarty, Ray Jarvis |
| #4 (11:39~11:57) | |
| Paper ID: | 1188 |
| Title: | 3D Object Recognition Using Spin-images for a Humanoid Stereoscopic Vision System |
| Authors: | Olivier Stasse, Sylvain Dupitier, Kazuhito Yokoi |
| #5 (11:57~12:15) | |
| Paper ID: | 728 |
| Title: | Measuring the Deformation of a Parallel Kinematics Machine under Dynamic Conditions, by Combining Video and Accelerometers |
| Authors: | Tony Cano, Frederic Chapelle, Pascal Ray, Jean-Marc Lavest |
| < Go to Top > |
| TA2-15: | Humanoid Robots VI: Sensing and Control |
| Room: | Convention Hall No. 7, Level 2 < map > |
| Time: | 10:45-12:15 Thursday October 12, 2006 |
| Chairs: | Abderrahmane Kheddar, Shuuji Kajita |
| #1 (10:45~11:03) | |
| Paper ID: | 1416 |
| Title: | Instability Detection and Fall Avoidance for a Humanoid Using Attitude Sensors and Reflexes |
| Authors: | Reimund Renner, Sven Behnke |
| #2 (11:03~11:21) | |
| Paper ID: | 849 |
| Title: | Planning Support Contact-points for Humanoid Robots and Experiments on HRP-2 |
| Authors: | Adrien Escande, Abderrahmane Kheddar, Sylvain Miossec |
| #3 (11:21~11:39) | |
| Paper ID: | 621 |
| Title: | Humanoid Head Prototype with Uncoupled Eyes and Vestibular Sensors |
| Authors: | F. B. Ouezdou, S. Alfayad, P. Pirim, S. Barthelemy |
| #4 (11:39~11:57) | |
| Paper ID: | 1165 |
| Title: | Motion Planning of Emergency Stop for Humanoid Robot by State Space Approach |
| Authors: | Mitsuharu Morisawa, Kenji Kaneko, Fumio Kanehiro, Shuuji Kajita, Kiyoshi Fujiwara, Kensuke Harada, Hirohisa Hirukawa |
| #5 (11:57~12:15) | |
| Paper ID: | 156 |
| Title: | Biped Walking Pattern Generator allowing Auxiliary ZMP Control |
| Authors: | Shuuji Kajita, Mistuharu Morisawa, Kensuke Harada, Kenji Kaneko, Fumio Kanehiro, Kiyoshi Fujiwara, Hirohisa Hirukawa |
| < Go to Top > |
| TA2-16: | Underwater Robots |
| Room: | Convention Hall No. 16C, Level 3 < map > |
| Time: | 10:45-12:15 Thursday October 12, 2006 |
| Chairs: | Hiroshi Kawano, Yuechao Wang |
| #1 (10:45~11:03) | |
| Paper ID: | 876 |
| Title: | Characterization and Modeling of Rotational Responses for an Oscillating Foil Underwater Robot |
| Authors: | Philippe Giguere, Chris Prahacs, Gregory Dudek |
| #2 (11:03~11:21) | |
| Paper ID: | 1838 |
| Title: | Motion Control System of Underwater Robot without Rudder and Wing |
| Authors: | Yong Gan, Yushan Sun, Lei Wan, Yongjie Pang |
| #3 (11:21~11:39) | |
| Paper ID: | 131 |
| Title: | Underwater Robot with a Buoyancy Control System Based on the Spermaceti Oil Hypothesis |
| Authors: | Koji Shibuya, Yuichi Kado, Suguru Honda, Taro Iwamoto, Kazuyoshi Tsutsumi |
| #4 (11:39~11:57) | |
| Paper ID: | 805 |
| Title: | Motion Coordination for Underwater Vehicle-Manipulator Systems Using a Fuzzy Hybrid Strategy |
| Authors: | Carlos Henrique dos Santos, Guilherme Bittencourt, Raul Guenther, Edson De Pieri |
| #5 (11:57~12:15) | |
| Paper ID: | 157 |
| Title: | Real-time Obstacle Avoidance for Underactuated Autonomous Underwater Vehicles in Unknown Vortex Sea Flow by the MDP Approach |
| Authors: | Hiroshi Kawano |
| < Go to Top > |
| TP1-1: | Robot Control with Uncertainties |
| Room: | Convention Hall No. 3, Level 3 < map > |
| Time: | 13:30-15:00 Thursday October 12, 2006 |
| Chairs: | Dong Sun, Hideo Fujimoto |
| #1 (13:30~13:48) | |
| Paper ID: | 15 |
| Title: | Global Stability of a Saturated Nonlinear PID Controller for Robotic Manipulators |
| Authors: | Dong Sun, Xiaoyin Shao, Yuxin Su |
| #2 (13:48~14:06) | |
| Paper ID: | 123 |
| Title: | Robust Robot Controller Design Using Joint Position and Velocity Dependent Uncertainty Bound |
| Authors: | Mohammad Danesh, Farid Sheikholeslam, Mehdi Keshmiri |
| #3 (14:06~14:24) | |
| Paper ID: | 869 |
| Title: | Adaptive Jacobian PID Regulation for Robots with Uncertain Kinematics and Actuator Model |
| Authors: | Chao Liu, Chien Chern Cheah, Jean-Jacques Slotine |
| #4 (14:24~14:42) | |
| Paper ID: | 964 |
| Title: | Velocity-Bounding Stiff Position Controller |
| Authors: | Ryo Kikuuwe, Takahiro Yamamoto, Hideo Fujimoto |
| #5 (14:42~15:00) | |
| Paper ID: | 1222 |
| Title: | 3D Dynamical Analysis for a Caster Wheeled Mobile Robot Moving on the Frictional Surface |
| Authors: | Po-Chih Chen, Han-Pang Huang |
| < Go to Top > |
| TP1-2: | SLAM Algorithms I |
| Room: | Convention Hall No. 4, Level 3 < map > |
| Time: | 13:30-15:00 Thursday October 12, 2006 |
| Chairs: | Jan Weingarten, Takashi Tsubouchi |
| #1 (13:30~13:48) | |
| Paper ID: | 692 |
| Title: | 3D SLAM Using Planar Segments |
| Authors: | Jan Weingarten, Roland Siegwart |
| #2 (13:48~14:06) | |
| Paper ID: | 908 |
| Title: | A 3-D Scan Matching Using Improved 3-D Normal Distributions Transform for Mobile Robotic Mapping |
| Authors: | Eijiro Takeuchi, Takashi Tsubouchi |
| #3 (14:06~14:24) | |
| Paper ID: | 747 |
| Title: | Localization of Avalanche Victims Using Robocentric SLAM |
| Authors: | Pedro Pinies, Juan D. Tardos, Jose Neira |
| #4 (14:24~14:42) | |
| Paper ID: | 558 |
| Title: | Robust and Efficient Mobile Robot Self-localization Using Laser Scanner and Geometric Maps |
| Authors: | L. Armesto, J. Tornero |
| #5 (14:42~15:00) | |
| Paper ID: | 582 |
| Title: | Using Orthogonal Surface Directions for Autonomous 3D-Exploration of Indoor Environments |
| Authors: | Peter Kohlhepp, Georg Bretthauer, Marcus Walther, Ruediger Dillmann |
| < Go to Top > |
| TP1-3: | Social Interactive Robots I |
| Room: | Convention Hall No. 6, Level 2 < map > |
| Time: | 13:30-15:00 Thursday October 12, 2006 |
| Chairs: | Kazuko Itoh, Martin Buss |
| #1 (13:30~13:48) | |
| Paper ID: | 593 |
| Title: | Design of a Social Mobile Robot Using Emotion-based Decision Mechanisms |
| Authors: | Geoffrey A. Hollinger, Yavor Georgiev, Anthony Manfredi, Bruce A. Maxwell, Zachary A. Pezzementi, Benjamin Mitchell |
| #2 (13:48~14:06) | |
| Paper ID: | 994 |
| Title: | Affective State Recognition and Adaptation in Human-Robot Interaction: A Design Approach |
| Authors: | Changchun Liu, Pramila Rani, Nilanjan Sarkar |
| #3 (14:06~14:24) | |
| Paper ID: | 1520 |
| Title: | Development of a Facial Expression Imitation System |
| Authors: | Do Hyoung Kim, Sung Uk Jung, Kwang Ho An, Hui Sung Lee, Myung Jin Chung |
| #4 (14:24~14:42) | |
| Paper ID: | 172 |
| Title: | Design and Evaluation of Emotion-Display EDDIE |
| Authors: | Stefan Sosnowski, Ansgar Bittermann, Kolja Kuhnlenz, Martin Buss |
| Related Video: | 055(Video Session 1) |
| #5 (14:42~15:00) | |
| Paper ID: | 1410 |
| Title: | Control of Facial Expression of the Humanoid Robot Head ROMAN |
| Authors: | Karsten Berns, Jochen Hirth |
| < Go to Top > |
| TP1-4: | Free Flying Robots |
| Room: | Convention Hall No. 5, Level 2 < map > |
| Time: | 13:30-15:00 Thursday October 12, 2006 |
| Chairs: | Hiroki Nakanishi, S. Ali. A Moosavian |
| #1 (13:30~13:48) | |
| Paper ID: | 988 |
| Title: | Multiple Impedance Control of Space Free-Flying Robots Using Virtual Object Grasp |
| Authors: | Rambod Rastegari, S. Ali A. Moosavian |
| #2 (13:48~14:06) | |
| Paper ID: | 999 |
| Title: | Control of Space Free-Flying Robots Using Regulated Sliding Mode Controller |
| Authors: | S. Ali A. Moosavian, M. Reza Homaeinejad |
| #3 (14:06~14:24) | |
| Paper ID: | 673 |
| Title: | Impedance Control for Free-flying Space Robots -Basic Equations and Applications- |
| Authors: | Hiroki Nakanishi, Kazuya Yoshida |
| #4 (14:24~14:42) | |
| Paper ID: | 2011 |
| Title: | A Remote Aerial Robot for Topographic Survey |
| Authors: | Xiaoguang Zhao, Jing Liu, Min Tan |
| #5 (14:42~15:00) | |
| Paper ID: | 34 |
| Title: | A Nonholonomic Motion Planning and Control Based on Chained Form Transformation |
| Authors: | Yuegang Tan, Ziqing Jiang, Zude Zhou |
| < Go to Top > |
| TP1-5: | Learning II |
| Room: | Convention Hall No. 14, Level 3 < map > |
| Time: | 13:30-15:00 Thursday October 12, 2006 |
| Chairs: | Tetsuya Ogata, Volker Graefe |
| #1 (13:30~13:48) | |
| Paper ID: | 368 |
| Title: | Efficient Organization of Network Topology Based on Reinforcement Signals |
| Authors: | Chyon Hae Kim, Shigeki Sugano, Tetsuya Ogata |
| #2 (13:48~14:06) | |
| Paper ID: | 379 |
| Title: | Learning from Nature to Build Intelligent Autonomous Robots |
| Authors: | Rainer Bischoff, Volker Graefe |
| #3 (14:06~14:24) | |
| Paper ID: | 597 |
| Title: | Utilization of Semantic Information for Robust Task Execution by Autonomous Robots |
| Authors: | Hideyuki Tanaka, Takehisa Yairi, Kazuo Machida |
| #4 (14:24~14:42) | |
| Paper ID: | 721 |
| Title: | Improving Reinforcement Learning Speed for Robot Control |
| Authors: | Laetitia Matignon, Guillaume J. Laurent, Nadine Le Fort-Piat |
| #5 (14:42~15:00) | |
| Paper ID: | 1192 |
| Title: | Towars Direct Policy Search Reinforcement Learning for Robot control |
| Authors: | Andres El-Fakdi, Marc Carreras, Pere Ridao |
| < Go to Top > |
| TP1-6: | Multi-agent Systems |
| Room: | Convention Hall No. 12, Level 3 < map > |
| Time: | 13:30-15:00 Thursday October 12, 2006 |
| Chairs: | Dongning Gu, Shugen Ma |
| #1 (13:30~13:48) | |
| Paper ID: | 253 |
| Title: | Continuous and Embedded Learning for Multi-Agent Systems |
| Authors: | Zsolt Kira, Alan C. Schultz |
| #2 (13:48~14:06) | |
| Paper ID: | 412 |
| Title: | Configuration Analysis for Reconfigurable Modular Planetary Robots Based on MSV and CSM |
| Authors: | Minghui Wang, Shugen Ma, Bin Li, Yuechao Wang |
| #3 (14:06~14:24) | |
| Paper ID: | 497 |
| Title: | A Multiagent Fuzzy Policy Reinforcement Learning Algorithm with Application to Leader-Follower Robotic Systems |
| Authors: | Erfu Yang, Dongbing Gu |
| #4 (14:24~14:42) | |
| Paper ID: | 591 |
| Title: | Self-Organization of General Multi-Agent Systems with Complex Interactions |
| Authors: | Hong Shi, Long Wang, Tianguang Chu, Feng Xiao |
| #5 (14:42~15:00) | |
| Paper ID: | 1057 |
| Title: | Coordinated Control of Multiple Interactive Dynamical Agents with Asymmetric Coupling Pattern and Switching Topology |
| Authors: | Hong Shi, Long Wang, Tianguang Chu |
| < Go to Top > |
| TP1-7: | Vibration Control |
| Room: | Convention Hall No. 13, Level 3 < map > |
| Time: | 13:30-15:00 Thursday October 12, 2006 |
| Chairs: | Dragomir N. Nenchev, Yanfei Liu |
| #1 (13:30~13:48) | |
| Paper ID: | 9 |
| Title: | EMG Control for a Five-fingered Underactuated Prosthetic Hand Based on Wavelet Transform and Sample Entropy |
| Authors: | Jingdong Zhao, Zongwu Xie, Li Jiang, Hegao Cai, Hong Liu, Gerd Hirzinger |
| #2 (13:48~14:06) | |
| Paper ID: | 37 |
| Title: | Error Model and Vibration Analysis of Timoshenko Beam Subjected to a Moving Mass |
| Authors: | Zhiyong Qu, Yu Yao |
| #3 (14:06~14:24) | |
| Paper ID: | 789 |
| Title: | Modal Control Design of Configuration-Dependent Linkage Vibration in a Parallel Robot Through Experimental Identification |
| Authors: | Xiaoyun Wang, James K. Mills |
| #4 (14:24~14:42) | |
| Paper ID: | 2125 |
| Title: | Handling Uncertainty due to the Delay Between Complex Sensing and Manipulation in an Industrial Workcell |
| Authors: | Yanfei Liu, Adam Hoover, Ian Walker |
| #5 (14:42~15:00) | |
| Paper ID: | 1066 |
| Title: | Singularity-Consistent Vibration Suppression Control With a Redundant Manipulator Mounted on a Flexible Base |
| Authors: | Toshimitsu Hishinuma, Dragomir N. Nenchev |
| < Go to Top > |
| TP1-8: | Unconventional UAVs |
| Room: | Convention Hall No. 15, Level 3 < map > |
| Time: | 13:30-15:00 Thursday October 12, 2006 |
| Chairs: | Dario Floreano, Yunjian Ge |
| #1 (13:30~13:48) | |
| Paper ID: | 1504 |
| Title: | Identification of Attitude Flight Dynamics for An Unconventional UAV |
| Authors: | Ming Liu, Gregory Egan, Yunjian Ge |
| #2 (13:48~14:06) | |
| Paper ID: | 1228 |
| Title: | Control Laws for the Tele Operation of an Unmanned Aerial Vehicle Known as an X4-flyer |
| Authors: | Nicolas Guenard, Tarek Hamel, Laurent Eck |
| #3 (14:06~14:24) | |
| Paper ID: | 1189 |
| Title: | Backstepping Control for a Quadrotor Helicopter |
| Authors: | Tarek Madani, Abdelaziz Benallegue |
| #4 (14:24~14:42) | |
| Paper ID: | 541 |
| Title: | Developement of a Cyclogyro-based Flying Robot with Variable Attack Angle Mechanisms |
| Authors: | Yoshiyuki Higashi, Kazuo Tanaka |
| #5 (14:42~15:00) | |
| Paper ID: | 369 |
| Title: | A 10-gram Microflyer for Vision-based Indoor Navigation |
| Authors: | Jean-Christophe Zufferey, Adam Klaptocz, Antoine Beyeler, Jean-Daniel Nicoud, Dario Floreano |
| Related Video: | 053(Video Session 2) |
| < Go to Top > |
| TP1-9: | Visual Navigation |
| Room: | Convention Hall No. 8, Level 2 < map > |
| Time: | 13:30-15:00 Thursday October 12, 2006 |
| Chairs: | Ju-Jang Lee, Stefano Chiaverini |
| #1 (13:30~13:48) | |
| Paper ID: | 980 |
| Title: | Vision-based Drivable Surface Detection in Autonomous Ground Vehicles |
| Authors: | Ying Guo, Vadim Gerasimov, Geoff Poulton |
| #2 (13:48~14:06) | |
| Paper ID: | 1671 |
| Title: | Vision-based Motion Planning for an Autonomous Motorcycle on Ill-Structured Road |
| Authors: | Dezhen Song, Hyun Nam Lee, Jingang Yi, Anthony Levandowski |
| #3 (14:06~14:24) | |