Technical Program for Wednesday September 24, 2008

‡ Paper with multimedia attachment

WeAT1 Regular Sessions, Rhodes 10	Add to My Program
Localization with RFID, Sonars
Chair: Scaramuzza, Davide	ETH Zurich
Co-Chair: Reynolds, Matthew	Duke Univ.
08:40-09:00, Paper WeAT1.1	Add to My Program
Self-Localization with RFID Snapshots in Densely Tagged Environments
Vorst, Philipp	Univ. of Tübingen
Schneegans, Sebastian	Ruhr Univ. Bochum
Yang, Bin	Univ. of Tübingen
Zell, Andreas	Univ. of Tübingen
Presenter: Unknown
09:00-09:20, Paper WeAT1.2	Add to My Program
Indoor Localization System Using Multi-Modulation of Ultrasonic Sensors and Digital Compass ‡
Kim, Hong Shik	KIST (Korea Inst. of Science and Tech.
Choi, Jong Suk	Korea Inst. of Sci. and Tech.
Park, Min-Yong	Yonsei Univ.
Presenter: Unknown
09:20-09:40, Paper WeAT1.3	Add to My Program
Acoustic Flow
McKerrow, Phillip	Univ. of Wollongong
Presenter: Unknown
09:40-10:00, Paper WeAT1.4	Add to My Program
Self-Localization with Ultrasonic Sensor Array
Ono, Yukihiko	Hitachi, Ltd.
Takahashi, Ryosuke	PTP Inc.
Takahashi, Takayuki	Fukushima Univ.
Jeong, Seonghee	Fukushima Univ.
Ohno, Kazunori	Tohoku Univ.
Tadokoro, Satoshi	Tohoku Univ.
Presenter: Unknown
10:00-10:20, Paper WeAT1.5	Add to My Program
Probabilistic UHF RFID Tag Pose Estimation with Multiple Antennas and a Multipath RF Propagation Model
Deyle, Travis	Georgia Tech.
Kemp, Charles	Georgia Inst. of Tech.
Reynolds, Matthew	Duke Univ.
Presenter: Unknown
10:20-10:40, Paper WeAT1.6	Add to My Program
Pose Estimation of a Mobile Robot on a Lattice of RFID Tags
Kodaka, Kenri	WABOT-HOUSE Lab. Waseda Univ.
Presenter: Unknown

WeAT2 Regular Sessions, Gallieni B	Add to My Program
Distributed Robot Systems
Chair: Shen, Wei-Min	USC Information Science Inst.
Co-Chair: Chiaverini, Stefano	Univ. di Cassino
08:40-09:00, Paper WeAT2.1	Add to My Program
Communication Using Pheromone Field for Multiple Robots ‡
Fujisawa, Ryusuke	The Univ. of Electro-Communications
Imamura, Hikaru	The Univ. of Electro-Communications
Hashimoto, Takashi	Japan Advanced Inst. of Science and Tech.
Matsuno, Fumitoshi	The Univ. of Electro-Communications
Presenter: Unknown
09:00-09:20, Paper WeAT2.2	Add to My Program
A Scalable and Distributed Approach for Self-Assembly and Self-Healing of a Differentiated Shape.
Rubenstein, Michael	Univ. of southern california
Shen, Wei-Min	USC Information Science Inst.
Presenter: Unknown
09:20-09:40, Paper WeAT2.3	Add to My Program
Self-Configurable Mobile Robot Swarms with Hole Repair Capability
Lee, Geunho	Japan Advanced Inst. of Sci. & Tech.
Chong, Nak Young	Japan Advanced Inst. of Sci. and Tech.
Presenter: Unknown
09:40-10:00, Paper WeAT2.4	Add to My Program
Flocking for Multi-Robot Systems Via the Null-Space-Based Behavioral Control ‡
Antonelli, Gianluca	Univ. degli Studi di Cassino
Arrichiello, Filippo	Univ. di Cassino
Chiaverini, Stefano	Univ. di Cassino
Presenter: Unknown
10:00-10:20, Paper WeAT2.5	Add to My Program
Spatial Macroscopic Models of a Bio-Inspired Robotic Swarm Algorithm
Hamann, Heiko	Univ. Karlsruhe (TH)
Woern, Heinz	Univ. Karlsruhe
Crailsheim, Karl	Univ. of Graz
Schmickl, Thomas	Univ. of Graz
Presenter: Unknown
10:20-10:40, Paper WeAT2.6	Add to My Program
Consensus-Based Task Sequencing in Decentralized Multiple-Robot Systems Using Local Communication
Parker, Chris	Univ. of Alberta
Zhang, Hong	Univ. of Alberta
Presenter: Unknown

WeAT3 Regular Sessions, Risso 6AB	Add to My Program
Medical Robots and Systems I
Chair: Dombre, Etienne	Univ. Montpellier II & CNRS
Co-Chair: Coste-Manière, Ève	Centre Cardio-Thoracique de Monaco
08:40-09:00, Paper WeAT3.1	Add to My Program
Model-Based Passivity Control for Bilateral Teleoperation of a Surgical Robot with Time Delay
Kawashima, Kenji	Tokyo Inst. of Tech.
Tadano, Kotaro	Tokyo Inst. of Tech.
Sankaranarayanan, Ganesh	Rensselaer Pol. Inst.
Hannaford, Blake	Univ. of Washington
Presenter: Unknown
09:00-09:20, Paper WeAT3.2	Add to My Program
Modeling of Conditions Where a Puncture Occurs During Needle Insertion Considering Probability Distribution
Kobayashi, Yo	Waseda Univ.
Onishi, Akinori	Waseda Univ.
Hoshi, Takeharu	Waseda Univ.
Kawamura, Kazuya	Waseda Univ.
Fujie, Masakatsu G.	Waseda Univ.
Presenter: Unknown
09:20-09:40, Paper WeAT3.3	Add to My Program
Portable Smart Wrist Rehabilitation Device Driven by Rotational MR-Fluid Brake Actuator for Telemedecine Applications
Avraam, More	ULB
Horodinca, Mihaita	ULB
Letier, Pierre	ULB
Preumont, André	ULB
Presenter: Unknown
09:40-10:00, Paper WeAT3.4	Add to My Program
Modeling and Geometrical Validation of a Tele-Echography Robot
Nouaille, Laurence	Univ. or Orleans
Smith-Guerin, Natalie	Univ. of Orleans
Poisson, Gérard	Univ. d'Orléans
Presenter: Unknown
10:00-10:20, Paper WeAT3.5	Add to My Program
An Image-Guided Robot for Needle Insertion in Small Animal. Accurate Needle Positioning Using Visual Servoing.
Ayadi, Ahmed	Univ. Louis Pasteur
Bayle, Bernard	Univ. of Strasbourg
Graebling, Pierre	Univ. Louis Pasteur - Strasbourg (ULP)
Gangloff, Jacques	Strasbourg I Univ.
Presenter: Unknown
10:20-10:40, Paper WeAT3.6	Add to My Program
Acceleration Compensation for Vehicle Based Telesurgery on Earth or in Space
King, H. Hawkeye	Univ. of Washington
Low, Thomas	SRI International
Hufford, Kevin	SRI International
Broderick, Timothy	Univ. of Cincinnati Medical Center
Presenter: Unknown

WeAT4 Regular Sessions, Risso 7B	Add to My Program
Mechanism Design
Chair: Sodeyama, Yoshinao	The Univ. of Tokyo
Co-Chair: Garrec, Philippe	CEA
08:40-09:00, Paper WeAT4.1	Add to My Program
The Designs and Motions of a Shoulder Structure with a Spherical Thorax, Scapulas and Collarbones for Humanoid ``Kojiro'' ‡
Sodeyama, Yoshinao	The Univ. of Tokyo
Nishino, Tamaki	The Univ. of Tokyo
Namiki, Yuta	The Univ. of Tokyo
Nakanishi, Yuto	The Univ. of Tokyo
Mizuuchi, Ikuo	The Univ. of Tokyo
Inaba, Masayuki	The Univ. of Tokyo
Presenter: Unknown
09:00-09:20, Paper WeAT4.2	Add to My Program
Motion Primitives for a Tumbling Robot ‡
Hemes, Brett	CSE, UMN
Fehr, Duc	Univ. of Minnesota
Papanikolopoulos, Nikos	Univ. of Minnesota
Presenter: Unknown
09:20-09:40, Paper WeAT4.3	Add to My Program
A Robotic Catapult Based on the Closed Elastica with a High Stiffness Endpoint and Its Application to Swimming Tasks
Yamada, Atsushi	Nagoya Inst. of Tech.
Watari, Masamitsu	Nagoya Inst. of Tech.
Mochiyama, Hiromi	Univ. of Tsukuba
Fujimoto, Hideo	Nagoya Inst. of Tech.
Presenter: Unknown
09:40-10:00, Paper WeAT4.4	Add to My Program
ABLE, an Innovative Transparent Exoskeleton for the Upper-Limb
Garrec, Philippe	CEA
Friconneau, Jean-Pierre	CEA
Measson, Yvan	CEA LIST
Perrot, Yann	CEA LIST
Presenter: Unknown
10:00-10:20, Paper WeAT4.5	Add to My Program
Advanced Child Unit of "Anchor Climber" Using Modified Internally-Balanced Magnet
Suzuki, Masataka	Tokyo Inst. of Tech.
Kitai, Shinya	Tokyo Inst. of Tech.
Hirose, Shigeo	Tokyo Inst. of Tech.
Presenter: Unknown
10:20-10:40, Paper WeAT4.6	Add to My Program
Demonstration of an ITER Relevant Remote Handling Equipment for Tokamak Close Inspection
Keller, Delphine	CEA LIST Lab. Robotique et Mesorobotique
Perrot, Yann	CEA LIST
Presenter: Unknown

WeAT5 Regular Sessions, Gallieni 2	Add to My Program
Legged Robots I
Chair: Faragalli, Michele	McGill Univ.
Co-Chair: Goerner, Martin	German Aerospace Center (DLR)
08:40-09:00, Paper WeAT5.1	Add to My Program
Velocity Control of a Hybrid Quadruped Bounding Robot
Faragalli, Michele	McGill Univ.
Sharf, Inna	McGill Univ.
Trentini, Michael	Defence Res. and Development Canada
Presenter: Unknown
09:00-09:20, Paper WeAT5.2	Add to My Program
Dynamic Crawl Gait Algorithm for Quadruped Robots
Hwang, Heeseon	Pohang Univ. of Science and Tech.
Youm, Youngil	POSTECH
Presenter: Unknown
09:20-09:40, Paper WeAT5.3	Add to My Program
Screenbot: Walking Inverted Using Distributed Inward Gripping ‡
Wile, Gregory	Case Western Res. Univ.
Daltorio, Kathryn A	Case Western Res. Univ.
Diller, Eric D.	Case Western Res. Univ.
Palmer III, Luther R.	Case Western Res. Univ.
Gorb, Stanislav N	Max-Planck-Inst. for Metals Res.
Ritzmann, Roy Earl	Case Western Res. Univ.
Quinn, Roger, D.	Case Western Res. Univ.
Presenter: Unknown
09:40-10:00, Paper WeAT5.4	Add to My Program
Control Strategies for a Multi-Legged Hopping Robot
Luders, Rolf Allan	Carnegie Mellon Univ.
Apostolopoulos, Dimi	Carnegie Mellon Univ.
Wettergreen, David	Carnegie Mellon Univ.
Presenter: Unknown
10:00-10:20, Paper WeAT5.5	Add to My Program
The DLR-Crawler: A Testbed for Actively Compliant Hexapod Walking Based on the Fingers of DLR-Hand II ‡
Goerner, Martin	German Aerospace Center (DLR)
Wimboeck, Thomas	German Aerospace Center (DLR)
Baumann, Andreas	German Aerospace Center
Fuchs, Matthias	German Aerospace Center
Bahls, Thomas	German Aerospace Center
Grebenstein, Markus	German Aerospace Center (DLR)
Borst, Christoph	German Aerospace Center (DLR)
Butterfass, Jörg	German Aerospace Center
Hirzinger, Gerd	German Aerospace Center (DLR)
Presenter: Unknown
10:20-10:40, Paper WeAT5.6	Add to My Program
Study on Roller-Walker – Adaptation of Characteristics of the Propulsion by a Leg Trajectory – ‡
Endo, Gen	Tokyo Inst. of Tech.
Hirose, Shigeo	Tokyo Inst. of Tech.
Presenter: Unknown

WeAT6 Regular Sessions, Gallieni 3	Add to My Program
Humanoids I
Chair: Harada, Kensuke	National Inst. of AIST
Co-Chair: Konno, Atsushi	Tohoku Univ.
08:40-09:00, Paper WeAT6.1	Add to My Program
A Robot Listens to Music and Counts Its Beats Aloud by Separating Music from Counting Voice
Mizumoto, Takeshi	Kyoto Univ.
Takeda, Ryu	Kyoto Univ.
Yoshii, Kazuyoshi	National Inst. of Advanced Industrial Science and Tech.
Komatani, Kazunori	Kyoto Univ.
Ogata, Tetsuya	Kyoto Univ.
Okuno, Hiroshi G.	Kyoto Univ.
Presenter: Unknown
09:00-09:20, Paper WeAT6.2	Add to My Program
Kinodynamic Gait Planning for Full-Body Humanoid Robots
Harada, Kensuke	National Inst. of AIST
Morisawa, Mitsuharu	National Inst. of AIST
Miura, Kanako	National Inst. of Advanced Industrial Science andTechnology
Nakaoka, Shinichiro	National Inst. of AIST
Fujiwara, Kiyoshi	Inst. of Advanced Industrial Sci.(AIST)
Kaneko, Kenji	National Inst. of AIST
Kajita, Shuuji	National Inst. of AIST
Presenter: Unknown
09:20-09:40, Paper WeAT6.3	Add to My Program
Task Guided Attention Control and Visual Verification in Tea Serving by the Daily Assistive Humanoid HRP2JSK
Okada, Kei	The Univ. of Tokyo
Kojima, Mitsuharu	The Univ. of Tokyo
Tokutsu, Satoru	The Univ. of Tokyo
Mori, Yuto	The Univ. of Tokyo
Maki, Toshiaki	The Univ. of Tokyo
Inaba, Masayuki	The Univ. of Tokyo
Presenter: Unknown
09:40-10:00, Paper WeAT6.4	Add to My Program
Wheelchair Support by a Humanoid through Integrating Environment Recognition, Whole-Body Control and Human-Interface behind the User
Nozawa, Shunichi	The Univ. of Tokyo
Maki, Toshiaki	The Univ. of Tokyo
Kojima, Mitsuharu	The Univ. of Tokyo
Kanzaki, Shigeru	The Univ. of Tokyo
Okada, Kei	The Univ. of Tokyo
Inaba, Masayuki	The Univ. of Tokyo
Presenter: Unknown
10:00-10:20, Paper WeAT6.5	Add to My Program
Manipulation and Recognition of Objects Incorporating Joints by a Humanoid Robot for Daily Assistive Tasks ‡
Kojima, Mitsuharu	The Univ. of Tokyo
Okada, Kei	The Univ. of Tokyo
Inaba, Masayuki	The Univ. of Tokyo
Presenter: Unknown
10:20-10:40, Paper WeAT6.6	Add to My Program
Analysis of Nailing Task Motion for a Humanoid Robot
Tsujita, Teppei	Tohoku Univ.
Konno, Atsushi	Tohoku Univ.
Komizunai, Shunsuke	Tohoku Univ.
Nomura, Yuki	Tohoku Univ.
Owa, Takuya	Tohoku Univ.
Myojin, Tomoya	Tohoku Univ.
Ayaz, Yasar	Tohoku Univ.
Uchiyama, Masaru	Tohoku Univ.
Presenter: Unknown

WeAT7 Regular Sessions, Gallieni 5	Add to My Program
Slam Ii
Chair: Song, Kai-Tai	National Chiao Tung Univ.
Co-Chair: Rodriguez-losada, Diego	Tech. Univ. of Madrid
08:40-09:00, Paper WeAT7.1	Add to My Program
A Graph Matching Technique for an Appearance-Based, Visual SLAM-Approach Using Rao-Blackwellized Particle Filters
Koenig, Alexander	Ilmenau Tech. Univ.
Kessler, Jens	Ilmenau Univ. of Tech. 98684 Ilmenau, GermanyIlmenau
Gross, Horst-Michael	Ilmenau Univ. of Tech.
Presenter: Unknown
09:00-09:20, Paper WeAT7.2	Add to My Program
Iterated Unscented SLAM Algorithm for Navigation of an Autonomous Mobile Robot
Shojaie, Khoshnam	Iran Univ. of Science and Tech. (IUST)
Mohammad Shahri, Alireza	Iran Univ. of Science and Tech. (IUST)
Presenter: Unknown
09:20-09:40, Paper WeAT7.3	Add to My Program
Vision SLAM Using Omni-Directional Visual Scan Matching ‡
Huang, Fu-Sheng	National Chiao Tung Univ.
Song, Kai-Tai	National Chiao Tung Univ.
Presenter: Unknown
09:40-10:00, Paper WeAT7.4	Add to My Program
Simultaneous Topological Map Prediction and Moving Object Trajectory Prediction in Unknown Environments
Chung, Shu Yun	National Taiwan Univ.
Huang, Han-Pang	National Taiwan Univ.
Presenter: Unknown
10:00-10:20, Paper WeAT7.5	Add to My Program
Building Maps of Large Environments Using Splines and Geometric Analysis ‡
Pedraza, Luis	Univ. Pol. de Madrid
Rodriguez-losada, Diego	Tech. Univ. of Madrid
San Segundo, Pablo	Tech. Univ. of Madrid
Matia, Fernando	Univ. Pol. de Madrid
Presenter: Unknown
10:20-10:40, Paper WeAT7.6	Add to My Program
Using Planar Facets for Stereovision SLAM
Lacroix, Simon	LAAS/CNRS
Berger, Cyrille	Univ. de Toulouse, LAAS/CNRS, Thalès
Presenter: Unknown

WeAT8 Regular Sessions, Rhodes 9EG	Add to My Program
Search and Rescue Robots I
Chair: Hatakeyama, Shoshiro	Tokyo Denki Univ.
Co-Chair: Nakamura, Taro	Chuo Univ.
08:40-09:00, Paper WeAT8.1	Add to My Program
HELIOS IX Tracked Vehicle for Urban Search and Rescue Operations: Mechanical Design and First Tests
Guarnieri, Michele	Tokyo Inst. of Tech.
Inoh, Takao	E-N studio
Takita, Kensuke	HiBot Corp.
Debenest, Paulo	Tokyo Inst. of Tech.
Fukushima, Edwardo F.	Tokyo Inst. of Tech.
Hirose, Shigeo	Tokyo Inst. of Tech.
Presenter: Unknown
09:00-09:20, Paper WeAT8.2	Add to My Program
Control Strategy for a Snake-Like Robot Based on Constraint Force and Verification by Experiment ‡
Watanabe, Kouki	Tokyo Denki Univ.
Iwase, Masami	Tokyo Denki Univ.
Hatakeyama, Shoshiro	Tokyo Denki Univ.
Presenter: Unknown
09:20-09:40, Paper WeAT8.3	Add to My Program
Path-Tracking Control of a Snake-Like Robot Using Screw Drive Mechanism
Fukushima, Hiroaki	The Univ. of Electro-Communications
Tanaka, Motoyasu	The Univ. of Electro-Communications
Kamegawa, Tetsushi	Okayama Univ.
Matsuno, Fumitoshi	The Univ. of Electro-Communications
Presenter: Unknown
09:40-10:00, Paper WeAT8.4	Add to My Program
Locomotion and Turning Patterns of a Peristaltic Crawling Earthworm Robot Composed of Flexible Units
Omori, Hayato	Chuo Univ.
Nakamura, Taro	Chuo Univ.
Presenter: Unknown
10:00-10:20, Paper WeAT8.5	Add to My Program
The Latest Generation Whegs™ Robot Features a Passive-Compliant Body Joint ‡
Boxerbaum, Alexander	Case Western Res. Univ.
Oro, Julio	Case Western Res. Univ.
Peterson, Gilbert	Air Force Inst. of Tech.
Quinn, Roger, D.	Case Western Res. Univ.
Presenter: Unknown
10:20-10:40, Paper WeAT8.6	Add to My Program
A Proposal of Flexible Mono-Tread Mobile Track – a New Mobile Mechanism Using Tracks – ‡
Kinugasa, Tetsuya	Okayama Univ. of Science
Otani, Yuta	Pacific Software Development
Haji, Takafumi	Okayama Univ. of Science
Yoshida, Koji	Okayama Univ. of Science
Osuka, Koichi	Kobe Univ.
Amano, Hisanori	National Res. Inst. of Fire and Disaster
Presenter: Unknown

WeAT9 Regular Sessions, Rhodes 9AC	Add to My Program
Nonholonomic Motion Planning
Chair: Tsianos, Konstantinos	Rice Univ.
Co-Chair: Cherubini, Andrea	INRIA-IRISA
08:40-09:00, Paper WeAT9.1	Add to My Program
A Position-Based Visual Servoing Scheme for Following Paths with Nonholonomic Mobile Robots ‡
Cherubini, Andrea	Univ. di Roma
Chaumette, Francois	INRIA
Oriolo, Giuseppe	Univ. di Roma
Presenter: Unknown
09:00-09:20, Paper WeAT9.2	Add to My Program
Reliable Robust Path Planner
Pepy, Romain	CNRS - SUPELEC - Univ. Paris-Sud
Kieffer, Michel	CNRS - SUPELEC - Univ. Paris-Sud
Walter, Eric	CNRS - SUPELEC - Univ. Paris-Sud
Presenter: Unknown
09:20-09:40, Paper WeAT9.3	Add to My Program
Kinodynamic Motion Planning with Hardware Demonstrations
Sucan, Ioan Alexandru	Rice Univ.
Kruse, Jonathan	Univ. of Pennsylvania
Yim, Mark	Univ. of Pennsylvania
Kavraki, Lydia	Rice Univ.
Presenter: Unknown
09:40-10:00, Paper WeAT9.4	Add to My Program
Replanning: A Powerful Planning Strategy for Hard Kinodynamic Problemsfile: ///home/merlet/Netscape/merlet/merlet.html ‡
Tsianos, Konstantinos	Rice Univ.
Kavraki, Lydia	Rice Univ.
Presenter: Unknown
10:00-10:20, Paper WeAT9.5	Add to My Program
Optimal Paths in a Constrained Image Plane for Purely Image--Based Parking
Salaris, Paolo	Univ. of Pisa
Belo, Felipe	Univ. of Pisa
Fontanelli, Daniele	Univ. of Pisa
Bicchi, Antonio	Univ. of Pisa
Presenter: Unknown
10:20-10:40, Paper WeAT9.6	Add to My Program
Motion Planning for Urban Driving Using RRT
Kuwata, Yoshiaki	JPL
Fiore, Gaston	MIT
Teo, Justin	Massachusetts Inst. of Tech.
Frazzoli, Emilio	Massachusetts Inst. of Tech.
How, Jonathan	Massachusetts Inst. of Tech.
Presenter: Unknown

WeAT10 Special Session, Rhodes 9FC	Add to My Program
Audition I
Chair: Rodemann, Tobias	Honda Res. Inst. Europe
Co-Chair: Nakadai, Kazuhiro	Honda Res. Inst. Japan Co., Ltd.
08:40-09:00, Paper WeAT10.1	Add to My Program
Real-Time Implementation of Blind Spatial Subtraction Array for Hands-Free Robot Spoken Dialogue System ‡
Takahashi, Yu	Nara Inst. of Science and Tech.
Saruwatari, Hiroshi	Nara Inst. of Sci. and Tech.
Kiyohiro Shikano, '	Nara Inst. of Science and Tech.
Presenter: Unknown
09:00-09:20, Paper WeAT10.2	Add to My Program
Combining Acoustic Echo Cancellation and Adaptive Beamforming for Achieving Robust Speech Interface in Mobile Robot
Beh, Jounghoon	Korea Univ.
Lee, Taekjin	Korea Univ.
Lee, In-Ho	Korea
Kim, Hyunsoo	Samsung
Ahn, Sungjoo	Samsung Electronics
Ko, Hanseok	Korea Univ.
Presenter: Unknown
09:20-09:40, Paper WeAT10.3	Add to My Program
Listen to the Parrot: Demonstrating the Quality of Online Pitch and Formant Extraction Via Feature-Based Resynthesis ‡
Heckmann, Martin	Honda Res. Inst. Europe GmbH
Glaeser, Claudius	Honda Res. Inst. Europe GmbH
Vaz, Miguel	Univ. do Minho Guimaraes
Rodemann, Tobias	Honda Res. Inst. Europe
Joublin, Frank	Honda Res. Inst. Europe
Goerick, Christian	Honda Res. Inst. Europe GmbH
Presenter: Unknown
09:40-10:00, Paper WeAT10.4	Add to My Program
Target Speech Detection and Separation for Humanoid Robots in Sparse Dialogue with Noisy Home Environments
Kim, Hyun-Don	Kyoto Univ.
Kim, Jinsung	KIST
Komatani, Kazunori	Kyoto Univ.
Ogata, Tetsuya	Kyoto Univ.
Okuno, Hiroshi G.	Kyoto Univ.
Presenter: Unknown
10:00-10:20, Paper WeAT10.5	Add to My Program
Segmenting Acoustic Signal with Articulatory Movement Using Recurrent Neural Network for Phoneme Acquisition
Kanda, Hisashi	Informatics, Kyoto Univ.
Ogata, Tetsuya	Kyoto Univ.
Komatani, Kazunori	Kyoto Univ.
Okuno, Hiroshi G.	Kyoto Univ.
Presenter: Unknown
10:20-10:40, Paper WeAT10.6	Add to My Program
Barge-In-Able Robot Audition Based on ICA and Missing Feature Theory under Semi-Blind Situation
Takeda, Ryu	Kyoto Univ.
Nakadai, Kazuhiro	Honda Res. Inst. Japan Co., Ltd.
Komatani, Kazunori	Kyoto Univ.
Ogata, Tetsuya	Kyoto Univ.
Okuno, Hiroshi G.	Kyoto Univ.
Presenter: Unknown

WeAT11 Regular Sessions, Gallieni A	Add to My Program
Field Robots I
Chair: Zelinsky, Alex	CSIRO
Co-Chair: Martinet, Philippe	Blaise Pascal Univ.
08:40-09:00, Paper WeAT11.1	Add to My Program
Modularized In-Pipe Robot Capable of Selective Navigation Inside of Pipelines
Roh, Se-gon	Sungkyunkwan Univ.
Choi, Hyouk Ryeol	Sungkyunkwan Univ.
Lee, Jungsub	Sungkyunkwan Univ.
Kim, Dowan	Sungkyunkwan Univ. Intelliget Robotics & Mechatronic Syste
Moon, Hyungpil	SungKyunKwan Univ.
Presenter: Unknown
09:00-09:20, Paper WeAT11.2	Add to My Program
An Experiment Robot System for the Power Distribution Line Maintenance Robot - System Architecture and Bolt Insertion Experiment -
He, Yingxin	Meijo Univ.
Tatsuno, Kyoichi	Meijo Univ.
Presenter: Unknown
09:20-09:40, Paper WeAT11.3	Add to My Program
Sensor-Arm – Robotic Manipulator for Preventive Maintenance and Inspection of High-Voltage Transmission Lines
Debenest, Paulo	Tokyo Inst. of Tech.
Guarnieri, Michele	Tokyo Inst. of Tech.
Takita, Kensuke	HiBot Corp.
Fukushima, Edwardo F.	Tokyo Inst. of Tech.
Hirose, Shigeo	Tokyo Inst. of Tech.
Tamura, Kiyoshi	Kansai Electric Power Compnay
Kimura, Akihiro	Kansai Electric Power Company
Kubokawa, Hiroshi	J-Power Systems
Iwama, Narumi	J-Power Systems
Shiga, Fuminori	J-Power Systems
Presenter: Unknown
09:40-10:00, Paper WeAT11.4	Add to My Program
Energy Based Path Planning for a Novel Cabled Robotic System ‡
Borgstrom, Per Henrik	UCLA
Singh, Amarjeet	Univ. of California, Los Angeles
Jordan, Brett	UCLA, CENS
Sukhatme, Gaurav	Univ. of Southern California
Batalin, Maxim	CENS, UCLA
Kaiser, William	UCLA
Presenter: Unknown
10:00-10:20, Paper WeAT11.5	Add to My Program
Traffic Interaction in the Urban Challenge: Putting Boss on Its Best Behavior
Baker, Christopher R	Carnegie Mellon Univ.
Dolan, John M.	Carnegie Mellon Univ.
Presenter: Unknown
10:20-10:40, Paper WeAT11.6	Add to My Program
Adaptive Control of Four-Wheel-Steering Off-Road Mobile Robots: Application to Path Tracking and Heading Control in Presence of Sliding
Cariou, Christophe	Cemagref
Lenain, Roland	Cemagref
Thuilot, Benoit	Clermont-Ferrand Univ.
Martinet, Philippe	Blaise Pascal Univ.
Presenter: Unknown

WeAT12 Regular Sessions, Rhodes 9BD	Add to My Program
Grasping I
Chair: Suarez, Raul	Tech. Univ. of Catalonia
Co-Chair: Tian, Jiang	Iowa State Univ.
08:40-09:00, Paper WeAT12.1	Add to My Program
Selection of Robot Pre-Grasps Using Box-Based Shape Approximation
Huebner, Kai	Royal Inst. of Tech. (KTH), Stockholm
Kragic, Danica	KTH
Presenter: Unknown
09:00-09:20, Paper WeAT12.2	Add to My Program
Synthesis of Grasps with Four Contact Points Including at Least Three Force-Closure Grasps of Three Contact Points
Prado Gardini, Ricardo	Tech. Univ. of Catalonia
Suarez, Raul	Tech. Univ. of Catalonia
Presenter: Unknown
09:20-09:40, Paper WeAT12.3	Add to My Program
Caging Convex Polygons with Three Fingers
Vahedi, Mostafa	Utrecht Univ.
van der Stappen, Frank	Utrecht Univ.
Presenter: Unknown
09:40-10:00, Paper WeAT12.4	Add to My Program
A Biomechanical Analysis of the Healthy and the Pathological Index Finger During Pinch Function
Ben Sghaier, Amani	Univ. of Monastir
Romdhane, Lotfi	Ec. Nationale d'Ingénieurs de Sousse, Univ. of
Ben Ouezdou, Fathi	Univ. of Versailles-Saint-Quentin
Presenter: Unknown
10:00-10:20, Paper WeAT12.5	Add to My Program
Applying Viscoelastic Contact Modeling to Grasping Task: An Experimental Case Study
Tsai, Chia-Hung	SUNY@Stony Brook
Kao, Imin	SUNY at Stony Brook
Sakamoto, Naoki	Mayekawa Mfg. Co., Ltd.
Higashimori, Mitsuru	Osaka Univ.
Kaneko, Makoto	Osaka Univ.
Presenter: Unknown
10:20-10:40, Paper WeAT12.6	Add to My Program
Deformations of General Parametric Shells: Computation and Robot Experiment
Jia, Yan-Bin	Iowa State Univ.
Tian, Jiang	Iowa State Univ.
Presenter: Unknown

WeAT13 Regular Sessions, Risso 8	Add to My Program
Intelligent Vehicles & Intelligent Transportation Systems
Chair: Ibanez-Guzman, Javier	Renault
Co-Chair: Spinello, Luciano	ETH Zurich
08:40-09:00, Paper WeAT13.1	Add to My Program
GPS Accuracy Improvement by Satellite Selection Using Omnidirectional Infrared Camera
Meguro, Jun-ichi	Waseda Univ.
Murata, Taishi	Waseda Univ.
Yoshiharu, Amano	Waseda Univ.
Hashizume, Takumi	Waseda Univ.
Takiguchi, Jun-ichi	Waseda Univ.
Presenter: Unknown
09:00-09:20, Paper WeAT13.2	Add to My Program
A Relative Information Metric for Vehicle Following Systems
Ng, Teck Chew	Singapore Inst. of Manufacturing Tech.
Adams, Martin	Nanyang Tech. Univ.
Ibanez-Guzman, Javier	Renault
Presenter: Unknown
09:20-09:40, Paper WeAT13.3	Add to My Program
Navigation of Urban Vehicle: An Efficient Visual Memory Management for Large Scale Environments
Courbon, Jonathan	CEA
Lequievre, Laurent	Blaise Pascal Univ.
Mezouar, Youcef	Blaise Pascal Univ.
Eck, Laurent	CEA
Presenter: Unknown
09:40-10:00, Paper WeAT13.4	Add to My Program
Multimodal Detection and Tracking of Pedestrians in Urban Environments with Explicit Ground Plane Extraction
Spinello, Luciano	ETH Zurich
Triebel, Rudolph	Swiss Federal Inst. of Tech.
Siegwart, Roland	ETH Zurich
Presenter: Unknown
10:00-10:20, Paper WeAT13.5	Add to My Program
A Perception Mechanism for Supporting Autonomous Intersection Handling in Urban Driving
Seo, Young-Woo	Carnegie Mellon Univ.
Urmson, Chris	Carnegie Mellon Univ.
Presenter: Unknown
10:20-10:40, Paper WeAT13.6	Add to My Program
Cross-Country Obstacle Detection: Space-Variant Resolution and Outliers Removal
Santana, Pedro	Univ. of Lisbon
Santos, Paulo	IntRoSys, S.A.
Correia, Luís	Univ. of Lisbon
Barata, Jose	Univ. Nova de Lisboa
Presenter: Unknown

WePP Plenary Sessions, Apollon	Add to My Program
Plenary Talk II
Chair: Laugier, Christian	INRIA Grenoble Rhône-Alpes
Great elephant of Nantes
Rollot, Yves

WeFF Plenary Sessions, Apollon	Add to My Program
Awards Ceremony
Chair: Kosuge, Kazuhiro	Tohoku Univ.
Co-Chair: Rives, Patrick	INRIA

WeBT1 Regular Sessions, Rhodes 9AC	Add to My Program
Control Architectures, Programming
Chair: Erickson, David Ryan	Defence Res. and Development Canada
Co-Chair: Kasderidis, Stathis	FORTH
13:30-13:50, Paper WeBT1.1	Add to My Program
Promoting Interoperability: The Libdrdc Software Standards Library
Erickson, David Ryan	Defence Res. and Development Canada
Beckman, Blake	Defence Res. and Development Canada
Peng, Tie	Scientific Inst. Ltd.
Presenter: Unknown
13:50-14:10, Paper WeBT1.2	Add to My Program
Reactive Planning As a Motivational Source in a Behavior-Based Architecture
Beaudry, Eric	Univ. de Sherbrooke
Létourneau, Dominic	Univ. de Sherbrooke
Kabanza, Froduald	Univ. de Sherbrooke
Michaud, Francois	Univ. de Sherbrooke
Presenter: Unknown
14:10-14:30, Paper WeBT1.3	Add to My Program
Evaluating a Reactive Semantics for Robotics
Biggs, Geoffrey	The Univ. of Auckland
MacDonald, Bruce	Univ. of Auckland
Presenter: Unknown
14:30-14:50, Paper WeBT1.4	Add to My Program
Experimental Study of Limit Cycle and Chaotic Controllers for the Locomotion of Centipede Robots ‡
Matthey, Loïc	EPFL
Righetti, Ludovic	EPFL
Ijspeert, Auke	EPFL
Presenter: Unknown
14:50-15:10, Paper WeBT1.5	Add to My Program
An Executive System for Cognitive Agents
Kasderidis, Stathis	FORTH
Presenter: Unknown
15:10-15:30, Paper WeBT1.6	Add to My Program
OpenRDK: A Modular Framework for Robotic Software Development
Calisi, Daniele	Sapienza Univ. of Rome
Censi, Andrea	California Inst. of Tech.
Iocchi, Luca	Sapienza Univ. of Roma
Nardi, Daniele	Uni. Roma
Presenter: Unknown

WeBT2 Regular Sessions, Gallieni B	Add to My Program
Distributed Robot and Multiple Robot Systems
Chair: Carpin, Stefano	Univ. of California, Merced
Co-Chair: Dias, Jorge	Univ. of Coimbra
13:30-13:50, Paper WeBT2.1	Add to My Program
Merging Maps Via Hough Transform
Carpin, Stefano	Univ. of California, Merced
Presenter: Unknown
13:50-14:10, Paper WeBT2.2	Add to My Program
Multi-Robot Complete Exploration Using Hill Climbing and Topological Recovery ‡
Rocha, Rui	Inst. of Systems and Robotics - Univ. of Coimbra
Ferreira, Filipe	Univ. of Aveiro
Dias, Jorge	Univ. of Coimbra
Presenter: Unknown
14:10-14:30, Paper WeBT2.3	Add to My Program
Online Estimation of Variance Parameters: Experimental Results with Applications to Localization
Erinc, Gorkem	Univ. of California Merced
Pillonetto, Gianluigi	U. Padova
Carpin, Stefano	Univ. of California, Merced
Presenter: Unknown
14:30-14:50, Paper WeBT2.4	Add to My Program
A Real-Time Communication Protocol for Interconnecting Robotic Smart Devices
Caltabiano, Daniele	STMicroelectronics
Brugali, Davide	Univ. of Bergamo
Sannino, Roberto	STMicroelectronics
Ghezzi, Davide	Univ. of Bergamo
Spelgatti, Luca	Univ. of Bergamo
Presenter: Unknown
14:50-15:10, Paper WeBT2.5	Add to My Program
Real-Time Motion Planning of Multiple Formations in Virtual Environments: Flexible Virtual Structures and Continuum Model ‡
Li, Yi	Simon Fraser Univ.
Gupta, Kamal	Simon Fraser Univ.
Presenter: Unknown
15:10-15:30, Paper WeBT2.6	Add to My Program
Digital Representation of Everyday Objects in a Robot Ecology via Proxies
Rashid, Md. Jayedur	AASS Res. centre, Orebro Univ.
Broxvall, Mathias	Örebro Univ.
Saffiotti, Alessandro	Orebro Univ.
Presenter: Unknown

WeBT3 Regular Sessions, Risso 6AB	Add to My Program
Medical Robots and Systems II
Chair: Nagy, Zoltan	ETH Zurich
Co-Chair: Engeberg, Erik Daniel	Univ. of Akron
13:30-13:50, Paper WeBT3.1	Add to My Program
Experimental Investigation of Magnetic Self-Assembly for Swallowable Modular Robots
Nagy, Zoltan	ETH Zurich
Oung, Raymond	ETH Zurich
Abbott, Jake	ETH Zurich
Nelson, Bradley J.	ETH Zurich
Presenter: Unknown
13:50-14:10, Paper WeBT3.2	Add to My Program
Toward Targeted Retinal Drug Delivery with Wireless Magnetic Microrobots
Dogangil, Gorkem	ETH Zurich
Ergeneman, Olgaç	ETH Zurich
Abbott, Jake	ETH Zurich
Pane, Salvador	ETH Zurich
Hall, Heike	ETH Zurich
Muntwyler, Simon	ETH Zurich
Nelson, Bradley J.	ETH Zurich
Presenter: Unknown
14:10-14:30, Paper WeBT3.3	Add to My Program
Control System Design and Experimental Verification of Capsubot ‡
Lee, Nam Kon	Tokyo Denki Univ.
Kamamichi, Norihiro	Tokyo Denki Univ.
Li, Hongyi	Shenyang Inst. of Automation, CAS
Furuta, Katsuhisa	Tokyo Denki Univ.
Presenter: Unknown
14:30-14:50, Paper WeBT3.4	Add to My Program
Design and Acceptability Assessment of a New Reversible Orthosis ‡
Jarrassé, Nathanaël	Univ. Pierre et Marie Curie - Paris6
Robertson, Johanna	Univ. René Descartes Paris V
Garrec, Philippe	CEA
Paik, Jamie	Univ. P. et M. Curie-Paris 6
Pasqui, Viviane	Univ. Pierre et Marie Curie, Paris 6
Perrot, Yann	CEA LIST
Roby Brami, Agnès	Univ. René Descartes Paris V
Wang, Damping	Univ. René Descartes Paris V
Morel, Guillaume	Univ. Pierre et Marie Curie - Paris 6
Presenter: Unknown
14:50-15:10, Paper WeBT3.5	Add to My Program
Adaptive Object Slip Prevention for Prosthetic Hands through Proportional-Derivative Shear Force Feedback
Engeberg, Erik Daniel	Univ. of Utah
Meek, Sanford	Univ. of Utah
Presenter: Unknown
15:10-15:30, Paper WeBT3.6	Add to My Program
Development of a Multi-DOF Exoskeleton Based Machine for Injured Fingers
Fu, Yili	Harbin Inst. of Tech.
Wang, Peng	Harbin Inst. of Tech.
Wang, Shuguo	Harbin Inst. of Tech.
Presenter: Unknown

WeBT4 Regular Sessions, Risso 8	Add to My Program
Parallel Robots I
Chair: O'Brien, John	Univ. of Wyoming
Co-Chair: Bonev, Ilian	École de Tech. supérieure
13:30-13:50, Paper WeBT4.1	Add to My Program
Singularity Analysis of Zero-Torsion Parallel Mechanisms
Briot, Sébastien	École de Tech. supérieure (ÉTS)
Bonev, Ilian	École de Tech. supérieure
Presenter: Unknown
13:50-14:10, Paper WeBT4.2	Add to My Program
Geometrical Workspace Analysis of a Cable-Driven Redundant Parallel Manipulator: KNTU CDRPM ‡
M. Aref, Mohammad	K.N. Toosi Univ. of Tech.
Taghirad, Hamid	K.N.Toosi Univ. of Tech.
Presenter: Unknown
14:10-14:30, Paper WeBT4.3	Add to My Program
Quotient Kinematics Machines: Concept, Analysis and Synthesis
Wu, Yuanqing	Shanghai Jiaotong Univ.
Li, Zexiang	HKUST
Ding, Han	Shanghai Jiao Tong Univ.
Lou, Yunjiang	HKUST
Presenter: Unknown
14:30-14:50, Paper WeBT4.4	Add to My Program
Optimal Design of a 6-Dof Parallel Measurement Mechanism Integrated in a 3-Dof Parallel Machine-Tool
Corbel, David	LIRMM - CNRS
Company, Olivier	Univ. of Montpellier 2
Pierrot, François	CNRS - LIRMM
Presenter: Unknown
14:50-15:10, Paper WeBT4.5	Add to My Program
A Sequential Method for the Singularity Free Workspace Design of a Planar 3-Arm Parallel Robot
Yang, Yawei	Univ. of Wyoming
O'Brien, John	Univ. of Wyoming
Presenter: Unknown

WeBT5 Regular Sessions, Gallieni 2	Add to My Program
Wheeled Robots
Chair: Guarino Lo Bianco, Corrado	Univ. of Parma
Co-Chair: Minor, Mark	Univ. of Utah
13:30-13:50, Paper WeBT5.1	Add to My Program
An Alternative Model for the Evaluation of Tyre Shear Forces under Steady-State Conditions
Guarino Lo Bianco, Corrado	Univ. of Parma
Gerelli, Oscar	Univ. of Parma
Presenter: Unknown
13:50-14:10, Paper WeBT5.2	Add to My Program
Development of Wall Climbing Robotic System for Bridge Inspection
Song, Young Kouk	Sungkyunkwan Univ.
Lee, ChangMin	SungKyunKwan Univ.
Koo, Ig Mo	Sung Kyun Kwan Univ.
Tran, Duc Trong	SungKyunKwan Univ.
Moon, Hyungpil	SungKyunKwan Univ.
Choi, Hyouk Ryeol	Sungkyunkwan Univ.
Presenter: Unknown
14:10-14:30, Paper WeBT5.3	Add to My Program
Control of Omni-Directional Mobile Platform with Four Driving Wheels Using Torque Redundancy
Amagai, Shunsuke	Chuo Univ.
Tsuji, Taichi	Chuo Univ.
Jabes, Samuel	Japan
Osumi, Hisashi	Chuo Univ.
Presenter: Unknown
14:30-14:50, Paper WeBT5.4	Add to My Program
Traction Estimation and Control Mobile Robots Using Wheel Slip Velocity
Terry, Jared	Univ. of Utah
Minor, Mark	Univ. of Utah
Presenter: Unknown
14:50-15:10, Paper WeBT5.5	Add to My Program
Study on Wheeled Forms of Lunar Robots for Traversing Soft Terrain
Iizuka, Kojiro	Chuo Univ.
Kunii, Yasuharu	Chuo Univ.
Kubota, Takashi	JAXA ISAS
Presenter: Unknown

WeBT6 Regular Sessions, Gallieni 3	Add to My Program
Humanoids II
Chair: Suh, Il Hong	Hanyang Univ.
Co-Chair: Asada, Minoru	Osaka Univ.
13:30-13:50, Paper WeBT6.1	Add to My Program
Learning Nonparametric Policies by Imitation
Grimes, David B.	Univ. of Washington
Rao, Rajesh P. N.	Univ. of Washington
Presenter: Unknown
13:50-14:10, Paper WeBT6.2	Add to My Program
Behavior Recognition with Ground Reaction Force Estimation and Its Application to Imitation Learning
Ariki, Yuka	Nara Inst. of science Tech.
Morimoto, Jun	ICORP-JST/ATR-CNS
Hyon, Sang-Ho	JST-ICORP / ATR
Presenter: Unknown
14:10-14:30, Paper WeBT6.3	Add to My Program
Weighted Action-Coupled Semantic Network (wASN) for Robot Intelligence
Lim, Gi Hyun	Hanyang Univ.
Suh, Il Hong	Hanyang Univ.
Presenter: Unknown
14:30-14:50, Paper WeBT6.4	Add to My Program
Cross-Modal Body Representation Based on Visual Attention by Saliency
Hikita, Mai	Osaka Univ.
Fuke, Sawa	Graduate School of Engineering, Osaka Univ.
Ogino, Masaki	ERATO, Japan Science and Tech. Agency
Asada, Minoru	Osaka Univ.
Presenter: Unknown
14:50-15:10, Paper WeBT6.5	Add to My Program
Thermal Control of Electrical Motors for High-Power Humanoid Robots
Urata, Junichi	The Univ. of Tokyo
Hirose, Toshinori	The Univ. of Tokyo
Namiki, Yuta	The Univ. of Tokyo
Nakanishi, Yuto	The Univ. of Tokyo
Mizuuchi, Ikuo	The Univ. of Tokyo
Inaba, Masayuki	The Univ. of Tokyo
Presenter: Unknown
15:10-15:30, Paper WeBT6.6	Add to My Program
Towards a Cognitive Robot That Uses Internal Rehearsal to Learn Affordance Relations
Erdemir, Erdem	Vanderbilt Univ.
Frankel, Carl B.	Vanderbilt Univ.
Kawamura, Kazuhiko	Vanderbilt Univ.
Gordon, Stephen	Vanderbilt Univ.
Thornton, Sean	Vanderbilt Univ.
Ulutas, Baris	Vanderbilt Univ.
Presenter: Unknown

WeBT7 Regular Sessions, Gallieni 5	Add to My Program
Slam Iii
Chair: Williams, Brian Patrick	Univ. of Oxford
Co-Chair: Rives, Patrick	INRIA
13:30-13:50, Paper WeBT7.1	Add to My Program
An Image–to–map Loop Closing Method for Monocular SLAM
Williams, Brian Patrick	Univ. of Oxford
Cummins, Mark Joseph	Oxford Univ.
Neira, José	Univ. de Zaragoza
Newman, Paul	Oxford Univ.
Reid, Ian	Univ. of Oxford
Tardos, Juan D.	Univ. de Zaragoza
Presenter: Unknown
13:50-14:10, Paper WeBT7.2	Add to My Program
The Common State Filter for SLAM
Parsley, Martin Peter	Univ. Coll. London
Julier, Simon Justin	Univ. Coll. London
Presenter: Unknown
14:10-14:30, Paper WeBT7.3	Add to My Program
Avoiding Negative Depth in Inverse Depth Bearing-Only SLAM
Parsley, Martin Peter	Univ. Coll. London
Julier, Simon Justin	Univ. Coll. London
Presenter: Unknown
14:30-14:50, Paper WeBT7.4	Add to My Program
Information-Driven 6D SLAM Based on Ranging Vision
Zhou, Weizhen	Univ. of Tech. Sydney
Dissanayake, Gamini	Univ. of Tech. Sydney
Valls Miro, Jaime	Univ. of Tech. Sydney
Presenter: Unknown
14:50-15:10, Paper WeBT7.5	Add to My Program
A Sensor-Independent Approach to RBPF SLAM - Map Match SLAM Applied to Visual Mapping
Schroeter, Christof	Ilmenau Tech. Univ.
Gross, Horst-Michael	Ilmenau Univ. of Tech.
Presenter: Unknown
15:10-15:30, Paper WeBT7.6	Add to My Program
Delayed Resampling in a Rao-Blackwellized Particle Filtering SLAM for Consistent Loop Closures
Kim, Chanki	POSTECH
Chung, Wan Kyun	POSTECH
Presenter: Unknown

WeBT8 Regular Sessions, Rhodes 9EG	Add to My Program
Search and Rescue Robots II
Chair: Nejat, Goldie	Univ. of Toronto
Co-Chair: Lewis, Michael	Univ. of Pittsburgh
13:30-13:50, Paper WeBT8.1	Add to My Program
Designing of Online Simulation Environment for Development Control Algorithms for Robots Operating in Rough Terrains
Kurose, Kensuke	Tohoku Univ.
Saga, Satoshi	Tohoku Univ.
Okamoto, Shogo	Tohoku Univ.
Ohno, Kazunori	Tohoku Univ.
Tadokoro, Satoshi	Tohoku Univ.
Presenter: Unknown
13:50-14:10, Paper WeBT8.2	Add to My Program
Development of On-Line Simulation System for Multi Camera Based Wide Field of View Display
Midorikawa, Naoki	Tohoku Univ.
Ohno, Kazunori	Tohoku Univ.
Saga, Satoshi	Tohoku Univ.
Tadokoro, Satoshi	Tohoku Univ.
Presenter: Unknown
14:10-14:30, Paper WeBT8.3	Add to My Program
Augmented Autonomy: Improving Human-Robot Team Performance in Urban Search and Rescue
Nevatia, Yashodhan	Jacobs Univ. Bremen
Stoyanov, Todor	Jacobs Univ. Bremen
Rathnam, Ravi	Jacobs Univ. Bremen
Pfingsthorn, Max	Jacobs Univ.
Markov, Stefan	Jacobs Univ. Bremen
Ambrus, Rares	Jacobs Univ. Bremen
Birk, Andreas	Jacobs Univ.
Presenter: Unknown
14:30-14:50, Paper WeBT8.4	Add to My Program
Tether Monitoring Techniques for Environment Monitoring, Tether Following and Localization of Autonomous Mobile Robots
Thumatty Rajan, Vishnu Arun Kumar	Univ. of Manchester
Rob, Richardson	Univ. of Manchester
Presenter: Unknown
14:50-15:10, Paper WeBT8.5	Add to My Program
Robot-Assisted Intelligent 3D Mapping of Unknown Cluttered Search and Rescue Environmentsfile: ///home/merlet/Netscape/merlet/merlet.html
Zhang, Zhe	Autonomous Systems Lab. State Univ. of New York at S
Nejat, Goldie	SUNY at Stony Brook
Presenter: Unknown
15:10-15:30, Paper WeBT8.6	Add to My Program
Scaling Effects in Multi-Robot Control
Velagapudi, Prasanna	Carnegie Mellon Univ.
Scerri, Paul	Carnegie Mellon Univ.
Sycara, Katia	Carnegie Mellon Univ.
Wang, Huadong	Univ. of Pittsburgh
Lewis, Michael	Univ. of Pittsburgh
Wang, Jijun	Quantum Leap Innovations, Inc.
Presenter: Unknown

WeBT9 Regular Sessions, Risso 7B	Add to My Program
Path Planning for Manipulators
Chair: Dillmann, Rüdiger	Univ. of Karlsruhe
Co-Chair: Little, James J.	UBC
13:30-13:50, Paper WeBT9.1	Add to My Program
Adaptive Motion Planning for Humanoid Robots
Vahrenkamp, Nikolaus	Univ. of Karlsruhe
Scheurer, Christian	Univ. of Karlsruhe
Asfour, Tamim	Univ. of Karlsruhe (TH)
Kuffner, James	Carnegie Mellon Univ.
Dillmann, Rüdiger	Univ. of Karlsruhe
Presenter: Unknown
13:50-14:10, Paper WeBT9.2	Add to My Program
Predictive Model for Path Planning by Using K-Near Dynamic Bridge Builder and Inner Parzen Window
Liu, Hong	Peking Univ.
Ding, Ding	Peking Univ.
Wan, Weiwei	State Key Lab. on Machine Perception
Zha, Hongbin	Peking Univ.
Presenter: Unknown
14:10-14:30, Paper WeBT9.3	Add to My Program
Motion Tasks for Robot Manipulators Subject to Joint Velocity Constraints
Papageorgiou, Xanthi	National Tech. Univ. of Athens
Kyriakopoulos, Kostas	National Tech. Univ. of Athens
Presenter: Unknown
14:30-14:50, Paper WeBT9.4	Add to My Program
Transition-Based RRT for Path Planning in Continuous Cost Spaces
Jaillet, Leonard	LAAS-CNRS
Cortes, Juan	LAAS-CNRS
Simeon, Thierry	LAAS-CNRS
Presenter: Unknown
14:50-15:10, Paper WeBT9.5	Add to My Program
Occlusion-Free Path Planning with a Probabilistic Roadmap
Baumann, Matthew Alexander	Univ. of British Columbia
Dupuis, Donna Chantelle	Univ. of British Columbia
Leonard, Simon	Univ. of Alberta
Croft, Elizabeth	Univ. of British Columbia
Little, James J.	UBC
Presenter: Unknown
15:10-15:30, Paper WeBT9.6	Add to My Program
Sensor-Based Exploration for General Robotic Systems ‡
Freda, Luigi	Univ. di Roma La Sapienza
Oriolo, Giuseppe	Univ. di Roma
Vecchioli, Francesco	Univ. di Roma
Presenter: Unknown

WeBT10 Special Session, Rhodes 9FC	Add to My Program
Audition II
Chair: Rodemann, Tobias	Honda Res. Inst. Europe
Co-Chair: Okuno, Hiroshi G.	Kyoto Univ.
13:30-13:50, Paper WeBT10.1	Add to My Program
High Performance Sound Source Separation Adaptable to Environmental Changes for Robot Audition
Nakajima, Hirofumi	Honda Res. Inst. Japan Co., Ltd.
Nakadai, Kazuhiro	Honda Res. Inst. Japan Co., Ltd.
Hasegawa, Yuji	Honda Res. Inst. Japan Co., Ltd.
Tsujino, Hiroshi	Honda Res. Inst. Co., Ltd.
Presenter: Unknown
13:50-14:10, Paper WeBT10.2	Add to My Program
An Improved Permutation Solver for Blind Signal Separation Based Front-Ends in Robot Audition
Even, Jani	Nara Inst. of Science and Tech.
Saruwatari, Hiroshi	Nara Inst. of Sci. and Tech.
Kiyohiro Shikano, '	Nara Inst. of Science and Tech.
Presenter: Unknown
14:10-14:30, Paper WeBT10.3	Add to My Program
A Predefined Command Recognition System Using a Ceiling Microphone Array in Noisy Housing Environments
Sasaki, Yoko	Tokyo Univ. of Science
Kagami, Satoshi	National Inst. of AIST
Mizoguchi, Hiroshi	Tokyo Univ. of Science
Enomoto, Tadashi	Kansai Electric Power Co., Inc.
Presenter: Unknown
14:30-14:50, Paper WeBT10.4	Add to My Program
Using Binaural and Spectral Cues for Azimuth and Elevation Localization
Rodemann, Tobias	Honda Res. Inst. Europe
Ince, Gökhan	Honda Res. Inst. EU GmbH
Joublin, Frank	Honda Res. Inst. Europe
Goerick, Christian	Honda Res. Inst. Europe GmbH
Presenter: Unknown
14:50-15:10, Paper WeBT10.5	Add to My Program
Mobile Robot Broadband Sound Localisation Using a Biologically Inspired Spiking Neural Network
Liu, Jindong	Univ. of Sunderland
Erwin, Harry	Univ. of Sunderland
Wermter, Stefan	Univ. of Sunderland
Presenter: Unknown
15:10-15:30, Paper WeBT10.6	Add to My Program
Design and Evaluation of Two-Channel-Based Sound Source Localization Over Entire Azimuth Range for Moving Talkers
Kim, Hyun-Don	Kyoto Univ.
Komatani, Kazunori	Kyoto Univ.
Ogata, Tetsuya	Kyoto Univ.
Okuno, Hiroshi G.	Kyoto Univ.
Presenter: Unknown

WeBT11 Regular Sessions, Gallieni A	Add to My Program
Field Robots II
Chair: Iagnemma, Karl	MIT
Co-Chair: Lilienthal, Achim, J.	Örebro Univ.
13:30-13:50, Paper WeBT11.1	Add to My Program
A Combination of Vision and Vibration-Based Terrain Classification
Weiss, Christian	Univ. of Tübingen
Tamimi, Hashem	Palestine Pol. Univ.
Zell, Andreas	Univ. of Tübingen
Presenter: Unknown
13:50-14:10, Paper WeBT11.2	Add to My Program
Towards Environmental Monitoring with Mobile Robots ‡
Trincavelli, Marco	Örebro Univ.
Reggente, Matteo	AASS Res. Center - Learning Systems Lab. -OrebroUniversity
Coradeschi, Silvia	Örebro Univ.
Ishida, Hiroshi	TUAT
Loutfi, Amy	Örebro Univ.
Lilienthal, Achim, J.	Örebro Univ.
Presenter: Unknown
14:10-14:30, Paper WeBT11.3	Add to My Program
WiFi Position Estimation in Industrial Environments Using Gaussian Processes
Duvallet, Felix	Carnegie Mellon Univ.
Tews, Ashley Desmond	CSIRO
Presenter: Unknown
14:30-14:50, Paper WeBT11.4	Add to My Program
Laser Based Intersection Detection for Reactive Navigation in an Underground Mine
Larsson, Johan	Örebro Univ.
Broxvall, Mathias	Örebro Univ.
Saffiotti, Alessandro	Orebro Univ.
Presenter: Unknown
14:50-15:10, Paper WeBT11.5	Add to My Program
Trafficability Analysis for Lunar/Planetary Exploration Rover Using Thrust-Cornering Characteristic Diagram
Ishigami, Genya	Massachusetts Inst. of Tech.
Nagatani, Keiji	Tohoku Univ.
Yoshida, Kazuya	Tohoku Univ.
Presenter: Unknown
15:10-15:30, Paper WeBT11.6	Add to My Program
A Stochastic Response Surface Approach to Statistical Prediction of Robotic Mobility
Iagnemma, Karl	MIT
Kewlani, Gaurav	Massachusetts Inst. of Tech.
Presenter: Unknown

WeBT12 Regular Sessions, Rhodes 9BD	Add to My Program
Grasping II
Chair: Xiao, Jing	UNC-Charlotte
Co-Chair: Sanz, Pedro J	Jaume I
13:30-13:50, Paper WeBT12.1	Add to My Program
Vision-Based Grasp Planning of 3D Objects by Extending 2D Contour Based Algorithms ‡
Speth, Johannes	Tech. Univ. MÜNCHEN
Morales, Antonio	Univ. Jaume I
Sanz, Pedro J	Jaume I
Presenter: Unknown
13:50-14:10, Paper WeBT12.2	Add to My Program
Efficient Human Hand Kinematics for Manipulation Tasks
Cobos Guzman, Salvador	Univ. Pol. de Madrid
Ferre, Manuel	Univ. Pol. de Madrid
Sánchez-Urán, Miguel Ángel	Univ. Pol. de Madrid
Ortego, Javier	Univ. Pol. de Madrid
Peña Cortés, César Augusto	Univ. Pol. de Madrid
Presenter: Unknown
14:10-14:30, Paper WeBT12.3	Add to My Program
Efficient and Effective Grasping of Novel Objects through Learning and Adapting with a Knowledge Base
Curtis, Noel	Univ. of North Carolina at Charlotte
Xiao, Jing	UNC-Charlotte
Presenter: Unknown
14:30-14:50, Paper WeBT12.4	Add to My Program
Grasp Space Generation Using Sampling and Computation of Independent Regions
Roa, Maximo	Tech. Univ. of Catalonia
Suarez, Raul	Tech. Univ. of Catalonia
Rosell, Jan	Tech. Univ. of Catalonia
Presenter: Unknown
14:50-15:10, Paper WeBT12.5	Add to My Program
Joint Torque-Velocity Pair Based Manipulability for Grasping System
Watanabe, Tetsuyou	Graduate School of Natural Science and Tech. Kanazawa
Presenter: Unknown
15:10-15:30, Paper WeBT12.6	Add to My Program
Biomimetic Grasp Planning for Cortical Control of a Robotic Hand
Ciocarlie, Matei	Columbia Univ.
Allen, Peter	Columbia Univ.
Clanton, Samuel	Carnegie Mellon Univ.
Spalding, Chance	Univ. of pittsburgh
Presenter: Unknown

WeCT1 Regular Sessions, Rhodes 9FC	Add to My Program
Animation and Simulation
Chair: Aleotti, Jacopo	Univ. of Parma
Co-Chair: Ferreira, Antoine	Univ. of Orléans
15:50-16:10, Paper WeCT1.1	Add to My Program
A Modular Software Architecture for Simulating Mechanical Systems Involving Coulomb Friction Integrable by the Runge-Kutta Method
Kikuuwe, Ryo	Kyushu Univ.
Yamamoto, Motoji	Kyushu Univ.
Presenter: Unknown
16:10-16:30, Paper WeCT1.2	Add to My Program
Physically-Based Simulation of the Spine in Dog Walking ‡
Aleotti, Jacopo	Univ. of Parma
Caselli, Stefano	Univ. of Parma
Bracchi, Pier Giovanni	Univ. of Parma
Gosi, Stefano	Univ. di Parma
Presenter: Unknown
16:30-16:50, Paper WeCT1.3	Add to My Program
Validating the Search and Rescue Game Environment As a Robot Simulator by Performing a Simulated Anomaly Detection Task
Craighead, Jeff	Univ. of South Florida
Gutierrez, Rodrigo	Univ. of South Florida
Burke, Jenny	Univ. of South Florida
Murphy, Robin	Univ. of South Florida
Presenter: Unknown
16:50-17:10, Paper WeCT1.4	Add to My Program
Interactive Cell Injection Simulation Based on 3D Biomechanical Tensegrity Model
Ladjal, Hamid	ENSI Bourges, Univ. Orleans
Hanus, Jean Luc	ENSI Bourges
Ferreira, Antoine	Univ. of Orléans
Presenter: Unknown
17:10-17:30, Paper WeCT1.5	Add to My Program
Motion Control of a Virtual Humanoid That Can Perform Real Physical Interactions with a Human ‡
Nagasaka, Kenichiro	Sony Corp.
Miyamoto, Atsushi	Sony Corp.
Nagano, Masakuni	Sony Corp.
Shirado, Hirokazu	Sony Corp.
Fukushima, Tetsuharu	Sony Corp.
Fujita, Masahiro	Sony Corp.
Presenter: Unknown
17:30-17:50, Paper WeCT1.6	Add to My Program
A Unified Method for Multi-Body Systems Subject to Stick-Slip Friction and Intermittent Contact
Perkins, Alexander	Stanford Univ.
Abdallah, Muhammad	General Motors R&D
Mitiguy, Paul	Stanford Univ.
Waldron, Kenneth John	Stanford Univ.
Presenter: Unknown

WeCT2 Regular Sessions, Gallieni B	Add to My Program
Networked, Distributed and Teleoperated Robots
Chair: Bourgault, Frederic	Cornell Univ.
Co-Chair: Peer, Angelika	Tech. Univ. München
15:50-16:10, Paper WeCT2.1	Add to My Program
Estimation of Group Attention for Automated Camerawork
Takemura, Kentaro	Nara Inst. of Science and Tech.
Matsumoto, Yoshio	Osaka Univ.
Ogasawara, Tsukasa	Nara Inst. of Science and Tech.
Presenter: Unknown
16:10-16:30, Paper WeCT2.2	Add to My Program
Extracting Surveillance Graphs from Robot Maps
Kolling, Andreas	Univ. of California Merced
Carpin, Stefano	Univ. of California, Merced
Presenter: Unknown
16:30-16:50, Paper WeCT2.3	Add to My Program
The PEIS Ecology Project: Vision and Results ‡
Saffiotti, Alessandro	Orebro Univ.
Broxvall, Mathias	Örebro Univ.
Gritti, Marco	Orebro Univ.
LeBlanc, Kevin	Orebro Univ.
Lundh, Robert	Örebro Univ.
Rashid, Md. Jayedur	AASS Res. centre, Orebro Univ.
Seo, BeomSu	ETRI
Cho, Young-Jo	Elect and Telecom Res. Inst. (ETRI)
Presenter: Unknown
16:50-17:10, Paper WeCT2.4	Add to My Program
Universal Web Interfaces for Robot Control Frameworks
Koch, Jan	Univ. of Kaiserslautern
Berns, Karsten	Univ. of Kaiserslautern
Reichardt, Max	Univ. of Kaiserslautern
Presenter: Unknown
17:10-17:30, Paper WeCT2.5	Add to My Program
Scalable Bayesian Human-Robot Cooperation in Mobile Sensor Networks
Bourgault, Frederic	Cornell Univ.
Chokshi, Aakash	Cornell Univ.
Wang, John	Cornell Univ.
Shah, Danelle	Cornell Univ.
Schoenberg, Jonathan R.	Cornell Univ.
Iyer, Ramnath R	Cornell Univ.
Cedano, Franco	Cornell Univ.
Campbell, Mark	Cornell Univ.
Presenter: Unknown
17:30-17:50, Paper WeCT2.6	Add to My Program
Robust Stability Analysis of a Bilateral Teleoperation System Using the Parameter Space Approach
Peer, Angelika	Tech. Univ. München
Buss, Martin	Tech. Univ. Muenchen
Presenter: Unknown

WeCT3 Special Session, Risso 6AB	Add to My Program
Assistive Robotics for Functional Therapy Application
Chair: Espiau, Bernard	INRIA
Co-Chair: Duschau-Wicke, Alexander	ETH Zurich
15:50-16:10, Paper WeCT3.1	Add to My Program
Adaptive Support for Patient-Cooperative Gait Rehabilitation with the Lokomat
Duschau-Wicke, Alexander	ETH Zurich
Brunsch, Thomas	Hocoma AG
Luenenburger, Lars	Hocoma AG
Riener, Robert	ETH Zurich
Presenter: Unknown
16:10-16:30, Paper WeCT3.2	Add to My Program
Pelvic Motion Measurement During Over Ground Walking, Analysis and Implementation on the WalkTrainer Reeducation Device
Stauffer, Yves	EPFL, Switzerland
Allemand, Yves	EPFL
Bouri, Mohamed	EPFL
Fournier, Jacques	EPFL
Clavel, Reymond	Ec. Pol. Fédérale de Lausanne (EPFL)
Metrailler, Patrick	Fondation Suisse pour les Cybertheses
Brodard, Roland	Fondation Suisse pour les Cyberthèses / Swiss Foundation
Reynard, Fabienne	Clinique romande de réadaptation
Presenter: Unknown
16:30-16:50, Paper WeCT3.3	Add to My Program
Biologically Inspired CPG Based above Knee Active Prosthesis ‡
Nandi, Gora Chand	Indian Inst. of Information Tech. Allahabad
Ijspeert, Auke	EPFL
Nandi, Anirban	Indian Inst. of Information Tech. Allahabad
Presenter: Unknown
16:50-17:10, Paper WeCT3.4	Add to My Program
Myoelectric Based Virtual Joystick Applied to Electric Powered Wheelchair
Asghari Oskoei, Mohammadreza	Univ. of Essex
Hu, Huosheng	Univ. of Essex
Presenter: Unknown
17:10-17:30, Paper WeCT3.5	Add to My Program
From Neuroprosthetics to Implanted FES Control Architecture
Souquet, Guillaume	MXM - LIRMM
Andreu, David	LIRMM
Guiraud, David	INRIA
Presenter: Unknown
17:30-17:50, Paper WeCT3.6	Add to My Program
Optimal Functional Electrical Stimulation Patterns Synthesis for Knee Joint Control
Benoussaad, Mourad	LIRMM UMR CNRS-Univ. of Montpellier2
Poignet, Philippe	LIRMM UMR 5506 CNRS UM2
Guiraud, David	INRIA
Presenter: Unknown

WeCT4 Regular Sessions, Risso 8	Add to My Program
Parallel Robots II
Chair: Kotlarski, Jens	Leibniz Univ. Hannover
Co-Chair: Ramdani, Nacim	INRIA Sophia Antipolis - Méditerranée
15:50-16:10, Paper WeCT4.1	Add to My Program
Passivity-Based Observer/Controller Design with Desired Dynamics Compensation for 6 DOFs Parallel Manipulators
Abdellatif, Houssem	Leibniz Univ. of Hannover, Germany
Heimann, Bodo	Univ. of Hannover, Germany
Kotlarski, Jens	Leibniz Univ. Hannover
Presenter: Unknown
16:10-16:30, Paper WeCT4.2	Add to My Program
Control of Parallel Robots Using Passive Sensor Data
Zubizarreta Pico, Asier	Univ. of the Basque Country
Cabanes Axpe, Itziar	Univ. of the Basque Country
Marcos Muñoz, Marga	The Univ. of the Basque Country
Pinto, Charles	Univ. of the Basque Country
Presenter: Unknown
16:30-16:50, Paper WeCT4.3	Add to My Program
On the Control of the KNTU CDRPM: A Cable Driven Redundant Parallel Manipulator
Gholami, Pooneh	K.N.Toosi Univ. of Tech.
M. Aref, Mohammad	K.N. Toosi Univ. of Tech.
Taghirad, Hamid	K.N.Toosi Univ. of Tech.
Presenter: Unknown
16:50-17:10, Paper WeCT4.4	Add to My Program
First Results on the Design of High Speed Parallel Robots in Presence of Uncertainty
Ramdani, Nacim	INRIA Sophia Antipolis - Méditerranée
Gouttefarde, Marc	Lirmm
Pierrot, François	CNRS - LIRMM
Merlet, Jean-Pierre	INRIA
Presenter: Unknown
17:10-17:30, Paper WeCT4.5	Add to My Program
Definition of a New Static Model of Parallel Kinematic Machines: Highlighting of Overconstraint Influence
Bonnemains, Thomas	Blaise Pascal Univ. IFMA
Chanal, Hélène	Univ. Blaise Pascal - IFMA
Bouzgarrou, Belhassen Chedli	Univ. Blaise Pascal - IFMA
Ray, Pascal	Univ. Blaise Pascal - IFMA
Presenter: Unknown

WeCT5 Regular Sessions, Gallieni 2	Add to My Program
Locomotion Systems
Chair: Tsujita, Katsuyoshi	Osaka Inst. of Tech.
Co-Chair: Tadakuma, Kenjiro	Massachusetts Inst. of Tech.
15:50-16:10, Paper WeCT5.1	Add to My Program
Crawler Vehicle with Circular Cross-Section Unit to Realize Sideways Motion ‡
Tadakuma, Kenjiro	Massachusetts Inst. of Tech.
Tadakuma, Riichiro	Harvard Univ.
Nagatani, Keiji	Tohoku Univ.
Yoshida, Kazuya	Tohoku Univ.
Peters, Steven	Massachusetts Inst. of Tech.
Udengaard, Martin	MIT
Iagnemma, Karl	MIT
Presenter: Unknown
16:10-16:30, Paper WeCT5.2	Add to My Program
Design of a Semi-Passive Heavy-Duty Mobile Robotic System for Automated Assembly Inside an Aircraft Body
Menon, Manas	MIT
Asada, Harry	MIT
Presenter: Unknown
16:30-16:50, Paper WeCT5.3	Add to My Program
Decoupled Control of the High Mobility Robot Hylos Based on a Dynamic Stability Margin
Besseron, Guillaume	Univ. Pierre et Marie Curie - Paris 6
Grand, Christophe	Univ. Pierre et Marie Curie - Paris6
Ben Amar, Faiz	Univ. Pierre et Marie Curie, Paris 6
Bidaud, Philippe	Univ. Pierre et Marie Curie - Paris 6
Presenter: Unknown
16:50-17:10, Paper WeCT5.4	Add to My Program
Development of Swing-Slip Locomotion for No-Legged Primevaloids
Yonekura, Shogo	The Univ. of Tokyo
Kawaguchi, Yoichiro	The Univ. of Tokyo
Presenter: Unknown
17:10-17:30, Paper WeCT5.5	Add to My Program
Two Dimensional Dynamic Stability for Reconfigurable Robots Designed to Traverse Rough Terrain
Beckman, Blake	Defence Res. and Development Canada
Pieper, Jeff	Univ. of Calgary
Mackay, David	Defence Res. and Development Canada
Trentini, Michael	Defence Res. and Development Canada
Erickson, David Ryan	Defence Res. and Development Canada
Presenter: Unknown
17:30-17:50, Paper WeCT5.6	Add to My Program
Gait Transition by Tuning Muscle Tones Using Pneumatic Actuators in Quadruped Locomotion
Tsujita, Katsuyoshi	Osaka Inst. of Tech.
Kobayashi, Toshiya	Osaka Inst. of Tech.
Inoura, Takashi	Osaka Inst. of Tech.
Masuda, Tatsuya	Osaka Inst. of Tech.
Presenter: Unknown

WeCT6 Regular Sessions, Gallieni 3	Add to My Program
Humanoids III
Chair: Zaier, Riadh	Fujitsu Lab. Limited
Co-Chair: Henaff, Patrick	Univ. of Versailles
15:50-16:10, Paper WeCT6.1	Add to My Program
A Robot Uses Its Own Microphone to Synchronize Its Steps to Musical Beats While Scatting and Singing
Murata, Kazumasa	Tokyo Inst. of Tech.
Nakadai, Kazuhiro	Honda Res. Inst. Japan Co., Ltd.
Yoshii, Kazuyoshi	National Inst. of Advanced Industrial Science and Tech.
Takeda, Ryu	Kyoto Univ.
Torii, Toyotaka	Honda Res. Inst. Japan Co.,Ltd.
Okuno, Hiroshi G.	Kyoto Univ.
Hasegawa, Yuji	Honda Res. Inst. Japan Co., Ltd.
Tsujino, Hiroshi	Honda Res. Inst. Co., Ltd.
Presenter: Unknown
16:10-16:30, Paper WeCT6.2	Add to My Program
An Advantage of Bipedal Humanoid Robot on the Empathy Generation: A Neuroimaging Study
Miura, Naoki	Kochi-Univ. of Tech.
Sugiura, Motoaki	IDAC, Tohoku Univ.
Takahashi, Makoto	Graduate School of Engineering, Tohoku Univ.
Moridaira, Tomohisa	Sony Corp.
Miyamoto, Atsushi	Sony
Kuroki, Yoshihiro	Sony Corp.
Kawashima, Ryuta	Tohoku Univ.
Presenter: Unknown
16:30-16:50, Paper WeCT6.3	Add to My Program
Humanoid Robot HRP-3 ‡
Kaneko, Kenji	National Inst. of AIST
Harada, Kensuke	National Inst. of AIST
Kanehiro, Fumio	National Inst. of AIST
Miyamori, Go	Kawada Industries,Inc
Akachi, Kazuhiko	KAWADA INDUSTRIES,INC.
Presenter: Unknown
16:50-17:10, Paper WeCT6.4	Add to My Program
A New Control Strategy for ROBIAN Biped Robot Inspired from Human Walking ‡
Serhan, Hayssam	Lebanese Univ. Univ. of Versailles Saint-Quentin
Nasr, Chaiban	Lebanese Univ.
Henaff, Patrick	Univ. of Versailles
Ouezdou, Fathi	Univ. de Versailles
Presenter: Unknown
17:10-17:30, Paper WeCT6.5	Add to My Program
System Overview of Bipedal Robots Flame and TUlip: Tailor-Made for Limit Cycle Walking ‡
Hobbelen, Daan	Delft Univ. of Tech.
de Boer, Tomas	Delft Univ. of Tech.
Wisse, Martijn	Delft Univ. of Tech.
Presenter: Unknown
17:30-17:50, Paper WeCT6.6	Add to My Program
Adaptive Locomotion Controller and Reflex System for Humanoid Robots ‡
Zaier, Riadh	Fujitsu Lab. Limited
Kanda, Shinji	Fujitsu Lab. Limited
Presenter: Unknown

WeCT7 Regular Sessions, Gallieni 5	Add to My Program
SLAM & Mapping
Chair: Tardif, Jean-Philippe	Univ. of Pennsylvania
Co-Chair: Kyrki, Ville	Lappeenranta Univ. of Tech.
15:50-16:10, Paper WeCT7.1	Add to My Program
Quaternion Representation for Similarity Transformations in Visual SLAM
Kyrki, Ville	Lappeenranta Univ. of Tech.
Presenter: Unknown
16:10-16:30, Paper WeCT7.2	Add to My Program
Probabilistic Mapping of Dynamic Obstacles Using Markov Chains for Replanning in Dynamic Environments
Rohrmüller, Florian	Tech. Univ. München
Althoff, Matthias	Tech. Univ. München
Wollherr, Dirk	Tech. Univ. München
Buss, Martin	Tech. Univ. Muenchen
Presenter: Unknown
16:30-16:50, Paper WeCT7.3	Add to My Program
Multi Sensor Map Building Based on Sparse Linear Equations Solver
Takeuchi, Eijiro	Tohoku Univ.
Takashi, Tsubouchi	Sys. and Info. Eng., U of Tsukuba
Presenter: Unknown
16:50-17:10, Paper WeCT7.4	Add to My Program
Efficiently Communicating Map Updates with the Pose Graph
Pfingsthorn, Max	Jacobs Univ.
Birk, Andreas	Jacobs Univ.
Presenter: Unknown
17:10-17:30, Paper WeCT7.5	Add to My Program
Mapping and Planning under Uncertainty in Mobile Robots with Long-Range Perception ‡
Sermanet, Pierre	New York Univ.
Hadsell, Raia	New York Univ.
Scoffier, Marco	Courant Inst. of Mathematical Sciences, New York Univ.
Muller, Urs	Net-Scale Tech.
LeCun, Yann	New York Univ.
Presenter: Unknown
17:30-17:50, Paper WeCT7.6	Add to My Program
Monocular Visual Odometry in Urban Environments Using an Omnidirectional Camera
Tardif, Jean-Philippe	Univ. of Pennsylvania
Pavlidis, Yanis	Univ. of Pennsylvania
Daniilidis, Kostas	Univ. of Pennsylvania
Presenter: Unknown

WeCT8 Regular Sessions, Risso 7B	Add to My Program
Surveillance
Chair: Meng, Yan	Stevens Inst. of Tech.
Co-Chair: Frew, Eric W.	Univ. of Colorado
15:50-16:10, Paper WeCT8.1	Add to My Program
Optimal Positioning of Surveillance UGVs
Nilsson, Ulrik	Swedish Defence Res. Agency, FOI
Ogren, Petter	Swedish Defence Res. Agency
Thunberg, Johan	Swedish Defence Res. Agency (FOI)
Presenter: Unknown
16:10-16:30, Paper WeCT8.2	Add to My Program
Anomaly Detection Algorithm Based on Life Pattern Extraction from Accumulated Pyroelectric Sensor Data
Mori, Taketoshi	The Univ. of Tokyo
Urushibata, Ryo	Univ. of Tokyo
Shimosaka, Masamichi	Univ. of Tokyo
Noguchi, Hiroshi	The Univ. of Tokyo
Sato, Tomomasa	The Univ. of Tokyo
Presenter: Unknown
16:30-16:50, Paper WeCT8.3	Add to My Program
Particle Swarm Optimization Based Particle Filter for Free-Selected Object Tracking ‡
Zheng, Yuhua	Stevens Inst. of Tech.
Meng, Yan	Stevens Inst. of Tech.
Presenter: Unknown
16:50-17:10, Paper WeCT8.4	Add to My Program
Approximating Information Content for Active Sensing Tasks Using the Unscented Transform
Frew, Eric W.	Univ. of Colorado
Presenter: Unknown
17:10-17:30, Paper WeCT8.5	Add to My Program
Influence of Zoom Selection on a Kalman Filter
Sommerlade, Eric	Univ. of Oxford
Reid, Ian	Univ. of Oxford
Presenter: Unknown
17:30-17:50, Paper WeCT8.6	Add to My Program
Covering Hostile Terrains with Partial and Complete Visibilities: On Minimum Distance Paths
Mohan, Mahesh	IIIT Hyderabad
Sawhney, Rahul	IIIT Hyderabad
Krishna, Madhava	IIIT Hyderabad
Srinathan, Kannan	IIIT Hyderabad
Srikanth, Manohar	Massachusetts Inst. of Tech.
Presenter: Unknown

WeCT9 Regular Sessions, Rhodes 9EG	Add to My Program
Motion and Task Planning
Chair: Alami, Rachid	CNRS
Co-Chair: Sucar, Luis Enrique	Inst. Nacional de Astrafisica, Optica y Electraonica
15:50-16:10, Paper WeCT9.1	Add to My Program
Positioning Mobile Manipulators to Perform Constrained Linear Trajectories ‡
Zacharias, Franziska	German Aerospace Center (DLR)
Borst, Christoph	German Aerospace Center (DLR)
Beetz, Michael	Tech. Univ. München
Hirzinger, Gerd	German Aerospace Center (DLR)
Presenter: Unknown
16:10-16:30, Paper WeCT9.2	Add to My Program
Hierarchical Abstraction of World Elements and Behaviors for Efficient Task Planning of a Mobile Robot
Park, Young-Bin	hanyang Univ.
Suh, Il Hong	Hanyang Univ.
Choi, Byung-Uk	hanyang Univ.
Presenter: Unknown
16:30-16:50, Paper WeCT9.3	Add to My Program
Fault Tolerant Adaptive Mission Planning with Semantic Knowledge Representation for Autonomous Underwater Vehicles
Patron, Pedro	Heriot-Watt Univ.
Miguelañez, Emilio	Heriot-Watt Univ.
Petillot, Yvan R.	Heriot-Watt Univ.
Lane, David	Heriot-Watt Univ.
Presenter: Unknown
16:50-17:10, Paper WeCT9.4	Add to My Program
Learning Task Specific Plans through Sound and Visually Interpretable Demonstrations
Veeraraghavan, Harini	General Electric Co Global Res.
Veloso, Manuela	Carnegie Mellon Univ.
Presenter: Unknown
17:10-17:30, Paper WeCT9.5	Add to My Program
The Application of Particle Swarm Optimization and Maneuver Automatons During Non-Markovian Motion Planning for Air Vehicles Performing Ground Target Search ‡
Martin, Sean	Johns Hopkins Univ. APL
Newman, Andrew	Johns Hopkins Applied Physics Lab.
Presenter: Unknown
17:30-17:50, Paper WeCT9.6	Add to My Program
Differentially Constrained Motion Replanning Using State Lattices with Graduated Fidelity
Pivtoraiko, Mihail	Carnegie Mellon Univ.
Kelly, Alonzo	Carnegie Mellon Univ.
Presenter: Unknown

WeCT10 Special Session, Rhodes 9AC	Add to My Program
Sharable Robotic Resources
Chair: Biggs, Geoffrey	The Univ. of Auckland
Co-Chair: Sato, Tomomasa	The Univ. of Tokyo
15:50-16:10, Paper WeCT10.1	Add to My Program
A Pattern Generator of Humanoid Robots Walking on a Rough Terrain Using a Handrail ‡
Koyanagi, Kenichi	Univ. of Tsukuba
Hirukawa, Hirohisa	National Inst. of AIST
Hattori, Shizuko	National Inst. of Advanced Industrial Science and
Morisawa, Mitsuharu	National Inst. of AIST
Nakaoka, Shinichiro	National Inst. of AIST
Harada, Kensuke	National Inst. of AIST
Kajita, Shuuji	National Inst. of AIST
Presenter: Unknown
16:10-16:30, Paper WeCT10.2	Add to My Program
Modeling of Natural Human-Robot Encounters ‡
Bergström, Niklas	Royal Inst. of Tech.
Kanda, Takayuki	ATR
Miyashita, Takahiro	ATR
Ishiguro, Hiroshi	Osaka Univ.
Hagita, Norihiro	ATR
Presenter: Unknown
16:30-16:50, Paper WeCT10.3	Add to My Program
Learning Affordance for Semantic Robots Using Ontology Approach
Hidayat, Sidiq S.	Univ. of Tsukuba, Japan
Kim, Bong Keun	National Inst. of Advanced Industrial Science and Tech.
Ohba, Kohtaro	National Inst. of AIST
Presenter: Unknown
16:50-17:10, Paper WeCT10.4	Add to My Program
Structuring Information on People and Environment for Supporting Robotic Services ‡
Nishio, Shuichi	Advanced Telecommunication Res. Inst. International
Hagita, Norihiro	ATR
Miyashita, Takahiro	ATR
Kanda, Takayuki	ATR
Mitsunaga, Noriaki	Kanazawa Inst. of Tech.
Shiomi, Masahiro	ATR
Yamazaki, Tatsuya	NICT
Presenter: Unknown

WeCT11 Regular Sessions, Gallieni A	Add to My Program
Field Robots and Locomotion
Chair: Mao, Yong	Tsinghua Univ.
Co-Chair: Skrzypczynski, Piotr	Poznan Univ. of Tech.
15:50-16:10, Paper WeCT11.1	Add to My Program
Multifunctional Mobile Units with a Same Platform for In-Pipe Inspection Robots ‡
Li, Peng	Shenyang Inst. of Automation,Chinese Acad. of
Ma, Shugen	Ritsumeikan Univ.
Li, Bin	Shenyang Inst. of Automation
Wang, Yuechao	Shenyang Inst. of Automation
Presenter: Unknown
16:10-16:30, Paper WeCT11.2	Add to My Program
The Quadruped Locomotion Robot with the Flexible Materials ‡
Nishida, Mami	Univ. of Electro-Communications
Tanaka, Kazuo	Univ. of Electro-Communications
Presenter: Unknown
16:30-16:50, Paper WeCT11.3	Add to My Program
Local Control Mechanisms in Six-Legged Walking
Schilling, Malte	Univ. of Bielefeld
Schneider, Axel	Univ. of Bielefeld
Cruse, Holk	Univ. of Bielefeld
Schmitz, Josef	Univ. of Bielefeld
Presenter: Unknown
16:50-17:10, Paper WeCT11.4	Add to My Program
Field Test of Autonomous Loading Operation by Wheel Loader ‡
Sarata, Shigeru	National Inst. of AIST
Koyachi, Noriho	National Inst. of Advanced Industrial Science and Tech.
Sugawara, Kazuhiro	Hitachi Construction Machinery Co., Ltd.
Presenter: Unknown
17:10-17:30, Paper WeCT11.5	Add to My Program
Semi-Autonomous Traversal on Uneven Terrain for a Tracked Vehicle Using Autonomous Control of Active Flippers ‡
Nagatani, Keiji	Tohoku Univ.
Yamasaki, Ayato	Tohoku Univ.
Yoshida, Kazuya	Tohoku Univ.
Yoshida, Tomoaki	Toin Univ. of Yokohama
Koyanagi, Eiji	Chiba Inst. of Tech.
Presenter: Unknown
17:30-17:50, Paper WeCT11.6	Add to My Program
Evolving Feasible Gaits for a Hexapod Robot by Reducing the Space of Possible Solutions
Belter, Dominik	Poznan Univ. of Tech.
Skrzypczynski, Piotr	Poznan Univ. of Tech.
Kasinski, Andrzej J.	Poznan Univ. of Tech.
Presenter: Unknown

WeCT12 Regular Sessions, Rhodes 9BD	Add to My Program
Dexterous Manipulation and Multifingered Hands
Chair: Guan, Yisheng	South China Univ. of Tech.
Co-Chair: Zöllner, Johann Marius	FZI Forschungszentrum Informatik
15:50-16:10, Paper WeCT12.1	Add to My Program
Workspace of 3-D Multifingered Manipulation
Guan, Yisheng	South China Univ. of Tech.
Zhang, Hong	Univ. of Alberta
Zhang, Xianmin	South China Univ. of Tech.
Guan, Zhangjie	Hunan Inst. of Science and Tech.
Presenter: Unknown
16:10-16:30, Paper WeCT12.2	Add to My Program
Dynamic Object Grasping by a Triple-Fingered Robotic Hand ‡
Tahara, Kenji	Kyushu Univ.
Arimoto, Suguru	Ritsumeikan Univ.
Yoshida, Morio	RIKEN
Presenter: Unknown
16:30-16:50, Paper WeCT12.3	Add to My Program
Knotting Manipulation of a Flexible Rope by a Multifingered Hand System Based on Skill Synthesis ‡
Yamakawa, Yuji	Univ. of Tokyo
Namiki, Akio	Chiba Univ.
Ishikawa, Masatoshi	Univ. of Tokyo
Shimojo, Makoto	Univ. of Electro-COmmunications
Presenter: Unknown
16:50-17:10, Paper WeCT12.4	Add to My Program
3D Multifingered Caging: Basic Formulation and Planning
Makita, Satoshi	Yokohama National Univ.
Maeda, Yusuke	Yokohama National Univ.
Presenter: Unknown
17:10-17:30, Paper WeCT12.5	Add to My Program
Dexterous Manipulation Planning of Objects with Surface of Revolution
Xue, Zhixing	FZI
Zöllner, Johann Marius	FZI Forschungszentrum Informatik
Dillmann, Rüdiger	Univ. of Karlsruhe
Presenter: Unknown
17:30-17:50, Paper WeCT12.6	Add to My Program
Tweezers Type Tool Manipulation by a Multifingered Hand Using a High-Speed Visusal Servoing ‡
Mizusawa, Satoru	Univ. of Tokyo
Namiki, Akio	Chiba Univ.
Ishikawa, Masatoshi	Univ. of Tokyo
Presenter: Unknown

WeOT14 Special Session, Rhodes 10	Add to My Program
Special Session Robotics and Cyber Physical Systems
Chair: Trinkle, Jeff	Rensselaer Pol. Inst.

WeVT15 Video Sessions, Apollon	Add to My Program
Videos I
Chair: Hasegawa, Tsutomu	Kyushu Univ.
Co-Chair: Evers, Vanessa	Univ. of Amsterdam
08:40-08:57, Paper WeVT15.1	Add to My Program
Intercontinental Cooperative Telemanipulation between Germany and Japan ‡
Peer, Angelika	Tech. Univ. München
Hirche, Sandra	Tech. Univ. Muenchen
Weber, Carolina	Univ. München
Krause, Inga	Tech. Univ. München
Buss, Martin	Tech. Univ. Muenchen
Miossec, Sylvain	National Inst. of Advance Industrial Science and
Evrard, Paul	CNRS/AIST
Stasse, Olivier	CNRS/AIST
Neo, Ee Sian	National Inst. of Advanced Industrial Science and
Kheddar, Abderrahmane	JRL CNRS
Yokoi, Kazuhito	National Inst. of AIST
Presenter: Unknown
08:57-09:14, Paper WeVT15.2	Add to My Program
Improvement of the Operability of a Tracked Vehicle on Uneven Terrain Using Autonomous Control of Active Flippers ‡
Nagatani, Keiji	Tohoku Univ.
Yamasaki, Ayato	Tohoku Univ.
Yoshida, Kazuya	Tohoku Univ.
Yoshida, Tomoaki	Toin Univ. of Yokohama
Koyanagi, Eiji	Chiba Inst. of Tech.
Presenter: Unknown
09:14-09:31, Paper WeVT15.3	Add to My Program
Agents at Play: Off-The-Shelf Software for Practical Multi-Robot Applications ‡
Cervera, Enric	Jaume-I Univ.
Sales, Jorge	Jaume-I Univ.
Nomdedeu, Leo	Jaume-I Univ.
Marin, Raul	Jaume I Univ.
Gazi, Veysel	TOBB Univ. of Ec. and Tech.
Presenter: Unknown
09:31-09:48, Paper WeVT15.4	Add to My Program
Elastic Locomotion of a Steered Mobile Robot ‡
Lauria, Michel	Univ. de Sherbrooke
Legault, Marc-Antoine	Univ. de Sherbrooke
Létourneau, Dominic	Univ. de Sherbrooke
Rétornaz, Philippe	École Pol. Fédérale de Lausanne
Nadeau, Isabelle	Univ. de Sherbrooke
Lepage, Pierre	Univ. de Sherbrooke
Morin, Yan	Univ. de Sherbrooke
Gagnon, Frédéric	Univ. de Sherbrooke
Giguère, Patrick	Univ. de Sherbrooke
Frémy, Julien	Univ. de Sherbrooke
Clavien, Lionel	Univ. de Sherbrooke
Michaud, Francois	Univ. de Sherbrooke
Presenter: Unknown
09:48-10:05, Paper WeVT15.5	Add to My Program
Application of Visual Odometry for Sewer Inspection Robots ‡
Saenz, Jose	Fraunhofer Inst. IFF
Althoff, H.	Emschergenossenschaft
Elkmann, Norbert	Fraunhofer IFF
Schulenburg, Erik	Fraunhofer IFF
Walter, Christoph	Fraunhofer IFF
Presenter: Unknown
10:05-10:22, Paper WeVT15.6	Add to My Program
Responses to a Social Robot by Elderly Users ‡
Heerink, Marcel	Hogeschool van Amsterdam
Krose, Ben	Univ. of Amsterdam
Evers, Vanessa	Univ. of Amsterdam
Wielinga, Bob	Univ. of Amsterdam
Presenter: Unknown
10:22-10:39, Paper WeVT15.7	Add to My Program
A Table Soccer Game Recorder ‡
Zhang, Dapeng	Albert-Ludwigs-Univ. Freiburg
Hornung, Armin	Albert-Ludwigs-Univ. Freiburg
Presenter: Unknown