Foreword iii Conference Organization v Author Index 1(1) W-MI-1 Personal Robotics (OS) An Integrated Approach for the Design and Development of a Grasping and Manipulation System in Humanoid Robotics 1(7) Paolo Dario Cecilia Laschi Maria chiara Carrozza Eugenio Guglielmelli Giancarlo Teti Bruno Massa Massimiliano Zecca Davide Taddeucci Fabio Leoni Robot Personalization Based on the Mental Dynamics 8(7) Hiroyasu Miwa Tomohiko Umetsu Atsuo Takanishi Hideaki Takanobu Path Planning for the Cye Personal Robot 15(6) Parag H. Batavia Illah Nourbakhsh Diligent: Towards a Human-friendly Navigation System 21(6) R. Alami I. Belousov Sara Fleury Matthieu Herrb F. Ingrand J. Minguez Benoit Morisset W-MI-2 Manipulator Control Minimum Time Path-tracking Control of Redundant Manipulators 27(6) Shugen Ma Mitsuru Watanabe Robust Control of Cascaded Nonlinear Systems 33(6) Jong H. Park Jongguk Yim Controllers with Desired Dynamic Compensation and their Implementation on a 6DOF Parallel Manipulator 39(7) Etienne Burdet Marcel Honegger Alain Codourey Dynamic Singular Configuration of Flexible Manipulators 46(6) Katsuya Kanaoka Tsuneo Yoshikawa W-MI-3 Soft-Computing Robotics Self-Adaptive Neuro-Fuzzy Systems: Structure and Learning 52(6) George Lee Jeen-Shing Wang Real-Time Assessment of Terrain Traversability for Autonomous Rover Navigation 58(6) Ayanna Howard Homayoun Seraji Neurobiology Suggests the Design of Modular Architectures for Neural Control 64(6) J.L. Buessler J.P. Urban Neural Mechanisms for Learning of Attention Control and Pattern Categorization as Basis for Robot Cognition 70(6) Luiz M.G. Goncalves Cosimo Distante Antonio A.F. Oliveira Roderic A. Grupen David Wheeler W-MI-4 3D Ranging Stereo Vision-Based Object Classification 76(6) Minh-Chinh Nguyen Volker Graefe A Straight Pipe Observation from the Inside by Laser Spots Array and a TV Camera 82(6) Takashi Tsubouchi Shigekazu Takaki Yoshifumi Kawaguchi Shinichi Yuta Incremental Mesh Modeling and Hierarchical Object Recognition Using Multiple Range Images 88(8) Ryusuke Sogawa Kei Okada Satoshi Kagami Masayuki Inaba Hirochika Inoue 2-D Vision Directing Laser Device for 3-D Measurement and Modeling 96(7) A.K.C. Wong Tong Xu R.E. Fayek W-MI-6 Map Building on Mobile Robot Local Mapping from On-line Laser Voronoi Extraction 103(6) D. Blanco B.L. Boada L. Moreno M.A. Salichs Sonar-based Feature Recognition and Robot Navigation Using a Neural Network 109(6) Puneet Goel Gaurav S. Sukhatme Geometric Feature Based 2 1/2D Map Building and Planning with Laser, Sonar and Tactile Sensors 115(6) Li Zhang Bijoy K. Ghosh W-MI-7 Nonholonomy on Purpose and Minimalism in Robot Design - I (OS) Classification of Nonholonomic Systems from Mechanical and Control-theoretical Viewpoints 121(6) Masato Ishikawa Mitsuji Sampei Control of Nonholonomic Free-Joint Manipulators with One Actuator 127(6) Takahiro Suzuki Yoshihiko Nakamura Controllability of Under-actuated Planar Manipulators with One Unactuated Joint 133(6) Keigo Kobayashi Tsuneo Yoshikawa Motion Planning under Gravity for Underactuated Three-link Robots 139(6) Alessandro De Luca Giuseppe Oriolo W-MI-8 Virtual Reality and Simulation Interactive Dynamic Simulation Using Haptic Interaction 145(6) Wookho Son Kyunghwan Kim Nancy M. Amato Jeffrey C. Trinkle Human Sensation Modeling in Virtual Environments 151(6) KaKeung Lee Yangsheng Xu A New Method of 3-D Movie Based on 2-D Photo Images for the Virtual Playing Catch System 157(6) Masayuki Kitazawa Jing-Long Wu Yoshiro Sakai Controlling Virtual Autonomous Entities in Dynamic Environments Using an Appropriate Sense-Plan-Control Paradigm 163(6) David Raulo Juan-Manuel Ahuactzin Christian Laugier W-AI-1 Entertainment and Mental Commitment Robotics (OS) Influence of A Priori Knowledge in Subjective Interpretation and Evaluation by Short-term Interaction with Mental Commit Robot 169(6) Takanori Shibata Kazuo Tanie Development of Emotional Communication Robot: WAMOEBA-2R - Experimental Evaluation of the Emotional Communication between Robots and Humans 175(6) Tetsuya Ogata Yoshihiro Matsuyama Takaaki Komiya Masataka Ida Kuniaki Noda Shigeki Sugano Design and Architecture of SIG the Humanoid: An Experimental Platform for Integrated Perception in RoboCup Humanoid Challenge 181(10) Hiroaki Kitano Hiroshi G. Okuno Kazuhiro Nakadai Theo Sabisch Tatsuya Matsui Emotion Expression of a Biped Personal Robot 191(6) Hun-ok Lim Akinori Ishii Atsuo Takanishi W-AI-2 Mechatronics Elements Qualitative Synthesis of Deformable Cylindrical Actuators through Constraint Topology 197(6) Shinichi Hirai Hiroki Tanigawa Pierre Cusin Tomohiro Masui Satoshi Konishi Sadao Kawamura Modeling of Hysteresis in Deformation of Rodlike Objects Toward Their Manipulations 203(6) Takahiro Wada Brenan J. McCarragher Hidefumi Wakamatsu Shinichi Hirai Takeshi Yonezawa Shinichi Tokumoto Control of a Hybrid Pneumatic/Electric Motor 209(6) Fumiaki Takemura Shunmugham R. Pandian Yasunobu Nagase Hajime Mizutani Yasuhiro Hayakawa Sadao Kawamura Minimum-time Control of Coupled Tendon-driven Manipulators 215(6) Shugen Ma Mitsuru Watanabe W-AI-3 Robotics and Neuroscience (OS) Estimating Doppler Shift with a Coarse Cochlear Filterbank 221(6) Jose M. Carmena John C.T. Hallam Visual Landmark Learning 227(6) Giovanni M. Bianco Miriam Lehrer Alexander Zelinsky Fast and Accurate Mobile Robot Control Using a Cerebellar Model in a Sensory Delayed Environment 233(6) David T. Collins Gordon F. Wyeth A Biological Inspired Neural Network Approach to Real-time Collision-free Motion Planning of a Nonholonomic Car-like Robot 239(6) Simon X. Yang Max Meng Xiaobu Yuan W-AI-4 Visual Servoing - I Visual Servoing Based on Object Motion Estimation 245(6) Keiro Nagahama Koichi Hashimoto Toshiro Noritsugu Masahiro Takaiwa What Metric Stereo Can Do for Visual Servoing 251(6) Bart Lamiroy Cyrille Puget Radu Horaud Turning Around an Unknown Object Using Visual Servoing 257(6) Francois Berry Philippe Martinet Jean Gallice A Novel Image-based Control-law for the Visual Servoing System under Large Pose Error 263(6) HoWon Kim JaeSeung Cho InSo Kweon W-AI-6 Mobile Robot Localization - I Mobile Robot Localization Using Circular Correlations of Panoramic Images 269(6) Toshihiro Matsui Simon Thompson Hideki Asoh Visual Localization of a Mobile Robot in Indoor Environments Using Planar Landmarks 275(6) V. Ayala J.B. Hayet F. Lerasle M. Devy Active Exploration for Feature Based Global Localization 281(7) Marco Seiz Patric Jensfelt Henrik I. Christensen Autonomous Global Localisation Using Markov Chains and Optimised Sonar Landmarks 288(6) Antonio Bandera Cristina Urdiales Francisco Sandoval W-AI-7 Nonholonomy on Purpose and Minimalism in Robot Design - II (OS) Controlling More with Less Using Nonholonomic Gears 294(6) James P. Ostrowski Virtual Nonholonomic Constraint for Human-Robot Cooperation in 3-D space 300(6) Tomohito Takubo Hirohiko Arai Kazuo Tanie Experiments in Ergonomic Robot-Guided Manipulation 306(6) Allan Sorensen Caizhen Liu Songho M. Kim Kevin M. Lynch Michael A. Peshkin The Cycab Robot : a Differentially Flat System 312(6) S. Sekhavat J. Hermosillo W-AI-8 Biologically Inspired Grasping and Manipulations - I (OS) Inherent Structure of Manipulative Hand Movements and Its Discriminative Power 318(6) Miriam Zacksenhouse Paul Marcovici Dynamic Control of Soft-finger Hands for Pivoting an Object in Contact with the Environment 324(6) Tsuneo Yoshikawa Tetsuyo Watanabe Analysis and Initial Experiments for a Novel Elephants Trunk Robot 330(8) Michael W. Hannan Ian D. Walker Kinematic Algorithm of Multifingered Manipulation with Rolling Contact 338(6) Jianfeng Li Yuru Zhang Qixian Zhang W-AII-1 Human-Robot Cooperation - I One-Room-Type Sensing System for Recognition and Accumulation of Human Behavior 344(7) Taketoshi Mori Tomomasa Sato Katsutoshi Asaki Yasuki Kishimoto Yuji Yoshimoto Sensor Pillow System: Monitoring Respiration and Body Movement in Sleep 351(6) Tatsuya Harada Akiko Sakata Taketoshi Mori Tomomasa Sato A Social Robot that Stands in Line 357(8) Yasushi Nakauchi Reid Simmons An Animal Psychological Approach for Personal Robot Design - Interaction between a Rat and a Rat-Robot 365(6) Tomohide Aoki Takahiro Watanabe Hiroyasu Miwa Atsuo Takanishi W-AII-2 Rehabilitation Robots Sensors and Actuators of Wearable Haptic Master Device for the Disabled 371(6) Kyoobin Lee Dong-Soo Kwon Bio-mimetic Impedance Control of an EMG-Controlled Prosthetic Hand 377(6) Toshio Tsuji Osamu Fukuda Hiroki Shigeyoshi Makoto Kaneko Design of an Exoskeletal Robot for Human Elbow Motion Support 383(6) Kazuo Kiguchi Shingo Kariya Tomohiko Niwa Keigo Watanabe Kiyotaka Izumi Toshio Fukuda Prosthetic Hand Control Based on Torque Estimation from EMG Signals 389(6) Satoshi Morita Katsunari Shibata Xin-Zhi Zheng Koji Ito W-AII-3 Rehabilitation Robots Vision-Guided Behavior Acquisition of a Mobile Robot by Multi-Layered Reinforcement Learning 395(8) Yasutake Takahashi Minoru Asada Reinforcement Learning for a Vision Based Mobile Robot 403(7) Chris Gaskett Luke Fletcher Alexander Zelinsky Truss Assembly by Space Robot and Task Error Recovery via Reinforcement Learning 410(6) Kei Senda Tsutomu Matsumoto Initial Experiments on Reinforcement Learning Control of Cooperative Manipulations 416(7) M. Svinin F. Kojima Y. Katada K. Ueda W-AII-4 Visual Servoing - II Potential Problems and Switching Control for Visual Servoing 423(6) Koichi Hashimoto Toshiro Noritsugu Selection of an Optimal Camera Position Using Visibility and Manipulability Measures for an Active Camera System 429(6) Gil Whoan Chu Myung Jin Chung Asymptotic Position Control of Robot Manipulators Using Uncalibrated Visual Feedback 435(6) Yan-Tao Shen Yun-Hui Liu Kejie Li Distributed Visual Servoing with a Roving Eye 441(7) David Hershberger Robert Burridge David Kortenkamp Reid Simmons W-AII-6 Mobile Robot Localization - II Optimized Landmark Arrangement for Absolute Localization - A Practical Approach 448(6) Torsten Rupp Paul Levi SEGMENTS: A Layered, Dual-Kalman Filter Algorithm for Indoor Feature Extraction 454(8) Stergios I. Roumeliotis George A. Bekey Multisensor On-the-Fly Localization Using Laser and Vision 462(6) Kai O. Arras Nicola Tomatis Roland Siegwart Improvement of Odometry for Omnidirectional Vehicle Using Optical Flow Information 468(6) Keiji Nagatani Satoshi Tachibana Makoto Sofue Yutaka Tanaka W-AII-7 Micro Robotics Compliant Beam Networks Optimization for Microsystems 474(6) Christophe Haug Stephane Regnier Philippe Z. Bidaud Micro Robots Dedicated to Small Diameter Canalization Exploration 480(6) Cedric Anthierens Christine Libersa Mohamed Touaibia Maurice Betemps Marc Arsicault Nicolas Chaillet Closed-loop Control of Rigid and Flexible Objects on a Pneumatic Active Surface Device 486(6) Riko Safaric Suzana Uran K. TobiasWinther Piezoactuators for Motion Control from Centimeter to Nanometer 492(6) Jean-Marc Breguet Ricardo Perez Arvid Bergander Carl Schmitt Reymond Clavel H. Bleuler W-AII-8 Parallel Mechanism - I (OS) Development of a Manipulator Suspended by Parallel Wire Structure 498(6) Hisashi Osumi Yasushi Utsugi Masahiro Koshikawa Inverse Kinematics Analysis for Incompletely Restrained Parallel Wire Mechanisms 504(6) Motoji Yamamoto Akira Mohri Specific Kinematic Changes in a Linear-Actuated Parallel Mechanism According to Differences in Actuator Arrangement 510(6) Takanori Masuda Motoyoshi Fujiwara Tatsuo Arai Hybrid Drive Parallel Arm and Its Motion Control 516(6) Tatsuo Arai Kei Yuasa Yasushi Mae Kenji Inoue Hirofumi Kamishima Kunio Miyawaki Noriho Koyachi W-AIII-1 Human-Robot Cooperation - II Human-Humanoid Physical Interaction Realizing Force Following and Task Fulfillment 522(6) Hiroyasu Iwata Hayato Hoshino Toshio Morita Shigeki Sugano Human-Robot Interaction through Spoken Language Dialogue 528(7) Luis Seabra Lopes Antonio Teixeira Interactive Control of Human/Robot Sharing Same Workspace 535(6) Jae Y. Lew Yung-Tsan Jou Hajrudin Pasic Handling of Object by Mobile Manipulator in Cooperation with Human Using Object Trajectory Following Method 541(6) Manabu Sato Kazuhiro Kosuge W-AIII-2 Medical and Rehabilitation Operation Planning of Robot Supported Surgical Interventions 547(6) J. Munchenberg J. Brief J. Raczkowsky Heinz Worn S. Hassfeld J. Muhling Remote Treatment with Mouth Opening and Closing Training Robot 553(6) Hideaki Takanobu Ryoji Soyama Atsuo Takanishi Kayoko Ohtsuki Daisaku Ozawa Masatoshi Ohnishi Development of an Intelligent Electrical Walking Rehabilitation System 559(6) Ren C. Luo Hung Hsiao Cartesian Control Issues for Minimally Invasive Robot Surgery 565(7) Tobias J. Ortmaier Gerd Hirzinger W-AIII-3 Skill Learning and Task Learning Learning Using Multidimensional Internal Rewards 572(6) Yuichi Kobayashi Hideo Yuasa Tamio Arai Learning Manipulative Skills with ART 578(6) I. Lopez-Juarez M. Howarth Extracting Manipulation Skills from Observation 584(6) Jun Takamatsu Hirohisa Tominaga Koichi Ogawara Hiroshi Kimura Katsushi Ikeuchi Towards Automatically Learning an Implicit Model from 2D-Images Based on a Local Similarity Analysis of Contours 590(6) Dag Pechtel Klaus-Dieter Kuhnert W-AIII-4 Visual Sevoing - III Real-Time 3D Shape Recognition of High Speed Moving Object by Fixation Point Tracking with Active Camera 596(6) Koichiro Deguchi Kosuke Yanaiyama Visual Servoing Based on Epipolar Geometry 602(6) Patrick Rives Improved Control of Visually Observed Robotic Agents Based on Autoregressive Model Prediction 608(6) Guilherme A.S. Pereira Mario F.M. Campos Luis A. Aguirre Vision Based Station Keeping and Docking for an Aerial Blimp 614(6) Sjoerd van der Zwaan Alexandre Bernardino Jose Santos-Victor W-AIII-6 Mobile Robot Navigation Vision-Based Door-Traversal for Autonomous Mobile Robots 620(6) Christof Eberst Magnus Andersson Henrik I. Christensen A Framework for Indoor Navigation Based on a Partially Quantitative Map 626(7) Masahiro Tomono Shinichi Yuta Braille Block Detection for Autonomous Mobile Robot Navigation 633(6) Tomoaki Yoshida Akihisa Ohya Shinichi Yuta A Gradient Method for Realtime Robot Control 639(8) Kurt Konolige W-AIII-7 Advances in Micromanipulation - I (OS) Real-Time Micro Observation Technique for Tele-Micro-Operation 647(6) Kohtaro Ohba Carlos Ortega Kazuo Tanie Gakuyoshi Rin Ryoichi Dangi Y. Takei T. Kaneko N. Kawahara Experiments on Micromanipulation Using Adhesion Forces in Unconstrained Environment 653(6) Yves Rollot Sinan D. Haliyo Stephane Regnier Lionel Buchaillot Jean-Claude Guinot Philippe Z. Bidaud A Microgripper Using Smart Piezoelectric Actuators 659(6) Yassine Haddab Nicolas Chaillet Alain Bourjault Indirect Manipulation and Bilateral Control of the Microbe by the Laser Manipulated Microtools 665(6) Fumihito Arai Masanobu Ogawa Toshio Fukuda W-AIII-8 Parallel Mechanism - II (OS) Parallel Mechanisms with Adjustable Link Parameters 671(6) Tatsuo Arai Kazunari Takayama Kenji Inoue Yasushi Mae Yoshihiko Koseki Micro Teleoperation with Parallel Manipulator 677(6) Noriaki Ando Masahito Ohta Hideki Hashimoto Optimal Redundant Actuation of Closed-Chain Mechanisms for High Operational Stiffness 683(6) Sungbok Kim Design of a Parallel-Type Gripper Powered by Pneumatic Actuators 689(7) Byung-Ju Yi H.-Y. Ra Jae HoonLee Y.S. Hong J.S. Park S.-R. Oh I.H. Suh W.K. Kim W-AIV-1 Human-Robot Cooperation - III Making Service Robots Human-Safe 696(6) V. Javier Traver Angel P. del Pobil Miguel Perez-Francisco Benefits of Combined Active Stereo Vision and Haptic Telepresence 702(6) Hubert Baier Martin Buss Franz Freyberger Gunther Schmidt Measurement and Analysis of Human Characteristics on Distance Perception for Man-Machine Interface of Teleoperation Systems 708(6) Jing-Long Wu Kazuyoshi Tsukamoto Masayuki Kitazawa W-AIV-2 Medical Robotics (OS) GENIE-An Haptic Interface for Simulation of Laparoscopic Surgery 714(6) Ranjan M. Kumar Saripalli Srikanth Portable Virtual Endoscope System with Force and Visual Display 720(7) Koji Ikuta Koji Iritani Junya Fukuyama Masaki Takeichi Surgical Assist Robot for the Active Navigation in the Intraoperative MRI: Hardware Design Issues 727(6) Kiyoyuki Chinzei Nobuhiko Hata Ferenc A. Jolesz Ron Kikinis W-AIV-3 Collision Detection - I A Study on Functional Characteristics of Robotic System with Morphology and Intelligence 733(6) Kohki Kikuchi Hiroshi Kobayashi Estimate of Minimum Distance between Convex Polyhedra Based on Enclosed Ellipsoids 739(6) Sheng-Po Shiang Jing-Sin Liu Yu-Ren Chien A Hierarchy of Detail for Fast Collision Detection 745(6) Begona Martinez-Salvador Angel P. del Pobil Miguel Perez-Francisco W-AIV-4 Advanced Control Method A Contour Approach for Image-based Control on Objects with Complex Shape 751(6) Christophe Collewet Francois Chaumette Instantaneous Model Impedance Control for Robots 757(6) Tomer Valency Miriam Zacksenhouse The Robust Robot Controller Design by Using the Parameter Multiplier 763(6) Inhyuk Cha Changsoo Han W-AIV-6 Robotics-Based Demining Technologies (OS) Proposition of the Humanitarian Demining System by the Quadruped Walking Robot -Adaptability for Various Tasks Using the Foot-end-effector Changing Mechanism- 769(6) Keisuke Kato Shigeo Hirose Development of Teleoperated Six-legged Walking Robot for Mine Detection and Mapping of Mine Field 775(5) Kenzo Nonami Nobuhiro Shimoi Qing J. Huang Daisuke Komizo Hiroaki Uchida Force/Attitude Control of Mine Detecting Six-legged Locomotion Robot 780(6) Hiroaki Uchida Nobuhiro Shimoi Qing J. Huang Daisuke Komizo Kenzo Nonami W-AIV-7 Advances in Micromanipulation - II (OS) Kinematic Analysis of Translational 3-DOF Micro Parallel Mechanism Using Matrix Method 786(7) Yoshihiko Koseki Tamio Tanikawa Noriho Koyachi Tatsuo Arai The Autonomous Miniature Robot Alice: from Prototypes to Applications 793(6) Gilles Caprari Kai O. Arras Roland Siegwart Laser Measuring System for a Flexible Microrobot-Based Micromanipulation Station 799(6) Axel Buerkle Sergej Fatikow W-AIV-8 Nonholonomy on Purpose and Minimalism in Robot Design - III (OS) Nonholonomic Kinematics and Dynamics of the Sphericle 805(6) Carlo Camicia Fabio Conticelli Antonio Bicchi Dynamics of a Rolling Disk and a Single Wheel Robot on an Inclined Plane 811(6) Yangsheng Xu Loi Wah Sun Quasi-Static Legged Locomotors as Nonholonomic Systems 817(9) Joel W. Burdick Bill Goodwine T-MI-1 E-service Robotics (OS) Multi-Site Internet-Based Cooperative Control of Robotic Operations 826(6) Imad Elhajj Jindong Tan Ning Xi Yun-Hui Liu Tomoyuki Kaga Toshio Fukuda Y. Hasegawa W.K. Fung E-service Robot in Home Healthcare 832(6) Max Meng Cheng Chen Peter X. Liu Ming Rao e-Maintenance Robotics in Hazardous Environments 838(5) William R. Hamel Internet Based Manufacturing Technology: Intelligent Remote Teleoperation 843(6) Kevin Brady Tzyh-Jong Tarn T-MI-2 Underwater Robot (OS) Autonomous Target Tracking by Twin-Burger 2 849(6) Arjuna Balasuriya Tomaki Ura On AUV Control Architecture 855(6) Pere Ridao Junku Yuh Joan Battle Kazuo Sugihara Distributed Virtual Environment Collaborative Simulator for Underwater Robots 861(6) Song K. Choi Scott A. Menor Junku Yuh A New Type of Underwater Fish-like Microrobot 867(6) Shuxiang Guo Koichi Sugimoto Seiji Hata Jianliang Su Keisuke Oguro T-MI-3 Robot Learning Extracting Logical Perceptual Space for Robot Learning Using Factor Analysis 873(6) Wai-keung Fung Yun-Hui Liu Autonomous Recovery of Global Efficiency Based Local Interaction for Flexible Transfer System (FTS) 879(6) Toshio Fukuda Isao Takagawa Kosuke Sekiyama Acceleration of Reinforcement Learning by a Mobile Robot Using Generalized Rules 885(6) Kousuke Inoue Jun Ota Tomohiko Katayama Tamio Arai Autonomous Reconstruction of State Space for Learning of Robot Behavior 891(6) Takehisa Yairi Koichi Hori Shinichi Nakasuka T-MI-4 Sensor-Based Path Planning Incremental Topological Modeling Using Local Voronoi-like Graphs 897(6) D. Van Zwynsvoorde T. Simeon R. Alami A Basic Algorithm and Data Structures for Sensor-based Path Planning in Unknown Environments 903(6) Juan-Manuel Ahuactzin Alberto Portilla A Comparative Study of Sensor-Based Path-Planning Algorithms in an Unknown Maze 909(8) Hiroshi Noborio Keiichi Fujimura Yohei Horiuchi Sensor-Based Path-Planning Algorithms for a Nonholonomic Mobile Robot 917(8) Hiroshi Noborio Iku Yamamoto Toshihiro Komaki T-MI-6 Mobile Robot (OS) Real-time Obstacle Avoidance Algorithm for Visual Navigation 925(6) Joe Mari Maja Takayuki Takahashi Zhi Dong Wang Eiji Nakano Concept Design of Remote Fault Diagnosis System for Autonomous Mobile Robots 931(6) Tao Yan Jun Ota Akio Nakamura Tamio Arai Noriaki Kuwahara Localization and Map Building Using a Sensor-Based Control Strategy 937(6) Alessandro Correa Victorino Patrick Rives Jean-Jacques Borrelly View Planning for the 3D Modelling of Real World Scenes 943(6) Konrad Klein Vitor Sequeira T-MI-7 Haptic Interface - I Design and Analysis of a New Haptic Device Using a Parallel Mechanism 949(6) Jungwon Yoon Jeha Ryu Control of the Haptic Interface with Friction Compensation and Its Performance Evaluation 955(6) Dong-Soo Kwon Ki-Young Woo A Design Method of Haptic Interface Controller Considering Transparency and Robust Stability 961(6) Kwang Sik Eom Il HongSuh Byung-Ju Yi Simple Haptic Display and Object Data Design 967(6) Toru Niki Makoto Shimojo T-MI-8 Walking Robots Three-Legged Walking for Fault Tolerant Locomotion of a Quadruped Robot with Demining Mission 973(6) Yun-Jung Lee Shigeo Hirose Adaptive Dynamic Walking of a Quadruped Robot on Irregular Terrain by Using Neural System Model 979(6) Hiroshi Kimura Yasuhiro Fukuoka Speed Control for Quadruped Using Duty Factor 985(6) Vincent Hugel Patrick Bonnin Pierre Blazevic Development and Control of New Legged Robot QUARTET III---From Active Walking to Passive Walking--- 991(5) Koichi Osuka Yoshihide Saruta T-AI-1 Teleoperation - I --- Giga-bit/High-speed Network and Robotics --- ``Toy Problem as the Benchmark Test for Teleoperation Systems 996(6) Yasuyoshi Yokokohji Yukihiro Iida Tsuneo Yoshikawa Development of a Multi-telerobot System for Remote Collaboration 1002(6) Nak-Young Chong Tetsuo Kotoku Kohtaro Ohba Kiyoshi Komoriya Fumio Ozaki Hideaki Hashimoto Junji Oaki Katsuhiro Maeda Nobuto Matsuhira Kazuo Tanie Experiments on a Remote Appreciation Robot in an Art Museum 1008(6) Shoichi Maeyama Shinichi Yuta Akira Harada Development of a Mobile Robot which Embodies a Remote Instructor 1014(6) Shinya Oyama Hideaki Kuzuoka Keiichi Yamazaki Mamoru Mitsuishi Kenji Suzuki T-AI-2 Small Quadruped Robots on Robot Soccer - Architecture and System Design (OS) A Hierarchical, Modal Approach to Hybrid Systems Control of Autonomous Robots 1020(6) Kenneth A. McIsaac Aveek K. Das Joel M. Esposito James P. Ostrowski A Quadruped Robot Platform with Basic Software for RoboCup-99 Legged Robot League 1026(6) Takashi Yamamoto Masahiro Fujita Reactive and Adaptive Control Architecture Designed for the Sony Legged Robots League in RoboCup 1999 1032(6) Vincent Hugel Patrick Bonnin Pierre Blazevic Observation Strategy for Decision Making Based on Information Criterion 1038(6) Noriaki Mitsunaga Minoru Asada T-AI-3 Fuzzy and Neural Networks Design of Stable Fuzzy Controllers for an AGV 1044(6) Wijerupage Sardha Wijesoma K.R.S. Kodagoda A Behavior Learning Method of a Mobile Robot Using View Information 1050(6) Kuniaki Kawabata Tatsuya Ishikawa Teruo Fujii Hajime Asama Isao Endo Open Fuzzy Force Controller of Manipulators with Unknown Environment Parameters 1056(6) Peitao Shi Min Tan Xiaojun Ma Switching Q-learning in Partially Observable Markovian Environments 1062(6) Hiroyuki Kamaya Haeyeon Lee Kenichi Abe T-AI-4 Sensor-Based Control Acceleration Feedback Control for Direct-Drive Motor System 1068(7) Jianda Han Yuechao Wang Dalong Tan Weiliang Xu Explicit Force Control for Manipulators with Active Observers 1075(6) Rui Cortesao Ralf H. Koeppe Urbano Nunes Gerd Hirzinger Mixed Camera-Laser Based Control for Mobile Robot Navigation 1081(6) Dominique Dedieu Viviane Cadenat Philippe Soueres State Feedback Controller for Flexible Joint Robots: A globally stable approach implemented on DLRs light-weight robots 1087(7) Alin Albu-Schaffer Gerd Hirzinger T-AI-6 Mobile Robot - Architecture and Intelligence Software Systems Facilitating Self-Adaptive Control Software 1094(7) Theodore Q. Pham Kevin R. Dixon Jonathan R. Jackson Pradeep K. Khosla A Benchmark Suite for Mobile Robots 1101(6) Jacky Baltes A Robot Recognizing Everyday Objects - Towards Robot as Autonomous Knowledge Media - 1107(6) Hideaki Takeda Atsushi Ueno Motoki Saji Tsuyoshi Nakano Kei Miyamoto A Mode-Based Sensor Fusion Approach to Robotic Stair-Climbing 1113(6) Solomon Steplight Geoffrey Egnal Sang-Hack Jung Daniel B. Walker Camillo J. Taylor James P. Ostrowski T-AI-7 Haptic Interface - II Dynamic Display of Distributed Tactile Shape Information by a Prototypical Actuator Array 1119(6) Peter Kammermeier Martin Buss Gunther Schmidt Control and Evaluation of a New 6-DOF Haptic Device Using a Parallel Mechanism 1125(6) Jungwon Yoon Jeha Ryu SKK Hand Master -Hand Exoskeleton Driven by Ultrasonic Motors 1131(6) ByungHyun Choi H.R. Choi Presentation of Push Button Switches with Manipulators for Virtual Operating Environment 1137(6) Kenji Inoue Yusuke Takao Tatsuo Arai Yasushi Mae T-AI-8 Biped Robots - I Self-Excitation Control for Biped Walking Mechanism 1143(6) Kyosuke Ono Ryutaro Takahashi Atsushi Imadu Toru Shimada Virtual Passive Dynamic Walking and Energy-Based Control Laws 1149(6) Fumihiko Asano Masaki Yamakita Katsuhisa Furuta Design of 4 Joints 3 Links Biped Robot and Its Gaits 1155(6) Sung-Hoon Kim Jun-Ho Oh Ki-Hoon Lee Synthesis of Turning Pattern Trajectories for a Biped Robot in a Scene with Obstacles 1161(6) Vladimir J. Lumelsky Masahiro Yagi T-AII-1 Teleoperation - II Verification of an Advanced Space Teleoperation System Using Internet 1167(6) Yuichi Tsumaki Toshihiko Goshozono Koyu Abe Masaru Uchiyama Ralf H. Koeppe Gerd Hirzinger A Novel Adaptive Bilateral Control Scheme Using Dual Closed-loop Dynamic Characteristics of Master/Slave Manipulators 1173(6) Jee-Hwan Ryu Dong-Soo Kwon A Teleoperation System Based on Generation of Artificial Forces and Sensor-Based Motion-Planning 1179(8) Taisuke Hirai Tatsuya Ikuta Hiroshi Noborio Sliding Mode Control of Bilateral Teleoperation Systems with Force-Reflection on the Internet 1187(6) Jong H. Park Hyun C. Cho T-AII-2 Self-localization on Robot Soccer (OS) Vision-Based Self-Localization for Soccer Robots 1193(6) Carlos F. Marques Pedro U. Lima Vision-Based Localization and Data Fusion in a System of Cooperating Mobile Robots 1199(6) Robert Hanek Thorsten Schmitt Fuzzy Landmark-Based Localization for a Legged Robot 1205(6) P. Buschka A. Saffiotti Z. Wasik Learning Self-Localization with Teaching System 1211(6) Masahiro Yokoi Yuichi Kobayashi Takeshi Fukase Hideo Yuasa Tamio Arai T-AII-3 Grasping and Stiffness Analysis Geometrical Method for Modeling of Asymmetric 6x6 Cartesian Stiffness Matrix 1217(6) Shih-Feng Chen Imin Kao An Efficient Algorithm for Computing a 3D Form-Closure Grasp 1223(6) Dan Ding Yun-Hui Liu Yan-Tao Shen Guo-Liang Xiang Stiffness Analysis for Effective Peg-In/Out-Hole Tasks Using Multi-fingered Robot Hands 1229(8) Byoung-Ho Kim Byung-Ju Yi Il HongSuh Sang-Rok Oh On the Existence of Form-closure Configurations on a Grid 1237(6) A. Frank van der Stappen T-AII-4 Sensor Systems Compound-eye-type Micro Vision Sensor with Simple Structure 1243(6) Michiaki Sekine Kazunori Umeda Improved Performance of Built-in Torque Sensing for Harmonic Drives 1249(6) Ivan Godler Tamotsu Ninomiya Masashi Horiuchi Minoru Hashimoto Development of a Biomimetic Position Sensor for Robotic Kinesthesia 1255(6) Kristen N. Jaax Pierre-Henry Marbot Blake Hannaford A Real Time DSP Sonar Echo Processor 1261(6) Andrew Heale Lindsay Kleeman T-AII-5 Applications Object Turning for Barcode Search 1267(6) Derk Rembold Vladislav Belogroudov Heinz Worn Robot Assisted Disassembly of Electronic Devices 1273(6) K. Hohm H. Muller H. Tolle Intelligent System for Automated Fish Sorting and Counting 1279(6) Sebastien Cadieux Francois Michaud Francois Lalonde Influence of Material Properties and Fingertip Size on the Power-Law Equation for Soft Fingers 1285(6) Nicholas Xydas Imin Kao T-AII-6 Ultrasonic Sensing for Mobile Robot Research on Estimating the Smoothed Value and the Differential Value of the Distance Measured by an Ultrasonic Wave Sensor 1291(7) Takanori Emaru Takeshi Tsuchiya Use of Amplitude of Echo for Environment Recognition by Mobile Robots 1298(6) Teruko Yata Akihisa Ohya Shinichi Yuta Context-Based Feature Extraction with Wide-Angle Sonars 1304(6) Gregor Pavlin Reinhard Braunstingl T-AII-7 Haptic Interaction and Dynamic Simulation (OS) Haptic Interfaces in Generic Virtual Reality Systems 1310(6) Remis Balaniuk Christian Laugier Stable Haptic Display of 1-DOF Grasping with Coupling Impedance for Internal and External Forces 1316(6) Masayuki Kawai Tsuneo Yoshikawa A Framework for Multi-Contact Multi-Body Dynamic Simulation and Haptic Display 1322(6) Diego Ruspini Oussama Khatib Exploration and Manipulation of Virtual Environments Using a Combined Hand and Finger Force Feedback System 1328(6) Alexander Kron Martin Buss Gunther Schmidt T-AII-8 Biped Robots - II Follow-walking Motions of a Biped Humanoid Robot 1334(6) Hun-ok Lim Yousuke Yamamoto Atsuo Takanishi A Standing Posture Control Based on Ground Reaction Force 1340(6) Satoshi Ito Haruhisa Kawasaki Logical Sensors and Control System Programming for an Autonomous Biped Walking Robot 1346(6) Giorgio Figliolini Marco Ceccarelli Maria Teresa Llorens Aymerich Vision Based Walking of Human Type Biped Robot on Undulating Ground 1352(6) Masaaki Kumagai Takashi Emura T-AIII-1 Intelligent Environment and Physical Agents (OS) Intelligent Space - Its Concept and Contents- 1358(6) Joo-Ho Lee Hideki Hashimoto Sensorized Environment for Self-communication Based on Observation of Daily Human Behavior 1364(9) Yoshifumi Nishida Toshio Hori Takashi Suehiro Shigeoki Hirai SELF-Network : Design and Implementation of Network for Distributed Embedded Sensors 1373(6) Toshio Hori Yoshifumi Nishida Takashi Suehiro Shigeoki Hirai Robust Face Detection Against Brightness Fluctuation and Size Variation 1379(6) Ken-ichi Hidai Hiroshi Mizoguchi Kazuyuki Hiraoka Masaru Tanaka Takaomi Shigehara Taketoshi Mishima T-AIII-2 Soccer Robotics -Coordination and Cooperation Coordination among Heterogeneous Robotic Soccer Players 1385(6) Claudio Castelpietra Luca Iocchi Daniele Nardi Maurizio Piaggio Antonio Sgorbissa Alessandro Scalzo Thinking as One: Coordination of Multiple Mobile Robots by Shared Representations 1391(6) Ashley D. Tews Gordon F. Wyeth Cooperative Behavior Acquisition in Multi Robots Environment by Reinforcement Learning Based on Action Selection Level 1397(6) Hai-Tao Chu Bing-Rong Hong Using Collision Avoidance Algorithms for Designing Multi-robot Emergent Behaviors 1403(7) Roberto Polesel Robert Rosati Alberto Speranzon Carlo Ferrari Enrico Pagello T-AIII-3 Robot Programming / Architecture Towards Automatic Verification of Autonomous Systems 1410(6) Reid Simmons Charles Pecheur Grama Srinivasan EME - Low-Cost Embedded Multiprocessing Environment 1416(6) Jean-Marc Ranger Francois Michaud The Need for Autonomy and Real-Time in Mobile Robotics: A Case Study of XO/2 and Pygmalion 1422(6) Roberto Brega Nicola Tomatis Kai O. Arras Using LabVIEW to Prototype an Industrial-quality Real-time Solution for the Titan Outdoor 4WD Mobile Robot Controller 1428(6) Danny Ratner Phillip McKerrow T-AIII-4 Sensor Fusion Adaptable Sensor Fusion Using Multiple Kalman Filters 1434(6) Louis Drolet Francois Michaud Jean Cote Multiple Hypothesis Testing Strategy for Distributed Multisensor Systems 1440(6) Xiao-Gang Wang Helen C. Shen Learning Fusion Strategies for Visual Object Detection 1446(7) Lucas Paletta Erich Rome Active Audition System and Humanoid Exterior Design 1453(9) Kazuhiro Nakadai Tatsuya Matsui Hiroshi G. Okuno Hiroaki Kitano T-AIII-5 Assembly Interactive Assembly Planning in Virtual Environments 1462(6) Xiaobu Yuan Part Assembly Using Static and Dynamic Force Fields 1468(6) Jiangchun Luo Lydia E. Kavraki Reducing the Complexity of Geometric Selective Disassembly 1474(6) Miguel A. Garcia Albert Larre Beatriz Lopez Albert Oller Manipulating Deformable Linear Objects - Force-based Detection of Contact State Transitions- 1480(7) Axel J. Remde Evelyn H. Pfaffenberger Heinz Worn T-AIII-6 Omnidirectional Sensor and the Mobile Robot Navigation (OS) Generation of Stationary Environmental Map under Unknown Robot Motion 1487(6) Yasushi Yagi Hiroaki Hamada Nels Benson Masahiko Yachida Reconstruction with the Calibrated SYCLOP Sensor 1493(6) Cyril Cauchois Eric Brassart Laurent Delahoche Thierry Delhommelle Cooperation between Two Omnidirectional Perception Systems for Mobile Robot Localization 1499(6) Arnaud Clerentin Laurent Delahoche Eric Brassart Exploration and Navigation in Corridor Environment Based on Omni-View Sequence 1505(6) Yoshio Matsumoto Kazunori Ikeda Masayuki Inaba Hirochika Inoue T-AIII-7 Sensitive Skin (OS) Flexible Semiconductor Films for Sensitive Skin 1511(5) J. Sinius R. Gaska Michael S. Shur Passive Wireless Sensing Element for Sensitive Skin 1516(6) Hiroyuki Shinoda Hideki Oasa Principal Curvature Estimation by Acoustical Tactile Sensing System 1522(6) Kenbu Teramoto Keigo Watanabe On Hard Contact Force Control 1528(6) Nakju Doh Wan kyun Chung Youngil Youm T-AIII-8 Adaptive Control Experimental Verification for Robust Adaptive Control of an Underactuated Robot Manipulator with Second-Order Nonholonomic Constraints 1534(6) Jin-Ho Shin Ju-Jang Lee A Comparison of Control Algorithms for Serial Manipulators in Terms of Quasi-Velocities 1540(6) Krzysztof Kozlowski Przemyslaw Herman On Stability and Error Bounds of Describing Functions for Oscillatory Control of Movements 1546(7) Artur M. Arsenio Digital Adaptive Control of Space Robot Manipulators Using Transpose of Generalized Jacobian Matrix 1553(6) Yuichiro Taira Shinichi Sagara Ryozo Katoh F-MI-1 Humanoid Robotics -I- Hardware Design (OS) Design and Development of Research Platform for Perception-Action Integration in Humanoid Robot : H6 1559(6) Koichi Nishiwaki Tomomichi Sugihara Satoshi Kagami Fumio Kanehiro Masayuki Inaba Hirochika Inoue Development of a Light-Weight Biped Humanoid Robot 1565(6) Atsushi Konno Noriyoshi Kato Satoshi Shirata Tomoyuki Furuta Masaru Uchiyama A Lightweight Plastic Robotic Humanoid 1571(6) Andrew R. Price Ray A. Jarvis Lindsay Kleeman R. AndyRussell Development of a High-Performance Upper-Body Humanoid System 1577(7) Akihiko Nagakubo Yasuo Kuniyoshi Gordon Cheng F-MI-2 Robot Simulation Motion Simulation Using a High-Speed Parallel Link Mechanism 1584(6) Susumu Tarao Eiichi Inohira Masaru Uchiyama Hardware-in-the-Loop Simulation of Robots Interacting with Environment via Algebraic Differential Equation 1590(7) Farhad Aghili Jean-Claude Piedboeuf A Robotic CAD System Using a Bayesian Framework 1597(8) Kamel Mekhnacha Emmanuel Mazer Pierre Bessiere Fast Convex Minimization to Detect Collisions between Polyhedra 1605(6) Claudio Mirolo Enrico Pagello F-MI-3 Biologically-Based Robotics Sensor Allocation for Behavioral Sensor Fusion Using Min-Conflict with Happiness 1611(8) Aaron Gage Robin R. Murphy Proto-Symbol Emergence 1619(7) Karl F. MacDorman Koji Tatani Yoji Miyazaki Masanao Koeda On the Performance of a Biologically Motivated Visual Control Strategy for Robotic Hand-Eye Coordination 1626(7) Alexa Hauck Georg Passig Thomas Schenk Michael Sorg Georg Farber Constraints in Human Visuomotor Systems 1633(6) Yaoping Hu Melvyn A. Goodale F-MI-4 Control of Mobile Robot Mobility of a Microgravity Rover Using Internal Electro-Magnetic Levitation 1639(7) Shingo Shimoda Yoshihiko Nakamura Sanefumi Shoji Force Tracking in Multiple Impedance Control of Space Free-Flyers 1646(6) S. Ali A. Moosavian Rambod Rastegari Inpipe Inspection Robot System with Active Steering Mechanism 1652(6) S.M. Ryew S.H. Baik S.W. Ryu K.M. Jung S.G. Roh H.R. Choi Neural Network Control of Mobile Manipulators 1658(6) Sheng Lin Andrew A. Goldenberg F-MI-5 Super Mechano Systems - I : New Function Creation by Fusion of Control and Mechanism (OS) Study of Super-Mechano-Colony (Concept and Basic Experimental Setup) 1664(6) Shigeo Hirose Riichiro Damoto Atsushi Kawakami Fundamental Mechanism of Dinosaur-like Robot TITRUS-II Utilizing Coupled Drive 1670(6) Kensuke Takita Ryuichi Hodoshima Shigeo Hirose Control of Giant Swing Motion of a Two-Link Underactuated Horizontal Bar Robot 1676(8) Kyosuke Ono Koji Yamamoto Atsushi Imadu Underactuated Crawling Robot 1684(6) Kazuyuki Ito Fumitoshi Matsuno Rie Takahashi F-MI-6 Vision-Based Navigation - I Campus Walkway Following of an Autonomous Mobile Robot Based on Color Image 1690(6) Kazunori Ohno Takashi Tsubouchi Shoichi Maeyama Shinichi Yuta Image-based Positioning with Respect to a Non-Structured Scene Using 2D Image Motion 1696(6) Armel Cretual Francois Chaumette Giulio Sandini View-Based Approach to Robot Navigation 1702(7) Yoshio Matsumoto Katsuhiro Sakai Masayuki Inaba Hirochika Inoue Active Visual Localisation for Cooperating Inspection Robots 1709(7) Andrew J. Davison Nobuyuki Kita F-MI-8 Motion Planning - I A Two Level Fuzzy PRM for Manipulation Planning 1716(6) Christian L. Nielsen Lydia E. Kavraki An Adaptive Framework for `Single Shot Motion Planning 1722(6) Daniel R. Vallejo Christopher Jones Nancy M. Amato On Optimal Nonholonomic Paths in a Limited Space 1728(6) Andrei M. Shkel Vladimir J. Lumelsky A Gradient-Based Approach to Collision-Free Quasi-Optimal Trajectory Planning of Nonholonomic Systems 1734(7) Makoto Iwamura Motoji Yamamoto Akira Mohri F-AI-1 Humanoid Robotics - II - Sensor and Functional Component Design (OS) Interactive Hand/Eye Coordination between a Human and a Humanoid - A Proposal 1741(7) Ray A. Jarvis A Framework for Integrating Sensory Information in a Humanoid Robot 1748(6) Iris Fermin Hiroshi Ishiguro Hiroshi Okuno Hiroaki Kitano Design of the TUAT/Karlsruhe Humanoid Hand 1754(6) Naoki Fukaya Shigeki Toyama Tamim Asfour Rudiger Dillmann Development of a Talking Robot 1760(6) Kazufumi Nishikawa Kouichirou Asama Kouki Hayashi Hideaki Takanobu Atsuo Takanishi F-AI-2 Kinematics &eps;-Stabilization of Multiple Chained Form Control Systems with Input Constraints and Its Application in Mobile Robots 1766(6) Chaoli Wang Wei Huo, Dalong Tan Yuechao Wang Task Space Control for the Whole Arm 1772(6) Hiromi Mochiyama F-AI-3 Biologically-Based Systems Biomimetic Trajectory Planning via Redundant Actuation 1778(7) Jae HoonLee Byung-Ju Yi Il HongSuh Quadrupedal Mammal Locomotion Dynamics 2D Model 1785(6) Jerome Villanova Pauline Neveu Jean-Pierre Gasc Jean-Claude Guinot Design of Multi-Degree-of-Freedom Spring Mechanisms : Biomimetic Approach 1791(7) Byung-Ju Yi Jae HoonLee Whee KukKim Il HongSuh Evolving Co-operative Homogeneous Multi-Robot Teams 1798(6) Matt Quinn F-AI-4 Vehicle Control Lateral Control of a Skid-Steering Mining Vehicle 1804(6) Plamen Petrov Jean de Lafontaine Pascal Bigras Mario Tetreault Planning and Model-Based Control for Mobile Manipulators 1810(6) Evangelos Papadopoulos John Poulakakis Design of a Robust Adaptive Controller for a Mobile Robot 1816(6) Min-Soeng Kim Jin-Ho Shin Ju-Jang Lee A Stable Target-Tracking Control for Unicycle Mobile Robots 1822(6) Sung-On Lee Young-Jo Cho Myung Hwang-Bo Bum-Jae You Sang-Rok Oh F-AI-5 Super Mechano Systems - II : New Function Creation by Fusion of Control and Mechanism (OS) Numerical Computation of Reconfigurable Multibody Dynamics 1828(6) Takashi Takahashi Saburo Matunaga Research and Development of Tethered Satellite Cluster Systems 1834(7) Osamu Mori Saburo Matunaga Naohide Maeda Adaptive Generation of Desired Velocity Field for Cooperative Mobile Robots with Decentralized PVFC 1841(6) Jin-Ho Suh Masaki Yamakita Ground Experiment System for Dual-Manipulator-based Capture of Damaged Satellites 1847(6) Saburo Matunaga Keisuke Yoshihara Takashi Takahashi Shingo Tsurumi Kyoichi Ui F-AI-6 Vision-Based Navigation - II Docking to Pallets with Feedback from Sheet-of-Light Range Camera 1853(7) Jonas Nygards Tomas Hogstrom Ake Wernersson Load Balancing Algorithm of Parallel Vision Processing System for Real-Time Navigation 1860(6) Young-Jip Kim Byung-Kook Kim Uncalibrated Hybrid Force-Vision Manipulation 1866(6) Andreas Pichler Martin Jagersand Position and Pose Detection of Active Camera-head in a Nuclear Power Plant 1872(8) Yasuyo Kita Nobuyuki Kita F-AI-7 Rescue Robotics - I (OS) Investigation Report of the Rescue Problem at Hanshin-Awaji Earthquake in Kobe 1880(6) Satoshi Tadokoro Toshi Takamori Koichi Osuka Saburo Tsurutani RoboCup Rescue Project: Challenges and Benchmark 1886(8) Hiroaki Kitano Satoshi Tadokoro Koichi Osuka Rescue Simulation Project and Comprehensive Disaster Simulator Architecture 1894(6) Tomoichi Takahashi Ikuo Takeuchi Fumitoshi Matsuno Satoshi Tadokoro F-AI-8 Motion Planning - II Dynamic Workspace Analysis and Motion Planning for a Micro Biped Walking Robot 1900(6) Meng Yue Ning Xi Mark Minor Ranjan Mukherjee Computation of Optimal and Collisionfree Movements for Mobile Robots 1906(6) Konstantin Kondak Gunter Hommel Sven Horstmann Steen Kristensen Fuzzy Behavior-Based Motion Planning for the PUMA Robot 1912(6) Palitha Dassanayake Keigo Watanabe Kazuo Kiguchi Kiyotaka Izumi Automated CAD-Guided Robot Path Planning for Spray Painting of Compound Surfaces 1918(6) Weihua Sheng Ning Xi Mumin Song Yifan Chen Perry MacNeille F-AII-1 Humanoid Robotics - III - Simulation and Control (OS) Mobile Manipulation of Humanoid Robots - Analysis of Manipulability and Stability in Mobile Manipulation 1924(6) Haruyuki Yoshida Kenji Inoue Tatsuo Arai Yasushi Mae Design of Central Pattern Generator for Humanoid Robot Walking Based on Multi-Objective GA 1930(6) Jiang Shan Cheng Junshi Chen Jiapin Development of a Biped Humanoid Simulator 1936(7) Qiang Huang Yoshihiko Nakamura Hirohiko Arai Kazuo Tanie Graphical Simulation and High-Level Control of Humanoid Robots 1943(6) James J. Kuffner Satoshi Kagami Masayuki Inaba Hirochika Inoue F-AII-2 Kinematics and Mechanism Versatile Water Hydraulic Motor Driven by Tap Water 1949(6) H. Tsukagoshi S. Nozaki A. Kitagawa Modeling and Analysis of Internal Impact for General Classes of Robotic Mechanisms 1955(8) S.H. Lee Byung-Ju Yi S.H. Kim Y.K. Kwak A General Approach for Modeling Robots 1963(6) Oliver Rogalla Kilian Pohl Rudiger Dillmann Motion Characteristics in Releasing Manipulation 1969(6) Chi Zhu Yasumichi Aiyama Tamio Arai Atsuo Kawamura F-AII-3 Biologically Inspired Grasping and Manipulations - II (OS) Planning of Rapid Grasp Operations in Unstructured Scenes 1975(6) Markus Muller Heinz Worn Regrasp Planner Using Look-up Table 1981(6) Kyoungrae Cho Munsang Kim Chongwon Lee Jae-Bok Song Structure and Growth : A Model of Development for Grasping with Robot Hands 1987(6) Roderic A. Grupen Jefferson A. Coelho The Self-Reconfiguration of a Holonic Hand: The Holonic Regrasp 1993(6) Mehmet Durna Aydan M. Erkmen Ismet Erkmen F-AII-4 Wall-Climbing and Legged Robot Design, Implementation, and Evaluation of an Under-Actuated Miniature Biped Climbing Robot 1999(7) Mark Minor Hans Dulimarta Girish Danghi Ranjan Mukherjee R. Lal Tummala Dean Aslam A Wall Climbing Robot with Closed Link Mechanism 2006(6) H.R. Choi S.M. Ryew T.H. Kang J.H. Lee H.M. Kim Development of Multi-Limb Robot with Omnidirectional Manipulability and Mobility 2012(6) Yuuya Takahashi Tatsuo Arai Yasushi Mae Kenji Inoue Noriho Koyachi Development of MEL HORSE 2018(6) Hiroki Takeuchi F-AII-5 Multi-Robot Control Coordinated Transportation of a Single Object by Multiple Mobile Robots without Position Information of Each Robot 2024(6) Yasuhisa Hirata Kazuhiro Kosuge Hajime Asama Hayato Kaetsu Kuniaki Kawabata A Constrain-Move Based Distributed Cooperation Strategy for Four Object Lifting Robots 2030(6) Majid Nili Ahmadabadi Shaahin RushanMehdinezhad Zhi Dong Wang Eiji Nakano Capturing a Spinning Object by Two Flexible Manipulators 2036(6) Mitsuhiro Yamano Atsushi Konno Masaru Uchiyama Tomohiro Miyabe The Paparazzi Problem 2042(6) Michael R. Jenkin Gregory Dudek F-AII-6 Robot Vision - I Real-time Estimating Spatial Configuration between Multiple Robots by Triangle and Enumeration Constraints 2048(7) Takayuki Nakamura Akihiro Ebina Masakazu Imai Tsukasa Ogasawara Hiroshi Ishiguro Hierarchical Part Decomposition Method of Articulated Body Contour, and Its Application to Human Body Motion Measurement 2055(6) Kengo Koara Atsushi Nishikawa Fumio Miyazaki Fast and Inexpensive Color Image Segmentation for Interactive Robots 2061(6) James Bruce Tucker Balch Manuela Veloso Towards Cognitive Agents: Embodiment Based Object Recognition for Vision-Based Mobile Agents 2067(6) Kazunori Terada Takayuki Nakamura Hideaki Takeda Tsukasa Ogasawara F-AII-7 Rescue Robotics - II (OS) Biomimetic Search for Urban Search and Rescue 2073(6) Robin R. Murphy A Robot Snake to Inspect Broken Buildings 2079(4) Karl L. Paap Thomas Christaller Frank Kirchner Application of Locomotive Robot to Rescue Tasks 2083(6) Yasushi Mae Atsushi Yoshida Tatsuo Arai Kenji Inoue Kunio Miyawaki Hironori Adachi Proposal of New Engineering Field: Rescue Engineering 2089(5) Koichi Osuka F-AII-8 Collision Detection - II Nearness Diagram Navigation (ND): A New Real Time Collision Avoidance Approach 2094(7) Javier Minguez Luis Montano Accelerated Proximity Queries Between Convex Polyhedra By Multi-Level Voronoi Marching 2101(6) Stephen A. Ehmann Ming C. Lin A Fast Collision Check Algorithm EDGE for Moving 3-D Objects 2107(8) Nobuhiro Kimura Naoyuki Mori Hiroshi Noborio A New Algorithm for Computing Minimum Distance 2115(6) Kenneth Sundaraj Diego dAulignac Emmanuel Mazer F-AIII-1 Human-Robot Interaction Recognition of Human Task by Attention Point Analysis 2121(6) Koichi Ogawara Soshi Iba Tomikazu Tanuki Hiroshi Kimura Katsushi Ikeuchi Behavior Recognition Based on Head Pose and Gaze Direction Measurement 2127(6) Yoshio Matsumoto Tsukasa Ogasawara Alexander Zelinsky Understanding and Learning of Gestures through Human-Robot Interaction 2133(6) Yoshinori Kuno Teruhisa Murashima Nobutaka Shimada Yoshiaki Shirai User Adaptation of Human-Robot Interaction Model Based on Bayesian Network and Introspection of Interaction Experience 2139(6) Tetsunari Inamura Masayuki Inaba Hirochika Inoue A Gripper for Grasping Non-Rigid Material Pieces out of a Bundle 2145(6) N. Fahantidis Z. Doulgeri F-AIII-2 Industrial Applications Development of a High Performance Direct-Drive Joint 2151(8) Farhad Aghili Martin Buehler John M. Hollerbach Visual Sensing and Recognition of Welding Environment for Intelligent Shipyard Welding Robots 2159(7) Min Young Kim Kuk-won Ko Hyung Suck Cho Jae-hoon Kim Autonomous Mobile Robot in Pipe for Piping Operations 2166(6) Masahiro Muramatsu Yasuo Suga Naohiro Namiki Ritsuo Koyama Spray Painting of a General Three-Dimensional Surface 2172(6) Aziza Zaki Mona N. Eskander F-AIII-3 Reconfigurable and Modular Robotics (OS) Dynamic Rolling, Locomotion Planning, and Control of an Icosahedral Modular Robot 2178(6) Woo Ho Lee Arthur C. Sanderson Algorithms for Self-reconfiguring Molecule Motion Planning 2184(10) Keith D. Kotay Daniela L. Rus A Basis for Self-reconfiguring Robots Using Crystal Modules 2194(9) Daniela L. Rus Marsette Vona Mechanical design of a Module for Autonomous Reconfigurable Robots 2203(7) Andres Castano Peter Will Hardware Design of Modular Robotic System 2210(8) Satoshi Murata Eiichi Yoshida Kohji Tomita Haruhisa Kurokawa Akiya Kamimura Shigeru Kokaji F-AIII-4 Snake-Like Robot with Novel Mobile Mechanism Study on Slime Robot (Proposal of Slime Robot and Design of Slim Robot) 2218(6) Hidetaka Ohno Shigeo Hirose A Novel Mobile Robot with a Backbone for Self Up-ringing Capability 2224(6) Jinwu Qian Weiming Cheng Yongyi He Jianliang Su Yanan Zhang A Geometric Approach to Gait Generation for Eel-like Locomotion 2230(6) Kenneth A. McIsaac James P. Ostrowski Locomotion Control of a Snake-Like Robot Based on Dynamic Manipulability 2236(6) Hisashi Date Yoshikatsu Hoshi Mitsuji Sampel Study on Three-dimensional Active Cord Mechanism : Development of ACM-R2 2242(6) Keiji Togawa Makoto Mori Shigeo Hirose F-AIII-5 Multi-Robot Systems (OS) Grounded Representations for a Robots Team 2248(6) Louis Hugues Coordinated Deployment of Multiple, Heterogeneous Robots 2254(7) Reid Simmons David Apfelbaum Dieter Fox Robert P. Goldman Karen ZitaHaigh David J. Musliner Michael Pelican Sebastian Thrun Expertness Measuring in Cooperative Learning 2261(7) Majid Nili Ahmadabadi Masoud Asadpur Seyyed H. Khodaabakhsh Eiji Nakano Improved Information Sharing Method for Multiple Autonomous Mobile Robot Systems Using One to One Bidirectional Proximity Communication 2268(6) Hiroyuki Kobayashi Yoshiki Matsuo Traffic Signal Networks Simulator Using Learning Emotional Algorithm 2274(6) Hidenori Ishihara Toshio Fukuda F-AIII-6 Robot Vision - II Developing Rigid Motion Constraints for the Registration of Free-Form Shapes 2280(6) Yonghuai Liu Marcos A. Rodrigues Yiang Wang Chromatic Adaptation Pre-filtering Effect on Visual Based Motion Strategies 2286(6) Giovanni M. Bianco Alessandro Rizzi Flexible Hand-Eye Calibration for Multi-Camera Systems 2292(6) Tapio Heikkila Mikko Sallinen Toshio Matsushita Fumiaki Tomita Similarity Based Linear N>=5 Point Structure and Pose Estimation from a Single Image 2298(6) Yonghuai Liu Marcos A. Rodrigues David Cooper A New Memory Model for Selective Perception Systems 2304(6) Cagatay Soyer Huriye I. Bozma Yorgo Istefanopulos F-AIII-7 Autonomous Compliant Motion (OS) Autonomous Compliant Motion: the Bayesian approach 2310(7) Herman Bruyninckx Joris De Schutter Tine Lefebvre A Signal-Based Approach to Localization and Navigation of Autonomous Compliant Motion 2317(8) Ralf H. Koeppe Gerd Hirzinger Analysis of Rigid Body Interactions for Compliant Motion Tasks Using the Grassman-Cayley Algebra 2325(8) Ernesto Staffetti Federico Thomas High-Level Control of a Mobile Manipulator for Door Opening 2333(6) Lars Petersson David Austin Danica Kragic F-AIII-8 Trajectory Planning Trajectory Planning for Cooperative Multiple Manipulators with Passive Joints 2339(6) Go Hirano Motoji Yamamoto Akira Mohri A Simplified Criterion for Repeatability and Its Application in Constraint Path Planning Problems 2345(6) Ralf Schaufler Christian H. Fedrowitz Reiner Kammueller Catching Motion of Casting Manipulation 2351(7) Hitoshi Arisumi Kiyoshi Komoriya A Symbolic-Numeric Silhouette Algorithm 2358(8) Hirohisa Hirukawa Bernard Mourrain Yves Papegay Self-Reconfiguration in Task Space of a Holonic Structure 2366 Mehmet Durna Ismet Erkmen Aydan M. Erkmen
