IEEE Catalog Number: ISBN:

CFP10RAA-PRT 978-1-4244-5038-1

2010 IEEE International Conference on Robotics and Automation (ICRA 2010)

Anchorage, Alaska, USA 3-8 May 2010

TuA1 Egan Center Street Level Room ArteagaAerial Robotics: Communication, Perception and Control (Regular Sessions)

Chair: Roy, Nicholas Massachusetts Inst. of Tech.Co-Chair: Floreano, Dario Ec. Pol. Federal, Lausanne

08:30-08:45 TuA1.1Efficient Planning under Uncertainty for a Target-Tracking Micro-Aerial Vehicle, pp. 1-8.

He, Ruijie (Massachusetts Inst. of Tech.), Bachrach, Abraham (Massachusetts Inst. of Tech.), Roy, Nicholas (Massachusetts Inst. of Tech.)

08:45-09:00 TuA1.2Homography-Based Visual Servoing of an Aircraft for Automatic Approach and Landing, pp. 9-14.

Gonçalves, Tiago (IST/TULisbon), Azinheira, Jose Raul (IST, T.U.Lisbon), Rives, Patrick (INRIA) 09:00-09:15 TuA1.3Communication-Based Leashing of Real Flying Robots, pp. 15-20.

Hauert, Sabine (EPFL), Leven, Severin (Ec. Pol. Federale de Lausanne), Zufferey, Jean-Christophe (EPFL), Floreano, Dario (Ec. Pol. Federal, Lausanne)

09:15-09:30 TuA1.4Vision Based MAV Navigation in Unknown and Unstructured Environments, pp. 21-28.

Blösch, Michael (ETH Zurich), Weiss, Stephan (ETH Zurich), Scaramuzza, Davide (ETH Zurich), Siegwart, Roland (ETH Zurich) 09:30-09:45 TuA1.5UAV Altitude and Attitude Stabilisation Using a Coaxial Stereo Vision System, pp. 29-34. Attachment

Moore, Richard James Donald (Univ. of Queensland), Thurrowgood, Saul (Univ. of Queensland), Bland, Daniel Peter (Univ. of Queensland), Soccol, Dean (Univ. of Queensland), Srinivasan, Mandyam (The Univ. of Queensland)

09:45-10:00 TuA1.63D Pose Estimation Based on Planar Object Tracking for UAVs Control, pp. 35-41. Attachment

Mondragón, Iván Fernando (Computer Vision Group. Univ. Pol. de Madrid), Campoy, Pascual (Computer Vision Group. Univ. Pol. de Madrid), Martínez, Carol (UPM), Olivares, Miguel (Univ. Pol. Madrid,)

TuA2 Egan Center Lower Level Room 6Novel Designs and Architectures (Invited Sessions)

Chair: Cheng, Harry Univ. of California, DavisCo-Chair: Green, Keith Evan Clemson Univ.

08:30-08:45 TuA2.1Mechanism Design and Air Pressure Control System Improvements of the Waseda Saxophonist Robot, pp. 42-47. Attachment

Solis, Jorge (Waseda Univ.), Petersen, Klaus (Waseda Univ.), Yamamoto, Tetsuro (Waseda Univ.), Takeuchi, Masaki (Waseda Univ.), Ishikawa, Shimpei (Waseda Univ.), Takanishi, Atsuo (Waseda Univ.), Hashimoto, Kunimatsu (Toyota Motor Corp.)

08:45-09:00 TuA2.2"Architectural Robotics": An Interdisciplinary Course Rethinking the Machines We Live In, pp. 48-53.

Kapadia, Apoorva (Clemson Univ.), Walker, Ian (Clemson Univ.), Green, Keith Evan (Clemson Univ.), Manganelli, Joseph Charles (Clemson Univ.), Houayek, Henrique (Clemson Univ.), James, Adam (Clemson Univ.), Kanuri, Venkata Krishna Teja (Clemson Univ.), Mokhtar, Tarek (Clemson Univ.), Siles, Ivan (Clemson Univ.), Yanik, Paul (Clemson Univ.)

09:00-09:15 TuA2.3A Hovering Control Strategy for a Tail-Sitter VTOL UAV That Increases Stability against Large Disturbance, pp. 54-59. Attachment

Matsumoto, Takaaki (Tohoku Univ.), Kita, Koichi (Fuji Heavy Industries Ltd.), Suzuki, Ren (Tohoku Univ.), Oosedo, Atsushi (Tohoku Univ.), Go, Kenta (Tohoku Univ.), Hoshino, Yuta (Tohoku Univ.), Konno, Atsushi (Tohoku Univ.), Uchiyama, Masaru (Tohoku Univ.)

09:15-09:30 TuA2.4Design of Imobot, an Intelligent Reconfigurable Mobile Robot with Novel Locomotion, pp. 60-65. Attachment

Ryland, Graham (Univ. of Californial, Davis), Cheng, Harry (Univ. of California, Davis) 09:30-09:45 TuA2.5Sambot: A Self-Assembly Modular Robot for Swarm Robot, pp. 66-71. Attachment

Wei, Hongxing (Beihang Univ.), Cai, Yingpeng (Beihang Univ.), Li, Haiyuan (Beihang Univ.), Li, Dezhong (Beihang Univ.), Wang, Tianmiao (Beihang Univ.)

09:45-10:00 TuA2.6Hybrid Aerial and Scansorial Robotics, pp. 72-77. Attachment

Lussier Desbiens, Alexis (Stanford Univ.), Asbeck, Alan (Stanford Univ.), Cutkosky, Mark (Stanford Univ.) TuA3 Egan Center Second Level Room BoardroomBiologically Inspired Swimming Robots (Regular Sessions)

Chair: Fiorini, Paolo Univ. of VeronaCo-Chair: Kratochvil, Bradley ETH Zurich

08:30-08:45 TuA3.1An Improved Semi-Empirical Model for a Body And/or Caudal Fin (BCF) Fish Robot, pp. 78-83.

Low, K. H. (Nanyang Tech. Univ.), Chong, Chee Wee (Nanyang Tech. Univ.), Zhou, Chunlin (Nanyang Tech. Univ.), Seet, Gim Lee, Gerald (NTU)

08:45-09:00 TuA3.2Myometry-Driven Compliant-Body Design for Underwater Propulsion, pp. 84-89.

Akanyeti, Otar (Univ. of Verona), Ernits, Andres (Tallinn Univ. of Tech.), Fiazza, Maria-Camilla (Univ. of Verona), Toming, Gert (Tallinn Univ. of Tech.), Kunlikovskis, Guntis (Riga Tech. Univ.), Listak, Madis (Tallinn Univ. of Tech.), Raag, Rasmus (Tallinn Univ. of Tech.), Salumae, Taavi (Tallinn Univ. of Tech.), Fiorini, Paolo (Univ. of Verona), Kruusmaa, Maarja (Tallinn Univ. of Tech.)

09:00-09:15 TuA3.3Performance Study of a Fish Robot Propelled by a Flexible Caudal Fin, pp. 90-95.

Low, K. H. (Nanyang Tech. Univ.), Chong, Chee Wee (Nanyang Tech. Univ.), Zhou, Chunlin (Nanyang Tech. Univ.) 09:15-09:30 TuA3.4Non-Ideal Swimming of Artificial Bacterial Flagella Near a Surface, pp. 96-101.

Peyer, Kathrin Eva (ETH Zurich), Zhang, Li (ETH Zurich), Kratochvil, Bradley (ETH Zurich), Nelson, Bradley J. (ETH Zurich) 09:30-09:45 TuA3.5Analytical Modeling and Experimental Studies of Robotic Fish Turning, pp. 102-108.

Tan, Xiaobo (Michigan State Univ.), Carpenter, Michael (Michigan State Univ.), Thon, John (Michigan State Univ.), Alequin-Ramos, Freddie (Michigan State Univ.)

09:45-10:00 TuA3.6Omegabot: Crawling Robot Inspired by Ascotis Selenaria, pp. 109-114. Attachment

Koh, Je-Sung (Seoul National Univ.), Cho, Kyu-Jin (Seoul National Univ.) TuA4 Egan Center Lower Level Room 1Range Sensing (Regular Sessions)

Chair: Durrant-Whyte, Hugh The Univ. of SydneyCo-Chair: Xi, Ning Michigan State Univ.

08:30-08:45 TuA4.1Inferring Motion Uncertainty from Shape-Matching, pp. 115-120.

Sun, Zuolei (Shanghai Jiao Tong Univ.), van de Ven, Joop (Univ. of Sydney), Ramos, Fabio (Univ. of Sydney), Mao, Xuchu (Shanghai Jiao Tong Univ.), Durrant-Whyte, Hugh (The Univ. of Sydney)

08:45-09:00 TuA4.2Real-Time 3D Shape Measurement System Based on Single Structure Light Pattern, pp. 121-126.

Xu, Jing (Michigan State Univ.), Xi, Ning (Michigan State Univ.), Zhang, Chi (Michigan State Univ.), Shi, Quan (Michigan State Univ.) 09:00-09:15 TuA4.3Scene Understanding in a Large Dynamic Environment through a Laser-Based Sensing, pp. 127-133.

Zhao, Huijing (Peking Univ.), Liu, Yiming (Peking Univ.), Zhu, Xiaolong (Peking Univ.), Zhao, Yipu (Peking Univ.), Zha, Hongbin (Peking Univ.)

09:15-09:30 TuA4.4Dynamic 3D Scene Analysis for Acquiring Articulated Scene Models, pp. 134-141. Attachment

Swadzba, Agnes (Bielefeld Univ.), Beuter, Niklas (Bielefeld Univ.), Wachsmuth, Sven (Bielefeld Univ.), Kummert, Franz (Univ. of Bielefeld)

09:30-09:45 TuA4.5Motion Estimation from Range Images in Dynamic Outdoor Scenes, pp. 142-147.

Moosmann, Frank (Univ. of Karlsruhe), Fraichard, Thierry (Inria) 09:45-10:00 TuA4.6Projected Texture Stereo, pp. 148-155.

Konolige, Kurt (Willow Garage) TuA5 Egan Center Lower Level Room 13/14Human Robot Interaction (Regular Sessions)

Chair: Campbell, Mark Cornell Univ.Co-Chair: Burschka, Darius Tech. Univ. München

08:30-08:45 TuA5.1Dynamic Facial Expression Recognition Using Laplacian Eigenmaps-Based Manifold Learning, pp. 156-161. Attachment

Raducanu, Bogdan (Computer Vision Center), Dornaika, Fadi (Univ. of the Basque Country) 08:45-09:00 TuA5.2Representation and Constrained Planning of Manipulation Strategies in the Context of Programming by Demonstration, pp. 162-169.

Jäkel, Rainer (Univ. of Karlsruhe), Schmidt-Rohr, Sven R. (Univ. of Karlsruhe), Lösch, Martin (Univ. Karlsruhe (TH)), Dillmann, Rüdiger (Univ. of Karlsruhe)

09:00-09:15 TuA5.3Understanding a Child's Play for Robot Interaction by Sequencing Play Primitives Using Hidden Markov Models, pp. 170-177.

Park, Hae Won (Georgia Inst. of Tech.), Howard, Ayanna (Georgia Inst. of Tech.) 09:15-09:30 TuA5.4Predictive State Representations for Grounding Human-Robot Communication, pp. 178-185.

Meisner, Eric M. (Johns Hopkins Univ.), Das, Sanmay (RPI), Isler, Volkan (Univ. of Minnesota), Trinkle, Jeff (Rensselaer Pol. Inst.), Sabanovic, Selma (Indiana Univ.), Caporael, Linnda (Rensselaer Pol. Inst.)

09:30-09:45 TuA5.5Variational Bayesian Data Fusion of Multi-Class Discrete Observations with Applications to Cooperative Human-Robot Estimation, pp. 186-191.

Ahmed, Nisar (Cornell Univ.), Campbell, Mark (Cornell Univ.) 09:45-10:00 TuA5.6Estimation of Spatio-Temporal Object Properties for Manipulation Tasks from Observation of Humans, pp. 192-198.

Petsch, Susanne (Tech. Univ. München), Burschka, Darius (Tech. Univ. München) TuA6 Egan Center Lower Level Room 2Human Robot Interaction for Assistive Technology (Invited Sessions)

Chair: Behal, Aman Univ. of Central FloridaCo-Chair: Howard, Ayanna Georgia Inst. of Tech.Organizer: Behal, Aman Univ. of Central FloridaOrganizer: Kim, Dae-Jin Univ. of Central Florida

08:30-08:45 TuA6.1Ef_; Ciency Based Modulation for Wheelchair Driving Collaborative Control (I), pp. 199-204.

Urdiales, Cristina (Univ. de Málaga), Fernandez-Carmona, Manuel (Univ. de Málaga), Peula Palacios, Jose Manuel (Univ. of Málaga), Annicchiarico, Roberta (IRCCS Fondazione Santa Lucia), Sandoval, Francisco (Univ. Málaga), Caltagirone, Carlo (IRCCS Fondazione Santa Lucia - Univ. Tor Vergata Roma)

08:45-09:00 TuA6.2Real Time Estimation of Thumb Forces Using Surface Electromyogram for a Novel Human Machine Interface (I), pp. 205-210.

Park, Wonil (Korea Adv. Inst. of Science & Tech.), Kwon, Suncheol (KAIST), Kim, Jung (KAIST) 09:00-09:15 TuA6.3Stroke Survivor Gait Adaptation and Performance after Training on a Powered Ankle Foot Orthosis (I), pp. 211-216.

Ward, Jeffrey (Arizona State Univ.), Sugar, Thomas (Arizona State Univ.), Standeven, John (Washington Univ.), Engsberg, Jack (Washington Univ.)

09:15-09:30 TuA6.4On the Relationship between Autonomy, Performance, and Satisfaction: Lessons from a Three-Week User Study with Post-SCI Patients Using a Smart 6DOF Assistive Robotic Manipulator (I), pp. 217-222.

Kim, Dae-Jin (Univ. of Central Florida), Hazeltt, Rebekah (Univ. of Central Florida), Godfrey, Heather (Orlando Health), Rucks, Greta (Orlando Health), Portee, David (Orlando Health), John, Bricout (Univ. of Central Florida), Cunningham, Tara (Orlando Health), Behal, Aman (Univ. of Central Florida)

09:30-09:45 TuA6.5Linear-Quadratic-Gaussian Torque Control: Application to a Flexible Joint of a Rehabilitation Exoskeleton, pp. 223-228.

Vertechy, Rocco (Scuola Superiore Sant' Anna), Frisoli, Antonio (Scuola Superiore Sant'Anna), Solazzi, Massimiliano (Scuola Superiore Sant'Anna), Dettori, Andrea (Scuola Superiore Sant'Anna), Bergamasco, Massimo (Scuola Superiore S.Anna)

09:45-10:00 TuA6.6Transfer of Skills between Human Operators through Haptic Training with Robot Coordination, pp. 229-235. Attachment

Park, Chung Hyuk (Georgia Inst. of Tech.), Yoo, Jae Wook (Georgia Inst. of Tech.), Howard, Ayanna (Georgia Inst. of Tech.) TuA7 Egan Center Lower Level Room 11/12Algorithms and Representations for SLAM (Regular Sessions)

Chair: Munich, Mario Evolution RoboticsCo-Chair: Chung, Wan Kyun POSTECH

08:30-08:45 TuA7.1Vector Field SLAM, pp. 236-242.

Gutmann, Jens-Steffen (Evolution Robotics Inc.), Brisson, Gabriel (unaffiliated), Eade, Ethan (Evolution Robotics), Fong, Philip (Evolution Robotics), Munich, Mario (Evolution Robotics)

08:45-09:00 TuA7.2Rao-Blackwellized Particle Filters Multi Robot SLAM with Unknown Initial Correspondences and Limited Communication, pp. 243-249.

Carlone, Luca (Pol. di Torino), Kaouk Ng, Miguel Efrain (Pol. di Torino), Du, Jingjing (Pol. di torino), Bona, Basilio (Pol. di Torino), Indri, Marina (Pol. di Torino)

09:00-09:15 TuA7.3Robust RBPF-SLAM Using Sonar Sensors in Non-Static Environments, pp. 250-256.

Lee, Jung-Suk (POSTECH), Kim, Chanki (POSTECH), Chung, Wan Kyun (POSTECH) 09:15-09:30 TuA7.4A Hybrid SLAM Representation for Dynamic Marine Environments, pp. 257-264. Attachment

Bibby, Charles (Univ. of Oxford), Reid, Ian (Univ. of Oxford) 09:30-09:45 TuA7.5AntSLAM: Global Map Optimization Using Swarm Intelligence, pp. 265-272.

Iser, Rene (Tech. Univ. of Braunschweig), Wahl, Friedrich M. (Tech. Univ. of Braunschweig) 09:45-10:00 TuA7.6Hierarchical Optimization on Manifolds for Online 2D and 3D Mapping, pp. 273-278.

Grisetti, Giorgio (Unviersität Freiburg), Kuemmerle, Rainer (Univ. of Freiburg), Stachniss, Cyrill (Univ. of Freiburg), Frese, Udo (Univ. Bremen), Hertzberg, Christoph (Univ. Bremen)

TuA8 Egan Center Street Level Room Cook HallAutonomous Navigation (Regular Sessions)

Chair: Spletzer, John Lehigh Univ.Co-Chair: Sadler, Brian Army Res. Lab.

08:30-08:45 TuA8.1On-Line Calibration of Multiple LIDARs on a Mobile Vehicle Platform, pp. 279-284.

Gao, Chao (Lehigh Univ.), Spletzer, John (Lehigh Univ.) 08:45-09:00 TuA8.2Planes, Trains and Automobiles -- Autonomy for the Modern Robot, pp. 285-292.

Sibley, Gabe (Univ. of Oxford), Mei, Christopher (Univ. of Oxford), Reid, Ian (Univ. of Oxford), Newman, Paul (Oxford Univ.) 09:00-09:15 TuA8.3Repeated AUV Surveying of Urchin Barrens in North Eastern Tasmania, pp. 293-299.

Williams, Stefan Bernard (Univ. of Sydney), Pizarro, Oscar (Australian Centre for Field Robotics), Jakuba, Michael (Univ. of Sydney), Mahon, Ian (Univ. of Sydney), Ling, Scott (Univ. of Tasmania), Johnson, Craig (Univ. of Tasmania)

09:15-09:30 TuA8.4The Office Marathon: Robust Navigation in an Indoor Office Environment, pp. 300-307. Attachment

Marder-Eppstein, Eitan (Willow Garage), Berger, Eric (Willow Garage), Foote, Tully (Willow Garage Inc.), Gerkey, Brian (Willow Garage), Konolige, Kurt (Willow Garage)

09:30-09:45 TuA8.5Toward Autonomous Scientific Exploration of Ice-Covered Lakes - Field Experiments with the ENDURANCE AUV in an Antarctic Dry Valley, pp. 308-315.

Gulati, Shilpa (Univ. of Texas at Austin), Richmond, Kristof (Stone Aerospace), Flesher, Christopher (Stone Aerospace), Hogan, Bart (Stone Aerospace), Murarka, Aniket (The Univ. of Texas at Austin), Kuhlmann, Gregory (The Univ. of Texas at Austin), Sridharan, Mohan (Texas Tech. Univ.), Stone, William (Stone Aerospace), Doran, Peter (Univ. of Illinois at Chicago)

09:45-10:00 TuA8.6Parallel Grid-Based Recursive Bayesian Estimation Using GPU for Real-Time Autonomous Navigation, pp. 316-321.

Furukawa, Tomonari (Virginia Pol. Inst. and State Univ.), Lavis, Benjamin (Univ. of California, Berkeley), Durrant-Whyte, Hugh (The Univ. of Sydney)

TuA9 Egan Center Lower Level Room 3Path Planning and Coordination for Multiple Robots (Regular Sessions)

Chair: Reveliotis, Spiridon Georgia Inst. of Tech.Co-Chair: Kaminka, Gal A Bar Ilan Univ.

08:30-08:45 TuA9.1Establishing the NP-Hardness of Maximally RAS-Based Approaches to Multi-Vehicle System Safety, pp. 322-327.

Roszkowska, Elzbieta (Wroclaw Univ. of Tech.), Reveliotis, Spiridon (Georgia Inst. of Tech.) 08:45-09:00 TuA9.2Adaptive Multi-Robot Coordination: A Game-Theoretic Perspective, pp. 328-334.

Kaminka, Gal A (Bar Ilan Univ.), Erusalimchik, Dan (Bar-Ilan Univ.), Kraus, Sarit (Bar-Ilan Univ.) 09:00-09:15 TuA9.3A Potential Field Approach to Finding Minimum-Exposure Paths in Wireless Sensor Networks, pp. 335-341.

Ferrari, Silvia (Duke Univ.), Foderaro, Greg (Duke Univ.) 09:15-09:30 TuA9.4Controllability for Pairs of Vehicles Maintaining Constant Distance, pp. 342-349.

Wang, Huifang (Univ. of Pisa), Pallottino, Lucia (Univ. di Pisa), Bicchi, Antonio (Univ. of Pisa) 09:30-09:45 TuA9.5Behavior-Based Evacuation Planning, pp. 350-355.

Rodriguez, Samuel (Texas A&M Univ.), Amato, Nancy (Texas A&M Univ.) 09:45-10:00 TuA9.6A Multi-Robot System for Unconfined Video-Conferencing, pp. 356-361.

Karnad, Nikhil (Univ. of Minnesota, Twin-Cities), Isler, Volkan (Univ. of Minnesota) TuA10 Egan Center Lower Level Room 9/10AI Reasoning Methods (Regular Sessions)

Chair: Konolige, Kurt Willow GarageCo-Chair: Schermerhorn, Paul Indiana Univ.

08:30-08:45 TuA10.1Vision-Based Detection for Learning Articulation Models of Cabinet Doors and Drawers in Household Environments, pp. 362-368. Attachment

Sturm, Jürgen (Univ. of Freiburg), Konolige, Kurt (Willow Garage), Stachniss, Cyrill (Univ. of Freiburg), Burgard, Wolfram (Univ. of Freiburg)

08:45-09:00 TuA10.2Variable Resolution Decomposition for Robotic Navigation under a POMDP Framework, pp. 369-376.

Kaplow, Robert (McGill Univ.), Atrash, Amin (McGill Univ.), Pineau, Joelle (McGill Univ.) 09:00-09:15 TuA10.3Multi-Tasking SLAM, pp. 377-384. Attachment

Guez, Arthur (McGill Univ.), Pineau, Joelle (McGill Univ.) 09:15-09:30 TuA10.4Categorizing Object-Action Relations from Semantic Scene Graphs, pp. 385-392.

Aksoy, Eren Erdal (Univ. of Goettingen), Abramov, Alexey (Univ. of Goettingen), Woergoetter, Florentin (Univ. of Goettingen, Inst. of Physics III), Dellen, Babette (Max Planck Inst. for Dynamics and Self-Organization)

09:30-09:45 TuA10.5Using Logic to Handle Conflicts between System, Component, and Infrastructure Goals in Complex Robotic Architectures, pp. 393-398.

Schermerhorn, Paul (Indiana Univ.), Scheutz, Matthias (Indiana Univ. Bloomington) 09:45-10:00 TuA10.6Integrated Motor Control, Planning, Grasping and High-Level Reasoning in a Blocks World Using Probabilistic Inference, pp. 399-405. Attachment

Toussaint, Marc (TU Berlin), Nils, Plath (TU Berlin), Lang, Tobias (TU Berlin), Jetchev, Nikolay (TU Berlin) TuA11 Egan Center Lower Level Room 5

Detection and Surveillance (Regular Sessions) Chair: Papanikolopoulos, Nikos Univ. of MinnesotaCo-Chair: Young, Stuart Army Res. Lab.

08:30-08:45 TuA11.1Fusion of Laser and Vision for Multiple Targets Tracking Via On-Line Learning, pp. 406-411. Attachment

Song, Xuan (Peking Univ.), Zhao, Huijing (Peking Univ.), Cui, Jinshi (Peking Univ.), Shao, Xiaowei (Univ. of Tokyo), Shibasaki, Ryosuke (Univ. of Tokyo), Zha, Hongbin (Peking Univ.)

08:45-09:00 TuA11.2Multi-Camera Object Detection for Robotics, pp. 412-419.

Coates, Adam (Stanford Univ.), Ng, Andrew (Stanford Univ.) 09:00-09:15 TuA11.3A Strategy for Improving Observability with Mobile Robots, pp. 420-425.

Drenner, Andrew (ReconRobotics), Janssen, Michael (Univ. of Minnesota), Papanikolopoulos, Nikos (Univ. of Minnesota) 09:15-09:30 TuA11.4Moving Game Theoretical Patrolling Strategies from Theory to Practice: An USARSim Simulation, pp. 426-431.

Amigoni, Francesco (Pol. di Milano), Basilico, Nicola (Pol. di Milano), Gatti, Nicola (Pol. di Milano), Saporiti, Alessandro (Pol. di Milano), Troiani, Stefano (Pol. di Milano)

09:30-09:45 TuA11.5A Probability Density Function Approach to Distributed Sensors' Path Planning, pp. 432-439.

Ferrari, Silvia (Duke Univ.), Foderaro, Greg (Duke Univ.), Tremblay, Andrew (Carnegie Mellon Univ.) 09:45-10:00 TuA11.6Probabilistic Surveillance with Multiple Active Cameras, pp. 440-445.

Sommerlade, Eric (Univ. of Oxford), Reid, Ian (Univ. of Oxford) TuA12 Egan Center Lower Level Room 4Human Detection, Tracking and Listening (Regular Sessions)

Chair: Kyriakopoulos, Kostas National Tech. Univ. of AthensCo-Chair: Okuno, Hiroshi G. Kyoto Univ.

08:30-08:45 TuA12.1A Multiple Hypothesis People Tracker for Teams of Mobile Robots, pp. 446-451.

Tsokas, Nicolas (National Tech. Univ. of Athens), Kyriakopoulos, Kostas (National Tech. Univ. of Athens) 08:45-09:00 TuA12.2Human Detection and Tracking Via Ultra-Wideband (UWB) Radar, pp. 452-457.

Chang, SangHyun (California Inst. of Tech.), Wolf, Michael (Jet Propulsion Lab.), Burdick, Joel (California Inst. of Tech.) 09:00-09:15 TuA12.3Hands in Action: Real-Time 3D Reconstruction of Hands in Interaction with Object, pp. 458-463. Attachment

Romero, Javier (KTH), Kjellstrom, Hedvig (KTH), Kragic, Danica (KTH) 09:15-09:30 TuA12.4People Tracking with Human Motion Predictions from Social Forces, pp. 464-469.

Luber, Matthias (Univ. of Freiburg), Stork, Johannes Andreas (Univ. of Freiburg), Tipaldi, Gian Diego (Univ. of Freiburg), Arras, Kai Oliver (Univ. of Freiburg)

09:30-09:45 TuA12.5Improvement in Listening Capability for Humanoid Robot HRP-2, pp. 470-475.

Takahashi, Toru (Kyoto Univ.), Nakadai, Kazuhiro (Honda Res. Inst. Japan Co., Ltd.), Komatani, Kazunori (Kyoto Univ.), Ogata, Tetsuya (Kyoto Univ.), Okuno, Hiroshi G. (Kyoto Univ.)

09:45-10:00 TuA12.6Mapping Indoor Environments Based on Human Activity, pp. 476-481.

Grzonka, Slawomir (Albert-Ludwigs-Univ. of Freiburg), Dijoux, Frederic (Albert-Ludwigs-Univ. Freiburg), Karwath, Andreas (Albert-Ludwigs Univ. Freiburg), Burgard, Wolfram (Univ. of Freiburg)

TuA13 Egan Center Lower Level Room 7/8Micro and Nano Scale Automation (Regular Sessions)

Chair: Arai, Fumihito Tohoku Univ.Co-Chair: Martel, Sylvain Ec. Pol. de Montreal (EPM)

08:30-08:45 TuA13.1Massive Parallel Assembly of Microbeads Fabrication of Microtools Having Spherical Structure and Powerful Laser Manipulation, pp. 482-487.

Maruyama, Hisataka (Tohoku Univ.), Iitsuka, Ryo (Tohoku Univ.), Onda, Kazuhisa (Tohoku Univ.), Arai, Fumihito (Tohoku Univ.) 08:45-09:00 TuA13.2Millimeter Scale Microrobots for the Nanoassembly Applications, pp. 488-493.

Murthy, Rakesh (Univ. of Texas at Arlington), Popa, Dan (The Univ. of Texas at Arlington) 09:00-09:15 TuA13.3A Micromanipulation System for Single Cell Deposition, pp. 494-499.

Lu, Zhe (Univ. of Toronto), Moraes, Christopher (Univ. of Toronto), Zhao, Yan (Univ. of Toronto), You, LiDan (Univ. of Toronto), Simmons, Craig A. (Univ. of Toronto), Sun, Yu (Univ. of Toronto)

09:15-09:30 TuA13.4Using a Swarm of Self-Propelled Natural Microrobots in the Form of Flagellated Bacteria to Perform Complex Micro-Assembly Tasks, pp. 500-505.

Martel, Sylvain (Ec. Pol. de Montreal (EPM)), Mohammadi, Mahmood (Ec. Pol. de Montreal (EPM)) 09:30-09:45 TuA13.5Closed Loop Performance of Polypyrrole Linear Contractile Actuators, pp. 506-511.

Paster, Eli (Massachusetts Inst. of Tech.), Ruddy, Bryan (Massachusetts Inst. of Tech.), Pillai, Priam (Massachusetts Inst. of Tech.), Hunter, Ian (MIT)

09:45-10:00 TuA13.6Compensation of Rate-Dependent Hysteresis Nonlinearities in a Piezo Micro-Positioning Stage, pp. 512-517.

Al Janaideh, Mohammad (Concordia Univ.), Su, Chun-Yi (Concordia Univ.) TuB1 Dena'ina Center Tikahtnu A50 Years of Robotics: Field Robotics (Regular Sessions)

Chair: Tadokoro, Satoshi Tohoku Univ.Co-Chair: Teller, Seth MIT

10:25-11:00 TuB1.150 Years of Robotics and Automation: Field Robotics (I)*.

Hirose, Shigeo (Tokyo Inst. of Tech.) 11:00-11:15 TuB1.2Coping with Imbalanced Training Data for Improved Terrain Prediction in Autonomous Outdoor Robot Navigation, pp. 518-525.

Procopio, Michael (Sandia National Lab.), Mulligan, Jane (Univ. of Colorado at Boulder), Grudic, Greg (Univ. of Colorado at Boulder) 11:15-11:30 TuB1.3A Voice-Commandable Robotic Forklift Working Alongside Humans in Minimally-Prepared Outdoor Environments, pp. 526-533. Attachment

Teller, Seth (MIT), Walter, Matthew (MIT), Antone, Matthew (BAE Systems), Correa, Andrew (A), Davis, Randall (MIT), Fletcher, Luke (MIT), Frazzoli, Emilio (Massachusetts Inst. of Tech.), Glass, Jim (MIT), How, Jonathan (Massachusetts Inst. of Tech.), Huang, Albert S. (Massachusetts Inst. of Tech.), Jeon, Jeong hwan (Massachusetts Inst. of Tech.), Karaman, Sertac (Massachusetts Inst. of Tech.), Luders, Brandon (MIT), Roy, Nicholas (Massachusetts Inst. of Tech.), Sainath, Tara (IBM)

11:30-11:45 TuB1.4Visual Path Following on a Manifold in Unstructured Three-Dimensional Terrain, pp. 534-539. Attachment

Furgale, Paul Timothy (Univ. of Toronto), Barfoot, Timothy (Univ. of Toronto) TuB2 Dena'ina Center Tikahtnu B50 Years of Robotics: Industrial Robotics and Automation (Regular Sessions)

Chair: Goldberg, Ken UC BerkeleyCo-Chair: Lynch, Kevin Northwestern Univ.

10:25-11:00 TuB2.1Automation and Robotics (I)*.

Mason, Matthew T. (Carnegie Mellon Univ.) 11:00-11:15 TuB2.2Toward the Set of Frictional Velocity Fields Generable by 6-Degree-Of-Freedom Oscillatory Motion of a Rigid Plate, pp. 540-547.

Vose, Thomas (Northwestern Univ.), Umbanhowar, Paul (Northwestern Univ.), Lynch, Kevin (Northwestern Univ.) 11:15-11:30 TuB2.3A ZigBee Indoor Positioning Scheme Using Signal-Index-Pair Data Preprocess Method to Enhance Precision, pp. 548-553.

Hung, Min-Hsiung (Chung Cheng Inst. of Tech. National DefenseUniversity), Lin, Shih-Sung (Chung Cheng Inst. of Tech. National Defense Univ.), Cheng, Jui-Yu (Chung Cheng Inst. of Tech. National Defense Univ.), Chien, Wu-Lung (Chung Cheng Inst. of Tech. National DefenseUniversity)

11:30-11:45 TuB2.4Unified Impedance and Admittance Control, pp. 554-561.

Ott, Christian (German Aerospace Center (DLR)), Mukherjee, Ranjan (Michigan State Univ.), Nakamura, Yoshihiko (Univ. of Tokyo) TuB3 Dena'ina Center Tikahtnu C50 Years of Robotics: Medical and Life Sciences (Regular Sessions)

Chair: Hager, Gregory Johns Hopkins Univ.Co-Chair: Fujie, Masakatsu G. Waseda Univ.

10:25-11:00 TuB3.150 Years of Robotics and Automation: Robotics in Medical and Life Sciences (I)*.

Hannaford, Blake (Univ. of Washington) 11:00-11:15 TuB3.2Real-Time Position Control of Concentric Tube Robots, pp. 562-568. Attachment

Dupont, Pierre (Boston Univ.), Lock, Jesse (Boston Univ.), Itkowitz, Brandon (Boston Univ.) 11:15-11:30 TuB3.3Robotically Generated Force Fields for Stroke Patient Pelvic Obliquity Gait Rehabilitation, pp. 569-575.

Pietrusinski, Maciej (Northeastern Univ.), Cajigas, Iahn (MIT), Goldsmith, Mary (Department of Biomedical Engineering, Boston Univ.), Bonato, Paolo (Harvard Medical School), Mavroidis, Constantinos (Northeastern Univ.)

11:30-11:45 TuB3.4Wireless Control of Magnetic Helical Microrobots Using a Rotating-Permanent-Magnet Manipulator, pp. 576-581. Attachment

Fountain, Thomas (Univ. of Utah), Kailat, Prem (Univ. of Utah), Abbott, Jake (Univ. of Utah) TuB4 Dena'ina Center Kahtnu 1/250 Years of Robotics: Energy, Environment and Society (Regular Sessions)

Chair: Sukhatme, Gaurav Univ. of Southern CaliforniaCo-Chair: Whitcomb, Louis The Johns Hopkins Univ.

10:25-11:00 TuB4.1Robots for Energy and Environment: Evolution and Revolution (I)*.

Yoerger, Dana (Woods Hole Oceanographic Inst.) 11:00-11:15 TuB4.2Gesture-Based Human-Robot Jazz Improvisation, pp. 582-587. Attachment

Hoffman, Guy (Georgia Tech.), Weinberg, Gil (Georgia Inst. of Tech.) 11:15-11:30 TuB4.3Statistical Mobility Prediction for Planetary Surface Exploration Rovers in Uncertain Terrain, pp. 588-593.

Ishigami, Genya (Massachusetts Inst. of Tech.), Kewlani, Gaurav (Massachusetts Inst. of Tech.), Iagnemma, Karl (MIT) 11:30-11:45 TuB4.4Navigation and Control of the Nereus Hybrid Underwater Vehicle for Global Ocean Science to 10, 903 M Depth: Preliminary Results, pp. 594-600.

Whitcomb, Louis (The Johns Hopkins Univ.), Jakuba, Michael (Univ. of Sydney), Kinsey, James (The Johns Hopkins Univ.), Martin, Stephen (John Hopkins Univ.), Webster, Sarah E. (Johns Hopkins Univ.), Howland, Jonathan (Woods Hole Oceanographic Inst.), Taylor, Chris (WHOI), Gomez-Ibanez, Daniel (WHOI), Yoerger, Dana (Woods Hole Oceanographic Inst.)

TuPL Dena'ina Center Tikahtnu A/B/CPlenary: Robotics from Anthropomorphism (Plenary Sessions)

Chair: Kumar, Vijay Univ. of PennsylvaniaCo-Chair: Kosuge, Kazuhiro Tohoku Univ.

13:15-14:10 TuPL.1Robotics from Anthropomorphism*.

Nakamura, Yoshihiko (Univ. of Tokyo) TuD1 Egan Center Street Level Room ArteagaAerial Robotics: Design, Modeling and Control (Regular Sessions)

Chair: Agrawal, Sunil Univ. of DelawareCo-Chair: Christoforou, Eftychios Univ. of Cyprus

14:20-14:35 TuD1.1The Distributed Flight Array, pp. 601-607. Attachment

Oung, Raymond (ETH Zurich), Bourgault, Frederic (ETH Zürich), Donovan, Matthew (ETH Zurich), D'Andrea, Raffaello (ETHZ) 14:35-14:50 TuD1.2A New Method of Modeling the Actuation Dynamics of a Miniature Hingeless Helicopter Using Gyroscopic Moments, pp. 608-613.

Lau, Tak Kit (The Chinese Univ. of Hong Kong), Liu, Yunhui (Chinese Univ. of Hong Kong), Lin, Kai Wun (The Chinese Univ. of Hong Kong)

14:50-15:05 TuD1.3Angular Elevation Control of Robotic Kite Systems, pp. 614-619.

Christoforou, Eftychios (Univ. of Cyprus) 15:05-15:20 TuD1.4Flight Formation of Multiple Mini Rotorcraft Via Coordination Control, pp. 620-625.

Guerrero Mata, Jose Alfredo (Univ. of Tech. of Compičgne), Fantoni, Isabelle (Univ. of Tech. of Compičgne), Salazar, Sergio (Unisersité de Compiégne), Lozano, Rogelio (Univ. de Tech. de Compičgne)

15:20-15:35 TuD1.5Experimental Investigation of Effects of Flapping Wing Aspect Ratio and Flexibility on Aerodynamic Performance, pp. 626-631.

Zhang, Chengkun (Univ. of Delaware), Khan, Zaeem (Univ. of Delaware), Agrawal, Sunil (Univ. of Delaware) 15:35-15:50 TuD1.6Design of an Improved Land/Air Miniature Robot, pp. 632-637.

Kossett, Alex (Univ. of Minnesota), D'Sa, Ruben (Univ. of Minnesota), Purvey, Jesse (Univ. of Minnesota), Papanikolopoulos, Nikos (Univ. of Minnesota)

TuD2 Egan Center Lower Level Room 6Control of Parallel Robots (Regular Sessions)

Chair: Krovi, Venkat Univ. at Buffalo (SUNY)Co-Chair: Martinet, Philippe Blaise Pascal Univ.

14:20-14:35 TuD2.1Vector-Based Dynamic Modeling and Control of the Quattro Parallel Robot by Means of Leg Orientations, pp. 638-643.

Ozgur, Erol (Blaise Pascal Univ.), Andreff, Nicolas (Univ. de Franche Comté), Martinet, Philippe (Blaise Pascal Univ.) 14:35-14:50 TuD2.2Efficient High-Speed Vision-Based Computed Torque Control of the Orthoglide Parallel Robot, pp. 644-649.

Dahmouche, Redwan (Univ. Blaise Pascal), Andreff, Nicolas (Univ. de Franche Comté), Mezouar, Youcef (Blaise Pascal Univ.), Martinet, Philippe (Blaise Pascal Univ.)

14:50-15:05 TuD2.3Integrated Controller for an Over-Constrained Cable Driven Parallel Manipulator: KNTU CDRPM, pp. 650-655.

Vafaei, Alaleh (Advanced Robotics and Automated Systems(ARAS), K.N.ToosiUniversi), M. Aref, Mohammad (K.N. Toosi Univ. of Tech.), Taghirad, Hamid (K.N.Toosi Univ. of Tech.)

15:05-15:20 TuD2.4

Optimization Strategies for Additional Actuators of Kinematically Redundant Parallel Kinematic Machines, pp. 656-661. Kotlarski, Jens (Leibniz Univ. Hannover), Do Thanh, Trung (Hannover), Heimann, Bodo (Leibniz Univ. Hannover), Ortmaier, Tobias (Leibniz Univ. Hanover)

15:20-15:35 TuD2.5Implementation of a 4-DOF Parallel Mechanism As a Needle Insertion Device, pp. 662-668. Attachment

Chung, Jaeheon (Kyushu Univ.), Cha, Hyo Jung (Hanyang Univ.), Yi, Byung-Ju (Hanayang Univ.), Kim, Whee Kuk (Korea Univ.) 15:35-15:50 TuD2.6Enhanced Trajectory Tracking Performance with a Lower-Bound Stiffness Controller for Cable-Robot Systems, pp. 669-674.

Yu, Kun (Univ. at Buffalo), Lee, Leng-Feng (Univ. at Buffalo), Tang, Chinpei (The Univ. of Texas at Dallas), Krovi, Venkat (Univ. at Buffalo (SUNY))

TuD3 Egan Center Second Level Room BoardroomSnake Robot Locomotion (Regular Sessions)

Chair: Gravdahl, Jan Tommy Norwegian Univ. of Science and Tech.Co-Chair: Matsuno, Fumitoshi Kyoto Univ.

14:20-14:35 TuD3.1A Hybrid Model of Obstacle-Aided Snake Robot Locomotion, pp. 675-682.

Liljebäck, Pĺl (SINTEF IKT), Pettersen, Kristin Y. (Norwegian Univ. of Science and Tech.), Stavdahl, Řyvind (Norwegian Univ. of Science and Tech. (NTNU)), Gravdahl, Jan Tommy (Norwegian Univ. of Science and Tech.)

14:35-14:50 TuD3.2A Snake Robot with a Contact Force Measurement System for Obstacle-Aided Locomotion, pp. 683-690.

Liljebäck, Pĺl (SINTEF IKT), Pettersen, Kristin Y. (Norwegian Univ. of Science and Tech.), Stavdahl, Řyvind (Norwegian Univ. of Science and Tech. (NTNU))

14:50-15:05 TuD3.3Sidewinding on Slopes, pp. 691-696.

Hatton, Ross (Carnegie Mellon Univ.), Choset, Howie (Carnegie Mellon Univ.) 15:05-15:20 TuD3.4Optimal Shape of a Snake Robot for Jumping, pp. 697-702.

Hoshino, Keiichi (The Univ. of Electro-Communications), Tanaka, Motoyasu (The Univ. of Electro-Communications), Matsuno, Fumitoshi (Kyoto Univ.)

15:20-15:35 TuD3.5Approximations to Continuous Curves of Active Cord Mechanism Made of Arc-Shaped Joints or Double Joints, pp. 703-708. Attachment

Yamada, Hiroya (Tokyo Inst. of Tech.), Hirose, Shigeo (Tokyo Inst. of Tech.) 15:35-15:50 TuD3.6An Adaptive Decentralized Control of a Serpentine Robot Based on the Discrepancy between Body, Brain and Environment, pp. 709-714. Attachment

Sato, Takahide (Tohoku Univ.), Watanabe, Wataru (Tohoku Univ.), Ishiguro, Akio (Tohoku Univ.) TuD4 Egan Center Lower Level Room 1Personal and Service Robots (Regular Sessions)

Chair: Burgard, Wolfram Univ. of FreiburgCo-Chair: Bradski, Gary Stanford Univ. and Willow Garage

14:20-14:35 TuD4.1Robot, Feed Thyself: Plugging in to Unmodified Electrical Outlets by Sensing Emitted AC Electric Fields, pp. 715-722. Attachment

Mayton, Brian (Univ. of Washington), LeGrand, Louis (Intel Res.), Smith, Joshua R. (Intel) 14:35-14:50 TuD4.2Searching for Objects: Combining Multiple Cues to Object Locations Using a Maximum Entropy Model, pp. 723-728. Attachment

Joho, Dominik (Univ. of Freiburg), Burgard, Wolfram (Univ. of Freiburg) 14:50-15:05 TuD4.3Autonomous Door Opening and Plugging in with a Personal Robot, pp. 729-736. Attachment

Meeussen, Wim (Willow Garage inc.), Wise, Melonee (Willow Garage), Glaser, Stuart (Washington Univ. in St. Louis), Chitta, Sachin (Willow Garage Inc.), McGann, Conor (Willow Garage), Mihelich, Patrick (Willow Garage), Marder-Eppstein, Eitan (Willow Garage), Muja, Marius Constantin (Univ. of British Columbia), Eruhimov, Victor (Itseez Corp.), Foote, Tully (Willow Garage Inc.), Hsu, John (Willow Garage), Rusu, Radu Bogdan (Willow Garage, Inc), Marthi, Bhaskara (Willow Garage), Bradski, Gary (Stanford Univ. and Willow Garage), Konolige, Kurt (Willow Garage), Gerkey, Brian (Willow Garage), Berger, Eric (Willow Garage)

15:05-15:20 TuD4.4Intelligent Ambience That Can Lead Robot's Actions -System Design Concept and Experimental Evaluation of Intelligent Ambience, pp. 737-744. Attachment

Sakaguchi, Takeshi (AIST), Yokoi, Kazuhito (National Inst. of AIST), Wada, Kazuyoshi (Tokyo Metropolitan Univ.) 15:20-15:35 TuD4.5Learning Novel Objects Using Out-Of-Vocabulary Word Segmentation and Object Extraction for Home Assistant Robots, pp. 745-750.

Attamimi, Muhammad (The Univ. of Electro-Communications), Mizutani, Akira (The Univ. of Electro-Communicatuins), Nakamura, Tomoaki (Univ. of Electro-Communications), Sugiura, Komei (National Inst. of Information and Communications Tech.), Nagai, Takayuki (Univ. of Electro-Communications), Iwahashi, Naoto (National Inst. ofInformationandCommunicationsTechnology), Okada, Hiroyuki (Tamagawa Univ.), Omori, Takashi (Tamagawa Univ.)

15:35-15:50 TuD4.6Autonomous Operation of Novel Elevators for Robot Navigation, pp. 751-758. Attachment

Klingbeil, Ellen (Stanford Univ.), Carpenter, Blake (Stanford Univ.), Russakovsky, Olga (Stanford Univ.), Ng, Andrew (Stanford Univ.)

TuD5 Egan Center Lower Level Room 13/14Grasping Mechanisms (Regular Sessions)

Chair: Desai, Jaydev P. Univ. of MarylandCo-Chair: Melchiorri, Claudio Univ. of Bologna

14:20-14:35 TuD5.1Tailoring the Viscoelastic Properties of Soft Pads for Robotic Limbs through Purposely Designed Fluid Filled Structures, pp. 759-764.

Berselli, Giovanni (Univ. di Bologna), Vassura, Gabriele (Univ. of Bologna), Piccinini, Marco (Univ. of Bologna) 14:35-14:50 TuD5.2Design, Fabrication, and Implementation of Self-Sealing Suction Cup Arrays for Grasping, pp. 765-770. Attachment

Kessens, Chad C. (Univ. of Maryland), Desai, Jaydev P. (Univ. of Maryland) 14:50-15:05 TuD5.3Port-Hamiltonian Analysis of a Novel Robotic Finger Concept for Minimal Actuation Variable Impedance Grasping, pp. 771-776.

Wassink, Martin (Univ. of Twente), Carloni, Raffaella (Univ. of Twente), Stramigioli, Stefano (Univ. of Twente) 15:05-15:20 TuD5.4Development of Intelligent Robot Hand Using Proximity, Contact and Slip Sensing, pp. 777-784.

Hasegawa, Hiroaki (the Univ. of Electro-Communications), Mizoguchi, Yoshitomo (Univ. of Electro-Communications), Tadakuma, Kenjiro (Massachusetts Inst. of Tech.), Ming, Aiguo (The Univ. of Electro-Communications), Ishikawa, Masatoshi (Univ. of Tokyo), Shimojo, Makoto (Univ. of Electro-COmmunications)

15:20-15:35 TuD5.5Weighted Barrier Functions for Computation of Force Distributions with Friction Cone Constraints, pp. 785-792.

Borgstrom, Per Henrik (UCLA), Batalin, Maxim (ITA and WHI, UCLA), Sukhatme, Gaurav (Univ. of Southern California), Kaiser, William (UCLA)

15:35-15:50 TuD5.6Design of Tendon-Driven Robotic Fingers: Modeling and Control Issues, pp. 793-798.

Borghesan, Gianni (Univ. of Bologna), Palli, Gianluca (Univ. of Bologna), Melchiorri, Claudio (Univ. of Bologna) TuD6 Egan Center Lower Level Room 2Compliant Control and Robot Safety (Regular Sessions)

Chair: Kawamura, Sadao Ritsumeikan Univ.Co-Chair: Hirche, Sandra Tech. Univ. München

14:20-14:35 TuD6.1Analysis of Torque Capacities in Hybrid Actuation for Human-Friendly Robot Design, pp. 799-804.

Shin, Dongjun (Stanford Univ.), Seitz, Fabian (ETH Zürich), Khatib, Oussama (Stanford Univ.), Cutkosky, Mark (Stanford Univ.) 14:35-14:50 TuD6.2Design of Redundant Drive Joints with Double Actuation Using Springs in the Second Actuator to Avoid Excessive Active Torques, pp. 805-812.

Nagai, Kiyoshi (Ritsumeikan Univ.), Dake, Yuichiro (Ritsumeikan Univ.), Shiigi, Yasuto (Ritsumeikan Univ.), Loureiro, Rui C. V. (The Univ. of Reading), Harwin, William (Univ. of Reading)

14:50-15:05 TuD6.3Safe Joint Mechanism Using Inclined Link with Springs for Collision Safety and Positioning Accuracy of a Robot Arm, pp. 813-818. Attachment

Park, Jung-Jun (Korea Univ.), Song, Jae-Bok (Korea Univ.) 15:05-15:20 TuD6.4A Control Strategy for Operating Unknown Constrained Mechanisms, pp. 819-824.

Lutscher, Ewald (Tech. Univ. München), Lawitzky, Martin (Inst. of Automtic Control Engineering, Tech. Univ.), Cheng, Gordon (Tech. Univ. Munich), Hirche, Sandra (Tech. Univ. München)

15:20-15:35 TuD6.5Resonance-Based Task Space Controller for Multi-Joint Robot with Adjustable Equilibrium Angle of Elastic Element, pp. 825-830.

Uemura, Mitsunori (Ritsumeikan Univ.), Kawamura, Sadao (Ritsumeikan Univ.) 15:35-15:50 TuD6.6An Electric Field Pretouch System for Grasping and Co-Manipulation, pp. 831-838. Attachment

Mayton, Brian (Univ. of Washington), LeGrand, Louis (Intel Res.), Smith, Joshua R. (Intel) TuD7 Egan Center Lower Level Room 11/12Behavior Learning (Regular Sessions)

Chair: Peters, Jan Max-Planck Inst. for Bio. CyberneticsCo-Chair: Lee, Daniel D. Univ. of Pennsylvania

14:20-14:35 TuD7.1A Probabilistic Approach to Mixed Open-Loop and Closed-Loop Control, with Application to Extreme Autonomous Driving, pp. 839-845. Attachment

Kolter, J. Zico (Stanford Univ.), Plagemann, Christian (Stanford Univ.), Jackson, David T. (Stanford), Ng, Andrew (Stanford Univ.), Thrun, Sebastian (Stanford Univ.)

14:35-14:50 TuD7.2Learning and Planning High-Dimensional Trajectories Via Structured Lagrangians, pp. 846-852. Attachment

Vernaza, Paul (Univ. of Pennsylvania), Yi, Seung Joon (Univ. OF PENNSYLVANIA), Lee, Daniel D. (Univ. of Pennsylvania) 14:50-15:05 TuD7.3Movement Templates for Learning of Hitting and Batting, pp. 853-858. Attachment

Kober, Jens (Max-Planck Inst. for Biological Cybernetics), Muelling, Katharina (Max Planck Inst. for Biological Cybernetics), Kroemer, Oliver (Max-Planck Inst. for Biological Cybernetics), Lampert, Christoph H. (Max-Planck Inst. for Biological Cybernetics), Schoelkopf, Bernhard (Max Planck Inst. for Biological Cybernetics), Peters, Jan (Max-Planck Inst. for Bio. Cybernetics)

15:05-15:20 TuD7.4Machine-Learning Based Control of a Human-Like Tendon-Driven Neck, pp. 859-865.

Jamone, Lorenzo (Univ. OF GENOA), Fumagalli, Matteo (Univ. OF GENOA), Natale, Lorenzo (Istutito Italiano di Tecnologia), Nori, Francesco (Italian Inst. of Tech.), Metta, Giorgio (Univ. of Genoa), Sandini, Giulio (Italian Inst. of Tech.)

15:20-15:35 TuD7.5Behavior Recognition for Learning from Demonstration, pp. 866-872.

Billing, Erik Alexander (Umeĺ Univ.), Hellström, Thomas (Umeĺ Univ.), Janlert, Lars-Erik (Umeĺ Univ.) 15:35-15:50 TuD7.6Learning of Probabilistic Grasping Strategies Using Programming by Demonstration, pp. 873-880.

Jäkel, Rainer (Univ. of Karlsruhe), Schmidt-Rohr, Sven R. (Univ. of Karlsruhe), Xue, Zhixing (FZI), Lösch, Martin (Univ. Karlsruhe (TH)), Dillmann, Rüdiger (Univ. of Karlsruhe)

TuD8 Egan Center Street Level Room Cook HallSensing and Perception for Autonomous Navigation (Regular Sessions)

Chair: Daniilidis, Kostas Univ. of PennsylvaniaCo-Chair: Mulligan, Jane Univ. of Colorado at Boulder

14:20-14:35 TuD8.1Global Rover Localization by Matching Lidar and Orbital 3D Maps, pp. 881-886.

Carle, Patrick (Univ. of Toronto), Barfoot, Timothy (Univ. of Toronto) 14:35-14:50 TuD8.2An Integrated Probabilistic Model for Scan-Matching, Moving Object Detection and Motion Estimation, pp. 887-894.

van de Ven, Joop (Univ. of Sydney), Ramos, Fabio (Univ. of Sydney), Tipaldi, Gian Diego (Univ. of Freiburg) 14:50-15:05 TuD8.3A Segmentation Guided Label Propagation Scheme for Autonomous Navigation, pp. 895-902.

Ghosh, Soumya (Brown Univ.), Mulligan, Jane (Univ. of Colorado at Boulder) 15:05-15:20 TuD8.4A Real-Time Pedestrian Detection System Based on Structure and Appearance Classification, pp. 903-909.

Bansal, Mayank (Sarnoff Corp.), Jung, Sang-Hack (Sarnoff Corp.), Matei, Bogdan (Sarnoff Corp.), Eledath, Jayan (Sarnoff Corp.), Sawhney, Harpreet (Sarnoff Corp.)

15:20-15:35 TuD8.5Homography-Based Ground Plane Detection for Mobile Robot Navigation Using a Modified EM Algorithm, pp. 910-915.

Conrad, Daniel (Univ. of Missouri, Columbia), DeSouza, Guilherme (Univ. of Missouri-Columbia) 15:35-15:50 TuD8.6A Mobile Robotic Platform Exploiting the Navigational Capabilities of the Carassius Auratus Using a Natural Interface, pp. 916-921.

Accoto, Dino (Univ. Campus Bio-Medico), Lucibello, Luca (Univ. Campus Bio-medico di Roma), Campolo, Domenico (Nanyang Tech. Univ.), Guglielmelli, Eugenio (Univ. Campus Bio-Medico)

TuD9 Egan Center Lower Level Room 3Path Planning for Multi-Agent Systems (Regular Sessions)

Chair: Vaughan, Richard Simon Fraser Univ.Co-Chair: Jadbabaie, Ali Univ. of Pennsylvania

14:20-14:35 TuD9.1Constraint-Based Multi-Robot Path Planning, pp. 922-928.

Ryan, Malcolm (Univ. of New South Wales) 14:35-14:50 TuD9.2DisCoverage: A New Paradigm for Multi-Robot Exploration, pp. 929-934.

Haumann, A. Dominik (Tech. Univ. Darmstadt), Listmann, Kim Daniel (Tech. Univ. Darmstadt), Willert, Volker (Tech. Univ. of Darmstadt)14:50-15:05 TuD9.3A Duality Approach to Path Planning for Multiple Robots, pp. 935-940.

Motee, Nader (Caltech), Jadbabaie, Ali (Univ. of Pennsylvania), Pappas, George J. (Univ. of Pennsylvania) 15:05-15:20 TuD9.4Solving the Continuous Time Multiagent Patrol Problem, pp. 941-946.

Marier, Jean-Samuel (Laval Univ.), Besse, Camille (Univ. Laval), Chaib-draa, Brahim (Laval Univ.) 15:20-15:35 TuD9.5Blinkered LOST: Restricting Sensor Field of View Can Improve Scalability in Emergent Multi-Robot Trail Following, pp. 947-952.

Sadat, Abbas (Simon Fraser Univ.), Vaughan, Richard (Simon Fraser Univ.) 15:35-15:50 TuD9.6Multi-Agent Path Planning with Multiple Tasks and Distance Constraints, pp. 953-959.

Bhattacharya, Subhrajit (Univ. of Pennsylvania), Likhachev, Maxim (Univ. of Pennsylvania), Kumar, Vijay (Univ. of Pennsylvania) TuD10 Egan Center Lower Level Room 9/10Motion Planning in Dynamic Environments (Regular Sessions)

Chair: Fox, Dieter Univ. of WashingtonCo-Chair: Stilwell, Daniel Virginia Tech.

14:20-14:35 TuD10.1

Control and Planning for Vehicles with Uncertainty in Dynamics, pp. 960-965. Attachment Mellinger, Daniel (Univ. of Pennsylvania), Kumar, Vijay (Univ. of Pennsylvania)

14:35-14:50 TuD10.2Robotic Motion Planning in Dynamic, Cluttered, Uncertain Environments, pp. 966-973.

Du Toit, Noel E. (Caltech), Burdick, Joel (California Inst. of Tech.) 14:50-15:05 TuD10.3A Receding Horizon Controller for Motion Planning in the Presence of Moving Obstacles, pp. 974-980.

Stilwell, Daniel (Virginia Tech.), Xu, Bin (Virginia Tech.), Kurdila, Andrew (Virginia Tech.) 15:05-15:20 TuD10.4Learning to Navigate through Crowded Environments, pp. 981-986. Attachment

Henry, Peter (Univ. of Washington), Vollmer, Christian (Ilmenau Univ. of Tech.), Ferris, Brian (Univ. of Washington), Fox, Dieter (Univ. of Washington)

15:20-15:35 TuD10.5Optimal Trajectory Generation for Dynamic Street Scenarios in a Frenét Frame, pp. 987-993.

Werling, Moritz (Karlsruhe Inst. of Tech.), Ziegler, Julius (Univ. of Karlsruhe), Kammel, Sören (Bosch LLC), Thrun, Sebastian (Stanford Univ.)

15:35-15:50 TuD10.6A Dynamic Subgoal Path Planner for Unpredictable Environments, pp. 994-1001.

Liu, Hong (Peking Univ.), Wan, Weiwei (Peking Univ.), Zha, Hongbin (Peking Univ.) TuD11 Egan Center Lower Level Room 5Image Matching and Registration (Regular Sessions)

Chair: Lee, Sukhan Sungkyunkwan Univ.Co-Chair: Scaramuzza, Davide ETH Zurich

14:20-14:35 TuD11.1Registration of 3D Facial Surfaces Using Covariance Matrix Pyramids, pp. 1002-1007.

Kaiser, Moritz (Tech. Univ. München), Kwolek, Bogdan (Rzeszow Univ. of Tech.), Staub, Christoph (TUM), Rigoll, Gerhard (Tech. Univ. München)

14:35-14:50 TuD11.2Improved Appearance-Based Matching in Similar and Dynamic Environments Using a Vocabulary Tree, pp. 1008-1013.

Sabatta, Deon George (CSIR), Scaramuzza, Davide (ETH Zurich), Siegwart, Roland (ETH Zurich) 14:50-15:05 TuD11.3A Novel Line Matching Method Based on Intersection Context, pp. 1014-1021.

Kim, Hyunwoo (Korean German Inst. of Tech.), Lee, Sukhan (Sungkyunkwan Univ.) 15:05-15:20 TuD11.4Physical Road Marker Property Estimation Using Monoscopic Vision, pp. 1022-1027.

Gumpp, Thomas (FZI Forschungszentrum Informatik), Nienhüser, Dennis (FZI Forschungszentrum Informatik), Zöllner, Johann Marius (FZI Forschungszentrum Informatik)

15:20-15:35 TuD11.5Feature Detection and Matching in Images with Radial Distortion, pp. 1028-1034.

Lourenço, Miguel (Univ. of Coimbra), Barreto, Joăo P. (Univ. of Coimbra), Malti, Abed (Inst. of Systems and Robotics-Univ. of Coimbra) 15:35-15:50 TuD11.6Minimum-Error Active Matching for Real-Time Vision, pp. 1035-1040.

Liu, Zhibin (Tsinghua Univ.), Shi, Zongying (Tsinghua Univ.), Xu, Wenli (Tsinghua Univ.) TuD12 Egan Center Lower Level Room 4Surgical Robot Design (Regular Sessions)

Chair: Dupont, Pierre Children's Hospital, Harvard Medical SchoolCo-Chair: Webster III, Robert James Vanderbilt Univ.

14:20-14:35 TuD12.1Outer Shell Type 2 DOF Bending Manipulator Using Spring-Link Mechanism for Medical Applications, pp. 1041-1046. Attachment

Arata, Jumpei (Nagoya Insititute of Tech.), Saito, Yoshitaka (Nagoya Inst. of Tech.), Fujimoto, Hideo (Nagoya Inst. of Tech.) 14:35-14:50 TuD12.2A Model for Concentric Tube Continuum Robots under Applied Wrenches, pp. 1047-1052.

Rucker, Caleb (Vanderbilt Univ.), Jones, Bryan (Mississippi State Univ.), Webster III, Robert James (Vanderbilt Univ.) 14:50-15:05 TuD12.3Design, Simulation and Evaluation of Kinematic Alternatives for Insertable Robotic Effectors Platforms in Single Port Access Surgery, pp. 1053-1058. Attachment

Ding, Jienan (Columbia Univ.), Xu, Kai (Shanghai Jiao Tong Univ.), Goldman, Roger E. (Columbia Univ.), Allen, Peter (Columbia Univ.), Fowler, Dennis (Columbia Univ.), Simaan, Nabil (Columbia Univ.)

15:05-15:20 TuD12.4Design and Control of Motion Compensation Cardiac Catheters, pp. 1059-1065.

Kesner, Samuel B. (Harvard Univ.), Howe, Robert D. (Harvard Univ.) 15:20-15:35 TuD12.5Development and Preliminary Evaluation of an Actuated MRI-Compatible Robotic Device for MRI-Guided Prostate Intervention, pp. 1066-1073.

Krieger, Axel (JHU), Iordachita, Iulian (Johns Hopkins Univ.), Song, Sang-Eun (The Johns Hopkins Univ.), Cho, Nathan Bongjoon (Johns Hopkins Univ.), Guion, Peter (National Inst. of Health), Fichtinger, Gabor (Queen's Univ.), Whitcomb, Louis (The Johns Hopkins

Univ.) 15:35-15:50 TuD12.6Control of Cable Actuated Devices Using Smooth Backlash Inverse, pp. 1074-1079.

Agrawal, Varun (Purdue Univ.), Peine, William (Purdue Univ.), Yao, Bin (Purdue Univ.), Choi, SeungWook (REBO) TuD13 Egan Center Lower Level Room 7/8Video Session: Novel Robotic Systems (Video Sessions)

Chair: Thompson, David Jet Propulsion Lab. California Inst. of Tech.Co-Chair: Kratochvil, Bradley ETH Zurich

14:20-14:25 TuD13.1OctoMag: An Electromagnetic System for 5-DOF Wireless Manipulation, pp. 1080-1081. Attachment

Kratochvil, Bradley (ETH Zurich), Kummer, Michael (ETH Zurich), Abbott, Jake (Univ. of Utah), Borer, Ruedi (ETH Zurich), Ergeneman, Olgaç (ETH Zurich), Nelson, Bradley J. (ETH Zurich)

14:25-14:30 TuD13.2Automated Micorassembly of Tissue Engineering Scaffold, pp. 1082-1083. Attachment

Zhao, Guoyong (National Univ. of Singapore), Teo, Chee Leong (National Univ. of Singapore), Hutmache, Dietmar Werner (Queensland Univ. of Tech.), Burdet, Etienne (imperial Coll. london)

14:30-14:35 TuD13.3From Compliant Balancing to Dynamic Walking on Humanoid Robot: Integration of CNS and CPG, pp. 1084-1085. Attachment

Hyon, Sang-Ho (ATR/NICT), Morimoto, Jun (ATR Computational Neuroscience Lab.), Kawato, Mitsuo (Press) 14:35-14:40 TuD13.4An Automatic and Complete Self-Calibration Method for Robotic Guided Laser Ablation, pp. 1086-1087. Attachment

Mönnich, Holger (Univ. of Karlsruhe), Stein, Daniel (Univ. of Karlsruhe), Raczkowsky, Joerg (Univ. of Karlsruhe (TH)), Woern, Heinz (Univ. Karlsruhe)

14:40-14:45 TuD13.5A Multi-Vehicle Testbed for Multi-Modal, Decentralized Sensing of the Environment, pp. 1088-1089. Attachment

Cortez, Andres (Univ. of New Mexico), Luna, Jose-Marcio (The Univ. of New Mexico), Fierro, Rafael (Univ. of New Mexico), Wood, John (Univ. of New Mexico)

14:45-14:50 TuD13.6Demonstration of a Prototype for Robot Assisted Endoscopic Sinus Surgery, pp. 1090-1091. Attachment

Rilk, Markus (Tech. Univ. Braunschweig), Kubus, Daniel (Tech. Univ. of Braunschweig), Wahl, Friedrich M. (Tech. Univ. of Braunschweig), Eichhorn, Klaus W.G. (Univ. of Bonn), Wagner, Ingo (Univ. of Bonn), Bootz, Friedrich (Univ. of Bonn)

14:50-14:55 TuD13.7High-Fidelity Telepresence and Teleaction, pp. 1092-1093. Attachment

Bauernschmitt, Robert (German Heart Center Munich), Buss, Martin (Tech. Univ. München), Deml, Barbara (Univ. der Bundeswehr München), Diepold, Klaus (Tech. Univ. München), Färber, Berthold (Univ. der Bundeswehr München), Faerber, Georg (TU Munchen), Hagn, Ulrich (DLR German Aerospace Center), Hirzinger, Gerd (German Aerospace Center (DLR)), Hirche, Sandra (Tech. Univ. München), Knoll, Alois (TU Munich), Müller, Hermann (Ludwigs-Maximilians-Univ. München), Ortmaier, Tobias (Leibniz Univ. Hanover), Peer, Angelika (Tech. Univ. München), Popp, Michael (Faculty Aerospace Tech. Univ. der Bundeswehr), Preusche, Carsten (DLR), Reinhart, Gunter (Tech. Univ. München), Shi, Zhuanghua (Ludwigs-Maximilians-Univ. München), Steinbach, Eckehard (Munich Univ. of Tech.), Ulbrich, Heinz (Tech. Univ. Muenchen), Walter, Ulrich (Tech. Univ. Munich), Zäh, Michael Friedrich (Tech. Univ. München)

14:55-15:00 TuD13.8Demonstration of Quadrupedal Locomotion Over Rough Terrain Using the LittleDog Robot, pp. 1094-1095. Attachment

Neuhaus, Peter (Inst. for Human and Machine Cognition), Pratt, Jerry (Inst. for Human and Machine Cognition), Johnson, Matthew (Inst. for Human & Machine Cognition)

15:00-15:05 TuD13.9RANGE - Robust Autonomous Navigation in GPS-Denied Environments, pp. 1096-1097. Attachment

Bachrach, Abraham (Massachusetts Inst. of Tech.), de Winter, Anton (Massachusetts Inst. of Tech.), He, Ruijie (Massachusetts Inst. of Tech.), Hemann, Garrett (Massachusetts Inst. of Tech.), Prentice, Samuel (Massachusetts Inst. of Tech.), Roy, Nicholas (Massachusetts Inst. of Tech.)

15:05-15:10 TuD13.10Autonomous Re-Alignment of Multiple Table Robots, pp. 1098-1099. Attachment

Sawada, Yukiko (Univ. of Tsukuba), Tsubouchi, Takashi (Sys. and Info. Eng., U of Tsukuba) 15:10-15:15 TuD13.11Minimalistic, Dynamic, Tube Climbing Robot, pp. 1100-1101. Attachment

Degani, Amir (Carnegie Mellon Univ.), Feng, Siyuan (Carnegie Mellon Univ.), Choset, Howie (Carnegie Mellon Univ.), Mason, Matthew T. (Carnegie Mellon Univ.)

15:15-15:20 TuD13.12Reporting on a Large Ocean Inlet Crossing Live Transmission Line Inspection Performed by LineScout Technology, pp. 1102-1103. Attachment

Montambault, Serge (Hydro-Québec Res. Inst.), Pouliot, Nicolas (Hydro-Québec Res. Inst.), Toth, Janos (British Columbia Transmission Corp.), Spalteholz, Bernhard (BC Hydro)

15:20-15:25 TuD13.13Integration of Aerial Robots and Wireless Sensor and Actuator Networks. the AWARE Project, pp. 1104-1105. Attachment

Ollero, Anibal (Univ. of Seville), Maza, Ivan (Univ. of Seville), Caballero, Fernando (Univ. of Seville), Martínez-de Dios, J.R. (Univ. of Seville)

15:25-15:30 TuD13.14EXOSTATION: Haptic Exoskeleton Based Control Station, pp. 1106-1107. Attachment

Letier, Pierre (ULB), Motard, Elvina (Space Applications Services), Verschueren, Jean-Philippe (Micromega Dynamics) 15:30-15:35 TuD13.15Novel Locomotion of Imobot, an Intelligent Reconfigurable Mobile Robot, pp. 1108-1109. Attachment

Ryland, Graham (Univ. of Californial, Davis), Cheng, Harry (Univ. of California, Davis) 15:35-15:40 TuD13.16Science on the Fly: Enabling Science Autonomy During Robotic Traverse, pp. 1110-1111. Attachment

Wettergreen, David (Carnegie Mellon Univ.), Thompson, David (Jet Propulsion Lab. California Inst. of Tech.) 15:40-15:45 TuD13.17MagMites - Microrobots for Wireless Microhandling in Dry and Wet Environments, pp. 1112-1113. Attachment

Frutiger, Dominic R. (ETH Zurich), Kratochvil, Bradley (ETH Zurich), Nelson, Bradley J. (ETH Zurich) 15:45-15:50 TuD13.18Hybrid Aerial and Scansorial Robotics, pp. 1114-1115. Attachment

Lussier Desbiens, Alexis (Stanford Univ.), Asbeck, Alan (Stanford Univ.), Dastoor, Sanjay (Stanford Univ.), Cutkosky, Mark (Stanford Univ.)

TuE1 Egan Center Street Level Room ArteagaAerial Vehicles: Planning and Control (Regular Sessions)

Chair: Michael, Nathan Univ. of PennsylvaniaCo-Chair: Abbeel, Pieter Stanford Univ.

16:10-16:25 TuE1.1A Robust State Estimation Method against GNSS Outage for Unmanned Miniature Helicopters, pp. 1116-1122.

Lau, Tak Kit (The Chinese Univ. of Hong Kong), Liu, Yunhui (Chinese Univ. of Hong Kong), Lin, Kai Wun (The Chinese Univ. of Hong Kong)

16:25-16:40 TuE1.2Probabilistic Motion Planning of Balloons in Strong, Uncertain Wind Fields, pp. 1123-1129.

Wolf, Michael (Jet Propulsion Lab.), Blackmore, Lars (Jet Propulsion Lab. California Inst. of), Kuwata, Yoshiaki (Jet Propulsion Lab.), Fathpour, Nanaz (Jet Propulsion Lab.), Newman, Claire (California Inst. of Tech.), Elfes, Alberto (Jet Propulsion Lab.)

16:40-16:55 TuE1.3Out-Of-Plane Orbit Estimation and Tracking for Aerial Recovery of Micro Air Vehicles, pp. 1130-1135.

Carlson, Daniel (Brigham Young Univ.), Colton, Mark (Brigham Young Univ.) 16:55-17:10 TuE1.4Circulation of Curves Using Vector Fields: Actual Robot Experiments in 2D and 3D Workspaces, pp. 1136-1141.

Gonçalves, Vinicius Mariano (UFMG), Pimenta, Luciano (Univ. Federal de Minas Gerais), Maia, Carlos Andrey (UFMG), Pereira, Guilherme (Univ. Federal de Minas Gerais), Dutra, Bruno C. O. (Univ. Federal de Minas Gerais), Michael, Nathan (Univ. of Pennsylvania), Fink, Jonathan (Univ. of Pennsylvania), Kumar, Vijay (Univ. of Pennsylvania)

17:10-17:25 TuE1.5Parameterized Maneuver Learning for Autonomous Helicopter Flight, pp. 1142-1148.

Tang, Jie (Univ. of California, Berkeley), Singh, Arjun (Univ. of California, Berkeley), Goehausen, Nimbus (Univ. of California, Berkeley), Abbeel, Pieter (Stanford Univ.)

17:25-17:40 TuE1.6Hovering Control of Vectored Thrust Aerial Vehicles, pp. 1149-1154.

Kumon, Makoto (Graduate School of Science and Tech. Kumamoto), Cover, Hugh (The Univ. of New South Wales), Katupitiya, Jayantha (The Univ. of New South Wales)

TuE2 Egan Center Lower Level Room 6Mechanism Design for Manipulators (Regular Sessions)

Chair: Arsenault, Marc Royal Military Coll. of CanadaCo-Chair: Krovi, Venkat Univ. at Buffalo (SUNY)

16:10-16:25 TuE2.1Optimal Technology-Oriented Design of Parallel Robots for High-Speed Machining Applications, pp. 1155-1161.

Briot, Sébastien (IRCCyN), Pashkevich, Anatol (Ec. des Mines de Nantes), Chablat, Damien (IRCCyN) 16:25-16:40 TuE2.2Development of Power Robot Hand with Shape Adaptability Using Hydraulic McKibben Muscles, pp. 1162-1168.

Mori, Mayuko (Okayama Univ.), Suzumori, Koichi (Okayama Univ.), Wakimoto, Shuichi (Okayama Univ.), Kanda, Takefumi (Okayama Univ.), Masayuki, Takahashi (Company), Takashi, Hosoya (Company), Takematu Emi, Takematu Emi (ShinMaywa Industries, Ltd.)

16:40-16:55 TuE2.3Flexible Space Robotic Manipulator with Passively Switching Free Joint to Drive Joint, pp. 1169-1174.

Otsuki, Masatsugu (Inst. of Space and Astronautical Science, JAXA) 16:55-17:10 TuE2.4Torque and Stiffness Workspace Analysis for Flexible Tendon Driven Mechanisms, pp. 1175-1181.

Chalon, Maxime (German Aerospace Center (DLR)), Wimboeck, Thomas (German Aerospace Center (DLR)), Hirzinger, Gerd (German Aerospace Center (DLR))

17:10-17:25 TuE2.5Optimization of the Prestress Stable Wrench Closure Workspace of Planar Parallel Three-Degree-Of-Freedom Cable-Driven Mechanisms with Four Cables, pp. 1182-1187.

Arsenault, Marc (Royal Military Coll. of Canada) 17:25-17:40 TuE2.6A Formal Methodology for Avoiding Hyperstaticity When Connecting an Exoskeleton to a Human Member, pp. 1188-1195.

Jarrassé, Nathanaël (Univ. Pierre et Marie Curie - Paris6), Morel, Guillaume (Univ. Pierre et Marie Curie - Paris 6) TuE3 Egan Center Second Level Room BoardroomBiomimetic Robots (Regular Sessions)

Chair: Kim, Sangbae Massachusetts Inst. of Tech.Co-Chair: Quinn, Roger, D. Case Western Res. Univ.

16:10-16:25 TuE3.1Towards a Multi-Segment Ambulatory Microrobot, pp. 1196-1202.

Hoffman, Katie (Harvard Univ.), Wood, Robert (Harvard Univ.) 16:25-16:40 TuE3.2Development of a Low Motion-Noise Humanoid Neck: Statics Analysis and Experimental Validation, pp. 1203-1208.

Gao, Bingtuan (Southeast Univ.), Xi, Ning (Michigan State Univ.), Shen, Yantao (Univ. of Nevada, Reno), Zhao, Jianguo (Michigan State Univ.), Yang, Ruiguo (Michigan State Univ.)

16:40-16:55 TuE3.3Actuated Bivalve Robot Study of the Burrowing Locomotion in Sediment, pp. 1209-1214.

Koller-Hodac, Agathe (Univ. of Applied Sciences Rapperswil), Germann, Daniel Peter (Univ. of Zurich, Switzerlad), Gilgen, Alexander (HSR Hochschule für Tech. Rapperswil), Dietrich, Katja (HSR), Hadorn, Maik (Univ. of Zurich), Schatz, Wolfgang (Univ. of Lucerne), Eggenberger Hotz, Peter (Univ. of Southern Denmark)

16:55-17:10 TuE3.4Spatial Memory and Learning: Towards a Set of Metrics to Evaluate Task Performance in Rats and Robots, pp. 1215-1220.

Weitzenfeld, Alfredo (Univ. of South Florida Pol.), Barrera, Alejandra (ITAM), Ramirez-Amaya, Victor (INB-UNAM), Caceres, Alejandra (UNAM)

17:10-17:25 TuE3.5A New Theory and Methods for Creating Peristaltic Motion in a Robotic Platform, pp. 1221-1227. Attachment

Boxerbaum, Alexander (Case Western Res. Univ.), Chiel, Hillel (Case Western Res. Univ.), Quinn, Roger, D. (Case Western Res. Univ.)17:25-17:40 TuE3.6Peristaltic Locomotion with Antagonistic Actuators in Soft Robotics, pp. 1228-1233. Attachment

Seok, SangOk (MIT), Onal, Cagdas Denizel (Massachusetts Inst. of Tech.), Wood, Robert (Harvard Univ.), Rus, Daniela (MIT), Kim, Sangbae (Massachusetts Inst. of Tech.)

TuE4 Egan Center Lower Level Room 1Field Robotics (Regular Sessions)

Chair: Sugano, Shigeki Waseda Univ.Co-Chair: Martinet, Philippe Blaise Pascal Univ.

16:10-16:25 TuE4.1Automated Robotic Grinding of the Control Rod Drive Mechanism J-Groove Weld at PWR Nuclear Power Plants, pp. 1234-1240.

Smoljkic, Gabrijel (Inetec, Inst. for nuclear Tech.), Sinkic, Marko (Inetec, Inst. for nuclear Tech.), Hrvoje, Franjic (Inetec, Inst. for nuclear Tech.)

16:25-16:40 TuE4.2Adaptive Formation Control of a Fleet of Mobile Robots: Application to Autonomous Field Operations, pp. 1241-1246.

Lenain, Roland (Cemagref), Preynat, Johan (Cemagref), Thuilot, Benoit (Clermont-Ferrand Univ.), Avanzini, Pierre (Univ. Blaise Pascal), Martinet, Philippe (Blaise Pascal Univ.)

16:40-16:55 TuE4.3Anytime Online Novelty Detection for Vehicle Safeguarding, pp. 1247-1254.

Sofman, Boris (Carnegie Mellon Univ.), Bagnell, James (Carnegie Mellon Univ.), Stentz, Anthony (Carnegie Mellon Univ.) 16:55-17:10 TuE4.4Continuous Path Tracing by a Cable-Suspended, Under-Actuated Robot: The Winch-Bot, pp. 1255-1260.

Cunningham, Daniel (MIT), Asada, Harry (MIT) 17:10-17:25 TuE4.5Mathematical Modelling of Container Transfers for a Fleet of Autonomous Straddle Carriers, pp. 1261-1266. Attachment

Yuan, Shuai (Univ. of Tech. Sydney), Skinner, Brad (Unversity of Tech. Sydney), Huang, Shoudong (Univ. of Tech. Sydney), Liu, Dikai (FacultyofEngineering), Dissanayake, Gamini (Univ. of Tech. Sydney), Lau, Haye (Univ. of Tech. Sydney), Pagac, Daniel (Patrick Tech. Systems), Pratley, Tim (Patrick Tech. Systems)

17:25-17:40 TuE4.6A Framework of State Identification for Operational Support Based on Task-Phase and Attentional-Condition Identification, pp. 1267-1272.

Kamezaki, Mitsuhiro (Waseda Univ.), Iwata, Hiroyasu (Waseda Univ.), Sugano, Shigeki (Waseda Univ.) TuE5 Egan Center Lower Level Room 13/14Grasping: Algorithms (Regular Sessions)

Chair: Allen, Peter Columbia Univ.Co-Chair: Rimon, Elon Tech.

16:10-16:25 TuE5.1Performances of the Central-Axis Approach in Grasp Analysis, pp. 1273-1278.

Bounab, Belkacem (Military Pol. School), Sidobre, Daniel (Univ. of toulouse), Zaatri, Abdelouahab (Univ. Mentouri_Constantine) 16:25-16:40 TuE5.2Efficient Grasping of Novel Objects through Dimensionality Reduction, pp. 1279-1285. Attachment

Balaguer, Benjamin (Univ. of California, Merced), Carpin, Stefano (Univ. of California, Merced) 16:40-16:55 TuE5.3

Immobilizing 2D Serial Chains in Form Closure Grasps, pp. 1286-1291. Rimon, Elon (Tech.), van der Stappen, Frank (Utrecht Univ.)

16:55-17:10 TuE5.4Data-Driven Optimization for Underactuated Robotic Hands, pp. 1292-1299.

Ciocarlie, Matei (Columbia Univ.), Allen, Peter (Columbia Univ.) 17:10-17:25 TuE5.5A Fast N-Dimensional Ray-Shooting Algorithm for Grasping Force Optimization, pp. 1300-1305.

Zheng, Yu (Univ. of North Carolina at Chapel Hill), Lin, Ming C. (Univ. of North Carolina), Manocha, Dinesh (UNC at Chapel Hill) 17:25-17:40 TuE5.6Object Modeling Using a ToF Camera under an Uncertainty Reduction Approach, pp. 1306-1312.

Foix, Sergi (CSIC-UPC), Alenyŕ, Guillem (CSIC-UPC), Andrade-Cetto, Juan (CSIC-UPC), Torras, Carme (CSIC - UPC) TuE6 Egan Center Lower Level Room 2Haptic Controls (Regular Sessions)

Chair: Kuchenbecker, Katherine J. Univ. of PennsylvaniaCo-Chair: Cavusoglu, M. Cenk Case Western Res. Univ.

16:10-16:25 TuE6.1Time Domain Passivity Control for Multi-Degree of Freedom Haptic Systems with Time Delay, pp. 1313-1319.

Hertkorn, Katharina (German Aerospace Center (DLR)), Hulin, Thomas (German Aerospace Center (DLR)), Kremer, Philipp (German Aerospace Center (DLR)), Preusche, Carsten (DLR), Hirzinger, Gerd (German Aerospace Center (DLR))

16:25-16:40 TuE6.2Multi-Dimensional Passive Sampled Port-Hamiltonian Systems, pp. 1320-1326.

Franken, Michel (Univ. of Twente), Reilink, Rob (Univ. of Twente), Misra, Sarthak (Univ. of Twente), Stramigioli, Stefano (Univ. of Twente)

16:40-16:55 TuE6.3A Digital Input Shaper for Stable and Transparent Haptic Interaction, pp. 1327-1332.

Lim, Yo-An (Gwangju Inst. of Science and Tech.), Ryu, Jeha (Gwangju Inst. Science & Tech.) 16:55-17:10 TuE6.4Peer-To-Peer Control Architecture for Multiuser Haptic Collaboration Over Undirected Delayed Packet-Switching Network, pp. 1333-1338.

Lee, Dongjun (Univ. of Tennessee-Knoxville), Huang, Ke (Univ. of Tennessee) 17:10-17:25 TuE6.5Three-Dimensional Human Arm and Hand Dynamics and Variability Model for a Stylus-Based Haptic Interface, pp. 1339-1346.

Fu, Michael J. (Case Western Res. Univ.), Cavusoglu, M. Cenk (Case Western Res. Univ.) 17:25-17:40 TuE6.6Control of a High Fidelity Ungrounded Torque Feedback Device: The Itorqu 2.1, pp. 1347-1352.

Winfree, Kyle (Univ. of Delaware), Romano, Joseph M. (Univ. of Pennsylvania), Gewirtz, Jamie (Univ. of Pennsylvania), Kuchenbecker, Katherine J. (Univ. of Pennsylvania)

TuE7 Egan Center Lower Level Room 11/12Feature Matching for SLAM (Regular Sessions)

Chair: Holz, Dirk Univ. of BonnCo-Chair: Park, Sung-Kee Korea Inst. of Science and Tech.

16:10-16:25 TuE7.1High Quality Pose Estimation by Aligning Multiple Scans to a Latent Map, pp. 1353-1360.

Huang, Qi-Xing (Stanford Univ.), Anguelov, Dragomir (Google) 16:25-16:40 TuE7.2Spectral Scan Matching and Its Application to Global Localization for Mobile Robots, pp. 1361-1366.

Park, Soonyong (Korea Inst. of Science and Tech.), Park, Sung-Kee (Korea Inst. of Science and Tech.) 16:40-16:55 TuE7.3A Generalization of the Metric-Based Iterative Closest Point Technique for 3D Scan Matching, pp. 1367-1372.

Armesto, Leopoldo (Tech. Univ. of valencia), Minguez, Javier (Univ. of Zaragoza), Montesano, Luis (Univ. de Zaragoza) 16:55-17:10 TuE7.4Linearization of Rotations for Globally Consistent N-Scan Matching, pp. 1373-1379. Attachment

Nuechter, Andreas (Jacobs Univ. Bremen gGmbH), Elseberg, Jan (Jacobs Univ. Bremen), Schneider, Peter (Univ. of Koblenz-Landau), Paulus, Dietrich (Univ. Koblenz-Landau)

17:10-17:25 TuE7.5Sancta Simplicitas - on the Efficiency and Achievable Results of SLAM Using ICP-Based Incremental Registration, pp. 1380-1387.

Holz, Dirk (Univ. of Bonn), Behnke, Sven (Univ. of Bonn) 17:25-17:40 TuE7.6Extracting General-Purpose Features from LIDAR Data, pp. 1388-1393.

Li, Yangming (Univ. of Michigan), Olson, Edwin (Univ. of Michigan) TuE8 Egan Center Street Level Room Cook HallPlace Recognition and Localization (Regular Sessions)

Chair: Burgard, Wolfram Univ. of FreiburgCo-Chair: Lyons, Damian Fordham Univ.

16:10-16:25 TuE8.1Visual Landmark Generation and Redetection with a Single Feature Per Frame, pp. 1394-1399.

Frintrop, Simone (Univ. of Bonn), Cremers, Armin (Univ. of Bonn) 16:25-16:40 TuE8.2Robust Place Recognition for 3D Range Data Based on Point Features, pp. 1400-1405.

Steder, Bastian (Univ. of Freiburg), Grisetti, Giorgio (Unviersität Freiburg), Burgard, Wolfram (Univ. of Freiburg) 16:40-16:55 TuE8.3Indoor Scene Recognition through Object Detection, pp. 1406-1413.

Espinace, Pablo (Pontificia Univ. Catolica de Chile), Kollar, Thomas (MIT), Soto, Alvaro (Pontificia Univ. Catolica de Chile), Roy, Nicholas (Massachusetts Inst. of Tech.)

16:55-17:10 TuE8.4Detection and Filtering of Landmark Occlusions Using Terrain Spatiograms, pp. 1414-1419.

Lyons, Damian (Fordham Univ.) 17:10-17:25 TuE8.5Geo-Referencing for UAV Navigation Using Environmental Classification, pp. 1420-1425.

Lindsten, Fredrik (Linköping Univ.), Callmer, Jonas (Linköping Univ.), Ohlsson, Henrik (Linköping Univ.), Törnqvist, David (Linköping Univ.), Schön, Thomas (Linköping Univ.), Gustafsson, Fredrik (Linköping Univ.)

17:25-17:40 TuE8.6A Saliency-Based Approach to Boost Trail Detection, pp. 1426-1431.

Santana, Pedro (Univ. of Lisbon), Alves, Nelson (Univ. Nova de Lisboa), Correia, Luís (Univ. of Lisbon), Barata, Jose (Univ. Nova de Lisboa)

TuE9 Egan Center Lower Level Room 3Task Allocation, Coordination and Control in Distributed Robot Systems (Regular Sessions)

Chair: Martinoli, Alcherio EPFLCo-Chair: Parker, Lynne Univ. of Tennessee

16:10-16:25 TuE9.1A Fast and Frugal Method for Team-Task Allocation in a Multi-Robot Transportation System, pp. 1432-1437.

Wawerla, Jens (Simon Fraser Univ.), Vaughan, Richard (Simon Fraser Univ.) 16:25-16:40 TuE9.2Comparing and Modeling Distributed Control Strategies for Miniature Self-Assembling Robots, pp. 1438-1445. Attachment

Evans, William C. (Ec. Pol. Fédérale de Lausanne), Mermoud, Gregory (EPFL), Martinoli, Alcherio (EPFL) 16:40-16:55 TuE9.3Multirobot Coordination by Auctioning POMDPs, pp. 1446-1451.

Spaan, Matthijs (Inst. Superior Técnico - Inst. for Systems and Robotics), Goncalves, Nelson (Inst. Superior Técnico - Inst. for Systems and Robotics), Sequeira, Joao (Inst. Superior Técnico - Inst. for Systems andRobotics)

16:55-17:10 TuE9.4A General Information Quality Based Approach for Satisfying Sensor Constraints in Multirobot Tasks, pp. 1452-1459.

Zhang, Yu (Tony) (Univ. of Tennessee), Parker, Lynne (Univ. of Tennessee) 17:10-17:25 TuE9.5Dynamic Vehicle Routing with Stochastic Time Constraints, pp. 1460-1467.

Pavone, Marco (Massachusetts Inst. of Tech.), Frazzoli, Emilio (Massachusetts Inst. of Tech.) 17:25-17:40 TuE9.6Cooperative Control Synthesis for Moving-Target-Enclosing with Changing Topologies, pp. 1468-1473.

Guo, Jing (Zhejiang Univ.), Yan, Gangfeng (Zhejiang Univ.), Lin, Zhiyun (Zhejiang Univ.) TuE10 Egan Center Lower Level Room 9/10Motion Planning, Scheduling and Coordination (Regular Sessions)

Chair: Zhang, Jianwei Univ. of HamburgCo-Chair: Beetz, Michael Tech. Univ. München

16:10-16:25 TuE10.1On the Transparency of Automata As Discrete-Event Control Specifications, pp. 1474-1479.

Pham, Manh Tung (Nanyang Tech. Univ.), Dhananjayan, Amrith (Nanyang Tech. Univ.), Seow, Kiam Tian (Nanyang Tech. Univ.) 16:25-16:40 TuE10.2A Door Opening Method by Modular Re-Configurable Robot with Joints Working on Passive and Active Modes, pp. 1480-1485.

Ahmad, Saleh (Ryerson Univ.), Liu, Guangjun (Ryerson Univ.) 16:40-16:55 TuE10.3Understanding and Executing Instructions for Everyday Manipulation Tasks from the World Wide Web, pp. 1486-1491.

Tenorth, Moritz (TU München), Nyga, Daniel (Tech. Univ. München), Beetz, Michael (Tech. Univ. München) 16:55-17:10 TuE10.4Probabilistic Collision State Checker for Crowded Environments, pp. 1492-1498.

Althoff, Daniel (Tech. Univ. München), Althoff, Matthias (Tech. Univ. München), Wollherr, Dirk (Tech. Univ. München), Buss, Martin (Tech. Univ. München)

17:10-17:25 TuE10.5Priming Transformational Planning with Observations of Human Activities, pp. 1499-1504.

Tenorth, Moritz (TU München), Beetz, Michael (Tech. Univ. München) 17:25-17:40 TuE10.6HTN Robot Planning in Partially Observable Dynamic Environments, pp. 1505-1510.

Weser, Martin (Univ. of Hamburg), Off, Dominik (Univ. of Hamburg), Zhang, Jianwei (Univ. of Hamburg)

TuE11 Egan Center Lower Level Room 5Image Processing, Estimation and Calibration (Regular Sessions)

Chair: Chaumette, Francois INRIA Rennes-Bretagne AtlantiqueCo-Chair: Tsuji, Toshiaki Saitama Univ.

16:10-16:25 TuE11.1Motion Estimation Using Physical Simulation, pp. 1511-1517.

Duff, Damien Jade (Univ. of Birmingham), Wyatt, Jeremy (Univ. of Birmingham), Stolkin, Rustam (Univ. of Birmingham) 16:25-16:40 TuE11.2Camera Parameters Auto-Adjusting Technique for Robust Robot Vision, pp. 1518-1523.

Lu, Huimin (National Univ. of Defense Tech.), Zhang, Hui (National Univ. of Defense Tech.), Yang, Shaowu (National Univ. of Defense Tech.), Zheng, Zhiqiang (National Univ. of Defense Tech.)

16:40-16:55 TuE11.3A New Sensor Self-Calibration Framework from Velocity Measurements, pp. 1524-1529.

Kermorgant, Olivier (IRISA/INRIA Rennes Bretagne Atlantique), Folio, David (IRISA), Chaumette, Francois (INRIA Rennes-Bretagne Atlantique)

16:55-17:10 TuE11.4Stacked Integral Image, pp. 1530-1535.

Bhatia, Amit (North Carolina State Univ.), Snyder, Wesley (North Carolina State Univ.), Bilbro, Griff (NC State Univ.) 17:10-17:25 TuE11.52000 Fps Real-Time Vision System with High-Frame-Rate Video Recording, pp. 1536-1541. Attachment

Ishii, Idaku (Hiroshima Univ.), Tatebe, Tetsuro (Hiroshima Univ.), Gu, Qingyi (Hiroshima Univ.), Moriue, Yuta (Hiroshima Univ.), Takaki, Takeshi (Hiroshima Univ.), Tajima, Kenji (Photron Limited)

17:25-17:40 TuE11.6Specular Reflection Removal on High-Speed Camera for Robot Vision, pp. 1542-1547.

Tsuji, Toshiaki (Saitama Univ.) TuE12 Egan Center Lower Level Room 4Medical Robot Systems I (Regular Sessions)

Chair: Woern, Heinz Univ. KarlsruheCo-Chair: Reed, Kyle Brandon Univ. of South Florida

16:10-16:25 TuE12.1Preoperative Planning of Robotics-Assisted Minimally Invasive Coronary Artery Bypass Grafting, pp. 1548-1553.

Azimian, Hamidreza (The Univ. of Western Ontario), Breetzke, Jeremy (The Univ. of Western Ontario), Trejos, Ana Luisa (The Univ. of Western Ontario), Patel, Rajni (The Univ. of Western Ontario), Naish, Michael David (Univ. of Western Ontario), Peters, Terry M. (Robarts Res. Inst.), Moore, John T. (Robarts Res. Inst.), Wedlake, Chris (Robarts Res. Inst.), Kiaii, Bob (Lawson Health Res. Inst.)

16:25-16:40 TuE12.2Hazard Analysis of Fracture Reduction Robot and Its Application to Safety Design of Fracture-Reduction Assisting Robotic System, pp. 1554-1561.

Joung, Sanghyun (the Univ. fo tokyo), Liao, Hongen (The Univ. of Tokyo), Kobayashi, Etsuko (The Univ. of Tokyo), Mitsuishi, Mamoru (The Univ. of Tokyo), Nakajima, Yoshikazu (The Univ. of Tokyo), Sugano, Nobuhiko (Osaka Univ.), Sakuma, Ichiro (The Univ. of Tokyo)

16:40-16:55 TuE12.3Kinematic Path-Following Control of a Mobile Robot on Arbitrary Surface, pp. 1562-1567.

Kane, Gavin John (Univ. of Karlsruhe), Boesecke, Robert (Medical Univ. of Heidelberg), Raczkowsky, Joerg (Univ. of Karlsruhe (TH)), Woern, Heinz (Univ. Karlsruhe)

16:55-17:10 TuE12.4A New Micromanipulator System for Middle Ear Surgery, pp. 1568-1573.

Maier, Thomas (Tech. Univ. München), Strauß, Gero (Univ. Leipzig), Hofer, Mathias (Univ. Hospital Leipzig), Kraus, Tobias (TU München), Runge, Annette (Univ. Hospital Leipzig), Stenzel, Roland (Tech. Univ. München), Gumprecht, Jan David Jerome (Tech. Univ. München), Berger, Thomas (Department of ENT, Univ. Hospital Leipzig), Dietz, Andreas (Univ. Hospital Leipzig), Lueth, Tim C. (Tech. Univ. München)

17:10-17:25 TuE12.5Analysis of Earthworm Like Robotic Locomotion on Compliant Surface, pp. 1574-1579.

Zarrouk, David (Tech.), Sharf, Inna (McGill Univ.), Shoham, Moshe (Tech. Israel Inst. of Tech.) TuE13 Egan Center Lower Level Room 7/8Microscale Actuation and Manipulation (Regular Sessions)

Chair: Menciassi, Arianna Scuola Superiore Sant'Anna - SSSACo-Chair: Kummer, Michael ETH Zurich

16:10-16:25 TuE13.1Principle, Characterization and Control of a New Hybrid Thermo-Piezoelectric Microactuator, pp. 1580-1585.

Rakotondrabe, Micky (FEMTO-st Inst.), Ivan, Ioan Alexandru (AS2M department, FEMTO-st Inst. 24, rue Alain Savary Besanç) 16:25-16:40 TuE13.2Rotary Nanomotors Based on Head-To-Head Nanotube Shuttles, pp. 1586-1591.

Hamdi, Mustapha (Ec. Nationale des Ponts et Chaussees), Subramanian, Arunkumar (Swiss Federal Inst. of Tech. (ETH), Zurich), Dong, Lixin (Michigan State Univ.), Ferreira, Antoine (Univ. of Orléans), Nelson, Bradley J. (ETH Zurich)

16:40-16:55 TuE13.3Design of an Autonomous Swimming Miniature Robot Based on a Novel Concept of Magnetic Actuation, pp. 1592-1597. Attachment

Tortora, Giuseppe (Scuola Superiore Sant'Anna), Caccavaro, Sebastiano (Scuola Superiore Sant'Anna), Valdastri, Pietro (Scuola Superiore Sant'Anna), Menciassi, Arianna (Scuola Superiore Sant'Anna - SSSA), Dario, Paolo (Scuola Superiore Sant'Anna)

16:55-17:10 TuE13.4Modeling and Analysis of Wireless Resonant Magnetic Microactuators, pp. 1598-1603.

Nagy, Zoltan (ETH Zurich), Frutiger, Dominic R. (ETH Zurich), Leine, Remco I. (ETH Zurich), Glocker, Christoph (ETH Zurich), Nelson, Bradley J. (ETH Zurich)

17:10-17:25 TuE13.5Magnetic Nanosheets Manipulation: Modeling, Development and Validation, pp. 1604-1609.

Mattoli, Virgilio (Istituto Italiano di Tecnologia, IIT), Sinibaldi, Edoardo (Istituto Italiano di Tecnologia, IIT), Pensabene, Virginia (Univ. di Genova, IIT), Taccola, Silvia (Scuola Superiore Sant'Anna), Menciassi, Arianna (Scuola Superiore Sant'Anna - SSSA), Dario, Paolo (Scuola Superiore Sant'Anna)

17:25-17:40 TuE13.6OctoMag: An Electromagnetic System for 5-DOF Wireless Micromanipulation, pp. 1610-1616. Attachment

Kummer, Michael (ETH Zurich), Abbott, Jake (Univ. of Utah), Kratochvil, Bradley (ETH Zurich), Borer, Ruedi (ETH Zurich), Sengul, Ali (Ec. Pol. Federale de Lausanne (EPFL)), Nelson, Bradley J. (ETH Zurich)

TuF1 Egan Center Street Level Room ArteagaQuadrotor Control (Regular Sessions)

Chair: Tzes, Anthony Univ. of PatrasCo-Chair: Michael, Nathan Univ. of Pennsylvania

17:45-18:00 TuF1.1Mini-Quadrotor Attitude Control Based on Hybrid Backstepping & Frenet-Serret Theory, pp. 1617-1622. Attachment

Colorado, Julian (Pol. Univ. of Madrid), Barrientos, Antonio (UPM), Martinez, Alexander (UPM), Benjamin Lafaverges, Benjamin (INSA Lyon Inst. in France), Valente, Joao (Tech. Univ. of Madrid)

18:00-18:15 TuF1.2The True Role of Accelerometer Feedback in Quadrotor Control, pp. 1623-1629.

Martin, Philippe (MINES ParisTech), Salaün, Erwan (Georgia Inst. of Tech.) 18:15-18:30 TuF1.3Robust Take-Off and Landing for a Quadrotor Vehicle, pp. 1630-1635.

Cabecinhas, David (Inst. Superior Tecnico), Naldi, Roberto (CASY - D.E.I.S. - Univ. di Bologna), Marconi, Lorenzo (Univ. of Bologna), Silvestre, Carlos (Inst. Superior Tecnico), Cunha, Rita (Inst. Superior Tecnico)

18:30-18:45 TuF1.4Design and Experimental Verification of a Constrained Finite Time Optimal Control Scheme for the Attitude Control of a Quadrotor Helicopter Subject to Wind Gusts, pp. 1636-1641.

Alexis, Kostas (Univ. of Patras), Nikolakopoulos, George (Univ. of Patras), Tzes, Anthony (Univ. of Patras) 18:45-19:00 TuF1.5A Simple Learning Strategy for High-Speed Quadrocopter Multi-Flips, pp. 1642-1648. Attachment

Lupashin, Sergei (ETH Zurich), Schöllig, Angela (ETH Zürich), Sherback, Michael (ETH Zurich), D'Andrea, Raffaello (ETHZ) 19:00-19:15 TuF1.6Design of Guaranteed Safe Maneuvers Using Reachable Sets: Autonomous Quadrotor Aerobatics in Theory and Practice, pp. 1649-1654.

Gillula, Jeremy (Stanford Univ.), Huang, Haomiao (Stanford Univ.), Vitus, Michael (Stanford Univ.), Tomlin, Claire (UC Berkeley) TuF2 Egan Center Lower Level Room 6Compliance in Actuation and Design (Regular Sessions)

Chair: Asada, Harry MITCo-Chair: Song, Jae-Bok Korea Univ.

17:45-18:00 TuF2.1Hybrid Dual Actuator Unit: A Design of a Variable Stiffness Actuator Based on an Adjustable Moment Arm Mechanism, pp. 1655-1660. Attachment

Kim, Byeong-Sang (Korea Univ.), Song, Jae-Bok (Korea Univ.) 18:00-18:15 TuF2.2Phased-Array Piezoelectric Actuators Using a Buckling Mechanism Having Large Displacement Amplification and Nonlinear Stiffness, pp. 1661-1667.

Neal, Devin (MIT), Asada, Harry (MIT) 18:15-18:30 TuF2.3A Variable Physical Damping Actuator (VPDA) for Compliant Robotic Joints, pp. 1668-1674. Attachment

Laffranchi, Matteo (Italian Inst. of Tech.), Tsagarakis, Nikolaos (Italian Inst. of Tech. (IIT)), Caldwell, Darwin G. (Italian Inst. of Tech.) 18:30-18:45 TuF2.4Scaling up Shape Memory Alloy Actuators Using a Recruitment Control Architecture, pp. 1675-1680. Attachment

Odhner, Lael (Yale Univ.), Asada, Harry (MIT) 18:45-19:00 TuF2.5Modeling and Implementation of Solder-Activated Joints for Single-Actuator, Centimeter-Scale Robotic Mechanisms, pp. 1681-1686.

Telleria, Maria (Massachusetts Insitute of Tech.), Hansen, Malik (Boston Dynamics), Campbell, Donald (Boston Dynamics), Culpepper, Martin (MIT), Servi, Amelia (Massachusetts Inst. of Tech.)

19:00-19:15 TuF2.6On Joint Design with Intrinsic Variable Compliance: Derivation of the DLR QA-Joint, pp. 1687-1694. Attachment

Eiberger, Oliver (DLR - German Aerospace Center), Haddadin, Sami (German Aerospace Center (DLR)), Weis, Michael (German Aerospace Center), Albu-Schäffer, Alin (DLR - German Aerospace Center), Hirzinger, Gerd (German Aerospace Center (DLR))

TuF3 Egan Center Second Level Room BoardroomBipedal Locomotion (Regular Sessions)

Chair: Spong, Mark Univ. of Texas at DallasCo-Chair: Asano, Fumihiko Japan Advanced Inst. of Science and Tech.

17:45-18:00 TuF3.1Asymptotically Stable Gait Primitives for Planning Dynamic Bipedal Locomotion in Three Dimensions, pp. 1695-1702. Attachment

Gregg, Robert (Univ. of Illinois at Urbana-Champaign), Bretl, Timothy (Univ. of Illinois at Urbana-Champaign), Spong, Mark (Univ. of Texas at Dallas)

18:00-18:15 TuF3.2Simulation and Experimental Studies on Passive-Dynamic Walker That Consists of Two Identical Crossed Frames, pp. 1703-1708. Attachment

Asano, Fumihiko (Japan Advanced Inst. of Science and Tech.) 18:15-18:30 TuF3.3Biped Blind Walking on Changing Slope with Reflex Control System, pp. 1709-1714.

Tan, Feng (Tsinghua Univ.), Fu, Chenglong (Tsinghua Univ.), Chen, Ken (Tsinghua Univ.) 18:30-18:45 TuF3.4Gait Synthesis for a Three-Link Planar Biped Walker with One Actuator, pp. 1715-1720.

La Hera, Pedro (Umeĺ Univ.), Shiriaev, Anton (Umea Univ.), Freidovich, Leonid (Umeĺ Univ.), Mettin, Uwe (Umeĺ Univ.) 18:45-19:00 TuF3.5Bifurcations and Chaos in Passive Walking of a Compass-Gait Biped with Asymmetries, pp. 1721-1726.

Moon, Jae-Sung (Univ. of Illinois at Urbana-Champaign), Spong, Mark (Univ. of Texas at Dallas) 19:00-19:15 TuF3.6Joint Proprioception Acquisition Strategy Based on Joints-Muscles Topological Maps for Musculoskeletal Humanoids, pp. 1727-1732.

Nakanishi, Yuto (The Univ. of Tokyo), Hongo, Kazuo (The Univ. of Tokyo), Mizuuchi, Ikuo (Tokyo Univ. of Agriculture and Tech.), Inaba, Masayuki (The Univ. of Tokyo)

TuF4 Egan Center Lower Level Room 1Teleoperation and Networked Robots (Regular Sessions)

Chair: Chopra, Nikhil Univ. of Maryland, Coll. ParkCo-Chair: Tadokoro, Satoshi Tohoku Univ.

17:45-18:00 TuF4.1Plugfest 2009: Global Interoperability in Telerobotics and Telemedicine, pp. 1733-1738.

King, H. Hawkeye (Univ. of Washington), Hannaford, Blake (Univ. of Washington), Kwok, Ka Wai (Imperial Coll. London), Yang, Guang-Zhong (Imperial Coll. London), Griffiths, Paul (Johns Hopkins Univ.), Okamura, Allison M. (Johns Hopkins Univ.), Farkhatdinov, Ildar (Korea Univ. of Tech. and Education), Ryu, Jee-Hwan (Korea Univ. of Tech. and Education), Sankaranarayanan, Ganesh (Rensselaer Pol. Inst.), Arikatla, Venkata Sreekanth (Rensselaer Pol. Inst.), Tadano, Kotaro (Tokyo Inst. of Tech.), Kawashima, Kenji (Tokyo Inst. of Tech.), Peer, Angelika (Tech. Univ. München), Schauß, Thomas (Tech. Univ. München), Buss, Martin (Tech. Univ. München), Miller, Levi Makaio (Univ. of Washington), Glozman, Daniel (Univ. of California Santa Cruz), Rosen, Jacob (Univ. of California at Santa Cruz), Low, Thomas (SRI International)

18:00-18:15 TuF4.2Towards a Situated, Multimodal Interface for Multiple UAV Control, pp. 1739-1744.

Jones, Geraint (Univ. Coll. London), Berthouze, Nadia (UCL), Bielski, Roman (Univ. Coll. London), Julier, Simon Justin (Univ. Coll. London)

18:15-18:30 TuF4.3An Evaluation of Local Autonomy Applied to Teleoperated Vehicles in Underground Mines, pp. 1745-1752.

Larsson, Johan (Örebro Univ.), Broxvall, Mathias (Örebro Univ.), Saffiotti, Alessandro (Orebro Univ.) 18:30-18:45 TuF4.4Real-Time Remote Transmission of Multiple Tactile Properties through Master-Slave Robot System, pp. 1753-1760.

Yamauchi, Takahiro (Tohoku Univ.), Okamoto, Shogo (Tohoku Univ.), Konyo, Masashi (Tohoku Univ.), Hidaka, Yusuke (Keio Univ.), Maeno, Takashi (Keio Univ.), Tadokoro, Satoshi (Tohoku Univ.)

18:45-19:00 TuF4.5An Attitude Control System for Underwater Vehicle-Manipulator Systems, pp. 1761-1767.

Sakagami, Norimitsu (Tokai Univ.), Shibata, Mizuho (Ritsumeikan Univ.), Kawamura, Sadao (Ritsumeikan Univ.), Inoue, Toshifumi (Dainippon Screen Manufacturing Co. Ltd.), Onishi, Hiroyuki (Dainippon Screen Manufacturing Co. Ltd.), Murakami, Shigeo (Dainippon Screen Manufacturing Co. Ltd.)

19:00-19:15 TuF4.6Control of Robotic Manipulators under Time-Varying Sensing-Control Delays, pp. 1768-1773.

Chopra, Nikhil (Univ. of Maryland, Coll. Park) TuF5 Egan Center Lower Level Room 13/14Mobile Manipulation (Regular Sessions)

Chair: Kemp, Charlie Georgia Inst. of Tech.Co-Chair: Morrell, John Yale Univ.

17:45-18:00 TuF5.1Contact Feature Extraction on a Balancing Manipulation Platform, pp. 1774-1779.

McClung, Arthur (Yale Univ.), Zheng, Ying (Jean) (Yale Univ.), Morrell, John (Yale Univ.) 18:00-18:15 TuF5.2

Interaction Analysis and Posture Optimization for a Reconfigurable Tracked Mobile Modular Manipulator Negotiating Slopes, pp. 1780-1785.

Liu, Yugang (Ryerson Univ.), Liu, Guangjun (Ryerson Univ.) 18:15-18:30 TuF5.3Optimized Dual-Trajectory Tracking Control of a 9-DoF WMRA System for ADL Tasks, pp. 1786-1791.

Farelo, Fabian (Univ. of South Florida), Alqasemi, Redwan (Univ. of South Florida), Dubey, Rajiv (Univ. of South Florida) 18:30-18:45 TuF5.4Kinematic Control of Nonholonomic Mobile Manipulators in the Presence of Steering Wheels, pp. 1792-1798. Attachment

De Luca, Alessandro (Univ. di Roma "La Sapienza"), Oriolo, Giuseppe (Univ. di Roma "La Sapienza"), Robuffo Giordano, Paolo (Max Planck Inst. for Biological Cybernetics)

18:45-19:00 TuF5.5Planning for Autonomous Door Opening with a Mobile Manipulator, pp. 1799-1806. Attachment

Chitta, Sachin (Willow Garage Inc.), Cohen, Benjamin (Univ. of Pennsylvania), Likhachev, Maxim (Univ. of Pennsylvania) 19:00-19:15 TuF5.6Pulling Open Doors and Drawers: Coordinating an Omni-Directional Base and a Compliant Arm with Equilibrium Point Control, pp. 1807-1814. Attachment

Jain, Advait (Georgia Inst. of Tech.), Kemp, Charlie (Georgia Inst. of Tech.) TuF6 Egan Center Lower Level Room 2Haptic Interfaces (Regular Sessions)

Chair: Kuchenbecker, Katherine J. Univ. of PennsylvaniaCo-Chair: Motard, Elvina Space Applications Services

17:45-18:00 TuF6.1Automatic Filter Design for Synthesis of Haptic Textures from Recorded Acceleration Data, pp. 1815-1821.

Romano, Joseph M. (Univ. of Pennsylvania), Yoshioka, Takashi (Johns Hopkins Univ.), Kuchenbecker, Katherine J. (Univ. of Pennsylvania)

18:00-18:15 TuF6.2Development of a 2-DOF Softness Feeling Display for Tactile Tele-Presentation of Deformable Surfaces, pp. 1822-1827.

Kimura, Fuminobu (Univ. of Tokyo), Yamamoto, Akio (Univ. of Tokyo), Higuchi, Toshiro (The Univ. of Tokyo) 18:15-18:30 TuF6.3Accurate Modeling of Low-Cost Piezoresistive Force Sensors for Haptic Interfaces, pp. 1828-1833.

Paredes-Madrid, Leonel (Inst. of Industrial Automation-CSIC), Torruella Naranjo, Pedro Manuel (Inst. of Industrial Automation - CSIC), Solaeche Estrada, Paul (Inst. of Industrial Automation - CSIC), Galiana, Ignacio (Univ. Pol. de Madrid), Gonzalez de Santos, Pablo (Industrial Automation Inst. - CSIC)

18:30-18:45 TuF6.4Shared Decision Making in a Collaborative Task with Reciprocal Haptic Feedback - an Efficiency-Analysis, pp. 1834-1839.

Groten, Raphaela (Tech. Univ. München), Feth, Daniela (Tech. Univ. München), Peer, Angelika (Tech. Univ. München), Buss, Martin (Tech. Univ. München)

18:45-19:00 TuF6.5EXOSTATION : Haptic Exoskeleton Based Control Station, pp. 1840-1845.

Letier, Pierre (ULB), Motard, Elvina (Space Applications Services), Verschueren, Jean-Philippe (Micromega Dynamics) 19:00-19:15 TuF6.6A Robotic Hand Rehabilitation System with Interactive Gaming Using Novel Electro-Rheological Fluid Based Actuators, pp. 1846-1851.

Unluhisarcikli, Ozer (Northeastern Univ.), Weinberg, Brian (Northeastern Univ.), Sivak, Mark (Northeastern Univ.), Mirelman, Anat (Tel-Aviv Sourasky Medical Center, Israel), Bonato, Paolo (Harvard Medical School), Mavroidis, Constantinos (Northeastern Univ.)

TuF7 Egan Center Lower Level Room 11/12Learning and Adaptation for Sensing (Regular Sessions)

Chair: Siskind, Jeffrey Mark Purdue Univ.Co-Chair: Papanikolopoulos, Nikos Univ. of Minnesota

17:45-18:00 TuF7.1How to Separate Containers from Non-Containers? a Behavior-Grounded Approach to Acoustic Object Categorization, pp. 1852-1859.

Griffith, Shane (Iowa State Univ.), Sinapov, Jivko (Iowa State Univ.), Sukhoy, Vlad (Iowa State Univ.), Stoytchev, Alexander (Iowa State Univ.)

18:00-18:15 TuF7.2Body Schema Acquisition through Active Learning, pp. 1860-1866.

Martinez-Cantin, Ruben (Inst. Superior Tecnico), Lopes, Manuel (Univ. of Plymouth), Montesano, Luis (Univ. de Zaragoza) 18:15-18:30 TuF7.3Fully Autonomous Trajectory Estimation with Long-Range Passive RFID, pp. 1867-1872.

Vorst, Philipp (Univ. of Tübingen), Zell, Andreas (Univ. of Tübingen) 18:30-18:45 TuF7.4Multi-Class Batch-Mode Active Learning for Image Classification, pp. 1873-1878.

Joshi, Ajay (Univ. of Minnesota), Porikli, Fatih (Mitsubishi Electric Res. Lab.), Papanikolopoulos, Nikos (Univ. of Minnesota) 18:45-19:00 TuF7.5Learning Physically-Instantiated Game Play through Visual Observation, pp. 1879-1886.

Barbu, Andrei (Purdue Univ.), Narayanaswamy, Siddharth (Purdue Univ.), Siskind, Jeffrey Mark (Purdue Univ.) 19:00-19:15 TuF7.6Inferring the Semantics of Direction Signs in Public Places, pp. 1887-1892.

Maye, Jerome (ETH Zurich), Spinello, Luciano (Albert-Ludwigs-Univ. Freiburg), Triebel, Rudolph (ETH Zurich), Siegwart, Roland (ETH Zurich)

TuF8 Egan Center Street Level Room Cook HallVisual Odometry (Regular Sessions)

Chair: Kim, Jinwook Korea Inst. of Science and Tech.Co-Chair: Vasseur, Pascal Univ. of Picardie - Jules Verne

17:45-18:00 TuF8.1VICP: Velocity Updating Iterative Closest Point Algorithm, pp. 1893-1898.

Hong, Seungpyo (Korea Inst. of Science and Tech.), Ko, Heedong (KIST), Kim, Jinwook (Korea Inst. of Science and Tech.) 18:00-18:15 TuF8.2A Bearing-Only 2D/3D-Homing Method under Visual Servoing Framework, pp. 1899-1904.

Liu, Ming (ETH Zurich), Pradalier, Cedric (ETH Zurich), Chen, Qijun (Tongji Univ.), Siegwart, Roland (ETH Zurich) 18:15-18:30 TuF8.3RANSAC Matching: Simultaneous Registration and Segmentation, pp. 1905-1912.

Yang, Shao-Wen (National Taiwan Univ.), Wang, Chieh-Chih (National Taiwan Univ.), Chang, Chun-Hua (Nation Taiwan Univ.) 18:30-18:45 TuF8.4Vision-Based Pose Estimation for Autonomous Indoor Navigation of Micro-Scale Unmanned Aircraft Systems, pp. 1913-1920.

Rudol, Piotr (Linköping Univ.), Wzorek, Mariusz (Linkoping Univ.), Doherty, Patrick (AIICS - Univ. of Linkopings) 18:45-19:00 TuF8.5Vision-Based Navigation with Pose Recovery under Visual Occlusion and Kidnapping, pp. 1921-1927. Attachment

Kim, Jungho (KAIST), Kweon, In So (KAIST) 19:00-19:15 TuF8.6Translation Estimation for Single Viewpoint Cameras Using Lines, pp. 1928-1933.

Ly, Sang (Univ. de Picardie Jules Verne), Demonceaux, Cédric (Univ. of Picardie - Jules Verne), Vasseur, Pascal (Univ. of Picardie - Jules Verne)

TuF9 Egan Center Lower Level Room 3Communication and Motion Planning in Robot Networks (Invited Sessions)

Chair: Fierro, Rafael Univ. of New MexicoCo-Chair: Mostofi, Yasamin Univ. of New MexicoOrganizer: Mostofi, Yasamin Univ. of New MexicoOrganizer: Fierro, Rafael Univ. of New Mexico

17:45-18:00 TuF9.1Adaptive Exploitation of Multipath Fading for Mobile Sensors, pp. 1934-1939.

Lindhé, Magnus (Royal Inst. of Tech.), Johansson, Karl H. (Royal Inst. of Tech.) 18:00-18:15 TuF9.2Online Methods for Radio Signal Mapping with Mobile Robots (I), pp. 1940-1945. Attachment

Fink, Jonathan (Univ. of Pennsylvania), Kumar, Vijay (Univ. of Pennsylvania) 18:15-18:30 TuF9.3Estimation of Communication Signal Strength in Robotic Networks (I), pp. 1946-1951.

Mostofi, Yasamin (Univ. of New Mexico), Malmirchegini, Mehrzad (Univ. of New Mexico), Ghaffarkhah, Alireza (Univ. of New Mexico) 18:30-18:45 TuF9.4Maintaining Connectivity in Environments with Obstacles, pp. 1952-1957.

Tekdas, Onur (Univ. of Minnesota), Plonski, Patrick (Univ. of Minnesota), Karnad, Nikhil (Univ. of Minnesota, Twin-Cities), Isler, Volkan (Univ. of Minnesota)

18:45-19:00 TuF9.5Semi-Autonomous Networks: Theory and Decentralized Protocols (I), pp. 1958-1963.

Chapman, Airlie (Univ. of Washington), Schoof, Eric (Univ. of Washington), Mesbahi, Mehran (Univ. of Washington) 19:00-19:15 TuF9.6Distributed Control for Optimization of a Communication Network, pp. 1964-1971.

Gil, Stephanie (MIT), Schwager, Mac (Massachusetts Inst. of Tech.), Julian, Brian (MIT), Rus, Daniela (MIT), Gil, Stephanie (MIT) TuF10 Egan Center Lower Level Room 9/10Motion and Path Planning (Regular Sessions)

Chair: Geraerts, Roland Utrecht Univ.Co-Chair: Knepper, Ross A Carnegie Mellon Univ.

17:45-18:00 TuF10.1Calculus of Variations for Guaranteed Optimal Path Planning of Aircraft Formations, pp. 1972-1977.

L'Afflitto, Andrea (Virginia Pol. Inst. and State Univ.), Sultan, Cornel (Virginia Tech.) 18:00-18:15 TuF10.2Path Planning Based on Fluid Mechanics for Mobile Robots Using Unstructured Terrain Models, pp. 1978-1984. Attachment

Gingras, David (Canadian Space Agency), Dupuis, Erick (Canadian Space Agency), Payre, Guy (Univ. of Sherbrooke), De Lafontaine, Jean (Univ. of Sherbrooke)

18:15-18:30 TuF10.3Hierarchical Planning Architectures for Mobile Manipulation Tasks in Indoor Environments, pp. 1985-1990.

Knepper, Ross A (Carnegie Mellon Univ.), Srinivasa, Siddhartha (Intel Lab. Pittsburgh), Mason, Matthew T. (Carnegie Mellon Univ.) 18:30-18:45 TuF10.4

A New Approach to Time-Optimal Straight-Line Trajectory for Omni-Directional Mobile Robots with Multi-Objective Costs, pp. 1991-1996. Kim, Ki Bum (KAIST (Korea Advanced Inst. of Science and Tech.), Kim, Byung Kook (KAIST)

18:45-19:00 TuF10.5Planning Short Paths with Clearance Using Explicit Corridors, pp. 1997-2004.

Geraerts, Roland (Utrecht Univ.) 19:00-19:15 TuF10.6On the Implementation of Single-Query Sampling-Based Motion Planners, pp. 2005-2011.

Sucan, Ioan Alexandru (Rice Univ.), Kavraki, Lydia (Rice Univ.) TuF11 Egan Center Lower Level Room 5Multi-View Recognition and Pose Estimation (Regular Sessions)

Chair: Dillmann, Rüdiger Univ. of KarlsruheCo-Chair: Daniilidis, Kostas Univ. of Pennsylvania

17:45-18:00 TuF11.1Autonomous Acquisition of Visual Multi-View Object Representations for Object Recognition on a Humanoid Robot, pp. 2012-2019.

Welke, Kai (Univ. of Karlsruhe), Issac, Jan (Univ. of Karlsruhe), Schiebener, David (Univ. of Karlsruhe), Asfour, Tamim (Univ. of Karlsruhe), Dillmann, Rüdiger (Univ. of Karlsruhe)

18:00-18:15 TuF11.2Simultaneous Object Class and Pose Estimation for Mobile Robotic Applications with Minimalistic Recognition, pp. 2020-2027.

Aydemir, Alper (Royal Inst. of Tech. (KTH)), Bishop, Adrian (Royal Inst. of Tech. (KTH)), Jensfelt, Patric (Royal Inst. of Tech.) 18:15-18:30 TuF11.3Pose Estimation in Heavy Clutter Using a Multi-Flash Camera, pp. 2028-2035. Attachment

Liu, Ming-Yu (Univ. of Maryland Coll. Park), Tuzel, Oncel (MERL), Veeraraghavan, Ashok (Mitsubishi Electric Res. Lab.), Chellappa, Rama (Univ. of Maryland, Coll. Park), Agrawal, Amit (Mitsubishi Electric Res. Lab.), Okuda, Haruhisa (Mitsubishi Electric Corp.)

18:30-18:45 TuF11.4A Probabilistic Framework for Stereo-Vision Based 3D Object Search with 6D Pose Estimation, pp. 2036-2042.

Ma, Jeremy (California Inst. of Tech.), Burdick, Joel (California Inst. of Tech.) 18:45-19:00 TuF11.5MOPED: A Scalable and Low Latency Object Recognition and Pose Estimation System, pp. 2043-2049.

Martinez, Manuel (Carnegie Mellon Univ.), Collet, Alvaro (Carnegie Mellon Univ.), Srinivasa, Siddhartha (Intel Lab. Pittsburgh) 19:00-19:15 TuF11.6Efficient Multi-View Object Recognition and Full Pose Estimation, pp. 2050-2055. Attachment

Collet, Alvaro (Carnegie Mellon Univ.), Srinivasa, Siddhartha (Intel Lab. Pittsburgh) TuF12 Egan Center Lower Level Room 4Medical Robot Systems II (Regular Sessions)

Chair: Taylor, Russell H. The Johns Hopkins Univ.Co-Chair: Alterovitz, Ron Univ. of North Carolina at Chapel Hill

17:45-18:00 TuF12.1Robotic Delivery of Complex Radiation Volumes for Small Animal Research, pp. 2056-2061.

Matinfar, Mohammad (Johns Hopkins Univ.), Iordachita, Iulian (Johns Hopkins Univ.), Wong, John (Johns Hopkins Univ.), Kazanzides, Peter (Johns Hopkins Univ.)

18:00-18:15 TuF12.2Needle Path Planning for Digital Breast Tomosynthesis Biopsy, pp. 2062-2067.

Vancamberg, Laurence (General Electric Healthcare and ISIR-Inst. des systčmesintell), Sahbani, Anis (Univ. Pierre et Marie Curie - Paris 6, ISIR, CNRS-UMR 7222), Muller, Serge (GE Healthcare), Morel, Guillaume (Univ. Pierre et Marie Curie - Paris 6)

18:15-18:30 TuF12.3Evaluation of Robotic Needle Steering in Ex Vivo Tissue, pp. 2068-2073.

Majewicz, Ann (Johns Hopkins Univ.), Wedlick, Thomas (Johns Hopkins Univ.), Reed, Kyle Brandon (Univ. of South Florida), Okamura, Allison M. (Johns Hopkins Univ.)

18:30-18:45 TuF12.4Superhuman Performance of Surgical Tasks by Robots Using Iterative Learning from Human-Guided Demonstrations, pp. 2074-2081. Attachment

van den Berg, Jur (Univ. of California at Berkeley), Miller, Stephen (Univ. of Califonia at Berkeley), Duckworth, Daniel (Univ. of California in Berkeley), Hu, Humphrey (Univ. of California at Berkeley), Wan, Andrew (Univ. of California at Berkeley), Fu, Xiao-Yu (Univ. of California at Berkeley), Goldberg, Ken (UC Berkeley), Abbeel, Pieter (UC Berkeley)

18:45-19:00 TuF12.5Planning Active Cannula Configurations through Tubular Anatomy, pp. 2082-2087.

Lyons, Lisa (Univ. of North Carolina at Chapel Hill), Webster III, Robert James (Vanderbilt Univ.), Alterovitz, Ron (Univ. of North Carolina at Chapel Hill)

19:00-19:15 TuF12.6Toward Automated Tissue Retraction in Robot-Assisted Surgery, pp. 2088-2094. Attachment

Patil, Sachin (UNC Chapel Hill), Alterovitz, Ron (Univ. of North Carolina at Chapel Hill) TuF13 Egan Center Lower Level Room 7/8Flexible Automation and Manufacturing (Regular Sessions)

Chair: Li, Jingshan Univ. of KentuckyCo-Chair: Kiguchi, Kazuo Saga Univ.

17:45-18:00 TuF13.1Desktop Orthogonal-Type Robot with Abilities of Compliant Motion and Stick-Slip Motion for Lapping of LED Lens Molds, pp. 2095-2100.

Nagata, Fusaomi (Tokyo Univ. of Science, Yamaguchi), Mizobuchi, Takanori (Tokyo Univ. of Science, Yamaguchi), Tani, Shintaro (Tokyo Univ. of Science, Yamaguchi), Hase, Tetsuo (Meiho Co. Ltd.), Haga, Zenku (Meiho Co. Ltd.), Watanabe, Keigo (Saga Univ.), Habib, Maki Khalil (Saga Univ.), Kiguchi, Kazuo (Saga Univ.)

18:00-18:15 TuF13.2Autonomous Cruise Control of Circulating Multi-Robot for Congestion, pp. 2101-2106.

Hoshino, Satoshi (Tokyo Inst. of Tech.), Seki, Hiroya (Tokyo Inst. of Tech.), Naka, Yuji (Tokyo Inst. of Tech.), Ota, Jun (The Univ. of Tokyo)

18:15-18:30 TuF13.3Developing a Dual-Stage Indirect Virtual Metrology Architecture, pp. 2107-2112.

Tsai, Wen-Huang (National Cheng Kung Univ.), Cheng, Fan-Tien (National Cheng Kung Univ.), Wu, Wei-Ming (National Cheng Kung Univ.), Lin, Tung-Ho (National Cheng Kung Univ.)

18:30-18:45 TuF13.4Embodiment Independent Manipulation through Action Abstraction, pp. 2113-2118. Attachment

Laaksonen, Janne (Lappeenranta Univ. of Tech.), Felip, Javier (Univ. Jaume I), Morales, Antonio (Univ. Jaume I), Kyrki, Ville (Lappeenranta Univ. of Tech.)

18:45-19:00 TuF13.5Quality Improvement through Product Sequencing in Flexible Manufacturing Systems, pp. 2119-2124.

Wang, Junwen (Univ. of Kentucky), Li, Jingshan (Univ. of Kentucky), Arinez, Jorge (General Motors Res. & Development Center), Biller, Stephan (General Motors Corp.)

19:00-19:15 TuF13.6Performance Approximation and Bottleneck Identification in Re-Entrant Lines, pp. 2125-2130.

Liu, Yang (Univ. of Kentucky), Li, Jingshan (Univ. of Kentucky), Chiang, Shu-Yin (Ming Chuan Univ.) WeA1 Egan Center Street Level Room ArteagaCompliance and Force Control (Regular Sessions)

Chair: Newman, Wyatt Case Western Res. Univ.Co-Chair: Haddadin, Sami German Aerospace Center (DLR)

08:30-08:45 WeA1.1A Compliant Constant-Force Mechanism for Adaptive Robot End-Effector Operations, pp. 2131-2136.

Lan, Chao-Chieh (National Cheng Kung Univ.), Wang, Jhe-Hong (National Cheng Kung Univ.), Chen, Yi-Ho (National Cheng Kung Univ.)

08:45-09:00 WeA1.2Active Force Control for Robotic Micro-Assembly: Application to Guiding Tasks, pp. 2137-2142.

Rabenorosoa, Kanty (FEMTO-st Inst.), Clévy, Cédric (Franche-Comté Univ.), Lutz, Philippe (Lab. d'Automatique de Besançon) 09:00-09:15 WeA1.3Assessing Internal Models for Faster Learning of Robotic Assembly, pp. 2143-2148.

Marvel, Jeremy (Case Western Res. Univ.), Newman, Wyatt (Case Western Res. Univ.) 09:15-09:30 WeA1.4Optimal Passive Dynamics for Torque/Force Control, pp. 2149-2154.

Kemper, Kevin (Oregon State Univ.), Koepl, Devin (Oregon State Univ.), Hurst, Jonathan (Oregon State Univ.) 09:30-09:45 WeA1.5Dynamic Modelling and Control of Variable Stiffness Actuators, pp. 2155-2162.

Albu-Schäffer, Alin (DLR - German Aerospace Center), Wolf, Sebastian (DLR - German Aerospace Center), Eiberger, Oliver (DLR - German Aerospace Center), Haddadin, Sami (German Aerospace Center (DLR)), Petit, Florian (Inst. of Robotics and Mechatronics, German Aerospace Center), Chalon, Maxime (German Aerospace Center (DLR))

09:45-10:00 WeA1.6Classification and Prediction for Accurate Sensor-Based Assembly to Moving Objects, pp. 2163-2168. Attachment

Lange, Friedrich (German Aerospace Center (DLR)), Scharrer, Johannes (Inst. für Werkzeugmaschinen und BetriebswissenschaftenTU Münc), Hirzinger, Gerd (German Aerospace Center (DLR))

WeA2 Egan Center Street Level Room Cook HallNovel Actuators (Regular Sessions)

Chair: Suzuki, Kenji Univ. of TsukubaCo-Chair: Goldfarb, Michael Vanderbilt Univ.

08:30-08:45 WeA2.1A Multi-Cell Piezoelectric Device for Tunable Resonance Actuation and Energy Harvesting, pp. 2169-2176.

Secord, Thomas (MIT), Mazumdar, Anirban (Massachusetts Inst. of Tech.), Asada, Harry (MIT) 08:45-09:00 WeA2.2New Magnetic Rotational Drive by Use of Magnetic Particles with Specific Gravity Smaller Than a Liquid, pp. 2177-2182.

Nokata, Makoto (Ritsumeikan Univ.) 09:00-09:15 WeA2.3New Actuator System Using Movable Pulley for Bio-Mimetic System and Wearable Robot Applications, pp. 2183-2188. Attachment

Lee, Hoyul (Hanyang Univ.), Lee, Chulwoo (Hanyang Univ.), Kim, Seong-Jin (Hanyang Univ.), Choi, Youngjin (Hanyang Univ.) 09:15-09:30 WeA2.4Design of a Multi-Disc Electromechanical Modulated Dissipator, pp. 2189-2196.

Farris, Ryan (Vanderbilt Univ.), Goldfarb, Michael (Vanderbilt Univ.)

09:30-09:45 WeA2.5Low-Temperature H2O2-Powered Actuators for Biorobotics: Thermodynamic and Kinetic Analysis, pp. 2197-2202.

Vitale, Flavia (Univ. "La Sapienza"), Accoto, Dino (Univ. Campus Bio-Medico), Turchetti, Luca (Univ. "La Sapienza"), Indini, Stefano (Univ. Campus Bio-Medico di Roma), Annesini, Maria Cristina (Univ. "La Sapienza"), Guglielmelli, Eugenio (Univ. Campus Bio-Medico)

09:45-10:00 WeA2.6A Multiple SMA Hybrid Actuator to Generate Expressions on the Face, pp. 2203-2208.

Jayatilake, Prabhath Dushyantha (Univ. of Tsukuba), Suzuki, Kenji (Univ. of Tsukuba) WeA3 Egan Center Second Level Room BoardroomLower Limb Rehabilitation (Regular Sessions)

Chair: Caldwell, Darwin G. Italian Inst. of Tech.Co-Chair: Furusho, Junji Osaka Univ.

08:30-08:45 WeA3.1Development of Third-Generation Intelligently Controllable Ankle-Foot Orthosis with Compact MR Fluid Brake, pp. 2209-2214. Attachment

Kikuchi, Takehito (Graduate School of Science and Engineering, Yamagata Univ.), Tanida, Sosuke (Osaka Univ.), Otsuki, Kikuko (Osaka Univ.), Yasuda, Takashi (Shiga School of Medical Tech.), Furusho, Junji (Osaka Univ.)

08:45-09:00 WeA3.2MoonWalker, a Lower Limb Exoskeleton Able to Sustain Bodyweight Using a Passive Force Balancer, pp. 2215-2220. Attachment

Krut, Sebastien (LIRMM (CNRS & Univ. Montpellier 2)), Benoit, Michel (LIRMM), Dombre, Etienne (Univ. Montpellier II & CNRS), Pierrot, François (CNRS - LIRMM)

09:00-09:15 WeA3.3Control Strategies for Ankle Rehabilitation Using a High Performance Ankle Exerciser, pp. 2221-2227. Attachment

Saglia, Jody Alessandro (King's Coll. London), Tsagarakis, Nikolaos (Italian Inst. of Tech. (IIT)), Dai, Jian (King's Coll. London, Univ. of London), Caldwell, Darwin G. (Italian Inst. of Tech.)

09:15-09:30 WeA3.4Fast Operation of Anatomical and Stiff Tendon Neuromuscular Models in EMG-Driven Modeling, pp. 2228-2234.

Sartori, Massimo (Univ. of Padova), Lloyd, David (Univ. of Western Australia, M408), Reggiani, Monica (Univ. of Padua), Pagello, Enrico (Univ. of Padua)

09:30-09:45 WeA3.5Leg-Dependent Force Control for Body Weight Support by Gait Cycle Estimation from Pelvic Movement, pp. 2235-2240.

Watanabe, Takao (Waseda Univ.), Ohki, Eiichi (Waseda Univ.), Fujie, Masakatsu G. (Waseda Univ.), Kobayashi, Yo (Waseda Univ.) 09:45-10:00 WeA3.6A Novel Passive Pelvic Device for Assistance During Locomotion, pp. 2241-2246.

Mokhtarian, Ali (Isfahan Univ. of Tech.), Fattah, Abbas (Isfahan Univ. of Tech.), Agrawal, Sunil (Univ. of Delaware) WeA4 Egan Center Lower Level Room 1Space and Underwater Applications (Regular Sessions)

Chair: Papadopoulos, Evangelos NTUACo-Chair: Cheng, Yang JPL

08:30-08:45 WeA4.1Towards Passive Object On-Orbit Manipulation by Cooperating Free-Flying Robots, pp. 2247-2252.

Rekleitis, Georgios (National Tech. Univ. of Athens), Papadopoulos, Evangelos (National Tech. Univ. of Athens) 08:45-09:00 WeA4.2Biomimetic Optic Flow Sensing Applied to a Lunar Landing Scenario, pp. 2253-2260. Attachment

Valette, Florent (CNRS/ Univ. de la méditerranée), Ruffier, Franck (CNRS / Univ. de la Méditerranée), Viollet, Stephane (Univ. Mediterranée/CNRS), Seidl, Tobias (ESA-European Space Agency)

09:00-09:15 WeA4.3Experimental Results of a Novel Amphibian Solution for Aquatic Robot, pp. 2261-2266. Attachment

Ju, Liang (Scuola Superiore Sant’Anna), Ferri, Gabriele (Scuola Superiore Sant'Anna, Pisa), Laschi, Cecilia (Scuola Superiore Sant'Anna), Mazzolai, Barbara (Scuola Superiore S.Anna), Dario, Paolo (Scuola Superiore Sant'Anna)

09:15-09:30 WeA4.4Two Steps Natural Actor Critic Learning for Underwater Cable Tracking, pp. 2267-2272. Attachment

El-Fakdi, Andres (Univ. of Girona - VAT:ESQ6750002E), Carreras, Marc (Univ. de Girona), Galceran, Enric (Univ. of Girona) 09:30-09:45 WeA4.5Visually Aided Feature Extraction from 3D Range Data, pp. 2273-2279.

Sok, Chhay (Nanyang Tech. Univ.), Adams, Martin (Nanyang Tech. Univ.) 09:45-10:00 WeA4.6Real-Time Surface Slope Estimation by Homography Alignment for Spacecraft Safe Landing, pp. 2280-2286.

Cheng, Yang (JPL) WeA5 Egan Center Lower Level Room 13/14Models for Grasping (Regular Sessions)

Chair: Piater, Justus Univ. of LiegeCo-Chair: Matsuoka, Yoky Univ. of Washington

08:30-08:45 WeA5.1Refining Grasp Affordance Models by Experience, pp. 2287-2293.

Detry, Renaud (Univ. of Ličge), Kraft, Dirk (Univ. of Southern Denmark), Buch, Anders Glent (Univ. of Southern Denmark), Krüger, Norbert (Univ. of Southern Denmark), Piater, Justus (Univ. of Liege)

08:45-09:00 WeA5.2Human-Guided Grasp Measures Improve Grasp Robustness on Physical Robot, pp. 2294-2301.

Balasubramanian, Ravi (Yale Univ.), Xu, Ling (Carnegie Mellon Univ.), Brook, Peter (Univ. of Washington), Smith, Joshua R. (Intel), Matsuoka, Yoky (Univ. of Washington)

09:00-09:15 WeA5.3Visual Tracking of a Jaw Gripper Based on Articulated 3D Models for Grasping, pp. 2302-2307. Attachment

Sorribes, José Juan (Jaume-I Univ.), Prats, Mario (Univ. Jaume I), Morales, Antonio (Univ. Jaume I) 09:15-09:30 WeA5.4Cloth Grasp Point Detection Based on Multiple-View Geometric Cues with Application to Robotic Towel Folding, pp. 2308-2315.

Maitin-Shepard, Jeremy (Univ. of California, Berkeley), Lei, Jinna (Univ. of California, Berkeley), Cusumano-Towner, Marco (Univ. of California, Berkeley), Abbeel, Pieter (UC Berkeley)

09:30-09:45 WeA5.5Modeling Non-Convex Configuration Space Using Linear Complementarity Problems, pp. 2316-2321. Attachment

Nguyen, Binh (Rensselaer Pol. Inst.), Trinkle, Jeff (Rensselaer Pol. Inst.) 09:45-10:00 WeA5.6Implicit Nonlinear Complementarity: A New Approach to Contact Dynamics, pp. 2322-2329. Attachment

Todorov, Emanuel (Univ. of Washington) WeA6 Egan Center Lower Level Room 2Haptics and Human Augmentation (Regular Sessions)

Chair: Chitta, Sachin Willow Garage Inc.Co-Chair: Kawashima, Kenji Tokyo Inst. of Tech.

08:30-08:45 WeA6.1An Inertia-Based Surface Identification System, pp. 2330-2335.

Windau, Jens (Univ. of Southern California), Shen, Wei-Min (USC Information Science Inst.) 08:45-09:00 WeA6.2Material Classification by Tactile Sensing Using Surface Textures, pp. 2336-2341.

Jamali, Nawid (Univ. of New South Wales), Sammut, Claude (Univ. of New South Wales) 09:00-09:15 WeA6.3Tactile Object Class and Internal State Recognition for Mobile Manipulation, pp. 2342-2348.

Chitta, Sachin (Willow Garage Inc.), Piccoli, Matthew (Univ. of Pennsylvania), Sturm, Jürgen (Univ. of Freiburg) 09:15-09:30 WeA6.4Haptic Object Recognition Using Passive Joints and Haptic Key Features, pp. 2349-2355.

Gorges, Nicolas (Karlsruhe Inst. of Tech.), Escaida Navarro, Stefan (Univ. Karlsruhe), Goeger, Dirk (Univ. Karlsruhe), Woern, Heinz (Univ. Karlsruhe)

09:30-09:45 WeA6.5Controlling a Power Assist Robot for Lifting Objects Considering Human's Unimanual, Bimanual and Cooperative Weight Perception, pp. 2356-2362.

Rahman, S.M.Mizanoor (Mie Univ.), Ikeura, Ryojun (Mie Univ.), Nobe, Masaya (Mie Univ.), Sawai, Hideki (Mie Univ.) 09:45-10:00 WeA6.6Development of Grip Amplified Glove Using Bi-Articular Mechanism with Pneumatic Artificial Rubber Muscle, pp. 2363-2368.

Tadano, Kotaro (Tokyo Inst. of Tech.), Akai, Masao (Tokyo Inst. of Tech.), Kadota, Kazuo (Tokyo Inst. of Tech.), Kawashima, Kenji (Tokyo Inst. of Tech.)

WeA7 Egan Center Lower Level Room 11/12Learning and Adaptation in Humanoids (Regular Sessions)

Chair: Buchli, Jonas Univ. of Southern CaliforniaCo-Chair: Mistry, Michael Disney Res. Pittsburgh

08:30-08:45 WeA7.1Generalized Model Learning for Reinforcement Learning on a Humanoid Robot, pp. 2369-2374. Attachment

Hester, Todd (Univ. of Texas at Austin), Quinlan, Michael (Univ. of Texas at Austin), Stone, Peter (Univ. of Texas at Austin) 08:45-09:00 WeA7.2Learning Reliable and Efficient Navigation with a Humanoid, pp. 2375-2380. Attachment

Oßwald, Stefan (Univ. of Freiburg), Hornung, Armin (Univ. of Freiburg), Bennewitz, Maren (Univ. of Freiburg) 09:00-09:15 WeA7.3BM: An Iterative Algorithm to Learn Stable Non-Linear Dynamical Systems with Gaussian Mixture Models, pp. 2381-2388.

Khansari-Zadeh, Seyed Mohammad (EPFL), Billard, Aude (EPFL) 09:15-09:30 WeA7.4Hierarchical, Knowledge-Oriented Opto-Acoustic Scene Analysis for Humanoid Robots and Man-Machine Interaction, pp. 2389-2396.

Machmer, Timo (Karlsruhe Inst. of Tech. (KIT)), Swerdlow, Alexej (Karlsruhe Inst. of Tech. (KIT)), Kuehn, Benjamin (Karlsruhe Inst. of Tech. (KIT)), Kroschel, Kristian (Fraunhofer Inst. of Optronics, System Tech. and Image)

09:30-09:45 WeA7.5Reinforcement Learning of Motor Skills in High Dimensions: A Path Integral Approach, pp. 2397-2403.

Theodorou, Evangelos (Univ. of Southern California), Buchli, Jonas (Univ. of Southern California), Schaal, Stefan (Univ. of Southern California)

09:45-10:00 WeA7.6Associative Processes between Behavioral Symbols and a Large Scale Language Model, pp. 2404-2409.

Takano, Wataru (Tokyo Univ.), Nakamura, Yoshihiko (Univ. of Tokyo) WeA8 Egan Center Lower Level Room 3Visual Tracking and Navigation (Regular Sessions)

Chair: Sagues, Carlos Univ. of ZaragozaCo-Chair: Das, Aveek Sarnoff Corp.

08:30-08:45 WeA8.1A Hybrid Estimation Approach for Autonomous Dirt Road Following Using Multiple Clothoid Segments, pp. 2410-2415. Attachment

Manz, Michael (Univ. of the Bundeswehr Munich), von Hundelshausen, Felix (UniBW), Wuensche, Hans J (UniBw Munich) 08:45-09:00 WeA8.2Concurrent Visual Multiple Lane Detection for Autonomous Vehicles, pp. 2416-2422.

Gupta, Rachana (North Carolina State Univ.), Snyder, Wesley (North Carolina State Univ.), Pitts, W. Shepherd (Lotus Engineering USA INC)

09:00-09:15 WeA8.3Ground Robot Navigation Using Uncalibrated Cameras, pp. 2423-2430. Attachment

Koch, Olivier (Massachusetts Inst. of Tech.), Walter, Matthew (MIT), Huang, Albert S. (Massachusetts Inst. of Tech.), Teller, Seth (MIT) 09:15-09:30 WeA8.4Robust Visual Path Following for Heterogeneous Mobile Platforms, pp. 2431-2437.

Das, Aveek (Sarnoff Corp.), Naroditsky, Oleg (Sarnoff, Univ. of Pennsylvania), Zhu, Zhiwei (Sarnoff), Samarasekera, Supun (Sarnoff), Kumar, Rakesh (Sarnoff)

09:30-09:45 WeA8.53D Reconstruction of Fish Schooling Kinematics from Underwater Video, pp. 2438-2443.

Butail, Sachit (Univ. of Maryland), Paley, Derek (Univ. of Maryland) 09:45-10:00 WeA8.6Omnidirectional Visual Homing Using the 1D Trifocal Tensor, pp. 2444-2450. Attachment

Aranda, Miguel (Univ. of Zaragoza), Lopez-Nicolas, Gonzalo (Univ. de Zaragoza), Sagues, Carlos (Univ. of Zaragoza) WeA9 Egan Center Lower Level Room 9/10Stochastic Multi-Robot and Modular Robot Systems (Invited Sessions)

Chair: Yim, Mark Univ. of PennsylvaniaCo-Chair: Napp, Nils Univ. of WashingtonOrganizer: Napp, Nils Univ. of WashingtonOrganizer: Shaw, Fayette Univ. of Washington

08:30-08:45 WeA9.1Adaptation to Robot Failures and Shape Change in Decentralized Construction (I), pp. 2451-2458. Attachment

Yun, Seung-kook (MIT), Rus, Daniela (MIT) 08:45-09:00 WeA9.2Robust by Composition: Programs for Multi Robot Systems (I), pp. 2459-2466.

Napp, Nils (Univ. of Washington), Klavins, Eric (Univ. of Washington) 09:00-09:15 WeA9.3Factory Floor: A Robotically Reconfigurable Construction Platform (I), pp. 2467-2472.

Galloway, Kevin (Univ. of Pennslyvannia), Jois, Rekha (Univ. of Pennsylvania), Yim, Mark (Univ. of Pennsylvania) 09:15-09:30 WeA9.4Fluidic Manipulation for Scalable Stochastic 3D Assembly of Modular Robots (I), pp. 2473-2478. Attachment

Tolley, Michael Thomas (Cornell Univ.), Lipson, Hod (Cornell Univ.) 09:30-09:45 WeA9.5A Robotic Module for Stochastic Fluidic Assembly of 3D Self-Reconfiguring Structures (I), pp. 2479-2484.

Neubert, Jonas (Cornell Univ.), Cantwell, Abraham (Cornell Univ.), Constantin, Stephane (Cornell Univ.), Kalontarov, Michael (Cornell Univ.), Erickson, David (Cornell Univ.), Lipson, Hod (Cornell Univ.)

09:45-10:00 WeA9.6Robot Pebbles: One Centimeter Modules for Programmable Matter through Self-Disassembly, pp. 2485-2492.

Gilpin, Kyle (Massachusetts Inst. of Tech.), Knaian, Ara (Massachusetts Inst. of Tech.), Rus, Daniela (MIT) WeA10 Egan Center Lower Level Room 4Motion and Path Planning for Articulated Systems (Regular Sessions)

Chair: Manocha, Dinesh UNC at Chapel HillCo-Chair: Hauser, Kris Indiana Univ.

08:30-08:45 WeA10.1Fast Smoothing of Manipulator Trajectories Using Optimal Bounded-Acceleration Shortcuts, pp. 2493-2498.

Hauser, Kris (Indiana Univ.), Ng-Thow-Hing, Victor (Honda Res. Inst.) 08:45-09:00 WeA10.2Constrained Closed Loop Inverse Kinematics, pp. 2499-2506.

Dariush, Behzad (Honda Res. Inst. USA), Zhu, Youding (The Ohio State Univ.), Arumbakkam, Arjun (Honda Res. Inst. USA, Inc.), Fujimura, Kikuo (Honda Res. Inst.)

09:00-09:15 WeA10.3A Skill-Based Motion Planning Framework for Humanoids, pp. 2507-2514. Attachment

Kallmann, Marcelo (Univ. of California, Merced), Huang, Yazhou (Univ. of California Merced), Backman, Robert (Univ. of California, Merced)

09:15-09:30 WeA10.4High-Dimensional Planning on the GPU, pp. 2515-2522.

Kider Jr., Joseph T. (Univ. of Pennsylvania), Henderson, Mark (Univ. of Pennsylvania), Likhachev, Maxim (Univ. of Pennsylvania), Safonova, Alla (Univ. of Pennsylvania)

09:30-09:45 WeA10.5Trajectory Prediction in Cluttered Voxel Environments, pp. 2523-2528. Attachment

Jetchev, Nikolay (TU Berlin), Toussaint, Marc (TU Berlin) 09:45-10:00 WeA10.6Retraction-Based RRT Planner for Articulated Models, pp. 2529-2536.

Pan, Jia (UNC Chapel Hill), Zhang, Liangjun (Univ. of North Carolina at Chapel Hill), Manocha, Dinesh (UNC at Chapel Hill) WeA11 Egan Center Lower Level Room 7/8Omnidirectional Vision (Regular Sessions)

Chair: Bayro-Corrochano, Eduardo-Jose CINVESTAV, Unidad GuadalajaraCo-Chair: Guerrero, J.J. Univ. de Zaragoza

08:30-08:45 WeA11.13-D Shape Measurement of Pipe by Range Finder Constructed with Omni-Directional Laser and Omni-Directional Camera, pp. 2537-2542. Attachment

Matsui, Kenki (Shizuoka Univ.), Yamashita, Atsushi (Shizuoka Univ.), Kaneko, Toru (Shizuoka Univ.) 08:45-09:00 WeA11.2Vision-Based Robot Control with Omnidirectional Cameras and Conformal Geometric Algebra, pp. 2543-2548.

López-Franco, Carlos Alberto (Univ. of Guadalajara), Arana Daniel, Nancy Guadalupe (Univ. of Guadalajara), Bayro-Corrochano, Eduardo-Jose (CINVESTAV, Unidad Guadalajara)

09:00-09:15 WeA11.3Self-Orientation of a Hand-Held Catadioptric System in Man-Made Environments, pp. 2549-2555. Attachment

Puig, Luis (Univ. de Zaragoza), Bermúdez, Jesús (Univ. de Zaragoza), Guerrero, J.J. (Univ. de Zaragoza) 09:15-09:30 WeA11.4Application of Particle Filters to Vision-Based Orientation Estimation Using Harmonic Analysis, pp. 2556-2561. Attachment

Schairer, Timo (Univ. of Tuebingen), Huhle, Benjamin (Univ. of Tuebingen), Strasser, Wolfgang (Univ. of Tuebingen) 09:30-09:45 WeA11.5Central Catadioptric Line Matching for Robotic Applications, pp. 2562-2567.

Vasseur, Pascal (Univ. of Picardie - Jules Verne), Demonceaux, Cédric (Univ. of Picardie - Jules Verne) 09:45-10:00 WeA11.6Cooperative Tracking of Moving Objects and Face Detection with a Dual Camera Sensor, pp. 2568-2573.

Ghidoni, Stefano (Univ. of Padua), Pretto, Alberto (Univ. of Padua), Menegatti, Emanuele (The Univ. of Padua) WeA12 Egan Center Lower Level Room 5MRI-Compatible Robots (Regular Sessions)

Chair: Althoefer, Kaspar Kings Coll. LondonCo-Chair: Iordachita, Iulian Johns Hopkins Univ.

08:30-08:45 WeA12.1Cardiac Interventions under MRI Guidance Using Robotic Assistance, pp. 2574-2579.

Li, Ming (National Inst. of Health), Kapoor, Ankur (National Inst. of Health), Mazilu, Dumitru (National Inst. of Health), Wood, Brad (National Inst. of Health), Horvath, Keith (National Inst. of Health)

08:45-09:00 WeA12.2Development of a Pneumatic Robot for MRI-Guided Transperineal Prostate Biopsy and Brachytherapy: New Approaches, pp. 2580-2585.

Song, Sang-Eun (The Johns Hopkins Univ.), Cho, Nathan Bongjoon (Johns Hopkins Univ.), Fischer, Gregory (Worcester Pol. Inst.), Hata, Nobuhiko (Brigham and Women's Hospital), Tempany, Clare (Brigham & Women's hospital, Harvard MEDICAL sCHOOL), Fichtinger, Gabor (Queen's Univ.), Iordachita, Iulian (Johns Hopkins Univ.)

09:00-09:15 WeA12.3Design and Development of a 3-Axis MRI-Compatible Force Sensor, pp. 2586-2591.

Tan, U-Xuan (Univ. of Maryland), Yang, Bo (Univ. of Maryland, Coll. Park), Gullapalli, Rao (Univ. of Maryland School of Medicine), Desai, Jaydev P. (Univ. of Maryland)

09:15-09:30 WeA12.4Miniaturized Triaxial Optical Fiber Force Sensor for MRI-Guided Minimally Invasive Surgery, pp. 2592-2597.

Puangmali, Pinyo (King's Coll. London), Dasgupta, Prokar (King's Coll. London), Seneviratne, Lakmal (Kings Coll. London), Althoefer, Kaspar (Kings Coll. London)

09:30-09:45 WeA12.5Novel Miniature MRI-Compatible Fibre-Optic Force Sensor for Cardiac Catheterization Procedures, pp. 2598-2603.

Polygerinos, Panagiotis (King's Coll. London), Puangmali, Pinyo (King's Coll. London), Schaeffter, Tobias (King's Coll. London), Razavi, Reza (King's Coll. London), Seneviratne, Lakmal (Kings Coll. London), Althoefer, Kaspar (Kings Coll. London)

WeA13 Egan Center Lower Level Room 6Filtering, Estimation and Localization (Regular Sessions)

Chair: Hagita, Norihiro ATRCo-Chair: Choi, Hyouk Ryeol Sungkyunkwan Univ.

08:30-08:45 WeA13.1Improved Monte Carlo Localization of Autonomous Robots through Simultaneous Estimation of Motion Model Parameters, pp. 2604-2609.

Mueller, Joerg (Univ. of Freiburg), Gonsior, Christoph (Univ. of Freiburg), Burgard, Wolfram (Univ. of Freiburg) 08:45-09:00 WeA13.2Rao-Blackwellized Particle Filtering for Probing-Based 6-DOF Localization in Robotic Assembly, pp. 2610-2617. Attachment

Taguchi, Yuichi (Mitsubishi Electric Res. Lab.), Marks, Tim K. (Mitsubishi Electric Res. Lab. (MERL)), Okuda, Haruhisa (Mitsubishi Electric Corp.)

09:00-09:15 WeA13.3Global Localization for a Small Mobile Robot Using Magnetic Pattern, pp. 2618-2623. Attachment

You, Won Suk (Sungkyunkwan), Choi, Byung June (Sungkyunkwan Univ.), Kim, Bumsoo (Sungkyunkwan Univ.), Koo, Ja Choon (Sungkyunkwan Univ.), Moon, Hyungpil (SungKyunKwan Univ.), Chung, Wan Kyun (POSTECH), Choi, Hyouk Ryeol (Sungkyunkwan Univ.)

09:15-09:30 WeA13.4Low-Cost Attitude and Heading Reference System: Filter Design and Experimental Evaluation, pp. 2624-2629.

Batista, Pedro (Inst. Superior Técnico), Silvestre, Carlos (Inst. Superior Tecnico), Oliveira, Paulo (Inst. Superior Técnico), Cardeira, Bruno (Inst. Superior Técnico)

09:30-09:45 WeA13.5Accelerometer-Based Tilt Estimation of a Rigid Body with Only Rotational Degrees of Freedom, pp. 2630-2636. Attachment

Trimpe, Sebastian (ETH Zurich), D'Andrea, Raffaello (ETHZ) 09:45-10:00 WeA13.6Person Identification by Integrating Wearable Sensors and Tracking Results from Environmental Sensors, pp. 2637-2642.

Ikeda, Tetsushi (ATR), Ishiguro, Hiroshi (Osaka Univ.), Glas, Dylan F. (ATR), Shiomi, Masahiro (ATR), Miyashita, Takahiro (ATR), Hagita, Norihiro (ATR)

WeB1 Dena'ina Center Tikahtnu A50 Years of Robotics: Perception (Regular Sessions)

Chair: Corke, Peter CSIROCo-Chair: Kragic, Danica KTH

10:25-11:00 WeB1.1Robot Vision: Where It Has Been and Where It Will Be (I)*.

Kanade, Takeo (Carnegie Mellon Univ.) 11:00-11:15 WeB1.2High-Speed Liquid Lens for Computer Vision, pp. 2643-2648.

Oku, Hiromasa (Univ. of Tokyo), Ishikawa, Masatoshi (Univ. of Tokyo) 11:15-11:30 WeB1.3FAB-MAP 3D: Topological Mapping with Spatial and Visual Appearance, pp. 2649-2656.

Paul, Rohan (Univ. of Oxford), Newman, Paul (Oxford Univ.) 11:30-11:45 WeB1.4Real-Time Monocular SLAM: Why Filter?, pp. 2657-2664.

Strasdat, Hauke (Imperial Coll.), Montiel, J.M.M (Univ. de Zaragoza), Davison, Andrew J (Imperial Coll. London) WeB2 Dena'ina Center Tikahtnu B50 Years of Robotics: Learning (Regular Sessions)

Chair: Oh, Paul Y. Drexel Univ.Co-Chair: Billard, Aude EPFL

10:25-11:00 WeB2.1Machine Learning for Robotic Perception and Control (I)*.

Thrun, Sebastian (Stanford Univ.) 11:00-11:15 WeB2.2Fast, Robust Quadruped Locomotion Over Challenging Terrain, pp. 2665-2670. Attachment

Kalakrishnan, Mrinal (Univ. of Southern California), Buchli, Jonas (Univ. of Southern California), Pastor, Peter (Univ. of Southern California), Mistry, Michael (Disney Res. Pittsburgh), Schaal, Stefan (Univ. of Southern California)

11:15-11:30 WeB2.3Evaluation of a Probabilistic Approach to Learn and Reproduce Gestures by Imitation, pp. 2671-2676. Attachment

Calinon, Sylvain (FONDAZIONE IST. ITALIANO DI TECNOLOGIA), Sauser, Eric (EPFL), Billard, Aude (EPFL), Caldwell, Darwin G. (Italian Inst. of Tech.)

11:30-11:45 WeB2.4Using Model Knowledge for Learning Inverse Dynamics, pp. 2677-2682.

Nguyen-Tuong, Duy (Max Planck Inst. for Biological Cybernetics), Peters, Jan (Max-Planck Inst. for Bio. Cybernetics) WeB3 Dena'ina Center Tikahtnu C50 Years of Robotics: Planning (Regular Sessions)

Chair: Amato, Nancy Texas A&M Univ.Co-Chair: Hsu, David National Univ. of Singapore

10:25-11:00 WeB3.1Motion Planning: What Does It Move For? (I)*.

Laumond, Jean-Paul (LAAS-CNRS) 11:00-11:15 WeB3.2Object Caging under Imperfect Shape Knowledge, pp. 2683-2688.

Pipattanasomporn, Peam (Chulalongkorn Univ.), Sudsang, Attawith (Chulalongkorn Univ.)

11:15-11:30 WeB3.3Sampling-Based Motion Planning with Temporal Goals, pp. 2689-2696.

Bhatia, Amit (Rice Univ.), Kavraki, Lydia (Rice Univ.), Moshe, Vardi (Rice Univ.) 11:30-11:45 WeB3.4Planning Pre-Grasp Manipulation for Transport Tasks, pp. 2697-2704. Attachment

Chang, Lillian (Carnegie Mellon Univ.), Srinivasa, Siddhartha (Intel Lab. Pittsburgh), Pollard, Nancy S (Carnegie Mellon Univ.) WeB4 Dena'ina Center Kahtnu 1/250 Years of Robotics: Control (Regular Sessions)

Chair: De Luca, Alessandro Univ. di RomaCo-Chair: Albu-Schäffer, Alin DLR - German Aerospace Center

10:25-11:00 WeB4.1The Interplay between Robotics and Control Theory (I)*.

Spong, Mark (Univ. of Texas at Dallas) 11:00-11:15 WeB4.2Biomimetic Motor Behavior for Simultaneous Adaptation of Force, Impedance and Trajectory in Interaction Tasks, pp. 2705-2711.

Ganesh, Gowrishankar (ATR International), Albu-Schäffer, Alin (DLR - German Aerospace Center), Haruno, Masahiko (ATR International), Kawato, Mitsuo (Press), Burdet, Etienne (imperial Coll. london)

11:15-11:30 WeB4.3Human-In-The-Loop: Terminal Constraint Receding Horizon Control with Human Inputs, pp. 2712-2717.

Chipalkatty, Rahul (Georgia Inst. of Tech.), Egerstedt, Magnus (Georgia Inst. of Tech.) 11:30-11:45 WeB4.4Topology Control of Dynamic Networks in the Presence of Local and Global Constraints, pp. 2718-2723.

Moshtagh, Nima (Scientific System Company Inc.), Mesbahi, Mehran (Univ. of Washington), Mehra, Raman (Scientific System Company Inc.)

WePL Dena'ina Center Tikahtnu A/B/CPlenary: Automation to Understand and Ultimately Improve Health and the Environment for the Future (Plenary Sessions)

Chair: Kumar, Vijay Univ. of PennsylvaniaCo-Chair: Goldberg, Ken UC Berkeley

13:15-14:10 WePL.1Automation to Understand and Ultimately Improve Health and the Environment for the Future*.

Meldrum, Deirdre (Arizona State Univ.) WeD1 Egan Center Street Level Room ArteagaMechanics and Planning for Multibody Systems (Invited Sessions)

Chair: Murphey, Todd Northwestern Univ.Co-Chair: Li, Zexiang HKUSTOrganizer: Selig, J.M. London South Bank Univ.

14:20-14:35 WeD1.1Probabilistically Complete Planning with End-Effector Pose Constraints, pp. 2724-2730.

Berenson, Dmitry (Carnegie Mellon Univ.), Srinivasa, Siddhartha (Intel Lab. Pittsburgh) 14:35-14:50 WeD1.2Variational Solutions to Simultaneous Collisions between Multiple Rigid Bodies, pp. 2731-2738.

Seghete, Vlad (Northwestern Univ.), Murphey, Todd (Northwestern Univ.) 14:50-15:05 WeD1.3Quotient Kinematics Machines: Concept, Analysis and Synthesis, pp. 2739-2744.

Wu, Yuanqing (Shanghai Jiaotong Univ.), Wang, Hong (Harbin Inst. of Tech. Shenzhen Graduate), Li, Zexiang (HKUST), Lou, Yunjiang (Shenzhen Graduate School, Harbin Inst. of Tech.), Shi, Jinbo (Hong Kong Univ. of Science and Tech.)

15:05-15:20 WeD1.4Graph Theory Roots of Spatial Operators for Kinematics and Dynamics, pp. 2745-2750.

Jain, Abhinandan (Jet Propulsion Lab.) 15:20-15:35 WeD1.5Information Theory on Lie Groups and Mobile Robotics Applications (I), pp. 2751-2757.

Chirikjian, Gregory (Johns Hopkins Univ.) WeD2 Egan Center Street Level Room Cook HallCellular and Modular Robots (Regular Sessions)

Chair: Stoy, Kasper Univ. of Southern DenmarkCo-Chair: Nagpal, Radhika Harvard Univ.

14:20-14:35 WeD2.1Design of a New Independently-Mobile Reconfigurable Modular Robot, pp. 2758-2764.

Kutzer, Michael Dennis Mays (Johns Hopkins Univ. Applied Physics Lab.), Moses, Matthew S (Johns Hopkins Univ.), Brown, Christopher (MIT), Scheidt, David (Johns Hopkins Univ.), Chirikjian, Gregory (Johns Hopkins Univ.), Armand, Mehran (Johns Hopkins Univ. Applied Physics Lab.)

14:35-14:50 WeD2.2A Distributed Strategy for Gait Adaptation in Modular Robots, pp. 2765-2770. Attachment

Christensen, David Johan (Univ. of Southern Denmark), Schultz, Ulrik Pagh (Univ. of Southern Denmark), Stoy, Kasper (Univ. of

Southern Denmark) 14:50-15:05 WeD2.3An Autonomous Robot That Duplicates Itself from Low-Complexity Components, pp. 2771-2776.

Lee, Kiju (Case Western Res. Univ.), Chirikjian, Gregory (Johns Hopkins Univ.) 15:05-15:20 WeD2.4Coordinating Collective Locomotion in an Amorphous Modular Robot, pp. 2777-2784.

Yu, Chih-Han (Harvard Univ.), Werfel, Justin (Harvard Univ.), Nagpal, Radhika (Harvard Univ.) 15:20-15:35 WeD2.5Strength Analysis of Miniature Folded Right Angle Tetrahedron Chain Programmable Matter, pp. 2785-2790. Attachment

White, Paul (Univ. of Pennsylvania), Posner, Michael (Univ. of Pennsylvania), Yim, Mark (Univ. of Pennsylvania) 15:35-15:50 WeD2.6On the Complexity of Optimal Reconfiguration Planning for Modular Reconfigurable Robots, pp. 2791-2796.

Hou, Feili (Univ. of Soutern California), Shen, Wei-Min (USC Information Science Inst.) WeD3 Egan Center Second Level Room BoardroomClimbing and Navigating Rough Terrain (Regular Sessions)

Chair: Choset, Howie Carnegie Mellon Univ.Co-Chair: Zhang, Jianwei Univ. of Hamburg

14:20-14:35 WeD3.1Adhesion Recovery and Passive Peeling in a Wall Climbing Robot Using Adhesives, pp. 2797-2802.

Kute, Casey (Carnegie Mellon Univ.), Murphy, Michael (Boston Dynamics), Menguc, Yigit (Carnegie Mellon Univ.), Sitti, Metin (Carnegie Mellon Univ.)

14:35-14:50 WeD3.2DSAC – Dynamic, Single Actuated Climber: Local Stability and Bifurcations, pp. 2803-2809. Attachment

Degani, Amir (Carnegie Mellon Univ.), Choset, Howie (Carnegie Mellon Univ.), Mason, Matthew T. (Carnegie Mellon Univ.) 14:50-15:05 WeD3.3Toward a Rapid and Robust Attachment Strategy for Vertical Climbing, pp. 2810-2815. Attachment

Palmer III, Luther R. (Univ. of South Florida), Diller, Eric D. (Case Western Res. Univ.), Quinn, Roger, D. (Case Western Res. Univ.) 15:05-15:20 WeD3.4Internal Force Compensating Method for Wall-Climbing Caterpillar Robot, pp. 2816-2820.

Wang, Wei (Beihang Univ.), Wang, Kun (Beihang Univ.), Zhang, Houxiang (Computer Science), Zhang, Jianwei (Univ. of Hamburg) 15:20-15:35 WeD3.5Axel Rover Paddle Wheel Design, Efficiency, and Sinkage on Deformable Terrain, pp. 2821-2827. Attachment

Abad-Manterola, Pablo (California Inst. of Tech.), Burdick, Joel (California Inst. of Tech.), Nesnas, Issa (Jet Propulsion Lab.), Chinchali, Sandeep (Caltech), Fuller, Christine (Caltech), Zhou, Xuecheng (Caltech)

15:35-15:50 WeD3.6Haptic Terrain Classification for Legged Robots, pp. 2828-2833.

Hoepflinger, Mark (Swiss Federal Inst. of Tech.), Remy, C. David (ETH Zurich), Hutter, Marco (ETH Zurich), Siegwart, Roland (ETH Zurich), Spinello, Luciano (ETH Zurich)

WeD4 Egan Center Lower Level Room 1Search and Rescue Robots (Regular Sessions)

Chair: Merlet, Jean-Pierre INRIACo-Chair: Nejat, Goldie Univ. of Toronto

14:20-14:35 WeD4.1A Portable, Modular Parallel Wire Crane for Rescue Operations, pp. 2834-2839.

Merlet, Jean-Pierre (INRIA), Daney, David (INRIA Sophia Antipolis) 14:35-14:50 WeD4.2Probabilistic Search with Agile UAVs, pp. 2840-2845.

Waharte, Sonia (Univ. of Oxford), Symington, Andrew Colquhoun (Oxford Univ.), Trigoni, Niki (Univ. of Oxford) 14:50-15:05 WeD4.3User Interfaces for Human Robot Interactions with a Swarm of Robots in Support to Firefighters, pp. 2846-2851.

Gancet, Jeremi (Space Applications Services), Motard, Elvina (Space Applications Services), Naghsh, Amir (Sheffield Hallam Univ.), Roast, Chris (Sheffield Hallam Univ.), Munoz, Miguel (Space Applications Services), Marques, Lino (Univ. of Coimbra)

15:05-15:20 WeD4.4Feature Selection for Gas Identification with a Mobile Robot, pp. 2852-2857.

Trincavelli, Marco (Örebro Univ.), Loutfi, Amy (Örebro Univ.) 15:20-15:35 WeD4.5The Search for Survivors: Cooperative Human-Robot Interaction in Search and Rescue Environments Using Semi-Autonomous Robots, pp. 2858-2863.

Doroodgar, Barzin (Univ. of Toronto), Ficocelli, Maurizio (State Univ. of New York (SUNY) at Stony Brook), Mobedi, Babak (Univ. of Toronto), Nejat, Goldie (Univ. of Toronto)

15:35-15:50 WeD4.6Trials of 3-D Map Construction Using the Tele-Operated Crawler Robot Kenaf at Disaster City, pp. 2864-2870. Attachment

Ohno, Kazunori (Tohoku Univ.), Tadokoro, Satoshi (Tohoku Univ.), Nagatani, Keiji (Tohoku Univ.), Koyanagi, Eiji (Chiba Inst. of Tech.), Yoshida, Tomoaki (Chiba Inst. of Tech.)

WeD5 Egan Center Lower Level Room 13/14

Motion Planning for Manipulation and Grasping (Regular Sessions) Chair: Likhachev, Maxim Univ. of PennsylvaniaCo-Chair: Chitta, Sachin Willow Garage Inc.

14:20-14:35 WeD5.1An Adaptive Roadmap Guided Multi-RRTs Strategy for Single Query Path Planning, pp. 2871-2876. Attachment

Wang, Wei (National Univ. of Defense Tech.), Li, Yan (National Univ. of Defense Tech.), Xu, Xin (National Univ. of Defense Tech.), Yang, Simon X. (Univ. of Guelph)

14:35-14:50 WeD5.2Planning and Control of an Internal Point of a Deformable Object, pp. 2877-2882.

Das, Jadav (Vanderbilt Univ.), Sarkar, Nilanjan (Vanderbilt Univ.) 14:50-15:05 WeD5.3Integrated Grasp and Motion Planning, pp. 2883-2888.

Vahrenkamp, Nikolaus (Univ. of Karlsruhe), Do, Martin (Karlsruhe Inst. of Tech. (KIT)), Asfour, Tamim (Univ. of Karlsruhe), Dillmann, Rüdiger (Univ. of Karlsruhe)

15:05-15:20 WeD5.4Towards One Shot Learning by Imitation for Humanoid Robots, pp. 2889-2894.

Wu, Yan (Imperial Coll. London), Demiris, Yiannis (Imperial Coll. London) 15:20-15:35 WeD5.5Combining Planning Techniques for Manipulation Using Realtime Perception, pp. 2895-2901. Attachment

Sucan, Ioan Alexandru (Rice Univ.), Kalakrishnan, Mrinal (Univ. of Southern California), Chitta, Sachin (Willow Garage Inc.) 15:35-15:50 WeD5.6Search-Based Planning for Manipulation with Motion Primitives, pp. 2902-2908. Attachment

Cohen, Benjamin (Univ. of Pennsylvania), Chitta, Sachin (Willow Garage Inc.), Likhachev, Maxim (Univ. of Pennsylvania) WeD6 Egan Center Lower Level Room 2Orthoses, Protheses and Rehabilitation Systems (Regular Sessions)

Chair: Kong, Kyoungchul Univ. of California, BerkeleyCo-Chair: Kuchenbecker, Katherine J. Univ. of Pennsylvania

14:20-14:35 WeD6.1Classification of Individual Finger Motions Hybridizing Electromyogram in Transient and Converged States, pp. 2909-2915.

Kondo, Genta (The Univ. of Tokyo), Kato, Ryu (The Univ. of Tokyo), Yokoi, Hiroshi (the Univ. of Electro-Communications), Arai, Tamio (Univ. of Tokyo)

14:35-14:50 WeD6.2EMG Based Design and Evaluation of Micro Macro Neural Network for Rollover Support Trunk Orthosis, pp. 2916-2921.

Ando, Takeshi (Waseda Univ.), Okamoto, Jun (Waseda Univ.), Takahashi, Mitsuru (Shizuoka Cancer Center), Fujie, Masakatsu G. (Waseda Univ.)

14:50-15:05 WeD6.3Estimation of Instantaneous Tremor Parameters for FES–Based Tremor Suppression, pp. 2922-2927.

Gallego, Juan Alvaro (Consejo Superior de Investigaciones Científicas), Rocon, Eduardo (Inst. de Automática Industrial), Pons, Jose Luis (CSIC)

15:05-15:20 WeD6.4Tremor Attenuation Using FES-Based Joint Stiffness Control, pp. 2928-2933.

Bó, Antônio Padilha Lanari (LIRMM UMR 5506 CNRS UM2), Poignet, Philippe (LIRMM UMR 5506 CNRS UM2) 15:20-15:35 WeD6.5Through the Development of a Biomechatronic Knee Prosthesis for Transfemoral Amputees: Mechanical Design and Manufacture, Human Gait Characterization, Intelligent Control Strategies and Tests, pp. 2934-2939. Attachment

Torrealba, Rafael R. (Simón Bolívar Univ.), Pérez-D'Arpino, Claudia (Simón Bolívar Univ.), Cappelletto, Jose (Simón Bolívar Univ.), Fermín-León, Leonardo (Simón Bólivar Univ.), Fernandez-Lopez, Gerardo (Simon Bolivar Univ.), Grieco, Juan Carlos (Simon Bolivar Univ.)

15:35-15:50 WeD6.6A Compact Rotary Series Elastic Actuator for Knee Joint Assistive System, pp. 2940-2945.

Kong, Kyoungchul (Univ. of California, Berkeley), Bae, Joonbum (Univ. of California, Berkeley), Tomizuka, Masayoshi (Univ. of California)

WeD7 Egan Center Lower Level Room 11/12Learning Models, Trajectories and Strategies (Regular Sessions)

Chair: Ramamoorthy, Subramanian The Univ. of EdinburghCo-Chair: Mistry, Michael Disney Res. Pittsburgh

14:20-14:35 WeD7.1Geodesic Trajectory Generation on Learnt Skill Manifolds, pp. 2946-2952. Attachment

Havoutis, Ioannis (Univ. of Edinburgh), Ramamoorthy, Subramanian (The Univ. of Edinburgh) 14:35-14:50 WeD7.2Dimensionality Reduction for Trajectory Learning from Demonstration, pp. 2953-2958.

Melchior, Nik (Carnegie Mellon Univ.), Simmons, Reid (Carnegie Mellon Univ.) 14:50-15:05 WeD7.3Supervised Learning of Internal Models for Autonomous Goal-Oriented Robot Navigation Using Reservoir Computing, pp. 2959-2964.

Antonelo, Eric Aislan (Ghent Univ.), Schrauwen, Benjamin (Ghent Univ.) 15:05-15:20 WeD7.4

A HMM-Based Approach to Learning Probability Models of Programming Strategies for Industrial Robots, pp. 2965-2970. Hollmann, Rebecca (Fraunhofer Inst. Manufacturing Engineering and Automation), Haegele, Martin (Fraunhofer IPA), Verl, Alexander (Fraunhofer-Gesellschaft), Rost, Arne (Fraunhofer IPA)

15:20-15:35 WeD7.5Apprenticeship Learning Via Soft Local Homomorphisms, pp. 2971-2976.

Boularias, Abdeslam (Laval Univ.), Chaib-draa, Brahim (Laval Univ.) 15:35-15:50 WeD7.6A Game-Theoretic Procedure for Learning Hierarchically Structured Strategies, pp. 2977-2983.

Rosman, Benjamin (The Univ. of Edinburgh), Ramamoorthy, Subramanian (The Univ. of Edinburgh) WeD8 Egan Center Lower Level Room 3Navigation and Control (Regular Sessions)

Chair: Guglielmelli, Eugenio Univ. Campus Bio-MedicoCo-Chair: Richards, Arthur Univ. of Bristol

14:20-14:35 WeD8.1Sensor-Based Tracking of Environmental Level Sets by a Unicycle-Like Mobile Robot, pp. 2984-2988.

Matveev, Alexey (Saint Petersburg Univ.), Teimoori Sangani, Hamid (The Univ. of New South Wales (UNSW)), Savkin, Andrey (Univ. of New South Wales)

14:35-14:50 WeD8.2Design of Navigation Behaviors and the Selection Framework with Generalized Stochastic Petri Nets Toward Dependable Navigation of a Mobile Robot, pp. 2989-2994. Attachment

Moon, Chang-bae (Korea Univ.), Chung, Woojin (Korea Univ.) 14:50-15:05 WeD8.3An AUVs Path Planner Using Genetic Algorithms with a Deterministic Crossover Operator, pp. 2995-3000.

Cheng, Chi-Tsun (The Hong Kong Pol. Univ.), Fallahi, Kia (Univ. of Calgary), Leung, Henry (Univ. of Calgary), Tse, Chi K. (The Hong Kong Pol. Univ.)

15:05-15:20 WeD8.4Robust Adaptive Formation Control of Fully Actuated Marine Vessels Using Local Potential Functions, pp. 3001-3007.

Ghommam, Jawhar (Orléans), Saad, Maarouf (École de Tech. supérieure), Mnif, Faiçal (Sultan Qaboos Univ.) 15:20-15:35 WeD8.5Receding Horizon Control in Unknown Environments: Experimental Results, pp. 3008-3013. Attachment

Deittert, Markus (Univ. of Bristol), Richards, Arthur (Univ. of Bristol), Mathews, George (The Univ. of Sydney) 15:35-15:50 WeD8.6Variable-Resolution Map Building and Real-Time Path Planning of Omni-Directional Mobile Robots, pp. 3014-3019.

Xiang, Jingyu (Nagoya Univ.), Tazaki, Yuichi (Nagoya Univ.), Inagaki, Shinkichi (Nagoya Univ.), Suzuki, Tatsuya (Nagoya Univ.) WeD9 Egan Center Lower Level Room 9/10Distributed Systems for Estimation, Tracking and Pursuit (Regular Sessions)

Chair: Fierro, Rafael Univ. of New MexicoCo-Chair: Michael, Nathan Univ. of Pennsylvania

14:20-14:35 WeD9.1Model-Based Motion Tracking System Using Distributed Network Cameras, pp. 3020-3025. Attachment

Iwashita, Yumi (Kyushu Univ.), Kurazume, Ryo (Kyushu Univ.), Mori, Takamitsu (Kyushu Univ.), Saito, Masaki (Kyushu Univ.), Hasegawa, Tsutomu (Kyushu Univ.)

14:35-14:50 WeD9.2Distributed Nonlinear Estimation for Robot Localization Using Weighted Consensus, pp. 3026-3031.

Simonetto, Andrea (TU Delft), Keviczky, Tamas (Delft Univ. of Tech.), Babuska, Robert (Delft Univ. of Tech.) 14:50-15:05 WeD9.3Dynamic Consensus for Merging Visual Maps under Limited Communications, pp. 3032-3037.

Aragues, Rosario (Univ. de Zaragoza, DIIS-I3A), Cortes, Jorge (Univ. of California, San Diego), Sagues, Carlos (Univ. of Zaragoza) 15:05-15:20 WeD9.4Detecting Anomalies in Unmanned Vehicles Using the Mahalanobis Distance, pp. 3038-3044.

Lin, Raz (Bar-Ilan Univ.), Khalastchi, Eliahu (Bar-Ilan), Kaminka, Gal A (Bar Ilan Univ.) 15:20-15:35 WeD9.5Multi-Robot Pursuit-Evasion without Maps, pp. 3045-3051. Attachment

Kolling, Andreas (Univ. of California Merced), Carpin, Stefano (Univ. of California, Merced) 15:35-15:50 WeD9.6Multi-Vehicle Testbed for Decentralized Environmental Sensing, pp. 3052-3058. Attachment

Cortez, Andres (Univ. of New Mexico), Luna, Jose-Marcio (The Univ. of New Mexico), Fierro, Rafael (Univ. of New Mexico), Wood, John (Univ. of New Mexico)

WeD10 Egan Center Lower Level Room 4Motion and Trajectory Planning (Regular Sessions)

Chair: Gupta, Kamal Simon Fraser Univ.Co-Chair: Claassens, Jonathan CSIR

14:20-14:35 WeD10.1Planning Most-Likely Paths from Overhead Imagery, pp. 3059-3064.

Murphy, Elizabeth (Oxford Univ.), Newman, Paul (Oxford Univ.)

14:35-14:50 WeD10.2B-Spline Based Filters for Multi-Point Trajectories Planning, pp. 3065-3070.

Biagiotti, Luigi (Univ. of Modena and Reggio Emilia), Melchiorri, Claudio (Univ. of Bologna) 14:50-15:05 WeD10.3On the Design of Deformable Input / State-Lattice Graphs, pp. 3071-3077.

Rufli, Martin (ETH Zurich), Siegwart, Roland (ETH Zurich) 15:05-15:20 WeD10.4Distributed Roadmaps for Robot Navigation in Sensor Networks, pp. 3078-3083. Attachment

Yao, Zhenwang (Simon Fraser Univ.), Gupta, Kamal (Simon Fraser Univ.) 15:20-15:35 WeD10.5DAvinCi: A Cloud Computing Framework for Service Robots, pp. 3084-3089.

Arumugam, Rajesh (A*Star Data Storage Inst.), Enti Ranga Reddy, Vikas Reddy (Data Storage Inst.), Liu, Bingbing (Data Storage Inst.), Wu, Xiaojun (Data Storage Inst.), Baskaran, Krishnamoorthy (Data storage Inst.), Foong, Foo Kong (DATA STORAGE Inst.), Kumar, Appadorai Senthil (Data Storage Inst.), Kang, Dee Meng (Data Storage Inst.), Goh, Wai Kit (NUS)

15:35-15:50 WeD10.6An RRT-Based Path Planner for Use in Trajectory Imitation, pp. 3090-3095. Attachment

Claassens, Jonathan (CSIR) WeD11 Egan Center Lower Level Room 7/8Recognition and Detection (Regular Sessions)

Chair: Kragic, Danica KTHCo-Chair: Christensen, Henrik Iskov Georgia Inst. of Tech.

14:20-14:35 WeD11.1A Saliency-Based Solution for Robust Off-Road Obstacle Detection, pp. 3096-3101.

Santana, Pedro (Univ. of Lisbon), Guedes, Magno (Univ. Nova de Lisboa), Correia, Luís (Univ. of Lisbon), Barata, Jose (Univ. Nova de Lisboa)

14:35-14:50 WeD11.2Scalable Real-Time Object Recognition and Segmentation Via Cascaded, Discriminative Markov Random Fields, pp. 3102-3107. Attachment

Vernaza, Paul (Univ. of Pennsylvania), Lee, Daniel D. (Univ. of Pennsylvania) 14:50-15:05 WeD11.3Real-Time Identification and Localization of Body Parts from Depth Images, pp. 3108-3113.

Plagemann, Christian (Stanford Univ.), Ganapathi, Varun (Stanford Univ.), Koller, Daphne (Stanford Univ.), Thrun, Sebastian (Stanford Univ.)

15:05-15:20 WeD11.4Active 3D Scene Segmentation and Detection of Unknown Objects, pp. 3114-3120. Attachment

Björkman, Mĺrten (KTH), Kragic, Danica (KTH) 15:20-15:35 WeD11.5Using Stereo for Object Recognition, pp. 3121-3127.

Helmer, Scott (Univ. of British Columbia), Lowe, David (UBC) 15:35-15:50 WeD11.6High-Speed 3D Object Recognition Using Additive Features in a Linear Subspace, pp. 3128-3134.

Kanezaki, Asako (Grad. School of Information Science and Tech. Univ. Toky), Nakayama, Hideki (Grad. School of Information Science and Tech. Univ. of Tok), Harada, Tatsuya (The Univ. of Tokyo), Kuniyoshi, Yasuo (The Univ. of Tokyo)

WeD12 Egan Center Lower Level Room 5Microrobot Design (Regular Sessions)

Chair: Bergbreiter, Sarah Univ. of Maryland, Coll. ParkCo-Chair: Cho, Jung Lehigh Univ.

14:20-14:35 WeD12.1Brake Design for Dynamic Modular Robots, pp. 3135-3140.

Thorne, Chris (Univ. of Pennsylvania), Yim, Mark (Univ. of Pennsylvania), Skorodinski, Nikita (Univ. of Pennsylvania), Tipton, Hughes (Univ. of Pennsylvania), Van Schoyck, Travis (Univ. of Pennsylvania)

14:35-14:50 WeD12.2Biosensing and Actuation for Microbiorobots, pp. 3141-3146.

Sakar, Mahmut Selman (Univ. of Pennsylvania), Steager, Edward (Drexel Univ.), Julius, Agung (Univ. of Pennsylvania), Kim, MinJun (Drexel Univ.), Kumar, Vijay (Univ. of Pennsylvania), Pappas, George J. (Univ. of Pennsylvania)

14:50-15:05 WeD12.3Dual-Stylus-Arm Scratch Drive Micro-Robots Controlled by an Onboard Parallax Algorithm, pp. 3147-3152.

Cho, Jung (Lehigh Univ.), Arnold, Mark (Lehigh Univ.) 15:05-15:20 WeD12.4Integrated Silicon-PDMS Process for Microrobot Mechanisms, pp. 3153-3158.

Gerratt, Aaron P. (Univ. of Maryland, Coll. Park), Penskiy, Ivan (Univ. of Maryland, Coll. Park), Bergbreiter, Sarah (Univ. of Maryland, Coll. Park)

15:20-15:35 WeD12.5Model-Based Control of a High-Precision Imprinting Actuator for Micro-Channel Fabrications, pp. 3159-3164.

Teo, Tat Joo (Nanyang Tech. Univ.), Chen, I-Ming (Nanyang Tech. Univ.), Kiew, Choon Meng (Singapore Inst. of Manufacturing Tech.), Yang, Guilin (Singapore Inst. of Manufacturing Tech.), Lin, Wei (SIMTech)

15:35-15:50 WeD12.6Three-Axis Micro-Force Sensor with Tunable Force Range and Sub-Micronewton Measurement Uncertainty, pp. 3165-3170.

Muntwyler, Simon (ETH Zurich), Beyeler, Felix (ETH Zurich), Nelson, Bradley J. (ETH Zurich) WeD13 Egan Center Lower Level Room 6Localization, Mapping and Control for Multiple Vehicles (Regular Sessions)

Chair: Oriolo, Giuseppe Univ. di RomaCo-Chair: Teller, Seth MIT

14:20-14:35 WeD13.1Nonlinear Observability of the Centralized Multi-Vehicle SLAM Problem, pp. 3171-3178.

Perera, Linthotage Dushantha Lochana (The Univ. of Sydney), Nettleton, Eric (The Univ. of Sydney) 14:35-14:50 WeD13.2Localization of Probabilistic Robot Formations in SLAM, pp. 3179-3184.

Lazaro, Maria Teresa (Inst. de Investigación en Ingeniería de Aragón,Univ. of), Castellanos, Jose A. (Univ. of Zaragoza) 14:50-15:05 WeD13.3Multiple Relative Pose Graphs for Robust Cooperative Mapping, pp. 3185-3192. Attachment

Kim, Been (MIT, CSAIL), Kaess, Michael (MIT), Fletcher, Luke (MIT), Leonard, John (MIT), Bachrach, Abraham (Massachusetts Inst. of Tech.), Roy, Nicholas (Massachusetts Inst. of Tech.), Teller, Seth (MIT)

15:05-15:20 WeD13.4On the Solvability of the Mutual Localization Problem with Anonymous Position Measures, pp. 3193-3199. Attachment

Franchi, Antonio (Sapienza Univ. of Rome), Stegagno, Paolo (Univ. La Sapienza, Roma), Oriolo, Giuseppe (Univ. di Roma "La Sapienza")

15:20-15:35 WeD13.5On the Global Optimum of Planar, Range-Based Robot-To-Robot Relative Pose Estimation, pp. 3200-3206.

Trawny, Nikolas (Univ. of Minnesota), Roumeliotis, Stergios (Univ. of Minnesota) 15:35-15:50 WeD13.6Graph Based Distributed Control of Non-Holonomic Vehicles Endowed with Local Positioning Information Engaged in Escorting Missions, pp. 3207-3214.

Falconi, Riccardo (Univ. of Bologna), Gowal, Sven (EPFL), Martinoli, Alcherio (EPFL) ThA1 Egan Center Second Level Room BoardroomControl and Planning (Regular Sessions)

Chair: Kress-Gazit, Hadas Cornell Univ.Co-Chair: Techy, Laszlo Univ. of Washington

08:30-08:45 ThA1.1Automatic Synthesis of Robot Controllers for Tasks with Locative Prepositions, pp. 3215-3220.

Kress-Gazit, Hadas (Cornell Univ.), Pappas, George J. (Univ. of Pennsylvania) 08:45-09:00 ThA1.2High Quality Goal Connection for Nonholonomic Obstacle Navigation Allowing for Drift Using Dynamic Potential Fields, pp. 3221-3226.

Weir, Michael Kenneth (Univ. of St Andrews), Bott, Matthew Paul (Univ. of St Andrews) 09:00-09:15 ThA1.3Motion Planning and Control from Temporal Logic Specifications with Probabilistic Satisfaction Guarantees, pp. 3227-3232.

Lahijanian, Morteza (Boston Univ.), Wasniewski, Joseph (Boston Univ.), Andersson, Sean (Boston Univ.), Belta, Calin (Boston Univ.) 09:15-09:30 ThA1.4Dynamic Sensor Planning with Stereo for Model Identification on a Mobile Platform, pp. 3233-3239.

Ma, Jeremy (California Inst. of Tech.), Burdick, Joel (California Inst. of Tech.) 09:30-09:45 ThA1.5Planar Path Planning for Flight Vehicles in Wind with Turn Rate and Acceleration Bounds, pp. 3240-3245.

Techy, Laszlo (Univ. of Washington), Woolsey, Craig (Virginia Tech.), Morgansen, Kristi (Univ. of Washington) 09:45-10:00 ThA1.6Balanced State-Space Coverage in Planning with Dynamics, pp. 3246-3253.

Li, Yanbo (Univ. of Nevada at Reno), Bekris, Kostas E. (Univ. of Nevada, Reno) ThA2 Egan Center Lower Level Room 1Flexible Actuators (Regular Sessions)

Chair: Suzumori, Koichi Okayama Univ.Co-Chair: Verl, Alexander Fraunhofer-Gesellschaft

08:30-08:45 ThA2.1The QuadHelix-Drive - an Improved Rope Actuator for Robotic Applications, pp. 3254-3259.

Rost, Arne (Fraunhofer IPA), Verl, Alexander (Fraunhofer-Gesellschaft) 08:45-09:00 ThA2.2Fabrication and Basic Experiments of Pneumatic Multi-Chamber Rubber Tube Actuator for Assisting Colonoscope Insertion, pp. 3260-3265. Attachment

Wakimoto, Shuichi (Okayama Univ.), Suzumori, Koichi (Okayama Univ.) 09:00-09:15 ThA2.3Flexible Sliding Actuator Using a Flat Tube and Its Application to the Rescue Operation, pp. 3266-3272.

Mori, Yotaro (Tokyo Inst. of Tech.), Tsukagoshi, Hideyuki (Tokyo Inst. of Tech.), Kitagawa, Ato (Tokyo Inst. of Tech.)

09:15-09:30 ThA2.4Modeling and Design of Energy Efficient Variable Stiffness Actuators, pp. 3273-3278.

Visser, Ludo C. (Univ. of Twente), Carloni, Raffaella (Univ. of Twente), Unal, Ramazan (Univ. of Twente), Stramigioli, Stefano (Univ. of Twente)

09:30-09:45 ThA2.5Variable Stiffness Actuators: A Port-Based Analysis and a Comparison of Energy Efficiency, pp. 3279-3284.

Visser, Ludo C. (Univ. of Twente), Carloni, Raffaella (Univ. of Twente), Stramigioli, Stefano (Univ. of Twente) 09:45-10:00 ThA2.6Mechanism Design for Variable Stiffness Actuation Based on Enumeration and Analysis of Performance, pp. 3285-3291.

Catalano, Manuel (Faculty of Engineering - Univ. of Pisa), Schiavi, Riccardo (Univ. of Pisa), Bicchi, Antonio (Univ. of Pisa) ThA3 Egan Center Lower Level Room 13/14Dynamically Stable Humanoids (Regular Sessions)

Chair: Goswami, Ambarish Honda Res. Inst.Co-Chair: Ruiz-del-Solar, Javier Univ. de Chile

08:30-08:45 ThA3.1Switching Control and Quick Stepping Motion Generation Based on the Maximal CPI Sets for Falling Avoidance of Humanoid Robots, pp. 3292-3297.

Yamamoto, Ko (Tokyo Inst. of Tech.), Nakamura, Yoshihiko (Univ. of Tokyo) 08:45-09:00 ThA3.2A Study of Bouncing Rod Dynamics Aiming at Passive Running, pp. 3298-3303. Attachment

Miyamoto, Hiroki (Nagoya Inst. of Tech.), Sano, Akihito (Nagoya Inst. of Tech.), Ikemata, Yoshito (Nagoya Inst. of Tech.), Maruyama, Shintaro (Nagoya Inst. of Tech.), Fujimoto, Hideo (Nagoya Inst. of Tech.)

09:00-09:15 ThA3.3Golem Krang: Dynamically Stable Humanoid Robot for Mobile Manipulation, pp. 3304-3309.

Stilman, Mike (Georgia Tech.), Olson, Jon (Georgia Inst. of Tech.), Gloss, William (Georgia Tech.) 09:15-09:30 ThA3.4Control of Bipedal Running by the Angular-Momentum-Based Synchronization Structure, pp. 3310-3315.

Nakamura, Keisuke (Tokyo Inst. of Tech.), Nakaura, Shigeki (Sasebo National Coll. of Tech.), Sampei, Mitsuji (Tokyo Inst. of Tech.) 09:30-09:45 ThA3.5Generalized Direction Changing Fall Control of Humanoid Robots among Multiple Objects, pp. 3316-3322. Attachment

Goswami, Ambarish (Honda Res. Inst.), Nagarajan, Umashankar (Carnegie Mellon Univ.) 09:45-10:00 ThA3.6Fall Detection and Management in Biped Humanoid Robots, pp. 3323-3328.

Ruiz-del-Solar, Javier (Univ. de Chile), Moya, Javier (Univ. de Chile), Parra-Tsunekawa, Isao (Univ. de Chile) ThA4 Egan Center Lower Level Room 2Multi-UAV Systems and Collision Avoidance (Regular Sessions)

Chair: Floreano, Dario Ec. Pol. Federal, LausanneCo-Chair: Mahony, Robert Australian National Univ.

08:30-08:45 ThA4.1Autonomous Flight at Low Altitude with Vision-Based Collision Avoidance and GPS-Based Path Following, pp. 3329-3334. Attachment

Zufferey, Jean-Christophe (EPFL), Beyeler, Antoine (EPFL), Floreano, Dario (Ec. Pol. Federal, Lausanne) 08:45-09:00 ThA4.2Autonomous Battery Swapping System for Small-Scale Helicopters, pp. 3335-3340.

Swieringa, Kurt (Univ. of Michigan), Hanson, Clarence (Univ. of Michigans), Richardson, Johnhenri (Univ. of Michigan), White, Jonathan (Univ. of Michigan), Hasan, Zahid (Univ. of Michigan, Ann Arbor), Qian, Elizabeth (Univ. of Michigan), Girard, Anouck (Univ. of Michigan at Ann Arbor)

09:00-09:15 ThA4.3A General Optical Flow Based Terrain-Following Strategy for a VTOL UAV Using Multiple Views, pp. 3341-3348. Attachment

Herisse, Bruno (CEA), Oustričres, Sophie (CEA), Hamel, Tarek (UNSA-CNRS), Mahony, Robert (Australian National Univ.), Russotto, Francois-Xavier (French Atomic Energy Commission (CEA))

09:15-09:30 ThA4.4An Indoor Flying Platform with Collision Robustness and Self-Recovery, pp. 3349-3354. Attachment

Klaptocz, Adam (Ec. Pol. Federale de Lausanne), Boutinard Rouelle, Grégoire (Ec. Pol. Federale de Lausanne), Briod, Adrien (Ec. Pol. Federale de Lausanne), Zufferey, Jean-Christophe (EPFL), Floreano, Dario (Ec. Pol. Federal, Lausanne)

09:30-09:45 ThA4.5Synchronizing the Motion of a Quadrocopter to Music, pp. 3355-3360. Attachment

Schöllig, Angela (ETH Zürich), Augugliaro, Federico (ETH Zurich), Lupashin, Sergei (ETH Zurich), D'Andrea, Raffaello (ETHZ) 09:45-10:00 ThA4.6MAV Navigation through Indoor Corridors Using Optical Flow, pp. 3361-3368.

Scaramuzza, Davide (ETH Zurich), Weiss, Stephan (ETH Zurich), Siegwart, Roland (ETH Zurich), Zingg, Simon (ETH Zurich) ThA5 Egan Center Lower Level Room 11/12Anthropomorphic Robot Systems (Regular Sessions)

Chair: Mukherjee, Ranjan Michigan State Univ.Co-Chair: Orin, David The Ohio State Univ.

08:30-08:45 ThA5.1

HRP-2 Plays the Yoyo: From Human to Humanoid Yoyo Playing Using Optimal Control, pp. 3369-3376. Mombaur, Katja (LAAS-CNRS), Sreenivasa, Manish N. (LAAS-CNRS)

08:45-09:00 ThA5.2Whole-Body Cooperative Force Control for a Two-Armed and Two-Wheeled Mobile Robot Using Generalized Inverse Dynamics and Idealized Joint Units, pp. 3377-3383. Attachment

Nagasaka, Kenichiro (Sony Corp.), Kawanami, Yasunori (Sony Corp.), Shimizu, Satoru (Sony Corp.), Kito, Takashi (Sony Corp.), Tsuboi, Toshimitsu (Sony Corp.), Miyamoto, Atsushi (Sony Corp.), Fukushima, Tetsuharu (Sony Corp.), Shimomura, Hideki (Sony Corp.)

09:00-09:15 ThA5.3The Bielefeld Anthropmorphic Robot Head ``Flobi'', pp. 3384-3391.

Lütkebohle, Ingo (Bielefeld Univ.), Hegel, Frank (Bielefeld Univ.), Schulz, Simon (Bielefeld Univ.), Hackel, Matthias (Mabotics GmbH), Wrede, Britta (Bielefeld Univ.), Wachsmuth, Sven (Bielefeld Univ.), Sagerer, Gerhard (Univ. of Bielefeld)

09:15-09:30 ThA5.4Design and Control of an Underactuated Three-Link Rolling Biped, pp. 3392-3397.

Flynn, Louis (Michigan State Univ.), Jafari, Rouhollah (Michigan State Univ.), Mukherjee, Ranjan (Michigan State Univ.) 09:30-09:45 ThA5.5Whole-Body Humanoid Control from Upper-Body Task Specifications, pp. 3398-3405.

Bin Hammam, Ghassan (The Ohio State Univ.), Orin, David (The Ohio State Univ.), Dariush, Behzad (Honda Res. Inst. USA) 09:45-10:00 ThA5.6Inverse Dynamics Control of Floating Base Systems Using Orthogonal Decomposition, pp. 3406-3412. Attachment

Mistry, Michael (Disney Res. Pittsburgh), Buchli, Jonas (Univ. of Southern California), Schaal, Stefan (Univ. of Southern California) ThA6 Egan Center Street Level Room Cook HallPhysical Human Robot Interaction (Regular Sessions)

Chair: Haddadin, Sami German Aerospace Center (DLR)Co-Chair: Kermani, Mehrdad R. Univ. of Western Ontario

08:30-08:45 ThA6.1Distributed Motion Control of Multiple Passive Object Handling Robots Considering Feasible Region of Brake Control, pp. 3413-3419.

Hirata, Yasuhisa (Tohoku Univ.), Ojima, Yosuke (Tohoku Univ.), Kosuge, Kazuhiro (Tohoku Univ.) 08:45-09:00 ThA6.23-DOF Cartesian Force Limiting Device Based on the Delta Architecture for Safe Physical Human-Robot Interaction, pp. 3420-3425. Attachment

Lauzier, Nicolas (Univ. Laval), Gosselin, Clement (Univ. Laval) 09:00-09:15 ThA6.3Soft-Tissue Injury in Robotics, pp. 3426-3433. Attachment

Haddadin, Sami (German Aerospace Center (DLR)), Albu-Schäffer, Alin (DLR - German Aerospace Center), Hirzinger, Gerd (German Aerospace Center (DLR))

09:15-09:30 ThA6.4Prediction-Based Reactive Control Strategy for Human-Robot Interactions, pp. 3434-3439.

Najmaei, Nima (Univ. of Western Ontario), Kermani, Mehrdad R. (Univ. of Western Ontario) 09:30-09:45 ThA6.5Pushing a Robot Along - a Natural Interface for Human-Robot Interaction, pp. 3440-3445.

Frémy, Julien (Univ. de Sherbrooke), Lauria, Michel (Univ. of Applied Sciences Western Switzerland (HES-SO)), Michaud, Francois (Univ. de Sherbrooke)

09:45-10:00 ThA6.6Ankle and Hip Balance Control Strategies with Transitions, pp. 3446-3451. Attachment

Kanamiya, Yoshikazu (Tokyo City Univ.), Ota, Shun (Tokyo City Univ.), Sato, Daisuke (Tokyo City Univ.) ThA7 Egan Center Lower Level Room 3Data Fusion and Mapping (Regular Sessions)

Chair: Ramos, Fabio Univ. of SydneyCo-Chair: Birk, Andreas Jacobs Univ.

08:30-08:45 ThA7.1Heteroscedastic Gaussian Processes for Data Fusion in Large Scale Terrain Modeling, pp. 3452-3459.

Vasudevan, Shrihari (Univ. of Sydney), Ramos, Fabio (Univ. of Sydney), Nettleton, Eric (The Univ. of Sydney), Durrant-Whyte, Hugh (The Univ. of Sydney)

08:45-09:00 ThA7.2Generating Individual Maps from Universal Map for Heterogeneous Mobile Robots, pp. 3460-3465. Attachment

Takemura, Kentaro (Nara Inst. of Science and Tech.), Araki, Ato (Nara Inst. of Science and Tech.), Ido, Junichi (Nara Inst. of Science and Tech.), Matsumoto, Yoshio (Osaka Univ.), Takamatsu, Jun (Nara Inst. of Science and Tech.), Ogasawara, Tsukasa (Nara Inst. of Science and Tech.)

09:00-09:15 ThA7.3Extraction of Quadrics from Noisy Point-Clouds Using a Sensor Noise Model, pp. 3466-3471.

Vaskevicius, Narunas (Jacobs Univ.), Pathak, Kaustubh (Jacobs Univ. Bremen), Pascanu, Razvan (Jacobs Univ. Bremen), Birk, Andreas (Jacobs Univ.)

09:15-09:30 ThA7.4Using Recursive Spectral Registrations to Determine Brokenness As Measure of Structural Map Errors, pp. 3472-3477.

Birk, Andreas (Jacobs Univ.)

09:30-09:45 ThA7.5Contextual Occupancy Maps Incorporating Sensor and Location Uncertainty, pp. 3478-3485.

O'Callaghan, Simon Timothy (Univ. of Sydney), Ramos, Fabio (Univ. of Sydney), Durrant-Whyte, Hugh (The Univ. of Sydney) 09:45-10:00 ThA7.6Automatic Reconstruction of Textured 3D Models, pp. 3486-3493. Attachment

Pitzer, Benjamin (Robert Bosch LLC), Kammel, Sören (Bosch LLC), DuHadway, Charles (Robert Bosch LLC), Becker, Jan (Robert Bosch LLC)

ThA8 Egan Center Lower Level Room 9/103D and Vision Based SLAM (Regular Sessions)

Chair: Rives, Patrick INRIACo-Chair: Solŕ, Joan LAAS-CNRS, Univ. of Toulouse

08:30-08:45 ThA8.1On Combining Visual SLAM and Visual Odometry, pp. 3494-3500.

Williams, Brian Patrick (Univ. of Oxford), Reid, Ian (Univ. of Oxford) 08:45-09:00 ThA8.2Visual Odometry Priors for Robust EKF-SLAM, pp. 3501-3506. Attachment

Fernández Alcantarilla, Pablo (Univ. of Alcalá), Bergasa, Luis Miguel (Univ. of Alcala), Dellaert, Frank (Georgia Inst. of Tech.) 09:00-09:15 ThA8.3FAB-MAP + RatSLAM: Appearance-Based SLAM for Multiple Times of Day, pp. 3507-3512. Attachment

Glover, Arren (Univ. of Queensland), Maddern, William (Univ. of Queensland), Milford, Michael (The Univ. of Queensland), Wyeth, Gordon (Queensland Univ. of Tech.)

09:15-09:30 ThA8.4Consistency of the Monocular EKF-SLAM Algorithm for Three Different Landmark Parametrizations, pp. 3513-3518. Attachment

Solŕ, Joan (LAAS-CNRS, Univ. of Toulouse) 09:30-09:45 ThA8.5Indoor SLAM Based on Composite Sensor Mixing Laser Scans and Omnidirectional Images, pp. 3519-3524. Attachment

Gallegos, Gabriela (INRIA), Rives, Patrick (INRIA) 09:45-10:00 ThA8.6Optimization Techniques for Laser-Based 3D Particle Filter SLAM, pp. 3525-3530.

Welle, Jochen (Fraunhofer FKIE), Schulz, Dirk (Fraunhofer Inst. for Communication, Information Processing a), Bachran, Thomas (Fraunhofer), Cremers, Armin (Univ. of Bonn)

ThA9 Egan Center Lower Level Room 4Distributed Systems: Coordinated Control (Regular Sessions)

Chair: Tanner, Herbert G. Univ. of DelawareCo-Chair: Poduri, Sameera USC

08:30-08:45 ThA9.1Multiple Vehicles Mission Coordination Using Petri Nets, pp. 3531-3536. Attachment

Palomeras, Narcis (Univ. de Girona - VAT:ESQ6750002E), Ridao, Pere (Univ. de Girona), Silvestre, Carlos (Inst. Superior Tecnico), El-Fakdi, Andres (Univ. of Girona)

08:45-09:00 ThA9.2Abstractions and Controllers for Groups of Robots in Environments with Obstacles, pp. 3537-3542.

Ayanian, Nora (Univ. of Pennsylvania), Kumar, Vijay (Univ. of Pennsylvania) 09:00-09:15 ThA9.3Probabilistic Shadow Information Spaces, pp. 3543-3549.

Yu, Jingjin (U of Illinois at Urbana Champaign), LaValle, Steven M (Univ. of Illinois) 09:15-09:30 ThA9.4Multi-Agent Search Strategy Based on Centroidal Voronoi Configuration, pp. 3550-3555.

Guruprasad, Kr (National Inst. of Tech. Karnataka), Ghose, Debasish (Indian Inst. of Science) 09:30-09:45 ThA9.5Decentralized Stabilization of Heterogeneous Linear Multi-Agent Systems, pp. 3556-3561.

Gasparri, Andrea (Univ. degli Studi Roma Tre), Franceschelli, Mauro (Univ. of Cagliari, Italy), Ulivi, Giovanni (Univ. di Roma Tre), Giua, Alessandro (Univ. of Cagliari, Italy)

09:45-10:00 ThA9.6Distributed Pursuit-Evasion with Limited-Visibility Sensors Via Frontier-Based Exploration, pp. 3562-3568. Attachment

Durham, Joseph W. (UCSB), Franchi, Antonio (Sapienza Univ. of Rome), Bullo, Francesco (UCSB) ThA10 Egan Center Lower Level Room 7/8Motion Planning and Learning (Regular Sessions)

Chair: Tovar, Benjamin Northwestern Univ.Co-Chair: Kavraki, Lydia Rice Univ.

08:30-08:45 ThA10.1Searching and Mapping among Indistinguishable Convex Obstacles, pp. 3569-3574.

Tovar, Benjamin (Northwestern Univ.), LaValle, Steven M (Univ. of Illinois) 08:45-09:00 ThA10.2Rapid Updating for Path-Planning Using Nonlinear Branch-And-Bound, pp. 3575-3580.

Eele, Alison Jennifer (Univ. of Bristol), Richards, Arthur (Univ. of Bristol)

09:00-09:15 ThA10.3Global Reachability and Path Planning for Planetary Exploration with Montgolfiere Balloons, pp. 3581-3588.

Blackmore, Lars (Jet Propulsion Lab. California Inst. of), Kuwata, Yoshiaki (Jet Propulsion Lab.), Wolf, Michael (Jet Propulsion Lab.), Assad, Chris (Jet Propulsion Lab.), Fathpour, Nanaz (Jet Propulsion Lab.), Newman, Claire (California Inst. of Tech.), Elfes, Alberto (Jet Propulsion Lab.)

09:15-09:30 ThA10.4An Optimization Approach to Rough Terrain Locomotion, pp. 3589-3595. Attachment

Zucker, Matthew (Carnegie Mellon Univ.), Bagnell, James (Carnegie Mellon Univ.), Atkeson, Christopher (CMU), Kuffner, James (Carnegie Mellon Univ.)

09:30-09:45 ThA10.5Exploiting Domain Knowledge in Planning for Uncertain Robot Systems Modeled As POMDPs, pp. 3596-3603.

Candido, Salvatore (Univ. of Illinois), Davidson, James (Univ. of Illinois), Hutchinson, Seth (Univ. of Illinois) 09:45-10:00 ThA10.6A Hierarchical Decoupled Approach for Multi Robot Motion Planning on Trees, pp. 3604-3609.

Masehian, Ellips (Tarbiat Modares Univ.), Hassan Nejad, Azadeh (Tarbiat Modares Univ.) ThA11 Egan Center Lower Level Room 5Sensing and Recognition (Regular Sessions)

Chair: Campos, Mario F. Montenegro Federal Univ. of Minas GeraisCo-Chair: Yamauchi, Brian iRobot Corp.

08:30-08:45 ThA11.1All-Weather Perception for Man-Portable Robots Using Ultra-Wideband Radar, pp. 3610-3615.

Yamauchi, Brian (iRobot Corp.) 08:45-09:00 ThA11.2FLIRT - Interest Regions for 2D Range Data, pp. 3616-3622. Attachment

Tipaldi, Gian Diego (Univ. of Freiburg), Arras, Kai Oliver (Univ. of Freiburg) 09:00-09:15 ThA11.3A Hybrid Framework for Ego Noise Cancellation of a Robot, pp. 3623-3628.

Ince, Gokhan (Honda Res. Inst. Japan Co., Ltd.), Nakadai, Kazuhiro (Honda Res. Inst. Japan Co., Ltd.), Rodemann, Tobias (Honda Res. Inst. Europe), Hasegawa, Yuji (Honda Res. Inst. Japan Co., Ltd.), Tsujino, Hiroshi (Honda Res. Inst. Co., Ltd.), Imura, Jun-ichi (Tokyo Inst. of Tech.)

09:15-09:30 ThA11.4Design and Validation of a Multi-Finger Sensing Device Based on Optical Linear Encoder, pp. 3629-3634.

Li, Kang (Nanyang Tech. Univ.), Chen, I-Ming (Nanyang Tech. Univ.), Yeo, Song Huat (Nanyang Tech. Univ.) 09:30-09:45 ThA11.5Novelty Detection and 3D Shape Retrieval Using Superquadrics and Multi-Scale Sampling for Autonomous Mobile Robots, pp. 3635-3640.

Drews Jr, Paulo (Federal Univ. of Minas Gerais), Núńez Trujillo, Pedro (Univ. de Extremadura), Rocha, Rui (Inst. of Systems and Robotics - Univ. of Coimbra), Campos, Mario F. Montenegro (Federal Univ. of Minas Gerais), Dias, Jorge (Univ. of Coimbra)

09:45-10:00 ThA11.6Wearable Accelerometer Based Extendable Activity Recognition System, pp. 3641-3647.

Yang, Jie (Shanghai Jiaotong Univ.), Shi, Pengfei (Shanghai Jiaotong Univ.) ThA12 Egan Center Street Level Room ArteagaForce and Contact Sensing in Medicine (Regular Sessions)

Chair: Simaan, Nabil Columbia Univ.Co-Chair: Ishii, Idaku Hiroshima Univ.

08:30-08:45 ThA12.1Force Visualization Mechanism Using a Moire Fringe Applied to Endoscopic Surgical Instruments, pp. 3648-3653. Attachment

Takaki, Takeshi (Hiroshima Univ.), Omasa, Youhei (Hiroshima Univ.), Ishii, Idaku (Hiroshima Univ.), Kawahara, Tomohiro (Hiroshima Univ.), Okajima, Masazumi (Hiroshima Univ.)

08:45-09:00 ThA12.2Miniaturized Force-Indentation Depth Sensor for Tissue Abnormality Identification During Laparoscopic Surgery, pp. 3654-3659.

Liu, Hongbin (King's Coll. London), Li, Jichun (King's Coll. London,Univ. of London), Poon, Qi-Ian (King's Coll. London), Seneviratne, Lakmal (Kings Coll. London), Althoefer, Kaspar (Kings Coll. London)

09:00-09:15 ThA12.3Force/Position-Based Modular System for Minimally Invasive Surgery, pp. 3660-3665.

Trejos, Ana Luisa (The Univ. of Western Ontario), Lyle, Andrew (Lawson Health Res. Inst.), Escoto, Abelardo (Lawson Health Res. Inst.), Naish, Michael David (Univ. of Western Ontario), Patel, Rajni (The Univ. of Western Ontario)

09:15-09:30 ThA12.4Finding Lost Wrenches: Using Continuum Robots for Contact Detection and Estimation of Contact Location, pp. 3666-3673.

Simaan, Nabil (Columbia Univ.), Bajo, Andrea (Columbia Univ.) 09:30-09:45 ThA12.5A Force Sensing Automated Insertion Tool for Cochlear Electrode Implantation, pp. 3674-3679.

Schurzig, Daniel (Vanderbilt Univ. Medical Center), Labadie, Robert F (Vanderbilt Univ.), Webster III, Robert James (Vanderbilt Univ.), Hussong, Andreas (Leibniz Univ. Hannover), Rau, Thomas (Hannover Medical School)

09:45-10:00 ThA12.6Photoelastic Stress Analysis Error Quantification in Vasculature Models for Robot Feedback Control, pp. 3680-3685.

Tercero Villagran, Carlos Rafael (Nagoya Univ.), Ikeda, Seiichi (Nagoya Univ.), Matsushima, Motoki (Nagoya Univ.), Fukuda, Toshio

(Nagoya Univ.), Negoro, Makoto (Fujita Health Univ.), Takahashi, Ikuo (Anjo Kosei Hospital) ThA13 Egan Center Lower Level Room 6Calibration and System Identification (Regular Sessions)

Chair: Robertsson, Anders LTH, Lund Univ.Co-Chair: Chirikjian, Gregory Johns Hopkins Univ.

08:30-08:45 ThA13.1Calibration of a Structure Light Based Windshield Inspection System, pp. 3686-3691.

Zhang, Chi (Michigan State Univ.), Xi, Ning (Michigan State Univ.), Xu, Jing (Michigan State Univ.), Shi, Quan (Michigan State Univ.) 08:45-09:00 ThA13.2Thermal Calibration of a 3 DOF Ultra High-Precision Robot Operating in Industrial Environment, pp. 3692-3697.

Lubrano, Emanuele (EPFL), Clavel, Reymond (Ec. Pol. Fédérale de Lausanne (EPFL)) 09:00-09:15 ThA13.3A-Priori Fisher Information of Nonlinear State Space Models for Experiment Design, pp. 3698-3702.

Dietrich, Franz (Tech. Univ. Braunschweig), Raatz, Annika (Tech. Univ. Braunschweig), Hesselbach, Juergen (Tech. Univ. Braunschweig)

09:15-09:30 ThA13.4Estimation of Model Parameters for Steerable Needles, pp. 3703-3708.

Park, Wooram (Johns Hopkins Univ.), Reed, Kyle Brandon (Univ. of South Florida), Okamura, Allison M. (Johns Hopkins Univ.), Chirikjian, Gregory (Johns Hopkins Univ.)

09:30-09:45 ThA13.5A Kinematic Error Model for a Parallel Gantry-Tau Manipulator, pp. 3709-3714.

Dressler, Isolde (LTH, Lund Univ.), Brogardh, Torgny (ABB Robotics), Robertsson, Anders (LTH, Lund Univ.) 09:45-10:00 ThA13.6Identification of Flying Humanoids and Humans, pp. 3715-3720.

Ayusawa, Ko (Univ. of Tokyo), Venture, Gentiane (Tokyo Univ. of Agriculture and Tech.), Nakamura, Yoshihiko (Univ. of Tokyo) ThB1 Egan Center Second Level Room BoardroomKinematically Redundant Systems (Regular Sessions)

Chair: Papadopoulos, Evangelos NTUACo-Chair: Chaumette, Francois INRIA Rennes-Bretagne Atlantique

10:20-10:35 ThB1.1General Parameterization of Holonomic Kinematic Inversion Algorithms for Redundant Manipulators, pp. 3721-3726. Attachment

Rocco, Paolo (Pol. di Milano), Zanchettin, Andrea Maria (Pol. di Milano) 10:35-10:50 ThB1.2A New Large Projection Operator for the Redundancy Framework, pp. 3727-3732.

Marey, Mohammed (INRIA Rennes-Bretagne Atlantique (IRISA)), Chaumette, Francois (INRIA Rennes-Bretagne Atlantique) 10:50-11:05 ThB1.3Fast Resolution of Hierarchized Inverse Kinematics with Inequality Constraints, pp. 3733-3738.

Escande, Adrien (CEA), Mansard, Nicolas (CNRS), Wieber, Pierre-Brice (INRIA Rhône-Alpes) 11:05-11:20 ThB1.4Control Design and Allocation of an Over-Actuated Triangular Floating Platform, pp. 3739-3744.

Vlachos, Kostas (National Tech. Univ. of Athens), Papadopoulos, Evangelos (NTUA) 11:20-11:35 ThB1.5Dynamic Pushing Strategies for Dynamically Stable Mobile Manipulators, pp. 3745-3750.

Kolhe, Pushkar (Georgia Inst. of Tech.), Dantam, Neil (Georgia Inst. of Tech.), Stilman, Mike (Georgia Tech.) ThB2 Egan Center Lower Level Room 1Mechanism Design of Mobile Robots (Regular Sessions)

Chair: Nakamura, Taro Chuo Univ.Co-Chair: Wyeth, Gordon Queensland Univ. of Tech.

10:20-10:35 ThB2.1Design and Evaluation of a Fin-Based Underwater Propulsion System, pp. 3751-3756. Attachment

Peter, Benjamin Matthias (ETH Zurich), Ratnaweera, Roman (ETH Zürich), Pradalier, Cedric (ETH Zurich), Fischer, Wolfgang (ETH Zürich), Siegwart, Roland (ETH Zurich)

10:35-10:50 ThB2.2Self Locomotion of a Spherical Rolling Robot Using a Novel Deformable Pneumatic Method, pp. 3757-3762. Attachment

Wait, Keith (Vanderbilt Univ.), Jackson, Phil (Disney), Smoot, Lanny (Walt Disney Imagineering R&D) 10:50-11:05 ThB2.3Novel Differential Drive Steering System with Energy Saving and Normal Tire Using Spur Gear for an Omni-Directional Mobile Robot, pp. 3763-3768.

Ueno, Yuki (Toyohashi Univ. of Tech.), Ohno, Takashi (Toyohashi Univ. of Tech.), Terashima, Kazuhiko (Toyohashi Univ. of Tech.), Kitagawa, Hideo (Gifu National Coll. of Tech.), Funato, Kazuhiro (KER CO., LTD), Kakihara, Kiyoaki (KER CO., LTD)

11:05-11:20 ThB2.4Locomotion Strategies for an Omni-Directional Mobile Robot Using Traveling Waves Propagation, pp. 3769-3774.

Nakamura, Taro (Chuo Univ.) 11:20-11:35 ThB2.5A Practical Implementation of a Continuous Isotropic Spherical Omnidirectional Drive, pp. 3775-3780.

Ball, David (The Univ. of Queensland), Lehnert, Christopher (The Univ. of Queensland), Wyeth, Gordon (Queensland Univ. of Tech.) ThB3 Egan Center Lower Level Room 13/14Robot Designs Inspired by Bacteria, Mold and Insects (Regular Sessions)

Chair: Sitti, Metin Carnegie Mellon Univ.Co-Chair: Kim, Sangbae Massachusetts Inst. of Tech.

10:20-10:35 ThB3.1Bacteria Controller Implementation on a Physical Platform for Pollution Monitoring, pp. 3781-3786.

Oyekan, John Oluwagbemiga (Univ. of Essex), Hu, Huosheng (Univ. of Essex) 10:35-10:50 ThB3.2Taming Large Degrees of Freedom –A Case Study with an Amoeboid Robot–, pp. 3787-3792. Attachment

Umedachi, Takuya (Tohoku Univ.), Takeda, Koichi (Tohoku Univ.), Nakagaki, Toshiyuki (Hokkaido Univ.), Kobayashi, Ryo (Hiroshima Univ.), Ishiguro, Akio (Tohoku Univ.)

10:50-11:05 ThB3.3A Tunable Physical Model of Arthropod Antennae, pp. 3793-3798.

Demir, Alican (Johns Hopkins Univ.), Samson, Edward (Johns Hopkins Univ.), Cowan, Noah J. (Johns Hopkins Univ.) 11:05-11:20 ThB3.4Surface Tension Driven Water Strider Robot Using Circular Footpads, pp. 3799-3804. Attachment

Ozcan, Onur (Carnegie Mellon Univ.), Wang, Han (Carnegie Mellon Univ.), Taylor, Jonathan D. (Carnegie Mellon Univ.), Sitti, Metin (Carnegie Mellon Univ.)

11:20-11:35 ThB3.5An Insect-Based Method for Learning Landmark Reliability Using Expectation Reinforcement in Dynamic Environments, pp. 3805-3812.

Mathews, Zenon (UPF Barcelona), Verschure, Paul (Catalan Inst. of Advanced Studies (ICREA), Foundation), Bermudez i Badia, Sergi (Univ. Pompeu Fabra (UPF))

ThB4 Egan Center Lower Level Room 2Robotics in Agriculture, Construction and Forestry (Regular Sessions)

Chair: Sugano, Shigeki Waseda Univ.Co-Chair: Heger, Frederik W. The Robotics Inst. Carnegie Mellon Univ.

10:20-10:35 ThB4.1A New Device Dedicated to Autonomous Mobile Robot Dynamic Stability: Application to an Off-Road Mobile Robot, pp. 3813-3818.

Bouton, Nicolas (Cemagref), Lenain, Roland (Cemagref), Thuilot, Benoit (Clermont-Ferrand Univ.), Martinet, Philippe (Blaise Pascal Univ.)

10:35-10:50 ThB4.2Autonomous Maneuver of a Farm Vehicle with a Trailed Implement: Motion Planner and Lateral-Longitudinal Controllers, pp. 3819-3824.

Cariou, Christophe (Cemagref), Lenain, Roland (Cemagref), Thuilot, Benoit (Clermont-Ferrand Univ.), Martinet, Philippe (Blaise Pascal Univ.)

10:50-11:05 ThB4.3Robust Robotic Assembly through Contingencies, Plan Repair and Re-Planning, pp. 3825-3830.

Heger, Frederik W. (The Robotics Inst. Carnegie Mellon Univ.), Singh, Sanjiv (Carnegie Mellon Univ.) 11:05-11:20 ThB4.4Ground Plane Identification Using LIDAR in Forested Environments, pp. 3831-3836.

McDaniel, Matt (MIT), Nishihata, Takayuki (Massachusetts Inst. of Tech.), Brooks, Christopher (Massachusetts Inst. of Tech.), Iagnemma, Karl (MIT)

11:20-11:35 ThB4.5A Robotic Sensor Network for Monitoring Carp in Minnesota Lakes, pp. 3837-3842.

Bhadauria, Deepak (Univ. of Minnesota), Isler, Volkan (Univ. of Minnesota), Studenski, Andrew (Univ. of Minnesota), Tokekar, Pratap (Univ. of Minnesota)

ThB5 Egan Center Lower Level Room 11/12Industrial Robots (Regular Sessions)

Chair: Hirose, Shigeo Tokyo Inst. of Tech.Co-Chair: Newman, Wyatt Case Western Res. Univ.

10:20-10:35 ThB5.1A Passive Weight Compensation Mechanism with a Non-Circular Pulley and a Spring, pp. 3843-3848. Attachment

Endo, Gen (Tokyo Inst. of Tech.), Yamada, Hiroya (Tokyo Inst. of Tech.), Yajima, Akira (Canon Inc.), Ogata, Masaru (CANON INC.), Hirose, Shigeo (Tokyo Inst. of Tech.)

10:35-10:50 ThB5.2Intrinsic Repeatability: A New Index for Repeatability Characterisation, pp. 3849-3854.

Brethe, Jean-François (LE HAVRE Univ.) 10:50-11:05 ThB5.3The Adaptive Selection Matrix - a Key Component for Sensor-Based Control of Robotic Manipulators, pp. 3855-3862.

Finkemeyer, Bernd (KUKA Roboter GmbH), Kroeger, Torsten (Tech. Univ. Braunschweig), Wahl, Friedrich M. (Tech. Univ. of Braunschweig)

11:05-11:20 ThB5.4Assembling Wheels to Continuously Conveyed Car Bodies Using a Standard Industrial Robot, pp. 3863-3869. Attachment

Lange, Friedrich (German Aerospace Center (DLR)), Werner, Jochen (Tech. Univ. München), Scharrer, Johannes (Inst. für Werkzeugmaschinen und BetriebswissenschaftenTU Münc), Hirzinger, Gerd (German Aerospace Center (DLR))

11:20-11:35 ThB5.5Independent Component Analysis and Bayes’ Theorem for Robotics and Automation, pp. 3870-3875.

Hudson, Richard (CWRU), Newman, Wyatt (Case Western Res. Univ.) ThB6 Egan Center Street Level Room Cook HallForce Sensing, Teleoperation and Virtual Reality (Regular Sessions)

Chair: Melchiorri, Claudio Univ. of BolognaCo-Chair: Buelthoff, Heinrich H. Max Planck Inst. for Biol. Cybernetics

10:20-10:35 ThB6.1A Novel Framework for Closed-Loop Robotic Motion Simulation - Part I: Inverse Kinematics Design, pp. 3876-3883. Attachment

Robuffo Giordano, Paolo (Max Planck Inst. for Biological Cybernetics), Masone, Carlo (Univ. di Roma "la Sapienza"), Tesch, Joachim (Max Planck Inst. for Biological Cybernetics), Breidt, Martin (Max Planck Inst. for Biological Cybernetics), Pollini, Lorenzo (Univ. of Pisa), Buelthoff, Heinrich H. (Max Planck Inst. for Biol. Cybernetics)

10:35-10:50 ThB6.2Motion Tracking in Robotic Manipulators in Presence of Sensor Delay, pp. 3884-3889.

Bahrami, Somayeh (Sharif Univ. of Tech.), Namvar, Mehrzad (Sharif Univ. of Tech.) 10:50-11:05 ThB6.3Friction and Visco-Elasticity Effects in Tendon-Based Transmission Systems, pp. 3890-3895.

Palli, Gianluca (Univ. of Bologna), Borghesan, Gianni (Univ. of Bologna), Melchiorri, Claudio (Univ. of Bologna) 11:05-11:20 ThB6.4A Novel Framework for Closed-Loop Robotic Motion Simulation - Part II: Motion Cueing Design and Experimental Validation, pp. 3896-3903. Attachment

Robuffo Giordano, Paolo (Max Planck Inst. for Biological Cybernetics), Masone, Carlo (Univ. di Roma "la Sapienza"), Tesch, Joachim (Max Planck Inst. for Biological Cybernetics), Breidt, Martin (Max Planck Inst. for Biological Cybernetics), Pollini, Lorenzo (Univ. of Pisa), Buelthoff, Heinrich H. (Max Planck Inst. for Biol. Cybernetics)

11:20-11:35 ThB6.5High-Fidelity Joint Drive System by Torque Feedback Control Using High Precision Linear Encoder, pp. 3904-3909.

Kawakami, Tomohiro (Univ. of Tokyo), Ayusawa, Ko (Univ. of Tokyo), Kaminaga, Hiroshi (The Univ. of Tokyo), Nakamura, Yoshihiko (Univ. of Tokyo)

ThB7 Egan Center Lower Level Room 3Sensor Fusion and Mapping (Regular Sessions)

Chair: Dillmann, Rüdiger Univ. of KarlsruheCo-Chair: Lakaemper, Rolf Temple Univ.

10:20-10:35 ThB7.1Discovering and Mapping Complete Surfaces with Stereo, pp. 3910-3915.

Shade, Robert (Oxford Univ.), Newman, Paul (Oxford Univ.) 10:35-10:50 ThB7.2Multiple Depth/Presence Sensors: Integration and Optimal Placement for Human/Robot Coexistence, pp. 3916-3923.

Flacco, Fabrizio (Univ. di Roma "La Sapienza"), De Luca, Alessandro (Univ. di Roma "La Sapienza") 10:50-11:05 ThB7.3A Line Segment Based System for 2D Global Mapping, pp. 3924-3931.

Elseberg, Jan (Jacobs Univ. Bremen), Creed, Ross (Saint Joseph's Univ.), Lakaemper, Rolf (Temple Univ.) 11:05-11:20 ThB7.4Recursive Importance Sampling for Efficient Grid-Based Occupancy Filtering in Dynamic Environments, pp. 3932-3938.

Brechtel, Sebastian (Karlsruhe Inst. of Tech.), Gindele, Tobias (Karlsruhe Inst. of Tech.), Dillmann, Rüdiger (Univ. of Karlsruhe) 11:20-11:35 ThB7.5Boundary Detection Based on Supervised Learning, pp. 3939-3945.

Kwak, Kiho (Carnegie Mellon Univ.), Huber, Daniel (CMU), Chae, Jeongsook (Agency for Defense Development), Kanade, Takeo (Carnegie Mellon Univ.)

ThB8 Egan Center Lower Level Room 9/10Intelligent Transportation Systems (Regular Sessions)

Chair: Belta, Calin Boston Univ.Co-Chair: Li, Shigang Tottori Univ.

10:20-10:35 ThB8.1Robust and Accurate Road Map Inference, pp. 3946-3953.

Agamennoni, Gabriel (The Univ. of Sydney), Nieto, Juan (Univ. of Sydney, Australian Centre for Field Robotics), Nebot, Eduardo (Unversity of Sydney)

10:35-10:50 ThB8.2Estimating Camera Pose from H-Pattern of Parking Lot, pp. 3954-3959.

Li, Shigang (Tottori Univ.), Hai, Ying (Tottori Univ.) 10:50-11:05 ThB8.3Recognition of Situation Classes at Road Intersections, pp. 3960-3965.

Kaefer, Eugen (Daimler AG), Hermes, Christoph (Bielefeld Univ.), Woehler, Christian (Daimler AG), Ritter, Helge Joachim (Bielefeld Univ.), Kummert, Franz (Univ. of Bielefeld)

11:05-11:20 ThB8.4An Online Algorithm for Constrained POMDPs, pp. 3966-3973.

Undurti, Aditya (Massachusetts Inst. of Tech.), How, Jonathan (Massachusetts Inst. of Tech.) 11:20-11:35 ThB8.5Navigating Multiple Simple-Airplanes in 3D Workspace, pp. 3974-3980.

Snape, Jamie (Univ. of North Carolina at Chapel Hill), Manocha, Dinesh (UNC at Chapel Hill) ThB9 Egan Center Lower Level Room 4Control of Grasping and Manipulation (Regular Sessions)

Chair: Guarino Lo Bianco, Corrado Univ. of ParmaCo-Chair: Schumacher, Walter TU Braunschweig

10:20-10:35 ThB9.1Frequency Criteria for the Grasping Control of a Hyper-Redundant Robot, pp. 3981-3988.

Ivanescu, Mircea (Univ. of Craiova), Bizdoaca, Nicu George (Univ. of CRaiova), Florescu, Mihaela Cecilia (Univ. of Craiova), Popescu, Nirvana (Univ. Pol. BUCURESTI), Popescu, Decebal (Univ. Pol. BUCURESTI)

10:35-10:50 ThB9.2A Discrete-Time Filter for the On-Line Generation of Trajectories with Bounded Velocity, Acceleration, and Jerk, pp. 3989-3994.

Gerelli, Oscar (Univ. of Parma), Guarino Lo Bianco, Corrado (Univ. of Parma) 10:50-11:05 ThB9.3Real-Time Collision Detection for Intrinsic Safety of Multi-Fingered SDH-2, pp. 3995-4000.

Haase, Thomas (Karlsruhe Inst. of Tech. (KIT)), Woern, Heinz (Univ. Karlsruhe) 11:05-11:20 ThB9.4Anti-Windup Design for Trajectory Tracking of a Parallel Robot - an Holistic Approach, pp. 4001-4008.

Wobbe, Frank (TU Braunschweig), Nguyen, Dang Hung (TU Braunschweig), Schumacher, Walter (TU Braunschweig) 11:20-11:35 ThB9.5Stabilizing Hybrid Switched Motion Control Systems with an On-Line Trajectory Generator, pp. 4009-4015.

Kroeger, Torsten (Tech. Univ. Braunschweig), Wahl, Friedrich M. (Tech. Univ. of Braunschweig) ThB10 Egan Center Lower Level Room 7/8Collision Avoidance (Regular Sessions)

Chair: Xiao, Jing UNC-CharlotteCo-Chair: Bernabeu, Enrique J Univ. Pol. de Valencia

10:20-10:35 ThB10.1Continuous Collision Detection for Non-Rigid Contact Computations Using Local Advancement, pp. 4016-4021.

Tang, Min (Ewha Womans Univ.), Kim, Young J. (Ewha Womans Univ.), Manocha, Dinesh (UNC at Chapel Hill) 10:35-10:50 ThB10.2Inevitable Collision States: A Probabilistic Perspective, pp. 4022-4027.

Bautin, Antoine (INRIA-LORIA Henri Poincaré Univ.), Martinez-Gomez, Luis (INRIA), Fraichard, Thierry (INRIA) 10:50-11:05 ThB10.3Continuous Distance Computation for Planar Non-Holonomic Motions with Constant Accelerations, pp. 4028-4034.

Bernabeu, Enrique J (Univ. Pol. de Valencia) 11:05-11:20 ThB10.4Using Time-Of-Flight Cameras with Active Gaze Control for 3D Collision Avoidance, pp. 4035-4040.

Droeschel, David (Rheinische Friedrich-Wilhelms-Univ. Bonn), Holz, Dirk (Univ. of Bonn), Stückler, Jörg (Univ. of Bonn), Behnke, Sven (Univ. of Bonn)

11:20-11:35 ThB10.5An Efficient Algorithm for On-Line Determination of Collision-Free Configuration-Time Points Directly from Sensor Data, pp. 4041-4047. Attachment

Vatcha, Rayomand (Univ. of North Carolina - Charlotte), Xiao, Jing (UNC-Charlotte) ThB11 Egan Center Lower Level Room 5Visual Tracking I (Regular Sessions)

Chair: Pradalier, Cedric ETH ZurichCo-Chair: Chung, Myung Jin KAIST

10:20-10:35 ThB11.1Real-Time 3D Model-Based Tracking Using Edge and Keypoint Features for Robotic Manipulation, pp. 4048-4055. Attachment

Choi, Changhyun (Georgia Inst. of Tech.), Christensen, Henrik Iskov (Georgia Inst. of Tech.) 10:35-10:50 ThB11.2Robust Unified Stereo-Based 3D Head Tracking and Its Application to Face Recognition, pp. 4056-4061. Attachment

An, Kwang Ho (KAIST), Chung, Myung Jin (KAIST) 10:50-11:05 ThB11.3A Constricted Bundle Adjustment Parameterization for Relative Scale Estimation in Visual Odometry, pp. 4062-4067.

Fraundorfer, Friedrich (ETH Zurich), Scaramuzza, Davide (ETH Zurich), Pollefeys, Marc (ETH Zurich) 11:05-11:20 ThB11.4A Vision-Based Method for Estimating Vibrations of a Flexible Arm Using On-Line Sinusoidal Regression, pp. 4068-4075. Attachment

Dubus, Gregory (CEA List), David, Olivier (CEA List), Measson, Yvan (CEA LIST) 11:20-11:35 ThB11.5Probabilistic Target Detection by Camera-Equipped UAVs, pp. 4076-4081.

Symington, Andrew Colquhoun (Oxford Univ.), Waharte, Sonia (Univ. of Oxford), Julier, Simon Justin (Univ. Coll. London), Trigoni, Niki (Univ. of Oxford)

ThB12 Egan Center Street Level Room ArteagaMicro-Nano Robotics (Invited Sessions)

Chair: Nakajima, Masahiro Nagoya Univ.Co-Chair: Arai, Fumihito Tohoku Univ.Organizer: Nakajima, Masahiro Nagoya Univ.Organizer: Sitti, Metin Carnegie Mellon Univ.Organizer: Fukuda, Toshio Nagoya Univ.

10:20-10:35 ThB12.1Manipulation of Flagellar Driving Force by Local Environmental Control System with Multiple Nanoprobes, pp. 4082-4087.

Nogawa, Kousuke (Nagoya Univ.), Kojima, Masaru (Nagoya Univ.), Nakajima, Masahiro (Nagoya Univ.), Homma, Michio (Nagoya Univ.), Fukuda, Toshio (Nagoya Univ.)

10:35-10:50 ThB12.2Combined Nanorobotic AFM/SEM System As Novel Toolbox for Automated Hybrid Analysis and Manipulation of Nanoscale Objects (I), pp. 4088-4093.

Mick, Uwe (Univ. of Oldenburg), Eichhorn, Volkmar (Univ. of Oldenburg), Wortmann, Tim (Univ. of Oldenburg), Diederichs, Claas (Department of Computing Science, Univ. of Oldenburg), Fatikow, Sergej (Univ. of Oldenburg)

10:50-11:05 ThB12.3On-Demand and Size-Controlled Production of Emulsion Droplets by Magnetically Driven Microtool (I), pp. 4094-4099.

Yamanishi, Yoko (Tohoku Univ.), Feng, Lin (Tohoku Univ.), Arai, Fumihito (Tohoku Univ.) 11:05-11:20 ThB12.4Novel Four-Point-Probe Design and Nanorobotic Dual Endeffector Strategy for Electrical Characterization of As-Grown SWCNT Bundles (I), pp. 4100-4105.

Eichhorn, Volkmar (Univ. of Oldenburg), Fatikow, Sergej (Univ. of Oldenburg), Sardan, Ozlem (Tech. Univ. of Denmark), Hansen, Torben Mikael (Tech. Univ. of Denmark), Břggild, Peter (Tech. Univ. of Denmark), Occhipinti, Luigi G. (STMicroelectronics)

11:20-11:35 ThB12.5Automated Microassembly Using Precision Based Hybrid Control (I), pp. 4106-4112. Attachment

Das, Aditya (Univ. of Texas at Arlington), Popa, Dan (The Univ. of Texas at Arlington), Stephanou, Harry (Univ. of Texas at Arlington) ThB13 Egan Center Lower Level Room 6Micro and Nano Robotics for Biological Applications (Regular Sessions)

Chair: Chaillet, Nicolas Univ. of Franche-Comté / FEMTO-ST Inst.Co-Chair: Sun, Dong City Univ. of Hong Kong

10:20-10:35 ThB13.1A New Stiffness Evaluation Toward High Speed Cell Sorter, pp. 4113-4118. Attachment

Hirose, Yuki (Osaka Univ.), Tadakuma, Kenjiro (Massachusetts Inst. of Tech.), Higashimori, Mitsuru (Osaka Univ.), Arai, Tatsuo (Osaka Univ.), Kaneko, Makoto (Osaka Univ.), Iitsuka, Ryo (Tohoku Univ.), Yamanishi, Yoko (Tohoku Univ.), Arai, Fumihito (Tohoku Univ.)

10:35-10:50 ThB13.2Force Analysis and Path Planning of the Trapped Cell in Robotic Manipulation with Optical Tweezers, pp. 4119-4124.

Wu, Yanhua (City Univ. of Hong Kong), Tan, Youhua (City Univ. of HongKong), Sun, Dong (City Univ. of Hong Kong), Huang, Wenhao (Univ. of Science and Tech. of China)

10:50-11:05 ThB13.3Modeling the Trajectory of a Micro Particle in a Dielectrophoresis Device for Dynamic Control, pp. 4125-4130.

Kharboutly, Mohamed (FEMTO-ST Inst. CNRS UFC/ENSMM/UTBM), Gauthier, Michael (FEMTO-ST Inst.), Chaillet, Nicolas (Univ. of Franche-Comté / FEMTO-ST Inst.)

11:05-11:20 ThB13.4Computer-Assisted Patch Clamping, pp. 4131-4136.

Azizian, Mahdi (Univ. of Western Ontario), Patel, Rajni (The Univ. of Western Ontario), Gavrilovici, Cezar (Univ. of Western Ontario, Robarts Res. Inst.), Poulter, Michael (Univ. of Western Ontario, Robarts Res. Inst.)

ThPL Dena'ina Center Tikahtnu A/B/CPlenary: Towards a 10, 000 Mobile Robot Smart Warehouse (Plenary Sessions)

Chair: Kumar, Vijay Univ. of PennsylvaniaCo-Chair: De Luca, Alessandro Univ. di Roma "La Sapienza"

13:15-14:10 ThPL.1Towards a 10, 000 Mobile Robot Smart Warehouse*.

D'Andrea, Raffaello (ETHZ) ThD1 Egan Center Second Level Room BoardroomMotion Control of Manipulators I (Regular Sessions)

Chair: Doulgeri, Zoe Aristotle Univ. of ThessalonikiCo-Chair: Neubert, Jeremiah Univ. of North Dakota

14:20-14:35 ThD1.1PID Type Robot Joint Position Regulation with Prescribed Performance Guaranties, pp. 4137-4142.

Doulgeri, Zoe (Aristotle Univ. of Thessaloniki), Karayiannidis, Yiannis (Aristotle Univ. of Thessaloniki) 14:35-14:50 ThD1.2Optimal Feedback Control for Anthropomorphic Manipulators, pp. 4143-4150. Attachment

Mitrovic, Djordje (School of Informatics, Univ. of Edinburgh), Nagashima, Sho (NAIST), Klanke, Stefan (Univ. of Edinburgh), Matsubara, Takamitsu (NAIST/ATR), Vijayakumar, Sethu (Univ. of Edinburgh)

14:50-15:05 ThD1.3Redundant Control of a Humanoid Robot Head with Foveated Vision for Object Tracking, pp. 4151-4156. Attachment

Omrcen, Damir (Jozef Stefan Inst.), Ude, Ales (Jozef Stefan Inst.) 15:05-15:20 ThD1.4Motion Generation through Biologically-Inspired Torque Pulses, pp. 4157-4162. Attachment

Neubert, Jeremiah (Univ. of North Dakota), Ferrier, Nicola (Univ. of Wisconsin-Madison) 15:20-15:35 ThD1.5An Analysis of the Operational Space Control of Robots, pp. 4163-4168.

Vuong, Ngoc Dung (National Univ. of Singapore), Ang Jr, Marcelo H (National Univ. of Singapore), Lim, Tao Ming (SIMTech), Lim, Ser Yong (Singapore Inst. of Manufacturing Tech.)

15:35-15:50 ThD1.6Design and Control of a Novel 3D Casting Manipulator, pp. 4169-4174. Attachment

Fagiolini, Adriano (Univ. of Pisa), Belo, Felipe (Univ. of Pisa), Catalano, Manuel (Faculty of Engineering - Univ. of Pisa), Bonomo, Fabio (Faculty of Engineering - Univ. of Pisa), Alicino, Simone (Faculty of Engineering - Univ. of Pisa), Bicchi, Antonio (Univ. of Pisa)

ThD2 Egan Center Lower Level Room 1Mechanism Design and Actuation (Regular Sessions)

Chair: Albu-Schäffer, Alin DLR - German Aerospace CenterCo-Chair: Sensinger, Jonathon Northwestern Univ.

14:20-14:35 ThD2.1Selecting Motors for Robots Using Biomimetic Trajectories: Optimum Benchmarks, Windings, and Other Considerations, pp. 4175-4181.

Sensinger, Jonathon (Northwestern Univ.) 14:35-14:50 ThD2.2Control of a Hydraulically-Actuated Quadruped Robot Leg, pp. 4182-4188. Attachment

Focchi, Michele (Italian Inst. of Tech.), Guglielmino, Emanuele (Fondazione Istituto Italiano di Tecnologia), Semini, Claudio (Italian Inst. of Tech. and Univ. of Genoa), Boaventura Cunha, Thiago (Italian Inst. of Tech.), Yang, Yousheng (Italian Inst. of Tech.), Caldwell, Darwin G. (Italian Inst. of Tech.)

14:50-15:05 ThD2.3Bidirectional Antagonistic Variable Stiffness Actuation: Analysis, Design & Implementation, pp. 4189-4196.

Petit, Florian (Inst. of Robotics and Mechatronics, German Aerospace Center), Chalon, Maxime (German Aerospace Center (DLR)), Friedl, Werner (Inst. of Robotics and Mechatronics, German Aerospace Center), Grebenstein, Markus (German Aerospace Center (DLR)), Albu-Schäffer, Alin (DLR - German Aerospace Center), Hirzinger, Gerd (German Aerospace Center (DLR))

15:05-15:20 ThD2.4A Novel Compact and Lightweight Actuator for Wearable Robots, pp. 4197-4203.

Bergamasco, Massimo (Scuola Superiore S.Anna), Salsedo, Fabio (PERCRO - Scuola Superiore S.Anna), Marcheschi, Simone (PERCRO - Scuola Superiore S.Anna), Lucchesi, Nicola (Scuola Superiore Sant' Anna), Fontana, Marco (PERCRO - Scuola Superiore Sant'Anna)

15:20-15:35 ThD2.5Backdrivability Analysis of Electro-Hydrostatic Actuator and Series Dissipative Actuation Model, pp. 4204-4211.

Kaminaga, Hiroshi (The Univ. of Tokyo), Amari, Tomoya (The Univ. of Tokyo), Katayama, Yukihiro (The Univ. of Tokyo), Ono, Junya (The Univ. of Tokyo), Shimoyama, Yuto (Univ. of Tokyo), Nakamura, Yoshihiko (Univ. of Tokyo)

15:35-15:50 ThD2.6Stretchable Liquid Tactile Sensor for Robot-Joints, pp. 4212-4217.

Noda, Kentaro (Univ. of Tokyo), Iwase, Eiji (The Univ. of Tokyo), Matsumoto, Kiyoshi (The Univ. of Tokyo), Shimoyama, Isao (Univ. of Tokyo)

ThD3 Egan Center Lower Level Room 13/14Humanoid Locomotion (Regular Sessions)

Chair: Sugihara, Tomomichi Kyushu Univ.Co-Chair: Goswami, Ambarish Honda Res. Inst.

14:20-14:35 ThD3.1Eulerian ZMP Resolution Based Bipedal Walking: Discussions on the Intrinsic Angular Momentum Rate Change about Center of Mass, pp. 4218-4223.

Ugurlu, Barkan (Italian Inst. of Tech.), Kawamura, Atsuo (Yokohama National Univ.) 14:35-14:50 ThD3.2Consistent Biped Step Control with COM-ZMP Oscillation Based on Successive Phase Estimation in Dynamics Morphing, pp. 4224-4229.

Sugihara, Tomomichi (Kyushu Univ.) 14:50-15:05 ThD3.3Strategies for Adjusting the ZMP Reference Trajectory for Maintaining Balance in Humanoid Walking, pp. 4230-4236. Attachment

Nishiwaki, Koichi (National Inst. of AIST), Kagami, Satoshi (National Inst. of AIST) 15:05-15:20 ThD3.4Trajectory Generation with Natural ZMP References for the Biped Walking Robot SURALP, pp. 4237-4242. Attachment

Taskiran, Evrim (Sabanci Univ.), Yilmaz, Metin (Sabanci Univ.), Koca, Ozer (Sabanci Univ.), Seven, Utku (Sabanci Univ.), Erbatur, Kemalettin (Sabanci Univ.)

15:20-15:35 ThD3.5Approximation of Feasibility Tests for Reactive Walk on HRP-2, pp. 4243-4248. Attachment

Perrin, Nicolas (Univ. de Toulouse ; UPS, INSA, INP, ISAE ; LAAS), Stasse, Olivier (CNRS/AIST), Lamiraux, Florent (CNRS), Yoshida, Eiichi (National Inst. of AIST)

15:35-15:50 ThD3.6Analysis on a Friction Based ``Twirl" for Biped Robots, pp. 4249-4255.

Miura, Kanako (National Inst. of Advanced IndustrialScienceandTechnology), Nakaoka, Shin'ichiro (AIST), Morisawa, Mitsuharu (National Inst. of AIST), Kanehiro, Fumio (National Inst. of AIST), Harada, Kensuke (National Inst. of AIST), Kajita, Shuuji (National Inst. of AIST)

ThD4 Egan Center Lower Level Room 2Marine Robotics: Localization, Control and Navigation (Invited Sessions)

Chair: Antonelli, Gianluca Univ. degli Studi di CassinoCo-Chair: Kondo, Hayato Tokyo Univ. of Marine Science and Tech.Organizer: Antonelli, Gianluca Univ. degli Studi di CassinoOrganizer: Kondo, Hayato Tokyo Univ. of Marine Science and Tech.Organizer: Marani, Giacomo Univ. of HawaiiOrganizer: Stack, Jason Office of Naval Res.Organizer: Wettergren, Thomas Naval Undersea Warfare Center

14:20-14:35 ThD4.1A Measurement Distribution Framework for Cooperative Navigation Using Multiple AUVs (I), pp. 4256-4263.

Fallon, Maurice (MIT), Papadopoulos, Georgios (NTUA), Leonard, John (MIT) 14:35-14:50 ThD4.2Design and Experimental Evaluation of an Integrated USBL/INS System for AUVs (I), pp. 4264-4269.

Morgado, Marco (Inst. for Systems and Robotics - Lisbon - Inst. Superior), Oliveira, Paulo Jorge Ramalho (ISR- Inst. of Systems and Robotics - IST-Tech.), Silvestre, Carlos (Inst. Superior Tecnico)

14:50-15:05 ThD4.3Designing Behaviors to Improve Observability for Relative Localization of AUVs (I), pp. 4270-4275.

Antonelli, Gianluca (Univ. degli Studi di Cassino), Caiti, Andrea (Univ. of Pisa), Calabro', Vincenzo (Univ. degli studi di Pisa), Chiaverini, Stefano (Univ. di Cassino)

15:05-15:20 ThD4.4Observability Analysis of Relative Localization for AUVs Based on Ranging and Depth Measurements, pp. 4276-4281.

Antonelli, Gianluca (Univ. degli Studi di Cassino), Arrichiello, Filippo (Univ. di Cassino), Chiaverini, Stefano (Univ. di Cassino), Sukhatme, Gaurav (Univ. of Southern California)

15:20-15:35 ThD4.5Maximum Likelihood Mapping with Spectral Image Registration, pp. 4282-4287. Attachment

Pfingsthorn, Max (Jacobs Univ.), Birk, Andreas (Jacobs Univ.), Schwertfeger, Sören (Jacobs Univ.), Buelow, Heiko (Jacobs Univ.), Pathak, Kaustubh (Jacobs Univ. Bremen)

15:35-15:50 ThD4.6Geometric Formation Control for Autonomous Underwater Vehicles, pp. 4288-4293.

Yang, Huizhen (Northwestern Pol. Univ.), Zhang, Fumin (Georgia Inst. of Tech.) ThD5 Egan Center Lower Level Room 11/12Dynamic Manipulation (Regular Sessions)

Chair: Platt, Robert NASACo-Chair: Sudsang, Attawith Chulalongkorn Univ.

14:20-14:35 ThD5.1Two-Phased Controller for a Pair of 2-DOF Soft Fingertips Based on the Qualitative Relationship between Joint Angles and Object Location, pp. 4294-4301.

Yamazaki, Yujiro (Ritsumeikan Univ.), Inoue, Takahiro (Okayama Prefectural Univ.), Hirai, Shinichi (Ritsumeikan Univ.) 14:35-14:50 ThD5.2A Measurement Model for Tracking Hand-Object State During Dexterous Manipulation, pp. 4302-4308.

Corcoran, Craig (Rice Univ.), Platt, Robert (MIT) 14:50-15:05 ThD5.3External Sensorless Dynamic Object Manipulation by a Dual Soft-Fingered Robotic Hand with Torsional Fingertip Motion, pp. 4309-4314. Attachment

Tahara, Kenji (Kyushu Univ.), Maruta, Keigo (Kyushu Univ.), Yamamoto, Motoji (Kyushu Univ.) 15:05-15:20 ThD5.4Two-Dimensional Dynamic Modeling of a Sliding Motion of a Soft Fingertip Focusing on Stick-To-Slip Transition, pp. 4315-4321. Attachment

Ho, Van (Ritsumeikan Univ.), Hirai, Shinichi (Ritsumeikan Univ.) 15:20-15:35 ThD5.5Dynamic Object Manipulation Using a Virtual Frame by a Triple Soft-Fingered Robotic Hand, pp. 4322-4327. Attachment

Tahara, Kenji (Kyushu Univ.), Arimoto, Suguru (Ritsumeikan Univ.), Yoshida, Morio (RIKEN) 15:35-15:50 ThD5.6Regrasp Planning of Three-Fingered Hand for a Polygonal Object, pp. 4328-4333.

Phoka, Thanathorn (Chulalongkorn Univ.), Sudsang, Attawith (Chulalongkorn Univ.) ThD6 Egan Center Street Level Room Cook HallRehabilitation Robotics and Human-Robot Interaction (Regular Sessions)

Chair: Agrawal, Sunil Univ. of DelawareCo-Chair: Munih, Marko Univ. of Ljubljana

14:20-14:35 ThD6.1Wearable Cable-Driven Upper Arm Exoskeleton - Motion with Transmitted Joint Force and Moment Minimization, pp. 4334-4339.

Mao, Ying (Univ. of Delaware), Agrawal, Sunil (Univ. of Delaware) 14:35-14:50 ThD6.2Visualizing Perspectives and Trends in Robotics Based on Patent Mining, pp. 4340-4347.

Ruffaldi, Emanuele (Scuola Superiore S.Anna), Sani, Elisabetta (Scuola Superiore S.Anna), Bergamasco, Massimo (Scuola Superiore S.Anna)

14:50-15:05 ThD6.3A Robot Companion for Inclusive Games: A User-Centred Design Perspective, pp. 4348-4353.

Marti, Patrizia (Univ. of Siena), Giusti, Leonardo (Univ. of Siena) 15:05-15:20 ThD6.4Trends and Considerations in Robot-Assisted Autism Therapy, pp. 4354-4359.

Ricks, Daniel (Brigham Young Univ. Provo, UT), Colton, Mark (Brigham Young Univ.) 15:20-15:35 ThD6.5Robotic Rehabilitation Tasks and Measurements of Psychophysiological Responses, pp. 4360-4365.

Munih, Marko (Univ. of Ljubljana), Novak, Domen (Univ. of Ljubljana), Ziherl, Jaka (Univ. of Ljubljana), Olenšek, Andrej (Univ. of Ljubljana), Podobnik, Janez (Unioversity of Ljubljana, Faculty of Electrical Engineering), Bajd, Tadej (Univ. of Ljubljana, Faculty of Electrical Engineering), Mihelj, Matjaž (Univ. of Ljubljana)

15:35-15:50 ThD6.6Upper-Limit Evaluation of a Robot Audition Based on ICA-BSS in Multi-Source, Barge-In and Highly Reveberant Conditions, pp. 4366-4371.

Takeda, Ryu (Kyoto Univ.), Nakadai, Kazuhiro (Honda Res. Inst. Japan Co., Ltd.), Takahashi, Toru (Kyoto Univ.), Komatani, Kazunori (Kyoto Univ.), Ogata, Tetsuya (Kyoto Univ.), Okuno, Hiroshi G. (Kyoto Univ.)

ThD7 Egan Center Lower Level Room 3Localization for Mobile Robots I (Regular Sessions)

Chair: Stump, Ethan Univ. of PennsylvaniaCo-Chair: Kleiner, Alexander Univ. of Freiburg

14:20-14:35 ThD7.1Robust Vehicle Localization in Urban Environments Using Probabilistic Maps, pp. 4372-4378.

Levinson, Jesse (Stanford Univ.), Thrun, Sebastian (Stanford Univ.) 14:35-14:50 ThD7.2WiFi Localization and Navigation for Autonomous Indoor Mobile Robots, pp. 4379-4384.

Biswas, Joydeep (Carnegie Mellon Univ.), Veloso, Manuela (Carnegie Mellon Univ.) 14:50-15:05 ThD7.3Improved GPS Sensor Model for Mobile Robots in Urban Terrain, pp. 4385-4390.

Maier, Daniel (Univ. of Freiburg), Kleiner, Alexander (Univ. of Freiburg) 15:05-15:20 ThD7.4Accurate Mobile Robot Localization in Indoor Environments Using Bluetooth, pp. 4391-4396.

Raghavan, Aswin (National Inst. of Tech. Trichy), Ravindran, Balaraman (IIT Madras), Sivasamy Sivamurugan, Manimaran (National Inst. of Tech. Tiruchirapalli), Ananthapadmanaban, Harini (National Inst. of Tech. Tiruchirapalli)

15:20-15:35 ThD7.5Visual Robot Localization Using Compact Binary Landmarks, pp. 4397-4403.

Ikeda, Kouichirou (Univ. of Fukui), Tanaka, Kanji (Fukui Univ.) 15:35-15:50 ThD7.6A General Gaussian-Mixture Approach for Range-Only Mapping Using Multiple Hypotheses, pp. 4404-4409.

Caballero, Fernando (Univ. of Seville), Merino, Luis (Pablo de Olavide Univ.), Ollero, Anibal (Univ. of Seville) ThD8 Egan Center Lower Level Room 9/10Navigation on Uneven Terrain (Regular Sessions)

Chair: Collins, Emmanuel FAMU-FSU Coll. of EngineeringCo-Chair: Ramos, Fabio Univ. of Sydney

14:20-14:35 ThD8.1Stereo Mapping and Localization for Long-Range Path Following on Rough Terrain, pp. 4410-4416.

Furgale, Paul Timothy (Univ. of Toronto), Barfoot, Timothy (Univ. of Toronto) 14:35-14:50 ThD8.2Updating Control Modes Based on Terrain Classification, pp. 4417-4423.

Coyle, Eric Joe (Florida State Univ. Florida A&M Univ.), Collins, Emmanuel (FAMU-FSU Coll. of Engineering), Lu, Liang (FAMU-FSU Coll. of Engineering)

14:50-15:05 ThD8.3Integrated Planning and Control of Large Tracked Vehicles in Open Terrain, pp. 4424-4430.

Singh, Surya (Univ. of Sydney), Nettleton, Eric (The Univ. of Sydney), Durrant-Whyte, Hugh (The Univ. of Sydney), Fan, Xiuyi (Imperial Coll. London), Oppolzer, Florian (Univ. of Sydney)

15:05-15:20 ThD8.4Real-World Validation of Three Tipover Algorithms for Mobile Robots, pp. 4431-4436.

Roan, Philip (Univ. of Washington), Burmeister, Aaron (SPAWAR Systems Center, Pacific), Rahimi, Amin (SPAWAR Systems Center, Pacific), Holz, Kevin (SPAWAR Systems Center, Pacific), Hooper, David (SPAWAR Systems Center, Pacific)

15:20-15:35 ThD8.5

Inferring Geometry from Imagery - Enabling High Speed Traversal, pp. 4437-4443. Broten, Gregory, S (DRDC), Mackay, David (Defence Res. and Development Canada)

15:35-15:50 ThD8.6Automated Rock Recognition with Wavelet Feature Space Projection and Gaussian Process Classification, pp. 4444-4450.

Zhou, Hang (Univ. of Sydney), Monteiro, Sildomar (Univ. of Sydney), Hatherly, Peter (Univ. of Sydney), Ramos, Fabio (Univ. of Sydney), Nettleton, Eric (The Univ. of Sydney), Oppolzer, Florian (Univ. of Sydney)

ThD9 Egan Center Lower Level Room 4Multi-Agent Coordination (Regular Sessions)

Chair: Goodwine, Bill Univ. of Notre DameCo-Chair: Egerstedt, Magnus Georgia Inst. of Tech.

14:20-14:35 ThD9.1On the Need for Communication in Distributed Implementations of LTL Motion Specifications, pp. 4451-4456.

Kloetzer, Marius (Tech. Univ. of Iasi), Itani, Sara (Massachusetts Inst. of Tech.), Birch, Sam (Boston Univ. Acad.), Belta, Calin (Boston Univ.)

14:35-14:50 ThD9.2Multi-Robot Coordination with Periodic Connectivity, pp. 4457-4462. Attachment

Hollinger, Geoffrey (Carnegie Mellon Univ.), Singh, Sanjiv (Carnegie Mellon Univ.) 14:50-15:05 ThD9.3Decentralized Grid-Based Algorithms for Formation Reconfiguration and Synchronization, pp. 4463-4468.

Miklic, Damjan (Univ. of Zagreb), Bogdan, Stjepan (Univ. of Zagreb), Fierro, Rafael (Univ. of New Mexico) 15:05-15:20 ThD9.4Optimal Motion Primitives for Multi-UAV Convoy Protection, pp. 4469-4474.

Rahmani, Amir (Georgia Inst. of Tech.), Ding, Xu Chu (Georgia Inst. of Tech.), Egerstedt, Magnus (Georgia Inst. of Tech.) 15:20-15:35 ThD9.5Bifurcations of Optimal Solutions for Coordinated Robotic Systems: Numerical and Homotopy Methods, pp. 4475-4480.

Deng, Baoyang (Univ. of Notre Dame), Valenzuela, Andres (Massachusetts Inst. of Tech.), Goodwine, Bill (Univ. of Notre Dame) 15:35-15:50 ThD9.6On Agreement Problems with Gossip Algorithms in Absence of Common Reference Frames, pp. 4481-4486.

Gasparri, Andrea (Univ. degli Studi Roma Tre), Franceschelli, Mauro (Univ. of Cagliari, Italy) ThD10 Egan Center Lower Level Room 7/8Motion Planning and Trajectory Control (Regular Sessions)

Chair: Tanner, Herbert G. Univ. of DelawareCo-Chair: Stilman, Mike Georgia Tech.

14:20-14:35 ThD10.1Computing Push Plans for Disk-Shaped Robots, pp. 4487-4492.

Gerrits, Dirk (Tech. Univ. Eindhoven), de Berg, Mark (TU Eindhoven) 14:35-14:50 ThD10.2Optimizing Coordinate Choice for Locomoting Systems, pp. 4493-4498.

Hatton, Ross (Carnegie Mellon Univ.), Choset, Howie (Carnegie Mellon Univ.) 14:50-15:05 ThD10.3Dipole-Like Fields for Stabilization of Systems with Pfaffian Constraints, pp. 4499-4504.

Panagou, Dimitra (National Tech. Univ. of Athens), Tanner, Herbert G. (Univ. of Delaware), Kyriakopoulos, Kostas (National Tech. Univ. of Athens)

15:05-15:20 ThD10.4From Motion Planning to Trajectory Control with Bounded Jerk for Service Manipulator Robots, pp. 4505-4510.

Broquere, Xavier (Univ. de Toulouse), Sidobre, Daniel (Univ. of toulouse), Nguyen, Khoi (Univ. of Toulouse) 15:20-15:35 ThD10.5Application of Caging Manipulation and Compliant Mechanism for a Container Case Hand-Over Task, pp. 4511-4518.

Fukui, Rui (The Univ. of Tokyo), Mori, Taketoshi (The Univ. of Tokyo), Sato, Tomomasa (The Univ. of Tokyo) 15:35-15:50 ThD10.6Robot Limbo: Optimized Planning and Control for Dynamically Stable Robots under Vertical Obstacles, pp. 4519-4524. Attachment

Teeyapan, Kasemsit (Georgia Inst. of Tech.), Wang, Jiuguang (Georgia Inst. of Tech.), Kunz, Tobias (Georgia Tech.), Stilman, Mike (Georgia Tech.)

ThD11 Egan Center Lower Level Room 5Visual Tracking II (Regular Sessions)

Chair: Yagi, Yasushi Osaka Univ.Co-Chair: Kweon, In So KAIST

14:20-14:35 ThD11.1Object Tracking with Measurements from Single or Multiple Cameras, pp. 4525-4530. Attachment

Linderoth, Magnus (Lund Univ.), Johansson, Rolf (LTH, Lund Univ.), Robertsson, Anders (LTH, Lund Univ.), Ĺström, Karl (LTH, Lund Univ.)

14:35-14:50 ThD11.2General Object Tracking with a Component-Based Target Descriptor, pp. 4531-4536. Attachment

Frintrop, Simone (Univ. of Bonn) 14:50-15:05 ThD11.3

Visual Tracking for Non-Rigid Objects Using Rao-Blackwellized Particle Filter, pp. 4537-4544. Attachment Kim, Jungho (KAIST), Park, Chaehoon (KAIST), Kweon, In So (KAIST)

15:05-15:20 ThD11.4A Salient Feature and Scene Semantics Based Attention Model for Human Tracking on Mobile Robot, pp. 4545-4552. Attachment

Liu, Hong (Peking Univ.), He, Huijun (Peking Univ.) 15:20-15:35 ThD11.5Consecutive Visual Tracking and Segmentation Using Appearance and Spatial Information of Patches, pp. 4553-4558.

Wang, Junqiu (OSAKA Univ.), Yagi, Yasushi (Osaka Univ.) 15:35-15:50 ThD11.6Using Multiple Hypothesis in Model-Based Tracking, pp. 4559-4565. Attachment

Teuličre, Céline (CEA-LIST), Marchand, Eric (Univ. de Rennes 1), Eck, Laurent (CEA) ThD12 Egan Center Street Level Room ArteagaVision and Motion Compensation for Medical Robots (Regular Sessions)

Chair: Webster III, Robert James Vanderbilt Univ.Co-Chair: Desai, Jaydev P. Univ. of Maryland

14:20-14:35 ThD12.1Towards Accurate Motion Compensation in Surgical Robotics, pp. 4566-4572. Attachment

Tobergte, Andreas (German Aerospace Centre), Fröhlich, Florian Alexander (DLR (German Aerospace Center)), Pomarlan, Mihai (German Aerospace Centre), Hirzinger, Gerd (German Aerospace Center (DLR))

14:35-14:50 ThD12.2Breathing Motion Compensation for Robot Assisted Laser Osteotomy, pp. 4573-4578.

Busack, Martin (Univ. Pierre et Marie Curie, Paris 6), Morel, Guillaume (Univ. Pierre et Marie Curie - Paris 6), Bellot, Delphine (Univ. Pierre et Marie Curie - Paris 6)

14:50-15:05 ThD12.3Beating Heart Motion Prediction for Robust Visual Tracking, pp. 4579-4584. Attachment

Richa, Rogerio (Univ. Montpellier 2), Bó, Antônio Padilha Lanari (LIRMM UMR 5506 CNRS UM2), Poignet, Philippe (LIRMM UMR 5506 CNRS UM2)

15:05-15:20 ThD12.4Automation of Tissue Piercing Using Circular Needles and Vision Guidance for Computer Aided Laparoscopic Surgery, pp. 4585-4590. Attachment

Staub, Christoph (TU Munich), Osa, Takayuki (The Univ. of Tokyo), Knoll, Alois (TU Munich), Bauernschmitt, Robert (German Heart Center Munich)

15:20-15:35 ThD12.5Visual Sensing of Continuum Robot Shape Using Self-Organizing Maps, pp. 4591-4596.

Croom, Jordan (Vanderbilt Univ.), Rucker, Caleb (Vanderbilt Univ.), Romano, Joseph M. (Univ. of Pennsylvania), Webster III, Robert James (Vanderbilt Univ.)

15:35-15:50 ThD12.6Visual Vein-Finding for Robotic IV Insertion, pp. 4597-4602.

Brewer, Reuben (Stanford Univ.), Salisbury, Kenneth (Stanford Univ.) ThD13 Egan Center Lower Level Room 6Software Tools for Robotics (Regular Sessions)

Chair: Biggs, Geoffrey National Inst. of Advanced Industrial Science and Tech. (AIST)Co-Chair: Morbidi, Fabio Univ. of Siena

14:20-14:35 ThD13.1KCT: A MATLAB Toolbox for Motion Control of KUKA Robot Manipulators, pp. 4603-4608.

Chinello, Francesco (Univ. of Siena), Scheggi, Stefano (Univ. of Siena), Morbidi, Fabio (Univ. of Siena), Prattichizzo, Domenico (Univ. of Siena)

14:35-14:50 ThD13.2Graphical State-Space Programmability As a Natural Interface for Robotic Control, pp. 4609-4614.

Sattar, Junaed (McGill Univ.), Xu, Anqi (McGill Univ.), Dudek, Gregory (McGill Univ.), Charette, Gabriel (McGill Univ.) 14:50-15:05 ThD13.3Flexible, Adaptable Utility Components for Component-Based Robot Software, pp. 4615-4620.

Biggs, Geoffrey (National Inst. of Advanced Industrial Science and Tech.) 15:05-15:20 ThD13.4Applying Regression Testing to Software for Robot Hardware Interaction, pp. 4621-4626.

Biggs, Geoffrey (National Inst. of Advanced Industrial Science and Tech.) 15:20-15:35 ThD13.5GenoM3: Building Middleware-Independent Robotic Components, pp. 4627-4632.

Mallet, Anthony (LAAS/CNRS), Pasteur, Cédric (Ec. Pol.), Herrb, Matthieu (LAAS/CNRS), Lemaignan, Séverin (LAAS/CNRS), Ingrand, Francois Felix (LAAS/CNRS)

15:35-15:50 ThD13.6The CBC: A LINUX-Based Low-Cost Mobile Robot Controller, pp. 4633-4638.

Miller, David (Univ. of Oklahoma), Oelke, Matthew (KIPR), Roman, Matthew (Univ. of Oklahoma), Villatoro, Jorge (KIPR), Winton, Charles (Univ. of North Florida)

ThE1 Egan Center Second Level Room Boardroom

Motion Control of Manipulators II (Regular Sessions) Chair: Poignet, Philippe LIRMM UMR 5506 CNRS UM2Co-Chair: Zhu, Wen-Hong Canadian Space Agency

16:10-16:25 ThE1.1Adaptive Control of Robot Manipulators Including Actuator Dynamics and without Joint Torque Measurement, pp. 4639-4644.

Salimi, Yahya (Sharif Univ. of Tech.), Namvar, Mehrzad (Sharif Univ. of Tech.) 16:25-16:40 ThE1.2A Globally Convergent Observer for Velocity Estimation in Robotic Manipulators with Uncertain Dynamics, pp. 4645-4650.

Lotfi, Nima (Sharif Univ. of Tech.), Namvar, Mehrzad (Sharif Univ. of Tech.) 16:40-16:55 ThE1.3A Simple Nonlinear PID Control for Global Finite-Time Regulation of Robot Manipulators without Velocity Measurements, pp. 4651-4656.

Su, Yuxin (Xidian Univ.), Zheng, Chunhong (Xidian Univ.) 16:55-17:10 ThE1.4FPGA-Based Adaptive Friction Compensation for Precision Control of Harmonic Drivers, pp. 4657-4662.

Zhu, Wen-Hong (Canadian Space Agency) 17:10-17:25 ThE1.5SP-ID Regulation of Rigid-Link Electrically-Driven Robots with Uncertain Kinematics, pp. 4663-4668.

Liu, Chao (LIRMM (UMR5506), CNRS, France), Poignet, Philippe (LIRMM UMR 5506 CNRS UM2) 17:25-17:40 ThE1.6Ball Dribbling with an Underactuated Continuous-Time Control Phase, pp. 4669-4674.

Mettin, Uwe (Umeĺ Univ.), Shiriaev, Anton (Umea Univ.), Bätz, Georg (Tech. Univ. München), Wollherr, Dirk (Tech. Univ. München) ThE2 Egan Center Lower Level Room 1Kinematics of Parallel Robots (Regular Sessions)

Chair: Torras, Carme CSIC - UPCCo-Chair: Merlet, Jean-Pierre INRIA

16:10-16:25 ThE2.1Towards 100G with PKM. Is Actuation Redundancy a Good Solution for Pick-And-Place, pp. 4675-4682.

Corbel, David (LIRMM - CNRS), Gouttefarde, Marc (LIRMM), Company, Olivier (Univ. of Montpellier 2), Pierrot, François (CNRS - LIRMM)

16:25-16:40 ThE2.2Improving the Kinematic Performance of the SCARA-Tau PKkM, pp. 4683-4690.

Isaksson, Mats (Deakin Univ.), Brogardh, Torgny (ABB Robotics), Lundberg, Ivan (ABB Corp. Res.), Nahavandi, Saeid (Deakin Univ.) 16:40-16:55 ThE2.3A PSO Algorithm for Mapping the Workspace Boundary of Parallel Manipulators, pp. 4691-4696. Attachment

Saputra, Vincensius Billy (National Univ. of Singapore), Nee, A.Y.C. (National Univ. of Singapore) 16:55-17:10 ThE2.4Motion Planning for a Novel Reconfigurable Parallel Manipulator with Lockable Revolute Joints, pp. 4697-4702. Attachment

Grosch, Patrick (Consejo Superior de Investigaciones Científicas (CSIC) and Tech.), Di Gregorio, Raffaele (Univ. di Ferrara), López, Javier (Inst. de Robňtica i Informŕtica Industrial (CSIC-UPC)), Thomas, Federico (CSIC-UPC)

17:10-17:25 ThE2.5A Family of Quadratically-Solvable 5-SPU Parallel Robots, pp. 4703-4708.

Borrŕs Sol, Júlia (CSIC-UPC), Thomas, Federico (CSIC-UPC), Torras, Carme (CSIC - UPC) 17:25-17:40 ThE2.6On the Determination of Cable Characteristics for Large Dimension Cable-Driven Parallel Mechanisms, pp. 4709-4714.

Riehl, Nicolas (LIRMM), Gouttefarde, Marc (LIRMM), Baradat, Cédric (Fondation Fatronik), Pierrot, François (CNRS - LIRMM) ThE3 Egan Center Lower Level Room 13/14Legged Robots (Regular Sessions)

Chair: Clark, Jonathan Florida State Univ.Co-Chair: Buehler, Martin iRobot

16:10-16:25 ThE3.1Avoidance Behavior from External Forces for Biped Vehicle, pp. 4715-4720. Attachment

Hashimoto, Kenji (Waseda Univ.), Sawato, Terumasa (Waseda Univ.), Hayashi, Akihiro (Waseda Univ.), Yoshimura, Yuki (Waseda Univ.), Asano, Teppei (Waseda Univ.), Hattori, Kentaro (Waseda Univ.), Sugahara, Yusuke (Tohoku Univ.), Lim, Hun-ok (Kanagawa Univ.), Takanishi, Atsuo (Waseda Univ.)

16:25-16:40 ThE3.2Control of Underactuated Planar Hexapedal Pronking through a Dynamically Embedded SLIP Monopod, pp. 4721-4727.

Ankarali, Mustafa Mert (Middle East Tech. Univ.), Saranli, Uluc (Bilkent Univ.), Saranli, Afsar (Middle East Tech. Univ.) 16:40-16:55 ThE3.3Analysis and Evaluation of the Stability of a Biologically Inspired, Leg Loss Tolerant Gait for Six and Eight-Legged Walking Robots, pp. 4728-4735.

Goerner, Martin (German Aerospace Center (DLR)), Hirzinger, Gerd (German Aerospace Center (DLR)) 16:55-17:10 ThE3.4Autonomous Navigation for BigDog, pp. 4736-4741.

Wooden, David (Boston Dynamics), Malchano, Matthew (Boston Dynamics), Blankespoor, Kevin (Boston Dynamics), Howard, Andrew (JPL), Rizzi, Alfred (Boston Dynamics), Raibert, Marc (Boston Dynamics)

17:10-17:25 ThE3.5Pushing Methods for Working Six-Legged Robots Capable of Locomotion and Manipulation in Three Modes, pp. 4742-4748.

Inoue, Kenji (Yamagata Univ.), Ooe, Kanjiro (Yamagata Univ.), Lee, Suwoong (Yamagata Univ.) 17:25-17:40 ThE3.6Design of a Dynamically Stable Horizontal Plane Runner, pp. 4749-4754.

Shill, Jacob (Florida State Univ.), Miller, Bruce (Florida State Univ.), Schmitt, John (Oregon State Univ.), Clark, Jonathan (Florida State Univ.)

ThE4 Egan Center Lower Level Room 2Marine Robotics: Motion and Path Planning (Invited Sessions)

Chair: Stack, Jason Office of Naval Res.Co-Chair: Wettergren, Thomas Naval Undersea Warfare CenterOrganizer: Antonelli, Gianluca Univ. degli Studi di CassinoOrganizer: Kondo, Hayato Tokyo Univ. of Marine Science and Tech.Organizer: Marani, Giacomo Univ. of HawaiiOrganizer: Stack, Jason Office of Naval Res.Organizer: Wettergren, Thomas Naval Undersea Warfare Center

16:10-16:25 ThE4.1On Optimal AUV Track-Spacing for Underwater Mine Detection (I), pp. 4755-4762.

Williams, David (NATO Undersea Res. Centre) 16:25-16:40 ThE4.2Cooperative Caging Using Autonomous Aquatic Surface Vehicles (I), pp. 4763-4769. Attachment

Arrichiello, Filippo (Univ. di Cassino), Heidarsson, Hordur Kristinn (Univ. of Southern California), Chiaverini, Stefano (Univ. di Cassino), Sukhatme, Gaurav (Univ. of Southern California)

16:40-16:55 ThE4.3Autonomous Underwater Vehicle Trajectory Design Coupled with Predictive Ocean Models: A Case Study (I), pp. 4770-4777.

Smith, Ryan (Univ. of Southern California), Arvind, Pereira (Univ. of Southern California), Chao, Yi (California Inst. of Tech.), Li, Peggy (California Inst. of Tech.), Caron, David A. (Univ. of Southern California), Jones, Burton (Univ. of Southern California), Sukhatme, Gaurav (Univ. of Southern California)

16:55-17:10 ThE4.4Spatiotemporal Path Planning in Strong, Dynamic, Uncertain Currents, pp. 4778-4783.

Thompson, David (Jet Propulsion Lab. California Inst. of Tech.), Chien, Steve (Jet Propulsion Lab.), Balasuriya, Arjuna (MIT), Petillo, Stephanie (Massachusetts Inst. of Tech.), Chao, Yi (California Inst. of Tech.), Li, Peggy (California Inst. of Tech.), Arrott, Matt (California Inst. for Telecommunications and Information Tech.), Meisinger, Michael (California Inst. for Telecommunications and Information Tech.), Cahill, Bronwyn (Rutgers Univ.), Levin, Julia (Rutgers Univ.), Schofield, Oscar (Rutgers Univ.)

17:10-17:25 ThE4.5Towards Marine Bloom Trajectory Prediction for AUV Mission Planning (I), pp. 4784-4790.

Das, Jnaneshwar (Univ. of Southern California), Rajan, Kanna (Monterey Bay Aquarium Res. Inst.), Frolov, Sergey (Monterey Bay Aquarium Res. Inst.), Py, Frederic (Monterey Bay Aquarium Res. Inst.), Ryan, John (Monterey Bay Aquarium Res. Inst.), Caron, David A. (Univ. of Southern California), Sukhatme, Gaurav (Univ. of Southern California)

17:25-17:40 ThE4.6Informative Path Planning for an Autonomous Underwater Vehicle, pp. 4791-4796.

Binney, Jonathan (Univ. of Southern California), Krause, Andreas (California Inst. of Tech.), Sukhatme, Gaurav (Univ. of Southern California)

ThE5 Egan Center Lower Level Room 11/12Cognitive Human Robot Recognition and Learning (Regular Sessions)

Chair: Choi, Jongsuk Korea Inst. of Sci. and Tech.Co-Chair: Tacchella, Armando Univ. di Genova

16:10-16:25 ThE5.1Training Special Needs Infants to Drive Mobile Robots Using Force-Feedback Joystick, pp. 4797-4802. Attachment

Agrawal, Sunil (Univ. of Delaware), Chen, Xi (Univ. of Delaware), Galloway, James (Univ. of Delaware) 16:25-16:40 ThE5.2Learning Discriminative MspLBP Features Based on Ada-LDA for Multi-Class Pattern Classification, pp. 4803-4808.

An, Kwang Ho (KAIST), Chung, Myung Jin (KAIST) 16:40-16:55 ThE5.3Safe and Effective Learning: A Case Study, pp. 4809-4814. Attachment

Metta, Giorgio (Univ. of Genoa), Natale, Lorenzo (Istutito Italiano di Tecnologia), Pathak, Shashank (Univ. di Genova), Pulina, Luca (Univ. di Genova), Tacchella, Armando (Univ. di Genova)

16:55-17:10 ThE5.4Activation of a Mobile Robot through a Brain Computer Interface, pp. 4815-4821.

Achanccaray, David Ronald (Pontificia Univ. Catolica de Rio de Janeiro), Meggiolaro, Marco Antonio (Pontifical Catholic Univ. of Rio de Janeiro), Barbosa, Alexandre Ormiga Galvăo (Pontifical Catholic Univ. of Rio de Janeiro)

17:10-17:25 ThE5.5Robot Reinforcement Learning Using EEG-Based Reward Signals, pp. 4822-4829.

Iturrate, Ińaki (Centro Pol. Superior, Univ. of Zaragoza), Montesano, Luis (Inst. Superior Tecnico), Minguez, Javier (Univ. of Zaragoza) 17:25-17:40 ThE5.6DSP Integration of Sound Source Localization and Multi-Channel Wiener Filter, pp. 4830-4835.

Lee, Byoung-gi (Korea Inst. of Science and Tech.), Kim, Hyun-dong (Korea Inst. of Science and Tech.), Choi, Jongsuk (Korea Inst. of Sci. and Tech.), Kim, Se-yun (Seoul National Univ.), Cho, Nam-ik (Seoul National Univ.)

ThE6 Egan Center Street Level Room Cook HallTactile Sensing (Regular Sessions)

Chair: Mastrogiovanni, Fulvio Univ. of Genova, ItalyCo-Chair: Hirai, Shinichi Ritsumeikan Univ.

16:10-16:25 ThE6.1A Robust, Low-Cost and Low-Noise Artificial Skin for Human-Friendly Robots, pp. 4836-4841.

Ulmen, John (Stanford Univ.), Cutkosky, Mark (Stanford Univ.) 16:25-16:40 ThE6.2Characterization of the Electrical Resistance of Carbon-Black-Filled Silicone: Application to a Flexible and Stretchable Robot Skin, pp. 4842-4848.

Lacasse, Marc-Antoine (Laval Univ.), Duchaine, Vincent (Univ. Laval), Gosselin, Clement (Univ. Laval) 16:40-16:55 ThE6.3Towards Automated Self-Calibration of Robot Skin, pp. 4849-4854.

Denei, Simone (Univ. of Genova), Cannata, Giorgio (Univ. of Genova), Mastrogiovanni, Fulvio (Univ. of Genova, Italy) 16:55-17:10 ThE6.4Design of a Small-Scale Tactile Sensor with Three Sensing Points for Using in Robotic Fingertips, pp. 4855-4860. Attachment

Ho, Van (Ritsumeikan Univ.), Dao, Viet Dzung (Ritsumeikan Univ.), Sugiyama, Susumu (Ritsumeikan Univ.), Hirai, Shinichi (Ritsumeikan Univ.)

17:10-17:25 ThE6.5Development of a Sensor System with Syringe Based on Tactile Sensing Using Balloon Expansion, pp. 4861-4866.

Tanaka, Yoshihiro (Nagoya Inst. of Tech.), Doumoto, Kazuki (Nagoya Inst. of Tech.), Sano, Akihito (Nagoya Inst. of Tech.), Fujimoto, Hideo (Nagoya Inst. of Tech.)

17:25-17:40 ThE6.6High Sensitivity Initial Slip Sensor for Dexterous Grasp, pp. 4867-4872. Attachment

Teshigawara, Seiichi (The Univ. of Electro-Communications), Tadakuma, Kenjiro (Massachusetts Inst. of Tech.), Ming, Aiguo (The Univ. of Electro-Communications), Ishikawa, Masatoshi (Univ. of Tokyo), Shimojo, Makoto (Univ. of Electro-COmmunications)

ThE7 Egan Center Lower Level Room 3Localization for Mobile Robots II (Regular Sessions)

Chair: Borges, Paulo Vinicius Koerich CSIROCo-Chair: Behnke, Sven Univ. of Bonn

16:10-16:25 ThE7.1Localization of Mobile Robots Using Incremental Local Maps, pp. 4873-4880.

Iser, Rene (Tech. Univ. of Braunschweig), Martens, Arthur (Tech. Univ. Braunschweig), Wahl, Friedrich M. (Tech. Univ. of Braunschweig)

16:25-16:40 ThE7.2Learning Visibility of Landmarks for Vision-Based Localization, pp. 4881-4888. Attachment

Fernández Alcantarilla, Pablo (Univ. of Alcalá), Oh, Sang Min (Kitware Inc.), Mariottini, Gian Luca (Dept. of Computer Science and Engineering), Bergasa, Luis Miguel (Univ. of Alcala), Dellaert, Frank (Georgia Inst. of Tech.)

16:40-16:55 ThE7.3Explicit Coordinated Localization Using Common Visual Objects, pp. 4889-4894.

Peula Palacios, Jose Manuel (Univ. of Málaga), Cebolla, Javier (UMA), Urdiales, Cristina (Univ. de Málaga), Sandoval, Francisco (Univ. Málaga)

16:55-17:10 ThE7.4Improving Indoor Navigation of Autonomous Robots by an Explicit Representation of Doors, pp. 4895-4901.

Nieuwenhuisen, Matthias (Univ. of Bonn), Stückler, Jörg (Univ. of Bonn), Behnke, Sven (Univ. of Bonn) 17:10-17:25 ThE7.5Vision-Based Localization Using an Edge Map Extracted from 3D Laser Range Data, pp. 4902-4909. Attachment

Borges, Paulo Vinicius Koerich (CSIRO), Zlot, Robert (CSIRO), Bosse, Michael (CSIRO ICT Centre), Nuske, Stephen (CMU Robotics Inst.), Tews, Ashley Desmond (CSIRO)

17:25-17:40 ThE7.6Topological Localization Using Sonar Gridmap Matching in Home Environment, pp. 4910-4915.

Choi, Jinwoo (POSTECH), Choi, Minyong (POSTECH), Suh, Il Hong (Hanyang Univ.), Chung, Wan Kyun (POSTECH) ThE8 Egan Center Lower Level Room 9/10Wheeled Robots: Dynamics, Control and Planning (Regular Sessions)

Chair: Lee, Kok-Meng Georgia Inst. of Tech.Co-Chair: Xi, Ning Michigan State Univ.

16:10-16:25 ThE8.1Recursive Convex Replanning for the Trajectory Tracking of Wheeled Mobile Robots, pp. 4916-4921. Attachment

Argenti, Mauro (Univ. of Parma), Consolini, Luca (Univ. of Parma), Lini, Gabriele (Univ. di Parma), Piazzi, Aurelio (Univ. di Parma) 16:25-16:40 ThE8.2Terramechanics-Based High-Fidelity Dynamics Simulation for Wheeled Mobile Robot on Deformable Rough Terrain, pp. 4922-4927. Attachment

Ding, Liang (Harbin Inst. of Tech.), Nagatani, Keiji (Tohoku Univ.), Sato, Keisuke (Tohoku Univ.), Mora Vargas, Andres Esteban (Tohoku

Univ.), Yoshida, Kazuya (Tohoku Univ.), Gao, Haibo (Harbin Inst. of Tech.) 16:40-16:55 ThE8.3Pushing Motion Control of N Passive Off-Hooked Trailers by a Car-Like Mobile Robot, pp. 4928-4933. Attachment

Yoo, Kwanghyun (Korea Univ.), Chung, Woojin (Korea Univ.) 16:55-17:10 ThE8.4Development of Falcon III: Terrain-Adaptive Body-Stabilizing Three-Wheeled Vehicle, pp. 4934-4939.

Ickowzcy, Ewerton (Tokyo Inst. of Tech.), Aoki, Takeshi (Tokyo Inst. of Tech.), Hirose, Shigeo (Tokyo Inst. of Tech.) 17:10-17:25 ThE8.5Dynamic Model and Adaptive Tracking Controller for 4-Powered Caster Vehicle, pp. 4940-4945.

Liu, Yong (Michigan State Univ.), Jia, Yunyi (Michigan State Univ.), Xi, Ning (Michigan State Univ.) 17:25-17:40 ThE8.6Near-Optimal Autonomous Pursuit Evasion for Nonholonomic Wheeled Mobile Robot Subject to Wheel Slip, pp. 4946-4951.

Tian, Yu (Vanderbilt Univ.), Das, Jadav (Vanderbilt Univ.), Sarkar, Nilanjan (Vanderbilt Univ.) ThE9 Egan Center Lower Level Room 4Multi-Robot Systems and Swarms (Regular Sessions)

Chair: Hsieh, M. Ani Drexel Univ.Co-Chair: Marques, Lino Univ. of Coimbra

16:10-16:25 ThE9.1Near Optimal Swarm Deployment Using Descriptor Functions, pp. 4952-4957.

Niccolini, Marta (Univ. of Pisa), Innocenti, Mario (Univ. of Pisa), Pollini, Lorenzo (Univ. of Pisa) 16:25-16:40 ThE9.2An Olfactory-Based Robot Swarm Navigation Method, pp. 4958-4963. Attachment

Marjovi, Ali (Univ. of Coimbra), Nunes, Joăo Gonçalo (Inst. of Systems and Robotics (ISR) - Univ. of Coimbra), Sousa, Pedro (Univ. of Coimbra), Faria, Ricardo (Univ. of Coimbra), Marques, Lino (Univ. of Coimbra)

16:40-16:55 ThE9.3Flocking Control of Multiple Agents in Noisy Environments, pp. 4964-4969.

La, Hung (Oklahoma State Univ.), Sheng, Weihua (Oklahoma State Univ.) 16:55-17:10 ThE9.4Towards Dynamic Team Formation for Robot Ensembles, pp. 4970-4975.

Mather, T, William (Drexel Univ.), Hsieh, M. Ani (Drexel Univ.), Frazzoli, Emilio (Massachusetts Inst. of Tech.) 17:10-17:25 ThE9.5Non-Rigid Formations of Nonholonomic Robots, pp. 4976-4981.

Consolini, Luca (Univ. of Parma), Morbidi, Fabio (Univ. of Siena), Prattichizzo, Domenico (Univ. of Siena), Tosques, Mario (Univ. of Parma)

17:25-17:40 ThE9.6Voronoi Coverage of Non-Convex Environments with a Group of Networked Robots, pp. 4982-4989. Attachment

Breitenmoser, Andreas (ETH Zurich), Schwager, Mac (Massachusetts Inst. of Tech.), Metzger, Jean-Claude (ETH Zurich), Siegwart, Roland (ETH Zurich), Rus, Daniela (MIT)

ThE10 Egan Center Lower Level Room 7/8Motion Planning for Nonholonomic Systems (Regular Sessions)

Chair: Tedrake, Russ Massachusetts Inst. of Tech.Co-Chair: Plaku, Erion Johns Hopkins Univ.

16:10-16:25 ThE10.1Towards Constrained Motion Planning of Mobile Manipulators, pp. 4990-4995.

Janiak, Mariusz (Wroclaw Univ. of Tech.), Tchon, Krzysztof (WrocB;aw Univ. of Tech.) 16:25-16:40 ThE10.2Trajectory Generation and Steering Optimization for Self-Assembly of a Modular Robotic System, pp. 4996-5001.

Wolfe, Kevin (Johns Hopkins Univ.), Kutzer, Michael Dennis Mays (Johns Hopkins Univ. Applied Physics Lab.), Armand, Mehran (Johns Hopkins Univ. Applied Physics Lab.), Chirikjian, Gregory (Johns Hopkins Univ.)

16:40-16:55 ThE10.3Sampling-Based Motion and Symbolic Action Planning with Geometric and Differential Constraints, pp. 5002-5008.

Plaku, Erion (Johns Hopkins Univ.), Hager, Gregory (Johns Hopkins Univ.) 16:55-17:10 ThE10.4Optimal Ball Pitching with an Underactuated Model of a Human Arm, pp. 5009-5014.

Mettin, Uwe (Umeĺ Univ.), Shiriaev, Anton (Umea Univ.), Freidovich, Leonid (Umeĺ Univ.), Sampei, Mitsuji (Tokyo Inst. of Tech.) 17:10-17:25 ThE10.5Single-Query, Bi-Directional, Lazy Roadmap Planner Applied to Car-Like Robots, pp. 5015-5020.

Balakirsky, Stephen (NIST), Dimitrov, Denis (Georgetown Univ.) 17:25-17:40 ThE10.6A Quadratic Regulator-Based Heuristic for Rapidly Exploring State Space, pp. 5021-5028.

Glassman, Elena Leah (Massachusetts Inst. of Tech.), Tedrake, Russ (Massachusetts Inst. of Tech.) ThE11 Egan Center Lower Level Room 5Visual Learning (Regular Sessions)

Chair: Burschka, Darius Tech. Univ. MünchenCo-Chair: Triebel, Rudolph ETH Zurich

16:10-16:25 ThE11.1Illumination-Invariant Image-Based Novelty Detection in a Cognitive Mobile Robot's Environment, pp. 5029-5034.

Maier, Werner (Tech. Univ. Muenchen), Bao, Fengqing (Tech. Univ. München), Mair, Elmar (Tech. Univ. München (TUM)), Steinbach, Eckehard (Munich Univ. of Tech.), Burschka, Darius (Tech. Univ. München)

16:25-16:40 ThE11.2Online Navigation Summaries, pp. 5035-5040.

Girdhar, Yogesh (McGill Univ.), Dudek, Gregory (McGill Univ.) 16:40-16:55 ThE11.3Unsupervised Discovery of Repetitive Objects, pp. 5041-5046.

Shin, Jiwon (ETH Zurich), Triebel, Rudolph (ETH Zurich), Siegwart, Roland (ETH Zurich) 16:55-17:10 ThE11.4Self-Supervised Cross-Modal Online Learning of Basic Object Affordances for Developmental Robotic Systems, pp. 5047-5054.

Ridge, Barry (Univ. of Ljubljana), Sko ;aj, Danijel (Univ. of Ljubljana), Leonardis, Ales (Univ. of Ljubljana)

17:10-17:25 ThE11.5Viewpoint Detection Models for Sequential Embodied Object Category Recognition, pp. 5055-5061.

Meger, David Paul (Univ. of British Columbia), Ankur, Gupta (The Univ. of British Columbia), Little, James J. (UBC) 17:25-17:40 ThE11.6Learning to Grasp Objects with Multiple Contact Points, pp. 5062-5069. Attachment

Le, Quoc (Stanford Univ.), Kamm, David (Stanford Univ.), Ng, Andrew (Stanford Univ.) ThE12 Egan Center Street Level Room ArteagaNeurorobotics and Human Measurement (Regular Sessions)

Chair: Morellas, Vassilios U. of MinnesotaCo-Chair: Gassert, Roger ETH Zurich

16:10-16:25 ThE12.1Highly-Accurate, Implantable Micromanipulator for Single Neuron Recordings, pp. 5070-5075.

Yang, Sungwook (Korea Inst. of Science and Tech.), Kim, Jinseok (KIST), Yoon, Eui-Sung (Korea Inst. of Science and Tech.) 16:25-16:40 ThE12.2Effects of Nerve Signal Transmission Delay in Somatosensory Reflex Modeling Based on Inverse Dynamics and Optimization, pp. 5076-5083.

Murai, Akihiko (The Univ. of Tokyo), Yamane, Katsu (Disney), Nakamura, Yoshihiko (Univ. of Tokyo) 16:40-16:55 ThE12.3ReGrasp, a Robotic Tool to Investigate Fine Motor Control and Track Therapy-Induced Neuroplasticity, pp. 5084-5089.

Duenas, Julio (ETH), Lambercy, Olivier (ETH Zurich), Chapuis, Dominique (Ec. Pol. Federale de Lausanne), Gassert, Roger (ETH Zurich)

16:55-17:10 ThE12.4Investigating Human Balance Using a Robotic Motion Platform, pp. 5090-5095.

Huryn, Thomas Peter (Univ. of British Columbia), Luu, Billy Liang (Univ. of British Columbia), Van der Loos, H.F. Machiel (Univ. of British Columbia (UBC)), Blouin, Jean Sebastien (Univ. of British Columbia), Croft, Elizabeth (Univ. of British Columbia)

17:10-17:25 ThE12.5Walking Speed Estimation Using Shank-Mounted Accelerometers, pp. 5096-5101.

Bishop, Emily Lynn (Univ. of Calgary), Li, Qingguo (Queen's Univ.) 17:25-17:40 ThE12.6Human Motion Patterns from Single Camera Cues for Medical Applications, pp. 5102-5107.

Ribnick, Evan (Univ. of Minnesota), Morellas, Vassilios (U. of Minnesota), Papanikolopoulos, Nikos (Univ. of Minnesota) ThE13 Egan Center Lower Level Room 6Planning with Deformation and Contact (Regular Sessions)

Chair: Kaneko, Makoto Osaka Univ.Co-Chair: Schmidt, Daniel Robotics Res. Lab. Tech. Univ. Kaiserslautern

16:10-16:25 ThE13.1Simulation and Control of an Autonomous Bucket Excavator for Landscaping Tasks, pp. 5108-5113.

Schmidt, Daniel (Robotics Res. Lab. Tech. Univ. Kaiserslautern), Proetzsch, Martin Johannes (Univ. of Kaiserslautern), Berns, Karsten (Univ. of Kaiserslautern)

16:25-16:40 ThE13.2A Dipole Field for Object Delivery by Pushing on a Flat Surface, pp. 5114-5119. Attachment

Igarashi, Takeo (The Univ. of Tokyo), Inami, Masahiko (Keio Univ.), Kamiyama, Yoichi (JST ERATO Igarashi Design Interface Project) 16:40-16:55 ThE13.3Active Shaping of an Unknown Rheological Object Based on Deformation Decomposition into Elasticity and Plasticity, pp. 5120-5126. Attachment

Higashimori, Mitsuru (Osaka Univ.), Yoshimoto, Kayo (Osaka Univ.), Kaneko, Makoto (Osaka Univ.) 16:55-17:10 ThE13.4Avoiding Zeno's Paradox in Impulse-Based Rigid Body Simulation, pp. 5127-5132. Attachment

Drumwright, Evan (Univ. of Southern California) 17:10-17:25 ThE13.5Deformable Robot Motion Planning in a Reduced-Dimension Configuration Space, pp. 5133-5138.

Mahoney, Arthur (Univ. of Utah), Bross, Joshua (Univ. of Utah), Johnson, David (Univ. of Utah) 17:25-17:40 ThE13.6An Efficient Algorithm for Self-Reconfiguration Planning in a Modular Robot, pp. 5139-5146.

Larkworthy, Tom (Univ. of Edinburgh), Ramamoorthy, Subramanian (The Univ. of Edinburgh) ThF1 Egan Center Second Level Room BoardroomRobust and Adaptive Control (Regular Sessions)

Chair: Liu, Guangjun Ryerson Univ.Co-Chair: Fraisse, Philippe LIRMM

17:45-18:00 ThF1.1A Mixed GPC-H Infinity Robust Cascade Position-Pressure Control Strategy for Electropneumatic Cylinders, pp. 5147-5154.

Chikh, Lotfi (LIRMM (Lab. d'Informatique de Robotique et de Microélectr), Poignet, Philippe (LIRMM UMR 5506 CNRS UM2), Pierrot, François (CNRS - LIRMM), Baradat, Cédric (Fondation Fatronik)

18:00-18:15 ThF1.2Reach Then See: A New Adaptive Controller for Robot Manipulator Based on Dual Task-Space Information, pp. 5155-5160.

Cheah, C. C. (Nanyang Tech. Univ.), Li, Xiang (Nanyang Tech. Univ.) 18:15-18:30 ThF1.3Spring Assisted Modular and Reconfigurable Robot: Design, Analysis and Control, pp. 5161-5166.

Liu, Guangjun (Ryerson Univ.), Liu, Yugang (Ryerson Univ.) 18:30-18:45 ThF1.4Realization of Biped Walking on Uneven Terrain by New Foot Mechanism Capable of Detecting Ground Surface, pp. 5167-5172.

Kang, Hyun-jin (Waseda Univ.), Hashimoto, Kenji (Waseda Univ.), Kondo, Hideki (Waseda Univ.), Hattori, Kentaro (Waseda Univ.), Nishikawa, Kosuke (Waseda Univ.), Hama, Yuichiro (Waseda Univ.), Lim, Hun-ok (Kanagawa Univ.), Takanishi, Atsuo (Waseda Univ.), Suga, Keisuke (TOYOTA motor Corp.), Kato, Keisuke (Toyota Motor Corp.)

18:45-19:00 ThF1.5Improving Stability and Performance of Digitally Controlled Systems: The Concept of Modified Holds, pp. 5173-5180. Attachment

Ghaffari Toiserkan, Kamran (McGill Univ.), Kovecses, Jozsef (McGIll Univ.) 19:00-19:15 ThF1.6Adaptive Admittance Control of a Robot Manipulator under Task Space Constraint, pp. 5181-5186.

Tee, Keng Peng (Inst. for Infocomm Res.), Yan, Rui (Inst. for Infocomm Res.), Li, Haizhou (Inst. for Infocomm Res.) ThF2 Egan Center Lower Level Room 1Underactuated Robots (Regular Sessions)

Chair: Bobrow, James Univ. of California, IrvineCo-Chair: Poulakakis, Ioannis Princeton Univ.

17:45-18:00 ThF2.1Point-To-Point Motion Control of a Pendulum-Like 3-Dof Underactuated Cable-Driven Robot, pp. 5187-5193. Attachment

Lefrancois, Simon (Univ. Laval), Gosselin, Clement (Univ. Laval) 18:00-18:15 ThF2.2Stabilizing a Vehicle Near Rollover: An Analogy to Cart-Pole Stabilization, pp. 5194-5200. Attachment

Peters, Steven (Massachusetts Inst. of Tech.), Bobrow, James (Univ. of California, Irvine), Iagnemma, Karl (MIT) 18:15-18:30 ThF2.3Differentially Flat Mobile Manipulators Mounted with an Under-Actuated Vertical Arm, pp. 5201-5206.

Ryu, Ji-Chul (Univ. of Delaware), Agrawal, Sunil (Univ. of Delaware) 18:30-18:45 ThF2.4Design and Analysis of a Soft Mobile Robot Composed of Multiple Thermally Activated Joints Driven by a Single Actuator, pp. 5207-5212. Attachment

Cheng, Nadia (Massachusetts Inst. of Tech.), Ishigami, Genya (Massachusetts Inst. of Tech.), Hawthorne, Stephan (Massachusetts Inst. of Tech.), Chen, Hao (Univ. of California, Berkeley), Hansen, Malik (Boston Dynamics), Telleria, Maria (Massachusetts Insitute of Tech.), Playter, Robert (Boston Dynamics), Iagnemma, Karl (MIT)

18:45-19:00 ThF2.5The Effect of Dynamic Singularities on Robotic Control and Design, pp. 5213-5218.

Goodwine, Bill (Univ. of Notre Dame), Nightingale, Jason (Univ. of Notre Dame) 19:00-19:15 ThF2.6Spring Loaded Inverted Pendulum Embedding: Extensions Toward the Control of Compliant Running Robots, pp. 5219-5224.

Poulakakis, Ioannis (Princeton Univ.) ThF3 Egan Center Lower Level Room 13/14Walking Robots (Regular Sessions)

Chair: Goswami, Ambarish Honda Res. Inst.Co-Chair: Kimura, Hiroshi Kyoto Inst. of Tech.

17:45-18:00 ThF3.1Stable Dynamic Walking of a Quadruped Robot ``Kotetsu'' Using Phase Modulations Based on Leg Loading/Unloading, pp. 5225-5230. Attachment

Maufroy, Christophe (Univ. of Electro-Communications), Nishikawa, Tomohiro (Kyoto Inst. of Tech.), Kimura, Hiroshi (Kyoto Inst. of Tech.)

18:00-18:15 ThF3.2Passive Dynamic Walking with Quadrupeds - Extensions towards 3D, pp. 5231-5236.

Remy, C. David (ETH Zurich), Hutter, Marco (ETH Zurich), Siegwart, Roland (ETH Zurich) 18:15-18:30 ThF3.3A Two-Dimensional Passive Dynamic Running Biped with Knees, pp. 5237-5242. Attachment

Owaki, Dai (Tohoku Univ.), Koyama, Masatoshi (Tohoku Univ.), Yamaguchi, Shin'ichi (Tohoku Univ.), Kubo, Shota (Tohoku Univ.), Ishiguro, Akio (Tohoku Univ.)

18:30-18:45 ThF3.4Constrained Convergent Gait Regulation for a Climbing Robot, pp. 5243-5249.

Trujillo, Salomon (Stanford Univ.), Heyneman, Barrett (Stanford Univ.), Cutkosky, Mark (Stanford Univ.) 18:45-19:00 ThF3.5Stable and Robust Walking with Compliant Legs, pp. 5250-5255.

Rummel, Juergen (Univ. of Jena), Blum, Yvonne (Univ. of Jena), Maus, Horst Moritz (Univ. of Jena), Rode, Christian (Univ. of Jena), Seyfarth, Andre (Univ. of Jena)

19:00-19:15 ThF3.6Map-Based Adaptive Foothold Planning for Unstructured Terrain Walking, pp. 5256-5261.

Belter, Dominik (Poznan Univ. of Tech.), Labecki, Przemyslaw (Poznan Univ. of Tech.), Skrzypczynski, Piotr (Poznan Univ. of Tech.) ThF4 Egan Center Lower Level Room 2Marine Robotics: Autonomous Underwater and Surface Vehicles (Regular Sessions)

Chair: Kyriakopoulos, Kostas National Tech. Univ. of AthensCo-Chair: Abbeel, Pieter Stanford Univ.

17:45-18:00 ThF4.1A Visual-Servoing Scheme for Semi-Autonomous Operation of an Underwater Robotic Vehicle Using an IMU and a Laser Vision System, pp. 5262-5267.

Karras, George (National Tech. Univ. of Athens), Loizou, Savvas (Frederick Univ.), Kyriakopoulos, Kostas (National Tech. Univ. of Athens)

18:00-18:15 ThF4.2Experimental Evaluation of an Autonomous Surface Vehicle for Water Quality and Greenhouse Gas Emission Monitoring, pp. 5268-5274.

Dunbabin, Matthew David (CSIRO ICT Centre), Grinham, Alistair (Univ. of Queensland) 18:15-18:30 ThF4.3Control-Oriented Modelling of a Hybrid AUV, pp. 5275-5280.

Calabro', Vincenzo (Univ. degli studi di Pisa), Caiti, Andrea (Univ. of Pisa) 18:30-18:45 ThF4.4On the Influence of Ship Motion Prediction Accuracy on Motion Planning and Control of Robotic Manipulators on Seaborne Platforms, pp. 5281-5288.

From, Pĺl Johan (Norwegian Univ. of Science and Tech.), Gravdahl, Jan Tommy (Norwegian Univ. of Science and Tech.), Abbeel, Pieter (UC Berkeley)

18:45-19:00 ThF4.5Design of an Omnidirectional Propulsion System for Small Jet-Boats, pp. 5289-5294.

Foley, David (Univ. de Sherbrooke), Plante, Jean-Sebastien (Univ. de Sherbrooke) 19:00-19:15 ThF4.6Complete SE(3) Underwater Robot Control with Arbitrary Thruster Configurations, pp. 5295-5301. Attachment

Doniec, Marek (MIT), Vasilescu, Iuliu (MIT), Detweiler, Carrick (MIT), Rus, Daniela (MIT) ThF5 Egan Center Lower Level Room 11/12Teleoperation Systems (Regular Sessions)

Chair: Mahony, Robert Australian National Univ.Co-Chair: Oyama, Eimei AIST

17:45-18:00 ThF5.1A Novel Approach to Haptic Teleoperation of Aerial Robot Vehicles, pp. 5302-5308.

Stramigioli, Stefano (Univ. of Twente), Mahony, Robert (Australian National Univ.), Corke, Peter (QUT) 18:00-18:15 ThF5.2Performance Evaluation of Monocular Predictive Display, pp. 5309-5314.

Rachmielowski, Adam (Univ. of Alberta), Birkbeck, Neil (Univ. of Alberta), Jagersand, Martin (Univ. of Alberta) 18:15-18:30 ThF5.3A Study on Wearable Behavior Navigation System - Development of Simple Parasitic Humanoid System -, pp. 5315-5321.

Oyama, Eimei (AIST) 18:30-18:45 ThF5.4Remote Teleoperation of an Unmanned Aircraft with a Brain-Machine Interface: Theory and Preliminary Results, pp. 5322-5327. Attachment

Akce, Abdullah (Univ. of Illinois at Urbana-Champaign), Johnson, Miles (Univ. oif Illinois at Urbana Champaign), Bretl, Timothy (Univ. of Illinois at Urbana-Champaign)

18:45-19:00 ThF5.5Generalized Bilateral MIMO Control by States Convergence with Time Delay and Application for the Teleoperation of a 2-DOF Helicopter, pp. 5328-5333.

Pérez-D'Arpino, Claudia (Simón Bolívar Univ.), Medina-Meléndez, Wilfredis (Simón Bolívar Univ.), Fermín-León, Leonardo (Simón Bólivar Univ.), Bogado, Juan Manuel (Simón Bolívar Univ.), Torrealba, Rafael R. (Simón Bolívar Univ.), Fernandez-Lopez, Gerardo (Simon Bolivar Univ.)

19:00-19:15 ThF5.6

Online Intention Recognition for Computer-Assisted Teleoperation, pp. 5334-5339. Stefanov, Nikolay (Tech. Univ. München), Peer, Angelika (Tech. Univ. München), Buss, Martin (Tech. Univ. München)

ThF6 Egan Center Street Level Room Cook HallTeleoperation with Haptics (Regular Sessions)

Chair: Niemeyer, Gunter Willow Garage and Stanford Univ.Co-Chair: Cavusoglu, M. Cenk Case Western Res. Univ.

17:45-18:00 ThF6.1Haptics-Enabled Teleoperation for Robot-Assisted Tumor Localization, pp. 5340-5345.

Talasaz, Ali (Univ. of Western Ontario), Patel, Rajni (The Univ. of Western Ontario), Naish, Michael David (Univ. of Western Ontario) 18:00-18:15 ThF6.2Psychophysical Evaluation of Control Scheme Designed for Optimal Kinesthetic Perception in Scaled Teleoperation, pp. 5346-5351.

Son, Hyoung Il (KAIST), Bhattacharjee, Tapomayukh (KAIST), Jung, Hoeryong (KAIST), Lee, Doo Yong (KAIST) 18:15-18:30 ThF6.3User-Controlled Variable Impedance Teleoperation, pp. 5352-5357.

Walker, Daniel S. (Stanford), Wilson, Robert (Stanford Univ.), Niemeyer, Gunter (Willow Garage and Stanford Univ.) 18:30-18:45 ThF6.4Improvement of Model-Mediated Teleoperation Using a New Hybrid Environment Estimation Technique, pp. 5358-5363.

Achhammer, Andreas (TU Munich), Weber, Carolina (Univ. München), Peer, Angelika (Tech. Univ. München), Buss, Martin (Tech. Univ. München)

18:45-19:00 ThF6.5Restriction Space Projection Method for Position Sensor Based Force Reflection of Multi Degrees-Of-Freedom Bilateral Teleoperation Systems in Unstructured Environments, pp. 5364-5369.

Kim, Keehoon (Korea Inst. of Science and Tech.), Chung, Wan Kyun (POSTECH), Cavusoglu, M. Cenk (Case Western Res. Univ.) 19:00-19:15 ThF6.6Position Tracking Using Adaptive Control for Bilateral Teleoperators with Time-Delays, pp. 5370-5375.

Nuńo, Emmanuel (Tech. Univ. of Catalonia), Basanez, Luis (Tech. Univ. of Catalonia), Ortega, Romeo (supelec), Obregón-Pulido, Guillermo (Univ. de Guadalajara)

ThF7 Egan Center Lower Level Room 3SLAM Solutions for Indoor Environments (Regular Sessions)

Chair: Adams, Martin Nanyang Tech. Univ.Co-Chair: Roumeliotis, Stergios Univ. of Minnesota

17:45-18:00 ThF7.1A Laser-Aided Inertial Navigation System (L-INS) for Human Localization in Unknown Indoor Environments, pp. 5376-5382.

Hesch, Joel (Univ. of Minnesota), Mirzaei, Faraz (Univ. of Minnesota), Mariottini, Gian Luca (Dept. of Computer Science and Engineering), Roumeliotis, Stergios (Univ. of Minnesota)

18:00-18:15 ThF7.2Consistent Mapping of Multistory Buildings by Introducing Global Constraints to Graph-Based SLAM, pp. 5383-5388. Attachment

Karg, Michael (Univ. of Ulm), Wurm, Kai M. (Univ. of Freiburg), Stachniss, Cyrill (Univ. of Freiburg), Dietmayer, Klaus (Univ. of Ulm), Burgard, Wolfram (Univ. of Freiburg)

18:15-18:30 ThF7.3Applying Domain Knowledge to SLAM Using Virtual Measurements, pp. 5389-5394.

Trevor, Alexander J B (Georgia Inst. of Tech.), Rogers III, John G. (Georgia Inst. of Tech.), Nieto-Granda, Carlos (Georgia Inst. of Tech.), Christensen, Henrik Iskov (Georgia Inst. of Tech.)

18:30-18:45 ThF7.4Affordable SLAM through the Co-Design of Hardware and Methodology, pp. 5395-5401.

Magnenat, Stéphane (EPFL), Longchamp, Valentin (Pol. Fédérale de Lausanne), Bonani, Michael (EPFL), Rétornaz, Philippe (École Pol. Fédérale de Lausanne), Germano, Paolo (EPFL), Bleuler, Hannes (Ec. Pol. Federale de Lausanne), Mondada, Francesco (EPFL)

18:45-19:00 ThF7.5Probabilistic Mapping for Mobile Robots Using Spatial Correlation Models, pp. 5402-5409.

Pitzer, Benjamin (Robert Bosch LLC), Stiller, Christoph (Univ. Karlsruhe (TH)) 19:00-19:15 ThF7.6Rao-Blackwellised PHD SLAM, pp. 5410-5416.

Mullane, John (Nanyang Tech. Univ.), Vo, Ba-Ngu (Univ. of Melbourne), Adams, Martin (Nanyang Tech. Univ.) ThF8 Egan Center Lower Level Room 9/10Wheeled Robots: Sensing, Estimation and Calibration (Regular Sessions)

Chair: Lee, Kok-Meng Georgia Inst. of Tech.Co-Chair: Hofbaur, Michael Private Univ. UMIT

17:45-18:00 ThF8.1Simultaneous Calibration of Odometry and Camera for a Differential Drive Mobile Robot, pp. 5417-5422.

Antonelli, Gianluca (Univ. degli Studi di Cassino), Caccavale, Fabrizio (Univ. degli Studi della Basilicata), Grossi, Flavio (Univ. degli Studi di Cassino), Marino, Alessandro (Univ. degli Studi della Basilicata)

18:00-18:15 ThF8.2Relaxed Optimization for Mode Estimation in Skid Steering, pp. 5423-5428.

Caldwell, Timothy (Northwestern Univ.), Murphey, Todd (Northwestern Univ.) 18:15-18:30 ThF8.3

Location of Optical Mouse Sensors on Mobile Robots for Odometry, pp. 5429-5434. Cimino, Mauro (Oklahoma State Univ.), Pagilla, Prabhakar (Oklahoma State Univ.)

18:30-18:45 ThF8.4Instantaneous Centre of Rotation Estimation of an Omnidirectional Mobile Robot, pp. 5435-5440.

Clavien, Lionel (Univ. de Sherbrooke), Lauria, Michel (Univ. of Applied Sciences Western Switzerland (HES-SO)), Michaud, Francois (Univ. de Sherbrooke)

18:45-19:00 ThF8.5On-Line Kinematics Reasoning for Reconfigurable Robot Drives, pp. 5441-5446.

Hofbaur, Michael (Private Univ. UMIT), Brandstötter, Mathias (Private Univ. UMIT), Schoerghuber, Christoph (Graz Univ. of Tech.), Steinbauer, Gerald (Graz Univ. of Tech.)

19:00-19:15 ThF8.6Magnetic Field-Based Sensing Method for Spherical Joint, pp. 5447-5452.

Foong, Shaohui (Georgia Inst. of Tech.), Lee, Kok-Meng (Georgia Inst. of Tech.), Bai, Kun (Georgia Inst. of Tech.) ThF9 Egan Center Lower Level Room 4Networked Robots (Regular Sessions)

Chair: Sycara, Katia Carnegie Mellon Univ.Co-Chair: Derenick, Jason Univ. of Pennsylvania

17:45-18:00 ThF9.1Towards Optimally Efficient Field Estimation with Threshold-Based Pruning in Real Robotic Sensor Networks, pp. 5453-5459.

Prorok, Amanda (EPFL), Martinoli, Alcherio (EPFL), Cianci, Christopher M. (EPFL) 18:00-18:15 ThF9.2Coordinated Multi-Robot Real-Time Exploration with Connectivity and Bandwidth Awareness, pp. 5460-5465.

Pei, Yuanteng (Michigan State Univ.), Mutka, Matt (Michigan State Uinversity), Xi, Ning (Michigan State Univ.) 18:15-18:30 ThF9.3RSS-Based Relative Localization and Tethering for Moving Robots in Unknown Environments, pp. 5466-5471. Attachment

Zickler, Stefan (Carnegie Mellon Univ.), Veloso, Manuela (Carnegie Mellon Univ.) 18:30-18:45 ThF9.4Towards Simplicial Coverage Repair for Mobile Robot Teams, pp. 5472-5477.

Derenick, Jason (Univ. of Pennsylvania), Kumar, Vijay (Univ. of Pennsylvania), Jadbabaie, Ali (Univ. of Pennsylvania) 18:45-19:00 ThF9.5Multi-Robot Flooding Algorithm for the Exploration of Unknown Indoor Environments, pp. 5478-5483.

Cabrera-Mora, Flavio (The Graduate Center of the City Univ. of New York), Xiao, Jizhong (City Coll. of New York), Brass, Peter (City Coll. New York)

19:00-19:15 ThF9.6Reconfiguration Algorithms for Mobile Robotic Networks, pp. 5484-5489.

Chakraborty, Nilanjan (Carnegie Mellon Univ.), Sycara, Katia (Carnegie Mellon Univ.) ThF10 Egan Center Lower Level Room 7/8Surveillance and Spatio-Temporal Coverage (Regular Sessions)

Chair: Tedrake, Russ Massachusetts Inst. of Tech.Co-Chair: Rekleitis, Ioannis McGill Univ.

17:45-18:00 ThF10.1Modeling and Decision Making in Spatio-Temporal Processes for Environmental Surveillance, pp. 5490-5497.

Singh, Amarjeet (Univ. of California, Los Angeles), Ramos, Fabio (Univ. of Sydney), Durrant-Whyte, Hugh (The Univ. of Sydney), Kaiser, William (UCLA)

18:00-18:15 ThF10.2An Iterative Mixed Integer Linear Programming Approach to Pursuit Evasion Problems in Polygonal Environments, pp. 5498-5503.

Thunberg, Johan (Royal Inst. of Tech. (KTH)), Ogren, Petter (Swedish Defence Res. Agency) 18:15-18:30 ThF10.3Simulation-Based LQR-Trees with Input and State Constraints, pp. 5504-5510. Attachment

Reist, Philipp (Swiss Federal Inst. of Tech.), Tedrake, Russ (Massachusetts Inst. of Tech.) 18:30-18:45 ThF10.4Evader Surveillance under Incomplete Information, pp. 5511-5518.

Becerra, Israel (Centro de Investigacion en Matematicas), Murrieta-Cid, Rafael (Center for Mathematical Res.), Monroy, Raúl (Tecnológico de Monterrey, Campus Estado de México)

18:45-19:00 ThF10.5Guaranteed Navigation with an Unreliable Blind Robot, pp. 5519-5524.

Lewis, Jeremy (Univ. of South Carolina), O'Kane, Jason (Univ. of South Carolina) 19:00-19:15 ThF10.6Optimal Coverage of a Known Arbitrary Environment, pp. 5525-5530.

Rekleitis, Ioannis (McGill Univ.), Mannadiar, Raphael (McGill Univ.) ThF11 Egan Center Lower Level Room 5Visual Servoing (Regular Sessions)

Chair: Marchand, Eric Univ. de Rennes 1, IRISA, INRIA RennesCo-Chair: Jagersand, Martin Univ. of Alberta

17:45-18:00 ThF11.1

Improving Mutual Information Based Visual Servoing, pp. 5531-5536. Dame, Amaury (CNRS), Marchand, Eric (Univ. de Rennes 1)

18:00-18:15 ThF11.2Visual Servoing from Three Points Using a Spherical Projection Model, pp. 5537-5542.

Fomena Tatsambon, Romeo (Univ. de Rennes 1, IRISA), Tahri, Omar (Inst. de Sistemas e Robótica, Univ. de Coimbra), Chaumette, Francois (INRIA Rennes-Bretagne Atlantique)

18:15-18:30 ThF11.3Robust Hand-Eye Calibration for Computer Aided Medical Endoscopy, pp. 5543-5549.

Malti, Abed (Inst. of Systems and Robotics-Univ. of Coimbra), Barreto, Joăo P. (Univ. of Coimbra) 18:30-18:45 ThF11.4Spherical Image-Based Visual Servo and Structure Estimation, pp. 5550-5555. Attachment

Corke, Peter (QUT) 18:45-19:00 ThF11.5A Switching Control Law for a Networked Visual Servo Control System, pp. 5556-5563.

Wu, Haiyan (Tech. Univ. Muenchen), Chen, Chih-Chung (Tech. Univ. München), Feng, Jiayun (Tech. Univ. Muenchen), Kühnlenz, Kolja (Tech. Univ. München), Hirche, Sandra (Tech. Univ. München)

19:00-19:15 ThF11.6Robust Jacobian Estimation for Uncalibrated Visual Servoing, pp. 5564-5569.

Shademan, Azad (Univ. of Alberta), Farahmand, Amir-massoud (Univ. of Alberta), Jagersand, Martin (Univ. of Alberta) ThF12 Egan Center Street Level Room ArteagaHuman Augmentation and Medical Applications (Regular Sessions)

Chair: Mavroidis, Constantinos Northeastern Univ.Co-Chair: Jiang, Xin Tohoku Univ.

17:45-18:00 ThF12.1Multi-Turn, Tension-Stiffening Catheter Navigation System, pp. 5570-5575.

Chen, Yi (Massachusetts Inst. of Tech.), Chang, Jean (Massachusetts Inst. of Tech.), Greenlee, Alison S. (Massachusetts Inst. of Tech.), Cheung, Kenneth C. (Massachusetts Inst. of Tech.), Slocum, Alexander (Massachusetts Inst. of Tech.), Gupta, Rajiv (Massachusetts General Hospital)

18:00-18:15 ThF12.2Intuitive Human Skill Reconstruction for Compliance Control, pp. 5576-5581. Attachment

Okodi, Samuel M. (Tohoku Univ.), Jiang, Xin (Tohoku Univ.), Abiko, Satoko (Tohoku Univ.), Konno, Atsushi (Tohoku Univ.), Uchiyama, Masaru (Tohoku Univ.)

18:15-18:30 ThF12.3Increasing Robotic Wheelchair Safety with Collaborative Control: Evidence from Secondary Task Experiments, pp. 5582-5587.

Carlson, Tom (Imperial Coll. London), Demiris, Yiannis (Imperial Coll. London) 18:30-18:45 ThF12.4Precise Bending Angle Control of Hydraulic Active Catheter by Pressure Pulse Drive, pp. 5588-5593.

Ikuta, Koji (Nagoya Univ.), Matsuda, Yoshikatsu (Nagoya Univ.), Yajima, Daisuke (Nagoya Univ.), Ota, Yusuke (Chiba Inst. of Tech.) 18:45-19:00 ThF12.5Simulation Platform for Self-Assembly Structures in MRI-Guided Nanorobotic Drug Delivery Systems, pp. 5594-5600.

Vartholomeos, Panagiotis (National Tech. Univ. of Athens), Mavroidis, Constantinos (Northeastern Univ.) 19:00-19:15 ThF12.6Guidance of a Steerable Cannula Robot in Soft Tissue Using Preoperative Imaging and Conoscopic Surface Contour Sensing, pp. 5601-5606.

Lathrop, Ray (Vanderbilt Univ.), Rucker, Caleb (Vanderbilt Univ.), Webster III, Robert James (Vanderbilt Univ.) ThF13 Egan Center Lower Level Room 6Actuation and Control (Regular Sessions)

Chair: Liu, Peter Tamkang Univ.Co-Chair: Papadopoulos, Evangelos National Tech. Univ. of Athens

17:45-18:00 ThF13.1Using Tilt-Control in Non-Contact Manipulation Systems: Development of 2-DOF Tilting Actuator with Remote Center of Rotation, pp. 5607-5612. Attachment

van West, Ewoud Frank (The Univ. of Tokyo), Yamamoto, Akio (Univ. of Tokyo), Higuchi, Toshiro (The Univ. of Tokyo) 18:00-18:15 ThF13.2Precise Robot Motions Using Dual Motor Control, pp. 5613-5620.

Robertz, Sven (Lund Univ.), Halt, Lorenz (Lund Univ.), Kelkar, Sameer (Gudel AG), Nilsson, Klas (Lund Univ.), Robertsson, Anders (LTH, Lund Univ.), Schaer, Dominique (Gudel AG), Schiffer, Johannes (TU Berlin)

18:15-18:30 ThF13.3Sensorless Linear Induction Motor Control Using Fuzzy Observers for Speed Tracking, pp. 5621-5626.

Liu, Peter (Tamkang Univ.), Hung, Cheng-Yao (Wistron), Chiu, Chian-Song (Chung-Yuan Christian Univ.), Lian, Kuang-Yow (National Taipei Univ. of Tech.)