IROS 2006: Beijing, China

Plenary Talks

• Harry Shum:
  Human Intention Modeling and Interactive Computer Vision.
  
• George A. Bekey:
  Co-existing with Robots.
  
• Chih-Ming Ho:
  Nano/Micro Robotic Systems for Directing Cellular Functions.
  
• Suguru Arimoto:
  What is a Breakthrough toward Human Robotics?
  

Video Session 1: Human-Robot Interaction

• Tadashi Odashima, Masaki Onishi, Kenji Tahara, Kentaro Takagi, Fumihiko Asano, Yo Kato, Hiromichi Nakashima, Yuichi Kobayashi, Toshiharu Mukai, Zhi Wei Luo, Shigeyuki Hosoe:
  A Soft Human-Interactive Robot RI-MAN.
  
• Keun-Chang Kwak, Kyu-Dae Ban, Kyung-Suk Bae, Hye-Jin Kim, Soo-Young Chi, Young-Jo Cho:
  Speech-based Human-Robot Interaction Components for URC Intelligent Service Robots.
  
• Keun-Chang Kwak, Do-Hyung Kim, Byoung-Youl Song, Dae-Ha Lee, Soo-Young Chi, Young-Jo Cho:
  Vision-based Human-Robot Interaction Components for URC Intelligent Service Robots.
  
• Eric L. Sauser, Aude Billard:
  Interferences in a Human-Robot Interaction Game.
  
• Angelika Peer, Bartlomiej Stanczyk, Ulrich Unterhinninghofen, Martin Buss:
  Tele-assembly in Wide Remote Environments.
  
• Stefan Sosnowski, Kolja Kühnlenz, Martin Buss:
  EDDIE - An Emotion Display with Dynamic Intuitive Expressions.
  
• Takashi Yoshimi, Manabu Nishiyama, Takafumi Sonoura, Hideichi Nakamoto, Seiji Tokura, Hirokazu Sato, Fumio Ozaki, Nobuto Matsuhira, Hiroshi Mizoguchi:
  Person Following Robot ApriAttenda.
  
• Nikolaos Mavridis, Deb Roy:
  Grounded Situation Models: Where Words and Percepts Meet.
  
• Seungwoo Kim, Dongik Oh, Dongwook Kim, Yongrae Jung, Jaeil Choe, Jungwook Choi:
  A Study on the Development of Ubiquitous CellPhone Robot.
  

Video Session 2: Mobile Robots

• Ryosuke Tajima, Keisuke Suga:
  One-legged Jumping Robot.
  
• Kevin Nickels, Brett Kennedy, Hrand Aghazarian, Curtis Collins, Michael Garrett, Lee Magnone, Avi Okon, Julie Townsend:
  Lemur IIa Capabilities.
  
• Akiya Kamimura:
  A Novel Mobile Robot Design for High Maneuverability.
  
• Kenjiro Tadakuma, Masatsugu Matsumoto, Shigeo Hirose:
  "Tri-Star3"; Horizontal Polyarticular Arm Equipped 3-Wheeled Expandable Rover.
  
• Hitoshi Kimura:
  Hermetically-Sealed Flexible Mobile Robot with Hydrostatic Skeleton Driving Mechanism.
  
• Kevin Jones, Frank Boria, Richard J. Bachmann, Ravi Vaidyanathan, Peter G. Ifju, Roger D. Quinn:
  MMALV - The Morphing Micro Air-Land Vehicle.
  
• Jean-Christophe Zufferey, Adam Klaptocz, Antoine Beyeler, Jean-Daniel Nicoud, Dario Floreano:
  A 10-gram Microflyer for Vision-based Indoor Navigation.
  
• Stefan May, Hartmut Surmann, Maurice Mueller, Kai Pervölz:
  3D Cameras for Mobile Robotics.
  
• William A. Lewinger, Michael S. Watson, Roger D. Quinn:
  Obstacle Avoidance Behavior for a Biologically-inspired Robot Using Binaural Ultrasonic Sensors.
  

Video Session 3: Intelligent Systems

• Kai Huebner, Jianwei Zhang:
  Stable Symmetric Feature Detection and Classification in Panoramic Robot Vision Systems.
  
• Andrzej Pronobis, Barbara Caputo, Patric Jensfelt, Henrik I. Christensen:
  A Discriminative Approach to Robust Visual Place Recognition.
  
• Paul Y. Oh, Rares I. Stanciu:
  Visual Servoing to Help Camera Operators Track Better.
  
• Nikolaus Correll, Grégory Sempo, Yuri López de Meneses, José Halloy, J.-L. Denebourg, Alcherio Martinoli:
  SwisTrack: A Tracking Tool for Multi-Unit Robotic and Biological Systems.
  
• Oliver Wulf, Daniel Lecking, Bernardo Wagner:
  Robust Self-Localization in Industrial Environments Based on 3D Ceiling Structures.
  
• Thomas Lemaire, Simon Lacroix:
  Vision-based SLAM: Achievement of a Practical Algorithm.
  
• Sascha Kolski, Kristijan Macek, Dave Ferguson, Roland Siegwart:
  SMART Navigation in Structured and Unstructured Environments.
  
• Simon Lacroix, Jeremi Gancet:
  Real-time Coordination and Control of Multiple Heterogeneous UAVs: The COMETs Project.
  
• Robin R. Murphy, Sam Stover, Kevin S. Pratt, Chandler Griffin:
  Cooperative Damage Inspection with Unmanned Surface Vehicle and Micro Unmanned Aerial Vehicle at Hurricane Wilma.
  

Video Session 4: Manipulation

• B. Holbrook, Matthew A. Csencsits, William McMahan, Vilas K. Chitrakaran, M. Grissom, Michael B. Pritts, Bryan A. Jones, Christopher D. Rahn, Ian D. Walker:
  Field Experiments with the OctArm Continuum Manipulator.
  http: //dx.doi.org/10.1109/IROS.2006.282383
• Kevin Nickels, Brett Kennedy, Hrand Aghazarian, Curtis Collins, Michael Garrett, Lee Magnone, Avi Okon, Julie Townsend:
  In-Space Robotic Assembly with Lemur IIa.
  
• John Vannoy, Jing Xiao: Real-time Adaptive Mobile Manipulator Motion Planning.
• Mario Prats, Angel P. Del Pobil, Pedro J. Sanz:
  A Control Architecture for Compliant Execution of Manipulation Tasks.
  

Mobile Robot Control I

• Yugang Liu, Yangmin Li:
  A New Method of Executing Multiple Auxiliary Tasks by Redundant Nonholonomic Mobile Manipulators. 1-6
  
• Kimitoshi Yamazaki, Masahiro Tomono, Takashi Tsubouchi, Shin'ichi Yuta:
  Motion Planning for a Mobile Manipultor Based on Joint Motions for Error Recovery. 7-12
  
• Danwei Wang, Minhtuan Pham, Chang Boon Low, Chaisoon Tan:
  Development and Implementation of a Fault-Tolerant Vehicle-Following Controller for a Four-Wheel-Steering Vehicle. 13-18
  
• Redwan Alqasemi, Kevin Edwards, Rajiv V. Dubey:
  Design, Construction and Control of a 7 DoF Wheelchair-Mounted Robotic Arm. 19-24
  

Localization I

• Alen Alempijevic, Sarath Kodagoda, James Patrick Underwood, Suresh Kumar, Gamini Dissanayake:
  Mutual Information based Sensor Registration and Calibration. 25-30
  
• Daniel Göhring, Hans-Dieter Burkhard:
  Multi Robot Object Tracking and Self Localization Using Visual Percept Relations. 31-36
  
• Heesung Chae, Wonpil Yu, Jaeyeong Lee, Young-Jo Cho:
  Robot Localization Sensor for Development of Wireless Location Sensing Network. 37-42
  
• Agostino Martinelli, Jan W. Weingarten, Roland Siegwart:
  Theoretical Results on On-line Sensor Self-Calibration. 43-48
  

Vision Applications

• Geraldo F. Silveira, Ezio Malis, Patrick Rives:
  Real-time Robust Detection of Planar Regions in a Pair of Images. 49-54
  
• Rinat Ibrayev, Yan-Bin Jia:
  Surface Recognition by Registering Data Curves from Touch. 55-60
  
• Fangwu Shu, Werner Neddermeyer, Jianwei Zhang:
  Online Approaches to Camera Pose Recalibration. 61-66
  
• Valerij Tchernykh, Martin Beck, Klaus Janschek:
  An Embedded Optical Flow Processor for Visual Navigation using Optical Correlator Technology. 67-72
  

Wire Driven Manipulators

• Hisashi Osumi, Masayuki Saitoh:
  Control of a Redundant Manipulator Mounted on a Base Plate Suspended by Six Wires. 73-78
  
• Hitoshi Kino, Toshiaki Yahiro, F. Takemura, T. Morizono:
  Adaptive Position Control for Fully Constrained Parallel Wire Driven Systems. 79-84
  
• Guilin Yang, Cong Bang Pham, Song Huat Yeo:
  Workspace Performance Optimization of Fully Restrained Cable-Driven Parallel Manipulators. 85-90
  
• Roberto Lampariello, Johann Heindl, Ralf Koeppe, Gerd Hirzinger:
  Reactionless Control for two Manipulators Mounted on a Cable-Suspended Platform. 91-97
  

Perception and Navigation for Automated Vehicles I

• Rodrigo Benenson, Stéphane Petti, Thierry Fraichard, Michel Parent:
  Integrating Perception and Planning for Autonomous Navigation of Urban Vehicles. 98-104
  
• Manuel Yguel, Olivier Aycard, Christian Laugier:
  Efficient GPU-based Construction of Occupancy Girds Using several Laser Range-finders. 105-110
  
• Alberto Broggi, Stefano Cattani, Pier Paolo Porta, Paolo Zani:
  A Laserscanner-Vision Fusion System Implemented on the TerraMax Autonomous Vehicle. 111-116
  
• Zhu Wennan, Chen Qiang, Wang Hong:
  Lane Detectionin Some Complex Conditions. 117-122
  

Autonomous Aerial Vehicles

• Hiroshi Kawano:
  Three Dimensional Obstacle Avoidance of Autonomous Blimp Flying in Unknown Disturbance. 123-130
  
• Seungyong Oh, Sungchul Kang, Kyungjoon Lee, Sangchul Ahn, Euntai Kim:
  Flying Display: Autonomous Blimp with Real-Time Visual Tracking and Image Projection. 131-136
  
• Salim Hima, Yasmina Bestaoui:
  Trim Trajectories Characterization for an Unmanned Autonomous Airship. 137-142
  
• Xingang Zhao, Zhe Jiang, Jianda Han, Guangjun Liu:
  Adaptive Robust Control Techniques Applied to the Yaw Control of a Small-scale Helicopter. 143-148
  

Diagnostic Tools

• Tatsushi Tokuyasu, Yusuke Fujii, Motoji Yamamoto, Kazutoshi Okamura, Kazunori Yoshiura:
  A Training Simulator for Intraoral Radiography. 149-154
  
• Norihiro Koizumi, Takehiko Tsurumi, Shin'ichi Warisawa, Mamoru Mitsuishi, Hiroyuki Hashizume:
  Probe Positioning Support Utilizing Shoulder Model for Ultrasound Diagnosis. 155-161
  
• Chao Hu, Max Q.-H. Meng, Mrinal Mandal:
  The Calibration of 3-Axis Magnetic Sensor Array System for Tracking Wireless Capsule Endoscope. 162-167
  
• G. Chen, Minh Tu Pham, Tanneguy Redarce:
  Development and kinematic analysis of a silicone-rubber bending tip for colonoscopy. 168-173
  

Mobiligence

• Masahiro Shimizu, Takafumi Mori, Akio Ishiguro:
  A Development of a Modular Robot That Enables Adaptive Reconfiguration. 174-179
  
• Shinya Aoi, Hitoshi Sasaki, Kazuo Tsuchiya:
  Turning Maneuvers of a Multi-legged Modular Robot Using Its Inherent Dynamic Characteristics. 180-185
  
• Daisuke Kurabayashi, Kunio Okita, Tetsuro Funato, Ryota Sakaematsu:
  Obstacle avoidance of a mobile robot group using a nonlinear oscillator network. 186-191
  
• Tomoaki Nagano, Toshiyuki Kondo, Koji Ito:
  A distributed motor control system based on spinal cord and musculoskeletal mechanisms. 192-197
  

Mobile Robots I

• Kanji Tanaka, Mitsuru Hirayama, Nobuhiro Okada, Eiji Kondo:
  Location-driven Retrieval of Images Collected by a Mobile Robot. 198-204
  
• Christian Mandel, Udo Frese, Thomas Röfer:
  Robot Navigation based on the Mapping of Coarse Qualitative Route Descriptions to Route Graphs. 205-210
  
• Ludek Zalud:
  ARGOS System for Heterogeneous Mobile Robot Teleoperation. 211-216
  
• Vadiraj Hombal, Arthur C. Sanderson, D. Richard Blidberg:
  A Non-Parametric Iterative Algorithm For Adaptive Sampling And Robotic Vehicle Path Planning. 217-222
  

Vision Algorithms

• Ezio Malis, Éric Marchand:
  Experiments with robust estimation techniques in real-time robot vision. 223-228
  
• Hui Xie, Weibin Rong, Lining Sun:
  Wavelet-Based Focus Measure and 3-D Surface Reconstruction Method for Microscopy Images. 229-234
  
• Quan Shi, Ning Xi, Yifan Chen, Weihua Sheng:
  Registration of Point Clouds for 3D Shape Inspection. 235-240
  
• Katherine Achim Fleming, Richard Alan Peters II, Robert E. Bodenheimer:
  Image Mapping and Visual Attention on a Sensory Ego-Sphere. 241-246
  

Rehabilitation Robotics

• H. Peralta, C. Riman, Roland Thieffry, Eric Monacelli, Fathi Ben Ouezdou, Y. Alayli, G. De Matteo, J. Bouteille, Isabelle Laffont, I. Mougharbel, A. El-Hajj:
  A Reconfigurable Evaluation and Assistance Platform for Handicapped People. 247-252
  
• Gengqian Liu, Jinlian Gao, Hong Yue, Xiaojun Zhang, Guangda Lu:
  Design and Kinematics Analysis of Parallel Robots for Ankle Rehabilitation. 253-258
  
• Samer Mohammed, Philippe Poignet, David Guiraud:
  Closed Loop Nonlinear Model Predictive Control Applied On Paralyzed Muscles To Restore Lower Limbs Functions. 259-264
  
• P. Culmer, A. Jackson, M. C. Levesley, R. Richardson, J. A. Cozens, M. Mon Williams, B. B. Bhakta:
  A Cooperative Control Scheme for Robotic Rehabilitation of Arm Impairment after Stroke. 265-269
  

Collision Avoidance

• Fumi Seto, Yasuhisa Hirata, Kazuhiro Kosuge:
  Motion Generation for Human-Robot Cooperation considering Range of Joint Movement. 270-275
  
• Lucian Balan, Gary M. Bone:
  Real-time 3D Collision Avoidance Method for Safe Human and Robot Coexistence. 276-282
  
• Manel Frigola, Alicia Casals, Josep Amat:
  Human-Robot Interaction Based on a Sensitive Bumper Skin. 283-287
  
• Sven Rönnbäck, Tomas Berglund, Håkan Fredriksson, Kalevi Hyyppä:
  Signature Graphs for Effective Localization. 288-293
  

Micro Manipulation and Assembly I

• Thomas Wich, Torsten Sievers, Sergej Fatikow:
  Assembly inside a Scanning Electron Microscope using Electron Beam induced Deposition. 294-299
  
• Qingsong Xu, Yangmin Li:
  Stiffness Modeling of a Spatial 3-DOF Compliant Parallel Micromanipulator. 300-305
  
• Guangyi Sun, Xin Zhao, Guizhang Lu:
  Voxel-Based Modeling and Rendering for Virtual MEMS Fabrication Process. 306-311
  
• Jindong Liu, Huosheng Hu, Dongbing Gu:
  A Hybrid Control Architecture for Autonomous Robotic Fish. 312-317
  

Acoustic Sensing

• Xueying Zhang, Jing Bai:
  The Speech Recognition Based on the Bark Wavelet and CZCPA Features. 318-321
  
• Michael Pardowitz, Raoul Zöllner, Steffen Knoop, Rüdiger Dillmann:
  Using Physical Demonstrations, Background Knowledge and Vocal Comments for Task Learning. 322-327
  
• Amarjeet Singh, Diane Budzik, Willie Chen, Maxim A. Batalin, Michael J. Stealey, Per Henrik Borgstrom, William J. Kaiser:
  Multiscale Sensing: A new paradigm for actuated sensing of high frequency dynamic phenomena. 328-335
  
• Aliza Amsellem, Octavian Soldea, Ehud Rivlin:
  Function-Based Classification from 3D Data and Audio. 336-341
  

Humanoid Robots 1: Walking Algorithms

• Chenglong Fu, Mei Shuai, Yuanlin Huang, Jianmei Wang, Ken Chen:
  Parametric Walking Patterns and Optimum Atlases for Underactuated Biped Robots. 342-347
  
• Olivier Stasse, Andrew J. Davison, Ramzi Sellaouti, Kazuhito Yokoi:
  Real-time 3D SLAM for Humanoid Robot considering Pattern Generator Information. 348-355
  
• Xinhe Xu, Hualong Xie, Binrui Wang, Jindong Tan:
  Gait Perception and Coordinated Control of a Novel Biped Robot with Heterogeneous Legs. 356-361
  
• Lingyun Hu, Changjiu Zhou, Zengqi Sun:
  Estimating Probability Distribution with Q-learning for Biped Gait Generation and Optimization. 362-367
  

Robot Audition I

• Martin Heckmann, Tobias Rodemann, Frank Joublin, Christian Goerick, Björn Schölling:
  Auditory Inspired Binaural Robust Sound Source Localization in Echoic and Noisy Environments. 368-373
  
• Carlos Toshinori Ishi, Hiroshi Ishiguro, Norihiro Hagita:
  Evaluation of Prosodic and Voice Quality Features on Automatic Extraction of Paralinguistic Information. 374-379
  
• Yoko Sasaki, Satoshi Kagami, Hiroshi Mizoguchi:
  Multiple Sound Source Mapping for a Mobile Robot by Self-motion Triangulation. 380-385
  
• Tomoko Shimoda, Toru Nakashima, Makoto Kumon, Ryuichi Kohzawa, Ikuro Mizumoto, Zenta Iwai:
  Spectral Cues for Robust Sound Localization with Pinnae. 386-391
  

Distributed Robot Control

• Youngshik Kim, Mark A. Minor:
  Decentralized Kinematic Motion Control for Multiple Axle Compliant Framed Modular Wheeled Mobile Robots. 392-397
  
• Chris A. C. Parker, Hong Zhang:
  An Analysis of Random Peer-to-Peer Communication for System-Level Coordination in Decentralized Multiple-Robot Systems. 398-403
  
• Arturo Gil-Pinto, Philippe Fraisse, René Zapata:
  A decentralized algorithm to adaptive trajectory planning for a group of nonholonomic mobile robots. 404-417
  
• Konstantinos Varsos, Jonathan E. Luntz:
  Superposition of Quadratic Potential Force Fields for Distributed Manipulation. 410-416
  
• Hossein Aminaiee, Majid Nili Ahmadabadi:
  Learning Distributed Object Pushing: Individual Learning and Distributed Cooperation Protocol. 418-423
  

Localization II

• Tae-Bum Kwon, Ju-Ho Yang, Jae-Bok Song, Woojin Chung:
  Efficiency Improvement in Monte Carlo Localization through Topological Information. 424-429
  
• Javier Antich, Alberto Ortiz:
  Bug-based T2: A New Globally Convergent Potential Field Approach to Obstacle Avoidance. 430-435
  
• Shu Yun Chung, Han Pang Huang:
  Relative-Absolute Map Filter for Simultaneous Localization and Mapping. 436-441
  
• Hyun Myung, Hyoung-Ki Lee, Kiwan Choi, Seokwon Bang, YongBeom Lee, Sang-Ryoung Kim:
  Constrained Kalman Filter for Mobile Robot Localization with Gyroscope. 442-447
  
• Joseph Wong, Goldie Nejat, Robert G. Fenton, Beno Benhabib:
  Localization of Autonomous Robotic Vehicles Using A Neural-Network Approach. 448-453
  

Haptics and Haptic Devices I

• Rui Pedro Duarte Cortesão, Walid Zarrad, Philippe Poignet, Olivier Company, Etienne Dombre:
  Haptic Control Design for Robotic-Assisted Minimally Invasive Surgery. 454-459
  
• Sung-Uk Lee, Seungho Kim:
  Analysis and Optimal Design of a New 6 DOF Parallel Type Haptic Device. 460-465
  
• Dongseok Ryu, Kyoungwon Moon, Sungchul Kang, Munsang Kim, Jae-Bok Song:
  Development of Wearable Haptic System for Tangible Studio to Experience a Virtual Heritage Alive. 466-471
  
• Ali Israr, Seungmoon Choi, Hong Z. Tan:
  Detection Threshold and Mechanical Impedance of the Hand in a Pen-Hold Posture. 472-477
  
• Ki-Uk Kyung, Seung-Chan Kim, Dong-Soo Kwon, Mandayam A. Srinivasan:
  Texture Display Mouse KAT: Vibrotactile Pattern and Roughness Display. 478-483
  

Parallel Manipulators I

• Chunping Sui, Hongguang Wang, Lijin Fang, Mingyang Zhao:
  Static Measuring Model and Deadweight Compensation of a Stewart Platform Based Force/Torque Sensor. 484-489
  
• Y. Y. Wang, Tian Huang, X. M. Zhao, J. P. Mei, Derek G. Chetwynd, S. J. Hu:
  Finite Element Analysis and Comparison of Two Hybrid Robotsthe Tricept and the TriVariant. 490-495
  
• Vincent Nabat, Olivier Company, François Pierrot, Philippe Poignet:
  Dynamic Modeling and Identification of Par4, A Very High Speed Parallel Manipulator. 496-501
  
• Yuanqing Wu, Han Ding, Jian Meng, Zexiang Li:
  Finite Motion Validation for Parallel Manipulators: A Differential Geometry Approach. 502-507
  
• Tian Huang, Z. Y. Hong, J. P. Mei, Derek G. Chetwynd:
  Kinematic Calibration of the 3-DOF Module of a 5-DOF Reconfigurable Hybrid Robot using a Double-Ball-Bar System. 508-512
  

Perception and Navigation for Automated Vehicles II

• Olivier Aycard, Anne Spalanzani, Julien Burlet, Chiara Fulgenzi, Trung-Dung Vu, David Raulo, Manuel Yguel:
  Pedestrians Tracking Using Offboard Cameras. 513-518
  
• Nadir Karam, Frederic Chausse, Romuald Aufrère, Roland Chapuis:
  Localization of a Group of Communicating Vehicles by State Exchange. 519-524
  
• Julien Burlet, Olivier Aycard, Anne Spalanzani, Christian Laugier:
  Adaptive Interacting Multiple Models applied on pedestrian tracking in car parks. 525-530
  
• Christophe Braillon, Kane Usher, Cédric Pradalier, James L. Crowley, Christian Laugier:
  Real-time stereo and optical flow data fusion. 531-536
  
• Chris Urmson, Alexander Gutierrez, Nick Miller, Kevin Peterson, Spencer Spiker, Joshua Struble, William Whittaker:
  A Complete System for High-Speed Navigation of Prescribed Routes. 537-542
  

Object Manipulation

• Hermann Georg Mayer, Faustino J. Gomez, Daan Wierstra, Istvan Nagy, Alois Knoll, Jürgen Schmidhuber:
  A System for Robotic Heart Surgery that Learns to Tie Knots Using Recurrent Neural Networks. 543-548
  
• Mikhail M. Svinin, Igor Goncharenko, Zhi Wei Luo, Shigeyuki Hosoe:
  Modeling of Human-Like Reaching Movements in the Manipulation of Flexible Objects. 549-555
  
• Wusheng Chou, Jing Xiao:
  Real-time and Accurate Multiple Contact Detection between General Curved Objects. 556-561
  
• Masahiro Sekimoto, Suguru Arimoto:
  Experimental Study on Reaching Movements of Robot Arms with Redundant DOFs Based upon Virtual Spring-Damper Hypothesis. 562-567
  
• Yantao Shen, Uchechukwu C. Wejinya, Ning Xi, Craig A. Pomeroy, Yonghui Xue, Zhun Fan:
  Characterization of Living Drosophila Embryos using Micro Robotic Manipulation System. 568-573
  

Redundant and Underactuated Robots

• Xu-Zhi Lai, Jin-Hua She, Simon X. Yang, Min Wu:
  Unified Treatment of Motion Control of Underactuated two-link manipulators. 574-579
  
• Ioannis Iossifidis, Gregor Schöner:
  Dynamical Systems Approach for the Autonomous Avoidance of Obstacles and Joint-limits for an Redundant Robot Arm. 580-585
  
• Keisuke Ichida, Keigo Watanabe, Kiyotaka Izumi, Nobuhiro Uchida:
  Fuzzy Switching Control of Underactuated Manipulators with Approximated Switching Regions. 586-591
  
• Keiji Ikeda, Hiroshi Tanaka, Tong-xiao Zhang, Mamoru Minami, Yasushi Mae:
  On-line Optimization of Avoidance Ability for Redundant Manipulator. 592-597
  
• Kwang-Kyu Lee, Martin Buss:
  Redundancy Resolution With Multiple Criteria. 598-603
  

Modular and Reconfigurable Robots

• Yuzuru Terada, Satoshi Murata:
  Modular Structure Assembly using Gradient Field. 604-611
  
• Jacob Everist, Feili Hou, Wei-Min Shen:
  Transformation of Control in Congruent Self-Reconfigurable Robot Topologies. 612-618
  
• Katsuyuki Ukegawa, M. C. Natori:
  Deadlock Resolution in Self-Assembly of Modular Structure Systems. 619-624
  
• Satoshi Murata, Kiyoharu Kakomura, Haruhisa Kurokawa:
  Docking Experiments of a Modular Robot by Visual Feedback. 625-630
  
• Akio Ishiguro, Tomoki Maegawa:
  Self-Assembly Through the Interplay between Control and Mechanical Systems. 631-638
  

Navigation I

• Han Li, Yili Fu, He Xu, Yulin Ma:
  Avoiding Static and Dynamic Objects in Navigation. 639-644
  
• Erick Swere, David J. Mulvaney, Ian P. W. Sillitoe:
  A Fast Memory-Efficient Incremental Decision Tree Algorithm in its Application to Mobile Robot Navigation. 645-650
  
• Jason Held, Alexandre Lampe, Raja Chatila:
  Linking Mobile Robot Performances With the Environment Using System Maps. 651-656
  
• Takashi Kubota, Shujiro Sawai, Tatsuaki Hashimoto, Junichiro Kawaguchi:
  Collision Dynamics of Target Maker for Visual Navigation in Small Body Exploration. 657-662
  
• Lounis Douadi, Marie-José Aldon, André Crosnier:
  Pair-wise Registration of 3D/Color Data Sets with ICP. 663-668
  

Visual Tracking

• Christopher Mei, Selim Benhimane, Ezio Malis, Patrick Rives:
  Homography-based Tracking for Central Catadioptric Cameras. 669-674
  
• Yu-Shan Cheng, Cheng-Ming Huang, Li-Chen Fu:
  Multiple People Visual Tracking in a Multi-Camera System for Cluttered Environments. 675-680
  
• Wei Ding, Zhenbang Gong, Shaorong Xie, Hairong Zou:
  Real-time Vision-based Object Tracking from a Moving Platform in the Air. 681-685
  
• Yunting Pang, Qiang Huang, Weimin Zhang, Zhangfeng Hu, Altaf Hussain Rajpar, Kejie Li:
  Real-time Object Tracking of a Robot Head Based on Multiple Visual Cues Integration. 686-691
  
• Manuel Mucientes, Wolfram Burgard:
  Multiple Hypothesis Tracking of Clusters of People. 692-697
  

Assistive Devices I

• Lidia Mudura, Matthew Bruer, Imad Elhajj, Gary Moore, Patricia T. Ketcham:
  A Virtual Nursing Simulator with Haptic Feedback for Nasotracheal Suctioning. 698-703
  
• Roland Thieffry, Eric Monacelli, Stephane Delaplace:
  Experimentations with Handicapped Users on the Adaptation of the Wheelchair Control. 704-709
  
• Luis Montesano, Javier Minguez, J. M. Alcubierre, Luis Montano:
  Towards the Adaptation of a Robotic Wheelchair for Cognitive Disabled Children. 710-716
  
• Hiroshi Kobayashi, Kentaro Konishi:
  Development of Feeding Support System and Its Quantitative Estimation. 717-722
  
• Lee Middleton, David K. Wagg, Alex I. Bazin, John N. Carter, Mark S. Nixon:
  Developing a non-intrusive biometric environment. 723-728
  

Trajectory Planning

• Taha Chettibi, Moussa Haddad, H. E. Lehtihet, W. Khalil:
  Suboptimal Trajectory Generation for Industrial Robots using Trapezoidal Velocity Profiles. 729-735
  
• Torsten Kröger, Adam Tomiczek, Friedrich M. Wahl:
  Towards On-Line Trajectory Computation. 736-741
  
• Matthieu Guilbert, Pierre-Brice Wieber, Luc D. Joly:
  Optimal Trajectory Generation for Manipulator Robots under Thermal Constraints. 742-747
  
• Jianjun Zhang, Weimin Li, Xiaohui Wang, Feng Gao:
  Study on Kinematics Decoupling for Parallel Manipulator with Perpendicular Structures. 748-753
  
• Yanjie Liu, Chenqi Wang, Juan Li, Lining Sun:
  Time-Optimal Trajectory Generation of a Fast-Motion Planar Parallel Manipulator. 754-759
  

Micro Manipulation and Assembly II

• Byoung Hun Kang, John T. Wen:
  Design of Compliant MEMS Grippers for Micro-Assembly Tasks. 760-765
  
• Mourad Nourine, Michaël Gauthier:
  Effect of the Capillary Force on Force Measurements in Submerged Micromanipulations. 766-771
  
• Felix Beyeler, Dominik J. Bell, Bradley J. Nelson, Yu Sun, A. Neild, S. Oberti, J. Dual:
  Design of a Micro-Gripper and an Ultrasonic Manipulator for Handling Micron Sized Objects. 772-777
  
• Ahmed A. Ramadan, Kenji Inoue, Tatsuo Arai, Tomohito Takubo:
  Design Optimization of a Compact 3-DOF Parallel Micro/Nano Finger Manipulator. 778-783
  
• Beatriz Lopez Walle, Michaël Gauthier, Nicolas Chaillet:
  Submerged Freeze Gripper to Manipulate Micro-objects. 784-789
  

Range Sensors and Applications

• Stefan May, Bjorn Werner, Hartmut Surmann, Kai Pervölz:
  3D time-of-flight cameras for mobile robotics. 790-795
  
• Ruben Martinez-Cantin, José A. Castellanos, Juan D. Tardós, J. M. M. Montiel:
  Adaptive Scale Robust Segmentation for 2D Laser Scanner. 796-801
  
• Dilan Amarasinghe, George K. I. Mann, Ray G. Gosine:
  Moving Object Detection in Indoor Environments Using Laser Range Data. 802-807
  
• Manjari Chandran, Paul Newman:
  Motion Estimation from Map Quality with Millimeter Wave Radar. 808-813
  
• Sooyong Lee, Wan-Kyun Chung:
  Rotating IR Sensor System for 2.5D Sensing. 814-819
  

Humanoid Robots II: Motion Planning

• Mike Stilman, Koichi Nishiwaki, Satoshi Kagami, James J. Kuffner:
  Planning and Executing Navigation Among Movable Obstacles. 820-826
  
• Eiichi Yoshida, Claudia Esteves, Takeshi Sakaguchi, Jean-Paul Laumond, Kazuhito Yokoi:
  Smooth Collision Avoidance: Practical Issues in Dynamic Humanoid Motion. 827-832
  
• Kensuke Harada, Kris K. Hauser, Timothy Bretl, Jean-Claude Latombe:
  Natural Motion Generation for Humanoid Robots. 833-839
  
• Riadh Zaier, Fumio Nagashima:
  Motion Pattern Generator and Reflex System for Humanoid Robots. 840-845
  
• Evan Drumwright, Victor Ng-Thow-Hing:
  Toward Interactive Reaching in Static Environments for Humanoid Robots. 846-851
  

Robot Audition II

• Kazuhiro Nakadai, Hirofumi Nakajima, Masamitsu Murase, Hiroshi G. Okuno, Yuji Hasegawa, Hiroshi Tsujino:
  Real-Time Tracking of Multiple Sound Sources by Integration of In-Room and Robot-Embedded Microphone Arrays. 852-859
  
• Tobias Rodemann, Martin Heckmann, Frank Joublin, Christian Goerick, Björn Schölling:
  Real-time Sound Localization With a Binaural Head-system Using a Biologically-inspired Cue-triple Mapping. 860-865
  
• Sylvain Argentieri, Patrick Danès, Philippe Souères:
  Modal Analysis Based Beamforming for Nearfield or Farfield Speaker Localization in Robotics. 866-871
  
• Iwaki Toshima, Shigeaki Aoki:
  The effect of head movement on sound localization in an acoustical telepresence robot: TeleHead. 872-877
  
• Ryu Takeda, Shun'ichi Yamamoto, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno:
  Missing-Feature based Speech Recognition for Two Simultaneous Speech Signals Separated by ICA with a pair of Humanoid Ears. 878-885
  

Motion Planning and Control

• Preethi Srinivas Bhat, James Kuffner, Seth Copen Goldstein, Siddhartha S. Srinivasa:
  Hierarchical Motion Planning for Self-reconfigurable Modular Robots. 886-891
  
• David Brandt:
  Comparison of A and RRT-Connect Motion Planning Techniques for Self-Reconfiguration Planning. 892-897
  
• Anthony David, Olivier Bruneau:
  Dynamic Stabilization of an Under-Actuated Robot using Dynamic Effects of the Legs and the Trunk. 898-903
  
• Hiroe Hashiguchi, Hiroe Arimoto, Toyohide Sakamoto, Shoji Namikawa:
  Generation of Large Gymnastic Motions for a Family of Under-Actuated Robots by Zero-Moment-Manifold Control. 904-909
  
• Y. Zhao, Chien-Chern Cheah:
  Vision-based Control of Multi-fingered Robot Hands using Neural Networks. 910-915
  
• Cristina P. Santos, Manuel Ferreira:
  Ball Catching by a Puma Arm: a Nonlinear Dynamical Systems Approach. 916-921
  

Vision Based Localization

• Damith Chandana Herath, Sarath Kodagoda, Gamini Dissanayake:
  Simultaneous Localisation and Mapping: A Stereo Vision Based Approach. 922-927
  
• Wen Shang, Dong Sun, Xudong Ma, Xianzhong Dai:
  A Visual Based Extended Monte Carlo Localization for Autonomous Mobile Robots. 928-933
  
• Thorsten Spexard, Shuyin Li, Britta Wrede, Jannik Fritsch, Gerhard Sagerer, Olaf Booij, Zoran Zivkovic, Bas Terwijn, Ben J. A. Kröse:
  BIRON, where are you? Enabling a robot to learn new places in a real home environment by integrating spoken dialog and visual localization. 934-940
  
• Norbert Schmitz, Jan Koch, Martin Proetzsch, Karsten Berns:
  Fault-Tolerant 3D Localization for Outdoor Vehicles. 941-946
  
• Darius Burschka:
  Robust Feature Correspondences for Vision-Based Navigation with Slow Frame-Rate Cameras. 947-952
  
• Marius Kloetzer, Calin Belta:
  A Framework for Automatic Deployment of Robots in 2D and 3D Environments. 953-958
  

Haptics and Haptic Devices II

• Mehdi Boukallel, Maxime Girot, Stephane Régnier:
  Haptic Rendering of Biological Elastic Properties based on Biomechanical Characterization. 959-964
  
• Ryuta Ozawa, T. Yoshinari, Hiroe Hashiguchi, Suguru Arimoto:
  Supervisory Control Strategies in a Multi-Fingered Robotic Hand System. 965-970
  
• Stefano Galvan, Debora Botturi, Paolo Fiorini:
  FPGA-based Controller for Haptic Devices. 971-976
  
• Ludovic Dovat, Olivier Lambercy, Y. Ruffieux, Dominique Chapuis, Roger Gassert, Hannes Bleuler, Chee Leong Teo, Etienne Burdet:
  A Haptic Knob for Rehabilitation of Stroke Patients. 977-982
  
• Andreas Hein, Carsten Lenze, Melina Brell:
  Preliminary Evaluation of a Force-Sensing Human-Machine Interface for an Interactive Robotic System. 983-988
  
• Imad Elhajj, Hesiri Weerasinghe, Ali Dika, Ranald Hansen:
  Human Perception of Haptic Force Direction. 989-993
  

Space Robotics I

• X. H. Gao, M. H. Jin, Z. W. Xie, L. Jiang, F. L. Ni, Sh. C. Shi, R. Wei, Hegao Cai:
  Development of the Chinese Intelligent Space Robotic System. 994-1001
  
• Zhiyu Shao, Hanxu Sun, Qingxuan Jia, Ping Ye, Yuesheng Tan:
  Development of a General 2-DOF Space Module. 1002-1007
  
• Cheng Li, Bin Liang, Wenfu Xu:
  Autonomous Trajectory Planning of Free-floating Robot for Capturing Space Target. 1008-1013
  
• Minzhou Luo, Wei Lu, Bingyu Sun, Tao Mei:
  Autonomous Grasping of a Space Robot Multisensory Gripper. 1014-1019
  
• Satoko Abiko, Roberto Lampariello, Gerd Hirzinger:
  Impedance Control for a Free-Floating Robot in the Grasping of a Tumbling Target with Parameter Uncertainty. 1020-1025
  
• Jiegao Wang, Raja Mukherji, Mariano Ficocelli, Andrew Ogilvie, Michael Liu, Craig Rice:
  Modeling and Simulation of Robotic System for Servicing Hubble Space Telescope. 1026-1031
  

Interaction and Intelligence

• Masaya Takasaki, Yousuke Fujii, Hiroyuki Kotani, Takeshi Mizuno, Takaaki Nara:
  Proposal of Tele-touch Using Active Type SAW Tactile Display. 1032-1037
  
• Naoyuki Kubota, Kenichiro Nishida, Hiroyuki Kojima:
  Perceptual System of A Partner Robot for Natural Communication Restricted by Environments. 1038-1043
  
• Takeshi Sasaki, Hideki Hashimoto:
  Human Observation Based Mobile Robot Navigation in Intelligent Space. 1044-1049
  
• Yasuhisa Hirata, Asami Muraki, Kazuhiro Kosuge:
  Motion Control of Intelligent Walker based on Renew of Estimation Parameters for User State. 1050-1055
  
• Hiroshi Kobayashi, Masaya Iba, Hidetoshi Suzuki:
  Development of a Muscle Suit for the Upper Limb - Proposal of Posture Control Methods. 1056-1061
  
• Ken Sugawara, Hiroumi Tanigawa, Kazuhiro Kosuge, Yoshinori Hayakawa, Tsuyoshi Mizuguchi, Masaki Sano:
  Collective Motion and Formation of Simple Interacting Robots. 1062-1067
  

Robot Kinematics and Dynamics I

• Jiaxin L. Fu, Nancy S. Pollard:
  On the Importance of Asymmetries in Grasp Quality Metrics for Tendon Driven Hands. 1068-1075
  
• Jingjun Yu, Shusheng Bi, Guanghua Zong, Jian S. Dai, Xin-Jun Liu:
  Mobility Characteristics of a Flexure-based Compliant Manipulator with Three Legs. 1076-1081
  
• Dan Zou, Tianmiao Wang, Jianhong Liang:
  Reconfiguration Research on Modular Mobile Robot. 1082-1085
  
• Jon M. Selig, Yuanqing Wu:
  Interpolated Rigid-Body Motions and Robotics. 1086-1091
  
• Giuseppe Casalino, Alessio Turetta, Andrea Sorbara:
  Dynamic Programming based Computationally Distributed Kynematic Inversion Technique. 1092-1098
  
• Andrzej Nycz, William R. Hamel:
  Robot Task Space Analyzer System Calibration. 1099-1104
  

Bilateral Teleoperation I

• Kamran Razi, Reza Monfaredi, Saeed Shiri Ghydari, Seyed Mehdi Rezaei:
  A New Indicator for Gain-Switching Control of Position Error-based Teleoperation System. 1105-1109
  
• Lei Zhang, Qiang Huang, Yuepin Lu, Tao Xiao, Jiapeng Yang, Muhammad Usman Keerio:
  A Visual Tele-operation System for the Humanoid Robot BHR-02. 1110-1114
  
• Peter J. Berkelman, Ji Ma:
  Effects of Friction Parameters on Completion Times for Sustained Planar Positioning Tasks with a Haptic Interface. 1115-1120
  
• Rachana Ashok Gupta, Ahmad A. Masoud, Mo-Yuen Chow:
  A Delay-tolerant, Potential field-based, Network Implementation of an Integrated Navigation System. 1121-1126
  
• Jordi Barrio, José Maria Azorín, Rafael Aracil, Manuel Ferre, José Maria Sabater, Nicolás M. García:
  Experimental bilateral control by state convergence. 1127-1132
  
• Masafumi Tominaga, Hirotaka Ohta, Shuji Hashimoto:
  Image Sequence Prediction for Remote Robot Control. 1133-1138
  

Sound Localization and Intelligence

• Eric Martinson, Alan C. Schultz:
  Auditory Evidence Grids. 1139-1144
  
• Haruhiko Niwa, Tetsuya Ogata, Kazunori Komatani, Hiroshi G. Okuno:
  Multiple Acoustical Holography Method for Localization of Objects in Broad Range using Audible Sound. 1145-1150
  
• Jwu-Sheng Hu, Wei-Han Liu, Chieh-Cheng Cheng, Chia-Hsing Yang:
  Location and Orientation Detection of Mobile Robots Using Sound Field Features under Complex Environments. 1151-1156
  
• Ren C. Luo, Chun C. Lai, Chung T. Liao:
  Rapid Environment Identification for Intelligent Mobile Robot. 1158-1163
  
• Qinghao Meng, Fengjuan Yao, Yuehua Wu:
  Review of Crosstalk Elimination Methods for Ultrasonic Range Systems in Mobile Robots. 1164-1169
  
• Jonas Hörnstein, Manuel Lopes, José Santos-Victor, Francisco Lacerda:
  Sound Localization for Humanoid Robots - Building Audio-Motor Maps based on the HRTF. 1170-1176
  

Navigation II

• Weihua Sheng, Yantao Shen, Ning Xi:
  Mobile Sensor Navigation with Miniature Active Camera for Structure Inspection. 1177-1182