Foreword i Organizing Committee ii Program Committee iii Author Index xxxvi Session TUA1: Visual Tracking and Servoing Image-Based Visual Adaptive Tracking Control of Nonholonomic Mobile Robots 1(6) H.Y. Wang S. Itani T. Fukao N. Adachi Adaptive Visual Feedback Control of Manipulators in Uncalibrated Environment 7(6) Yantao Shen Yun-Hui Liu Kejie Li Uncalibrated Visual Servoing for Full Motion Dextrous Robot Systems with Tracking Cameras 13(6) G. Dodds A. Maryniak R. Bischoff Adaptive Filtering for Pose Estimation in Visual Servoing 19(6) M. Ficocelli F. Sharifi Model-Free Optimal Trajectories in the Image Space 25(6) Mezouar Youcef Francois Chaumette Realtime Omnidirectional Stereo for Obstacle Detection and Tracking in Dynamic Environments 31(6) Hiroshi Koyasu Jun Miura Yoshiaki Shirai Session TUA2: Trajectory Planning I Randomized Motion Planning for Car-like Robots with C-PRM 37(6) Guang Song Nancy M. Amato Reducing Meteric Sensitivity in Randomized Trajectory Design 43(6) Peng Cheng Steven M. LaValle Path Planning in Practice; Lazy Evaluation on a Multi-resolution Grid 49(6) Robert Bohlin A Voronoi-Based Hybrid Motion Planner 55(6) Mark Foskey Maxim Garber Ming C. Lin Dinesh Manocha Robust Sensor-based Coverage of Unstructured Environments 61(8) Ercan U. Acar Howie Choset Evolutionary Path Planning for Autonomous Air Vehicles Using Multiresolution Path Representation 69(8) Ravi Vaidyanathan Cem Hocaoglu Troy S. Prince Roger D. Quinn Session TuA3: Mobile Robots I A Mobile Robot Campus Walkway Following with Daylight-Change-Proof Walkway Color Image Segmentation 77(7) Kazunori Ohno Takashi Tsubouchi Shoichi Maeyama Shinichi Yuta Autonomous Control of an Engine-Driven Mobile Platform for Field Robotic Systems 84(6) Edwardo F. Fukushima Paulo Debenest Shigeo Hirose Adaptive Guidance for Mobile Robots in Intelligent Infrastructure 90(6) Joo-Ho Lee Noriaki Ando Teruhisa Yakushi Katsunori Nakajima Tohru Kagoshima Hideki Hashimoto Design of SMC Rover:Development and Basic Experiments of Arm Equipped Single Wheel Rover 96(6) Atsushi Kawakami Akinori Torii Shigeo Hirose Tele-driving System with Command Data Compensation for Long-range and Wide-area Planetary Surface Explore Mission 102(6) Yasuharu Kunii Kouhei Tada Yoji Kuroda Takashi Kubota The Development of Object-Oriented Knowledge Base and Adaptive Motion Planning for Autonomous Mobile Robots 108(6) Ren C. Luo Meng Hsien Lin Shen Hong Shen Session TuA4: Manipulation Nonprehensile Palmar Manipulation with a Mobile Robot 114(6) Wesley H. Huang Gregory F. Holden Accurate Discrete-Continuous Dynamical Simulation of Dextrous Manipulation 120(6) Thomas Schlegl Franz Strobl Martin Buss Manipulation of a Large Object by Multiple DR Helpers in Cooperation with a Human 126(6) Yasuhisa Hirata Takeo Takagi Kazuhiro Kosuge Hajime Asama Hayato Kaetsu Kuniaki Kawabata Tossing Manipulation by 1 Degree-of-Freedom Manipulator 132(6) Tokunori Tabata Yasumichi Aiyama Using Robust and Simplified Geometric Models in Skill-Based Manipulation 138(8) Akira Nakamura Tsukasa Ogasawara Kosei Kitagaki Takashi Suehiro Object Manipulation by Learning Stereo Vision-Based Robots 146(6) Minh-Chinh Nguyen Volker Graefe Session TuA5: Redundancy Time Optimal Control of Kinematically Redundant Manipulators with Limit Heat Characteristics of Actuators 152(6) Shugen Ma Mitsuru Watanabe Interactive Redundant Robotics: Control of the Inverted Pendulum with Nullspace Motion 158(7) Gunter Schreiber Christian Ott Gerd Hirzinger Acceleration-Level Analysis on Velocity-Based Motion Control of Kinematically Redundant Manipulators 165(6) Yasuyuki Watanabe Advantages and Dynamics of Parallel Manipulators with Redundant Actuation 171(6) H. Cheng G.F. Liu Z.H. Xiong Y.K. Yiu Z.X.Li Distribution of Singularity and Optimal Control of Redundant Parallel Manipulators 177(6) G.F. Liu H. Cheng Z.H. Xiong Z.X. Li ARCHI: A Redundant Mechanism for Machining with Unlimited Rotation Capacities 183(6) Frederic Marquet Sebastien Krut Olivier Company Franco is Pierrot Session TuA6: Distributed Manipulation Limitations Imposed by Single DOF Actuators on Discrete Actuator Arrays 189(6) Mark Bedillion William Messner Howie Choset Distributed Manipulation with Passive Air Flow 195(7) John Luntz Leaving on a Plane Jet 202(6) Dan S. Reznik John F. Canny Part Orientation with a Force Field: Orienting Multiple Shapes using a Single Field 208(6) Attawith Sudsang Lydia Kavraki Global Stability for Distributed Manipulation Systems 214(6) Todd Murphey Joel W. Burdick Semi-Distributed Manipulation on a Friction Force Field 220(6) Jeongsik Sin Harry Stephanou Session TuA7: Biped Locomotion I The Road Less Travelled: Morphology in the Optimization of Biped Robot Locomotion 226(7) Chandana Paul Josh Bongard Virtual Coupling Control for Dynamic Bipedal Walking 233(6) Masaki Yamakita Norihiro Kamamichi Fu mihiko Asano The 3D Linear Inverted Pendulum Mode: A Simple Modeling for a Biped Walking Pattern Generation 239(8) Shuuji Kajita Fumio Kanehiro Kenji Kaneko Kazuhito Yokoi Hirohisa Hirukawa Development of Walking and Task Performing Robot with Bipedal Configuration 247(6) Yusuke Ota Kan Yoneda Yusuke Muramatsu Shigeo Hirose Analysis of Physical Capability of a Biped Humanoid: Walking Speedand Actuator Specifications 253(6) Qiang Huang Kejie Li Yoshihiko Nakamura Kazuo Tanie Yet Another Humanoid Walking: Passive Dynamic Walking with Torso under Simple Control 259(6) Masaki Haruna Masaki Ogino Koh Hosoda Minoru Asada Session TuA8: Learning in Robots I Continuous Valued Q-learning Method Able to Incrementally Refine State Space 265(7) M. Takeda T. Nakamura T.Ogasawara Robot Learning Assisted By Perception-Based Information: A Computing with Words Approach 272(6) Changjiu Zhou Biomimetic Smooth Pursuit Based on Fast Learning of the Target Dynamics 278(8) Tomohiro Shibata Stefan Schaal Parallel Q-Learning For A Block-Pushing Problem 286(6) Guillaume Laurent Emmanuel Piat K-RL: Kanerva Based Generalisation and Reinforcement Learning for Possession Football 292(6) Kostas Kostiadis Huosheng Hu Learning Inverse Kinematics 298(6) Aaron DSouza Sethu Vijayakumar Stefan Schaal Session TuB1: Kinematics Manipulability and Force Ellipsoids for Continuum Robot Manipulators 304(8) Ian A. Gravagne Ian D. Walker A Screw Theory of Beams 312(6) J.M. Selig X. Ding Closed-Chain Motion with Large Mechanical Advantage 318(6) Mark Yim David Duff Ying Zhang The Singular Vector Algorithm for the Computation of Rank-Deficiency Loci of Rectangular Jacobians 324(6) E. Dupuis E. Papadopoulos V. Hayward Fast Penetration Depth Estimation for Elastic Bodies Using Deformed Distance Fields 330(7) Susan Fisher Ming C. Lin Session TuB2: Micro-Systems Design and Analysis of a Spatial 3-DOF Micromanipulator for Tele-operation 337(6) Goo Bong Chung Byung-Ju Yi II Hong Suh Whee-Kuk Kim Wan Kyun Chung On the Design of 6-DOF Parallel Micro-Motion Manipulators 343(6) Xin-Jun Liu Jinsong Wang Li-Ping Wang Feng Gao High-Speed Image Processing System for Tele-Micro-Operation 349(6) Kohtaro Ohba Jesus Carlos Pedraza Ortega Kazuo Tanie Masataka Tsuji Shigeru Yamada Flight Force Measurement for a Micromechanical Flying Insect 355(8) R.J. Wood R.S. Fearing Development of a Force-Reflection Controlled Micro Underwater Actuator 363(6) Wenli Zhou Wen J. Li Ning Xi Session TuB3: Multi-Robot Systems I Effects of Limited Bandwidth Communications Channels on the Control of Multiple Robots 369(6) Paul E. Rybski Sascha A. Stoeter Maria Gini Dean F. Hougen Nikolaos Papanikolopoulos Multi-Robot Coo Multi-Robot Cooperation Through The Common Use of ``Mechanisms peration Through The Common Use of ``Mechanisms 375(6) Silvia Botelho Rachid Alami Modeling Multiple Teams of Mobile Robots: A Graph Theoretic Approach 381(6) Jaydev P. Desai A Sizing Method for Multi-Robot System 387(6) Philippe Rongier Philippe Lucidarme Exploiting Constraints During Prioritized Path Planning for Teams of Mobile Robots 393(6) Maren Bennewitz Wolfram Burgard Sebastian Thrun Session TuB4: Localization Mobile Robot Localization Based on an Inaccurate Map 399(7) Masahiro Tomono Shinichi Yuta Constant Time SLAM Using Postponement 406(8) Joss Knight Andrew Davison Ian Reid Local and Global Localization for Mobile Robots Using Visual Landmarks 414(7) Stephen Se David Lowe Jim Little Simulataneous Localization and Map Building: A Global Topological Model with Local Metric Maps 421(6) N. Tomatis I. Nourbakhsh R. Siegwart Greedy Localization 427(6) C. Tovey S. Koenig Session TuB5: Robotic Applications Parallel Kinematic Machines For An Application in Shoes Manufacturing: From the Conceptual Desing to the First Experimental Campaign 433(6) Lorenzo Molinari Tosatti Irene Fassi Simone Negri Model-based Task Planning for Loading Operation in Mining 439(7) Shigeru Sarata Neural Network-Based Recognition of Navigation Environment for Intelligent Shipyard Welding Robots 446(6) Min Young Kim Hyung Suck Cho Jae-hoon Kim A Real-Time Graphic Simulator to Monitor Spent Nuclear Fuel Dismantlement Devices 452(6) Soon-Hyuk Hong Jae Wook Jeon Tai Gil Song Jong Youl Lee Sung Hyun Kim Ji Sup Yoon Dual-Arm Cartesian Robotics System for Parallel Tasking 458(6) Wei Lin Xiaoqi Chen Session TuB6: Actuators and Control Multi-Scenario Linguistic Control for Intelligent Electromechanical Positioning Actuators 464(6) Jose Carlos Quadrado Jose Fernando Silva An Electrostrictive Polymer Actuator Control System 470(6) Kyung Chul Park Ji Won Yun Jae Wook Jeon Jae-Do Nam Hunmo Kim Hyoukryeol Choi Optimal Load-Sensitive Control for Mobile Robots Equipped with Continuously Variable Transmissions 476(6) Edwardo F. Fukushima Hideichi Nakamoto Riichiro Damoto Shigeo Hirose Feed-Back Control of Crane on Inverse Dynamics Calculation 482(6) Noritaka Yanai Motoji Yamamoto Akira Mohri Reduced Inertial Effect in Damping-based Posture Control of Mobile Manipulator 488(6) Sungchul Kang Kiyoshi Komoriya Kazuhito Yokoi Tetsuo Koutoku Kazuo Tanie Session TuB7: Biped Locomotion II Balance and Impedance Control for Biped Humanoid Robot Locomotion 494(6) Hun-ok Lim Samuel Setiawan Atsuo Takanishi Footstep Planning Among Obstacles for Biped Robots 500(6) James Kuffner, Jr. Koichi Nishiwaki Satoshi Kagami Masayuki Inaba Hirochika Inoue Biped Gait Synthesis Based on Dynamic Parameterization 506(6) Takayuki Nakata Norihiko Adachi Dynamic Walk of a Bipedal Robot Having Flexible Feet 512(6) Olivier Bruneau Fethi Ben Ouezdou Jean-Guy Fontaine Harnessing the Robots Body Dynamics: A Global Dynamics Approach 518(8) Tomoyuki Yamamoto Yasuo Kuniyoshi Session TuB8: Robot Behaviors Behavior Coordination of Brachiation Robot Based on Behavior Phase Shift 526(6) Yasuhisa Hasega wa Hiroaki Tanahashi Toshio Fukuda A Method for Learning Complex and Dexterous Behaviors Through Knowledge Array Network 532(7) Masakazu Suzuki Kay-Ulrich Scholl Ruediger Dillmann A Methodology for Behaviour Design of Autonomous Systems 539(6) B. Iske U. Ruckert Refining Hand-Action Models Through Multiple Observations of Human and Robot Behavior by Combined Template Matching 545(6) Koichi Ogawara Hiroshi Kimura Katsushi Ikeuchi An Evaluation Method for Insect Sensorimotor Models Using an Insect-Size Mobile Robot 551(6) Sumito Nagasawa Ryohei Kanzaki Isao Shimoyama Session TuC1: Vision and Sensing Algorithms I Robust Scene Reconstruction from Lines and Points in Three Uncalibrated Color Images 557(6) Alfred H.K. Sham Andrew K.C. Wong Implicit Observers and Active Perception 563(6) T. Ersson X. Hu Eigendecomposition-Based Pose Detection in the Presence of Occlusion 569(8) C-Y. Chang A. A. Maciejewski V. Balakrishnan R. G. Roberts Parallel Processing of Range Data Merging 577(7) Ryusuke Sagawa Ko Nishino Mark D. Wheeler Katsushi Ikeuchi Session TuC2: Self-Reconfigurable Robots Reconnectable Joints for Self-Reconfigurable Robots 584(6) Behrokh Khoshnevis Andres Castano Robert Kovac Wei-Min Shen Peter Will A Motion Planning Method for a Self-Reconfigurable Modular Robot 590(8) Eiichi Yoshida Satoshi Murata Akiya Kamimura Kohji Tomita Haruhisa Kurokawa Shiger Kokaji A Multi-Layered Planner for Self-Reconfiguration of a Uniform Group of I-Cube Modules 598(8) Cem Unsal Pradeep K Khosla Self-Reconfigurable Modular Robot - Experiments on Reconfiguration and Locomotion 606(7) Akiya Kamimura Satoshi Murata Eiichi Yoshida Haruhisa Kurokawa Kohji Tomita Shigeru Kokaji Session TuC3: Mobile Robots II Mobile Robotics in the Long Term 613(6) David Austin Luke Fletcher Alexander Zelinsky Detecting Regime Changes with a Mobile Robot Using Multiple Models 619(6) Dani Goldberg Maja J Mataric Multirate LQG Controller Applied to Self-Location and Path-Tracking in Mobile Robots 625(6) Josep Tornero Ricardo Piza Pedro Albertos Julian Salt Cooperative Localization and Control for Multi-Robot Manipulation 631(6) J. Spletzer A. Das R. Fiero C.J. Taylor V. Kumar J. Ostrowski Session TuC4: Internet Robots Remote Viewing on the Web Using Multiple Mobile Robotic Avatars 637(6) M. Maeyama S. Yuta A. Harada Telerobotics over IP Networks: Towards a Low-level Real-time Architecture 643(6) A. Leleve P. Fraisse P. Dauchez Guiding a Mobile Robot with an Internet Application 649(6) Piotr Skrzypczynski Collaborative Control of Robot Motion: Robustness to Error 655(6) Ken Goldberg Billy Chen Sesion TuC5: Real Life Applications Development of Vertically Moving Robot with Gripping Handrails for Fire Fighting 661(7) Hisanori Amano Koichi Osuka Tzyh-Jong Tarn A Strategy for Crossing of the Robotic Travel Aid ``Harunobu 668(6) Shinji Kotani Takateru Nakata Hideo Mori Automatic Guidance of a Farm Tractor Along Curved Paths, Using a Unique CP-DGPS 674(6) Benoit Thuilot Christophe Cariou Lionel Cordesses Philippe Martinet Session TuC6: Tactile Sensing An Integrated Tactile Feedback System for Multifingered Robot Hands 680(6) Wang-tai Lo Yantao Shen Yun-Hui Liu Artificial Finger Skin having Ridges and Distributed Tactile Sensors Used for Grasp Force Control 686(6) Daisuke Yamada Takashi Maeno Yoji Yamada Reconstructing Shape from Motion Using Tactile Sensors 692(9) Mark Moll Michael A. Erdmann Localization on Curved Objects Using Tactile Information 701(6) Yan-Bin Jia Session TuC7: Novel Locomoting Robots I Design of Slim Slime Robot and its Gait of Locomotion 707(9) Hidetaka Ohno Shigeo Hirose Design Ballistic Flipping Gait for a One-legged Robot 716(6) Tao Geng Yupu Yang Xiaoming Xu High-performance Jumping Movements by Pendulum-type Jumping Machines 722(6) Ryota Hayashi Showzow Tsujio Development of a Leg-Wheel Hybrid Mobile Robot and Its Step-Passing Algorithm 728(6) Hironori Adachi Noriho Koyachi Session TuC8: Learning in Robots II Robust Learning of Arm Trajectories Through Human Demonstration 734(6) Aude Billard Stefan Schaal Experience-Based Representation Construction: Learning from Human and Robot Teachers 740(6) Monica N. Nicolescu Maja J Mataric Real-Time Visual System for Interaction with a Humanoid Robot 746(6) Ales Ude Christopher G. Atkeson Trajectory Formation for Imitation with Nonlinear Dynamical Systems 752(6) Auke Jan Ijspeert Stefan Schaal Session WA1: Robot Vision I All in Focus Camera Vision System for Robot Navigation and Manipulation based on the DFF Criteria 758(6) J. Carlos Pedraza Kohtaro Ohba Kazuo Tanie Wide Angle Vision Sensor with Fovea -Navigation of Mobile Robot Based on Cooperation between Central Vision and Peripheral Vision 764(8) Sohta Shimizu Toshihiko Kato Ryoichi Suematu Using Orthogonal Visual Servoing Errors for Estimating Terrain Properties 772(6) Richard Voyles Berk Yesin Brad Nelson A New Camera Calibration Method for Robotic Applications 778(6) Jun-Sik Kim In-So Kweon Session WA2: Planning Motion Generation for a Rover on Rough Terrains 784(6) D. Bonnafous N. Simeon S. Lacroix Distributed Motion Planning for Modular Robots with Unit-Compressible Modules 790(7) Zack Butler Sean Byrnes Daniela Rus Testing Human Performance in Motion Planning over the Internet 797(6) Igor Ivanisevic Vladimir Lumelsky Autonomously Generating Operations Sequences for a Mars Rover Using AI-based Planning 803(6) Rob Sherwood Andrew Mishkin Tara Estlin Steve Chien Paul Backes Brian Cooper Scott Maxwell Gregg Rabideau Session WA3: Multi-Robot Systems II Embedding Cooperation in Robots to Play Soccer Game 809(6) Hui Wang Han Wang Chunmiao Wang William Y. C. Soh Multi-Robot Simulation with 3D Image Generation 815(6) Thomas Braunl Distributed Multi-Robot Task Allocation for Emergency Handling 821(6) Esben H. Ostergaard Maja Mataric Gaurav S. Sukhatme A Passive Multiple Trailer System for Indoor Service Robots 827(6) Jaehyoung Lee Woojin Chung Munsang Kim Chongwon Lee Jeabok-Song Session WA4: Legged Robots Finite Element Analysis of Strains in a Blaberus Cockroach Leg During Climbing 833(6) Sathya. Kaliyamoorthy Sasha N. Zill Roger D. Quinn Roy E. Ritzmann Jongung Choi Self-contained Wall Climbing Robot with Closed Link Mechanism 839(6) SinWook Ryu JaeJun Park SungMoo Ryew HyoukRyeol Choi A Miniature Hybrid Robot Propelled by Legs 845(7) Matthew C. Birch Roger D. Quinn Geon Hahm Stephen M. Phillips Barry Drennan Andrew Fife Randall D. Beer Zinyu Yu Steven L. Garverick Sathaporn Laksanacharoen Alan J. Pollack Roy E. Ritzmann Development of Miniature Dinosaur-like Robot TITRUS-III 852(6) Kensuke Takita Toshio Katayama Shigeo Hirose Session WA5: New Frontiers in Intelligent Sensing and Control Path Planning and Navigation of Mobile Robots in Unknown Environments 858(7) Torvald Ersson Xiaoming Hu Integrated Sensing and Control of Mobile Manipulators 865(6) Jindong Tan Ning Xi Automatic Training Data Selection for Sensorimotor Primitives 871(6) Amy Larson Richard Voyles Linguistic Control of Mobile Robots 877(6) Magnus Egerstedt Session WA6: Map Generation I An Hierarchical Approach to Grid-Based and Topological Maps Integration for Autonomous Indoor Navigation 883(6) Antonio Bandera Cristina Urdiales Francisco Sandoval Map Generation from Unknown Planar Motion Using Omni-directional Vision 889(6) Jae-Hean Kime Myung-Jin Chung A Reliable Feature Matching Method in Omnidirectional Views for Autonomous Map Generation of a Mobile Robot 895(6) Young Jin Lee Myung Jin Chung Image-based Topographic Recognition on Natural Terrain 901(6) Takashi Kubota Toshihiko Misu Tatsuaki Hasshimoto Keiken Ninomiya Session WA7: Flexible Robots An Approach toward a Robust Object Recovery with Flexible Manipulators 907(6) Tomohiro Miyabe Mitsuhiro Yamano Atsushi Konno Masaru Uchiyama Fast Suppression of Vibration for Multi-Link Flexible Robots Using Parameter Adaptive Control 913(6) Joono Cheong Wan Kyun Chung Youngil Youm Control Strategy of Flexible Manipulators for Contact Motion to Moving Object 919(6) Yoshifumi Morita Keiji Tsujimura Hiroyuki Ukai Hisashi Kando Control of Robots with Elastic Joints based on Automatic Generation of Inverse Dynamics Models 925(6) Michael Thummel Martin Otter Johann Bals Session WA8: Grasping I On Picking up a Piece of Fabric from Layers with a Hand with 3 Fingers and a Palm 931(6) Eiichi Ono Kosei Kitagaki Masayoshi Kakikura A Novel Analytical Method for Finger Position Regions on Grasped Object 937(6) Yong Yu Ying Li Showzow Tsujio Grasp Planning with Kinematic Constraints 943(6) Lam Miu Ling Ding Dan Liu Yun Hui Optimal Grasping Based on Non-Dimensionalized Performance Indices 949(8) Byoung-Ho Kim Sang-Rok Oh Byung-Ju Yi II Hong Suh Session WB1: Learning in Mobile Robots Characteristics of Learning and Sensory Dimension in Two-Mobile Robots System 957(6) Tsutomu Sawada Sumiaki Ichikawa Fumio Hara Performance Evaluation Using an Eigenvector Learning Method for Mobile Robots 963(5) Michael S. Sutton Amy Larson Richard Voyles Semi-guided Navigation of AGV Through Iterative Learning 968(6) Tomoya Fujimoto Jun Ota Tamio Arai Tsuyoshi Ueyama Tsuyoshi Nishiyama Dynamics Control Algorithm of Autonomous Underwater Vehicle by Reinforcement Learning and Teaching Method Considering Thruster Failure under Severe Disturbance 974(6) Hiroshi Kawano Tamaki Ura Session WB2: Control of Walking Robots Periodic Stabilizing Control of Systems with Collisions - Application to Walking Robots 980(6) Hiroki Ohta Masaki Yamakita Semi-Degeneracy in Stiffness Generation of an Anthropomorphic Robot 986(6) Sungbok Kim Design and Control of Robotic Leg with Braided Pneumatic Actuators 992(7) Robb W. Colbrunn Gabriel M. Nelson Roger D. Quinn Learning a Reactive Posture Control on the Four-Legged Walking Machine BISAM 999(6) J. Albiez W. IIg T. Luksch R. Dillmann Session WB3: Navigation I Multiple Mobile Robots Navigation Using Indoor Global Positioning System (iGPS) 1005(6) Yoshiro Hada Kunikatsu Takase Integration of Constraint Logic Programming and Artificial Neural Networks for Driving Robots 1011(6) Koichiro Ishikawa Tsutomu Fujinami Akito Sakurai Sensor Based Navigation for Car-like Mobile Robots Using Generalized Voronoi Graph 1017(6) Keiji Nagatani Yousuke Iwai Yutaka Tanaka Using the Dynamical System Approach to Navigate in Realistic Real-World Environments 1023(7) Philipp Althaus Henrik I. Christensen Frank Hoffmann Session WB4: Reconfigurable Robots A Modular Manipulator for Precision Assembly in a Minifactory Environment 1030(6) H. B. Brown P. M. Muir A. A. Rizzi M. C. Sensi R. L. Hollis Passive Reconfigurable Manipulation Assistive Aids 1036(7) Xichun Nie Venkat Krovi A New Exchangeable Hand System for Portable Manipulators 1043(6) Fuminori Saito Kazuyuki Nagata Docking in Self-reconfigurable Robots 1049(6) Wei-Min Shen Peter Will Session WB5: Multi-Robot Localization Relaxation on a Mesh: A Formalism for Generalized Localization 1055(6) Andrew Howard Maja Mataric Gaurav Sukhatme Fault Tolerant Localization for Teams of Distributed Robots 1061(6) Renato Tinos Luis E. Navarro-Serment Christiaan J.J. Paredis Localization Techniques for Small Robots 1067(6) Robert Grabowski Pradeep Khosla Swarm Robotic Odor Localization 1073(6) Adam T. Hayes Alcherio Martinoli Rodney M. Goodman Session WB6: Humanoid Robots I Motion Entertainment by a Small Humanoid Robot Based on Open-R 1079(8) K. Ishida Y. Kuroki J. Yamaguchi M. Fujita T. Doi ETL-Humanoid -- A High-Performance Full Body Humanoid System for Versatile Actions 1087(6) Akihiko Nagakubo Yasuo Kuniyoshi Gordon Cheng Virtual Humanoid Robot Platform to Develop Controllers of Real Humanoid Robots without Porting 1093(7) Fumio Kanehiro Natsuki Miyata Shuuji Kajita Kiyoshi Fujiwara Hirohisa Hirukawa Yoshihiko Nakamura Katsu Yamane Ichitaro Kohara Yuichiro Kawamura Yoshiyuki Sankai Biologically-Inspired Control Architecture for a Humanoid Robot 1100(6) Steve Northrup Nilanjan Sarkar Kazuhiko Kawamura Session WB7: Medical Applications I Design and Implementation of an Active Hand-held Instrument for Enhanced Microsurgical Accuracy 1106(6) Wei Tech Ang Cameron N. Riviere Pradeep K. Khosla Three Dimensional Motion Mechanism of Ultrasound Probe and Its Application For Tele-Echography System 1112(5) Kohji Masuda Eizen Kimura Norihiko Tateishi Ken Ishihara A Self-Propelling Endoscopic System 1117(6) Young Mo Lim Jinhee Lee Ji-Sang Park Byungkyu Kim Jong-Oh Park Soo Hyun Kim Yeh-Sun Hong ARTHROBOT: A New Surgical Robot System for Total Hip Arthroplasty 1123(6) Dong-Soo Kwon Yong-San Yoon Jung-Ju Lee Kwan-Hoe Huh Jong-Ha Chung Young-Bae Park Seong-Young Ko Chung-Hee Won Session WB8: Part Fixturing and Feeding Stable Limit Set Behavior in a Dynamic Parts Feeder 1129(6) Kevin M. Lynch Michael Northrop Peng Pan A Full-Kinematic Model of Fixtures for Precision Locating Applications 1135(6) Michael Y. Wang Workpiece Localization and Computer Aided Setup System 1141(6) Z.H. Xiong Y.X. Chu G.F. Liu Z.X. Li Automatic Selection of Fixturing Surfaces and Fixturing Points of Polyhedral Workpieces 1147(6) Dan Ding Yun-Hui Liu Michael Yu Wang Session WC1: Robotic Visual Servoing II Visual Servoing Using Linear Features for Under-Actuated Rigid Body Dynamics 1153(6) Robert Mahony Tarek Hamel Image Space Trajectory Generation for Image-Based Visual Servoing Under Large Pose Error 1159(6) Jae Seok Park Myung Jin Chung On Catching an Object by Robotic Manipulator with Vision Feedback 1165(6) A. T. Koivo A. J. Koivo Vision Assisted Control for Manipulation Using Virtual Fixtures 1171(6) A. Bettini S. Lang A. Okamura G. Hager Session WC2: Communication and Emotion Development of Eye-ball Robot Serving as a Bodily Media and its Applicability as a Communication Means 1177(6) Chikara Ishibiki Hiroshi Itoh Yoshiyuki Miwa Experimental Study on Robot Personality for Humanoid Head Robot 1183(6) Hiroyasu Miwa Atsuo Takanishi Hideaki Takanobu Psychophysiological Effects by Interaction with Mental Commit Robot 1189(6) Teruaki Mitsui Takanori Shibata Kazuyoshi Wada Akihiro Touda Kazuo Tanie Individuality of Agent of with Emotional Algorithm 1195(6) Hidenori Ishihara Toshio Fukuda Session WC3: Collision Avoidance Dynamic Collision Avoidance for Redundant Multi-Robot Systems 1201(6) E. Freund M. Schluse J. Rossmann Collision Avoidance Method for Multiple Autonomous Mobile Agents by Implicit Cooperation 1207(6) Abe Yasuaki Matsuo Yoshiki Decentralized Collision Avoidance, Deadlock Detection, and Deadlock Resolution for Multiple Mobile Robots 1213(7) Markus Jaeger Bernhard Nebel Nonholonomic Stabilization with Collision Avoidance for Mobile Robots 1220(6) H. G. Tanner S. Loizou K.J. Kyriakopoulos Session WC4: Distributed Robots Most Valuable Player: A Robot Device Server for Distributed Control 1226(6) Brian P. Gerkey Richard T. Vaughan Kasper Stoy Andrew Howard Gaurav S. Sukhatme Maja J Mataric Reduction and Nonlinear Controllability of Symmetric Distributed Systems with Robotic Applications 1232(6) M. Brett McMickell Bill Goodwine Responsive Processor for Parallel/Distributed Real-Time Control 1238(7) Nobuyuki Yamasaki Multi Robot Path Planning for Dynamic Environments: A Case Study 1245(6) Sebastian Buck Ulrich Weber Michael Beetz Thorsten Schmitt Session WC5: Map Generation II A Sparse Weight Kalman Filter Approach to Simultaneous Localisation and Map Building 1251(6) Simon Julier Simultaneous Localisation and Map Building Using Split Covariance Intersection 1257(6) S. J. Julier J. K. Uhlmann Fast and Simple Topological Map Construction Based on Cooccurrence Frequency of Landmark Observation 1263(6) Takehisa Yairi Kosuke Hirama Koichi Hori Collaborative Exploration for the Construction of Visual Maps 1269(6) Ioannis Rekleitis Robert Sim Gregory Dudek Evangelos Milios Session WC6: Parallel Mechanisms I Instantaneous Kinematics and Singularity Analysis of Three-legged Parallel Manipulators 1275(6) Anjan Kumar Dash I-Ming Chen Song Huat Yeo Guilin Yang Optimal Architecture Design of Parallel Manipulators for Best Accuracy 1281(6) Jeha Ryu Jogeun Cha Dynamic Modeling and Vibration Control of High Speed Planar Parallel Manipulator 1287(6) Bongsoo Kang James K. Mills Reflexive Collision Avoidance for a Novel Parallel Manipulator 1293(6) Ittichote Chuckpaiwong Wyatt Newman Session WC7: Robot Sensing I New Method for Integration of Multi-sensor and Multi-actuator Robot System 1299(6) Takashi Suehiro Hiromu Onda Kosei Kitagaki Complete Sensor-based Coverage with Extended-range Detectors: A Hierarchical Decomposition in Terms of Critical Points and Voronoi Diagrams 1305(7) Ercan U. Acar Howie Choset Prasad Atkar Robust Range Estimation Using Acoustic and Multimodal Ranging 1312(9) Lewis Girod Deborah Estrin Sensor Fault Detection and Identification in Dead-Reckoning System of Mobile Robot: Interacting Multiple Model Approach 1321(6) M. Hashimoto H. Kawashima T. Nakagami F. Oba Session WC8: Micro-manipulation Automating Microassembly with Ortho-tweezers and Force Sensing 1327(8) J.A. Thompson R.S. Fearing Multi-Batch Micro-Selfassembly via Controlled Capillary Forces 1335(8) Karl F. Bohringer Yael Hanein Daniel Schwartz Weihua Wang Xiaorong Xiong Stagnation Point Control by Pressure Balancing in Microchannel for High Speed & High Purity Separation of Microobject 1343(6) Fumihito Arai Akihiko Ichikawa Toshio Fukuda Koji Horio Kouichi Itoigawa Analysis of Micro-object Operation Based on the Dynamics Considering the Adhesion Under an SEM 1349(9) Shigeki Saito Hideki T. Miyazaki Tomomasa Sato Kunio Takahashi Tadao Onzawa Session WD1: Target Tracking Target Tracking in an Environment of Nearly Stationary and Biased Clutter 1358(6) David Liu Li-Chen Fu Detecting and Tracking Moving Objects from a Mobile Platform using a Laser Range Scanner 1364(6) M. Lindstrom J.-O. Eklundh Chasing an Elusive Target with a Mobile Robot 1370(6) Christophe Coue Pierre Bessiere Visual Tracking Manipulator with Redundancy and Its Application to Robotic Wheel Assembly 1376(6) Chang-hyun Cho Sungchul Kang Munsang Kim Jeabok Song Sunkyoo Min Jeasun Kim SungSub Do Session WD2: Sound and Speech Development of a Mechanical Talking Robot that Produces Natural Vowels and Consonant Sounds 1382(6) Kazufumi Nishikawa Kouichirou Asama Kouki Hayashi Hideaki Takanobu Atsuo Takanishi Emotive Qualities in Robot Speech 1388(7) Cynthia Breazeal Epipolar Geometry Based Sound Localization and Extraction for Humanoid Audition 1395(7) Kazuhiro Nakadai Hiroshi G. Okuno Hiroaki Kitano Human-Robot Interaction Through Real-Time Auditory and Visual Multiple-Talker Tracking 1402(8) Hiroshi G. Okuno Kazuhiro Nakadai Ken-ichi Hidai Hiroshi Mizoguchi Kiroaki Kitano Session WD3: Learning in Robots III Hybrid Coordination of Reinforcement Learning-based Behaviors for AUV Control 1410(6) Marc Carreras Joan Batlle Pere Ridao View-Based Imitation Learning by Conflict Resolution with Epipolar Geometry 1416(6) Yuichiro Yoshikawa Minoru Asada Image Feature Generation by Visio-Motor Map Learning Towards Selective Attention 1422(6) Takashi Minato Minoru Asada Vision-Based Control Using Different Cameras for Learning the Reference Image and for Servoing 1428(6) Ezio Malis Session WD4: Robot Sensing IV Sensor Network Based Workcell for Industrial Robots 1434(6) Y. Liu A. Hoover I.D. Walker Road Edge and Lane Boundary Detection Using Laser and Vision 1440(6) W.S. Wijesoma K.R.S. Kodagoda A.P. Balasuriya E.K. Teoh Fast Target Classification Using Sonar 1446(6) Andrew Heale Lindsay Kleeman Statistical Modeling and Design Issues of a Crossbeam Sensor 1452(6) Xiao-Gang Wang H. C. Shen M. Moallem Session WD5: Assembly A System for Automatic Planning, Evaluation and Execution of Assembly Sequences for Industrial Robots 1458(7) U. Thomas F. M. Wahl Search Strategies for Peg-in-Hole Assemblies with Position Uncertainty 1465(6) Siddarth R. Chhatpar Michael S. Branicky A Computational Framework for the Simulation, Verification, and Synthesis of Force-Guided Robotic Assembly Strategies 1471(6) Michael S. Branicky Siddarth R. Chhatpar Planar Parts-mating Using Structured Compliance 1477(6) Kazuhiro Kosuge Masayuku Shimizu Session WD6: Trajectory Planning II Robust, Compact Representations for Real-Time Path Planning in Changing Environments 1483(8) Peter Leven Seth Hutchinson 3D Rectilinear Motion Planning with Minimum Bend Paths 1491(8) Robert Fitch Zack Butler Daniela Rus An Implemented Planner For Manipulating A Polygonal Object in the Plane with Three Disc-Shaped Mobile Robots 1499(8) Attawith Sudsang Fred Rothganger Jean Ponce Solving the Minimum Distance Problem Between Convex or Concave Bodies Using Simulated Annealing 1507(6) Juan A. Carretero Meyer A. Nahon Ou Ma Session WD7: Navigation II Ground Plane Detection in Mobile Robot Visual Navigation 1513(6) Nick Pears Bojian Liang Towards Image Based Characterization of Underwater Acoustic Navigation 1519(6) Oscar Pizarro Hanumant Singh Steve Lerner Probabilistic Methods for Robotic Landmine Search 1525(8) Yangang Zhang Mark Schervish Ercan U. Acar Howie Choset Autonomous Visual Exploration of Complex Objects 1533(7) Flandin Gregory Francois Chaumette Session ThA1: Novel Locomoting Robots II Design of Terrain Adaptive Versatile Crawler Vehicle HELIOS-VI 1540(6) Shigeo Hirose Edwardo F. Fukushima Riichiro Damoto Hideichi Nakamoto Modeling and Control of a Underactuated Miniature Crawler Robot 1546(6) Jizhong Xiao Mark Minor Hans Dulimarta Ning Xi R. Mukherjee R. L. Tummala Development of Active Cord Mechanism ACM-R3 with Agile 3D mobility 1552(6) Makoto Mori Shigeo Hirose Error Analysis of Dead reckoning by Multi-Legged Robot 1558(6) Yasushi Mae Toru Masuda Tatsuo Arai Kenji Inoue Session ThA2: Human/Robot Cooperation I Variable Impedance Control with Regard to a Working Process for a Man-machine Cooperation-work System 1564(6) Toru Tsumugiwa Ryuichi Yokogawa Kei Hara Guiding Attention for Grasping Tasks by Gestural Instruction: The GRAVIS-Robot Architecture 1570(8) J. J. Steil G. Heidemann J. Jockusch R. Rae N. Jungclaus H. Ritter Predictive Control Estimating Operators Intention for Stepping-up Motion by Exo-Sckeleton Type Power Assist System HAL 1578(6) Kota Kasaoka Yoshiyuki Sankai Remote Therapy with Mouth Opening and Closing Training Robot Between Tokyo and Yamanashi 120 km 1584(6) Hideaki Takanobu Ryoji Soyama Atsuo Takanishi Kayoko Ohtsuki Daisaku Ozawa Masatoshi Ohnishi Akihisa Okino Session ThA3: Motion Planning Real-time Planning and Control of Robots Using Shunting Neural Networks 1590(6) Simon X. Yang Xiaobu Yuan Max Meng Guangfeng Yuan Hao Li On Planning for Whole Arm Manipulation with Switching Contact Modes 1596(6) Masahito Yashima Motion Planning for Planar n-Bar Mechanisms with Revolute Joints 1602(7) J.C. Trinkle R. James Milgram An Insect-Inspired Endgame Targeting Reflex for Autonomous Munitions 1609(7) Ravi Vaidyanathan Roger D. Quinn Roy E. Ritzmann Troy S. Prince Session ThA4: Robot Vision II Selecting Efficient Views for Visualizing Robot Motions 1616(7) Kanji Tanaka Yoshihiko Kimuro Off-the-Shelf Vision for a Robotic Ball Catcher 1623(7) U. Frese B. Bauml S. Haidacher G. Schreiber I. Schafer M. Hahnle G. Hirzinger Cooperative Probabilistic State Estimation for Vision-based Autonomous Mobile Robots 1630(8) Thorsten Schmitt Robert Hanek Sebastian Buck Michael Beetz Computation Principles for the Development of Visual Skills in Robotics 1638(6) Giovanni Bianco Paolo Fiorini Session ThA5: Robust Control PTP Motion Control of XY Positioning Systems with a Flexible Beam 1644(6) Bong Keun Kim Sangdeok Park Wan Kyun Chung Youngil Youm A Robust Control Approach to the Swing up Control Problem for the Acrobot 1650(6) Xin Xin Masahiro Kaneda On the Optimal PID Performance Tuning for Robotic Manipulators 1656(6) Youngjin Choi Wan Kyun Chung Youngil Youm Session ThA6: Navigation III Sensor-Based Navigation in Cluttered Environments 1662(8) Ricardo Swain-Oropeza Michel Devy Seth Hutchinson Visual Attention-based Robot Navigation Using Information Sampling 1670(6) Niall Winters Jose Santos-Victor Learning Occupancy Grids with Forward Models 1676(6) Sebastian Thrun Estimating the Motion of an Underwater Robot from a Monocular Image Sequence 1682(6) Rafael Garcia Xevi Cufi Marc Carreras Session ThA7: Parallel Mechnaisms II Efficient Formulation Approach for the Forward Kinematics of 6-3 Stewart-Gough Platform 1688(6) Se-Kyong Song Dong-Soo Kwon Workspace Analysis of a Parallel Manipulator with One Redundant DOF for Skull-Base Surgery 1694(6) Shaoping Bai Ming Yeong Teo Wan Sing Ng Charlie Sim A Parallel Cable-Driven Motion Base for Virtual Acceleration 1700(6) Satoshi Tadokoro Toshiyuki Matsushima Yoshio Murao Hideaki Kohkawa Manfred Hiller Session ThA8: Robot Sensing II Cooperative Sensing in Dynamic Environments 1706(8) Markus Dietl Jens-Steffen Gutmann Bernhard Nebel Sensor Space Segmentation for Visual Attention Control of a Mobile Robot Based on Information Criterion 1714(6) Noriaki Mitsunaga Minoru Asada Sensor Planning with Kinematics Constraint for Dimensional Inspection of Sheet Metal Parts 1720(6) Weihua Sheng Ning Xi Mumin Song Yifan Chen On-Line Gradient Based Surface Discontinuity Detection for Outdoor Scanning Range Sensors 1726(6) Martin D. Adams Session ThB1: Haptic Devices and Applications Force Feedback for a Spine Biopsy Simulator with Volume Graphic Model 1732(6) Ki-Uk Kyung Dong-Soo Kwon Sung-Min Kwon Heung Sik Kang Jong Beom Ra Design and Control of a Two Degree of Freedom Haptic Device for the Application of PC Video Games 1738(6) Byunghoon Bae Taeoh Koo Kyihwan Park Yongdae Kim Some Practical Issues in Time Domain Passivity Control of Haptic Interfaces 1744(7) Yoon Sang Kim Blake Hannaford Comparison of 3-D Haptic Peg-In-Hole Tasks in Real and Virtual Environments 1751(6) B. J. Unger A. Nicolaidis P. J. Berkelman A. Thompson R. L. Klatzky R. L. Hollis Development of the Master Hand for Grasping Information Capturing 1757(6) Kazuyuki Nagata Fuminori Saito Takashi Suehiro Session ThB2: Grasping II Geometric Grasping and Telemanipulation 1763(6) C. Secchi S. Stramigioli C. Melchiorri Passive Force Closure and its Computation in Compliant-Rigid Grasps 1769(7) Amir Shapiro Elon Rimon Joel Burdick On Computation of Grasp Internal Forces for Stably Grasping Multiple Objects 1776(6) Yong Yu Kenro Fukuda Showzow Tsujio Shape Tolerance for Robot Gripper Jaws 1782(6) Tao Zhang Lawrence Cheung Ken Goldberg Estimation of Mass and Center of Mass of Unknown Cylinder-Like Object Using Passing-C.M. Lines 1788(6) Yong Yu Takashi Kiyokawa Showzow Tsujio Session ThB3: Underwater Robotics Estimating the Vertical Velocity of Buoyant Deep-sea Hydrothermal Plumes Through Dynamic Analysis of an Autonomous Vehicle 1794(9) Dana R. Yoerger Pamela G. Murray Frit z Stahr Preliminary Experiments in the Adaptive Identification of Dynamically Positioned Underwater Robotic Vehicles 1803(8) David A. Smallwood Louis L. Whitcomb Underwater Robots for Cable Following 1811(6) Arjuna Balasuriya Tamaki Ura A Open Loop Nonlinear Model Based Thrust Controller for Marine Thrusters 1817(7) Ralf Bachmayer Louis L. Whitcomb Preliminary Experiments in Visual Servo Control for Autonomous Underwater Vehicle 1824(6) Chanop Silpa-Anan Thomas Brinsmead Samer Abdallah Alexander Zelinsky Session ThB4: Virtual Reality Decentralized Virtual Reality: Making the Move to Multi-User- and Multi-Screen Virtual Worlds 1830(6) Eckhard Freund Juergen Rossmann Intuitive Teleoperation by Micro Dome System 1836(6) Akihito Sano Hideo Fujimoto Hidenori Kajino Gen Isobe Hiroyoshi Takeuchi State Oriented Modeling as Enabling Technology for Projective Virtual Reality 1842(6) E. Freund M. Schluse J. Rossmann Virtual Programming with Path Guidance and Tracking Control 1848(6) Xiaobu Yuan Simon X. Yang Input Reduction in Human Sensation Modeling Using Independent Component Analysis 1854(6) Ka Keung Lee Yangsheng Xu Session ThB5: Impact and Force Control Development of a New Variable Remote Center Compliance Using Stiffness Adjusters 1860(4) Seungjoon Choi Sangcheol Lee Sangchul Won Compliant Design for Intrinsic Safety: General Issues and Preliminary Design 1864(6) Antonio Bicchi Stefano Lodi Rizzini Giovanni Tonietti Analytical and Experimental Evaluation of Impact Dynamics on a High-Speed Zero G Motion Simulator 1870(6) H. Kawabe E. Inohira T. Kubota M. Uchiyama Compliant Motion Control with Stochastic Active Observers 1876(6) Rui Cortesao Ralf Koeppe Urbano Nunes Gerd Hirzinger Analysis of Frictional Forces in Indeterminate Enveloping Grasps 1882(6) Jonghoon Park Kensuke Harada Makoto Kaneko Session ThB6: Control Some Remarks on Two Qussi-Velocities Approaches in PD Joint Space Control 1888(6) P. Herman K. Kozlowski A Feedback Control Gain Tuning for Mechatronic Systems by Iterative Trials 1894(6) Hiroaki Ozaki Tetsuji Shimogawa Chang-jun Lin Position Control of a Torque-unit Manipulator in Consideration of All State Variables 1900(6) Koji Yoshida Ryuji Onoda Hiroaki Kawabata Variable Spatial Springs for Robot Control Applications 1906(6) S. Stramigioli V. Duindam Time Optimal Manipulator Control for Sensor Guided Grasping of Moving Objects 1912(6) Konstantin Kondak Gunter Hommel Session ThB7: Localization & Odometry Artificial Landmark Tracking Based on the Color Histogram 1918(6) Kuk-Jin Yoon In-So Kweon Chan-Ho Lee Jong-Kyu Oh In-Teak Yeo Cylindrical Panoramic Image-Based Model for Robot Localization 1924(7) Dana Cobzas Hong Zhang Localization in Changing Environments - Estimation of Covariance Matrix for the IDC Algorithm 1931(7) Ola Bengtsson Albert-Jan Baerveldt General Solution for Linearized Systematic Error Propagation in Vehicle Odometry 1938(8) Alonzo Kelly A Possible Strategy to Evaluate the Odometry Error of a Mobile Robot 1946(6) Martinelli Agostino Session ThB8: Robot Actuators The Development and Performance Analysis of Beam Rotating Actuator for Multi-Beam Disk Drive 1952(6) Boung Jun Kim Soo Hyun Kim Yoon Keun Kwak Pleated Pneumatic Artificial Muscles: Compliant Robotic Actuators 1958(6) Frank Daerden Dirk Lefeber Bjorn Verrelst Ronald Van Ham Modeling of Braided Pneumatic Actuators for Robotic Control 1964(7) Robb W. Colbrunn Gabriel M. Nelson Roger D. Quinn Design of 2DOF Pyramid Type Ultrasonic Motor 1971(6) Shingo Shimoda Masayuki Ueyama Shinya Matsuda Takashi Matsuo Ken Sasaki Kiyoshi Itao A Master-Slave System Using a Multi-DOF Ultrasonic Motor and Its Controller Designed Considering Measured and Simulated Driving Characteristics 1977(6) Kenjiro Takemura Dai Harada Takashi Maeno Session ThC1: Image Processing Probabilistic Method of Real-Time Person Detection Using Color Image Sequences 1983(6) Kyousuke Uchida Nobutaka Shimad Yoshiaki Shirai Hand Pose Estimation Using Multi-Viewpoint Silhouette Images 1989(8) Etsuko Ueda Yoshio Matsumoto Masakazu Imai Tsukasa Ogasawara Eliminating False Matches in Image Registration Through Geometric Histograms from Reflected Correspondence Vectors 1997(6) Yonghuai Liu Marcos A Rodrigues An Extended Kalman Filter for Quaternion-Based Orientation Estimation Using MARG Sensors 2003(9) Joao Luis Marins Xiaoping Yun Eric R. Bachmann Robert B. McGhee Michael J. Zyda Session ThC2: Navigation IV Exploration Technique Using Potential Fields Calculated From Relaxation Methods 2012(6) Edson Prestes Marco A. P. Idiart Paulo M. Engel Marcelo Trevisan Collision Avoidance by Observing Pedestrians Faces for Intelligent Wheelchairs 2018(6) Yoshifumi Murakami Yoshinori Kuno Nobutaka Shimada Yoshiaki Shirai Autonomous Navigation and Localization in Service Mobile Robotics 2024(6) Maurizio Piaggio Antonio Sgorbissa Renato Zaccaria A Dynamic Reachability Test for Sensor-Based Navigation with Unknown Obstacle Boundaries 2030(6) Bing-ran Zuo I-Ming Chen Session ThC3: Adaptive Control Evolving an Adaptive Controller for a Quadruped-Robot with Dynamically--Rearranging Neural Networks 2036(9) Kei Otsu Akio Ishiguro Akinobu Fujii Takeshi Aoki Peter Eggenberger A Lorentz-Group Based Adaptive Control for Electro-Mechanical Systems 2045(6) J.K. Tar I.J. Rudas K. Jezernik S. Torvinen Adaptive Force Control of Position/Velocity Adaptive Force Control of Position/Velocity Controlled Robots: Theory and Experiemnt 2051(9) Jaydeep Roy Louis L. Whitcomb A New Perturbation Attenation Method for Motion Control of Robotic Systems 2060(6) SangJoo Kwon Wan Kyun Chung Session ThC4: Vision Algorithms Human-like Action Recognition System on Whole Body Motion-captured File 2066(8) Taketoshi Mori Kousuke Tsujioka Tomomasa Sato Narrative-Level Visual Interpretation of Human Motion for Human-Robot Interaction 2074(6) Adrian Hilti Illah Nourbakhsh Bjorn Jensen Roland Siegwart Analysis on Time-Delay of COTS Vision System Considering Motion-Blur 2080(6) Sung Ho Kim Byung Kook Kim Extending Shape-from-Motionto Noncentral Omnidirectional Cameras 2086(7) Dennis Strelow Jeff Mishler Sanjiv Singh Herman Herman Session ThC5: Human Movement and Skill Modeling Task Analysis of Ultra-Precision Assembly Processes for Automation of Human Skills 2093(6) Yoshio Yamamoto Tadashi Hashimoto Takahiro Okubo Toyotsugu Itoh A Flexible Spine Human-form Robot -- Development and Control of the Posture of the Spine 2099(6) Ikuo Mizuuchi Masayuki Inaba Hirochika Inoue Understanding of Human Movements in Crank Rotation 2105(6) M.M. Svinin K. Ohta Z.W. Luo S. Hosoe A Study of an Exoskeletal Robot for Human Shoulder Motion Support 2111(6) Kazuo Kiguchi Koya Iwami Tomomi Saza Shingo Kariya Keigo Watanabe Kiyotaka Izumi Toshio Fukuda Session ThC6: Planning Systems Representation and Execution of Plan Sequences for Multi-Agent Systems 2117(7) P. Pirjanian T.L. Huntsberger A. Barrett Planning with Increasingly Complex Executive Models 2124(7) D.J. Musliner R.P. Goldman M.J.S. Pelican Balancing Deliberation and Reaction, Planning and Execution for Space Robotic Applications 2131(9) R. Knight F. Fisher T. Estlin B. Engelhardt S. Chien Using Abstraction to Coordinate Multiple Robotic Spacecraft 2140(8) B.J. Clement E.H. Durfee A.C. Barrett G.R. Rabideau Session ThC7: Medical Applications II Semi-Autonomous Obstacle Avoidance of Omnidirectional Wheelchair by Joystick Impedance Control 2148(6) Hideo Kitagawa Tsunemitsu Kobayashi Tatsuya Beppu Kazuhiko Terashima Human Skull Robot as a Mechanical Patient Simulator for Mouth Opening and Closing Training 2154(6) Hideaki Takanobu Kazuyoshi Nakamura Atsuo Takanishi Kayoko Ohtsuki Daisaku Ozawa Masatoshi Ohnishi Akihisa Okino Development of Human-mobile Communication System Using ElectroOculoGram Signals 2160(6) Youngmin Kim Nakju Doh Youngil Youm Wan Kyun Chung Sensing and Control of a Robotic Prosthetic Eye for Ocular Implant 2166(6) Jason J. Gu Max Meng A. Cook M.G. Faulkner Peter X. Liu Session ThC8: Parallel Mechanisms III Workspace Analysis of Dual Parallel Manipulators for Tele-Micromanipulation 2172(6) Noriaki Ando Kouhei Gonda Hiroaki Shintani Hideki Hashimoto Optimal Design of 6 DOF Parallel Manipulators Using Three Point Coordinates 2178(6) Sung-Gaun Kim Jeha Ryu Controller Design for a Stewart Platform Using Small Workspace Characteristics 2184(6) Se-Han Lee Jae-Bok Song Woo-Chun Choi Daehie Hong Theory of Vibrations in Stewart Platforms 2190(6) J.M. Selig X. Ding Session ThD1: Robot Simulation An Approach To LEM Modeling: Construction, Collision Detection and Dynamic Simulation 2196(6) Kenneth Sundaraj Christian Laugier Ivan Costa A Simulink-Based Robotic Toolkit for Simulation and Control of the PUMA 560 Robot Manipulator 2202(6) W. E. Dixon D. Moses I. D. Walker D. M. Dawson A Versatile C++ Toolbox for Model Based, Real Time Control Systems of Robotic Manipulators 2208(7) Robert Hoepler Martin Otter Development on Face Robot for Real Facial Expressions 2215(6) H. Kobayashi Y. Ichikawa T. Tsuji K. Kikuchi Session ThD2: Human/Robot Cooperation II Functional Compliance in the Control of a Personal Robot 2221(6) Loredana Zollo Cecilia Laschi Giancarlo Teti Bruno Siciliano Paolo Dario Force/Moment Accommodation Control for Tele-Operated Manipulators Performing Contact Tasks in Stiff Environment 2227(7) F. Aghili E. Dupuis E. Martin J-C. Piedboeuf Workspace Analysis of Robotic Manipulators for a Teleoperated Suturing Task 2234(6) Murat Cenk Cavusoglu Isela Villanueva Frank Tendick Human-Robot Cooperative Manipulation with Motion Estimation 2240(6) Yusuke Maeda Takayuki Hara Tamio Arai Multi-Modal Human Robot Interaction for Map Generation 2246(6) Saeed Shiry Ghidary Motofuni Hattori Toshi Takamori Satoshi Tadokoro Session ThD3: Path Tracking Stable Tracking in Variable Time-Delay Teleoperation 2252(6) Carlo Benedetti Matteo Franchini Paolo Fiorini A Practical Approach to Feedback Path Control for an Articulated Mining Vehicle 2258(6) Plamen Petrov Pascal Bigras Trajectory Planning of Mobile Manipulator with End-Effectors Specified Path 2264(6) Akira Mohri Seiji Furuno Motoji Yamamoto Path Validation in Constrained Motion with Uncertainty 2270(6) J. Rosell R. Suarez L. Basanez Session ThD4: Learning in Robots IV Optimal Trajectory Planning of a Two-Link Flexible Robot Arm Based on Genetic Algorithm for Residual Vibration Reduction 2276(6) H. Kojima T.Kibe Simultaneous Design of Morphology of Body, Neural Systems and Adaptability to Environment of Multi-Link-Type Locomotive Robots Using Genetic Programming 2282(6) Ken Endo Takashi Maeno Characteristics of Function Emergence in Evolutionary Robotic System -Dependency on Environment and Task 2288(6) Kohki Kikuchi Fumio Hara Hiroshi Kobayashi Information Assistance in Rescue Using Intelligent Data Carriers 2294(6) Daisuke Kurabayashi Hajime Asama Kenichi Noda Isao Endo Hiroshi Hashimoto Teaching from Exampless in Assembly and Manipulation of Snack Food Ingredients by Robot 2300(6) T.G. Williams J.J. Rowland M.H. Lee Session ThD5: Quadruped Robots New Insights into Quasi-static and Dynamic Omnidirectional Quadrupedal Walking 2306(6) Sachin Chitta James P. Ostrowski Towards 3D Adaptive Dynamic Walking of a Quadruped Robot on Irregular Terrain by Using Neural System Model 2312(6) H.Kimura Y. Fukuoka K.Konaga Y.Hada K. Takase Adaptive Gait Pattern Control of a Quadruped Locomotion Robot 2318(8) Katsuyoshi Tsujita Kazuo Tsuchiya Ahmet Onat Quadruped Posture Control Based on Simple Force Distribution - A Notion and a Trial 2326(6) Christian Ridderstrom Johan Ingvast Session ThD6: Intelligent Human Oriented Robots Overt Visual Attention for a Humanoid Robot 2332(6) Sethu Vijaykumar Jorg Conradt Tomohiro Shibata Stefan Schaal Motion Generation of the Autonomous Robot Based on Body Structure 2338(6) Tetsuya Ogata Takaaki Komiya Shigeki Sugano Dynamic DOF Assignment Through Interaction with Environment 2344(5) Koh Hosoda Nobuto Yasuta Minoru Asada Accumulation and Summarization of Human Daily Action Data in One-Room-Type Sensing System 2349(6) Taketoshi Mori Katsutoshi Asaki Hiroshi Noguchi Tomomasa Sato Session ThD7: Software Architecture Software Architecture for Modular Self-Reconfigurable Robots 2355(6) Ying Zhang Kimon D. Roufas Mark Yim DCA: A Distributed Control Architecture for Robotics 2361(8) Lars Petersson David Austin Henrik Christensen Multi-Agent Blackboard Architecture for a Mobile Robot 2369(6) Grazyna Brzykey Jacek Martinek Adam Meissner Piotr Skrzypczynski Toward Developing Reusable Software Components for Robotic Applications 2375(9) Issa A.D. Nesnas Richard Volpe Tara Estlin Hari Das Richard Petras Darren Mutz Session ThD8: Learning Based Control Incremental Evolution of Neurocontrollers with a Diffusion-Reaction Mechanism of Neuromodulators 2384(8) Katsumi Kawai Akio Ishiguro Peter Eggenberger Smoothing Stability Roughness of a Robot Arm Under Dynamic Load Using Reinforcement Learning 2392(6) Aydan Erkmen Ismet Erkmen Burak Kaygisiz Coarse Planning for Landmark Navigation in a Neural-Network Reinforcement-Learning Robot 2398(6) Gianluca Baldassarre Neural Networks Control Structure for Manipulators with Flexible Last Link 2404 Wu Licheng Sun Zengqi Sun Fuchun
