Session: TuA1-01HUMANOIDS I

Dynamic Control of a Bipedal Walking Robot Actuated with Pneumatic Artificial Muscles ........................... 1Bram Vanderborght, Björn Verrelst, Ronald Van Ham, Jimmy Vermeulen, Dirk Lefeber

Further Steps Toward More Human-like Passive Bipedal Walking Robots ...................................................... 7Andrej Olenšek, Zlatko Matjacic

A Bio-Inspired Neuro-Controller for an Anthropomorphic Head-Arm Robotic System ................................... 12Loredanza Zollo, Eugenio Guglielmelli, Giancarlo Teti, Cecilia Laschi, Selim Eskiizmirliler, Franck Carenzi,Patrice Bendahan, P. Gorce, Marc Maier, Yves Burnod, P. Dario

Motion Emergency of Humanoid Robots by an Attractor Design of a Nonlinear Dynamics .......................... 18Masafumi Okada, Kenta Osato, Yoshihiko Nakamura

Session: TuA1-02VISION/SLAM I

The vSLAM Algorithm for Robust Localization and Mapping ............................................................................ 24Niklas Karlsson, Enrico Di Bernardo, Jim Ostrowski, Luis Goncalves, Paolo Pirjanian, Mario E. Munich

Vision SLAM in the Measurement Subspace ..................................................................................................... 30John Folkesson, Patric Jensfelt, Henrik Christensen

Entropy Minimization SLAM Using Stereo Vision ............................................................................................... 36Juan Manuel Sáez Martínez, Francisco Escolano Ruiz

A Visual Front-end for Simultaneous Localization and Mapping ...................................................................... 44Luis Goncalves, Enrico Di Benardo, Dave Benson, Marcus Svedman, Jim Ostrowski, Niklas Karlsson, Paolo Pirjanian

Session: TuA1-03TELEPRESENCE

Tele-existence Vision System with Image Stabilization for Rescue Robots .................................................... 50Koichiro Hayashi, Yasuyoshi Yokokohji, Tsuneo Yoshikawa

Effect of Driving Delay with an Acoustical Tele-presence Robot, TeleHead .................................................... 56Iwaki Toshima, Shigeaki Aoki

Telepresence Systems With Automatic Preservation of User Head Height, Local Rotation,and Remote Translation ........................................................................................................................................ 62

Norman P. Jouppi, Stan Thomas

Incremental Motion Compression for Telepresent Walking Subject to Spatial Constraints ............................ 69Jianbo Su, Zhi-Wei Luo

Session: TuA1-04MULTI ROBOT COMMUNICATION

Competitive Multi-robot Teleoperation ................................................................................................................. 75Jingtai Liu, Lei Sun, Tao Chen, Xingbo Huang, Chunying Zhao

Making Collective Behaviours to Work through Implicit Communication ......................................................... 81Antonio D‘Angelo, Enrico Pagello

An Efficient Group Communication Protocol for Mobile Robots ....................................................................... 87Saumitra M. Das, Y. Charlie Hu, C. S. George Lee, Yung-Hsiang Lu

Efficient Unicast Messaging for Mobile Robots .................................................................................................. 93Saumitra M. Das, Y. Charlie Hu, C.S. George Lee, Yung-Hsiang Lu

Session: TuA1-05MULTI ROBOT PLANNING

Comparison of Alternate Methods for Distributed Motion Planning of Robot Collectives within

Leng-Feng Lee, Rajankumar Bhatt, Venkat Krovi

Experimental Research of a Passive Multiple Trailer System for Backward Motion Control ......................... 105Myoungkuk Park, Woojin Chung, Munsang Kim

Motion Planning Algorithms for a Group of Micro-robots Carrying an Object ................................................. 111Grigoris Lionis, Kostas J. Kyriakopoulos

a Potential Field Framework .................................................................................................................................. 99

Reconfiguration Planning Among Obstacles for Heterogeneous Self-Reconfiguring Robots........................ 117Robert Fitch, Zack Butler, Daniela Rus

Session: TuA1-06OBJECT RECOGNITION

Robust Object Detection at Regions of Interest with an Application in Ball Recognition .............................. 125Sara Mitri, Simone Frintrop, Kai Pervoelz, Hartmut Surmann, Andreas Nuechter

Urban Object Recognition from Informative Local Features ............................................................................. 131Gerald Fritz, Christin Seifert, Lucas Paletta

Fast Computational Methods for Visually Guided Robots ................................................................................. 138Maryam Mahdaviani, Nando de Freitas, Bob Fraser, Firas Hamze

Fast Appearance Based Object Recognition: A Hybrid Approach .................................................................... 144Philip Blackwell, David Austin

Session: TuA1-07NANOROBOTS I

Step Modelling of a High Precision 2DoF (Linear-Angular) Microsystem ....................................................... 150Micky Rakotondrabe, Yassine Haddab, Philippe Lutz

Modeling and Control of AFM-based Nano-manipulation Systems ................................................................. 157Khalid El Rifai, Osamah El Rifai, Kamal Youcef-Toumi

Modeling and Control of Active End Effector for the AFM Based Nano Robotic Manipulators ..................... 163Jiangbo Zhang, Guangyong Li, Ning Xi

Planning and Control for Automated Nanorobotic Assembly ............................................................................ 169Heping Chen, Ning Xi, Guangyong Li, Jiangbo Zhang, Mathew Prokos

Session: TuA1-08UNDERWATER ROBOTS I

Accurate and Practical Thruster Modeling for Underwater Vehicles ................................................................ 175Jinhyun Kim, Jonghui Han, Wan Kyun Chung, Junku Yuh, Pan-Mook Lee

Synthetic Jet Propulsion for Small Underwater Vehicles ................................................................................... 181AnnMarie Polsenberg Thomas, Michele Milano, Maxwell Grazier G‘Sell, Kathleen Fischer, Joel Burdick

Autonomous Towed Vehicle for Underwater Inspection in a Port Area ............................................................ 188Jin-Kyu Choi, Hiroshi Sakai, Toshinari Tanaka

Path Planning of Autonomous Underwater Vehicles in Current Fields with Complex Spatial Variability:an A* Approach ..................................................................................................................................................... 194

Bartolomé Garau, Alberto Álvarez, Gabriel Oliver

Session: TuA1-09SURGICAL ROBOTS I

A Robotic System with Force Feedback for Micro-Surgery ............................................................................... 199Shuxin Wang, Jienan Ding, Jintian Yun, Qunzhi Li , Baoping Han

Design of a High Fidelity Haptic Device for Telesurgery ................................................................................... 205Florian Gosselin, Catherine Bidard, Julien Brisset

BRIGIT, a Robotized Tool Guide for Orthopedic Surgery ................................................................................... 211Pierre Maillet, Bertin Nahum, Lucien Blondel, Philippe Poignet, Etienne Dombre

Performance of Surgical Robots with Automatically Generated Spatial Virtual Fixtures ............................... 217Ming Li, Russell Taylor

Session: TuA1-10ACTUATORS I

Task-Space Feedback Control for a Two-Link Arm Driven by Six Muscles with Variable Dampingand Elastic Properties .......................................................................................................................................... 223

Kenji Tahara, Zhi-Wei Luo, Suguru Arimoto, Hitoshi Kino

A High Authority Piezoelectric Stack Actuator for Structurally Flexible Mechanisms ..................................... 229Mehrdad Kermani, Rajni Patel, Mehrdad Moallem

Design of a Free Piston Pneumatic Compressor as a Mobile Robot Power Supply ....................................... 235Jose Riofrio, Eric Barth

Design and Energetic Characterization of a Solenoid Injected Liquid Monopropellant-powered Actuator forSelf-powered Robots............................................................................................................................................. 241

Bobby Shields, Michael Goldfarb

Session: TuA1-11CONTROL I

Computation and Graphical Characterization of Robust Multiple-Contact Postures in 2D GravitationalEnvironments ......................................................................................................................................................... 247

Yizhar Or, Elon Rimon

Safe Automatic Emergency Stop Control of Gantry Crane Including Moving Obstacles in Its Workspace . 253Motoji Yamamoto, Eiji Honda, Akira Mohri

Realtime Hybrid Task-Based Control for Robots and Machine Tools ............................................................... 259Peter Soetens, Herman Bruyninckx

Bandwidth Management for Distributed Control of Highly Articulated Robots ............................................... 265Manel Velasco, Pau Martí, Manel Frigola

Session: TuA1-12PETRI NETS I AND SCHEDULING

A Petri Net Structure-Based Deadlock Prevention Solution for Sequential Resource Allocation Systems .. 271Fernando Tricas, Fernando García-Vallés, José Manuel Colom, Joaquín Ezpeleta

Analysis of Andon Type Transfer Production Lines: A Quantitative Approach................................................. 278Jingshan Li, Dennis Blumenfeld

Modeling Admissible Behavior using Event Signals ........................................................................................ 284Luz Pinzon, Mohsen Jafari, Ardavan Amini, Hans-M. Hanisch

Steady-State Throughput and Scheduling Analysis of Multi-Cluster Tools for Semiconductor Manufacturing:A Decomposition Approach .................................................................................................................................. 292

Jingang Yi, Shengwei Ding, Dezhen Song

Session: TuA2-01HUMANOIDS II

Goal-Directed Imitation in a Humanoid Robot .................................................................................................... 299Sylvain Calinon, Florent Günter, Aude Billard

A Fast Online Gait Planning with Boundary Condition Relaxation for Humanoid Robots .............................. 305Tomomichi Sugihara, Yoshihiko Nakamura

Analysis of Human Motion for Humanoid Robots .............................................................................................. 311Jörg Moldenhauer, Ingo Boesnach, Thomas Beth, Veit Wank, Klaus Bös

Implementation and Experimental Results of a Quaternion-Based Kalman Filter for Human Body MotionTracking .................................................................................................................................................................. 317

Xiaoping Yun, Conrado Aparicio, Eric R. Bachmann, Robert B. McGhee

Session: TuA2-02SLAM / ESTIMATION

Unscented Transformation of Vehicle States in SLAM ...................................................................................... 323Juan Andrade-Cetto, Teresa Vidal-Calleja, Alberto Sanfeliu

A Proof for the Approximate Sparsity of SLAM Information Matrices ............................................................. 329Udo Frese

Using Absolute Non-Gaussian Non-White Observations in Gaussian SLAM ................................................. 336José Guivant, Favio Masson

SLAM using Incremental Probabilistic PCA and Dimensionality Reduction .................................................... 342Emma Brunskill, Nicholas Roy

Session: TuA2-03TELEOPERATION I

Modeling Induced Master Motion in Force-Reflecting Teleoperation................................................................ 348Katherine Kuchenbecker, Günter Niemeyer

Improving Perception in Time Delayed Teleoperation ........................................................................................ 354Neal A. Tanner, Günter Niemeyer

Bilateral Teleoperation of Multiple Cooperative Robots over Delayed Communication Networks: Theory ... 360Dongjun Lee, Mark Spong

Bilateral Teleoperation of Multiple Cooperative Robots over Delayed Communication Networks:Application ............................................................................................................................................................. 366

Dongjun Lee, Oscar Martinez-Palafox, Mark Spong

Session: TuA2-04MULTI ROBOT COORDINATION

Decentralized Collaborative Load Transport by Multiple Robots ...................................................................... 372Gustavo Montemayor, John T. Wen

Motion Planning of Multiple Agents in Virtual Environments using Coordination Graphs ............................. 378Yi Li, Kamal Gupta, Shahram Payandeh

Cooperative Multi-Robot Systems: A study of Vision-based 3-D Mapping using Information Theory........... 384Rui Rocha, Jorge Dias, Adriano Carvalho

A New Multi-Robot Self-Determination Cooperation Method based on Immune Agent Network .................. 390Gao Yunyuan, Wei Wei

Session: TuA2-05PLANNING I

Reaching Movements in Dynamic Environments: How Do We Move Flexible Objects? ................................. 396Mikhail Svinin, Igor Goncharenko, Zhi-Wei Luo, Shigeyuki Hosoe

Reachability Analysis of Sampling Based Planners .......................................................................................... 404Roland Geraerts, Mark H. Overmars

Adapted Time-Optimal Trajectory Planning for Parallel Manipulators with Full Dynamic Modelling ............. 411Houssem Abdellatif, Bodo Heimann

Motion Planning and Trajectory Tracking on 2-D Manifolds embedded in 3-D Workspaces .......................... 417Xanthi Papageorgiou, Savvas G. Loizou, Kostas J. Kyriakopoulos

Session: TuA2-06POSE ESTIMATION

Stereo Camera Pose Determination with Error Reduction and Tolerance Satisfaction for DimensionalMeasurements ....................................................................................................................................................... 423

Alexis Rivera-Rios, Fai-Lung Shih, Michael Marefat

Linear Design of a Nonlinear Observer for Perspective Systems .................................................................... 429Ola Dahl, Fredrik Nyberg, Jan Holst, Anders Heyden

Complex Objects Pose Estimation based on Image Moment Invariants .......................................................... 436Omar Tahri, François Chaumette

Pose Estimation and Structure Recovery from Point Pairs ............................................................................... 442Zhiguang Zhong, Jianqiang Yi, Dongbin Zhao

Session: TuA2-07MICRO ROBOTS I

Functionalized Nano-Robot End Effector for in situ Sensing and Manipulation of Biological Specimen ..... 448Guangyong Li, Ning Xi, Donna H. Wang

Integrating Microscope and Perspective Views .................................................................................................. 454Andrew Shacklock, Sun Wenting

Design of an Adaptive Scanning Optical Microscope for Simultaneous Large Field of View and HighResolution .............................................................................................................................................................. 460

Benjamin Potsaid, Yves Bellouard, John T. Wen

Analysis and Design of a Novel Micro-Dissection Manipulator Based on Ultrasonic Vibration .................... 466Guangzhong Wu, Jianfeng Li, Renyuan Fei, Xinhua Wang, Dezhong Liu

Session: TuA2-08TUBE/TUNNEL INSPECTION

Fuzzy Trajectory Planning and Redundancy Resolution for a Fire Fighting Robot Operating in Tunnels ......... 472Agostino De Santis, Bruno Siciliano, Luigi Villani

Motion Control of a Micro Biped Robot for Nondestructive Structure Inspection ............................................ 478Hongjun Chen, Weihua Sheng, Ning Xi, Jindong Tan

Genetic Optimization and Simulation of a Piezoelectric Pipe-Crawling Inspection Robot ............................... 484Geoffrey Hollinger, Jeri Briscoe

Modular Multiconfigurable Architecture for Low Diameter Pipe Inspection Microrobots ............................... 490Alberto Brunete, Miguel Hernando, Ernesto Gambao

Session: TuA2-09SURGICAL ROBOTS II

Prototype of Instrument for Minimally Invasive Surgery with 6-Axis Force Sensing Capability .................... 496Ulrich Seibold, Bernhard Kuebler, Gerd Hirzinger

Micro Manipulators for Intrauterine Fetal Surgery in an Open MRI .................................................................. 502Kanako Harada, Kota Tsubouchi, Toshio Chiba, Masakatsu Fujie

Automatic Guidance of a Surgical Instrument with Ultrasound Based Visual Servoing ................................ 508Marie-Aude Vitrani, Guillaume Morel, Tobias Ortmaier

A Circular Needle Path Planning Method for Suturing in Laparoscopic Surgery ............................................ 514Florent Nageotte, Philippe Zanne, Michel de Mathelin, Christophe Doignon

Session: TuA2-10SOFT ACTUATORS

Development of Active Support Splint driven by Pneumatic Soft Actuator (ASSIST) .................................... 520Daisuke Sasaki, Toshiro Noritsugu, Masahiro Takaiwa

Design and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human/Robot Interaction 526Giovanni Tonietti, Riccardo Schiavi, Antonio Bicchi

A Micro Artificial Muscle Actuator using Electro-conjugate Fluid ..................................................................... 532Kenjiro Takemura, Shinichi Yokota, Kazuya Edamura

Development of a Hybrid Element by using Sponge Core Soft Rubber Actuator ........................................... 538Yasuhiro Hayakawa, Shunmugham Pandian

Session: TuA2-11NONLINEAR CONTROL

Integration of Supervisory and Nonlinear Control for a Heating, Ventilating and Air Conditioning System . 544Ming-Li Chiang, Yuan-Ming Chan, Li-Chen Fu

Overall Stability Analysis of Hydraulic Actuator’s Switching Contact Control Using the Concept of LyapunovExponents .............................................................................................................................................................. 550

Pooya Sekhavat, Nariman Sepehri, Christine Qiong Wu

Nonlinear Bang-Bang Impact Control: A Seamless Control in All Contact Modes .......................................... 557Maolin Jin, Sang Hoon Kang, Pyung H. Chang, Eunjeong Lee

A Temporal Logic Specification Interface for Automata-Theoretic Finitary Control Synthesis ...................... 565Kiam Tian Seow, Ming Gai, Tong Lee Lim

Session: TuA2-12MANUFACTURING TOOLS

Hierarchical Segmentation of Surfaces Embedded in R^3 for Auto-Body Painting ........................................ 572Prasad N. Atkar, Aaron Greenfield, David C. Conner, Howie Choset, Alfred Rizzi

Integrated Process for Measurement of Free-Form Automotive Part Surface Using a Digital Area Sensor 578Quan Shi, Ning Xi, Heping Chen, Yifan Chen

Automated Desktop Manufacturing: Direct Metallic Rapid Tooling System ..................................................... 584Ren C. Luo, Cheng L. Chang, Jyh H. Tzou, Zhong H. Huang

Design of a Reconfigurable Robot Arm for Assembly Operations inside an Aircraft Wing-Box ..................... 590Binayak Roy, Harry Asada

Session: TuP1-01HUMANOIDS WALKING

Experimental Studies of a Neural Oscillator for Biped Locomotion with QRIO ................................................ 596Gen Endo, Jun Nakanishi, Jun Morimoto, Gordon Cheng

Evaluation of Various Walking Patterns of Biped Humanoid Robot ................................................................... 603Yu Ogura, Teruo Kataoka, Hiroyuki Aikawa, Kazushi Shimomura, Hun-Ok Lim, Atsuo Takanishi

Parametric Excitation Mechanisms for Dynamic Bipedal Walking ................................................................... 609Fumihiko Asano, Sang-Ho Hyon, Zhi-Wei Luo

A Running Controller of Humanoid Biped HRP-2LR ............................................................................................. 616Shuuji Kajita, Takashi Nagasaki, Kenji Kaneko, Kazuhito Yokoi, Kazuo Tanie

Autonomous 3D Walking System for a Humanoid Robot based on Visual Step Recognition and3D Foot Step Planner ......................................................................................................................................... 623

Kei Okada, Takashi Ogura, Atsushi Haneda, Masayuki Inaba

Foot Step Planning for the Honda ASIMO Humanoid .......................................................................................... 629Joel Chestnutt, Manfred Lau, German Cheung, James Kuffner, Jessica Hodgins, Takeo Kanade

Session: TuP1-02SLAM / CONSISTENCY

SLAM - Loop Closing with Visually Salient Features ......................................................................................... 635Paul Newman, Kin Leong Ho

A Markov Chain Monte Carlo Approach to Closing the Loop in SLAM ............................................................ 643Michael Kaess, Frank Dellaert

Handling the Inconsistency of Relative Map Filter ............................................................................................ 649Viet Nguyen, Agostino Martinelli, Roland Siegwart

Recovering Particle Diversity in a Rao-Blackwellized Particle Filter for SLAM After ActivelyClosing Loops ........................................................................................................................................................ 655

Cyrill Stachniss, Giorgio Grisetti, Wolfram Burgard

Global A-Optimal Robot Exploration in SLAM .................................................................................................... 661Robert Sim, Nicholas Roy

SLAM via Variable Reduction from Constraint Maps ......................................................................................... 667Kurt Konolige

Session: TuP1-03TELEOPERATION II

Web-based Teleoperation of the Robot Interacting with Fast Moving Objects ................................................ 673Igor Belousov, Sviatoslav Chebukov, Victor Sazonov

Improving the Operation Efficiency of Supermedia Enhanced Internet Based Teleoperation via anOverlay Network .................................................................................................................................................... 679

Zhiwei Cen, Amit Goradia, Matt Mutka, Ning Xi, Wai-keung Fung, Yun Hui Liu

Towards Constrained Teleoperation for Safe Long-Distance Robotic Surgical Operations ........................... 685Alessandro Casavola, Michela Sorbara

Bong Keun Kim, Manabu Miyazaki, Kohtaro Ohba, Shigeoki Hirai, Kazuo Tanie

Significance of Causality Analysis for Transparent Teleoperation .................................................................... 697Hyung-Soon Park, Pyung Hun Chang, Jong Hyun Kim

Multiple Model Control for Teleoperation in Unknown Environments ............................................................... 703Ali Shahdi, Shahin Sirouspour

Session: TuP1-04MULTI ROBOT EXPLORATION AND COVERAGE

Physical Path Planning Using the GNATs ........................................................................................................... 709Keith J. O‘Hara, Victor L. Bigio, Eric R. Dodson, Arya J. Irani, Daniel B. Walker, Tucker Balch

Complete Multi-Robot Coverage of Unknown Environments with Minimum Repeated Coverage ................. 715Shuzhi Sam Ge, Cheng-Heng Fua

All Terrain Exploration with the Cliff-bot System ................................................................................................ 721Gale L. Paulsen, Shane Farritor, Terry Huntsberger, Hrand Aghazarian

Web Services Based Robot Control Platform for Ubiquitous Functions ........................................................... 691

A Coverage Algorithm for Multi-robot Boundary Inspection ............................................................................... 727Kjerstin Easton, Joel Burdick

Redundancy, Efficiency and Robustness in Multi-Robot Coverage ................................................................... 735Noam Hazon, Gal Kaminka

Optimal Positioning Strategies for Shape Changes in Robot Teams ................................................................ 742John Spletzer, Rafael Fierro

Session: TuP1-05GRASPING I

Grasp Recognition for Programming by Demonstration .................................................................................... 748Staffan Ekvall, Danica Kragic

A Grasp Planner Based On Inertial Properties .................................................................................................. 754Efrain Lopez-Damian, Daniel Sidobre, Rachid Alami

Grasp Stability Analysis of Two Objects in Two Dimensions ............................................................................. 760Takayoshi Yamada, Toshinori Ooba, Tomoya Yamamoto, Nobuharu Mimura, Yasuyuki Funahashi

Fast and Flexible Determination of Force-closure Independent Regions to Grasp Polygonal Objects ........ 766Jordi Cornella, Raúl Suárez

Output-Sensitive Computation of All Form-Closure Grasps of a Semi-Algebraic Set .................................... 772Jae-Sook Cheong, A. Frank van der Stappen

Regrasp Planning of Four-Fingered Hand for Parallel Grasp of a Polygonal Object ..................................... 779Thanathorn Phoka, Peam Pipattanasomporn, Nattee Niparnan, Attawith Sudsang

Session: TuP1-06STEREO VISION + HEADS

Design and Development of a High Speed Binocular Camera Head ............................................................... 785Teppei Tsujita, Atsushi Konno, Masaru Uchiyama

Machine Vision System to Induct Binocular Wide-Angle Foveated Information into Both the Human

Sota Shimizu, Shinsuke Shimojo, Hao Jiang, Joel Burdick

Stereo Vision with a Single Camera and Multiple Mirrors ................................................................................. 800El Mustapha Mouaddib, Ryusuke Sagawa, Tomio Echigo, Yasushi Yagi

Wide-Area Recognition Using Hybrid Motion Stereo ......................................................................................... 806Shun Nishide, Tomohito Takubo, Kenji Inoue, Tatsuo Arai

Vision-Based 3D Scene Analysis for Driver Assistance .................................................................................... 812Darius Burschka, Gregory D. Hager

Robust Contrast Invariant Stereo Correspondence ........................................................................................... 819Abhijit Ogale, Yiannis Aloimonos

Session: TuP1-07MICRO ROBOTS II

Micro-Parts Feeding by a Saw-tooth Surface ..................................................................................................... 825Atsushi Mitani, Naoto Sugano, Shinichi Hirai

Task-Reconfigurable System for MEMS Assembly ............................................................................................ 832Lining Sun, Hui Xie, Weibin Rong, Liguo Chen

Laser Manipulation and Fabrication of Functional Microtool Using Photo-crosslinkable Resin ................... 838Hisataka Maruyama, Fumihito Arai, Toshio Fukuda

MICRON: Small Autonomous Robot for Cell Manipulation Applications .......................................................... 844Jordi Brufau, Manel Puig-Vidal, Jaime López-Sánchez, Josep Samitier, Walter Driesen, Jean Marc Breguet, Niklas Snis,Urban Simu, S. Johansson, T. Velten, J. Gao, J. Seyfried, R. Estaña and H. Woern

High Accuracy Micro-Displacement Sensor With Integrated Optics-based Detection Means ....................... 850Yves Bellouard, Ali A. Said, Mark Dugan, Philippe Bado

Towards Linear Nano Servomotors with Integrated Position Sensing ............................................................. 855Lixin Dong, Bradley Nelson, Toshio Fukuda, Fumihito Arai, Masahiro Nakajima

and Computers ...................................................................................................................................................... 793

Session: TuP1-08ALL-TERRAIN ROBOTS I

Dynamic Stability of a Rocker Bogie Vehicle: Longitudinal Motion .................................................................. 861Moshe P. Mann, Zvi Shiller

Wheel Torque Control in Rough Terrain - Modeling and Simulation ................................................................. 867Pierre Lamon, Roland Siegwart

First Experiments in the Robotic Investigation of Life in the Atacama Desert of Chile ................................. 873David Wettergreen, Nathalie Cabrol, James Teza, Paul Tompkins, Chris Urmson, Vandi Verma, Michael Wagner,

William Whittaker

Equations of Motion of a Single-Wheel Robot in a Rough Terrain ................................................................... 879Aria Alasty, Hodjat Pendar

Model Predictive Control for Vehicle Guidance in Presence of Sliding: Application to Farm VehiclesPath Tracking ........................................................................................................................................................ 885

Roland Lenain, Benoit Thuilot, Christophe Cariou, Philippe Martinet

Mattia Castelnovi, Ronald Arkin, Thomas Collins

Session: TuP1-09SURGICAL ROBOTS III

Yumi Iwashita, Ryo Kurazume, Kozo Konishi, Masahiko Nakamoto, Tsutomu Hasegawa, Makoto Hashizume

Robot Surgery based on the Physical Properties of the Brain -Physical Brain Model for Planning andNavigation of a Surgical Robot- ........................................................................................................................... 904

Aiko Yoshizawa, Jun Okamoto, Hiroshi Yamakawa, Masakatsu Fujie

Port Placement for Endoscopic Cardiac Surgery based on Robot Dexterity Optimization ............................ 912Ana Luisa Trejos, Rajni Patel

Realistic Visual and Haptic Rendering for Biological-Cell Injection ................................................................. 918Mehdi Ammi, Antoine Ferreira

Modeling and Control of a Hybrid Continuum Active Catheter for Aortic Aneurysm Treatment .................... 924Yan Bailly, Yacine Amirat

Safety and Accuracy Considerations in Developing a Small Sterilizable Robot of Orthopaedic Surgery .... 930Christopher Plaskos, Philippe Cinquin, Antony Hodgson, Stéphane Lavallée

Session: TuP1-10PARALLEL MANIPULATORS I

Tri-Symmetric Orthogonal Gough-Stewart Platforms ........................................................................................ 936John McInroy, Farhad Jafari, John O‘Brien

Dimensional Synthesis of Parallel Robots with a Guaranteed Given Accuracy over aSpecified Workspace ............................................................................................................................................ 942

Jean-Pierre Merlet, David Daney

Internal Preload Control of Redundantly Actuated Parallel Manipulators - Backlash Avoiding Control ....... 948Andreas Mueller

Self-Motion in Spatial Parallel Mechanisms with More than Three Legs ......................................................... 954John O‘Brien, Farhad Jafari, John T. Wen

On the Trilaterable Six-Degree-of-Freedom Parallel and Serial Manipulators ................................................ 960Josep M. Porta, Lluís Ros, Federico Thomas

Controller Design Applied to Planar Parallel Manipulators for Trajectory Tracking Control ........................... 968Lu Ren, James Mills, Dong Sun

Session: TuP1-11SPECIAL CONTROL TECHNIQUES I

Region Reaching Control of Robots: Theory and Experiments ........................................................................ 974Chien Chern Cheah, De Qun Wang

Model-Based Sliding Mode Control of Underwater Robot Manipulators ......................................................... 980Bin Xu, Shunmugham Pandian, Manabu Inoue, Norimitsu Sakagami, Sadao Kawamura

Impedance Control of a Pneumatic Actuator for Contact Tasks ....................................................................... 987Yong Zhu, Eric Barth

Reactive Speed Control System Based on Terrain Roughness Detection ....................................................... 891

Fast 2D-3D Registration for Navigation System of Surgical Robot .................................................................. 897

Eftychios Christoforou, Christopher Damaren

Alessandro De Luca, Raffaella Mattone

The Degree of Freedom of Parallel Robots: A Group-theoretic Approach ........................................................ 1005Jorge Angeles

Session: TuP1-12MANIPULATION

Object Manipulation under Hybrid Active/Passive Closure ............................................................................... 1013Tetsuyou Watanabe, Kensuke Harada, Zhongwei Jiang, Tsuneo Yoshikawa

Generation of Quadratic Force Fields from Potential Flow Fields for Distributed Manipulation .................... 1021Konstantinos Varsos, Hyungpil Moon, Jonathan Luntz

Dynamic Modeling of Linear Object Deformation based on Differential Geometry Coordinates .................. 1028Hidefumi Wakamatsu, Kousaku Takahashi, Shinichi Hirai

Reaction Force Inspection System Using Neural Network Classifier ............................................................... 1034Yasuhiro Yamada, Yoshiaki Komura

Pivoting Manipulation of a Large Object: A Study of Application using Humanoid Platform ......................... 1040Eiichi Yoshida, Pierre Blazevic, Vincent Hugel

Constraint-Based Motion Planning of Deformable Robots ............................................................................... 1046Russell Gayle, Ming Lin, Dinesh Manocha

Session: TuP2-01HUMANOID MOTION PLANNING

Feasibility: Can Humanoid Robots Overcome Given Obstacles? ..................................................................... 1054Yisheng Guan, Kazuhito Yokoi, Kazuo Tanie

Real-Time and Precise Self Collision Detection System for Humanoid Robots ............................................. 1060Kei Okada, Masayuki Inaba, Hirochika Inoue

A Floor and Obstacle Height Map for 3D Navigation of a Humanoid Robot ................................................... 1066Jens-Steffen Gutmann, Masaki Fukuchi, Masahiro Fujita

Whole Body Locomotion Planning of Humanoid Robots based on a 3D Grid Map ........................................ 1072Fumio Kanehiro, Takashi Yoshimi, Shuuji Kajita, Mitsuharu Morisawa, Kiyoshi Fujiwara, Kensuke Harada, Kenji Kaneko,Hirohisa Hirukawa, Fumiaki Tomita

Utilization of Movement Prioritization for Whole-Body Humanoid Robot Trajectory Generation .................... 1079Nirut Naksuk, C. S. George Lee

Session: TuP2-02SLAM AND NAVIGATION

Motion Constrained Simultaneous Localization and Mapping in Neighbourhood Environments .................. 1085Wijerupage Sardha Wijesoma, Kwangwee Lee, Javier Ibañez-Guzmán

Multi-Step Look-Ahead Trajectory Planning in SLAM: Possibility and Necessity ............................................ 1091Shoudong Huang, Ngai Ming Kwok, Gamini Dissanayake, Q. P. Ha, Gu Fang

Efficient Goal Directed Navigation using RatSLAM ........................................................................................... 1097Michael Milford, Gordon Wyeth, David Prasser

Interactive SLAM using Laser and Advanced Sonar .......................................................................................... 1103Albert Diosi, Geoffrey Taylor, Lindsay Kleeman

Bearing-only SLAM Using a SPRT Based Gaussian Sum Filter ....................................................................... 1109Ngai Ming Kwok, Gamini Dissanayake, Q. P. Ha

Session: TuP2-03TELEOPERATION III

Mobile Agent Gain Scheduler Control in Inter-Continental Intelligent Space .................................................. 1115Rangsarit Vanijjirattikhan, Mo-Yuen Chow, Peter Szemes, Hideki Hashimoto

Telemanipulation Assistance Based on Motion Intention Recognition ............................................................. 1121Wentao Yu, Redwan Alqasemi, Rajiv Dubey, Norali Pernalete

Sensorless Robot Collision Detection and Hybrid Force/Motion Control .......................................................... 999

A Passivity-Based Control Case Study of Flexible-Link Manipulators ............................................................... 993

Design of Bilateral Teleoperators for Soft Environments with Adaptive EnvironmentalImpedance Estimation .......................................................................................................................................... 1127

Xiaoguang Wang, Peter Xiaoping Liu, Brahim Chebbi, David Wang, Max Q.-H. Meng

Robust Control Design for Cooperative Teleoperation ....................................................................................... 1133Shahin Sirouspour

Adaptive Virtual Fixtures for Machine-Assisted Teleoperation Tasks ............................................................... 1139Daniel Aarno, Staffan Ekvall, Danica Kragic

Session: TuP2-04MULTI AGENT TASK ALLOCATION I

Combinatorial Bids based Multi-robot Task Allocation Method ......................................................................... 1145Liu Lin, Zheng Zhiqiang

Learning Opportunity Costs in Multi-Robot Market Based Planners ............................................................... 1151Jeff Schneider, David Apfelbaum, Drew Bagnell, Reid Simmons

Improving Collaboration through Fusion of Bid Information for Market-based Multi-robot Exploration ....... 1157Fei Zhang, Weidong Chen, Yugeng Xi

Game Theoretic Control for Robot Teams ........................................................................................................... 1163Rosemary Emery-Montemerlo, Geoff Gordon, Jeff Schneider, Sebastian Thrun

Hoplites: A Market-Based Framework for Planned Tight Coordination in Multi-Robot Teams ........................ 1170Nidhi Kalra, Dave Ferguson, Anthony Stentz

Session: TuP2-05GRASPING II

Finding Grasping Configurations of a Dexterous Hand and an Industrial Robot ............................................ 1178Jan Rosell, Xavier Sierra, Leopold Palomo, Raúl Suárez

Kinematic Redundancy in Robot Grasp Synthesis. An Efficient Tree-based Representation ........................ 1184César Fernández, Óscar Reinoso, Asunción Vicente, Rafael Aracil

Haptic Device with Gripping Force Feedback ..................................................................................................... 1190Qunzhi Li , Shuxin Wang, Jintian Yun, Dan Liu, Baoping Han

Two-Dimensional Stable Blind Grasping under the Gravity Effect ................................................................... 1196Suguru Arimoto, Ryuta Ozawa, Morio Yoshida

Enhancement of Dexterity in Robotic Grasping Referring to Characteristics of Human Grasping ............... 1203Ji-Hun Bae, Suguru Arimoto, Ryuta Ozawa, Masahiro Sekimoto

Session: TuP2-06PANORAMIC STEREOVISION

Fast Dense Panoramic Stereovision ................................................................................................................... 1210Jose-Joel Gonzalez-Barbosa, Simon Lacroix

Multi-Subspace Methods for Motion Segmentation from Affine, Perspective and CentralPanoramic Cameras .............................................................................................................................................. 1216

René Vidal

Omnidirectional Depth Computation from a Single Image ................................................................................ 1222Radu Orghidan, El Mustapha Mouaddib, Joaquim Salvi

Non-isotropic Omnidirectional Imaging System for an Autonomous Mobile Robot ........................................ 1228Kazuaki Kondo, Yasushi Yagi, Masahiko Yachida

Developing a Modular Active Spherical Vision System ..................................................................................... 1234Nicholas D. Jankovic, Michael D. Naish

Session: TuP2-07MICRO ROBOTS III

A Small, Insect-Inspired Robot that Runs and Jumps........................................................................................ 1240Bram Lambrecht, Andrew Horchler, Roger Quinn

Dynamics Model of Paramecium Galvanotaxis for Microrobotic Application .................................................. 1246Naoko Ogawa, Hiromasa Oku, Koichi Hashimoto, Masatoshi Ishikawa

Characterization of the Micromechanical Flying Insect by Optical Position Sensing ...................................... 1252Erik Steltz, Robert Wood, Srinath Avadhanula, Ronald Fearing

Carbon Fiber Components with Integrated Wiring for Millirobot Prototyping ................................................... 1258Ranjana Sahai, Erik Steltz, Ronald Fearing

A Deformable Object Tracking Algorithm Robust to Occlusions and Spurious Edges .................................... 1264Michael Greminger, Bradley Nelson

Session: TuP2-08ALL-TERRAIN ROBOTS II

Dynamic Modeling of a 3-D Serial Eel-like Robot .............................................................................................. 1270Wisama Khalil, Guillaume Gallot, Ouarda Ibrahim, Frédéric Boyer

Design of a Higher Jumping Rescue Robot with the Optimized Pneumatic Drive .......................................... 1276Hideyuki Tsukagoshi, Masashi Sasaki, Ato Kitagawa, Takahiro Tanaka

Quadruped Walking Robot Centered Demining System -Development of TITAN-IX and its Operation- ...... 1284Shigeo Hirose, Shingo Yokota, Akinori Torii, Masaru Ogata, Shin‘ichi Suganuma, Kensuke Takita, Keisuke Kato

Analysis on Weight Arrangement Scheme to Reduce the Weight of Multi-Legged Robot ............................. 1291Takashi Kubota, Hiroo Takahashi, Kojiro Iizuka

Study on Mole-Typed Deep Driller Robot for Subsurface Exploration ............................................................. 1297Takashi Kubota, Ichiro Nakatani, Keisuke Watanabe, Shingo Shimoda

Session: TuP2-09MICRO-MEDICAL ROBOTS

Bio-Material Property Measurement System for Locomotive Mechanism in Gastro-Intestinal Tract ............. 1303Jiwoon Kwon, Sukho Park, Byungkyu Kim, J-Oh Park

Clamping Tools of a Capsule for Monitoring the Gastrointestinal Tract ........................................................... 1309Arianna Menciassi, Samuele Gorini, Andrea Moglia, Giuseppe Pernorio, Cesare Stefanini, Paolo Dario

Ultrasound Guided Robotic System for Transperineal Biopsy of the Prostate ................................................ 1315Louis Phee, Di Xiao, John Yuen, Chee Fatt Chan, Henry Ho, Choon Hua Thng, Christopher Cheng, Wan Sing Ng

Pressure Monitoring System in Gastro-Intestinal Tract ..................................................................................... 1321Youngin Kim, Geunho Lee, Sukho Park, Byungkyu Kim, Jong-Oh Park, Jin-Ho Cho

Propulsion of a Swimming Micro Medical Robot ................................................................................................ 1327Gábor Kósa, Moshe Shoham, Menashe Zaaroor

Session: TuP2-10SMA ACTUATORS

Control Method for a 3D Form Display with Coil-type Shape Memory Alloy ................................................... 1332Masashi Nakatani, Hiroyuki Kajimoto, Kevin Vlack, Dairoku Sekiguchi, Naoki Kawakami, Susumu Tachi

Control of Scalable Wet SMA Actuator Arrays ................................................................................................... 1338Leslie Flemming, Stephen Mascaro

Miniature Shape Memory Alloy Actuator for Tactile Binary Information Display ............................................. 1344Ramiro Velázquez, Edwige Pissaloux, Moustapha Hafez, Jérôme Szewczyk

Multi-Segment State Coordination for Reducing Latency Time of Shape Memory Alloy Actuator Systems 1350Brian Selden, Kyu-Jin Cho, Harry Asada

Multi-Axis SMA Actuator Array for Driving Anthropomorphic Robot Hand ....................................................... 1356Kyu-Jin Cho, Harry Asada

Session: TuP2-11CONTROL II

Adaptive Control of Robot Manipulators Using CNN Under Actuator Constraints.......................................... 1362Shubhi Purwar, Indra Narayan Kar, Amar Nath Jha

Hybrid Vision-Force Control for Automatic Assembly of Miniaturized Gear System ...................................... 1368Hui Xie, Liguo Chen, Lining Sun, Weibin Rong

Nonlinear PD Synchronized Control for Parallel Manipulators ......................................................................... 1374Yuxin X. Su, Dong Sun, Lu Ren, Xiaoyun Wang, James Mills

Virtual Power Limiter System which Guarantees Stability of Control Systems............................................... 1380Katsuya Kanaoka, Mitsunori Uemura

Constructive Energy Shaping Based Impedance Control for a Class of UnderactuatedEuler-Lagrange Systems ...................................................................................................................................... 1387

Alin Albu-Schaeffer, Christian Ott, Gerd Hirzinger

Session: TuP2-12TRANSPORT

Rapid Transport of Suspended Payloads ........................................................................................................... 1394Gregory Starr, John Wood, Ron Lumia

Optimal Design, Evaluation, and Analysis of AGV Transportation Systems Based on VariousTransportation Demands ...................................................................................................................................... 1400

Satoshi Hoshino, Jun Ota, Akiko Shinozaki, Hideki Hashimoto

A Model-Based Framework for Optimal Measurements in Machine Tool Calibration ..................................... 1407Dietrich Brunn, Uwe Hanebeck

Intelligent Retrieval and Reuse of CAD Solid Models ....................................................................................... 1413Chandan Pitta, Michael Marefat

Group Elevator Scheduling with Advanced Traffic Information for Normal Operations and CoordinatedEmergency Evacuation ......................................................................................................................................... 1419

Bo Xiong, Peter B. Luh, Shi Chung Chang

Session: WeA1-01HUMANOIDS III

Robonaut Mobile Autonomy: Initial Experiments ................................................................................................ 1425Myron A. Diftler, Robert O. Ambrose, Stuart M. Goza, Kim S. Tyree, Eric L. Huber

System Design and Dynamic Walking of Humanoid Robot KHR-2 .................................................................. 1431Jung-Yup Kim, Ill-Woo Park, Jungho Lee, Min-Su Kim, Baek-Kyu Cho, Jun-Ho Oh

Development of a New Human-like Talking Robot for Human Vocal Mimicry .................................................. 1437Kotaro Fukui, Kazufumi Nishikawa, Toshiharu Kuwae, Hideaki Takanobu, Takemi Mochida, Masaaki Honda, Atsuo Takanishi

Symmetric Walking Control: Invariance and Global Stability ............................................................................ 1443Sang-Ho Hyon, Takashi Emura

Session: WeA1-02LOCALIZATION

Improving the Robustness Properties of Robot Localization Procedures with Respect to EnvironmentFeatures Uncertainties ......................................................................................................................................... 1451

Gianluca Ippoliti, Leopoldo Jetto, Alessia La Manna, Sauro Longhi

Simulated Mobile Self-Location Using 3D Range Sensing and an A-Priori Map ............................................ 1459Charles Little, Ralph Peters

Experimental Odometry Calibration of the Mobile Robot Khepera II Based on the Least-SquaresTechnique ............................................................................................................................................................... 1465

Gianluca Antonelli, Stefano Chiaverini

Localization of Walking Robots ........................................................................................................................... 1471Bernd Gaßmann, Franziska Zacharias, J. Marius Zöllner, Rüdiger Dillmann

Session: WeA1-03HUMAN ROBOT INTERACTION I

Enhanced Robot Speech Recognition Based on Microphone Array Source Separation and MissingFeature Theory ...................................................................................................................................................... 1477

Shun‘ichi Yamamoto, Jean-Marc Valin, Kazuhiro Nakadai, Jean Rouat, François Michaud, Tetsuya Ogata, Hiroshi Okuno

Towards New Human-humanoid Communication: Listening during Speaking by using UltrasonicDirectional Speaker ............................................................................................................................................... 1483

Kazuhiro Nakadai, Hiroshi Tsujino

Toward High-Speed Switching Motor Control for Human-Interactive Robotics ............................................... 1489Jonathan Fiene, Günter Niemeyer

Concept Oritented Imitation ................................................................................................................................. 1495Hossein Mobahi, Majid Nili Ahmadabadi, Babak Nadjar Araabi

Session: WeA1-04MULTI AGENT TASK ALLOCATION II

ASyMTRe: Automated Synthesis of Multi-Robot Task Solutions through Software Reconfiguration ............ 1501Fang Tang, Lynne Parker

Agent-based Application Framework for Multiple Mobile Robots Cooperation ............................................... 1509Patricio Nebot, Enric Cervera

Complex Task Allocation For Multiple Robots ..................................................................................................... 1515Robert Zlot, Antonhy Stentz

Task Assignment with Dynamic Perception and Constrained Tasks in a Multi-Robot System ....................... 1523Alessandro Farinelli, Luca Iocchi, Daniele Nardi, Vittorio Amos Ziparo

Session: WeA1-05MANIPULATION PLANNING I

Improved AFM Scanning Methodology with Adaptation to the Target Shape .................................................. 1529Luis Miguel Muñóz, Alicia Casals, Josep Amat, Manel Puig-Vidal, Josep Samitier

Towards Cognitive Robots: Building Hierarchical Task Representations of Manipulations from HumanDemonstration ....................................................................................................................................................... 1535

Raoul Zöllner, Michael Pardowitz, Steffen Knoop, Rüdiger Dillmann

Manipulation of Deformable Linear Objects: From Geometric Model Towards Program Generation ............ 1541Jürgen Acker, Dominik Henrich

An Extended Jacobian Inverse Kinematics Algorithm for Doubly Nonholonomic Mobile Manipulators ........ 1548Krzysztof Tchon, Janusz Jakubiak

Session: WeA1-063D TRACKING I

Integration of Model-based and Model-free Cues for Visual Object Tracking in 3D ....................................... 1554Ville Kyrki, Danica Kragic

Ball Detection and Predictive Ball Following based on a Stereoscopic Vision System .................................. 1561Davide Scaramuzza, Stefano Pagnottelli, Paolo Valigi

Variable Baseline Stereo Tracking Vision System Using High-Speed Linear Slider ....................................... 1567Yoshihiro Nakabo, Toshiharu Mukai, Yusuke Hattori, Yoshinori Takeuchi, Noboru Ohnishi

Cooperative Object Tracking by High-Speed Binocular Head ........................................................................... 1573Yoshihiro Nakabo, Toshiharu Mukai, Norihisa Fujikawa, Yoshinori Takeuchi, Noboru Ohnishi

Session: WeA1-07ROBOT DESIGN I

Flexure Design Rules for Carbon Fiber Microrobotic Mechanisms .................................................................. 1579Srinath Avadhanula, Ronald Fearing

Motion Study of an Omni-Directional Rover for Step Climbing ......................................................................... 1585Kin Huat Low, W.K. Loh, Jorge Angeles, Heng Wang

Rough Terrain Negotiable Mobile Platform with Passively Adaptive Double- Tracks and ItsApplication to Rescue Missions ........................................................................................................................... 1591

Woosub Lee, Sungchul Kang, Munsang Kim, Kyungchal Shin

RoboTrikke: A Novel Undulatory Locomotion System ........................................................................................ 1597Sachin Chitta, Peng Cheng, Emilio Frazzoli, Vijay Kumar

Session: WeA1-08UNDERWATER ROBOTS II

Autonomous Modular Optical Underwater Robot (AMOUR) Design, Prototype and Feasibility Study .......... 1603Iuliu Vasilescu, Paulina Varshavskaya, Keith Kotay, Daniela Rus

Trajectory Planning and Tracking Control of Underactuated AUVs .................................................................. 1610Filoktimon Repoulias, Evangelos Papadopoulos

A System for Real-Time Spatio-Temporal 3-D Data Visualization in Underwater Robotic Exploration ........ 1616Stephen C. Martin, Louis L. Whitcomb, Roland Arsenault, Matthew Plumlee, Colin Ware

Optimal Communication Control for Cooperative Autonomous Underwater Vehicle Networks ..................... 1624Joseph T. Napoli, Tzyh Jong Tarn, James R. Morrow, Edgar An

Session: WeA1-09ROBOT-ASSISTED NEEDLE INSERTION

Physical Properties of the Liver and the Development of an Intelligent Manipulatorfor Needle Insertion .............................................................................................................................................. 1632

Yo Kobayashi, Jun Okamoto, Masakatsu Fujie

Planning for Steerable Bevel-tip Needle Insertion Through 2D Soft Tissue with Obstacles .......................... 1640Ron Alterovitz, Ken Goldberg, Allison M. Okamura

Trajectory Optimization for Dynamic Needle Insertion ...................................................................................... 1646Matt Heverly, Pierre Dupont, John Triedman

Needle Guiding Robot for MR-guided Microwave Thermotherapy of Liver Tumor Using MotorizedRemote-Center-of-Motion Constraint ................................................................................................................... 1652

Nobuhiko Hata, Ryuji Hashimoto, Junichi Tokuda, Shigeo Morikawa

Session: WeA1-10SENSORS

Estimation of Object Inertia Parameters on Robot Pushing Operation ........................................................... 1657Yong Yu, Tetsu Arima, Showzow Tsujio

Attitude Estimation for Dynamic Legged Locomotion Using Range and Inertial Sensors ............................. 1663Surya Singh, Kenneth Waldron

Moth-Inspired Plume Tracking Strategies In Three-dimensions ........................................................................ 1669Shaun Edwards, Adam Rutkowski, Roger Quinn, Mark Willis

Automatic Error Detection and Reduction for an Odometric Sensor based on Two Optical Mice ................. 1675Andrea Bonarini, Matteo Matteucci, Marcello Restelli

Session: WeA1-11INDUSTRIAL ROBOT CONTROL + DYNAMICS

Identification of Industrial Robot Parameters for Advanced Model-Based Controllers Design ..................... 1681Basilio Bona, Aldo Curatella

Non-Linear Adaptive Output Feedback Control of Robot Manipulators. .......................................................... 1687John M. Daly, Howard M. Schwartz

Adaptive Control of Manipulators Using Uncalibrated Joint-Torque Sensing ................................................. 1694Farhad Aghili, Mehrzad Namvar

Stability Preserving Sensor-Based Control for Robots with Positional Interface ............................................ 1700Friedrich Lange, Gerd Hirzinger

Session: WeA2-01HUMANOIDS IV

Pushing an Object Considering the Hand Reflect Forces by Humanoid Robot in Dynamic Walking ............ 1706Tomohito Takubo, Kenji Inoue, Tatsuo Arai

A Humanoid Robot Carrying a Heavy Object ..................................................................................................... 1712Kensuke Harada, Shuuji Kajita, Hajime Saito, Mitsuharu Morisawa, Fumio Kanehiro, Kiyoshi Fujiwara,Kenji Kaneko,Hirohisa Hirukawa

Control of Free-Floating Humanoid Robots Through Task Prioritization .......................................................... 1718Luis Sentis, Oussama Khatib

Control of Ground Interaction at the Zero-Moment Point for Dynamic Control of Humanoid Robots ........... 1724Jonghoon Park, Youngil Youm, Wan-Kyun Chung

Session: WeA2-02MAPPING AND LEARNING

Supervised Learning of Places from Range Data using AdaBoost ................................................................. 1730Óscar Martínez Mozos , Cyrill Stachniss, Wolfram Burgard

Real-time Map Building and Area Coverage in Unknown Environments ......................................................... 1736Chaomin Luo, Simon X. Yang, Max Q.-H. Meng

The Strategy Entropy of Reinforcement Learning for Mobile Robot Navigation in Complex Environments . 1742X. Zhuang

Omnidirectional 3D Modeling on a Mobile Robot using Graph Cuts ................................................................ 1748Sven Fleck, Florian Busch, Peter Biber, Henrik Andreasson, Wolfgang Straßer

Session: WeA2-03HAPTIC INTERFACES

Basic Algorithm of Controlling Passive Force Display System with Redundant Brakes ................................. 1755Ken‘ichi Koyanagi, Tomoko Morita, Junji Furusho

How to Effectively Display Surface Properties Using an Integrated Tactile Display System ......................... 1761Ki-Uk Kyung, Seung-Woo Son, Gi-Hun Yang, Dong-Soo Kwon

Multisensor System for Safer Human-Robot Iteraction ..................................................................................... 1767Yucong Lu, Lingqi Zeng, Gary M. Bone

A Method for Modeling and Control Complex Tendon Transmissions in Haptic Interfaces ............................ 1773Simone Marcheschi, Antonio Frisoli, Carlo Alberto Avizzano, Massimo Bergamasco

Session: WeA2-04MULTI ROBOT FORMATIONS

Proportional Partition of Holed Rectilinear Region amongst Multiple URAVs ................................................ 1779Amit Agarwal, Meng-Hiot Lim, Meng Joo Er

Flocking with Obstacle Avoidance: A New Distributed Coordination Algorithm Based on VoronoiPartitions ................................................................................................................................................................ 1785

Magnus Lindhé, Petter Ögren, Karl Henrik Johansson

Formation Control for Mobile Robots with Limited Sensor Information ........................................................... 1791Tove Gustavi, Xiaoming Hu

Path Planning for Permutation-Invariant Multi-Robot Formations .................................................................... 1797Stephen Kloder, Seth Hutchinson

Session: WeA2-05PATH PLANNING I

Path Planning using Harmonic Functions and Probabilistic Cell Decomposition ........................................... 1803Jan Rosell, Pedro Iñiguez

Approach Path Generation to Scooping Position for Wheel Loader ................................................................ 1809Shigeru Sarata, Yossewee Weeramhaeng , Takashi Tsubouchi

A Potential-based Path Planning of Articulated Robots with 2-DOF Joints .................................................... 1815Jen-hui Chuang, Chien-Chou Lin, Jau-Hong Kao, Cheng-Tieng Hsieh

Near Time-optimal Constrained Trajectory Planning on Outdoor Terrain ......................................................... 1821Marin B. Kobilarov, Gaurav Sukhatme

Session: WeA2-06TRACKING I

Sensor Fusion based 3D Target Visual Tracking for Autonomous Vehicles with IMM ..................................... 1829Zhen Jia, Arjuna Balasuriya, Subhash Challa

Ephemera: Tracking of Motion in Microscope Views .......................................................................................... 1835Andrew Shacklock, Wenting Sun

Visual Tracking at Sea .......................................................................................................................................... 1841Charles Bibby, Ian Reid

Tracking and Predictive Display for a Remote Operated Robot using Uncalibrated Video ............................ 1847Dana Cobzas, Martin Jägersand

Session: WeA2-073D TRACKING II

Motion and Structure Estimation from Vision and Inertial Sensor Data with High Speed CMOS Camera ... 1853Peter Gemeiner, Markus Vincze

A 3D IR Camera with Variable Structured Light for Home Service Robots ..................................................... 1859Sukhan Lee, Jongmoo Choi, Seungmin Baek, Byungchan Jung, Changsik Choi, Hunmo Kim, Jeongtaek Oh, Seungsub Oh,Daesik Kim, Jaekeun Na

Reconstruction of Three Dimensional Models of Environments with a Mobile Robot .................................... 1865Janelcy Alferes, Eduardo Zalama, Jaime Gómez García-Bermejo

A New Approach to the Use of Edge Extremities for Model-based Object Tracking ...................................... 1871Youngrock Yoon, Akio Kosaka, Jae Byung Park, Avinash C. Kak

Session: WeA2-08FLYING: APPLICATIONS

A Vision Algorithm for Dynamic Detection of Moving Vehicles with a UAV ..................................................... 1878Khaled Kaâniche, Benjamin Champion, Claude Pégard, Pascal Vasseur

Cooperative Fire Detection using Unmanned Aerial Vehicles ........................................................................... 1884Luis Merino, Fernando Caballero, Ramiro Martínez-de Dios, Aníbal Ollero

An Integrated Spatial Path-planning and Controller Design Approach for a Hover-modeHelicopter Model ................................................................................................................................................... 1890

Kaustubh Pathak, Sunil Agrawal

Wind Estimation by Unmanned Air Vehicle with Delta Wing ............................................................................. 1896Makoto Kumon, Ikuro Mizumoto, Zenta Iwai, Masanobu Nagata

Session: WeA2-09MEDICAL ROBOTICS

A New Methodology for Deformable Object Simulation .................................................................................... 1902Yongmin Zhong, Bijan Shirinzadeh, Gursel Alici, Julian Smith

Cognitive Based Neural Prosthetics .................................................................................................................... 1908Richard A. Andersen, Sam Musallam, Joel Burdick, Jorge G. Cham

Rationale for Multiple Compensation of Muscle Weakness Walking with a Wearable Robotic Orthosis ..... 1914Juan C. Moreno, Fernando J. Brunetti, José L. Pons, José M. Baydal, Ricard Barberà

A Miniature Robot for Autonomous Single Neuron Recordings ........................................................................ 1920Edward A. Branchaud, Jorge G. Cham, Zoran Nenadic, Richard A. Andersen, Joel Burdick

Session: WeA2-10CONTACT FORCE DYNAMICS AND CONTROL

Experimental Impulse-Momentum-Based Dynamic Simulation for Rigid Bodies with SimultaneousContacts ................................................................................................................................................................. 1927

Hiroshi Noborio, Tetsuya Kodama, Kyoichiro Yoshida, Syuhei Kitayama

Quasi-Static Manipulation with Hemispherical Soft Fingertip via Two Rotational Fingers ............................. 1935Takahiro Inoue, Shinichi Hirai

On the Possibility of Excessive Internal Forces on Manipulated Objects in Robotic Contact Tasks ............ 1941Yusuke Maeda

Dynamic Ambiguities in Frictional Rigid-body Systems with Application to Climbing via Bracing ................ 1947Aaron Greenfield, Alfred Rizzi, Howie Choset

Session: WeA2-11CONTROL ARCHITECTURE

Echo State Networks used for Motor Control ..................................................................................................... 1953Matthias Salmen, Paul G. Plöger

UPnP Approach for Robot Middleware................................................................................................................ 1959Sang Chul Ahn, Jin Hak Kim, Kiwoong Lim, Heedong Ko, Yong-Moo Kwon, Hyoung-Gon Kim

A Distributed Real-time Software Framework for Robotic Applications ........................................................... 1964Yuan-hsin Kuo, Bruce MacDonald

YARA: A Software Framework Enhancing Service Robot Dependability ......................................................... 1970Stefano Caselli, Francesco Monica, Monica Reggiani

Session: WeP1-01BIPED LOCOMOTION I

Walking Control Method of Biped Locomotors on Inclined Plane .................................................................... 1977Yutaka Mikuriya, Hiroyuki Sunazuka, Kenji Hashimoto, Yusuke Sugahara, Masamiki Kawase, Hun-Ok Lim, Takuya Hosobata,Atsuo Takanishi

A Bipedal Walking Robot with Efficient and Human-Like Gait ......................................................................... 1983Steven Collins, Andy Ruina

Taku Komura, Howard Leung, Shunsuke Kudoh, James KuffnerA Feedback Controller for Biped Humanoids that Can Counteract Large Perturbations During Gait ........... 1989

Muhammad Abdallah, Ambarish Goswami

Optimal Reference Motions for Walking of a Biped Robot ................................................................................. 2002Dalila Djoudi, Christine Chevallereau, Yannick Aoustin

Locomoting with Less Computation but More Morphology ............................................................................... 2008Kojiro Matsushita, Max Lungarella, Chandana Paul, Hiroshi Yokoi

Session: WeP1-02NAVIGATION AND PLANNING

CBUG: A Quadratically Competitive Mobile Robot Navigation Algorithm ........................................................ 2014Yoav Gabriely, Elon Rimon

Temporal Logic Motion Planning for Mobile Robots .......................................................................................... 2020Georgios Fainekos, Hadas Kress-Gazit , George Pappas

Autonomous Terrain Mapping and Classification Using Hidden Markov Models ............................................ 2026Denis F. Wolf, Gaurav Sukhatme, Dieter Fox, Wolfram Burgard

Conflict Metric as a Measure of Sensing Quality ............................................................................................... 2032Jennifer Carlson, Robin Murphy, Svetlana Chistopher, Jennifer Casper

BSA: A Complete Coverage Algorithm ................................................................................................................ 2040Enrique González, Oscar Álvarez, Yul Díaz, Carlos Parra, Cesar Bustacara

The Delayed D* Algorithm for Efficient Path Replanning .................................................................................. 2045Dave Ferguson, Anthony Stentz

Session: WeP1-03TRACKING PEOPLE

Operator Engagement Detection and Robot Behaviour Adaptation in Human-Robot Interaction ................. 2051Pramila Rani, Nilanjan Sarkar

Collective Human Behavior in Interactive Spaces ............................................................................................. 2057Kynan Eng, Matti Mintz, Paul F.M.J. Verschure

A New Facial Features and Face Detection Method for Human-Robot Interaction ........................................ 2063Taigun Lee, Sung-Kee Park, Mignon Park

The Role of Motion Information in Learning Human-Robot Joint Attention ..................................................... 2069Yukie Nagai

Data Fusion for Visual Tracking Dedicated to Human-Robot Interaction ......................................................... 2075Ludovic Brèthes, Frederic Lerasle, Patrick Danès

Keeping Track of Humans: Have I Seen This Person Before? .......................................................................... 2081Wojciech Zajdel, Zoran Zivkovic, Ben J. A. Kröse

Session: WeP1-04MOBILE ROBOT APPLICATIONS I

Transference of Evolved Unmanned Aerial Vehicle Controllers to a Wheeled Mobile Robot ........................ 2087Gregory Barlow, Leonardo Mattos, Edward Grant, Choong Oh

Locomotion Analysis and Experiment for Climbing Motion of RPRS ............................................................... 2093Liping Zhang, Shugen Ma, Bin Li, Guowei Zhang, Xinyuan He, Minghui Wang, Zheng Zhang, Binggang Cao

Kinematics Modeling of a Wheel-Based Pole Climbing Robot (UT-PCR) ........................................................ 2099Ali Baghani, Majid Nili Ahmadabadi, Ahad Harati

A Hybrid AUV Design for Shallow Water Reef Navigation ................................................................................ 2105Matthew Dunbabin, Jonathan Roberts, Kane Usher, Graeme Winstanley, Peter Corke

The Design of a Mobile Robot for Instrument Network Deployment in Antarctica .......................................... 2111Laura Ray, Alexander Price, Alexander Streeter, Daniel Denton, James Lever

Towards Topological Exploration of Abandoned Mines ..................................................................................... 2117Aaron Morris, David Silver, Dave Ferguson, Scott Thayer

A Biomechanically Motivated Two-Phase Strategy for Biped Upright Balance Control ................................... 1996

Session: WeP1-05PATH PLANNING II

Single-Query Entropy-Guided Path Planning ..................................................................................................... 2124Brendan Burns, Oliver Brock

Path Planning for Variable Resolution Minimal-Energy Curves of Constant Length ...................................... 2130Mark Moll, Lydia Kavraki

An Incremental Harmonic Function-based Probabilistic Roadmap Approach to Robot Path Planning ........ 2136Moslem Kazemi, Mehran Mehrandezh, Kamal Gupta

Sampling SE(3) with a Deterministic Sequence for 3D Rigid-Body Path Planning ........................................ 2142Jan Rosell

Optimization of Robot Paths Computed by Randomized Planners .................................................................. 2148Stavros G. Vougioukas

Motion Planning for Mobile Manipulators Along Given End-effector Paths ..................................................... 2154Giuseppe Oriolo, Christian Mongillo

Session: WeP1-06VISION BASED CONTROL I

Vision-based Control for Car Platooning using Homography Decomposition ................................................. 2161Selim Benhimane, Ezio Malis, Patrick Rives, Jose Raul Azinheira

Robust Real-Time Instrument Tracking in Ultrasound Images for Visual Servoing ......................................... 2167Tobias Ortmaier, Marie-Aude Vitrani, Guillaume Morel, Samuel Pinault

3D Motion Planning for Image-Based Visual Servoing Tasks ........................................................................... 2173Benedetto Allotta, Duccio Fioravanti

A Region-Level Motion-Based Background Modeling and Subtraction Using MRFs ..................................... 2179Shih-Shinh Huang, Li-Chen Fu, Pei-Yung Hsiao

Planning and Control of Mobile Robots in Image Space from Overhead Cameras ........................................ 2185Rahul Rao, Vijay Kumar, Camillo Taylor

Visual-based Feedback Control of Casting Manipulation ................................................................................. 2191Adriano Fagiolini, Hitoshi Arisumi, Antonio Bicchi

Session: WeP1-07OUTDOOR SENSING I

A Hierarchical Multiple-Target Tracking Algorithm for Sensor Networks .......................................................... 2197Songhwai Oh, Luca Schenato, Shankar Sastry

Analysis and Removal of Artifacts in 3-D LADAR Data ..................................................................................... 2203John Tuley, Nicolas Vandapel, Martial Hebert

Information Driven Coordinated Air-Ground Proactive Sensing ....................................................................... 2211Ben Grocholsky, Rahul Swaminathan, James Keller, Vijay Kumar, George Pappas

Towards an Estimate of Confidence in a Road-Matched Location .................................................................. 2217Maan EL Badaoui EL Najjar , Philippe Bonnifait

Free Space Detection on Highways using Time Correlation Between Stabilized Sub-pixel PrecisionIPM Images ............................................................................................................................................................ 2223

Pietro Cerri, Paolo Grisleri

Detection of Sensor Faults in Autonomous Helicopters .................................................................................... 2229Guillermo Heredia, Aníbal Ollero, Rajesh Mahtani, Manuel Bejar, Volker Remuß, Marek Musial

Session: WeP1-08FLYING: DESIGN

Development of Micro Air Vehicle Based on Aerodynamic Modeling Analysis in Tunnel Tests ..................... 2235Dong Sun, Huaiyu Wu, Rong Zhu, Ling Che Hung

Air Vehicle Simulator: An Application for a Cable Array Robot ......................................................................... 2241Kane Usher, Graeme Winstanley, Peter Corke, Dirk Stauffacher, Ryan Carnie

Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor ...................................... 2247Samir Bouabdallah, Roland Siegwart

Design of Flexible Wing for Flapping Flight by Fluid-Structure Interaction Analysis ...................................... 2253Masaki Hamamoto, Yoshiji Ohta, Keita Hara, Toshiaki Hisada

Characterization of Non Trim Trajectories of an Autonomous Underactuated Airship in a LowVelocity Flight ........................................................................................................................................................ 2259

Yasmina Bestaoui

Stability and Robustness Analysis of the AURORA Airship Control System using Dynamic Inversion ........ 2265Alexandra Moutinho, José Raul Azinheira

Session: WeP1-09REHABILITATION ROBOTS

Rehabilitation Robotics: A Wearable Exo-Skeleton for Tremor Assessment and Suppression ...................... 2271Eduardo Rocon, Andrés F. Ruiz, José L. Pons, José M. Belda-Lois, Javier J. Sánchez-Lacuesta

Rehabilitation Robot Cell for Multimodal Standing-Up Motion Augmentation ................................................. 2277Roman Kamnik, Tadej Bajd, John Williamson, Roderick Murray-Smith

Rehabilitative Knee Orthosis Driven by Electro-Rheological Fluid Based Actuators ..................................... 2283Jason Nikitczuk, Brian Weinberg, Constantinos Mavroidis

A Novel Reconfigurable Ankle/Foot Rehabilitation Robot ................................................................................. 2290Jungwon Yoon, Jeha Ryu

Adaptation Strategy for the 3DOF Exoskeleton for Upper-Limb Motion Assist ............................................... 2296Kazuo Kiguchi, Mohammad Rahman, Takefumi Yamaguchi

Development of Wrist Rehabilitation Equipment Using Pneumatic Parallel Manipulator .............................. 2302Masahiro Takaiwa, Toshiro Noritsugu

Session: WeP1-10FINGERS

Local Minimum of Elastic Potential Energy on Hemispherical Soft Fingertip ................................................. 2308Takahiro Inoue, Shinichi Hirai

A Force-Isotropic Underactuated Finger ............................................................................................................. 2314Sébastien Krut

Fuzzy Enhanced Control of an Underactuated Finger Using Tactile and Position Sensors .......................... 2320Lionel Birglen, Clément M. Gosselin

Strategy of Picking Up Thin Plate by Robot Hand Using Deformation of Soft Fingertip ............................... 2326Takayuki Matsuno, Kensaku Kanada, Fumihito Arai, Hideo Matsuura, Toshio Fukuda

Development of the NAIST-Hand with Vision-based Tactile Fingertip Sensor ................................................. 2332Jun Ueda, Yutaka Ishida, Masahiro Kondo, Tsukasa Ogasawara

Geometric Reformulation of 3-Fingered Force-Closure Condition ................................................................... 2338Attawith Sudsang, Thanathorn Phoka

Session: WeP1-11SPECIAL CONTROL TECHNIQUES II

Control of a Manipulator with a Minimum Number of Motion Primitives .......................................................... 2344Francesco Nori, Ruggero Frezza

Analysis and Simulation of an Exoskeleton Controller that Accommodates Static and Reactive Loads ..... 2350Behzad Dariush

Design and Characterization of a Six-axis Accelerometer ............................................................................... 2356Ming Meng, Zhongcheng Wu, Yong Yu, Yu Ge, Yunjian Ge

A Robotic Head Neuro-Controller Based on Biologically-Inspired Neural Models ......................................... 2362Gioel Asuni, Giancarlo Teti, Cecilia Laschi, Eugenio Guglielmelli, Paolo Dario

Adaptive Control of Hydraulic Systems with MML Inferred RBF Networks ..................................................... 2368Daniel F. Schmidt, Andrew P. Paplinski, Gordon S. Lowe

Energy-Saving 3-Step Velocity Control Algorithm for Battery-Powered Wheeled Mobile Robots ................. 2375Chong Hui Kim, Byung Kook Kim

Session: WeP2-01BIPED LOCOMOTION II

Poincaré-Map-based Reinforcement Learning for Biped Walking .................................................................... 2381Jun Morimoto, Jun Nakanishi, Gen Endo, Gordon Cheng, Christopher G. Atkeson, Garth Zeglin

Synthesis of Controllers for Stylized Planar Bipedal Walking .......................................................................... 2387Dana Sharon, Michiel van de Panne

Experimental Validation of a Robust Control Strategy for the Robot RABBIT ................................................... 2393Christophe Sabourin, Olivier Bruneau, Gabriel Buche

Dynamic Programming in Reduced Dimensional Spaces: Dynamic Planning For Robust BipedLocomotion ............................................................................................................................................................ 2399

Mike Stilman, Christopher G. Atkeson, James Kuffner, Garth Zeglin

Pattern Generation of Biped Walking Constrained on Parametric Surface ..................................................... 2405Mitsuharu Morisawa, Shuuji Kajita, Kenji Kaneko, Kensuke Harada, Fumio Kanehiro, Kiyoshi Fujiwara, Hirohisa Hirukawa

Session: WeP2-02MAP ESTIMATION

Stable Exploration for Bearings-only SLAM ....................................................................................................... 2411Robert Sim

Exactly Sparse Delayed-State Filters .................................................................................................................. 2417Ryan Eustice, Hanumant Singh, John Leonard

CuikSLAM: A Kinematics-based Approach to SLAM ......................................................................................... 2425Josep M. Porta

Improving Grid-based SLAM with Rao-Blackwellized Particle Filters by Adaptive Proposalsand Selective Resampling .................................................................................................................................... 2432

Giorgio Grisetti, Cyrill Stachniss, Wolfram Burgard

Minimum Distance Localization for a Robot with Limited Visibility ................................................................... 2438Malvika Rao, Gregory Dudek, Sue Whitesides

Session: WeP2-03HAPTICS

Modeling of Haptic Sensing of Nanolithography with an Atomic Force Microscope ...................................... 2446Lo Ming Fok, Yun Hui Liu, Wen. J. Li

A Criterion for the Passivity of Haptic Devices .................................................................................................. 2452Nicola Diolaiti, Günter Niemeyer, Federico Barbagli, Kenneth Salisbury

Haptic Interaction with Constrained Dynamic Systems ..................................................................................... 2458Eric Faulring, Kevin Lynch, Edward Colgate, Michael Peshkin

Stable Haptic Display of Slowly Updated Virtual Environment with Multirate Wave Transform..................... 2465Changhyun Cho, Munsang Kim, Chang-Soon Hwang, Jaehyung Lee, Jae-Bok Song

Haptic Interface using Delayed Reflection Wave: Application to a Passive Haptic Device ............................ 2471Jae-Hyeong Lee, Chang-Hyun Cho, Jae-Bok Song, Chang-Soon Hwang, Munsang Kim

Session: WeP2-04SWARM ROBOTICS

Modeling and Analysis of Beaconless and Beacon-Based Policies for a Swarm-IntelligentInspection System ................................................................................................................................................. 2477

Nikolaus Correll, Alcherio Martinoli

A Miniature Mobile Robot With a Color Stereo Camera System for Swarm Robotics Research................... 2483Janne Haverinen, Mikko Parpala, Juha Röning

Controlling Swarms of Robots Using Interpolated Implicit Functions .............................................................. 2487Luiz Chaimowicz, Nathan Michael, Vijay Kumar

Swarm Coordination for Pursuit Evasion Games using Sensor Networks ...................................................... 2493Luca Schenato, Songhwai Oh, Shankar Sastry, Prasanta Bose

Combining Classical and Behavior-Based Control for Swarms of Cooperating Vehicles .............................. 2499Yong Chye Tan, Bradley E. Bishop

Session: WeP2-05MANIPULATION PLANNING II

Manipulation Planning for Knotting/Unknotting and Tightly Tying of Deformable Linear Objects ................. 2505Hidefumi Wakamatsu, Akira Tsumaya, Eiji Arai, Shinichi Hirai

Dynamic Manipulation of a Sphere on a Disk by Inclination Control of the Disk ........................................... 2511Masayuki Hara, Yoshinori Tanaka, Tetsuro Yabuta

CPG-Based Manipulation: Adaptive Switchings of Grasping Fingers by Joint Angle Feedback ................... 2517Yuichi Kurita, Kazuyuki Nagata, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara

Control Synthesis for Dynamic Contact Manipulation ........................................................................................ 2523Siddhartha Srinivasa, Michael Erdmann, Matthew Mason

3D Vision Sensing for Grasp Planning: A New, Robust and Affordable Structured Light Approach ............... 2529Tilo Gockel, Johannes Ahlmann, Rüdiger Dillmann, Pedram Azad

Session: WeP2-06VISION BASED CONTROL II

Vision-based Control of a Gough-Stewart Parallel Mechanism Using Legs Observation ............................. 2535Nicolas Andreff, Arnaud Marchadier, Philippe Martinet

Time Independent Tracking Using 2-D Movement Flow-Based Visual Servoing ............................................. 2541Jorge Pomares, Fernando Torres

An Optimal Path-Tracking Algorithm for Unstructured Environments based on Uncalibrated Vision............ 2547Emilio González-Galván, Ambrocio Loredo-Flores, Jesus Cervantes-Sánchez, Felipe Pazos-Flores

Adaptive Image-Based Trajectory Tracking of Robots ....................................................................................... 2553Hesheng Wang, Yun Hui Liu

Visual Servoing: Reaching the Desired Location Following a Straight Line Via PolynomialParameterizations ................................................................................................................................................. 2559

Graziano Chesi, Domenico Prattichizzo, Antonio Vicino

Session: WeP2-07FORCE/TACTILE SENSING

Development of a Texture Sensor Emulating the Tissue Structure and Perceptual Mechanismof Human Fingers ................................................................................................................................................. 2565

Yuka Mukaibo, Hirokazu Shirado, Masashi Konyo, Takashi Maeno

Kouji Murakami, Tsutomu Hasegawa

Design of Flexible Tactile Sensor Based on Three-Component Force and Its Fabrication ............................ 2578Jong-Ho Kim, Jeong-Il Lee, Hyo-Jik Lee, Yon-Kyu Park, Min-Seok Kim, Dae-Im Kang

Novel Force Sensor Using Vibrating Piezoelectric Element .............................................................................. 2582Kohei Motoo, Fumihito Arai, Yuji Yamada, Thoshio Fukuda, Takayuki Matsuno, Hideo Matsuura

Multifunctional Whisker Arrays for Distance Detection, Terrain Mapping, and Object Feature Extraction .... 2588Aimee Schultz, Joseph Solomon, Michael Peshkin, Mitra Hartmann

Session: WeP2-08FLYING: MINI ROBOTS

Toward 30-gram Autonomous Indoor Aircraft: Vision-based Obstacle Avoidance and Altitude Control ........ 2594Jean-Christophe Zufferey, Dario Floreano

Target Acquisition, Localization, and Surveillance using a Fixed-Wing Mini-UAV and Gimbaled Camera ... 2600Morgan Quigley, Michael A. Goodrich, Stephen Griffiths, Andrew Eldredge, Randal W. Beard

Kinematic and Dynamic Modeling and Control of a 3-Rotor Aircraft ............................................................... 2606Philippe Rongier, Erwann Lavarec, François Pierrot

Stabilization and Nonlinear Control for a Novel Trirotor Mini-Aircraft ............................................................... 2612Sergio Salazar-Cruz, Rogelio Lozano

Trajectory Generation and Tracking of a Mini-Rotorcraft .................................................................................. 2618Lotfi Beji, Azgal Abichou

Session: WeP2-09BIOSYSTEM MODELING ESTIMATION

Estimation of Physically and Physiologically Valid Somatosensory Information ............................................ 2624Katsu Yamane, Yusuke Fujita, Yoshihiko Nakamura

Hand Force Estimation using Electromyography Signals ................................................................................. 2631Farid Mobasser, Keyvan Hashtrudi-Zaad

Modeling Interactions of Pulpal Tissue with Deformable Tools in Endodontic Simulation ............................. 2637Min Li, Yun Hui Liu

Tactile Sensing of Edge Direction of an Object with a Soft Fingertip Contact ............................................... 2571

Adaptive Command and Generalization to Locomotion Aid Systems ............................................................... 2643Roland Thieffry, Eric Monacelli, Stéphane Delaplace

Wearable EMG-based HCI for Electric-Powered Wheelchair Users with Motor Disabilities ........................... 2649Inhyuk Moon, Myungjoon Lee, Junuk Chu, Museong Mun

Session: WeP2-10HANDS

The Analysis of High-speed Catching with a Multifingered Robot Hand ......................................................... 2655Akio Namiki, Masatoshi Ishikawa

A Cosmetic Prosthetic Hand with Tendon Driven Under-Actuated Mechanism and Compliant Joints:Ongoing Research and Preliminary Results ....................................................................................................... 2661

Maria Chiara Carrozza, Giovanni Cappiello, Giovanni Stellin, Franco Zaccone, Fabrizio Vecchi, Silvestro Micera, Paolo Dario

An Encounter-Type Multi-Fingered Master Hand Using Circuitous Joints ....................................................... 2667Shuhei Nakagawara, Hiroyuki Kajimoto, Naoki Kawakami, Susumu Tachi, Ichiro Kawabuchi

Five-fingered Robot Hand using Ultrasonic Motors and Elastic Elements ...................................................... 2673Ikuo Yamano, Takashi Maeno

A New Four-Fingered Robot Hand with Dual Turning Mechanism .................................................................... 2679Mitsuru Higashimori, Hieyong Jeong, Idaku Ishii, Akio Namiki, Masatoshi Ishikawa, Makoto Kaneko

Session: WeP2-11ADAPTIVE CONTROL + FORCE CONTROL

An Adaptive Force Regulator for a Robot in Compliant Contact with an Unknown Surface .......................... 2685Zoe Doulgeri, Yiannis Karayiannidis

Robotic Metal Spinning - Forming Non-axisymmetric Products Using Force Control- ................................... 2691Hirohiko Arai

Independent Stiffness and Force Control of Pneumatic Actuators for Contact Stability during RobotManipulation .......................................................................................................................................................... 2697

Xiangrong Shen, Michael Goldfarb

Automatic Calibration Procedure for a Robotic Manipulator Force Observer ................................................. 2703Javier Gámez García, Anders Robertsson, Juan Gómez Ortega, Rolf Johansson

Force and Acceleration Sensor Fusion for Compliant Robot Motion Control .................................................. 2709Javier Gámez García, Anders Robertsson, Juan Gómez Ortega, Rolf Johansson

Session: ThA1-01CLIMBING ROBOTS

Biologically Inspired Adhesion based Surface Climbing Robots ...................................................................... 2715Carlo Menon, Metin Sitti

Design, Kinematic Analysis, and Quasi-Steady Control of a Morphic Rolling Disk Biped Climbing Robot .. 2721Benjamin E. Shores, Mark A. Minor

Thermodynamical Modelling and Control of an Adhesion System for a Climbing Robot ............................... 2727Jens Wettach, Carsten Hillenbrand, Karsten Berns

Gait Planning of Quadruped Walking and Climbing Robot for Locomotion in 3D Environment .................... 2733Hyungseok Kim, Taehun Kang, Vo Gia Loc, Hyouk Ryeol Choi

Session: ThA1-02FEATURES DETECTION

Scan Matching in the Hough Domain .................................................................................................................. 2739Andrea Censi, Luca Iocchi, Giorgio Grisetti

Fast Circular Landmark Detection for Cooperative Localisation and Mapping ............................................... 2745Julian Ryde, Huosheng Hu

Coordinating Multiple Double Integrator Robots on a Roadmap: Convexity and Global Optimality .............. 2751Jufeng Peng, Srinivas Akella

Voronoi Toolpaths for PCB Mechanical Etch: Simple and Intuitive Algorithms with the 3D GPU .................. 2759Marsette Vona, Daniela Rus

Session: ThA1-03HUMAN-ROBOT RELATIONS

Human Mental Models of Humanoid Robots ...................................................................................................... 2767Sau-lai Lee, Sara Kiesler, Ivy Yee-man Lau, Chi-Yue Chiu

Robots, Gender and Sensemaking: Sex Segregation‘s Impact on Workers Making Sense of a MobileAutonomous Robot ................................................................................................................................................ 2773

Rosanne M. Siino, Pamela J. Hinds

The Pumapaint Project: Long Term Usage Trends And The Move To Three Dimensions ................................ 2779Matthew Stein R., Christopher P. Madden

Psychological and Social Effects of One Year Robot Assisted Activity on Elderly Peopleat a Health Service Facility for the Aged ............................................................................................................ 2785

Kazuyoshi Wada, Takanori Shibata, Tomoko Saito, Kayoko Sakamoto, Kazuo Tanie

Session: ThA1-04MULTI-ROBOT SYSTEMS I

Multi-Robot Terrain Servoing with Proximity Sensors ........................................................................................ 2791Maja Karasalo, Linda-Maria Johansson, Xiaoming Hu, Karl Henrik Johansson

Multi-Robot Localization Using Relative Observations ..................................................................................... 2797Agostino Martinelli, Frederic Pont, Roland Siegwart

Multi Robot Trajectory Generation for Single Source Explosion Parameter Estimation ................................. 2803Vassilios N. Christopoulos, Stergios I. Roumeliotis

Provably Correct Closed-Loop Control for Multiple Mobile Robot Systems .................................................... 2810Elzbieta Roszkowska

Session: ThA1-05MOBILE ROBOT PLANNING I

Deployment Strategy for Mobile Robots with Energy and Timing Constraints ................................................ 2816Yongguo Mei, Yung-Hsiang Lu, Y. Charlie Hu, C. S. George Lee

A Systematic Representation of Edges in Topological Maps for Mobile Robots using WaveletTransformation ....................................................................................................................................................... 2822

Nakju Lett Doh, Namyoung Cho, Kyoungmin Lee, Jungseok Lee, Wan Kyun Chung, Sang Rok Oh

Potential Field Navigation of High Speed Unmanned Ground Vehicles on Uneven Terrain .......................... 2828Shingo Shimoda, Yoji Kuroda, Karl Iagnemma

Impact Based Trajectory Planning of a Soccer Ball in a Kicking Robot ........................................................... 2834Je Youn Choi, Byung Rok So, Byung-Ju Yi, Wheekuk Kim, Il Hong Suh

Session: ThA1-06TRACKING II

Robust Real-Time Visual Tracking: Comparison, Theoretical and Performance Evaluation ........................... 2841Andrew Comport, Danica Kragic, Eric Marchand, François Chaumette

A Shape Tracking Algorithm for Visual Servoing ................................................................................................ 2847Peihua Li, François Chaumette, Omar Tahri

Optical Flow Calculation Using Data Fusion with Decentralized Information Filter ........................................ 2853Daniel Gamarra, Teodiano Bastos-Filho, Mario Sarcinelli-Filho, Carlos Miguel Soria, Ricardo Carelli

Modeling of Neuromorphic Vision Sensors in ODE ........................................................................................... 2859Vlatko Becanovic, Tobias Guenther, Ansgar Bredenfeld

Session: ThA1-07SENSING

Probabilistic Gaze Imitation and Saliency Learning in a Robotic Head........................................................... 2865Aaron Shon, David Grimes, Chris Baker, Matthew Hoffman, Shengli Zhou, Rajesh Rao

Dynamic Sensing of Human Eye ......................................................................................................................... 2871Makoto Kaneko, Kanichi Tokuda, Tomohiro Kawahara

Person Tracking with a Mobile Robot using Two Uncalibrated Independently Moving Cameras ................... 2877Hyukseong Kwon, Youngrock Yoon, Jae Byung Park, Avinash C. Kak

High Marker Density Motion Capture by Retroreflective Mesh Suit ................................................................. 2884Hiroaki Tanie, Katsu Yamane, Yoshihiko Nakamura

Session: ThA1-08SERVICE ROBOTS

Development of a Hydraulically-driven Flexible Manipulator Including Passive Safety Method ................... 2890Haruna Okayasu, Jun Okamoto, Hiroshi Iseki, Masakatsu Fujie

Time Series Action Support by Mobile Robot in Intelligent Environment ........................................................ 2897Tsukasa Fukuda, Yasushi Nakauchi, Katsunori Noguchi, Takashi Matsubara

3D Virtual Prototyping of Home Service Robots Using ASADAL/OBJ ............................................................. 2903Kyo Chul Kang, Moonzoo Kim, Jaejoon Lee, Byungkil Kim, Youngjin Hong, Hyoungki Lee, Seokwon Bang

Solving the Narrow Corridor Problem in Potential Field-Guided Autonomous Robots ................................... 2909Ahmad Masoud

Session: ThA1-09MEDICAL ROBOTIC DEVICES

A Soft Electrochemical Actuator for Biomedical Robotics ................................................................................. 2915Dino Accoto, Domenico Campolo, Piero Castrataro, Vito Surico, Eugenio Guglielmelli, Paolo Dario

Motion Control of Passive-type Walking Support System based on Environment Information ..................... 2921Yasuhisa Hirata, Asami Hara, Kazuhiro Kosuge

Enabling Technologies for Robotically-Assisted Sutureless Coronary Anastomosis ...................................... 2927Christopher Kennedy, Jaydev Desai

A Haptic Interface for Interventional Radiology ................................................................................................. 2933Dejan Ilic, Thomas Moix, Blaise Fracheboud, Hannes Bleuler, Ivan Vecerina

Session: ThA1-10PARALLEL MANIPULATORS II

A Geometric Theory for Synthesis and Analysis of Sub-6 DoF Parallel Manipulators ................................... 2938Jian Meng, Guangfeng Liu, Zexiang Li

Kinematics and Dexterity Analysis for a Novel 3-DOF Translational Parallel Manipulator ............................. 2944Yangmin Li, Qingsong Xu

Operational Space Control of Multibody Systems with Explicit Holonomic Constraints ................................ 2950Vincent De Sapio, Oussama Khatib

Singularity Loci of Spherical Parallel Mechanisms ............................................................................................ 2957Ilian A. Bonev, Clément M. Gosselin

Session: ThA1-11LOCOMOTION I

Efficient Locomotion for a Self-Reconfiguring Robot ......................................................................................... 2963Keith Kotay, Daniela Rus

Realization by Biped Leg-wheeled Robot of Biped Walking and Wheel-driven Locomotion ......................... 2970Kenji Hashimoto, Takuya Hosobata, Yusuke Sugahara, Yutaka Mikuriya, Hiroyuki Sunazuka, Masamiki Kawase,Hun-Ok Lim, Atsuo Takanishi

Omni-directional Walking of a Quadruped Robot with Optimal Body Postures on a Slope ........................... 2976Lei Zhang, Shugen Ma, Kousuke Inoue, Yoshinori Honda

Slimebot: A Modular Robot That Exploits Emergent Phenomena ..................................................................... 2982Masahiro Shimizu, Toshihiro Kawakatsu, Akio Ishiguro

Session: ThA1-12INNOVATIVE MANUFACTURING

Silkworm Handling Robot System ....................................................................................................................... 2988Hideaki Takanobu, Yasumasa Watanabe, Hiroshi Ishihara, Tomonari Aizawa, Masanobu Ohura

Bullwhip Effect in Integrated Manufacturing and Service Networks ................................................................ 2994Nukala Viswanadham, Vijay Desai, Roshan Gaonkar

An Unsupervised Self-Organizing Neural Network for Automatic Semiconductor Wafer Defect Inspection 3000Chuan-Yu Chang, Jia-Wei Chang, Mu Der Jeng

Associativity, Adaptivity and Behavior Aspects in Modeling for Manufacturing Related Robot Systems ....... 3006László Horváth, Imre J. Rudas

Session: ThA2-01SNAKE ROBOTS

Snake-Like Units Using Flexible Backbones and Actuation Redundancy for Enhanced Miniaturization ..... 3012Nabil Simaan

Polychaete-like Undulatory Robotic Locomotion ................................................................................................ 3018Dimitris P. Tsakiris, Michael Sfakiotakis, Arianna Menciassi, Gianni La Spina , Paolo Dario

Swimming and Crawling with an Amphibious Snake Robot .............................................................................. 3024Alessandro Crespi, André Badertscher, André Guignard, Auke Jan Ijspeert

Trajectory Tracking Control of Snake Robots Based on Dynamic Model ......................................................... 3029Fumitoshi Matsuno, Hiroki Sato

Session: ThA2-02SERVICE ROBOT NAVIGATION

Finding Tables for Home Service Tasks and Safe Mobile Robot Navigation ................................................... 3035Robert Vogl, Markus Vincze, Georg Biegelbauer

Decision Networks for Repair Strategies in Speech-Based Interaction with Mobile Tour-Guide Robots ...... 3041Plamen Prodanov, Andrzej Drygajlo

Language-based Feedback Control Using Monte Carlo Sensing ..................................................................... 3047Sean Andersson, Dimitrios Hristu-Varsakelis

A Biologically Based Flight Control System for a Blimp-based UAV ................................................................ 3053Sergi Bermúdez i Badia, Pawel Pyk, Paul F.M.J. Verschure

Session: ThA2-03LEARNING I

Behavior-Grounded Representation of Tool Affordances .................................................................................. 3060Alexander Stoytchev

Auto-Supervised Learning in the Bayesian Programming Framework ............................................................. 3066Pierre Dangauthier, Pierre Bessiere, Anne Spalanzani

Marginalized Bags of Vectors Kernels on Switching Linear Dynamics for Online Action Recognition ......... 3072Masamichi Shimosaka, Taketoshi Mori, Tatsuya Harada, Tomomasa Sato

Experimental Study on Automatic Learning Speed Acceleration for a Rat using a Robot ............................. 3078Hiroyuki Ishii, Masaki Nakasuji, Motonori Ogura, Hiroyasu Miwa, Atsuo Takanishi

Session: ThA2-04MOBILE ROBOT APPLICATIONS II

Extensible Hardware Architecture for Mobile Robots ........................................................................................ 3084Eric Park, Linda Kobayashi, Susan Lee

An Experimental Platform for Motion Estimation and Maneuver Characterization in High SpeedOff-Road Driving .................................................................................................................................................... 3090

Haomiao Huang, Lyle Chamberlain, Richard Murray

Development of an Autonomous Mobile Surveillance System Using a Network-based RTK-GPS ............... 3096Jun-ichi Meguro, Takumi Hashizume, Jun-ichi Takiguchi, Ryujirou Kurosaki

Robust Adaptive Control of Automatic Guidance of Farm Vehicles in the Presence of Sliding .................... 3102Hao Fang, Roland Lenain, Benoit Thuilot, Philippe Martinet

Session: ThA2-05MOTION PLANNING

Real-Time Sensor-Based Motion Planning for Robot Manipulators ................................................................. 3108Fu Yili, Jin Bao, Wang Shuguo, Cao Zhengcai

C-space Subdivision and Integration in Feature-Sensitive Motion Planning ................................................... 3114Marco A. Morales A., Lydia Tapia, Roger Pearce, Samuel Rodriguez, Nancy M. Amato

Sampling-Based Motion Planning Using Predictive Models ............................................................................. 3120Brendan Burns, Oliver Brock

Cubic-Spline Trajectory Planning of a Constrained Flexible Manipulator ........................................................ 3126Atef Ata, Habib Johar

Session: ThA2-06VISION BASED CONTROL III

Dynamic Visual Servoing of Robots in Uncalibrated Environments ................................................................. 3131Yun-Hui Liu, Hesheng Wang, Kinkwan Lam

A Fixed-Camera Controller for Visual Guidance of Mobile Robots via Velocity Fields .................................. 3137Rafael Kelly, Victor Sanchez, Eusebio Bugarin, Humberto Rodriguez

Visual Servoing Sequencing Able to Avoid Obstacles ....................................................................................... 3143Nicolas Mansard, François Chaumette

Discrete Control for Visual Servoing the ODIS Robot to Parking Lot Lines .................................................... 3149Matthew D. Berkemeier, Lili Ma

Session: ThA2-07OUTDOOR SENSING II

A Sensor Fusion Framework for On-line Sensor and Algorithm Selection ...................................................... 3155Ofir Cohen, Yael Edan

Active Sensing for High-Speed Offroad Driving ................................................................................................. 3162Kayur Patel, Walter Macklem, Sebastian Thrun, Mike Montemerlo

Multi-Vehicle Bayesian Search for Multiple Lost Targets ................................................................................... 3169El-Mane Wong, Frederic Bourgault, Tomonari Furukawa

Features Selection for Sensor Fusion in a Demining Robot ............................................................................. 3175Svetlana Larionova, Lino Marques, Anibal T. de Almeida

Session: ThA2-08APPLICATIONS I

Optimal Planning of a Mobile Sensor for Aircraft Rivet Inspection .................................................................. 3181Weihua Sheng, Hongjun Chen, Heping Chen, Ning Xi

Pre-Historical Cave Fruition through Robotic Inspection .................................................................................. 3187Tommaso Gramegna, Lea Venturino, Massimo Ianigro, Giovanni Attolico, Arcangelo Distante

Application of the Distributed Field Robot Architecture to a Simulated Demining Task ................................. 3193Matthew Long, Aaron Gage, Robin Murphy, Kimon Valavanis

Automation of an Agricultural Tractor for Fruit Picking ...................................................................................... 3201Jayantha Katupitiya, Ray Eaton, Guy Rodnay, Anthony Cole, Craig Meyer

Session: ThA2-09ROBOT DESIGN II

Optimizing Leg Distribution Around the Body in Walking Robots ..................................................................... 3207Pablo Gonzalez de Santos, Joaquin Estremera, Elena Garcia

The Design of A Gearless Pitch-Roll Wrist ......................................................................................................... 3213Shaoping P. Bai, Jorge Angeles

Optimal Design of a Parallel Machine Based on Multiple Criteria ................................................................... 3219Yunjiang Lou, Dongjun Zhang, Zexiang Li

The Design of a Highly Reliable Robot for Unmediated Museum Interaction ................................................. 3225Illah Nourbakhsh, Emily Hamner, Eric Porter, Brian Dunlavey, Ellen Ayoob, Thomas Hsiu, Mark Lotter, Skip Shelly

Session: ThA2-10PARALLEL MANIPULATORS III

A Method for Modeling Analytical Stiffness of a Lower Mobility Parallel Manipulator ................................... 3232Olivier Company, François Pierrot, Jean Christophe Fauroux

Direct Kinematic Singularity Detection of a Hexa Parallel Robot ..................................................................... 3238Jürgen Hesselbach, Carlos Bier, Alexandre Campos, Harald Löwe

Resolution of the Direct Position Problem of Parallel Kinematic Platforms Using theGeometrical-Iterative Method ............................................................................................................................... 3244

Víctor Petuya, Antonio Alonso, Oscar Altuzarra, Alfonso Hernández

Schoenflies Motion Generator: A New Non Redundant Parallel Manipulator with UnlimitedRotation Capability ................................................................................................................................................ 3250

Olivier Company, François Pierrot, Vincent Nabat, María de la O Rodríguez

Session: ThA2-11CONTROL THEORY

Adaptive Identification on the Group of Rigid Body Rotations ......................................................................... 3256James C. Kinsey, Louis L. Whitcomb

Adaptive Regulation of Rigid-Link Electrically Driven Robots with Uncertain Kinematics ............................. 3262Chao Liu, Chien Chern Cheah

A New Approach to Jacobian Formulation for a Class of Multi-Section Continuum Robots ......................... 3268Bryan A. Jones, Ian D. Walker

A Variable Length Tentacle Manipulator Control System .................................................................................. 3274Mircea Ivanescu, Nirvana Popescu, Decebal Popescu

Session: ThA2-12AUTOMATION + MANUFACTURING

Stable Pushing of Assemblies ............................................................................................................................. 3280Jay Bernheisel, Kevin Lynch

Dynamics of Vibratory Bowl Feeders .................................................................................................................. 3288Jon Selig, Jian Dai

Preliminary Design and Testing of a Novel Robot Design for Metal Finishing Applications .......................... 3294Steven Somes, Mark Dohring, Wyatt Newman

Minimization of Airtime in Cutting and Welding Applications ........................................................................... 3300Oliver Koenig, Musa Jouaneh

Session: ThP1-01ROBOTIC FISH

Parameter Optimization of Simplified Propulsive Model for Biomimetic Robot Fish ...................................... 3306Junzhi Yu, Long Wang

Biomimetic Micro Underwater Vehicle with Oscillating Fin Propulsion: System Design andForce Measurement .............................................................................................................................................. 3312

Xinyan Deng, Srinath Avadhanula

Mimicry of Sharp Turning Behaviours in a Robotic Fish ................................................................................... 3318Jindong Liu, Huosheng Hu

Performance of Machines with Flexible Bodies Designed for Biomimetic Locomotion inLiquid Environments ............................................................................................................................................. 3324

Pablo Valdivia y Alvarado, Kamal Youcef-Toumi

Simulation Study of Fish Swimming Modes for Aquatic Robot System ........................................................... 3330Eunjung Kim, Youngil Youm

Design of a Spherical Wrist with Parallel Architecture: Application to Vertebrae of an Eel Robot ............... 3336Damien Chablat , Philippe Wenger

Session: ThP1-02VISION/SLAM II

3-D Localization and Mapping Using a Single Camera Based on Structure-from-Motionwith Automatic Baseline Selection ........................................................................................................................ 3342

Masahiro Tomono

Localization for Mobile Robots using Panoramic Vision, Local Features and Particle Filter ......................... 3348Henrik Andreasson, Andre Treptow, Tom Duckett

Indoor Navigation of a Wheeled Mobile Robot along Visual Routes ............................................................... 3354Guillaume Blanc, Youcef Mezouar, Philippe Martinet

Absolute Stereo SFM without Stereo Correspondence for Vision Based SLAM ............................................. 3360Jae-Hean Kim, Myung Jin Chung

Practical Vision-Based Monte Carlo Localization on a Legged Robot ............................................................. 3366Mohan Sridharan, Gregory Kuhlmann, Peter Stone

Data- and Model-driven Attention Mechanism for Autonomous Visual Landmark Acquisition ...................... 3372Ricardo Vázquez Martín, José Carlos del Toro Lasanta, Antonio Bandera Rubio, Francisco Sandoval Hernández

Session: ThP1-03HUMAN ROBOT APPLICATIONS

Interactive Teaching of a Mobile Robot ............................................................................................................... 3378Jun Miura, Koji Iwase, Yoshiaki Shirai

A Time Delay Compensation Method Improving Registration for Augmented Reality .................................... 3384Jeam-Yves Didier, David Roussel, Malik Mallem

Implementing Map Based Navigation in Guido, the Robotic SmartWalker ...................................................... 3390Diego Rodriguez-Losada, Fernando Matia, Agustin Jimenez, Ramon Galan, Gerard Lacey

Leveraging Limited Autonomous Mobility to Frame Attractive Group Photos .................................................. 3396Jason Campbell, Padmanabhan Pillai

Shepherding Behaviors with Multiple Shepherds .............................................................................................. 3402Jyh-Ming Lien, Samuel Rodriguez, Jean-Phillipe Malric, Nancy M. Amato

A Flexible Infrastructure for the Development of a Robot Companion with Extensible HRI-Capabilities ..... 3408Jannik Fritsch, Marcus Kleinehagenbrock, Axel Haasch, Sebastian Wrede, Gerhard Sagerer

Session: ThP1-04MOBILE ROBOTS I

Vibration-based Terrain Analysis for Mobile Robots .......................................................................................... 3415Christopher Brooks, Karl Iagnemma, Steven Dubowsky

A Robust Visual Odometry and Precipice Detection System Using Consumer-grade Monocular Vision ..... 3421Jason Campbell, Rahul Sukthankar, Illah Nourbakhsh, Aroon Pahwa

Fault Diagnosis and Fault Tolerant Control for Wheeled Mobile Robots under Unknown Environments:A Survey ................................................................................................................................................................. 3428

Zhuo-hua Duan, Zi-xing Cai, Jin-xia Yu

C-Space Evaluation for Mobile Robots at Large Workspaces .......................................................................... 3434Francisco Javier Blanco, Vidal Moreno, Belén Curto, Roberto Therón

Topological Analysis and Control on Mobile Robot with Partially-Failed Propulsive Wheel .......................... 3440Yili Fu, Xu He, Shuoguo Wang, Li Han, Yulin Ma

Local and Global Isotropy of Caster Wheeled Omnidirectional Mobile Robot ................................................ 3446Sungbok Kim, Hyunggi Kim, Byoungkwon Moon

Session: ThP1-05PLANNING II

On Computing Complex Navigation Functions ................................................................................................... 3452Luciano Pimenta, Alexandre Fonseca, Guilherme Pereira, Renato Mesquita, Elson Silva, Walmir Caminhas, Mario Campos

Planning with Continuous Actions in Partially Observable Environments ....................................................... 3458Matthijs Spaan, Nikos Vlassis

Real-Time Decision Making with State-Value Function under Uncertainty of StateEstimation -Evaluation with Local Maxima and Discontinuity ........................................................................... 3464

Ryuichi Ueda, Tamio Arai, Kohei Sakamoto, Yoshiaki Jitsukawa, Kazunori Umeda, Hisashi Osumi, Toshifumi Kikuchi,Masaki Komura

Sensor-based Planning for Planar Multi-Convex Rigid Bodies ......................................................................... 3470Ji Yeong Lee, Howie Choset

The Analysis of an Efficient Algorithm for Robot Coverage and Exploration based on Sensor NetworkDeployment ............................................................................................................................................................ 3478

Maxim Batalin, Gaurav Sukhatme

A Sample-based Convex Cover for Rapidly Finding an Object in a 3-D Environment .................................... 3486Alejandro Sarmiento, Rafael Murrieta-Cid, Seth Hutchinson

Session: ThP1-06VISION BASED CONTROL IV

Parameters Selection and Stability Analysis of Invariant Visual Servoing with Weighted Features ............. 3492Nicolas García-Aracil, Rafael Aracil, Ezio Malis, Óscar Reinoso

Adaptive Jacobian Tracking Control of Robots based on Visual Task-space Information .............................. 3498Chien Chern Cheah, Chao Liu, Jean-Jacques E Slotine

Visual Servoing without Jacobian using Modified Simplex Optimization ......................................................... 3504Kanako Miura, Koichi Hashimoto, Jacques Gangloff, Michel de Mathelin

An Object Tracking and Visual Servoing System for the Visually Impaired ...................................................... 3510Duane J. Jacques, Ranga Rodrigo, Kenneth A. McIsaac, Jagath Samarabandu

Epipole-Based Visual Servoing with Central Catadioptric Camera ................................................................... 3516Gian Luca Mariottini, Eleonora Alunno, Jacopo Piazzi, Domenico Prattichizzo

Image-based Control of Mobile Robot with Central Catadioptric Cameras ...................................................... 3522Hicham Hadj Abdelkader, Youcef Mezouar, Nicolas Andreff, Philippe Martinet

Session: ThP1-07POSITIVE SENSING

Using Laser and Vision to Locate a Robot in an Industrial Environment: A Practical Experience ................ 3528Guillem Alenyà, Josep Escoda, Antonio B. Martínez, Carme Torras

Correspondenceless Ego-motion Estimation using an IMU .............................................................................. 3534Ameesh Makadia, Kostas Daniilidis

Robot Guidance with Neuromorphic Motion Sensors ........................................................................................ 3540Lukas Reichel, David Liechti, Karl Presser, Shih-Chii Liu

A Robust Localization Algorithm for Mobile Robots with Laser Range Finders .............................................. 3545Hee Jin Sohn, Byung Kook Kim

Prototyping Filter-Sum Beamformers for Sound Source Localization in Mobile Robotics ............................. 3551Sylvain Argentieri, Patrick Danès, Philippe Souères

Metric-Based Scan Matching Algorithms for Mobile Robot Displacement Estimation.................................... 3557Javier Minguez, Florent Lamiraux, Luis Montesano

Session: ThP1-08APPLICATIONS II

Model-based Shape Analysis of Gas Concentration Gridmaps for Improved Gas Source Localisation ...... 3564Achim Lilienthal, Felix Streichert, Andreas Zell

On Sensor Management of Calligraphic Robot ................................................................................................. 3570Kejun Zhang, Jianbo Su

Online Soil-bucket Interaction Identification for Autonomous Excavation ....................................................... 3576Choo Par Tan, Yahya H. Zweiri, Kaspar Althoefer, Lakmal D. Seneviratne

Design and Exploitation of an Autonomous Surface Vessel for the Study of Sea-Air Interactions .............. 3582Massimo Caccia, R. Bono, Ga. Bruzzone, Gi. Bruzzone, E. Spirandelli, G. Veruggio, A. Stortini

Design Considerations for Robotic Needle Steering ......................................................................................... 3588Robert J. Webster III, Jasenka Memisevic, Allison M. Okamura

Circular/Spherical Robots for Crawling and Jumping ........................................................................................ 3595Yuuta Sugiyama, Ayumi Shiotsu, Masashi Yamanaka, Shinichi Hirai

Session: ThP1-09SPECIAL SESSION-CONTRACT AND COMPLIANCE

Automatic Generation of High-level Contact State Space between Planar Curved Objects ......................... 3601Peng Tang, Jing Xiao

Unified Constraint-Based Task Specification for Complex Sensor-Based Robot Systems ............................ 3607Joris De Schutter, Johan Rutgeerts, Erwin Aertbelien, Friedl De Groote, Tinne De Laet, Tine Lefebvre, Walter Verdonck,Herman Bruyninckx

Multi-Link Multi-Contact Force Control for Manipulators ................................................................................... 3613Jaeheung Park, Oussama Khatib

A New Formalism to Characterize Contact States Involving Articulated Polyhedral Objects ........................ 3619Ernesto Staffetti, Wim Meeussen, Jing Xiao

Session: ThP1-10ACTUATORS II

Analysis and Design of a Novel Mini-platform Employing Vibration Micro-motors ......................................... 3627Panagiotis Vartholomeos, Evangelos Papadopoulos

Nonlinear Performance Limits for High Energy Density Piezoelectric Bending Actuators ............................. 3633Robert Wood, Erik Steltz, Ronald Fearing

Sliding Mode Control of a Piezoelectric Actuator with Neural Network CompensatingRate-dependent Hysteresis .................................................................................................................................. 3641

Shuanghe Yu, Bijan Shirinzadeh, Gursel Alici, Julian Smith

Torque Modeling of a Spherical Actuator Based on Lorentz Force Law.......................................................... 3646Liang Yan, I-Ming Chen, Chee Kian Lim, Guilin Yang, Wei Lin, Kok-Meng Lee

Concept Development and Design of a Spherical Wheel Motor (SWM) .......................................................... 3652Kok-Meng Lee, Hungsun Son, Jeffry Joni

Evaluation of MR-compatibility of Electrostatic Linear Motor .......................................................................... 3658Akio Yamamoto, Keigo Ichiyanagi, Toshiro Higuchi, Hiroshi Imamizu, Roger Gassert, Martin Ingold, Laurent Sache,Hannes Bleuler

Session: ThP1-11LOCOMOTION II

Natural Gait Generation Techniques for Multi-bodied Isolated Mechanical Systems ..................................... 3664Elie Shammas, Klaus Schmidt, Howie Choset

Energy Based Swing Control of a Brachiating Robot ........................................................................................ 3670Hideki Kajima, Masahiro Doi, Yasuhisa Hasegawa, Toshio Fukuda

Bounded Smooth Time Invariant Motion Control of Unicycle Kinematic Models ............................................ 3676Youngshik Kim, Mark A. Minor

CPG Design using Inhibitory Networks ............................................................................................................... 3682Anthony Lewis, Francesco Tenore, Ralph Etienne-Cummings

Implementation of Multi-valued Fuzzy Behavior Control for Robot Navigation in ClutteredEnvironments ......................................................................................................................................................... 3688

Majura F. Selekwa, Damion D. Dunlap, Emmanuel G. Collins Jr.

Rapid Development of Vision-Based Control for MAVs through a Virtual Flight Testbed ............................... 3696Jason Grzywna, Ashish Jain, Jason Plew, Michael Nechyba

Session: ThP1-12PETRI NETS II

A Virtual Preemption Paradigm for Using Priority Rules to Solve Job Shop Scheduling Problems .............. 3703Tsung-Che Chiang, Li-Chen Fu

A Supply Chain Model Using Complex-Valued Token Petri Nets ...................................................................... 3709Alan Desrochers, Maria Pia Fanti

A Constraint Programming Approach to Tool Allocation and Resource Scheduling in FMS .......................... 3715Oscar Quiroga, Luis Zeballos, Gabriela Henning

Continuous Petri Nets with Delays for Performance Evaluation of Transfer Lines ......................................... 3721Iyad Mourani, Sophie Hennequin, Xiaolan Xie

Admittance Design for Assembly of Polyhedral Parts with Modeling Errors ................................................... 3727Masayuki Shimizu, Kazuhiro Kosuge

Session: ThP2-01LEGGED LOCOMOTION I

Dimensional Analysis Based Design on Tracing Type Legged Robots ............................................................ 3733Mitsuru Higashimori, Manabu Harada, Masahiro Yuya, Idaku Ishii, Makoto Kaneko

Adaptive Running of a Quadruped Robot Using Delayed Feedback Control .................................................. 3739Zu Guang Zhang, Yasuhiro Fukuoka, Hiroshi Kimura

Impact Forces in Legged Robot Locomotion ...................................................................................................... 3745Pedro Bergés, Alan Bowling

Humanoid Vertical Jumping based on Force Feedback and Inertial Forces Optimization ............................. 3752Sophie Sakka, Kazuhito Yokoi

Humanoid On-line Pattern Generation Based on Parameters of Off-line Typical Walk Patterns .................. 3758Zhaoqin Peng, Qiang Huang, Lige Zhang, Ali Raza Jafri, Weiming Zhang, Kejie Li

Session: ThP2-02LOCALIZATION AND NAVIGATION

Almost-Sensorless Localization ........................................................................................................................... 3764Jason M. O‘Kane, Steven LaValle

Active Task-Space Sensing and Localization of Autonomous Vehicles ........................................................... 3770Goldie Nejat, Beno Benhabib, Arnaud Membre

Rendezvous Guidance for the Autonomous Interception of Moving Objects in Cluttered Environments ..... 3776Faraz Kunwar, Felix Wong, Ridha Ben Mrad, Beno Benhabib

An Interpolated Dynamic Navigation Function ................................................................................................... 3782Roland Philippsen, Roland Siegwart

A Selection Framework of Multiple Navigation Primitives Using Generalized Stochastic Petri Nets ............ 3790Gunhee Kim, Woojin Chung, Munsang Kim

Session: ThP2-03HUMAN ROBOT INTERACTION II

Human-Robot Collision Detection and Identification Based on Wrist and Base Force/Torque Sensors ...... 3796Shujun Lu, Jae H. Chung, Steven A. Velinsky

Human-Robot Handshaking using Neural Oscillators ....................................................................................... 3802Tomofumi Kasuga, Minoru Hashimoto

A Hierarchical Bayesian Network for Mixed-Initiative Human-Robot Interaction ............................................ 3808Jin-Hyuk Hong, Youn-Suk Song, Sung Bae Cho

Real World Speech Interaction with a Humanoid Robot on a Layered Robot BehaviorControl Architecture .............................................................................................................................................. 3814

Kazumi Aoyama, Hideki Shimomura

Haptic Rendering of Topological Constraints to Users Manipulating Serial Virtual Linkages ....................... 3820Daniela Constantinescu, Septimiu Salcudean, Elizabeth Croft

Session: ThP2-04MOBILE ROBOT NAVIGATION

Optimal Motion Strategies Based on Critical Events to Maintain Visibility of a Moving Target ..................... 3826Teja Muppirala, Rafael Murrieta-Cid, Seth Hutchinson

A Collision Detection System for a Mobile Robot Inspired by the Locust Visual System............................... 3832Shigang Yue, Claire Rind

Dynamical Wall Following for a Wheeled Robot Using a Passive Tactile Sensor ........................................... 3838Andrew G. Lamperski, Owen Y. Loh, Brett L. Kutscher, Noah J. Cowan

Controlling the Navigation of a Mobile Robot in a Corridor with Redundant Controllers ............................... 3844Daniel Gamarra, Teodiano Bastos-Filho, Mario Sarcinelli-Filho

A Multi-Objective Exploration Strategy for Mobile Robots ................................................................................ 3850Francesco Amigoni, Alessandro Gallo

Session: ThP2-05PLANNING ALGORITHMS

Dynamic-Domain RRTs: Efficient Exploration by Controlling the Sampling Domain....................................... 3856Anna Yershova, Léonard Jaillet, Thierry Siméon, Steven LaValle

Iteratively Locating Voronoi Vertices for Dispersion Estimation ....................................................................... 3862Stephen R. Lindemann, Peng Cheng

Distributed Sampling-Based Roadmap of Trees for Large-Scale Motion Planning ........................................ 3868Erion Plaku, Lydia Kavraki

Hybrid PRM Sampling with a Cost-Sensitive Adaptive Strategy ....................................................................... 3874David Hsu, Gildardo Sanchez-Ante, Zheng Sun

Frontier-Based Probabilistic Strategies for Sensor-Based Exploration ............................................................ 3881Luigi Freda, Giuseppe Oriolo

Session: ThP2-06CALIBRATION

Flexible Microscope Calibration using Virtual Pattern for 3D Telemicromanipulation .................................... 3888Mehdi Ammi, Vincent Fremont, Antoine Ferreira

Three Characterisations of 3D Reconstruction Uncertainty with Bounded Error ........................................... 3894Benoit Telle, Olivier Stasse, Kazuhito Yokoi, Toshio Ueshiba, Fumiaki Tomita

Calibration and Synchronization of a Robot-Mounted Camera for Fast Sensor-Based Robot Motion ......... 3900Friedrich Lange, Gerd Hirzinger

Dynamic Recalibration of an Active Vision System via Generic Homography ................................................ 3906B. Zhang, Y.F. Li

3-D Measurement of Objects in Unknown Aquatic Environments with a Laser Range Finder ...................... 3912Atsushi Yamashita, Shinsuke Ikeda, Toru Kaneko

Session: ThP2-07IDENTIFICATION

Non-Parametric Time Series Classification ........................................................................................................ 3918Scott Lenser, Manuela Veloso

A Context-Based State Estimation Technique for Hybrid Systems................................................................... 3924Sarjoun Skaff, Alfred Rizzi, Howie Choset, Pei-Chun Lin

Fast Line, Arc/Circle and Leg Detection from Laser Scan Data in a Player Driver ......................................... 3930João Xavier, Marco Pacheco, Daniel Castro, António Ruano, Urbano Nunes

Characterization of Infrared Range-Finder PBS-03JN for 2-D Mapping ......................................................... 3936Majd Alwan, Matthew Wagner, Glenn Wasson, Pradip Sheth

Integrating Tactile and Force Feedback with Finite Element Models ............................................................... 3942Christopher R. Wagner, Douglas P. Perrin, Ross L. Feller, Robert D. Howe, Olivier Clatz, Hervé Delingette, Nicholas Ayache

Session: ThP2-08FLYING: HELICOPTERS

Andrew Lookingbill, David Lieb, David Stavens, Sebastian Thrun

Developing a Control Architecture for Multiple Unmanned Aerial Vehicles to Search and Localize RFTime-Varying Mobile Targets: Part I ..................................................................................................................... 3954

Daniel Pack, George York

Autonomous Helicopter Landing on a Moving Platform Using a Tether ........................................................... 3960So-ryeok Oh, Kaustubh Pathak, Sunil Agrawal, Hemanshu Roy Pota, Matt Garrett

Vision Guided Landing of an Autonomous Helicopter in Hazardous Terrain ................................................... 3966Andrew Johnson, James Montgomery

Detection and Tracking of External Features in an Urban Environment Using an AutonomousHelicopter ............................................................................................................................................................... 3972

Luis Mejias, Srikanth Saripalli, Gaurav Sukhatme, Pascual Campoy

Session: ThP2-09SPECIAL SESSION:OBJECT-ORIENTED MODELLING AND FORMAL VALIDATIONMETHODOLOGIES IN MANUFACTURING AND A

Verification of Behavioral Substitutability in Object-Oriented Models for Industrial Controllers ................... 3978Marcello Bonfé, Cesare Fantuzzi, Cristian Secchi

Migration of a PLC Controller to an IEC 61499 Compliant Distributed Control System :Hands-on Experiences ......................................................................................................................................... 3984

Tanvir Hussain, Georg Frey

On the Use of UML for Modeling Physical Systems .......................................................................................... 3990Cristian Secchi, Cesare Fantuzzi, Marcello Bonfé

Engineering of Validatable Automation Systems Based on an Extension of UML CombinedWith Function Blocks of IEC 61499 .................................................................................................................... 3996

Viktor Dubinin, Valeriy Vyatkin, Thomas Pfeiffer

Specification of Function Block Applications with UML .................................................................................... 4002Wei Zhang, Christian Diedrich, Wolfgang A. Halang

Learning Activity-based Ground Models from a Moving Helicopter Platform .................................................. 3948

Session: ThP2-10PARALLEL MANIPULATORS IV

A Low-Cost Easy Operation 4-Cable Driven Parallel Manipulator ................................................................... 4008Erika Ottaviano, Marco Ceccarelli, Alessio Paone, Giuseppe Carbone

Fully-Isotropic Over-Constrained Parallel Wrists with Two Degrees of Freedom ............................................ 4014Grigore Gogu

Kinematics of the 3-CPU Parallel Manipulator Assembled for Motions of Pure Translation .......................... 4020Massimo Callegari, Matteo Palpacelli, Marco Scarponi

Dimensioning a Constrained Parallel Robot to Reach a Set of Task Positions ............................................... 4026Hai-Jun Su, J. Michael McCarthy

Conceptional Design and Kinematics Modeling of a Wide-Range Flexure Hinge-BasedParallel Manipulator .............................................................................................................................................. 4031

Wei Dong, Zhijiang Du, Lining Sun

Session: ThP2-11CONTROL III

Collision-Tolerant Control for Hybrid Joint based Arm of Nonholonomic Mobile Manipulator inHuman-Robot Symbiotic Environments ............................................................................................................... 4037

Zhijun Li, Aiguo Ming, Ning Xi, Zhaoxian Xie, Jiangong Gu, Makoto Shimojo

GPC Versus H infinity Control for Fast Visual Servoing of a Medical Manipulator IncludingFlexibilities ............................................................................................................................................................. 4044

Loïc Cuvillon, Edouard Laroche, Jacques Gangloff, Michel de Mathelin

Operational Space ................................................................................................................................................ 4050Giuseppe Casalino, Alessio Turetta

Ti-Chung Lee, Jing-Sin Liu

Application Cluster Service Scheme for Near-Zero-Downtime Services ......................................................... 4062Fan-Tien Cheng, Shang-Lun Wu, Ping-Yen Tsai, Yun-Ta Chung, Haw-Ching Yang

Session: ThP2-12ROBOT ASSISTANTS

Automatic Pallet Engagment by a Vision Guided Forklift .................................................................................. 4068Michael Seelinger, John-David Yoder

PowerMate - A Safe and Intuitive Robot Assistant for Handling and Assembly Tasks ................................... 4074Rolf Dieter Schraft, Christian Meyer, Christopher Parlitzer, Evert Helms

Motion Control of Self-Moving Trays for Human Supporting Production Cell «Attentive Workbench» ......... 4080Masao Sugi, Makoto Nikaido, Yusuke Tamura, Jun Ota, Tamio Arai, Kiyoshi Kotani, Kiyoshi Takamasu, Seiichi Shin,

Hiromasa Suzuki, Yoichi Sato

Haptic Desktop for Office Automation and Assisted Design ............................................................................. 4086Carlo Alberto Avizzano, Mirko Raspolli, Simone Marcheschi, Massimo Bergamasco

Geometric Computation for Assembly Planning with Planar Toleranced Parts ............................................... 4092Yaron Ostrovsky-Berman, Leo Joskowicz

Session: FrA1-01LEGGED LOCOMOTION II

Mobility and Dynamic Performance of Legged Robots ..................................................................................... 4100Alan Bowling

Self-Organizing Running in a Quadruped Robot Model .................................................................................... 4108Matthew D. Berkemeier, Pranav Sukthankar

Dynamic Recurrent Neural Network for Biped Robot Equilibrium Control: Preliminary Results .................... 4114Vincent Scesa, Bachar Mohamed, Patrick Henaff, Fethi Ben Ouezdou

Realization of 3-dimensional Dynamic Walking based on the Assumption of Point-contact ......................... 4120Masahiro Doi, Yasuhisa Hasegawa, Toshio Fukuda

A Computationally Distributed Self-Organizing Algorithm for the Control of Manipulators in the-

-Exponential Stabilization for Caplygin Systems: Simplified Controllability Condition and Examples ........ 4056ρ

∞

Session: FrA1-02COOPERATIVE LOCALIZATION

Optimal Formations for Cooperative Localization of Mobile Robots ................................................................. 4126Yukikazu S. Hidaka, Anastasios I. Mourikis, Stergios I. Roumeliotis

Towards Decentralization of Mulit-robot Navigation Functions ......................................................................... 4132Herbert Tanner, Amit Kumar

Nonlinear Control for Urban Vehicles Platooning, Relying upon a Unique Kinematic GPS ............................... 4138Jonathan Bom, Benoit Thuilot, François Marmoiton, Philippe Martinet

Dynamic Vehicle Localisation using Constraints Propagation Techniques on Intervals A comparisonwith Kalman Filtering ............................................................................................................................................ 4144

Amadou Gning, Philippe Bonnifait

Session: FrA1-03LEARNING II

Learning to track Multiple People in Omnidirectional Video ............................................................................. 4150Fernando De la Torre, Carlos Vallespi, Paul Rybski, Manuela Veloso, Takeo Kanade

Onboard Adaptive Learning for Planetary Surface Rover Control in Rough Terrain ....................................... 4156Terry Huntsberger, Hrand Aghazarian, Edward Tunstel

Learning Sensory Feedback to CPG with Policy Gradient for Biped Locomotion .......................................... 4164Takamitsu Matsubara, Jun Morimoto, Jun Nakanishi, Masa-aki Sato, Kenji Doya

Fast Reinforcement Learning for Vision-guided Mobile Robots ....................................................................... 4170Tomás Martínez-Marín, Tom Duckett

Session: FrA1-04MOBILE ROBOTS II

Insect-like Antennal Sensing for Climbing and Tunneling Behavior in a Biologically-inspiredMobile Robot .......................................................................................................................................................... 4176

William Lewinger, Cynthia Harley, Roy Ritzmann, Michael Branicky, Roger Quinn

What Are the Ants Doing? Vision-Based Tracking and Reconstruction of Control Programs ....................... 4182Magnus Egerstedt, Tucker Balch, Frank Dellaert, Florent Delmotte, Zia Khan

Introducing Neuromodulation to a Braitenberg Vehicle ..................................................................................... 4188Richard L. B. French, Lola Cañamero

Low-cost Bluetooth Communication for the Autonomous Mobile Minirobot Khepera ..................................... 4194Michael Grosseschallau, Ulf Witkowski, Ulrich Rückert

Session: FrA1-05CONTACT-HAPTIC PLANNING

Practical Local Planning in the Contact Space .................................................................................................. 4200Stephane Redon, Ming C. Lin

Achieving Desired Contact State Transitions of Polyhedral Parts with Compliant Motions ........................... 4206Fan Yang, Michael Marefat

Haptic Rendering of Compliant Motions using Contact Tracking in C-space .................................................. 4212Jan Rosell, Israel Vázquez

A Mapping Method for Telemanipulation of the Non-Anthropomorphic Robotic Hands withInitial Experimental Validation .............................................................................................................................. 4218

Heng Wang, Kin Huat Low, Michael Yu Wang, Feng Gong

Session: FrA1-06VISION BASED CONTROL V

Incremental Learning for Mapping Image Variations to Actions ....................................................................... 4224Simon Léonard, Martin Jägersand

Vision-based Global Localization Using a Visual Vocabulary ............................................................................ 4230Junqiu Wang, Roberto Cipolla, Hongbin Zha

Measuring Coverage Performances of a Floor Cleaning Mobile Robot using a Vision System ...................... 4236Jordi Palacín, Tomás Palleja, Ignasi Valgañón, Ramón Pernia, Joan Roca

Supervised Multispectral Image Segmentation using Active Contours ............................................................ 4242Cheolha Pedro Lee, Wesley Snyder, Cliff Wang

Session: FrA1-07EDUCATION

Robotics, Education, and Sustainable Development .......................................................................................... 4248M. Bernardine Dias, G. Ayorkor Mills-Tettey, Thrishantha Nanayakkara

RoboKing - Bringing Robotics Closer to Pupils .................................................................................................. 4254Niko Sünderhauf, Thomas Krause, Peter Protzel

A Distributed Multirobot System Based on Edutainment Robots...................................................................... 4260Josep Fernández, Pedro López, Joan Oliva

KiRo - A Table Soccer Robot Ready for the Market ........................................................................................... 4266Thilo Weigel

Session: FrA1-08SPACE ROBOT I

Smooth Planning for Free-floating Space Robots Using Polynomials ............................................................. 4272Evangelos Papadopoulos, Ioannis Tortopidis, Kostas Nanos

Educational Results of the Personal Exploration Rover Museum Exhibit ....................................................... 4278Illah Nourbakhsh, Emily Hamner, Brian Dunlavey, Debra Bernstein, Kevin Crowley

Applying Structural EM in Autonomous Planetary Exploration Missions using HyperspectralImage Spectroscopy ............................................................................................................................................. 4284

Rosalind Wang, Fabio Ramos

Scientific Visualization for the Mars Exploration Rovers ................................................................................... 4290Mark Powell, Jeffrey Norris, Marsette Vona, Paul Backes, Justin V. Wick

Session: FrA1-09ELASTIC MANIPULATORS

On the Control of Robots with Visco-Elastic Joints ........................................................................................... 4297Alessandro De Luca, Riccardo Farina, Pasquale Lucibello

Repetitive Control for Single Link Flexible Manipulators ................................................................................... 4303Vicente Feliu, Iván Muñoz, Pedro L. Roncero, Juan J. López

Generalized Shooting Method for Analyzing Compliant Mechanisms.............................................................. 4309Chao-Chieh Lan, Kok-Meng Lee

Kinematic Modeling and Visual Sensing of Multi-DOF Robot Manipulator with PatternedArtificial Muscle ..................................................................................................................................................... 4315

Yoshihiro Nakabo, Toshiharu Mukai, Kinji Asaka

Session: FrA1-10CONTROL IV

A Simulation/Experimental Study of the Noisy Behavior of the Time Domain PassivityController for Haptic Interfaces ............................................................................................................................ 4321

Jee-Hwan Ryu, Jong-Hwan Kim, Dong-Soo Kwon, Blake Hannaford

Active Control of Configuration-Dependent Linkage Vibration with Application to a PlanarParallel Platform .................................................................................................................................................... 4327

Xiaoyun Wang, James Mills

Efficient Closed Contour Extraction from Range Image’s Edge Points............................................................ 4333Angel Sappa

Determination of the Repeatability of a Kuka Robot Using the Stochastic Ellipsoid Approach .................... 4339Jean-François Brethé, Eric Vasselin, Dimitri Lefebvre, Brayima Dakyo

Session: FrA2-01EXOSKELETONS

On the Biomimetic Design of the Berkeley Lower Extremity Exoskeleton (BLEEX) ....................................... 4345Andrew Chu, Hami Kazerooni, Adam Zoss

On the Control of the Berkeley Lower Extremity Exoskeleton (BLEEX) ............................................................ 4353Hami Kazerooni, Jean-Louis Racine, Lihua Huang, Ryan Steger

Session: FrA2-02LOCALIZATION AND TOPOLOGY

A Robust Localization Algorithm in Topological Maps with Dynamics ............................................................. 4361Nakju Lett Doh, Kyoungmin Lee, Jinwook Huh, Namyoung Cho, Jungseok Lee, Wan Kyun Chung, Young Jo Cho

Loop Closing in Topological Maps ....................................................................................................................... 4367Kristopher Beevers, Wesley Huang

Towards Autonomous Topological Place Detection Using the Extended Voronoi Graph ................................ 4373Patrick Beeson, Nicholas K. Jong, Benjamin Kuipers

Session: FrA2-03IMITATION LEARNING

Fuzzy Computing for Communication of A Partner Robot Based on Imitation ............................................... 4380Naoyuki Kubota, Kenichiro Nishida

Robot Learning in Partially Observable, Noisy, Continuous Worlds ................................................................. 4386Reid Broadbent, Todd Peterson

Session: FrA2-04WEARABLE INTERFACES

Control of Wearable Walking Support System Based on Human-Model and GRF ........................................ 4394Takahiko Nakamura, Kazunari Saito, Kazuhiro Kosuge

A Wearable Translation Robot .............................................................................................................................. 4400Xi Shi, Yangsheng Xu

A Real-Time Haptic/Graphic Demonstration of how Error Augmentation can Enhance Learning ................ 4406Yejun Wei, James Patton, Preeti Bajaj, Robert Scheidt

Session: FrA2-05MOBILE ROBOT PLANNING II

An Optimal and Real-Time Solution to Parameterized Mobile Robot Trajectories in thePresence of Moving Obstacles ............................................................................................................................ 4412

Jian Yang, Abdelhay Daoui, Zhihua Qu, Jing Wang, Richard A. Hull

Collision Avoidance of a Mobile Robot Using Intelligent Hybrid Force Control Technique ............................ 4418Seul Jung, Eun Soo Jang, Tien C. Steve Hsia

Session: FrA2-06STRUCTURAL LIGHT

Automated Simultaneous Calibration of a Multi-View Laser Stripe Profiler .................................................... 4424Wolfgang Stöcher, Georg Biegelbauer

Signal Separation Coding for Robust Depth Imaging Based on Structured Light .......................................... 4430Sukhan Lee, Jongmoo Choi, Daesik Kim, Jaekeun Na, Seungsub Oh

Using Hierarchical EM to Extract Planes from 3D Range Scans ...................................................................... 4437Rudolph Triebel, Wolfram Burgard, Frank Dellaert

Session: FrA2-07ODOUR-CHEMICAL SENSING

Improving Odor Analysis Through Human-Robot Cooperation ......................................................................... 4443Amy Loutfi, Silvia Coradeschi

Adaptive Sensing for Instantaneous Gas Release Parameter Estimation ....................................................... 4450Vassilios N. Christopoulos, Stergios I. Roumeliotis

Information Based Distributed Control for Biochemical Source Detection and Localization ......................... 4457Panos Tzanos, Milos Zefran, Arye Nehorai

Session: FrA2-08SPACE ROBOT II

Field testing of the Mars Exploration Rovers Descent Image Motion Estimation System ............................. 4463Andrew Johnson, Reg Willson, Jay Goguen, James Alexander, David Meller

Landmark Based Position Estimation for Pinpoint Landing on Mars ............................................................... 4470Yang Cheng, Adnan Ansar

Shape, Motion, and Parameter Estimation of Large Flexible Space Structures using Range Images ......... 4476Matthew Lichter, Steven Dubowsky

Session: FrA2-09MANIPULATORS

Levenberg-Marquardt based Neural Network Control for a Five-fingered Prosthetic Hand ........................... 4482Jingdong Zhao, Zongwu Xie, Li Jiang, Hegao Cai, Hong Liu, Gerd Hirzinger

Development of UB Hand 3: Early Results ......................................................................................................... 4488Fabrizio Lotti, Paolo Tiezzi, Gabriele Vassura, Luigi Biagiotti, Gianluca Palli, Claudio Melchiorri

A Pneumatic Manipulator used in Direct Contact with an Operator ................................................................. 4494Michael Van Damme, Frank Daerden, Dirk Lefeber

Session: FrA2-10BIOLOGICALLY INSPIRED CONTROL

Physiologically Inspired Robot Control: A Challenge to Bernstein‘s Degrees-of-Freedom Problem............. 4500Suguru Arimoto, Masahiro Sekimoto, Hiroe Hashiguchi, Ryuta Ozawa

Biologically Inspired Joint Stiffness Control ....................................................................................................... 4508Shane A. Migliore, Edgar A. Brown, Stephen P DeWeerth

Hill-based Model as a Myoprocessor for a Neural Controlled Powered ExoskeletonArm - Parameters Optimization............................................................................................................................ 4514

Ettore Cavallaro, Jacob Rosen, Joel C. Perry, Stephan Burns, Blake Hannaford

Session: FrA3-01MODELING AND SIMULATION

Effective Constrained Dynamic Simulation Using Implicit Constraint Enforcement ....................................... 4520Min Hong, Min-Hyung Choi, Sunhwa Jung, Samuel Welch, John Trapp

High Fidelity Real-Time Simulator with Mixed Real and Virtual Sensors ........................................................ 4526Zoltan Papp, Michiel Dorrepaal, Andrew Thean, Michel van Elk

A Dynamics Simulation Architecture for Robotic Systems ................................................................................ 4532Benjamin Moores, Bruce MacDonald

Fast Implementation of Lemke‘s Algorithm for Rigid Body Contact Simulation .............................................. 4538John Lloyd

Session: FrA3-02NAVIGATION AND MODELING

On Optimal Sensor Placement and Motion Coordination for Target Tracking.................................................. 4544Sulema Aranda, Sonia Martínez, Francesco Bullo

Uncertainty and Imprecision Modeling for the Mobile Robot Localization Problem ....................................... 4550Melanie Delafosse, Arnaud Clérentin, Laurent Delahoche, Eric Brassart

Modeling the Static and the Dynamic Parts of the Environment to Improve Sensor-based Navigation ....... 4556Luis Montesano, Javier Minguez, Luis Montano

Simulatneous Calibration of Action and Sensor Models on a Mobile Robot ................................................... 4563Daniel Stronger, Peter Stone

Session: FrA3-03LEARNING III

Learning to Control a Real Micropositioning System in the STM-Q Framework ............................................. 4569Cédric Adda, Guillaume J. Laurent, Nadine Le Fort-Piat

Learning-Assisted Multi-Step Planning ............................................................................................................... 4575Kris Hauser, Tim Bretl, Jean-Claude Latombe

Learning Sensor Network Topology through Monte Carlo Expectation Maximization .................................... 4581Dimitri Marinakis, Gregory Dudek, David Fleet

Learning to Steer on Winding Tracks Using Semi-Parametric Control Policies .............................................. 4588Ken Alton, Michiel van de Panne

Session: FrA3-04NON HOLONOMIC MOBILE ROBOTS

An Integrated Path Planning and Control Framework for Nonholonomic Unicycles ....................................... 4594Kaustubh Pathak, Sunil Agrawal

Diffusion-Based Motion Planning for a Nonholonomic Flexible Needle Model ............................................... 4600Wooram Park, Jin Seob Kim, Yu Zhou, Noah J. Cowan, Allison M. Okamura, Gregory Chirikjian

Control of Platoons of Nonholonomic Vehicles Using Redundant Manipulator Analogs ............................... 4606Bradley E. Bishop

Fast Computation of Robot-Obstacle Interactions in Nonholonomic Trajectory Deformation ....................... 4612Olivier Lefebvre, Florent Lamiraux, David Bonnafous

Session: FrA3-05PLANNING APPLICATIONS

Mars Exploration Rover Operations with the Science Activity Planner ............................................................ 4618Jeffrey Norris, Mark Powell, Marsette Vona, Paul Backes, Justin V. Wick

Planning 3-D Path Networks in Unstructured Environments ............................................................................. 4624Nicolas Vandapel, James Kuffner, Omead Amidi

Movement Primitives, Principal Component Analysis, and the Efficient Generation of Natural Motions ...... 4630Bokman Lim, Syungkwon Ra, Frank C. Park

Matrix Formulation of Constraint Wrenches for Serial Manipulators ............................................................... 4636Himanshu Chaudhary, Subir Kumar Saha

Session: FrA3-06LANDMARKS

Vision-Based Indoor Scene Analysis for Natural Landmark Detection ............................................................ 4642Martin Rous, Henning Luepschen, K.-F. Kraiss

Detection and Localization of Curbs and Stairways Using Stereo Vision ....................................................... 4648Xiaoye Lu, Roberto Manduchi

A Sign Reading Driver Assistance System Using Eye Gaze ............................................................................. 4655Luke Fletcher, Lars Petersson, Nick Barnes, David Austin, Alex Zelinsky

Improved Signal to Noise Ratio and Computational Speed for Gradient-based Detection Algorithms......... 4661Nick Barnes

Session: FrA3-07VISION + SENSING

Experiments in Low Cost High Precision Motion Control for ROVs ................................................................. 4667Massimo Caccia

A Visual Odometer without 3D Reconstruction for Aerial Vehicles. Applications to Building Inspection ...... 4673Fernando Caballero, Luis Merino, Joaquín Ferruz, Aníbal Ollero

Obstacle Detection for Small Autonomous Aircraft Using Sky Segmentation ................................................. 4679Timothy McGee, Raja Sengupta, Karl Hedrick

Session: FrA3-08OUTDOOR NAVIGATION

Robotic Rock Climbing using Computer Vision and Force Feedback .............................................................. 4685Stephen Paul Linder, Edward Wei, Alexander Clay

Robot Visual Navigation in Semi-structured Outdoor Environments ................................................................ 4691Diana Mateus, Juan Gabriel Avina-Cervantes, Michel Devy

Fault-Tolerant Behavior-Based Motion Control for Offroad Navigation ............................................................ 4697Martin Proetzsch, Tobias Luksch, Karsten Berns

Multi-aided Inertial Navigation for Ground Vehicles in Outdoor Uneven Environments ................................. 4703Bingbing Liu, Martín Adams, Javier Ibañez-Guzmán

Session: FrA3-09SERIAL MANIPULATORS

Sizing a Serial Chain to Fit a Task Trajectory Using Clifford Algebra Exponentials .......................................... 4709Alba Perez, J. Michael McCarhty

A Geometric Theory for Synthesis and Analysis of Sub-6 DoF Serial Manipulator Subchains ........................ 4716Jian Meng, Guangfeng Liu, Zexiang Li

A New Perspective on O(n) Mass-Matrix Inversion for Serial Revolute Manipulators ..................................... 4722Kiju Lee, Gregory Chirikjian

Advanced Geometric Approach for Graphics and Visual Guided Robot Object Manipulation ......................... 4727Dietmar Hildenbrand, Eduardo Bayro-Corrochano, Julio Zamora-Esquivel

Session: FrA3-10CONTROL V

Sensor Data Fusion for Body State Estimation in a Hexapod Robot with Dynamical Gaits .......................... 4733Pei-Chun Lin, Haldun Komsuoglu, Daniel E. Koditschek

Formal Verification of Robot Movements - a Case Study on Home Service Robot SHR100 ......................... 4739Moonzoo Kim, Kyo Chul Kang, Hyungki Lee

Usability Study of a Control Framework for an Intelligent Wheelchair ............................................................ 4745Sarangi P. Parikh, Valdir Grassi Jr., Vijay Kumar, Jun Okamoto Jr.

Triangular Observers for Road Profiles Inputs Estimation and Vehicle Dynamics Analysis .......................... 4751Hocine Imine, Yves Delanne