Technical Program for Thursday September 25, 2008

‡ Paper with multimedia attachment

ThAT1 Regular Sessions, Rhodes 9AC	Add to My Program
Planning Tools and Robots Training
Chair: Bernabeu, Enrique J	Univ. Pol. de Valencia
Co-Chair: Kumar, Vijay	Univ. of Pennsylvania
08:40-09:00, Paper ThAT1.1	Add to My Program
A Rollover Indicator Based on a Tire Stiffness Backstepping Observer: Application to an All-Terrain Vehicle
Bouton, Nicolas	Cemagref
Lenain, Roland	Cemagref
Thuilot, Benoit	Clermont-Ferrand Univ.
Martinet, Philippe	Blaise Pascal Univ.
Presenter: Unknown
09:00-09:20, Paper ThAT1.2	Add to My Program
Distance Computation for Rotational and Translational Motions
Bernabeu, Enrique J	Univ. Pol. de Valencia
Presenter: Unknown
09:20-09:40, Paper ThAT1.3	Add to My Program
Towards Dextrous Manipulation Using Manipulation Manifolds ‡
Steffen, Jan	Univ. of Bielefeld
Haschke, Robert	Bielefeld Univ.
Ritter, Helge Joachim	Bielefeld Univ.
Presenter: Unknown
09:40-10:00, Paper ThAT1.4	Add to My Program
Synchronous Imitation Control for Biped Robot Based on Wearable Human Motion Analysis System ‡
Liu, Tao	Kochi Univ. of Tech.
Utsunomiya, Hajime	Kochi Univ. of Tech.
Inoue, Yoshio	Kochi Univ. of Tech.
Shibata, Kyoko	Kochi Univ. of Tech.
Presenter: Unknown
10:00-10:20, Paper ThAT1.5	Add to My Program
Time-Optimal UAV Trajectory Planning for 3D Urban Structure Coverage
Cheng, Peng	Univ. of Pennsylvania
Keller, James	Univ. of Pennsylvania
Kumar, Vijay	Univ. of Pennsylvania
Presenter: Unknown
10:20-10:40, Paper ThAT1.6	Add to My Program
Task Maps in Humanoid Robot Manipulation
Gienger, Michael	Honda Res. Inst. Europe
Toussaint, Marc	TU Berlin
Goerick, Christian	Honda Res. Inst. Europe GmbH
Presenter: Unknown

ThAT2 Regular Sessions, Rhodes 9BD	Add to My Program
Cooperating Robots, Formation Control
Chair: Sun, Dong	City Univ. of Hong Kong
Co-Chair: Kubota, Naoyuki	Tokyo Metropolitan Univ.
08:40-09:00, Paper ThAT2.1	Add to My Program
A Synchronous Controller for Multiple Mobile Robots in Time-Varied Formations
Wang, Can	City Univ. of Hong Kong
Sun, Dong	City Univ. of Hong Kong
Presenter: Unknown
09:00-09:20, Paper ThAT2.2	Add to My Program
A Model-Predictive Approach to Formation Control of Omnidirectional Mobile Robots
Kanjanawanishkul, Kiattisin	Univ. of Tübingen
Zell, Andreas	Univ. of Tübingen
Presenter: Unknown
09:20-09:40, Paper ThAT2.3	Add to My Program
A Formation Control Framework Based on Lyapunov Approach
Chang, Chih-Fu	National Taiwan Univ.
Fu, Li-Chen	National Taiwan Univ.
Presenter: Unknown
09:40-10:00, Paper ThAT2.4	Add to My Program
Intelligent Cooperative Behavior Control of Multiple Partner Robots
Kubota, Naoyuki	Tokyo Metropolitan Univ.
Aizawa, Naohide	Tokyo Metropolitan Univ.
Presenter: Unknown
10:00-10:20, Paper ThAT2.5	Add to My Program
Cooperative Navigation Using Environment Compliant Robot Formations ‡
Urcola, Pablo	Inst. de Investigación en Ingeniería de Aragón, Univ. o
Riazuelo, Luis	Inst. de Investigación en Ingeniería de Aragón, Univ. o
Lázaro, María Teresa	Inst. de Investigación en Ingeniería de Aragón,Univ. of
Montano, Luis	Univ. de Zaragoza
Presenter: Unknown
10:20-10:40, Paper ThAT2.6	Add to My Program
A Car Transportation System by Multiple Mobile Robots -Icart
Endo, Mitsuru	Tohoku Univ.
Hirose, Kenji	Tohoku Univ.
Hirata, Yasuhisa	Tohoku Univ.
Kosuge, Kazuhiro	Tohoku Univ.
Kanbayashi, Takashi	Ishikawajima Transport Machinery Co. Ltd.
Oomoto, Mitsukazu	Ishikawajima Transport Machinery Co. Ltd.
Akune, Kei	Ishikawajima Transport Machinery Co. Ltd.
Arai, Hiroyuki	Ishikawajima Transport Machinery Co. Ltd.
Shinoduka, Hiroyuki	Ishikawajima Transport Machinery Co. Ltd.
Suzuki, Kouki	Ishikawajima Transport Machinery Co. Ltd.
Presenter: Unknown

ThAT3 Regular Sessions, Rhodes 9EG	Add to My Program
Motion Control
Chair: Yoshida, Kazuya	Tohoku Univ.
Co-Chair: Sidobre, Daniel	Univ. of toulouse
08:40-09:00, Paper ThAT3.1	Add to My Program
Vibration Control of a SCARA Manipulator Using Pseudo-Polynomial Motion Laws
Incerti, Giovanni	Univ. of Brescia
Presenter: Unknown
09:00-09:20, Paper ThAT3.2	Add to My Program
Soft Motion Trajectory Planner for Service Manipulator Robot ‡
Broquere, Xavier	Univ. de Toulouse
Sidobre, Daniel	Univ. of toulouse
Herrera Aguilar, Ignacio	Inst. Tecnológico de Orizaba
Presenter: Unknown
09:20-09:40, Paper ThAT3.3	Add to My Program
A Gauge-Invariant Formulation for Constrained Robotic Systems Using Square-Root Factorization and Unitary Transformation
Aghili, Farhad	Canadian Space Agency
Presenter: Unknown
09:40-10:00, Paper ThAT3.4	Add to My Program
Second Order Sliding Mode Control with Disturbance Observer for Bicycle Stabilization
Defoort, Michael	Ec. Centrale de Lille
Murakami, Toshiyuki	Keio Univ.
Presenter: Unknown
10:00-10:20, Paper ThAT3.5	Add to My Program
Time-Optimal Manipulator Control of a Free-Floating Space Robot with Constraint on Reaction Torque
Oki, Tomohisa	Tohoku Univ.
Nakanishi, Hiroki	Tohoku Univ.
Yoshida, Kazuya	Tohoku Univ.
Presenter: Unknown
10:20-10:40, Paper ThAT3.6	Add to My Program
The Synthesis of Multi-Channel Adaptive Variable Structure System for the Control of AUV
Lebedev, Alexander	Inst. of Automation and Control Processes
Filaretov, Vladimir	Inst. of Automation and Control Processes
Presenter: Unknown

ThAT4 Special Session, Rhodes 10	Add to My Program
Human and Humanoid in Aging Society
Chair: Nakamura, Yoshihiko	Univ. of Tokyo
Co-Chair: Venture, Gentiane	Univ. of Tokyo
08:40-09:00, Paper ThAT4.1	Add to My Program
Attentive Object Feeding for Supporting Deskwork
Tamura, Yusuke	The Univ. of Tokyo
Sugi, Masao	The Univ. of Tokyo
Ota, Jun	The Univ. of Tokyo
Arai, Tamio	Univ. of Tokyo
Presenter: Unknown
09:00-09:20, Paper ThAT4.2	Add to My Program
Smart Extraction of Desired Object from Color-Distance Image with User's Tiny Scribble
Shibuya, Naoki	The Univ. of Tokyo
Shimohata, Yasuyuki	The Univ. of Tokyo
Harada, Tatsuya	The Univ. of Tokyo
Kuniyoshi, Yasuo	The Univ. of Tokyo
Presenter: Unknown
09:20-09:40, Paper ThAT4.3	Add to My Program
Identification of Humanoid Robots Dynamics Using Floating-Base Motion Dynamics
Ayusawa, Ko	Univ. of Tokyo
Venture, Gentiane	Univ. of Tokyo
Nakamura, Yoshihiko	Univ. of Tokyo
Presenter: Unknown
09:40-10:00, Paper ThAT4.4	Add to My Program
Scaffolding On-Line Segmentation of Full Body Human Motion Patterns
Kulic, Dana	Univ. of Tokyo
Nakamura, Yoshihiko	Univ. of Tokyo
Presenter: Unknown
10:00-10:20, Paper ThAT4.5	Add to My Program
Association of Whole Body Motion from Tool Knowledge for Humanoid Robots
Lee, Dongheui	Univ. of Tokyo
Kunori, Hirotoshi	The Univ. of Tokyo
Nakamura, Yoshihiko	Univ. of Tokyo
Presenter: Unknown
10:20-10:40, Paper ThAT4.6	Add to My Program
Development of a Home-Use Automated Container Storage/Retrieval System
Fukui, Rui	The Univ. of Tokyo
Morishita, Hiroshi	The Univ. of Tokyo
Mori, Taketoshi	The Univ. of Tokyo
Sato, Tomomasa	The Univ. of Tokyo
Presenter: Unknown

ThAT5 Regular Sessions, Risso 7B	Add to My Program
Mapping I
Chair: Martinelli, Agostino	INRIA Grenoble-Rhone-Alpes
Co-Chair: Burgard, Wolfram	Univ. of Freiburg
08:40-09:00, Paper ThAT5.1	Add to My Program
A Fast and Small 3-D Obstacle Model for Autonomous Applications
Andert, Franz	German Aerospace Center
Goormann, Lukas	German Aerospace Center
Presenter: Unknown
09:00-09:20, Paper ThAT5.2	Add to My Program
Induction of Topological Environment Maps from Sequences of Visited Places
Werner, Felix	Queensland Univ. of Tech.
Gretton, Charles	NICTA, Queensland Lab.
Maire, Frederic	Queensland Univ. of Tech.
Sitte, Joachim	Queensland Univ. of Tech.
Presenter: Unknown
09:20-09:40, Paper ThAT5.3	Add to My Program
Analysis of Methods for Reducing Line Segments in Maps: Towards a General Approach
Amigoni, Francesco	Pol. di Milano
Gasparini, Simone	INRIA
Presenter: Unknown
09:40-10:00, Paper ThAT5.4	Add to My Program
Estimating Landmark Locations from Geo-Referenced Photographs
Kretzschmar, Henrik	Univ. of Freiburg
Stachniss, Cyrill	Univ. of Freiburg
Plagemann, Christian	Univ. of Freiburg
Burgard, Wolfram	Univ. of Freiburg
Presenter: Unknown
10:00-10:20, Paper ThAT5.5	Add to My Program
Conflict Evaluation Method for Grid Maps Using Sonar Sensors
Lee, Kyoungmin	POSTECH
Chung, Wan Kyun	POSTECH
Suh, Il Hong	Hanyang Univ.
Oh, Sang-Rok	MIC
Presenter: Unknown
10:20-10:40, Paper ThAT5.6	Add to My Program
Improving Sparse Laser Scan Alignment with Virtual Scans ‡
Lakaemper, Rolf	Temple Univ.
Adluru, Nagesh	Temple Univ.
Presenter: Unknown

ThAT6 Regular Sessions, Risso 8	Add to My Program
Legged Robots, Dynamics
Chair: Asano, Fumihiko	BMC RIKEN
Co-Chair: Aoustin, Yannick	CNRS
08:40-09:00, Paper ThAT6.1	Add to My Program
On Optimal Swinging of the Biped Arms
Aoustin, Yannick	CNRS
Formal'skii, Alexander	Moscou Lomonosov State Univ.
Presenter: Unknown
09:00-09:20, Paper ThAT6.2	Add to My Program
Efficiency and Symmetry of Ballisitic Gait
Asano, Fumihiko	BMC RIKEN
Luo, Zhi-Wei	The Inst. of Physical and Chemical Res. (RIKEN)
Presenter: Unknown
09:20-09:40, Paper ThAT6.3	Add to My Program
Pseudo Virtual Passive Dynamic Walking and Effect of Upper Body As Counterweight
Asano, Fumihiko	BMC RIKEN
Luo, Zhi-Wei	The Inst. of Physical and Chemical Res. (RIKEN)
Presenter: Unknown
09:40-10:00, Paper ThAT6.4	Add to My Program
Parametric Excitation Based Gait Generation for Ornithoid Walking
Harata, Yuji	Nagoya Univ.
Asano, Fumihiko	BMC RIKEN
Taji, Kouichi	Nagoya Unviersity
Uno, Yoji	Nagoya Univ.
Presenter: Unknown
10:00-10:20, Paper ThAT6.5	Add to My Program
Sequential Method of Analytical Potentials an Approach for the Biped Robots Dynamic Gait Generation
David, Anthony	Intelligent Systems Res. Inst. (IS), AIST
Bruneau, Olivier	UVSQ / LISV
Presenter: Unknown
10:20-10:40, Paper ThAT6.6	Add to My Program
A Simple 3D Straight-Legged Passive Walker with Flat Feet and Ankle Springs
Narukawa, Terumasa	Keio Univ.
Yokoyama, Kazuto	Keio Univ.
Takahashi, Masaki	Keio Univ.
Yoshida, Kazuo	Keio Univ.
Presenter: Unknown

ThAT7 Regular Sessions, Risso 6AB	Add to My Program
Localization and Navigation II
Chair: Ho, Nghia	Monash Univ.
Co-Chair: Sucar, Luis Enrique	Inst. Nacional de Astrafisica, Optica y Electraonica
08:40-09:00, Paper ThAT7.1	Add to My Program
How to Recognize and Remove Qualitative Errors in Time-Of-Flight Laser Range Measurements
Skrzypczynski, Piotr	Poznan Univ. of Tech.
Presenter: Unknown
09:00-09:20, Paper ThAT7.2	Add to My Program
Vision Based Global Localisation Using a 3D Environmental Model Created by a Laser Range Scanner
Ho, Nghia	Monash Univ.
Jarvis, Raymond Austin	Monash Univ.
Presenter: Unknown
09:20-09:40, Paper ThAT7.3	Add to My Program
Robust View Matching-Based Markov Localization in Outdoor Environments
Miura, Jun	Toyohashi Univ. of Tech.
Yamamoto, Koshiro	Toyohashi Univ. of Tech.
Presenter: Unknown
09:40-10:00, Paper ThAT7.4	Add to My Program
The Likelihood Field Approach to Sonar Scan Matching
Burguera, Antoni	Univ. de les Illes Balears
Gonzalez, Yolanda	Balearic Islands Univ.
Oliver, Gabriel A.	Univ. of the Balearic Islands
Presenter: Unknown
10:00-10:20, Paper ThAT7.5	Add to My Program
Collision-Free Navigation Based on People Tracking Algorithm with Biped Walking Model ‡
Lee, Jae Hoon	AIST
Abe, Kenji	Univ. of Tsukuba
Takashi, Tsubouchi	Sys. and Info. Eng., U of Tsukuba
Ichinose, Ryoko	Hitachi, Ltd.
Hosoda, Yuji	Hitachi, Ltd. Mechanical Eng.
Ohba, Kohtaro	National Inst. of AIST
Presenter: Unknown
10:20-10:40, Paper ThAT7.6	Add to My Program
Path Planning and Trajectory Generation Using Multi-Rate Predictive Artificial Potential Fields ‡
Mora, Marta Covadonga	Univ. Jaume I
Tornero, Josep	Tech. Univ. of valencia
Presenter: Unknown

ThAT8 Regular Sessions, Gallieni 5	Add to My Program
Haptics and Virtual Reality
Chair: Sirouspour, Shahin	McMaster Univ.
Co-Chair: Song, Jae-Bok	Korea Univ.
08:40-09:00, Paper ThAT8.1	Add to My Program
Theoretical and Experimental Study of a Heat Transfer Model for Thermal Feedback in Virtual Environments
Mohamed, Guiatni	EMP
Kheddar, Abderrahmane	JRL CNRS
Presenter: Unknown
09:00-09:20, Paper ThAT8.2	Add to My Program
Haptic Display of Dynamic Systems Subject to Holonomic Constraints ‡
Rodríguez Tsouroukdissian, Adolfo	Tech. Univ. of Catalonia (UPC)
Basanez, Luis	Tech. Univ. of Catalonia
Colgate, Edward	Northwestern Univ.
Faulring, Eric L.	Kinea Design, LLC
Presenter: Unknown
09:20-09:40, Paper ThAT8.3	Add to My Program
Hybrid Display of Realistic Tactile Sense Using Ultrasonic Vibrator and Force Display
Shiokawa, Yuta	Keio Univ.
Tazo, Atsushi	Keio Univ.
Konyo, Masashi	Tohoku Univ.
Maeno, Takashi	Keio Univ.
Presenter: Unknown
09:40-10:00, Paper ThAT8.4	Add to My Program
Adaptive Control for High-Fidelity Haptic Interaction with Virtual Environments
Abdossalami, Amin	McMaster Univ.
Sirouspour, Shahin	McMaster Univ.
Presenter: Unknown
10:00-10:20, Paper ThAT8.5	Add to My Program
Contact Force Estimation for Backdrivable Robotic Manipulators with Coupled Friction
Naerum, Edvard	Univ. of Oslo
Cornella, Jordi	Rikshospitalet Univ. Hospital
Elle, Ole Jakob	Rikshospitalet Univ. Hospital
Presenter: Unknown
10:20-10:40, Paper ThAT8.6	Add to My Program
Micro Hydraulic System Using Slim Artificial Muscles for a Wearable Haptic Glove
Ryu, Dongseok	Korea Inst. of Science and Tech.
Moon, Kyung-won	Korea Inst. of Science and Tech.
Nam, Hyungdo	Korea Inst. of Science and Tech.
Lee, Yongkwun	Korea Inst. of Science and Tech.
Chun, Changmook	Korea Inst. of Science and Tech.
Kang, Sungchul	Korea Inst. of Science & Tech.
Song, Jae-Bok	Korea Univ.
Presenter: Unknown

ThAT9 Regular Sessions, Rhodes 9FC	Add to My Program
Visual Servoing
Chair: Deguchi, Koichiro	Tohoku Univ.
Co-Chair: Fomena Tatsambon, Romeo	Univ. de Rennes 1, IRISA
08:40-09:00, Paper ThAT9.1	Add to My Program
A Goal Oriented Just-In-Time Visual Servoing for Ball Catching Robot Arm ‡
Deguchi, Koichiro	Tohoku Univ.
Sakurai, Hironari	Tohoku Univ.
Ushida, Shun	Tohoku Univ.
Presenter: Unknown
09:00-09:20, Paper ThAT9.2	Add to My Program
Visual Servoing from Two Special Compounds of Features Using a Spherical Projection Model ‡
Fomena Tatsambon, Romeo	Univ. de Rennes 1, IRISA
Chaumette, Francois	INRIA
Presenter: Unknown
09:20-09:40, Paper ThAT9.3	Add to My Program
Uncalibrated Dynamic Visual Servoing Using Line Features
Wang, Hesheng	The Chinese Univ. of Hong Kong
Liu, Yunhui	Chinese Univ. of Hong Kong
Wang, Zhongli	The Chinese Univ. of Hong Kong
Presenter: Unknown
09:40-10:00, Paper ThAT9.4	Add to My Program
A Sensor-Based Controller Able to Treat Total Image Loss and to Guarantee Non-Collision During a Vision-Based Navigation Task ‡
Folio, David	IRISA
Cadenat, Viviane	Centre National de la Recherche Scientifique
Presenter: Unknown
10:00-10:20, Paper ThAT9.5	Add to My Program
A Sliding Mode Control Law for Epipolar Visual Servoing of Differential-Drive Robots
Becerra, Hector	Univ. of Zaragoza
Sagues, Carlos	Univ. de Zaragoza
Presenter: Unknown
10:20-10:40, Paper ThAT9.6	Add to My Program
An Adaptive Vision System for Guidance of a Robotic Manipulator to Capture a Tumbling Satellite with Unknown Dynamics ‡
Aghili, Farhad	Canadian Space Agency
Parsa, Kourosh	ESAB Welding & Cutting Products
Presenter: Unknown

ThAT10 Regular Sessions, Gallieni 2	Add to My Program
Biologically-Inspired Robots I
Chair: Sitti, Metin	Carnegie Mellon Univ.
Co-Chair: Gasparetto, Alessandro	Univ. of Udine
08:40-09:00, Paper ThAT10.1	Add to My Program
The Dynamic Analysis of the Backward Swimming Mode for Biomimetic Carangiform Robotic Fish
Zhou, Chao	Chinese Acad. of Sciences
Cao, Zhiqiang	Inst. of Automation,Chinese Acad. of Sciences
Wang, Shuo	Inst. of Automation,Chinese Acad. of Sciences
Tan, Min	Inst. of Automation,Chinese Acad. of Sciences
Presenter: Unknown
09:00-09:20, Paper ThAT10.2	Add to My Program
Kinematic Study of the Spider Locomotor System in a Biomimetic Perspective
Gasparetto, Alessandro	Univ. of Udine
Vidoni, Renato	Univ. of Udine
Seidl, Tobias	ESA-European Space Agency
Presenter: Unknown
09:20-09:40, Paper ThAT10.3	Add to My Program
Bouncing Monopod with Bio-Mimetic Muscular-Skeleton System
Hosoda, Koh	Osaka Univ.
Takayama, Hitoshi	Osaka Univ.
Takuma, Takashi	Osaka Inst. of Tech.
Presenter: Unknown
09:40-10:00, Paper ThAT10.4	Add to My Program
Liquid Environment-Adaptive IPMC Fish-Like Robot Using Extremum Seeking Feedback
Nakadoi, Hyatt	Tokyo Inst. of Tech.
Sobey, David	Tokyo Inst. of Tech.
Yamakita, Masaki	Tokyo Inst. of Tech.
Mukai, Toshiharu	RIKEN
Presenter: Unknown
10:00-10:20, Paper ThAT10.5	Add to My Program
Design and Performance of Micromolded Plastic Butterfly Wings on Butterfly Ornithopter ‡
Tanaka, Hiroto	The Univ. of Tokyo
Matsumoto, Kiyoshi	The Univ. of Tokyo
Shimoyama, Isao	Univ. of Tokyo
Presenter: Unknown
10:20-10:40, Paper ThAT10.6	Add to My Program
Dynamic Modeling of a Basilisk Lizard Inspired Quadruped Robot Running on Water
Park, Hyun Soo	Carnegie Mellon Univ.
Floyd, Steven	Carnegie Mellon Univ.
Sitti, Metin	Carnegie Mellon Univ.
Presenter: Unknown

ThAT11 Regular Sessions, Gallieni 3	Add to My Program
Computer Vision I
Chair: Marchand, Eric	INRIA
Co-Chair: Pradalier, Cedric	ETH Zurich
08:40-09:00, Paper ThAT11.1	Add to My Program
Automatic Calibration of Catadioptric Cameras in Urban Environment
Bazin, Jean-Charles	RCV Lab. KAIST
Kweon, In So	KAIST
Demonceaux, Cedric	Univ. of Picardie - Jules Verne
Vasseur, Pascal	Univ. of Picardie - Jules Verne
Presenter: Unknown
09:00-09:20, Paper ThAT11.2	Add to My Program
Fast Autofocus of Microscopy Images Based on Depth-From-Defocus
Liguo, Chen	Harbin Inst. of Tech.
Yang, Zhiliang	Harbin Inst. of Tech.
Sun, Lining	harbin Inst. of Tech.
Presenter: Unknown
09:20-09:40, Paper ThAT11.3	Add to My Program
Automatic Detection of Checkerboards on Blurred and Distorted Images
Rufli, Martin	Swiss Federal Inst. of Tech. (ETH) Zurich
Scaramuzza, Davide	ETH Zurich
Siegwart, Roland	ETH Zurich
Presenter: Unknown
09:40-10:00, Paper ThAT11.4	Add to My Program
Performance Evaluation of a Vertical Line Descriptor for Omnidirectional Images
Scaramuzza, Davide	ETH Zurich
Pradalier, Cedric	ETH Zurich
Siegwart, Roland	ETH Zurich
Presenter: Unknown
10:00-10:20, Paper ThAT11.5	Add to My Program
3D Active Appearance Model for Aligning Faces in 2D Images ‡
Chen, Chun-Wei	National Taiwan Univ.
Wang, Chieh-Chih	National Taiwan Univ.
Presenter: Unknown
10:20-10:40, Paper ThAT11.6	Add to My Program
Robust Extraction of Shady Roads for Vision-Based UGV Navigation ‡
Dong-Si, Tue-Cuong	National Univ. of Singapore
Guo, Dong	DSO National Lab.
Yan, Chye Hwang	National Univ. of Singapore
Ong, Sim-Heng	National Univ. of Singapore
Presenter: Unknown

ThAT12 Regular Sessions, Gallieni A	Add to My Program
Marine Robotics I
Chair: Sukhatme, Gaurav	Univ. of Southern California
Co-Chair: Boyer, Frédéric	Ec. des mines de Nantes
08:40-09:00, Paper ThAT12.1	Add to My Program
Scale-Adaptive Polygonal Formations of Submersible Vehicles and Tracking Terrain Isocontours
Kalantar, Shahab	Australian National Univ.
Zimmer, Uwe	Australian National Univ.
Presenter: Unknown
09:00-09:20, Paper ThAT12.2	Add to My Program
Multi-Variable Constrained Control Approach for a Three-Dimensional Eel-Like Robot
El Rafei, Maher	INPG
Alamir, Mazen	LAG
Marchand, Nicolas	GIPSA-Lab. CNRS/U of Grenoble/INRIA
Porez, Mathieu	IRCCyN
Boyer, Frédéric	Ec. des mines de Nantes
Presenter: Unknown
09:20-09:40, Paper ThAT12.3	Add to My Program
Coordinated Motion Control of Underwater Vehicle-Manipulator System with Minimizing Restoring Moments
Han, Jonghui	Pohang Univ. of sci. and Tech.
Chung, Wan Kyun	POSTECH
Presenter: Unknown
09:40-10:00, Paper ThAT12.4	Add to My Program
An Experimental Study of Station Keeping on an Underactuated ASV ‡
Arvind, Pereira	Univ. of Southern California
Das, Jnaneshwar	Univ. of Southern California
Sukhatme, Gaurav	Univ. of Southern California
Presenter: Unknown
10:00-10:20, Paper ThAT12.5	Add to My Program
Reconfigurable Magnetic-Coupling Thrusters for Agile AUVs
Chocron, Olivier	ENIB, Lab. Brestois de Mécanique et des Systèmes
Mangel, Herve	LIME/IUT/UBO
Presenter: Unknown
10:20-10:40, Paper ThAT12.6	Add to My Program
Developing a Transient Model for Squid Inspired Thrusters, and Incorporation into Underwater Robot Control Design
Krieg, Mike	Univ. of Colorado Boulder
Mohseni, Kamran	Univ. of Colorado Boulder
Presenter: Unknown

ThAT13 Regular Sessions, Gallieni B	Add to My Program
Recognition and Dexterous Manipulation
Chair: Koganezawa, Koichi	Tokai Univ.
Co-Chair: Bierbaum, Alexander	Univ. of Karlsruhe (TH)
08:40-09:00, Paper ThAT13.1	Add to My Program
Novel Mechanism of Artificial Finger Using Double Planetary Gear System
Koganezawa, Koichi	Tokai Univ.
Ishizuka, Yasutaka	Tokai Univ.
Presenter: Unknown
09:00-09:20, Paper ThAT13.2	Add to My Program
Visual Recognition of Grasps for Human-To-Robot Mapping
Kjellstrom, Hedvig	KTH
Romero, Javier	KTH
Kragic, Danica	KTH
Presenter: Unknown
09:20-09:40, Paper ThAT13.3	Add to My Program
Robust Shape Recovery for Sparse Contact Location and Normal Data from Haptic Exploration
Bierbaum, Alexander	Univ. of Karlsruhe (TH)
Gubarev, Ilya	Univ. of Karlsruhe (TH)
Dillmann, Rüdiger	Univ. of Karlsruhe
Presenter: Unknown
09:40-10:00, Paper ThAT13.4	Add to My Program
High-Speed Throwing Motion Based on Kinetic Chain Approach ‡
Senoo, Taku	Univ. of Tokyo, Graduate School of Information Science and
Namiki, Akio	Chiba Univ.
Ishikawa, Masatoshi	Univ. of Tokyo
Presenter: Unknown
10:00-10:20, Paper ThAT13.5	Add to My Program
Repetitive Grasping with Anthropomorphic Skin-Covered Hand Enables Robust Haptic Recognition
Takamuku, Shinya	Graduate School of Engineering, Osaka Univ.
Fukuda, Atsushi	Graduate School of Engineering, Osaka Univ.
Hosoda, Koh	Osaka Univ.
Presenter: Unknown
10:20-10:40, Paper ThAT13.6	Add to My Program
Motion Generation for Clutch Assembly by Integration of Multiple Existing Policies
Yamanobe, Natsuki	Advanced Industrial Science and Tech.
Fujii, Hiromitsu	The Univ. of Tokyo
Arai, Tamio	Univ. of Tokyo
Ueda, Ryuichi	The Univ. of Tokyo
Presenter: Unknown

ThPP Plenary Sessions, Apollon	Add to My Program
Plenary Talk III
Chair: Merlet, Jean-Pierre	INRIA
Understanding Human Faces
Kanade, Takeo

ThBT1 Regular Sessions, Gallieni B	Add to My Program
Domestic and Service Robots
Chair: Haschke, Robert	Bielefeld Univ.
Co-Chair: Chung, Woojin	Korea Univ.
13:00-13:20, Paper ThBT1.1	Add to My Program
Museum Guide Robot with Three Communication Modes
Kobayashi, Yoshinori	Saitama Univ.
Hoshi, Yosuke	Saitama Univ.
Hoshino, Goh	Saitama Univ.
Kasuya, Tomoki	Saitama Univ.
Fueki, Masato	Saitama Univ.
Kuno, Yoshinori	Saitama Univ.
Presenter: Unknown
13:20-13:40, Paper ThBT1.2	Add to My Program
Robots at Home: Understanding Long-Term Human-Robot Interaction
Kidd, Cory	Intuitive Automata Inc.
Breazeal, Cynthia	MIT
Presenter: Unknown
13:40-14:00, Paper ThBT1.3	Add to My Program
Control Architecture Design of a Multi-Functional Service Robot Using the GSPN (Generalized-Stochastic Petri-Nets)
Moon, Chang-bae	Korea Univ.
Chung, Woojin	Korea Univ.
Presenter: Unknown
14:00-14:20, Paper ThBT1.4	Add to My Program
Variable Impedance Control of Meal Assistance Robot Using Potential Method
Nishiwaki, Kenji	Gifu Univ.
Yano, Ken'ichi	Faculty of Engineering, Gifu Univ.
Presenter: Unknown
14:20-14:40, Paper ThBT1.5	Add to My Program
On-Line Planning of Time-Optimal, Jerk-Limited Trajectories
Haschke, Robert	Bielefeld Univ.
Weitnauer, Erik	Bielefeld Univ.
Ritter, Helge Joachim	Bielefeld Univ.
Presenter: Unknown
14:40-15:00, Paper ThBT1.6	Add to My Program
Sensor Integration for Person Tracking and Following with Mobile Robot
Xudong, Ma	Southeast Univ.
Hu, Chunhua	Southeast Univ.
Xianzhong, Dai	Southeast Univ.
Qian, Kun	Southeast Univ.
Presenter: Unknown

ThBT2 Regular Sessions, Rhodes 9BD	Add to My Program
Sensor Network
Chair: Parker, Lynne	Univ. of Tennessee
Co-Chair: Gu, Dongbing	Univ. of Essex
13:00-13:20, Paper ThBT2.1	Add to My Program
Tracking of Transport Vehicles for Warehouse Management Using a Wireless Sensor Network
Röhrig, Christof	Univ. of Applied Sciences Dortmund
Spieker, Sarah	Fraunhofer Inst. for Material Flow and Logistics (IML)
Presenter: Unknown
13:20-13:40, Paper ThBT2.2	Add to My Program
Using Structures to Synchronize Cameras of Robots Swarms
Chang, Richard	Univ. Pierre and Marie Curie, Paris6
Ieng, Siohoi	Univ. Pierre et Marie Curie, Paris6
Benosman, Ryad	Univ. Pierre et Marie Curie Paris 6
Presenter: Unknown
13:40-14:00, Paper ThBT2.3	Add to My Program
A Spatial-Temporal Imputation Technique for Classification with Missing Data in a Wireless Sensor Network
Li, YuanYuan	The Univ. of Tennessee, Knoxville
Parker, Lynne	Univ. of Tennessee
Presenter: Unknown
14:00-14:20, Paper ThBT2.4	Add to My Program
Distributed Target Tracking with Energy Consideration Using Mobile Sensor Networks
Li, Yingying	Chinese Unversity of Hong Kong
Liu, Yunhui	Chinese Univ. of Hong Kong
Cai, Xuanping	The National Univ. of Defense Tech.
Wang, Hesheng	The Chinese Univ. of Hong Kong
Zhang, Hengyang	National Univ. of Defense Tech.
Zhou, Dongxiang	National Univ. of Defense Tech.
Presenter: Unknown
14:20-14:40, Paper ThBT2.5	Add to My Program
Distributed Regression Over Sensor Networks: An Support Vector Machine Approach
Gu, Dongbing	Univ. of Essex
Wang, Zongyao	Univ. of Essex
Presenter: Unknown
14:40-15:00, Paper ThBT2.6	Add to My Program
Detecting and Monitoring Time-Related Abnormal Events Using a Wireless Sensor Network and Mobile Robot
Li, YuanYuan	The Univ. of Tennessee, Knoxville
Parker, Lynne	Univ. of Tennessee
Presenter: Unknown

ThBT3 Regular Sessions, Rhodes 9EG	Add to My Program
Adaptive and Motion Control
Chair: Suleiman, Wael	LAAS - CNRS
Co-Chair: De Luca, Alessandro	Univ. di Roma "La Sapienza"
13:00-13:20, Paper ThBT3.1	Add to My Program
Exploiting Robot Redundancy in Collision Detection and Reaction ‡
De Luca, Alessandro	Univ. di Roma
Ferrajoli, Lorenzo	Univ. di Roma
Presenter: Unknown
13:20-13:40, Paper ThBT3.2	Add to My Program
Computationally Efficient Predictive Adaptive Control for Robot Operation in Dynamic Environments and Task Domains
Vaidyanathan, Ravi	Naval Postgraduate School
Prince, Troy	Thompson Hine Law Partners
Modarreszadeh, Mohammad	Orbital Res.
Lisy, Frederick J.	Orbital Res.
Presenter: Unknown
13:40-14:00, Paper ThBT3.3	Add to My Program
Computational Efficient Algorithms for Operational Space Formulation of Branching Arms on a Space Robot
Abiko, Satoko	German Aerospace Center (DLR)
Hirzinger, Gerd	German Aerospace Center (DLR)
Presenter: Unknown
14:00-14:20, Paper ThBT3.4	Add to My Program
A New Approach Based-On Advanced Adaptive Digital PLL for Improving the Resolution and Accuracy of Magnetic Encoders
Hoang, Van Hung	Sungkyunkwan Univ.
Le, Tue Hieu	Sungkyunkwan Univ.
Jeon, Jae Wook	Sungkyunkwan Univ.
Presenter: Unknown
14:20-14:40, Paper ThBT3.5	Add to My Program
Coordinated Kinematic Motion Control of Compliant Framed Wheeled Modular Mobile Robots
Kim, Youngshik	Univ. of Utah
Minor, Mark	Univ. of Utah
Presenter: Unknown

ThBT4 Regular Sessions, Rhodes 10	Add to My Program
Social Human-Robot Interaction I
Chair: Hashimoto, Minoru	Shinshu Univ.
Co-Chair: Albu-Schäffer, Alin	DLR - German Aeorspace Center
13:00-13:20, Paper ThBT4.1	Add to My Program
A Handshake Robot System Based on a Shake-Motion Leading Model
Jindai, Mitsuru	Okayama Prefectural Univ.
Watanabe, Tomio	Okayama Prefectural Univ.
Presenter: Unknown
13:20-13:40, Paper ThBT4.2	Add to My Program
What Makes People Accept a Robot in a Social Environment - Discussion from Six-Week Study in an Office -
Mitsunaga, Noriaki	Kanazawa Inst. of Tech.
Miyashita, Zenta	Advanced Telecommunications Res. Inst.
Shinozawa, Kazuhiko	Advanced Telecommunications Res. Inst.
Miyashita, Takahiro	ATR
Ishiguro, Hiroshi	Osaka Univ.
Hagita, Norihiro	ATR
Presenter: Unknown
13:40-14:00, Paper ThBT4.3	Add to My Program
A Robotic KANSEI Communication System Based on Emotional Synchronization
Hashimoto, Minoru	Shinshu Univ.
Yamano, Misaki	Shinshu Univ.
Usui, Tatsuya	Shinshu Univ.
Presenter: Unknown
14:00-14:20, Paper ThBT4.4	Add to My Program
Learning Meaningful Interactions from Repetitious Motion Patterns
Ogawara, Koichi	Kyushu Univ.
Tanabe, Yasufumi	Kyushu Univ.
Kurazume, Ryo	Kyushu Univ.
Hasegawa, Tsutomu	Kyushu Univ.
Presenter: Unknown
14:20-14:40, Paper ThBT4.5	Add to My Program
Collision Detection & Reaction: A Contribution to Safe Physical Human-Robot Interaction ‡
Haddadin, Sami	German Aerospace Center (DLR)
Albu-Schäffer, Alin	DLR - German Aeorspace Center
De Luca, Alessandro	Univ. di Roma
Hirzinger, Gerd	German Aerospace Center (DLR)
Presenter: Unknown

ThBT5 Regular Sessions, Risso 7B	Add to My Program
Mapping II
Chair: Duckett, Tom	Univ. of Lincoln
Co-Chair: Trahanias, Panos	Foundation for Res. and Tech. – Hellas (FORTH)
13:00-13:20, Paper ThBT5.1	Add to My Program
An Adaptive Appearance-Based Map for Long-Term Topological Localization of Mobile Robots
Dayoub, Feras	Univ. of Lincoln
Duckett, Tom	Univ. of Lincoln
Presenter: Unknown
13:20-13:40, Paper ThBT5.2	Add to My Program
A Multi-Target Tracking Technique for Mobile Robots Using a Laser Range Scanner
Kondaxakis, Polychronis	Foundation for Res. and Tech. – Hellas (FORTH)
Kasderidis, Stathis	FORTH
Trahanias, Panos	Foundation for Res. and Tech. – Hellas (FORTH)
Presenter: Unknown
13:40-14:00, Paper ThBT5.3	Add to My Program
Fast Plane Detection and Polygonalization in Noisy 3D Range Images
Poppinga, Jann	International Univ. Bremen
Vaskevicius, Narunas	Jacobs Univ.
Birk, Andreas	Jacobs Univ.
Pathak, Kaustubh	Jacobs Univ. Bremen
Presenter: Unknown
14:00-14:20, Paper ThBT5.4	Add to My Program
Aligning Point Cloud Views Using Persistent Feature Histograms ‡
Rusu, Radu Bogdan	Tech. Univ. Muenchen
Blodow, Nico	Computer Science Department, Tech. Univ.
Marton, Zoltan-Csaba	Tech. Univ. Muenchen
Beetz, Michael	Tech. Univ. München
Presenter: Unknown
14:20-14:40, Paper ThBT5.5	Add to My Program
Heuristic Search Planning to Reduce Exploration Uncertainty
Meger, David Paul	Univ. of British Columbia
Rekleitis, Ioannis	McGill Univ.
Dudek, Gregory	McGill Univ.
Presenter: Unknown
14:40-15:00, Paper ThBT5.6	Add to My Program
Multi-Scale Adaptive Sampling for Mapping Forest Fires ‡
Mysorewala, Muhammad	Univ. of Texas at Arlington
Popa, Dan	The Univ. of Texas at Arlington
Presenter: Unknown

ThBT6 Regular Sessions, Risso 8	Add to My Program
Legged Robots II
Chair: Aoi, Shinya	Kyoto Univ.
Co-Chair: Kheddar, Abderrahmane	JRL CNRS
13:00-13:20, Paper ThBT6.1	Add to My Program
Parametric Excitation of a Biped Robot As an Inverted Pendulum
Honjo, Toyoyuki	Kobe Univ.
Luo, Zhi-Wei	The Inst. of Physical and Chemical Res. (RIKEN)
Nagano, Akinori	Kobe Univ.
Presenter: Unknown
13:20-13:40, Paper ThBT6.2	Add to My Program
Stability Characteristics in Walking Behavior with Two Different Oscillatory Elements: Roles of Arc Foot and Internal Oscillator
Aoi, Shinya	Kyoto Univ.
Sato, Yuuki	The Univ. of Tokyo
Tsuchiya, Kazuo	Kyoto Univ.
Presenter: Unknown
13:40-14:00, Paper ThBT6.3	Add to My Program
Stability Analysis and Robust Control of a Biped Robot with Four Links and Three Actuators
Fattah, Abbas	Isfahan Univ. of Tech.
Dehghani Posht Rodi, Reza	Isfahan Univ. of Tech.
Presenter: Unknown
14:00-14:20, Paper ThBT6.4	Add to My Program
A Framework for Optimal Gait Generation Via Learning Optimal Control Using Virtual Constraint
Satoh, Satoshi	Nagoya Univ.
Fujimoto, Kenji	Nagoya Univ.
Hyon, Sang-Ho	JST-ICORP / ATR
Presenter: Unknown
14:20-14:40, Paper ThBT6.5	Add to My Program
Design of Convex Foot for Efficient Dynamic Bipedal Walking
Sasaki, Hirotake	Tokyo Inst. of Tech.
Yamakita, Masaki	Tokyo Inst. of Tech.
Asano, Fumihiko	BMC RIKEN
Presenter: Unknown
14:40-15:00, Paper ThBT6.6	Add to My Program
Dynamic Acyclic Motion from a Contact-Stance to Another ‡
Arbulu, Mario	Univ. Carlos III of Madrid
Yokoi, Kazuhito	National Inst. of AIST
Kheddar, Abderrahmane	JRL CNRS
Balaguer, Carlos	Univ. Carlos III de Madrid
Presenter: Unknown

ThBT7 Regular Sessions, Risso 6AB	Add to My Program
Localization
Chair: Krishna, Madhava	IIIT Hyderabad
Co-Chair: Miura, Jun	Toyohashi Univ. of Tech.
13:00-13:20, Paper ThBT7.1	Add to My Program
Active Global Localization for Multiple Robots by Disambiguating Multiple Hypotheses
Bhuvanagiri, Shivudu	IIIT Hyderabad
Krishna, Madhava	IIIT Hyderabad
Presenter: Unknown
13:20-13:40, Paper ThBT7.2	Add to My Program
Simultaneous Robot Localization and Person Tracking Using Rao-Blackwellised Particle Filters with Multi-Modal Sensors
Qian, Kun	Southeast Univ.
Xudong, Ma	Southeast Univ.
Xianzhong, Dai	Southeast Univ.
Presenter: Unknown
13:40-14:00, Paper ThBT7.3	Add to My Program
A Quantitative Measure for the Navigability of a Mobile Robot Using Rough Maps
Yun, Jooseop	Osaka Univ.
Miura, Jun	Toyohashi Univ. of Tech.
Presenter: Unknown
14:00-14:20, Paper ThBT7.4	Add to My Program
Improving Monte Carlo Localization in Sparse Environments Using Structural Environment Information
Prestes, Edson	UFRGS
Ritt, Marcus	Inst. de Informática, Univ. Federal do Rio
Führ, Gustavo	Inst. de Informática, Univ. Federal do Rio
Presenter: Unknown
14:20-14:40, Paper ThBT7.5	Add to My Program
GP-BayesFilters: Bayesian Filtering Using Gaussian Process Prediction and Observation Models
Ko, Jonathan	Univ. of Washington
Fox, Dieter	Univ. of Washington
Presenter: Unknown
14:40-15:00, Paper ThBT7.6	Add to My Program
Cooperative Localization of Multiple Robots with Constraint Propagation Technique
Jo, Kyoung-Hwan	Chungnam National Univ.
Lee, Jihong	Chungnam National Univ.
Presenter: Unknown

ThBT8 Regular Sessions, Gallieni 5	Add to My Program
Haptics I
Chair: Bicchi, Antonio	Univ. of Pisa
Co-Chair: Righettini, Paolo	Univ. of Bergamo
13:00-13:20, Paper ThBT8.1	Add to My Program
Stability Boundary for Haptic Rendering: Influence of Human Operator
Hulin, Thomas	German Aerospace Center (DLR)
Preusche, Carsten	DLR
Hirzinger, Gerd	German Aerospace Center (DLR)
Presenter: Unknown
13:20-13:40, Paper ThBT8.2	Add to My Program
A Physically-Based Haptic Rendering for Telemanipulation with Visual Information: Macro and Micro Applications
Kim, Jungsik	Korea Advanced Inst. of Science and Tech. (KAIST)
Janabi-Sharifi, Farrokh	Ryerson Univ.
Kim, Jung	KAIST
Presenter: Unknown
13:40-14:00, Paper ThBT8.3	Add to My Program
An Optimal Redundancy Coordination Method for an Haptic Interface
Righettini, Paolo	Univ. of Bergamo
Chatterton, Steven	Pol. di Milano
Presenter: Unknown
14:00-14:20, Paper ThBT8.4	Add to My Program
SAM : A 7-DOF Portable Arm Exoskeleton with Local Joint Control
Letier, Pierre	ULB
Avraam, More	ULB
Veillerette, Samuel	Univ. Libre de Bruxelles
Horodinca, Mihaita	ULB
De Bartolomei, Maurizio	European Space Agency
Schiele, Andre	European Space Agency
Preumont, André	ULB
Presenter: Unknown
14:20-14:40, Paper ThBT8.5	Add to My Program
Performance Difference of Bowden Cable Relocated and Non-Relocated Master Actuators in Virtual Environment Applications
Schiele, Andre	European Space Agency
Presenter: Unknown
14:40-15:00, Paper ThBT8.6	Add to My Program
Redundancy Resolution of a 7 DOF Haptic Interface Considering Collision and Singularity Avoidance
Komoguchi, Yuta	Faculty of Engineering, Gifu Univ.
Yano, Ken'ichi	Faculty of Engineering, Gifu Univ.
Peer, Angelika	Tech. Univ. München
Buss, Martin	Tech. Univ. Muenchen
Presenter: Unknown

ThBT9 Regular Sessions, Rhodes 9FC	Add to My Program
Range Sensing
Chair: Marques, Lino	Univ. of Coimbra
Co-Chair: Aycard, Olivier	Joseph Fourier Univ.
13:00-13:20, Paper ThBT9.1	Add to My Program
Sub-Pixel Depth Accuracy with a Time of Flight Sensor Using Multimodal Gaussian Analysis
Pathak, Kaustubh	Jacobs Univ. Bremen
Birk, Andreas	Jacobs Univ.
Poppinga, Jann	International Univ. Bremen
Presenter: Unknown
13:20-13:40, Paper ThBT9.2	Add to My Program
Functional Object Mapping of Kitchen Environments ‡
Rusu, Radu Bogdan	Tech. Univ. Muenchen
Marton, Zoltan-Csaba	Tech. Univ. Muenchen
Blodow, Nico	Computer Science Department, Tech. Univ.
Dolha, Mihai Emanuel	Tech. Univ. München
Beetz, Michael	Tech. Univ. München
Presenter: Unknown
13:40-14:00, Paper ThBT9.3	Add to My Program
Assessment of Laser Range Finders in Risky Environments
Pascoal, José	Univ. of Coimbra
Marques, Lino	Univ. of Coimbra
de Almeida, Anibal	Univ. of Coimbra
Presenter: Unknown
14:00-14:20, Paper ThBT9.4	Add to My Program
Efficiently Learning High-Dimensional Observation Models for Monte-Carlo Localization Using Gaussian Mixtures
Pfaff, Patrick	Univ. of Freiburg
Stachniss, Cyrill	Univ. of Freiburg
Plagemann, Christian	Univ. of Freiburg
Burgard, Wolfram	Univ. of Freiburg
Presenter: Unknown
14:20-14:40, Paper ThBT9.5	Add to My Program
Learning Predictive Terrain Models for Legged Robot Locomotion
Plagemann, Christian	Univ. of Freiburg
Mischke, Sebastian	Univ. Freiburg
Prentice, Sam	Massachusetts Inst. of Tech.
Kersting, Kristian	MIT
Roy, Nicholas	Massachusetts Inst. of Tech.
Burgard, Wolfram	Univ. of Freiburg
Presenter: Unknown
14:40-15:00, Paper ThBT9.6	Add to My Program
Object-Orientated Registration Method for Surface Inspection of Automotive Windshields
Zhang, Chi	Michigan State Univ.
Xi, Ning	Michigan State Univ.
Shi, Quan	Michigan State Univ.
Presenter: Unknown

ThBT10 Regular Sessions, Gallieni 2	Add to My Program
Biologically-Inspired Robots II
Chair: Yang, Woosung	Korea Inst. of Science & Tech.
Co-Chair: Jones, Bryan	Mississippi State Univ.
13:00-13:20, Paper ThBT10.1	Add to My Program
Visual Motion Integration Controls Attractiveness of Objects in Walking Flies and a Mobile Robot
Mronz, Markus	Theodor-Boveri-Inst. für Biowissenschaften
Strauss, Roland	Johannes Gutenberg Univ. Mainz
Presenter: Unknown
13:20-13:40, Paper ThBT10.2	Add to My Program
A Geometrical Approach to Inverse Kinematics for Continuum Manipulators
Neppalli, Srinivas	Mississippi State Univ.
Csencsits, Matthew	Clemson Univ.
Jones, Bryan	Mississippi State Univ.
Walker, Ian	Clemson Univ.
Presenter: Unknown
13:40-14:00, Paper ThBT10.3	Add to My Program
Morpho: A Self-Deformable Modular Robot Inspired by Cellular Structure ‡
Yu, Chih-Han	Harvard Univ.
Haller, Kristina	MIT
Ingber, Donald	Harvard Medical School; Children's Hospital Boston
Nagpal, Radhika	Harvard Univ.
Presenter: Unknown
14:00-14:20, Paper ThBT10.4	Add to My Program
Vertical Ladder Climbing Motion with Posture Control for Multi-Locomotion Robot
Yoneda, Hironari	Nagoya Univ.
Sekiyama, Kosuke	Nagoya Univ.
Hasegawa, Yasuhisa	Univ. of Tsukuba
Fukuda, Toshio	Nagoya Univ.
Presenter: Unknown
14:20-14:40, Paper ThBT10.5	Add to My Program
Self-Sustaining Rhythmic Arm Motion Using Neural Oscillators
Yang, Woosung	Korea Inst. of Science & Tech.
Chong, Nak Young	Japan Advanced Inst. of Sci. and Tech.
Kwon, JaeSung	Korea Inst. of Science and Tech.
You, Bum Jae	KIST
Presenter: Unknown

ThBT11 Regular Sessions, Gallieni 3	Add to My Program
Computer Vision II
Chair: Marchand, Eric	INRIA
Co-Chair: Mezouar, Youcef	Blaise Pascal Univ.
13:00-13:20, Paper ThBT11.1	Add to My Program
An Object Recognition System Based on Color Co-Occurrence Histogram and Geometric Relations of Pyramidal Image Patches
Bang, Heebeom	Hanyang
Yu, Dongjin	Hanyang Univ.
Lee, Sanghoon	Hanyang Univ.
Suh, Il Hong	Hanyang Univ.
Presenter: Unknown
13:20-13:40, Paper ThBT11.2	Add to My Program
Estimation of Camera Parameters from Arbitrary Parallelograms
Kim, Jae-Hean	ETRI
Choi, Byung Tae	Electronics and Telecommunication Res. Inst.
Presenter: Unknown
13:40-14:00, Paper ThBT11.3	Add to My Program
Autonomous Segmentation of Near-Symmetric Objects through Vision and Robotic Nudging
Li, Wai Ho	Monash Univ.
Kleeman, Lindsay	Monash Univ.
Presenter: Unknown
14:00-14:20, Paper ThBT11.4	Add to My Program
Frame Rate Object Extraction from Video Sequences with Self Organizing Networks and Statistical Background Detection
Craesmeyer Bellardi, Thiago	INRIA Rhone-Alpes
Vasquez, Alejandro	ETHZ
Laugier, Christian	INRIA Rhône-Alpes
Presenter: Unknown
14:20-14:40, Paper ThBT11.5	Add to My Program
Automatically Smoothing Camera Pose Using Cross Validation for Sequential Vision-Based 3D Mapping
Farenzena, Michela	Blaise Pascal Univ.
Bartoli, Adrien	CNRS
Mezouar, Youcef	Blaise Pascal Univ.
Presenter: Unknown
14:40-15:00, Paper ThBT11.6	Add to My Program
Active Rough Shape Estimation of Unknown Objects
Dune, Claire	IRISA-INRIA Rennes
Marchand, Eric	INRIA
Collewet, Christophe	INRIA
Leroux, Christophe	CEA LIST
Presenter: Unknown

ThBT12 Regular Sessions, Gallieni A	Add to My Program
Marine Robotics II
Chair: Corke, Peter	CSIRO
Co-Chair: Carreras, Marc	Univ. de Girona
13:00-13:20, Paper ThBT12.1	Add to My Program
Enabling Autonomous Capabilities in Underwater Robotics
Sattar, Junaed	McGill Univ.
Dudek, Gregory	McGill Univ.
Chiu, Olivia	McGill Univ.
Rekleitis, Ioannis	McGill Univ.
Mills, Alec	McGill Univ.
Giguere, Philippe	McGill Univ.
Plamondon, Nicolas	McGill Univ.
Prahacs, Chris	McGill Univ.
Girdhar, Yogesh	McGill Univ.
Nahon, Meyer	McGill Univ.
Lobos, John-Paul	McGill Univ.
Presenter: Unknown
13:20-13:40, Paper ThBT12.2	Add to My Program
Policy Gradient Based Reinforcement Learning for Real Autonomous Underwater Cable Tracking ‡
El-Fakdi, Andres	Univ. of Girona
Carreras, Marc	Univ. de Girona
Presenter: Unknown
13:40-14:00, Paper ThBT12.3	Add to My Program
Line Following Guidance Control: Application to the Charlie Autonomous Surface Vehicle
Bibuli, Marco	CNR
Bruzzone, Gabriele	C.N.R.
Caccia, Massimo	Consiglio Nazionale delle Ricerche
Indiveri, Giovanni	Univ. of Salento
Zizzari, Alessandro Antonio	Univ. del Salento - Lecce
Presenter: Unknown
14:00-14:20, Paper ThBT12.4	Add to My Program
Experimental Results on Smooth Path Tracking with Application to Pipe Surveying on Inexpensive AUV
Calvo, Oscar	Univ. OF THE BALEARIC ISLANDS
Rozenfeld, Alejandro	IMEDEA - UIB
Andre, Sousa	Univ. of the Balearic Islands
Valenciaga, Fernando	Univ. Nacional de la Plata
Puleston, Pablo	Univ. Nacional de la Plata
Acosta, Gerardo	Univ. Nacional del Centro de la Provincia de Bs As
Presenter: Unknown
14:20-14:40, Paper ThBT12.5	Add to My Program
Deep Sea Underwater Robotic Exploration in the Ice-Covered Arctic Ocean with AUVs
Kunz, Clayton	Woods Hole Oceanographic Inst. / Massachusetts
Murphy, Chris	Woods Hole Oceanographic Inst.
Camilli, Richard	Woods Hole Oceanographic Inst.
Singh, Hanumant	Woods Hole Oceanographic Inst.
Eustice, Ryan	Univ. of Michigan
Roman, Chris	Univ. of Rhode Island
Jakuba, Michael	Woods Hole Oceanographic Inst.
Willis, Claire	Woods Hole Oceanographic Inst.
Sato, Taichi	Univ. of Tokyo
Nakamura, Ko-ichi	National Inst. of Advanced Industrial Science and
Sohn, Robert	Woods Hole Oceanographic Inst.
Bailey, John	Woods Hole Oceanographic Inst.
Presenter: Unknown
14:40-15:00, Paper ThBT12.6	Add to My Program
Optimal and Quasi-Optimal Navigations of an AUV in Current Disturbances
Kim, Kangsoo	NTT Communication Science Lab. NTT
Ura, Tamaki	The Univ. of Tokyo
Presenter: Unknown

ThBT13 Regular Sessions, Rhodes 9AC	Add to My Program
Application of Robotics and Mechatronics
Chair: Jenkins, Odest Chadwicke	Brown Univ.
Co-Chair: Liu, Hong	DLR
13:00-13:20, Paper ThBT13.1	Add to My Program
Robotics in Education: Psychological Relationships with “Making-Artifacts, ” Computers, and Mathematics in Japan
Nomura, Tatsuya	Ryukoku Univ.
Omori, Atsushi	Ryukoku Univ.
Suzuki, Yusuke	Ryukoku Univ.
Mizohata, Hiroaki	Ryukoku Univ.
Yasumura, Keigo	Ryukoku Univ.
Presenter: Unknown
13:20-13:40, Paper ThBT13.2	Add to My Program
Decentralized Coordination of Autonomous AGVs in Flexible Manufacturing Systems ‡
Herrero-Perez, David	Univ. Carlos III of Madrid
Martinez-Barberá, Humberto	Univ. of Murcia
Presenter: Unknown
13:40-14:00, Paper ThBT13.3	Add to My Program
Neighborhood Denoising for Learning High-Dimensional Grasping Manifolds
Tsoli, Aggeliki	Brown Univ.
Jenkins, Odest Chadwicke	Brown Univ.
Presenter: Unknown
14:00-14:20, Paper ThBT13.4	Add to My Program
Concept of Mechatronics Safety and Modularity Design for an Autonomous Mobile Soccer Robot
Takemura, Yasunori	Kyushu Inst. of Tech.
Ogawa, Yu	Kyushu Inst. of Tech.
Forough Nassiraei, Amir Ali	Kyushu Inst. of Tech.
Sanada, Atsushi	Kyushu Inst. of Tech.
Kitazumi, Yuichi	Kyushu Inst. of Tech.
Godler, Ivan	the Univ. of Kitakyushu
Ishii, Kazuo	Kyushu Inst. of Tech.
Miyamoto, Hiroyuki	Kyushu Inst. of Tech.
Ghaderi, Ahmad	Kyushu Inst. of Tech.
Presenter: Unknown
14:20-14:40, Paper ThBT13.5	Add to My Program
Multisensory Five-Finger Dexterous Hand: The DLR/HIT Hand II
Liu, Hong	DLR
Presenter: Unknown
14:40-15:00, Paper ThBT13.6	Add to My Program
Producing Distributed Vibration by a Single Piezoelectric Ceramics for a Small Tactile Stimulator
Konyo, Masashi	Tohoku Univ.
Motoki, Yohei	Tohoku Univ.
Yamada, Hiroshi	Tohoku Univ.
Tadokoro, Satoshi	Tohoku Univ.
Maeno, Takashi	Keio Univ.
Presenter: Unknown

ThCT1 Regular Sessions, Gallieni B	Add to My Program
Service Robots
Chair: Campos, Alexandre	Univ. Pol. de Madrid
Co-Chair: Amirat, Yacine	Univ. of Paris 12
15:20-15:40, Paper ThCT1.1	Add to My Program
An Active Helideck Testbed for Floating Structures Based on a Stewart-Gough Platform ‡
Campos, Alexandre	Univ. Pol. de Madrid
Quintero, Jacqueline	Univ. Pol. de Madrid
Saltaren, Roque	Univ. Pol. de Madrid
Ferre, Manuel	Univ. Pol. de Madrid
Aracil, Rafael	Univ. Pol. de Madrid
Presenter: Unknown
15:40-16:00, Paper ThCT1.2	Add to My Program
A Foveated Passive UHF RFID System for Mobile Manipulation
Deyle, Travis	Georgia Tech.
Anderson, Cressel	Georgia Tech.
Kemp, Charles	Georgia Inst. of Tech.
Reynolds, Matthew	Duke Univ.
Presenter: Unknown
16:00-16:20, Paper ThCT1.3	Add to My Program
Towards an Automatic Approach for Ubiquitous Robotic Services Composition
Yachir, Ali	Univ. of Paris 12
Tari, Karim	Univ. of Paris 12
Chibani, Abdelghani	Citypassenger
Amirat, Yacine	Univ. of Paris 12
Presenter: Unknown
16:20-16:40, Paper ThCT1.4	Add to My Program
A Generic Architecture of Modular Embedded System for Miniature Mobile Robots
Meng, Yan	Stevens Inst. of Tech.
Johnson, Kerry	Stevens Inst. of Tech.
Simms, Brian	Stevens Inst. of Tech.
Conforth, Matthew	Stevens Inst. of Tech.
Presenter: Unknown
16:40-17:00, Paper ThCT1.5	Add to My Program
Control of Wearable Walking Helper on Slope Based on Integration of Acceleration and GRF Information
Hirata, Yasuhisa	Tohoku Univ.
Iwano, Takuya	Tohoku Univ. Japan
Kosuge, Kazuhiro	Tohoku Univ.
Presenter: Unknown

ThCT2 Regular Sessions, Rhodes 9EG	Add to My Program
Underactuated Robots
Chair: Hwang, Chih-Lyang	Tamkang Univ.
Co-Chair: Tedrake, Russ	Massachusetts Inst. of Tech.
15:20-15:40, Paper ThCT2.1	Add to My Program
Autonomous Dynamic Balance of an Electrical Bicycle Using Variable Structure Under-Actuated Control
Hwang, Chih-Lyang	Tamkang Univ.
Presenter: Unknown
15:40-16:00, Paper ThCT2.2	Add to My Program
Control of Underactuated Manipulators Using Modified Transpose Effective Jacobian
Karimi, Mahmood	K. N. Toosi Univ. of Tech.
Moosavian, S. Ali A.	K. N. Toosi Univ. of Tech.
Presenter: Unknown
16:00-16:20, Paper ThCT2.3	Add to My Program
An Impulse-Momentum Approach to Swing-Up Control of the Pendubot
Albahkali, Thamer	Michigan State Univ.
Mukherjee, Ranjan	Michigan State Univ.
Das, Tuhin	Rochester Inst. of Tech.
Presenter: Unknown
16:20-16:40, Paper ThCT2.4	Add to My Program
Underactuated Point Stabilization Using Predictive Models with Application to Marine Vehicles
Greytak, Matthew	MIT
Hover, Franz	MIT
Presenter: Unknown
16:40-17:00, Paper ThCT2.5	Add to My Program
High-Dimensional Underactuated Motion Planning Via Task Space Control ‡
Shkolnik, Alexander	MIT
Tedrake, Russ	Massachusetts Inst. of Tech.
Presenter: Unknown

ThCT3 Regular Sessions, Rhodes 9BD	Add to My Program
Flexible Arms and Compliant Tasks
Chair: Wimboeck, Thomas	German Aerospace Center (DLR)
Co-Chair: De Luca, Alessandro	Univ. di Roma "La Sapienza"
15:20-15:40, Paper ThCT3.1	Add to My Program
A Method to Generate Stable, Collision Free Configurations for Tensegrity Based Robots ‡
Hernandez Juan, Sergi	CSIC-UPC (IRI)
Mirats Tur, Josep M.	CSIC-UPC
Presenter: Unknown
15:40-16:00, Paper ThCT3.2	Add to My Program
Robotic Assembly of Complex Planar Parts: An Experimental Evaluation ‡
Robuffo Giordano, Paolo	DLR - German Aerospace Center
Stemmer, Andreas	DLR - German Aerospace Center
Arbter, Klaus	DLR - German Aerospace Center
Albu-Schäffer, Alin	DLR - German Aeorspace Center
Presenter: Unknown
16:00-16:20, Paper ThCT3.3	Add to My Program
Vibration Suppression Control of a Flexible Arm Using Image Features of Unknown Objects
Jiang, Xin	Tohoku Univ.
Yabe, Yosuke	Tohoku Univ.
Konno, Atsushi	Tohoku Univ.
Uchiyama, Masaru	Tohoku Univ.
Presenter: Unknown
16:20-16:40, Paper ThCT3.4	Add to My Program
Friction Observer and Compensation for Control of Robots with Joint Torque Measurement
Le Tien, Luc	German Aerospace Center (DLR)
Albu-Schäffer, Alin	DLR - German Aeorspace Center
De Luca, Alessandro	Univ. di Roma
Hirzinger, Gerd	German Aerospace Center (DLR)
Presenter: Unknown
16:40-17:00, Paper ThCT3.5	Add to My Program
Impedance Control for Variable Stiffness Mechanisms with Nonlinear Joint Coupling
Wimboeck, Thomas	German Aerospace Center (DLR)
Ott, Christian	Univ. of Tokyo
Albu-Schäffer, Alin	DLR - German Aeorspace Center
Kugi, Andreas	Vienna Univ. of Tech.
Hirzinger, Gerd	German Aerospace Center (DLR)
Presenter: Unknown

ThCT4 Regular Sessions, Rhodes 10	Add to My Program
Social Human-Robot Interaction II
Chair: Siegwart, Roland	ETH Zurich
Co-Chair: Sagerer, Gerhard	Univ. of Bielefeld
15:20-15:40, Paper ThCT4.1	Add to My Program
Interacting with a Mobile Robot: Evaluating Gestural Object References ‡
Schmidt, Joachim	Univ. of Bielefeld, Faculty of Tech.
Hofemann, Nils	Univ. of Bielefeld, Faculty of Tech.
Haasch, Axel	Univ. of Bielefeld, Faculty of Tech.
Fritsch, Jannik	Honda Res. Inst. Europe GmbH
Sagerer, Gerhard	Univ. of Bielefeld, Faculty of Tech.
Presenter: Unknown
15:40-16:00, Paper ThCT4.2	Add to My Program
A Realistic Facial Animation Suitable for Human-Robot Interfacing
Marcos, Samuel	CARTIF Foundation
Gomez Garcia Bermejo, Jaime	Univ. of Valladolid
Zalama, Eduardo	Univ. of Valladolid
Presenter: Unknown
16:00-16:20, Paper ThCT4.3	Add to My Program
What Do People Expect from Robots?
Ray, Céline	ETHZ
Mondada, Francesco	EPFL
Siegwart, Roland	ETH Zurich
Presenter: Unknown
16:20-16:40, Paper ThCT4.4	Add to My Program
Emotional Speech in the Context of Entertainment Robots. the Effect of Different Emotions on Users’ Perceptions.
Kroll-Peters, Olaf	Tech. Univ. Berlin
Rauterberg, Simon	Tech. Univ. Berlin
Surucu, Ugur	Tech. Univ. Berlin
Unterstein, Andreas	Tech. Univ. Berlin
Wilhelm, Mathias	TU Berlin
Presenter: Unknown
16:40-17:00, Paper ThCT4.5	Add to My Program
Motivation and Competitive Learning in a Social Robot
Dominguez, Salvador	CARTIF
Zalama, Eduardo	Univ. of Valladolid
Gomez Garcia Bermejo, Jaime	Univ. of Valladolid
Pulido Fentanes, Jaime	CARTIF
Presenter: Unknown
17:00-17:20, Paper ThCT4.6	Add to My Program
Design and Assembling of a Magneto-Inertial Wearable Device for Ecological Behavioral Analysis of Infants
Taffoni, Fabrizio	Campus Bio-Medico Univ.
Campolo, Domenico	Campus Bio-Medico Univ.
Delafield-Butt, Jonathan	the Univ. of Edinburgh
Keller, Flavio	Univ. "Campus Bio-Medico"
Guglielmelli, Eugenio	Univ. Campus Bio-Medico
Presenter: Unknown

ThCT5 Regular Sessions, Rhodes 9FC	Add to My Program
Sensor Fusion
Chair: Roumeliotis, Stergios	Univ. of Minnesota
Co-Chair: Kubus, Daniel	Tech. Univ. of Braunschweig
15:20-15:40, Paper ThCT5.1	Add to My Program
Target Tracking Using SIR and MCMC Particle Filters by Multiple Cameras and Laser Range Finders ‡
Kurazume, Ryo	Kyushu Univ.
Yamada, Hiroyuki	Kyushu Univ.
Murakami, Kouji	Kyushu Univ.
Iwashita, Yumi	Kyushu Univ.
Hasegawa, Tsutomu	Kyushu Univ.
Presenter: Unknown
15:40-16:00, Paper ThCT5.2	Add to My Program
On-Line Estimation of Inertial Parameters Using a Recursive Total Least-Squares Approach
Kubus, Daniel	Tech. Univ. of Braunschweig
Kroeger, Torsten	Tech. Univ. of Braunschweig
Wahl, Friedrich M.	Tech. Univ. of Braunschweig
Presenter: Unknown
16:00-16:20, Paper ThCT5.3	Add to My Program
Pattern Recognition for Loosely-Coupled GPS/odometer Fusion
Chen, Cheng	Renault
Ibanez-Guzman, Javier	Renault
Le-Marchant, Olivier	Univ. of Tech. of Compiegne
Presenter: Unknown
16:20-16:40, Paper ThCT5.4	Add to My Program
Multimodal Sensor Fusion for Attitude Estimation of Micromechanical Flying Insects: A Geometric Approach
Campolo, Domenico	Campus Bio-Medico Univ.
Schenato, Luca	Univ. of Padova
Pi, Lijuan	Univ. of Delaware
Deng, Xinyan	Univ. of Delaware
Guglielmelli, Eugenio	Univ. Campus Bio-Medico
Presenter: Unknown
16:40-17:00, Paper ThCT5.5	Add to My Program
Determining the Camera to Robot-Body Transformation from Planar Mirror Reflections
Hesch, Joel	Univ. of Minnesota
Mourikis, Anastasios	Univ. of Minnesota
Roumeliotis, Stergios	Univ. of Minnesota
Presenter: Unknown
17:00-17:20, Paper ThCT5.6	Add to My Program
Identifying a Moving Object with an Accelerometer in a Camera View
Shigeta, Osamu	Tohoku Univ.
Kagami, Shingo	Tohoku Univ.
Hashimoto, Koichi	Tohoku Univ.
Presenter: Unknown

ThCT6 Regular Sessions, Risso 8	Add to My Program
Legged Robots III
Chair: Hirose, Shigeo	Tokyo Inst. of Tech.
Co-Chair: Minor, Mark	Univ. of Utah
15:20-15:40, Paper ThCT6.1	Add to My Program
Graph Search Joint Path Planning for Robot Center of Gravity Positioning
Phipps, Cristian	Univ. of Utah
Johnson, David	Univ. of Utah
Minor, Mark	Univ. of Utah
Presenter: Unknown
15:40-16:00, Paper ThCT6.2	Add to My Program
Sensing and Control of Quadruped Walking and Climbing Robot Over Complex Environment ‡
Vo, Gia Loc	Sungkyunkwan Univ.
Choi, Hyouk Ryeol	Sungkyunkwan Univ.
Koo, Ig Mo	Sung Kyun Kwan Univ.
Tran, Duc Trong	SungKyunKwan Univ.
Song, Young Kuk	SungKyunKwan Univ.
Kim, Ho Moon	SKKU IRMS Lab.
Moon, Hyungpil	SungKyunKwan Univ.
Presenter: Unknown
16:00-16:20, Paper ThCT6.3	Add to My Program
Developement of Leg-Wheel Hybrid Quadruped "AirHopper"
Tanaka, Takahiro	Tokyo Inst. of Tech.
Hirose, Shigeo	Tokyo Inst. of Tech.
Presenter: Unknown
16:20-16:40, Paper ThCT6.4	Add to My Program
Analysis and Benchmarking of a Whegs(TM) Robot in USARSim ‡
Taylor, Brian	Case Western Res. Univ.
Balakirsky, Stephen	NIST
Messina, Elena	NIST
Quinn, Roger, D.	Case Western Res. Univ.
Presenter: Unknown
16:40-17:00, Paper ThCT6.5	Add to My Program
Action Planner of Hybrid Leg-Wheel Robots for Lunar and Planetary Exploration
Rohmer, Eric	Tohoku Univ.
Reina, Giulio	Univ. of Salento
Ishigami, Genya	Massachusetts Inst. of Tech.
Nagatani, Keiji	Tohoku Univ.
Yoshida, Kazuya	Tohoku Univ.
Presenter: Unknown
17:00-17:20, Paper ThCT6.6	Add to My Program
Analysis of Relationship between Limb Length and Joint Load in Quadruped Walking on the Slope
Aoyama, Tadayoshi	Nagoya Univ.
Sekiyama, Kosuke	Nagoya Univ.
Hasegawa, Yasuhisa	Univ. of Tsukuba
Fukuda, Toshio	Nagoya Univ.
Presenter: Unknown

ThCT7 Regular Sessions, Risso 6AB	Add to My Program
Localization and Computer Vision
Chair: Zingaretti, Primo	Univ. Pol. delle Marche
Co-Chair: Malis, Ezio	INRIA
15:20-15:40, Paper ThCT7.1	Add to My Program
Accurate and Robust Ego-Motion Estimation Using Expectation Maximization
Dubbelman, Gijs	TNO Defence, security and safety
van der Mark, Wannes	TNO Defence, Security and Safety
Groen, Frans	Univ. of Amsterdam
Presenter: Unknown
15:40-16:00, Paper ThCT7.2	Add to My Program
Lumen Detection for Capsule Endoscopy ‡
Zabulis, Xenophon	FORTH
Argyros, Antonis	FORTH
Tsakiris, Dimitris	FORTH
Presenter: Unknown
16:00-16:20, Paper ThCT7.3	Add to My Program
Global Urban Localization of Outdoor Mobile Robots Using Satellite Images
Dogruer, Can Ulas	Hacettepe Univ.
Koku, Bugra	METU
Dolen, Melik	Middle East Tech. Univ.
Presenter: Unknown
16:20-16:40, Paper ThCT7.4	Add to My Program
Feature Group Matching for Appearance-Based Localization
Ascani, Andrea	Univ. Pol. delle Marche
Frontoni, Emanuele	Univ. Pol. delle Marche
Mancini, Adriano	Univ. Pol. delle Marche
Zingaretti, Primo	Univ. Pol. delle Marche
Presenter: Unknown
16:40-17:00, Paper ThCT7.5	Add to My Program
Using Reference Objects to Improve Vision-Based Bearing Measurements ‡
Mellmann, Heinrich	Humboldt Univ. zu Berlin
Jüngel, Matthias	Humboldt-Univ. zu Berlin
Spranger, Michael	Sony CSL Paris
Presenter: Unknown
17:00-17:20, Paper ThCT7.6	Add to My Program
Real-Time Stereo Visual Odometry for Autonomous Ground Vehicles ‡
Howard, Andrew	JPL
Presenter: Unknown

ThCT8 Regular Sessions, Gallieni 5	Add to My Program
Haptics II
Chair: Hosoda, Koh	Osaka Univ.
Co-Chair: Hara, Masayuki	Yokohama National Univ.
15:20-15:40, Paper ThCT8.1	Add to My Program
Tactile Sensor with Standing Piezoresistive Cantilevers, Covered with 2-Layer Skin Type Structures for Texture Detection of Object Surface
Noda, Kentaro	Univ. of Tokyo
Matsumoto, Kiyoshi	The Univ. of Tokyo
Shimoyama, Isao	Univ. of Tokyo
Presenter: Unknown
15:40-16:00, Paper ThCT8.2	Add to My Program
Simulation of Deformable Environment with Haptic Feedback on GPU ‡
Altomonte, Marco	Univ. of Verona
Zerbato, Davide	Univ. of Verona
Botturi, Debora	Univ. of Verona
Fiorini, Paolo	Univ. of Verona
Presenter: Unknown
16:00-16:20, Paper ThCT8.3	Add to My Program
Simulation of Grasping Deformable Objects with a Virtual Human Hand
Cui, Tong	Univ. of North Carolina at Charlotte
Xiao, Jing	UNC-Charlotte
Song, Aiguo	Southeast Univ.
Presenter: Unknown
16:20-16:40, Paper ThCT8.4	Add to My Program
Consideration of Weight Discriminative Powers for Various Weight Changes Using a Haptic Device
Hara, Masayuki	Yokohama National Univ.
Ashitaka, Naoya	Yokohama National Univ.
Tambo, Noriaki	Yokohama National Univ.
Huang, Jian	Yokohama National Univ.
Yabuta, Tetsuro	Yokohama National Univ.
Presenter: Unknown
16:40-17:00, Paper ThCT8.5	Add to My Program
Robust Material Discrimination by a Soft Anthropomorphic Finger with Tactile and Thermal Sense
Takamuku, Shinya	Graduate School of Engineering, Osaka Univ.
Iwase, Tomoki	Osaka Univ.
Hosoda, Koh	Osaka Univ.
Presenter: Unknown

ThCT9 Regular Sessions, Gallieni 2	Add to My Program
Tracking
Chair: Lee, Sukhan	Sungkyunkwan Univ.
Co-Chair: Blanc, Christophe	LASMEA
15:20-15:40, Paper ThCT9.1	Add to My Program
Real-Time 3D Object Pose Estimation and Tracking for Natural Landmark Based Visual Servo ‡
Choi, Changhyun	Sungkyunkwan Univ.
Baek, Seung-Min	Sungkyunkwan Univ.
Lee, Sukhan	Sungkyunkwan Univ.
Presenter: Unknown
15:40-16:00, Paper ThCT9.2	Add to My Program
A Multi-Camera Person Tracking System for Robotic Applications in Virtual Reality TV Studio ‡
Nair, Suraj	Tech. Univ. München
Panin, Giorgio	Tech. Univ. Muenchen
Wojtczyk, Martin	Tech. Univ. München, Bayer HealthCare
Lenz, Claus	Tech. Univ. München
Friedlhuber, Thomas	Tech. Univ. Muenchen
Knoll, Alois	TU Munich
Presenter: Unknown
16:00-16:20, Paper ThCT9.3	Add to My Program
Deformable Motion Tracking of the Heart Surface ‡
Richa, Rogerio	Univ. Montpellier 2
Poignet, Philippe	LIRMM UMR 5506 CNRS UM2
Liu, Chao	LIRMM (CNRS-UMII), France
Presenter: Unknown
16:20-16:40, Paper ThCT9.4	Add to My Program
SwisTrack - a Flexible Open Source Tracking Software for Multi-Agent Systems ‡
Lochmatter, Thomas	EPFL
Roduit, Pierre	Pol. Fédérale de Lausanne
Cianci, Christopher M.	EPFL
Correll, Nikolaus	Massachusetts Inst. of Tech.
Jacot, Jacques	École Pol. Fédérale de Lausanne
Martinoli, Alcherio	EPFL
Presenter: Unknown
16:40-17:00, Paper ThCT9.5	Add to My Program
Mutual Assistance between Speech and Vision for Human-Robot Interaction ‡
Burger, Brice	Univ. de Toulouse ; LAAS-CNRS ; IRIT
Lerasle, Frederic	LAAS - CNRS
Ferrane, Isabelle	IRIT - Paul Sabatier Univ.
Clodic, Aurélie	LAAS - CNRS
Presenter: Unknown
17:00-17:20, Paper ThCT9.6	Add to My Program
Overcoming Sensor Noise for Low-Tolerance Autonomous Assembly
Sellner, Brennan	Carnegie Mellon Univ.
Heger, Frederik W.	CMU Robotics Inst.
Hiatt, Laura M.	Carnegie Mellon Univ.
Melchior, Nik	Carnegie Mellon Univ.
Roderick, Stephen	Univ. of Maryland
Akin, David	Univ. of Maryland
Simmons, Reid	Carnegie Mellon Univ.
Singh, Sanjiv	Carnegie Mellon Univ.
Presenter: Unknown

ThCT10 Regular Sessions, Rhodes 9AC	Add to My Program
Neuro and Micro Robots
Chair: Bergbreiter, Sarah	Univ. of Maryland, Coll. Park
Co-Chair: Xie, Hui	Univ. Pierre et Marie Curie-Paris VI/CNRS
15:20-15:40, Paper ThCT10.1	Add to My Program
Calibration and Nonlinearity Compensation for Force Application in AFM Nanomanipulation
Xie, Hui	Univ. Pierre et Marie Curie-Paris VI/CNRS
Vitard, Julien	Univ. Pierre et Marie Curie
Haliyo, Dogan Sinan	Univ. Paris 6
Régnier, Stéphane	Univ. Paris 6
Presenter: Unknown
15:40-16:00, Paper ThCT10.2	Add to My Program
Effective and Efficient Locomotion for Millimeter-Sized Microrobots
Bergbreiter, Sarah	Univ. of Maryland, Coll. Park
Presenter: Unknown
16:00-16:20, Paper ThCT10.3	Add to My Program
From Teleoperated to Automatic Blastocyst Microinjections: Designing a New System from Expert-Controlled Operations
Mattos, Leonardo	Fondazione Istituto Italiano di Tecnologia
Grant, Edward	North Carolina State Univ.
Thresher, Randy	UNC Chapel Hill
Kluckman, Kim	UNC Chapel Hill
Presenter: Unknown
16:20-16:40, Paper ThCT10.4	Add to My Program
Robotic Micro-Assembly of Microparts Using a Piezogripper ‡
Hériban, David	FEMTO-ST Inst. UMR CNRS 6174
Gauthier, Michael	FEMTO-ST Inst.
Presenter: Unknown
16:40-17:00, Paper ThCT10.5	Add to My Program
A Soft Actuator Based Expressive Mask for Facial Paralyzed Patients
Jayatilake, Prabhath Dushyantha	Univ. of Tsukuba
Suzuki, Kenji	Univ. of Tsukuba
Presenter: Unknown
17:00-17:20, Paper ThCT10.6	Add to My Program
On-Chip Magnetic 3D Soft Microactuators Made by Gray-Scale Lithography
Yamanishi, Yoko	Tohoku Univ.
Sakuma, Shinya	Tohoku Univ.
Kihara, Yuki	Tohoku Univ.
Arai, Fumihito	Tohoku Univ.
Presenter: Unknown

ThCT11 Regular Sessions, Gallieni 3	Add to My Program
Computer Vision III
Chair: Rasmussen, Christopher	Univ. of Delaware
Co-Chair: Nagahara, Hajime	Graduate School of Engineering Science , Osaka Univ.
15:20-15:40, Paper ThCT11.1	Add to My Program
Invariant Signature Description and Trajectory Reproduction for Robot Learning by Demonstration
Wu, Shandong	City Univ. of Hong Kong
Li, Y.F.	City Univ. of Hong Kong
Zhang, Jianwei	Univ. of Hamburg
Presenter: Unknown
15:40-16:00, Paper ThCT11.2	Add to My Program
Depth Estimation from the Color Drift of a Route Panorama
Nagahara, Hajime	Graduate School of Engineering Science , Osaka Univ.
Ichikawa, Atsushi	Osaka Univ.
Yachida, Masahiko	Graduate School of Engineering Science , Osaka Univ.
Presenter: Unknown
16:00-16:20, Paper ThCT11.3	Add to My Program
On-Line Convex Optimization Based Solution for Mapping in VSLAM
Abdul Hafez, A. H.	Osmania Uiversity
Bhuvanagiri, Shivudu	IIIT Hyderabad
Krishna, Madhava	IIIT Hyderabad
Jawahar, C.V.	IIIT, Hyderabad
Presenter: Unknown
16:20-16:40, Paper ThCT11.4	Add to My Program
Fast Color/Texture Segmentation for Outdoor Robots
Blas, Morten Rufus	Tech. Univ. of Denmark
Agrawal, Motilal	SRI International
Konolige, Kurt	Willow Garage
Aravind, Sundaresan	SRI International
Presenter: Unknown
16:40-17:00, Paper ThCT11.5	Add to My Program
Efficient Feature Tracking for Scene Recognition Using Angular and Scale Constraints
Kim, Jungho	KAIST
Choi, Ouk	KAIST
Kweon, In So	KAIST
Presenter: Unknown
17:00-17:20, Paper ThCT11.6	Add to My Program
Shape-Guided Superpixel Grouping for Trail Detection and Tracking
Rasmussen, Christopher	Univ. of Delaware
Scott, Donald	Univ. of Delaware
Presenter: Unknown

ThCT12 Regular Sessions, Gallieni A	Add to My Program
Field Robots III
Chair: Arai, Tatsuo	Osaka Univ.
Co-Chair: Karras, George	National Tech. Univ. of Athens
15:20-15:40, Paper ThCT12.1	Add to My Program
Near-Optimal Navigation of High Speed Mobile Robots on Uneven Terrain
Iagnemma, Karl	MIT
Shimoda, Shingo	RIKEN
Shiller, Zvi	Ariel Univ. Center
Presenter: Unknown
15:40-16:00, Paper ThCT12.2	Add to My Program
Experimental Study on Autonomous Burrowing Screw Robot for Subsurface Exploration on the Moon
Nagaoka, Kenji	The Graduate Univ. for Advanced Studies
Kubota, Takashi	JAXA ISAS
Otsuki, Masatsugu	Inst. of Space and Astronautical Science, JAXA
Tanaka, Satoshi	JAXA/ISAS
Presenter: Unknown
16:00-16:20, Paper ThCT12.3	Add to My Program
Classification of Odours with Mobile Robots Based on Transient Response.
Trincavelli, Marco	Örebro Univ.
Coradeschi, Silvia	Örebro Univ.
Loutfi, Amy	Örebro Univ.
Presenter: Unknown
16:20-16:40, Paper ThCT12.4	Add to My Program
Visual Servo Control of an Underwater Vehicle Using a Laser Vision System
Karras, George	National Tech. Univ. of Athens
Kyriakopoulos, Kostas	National Tech. Univ. of Athens
Presenter: Unknown
16:40-17:00, Paper ThCT12.5	Add to My Program
Detection of Screws on Metal-Ceiling Structures for Dismantling Tasks in Buildings
Cruz Ramirez, Sergio Rolando	Osaka Univ.
Mae, Yasushi	Osaka Univ.
Takubo, Tomohito	Osaka Univ.
Arai, Tatsuo	Osaka Univ.
Presenter: Unknown
17:00-17:20, Paper ThCT12.6	Add to My Program
A Climbing Robot for Inspection of 3D Human Made Structures ‡
Tavakoli, Mahmoud	Univ. of Coimbra
Marjovi, Ali	Univ. of Coimbra
Marques, Lino	Univ. of Coimbra
de Almeida, Anibal	Univ. of Coimbra
Presenter: Unknown

ThVV Video Sessions, Apollon	Add to My Program
Videos II
Chair: Abbott, Jake	ETH Zurich
Co-Chair: Hu, Jwu-Sheng	National Chiao Tung Univ.
08:40-08:57, Paper ThVV.1	Add to My Program
The UJI Industrial Robotics Telelaboratory: Real-Time Vision and Networking ‡
Sales, Jorge	Jaume-I Univ.
Beltran, Reinel	Univ. de Oriente
Sanz, Pedro J	Jaume I
Marin, Raul	Jaume I Univ.
Wirz, Raul	Jaume I Univ.
Leon, German	Jaume-I Univ.
Claver, José	Univ. de Valencia
Alemany, Jaime	Jaume-I Univ.
Presenter: Unknown
08:57-09:14, Paper ThVV.2	Add to My Program
Multi-Modal Multi-User Telepresence and Teleaction System ‡
Buss, Martin	Tech. Univ. Muenchen
Peer, Angelika	Tech. Univ. München
Schauß, Thomas	Tech. Univ. München
Stefanov, Nikolay	Tech. Univ. München
Unterhinninghofen, Ulrich	Tech. Univ. München
Behrendt, Stephan	Tech. Univ. München
Faerber, Georg	TU Munchen
Leupold, Jan	Tech. Univ. München
Diepold, Klaus	Tech. Univ. München
Keyrouz, Fakheredine	Tech. Univ. München
Sarkis, Michel	Munich Univ. of Tech.
Hinterseer, Peter	Tech. Univ. München
Presenter: Unknown
09:14-09:31, Paper ThVV.3	Add to My Program
Synchronization and Fault Detection in Autonomous Robots ‡
Christensen, Anders Lyhne	Univ. Libre de Bruxelles
Dorigo, Marco	Univ. Libre de Bruxelles
O'Grady, Rehan	Univ. Libre de Bruxelles
Presenter: Unknown
09:31-09:48, Paper ThVV.4	Add to My Program
Nanohelices As Motion Converters ‡
Kratochvil, Bradley	ETH Zurich
Dong, Lixin	ETH Zurich
Zhang, Li	ETH Zurich
Abbott, Jake	ETH Zurich
Nelson, Bradley J.	ETH Zurich
Presenter: Unknown
09:48-10:05, Paper ThVV.5	Add to My Program
Admittance Control of a Human Centered 3 DOF Robotic Arm Using Differential Elastic Actuators ‡
Legault, Marc-Antoine	Univ. de Sherbrooke
Lavoie, Marc-André	Univ. de Sherbrooke
Cabana, Francois	Univ. de Sherbrooke
Goudreau, Philippe-Jacob	Univ. de Sherbrooke
Létourneau, Dominic	Univ. de Sherbrooke
Michaud, Francois	Univ. de Sherbrooke
Lauria, Michel	Univ. de Sherbrooke
Presenter: Unknown
10:05-10:22, Paper ThVV.6	Add to My Program
The Glove Puppet Robot ： X-Puppet ‡
Hu, Jwu-Sheng	National Chiao Tung Univ.
Wang, Jyun-Ji	National Chiao Tung Univ.
Sun, Guan-Qun	National Chiao Tung Univ.
Presenter: Unknown
10:22-10:39, Paper ThVV.7	Add to My Program
Tribolon: Water Based Self-Assembly Robot with Freezing Connector (Movie) ‡
Miyashita, Shuhei	Univ. of Zurich
Casanova, Flurin	Department of Informatics, Univ. of Zurich
Lungarella, Max	Artificial Intelligence Lab.
Pfeifer, Rolf	Univ. of Zurich
Presenter: Unknown