VISION BASED NAVIGATION AND TRACKING
VISION BASED NAVIGATION AND TRACKING
VISION BASED NAVIGATION AND TRACKING
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Table of Contents<br />
Foreward ..................................................................................................................................................<br />
Organizing Committee ........ .........................................................................<br />
Author Index .............. ................................. ................................................................................. Ixv<br />
...<br />
Volume 1 (Pages 1-1058)<br />
Session: WA-1<br />
<strong>VISION</strong> <strong>BASED</strong> <strong>NAVIGATION</strong> <strong>AND</strong> <strong>TRACKING</strong><br />
Feedforward Control for Human-in-the-Loop Camera Systems .............................................................................. 1<br />
Rares Stanciu and Paul Oh<br />
Low-Cost Vision-Based A W Guidance System for Reef Navigation .......... ................................................... 7<br />
Matthew Dunbabin, Peter Corke and Gregg Buskey<br />
Layered Ground Floor Detection for Vision-based Mobile Robot Navigation . ................................... 13<br />
Young-geun Kim and Hakil Kim<br />
Motion compensation and object detection for autonomous helicopter<br />
visual navigation in the COMETS system ..................................<br />
Anibal Ollero, Joaquin Ferruz. Fernando Caballero, Se<br />
....................... 19<br />
0<br />
Visually Augmented Navigation in an Unstructured Environment Using a Delayed State History ...................... 25<br />
Ryan Eustice, Oscar Pizarro and Hanumant Singh<br />
Session: WA-2<br />
AUTOMATION: MANUFACTURING PROCESSES I<br />
The Development of a Direct Metallic Rapid Prototyping System ........................................................................ 33<br />
Ren.C. Luo, Chun Ching Chen and Jyh Hwa Tzou<br />
Design of Part Feeding and Assembly Processes with Dynamics .......................................................................... 39<br />
Peng Song, Jeffrey C. Trinkle, Vijay Kumar and Jong-Shi Pang<br />
Optimal Tool Path Planning for Compound Surfaces in Spray Forming Processes .......................................<br />
Weihua Sheng, Heping Chen, Ning Xi, Jindong Tan and Yifan Chen<br />
Optimal Spray Gun Trajectory Planning with Variational Distribution for Forming Process ............................... 51<br />
Heping Chen, Ning Xi, Weihua Sheng, Yijan Chen and Jeffrey Dah1<br />
Towards Automated Micromachining of PMMA Micro Channels Using<br />
CO2 Laser and Sacrificial Mask Process ............................................................................................................... 57<br />
Guangyi Shi, Qiang Huang, Kin Fong Lei, Wen J. Li and Wenqian Huang<br />
Session: WA-3<br />
AUTOMATION: SECURITY SURVEILLANCE<br />
An Exact Algorithm Optimizing Coverage-Resolution for Automated Satellite Frame Selection ........................ 63<br />
Dezhen Song, Frank van der Stappen and Ken Goldberg<br />
Object Surveillance Using Reinforcement Learning Based Sensor Dispatching ................................................... 71<br />
Michael Naish. Elizabeth Croft and Beno Benhabib<br />
vii
A UAV Vision System for Airborne Surveillance ........ ...... ..... ............... 77<br />
Michael Kontitsis, Nikolaos Tsourveloudis and Kimon Valavanis<br />
Detection of Vehicles in Panoramic Range Image .................................... ..... 84<br />
Kiyotaka Hirahara and Katsushi Ikeuchi<br />
. .<br />
Human Activities Monitonng at Bus Stops ............................................................................................................ 90<br />
Guillaume Gasser, Nathaniel Bird, Osama Masoud and Nikos Papanikolopoulos<br />
Session: WA-4<br />
ADAPTIVE <strong>NAVIGATION</strong><br />
Online Adaptive Rough-Terrain Navigation in Vegetation .................................................................................... 96<br />
Carl Wellington and Anrhony Stentz<br />
Learning by Observation with Mobile Robots ..................................................................................................... 102<br />
Kevin Dixon and Pradeep Khosla<br />
Enabling Learning From Large Datasets .............................................................................................................. 108<br />
Cristian Dima, Martial Hebert and Anthony Stentz<br />
Obstacle Avoidance through Incremental Learning with Attention Selection ..................................................... 1 15<br />
shuqing zeng and juyang weng<br />
Adaptive Color Snake Model for Real-Time Object Tracking ............................................................................ 122<br />
Kap-Ho Se0<br />
Session: WA-5<br />
HUMANOIDS I<br />
Design and Control of 9-DOFs Emotion Expression Humanoid Arm _ _ _ _ _<br />
................................<br />
Hiroyasu Miwa, Kazuko Itoh, Daisuke Ito, Hideaki Takanobu and Atsuo Takanishi<br />
Development of a Human-like Walking Robot Having Two 7-DOF Legs and a 2-DOF Waist ....<br />
Yu Ogura, Hiroyuki Aikawa, Hun-ok Lim and Atsuo Takanishi<br />
Exemplar-Based Primitives for Humanoid Movement Classification and Control ............................................. 140<br />
Evan Drumwright, Odest Jenkins and Maja Mataric’<br />
The Anthropomorphic Flutist Robot WF-4 Teaching Flute Playing to Beginner Students ................................. 146<br />
Jorge Solis, Massimo Bergamasco, Keisuke Chida, Shuzo Isoda and Atsuo Takanishi<br />
Development of a New Anthropomorphic Flutist Robot WF-4 ........................................................................... 152<br />
Keisuke Chida, Isamu Okuma, Shuzo Isoda. Yukako Saisu, Kunimitsu Wakamatsu,<br />
Kazufumi Nishikawa, Jorge Solis, Hideaki Takanobu and Atsuo Takanishi<br />
Session: WA-6<br />
SENSOR NETWORK I<br />
Using a Sensor Network for Distributed Multi-Robot ....... ....... ............ 158<br />
Maxim Batalin and Gaurav Sukhatme<br />
Constrained Coverage for Mobile Sensor Networks ........... ..........................................................<br />
Sameera Poduri and Gaurav Sukhatme<br />
Planning Mobile Sensor Net Deployment for Navigationally-Challenged Sensor Nodes ................................... 172<br />
Yifan Tang, Ben Birch and Lynne Parker<br />
viii
Interacting with Sensor Networks .............................................................................<br />
Ron Peterson and Daniela Rus<br />
Scheduling for Distributed Sensor Networks with Single Sensor Measurement per Time Step<br />
Timothy H. Chung, Vi& Gupta. Babak Hassibi, Joel W. Burdick and Richard M. Mu<br />
................... 180<br />
...... 187<br />
Session: WA-7<br />
SENSOR FUSION I<br />
Multi-rate Fusion with Vision and Inertial Sensors ...............<br />
Leopoldo Armesto, Stefan Chroust, Markus Vincze a<br />
............ 193<br />
Practical Environment Modeling Based on A Heuristic Sensor Fusion Method ...... ..................................... 200<br />
Seung Hwan Park and Beom Hee Lee<br />
A Sensor Selection Method Considering Communication Delays . .....................................<br />
Shingo Kagami and Masatoshi Ishikawa<br />
_._.. 206<br />
Informative Representations of Unstructured Environments ............. ..... ..... 212<br />
Suresh Kumar, Jose Guivant and Hugh F. Durrant- Whyte<br />
Terrain Classification Through Weakly-Structured VehiclelTerrain Interaction ................................................. 21 8<br />
Amy Lorson, Richard Voyles and Guleser Demir<br />
Session: WA-8<br />
HUMAN-MACHINE INTERFACE<br />
Development of Human-Machine Interface in Disaster-Purposed<br />
Search Robot Systems That Serve as Surrogates for Human ..................<br />
Xin-Zhi Zheng, Kazuo Tsuchiya, Tetsuo Sawaragi, Koichi Osuk<br />
__.__ 225<br />
Human-Machine Interface Evaluation in a Computer Assisted Surgical System ................................................ 231<br />
Jesu's G6mmez-de-Gabriel. Victor Muiioz-Martinez, Isabel Garcia-Morales,<br />
David Melgar and Carlos Vara<br />
Eye-mouse under Large Head Movement for Human-Computer Interface ............ ............. 237<br />
Dong Hyun Yo0 and Myung Jin Chung<br />
A Human-Robot Interface Based on Electrooculography ....................................... ...... .. 243<br />
Yingxi Chen and Wyatt Newman<br />
A New Actuation Approach For Human Friendly Robot Design ....................................................... . 249<br />
Michael Zinn, Oussama Khatib and Bernard Roth<br />
Session: WA-9<br />
VISUAL SERVOING I<br />
Linear Structures Following by an Airship using Vanishing Point and<br />
Horizon Line in a Visual Servoing Scheme ......................................................................................................... 255<br />
Patrick Rives and Jose' Raul Azinheira<br />
Hybrid Vision-force Control for Robot with Uncertainties .....<br />
Yu Zhao and Chien Chern Cheah<br />
.............<br />
Extended 2D Visual Servoing .....<br />
Florian Schramm, Guillaume Morel, Alain Micaelli and Anne Lortin<br />
............<br />
ir
Beating Heart Tracking in Robotic Surgery Using 500 Hz Visual Servoing,<br />
Model Predictive Control and an Adaptive Observer ..............<br />
Romuald Ginhoux, Jacques Ganglo& Michel de Math<br />
Luc Soler and Maria Mara Arenas Sanchez<br />
Cascade Control of Uncertain Manipulator Systems Through Immersion and<br />
Invariance Adaptive Visual Servoing .. .................. ..............................................<br />
Alessandro Zachi, Liu Hsu, Ro<br />
Session: WA-10<br />
HAPTIC DEVICES I<br />
Mass/ Inertia and Joint Friction Minimization for a Low-force Five-dof Haptic Device ............. 286<br />
Kostas Vlachos, Evangelos Papadopoulos and Dionissios Mitropoulos<br />
Energy-Based Control of a Passive Haptic Device ...................................................................................<br />
Changhyun Cho, Jae-Bok Song, Munsang Kim and Chang-Soon Hwang<br />
Singularity-free Load Distribution Algorithms for a 6 DOF Parallel Haptic Device ........................................... 298<br />
Hyung Wook Kim, Jae Hoon Lee, Byung Ju Yi and I1 Hong Suh<br />
Eye-Hand Coordination Assessment Using a Robotic Haptic Interface ............................................................. 305<br />
Norali Pemalete, Ramakishna Gottipati, Samyuktha Mikkilineni,<br />
Sandra Edwards and Erin McCann<br />
Modeling and Control of an Improved Dissipative Passive Haptic Display ................................ ..... 311<br />
Matthew Reed and Wayne Book<br />
Session: WA-11<br />
ROBOT GRASPING I<br />
Grasp Planning - How to Choose a Suitable Task Wrench Space ....................................................................... 319<br />
Max Fischer, Christoph Borst and Gerd Hirzinger<br />
Optimum Grasp of Planar and Revolute Objects with Gripper Geometry Constraints ...<br />
Eric Boivin, Inna Sharfand michel doyon<br />
On Quality Functions for Grasping Synthesis and Fixture Planning ...<br />
Jijie Xu, Guanfeng Liu and Zexiang Li<br />
A Concept of Grasping Information Interface for Remote Pointing Task ....................................<br />
Sigeru Sato, Muneo Kitajima and Yukio Fukui<br />
........................ 326<br />
D-Space and Deform Closure ............................................................................................................................... 345<br />
Kanakasabapathi Gopalakrishnan and Ken Goldberg<br />
Session: WA-12<br />
MEDICAL ROBOTIC APPLICATIONS I<br />
A Dexterous System for Laryngeal Surgery ..<br />
Nabil Simaan, Russell Taylor and Pa<br />
Kinematic Error Correction for Minimally Invasive Surgical Robots<br />
Ryan Beasley, Robert Howe and Pierre Dupont<br />
................................................................................................ 351<br />
A Robotic System for Transrectal Needle Insertion into the Prostate with Integrated Ultrasound ...................... 365<br />
Chad Schneider, Allison Okaniura and Gabor Fichtinger<br />
X
Design Issues in a Haptics-Based Master-Slave System for Minimally Invasive Surgery .................................. 371<br />
Mahdi Tavakoli, Rajni Pate1 and Mehrdad Moallem<br />
Design of A Novel MRI Compatible Manipulator for Image Guided Prostate Intervention .........<br />
Axel Krieger, Robert C. Susil, Gabor Fichtinger, Ergin Atalar and Louis L. Whitcomb<br />
Session: WA-13<br />
SIMULTANEOUS LOCALIZATION <strong>AND</strong> MAPPING I<br />
Graphical SLAM - A Self Correcting Map .................................... .................................. 383<br />
John Folkesson and Henrik Christensen<br />
The Hybrid Metric Maps (HYMMs) ....... .......................................... ........ 391<br />
Niero Juan Ignacio, Guivant Jose Emilio and Nebot Eduardo Mario<br />
The Effects of Partial Observability in SLAM .............................................. ................................................. 397<br />
Juan Andrade-Cetto and Alberto Sanfeliu<br />
RatSLAM ...... ...................................................................................................................<br />
Micha<br />
on Wyeth and David Prasser<br />
V-GPS(SLAM) ..................................................................................................................................................... 409<br />
Darius Burschka and Gregory D. Hager<br />
Session: WA-14<br />
N ANOMANIPUL ATION<br />
Towards Automatic Nanomanipulation: Drift Compensation in Scanning Probe Microscopes ........ 416<br />
Babak Mokaberi and Aristides Requicha<br />
Calibration of AFM Based Nanomanipulation System ........................................................................................ 422<br />
Guangyong Li, Ning Xi and Mengmeng Yu<br />
Assembly of Nanostructure Using AFM Based Nanomanipulation System ................................<br />
Guangyong Li, Ning Xi, Heping Chen, Ali Saeed and Mengmeng Yu<br />
Three-Dimensional Nanoscale Manipulation and Manufacturing using Proximal Probes ............................ 434<br />
Amrinder Nain, Daniel Goldman and Metin Sitti<br />
Field Emission Property Characterization of Individual Carbon Nanotubes<br />
Through Nanorobotic Manipulations and Its Applications .......................................<br />
Fumihito Arai, Pou Liu, Lixin Dong and Toshio Fukuda<br />
..... 440<br />
Session: WA-15<br />
PROBABILISTIC-<strong>BASED</strong> PLANNING I<br />
Useful Cycles in Probabilistic Roadmap Graphs ....................................<br />
Dennis Nieuwenhuisen and Mark Ovennars<br />
Using workspace information as a guide to non-uniform sampling in probabilistic roadmap planners .........<br />
Jur P. van den Berg and Mark U. Ovennars<br />
Artificial Potential Biased Probabilistic Roadmap Method ..................................... .................... 46 1<br />
Daniel Aanzo, Danica Kragic and Henrik Christensen<br />
Path Planning using Probabilistic Cell Decomposition ........ ................................. .......................... 467<br />
Frank Lingelbach<br />
Xi
A Kinematics-Based Probabilistic Roadmap Method for High DOF Closed Chain Systems .............................. 473<br />
Dawen Xie and Nancy Amato<br />
Session: WM-1<br />
ROBOT <strong>VISION</strong> I<br />
Maintaining Visibility of a Moving Target at a Fixed Distance . .............................. 479<br />
Rafael Murrieta, Alejandro Sarmiento, Sourabh Bhattacharya and Seth Hutchinson<br />
A Calibration Free Analytical Solution to Image Points Path Planning That Ensures Visibility .........<br />
Florian Schranim and Guillaume Morel<br />
A Segmentation Algorithm for a Robotic Micro-Endoscope for Exploration of the Spinal Cord ....................... 491<br />
Luca Ascari, Ulisse Bertocchi, Cecilia Lachi, Cesare Stefanini and Paolo Dario<br />
Epipole-based visual servoing for nonholonomic mobile robots .......................................................<br />
Gian Luca Mariottini, Domenico Prattichiuo and Giuseppe Oriolo<br />
. . .<br />
A miniature biomimetic gaze control system ....................................................................................................... 504<br />
Stephane Viollet and Nicolas Franceschini<br />
Session: WM-2<br />
AUTOMATION: MANUFACTURING PROCESSES I1<br />
Design of a New PumaPaint Interface and its Use in One Year of Operation 51 1<br />
Michael Coristine and Matthew Stein<br />
Integrated Design of a Linear Positioning System With Applications To Electronic Manufacturing 517<br />
Ke Fu, James K. Mills and Dong Sun<br />
A Multi-Agent Cell Controller Integrating Temporal and Precedence Constraints ...... ....... ........... 523<br />
Brahim Bouzouia and Rafik Bouchemma<br />
Gap Sensing Benefits in Conform(TM) Extrusion Machinery ............................................................................. 529<br />
Kafeel Khawaja, Kaspar Althoefer, Mike Clode and Lakmal Seneviratne<br />
Modeling and Control for A Gough-Stewart Platform CNC Machine .......<br />
Yung Ting, Yu-Shin Chen, Ho-Chin Jar and Yuan Kang<br />
Session: WM-3<br />
AUTOMATION: PETRI NETS<br />
Diagnosability of Discrete Event Systems. A Petri Net Based Approach ................. .................................... 541<br />
Antonio Ramirez-Treviko, Elvia Ruiz-Beltran, Israel Rivera-Range1 and Ernest0 Lopez-Mellado<br />
Modular Hybrid Petri Nets for Studying Multi-operational Production Systems<br />
Where Parts Follow Multiple Alternative Processes ............... 547<br />
Kimon Valavanis<br />
Modeling and Analysis Manufacturing Systems Using a New Class of Petri nets .............................................. 554<br />
YiSheng Huang, Xiaolan Xie and ChienNin Hsu<br />
Deadlock-free scheduling method for automated manufacturing systems with limited central buffers .............. 560<br />
zhonghua huang and Zhiniing Wu<br />
xii
Deadlock-free Scheduling Method for Automated Manufacturing Systems<br />
Using Genetic Algorithm and Petri Nets .____ ......................................................................................... 566<br />
Zhonghua Huang and Zhinting Wu<br />
Session: WM-4<br />
ROBOT LOCALIZATION I<br />
Analysis of Positioning Uncertainty in Reconfigurable Networks of Heterogeneous Mobile Robots ...........<br />
Anastasios Mourikis and Stergios Roumeliotis<br />
A Dead-Reckoning Scheme for Skid-Steered vehicles in Outdoor Environments .. 580<br />
Georgia Anousaki and Kostas Kyriakopoulos<br />
Localization and Self Calibration of a Robot for Volcano Exploration ............................................................... 586<br />
Daniele Calfabiano, Giovanni Muscat0 and Francesco Russo<br />
Obstacle Avoidance and Path Planning for Humanoid Robots using Stereo Vision ............................................ 592<br />
Kohfaro Sabe, Masaki Fukuchi, Steffen Gutmnn, Kenta Kawamoto and Takayuki Yoshigahara<br />
Bayesian Programming For Topological Global Localization With Fingerprints ............................................... 598<br />
Adriana Tapus, Stefan Heinzer and Roland Siegwart<br />
Session: WM-5<br />
HUMANOIDS I1<br />
Locomotion Planning of Humanoid Robots to Pass through Narrow Spaces ...........................................<br />
Fumio Kanehiro, Hirohisa Hirukawa, Kenji Kaneko, Shuuji Kajita and Kiyoshi Fujiwara<br />
Leg Motion Primitives for a Dancing Humanoid Robot ........................................... ...................................... 610<br />
Shinichiro Nakaoka, Atsushi Nakazawa, Kazuhito Yokoi and Katsushi Ikeuchi<br />
Real-time Planning of Humanoid Robot’s Gait for Force Controlled Manipulation .<br />
Kensuke Harada, Shuuji Kajita, Fumio Kanehiro, Kiyoshi Fujiwara, Kenji Kaneko,<br />
Yokoi Kazuhifo and Hirohisa Hirukawa<br />
Walking Control of the Humanoid Platform KHR-1 based on Torque Feedback Control .........................<br />
Jung-Hoon Kim and Jun-Ho Oh<br />
A Hop towards Running Humanoid Biped .<br />
Shuuji Kajita, Takashi Nagasaki, K<br />
Session: WM-6<br />
SENSOR NETWORKS I1<br />
629<br />
Mobile Robot Navigation using a Sensor Network<br />
Maxim Batalin, Gaurav Sukhatme and My<br />
......................................................................................... 636<br />
Robotic Deployment of Sensor Networks Using Potential Fields ........... ....................................... 642<br />
Dan Popa, Chad Helm, Harry Stephanou and Arthur Sanderson<br />
Development of Sensor System of a Small Biped Entertainment Robot ......................................... 648<br />
Tatsuzo Ishida and Yoshihiro Kuroki<br />
Reaction-Diffusion Patterns in Smart Sensor Networks .....<br />
Thomas Henderson, Ramya Venkataraman and Gyounghwa Choikim<br />
xiii
Supporting Many-to-One Communication in Mobile Multi-Robot Ad Hoc Sensing Networks 659<br />
Saumitra Das, Y. Charlie Hu, C.S.George Lee and Yung-Hsiang Lu<br />
Session: WM-7<br />
SENSOR FUSION I1<br />
Classifier Fusion for Outdoor Obstacle Detection<br />
Cristian Dima, Nicolas Vandapel and Martial Hebert<br />
Navigation in a Challenging Martian Environment Using Multi-Sensory Fusion in KIV Model _ _<br />
- Derek Wong, Robert Kozma,-Edward Tunstel and Walter J. Freeman<br />
........... 665<br />
........... 612<br />
Surface Registration from Range Image Fusion ................................................................................................... 618<br />
~.Carles Mutabosch, Joaquim Salvi, Xavier Pinsach and Rafael Garcia<br />
Outdoor Map Building Based on Odometry and RTK-GPS Positioning Fusion ........... 684<br />
Kazunori Ohno, Takashi Tsubouchi and Shin'ichi Yuta<br />
Distributed Sensor Databases for Multi-Robot Teams . 691<br />
Anthony Cowley; Hwa-chow Hsu and Camillo Taylor<br />
Session: WM-8<br />
HAPTIC <strong>AND</strong> HUMAN ROBOT INTERFACES<br />
Development of a Communication Robot Ifbot ................................................................................................... 697<br />
Shohei Kato, Shingo Ohshiro, Hidenori Itoh and Kenji Kimura<br />
Microphone Array for 2D Sound Localization and Capture ..... ................<br />
Satoshi Kugami, Hiroshi Mizoguchi, Yuuki Tamai and Kanade<br />
Co-axis Type Non-contact Impedance Sensor .... 109<br />
Makoto Knneko and Tomohiro Kawahara<br />
Singularity Avoidance and Control of New Cobotic System with Diffrential CVT .......<br />
Dragoljub Surdilovic and Henning Simon<br />
VITAL ..... .................. .............. ........ ..............<br />
Mohumed Benali Kh ustapha Hafez, Jean-Marc Alexandre ,<br />
Abderahmane Kheddar and Vincent Moreau<br />
Session: WM-9 . .<br />
VISUAL SERVOING II<br />
An efficient method to compute the inverse jacobian matrix in visual servoing _ _ _ _ ........................................ 721<br />
Jean-Thierry hpresttf, Frederic Jurie, Michel Dhome and Fruncois Chaumette<br />
Camera Pose Estimation from less than Eight Points in Visual Servoing .......................<br />
Graziano Chesi and Koichi Hashinioto<br />
Adaptive Regulation of Robot Joint Velocity in Uncalibrated Visual Servoing 139<br />
G.~ W. Kim and B. H. Lee<br />
Improvements in robust 2D visual servoing ............. .......... 745<br />
Eric Marchand, Andrew Comport a<br />
715<br />
Model-Free Visual Servoing on Complex Images Based on 3D Reconstruction<br />
Christophe Collewet, Ali Alhaj and Francois Chaumetre<br />
.............. .......... 751<br />
xiv
Session: WM-10<br />
HAPTIC DEVICES I1<br />
The Magic Glove .. ............................. .................................................................. .................... 757<br />
H. Kazeroo n Fairbanks, Albe en and Gene Shin<br />
Torque Control of Electrorheological Fluidic Actuators ..............................................................<br />
Marie-Aude Virrani, Jason Nikitczuk, Guillaume Morel and Constanrinos Mavroidis<br />
Simulating Cheap Hardware ................................................................................................................................. 770<br />
Iman Brouwer, Karon MacLRan and Antony Hodgson<br />
Design of an Integrated Tactile Display System .....................................<br />
Ki-Uk Kyung, Seung-Woo Son, Dong-Soo Kwon and Mun-Sang<br />
The Effect of Force Feedback on Remote Palpation ................................<br />
Ross Feller, Camilla Lau, Christopher Wagner, Douglas Perrin and Robert Howe<br />
Session: WM-11<br />
ROBOT GRASPING II<br />
Equilibrium Conditions of a Rigid Object Grasped .<br />
John Fasoulas and Zoe Doulgeri<br />
. 776<br />
...................................... . 782<br />
............................................... ............... 789<br />
Homography-based Grasp Tracking for Planar Objects .............................................................. :...<br />
Raffaella Carlorti, Gabriel Recatali, Claudio Melchiorri, Pedro J. Sanz and Enric Cervera<br />
Manipulation Gaits - Sequences of Grasp Control Tasks ....................................................<br />
Robert Platr, Andrew H. Fagg and Roderic Grupen<br />
............. 795<br />
......................... 801<br />
Handling of an Object by Multiple Mobile Manipulators in Coordination based on Caster-like Dynamics ....... 807<br />
Yasuhisa Hirata, Youhei Kume, Takuro Sawada, Zhi-Dong Warig and Kazuhiro Kosuge<br />
Dynamic Tactile Sensing for Object Identification ..............<br />
Gunther Heidemann and Matthias Schopfer<br />
Session: WM-12<br />
MEDICAL ROBOTICS APPLICATIONS I1<br />
...................................................................... 813<br />
Remote Surgery Case ............................. .......................................... .................................... 819<br />
Cai Meng, Tianmiao Wang, Wusheng Chou, Sheng Luan and Yuru Zhang<br />
NeuroMaster ............................................................................................ ....................................... 824<br />
Junchuan Liu, Yuru Zhang, Tianmiao Wang, Hongguang Xing and Zengmin Tian<br />
Kinematic Optimization of a Spherical Mechanism for a Minimally Invasive Surgical Robot ........................... 829<br />
Mitchell Lum, Jacob Rosen, Mika N. Sinanan and Blake Hannaford<br />
Novel FBG Sensor Devices for Spatial Shape Detection of Intelligent Colonoscope ......................................... 835<br />
Lunwei Zhang, Jinwu Qian, Linyong Shen and Yanan Zhang<br />
A Virtual Endodontics Testbed for Training Root Canal Skills ........................................................................... 841<br />
Min Li and Yun-Hui Liu<br />
xv
Session: Wh4-13<br />
SIMULTANEOUS LOCALIZATION <strong>AND</strong> MAPPING I1<br />
Simultaneous Localization and Modeling from Stereo Vision ............................................................................. 847<br />
Miguel Angel Garcia and Agusti Solanas<br />
An Efficient Data Association Approach to Simultaneous Localization and Map Building ............................... 854<br />
Sen Zhang, Lihua Xie and Martin Adams<br />
On Multidimensional Assignment Data Association for Simultaneous Robot Localization and Mapping ......... 860<br />
Linthotage Dushantha Lochana Perera, Wijerupage Sardha Wijesoma and Martin David Adam<br />
A Scan Matching Method using Euclidean Invariant Signature for Global Localization and Map Building ...... 866<br />
Masahiro Tomono<br />
Hybrid TopologicaVMetric Approach to SLAM ........... 872<br />
Kirill Kouzoubov and David Austin<br />
Session: Wh4-14<br />
MEMS<br />
MEMS Conveyance Syste for Pneumatic Two-Dimensional Manipulation<br />
base on Autonomous Distributed Systems ......... .......................................................................... .. 878<br />
Yamato Fukuta, Yoshio Mita, Yves-Andre Chapuis, Makoto Arai and Hiroyuki Fujita<br />
Tolerance Analysis of Placement Distributions in Tethered<br />
Micro-Electro-Mechanical Systems Components ........... 884<br />
Woo Ho Lee, Melanie Daflon, Harry Stephanou, Young Seok Oh,<br />
Jeffrey Hochberg and George D. Skidmore<br />
Synchronized Manipulation and Force Measurement by Optical<br />
Tweezers Using High-speed Laser Scanning . ............................................................................. 890<br />
Fumihito Arai, Keiichi Yoshikawa, To akanii and Toshio Fukuda<br />
Active Self-Assembly ............. ....................... . 896<br />
Daniel Arbuckle and Aristides Requicha<br />
Multiple-View Multiple-Scale Navigation for Micro-Assembly 902<br />
Andrew Shacklock<br />
Session: WM-15<br />
PROBABILISTIC-<strong>BASED</strong> PLANNING I1<br />
A Delaunay Triangulation Based Node Connection Strategy for Probabilistic Roadmap Planners .................... 908<br />
Yifeng Huang and Kamal Gupta<br />
.~<br />
Probabilistic Modeling and Analysis of High-speed Rough-Terrain Mobile Robots ........................................ ;. 914<br />
Dariusz Golda, Karl Iagnemma and Dubowsky Steven<br />
Hybrid Probabilistic RoadMap - Monte Carlo Motion Planning for<br />
Closed Chain Systems with Spherical Joints ........................................................................................................ 920<br />
. Li Han<br />
Probabilistic Plane Fitting in 3D and an Application to Robotic Mapping .......................................................... 927<br />
Jan Weingarten, Gabriel Gruener and Roland Siegwart<br />
xvi
A theoretical comparison of probabilistic and biomimetic models of mobile robot navigation .......................... 933<br />
Julien Diard, Pierre Bessikre and Emmanuel Mazer<br />
Session: WE-1<br />
ROBOT <strong>VISION</strong> I1<br />
Optimal sensor placement for cooperative distributed vision ........................ 939<br />
Luis Navarro-Seiment, John Dolan and Pradeep Khosla<br />
Fast Row-Parallel CMOS Range ........................... .............................<br />
Vladimir Brajovic<br />
Toward Laser Pulse Waveform Analysis for Scene Interpretation ...................................................................... 950<br />
Nicolas Vandapel, Omead Amidi and J. Rayan Miller<br />
A Region-Based Background Modeling and Subtraction Using Partial Directed Hausdorff Distance ................ 956<br />
Shih-Shinh Huang, Li-Chen Fu and Pei-Yung Hsiao<br />
Noise Equivalent Dimensions in Eigenspaces ...........<br />
Rajeev Ranianath and Wesley Snyder<br />
Session: WE-2<br />
FLEXIBLE AUTOMATION<br />
..................................................................... 961<br />
Reconfigurable Parts Feeding System Using Arrayed Vibratory Units Made by Stereolithography ................... 966<br />
Yasuhiro Yantada, Nobutaka Torii, Motohiro Gotoh and Yoshiaki Komura<br />
Robust Procedures for Obtaining Assembly Contact State Extrema1 Configurations .......................................... 972<br />
Feng Pan and Joseph Schimmels<br />
A Generic Embedded Device for Retrieving<br />
.<br />
and<br />
.<br />
Transmitting<br />
Information of Various Customized Applications ................................................................................................ 978<br />
Fan-Tien Cheng, Guo-Wei Huang, Chun-Hung Chen and Min-Hsiung Hung<br />
Environmentally conscious decision making in engineering design ............. .................................................. 984<br />
Zhi-Gang Xu, Ming-Xi Tang and Yanta Lam<br />
Development of an Autonomous and Generic Remote Control Scheme ............................................................. 990<br />
Yu-Chung Yang and Fan-Tien Cheng<br />
Session: WE-3<br />
AUTOMATION: SYSTEMS<br />
Analysis of Self-Reconfigurable Modular Systems ............................................................................................. 996<br />
Nicolas Brener, Faiz Ben Amar and Philippe Bidaud<br />
Optimal Parking in Group Elevator Control .................................................. ............................................... 1002<br />
Matthew Brand and Daniel Nikovski<br />
Using Augmented Reality to Interact with an Autonomous Mobile Platform ..... .. 1009<br />
Bjorn Giesler, Tobias Salb, Peter Steinhaus and Rudiger Dillmann<br />
Mapping and Localization with RFID Technology .. ............................................................ 1015<br />
Dirk Haehnel, Wolfrnm Burgard, Dieter Fox, Ken Fishkin and Matthai Philipose<br />
xvii
Comparison Between Particle Filter Approach and Kalman Filter-Based<br />
Technique For Head Tracking in Augmented Reality Systems ......................................................................... 1021<br />
Fakhr-eddine Ababsa, Malik Mallem and David Roussel<br />
Session: WE-4<br />
ROBOT LOCALIZATION I1<br />
Optimized Motion Strategies for Cooperative Localization of Mobile Robots ....... 1027<br />
Nikolas Trawny and Timothy Barfoot<br />
Localization of Simultaneous Moving Sound Sources for Mobile Robot<br />
Using a Frequency-Domain Steered Beamformer Approach ............................................................................. 1033<br />
Jean-Marc Valin, Francois Michaud, Brahim Hadjou and Jean Rouat<br />
Robust Mobile Robot Localization using Optical Flow Sensors and Encoders ................................................. 1039<br />
Sooyong Lee and Jae-Bok Song<br />
Representing hierarchical POMDPs as DBNs for multi-scale robot localization ............................................... 1045<br />
Georgios Theocharous<br />
Complexity Analysis and Approximate Solutions for Two Multiple-Robot Localization Problems ................. 1052<br />
Jinsuck Kim and Nancy Amato<br />
Session: WE-5<br />
HUMANOIDS I11<br />
Volume 2 (Pages 1059-2122)<br />
Stability Criterion and Pattern Planning for Humanoid Running ....................................................................... 1059<br />
Zhaohui Li, Qiang Huang, Kejie Li and Xingguang Duan<br />
A Stable Foot Teleoperation Method for Humanoid Robots .............................................................................. 1065<br />
Ee Sian Neo. Kazuhito Yokoi, Shuuji Kajita, Hajime Saito and Kazuo Tarzie<br />
On-line imitative interaction with a humanoid robot using a mirror neuron model ........................................... 1071<br />
Masato It0 and Jun Tani<br />
Falling Motion Control of a Humanoid Robot Traind by Virtual Supplementary Tests .................................... 1077<br />
Kiyoshi Fujiwara, Fumio Kanehiro, Hajime Saito, Shuuji Kajita,<br />
Kensuke Harada and Hirohisa Hirukawa<br />
Humanoid Robot HRP-2 .................................................................................................................................... 1083<br />
K. Kaneko, F. Kanehiro, S. Kajita, H. Hirukawa, T. Kawasaki,<br />
M. Hirata, K. Akachi and T. Isozumj<br />
Session: WE-6<br />
SMART SENSORS<br />
Dynamic Leadership Protocol for S-nets ........ .............................................................................................. 1091<br />
Gregory Barlow, Thomas Henderson, Andrew Nelson and Edward Grant<br />
A Decentralized Architecture for Active Sensor Networks<br />
Alexei Makarenko, Alex Brooks, Stefan Williams,<br />
Multi-Robot Tracking of a Moving Object Using Directional ............... 1103<br />
Manuel Mazo, Alberto Speranzon, Karl Henrik Johansson and<br />
xviii
Design and Evaluation of an Integrated Planar Localization Method for Desktop Robotics ............................. 1109<br />
Sutya Singh and Kenneth Waldron<br />
An Investigation of the Effects of Magnetic Variations on InertiaVMagnetic Orientation Sensors ................... 11 15<br />
Eric Bachmann, Xiaoping Yun and Christopher Peterson<br />
Session: WE-7<br />
ASSEMBLY TASKS<br />
Tandem Shallow Hole Insertion Using Search ...................................................................................................<br />
Takayuki Matsuno, Toshio Fukuda and Yasuhisa Hasegawa<br />
Designing of Damping Control Parameters for Peg-in-Hole Considering Cycle Time ......................<br />
Natsuki Yamanobe, Yusuke Maeda and Tamio Arai<br />
Distinguishability and Identifiability of Contact States .......... ................<br />
Thomas Debus and Pierre Dupont<br />
Geometric Binding Site Design for Surface-Tension ........ .....................................<br />
Xiaorong Xiong, Sheng-Hsiung Liang and Karl Bohringer<br />
An Integrative Approach for Multi-Sensor based Robot Task Programming .............. ...............................<br />
Ulrike Thomas, Jan Florke, Stefan Detering and Friedrich Wahl<br />
123<br />
129<br />
135<br />
141<br />
149<br />
Session: WE-8<br />
HUMAN ASSISTED ROBOTS <strong>AND</strong> SYSTEMS<br />
Learning and Transferring Human Navigational Skill to Wheelchair ................................................................ 1 155<br />
Hon Nin Chow and Yangsheng Xu<br />
Learning Human Tracking and Intercepting Ski ................ 1161<br />
Jun Cheng, Yangsheng Xu and Ronald<br />
Human Assisted Capture-The-Flag in an Urban Environment ........................................................................... 1 167<br />
Matthew Blake, Gerrit Sorensen, James Archibald and Randal Beard<br />
Identification of Decision Rules in a Human Controlled System ....................................................................... 1173<br />
Claire Walton, Domitilla Del Vecchio and Richard M. Murray<br />
Controlling the Apparent Inertia of Passive Human-Interactive Robots ................................ ...................... 1 I79<br />
Tom Worsnopp, Michael Peshkin, Ed Colgate and Kevin Lynch<br />
Session: WE-9<br />
VISUAL SERVOING <strong>AND</strong> STEREO <strong>VISION</strong><br />
Image Moments ................................................................................................................................................. 1 185<br />
Onrar Tahri and Francois Chaumette<br />
High-speed Batting Using a Multi-Jointed Manipulator ....................<br />
Taku Senoo, Akio Namiki and Masatoshi Ishikawa<br />
A Global 3D Map-Building Approach Using Stereo Vision .<br />
Juan Manuel Saez Martinez and Francisco Escolano Ruiz<br />
.....................................<br />
..................... .......... 1 I97<br />
Homography-based Correspondence in Weakly Calibrated Curved<br />
Surface Environment and Its Error Analysis ...................................................................................................... 1203<br />
liang jin and jianbo su<br />
XiX
Session: WE-10<br />
VIRTUAL REALITY APPLICATIONS <strong>AND</strong> HAPTICS<br />
CPG-Based Manipulation .................................... ............................................... .................................... 1209<br />
Yuichi Lim, Jun Ueda, Yoshio Matsumoto and Tsukasa Ogasawara<br />
Multi-Scale Simulation For Microsurgery Trainer .............................................. .................................. 1215<br />
Kian Meng Lim, Fei Wang, Tim Poston, L ang and Chee Leong Teo<br />
Cooperative Control of Virtual Objects over the Internet using Force-Reflecting Master Arms .____.<br />
Craig Carignan and Pontus Olsson<br />
Influence of force disturbances on transparency in bilateral telemanipulation of soft environments ......<br />
Gudrun De Gersem and Hendrik Van Brussel<br />
Study on A “Tactile Mirror” for Displaying Static Friction Sensation with Tactile Perception Feedback .<br />
lsao Fujimoro, Yoji Yamada, Takashi Maeno, Tersuya Morizono and Yoji Umetani<br />
Session: WE-1 1<br />
MANIPULATION <strong>AND</strong> GRASPING<br />
On The Design of a Hydraulically Actuated Finger For Dextrous Manipulation ........ ................ 1239<br />
Daniel Schmidt, Gordon hive and Andrew Paplinski<br />
Manipulation Planning for Object Re-orientation based on Randomized Techniques ............<br />
Masahito Yashima<br />
Mechanics of Hybrid Activepassive-Closure Grasps .........<br />
Tersuyou Watanabe, Zhongwei Jiang and Tsuneo Yoshikawa<br />
...........<br />
Planning Force-Closure Grasps on 3-D Objects ............ ....... .........<br />
Xiangyang Zhu and Han Ding<br />
On the Mechanics of Natural Compliance in Frictional Contacts and<br />
its Effect on Grasp Stiffness and Stability .............................. ...................................................... 1264<br />
Aniir Shapiro, Elon Rimon and Jo<br />
Session: WE-12<br />
MEDICAL ROBOTIC APPLICATIONS 111’<br />
Spatial Motion Constraints in Medical Robot Using Virtual Fixtures Generated by Anatomy ......................... 1270<br />
Ming Li and Russell Taylor<br />
Optimal Design of High Dexterity Modular MIS Instrument for Coronary Artery Bypass Grafting .........<br />
Damien Salk Philippe Bidaud and Guillaunie Morel<br />
Mathematical muscle model for Functional Electrical Stimulation control strategies ...............<br />
Hassan El Makssoud, David Guiraud and Philippe Poignet<br />
Dynamics and Control of an MRI Compatible Master-Slave System with Hydrostatic Transmission .............. 1288<br />
Ganesh Gowrishankar, Roger Gassert, Etienne Burdet and Hannes Bleuler<br />
A Real-Time Graphic Environment for a Urological Operation Training Simulator ......................................... 1295<br />
Evangelos Papadopoulos, Alkiviadis Tsamis and Kostas Vlachos
Session: WE-13<br />
SIMULTANEOUS LOCALIZATION <strong>AND</strong> MAPPING IT1<br />
Online Simultaneous Localization and Mapping in Dynamic Environments ....................................................<br />
Denis Wolfand Gaurav Sukhatme<br />
I301<br />
Local Maps Fusion for Real Time Multirobot Indoor Simultaneous Localization and Mapping ...................... 1308<br />
Diego Rodriguez-Losada, Fernando Matia and Agustin Jimenez<br />
DP-SLAM 2.0 .................................................................................................................................................... 1314<br />
Austin Eliamr and Ronald Parr<br />
Millimetre Wave RADAR Spectra Simulation and Interpretation for Outdoor SLAM .... .......................... 1321<br />
Ebi Jose and Martin Adonis<br />
Open Challenges in SLAM ................................................................ .......................................................... 1327<br />
Agostino Martinelli, Nicola Tomatis and Roland Siegwart<br />
Session: WE-14<br />
MICROROBOTICS <strong>AND</strong> MEMS<br />
Analysis and Design of Wireless Magnetically Guided Microrobots in Body Fluids ........................................ 1333<br />
Berk Yesin, Karl Vollmers and Bradley Nelson<br />
Atomic-scale Positioning Reference Grid System For Miniature Robots<br />
With Embedded Scanning Tunneling Capability ........................................................ ...... ...... 1339<br />
Dominic St-Jacques, Thomas Boitani, Pierre-Alain Dumas,<br />
Marc-Antoine Ducas and Marc-Antoine Fortin<br />
Physical Model of a MEMS Accelerometer for Low-g Motion Tracking Applications .................................... 1345<br />
Wei Tech Ang. Si Yi Khoo. Pradeep Khosla and Cameron Riviere<br />
High Sensitive Micro Touch Sensor with Piezoelectric Thin Film for<br />
Micro Pipetting Works under Microscope ............................. ..................................................................... 13.52<br />
Fumihito Arai, Kouhei-Motoo, Toshio Fukuda and<br />
Genetic Algorithm Based Optimization Design of Miniature Piezoelectric Forceps ......................................... 1358<br />
Ken Susanto and Bingen Yang<br />
Session: WE-15<br />
ROBOTICS EDUCATION I<br />
Robot Control Designer Education on the Web .... ............................................ ........... .. 1364<br />
David Fabri, Carla Falserti, Sulmana Ramauotti and Tommaso Leo<br />
A Hands-on Laboratory Based Approach to Undergraduate Robotics Education ............................................ 1370<br />
Kuldeep Rawat and Gholam Massiha<br />
Project in Robotics at Copenhagen University College of Engineering ............................................................. 1375<br />
Meng Guo, Lusse Husman, Nicolai Vullum and Anna Friesel<br />
PolyBot and PolyKinetic(TM) System ............<br />
Alex Golovinsky, Mark Yim, Ying Zha<br />
Tabulation and Analysis of Questionnaire Results of Subjective Evaluation of<br />
Seal Robot in Japan, U.K., Sweden and Italy<br />
Takanori Shibata, Kazuyoshi Wada and Kazuo Tanie<br />
......................................................................................... 1381<br />
ig Eldershaw and David Duff<br />
xxi
Session: WP-1<br />
EFFICIENT <strong>VISION</strong> <strong>AND</strong> VISUAL <strong>TRACKING</strong> TECHNIQUES<br />
Analysis of Eigendecomposition for Sets of Correlated Images at Different Resolutions ................................. 1393<br />
Kishor Saitwal, Anthony Maciejewski and Rodney Roberts<br />
3-D Object Modeling by a Camera Equipped on a Mobile Robot ..................................................................... 1399<br />
Kimitoshi Yamazaki, Masahiro Tomono, Takashi Tsubouchi and Shin'ichi Yuta<br />
Increasing the Scout's Effectiveness Through Local Sensing and Ruggedization ............................................. 1406<br />
Andrew Drenner, LaPointe Monica Anderson, Burt Ian,<br />
Cannon Kelly and Papanikolopoulos Nikolaos<br />
Portable Absolute Orientation Estimation Device with Wireless Network under Accelerated Situation .......... 1412<br />
Tatsuya Harada, Hiroto Uchino, Taketoshi Mori and Tomomasa Sat0<br />
Large-Baseline Matching and Reconstruction from Symmetry Cells ................................................................ 1418<br />
KUN HUANG, Allen Yang, Wei Hong and Yi Ma<br />
Session: WP-2<br />
AUTOMATION: MONITORING<br />
Better Motion Prediction for People-tracking .. .................................... ............................... *<br />
Allison Bruce and Geofferey Gordon<br />
A Real-time Monitoring and Diagnosis System for Manufacturing Automation . . 1424<br />
Yangsheng Xu, Ming Ge and Ruxu Du<br />
Gas Source Declaration with a Mobile Robot<br />
Achim Lilienthal, Andreas Zell, Holger Ulmer and Holger Frohlich<br />
Bacterium-inspired Robots for Environmental Monitoring .....<br />
Amii Dhariwal, Gaurav Sukhatme and Aristides Requi<br />
.............................. 1436<br />
Development of A Web-Services-based Remote Monitoring and Control Architecture ................................... 1444<br />
Min-Hsiung Hung, Kuan-Yii Chen and Shih-Sung Lin<br />
Session: WP-3<br />
AUTOMATION: BIOLOGY.<br />
Automating Crystallization of Membrane Proteins by Robot with Soft Coordinate Measuring ...........<br />
Lalitha Muthusubramaniam, Avinash Peddi, Yuan F. Zheng, Vadim Cherezov and Martin Caffrey<br />
A Nano-liter Biomaterial Spotting System for Bio-chip Micormay Fabrication ............................................. 1456<br />
Mingjun Zhang. Tzyh-Jong Tam and Ning Xi<br />
Robot Team Forming of Membrane Proteins in Crystallization ..........<br />
Yuan F. Zheng and Weidong Chen<br />
Towards Optimal Strategies for Moving Droplets in Digital Microfluidic Systems<br />
Karl Bohringer<br />
....... 1462<br />
.......... 1468<br />
Automation of Yeast Pedigree Analysis ............................................................................................................. 1475<br />
John Koschwanez, Mark Holl, Michael McMurray, Daniel Gottschling and Deirdre Meldrum
Session: WP-4<br />
ROBOT LOCALIZATION ILI<br />
Vision Based Topological Markov Localization ................................................................................................ 1481<br />
Jana Kosecka and Fayin Li<br />
Global Localization with Detection of Changes in Non-stationary Environments ............................................ 1487<br />
Kanji Tanaka, Yoshihiko Kimuro, Nobuhiro Okada and Eiji Kondo<br />
Particle Filter Based Outdoor Robot Localization Using Natural Features Extracted from Laser Scanners ..... 1493<br />
Martin Adams, Sen Zhang and Lihua Xie<br />
Guaranteed Dynamic Localisation using Constraints Propagation Techniques on Real Intervals ..................... 1499,<br />
El hadji Amadou Gning and Philippe Bonnifait<br />
Relocation using laser and vision ..<br />
Diego Onin, Jose Neira an<br />
....................................... 1505<br />
. .<br />
Session: WP-5 . .<br />
HUMAN ROBOT INTERFACE TECHNIQUES <strong>AND</strong> DEVICES<br />
Automatic Generation of Robot Interface Specifications and Representations .........................<br />
Ross Taylor and Chetan Kapoor<br />
Improvement of Robot Audition by Interfacing Sound Source Separation and Automatic Speech<br />
Recognition with Missing Feature Theory ................................................ ;........................................................ 1517<br />
Shun 'ichi Yamamoto, Kazuhiro Nakadai, Hiroshi Tsujino,<br />
Toshio Yokoyama and Hiroshi Okuno, G.<br />
A Whole Palm Tactile Display Using Suction Pressure ................................................................................ 1524<br />
Yasutoshi Makino, Naoya Asamura and Hiroyuki Shinoda<br />
Robot Navigation Using Qualitative Landmark States from Sketched Route Maps .......................................... 1530<br />
George Chronis and Marjorie Skubic<br />
Control of Thermal Tactile Display Based on Prediction of Contact Temperature ........................................... 1536<br />
Akio Yamamoto, Benjamin Cros, Hironori Hashimoto and Toshiro Higuchi<br />
Session: WP-6<br />
SENSOR EVALUATION<br />
Evaluation of a Vision-based Tactile Sensor ...................................................................................................... 1542<br />
Kazuto Kamiyama, Hiroyuki Kajimoto, Naoki Kawakami and Susumu Tachi<br />
Tactile Recognition of Algebraic Shapes Using Differential Invariants ............................................................ 1548<br />
Rinat Ibrayev and Yan-Bin Jia<br />
......................................................... ....................................................................... 1554<br />
David Silver, Deryck Morales, Ioannis Rekleitis, Brad Lisien and Howie Choset<br />
Non-Contact Stiffness Imager ........ .... ................................................ 1562<br />
Makoto Kaneko, Tomohiro<br />
Controlling Mobile Sensors for Monitoring Events with Coverage Constraints<br />
Zack Butler and Daniela Rus<br />
nd<br />
.......<br />
wiii
Session: WP-7<br />
COORDINATION <strong>AND</strong> MANIPULATION<br />
Toward Sensorless Manipulation Using Airflow ................<br />
Hyungpil Moon and'fonathan Lurttz<br />
Control a Rigid Caging Formation for Cooperative Object Transportation by Multiple Mobile Robots .__.<br />
Zhidong Wang, Yasuhisa Hirata and Kazuhiro Kosuge<br />
Modular Composition and Self-Coordination Technique for Mobile Manipulators 1586<br />
Giuseppe Casalino and alessio turerta<br />
Collision avoiding continuation method for the inverse kinematics of redundant manipulators 1593<br />
Andreas Mueller<br />
Preshaped Trajectories for Residual Vibration Suppression in<br />
Payloads Suspended from Multiple Robot Manipulators ..........................................................<br />
Rob Smith, Gregory Starr, Ron Lumia and John Wood<br />
Session: WP-8<br />
BIO-APPLICATIONS<br />
Biologically Motivated Self-Localization for Mobile Robots ....<br />
Ralf Stemnter<br />
Biologically Inspired Tracking Control of Mobile Robots with Bounded Accelerations<br />
Simon X. Yang, Aimiin Zhu and Max Q.-H. Meng<br />
SMA Actuator-based Novel Type of Micropump for Biomedical Application<br />
Toshio Fukuda<br />
.............. 1604<br />
.... 1610<br />
._._ 1616<br />
Comparison of Control Strategies for an EMG Controlled Orthotic Exoskeleton for the Hand ... 1622<br />
Matthew DiCicco, Lenny Lucas and Yoky Matsuoka<br />
Dynamics and Kinematics of Viral Protein Linear Nano-Actuators for Bio-Nano Robotic Systems 1628<br />
Atul Dubey, Gaurav Sharma, Constantinos Mavroidis,<br />
Silvina -Maria Tomassone and Martin Yarmush<br />
Session: WP-9<br />
VISUAL <strong>TRACKING</strong><br />
CAMEO .............................................................................................................................................................. 1634<br />
Paul Rybski, Fernando de la Torre, Raju Patil, Carlos Vullespi,<br />
Manuela Veloso and Brett Browning<br />
Intelligent Missions for MAVs<br />
Sinisa Todorovic and Michael Nechyba<br />
I 640<br />
Motile Cell Galvanotaxis Control using High-speed Tracking System<br />
. Naoko Ogawa, Hiromasa Oku, Koichi Hashimoto and Masato<br />
Using a Hybrid of Silhouette and Range Templates for Real-time Pose Estimation ...........<br />
.. 1652<br />
Eric Huber and Kenneth Baker<br />
Range Identification for Perspective Dynamic Systems Using Linear Approximation .........<br />
Lili Ma, YangQuan Chen ad Kevin Moore<br />
....... .. 1646<br />
............ 1658<br />
xxiv
Session: WP-10<br />
TELEPRESENCE <strong>AND</strong> TELEOPERATION<br />
Optimal Incremental Approach to the Motion Compression for Telepresent Locomotion ................................ 1664<br />
Jianbo Su<br />
A First Generation Mutually-Immersive Mobile Telepresence Surrogate With Automatic Backtracking ........ 1670<br />
Norman Jouppi, Subu lyer, Wayne Mack, April Slayden and Stan Thomas<br />
Multi-Fingered Hand System for Telepresence Based on Tactile Information ................ 1676<br />
Akihito Sano, Hideo Fujimoto, Kosuke Nishi and Hideki Miyanishi<br />
Teleoperated Manipulator for Leak Detection of Sealed Radioactive Sources .............. .......................... 1682<br />
Wei Wang and Kui Yuan<br />
. . .<br />
Telerobotic Mini-Golf ........................................................................................................................................ 1688<br />
Sudath Munasinghe, Ju-Jang Lee, Usui Tatsumi, Masatoshi Nakamura and Naruto Egashira<br />
Session: WP-11<br />
DEFORMABLE <strong>AND</strong> RIGID OBJECT GRASPING<br />
Stable grasping and relative angle control of an object by dual finger robots without object sensing ............... 1694<br />
Ryuta Ozawa, Suguru Arimoto, Morio Yoshida and Shinsuke Nakamura<br />
Modeling and dual arm manipulation of a flexible object .................................................................................. 1700<br />
Zoe Doulgeri arid John Peltekis<br />
Constraints and Deformations Analysis for Machining Accuracy<br />
Assessment of Closed Kinematic Chains ........ ..........<br />
Yoshihiko Nakantura and Akihiko Mura<br />
Tactile Gloves for Autonomous Grasping with the NASA/DARPA Robonaut ................................................. 1713<br />
Toby Martin, Robert Ambrose, Myron Diftler, Robert Platt and Melissa Butzer<br />
Planning of One-Handed KnottingRaveling Manipulation of Linear Objects .................................................. 171 9<br />
Hidejkmi Wakamatsu, Akira Tsumaya, Eiji Arai and Shinichi Hirai<br />
Session: WP-12<br />
MOBILE ROBOT DESIGN<br />
Design and Implementation of an Open Autonomous Mobile Robot System ................................................... 1726<br />
Jianqiang Jia. Weidong Chen and Yugeng Xi<br />
Leg-in-rotor-I1 ............................................. ................................................................................................ 1732<br />
Hideyuki Tsukagoshi, Yotaro Mori, Msashi Sasaki, Takahiro Tanaka and Ato Kitagawa<br />
The Control of Semi-Autonomous Two-Wheeled Robots Undergoing Large Payload-Variations ................... 1740<br />
Alessio Salemo and Jorge Angeles<br />
Analytical Method for Designing Modular Robot Interfaces with High Connection Accuracy ........................ 1746<br />
Sung-Ho Shin and Delbert Tesar<br />
Development of a Soccer-Playing Dynamically-Balancing Mobile Robot ....................................................... 1752<br />
Brett Browning, Paul E. Rybski, Jeremy Searock and Manuela M. Veloso<br />
xxv
Session: WP-13<br />
SIMULTANEOUS LOCALIZATON <strong>AND</strong> MAPPING IV<br />
Online Control Policy Optimization for Minimizing Map Uncertainty ............................................................. 1758<br />
Robert Sim, Gregory Dudek and Nicholas Roy<br />
Bearing-only Landmark Initialization with Unknown Data Association ........................................................... 1764<br />
AI Costa, George Kantor and Howie Choset<br />
Simultaneous Localisation and Mapping on the Great Banier Reef .................................................................. 1771<br />
Stefan Williams and Ian Mahon<br />
A Comparison of Maximum Likelihood Methods for Appearance-Based Minimalistic SLAM ....................... 1777<br />
Paul E. Rybski, Srergios Roumeliotis, Maria Gini and Nikolaos Papanikolopoulos<br />
An Architecture for Indoor Navigation ...................... ........................................................... 1783<br />
Wenfeng Li; Henrik Christensen, Anders Ore<br />
Session: WP-14<br />
MECHANISM KINEMATICS <strong>AND</strong> DYNAMICS<br />
Solving Geometric Constraints by Iterative Projections and Backprojections ......................................... 1789<br />
Federico Thomas<br />
An Efficient Dynamic Modeling Methodology for General Type of Hybrid Robotic Systems ...............<br />
Byung-Ju Yi<br />
Legless Locomotion . .................................................................. 1803<br />
Ravi Balasubramanian, Alfred A. Rim' and Matthew T. Mason<br />
An Integral Friction Model ..................... ............ ..... 1809<br />
Gianarttortio Magrtani and Paolo Rocco<br />
Model Order Reduction for Contact Dynamics Simulations of Manipulator Systems ...................................... 1814<br />
Ou Ma<br />
Session: WP-15<br />
ROBOTICS EDUCATION IT<br />
Distance Learning in Robotics and Automation by Remote Control of Leg0 Mobile Robots ........................... 1820<br />
Fabio Carusi, Marc0 Casini, Domenico Prattichiuo and Antonio Vicino<br />
The Remote Exploration Program .................. ............................. ...................... 1826<br />
Jim Gamer, William D. Smart, Keith Bennett, David J. Bruemmer,<br />
Douglas A. Few and Christine M. Roman<br />
Formal Measures of Learning in a Secondary School Mobile Robotics Course 1831<br />
Illah Nourbakhsh, Kevin Crowley, Emily Hamner and Katie Wilkinson<br />
Open Laboratory for Robotics Education ......... 1837<br />
Josep Femandez and Alicia Casals<br />
Session: ThA- 1<br />
ROBOT <strong>VISION</strong> APPLICATIONS I<br />
Improving vision-based control using efficient second-order minimization techniques .................................... 1843<br />
Ezio Malis<br />
xxvi
Dynamic Active Catching Using a High-speed Multifingered Hand and a High-speed Vision System ............ 1849<br />
Yoshiro Imai, Akio Namiki, Koichi Hashimoto and Masatoshi Ishikawa<br />
A Visual Servoing Technique for Large Displacements .................................................................................... 1855<br />
Graziano Chesi and Antonio Vicino<br />
Measurement Errors in Visul Servoing .................................................................................... ...... 1861<br />
Ville Kyrki, Danica Kragic and Henrik Christensen<br />
Robust CAD Model Based Visual Tracking for 3D Microassembly Using Image Space Potentials ..... 1868<br />
Berk Yesin and Bradley Nelson<br />
Session: ThA-2<br />
HUMAN ROBOT INTERACTION I<br />
Distributed Error Handling and HRI ...... ........................................... ... 1874<br />
Brian Zimmel, Matthew Long, Je Fer Carlson and Robin Mu<br />
Safe Planning for Human - Robot Interaction ................................... ........................................... 1882<br />
Dana Kulic and Elizabeth Crofr<br />
Human-Robot Interaction based on Haar-like Features and Eigenfaces ........... ......................................... 1888<br />
Jose Barrero, Paulo Menezes and Jorge Dins<br />
Navigation for Human-Robot Interaction Tasks ...................<br />
Philipp Althaus, Hiroshi Ishiguro, Takayuki Kanda,<br />
............................................. 1894<br />
and Henrik Christensen<br />
Face tracking and hand gesture recognition for human-robot interaction .......................................................... 1901<br />
Ludovic Brethes, Paulo Menezes, Fredenc Lerasle and Jean-Bernard Hayet<br />
Session: ThA-3<br />
CALIBRATION<br />
Geometry-Based Robot Calibration Method ................................................<br />
Lei Sun. Jingtai Liu, Weiwei Sun, Shuihua Wu and Xingbo Huang<br />
Interval Methods for Certification of the Kinematic Calibration of Parallel Robots ................ 1913<br />
David Daney, Yves Papegay and Arnold Neumaier<br />
Precise deformation of rheologic object under MSD models with many voxels and calibrating parameters .... 1919<br />
Ryo Nogami, Hiroshi Noborio, Fumiaki Ujibe and Hiroki Fujii<br />
The DLR Multisensory Hand-Guided Device ...............................<br />
Klaus H. Strobl, Wolfsang Sepp, Eric Wahl, Tim Bodenm<br />
Michael Suppa, Javier F. Seara and Gerd Hirzinger<br />
A Classification of 3R Orthogonal Manipulators by the Topology of their Workspace ............................<br />
Maher Baili, Philippe Wenger and Damien Chablat<br />
Session: ThA-4<br />
MOBILE ROBOT <strong>NAVIGATION</strong> <strong>AND</strong> PATH PLANNING I<br />
Simultaneous Information and Global Motion Analysis ........ ...................................<br />
Shahram Rezaei, Jose Guivant, Juan Nieto and Edua<br />
An Autonomous Car-Like Robot Navigating Safely Among Pedestrians ........<br />
Ckdric Pradalier, Jorge Hermosillo, Carla Koike, Christophe Braillon and Pierre Bessiere<br />
xxvii
Split and Join of Vehicle Formations doing Obstacle Avoidance ...................................................................... 1951<br />
Perter Ogren<br />
A Hierarchical, Multi-Resolutional Moving Object Prediction Approach for<br />
..<br />
Autonomous On-Road Dnving .......................................................................................................................... 1956<br />
Craig Schlenofl Raj Madhavari and Tonj Barbera<br />
Rearrangement of Multiple Movable Objects - Integration of Global and Local Planning Methodology ........ 1962<br />
Jun Ora<br />
Session: ThA-5<br />
HAPTIC SYSTEMS<br />
Disposal of Explosive Ordnances by Use of a Bimanual Haptic Telepresence System .........................<br />
Alexander Kron, GYnther Schmidt, Bemd Petzold, Michael Zah,<br />
Peter Hinterseer and Eckehard Steinbach<br />
Implementation of a Rate Mode Impedance Reflecting'Teleoperation Controller<br />
on a Haptic Simulation System ........ ..... . 1974<br />
Farid Mobasser and Keyvan<br />
A High Performance 6-DOF Haptic Cobot ........................................................................................................ 1980<br />
Eric L: Faulring, J. Edward Colgate and Michael A. Peshkin<br />
Design and Path Planning of an Encountered-type Haptic Display for Multiple Fingertip<br />
Contacts based on the Observation of Human Grasping Behavior .....<br />
Yasuyoshi Yokokohji, Nobuhiko Muramori, Yuji Sato, Takah<br />
Haptic Interaction with Vitual Environment Using an Arm Type ..................................................................... 1992<br />
wusheng chou, tianriiiao wang and jing xiao<br />
Session: ThA-6<br />
AUTOMATION: MINE: MAPPING: EXCAVATION: <strong>AND</strong> DEMINING<br />
6D SLAM with an Application in Autonomous Mine Mapping ...............<br />
Andreas Nuechter, Hartmut Surmann, Kai Lingentann, Joachim Hertzberg and Sebastian Thrun<br />
A Campaign in Autonomous Mine Mapping<br />
Christopher Baker, Aaron Morris, D<br />
Configuration and Construction of an Autonomous Vehicle for a Mining Task ..<br />
Joaquin Gutierrez, Jose Luis Gordillo and Isidro Lopez<br />
Development of Mechanical Master-Slave Hand for Demining Operation ..........................<br />
. - Naota Furihata and Shigeo Hirose<br />
...................... 1998<br />
.... 2004<br />
.................................. 2010<br />
......... 2017<br />
Robotic System for Humanitarian Demining ..................................................................................................... 2025<br />
Yuki Tojo, Paul0 Debenest, Edwardo Fukushinta and Shigeo Hirose<br />
Session: ThA-7<br />
REHABILITATION ROBOTICS I<br />
STRING-MAN ................................................................................................................................................... 2031<br />
Dragoijub Surdilovic and RoVBernhardt<br />
Development of the Gait Assistant Mobile Robot Using Ergonomic Design .............................. ;..................... 2037<br />
Tong-fin Park, Chang-soo Han. Jung-Soo Han and Ho-Gil Lee<br />
xxviii
Incorporating User Inputs in Motion Planning for a Smart Wheelchair ............................... ...................... 2043<br />
Sarangi P. Parikh, Valdir Grassi Jr., Vijay Kumar and Jun Okamoto Jr.<br />
Curvature Based Hand Shape Recognition for Virtual Wheelchair Control Interface .................<br />
Seong Pal Kang, Michal Tordon and Jayanfha Karupiriya<br />
Control System for a Robotic Walking Simulator .........................................................<br />
Henning Schmidt, Dieter Sorowka, Frank Piorko, Negib Marhoul and RolfB<br />
Session: ThA-8<br />
AUTOMATION: MEDICAL APPLICATIONS I<br />
.............................. 2055<br />
A computational technique for interactive needle insertions in 3D nonlinear material ..................................... 2061<br />
Han-Wen Nienhuys and Frank van der Sfappen<br />
Micro-mano-devices For Controlled Drug Delivery .................................................. .................................. 2068<br />
Mingjun Zhang. Tzyh-Jong Tarn and Ning Xi<br />
Motion Therapy for Persons With Disabilities Using Hidden Markov Model Based Skill Learning ............... 2074<br />
Wentao Yu, Rajiv Dubey and Norali Pernalefe<br />
Effects of Visual Feedback Distortion for the Elderly and the Motor-Impaired<br />
...<br />
in a Robotic Rehabilitation Environment ........................................................................................................... 2080<br />
Bambi Brewer, Roberta Klatzky and Yoky Mafsuoka<br />
A Genetic Algorithm Based Area Coverage Approach for Controlled Drug Delivery using Micro-Robots ..... 2086<br />
WeiMin Tao, Mingjun Zhang and Tzyh-Jong Tam<br />
Session: ThA-9<br />
SPACE ROBOTS I<br />
Accurate Localization in Combination with Planet Observation and Dead Reckoning for Lunar Rover .......... 2092<br />
Yoji Kuroda, Toshiharu Kurosawa, Akiyoshi Tsuchiya and Takashi Kubota<br />
Mobility Performance Evaluation of Planetary Rover with Similarity Model Experiment ............................... 2098<br />
Yoji Kuroda, Teppei Teshima, Yoshinon Sato and Takashi Kubota<br />
Mobile Manipulation using NASA’s Robonaut ................................................................................................. 2104<br />
Roben Ambrose, Robert Savely and Philip Strawser<br />
The Challenges of Extra-Vehicular Robotic Locomotion Aboard Orbiting Spacecraft ..................................... 21 10<br />
Fredrik Rehnmark, Robert Ambrose and Michael Goza<br />
..<br />
Planar space robots with coup~edjoints ............................................................................................................. 21 16<br />
Jaunie Franch and Sunil Agrawal<br />
Session: ThA-10<br />
AGENT <strong>BASED</strong>MULTI ROBOT SYSTEMS I<br />
Volume 3 (Pages 2123-3188)<br />
Reconfigurable Multi-Agent Robots with Mixed Modes of Mobility ................................................................ 2123<br />
Jean-Philippe Clerc and Gloria Wiens<br />
Communication Efficiency in Multi-Agent Systems ......................................................................................... 2129<br />
Mary Bema-Koes, Illah Nourbakhsh and Karia Sycara<br />
xxir
Enabling Intra-Robotic Capabilities Adaptation Using An Organization-Based Multiagent System ................ 21 35<br />
Eric Matson and Scott DeLoach<br />
Reactive Collision Avoidance of Multiple Moving Agents by Cooperation and Conflict Propagation ............ 2141<br />
Madhava Krishna and Henry Hexmoor<br />
Aperiodic Dynamics for AppetitivelAversive Behavior in Autonomous Agents Behavior in Autonomous<br />
Agents ................................................................................................................................................................. 2147<br />
Derek Harter and Robert Kozma<br />
Session: ThA- 11<br />
MULTI LEGGED ROBOTS<br />
Automated Gait Adaptation for Legged Robots .............................................................................. ;.................. 2153<br />
Joel Weingarten, Gabriel Lopes. Martin Buehler, Richard Groff and Daniel Koditschek<br />
Stability of Walking in a Multilegged Robot Suffering Leg Loss . .....<br />
Dirk Spenneberg. Kevin McCullough and Frank Kirchner<br />
Path and Posture Planning for Walking Robots by Artificial Potential Field Method ........................................ 2165<br />
Hiroshi Igarashi and Masayoshi Kakikirra<br />
Omni-Directional Gait of Multi-Legged Rescue Robot ........ .......................................................... 2171<br />
Kenji Kamikawa. Tatsuo Arai, Kenj lnoue and Yasushi Mae<br />
Intelligent Gait Synthesizer for Hexapod Walking Rescue Robots ....................................................<br />
Enire Karalarli, Aydart Erkmen and Ismet Erknien<br />
Session: ThA-12<br />
DISTRIBUTED ROBOT SYSTEMS <strong>AND</strong> APPLICATIONS<br />
Evaluation of Traversability of Wheeled Mobile Robots on Uneven Terrains by Fractal Terrain Model .<br />
Yasuyoshi Yokokohji, Satoshi Cham and Tsuneo Yoshikawa<br />
A Generalized Region-based Approach for Multi-target Tracking in Outdoor Environments ..................<br />
Boyoon Jung and Gaurav Sukhatme<br />
; ....... 2189<br />
. Supervisory Control of a Mobile Robot for Agile Motion Coordination ........................................................... 2196<br />
Zhen Zhang, Nilanjan Sarkar and Xiaoping Yun<br />
Enveloping multi-pocket obstacles with hexagonal metamorphic robots .......................................................... 2204<br />
Jennifer Walter, Mary Brooks, David Little and Nancy Amato<br />
Topological Representation and Analysis Method for Multi-port and<br />
Multi-orientation Docking Modular Robots ....................................................................................................... 2210<br />
Albert KO, T. L. Lau and Henry Y. K. Lau<br />
Session: ThA-13<br />
UNDERACTUATED SYSTEMS<br />
Passive adaptive grasp multi-fingered humanoid robot hand with high under-actuated function ...................... 2216<br />
Wenzeng Zhang, Qiang Chen, Zhenguo Sun and Dongbin Zhao<br />
Nonlinear Control of Mechanical Systems with one Degree of Underactuation ............................................... 2222<br />
Christine Chevallereau, Jessy Grizzle and Claude Moog<br />
XXX
Pure 2D Visual Servo control for a class of under-actuated dynamic systems .................................................. 2229<br />
Tarek Hand and Robert Mahony<br />
Grasp Characteristics of An Underactuated Robot Hand .................................................................................. 2236<br />
Minzhou Luo, Tao Mei, Xiaohua Wang and Yong Yu<br />
Inverse Kinematics-Based Motion Planning for Underactuated Systems .......................................................... 2242<br />
Prasun Choudhury, Benjamin Stephens and Kevin Lynch<br />
Session: ThA-14<br />
AUTOMATION: MANUFACTURING SYSTEMS<br />
A New Method For Tuning PJD Parameters of A 3-DoF Reconfigurable Parallel Kinematic Machine .<br />
Zhiyong Yang and Tian Huang<br />
Performance Optimization of Manufacturing Systems .........................................................................<br />
Fabio Balduui, Marco Ghirardi and Giuseppe Menga<br />
Modeling and Analysis of a Multiple Product Manufacturing System with Split and Merge ........................... 2261<br />
Jingshan Li and Ningjian Huang<br />
Intelligent Diagnosis in Electromechanical Operation Systems ......................................................................... 2267<br />
Shui Yuan, Ming Ge, Hai Qiu, Jay Lee and Yangsherig Xu<br />
Design of Control Programs for Efficient Handling of Errors in Flexible Manufacturing Cells ....................... 2273<br />
Johan Richardson, Kristin Danielsson and Martin Fabian<br />
Session: ThM-1<br />
ROBOT <strong>VISION</strong> APPLICATIONS I1<br />
A Vision System for Detecting Mobile Robots in Office Environments ........................................................... 2279<br />
Kanji Tanaka, Kentaro Yainano, Eiji Kondo and Yoshihiko Kimuro<br />
3D Shape Matching Using Collinearity Constraint ............................................................................................ 2285<br />
Yonghuai Liu, Longzhuang Li and Baogang Wei<br />
Online Motion Classification using Support Vector Machines ............................................................<br />
Dongwei Cao, Oasania Masoud, Daniel Boley and Nikos Papanikolopoulos<br />
Performing Stable 2D Adaptive Visual Positioningfhacking Control<br />
Alessandro Zachi, Liu Hsu and Fernando Lizarralde<br />
. 2291<br />
Without Explicit Depth Measurement ............. ................................................ ...................... 2297<br />
Combining Multiple Tracking Modalities for Vehicle Tracking in Traffic Intersections .................................. 2303<br />
Harini Veeraraghavan and Nikos Papanikolopoulos<br />
Session: ThM-2<br />
HUMAN ROBOT INTERACTION I1<br />
An Innovative High-Level Human-Robot Interaction for Disabled Persons ..................................................... 2309<br />
Phongchai Nilas, Pramila Rani and Nilanjan Sarkar<br />
Metrics for Human Driving of Multiple Robots ................................................................................................. 2315<br />
Dan Olsen, Stephen Ban Wood and Jonathan Turner<br />
A long-term approach to improving human-robot interaction ................ 2321<br />
Elizabeth Sklar<br />
xxxi
Evaluation of Human-Robot Interaction Awareness in Search and Rescue ..... ....... _.. 2327<br />
Jean Scholtz, Jeff Young, Jill Drury and Holly Yanco<br />
Initial Studies in Human-Robot-Human Interaction 2333<br />
Kyle Reed, Michael Peshkin, J. Edward Colgate and James Patton<br />
Session: ThM-3<br />
SENSING <strong>AND</strong> CONTROL FOR UAVS<br />
Visually guided Micro-Aerial Vehicle 2339<br />
Franck Rufler and Nicolas<br />
Flying Insect Inspired Vision for Autonomous Aerial Robot Maneuvers in Near-Earth Environments 2347<br />
William Green, Paul Oh and Geoffrey Barrows<br />
Dynamic Allocation and Control of Coordinated UAVs to Engage Multiple<br />
Targets in a Time-Optimal Manner ..... 2353<br />
Tomonari Furukawa, Hugh Durrant-Whyte, Frederic Bourgault and Gamini Dissanayake<br />
Dynamic Feedback Controller of Euler Angles and Wind parameters<br />
estimation for a Quadrotor Unmanned Aerial Vehicle ....................................................................................... 2359<br />
Abdellah Mokhtari and Abdelaziz Benallegue<br />
Energetics Based Design of Small Flapping Wing Air Vehicles .......... .................................<br />
Rajkiran Madangopal and Zaeem A. Khan<br />
Session: ThM-4<br />
MOBILE ROBOT <strong>NAVIGATION</strong> <strong>AND</strong> PATH PLANNING I1<br />
Angle-Based Methods for Mobile Robot Navigation .................................................................. 1 ...................... 2373<br />
Kostas Bekris, Antonis Argyros and Lydia Kavraki<br />
A Multi-robot Approach to Stealthy Navigation in the Presence of an Observer .............................................. 2379<br />
Ashley Tews, Gaurav Sukhamie and Maja Mataric<br />
Clearance Based Path Optimization for Motion Planning .... ........ ........ ....... 2386<br />
Roland Geraerts and Mark Owmars<br />
Motion Planning for Mobile Robotics Using the Generalized Sigmoid Function ................. ..................... 2393<br />
Kenneth Mclsaac, Jing Ren and Huang Xishi<br />
A point-based POMDP algorithm for robot planning ...................... .................................<br />
Matthijs T.J. Spaan and Nikos Vlassis<br />
Session: ThM-5<br />
BIOMECHANICAL SYSTEMS<br />
Angular Momentum Regulation During Human Walking ................................................................................. 2405<br />
Marko Popovic, Andreas Hofniann and Hugh Herr<br />
Cellular Force Measurement for Force Reflected Biomanipulation ....<br />
Deok-Ho Kim, Byungkyu Kim, Seok Yun and SangJoo Kwon<br />
...... ..........<br />
Alexandre Colot, Gilles Cnprari and Roland Siegwart<br />
xxxii
A 3DOF Exoskeleton for Upper-Limb Motion Assist - Consideration of the<br />
Effect of Bi-Articular Muscles __.<br />
Kazuo Kiguchi and Toshi<br />
........................................................................................................ 2424<br />
The RoboKnee .................................................................................................................................................... 2430<br />
Jerry Prart, Benjamin Krupp, Christopher Morse and Steven Collins<br />
Session: ThM-6<br />
AUTOMATION: TRANSPORTATION<br />
On The Modeling of Robots Operating on Ships ............................................................................................... 2436<br />
Lonnie Love, John Jansen and Francois Pin<br />
Implementation and Control of a Roadway Crack Tracking Mobile Robot with Force Regulation<br />
HyunTaek Cho and Poongwoo Jeon<br />
Cooperative Transportation of a Large Object - Development of an Industrial Application .<br />
Bart Stouten and Aart-Jan de Graaf<br />
2444<br />
............ 2450<br />
On-Board Vision System for Lane Recognition and Front-Vehicle<br />
Detection to Enhance Driver’s Awareness .......... .... 2456<br />
Chung-Jen Chen, Pei-Yung Hsiao, Shih-Shinh Huang and Li-Chen Fu<br />
Decentralized Kinematic Control of Payload Transport by a System of Mobile Manipulators<br />
Chin Pei Tang, Rajankuntar Bhatt and Venkat Krovi<br />
Session: ThM-7<br />
REHABILITATION ROBOTICS I1<br />
.._. 2462<br />
Development of Rehabilitation Robot Systems for Walking-Aid ............... ........................................ 2468<br />
Choon-Young Lee, 11-Kwon Jeong, In-ho Lee, Kap-ho Se0 and Ju-Jang Lee<br />
A Gravity Balancing Leg Orthosis for Robotic Rehabilitation. ......................................................................... 2474<br />
Sai Banala, Surd Agrawal, Abbas Fattah, Katherine Rudolph and John Scholz<br />
Development of Muscle Suit for Upper Limb .................................................................................................... 2480<br />
Hiroshi Kobayashi and Kazuaki Hiramatsu<br />
Development of Straight Style Transfer Equipment for Lower Limbs Disabled ......................... 2486<br />
Yoshikazu Mori, Kazuhiro Takayama and Tatsuya Nakamura<br />
Development of a Clinical Jaw Movement Training Robot for Intermaxillary Traction Therapy 2492<br />
Akihisa Okino, Takahiro hioue, Yu Fiji, Toshihide Nasu, Hideaki Takanobu,<br />
Kayoko Ohtsuki and Masatoshi Ohnishi<br />
Session: ThM-8<br />
AUTOMATION: MEDICAL APPLICATIONS I1<br />
Manipulation in MRI Devices using Electrostrictive Polymer Actuators .......................................................... 2498<br />
John Vogan, Daniel Kacher, Andreas Wingert, Moustapha Hafez,<br />
Jean-Sebastian Plante, Ferenc Jolesz and Steven Dubowsky<br />
A Prototype Master-Slave System consisting of Two MR-Compatible Manipulators<br />
with Interchangeable Surgical Tools ........................ ......................................................................... 2505<br />
Fuji0 Tajima, Kousuke Kishi, Kouji Nishizawa, Kazutoshi Kan, Hiroshi Ishii,<br />
Masakatsu Fujie, Ken-ichi Sudo, Takeyoshi Dohi and Shin-ichi Takamoto<br />
xxxiii
An In Vitro Soft Membranous Model of Individual Human Cerebral Artery<br />
Reproduced with Visco-Elastic Behavior ..............................................................<br />
Seiichi Ikeda, Fumihito Arai, Toshio Fukuda and Makoto Negoro<br />
A Dual Armed Robotic System for Intraoperative Ultrasound Guided Hepatic<br />
Ablative Therapy A Prospective Study ..............<br />
Emad Boctor, Gregory Fischer, Michael Choti, Gabor Fichtinger and Russell Taylor<br />
Model-Based Control of the Mitsubishi PA-IO Robot Arm<br />
Christopher Kennedy and Jaydev Desai<br />
2511<br />
........... 2517<br />
........... 2523<br />
Session: ThM-9<br />
SPACE ROBOTS I1<br />
Development of Autonomous Rover for Asteroid Surface Exploration . 2529<br />
Tetsuo Yoshiniitsu<br />
Towards a Substantially Autonomous.Aerobot for Exploration of Titan .<br />
Alberto Elfes, Jeffery Hall, James Montgomery, Charles Bergh and Brenda Dudik<br />
Optimal Wind-Assisted Flight Planning for Planetary Aerobots<br />
Thomas Kaenipke and Alberto Eves<br />
The operational space control applied to a space robotic manipulator ............<br />
Gianni Ferretti, Giadntonio Magnnni, Paolo Rocco and Luca Vigano'<br />
Robust component synthesis vibration suppression for maneuver of flexible spacecraft<br />
Jinjun Slzan and Dong Sun<br />
Session: ThM-10<br />
AGENT <strong>BASED</strong>/MULTI ROBOT SYSTEMS I1<br />
....... ........... 2535<br />
........... 2542<br />
............................................ 2550<br />
...... ~ ..................... 2556<br />
A Real-Time Task-Oriented Scheduling Algorithm for Distributed Multi-Robot Systems ............................... 2562<br />
Peijiang Yuan, Mehrdad Moallem and Rajni Pate1<br />
Modeling.Mutiple Robot Systems for Area Coverage and Cooperation ......... : .................................................. 2568<br />
Jindong Tan, Ning Xi, Weihua Sheng and Jizhong Xiao<br />
Sharing Inen'ia Load Between Multiple Robots with Active Compliant<br />
Grippers Using Trajectory Pre-Shaping ............................................................................................................. 2574<br />
Jing Zhang, Ron Luniia. Greg Starr and John Wood<br />
Attractor dynamics generates robot formations ............................. : .................................................................... 2582<br />
Sergio Monteiro, Miguel Vaz and Estela Bicho<br />
Directional Audio Beacon Deployment ............................................................................................................. 2588<br />
Dylan Shell and Maja Mataric<br />
Session: ThM-11<br />
QUADRUPED ROBOTS<br />
Experimentally.Validated Bounding Models for the Scout Il Quadrupedal Robot ............................................ 2595<br />
Ioannis Poulakakis, James Andretv Smith and Martin Buehler<br />
Stable Quadrupedal Running based on a Spring-Loaded Two-segment Legged Model .................................... 2601<br />
Zu Guang Zhang, Yasuhiro Fukuoka and Hiroshi Kimura<br />
xxxiv
Stability Analysis of Quadruped Bounding with Asymmetrical Body Mass Distribution ................................. 2607<br />
Hong Zou<br />
Dynamic Turning Control of a Quadruped Robot using Oscillator Network ..................................................... 2613<br />
Katsuyoshi Tsujita, Hiroomi Toui and Kazuo Tsuchiya<br />
Policy Gradient Reinforcement Learning for Fast Quadrupedal Locomotion ................................................... 261 9<br />
Nate Kohl and Peter Stone<br />
Session: ThM-12<br />
LEARNING TECHNIQUES<br />
Modelling and Controlling Uncertainty in Optimal Disassembly Planning<br />
through Reinforcement Learning ..... ............. ...................................................................<br />
Spyros Reveliotis<br />
Dynamic Assembly Sequence Selection Using Reinforcement Learning .......................................................... 2633<br />
Gordon Lowe and Bijan Shirinzadeh<br />
A Novel Dynamic Priority-Based Action-Selection-Mechanism Integrating a Reinforcement Learning ...<br />
I1 Hong Suh, Min Jo Kim, Sanghoon Lee and Byung Ju Yi<br />
Learning Composite Adaptive Control for a Class of Nonlinear Systems .. 2647<br />
Jun Nakanishi, Jay Farrell and Stefan Schaal<br />
Convergence Analysis for a Class of Skill Learning Controllers .. .......... ...... .... 2653<br />
Yongsheng Ou and Yangsheng Xu<br />
Session: ThM-13<br />
FLEXIBLE <strong>AND</strong> ELASTIC JOINT ROBOTS<br />
A Passivity Based Cartesian Impedance Controller for Flexible Joint Robots - Part I ...................................... 2659<br />
Christian On, A h Albu-Schaffer, Andreas Kugi, Stefano Stramigioli and Gerd Hirzinger<br />
A Passivity Based Cartesian Impedance Controller for Flexible Joint Robots - Part II ..................................... 2666<br />
Alin Albu-Schaeffer, Christian Ott and Gerd Hirzinger<br />
Multi-DOF Flexible Robot base on Tongue ....................................................................................................... 2673<br />
Hideaki Takanobu, Tadayoshi Tandai and Hirofumi Miura<br />
CMAC Adaptive Control of Flexible-Joint Robots using Backstepping with Tuning Functions ...................... 2679<br />
Chris Macnab, Gabriele D’Eleuterio and Max Meng<br />
Regulation with on-line gravity compensation for robots with elastic joints ..................................<br />
Loredana Zollo, Alessandro De Luca and Bruno Siciliano<br />
Session: ThM-14<br />
AUTOMATION: SUPPLY CHAINS<br />
Achieving Reliable Delivery in Supply Chains ..........................<br />
Danqing Yu and Peter Luh<br />
A Conceptual and Analytical Framework for the Management of Risk in Supply Chains ................................ 2699<br />
Roshan Gaonkar and Viswanadham Nukala
Distributed Supply Chain Planning System for Several Companies using a new<br />
Augmented Lagrangian Relaxation .................................................................................................................... 2705<br />
Tatsushi Nishi, Ryuichi Slzinozaki and Masami Konishi<br />
A Multiobjective Optimization Method for Strategic Sourcing and Inventory Replenishment ......................... 271 1<br />
Hongwei Ding, Lyes Benyoucef and Xiaolan Xie<br />
Efficient Algorithms for Load Shuffling in Split-Platform AS/RS .................................................................... 2717<br />
Ya-Hong Hu, Wen-Jing Hsu andXiang Xu<br />
Session: ThE-I<br />
ROBOT <strong>VISION</strong> APPLICATIONS 111<br />
Efficient View-Dependent LOD Control for Large 3D Unclosed Mesh Models of Envirionments .....<br />
Jie Feng and Hongbin Zha<br />
Effective Comer Matching Based on Delaunay Triangulation .<br />
- Dongxiang Zhou, Ganhua Li and Yunhui Liu<br />
hree Dimensional Measurement of Object's Surface in Water Using the Light Stripe Projection Method<br />
Atsushi Yamashita, Hirokazu Higuchi, Toru Kaneko and Yoshirnasa Kawata<br />
Developing sensorimotor behavior with a'network of spiking neurons. ...<br />
David Northmore<br />
A Configuration Space for Permutation-Invariant Multi-robot Formations .<br />
Stephen Kloder, Sourabh Bhartacharya and Seth Hutchison<br />
2730<br />
2742<br />
... 2746<br />
Session: ThE-2<br />
HUMAN ROBOT INTERACTION III<br />
Interface Lessons for Fully and Semi-Autonomous Mobile Robots ........<br />
Aaron Sreinfdd<br />
.... 2752<br />
Experimental Study on Interaction between a Rat and a Rat-robot Based on Animal Psychology ................... 2758<br />
Hiroyuki Ishii, Toniohide Aoki, Masaki Nakasuji, Hiroyasu Miwa and Atsuo Takanishi<br />
Decision Making for Remote Robotic Operations ............................................................................................. 2764<br />
Peter March, Ross Taylor, Chetan Kapoor and Delbert Tesar<br />
Evaluation of Human Sense of Security for Coexisting Robots using Virtual Reality -1st report .....<br />
Sen' Nonaka, Kenji Inoue, Tatsuo Arai and Yasushi Mae<br />
Virtualized Reality Interface for Tele-Micromanipulation .._._ ......................................................... 2176<br />
Mehdi Ammi, Antoine Ferreira and Jean-Guy Foiitaine<br />
Session: ThE-3<br />
MODELING<br />
Pattern Formation Theory for Electroactive Polymer Gel Robots ..................................................................... 2782<br />
Mihoko Otake, Yoshihiko Nakamura and Hirochika houe<br />
Input Preshaping Control of the safe arm with MR-based Passive Compliant Joints ........................................ 2788<br />
Seung-kook Yun, Sungchul Kang. Seong-Sik Yoon and Munsang Kim<br />
Static Single-Ann Force Generation with Kinematic Constraints ..................................................................... 2794<br />
PENG PAN, Kevin Lynch, Michael Peshkin and Edward Colgare<br />
xxxvi
A Mobility Analysis Method of Closed-Chain Mechanisms with<br />
Over-constraints and Non-holonomic Constraints ...................................... ....... 2801<br />
Kiyoung Choi and Byung-Ju Yi<br />
Study on Slime Robot (Development of the mobile robot prototype model using Bridle Bellows)<br />
Takeshi Aoki, Akiyoshi Ochiai and Sigeo Hirose<br />
Session: ThE-4<br />
PATH PLANNING TECHNIQUES<br />
Multi-Objective Decision-Theoretic Path Planning .............................................................. 2814<br />
Abdel-Illah Mouaddib<br />
Robust Motion Planning using Markov Decision Processes and Quadtree Decomposition __._..<br />
Julien Burlet, Olivier Aycard and Thierry Fraichard<br />
Path Planning for Minimal Energy Curves of Constant Length .................... ............................. . 2826<br />
Mark Mark Moll and Lydia Kavraki<br />
A New Sensor-Based Path-Planning Algorithm whose Path Length is Shorter on the Average<br />
Hiroshi Noborio, Ryo Nogami and Satoru Hirao<br />
PAO* for Planning with Hidden State ...............................................<br />
Dave Ferguson, Anthony Stentz and Sebastian Thrun<br />
Session: ThE-5<br />
BIOROBOTICS<br />
Single Cell Trap on a Chip Using In-situ Microfabrication with Photo-Crosslinkable<br />
Resin and Thermal Gelation ........<br />
Akihiko Ichikaiva, Fumihi<br />
Investigating Protein Structure with a Microrobotic System .................<br />
Yu Sun, Michael Greminger and Bradley Nelson<br />
.......................................................<br />
a, Toshio Fukuda and Tohoru Ka<br />
Development of Autonomous Robotics Technology for the Study of Rat Pups .........<br />
Sanjay Joshi, Jeffrey Schank, Nicolas Giannini, Lisa Hargreaves and Randall Bish<br />
A “Somatic Alphabet” Approach to “Sensitive Skin” ...........<br />
Walter Dan Stiehl, Levi Lalla and Cynthia Breazeal<br />
Mechanized Cockroach Footpaths Enable Cockroach-like Mobility ..........................<br />
Matthew Boggess, Robert Schroer, Roger Quinn and Roy Ritmann<br />
Session: ThE-6<br />
RECONFIGURABLE ROBOTS<br />
........... 2832<br />
.......... 2840<br />
....... ....... 2854<br />
................... 2860<br />
................................ 2865<br />
Docking Among Independent and Autonomous CONRO Self-Reconfigurable Robots ..................... 2877<br />
Mike Rubenstein, Kenneth Payne, Peter Will and Wei-Min Shen<br />
Self-reconfigurable robots topodynamic ...... 2883<br />
Samir Saidani<br />
Stochastic Self-Reconfigurable Cellular Robotics ..... .............................................. ................. 2888<br />
Paul White<br />
2871<br />
xrrvii
Kinematic Model and Metrology System for Modular Robot Calibration ....................... 2894<br />
Mitchell W. Pryor and Delbert Tesar<br />
Toward Magnetically-Coupled Reconfigurable Modular Robots 2900<br />
Sean Patterson, Kenneth Knowles and Bradley Bishop<br />
Session: ThE-7<br />
HYBRID SYSTEMS <strong>AND</strong> CONTROL<br />
Enhanced hybrid control of a rotational flexible beam with nonlinear differentiator and PZT actuators ..<br />
Dong Sun, Jinjun Shan, Yuxin Su and Hugh H. T. Liu<br />
Infinite Dimension System Approach for Hybrid ForcePosition Control in Micromanipulation 2912<br />
Yantao Shen, Ning Xi, Uche Wejiiiya, Wen J. Li and Jizhong Xiao<br />
Hybrid HMWSVM Model for the Analysis and Segmentation of Teleoperation Tasks .....................<br />
Andrea Castellani, Debora Botturi, Manuele Bicego and Paolo Fiorini<br />
Modeling and Analysis of Perceptive Robot Controller Based on Hybrid Automata ........................................ 2924<br />
Yu Sun, Ning Xi and Yuechao Wang<br />
An Hybrid Representation Well-Adapted to the Exploration of Large Scale Indoors Environments ................ 2930<br />
Alessanciro Corr6a Victorino and Patrick Rives<br />
Session: ThE-8<br />
ROBOT FINGERS<br />
Why Does Surplus DOF of Robot Fingers Enhance Dexterity of Object Manipulation? ....... ...................... 2936<br />
Suguru Arimoto, Ji-hun Bae, Hiroe Hashiguchi and R.vuta Ozawa<br />
Characterizing the Dynamic Deformation of Soft Fingertips and Analyzing<br />
Its Significance for Multi-Fingered Operations ................................................................ ............................. 2944<br />
Byoung-Ho Kim and Shinichi Hirai<br />
Motion Planning of Robot Fingertips for Graspless Manipulation ....................................................................<br />
Yusuke Maeda, Toniohisa Nakamura and Tamio Arai<br />
Rotational Contact Model of Soft Fingertip for Tactile Sensing ........................ .......................................... 2957<br />
Takahiro lnoue and Shinichi Hirai ...<br />
Computational Models of Predicting the Deflected Shape of a Non-Uniform, Flexible Finger ........................ 2963<br />
Xuecheng Yin, Kok-Meng Lee and Chao-Chieh Lan<br />
295 I<br />
Session: ThE-9<br />
SPACE ROBOTS Ill<br />
Multisensory Gripper and Local Autonomy of Extravehicular Mobile Robot ....................<br />
Yang Liu, Tao Mei, Bin Liang and Xiaohua Wang<br />
....................... 2969<br />
State, Shape, and Parameter Estimation of Space Objects from Range Images ................................................. 2974<br />
Matthew Lichter and Steven Dubowsky<br />
Testing and Evaluation of An Automated Tether Management System for<br />
...<br />
Microgravity Extravehicular Activltres .............................................................................................................. 2980<br />
Christopher Hirschi and Minor Mark<br />
xxxviii
Hopping Direction Controllability for Small Body Exploration Robot ......................... ....... 2987<br />
Shingo Shimoda, Andreas Wingert, Kei Takahashi, Takashi Kubota and Ichi<br />
Utility-based plan insertion for continuous resources ..........................................................<br />
Richard Washington and David Lees<br />
Session: ThE-10<br />
MULTI AGENT SYSTEMS: CONTROL METHODS<br />
Nonsmooth analysis and sonar-based implementation of distributed coordination algorithms ... 3000<br />
Craig Robinson, Daniel Block, Sean Brennan, Francesco Bull0 and Jorge Cones<br />
Flocking with Obstacle Avoidance in Switching Networks of Interconnected Vehicles ... ........................... 3006<br />
Herbert Tanner<br />
Decentralized Feedback Stabilization of Multiple Non-Holonomic Agents ...................................................... 3012<br />
Savvas Loizou, Dimos Dimarogonas and Kostas Kyriakopoulos<br />
Autonomous Initialization of Robot Formations ...<br />
Mathieu Lemay, Francois Michaud, Domi<br />
....................................................................<br />
tourneau and Jean-Marc Valin<br />
Development and Deployment of a Line of Sight Virtual Sensor for Heterogeneous Teams ............. ... 3024<br />
Robert Grabowski, Pradeep Khosla and Howie Choset<br />
Session: ThE-11<br />
BIPED LOCOMOTION<br />
A Simple Reinforcement Learning Algorithm For Biped Locomotion ................................................<br />
Jun Morimoto, Gordon Cheng, Christopher Atkeson and Garth Zeglin<br />
An Empirical Exploration of a Neural Oscillator for Biped Locomotion Control .....<br />
Gen Endo, Jun Morinioto, Jun Nakanishi and Gordon Cheng<br />
Turning Control of a Biped Locomotion Robot using Nonlinear Oscillators ................<br />
Shinya Aoi, Kazuo Tsuchiya and Katsuyoshi Tsujita<br />
... 3036<br />
........... 3043<br />
Passive Trajectory Control of the Lateral Motion in Bipedal Walking ........................ . 3049<br />
Masahiro Doi, Yasuhisa Hasegawa and Toshio Fukuda<br />
Realization of Dynamic Human-Carrying Walking by a Biped Locomotor .......... 3055<br />
Yusuke Sugahara, Takuya Hosobata, Yutaka Mikuriya, Hiroyuki Sunazuka,<br />
Hun-Ok Lim and Atsuo Takanishi<br />
Session: ThE-12<br />
ADAPTIVE CONTROL<br />
Adaptive force-motion control of coordinated robots interacting with<br />
geometrically unknown environments ............................................. ...... ... 3061<br />
Mehrzad Namvar and Farhad Aghili<br />
Adaptive Cartesian motion control approach for a surgical robotic cameraman .<br />
Victor F. Munoz-Martinez, Isabel Garcia-Morales, Jesus Morales-Rod<br />
Jesus Fernandez-Lozano and Jesus Gomez-DeGabriel<br />
Approximate Jacobian Adaptive Control for Robot Manipulators .......... ....................................................... 3075<br />
Chien Chern Cheah, Chao Liu and Jean-Jacques E Slotine<br />
xxxix
Adaptive Joint Friction Compensation Using a Model-Based Operational Space Velocity Observer ............... 3081<br />
Qing Hua Xia, Ser Yong Lim, Marcelo H Ang Jr and Tao Ming Lim<br />
Fast Three-DOF Control for Multi-DOF Ultrasonic Servo Motor by Online Adaptation ................................. 3087<br />
Hiroshi Kawano, Hideyuki Ando and Tatsuya Hirahara<br />
Session: ThE- 13<br />
OMNIDIRECTIONAL ROBOTS<br />
Isotropy Analysis of Caster Wheeled Omnidirectional Mobile Robot ............................................................... 3093<br />
Sungbok Kim and Hyunggi Kim<br />
An Algorithm for Optimal Gait Generation for Level Ground Walking of an Omnidirectional Hexapod ........ 3099<br />
Ani01 Arun Durge and K. Kurien Issac<br />
Ominidirectional vision using conformal geometric algebra ............................................................................ 3105<br />
Carlos Lopez and Eduardo Bayro-Corrochano<br />
Development of VmaxCarrier2 .......................................................................................................................... 31 11<br />
Kenjiro Tadakrmia. Riichiro Tadakuma and Shigeo HIROSE<br />
Frequency Shape Control of Omni-directional Wheelchair to Increase User’s Comfort ................................... 31 19<br />
Kazuhiko Terashimn, Hideo Kitagawa, Takanori Miyoshi and Juan Urbano<br />
Session: ThE-14<br />
SCHEDULING <strong>AND</strong> DISASSEMBLY<br />
Adaptive Lot/Equipment Matching Strategy and GA Based Approach for Optimized<br />
Dispatching and Scheduling in a Wafer Probe Center ....................................................................................... 3 125<br />
Tsung-Clie Chiang, Yi-Shiuan Shen and Li-Chen Fu<br />
Solving the FMS Scheduling Problem by Critical Ratio-Based Heuristics and the Genetic Algorithm ............ 3131<br />
Tsung-Clie Chiang and Li-Chen Fu<br />
Adaptive Model Objects for Robot Related Applications of Product Models ................................................... 3137<br />
Laszlo Honiath, Inire J. Rudas, Janos F. Bito andAniko Szakal<br />
An Effective FMS Deadlock Prevention Policy Based on Elementary Siphons ................................................ 3143<br />
Zliiwu Li and MengCliu Zhou<br />
An Iterative Diffusion Algorithm for Part Disassembly ..................................................................................... 3149<br />
Etienne Ferre and Jean-Paul Laumond<br />
.Session: ThP-1<br />
RANGE SENSING<br />
Flying Laser Range Finder and its data registration algorithm .........<br />
Yuicliiro Hirota, Tomohito Masuda, Ryo Kurazunie, Kazuhide Hasegawa and Katsushi lkeuchi<br />
.._. 3155<br />
Prototype Range Finder Using an Image Sensing Device with Electronic Pattern Masks .... ; ............................ 3161<br />
Jun Masaki, Nobuhiro Okada and Eiji Kondo<br />
A Compact Range Image Sensor Suitable for Robots ...............................<br />
Kazunori Umeda<br />
Pose Invariant, Robust Feature Extraction From Range Data With a Modified Scale Space Approach ........... 3173<br />
Fan Tang, Martin Adants, Javier Ibanez-Guzman and Wijerupoge Sardha Wijesonia<br />
XI
Temporal Range Registration for Unmanned Ground and Aerial Vehicles ....................................................... 31 80<br />
Raj Madhavan, Tsai Hong and Elena Messina<br />
Volume 4 (Pages 3189-4246)<br />
Session: ThP-2<br />
HUMANOID <strong>BASED</strong> MOTION CONTROL <strong>AND</strong> SPEECH PRODUCTION<br />
Integrated Motion Control for Walking, Jumping and Running on a Small Bipedal Entertainment Robot ....... 3189<br />
Ken’ichiro Nagasaka, Yoshihiro Kuroki, Shin’ya Suzuki, Yoshihiro ltoh and Jin’ichi Yamaguchi<br />
Planning Humanoid Motions with Striding Ability in a Virtual Environment ......................... ........... 3195<br />
Tsai-Yen Li and Pei-Zhi Huang<br />
Design of the Continuous Symbol Space for the Intelligent Robots using the<br />
Dynamics-based Information Processing .._..<br />
Masafumi Okada and Yoshihiko Nak<br />
................................................................................................. 3201<br />
Integrated System Software for HRP2 Humanoid ............................................................................................. 3207<br />
Kei Okada, Takashi Ogura, Atsushi Haneda, Daisuke Kousaka, Hiroyuki Nakai,<br />
Masayuki Inaba and Hirochika h ue<br />
Speech Production of an Advanced Talking Robot based on Human Acoustic Theory<br />
Kazufumi Nishikawa. Hideaki Takanobu, Takemi Mochida, Masaaki Honda and Atsuo Takanishi<br />
Session: ThP-3<br />
SYSTEM DYNAMICS<br />
Computation of Multi-Rigid-Body Contact Dynamics ...................................................................................... 3220<br />
Tong Liu and Michael Yu Wang<br />
A Modular Dynamic Simulation Algorithm for Complex Robot Systems ................ . 3226<br />
Clifford Bonaventura and Kathryn Jablokow<br />
Study of Effect of Cable Yielding in Cable-Driven Robotic System ......................... ...... ........... 3234<br />
Xiaolei Yin and Alan Bowling<br />
Rimless Wheel with Radially Expanding Spokes .................................................................... 3240<br />
Jin Yan and Sunil K. Agrawal<br />
Introducing robotic origami folding .. .......................................................................................................<br />
Devin Balkcom and Matthew Mason<br />
Session: ThP-4<br />
MOTION <strong>AND</strong> PATH PLANNING<br />
Incrementally Reducing Dispersion by Increasing Voronoi Bias in RRTs ........................................................ 325 1<br />
Stephen Lindemann and Steven LuValle<br />
Augmenting RRT-Planners with Local Trees .................................................................................................... 3258<br />
Morten Strandberg<br />
Complete Path Planning for a Planar 2-R Manipulator with Point Obstacles .................................................... 3263<br />
G.F. Liu, J.C. Trinkle and R.J. Milgram
Motion Generation for a Tumbling Robot Using a General Contact Model 3210<br />
Juflrtita Albro and James Bobrow<br />
Geometric Motion Planning and Formation Optimization for a Fleet of<br />
Nonholonomic Wheeled Mobile Robots ......... 3216<br />
Rajankumar Bhatt, Chin Pei Tang and Venkat Krovi<br />
Session: ThP-5<br />
BIOLOGICALLY INSPIRED ROBOT SYSTEMS<br />
A SMA Actuated Artificial Earthworm 3282<br />
Arianna Menciassi, Samuele Gorini, Giuseppe Pemorio and Paolo Dario<br />
Comparing Cockroach and Whegs Robot Body Motions .......... ......... .... 3288<br />
Robert T. Schroer, Matthew J. Boggess, Richard J. Bac<br />
Roger D. Quinn and Roy E. Ritzmann<br />
Energy-Time-Efficient Adaptive Dispatching Algorithms for Ant-Like Robot Systems __.. ......... 3294<br />
H. Jacky Chang, C. S. George Lee, Yung-Hsiang Lu and C. Charlie Hu<br />
Free-flight analysis of flapping flight during turning by fluid-structure interaction<br />
finite element analysis based on arbitrary Lagrangian-Eulerian method ........ ......... 3300<br />
Masaki Hamantoto, Yoshiji 0hta;Keita Hara and Toshiaki Hisada<br />
Learning User Models of Mobility-Related Activities Through Instrumented Walking Aids ........................... 3306<br />
Jared Glover, Sebastian Thrun and Judith T. Marthews<br />
Session: ThP-6<br />
MOBILE ROBOT PLATFORMS<br />
Fault Tolerant Kinematic Control of Platoons of Autonomous Vehicles 3313<br />
Giartliica Antonelli and Stefan0 Chiaverini<br />
A Robotic Platform for Testing Moth-Inspired Plume Tracking Strategies ....................................................... 3319<br />
Admi Rutkowski, Shaun Edwards, Mark Willis, Roger Quinn and Gregory Causey<br />
3D Global and Mobile Sensor Data Fusion for Mobile Platform Navigation . ......<br />
Peter Steinhaus, Mar& Walther, Bjorn Giesler arid Riidiger Dillina<br />
Forward and Backward. Motion Control of Personal Riding-type Wheeled Mobile Platform . 3331<br />
Makiko Sasaki, Naoto Yanagihara, Osamu Matsumoto and Kiyoshi Komoriya<br />
Time-Scaled Coordination of Multiple Manipulators ........................ ..................................... 3331<br />
Srinivas Akella and Jufeng Peng<br />
. Session: ThP-7<br />
ARCHITECTURES OF NETWORKED ROBOTICS <strong>AND</strong> APPLICATIONS<br />
Multi-Robot Formations ... ........... ..... ............. ........ 3345<br />
Shuzhi Sam Ge, Cli Fua an ng<br />
.Web-Based Robotic Control System with Flexible Framework ........... ......... ............ ........ 3351<br />
Dongyao Wang, Xudorig Ma arid Xianzhorig Dai<br />
A Distributed Architecture for Internet Robot ................................. .................................................. 3351<br />
Xueqiao Hou and Jianbo Su<br />
xlii
New Approaches to Internet Based Intelligent Robotic System ..... ........... ............................ 3363<br />
Xueqiao Hou and Jianbo Su<br />
Formations for Localization of Robot Network<br />
Fan Zhang, Ben Grocholsky and Vijay<br />
3369<br />
Session: ThP-8<br />
ROBOT H<strong>AND</strong>S<br />
The ACT Hand .......... ............ ..... 3375<br />
Michael Vande Weghe, Matthew Rogers, Michael Weissert and Yoky Matsuoka<br />
Muscle Actuator Design for the ACT Hand ........ ......... 3380<br />
Nick Gialias and Yob Matsuoka<br />
The Development of POSTECH Hand 5 ............................................................................................................ 3386<br />
Juhyoung Lee, Youngil Youm and Wankyun Chung<br />
Load-Sensitive Continuously Variable Transmission for Robot Hands<br />
Takeshi Takaki and Toru Omata<br />
High Performance DSP/FPGA controller for implementation of DLR-HIT Dexterous Robot Hand<br />
Ping He, Yiwei Liu, Hegao Cai, Nikolaus Seitz, Joerg Butterfass, Gerd Hirzinger and Hong Liu<br />
Session: ThP-9<br />
ROBOT SOFTWARE TOOLS <strong>AND</strong> ARCHITECTURES<br />
..............<br />
3397<br />
A Language for Modeling and Programming Cooperative Control Systems<br />
Eric Klavins<br />
3403<br />
Software Approach for the Autonomous Inspection Robot MAKRO ................................................................ 341 1<br />
Hennann Streich and Oliver Adria<br />
A Learning Market Based Layered Multi-robot Architecture<br />
Lin Liu, Lei Wang, Zhiqiang Zheng and Zengqi Sun<br />
3417<br />
Integrating Robotics Software ............... .................... ...... ........ ......... 3423<br />
Antonio C. Dominguez-Brito, D<br />
Jose Isern-Gonzalez and Jorge Cabrera-Gamez<br />
“May You Have a Strong (-Typed) Foundation”, Why Strong-Typed Programming Languages Do Matter .... 3429<br />
Nicola Tomatis, Roberto Brega, Gabrio Rivera and Roland Siegwart<br />
Session: ThP-10<br />
MULTI ROBOT COOPERATION <strong>AND</strong> COORDINATION<br />
Robust Multirobot Coordination in Dynamic Environments ............. ............. ............... 343s<br />
M. Bernardine Dias, Marc Zinck, Robert Zlot and Anthony Stentz<br />
Coaching a Robot Collective .......... 3443<br />
Marc Perron and Ho<br />
A Distributed Architecture for Executing Complex Tasks with Multiple Robots<br />
Topi Maenpaa, Antti Tikanmaki. Jukka Riekki and Juha Roning<br />
Semi-autonomous Reconfiguration of Wheeled Mobile Robots in Coordination ......................<br />
Yoshio Yamamoto, Yoshihisa Hiyama and Akira Hujita<br />
xliii<br />
3449
Limited Communication, Multi-Robot Team Based Coverage ..............................<br />
Ioanriis Rekleitis, Vincent Lee-Shue, Ai Peng New and Howie Choset<br />
Session: ThP- 1 1<br />
SYSTEMS <strong>AND</strong> COMPONENT DESIGN FOR SERVICE <strong>AND</strong> RESCUE ROBOTS<br />
An Interactive Interface for Service Robots ..........<br />
E h Topp. Danica Kragic, Patric Jensfelt and Henrik Christensen<br />
An interactive driver assistance system monitoring the scene in and out of the vehicle ......................... ; .......... 3475<br />
Lars Petersson. Luke Fletcher, Nick Barnes and Alexander Zelinsky<br />
A Novel Actuated Tether Design for Rescue Robots Using Hydraulic Transients .......................................<br />
Douglas Perrin, Albert Kwon and Robert Howe ..<br />
Trajectory Arrangement based on Resistance Force and Shape of Pile at Scooping Motion .......................<br />
Shigeru Sarata, Hisashi Osunii, Yoshihiro Kawai and Fumiaki Tomita<br />
Robots on Self-organizing Knowledge Networks ..... 3494<br />
Nak Young Chong, Hiroshi Hongu, Manabu Miyazaki, Koji Takemura and Kenichi Ohara<br />
. Session: T~PI 12<br />
LEARNING <strong>AND</strong> ADAPTIVE CONTROL APPLICATIONS<br />
PD-Type Iterative Learning Control for Trajectory Tracking of a<br />
Pneumatic X-Y Table with Disturbances .. 3500<br />
Chili-Keng Chen and James Hwarig<br />
Design of an Anthropomorphic Robot’Head for Studying Autonomous Development and Learning 3506<br />
Hyundo Kim, George York, Greg Burton, Erik Murphy-Chutorian and Jochen Triesch<br />
An SVM Learning Approach to Grasping .... 3512<br />
Rnphnel PelossoJ Andrew Miller, Peter Alien and Tony Jebara<br />
Interactive Grasp Learning Based on Human Demonstration 3519<br />
Staffan Ekvall and Dariica Kragic<br />
tion Control of Uncertain Nonholonomic Mechanical Systems Including Actuator<br />
..................................... 3525<br />
Chartdrn Mouli Anupoju, Chun-Yi Su and Mnsahiro Oya<br />
Session: ThP- 13<br />
ENVIRONMENTAL ROBOTS<br />
The Artificial Ecosystem .................................................................................................................................... 3531<br />
Antonio Sgorbissa and Renato Zaccaria<br />
Adaptive Sampling for Environmental Robotics ................................................................................................ 3537<br />
Mohaniniad Rahimi<br />
Automated Damage Diagnosis and Recovery for Remote Robotics .................................................................. 3545<br />
Josh Bongard and Hod Lipsoii<br />
Design of a High-Impact Survivable Robot ....................................................................................................... 3551<br />
Daniel O’Hallornn, Aion Wolfand Howie Choset<br />
xliv
Methods and Experiments for hazardous area activities using a multi-robot system ......................................... 3559<br />
Frank E. Schneider. Mark Moors and Dennis Wildemuth<br />
Session: ThP- 14<br />
ASSEMBLY<br />
Generating Products For Robotic Assembly _ _ ............ ......... ....................... 3565<br />
Gordon Lowe and Bijan Shirinzadeh<br />
An Admittance Design Method for General Spatial Parts Mating 3571<br />
Masayuki Shimizu and Kazuhiro Kosuge<br />
Admittance Selection for Force-Guided Assembly of Polyhedral Parts in Single-Point Contact ...................... 3577<br />
Shuguang Huang and Joseph Schbnmels<br />
Automatic verification of contact states taking into account manipulator constraints ....... ....................... 3583<br />
Wim Meeussen, Jing Xiao, Joris De Schutter, Herman Bruyninckx and Emesto Stafferti<br />
On the Representation of Contact States Between Curved Objects ......... 3589<br />
Qi Luo, Ernesto Stafferti and Jing Xiao<br />
Session: FA-1<br />
UNMANNED AERIAL VEHICLES I<br />
Modelling the Draganflyer four-rotor helicopter 3596<br />
PIiillip McKerrow<br />
Autonomous Deployment and Repair of a Sensor Network using an Unmanned Aerial Vehicle<br />
Peter Corke, Stefan Hrabar, Ron Peterson, Daniela Rus and Srikanth Saripalli<br />
3602<br />
Vibration Isolation for Autonomous Helicopter Flight ...... ....... ........ ............ 3609<br />
Matthew Dunbabin, Stephen Brosnan, Jonathan R<br />
Design specifications for an unmanned VTOL .......... ............... ....... 3616<br />
Polyhronis Spanoudakis, Nikos Tsourveloudis and Kimon Valavanis<br />
A Distributed tasks allocation scheme in multi-UAV context. . ............... .......... 3622<br />
Thomas Lemaire. Rachid Alami and Simon Lacroix<br />
Session: FA-2<br />
ACTUATORS I<br />
Design and Testing of a Prototype Transmission-Based Robot Servoactuator 3628<br />
William R. Hamel and Sewoong Kim<br />
Minimizing Air Consumption of Pneumatic Actuators in Mobile Robots ..... .............. 3634<br />
Grzegorz Granosik and Johann Borenstein<br />
Design and Seek Control of a Disc Drive Actuator with Nonlinear Magnetic Bias _ _<br />
Ryan Rarliff and Prabhakar Pagilla<br />
A Vast DOF Robotic Car Seat Using SMA Actuators with a Matrix Drive System ......... 3647<br />
Kyu Jin Cho, Binayak Roy, Stephen Mascaro and H. Harry Asada<br />
Experimental Results for Nonlinear Flexure Control using Shape Memory Alloy Actuators 3653<br />
M. Moallem<br />
r Co<br />
xlv
Session: FA-3<br />
PARALLEL ROBOTS <strong>AND</strong> MANIPULATORS I<br />
A general approach for optimal kinematic design of parallel manipulators ...........................................<br />
Yunjiang Lou, Guanfeng Liu, Jijie Xu and Zexiang Li<br />
General solution for the dynamic modeling of parallel robots ............................................... . 3665<br />
Wisama Khalil and Ouarda Ibrahim<br />
A rotary parallel manipulator ................... ....... ..... 367 1<br />
Farrokh Janabi-Sharifi and Bops Shchokin<br />
Dynamic Modeling and Robust Controller Design of a Two-Stage Parallel Cable Robot 3678<br />
So-ryeok Oh, Kalyan Mankala, Sunil Agrawal and James Albus<br />
4R and 5R Parallel Mechanism Mobile Robots .... 3684<br />
Tasuku Yamawaki, Toru Omata and Osamu Mori<br />
Session: FA-4<br />
TELEOPERATION I<br />
Performance Evaluation of Task Control in Teleoperation<br />
Debora Botruri, Andrea Casrellani, Daoide<br />
Performance of robotic teleoperation system with fl<br />
Paolo Fiorini<br />
Enhanced Teleopertion for D&D ....................................................................................................................... 3702<br />
Hyosig Kang, Thomas Ewing, Eric Faulring, J. Edward Colgate and Michael Peshkin<br />
Improving Teleoperation .................................................................................................................................... 3708<br />
Brian DeJong, Edward Colgate and Michael Peshkin<br />
Toward On-line Transition to Autonomous Teleoperation from Master-slave Manipulation ........................... 3715<br />
Tsutomu Hasegawa, Korisuke Nakagawa and Kouji Mrirakami<br />
Session: FA-5<br />
BEHAVIOR ROBOTICS I<br />
Teaching Robot to Coordinate its Behaviours ...................................... ......................................................... 3721<br />
Dongbing Gu and Huosheng Hu<br />
When Good Comms Go Bad, Communications Recovery For Multi-Robot Teams ......................................... 3727<br />
Patrick Ulam and Ronald Arkin<br />
Hybrid Behavioral Control Architecture for the Cooperation of Minimalist Mobile Robots ............................ 3735<br />
Lounis Adouane and Nadine Le Fort-Piat<br />
Generating timed trajectories for an autonomous vehicle ........................................<br />
Cristina Santos<br />
Reactive, Distributed~Layered Architecture for Resource-Bounded Multi-Robot Cooperation 3747<br />
Kian Hsiang Low, Wee Kheng Leow and Marcelo H. Ang, Jr.<br />
xlvi
Session: FA-6<br />
MAP BUILDING I<br />
Map Building without Odometry Information ................................................<br />
Fraricesco Amigoni, Simone Gasparini and Maria Gini<br />
Acquiring Models of Rectangular 3D Objects for Robot Maps ...............................................<br />
Derik Schroerer and Michael Beetz<br />
Building an Object Map for Mobile Robots using LRF Scan Matching and<br />
Vision-based Object Recognition .........................................................................................................<br />
Masahiro Tomono<br />
Cognitive Robot Mapping with Polylines and an Absolute Space Representation ........................<br />
Kennard Laviers and Gilbert Peterson<br />
Detecting and Modeling Doors with Mobile Robots ..............................................................<br />
Dragomir Anguelov, Daphne Koller, Evan Parker and Sebastian Thrun<br />
.... 3753<br />
............ 3759<br />
..... 3765<br />
...... 3771<br />
.......... 3771<br />
Session: FA-7<br />
BIPED ROBOTS I<br />
Rate of change of angular momentum and balance maintenance of biped robots ............................... 3785<br />
Ambarish Goswami and Vinutha Kallem<br />
Running Control of a Planar Biped Robot based on Energy-Preserving Strategy ....................................... 3791<br />
Sang-Ho Hyon and Takashi Emura<br />
Some Extensions of Passive Walking Formula to Active Biped Robots ......<br />
Fumihiko Asano, Zhi-Wei Luo and Masaki Yarnakira<br />
Trajectory Generation of Biped Running Robot with Minimum Energy Consumption .......<br />
Yasuraka Fujimoto<br />
Motion Evaluating System for A Small Biped Entertainment Robot .......................................<br />
Yoshihiro Kuroki. Keisuke Kato, Ken-ichiro Nagasaka, Arsushi Miyamoto,<br />
Ken-ichiro Ueno and Jin-ichi Yanmguchi<br />
Session: FA-8<br />
MOTION PLANNING <strong>AND</strong> <strong>NAVIGATION</strong><br />
........................................ 3797<br />
..... 3803<br />
...... 3809<br />
Motion Planning for Coherent Groups of Entities .... ........................ 3815<br />
Arno Kaniphuis and Mark Ovennars<br />
Motion planning for a Rod-shaped Robot in R3<br />
Ji Yeong Lee and Howie Choset<br />
Perceptual navigation around a sensori-motor trajectory .......<br />
Cedric Pradalier and Pierre Bessiere<br />
Hierarchies of probabilistic models of navigation ...... ............ . 3837<br />
Julien Diard, Pierre Bessiere and Eninlanuel<br />
Formation Maneuvering using Passive Acoustic Communications ...<br />
Patrick McDoweil, Brian Bourgeois and Sitharama lyengar<br />
................................................ 3831<br />
3843<br />
xlvii
,' '<br />
Session: FA-9<br />
COLLISION <strong>AND</strong> OBSTACLE AVOIDANCE I<br />
Experimental Study of Curvature-based Control Laws for Obstacle Avoidance ....<br />
Fumin Zhang, Alan O'Connor, Derek Luebke and P. S. Krishnaprasad<br />
A Divide and Conquer Strategy based on Situations to achieve Reactive Collision Avoidance in<br />
Troublesome Scenarios ...................................................................................................................................... 3855<br />
Javier Minguez, Javier Osuna and Luis Montano<br />
A Method for Mobile Robot Navigation on Rough Terrain .............................................................................. 3863<br />
Cang Ye and Johann Borenstein<br />
Motion Planning for Camera Movements .......................................................................................................... 3870<br />
Dennis Nieuivenhuisen and Mark Ovennars<br />
Cascaded Filter Approach to Multi-Objective Control ............<br />
Bryan Thibodeau, Stephen Hart, Deepak Karuppiah, John Sweeney and Oliver Brock<br />
Session: FA-10<br />
DEFORMABLE MODELS<br />
Closed Dynamic Contour Models that Split and Merge ..................................................................................... 3883<br />
Sascha Stoeter and Nikos Papanikolopoulos<br />
A deformable model driven visual method for handling ......................................... ...................................... 3889<br />
Yasuyo Kita, Fuminori Saito and Nobuyuki Kita<br />
Boundary Element Deformable Object Tracking with Equilibrium Constraints ._.__ ...... 3896<br />
Michael Greminger, Yu Sun and Bradley Nelson<br />
..<br />
Extractiong Rheological Properties of Deformable Objects with Haptic Vision ..... ................................... 3902<br />
Naoki Ueda, Shin-ichi Hirai and Hiromi Tanaka<br />
On Cutting and Dissection of Virtual Deformable Objects _ _ ......................................................................... 3908<br />
Hui Zhang, Shahrarn Payandeh and John Dill<br />
Session: FA-1 1<br />
MOTION PLANNING I<br />
Motion Planning through Symbols and Lattices ............................<br />
Stefania Pancanti, Lucia Pallottino, David Salvadorini and Antonio Bicchi<br />
Computing Configuration Space Obstacles Using Polynomial Transforms ...<br />
Wenjie Shu and Zhiqiang Zheng<br />
. Trajectory Representation Using Sequenced Linear Dynamical Systems ....<br />
Kevin Dixon and Pradeep Khosla<br />
Motion Prediction for Moving Objects<br />
Dizan Vasquez and Thierry<br />
Session: FA- 12<br />
ROBOT CONTROL<br />
. Modeling and Dynamic Control of Compliant Framed Wheeled Modular Mobile Robots .....<br />
Sungyong Park and Mark Minor<br />
xlviii<br />
3849<br />
.......................... 3914<br />
3920<br />
......... 3925
Design and Gait Control of a Rollerblading Robot ................................................................ ....................... 3944<br />
Sachin Chitta, Frederik Heger and Vijay Kumar<br />
Reflective Force Integration Method for Nonautonomous Mobile Robot Control ............................................ 3950<br />
J. B. Park and B. H. Lee<br />
Stiffness Control on Redundant Manipulators ...... ........ .......<br />
Yanmei Li and Imin Kao<br />
A Time-Optimal Control Strategy for Pursuit-Evasion Games Problems .......<br />
Shen Hin Lim, Tomonari Furukawa, Hugh Durrant-Whyte and Gami<br />
Session: FA-13<br />
MATHEMATICAL MODELING <strong>AND</strong> PATH PLANNING<br />
.......... ........ 3962<br />
ke<br />
Guided Expansive Spaces Trees ......................................................................................................................... 3968<br />
Jeff Phillips, Nazareth Bedrossian and Lydia Kavraki<br />
Deterministic Sampling Methods for Spheres and SO(3) .................................................................................. 3974<br />
Anna Yershova and Steven LaValle<br />
Exact Pareto-Optimal Coordination of Two Translating Polygonal Robots on an Acyclic Roadmap ............... 3981<br />
Hamidreza Chitsaz, Jason O'Kane and Steven LaValle<br />
Kinodynamic Motion Planning .. ....... .......... ...... 3987<br />
Florent Lamiraux, Etienne Ferre' and Envan VaMe<br />
Effective Sampling and Distance Metrics for 3D Rigid Body Path Planning .................................................... 3993<br />
James Kufier<br />
Session: FA-14<br />
AUTOMATION: SERVICE<br />
Development of a femur fracture reduction robot .............................................................................................. 3999<br />
Shin 'ichi Warisaiva, Tatsuya Ishizuka, Mamoru Mitsuishi,<br />
Nobuhiko Sugano and Kazuo Yonenobu<br />
Implementation of Multi-Functional Service Robots Using Tripodal Schematic Control Architecture ........... 4005<br />
Gunhee Kim, Woojin Chung, Munsang Kim and Chongwon Lee<br />
Door opening control using the multi-fingered robotic hand for the indoor service robot .... .................... 401 1<br />
Changju Rhee, Youngbo Shim, Woojin Chung, Hyungjin Lee and Munsang Kim<br />
Integrated Localization of the Service Robot PSR ........ .............................................................................. 4017<br />
Dongheui Lee, Woojin Chung and Munsang Kim<br />
Development of Dynamically Reconfigurable Personal Robot . ................. _._.. 4023<br />
Se-gon Roh, K. H Park, Jin Ho Park and Hyoukryeol Choi<br />
Session: FM-1<br />
UNMANNED AERIAL VEHICLES II<br />
Sensor Fusion for Navigation of an Autonomous Unmanned Aerial Vehicle ................................................... 4029<br />
Jurek Sasiadek and Pande Hartana<br />
Model Identification of a Small-Scale Air Vehicle ........................................................................................... 4035<br />
Huaiyu Wu, Dong Sun, Zhaoying Zhou and Shenshu Xiao
A Framework for UAV Based Navigation and Control ...... .............. 404 1<br />
Lefteris Doitsidis, Kimon Valavanis, Nikos Tsoundoudis and Michail Kontitsis<br />
Minimization and Equalization of Energy for Formation Flying Reconfiguration .....<br />
Cornel Sultan, Sanjeev Seereeram and Raman Mehra<br />
Experiments in Multirobot Air-Ground Coordination .......................................................................<br />
Luiz Clzairnowicz, Ben Grocholsky, James Keller, Vijay Kumar and Carnillo Taylor<br />
Session: FM-2<br />
ACTUATORS I1<br />
Development of a Silicon Outer Fence Mold Actuator ... .................. .................... _ _ _ _ _ 4059<br />
Yasuhiro Hayakawa and Kensuke Morishita<br />
An evaluation of Ultrasonic Motors as driving technology in impedance controlled robots ..... 4065<br />
Jose L. Pons, Humberto Rodriguez and Eduardo Rocon<br />
Development and Evaluation of a Passively Operating Non-contact, Load-responsive Transmission ...<br />
Hitoshi'Maekawa. Yasuhiro Gotoh, Koji Sato, Masato Enokizono and Kiyoshi Komoriya<br />
Multilevel Bridge Governor by Using Model Predictive Control in<br />
Wavelet Packets for Tracking Trajectories<br />
Paolo Mercorelli, Nicolai Kubasiak and Steven Liu<br />
4079<br />
Wearable DC Powerline Communication Network Using Conductive Fabrics __. 4085<br />
Eric Wade and Harry Asada<br />
Se.ssion: FM-3<br />
PARALLEL ROBOTS <strong>AND</strong> MANIPULATORS I1<br />
Study of the Sources of Inaccuracy of a 3 DOF Flexure Hinge-based Parallel Manipulator ............................. 4091<br />
Tiavina Niaritsiry, Nuno Fazenda and Reymond Clavel<br />
Analysis and Design of Parallel Mechanisms with Flexure Joints ..................................................................... 4097<br />
Byoung Hun Kang, John T. Wen, Nicholas G. Dagalakis and Jason J. Gonnan<br />
Guaranteed in-the-workspace improved trajectory/suface/volume verification forparallel robots .................... 4103<br />
Jean-Pierre Merlet<br />
A high-speed parallel robot for Scara motions ................................................................................................... 4109<br />
Sebastien Krut, Vincent Nabat, Olivier Company and Francois Pierrot<br />
Combining end-effector and legs observation for kinematic calibration of parallel mechanisms ..................... 41 16<br />
Pierre Renaud, Nicolas Andre& Franpis Pierrot and Philippe Martinet<br />
Session: FM-4<br />
TELEOPERATION I1<br />
Teleoperation of Constrained Dynamical Systems over a TCP/IP Local Network ............................................ 4122<br />
Alessandro Casavola, Edoardo Moxa and Michela Sorbara<br />
Analysis of Perceived Workload when using a PDA for Mobile Robot Teleoperation ..................................... 4128<br />
Julie A. Adams and Hande Kaymaz Keskinpala<br />
Scale Dynamic Adaptation of the Local Space for Assisted Teleoperation ....................................................... 4134<br />
Luis M. Munoz. Alicia Casals and Josep Amat<br />
I
A New Position Error Based Robust Controller Design Framework of<br />
Teleoperation for Free to Contact Motion ................................................... ......... 4140<br />
Kyongho Park, Wan Kyun Clzung and Youngil Youni<br />
Design and Operation of a Force-Reflecting Magnetic Levitation Coarse-Fine Teleoperation System ............ 4147<br />
Bertram Unger and Ralph Hollis<br />
Session: FM-5<br />
BEHAVIOR ROBOTICS I1<br />
Towards Performance Guarantees for Emergent Behavior ................................................... .................... 4153<br />
Damian Lyons and Ronald Arkin<br />
Shepherding Behaviors . 4159<br />
Behavior description and control using behavior module for personal robot . 4165<br />
Yukiko Hoshino, Tsuyoshi Takagi, Ugo Diprofio and Masahiro Fujita<br />
Reflective Navigation - Individual Behaviors and Group Behaviors .............................................................. 4172<br />
Boris Kluge and Erwin Prassler<br />
Distributed Behavior Collaboration for Self-Reconfigurable Robots ................................................................ 4178<br />
Behnam Salemi and Wei-Min Shen<br />
Session: FM-6<br />
MAP BUILDING I1<br />
Constructing Radio Signal Strength Maps with Multiple Robots ...................................................................... 4184<br />
Mong-ying Hsieh, Vijay Kumar and Camillo Taylor<br />
Value-Based Action Selection for Exploration and Dynamic Target Observation with Robot Teams .............. 4190<br />
Ashley Stroupe, Ramprasad Ravichandran and Tucker Balch<br />
Multi-Robot Mapping using Manifold Representations ..................................................................................... 41 98<br />
Andrew Howard<br />
2D Mapping of Cluttered Indoor Environments by Means of 3D Perception .................................................... 4204<br />
Oliver Wurf; Kai 0. Arras, Henrik I. Christensen and Bemardo Wagner<br />
Coordinated Control of Multiple Terrain Mapping UGVs ................................................................................. 4210<br />
Kingsley Fregene, Raj Madhavan and Diane Kennedy<br />
Session: €34-7<br />
BIPED ROBOTS II<br />
Pragmatic rules for real-time control of the dynamic walking of an under-actuated biped robot ...................... 4216<br />
Christophe Sabourin, Olivier Bruneau and Jeau Guy Fontaine<br />
Computer System and Control of Biped JOHNNIE ........................................................................................... 4222<br />
Sebastian Lohmeier, Klaus Loefler, Michael Gienger, Heinz Ulbrich and Friedrich Pfeiffer<br />
Effect of Gravity Balancing on Biped Stability .................................................................................................. 4228<br />
Abhishek Agrawal and Sunil Agrawal<br />
Inducing Dynamically Stable Walking in an Underactuated Prototype Planar Biped ....................................... 4234<br />
Eric R. Westervelt, Gabriel Buche and Jessy W. Grizzle<br />
li
Robust balance control of a one-legged pneumatically-actuated, Acrobot-like hopping robot ......................... 4240<br />
John Leavitt, James Bobrow and Athanasios Sideris<br />
Session: FM-8<br />
MOBILE ROBOT <strong>NAVIGATION</strong><br />
Volume 5 (Pages 4247-5306)<br />
Visual Rotation Detection and Estimation for Mobile Robot Navigation ........... ................................. 4247<br />
Matthew Albert and Jonathan Connell<br />
Mobile Robot Navigation Based on Direct Depth and Color-based Environment Modeling ............................ 4253<br />
Sung-Kee Park, Munsang Kim and Chong-won Lee<br />
Environment Exploration Using A Navigation Algorithm Based on Virtual Centrifugal Force ....................... 4259<br />
Li.ying Su, Min Tan, Guoping Liu and Yueqing Yu<br />
. .<br />
Passive Sonar Appl~cations ................................................................................................................................ 4265<br />
Leonard0 Mattos and Edward Grant<br />
Evaluation of Iconic Memory-based OW Navigation ....................................................................................... 427 1<br />
Yasushi Yagi, Kentaro Tsuji and Masahiko Yachida<br />
Session: FM-9<br />
COLLISION <strong>AND</strong> OBSTACLE AVOIDANCE I1<br />
Obstacles Avoidance for Car-Like Robots. Integration And Experimentation on Two Robots ........................ 4277<br />
Olivier Lefebvre, Florent Lamiraux and Cedric Pradalier<br />
Vehicle Following with Obstacle Avoidance Capabilities in Natural Environments ........................................ 4283<br />
Teck Chew Ng, Jian Shen, Javier Ibanez Guzman, Zhiming Gong, Nan Wang and Cheng Cheii<br />
Approximate Safety Enforcement Using Computed Viability Envelopes ......................................................... 4289<br />
Maciej Kalisiak and Michiel van de Paniie<br />
Autonomous reaching and obstacle avoidance with the ..................................................................................... 4295<br />
Ioannis IossiJidis and Gregor Schoener<br />
A Reduced-Order Analytical Solution to Mobile Robot Trajectory Generation<br />
in the Presence of Moving Obstacles ................................................................................................................. 4301<br />
Jing Wang, Zhihua Qu, Yi Guo and Jian Yang<br />
Session; FM-IO<br />
FLEXIBLE <strong>AND</strong> REDUNDANT MANIPULATORS<br />
A FEM'Model for Active Vibration Control of Flexible Linkages ......... 4308<br />
Xiaoyun Wang and James Mills<br />
Symbolic Computation of the Inverse Dynamics of Elastic Joint Robots .......................................................... 4314<br />
Robert Hopler and Michael Thunimel<br />
Friction Compensation in Low and High-Reversal-Velocity Manipulators ....................... ; ............................... 4320<br />
Mehrdad R. Kerniani, Mathew Wong, Rajni V. Patel, Mehrdad Moallem and Mile Ostojic<br />
Low Overhead Manipulation of Bound Book Pages .......................................................................................... 4326<br />
Josh Young and Nlah Nourbakhsh<br />
tii
Real-Time Trajectory Resolution for Dual Robot Machining .......................... ........................................... 4332<br />
William Owen, Elizabeth Croft and Beno Benhabib<br />
Session: FM-11<br />
MOTION PLANNING I1<br />
Motion Planning for Dual-arm Mobile Manipulator -Realization of “Tidying a Room Motion”- ................... 4338<br />
Takayasu Takahama, Keiji Nagatani and Yutaka Tanaka<br />
Energy-Efficient Motion Planning for Mobile Robots ....................................................................................... 4344<br />
Yongguo Mei, Yung-Hsiang Lu, Y. Charlie Hu and C.S. George Lee<br />
A Knowledge Based Genetic Algorithm for Path Planning of a Mobile Robot ................................................. 4350<br />
Yanrong Hu and Simon X. Yang<br />
Accounting for Limited Sensing in Real-Time Obstacle Avoidance for Mobile Robots ......... ...................... 4356<br />
Rafael C. Gonzalez, Diego Alvarez, Andrei Shkel and Vladimir Lumelsky<br />
Improving the Performance of Sampling-Based Planners by Using a<br />
Symmetry-Exploiting Gap Reduction Algorithm ............................................................................................... 4362<br />
Peng Cheng, Eniilio Frazzoli and Steven Lavalle<br />
Session: FM-12<br />
VEHICLE CONTROL<br />
Control of a mobile robot with passive multiple trailers .................<br />
Myoungkuk Park, Woojin Chung, Munsang Kim and Jaeb<br />
....................... _ _ _ _ _ 4369<br />
Experimental Results on a Traction Control Algorithm for Mobile Robots in Volcano Environment .............. 4315<br />
Daniele Caltabiano, Danilo Ciancitto and Giovanni Muscata<br />
A new nonlinear control for vehicle in sliding conditions ..__ ....................................................................... 4381<br />
Roland Lenain, Benoit Thuilot, Christophe Cariou and Philippe Martinet<br />
Zipping, Weaving ........................................................................................................................<br />
Yusuke Ikenioto, Yasuhisa Hasegawa, Toshio Fukuda and Kazuhiko Matsuda<br />
Design and Control of an Indoor Micro Quadrotor .................................................................. ...................... 4393<br />
Samir Bouabdallah, Pierpaolo Murrieri and Roland Siegwart<br />
Session: FW-13<br />
MOTION <strong>AND</strong> PLANNING TECHNIQUES<br />
Motion Planning Using Dynamic Roadmaps ........................................................................ 4399<br />
Marcelo Kallmann and Maja Matari<br />
Adapting the Sampling Distribution in PRM Planners Based on an Approximated Medial Axis ........ 4405<br />
Yuandong Yang and Oliver Brock<br />
Active Viewpoint Planning for Model Construction<br />
S. Y. Chen and Y. F. Li<br />
...... 4411<br />
Multi-Robot Planning ............ ............... ......... 4417<br />
Michael Melholt Quott<br />
ozbeh Iza<br />
Robust 3D Vision Based Control and Planning ...........................................................................................<br />
Philippe Zanne, Guillaume Morel and Franck Plestan<br />
liii
Session: FIv-14<br />
AUTOMATION: CLEANING: CONSTRUCTION: <strong>AND</strong> AGRICULTURE<br />
Virtual Fences for Controlling Cows .............. .. 4429<br />
Zack Butler, Peter Corke, Ron Peterson and Daniela Rus<br />
Autonomous Cleaning Robot .. 4431<br />
Sewan Kim<br />
Motion Analysis of a Cleaner Robot for Vertical Type Air Conditioning Duct _ _ 4442<br />
Motoji Yamamoto, Yotaro Enatsu and Akira Mohri<br />
_ _ 4448<br />
The Low Cost Gripper Design For an Apple Picking Robot<br />
Achmad Iiwan Setiawan, Tomonari Furukawa and<br />
Sensor Space Planning with applications to construction environments .. 4454<br />
Edward Latinier, DeWitt Latimer, Rajiv Snrena, Catherine Lyons and Scott Thayer<br />
Session: FE-1<br />
AUTONOMOUS UNDERWATER VEHICLES<br />
Multiple Communicating Autonomous Underwater Vehicles ....... ...... _. 4461<br />
Edgar An, Pierre-Pltilippe Beaujean, Bertrand Baud, Ted Carlsoti and Tzyh Jong Tam<br />
A Self-Organizing Map Based Navigation System ...... _. 4466<br />
Kazuo Ishii, Shuhei Nishida and Tainaki Ura<br />
Toward Underwater Navigation Based on Range Measurements from a Single Location<br />
Aditya Cadre and Daniel Stilwell<br />
AUV Docking System for Sustainable Science Missions<br />
Tarun Podder, Mark Sibenac and James Bellingham<br />
4412<br />
4478<br />
Fault Diagnosis for AUVs Using Support Vector Machines .............................................................................. 4486<br />
Giatiluca Antonelli, Fabrizio Caccavale, Carlo Sansone and Luigi Villani<br />
Session: FE-2<br />
ACTUATORS 111<br />
Electric Direct-drive Stepping Motor for Robots ............................................................................................... 4492<br />
Takashi Nagata, Koichi Suzumori, Takefuini Kanda, Kazuo Uzuka and lsao Enomoto<br />
Free-Roaming Planar Motors ............................. ............................................................................ 4498<br />
Tom Lauivers, Zack Edmondon arid Ralph Hollis<br />
. .<br />
Switching Motor Control .................................................................................................................................... 4504<br />
Jonathan Fiene and Gunter Nienteyer<br />
Construction of Small Humanoids with a New Joint Actuator Module ............................................................. 4510<br />
Kab-11 Kim, Young 1. Son and Paul B.S. Kim<br />
Nonlinear Friction Compensation and Disturbance Observer for a High-speed Motion Platform .................... 45 15<br />
Ying Waiig, Zlzenhua Xiong, Han Ding and Xiaiigyang Zhu<br />
liv
Session: FE-3<br />
PARALLEL ROBOTS <strong>AND</strong> MANIPULATORS 111<br />
On the Connections Between Cable-Driven Robots, Parallel Manipulators and Grasping 4521<br />
Imme Ebert-Uphoff and Philip Voglewede<br />
Optimum Dynamic Balancing of Planar Parallel Manipulators _.._.. ...................................<br />
Cursel Alici and Bijan Shirinzadeh<br />
Structure Synthesis and Singularity Analysis of a Parallel Manipulator Based on Selective Actuation ............ 4533<br />
Yan Jin, I-Ming Chen and Guilin Yang<br />
“Measuring Closeness” to Singularities for Parallel Manipulators .................................................................... 4539<br />
Philip Voglewede and Imme Ebert-Uphoff<br />
A New Configuration of a Six Degrees-of-Freedom Parallel Robot for MEMS Fabrication ............................ 4545<br />
Hagay Bamberger and Moshe Shoham<br />
Session: FE-4<br />
TELEOPERATION III<br />
Unsupervised Scoring for Scalable Internet-Based Collaborative Teleoperation .............................................. 455 1<br />
Ken Goldberg, Dezhen Song, In Yong Song, Jane McGonigal and Dana Plautz<br />
Discrete Time Passivity in Bilateral Teleoperation over the Internet ................................................................. 4557<br />
Paul Berestesky, Nikhil Cliopra and Mark, W. Spong<br />
Acquisition of Topological Action Maps through Teleoperation ..........................................................<br />
Richard Alan Peters I1 and Xinyu Ao<br />
Calibrating Human Hand for Teleoperating the HIT-DLR Hand ... ........................................................ 4571<br />
Haiying Hu, Xiaohui Gao, Jiawei Li, Jie Wang and Hong Liu<br />
Scaled Teleoperation Controller Design for Micromanipulation over Internet .................................................. 4577<br />
Moussa Boukhnifer, Antoine Ferreira and Jean-Guy Fonraine<br />
Session: FE-5<br />
NON-HOLONOMIC ROBOTS <strong>AND</strong> SYSTEMS<br />
Energy-Based Model-Reduction of Nonholonomic Mechanical Systems .. ,4584<br />
Vincent Duindam and Stefano Stramigioli<br />
Doubly nonholonomic mobile manipulators ............................................................................................ 4590<br />
Janusz Jakubiak and Katarzyna Zadarnowska<br />
Planning for Noise-Induced Trajectory Bias in Nonholonomic Robots with Uncertainty<br />
Yu Zhou and Gregory Chirikjian<br />
Model Reduction Method for Nonholonomic Mechanical Systems with Semidirect Product Symmetry ......... 4602<br />
Meihua Tai<br />
Robust Motion Tracking Control of Partially Nonholonomic Mechanical Systems ......... .................. 4608<br />
Jian Wang, Masahiro Oya and Chun-yi Su<br />
Iv
Session: FE-6<br />
NEURAL NETWORK TECHNIQUES<br />
Neural Dynamics Based Full-State Tracking Control of a Mobile Robot 4614<br />
Simon X. Yang, Haowen Yang and Max Q.-H. Meng<br />
Evolving Spiking Neural Network Controllers for Autonomous Robots ... ....... .............. 4620<br />
Hani Hagras, Anthony Pounds-Cornish, Martin Colley, Vic Calla<br />
aha<br />
Motion Control of Mobile Manipulator Based on Neural Networks and Error Compensation __.__<br />
Choon-Young Lee. 11-Kwon Jeong, In-ha Lee and Ju-Jang Lee<br />
Neural-Based Control of A Robotic Hand __._ .................................... 4633<br />
Pedrani Afshar and Yoky Matsuoka<br />
Hardware Implementation of a Real Time Neural Network Controller with a DSP and an FPGA ................... 4639<br />
Sungsu Kin1<br />
Session: FE-7<br />
LEGGED ROBOTS<br />
On Increasing Energy Autonomy for a One-Legged Hopping Robot 4645<br />
Evangelos Papadopoulos and Nicholas Cherouvini<br />
Learning and Using Models of Kicking Motions for Legged Robots 465 1<br />
Sonia Clternova and Manuela Veloso<br />
Actuating a Simple 3D Passive Dynamic Walker<br />
Russ Tedrake, Teresa Weirui Zhng, Min<br />
An Actuator with Physically Variable Stiffness for Highly Dynamic Legged Locomotion ..____<br />
Jonathan Hurst, Joel Chestnutt and Alfred Rizzi<br />
The Design, Fabrication, and Characterization, of Millimeter Scale Motors for<br />
Miniature Direct Drive Robots ........................................................................................................................... 4668<br />
James Mulling, Brian Dessent, Eddie Grant, Jeffrey Eischen and Alexei Gruverman<br />
Session: FE-8<br />
<strong>NAVIGATION</strong> TECHNIQUES<br />
Multi-Robot Communication-Sensitive Reconnaissance .......... ............ ............... 4614<br />
Alan Wagner and Ronald Arkin<br />
Wheel torque control for a rough terrain rover _.__ 4682<br />
Pierre Lnnion, Ambroise Krebs, Michel Lauria, Steven Shooter and Roland Siegwarf<br />
The SRT Method .........<br />
4656<br />
Robot motion control from a visual memory ........... 4695<br />
Anthony Remazeilles, Francois Chaumette and Patrick Gros<br />
Stability of a Multi Tracked Robot Traveling Over Steep Slopes ...<br />
Shraga Shoval<br />
............. .............. 4701<br />
[vi
Session: FE-9<br />
IMAGING<br />
Robust and Video-frame Rate Tracking of Planar Motion by Matched Filtering on PGA .............................. 4707<br />
Shinya Yamamoto and Shinichi Hirai<br />
Using Small Format Aerial Photographs (SFAP) to Map Coral Reefs in Rio Grande do Norte, Brazil ............ 4713<br />
Ricardo Amaral and Luiz Goncalves<br />
Image Distortion Correction for .... ........... ,4718<br />
Chao Hu. Max Meng,<br />
A Virtual Wiper - Restoration of Deteriorated Images by Using a Pan-Tilt Camera - .....<br />
Atsushi Yamashita, Toru Kaneko and Kenjiro Miura<br />
Radiometric Calibration of CCD Sensors .......................................................................................................... 4730<br />
Albert0 Ortiz and Gabriel Oliver<br />
Session: FE-10<br />
BIOLOGICALLY INSPIRED ROBOT <strong>AND</strong> SENSOR DESIGN<br />
UBH3 ................................ .................................................................................... 4736<br />
Gabriele Vassura,<br />
zz , Luigi Biagiotti and Claudio Melchiorri<br />
On the Design and Developmental Metrics of a “Skin-Like’’ Multi-Input<br />
Quasi-Compliant Gripper Sensor Using Tactile Matrix ........................................................................................... *<br />
Dr. Debanik Roy<br />
Design of an Artificial Muscle Continuum Robot .. .............................<br />
Michael Pritts and Christopher Rahn<br />
An identification technique for evaluating static body segment parameters in the upper extremity ..........<br />
Timotej Kodek and Mark0 Munih<br />
Wearable Conductive Fiber Sensors for Measuring Joint Movements .. ...... 4753<br />
Peter Gibbs and H. Hany Asada<br />
Session: FE-1 1<br />
MATHEMATICAL TECHNIQUES FOR MOTION & PATH PLANNING<br />
Computing a set of Local Optimal Paths through Cluttered Environments and Over Open Terrain ................. 4759<br />
Zvi Shiller, Yusuke Fujita, Dan Ophir and Yoshihiko Nakamura<br />
Robotic Navigation Using Harmonic Function-based Probabilistic Roadmaps ......<br />
Moslem Kazemi and Mehran Mehrandezh<br />
Value Iteration Under the Constraint of Vector Quantization for<br />
Improving Compressed State-Action Maps ....................................................................................................... 477 1<br />
Ryuichi Ueda and Tamio Arai<br />
C-space Exploration Using Noisy Sensor Models ............................................................................................. 4777<br />
Michael Suppa, Pengpeng Wang, Kamal Gupta and Gerd Hirzinger<br />
Robust Multiple-Contact Postures in a Two-Dimensional Gravitational Field .................................................. 4783<br />
Yizhar Or and Elon Rimon<br />
lvii
Session: FE-12<br />
MANIPULATION <strong>AND</strong> CONTROL<br />
:: . Multi-Contact Compliant Motion Control for Robotic Manipulators ............. ............ ........ 4189<br />
Jaeheung Park, Rui Cortesao and Oussama Khatib<br />
Optimal Selection of Manipulator Impedance for Contact Tasks . 4795<br />
Simon DiMaio, Keyvan Hashtrudi-Lad and Septimiu (Ti<br />
Impedance matching for a serial link manipulator ....... 4802<br />
Ryo Kurazunte and Tsutoniu Hasegawa<br />
A General Singularity Avoidance Framework for Robot Manipulators<br />
Jinhyun Kim, Giacomo Marani, Wan Kyun Chung and Junku<br />
Dynamic Manipulation of a String using a Manipulator -Parameter<br />
identification and control based on a rigid body link model - ........<br />
Minoru Hashimoto, Tomoaki Ichikawa, Shigeru lnui and<br />
4809<br />
4815<br />
Session: FE-13<br />
LOCALIZATION <strong>AND</strong> MAP BUILDING<br />
Automatic Online Localization of Nodes in an Active Sensor Network ............................................................ 4821<br />
Alex Brooks, Stefan Williams and Alexei Makarenko<br />
Fast Sum of Absolute Differences Visual Landmark Detector .<br />
Craig Watman. David Austin, Nick Barnes, Gary Overett and Simon Thompson<br />
Robot Phonotaxis with Dynamic Sound-source Localization ...<br />
Sean B. Andersson, Amir A. Handzel, Vinay Shah and<br />
,4833<br />
A local map building process for a reactive navigation of a mobile robot 4839<br />
Joseph Canou, Gilles Mourioux, Cyril Novales and Girard Poisson<br />
Local Metrical and Global Topological Maps in the Hybrid Spatial Semantic Hierarchy<br />
Benjamin Kuipers, Joseph Modayil, Patrick Beeson. Matt MacMahon and Fran<br />
4845<br />
Session: FE-14<br />
AUTOMATION: INSPECTION<br />
Sensor Based Robotics for fully automated Inspection of Bores at Low Volume High Variant P& 4852<br />
Georg Biegelbauer, Helmut Noehmayer, Christof Eberst and Markus Vincze<br />
An ultrasonic profiling method for sewer inspection ...............................<br />
.Francisco Goniez, Kaspar Althoefer and Lakmal D. Seneviratne<br />
Performance Development of a High-speed Automatic Object<br />
Identification using Passive RFID Technology .........................................<br />
Katariina Penttila, Lauri Sydanheimo and Markku Kivikoski<br />
.................................................... 4864<br />
Development of a robot for the detection of plastic dangerous objects ............................................................. 4869<br />
Toshihiro YUKA WA and Hideharu OKANO<br />
Automated pipe inspection using ANN and laser data fusion ................................. ____. 4875<br />
Olga Duran, Kaspar Althoefer and Lakmal Seneviratne<br />
Iviii
Session: FP-1<br />
UNDERWATER ROBOTS<br />
A Novel Type of Underwater Micro Biped Robot with Multi DOF .................................................................. 4881<br />
SHUXIANG GUO, Yuya OKUDA and Kinji ASAKA<br />
Design and Dynamic Analysis of Fish Robot ................................ ................................................................ 4887<br />
Youngil Youm<br />
Concept Designs for Underwater Swimming Exoskeletons ............................................................... 4893<br />
Peter Neuhaus, Michael O’Sullivan, David Eaton, John Ca@and Jerry Pratt<br />
Adaptive DOB Control for AUVs .................................................. ........ ................. 4899<br />
Side Zhao, Junku Yuh and Song Choi<br />
On controlling aircraft and underwater vehicles ...........<br />
Calin Belta<br />
Session: FP-2<br />
NOVEL ACTUATORS<br />
.......................... 4905<br />
Analysis and Design of a Novel Power Supply for Mobile Robots . ............................................... 491 1<br />
Justin Raade and Tim McCee<br />
Shape Memory Alloy Microgripper for Robotic Microassembly of Tissue Engineering Scaffolds .................. 4918<br />
Han Zhang, Yws Bellouard, Etienne Burdet, Reyntond Clavel and Aun-Neow Po0<br />
Texture discrimination by an autonomous mobile brain-based device with whiskers ................<br />
Ani1 Seth, Jeffrey MeKimtry, Gerald Edelman and Jeffrey Krichmar<br />
Segmented Binary Control of Shape Memory Alloy Actuator Systems Using the Peltier Effect ...................... 4931<br />
Brian Selden, KyuJin Cho and Harry Asada<br />
Application of Robot Arm Using Fiber Knitted Type Pneumatic Artificial Rubber Muscles<br />
Kenji Kawashima, Takahiro Sasaki, Ai Ohkubo, Toshiyuki Miyata and Toshiharu Kagawa<br />
Session: FP-3<br />
PARALLEL ROBOTS <strong>AND</strong> STEWART PLATFORMS<br />
A Stability Measure for Underconstrained Cable-Driven Robots ................................. ,4943<br />
Paul Bosscher and Imnie Ebert-Uphoff<br />
Wrench-Based Analysis of Cable-Driven Robots ..................................................................... 4950<br />
Paul Bosscher and Imme Ebert-Uphoff<br />
Force-Feasible Workspace Analysis for Underconstrained, Point-Mass Cable Robots 4956<br />
Andrew Riechel and Imine Ebert- Uphoff<br />
Optimum Design of a Class of Fault Tolerant Isotropic Gough-Stewart Platforms ................. ................... 4963<br />
Yong Yi, John Mclnroy and Farhad Jafari<br />
Generating Classes of Orthogonal Gough-Stewart Platforms ............................. ......... 4969<br />
Yong Yi, John Mclnroy and Farhad Jafari
Session: FP-4<br />
FAILURE MONITORING: DIAGNOSIS <strong>AND</strong> RECOVERY<br />
An Adapt-and-Detect Actuator FDI Scheme for Robot Manipulators ..<br />
Alessandro De Luca and Raffaella Mattone<br />
Fault Detection and Identification for Robot Manipulators ..............................................................<br />
Michael Mclntyre, Warren Dixon, Darren Dawson and Ian Walker<br />
............ .......... 4975<br />
......... 4981<br />
Follow-up Analysis of Mobile Robot Failures ................................................................................................... 4987<br />
Jennifer Carlson, Robin R. Murphy and Andrew Nelson<br />
Failure-Tolerant Path Planning for the PA-IO Robot Operating Amongst Obstacles ........................................ 4995<br />
Rodrigo S. Jamisola, Jr., Anthony A. Maciejewski and Rodney G. Roberts<br />
Operational Fault Detection for Telerobotic Systems Using Discrete Wavelet<br />
Transform (DWT) and AC Analysis of Position Data ....................................................................................... 5001<br />
. Sewoong Kim and William Hamel<br />
Session:-FP-5<br />
MICROROBOTS <strong>AND</strong> MICROMANIPULATION<br />
. .<br />
Force Sensing in a Microrobot driven by the<br />
Jens Kamenik, .Stephan Fahlbusch and Axel Kortschack<br />
...........................................................................................................<br />
*<br />
Locomotive Mechanism Design and Fabrication of Biomimetic Micro<br />
Robot Using Shape Memory Alloy ........ ....... .......<br />
Young Pyo Lee, Moon Gu Lee and Jong-Oh Purk<br />
Mechanical Force Response of Single Living Cells using a Microrobotic System .. ....... . 5013<br />
Deok-Ho Kim. Seok Yun and Byungkyu Kim<br />
Autonomous Micromanipulation Using a New Strategy of Accurate Release by Rolling ................................ 5019<br />
Fabien Dionnet, D. Sinan Haliyo and Stiphane Rkgnier<br />
Advanced Controller Design and Implementation of a Sensorized Microgripper for Micromanipulation ........ 5025<br />
Jungyul Park, Sangniin Kim, Deok-Ho Kim, SangJoo Kwon and Jong-Oh Park<br />
Session: FP-6<br />
FUZZY <strong>AND</strong> NEURO-FUZZY TECHNIQUES<br />
Fuzzy System Approach for Task Planning and Control of Micro Wall Climbing Robots ............................... 5033<br />
Jun Xiao, Jizhong Xiao, Ning Xi and Weihua Sheng<br />
On-Line Data-Driven Fuzzy Clustering With Applications To Real-Time Robotic Tracking ......................... 5039<br />
Peter Xiaoping Liu and Max Q-H Meng<br />
A Fuzzy Logic Approach to Reactive Navigation of Behavior-based Mobile Robots ...................................... 5045<br />
Anmin Zhu and Simon X. Yang<br />
Robust Neuro-Fuzzy Navigation of Mobile Manipulator among Dynamic Obstacles ...................................... 505 1<br />
Jean Bosco Mbede, Shugen Ma, Youssoufi Toure, Volker Graefe and Lei Zhang<br />
“Conductive Polymer Molecular Wires” for Neuro-Robotic Interfaces ............................................................ 5058<br />
Alik Widge, Malika Jeffries-El, Carl Lagenaur, Victor Weedn and Yoky Matsuoka
Session: FP-7<br />
SNAKE ROBOTS<br />
Neural Oscillator Network-Based Controller for Meandering Locomotion of Snake-Like Robots ................... 5064<br />
Kousuke Inoue, Shugen Ma arid Chenghua Jin<br />
Studies on Lateral Rolling Locomotion of A Snake Robot ............... ......... 5070<br />
Li Chen, Yuechao Wang, Shugen Ma and Bin Li<br />
Turning and side motion of snake-like robot.<br />
Changlong Ye, Shugen Ma, Bin Li an<br />
Development of The Snake-like Rescue Robot KOHGA ................ ............... .... 5081<br />
Tetsushi Kamegawa, Tatsuhiro Yamasaki, Hiroki lgarashi and Fumitoshi Matsuno<br />
Stuck evasion control for Active-Wheel Passive-Joint snake-like mobile robot ‘Genbu’ ................................. 5087<br />
Hitoshi Kimura, Shigeo Hirose and Keisuke Shimizu<br />
Session: FP-8<br />
WHEELED & LEGGED ROBOT <strong>NAVIGATION</strong> TECHNIQUES<br />
Performance of Optical Row Techniques for Indoor Navigation with a Mobile Robot ............<br />
Chris McCarthy and Nick Barnes<br />
Integrated Navigation System for Indoor Service Robots in Large-scale Environments ................................... 5099<br />
Woojin Chung, Gunlzee Kim, Munsang Kim and Chongwon Lee<br />
A Navigable Six-Legged Robot PIatform ..........................<br />
Yanto Go, Xiaolei Yin and Alan Bowling<br />
......................................................................... 5105<br />
Decoupled control of posture and trajectory of the hybrid wheel-legged robot Hylos ... 5111<br />
Christophe Grand, Faii BenAmar, Frgde‘ric Plumet and Philippe Bidaud<br />
Natural terrain classification using 3-d ladar data .............................................................................................. 5 I 17<br />
Nicolas Vandapel, Daniel F. Huber, Anuj Kapuria and Martial Hebert<br />
Session: FP-9<br />
POSE ESTIMATION<br />
Global Alignment of Sensor Positions with Noisy Motion Measurements ........................................................ 5123<br />
Hossein Madjidi and Shahriar Negalidaripour<br />
Robust Pose Estimation for a Car-like Vehicle _._. .................................................... ......................... 5129<br />
Kane Usher, Matthew Dunbabin, Peter Corke and Peter Ridley<br />
Combination of Foveal and Peripheral Vision for Object Recognition and Pose Estimation ............... . 5135<br />
Marten Bjorkman and Danica Kragic<br />
Pose Estimation For Servicing of Orbital Replacement Units in a Cluttered Environment 5141<br />
Chiun-Hong Chien and Kenneth Baker<br />
Calculating the 3D-Pose of Rigid-Objects Using Active Appearance Models ........... ........... 5147<br />
Pradit Mittrapiyanuruk, Guilhenne N. DeSouza and Avinash C. Kak<br />
Lri
Session: FP-IO<br />
DISCRETE EVENT SYSTEMS <strong>AND</strong> AUTOMATION<br />
MLAV ...... 5153<br />
State Feedback Control of DES on the Finite Forbidden State Problem 5159<br />
Yu Ru, Weimin Wu, Hongye Su and Jian Chu<br />
Liveness enforcing in closed AGV systems with dynamic routing .__.. ...... ....... _.____ 5165<br />
Elzbieta Roszkowska<br />
COSlMIR Transport ...... 5171<br />
Roland Wise<br />
Fast Robot Prototyping with the Cubesystem<br />
Andreas Birk<br />
Session: FP-11<br />
<strong>TRACKING</strong><br />
......<br />
Template tracking with Lie algebras<br />
Eduardo Bayro-Corrochano<br />
5183<br />
Tracking and Catching of 3D Flying Target based on GAG Strategy . ... 5189<br />
Ryosuke Mori, Koichi Hasltirnoto and Furnio Miyazaki<br />
A New High Speed CMOS Camera for Real-Time Tracking Applications 5195<br />
Ulrich Muehlntann, Migule Ribo, Peter Lang and Axel Pinz<br />
Boundary Modeling in Human Walking Trajectory Analysis for Surveillance ....... ..... 5201'<br />
Ka Keung Lee and Yangslteng Xu<br />
Range Identification for Perspective Dynamic System with Single Homogeneous Observation 5207<br />
Lili Ma, YangQuan Chen and Kevin Moore<br />
Session: FP-12<br />
MANIPULATOR CONTROL TECHNIQUES<br />
Compliant Motion Control of Manipulator's Redundant DOF Based on<br />
Model-Based Collision Detection System ....... ............................................................... 5212<br />
Shinya Morinaga and Kazuhiro Kosuge<br />
A Task Frame Formalism for Practical Implementations~. ...... ........... .... 5218<br />
Torsten Kroeger, Bernd Finkemeyer and Friedric<br />
Optimal Control of Multiple Robot Systems with Friction using MPCC 5224<br />
Jufeng Peng, Mihai Anitescu. and Srinivas Akella<br />
Active Vibration Control in a Macro-Manipulator using Strengthened Piezoelectric Actuators ....................... 5232<br />
Mehrdad R. Kerniani, Rajni V. Patel and Mehrdad Moallem<br />
Modeling and Testing of a Novel Piezoelectric Pump ....................................................................................... 5238<br />
John Jansen, Randal Lid, Lonnie Lolie and Joel Chesser<br />
Lrii
Session: FP-13<br />
MISCELLANEOUS APPLICATIONS<br />
Self-aware Actuation for Fault Repair in Sensor Networks .... ...................................................................... 5244<br />
Saurabh Ganeriwal, Aman Kansal and Mani B. Srivas ava<br />
Bandwidth Reduction for Controller Area Networks using Adaptive Sampling ............................................... 5250<br />
Ian Gravagne, John Davis, Jeffrey Dacunha and Robert Marks<br />
Process Model, Constraints, and the Coordinated Search Strategy ... .................... ........... 5256<br />
Frederic Bourgault, Tomonari Furukawa and Hugh Durra<br />
Recursive non-linear Bayesian state estimation and model<br />
recognition with application to contouring tasks ................................................... ................................... 5262<br />
Tine Lefebvre, Herman Bruyninckr and Joris De Sclzutter<br />
Hybrid Model in a Real-time Soil Parameter Identification Scheme for Autonomous Excavation ................... 5268<br />
Choo Par Tan, Yahya Zweiri, Kaspar Althoefer and Lakmal Seneviratne<br />
Session: FP-14<br />
FMTURING: MODELING: <strong>AND</strong> APPLICATIONS<br />
Optimal Fixture Layout Design for 3-D Workpieces ......................................................................................... 5274<br />
Yunhui Liu Liu<br />
Contact Modes and Complementary Cones ....................................................................................................... 5280<br />
Stephen Berard, Kevin Egan and Jeff Trinkle<br />
Hierarchical Clustering of 3D Objects and its Application to Minimum Distance Computation ...................... 5287<br />
Angel D. Sappa and Miguel Angel Garcia<br />
Graph Grammars for Self Assembling Robotic Systems ................................. ............................................ 5293<br />
Eric Klavins, Roben Christ and David Lip&<br />
Petri Net Modeling and Lagrangian Relaxation Approach to Vehicle Scheduling ............................................ 5301<br />
Da-Yin Liao, MuDer Jeng and MengChu Zhou<br />
Lriii
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