Table of Contents ... Foreward ..................................................................................................................................................

Organizing Committee ........ ......................................................................... Author Index .............. ................................. ................................................................................. Ixv

Volume 1 (Pages 1-1058)

Session: WA-1 VISION BASED NAVIGATION AND TRACKING

Feedforward Control for Human-in-the-Loop Camera Systems .............................................................................. 1 Rares Stanciu and Paul Oh

Low-Cost Vision-Based A W Guidance System for Reef Navigation .......... ................................................... 7 Matthew Dunbabin, Peter Corke and Gregg Buskey

Layered Ground Floor Detection for Vision-based Mobile Robot Navigation . ................................... 13 Young-geun Kim and Hakil Kim

Motion compensation and object detection for autonomous helicopter visual navigation in the COMETS system ..................................

Anibal Ollero, Joaquin Ferruz. Fernando Caballero, Se ....................... 19 0

Visually Augmented Navigation in an Unstructured Environment Using a Delayed State History ...................... 25 Ryan Eustice, Oscar Pizarro and Hanumant Singh

Session: WA-2 AUTOMATION: MANUFACTURING PROCESSES I

The Development of a Direct Metallic Rapid Prototyping System ........................................................................ 33 Ren.C. Luo, Chun Ching Chen and Jyh Hwa Tzou

Design of Part Feeding and Assembly Processes with Dynamics .......................................................................... 39 Peng Song, Jeffrey C. Trinkle, Vijay Kumar and Jong-Shi Pang

Optimal Tool Path Planning for Compound Surfaces in Spray Forming Processes ....................................... Weihua Sheng, Heping Chen, Ning Xi, Jindong Tan and Yifan Chen

Optimal Spray Gun Trajectory Planning with Variational Distribution for Forming Process ............................... 51 Heping Chen, Ning X i , Weihua Sheng, Yijan Chen and Jeffrey Dah1

Towards Automated Micromachining of PMMA Micro Channels Using CO2 Laser and Sacrificial Mask Process ............................................................................................................... 57

Guangyi Shi, Qiang Huang, Kin Fong Lei, Wen J. Li and Wenqian Huang

Session: WA-3 AUTOMATION: SECURITY SURVEILLANCE

An Exact Algorithm Optimizing Coverage-Resolution for Automated Satellite Frame Selection ........................ 63 Dezhen Song, Frank van der Stappen and Ken Goldberg

Object Surveillance Using Reinforcement Learning Based Sensor Dispatching ................................................... 71 Michael Naish. Elizabeth Croft and Beno Benhabib

vii

A UAV Vision System for Airborne Surveillance ........ ...... ..... ............... 77

Detection of Vehicles in Panoramic Range Image .................................... ..... 84

Michael Kontitsis, Nikolaos Tsourveloudis and Kimon Valavanis

Kiyotaka Hirahara and Katsushi Ikeuchi . . Human Activities Monitonng at Bus Stops ............................................................................................................ 90

Guillaume Gasser, Nathaniel Bird, Osama Masoud and Nikos Papanikolopoulos

Session: WA-4 ADAPTIVE NAVIGATION

Online Adaptive Rough-Terrain Navigation in Vegetation .................................................................................... 96 Carl Wellington and Anrhony Stentz

Learning by Observation with Mobile Robots ..................................................................................................... 102 Kevin Dixon and Pradeep Khosla

Enabling Learning From Large Datasets .............................................................................................................. 108 Cristian Dima, Martial Hebert and Anthony Stentz

Obstacle Avoidance through Incremental Learning with Attention Selection ..................................................... 1 15 shuqing zeng and juyang weng

Adaptive Color Snake Model for Real-Time Object Tracking ............................................................................ 122 Kap-Ho Se0

Session: WA-5 HUMANOIDS I

Design and Control of 9-DOFs Emotion Expression Humanoid Arm _ _ _ _ _

Development of a Human-like Walking Robot Having Two 7-DOF Legs and a 2-DOF Waist ....

................................ Hiroyasu Miwa, Kazuko Itoh, Daisuke Ito, Hideaki Takanobu and Atsuo Takanishi

Yu Ogura, Hiroyuki Aikawa, Hun-ok Lim and Atsuo Takanishi

Exemplar-Based Primitives for Humanoid Movement Classification and Control ............................................. 140 Evan Drumwright, Odest Jenkins and Maja Mataric’

The Anthropomorphic Flutist Robot WF-4 Teaching Flute Playing to Beginner Students ................................. 146 Jorge Solis, Massimo Bergamasco, Keisuke Chida, Shuzo Isoda and Atsuo Takanishi

Development of a New Anthropomorphic Flutist Robot WF-4 ........................................................................... 152 Keisuke Chida, Isamu Okuma, Shuzo Isoda. Yukako Saisu, Kunimitsu Wakamatsu, Kazufumi Nishikawa, Jorge Solis, Hideaki Takanobu and Atsuo Takanishi

Session: WA-6 SENSOR NETWORK I

Using a Sensor Network for Distributed Multi-Robot ....... ....... ............ 158 Maxim Batalin and Gaurav Sukhatme

Constrained Coverage for Mobile Sensor Networks ........... .......................................................... Sameera Poduri and Gaurav Sukhatme

Planning Mobile Sensor Net Deployment for Navigationally-Challenged Sensor Nodes ................................... 172 Yifan Tang, Ben Birch and Lynne Parker

viii

Interacting with Sensor Networks .............................................................................

Scheduling for Distributed Sensor Networks with Single Sensor Measurement per Time Step

................... 180 Ron Peterson and Daniela Rus

...... 187 Timothy H. Chung, Vi& Gupta. Babak Hassibi, Joel W. Burdick and Richard M. Mu

Session: WA-7 SENSOR FUSION I

Multi-rate Fusion with Vision and Inertial Sensors ............... Leopoldo Armesto, Stefan Chroust, Markus Vincze a

............ 193

Practical Environment Modeling Based on A Heuristic Sensor Fusion Method ...... ..................................... 200 Seung Hwan Park and Beom Hee Lee

A Sensor Selection Method Considering Communication Delays . ..................................... _._.. 206 Shingo Kagami and Masatoshi Ishikawa

Informative Representations of Unstructured Environments ............. ..... ..... 212

Terrain Classification Through Weakly-Structured VehiclelTerrain Interaction ................................................. 21 8

Suresh Kumar, Jose Guivant and Hugh F. Durrant- Whyte

Amy Lorson, Richard Voyles and Guleser Demir

Session: WA-8 HUMAN-MACHINE INTERFACE

Development of Human-Machine Interface in Disaster-Purposed Search Robot Systems That Serve as Surrogates for Human ..................

Xin-Zhi Zheng, Kazuo Tsuchiya, Tetsuo Sawaragi, Koichi Osuk __.__ 225

Human-Machine Interface Evaluation in a Computer Assisted Surgical System ................................................ 231 Jesu's G6mmez-de-Gabriel. Victor Muiioz-Martinez, Isabel Garcia-Morales, David Melgar and Carlos Vara

Eye-mouse under Large Head Movement for Human-Computer Interface ............ ............. 237 Dong Hyun Yo0 and Myung Jin Chung

A Human-Robot Interface Based on Electrooculography ....................................... ...... .. 243 Yingxi Chen and Wyatt Newman

A New Actuation Approach For Human Friendly Robot Design ....................................................... . 249 Michael Zinn, Oussama Khatib and Bernard Roth

Session: WA-9 VISUAL SERVOING I

Linear Structures Following by an Airship using Vanishing Point and Horizon Line in a Visual Servoing Scheme ......................................................................................................... 255

Hybrid Vision-force Control for Robot with Uncertainties .....

Extended 2D Visual Servoing .....

Patrick Rives and Jose' Raul Azinheira

............ Yu Zhao and Chien Chern Cheah

............. Florian Schramm, Guillaume Morel, Alain Micaelli and Anne Lortin

ir

Beating Heart Tracking in Robotic Surgery Using 500 Hz Visual Servoing, Model Predictive Control and an Adaptive Observer ..............

Romuald Ginhoux, Jacques Ganglo& Michel de Math Luc Soler and Maria Mara Arenas Sanchez

Cascade Control of Uncertain Manipulator Systems Through Immersion and Invariance Adaptive Visual Servoing .. .................. ..............................................

Alessandro Zachi, Liu Hsu, Ro

Session: WA-10 HAPTIC DEVICES I

Mass/ Inertia and Joint Friction Minimization for a Low-force Five-dof Haptic Device ............. 286 Kostas Vlachos, Evangelos Papadopoulos and Dionissios Mitropoulos

Energy-Based Control of a Passive Haptic Device ................................................................................... Changhyun Cho, Jae-Bok Song, Munsang Kim and Chang-Soon Hwang

Singularity-free Load Distribution Algorithms for a 6 DOF Parallel Haptic Device ........................................... 298 Hyung Wook Kim, Jae Hoon Lee, Byung Ju Yi and I1 Hong Suh

Eye-Hand Coordination Assessment Using a Robotic Haptic Interface ............................................................. 305 Norali Pemalete, Ramakishna Gottipati, Samyuktha Mikkilineni, Sandra Edwards and Erin McCann

Modeling and Control of an Improved Dissipative Passive Haptic Display ................................ ..... 311 Matthew Reed and Wayne Book

Session: WA-11 ROBOT GRASPING I

Grasp Planning - How to Choose a Suitable Task Wrench Space ....................................................................... 319 Max Fischer, Christoph Borst and Gerd Hirzinger

Optimum Grasp of Planar and Revolute Objects with Gripper Geometry Constraints ...

On Quality Functions for Grasping Synthesis and Fixture Planning ...

........................ 326 Eric Boivin, Inna Sharfand michel doyon

Jijie Xu , Guanfeng Liu and Zexiang Li

A Concept of Grasping Information Interface for Remote Pointing Task ....................................

D-Space and Deform Closure ............................................................................................................................... 345

Sigeru Sato, Muneo Kitajima and Yukio Fukui

Kanakasabapathi Gopalakrishnan and Ken Goldberg

Session: WA-12 MEDICAL ROBOTIC APPLICATIONS I

A Dexterous System for Laryngeal Surgery .. Nabil Simaan, Russell Taylor and Pa

................................................................................................ 351

Kinematic Error Correction for Minimally Invasive Surgical Robots Ryan Beasley, Robert Howe and Pierre Dupont

A Robotic System for Transrectal Needle Insertion into the Prostate with Integrated Ultrasound ...................... 365 Chad Schneider, Allison Okaniura and Gabor Fichtinger

X

Design Issues in a Haptics-Based Master-Slave System for Minimally Invasive Surgery .................................. 371 Mahdi Tavakoli, Rajni Pate1 and Mehrdad Moallem

Design of A Novel MRI Compatible Manipulator for Image Guided Prostate Intervention ......... Axel Krieger, Robert C. Susil, Gabor Fichtinger, Ergin Atalar and Louis L. Whitcomb

Session: WA-13 SIMULTANEOUS LOCALIZATION AND MAPPING I

Graphical SLAM - A Self Correcting Map .................................... .................................. 383 John Folkesson and Henrik Christensen

The Hybrid Metric Maps (HYMMs) ....... .......................................... ........ 391 Niero Juan Ignacio, Guivant Jose Emilio and Nebot Eduardo Mario

The Effects of Partial Observability in SLAM .............................................. ................................................. 397 Juan Andrade-Cetto and Alberto Sanfeliu

RatSLAM ...... ................................................................................................................... Micha on Wyeth and David Prasser

V-GPS(SLAM) ..................................................................................................................................................... 409 Darius Burschka and Gregory D. Hager

Session: WA-14 N ANOMANIPUL ATION

Towards Automatic Nanomanipulation: Drift Compensation in Scanning Probe Microscopes ........ 416 Babak Mokaberi and Aristides Requicha

Calibration of AFM Based Nanomanipulation System ........................................................................................ 422 Guangyong Li, Ning X i and Mengmeng Yu

Assembly of Nanostructure Using AFM Based Nanomanipulation System ................................ Guangyong Li, Ning Xi, Heping Chen, Ali Saeed and Mengmeng Yu

Three-Dimensional Nanoscale Manipulation and Manufacturing using Proximal Probes ............................ 434 Amrinder Nain, Daniel Goldman and Metin Sitti

Field Emission Property Characterization of Individual Carbon Nanotubes Through Nanorobotic Manipulations and Its Applications .......................................

Session: WA-15

Useful Cycles in Probabilistic Roadmap Graphs ....................................

..... 440 Fumihito Arai, Pou Liu, Lixin Dong and Toshio Fukuda

PROBABILISTIC-BASED PLANNING I

Dennis Nieuwenhuisen and Mark Ovennars

Using workspace information as a guide to non-uniform sampling in probabilistic roadmap planners ......... Jur P. van den Berg and Mark U. Ovennars

Artificial Potential Biased Probabilistic Roadmap Method ..................................... .................... 46 1

Path Planning using Probabilistic Cell Decomposition ........ ................................. .......................... 467

Daniel Aanzo, Danica Kragic and Henrik Christensen

Frank Lingelbach

X i

A Kinematics-Based Probabilistic Roadmap Method for High DOF Closed Chain Systems .............................. 473 Dawen Xie and Nancy Amato

Session: WM-1 ROBOT VISION I

Maintaining Visibility of a Moving Target at a Fixed Distance . .............................. 479 Rafael Murrieta, Alejandro Sarmiento, Sourabh Bhattacharya and Seth Hutchinson

A Calibration Free Analytical Solution to Image Points Path Planning That Ensures Visibility ......... Florian Schranim and Guillaume Morel

A Segmentation Algorithm for a Robotic Micro-Endoscope for Exploration of the Spinal Cord ....................... 491 Luca Ascari, Ulisse Bertocchi, Cecilia Lachi, Cesare Stefanini and Paolo Dario

Epipole-based visual servoing for nonholonomic mobile robots ....................................................... Gian Luca Mariottini, Domenico Prattichiuo and Giuseppe Oriolo

. . . A miniature biomimetic gaze control system ....................................................................................................... 504 Stephane Viollet and Nicolas Franceschini

Session: WM-2 AUTOMATION: MANUFACTURING PROCESSES I1

Design of a New PumaPaint Interface and its Use in One Year of Operation 51 1 Michael Coristine and Matthew Stein

Integrated Design of a Linear Positioning System With Applications To Electronic Manufacturing 517 Ke Fu, James K. Mills and Dong Sun

A Multi-Agent Cell Controller Integrating Temporal and Precedence Constraints ...... ....... ........... 523 Brahim Bouzouia and Rafik Bouchemma

Gap Sensing Benefits in Conform(TM) Extrusion Machinery ............................................................................. 529 Kafeel Khawaja, Kaspar Althoefer, Mike Clode and Lakmal Seneviratne

Modeling and Control for A Gough-Stewart Platform CNC Machine ....... Yung Ting, Yu-Shin Chen, Ho-Chin Jar and Yuan Kang

Session: WM-3 AUTOMATION: PETRI NETS

Diagnosability of Discrete Event Systems. A Petri Net Based Approach ................. .................................... 541 Antonio Ramirez-Treviko, Elvia Ruiz-Beltran, Israel Rivera-Range1 and Ernest0 Lopez-Mellado

Modular Hybrid Petri Nets for Studying Multi-operational Production Systems Where Parts Follow Multiple Alternative Processes ............... 547

Kimon Valavanis

Modeling and Analysis Manufacturing Systems Using a New Class of Petri nets .............................................. 554 YiSheng Huang, Xiaolan Xie and ChienNin Hsu

Deadlock-free scheduling method for automated manufacturing systems with limited central buffers .............. 560 zhonghua huang and Zhiniing Wu

xii

Deadlock-free Scheduling Method for Automated Manufacturing Systems Using Genetic Algorithm and Petri Nets .____ ......................................................................................... 566

Zhonghua Huang and Zhinting Wu

Session: WM-4 ROBOT LOCALIZATION I

Analysis of Positioning Uncertainty in Reconfigurable Networks of Heterogeneous Mobile Robots ........... Anastasios Mourikis and Stergios Roumeliotis

A Dead-Reckoning Scheme for Skid-Steered vehicles in Outdoor Environments .. 580 Georgia Anousaki and Kostas Kyriakopoulos

Localization and Self Calibration of a Robot for Volcano Exploration ............................................................... 586 Daniele Calfabiano, Giovanni Muscat0 and Francesco Russo

Obstacle Avoidance and Path Planning for Humanoid Robots using Stereo Vision ............................................ 592 Kohfaro Sabe, Masaki Fukuchi, Steffen Gutmnn, Kenta Kawamoto and Takayuki Yoshigahara

Bayesian Programming For Topological Global Localization With Fingerprints ............................................... 598 Adriana Tapus, Stefan Heinzer and Roland Siegwart

Session: WM-5 HUMANOIDS I1

Locomotion Planning of Humanoid Robots to Pass through Narrow Spaces ........................................... Fumio Kanehiro, Hirohisa Hirukawa, Kenji Kaneko, Shuuji Kajita and Kiyoshi Fujiwara

Leg Motion Primitives for a Dancing Humanoid Robot ........................................... ...................................... 610 Shinichiro Nakaoka, Atsushi Nakazawa, Kazuhito Yokoi and Katsushi Ikeuchi

Real-time Planning of Humanoid Robot’s Gait for Force Controlled Manipulation . Kensuke Harada, Shuuji Kajita, Fumio Kanehiro, Kiyoshi Fujiwara, Kenji Kaneko, Yokoi Kazuhifo and Hirohisa Hirukawa

Walking Control of the Humanoid Platform KHR-1 based on Torque Feedback Control ......................... Jung-Hoon Kim and Jun-Ho Oh

A Hop towards Running Humanoid Biped . Shuuji Kajita, Takashi Nagasaki, K

629

Session: WM-6 SENSOR NETWORKS I1

Mobile Robot Navigation using a Sensor Network Maxim Batalin, Gaurav Sukhatme and My

......................................................................................... 636

Robotic Deployment of Sensor Networks Using Potential Fields ........... ....................................... 642 Dan Popa, Chad Helm, Harry Stephanou and Arthur Sanderson

Development of Sensor System of a Small Biped Entertainment Robot ......................................... 648 Tatsuzo Ishida and Yoshihiro Kuroki

Reaction-Diffusion Patterns in Smart Sensor Networks ..... Thomas Henderson, Ramya Venkataraman and Gyounghwa Choikim

xiii

Supporting Many-to-One Communication in Mobile Multi-Robot Ad Hoc Sensing Networks 659 Saumitra Das, Y. Charlie Hu, C.S.George Lee and Yung-Hsiang Lu

Session: WM-7 SENSOR FUSION I1

Classifier Fusion for Outdoor Obstacle Detection

Navigation in a Challenging Martian Environment Using Multi-Sensory Fusion in KIV Model _ _

........... 665 Cristian Dima, Nicolas Vandapel and Martial Hebert

........... 612 - Derek Wong, Robert Kozma,-Edward Tunstel and Walter J. Freeman

Surface Registration from Range Image Fusion ................................................................................................... 618 ~.Carles Mutabosch, Joaquim Salvi, Xavier Pinsach and Rafael Garcia

Outdoor Map Building Based on Odometry and RTK-GPS Positioning Fusion ........... 684 Kazunori Ohno, Takashi Tsubouchi and Shin'ichi Yuta

Distributed Sensor Databases for Multi-Robot Teams . 691 Anthony Cowley; Hwa-chow Hsu and Camillo Taylor

Session: WM-8 HAPTIC AND HUMAN ROBOT INTERFACES

Development of a Communication Robot Ifbot ................................................................................................... 697 Shohei Kato, Shingo Ohshiro, Hidenori Itoh and Kenji Kimura

Microphone Array for 2D Sound Localization and Capture ..... ................ Satoshi Kugami, Hiroshi Mizoguchi, Yuuki Tamai and Kanade

Co-axis Type Non-contact Impedance Sensor .... 109 Makoto Knneko and Tomohiro Kawahara

Singularity Avoidance and Control of New Cobotic System with Diffrential CVT .......

VITAL ..... .................. .............. ........ ..............

715 Dragoljub Surdilovic and Henning Simon

Mohumed Benali Kh Abderahmane Kheddar and Vincent Moreau

ustapha Hafez, Jean-Marc Alexandre ,

Session: WM-9 . .

VISUAL SERVOING II

An efficient method to compute the inverse jacobian matrix in visual servoing _ _ _ _ ........................................ 721 Jean-Thierry hpresttf, Frederic Jurie, Michel Dhome and Fruncois Chaumette

Camera Pose Estimation from less than Eight Points in Visual Servoing ....................... Graziano Chesi and Koichi Hashinioto

Adaptive Regulation of Robot Joint Velocity in Uncalibrated Visual Servoing 139 G . ~ W. Kim and B. H. Lee

Improvements in robust 2D visual servoing ............. .......... 745

Model-Free Visual Servoing on Complex Images Based on 3D Reconstruction

Eric Marchand, Andrew Comport a

.............. .......... 751 Christophe Collewet, Ali Alhaj and Francois Chaumetre

xiv

Session: WM-10 HAPTIC DEVICES I1

The Magic Glove .. ............................. .................................................................. .................... 757 H. Kazeroo n Fairbanks, Albe en and Gene Shin

Torque Control of Electrorheological Fluidic Actuators .............................................................. Marie-Aude Virrani, Jason Nikitczuk, Guillaume Morel and Constanrinos Mavroidis

Simulating Cheap Hardware ................................................................................................................................. 770 Iman Brouwer, Karon MacLRan and Antony Hodgson

Design of an Integrated Tactile Display System ..................................... Ki-Uk Kyung, Seung-Woo Son, Dong-Soo Kwon and Mun-Sang

The Effect of Force Feedback on Remote Palpation ................................

. 776

...................................... . 782 Ross Feller, Camilla Lau, Christopher Wagner, Douglas Perrin and Robert Howe

Session: WM-11 ROBOT GRASPING II

Equilibrium Conditions of a Rigid Object Grasped .

Homography-based Grasp Tracking for Planar Objects .............................................................. :...

Manipulation Gaits - Sequences of Grasp Control Tasks ....................................................

............................................... ............... 789 John Fasoulas and Zoe Doulgeri

............. 795 Raffaella Carlorti, Gabriel Recatali, Claudio Melchiorri, Pedro J. Sanz and Enric Cervera

......................... 801 Robert Platr, Andrew H. Fagg and Roderic Grupen

Handling of an Object by Multiple Mobile Manipulators in Coordination based on Caster-like Dynamics ....... 807

...................................................................... 813

Yasuhisa Hirata, Youhei Kume, Takuro Sawada, Zhi-Dong Warig and Kazuhiro Kosuge

Dynamic Tactile Sensing for Object Identification .............. Gunther Heidemann and Matthias Schopfer

Session: WM-12 MEDICAL ROBOTICS APPLICATIONS I1

Remote Surgery Case ............................. .......................................... .................................... 819 Cai Meng, Tianmiao Wang, Wusheng Chou, Sheng Luan and Yuru Zhang

NeuroMaster ............................................................................................ ....................................... 824 Junchuan Liu, Yuru Zhang, Tianmiao Wang, Hongguang Xing and Zengmin Tian

Kinematic Optimization of a Spherical Mechanism for a Minimally Invasive Surgical Robot ........................... 829 Mitchell Lum, Jacob Rosen, Mika N. Sinanan and Blake Hannaford

Novel FBG Sensor Devices for Spatial Shape Detection of Intelligent Colonoscope ......................................... 835 Lunwei Zhang, Jinwu Qian, Linyong Shen and Yanan Zhang

A Virtual Endodontics Testbed for Training Root Canal Skills ........................................................................... 841 Min Li and Yun-Hui Liu

xv

Session: Wh4-13 SIMULTANEOUS LOCALIZATION AND MAPPING I1

Simultaneous Localization and Modeling from Stereo Vision ............................................................................. 847

An Efficient Data Association Approach to Simultaneous Localization and Map Building ............................... 854

On Multidimensional Assignment Data Association for Simultaneous Robot Localization and Mapping ......... 860

Miguel Angel Garcia and Agusti Solanas

Sen Zhang, Lihua Xie and Martin Adams

Linthotage Dushantha Lochana Perera, Wijerupage Sardha Wijesoma and Martin David A d a m

A Scan Matching Method using Euclidean Invariant Signature for Global Localization and Map Building ...... 866 Masahiro Tomono

Hybrid TopologicaVMetric Approach to SLAM ........... 872 Kirill Kouzoubov and David Austin

Session: Wh4-14 MEMS

MEMS Conveyance Syste for Pneumatic Two-Dimensional Manipulation base on Autonomous Distributed Systems ......... .......................................................................... .. 878

Yamato Fukuta, Yoshio Mita, Yves-Andre Chapuis, Makoto Arai and Hiroyuki Fujita

Tolerance Analysis of Placement Distributions in Tethered Micro-Electro-Mechanical Systems Components ........... 884

Woo Ho Lee, Melanie Daflon, Harry Stephanou, Young Seok Oh, Jeffrey Hochberg and George D. Skidmore

Synchronized Manipulation and Force Measurement by Optical Tweezers Using High-speed Laser Scanning . ............................................................................. 890

Fumihito Arai, Keiichi Yoshikawa, To akanii and Toshio Fukuda

Active Self-Assembly ............. ....................... . 896 Daniel Arbuckle and Aristides Requicha

Multiple-View Multiple-Scale Navigation for Micro-Assembly 902 Andrew Shacklock

Session: WM-15 PROBABILISTIC-BASED PLANNING I1

A Delaunay Triangulation Based Node Connection Strategy for Probabilistic Roadmap Planners .................... 908

Probabilistic Modeling and Analysis of High-speed Rough-Terrain Mobile Robots ........................................ ;. 914

Yifeng Huang and Kamal Gupta .~

Dariusz Golda, Karl Iagnemma and Dubowsky Steven

Hybrid Probabilistic RoadMap - Monte Carlo Motion Planning for Closed Chain Systems with Spherical Joints ........................................................................................................ 920

. Li Han

Probabilistic Plane Fitting in 3D and an Application to Robotic Mapping .......................................................... 927 Jan Weingarten, Gabriel Gruener and Roland Siegwart

xvi

A theoretical comparison of probabilistic and biomimetic models of mobile robot navigation .......................... 933 Julien Diard, Pierre Bessikre and Emmanuel Mazer

Session: WE-1 ROBOT VISION I1

Optimal sensor placement for cooperative distributed vision ........................ 939 Luis Navarro-Seiment, John Dolan and Pradeep Khosla

Fast Row-Parallel CMOS Range ........................... ............................. Vladimir Brajovic

Toward Laser Pulse Waveform Analysis for Scene Interpretation ...................................................................... 950 Nicolas Vandapel, Omead Amidi and J. Rayan Miller

A Region-Based Background Modeling and Subtraction Using Partial Directed Hausdorff Distance ................ 956

..................................................................... 961

Shih-Shinh Huang, Li-Chen Fu and Pei-Yung Hsiao

Noise Equivalent Dimensions in Eigenspaces ...........

Session: WE-2 FLEXIBLE AUTOMATION

Reconfigurable Parts Feeding System Using Arrayed Vibratory Units Made by Stereolithography ................... 966

Rajeev Ranianath and Wesley Snyder

Yasuhiro Yantada, Nobutaka Torii, Motohiro Gotoh and Yoshiaki Komura

Robust Procedures for Obtaining Assembly Contact State Extrema1 Configurations .......................................... 972 Feng Pan and Joseph Schimmels

A Generic Embedded Device for Retrieving and Transmitting Information of Various Customized Applications ................................................................................................ 978 . .

Fan-Tien Cheng, Guo-Wei Huang, Chun-Hung Chen and Min-Hsiung Hung

Environmentally conscious decision making in engineering design ............. .................................................. 984 Zhi-Gang Xu, Ming-Xi Tang and Yanta Lam

Development of an Autonomous and Generic Remote Control Scheme ............................................................. 990 Yu-Chung Yang and Fan-Tien Cheng

Session: WE-3 AUTOMATION: SYSTEMS

Analysis of Self-Reconfigurable Modular Systems ............................................................................................. 996 Nicolas Brener, Faiz Ben Amar and Philippe Bidaud

Optimal Parking in Group Elevator Control .................................................. ............................................... 1002 Matthew Brand and Daniel Nikovski

Using Augmented Reality to Interact with an Autonomous Mobile Platform ..... .. 1009 Bjorn Giesler, Tobias Salb, Peter Steinhaus and Rudiger Dillmann

Mapping and Localization with RFID Technology .. ............................................................ 1015 Dirk Haehnel, Wolfrnm Burgard, Dieter Fox, Ken Fishkin and Matthai Philipose

xvii

Comparison Between Particle Filter Approach and Kalman Filter-Based Technique For Head Tracking in Augmented Reality Systems ......................................................................... 1021

Fakhr-eddine Ababsa, Malik Mallem and David Roussel

Session: WE-4 ROBOT LOCALIZATION I1

Optimized Motion Strategies for Cooperative Localization of Mobile Robots ....... 1027 Nikolas Trawny and Timothy Barfoot

Localization of Simultaneous Moving Sound Sources for Mobile Robot Using a Frequency-Domain Steered Beamformer Approach ............................................................................. 1033

Jean-Marc Valin, Francois Michaud, Brahim Hadjou and Jean Rouat

Robust Mobile Robot Localization using Optical Flow Sensors and Encoders ................................................. 1039 Sooyong Lee and Jae-Bok Song

Representing hierarchical POMDPs as DBNs for multi-scale robot localization ............................................... 1045

Complexity Analysis and Approximate Solutions for Two Multiple-Robot Localization Problems ................. 1052

Georgios Theocharous

Jinsuck Kim and Nancy Amato

Volume 2 (Pages 1059-2122)

Session: WE-5 HUMANOIDS I11

Stability Criterion and Pattern Planning for Humanoid Running ....................................................................... 1059 Zhaohui Li, Qiang Huang, Kejie Li and Xingguang Duan

A Stable Foot Teleoperation Method for Humanoid Robots .............................................................................. 1065 Ee Sian Neo. Kazuhito Yokoi, Shuuji Kajita, Hajime Saito and Kazuo Tarzie

On-line imitative interaction with a humanoid robot using a mirror neuron model ........................................... 1071 Masato It0 and Jun Tani

Falling Motion Control of a Humanoid Robot Traind by Virtual Supplementary Tests .................................... 1077 Kiyoshi Fujiwara, Fumio Kanehiro, Hajime Saito, Shuuji Kajita, Kensuke Harada and Hirohisa Hirukawa

Humanoid Robot HRP-2 .................................................................................................................................... 1083 K. Kaneko, F. Kanehiro, S. Kajita, H. Hirukawa, T. Kawasaki, M. Hirata, K. Akachi and T. Isozumj

Session: WE-6 SMART SENSORS

Dynamic Leadership Protocol for S-nets ........ .............................................................................................. 1091 Gregory Barlow, Thomas Henderson, Andrew Nelson and Edward Grant

A Decentralized Architecture for Active Sensor Networks Alexei Makarenko, Alex Brooks, Stefan Williams,

Multi-Robot Tracking of a Moving Object Using Directional ............... 1103 Manuel Mazo, Alberto Speranzon, Karl Henrik Johansson and

xviii

Design and Evaluation of an Integrated Planar Localization Method for Desktop Robotics ............................. 1109 Sutya Singh and Kenneth Waldron

An Investigation of the Effects of Magnetic Variations on InertiaVMagnetic Orientation Sensors ................... 11 15 Eric Bachmann, Xiaoping Yun and Christopher Peterson

Session: WE-7 ASSEMBLY TASKS

Tandem Shallow Hole Insertion Using Search ................................................................................................... Takayuki Matsuno, Toshio Fukuda and Yasuhisa Hasegawa

Designing of Damping Control Parameters for Peg-in-Hole Considering Cycle Time ...................... Natsuki Yamanobe, Yusuke Maeda and Tamio Arai

Distinguishability and Identifiability of Contact States .......... ................ Thomas Debus and Pierre Dupont

Geometric Binding Site Design for Surface-Tension ........ ..................................... Xiaorong Xiong, Sheng-Hsiung Liang and Karl Bohringer

An Integrative Approach for Multi-Sensor based Robot Task Programming .............. ............................... Ulrike Thomas, Jan Florke, Stefan Detering and Friedrich Wahl

123

129

135

141

149

Session: WE-8 HUMAN ASSISTED ROBOTS AND SYSTEMS

Learning and Transferring Human Navigational Skill to Wheelchair ................................................................ 1 155 Hon Nin Chow and Yangsheng Xu

Learning Human Tracking and Intercepting Ski ................ 1161 Jun Cheng, Yangsheng Xu and Ronald

Human Assisted Capture-The-Flag in an Urban Environment ........................................................................... 1 167 Matthew Blake, Gerrit Sorensen, James Archibald and Randal Beard

Identification of Decision Rules in a Human Controlled System ....................................................................... 1173 Claire Walton, Domitilla Del Vecchio and Richard M. Murray

Controlling the Apparent Inertia of Passive Human-Interactive Robots ................................ ...................... 1 I79 Tom Worsnopp, Michael Peshkin, Ed Colgate and Kevin Lynch

Session: WE-9 VISUAL SERVOING AND STEREO VISION

Image Moments ................................................................................................................................................. 1 185 Onrar Tahri and Francois Chaumette

High-speed Batting Using a Multi-Jointed Manipulator ....................

A Global 3D Map-Building Approach Using Stereo Vision .

..................................... Taku Senoo, Akio Namiki and Masatoshi Ishikawa

..................... .......... 1 I97 Juan Manuel Saez Martinez and Francisco Escolano Ruiz

Homography-based Correspondence in Weakly Calibrated Curved Surface Environment and Its Error Analysis ...................................................................................................... 1203

liang jin and jianbo su

XiX

Session: WE-10 VIRTUAL REALITY APPLICATIONS AND HAPTICS

CPG-Based Manipulation .................................... ............................................... .................................... 1209 Yuichi Lim, Jun Ueda, Yoshio Matsumoto and Tsukasa Ogasawara

Multi-Scale Simulation For Microsurgery Trainer .............................................. .................................. 1215 Kian Meng Lim, Fei Wang, Tim Poston, L ang and Chee Leong Teo

Cooperative Control of Virtual Objects over the Internet using Force-Reflecting Master Arms .____. Craig Carignan and Pontus Olsson

Influence of force disturbances on transparency in bilateral telemanipulation of soft environments ...... Gudrun De Gersem and Hendrik Van Brussel

Study on A “Tactile Mirror” for Displaying Static Friction Sensation with Tactile Perception Feedback . lsao Fujimoro, Yoji Yamada, Takashi Maeno, Tersuya Morizono and Yoji Umetani

Session: WE-1 1 MANIPULATION AND GRASPING

On The Design of a Hydraulically Actuated Finger For Dextrous Manipulation ........ ................ 1239 Daniel Schmidt, Gordon h i v e and Andrew Paplinski

Manipulation Planning for Object Re-orientation based on Randomized Techniques ............ Masahito Yashima

Mechanics of Hybrid Activepassive-Closure Grasps .........

Planning Force-Closure Grasps on 3-D Objects ............ ....... .........

........... Tersuyou Watanabe, Zhongwei Jiang and Tsuneo Yoshikawa

Xiangyang Zhu and Han Ding

On the Mechanics of Natural Compliance in Frictional Contacts and its Effect on Grasp Stiffness and Stability .............................. ...................................................... 1264

Aniir Shapiro, Elon Rimon and Jo

Session: WE-12 MEDICAL ROBOTIC APPLICATIONS 111’

Spatial Motion Constraints in Medical Robot Using Virtual Fixtures Generated by Anatomy ......................... 1270

Optimal Design of High Dexterity Modular MIS Instrument for Coronary Artery Bypass Grafting .........

Mathematical muscle model for Functional Electrical Stimulation control strategies ...............

Ming Li and Russell Taylor

Damien S a l k Philippe Bidaud and Guillaunie Morel

Hassan El Makssoud, David Guiraud and Philippe Poignet

Dynamics and Control of an MRI Compatible Master-Slave System with Hydrostatic Transmission .............. 1288 Ganesh Gowrishankar, Roger Gassert, Etienne Burdet and Hannes Bleuler

A Real-Time Graphic Environment for a Urological Operation Training Simulator ......................................... 1295 Evangelos Papadopoulos, Alkiviadis Tsamis and Kostas Vlachos

Session: WE-13 SIMULTANEOUS LOCALIZATION AND MAPPING IT1

Online Simultaneous Localization and Mapping in Dynamic Environments .................................................... I301 Denis Wolfand Gaurav Sukhatme

Local Maps Fusion for Real Time Multirobot Indoor Simultaneous Localization and Mapping ...................... 1308 Diego Rodriguez-Losada, Fernando Matia and Agustin Jimenez

DP-SLAM 2.0 .................................................................................................................................................... 1314 Austin Eliamr and Ronald Parr

Millimetre Wave RADAR Spectra Simulation and Interpretation for Outdoor SLAM .... .......................... 1321 Ebi Jose and Martin Adonis

Open Challenges in SLAM ................................................................ .......................................................... 1327 Agostino Martinelli, Nicola Tomatis and Roland Siegwart

Session: WE-14 MICROROBOTICS AND MEMS

Analysis and Design of Wireless Magnetically Guided Microrobots in Body Fluids ........................................ 1333 Berk Yesin, Karl Vollmers and Bradley Nelson

Atomic-scale Positioning Reference Grid System For Miniature Robots With Embedded Scanning Tunneling Capability ........................................................ ...... ...... 1339

Dominic St-Jacques, Thomas Boitani, Pierre-Alain Dumas, Marc-Antoine Ducas and Marc-Antoine Fortin

Physical Model of a MEMS Accelerometer for Low-g Motion Tracking Applications .................................... 1345 Wei Tech Ang. Si Yi Khoo. Pradeep Khosla and Cameron Riviere

High Sensitive Micro Touch Sensor with Piezoelectric Thin Film for Micro Pipetting Works under Microscope ............................. ..................................................................... 13.52

Fumihito Arai, Kouhei-Motoo, Toshio Fukuda and

Genetic Algorithm Based Optimization Design of Miniature Piezoelectric Forceps ......................................... 1358 Ken Susanto and Bingen Yang

Session: WE-15 ROBOTICS EDUCATION I

Robot Control Designer Education on the Web .... ............................................ ........... .. 1364 David Fabri, Carla Falserti, Sulmana Ramauotti and Tommaso Leo

A Hands-on Laboratory Based Approach to Undergraduate Robotics Education ............................................ 1370 Kuldeep Rawat and Gholam Massiha

Project in Robotics at Copenhagen University College of Engineering ............................................................. 1375 Meng Guo, Lusse Husman, Nicolai Vullum and Anna Friesel

PolyBot and PolyKinetic(TM) System ............ Alex Golovinsky, Mark Yim, Ying Zha

Tabulation and Analysis of Questionnaire Results of Subjective Evaluation of Seal Robot in Japan, U.K., Sweden and Italy

......................................................................................... 1381 ig Eldershaw and David Duff

Takanori Shibata, Kazuyoshi Wada and Kazuo Tanie

xxi

Session: WP-1 EFFICIENT VISION AND VISUAL TRACKING TECHNIQUES

Analysis of Eigendecomposition for Sets of Correlated Images at Different Resolutions ................................. 1393 Kishor Saitwal, Anthony Maciejewski and Rodney Roberts

3-D Object Modeling by a Camera Equipped on a Mobile Robot ..................................................................... 1399 Kimitoshi Yamazaki, Masahiro Tomono, Takashi Tsubouchi and Shin'ichi Yuta

Increasing the Scout's Effectiveness Through Local Sensing and Ruggedization ............................................. 1406 Andrew Drenner, LaPointe Monica Anderson, Burt Ian, Cannon Kelly and Papanikolopoulos Nikolaos

Portable Absolute Orientation Estimation Device with Wireless Network under Accelerated Situation .......... 1412 Tatsuya Harada, Hiroto Uchino, Taketoshi Mori and Tomomasa Sat0

Large-Baseline Matching and Reconstruction from Symmetry Cells ................................................................ 1418 KUN HUANG, Allen Yang, Wei Hong and Yi Ma

Session: WP-2 AUTOMATION: MONITORING

Better Motion Prediction for People-tracking .. .................................... ............................... * Allison Bruce and Geofferey Gordon

A Real-time Monitoring and Diagnosis System for Manufacturing Automation . . 1424 Yangsheng Xu, Ming Ge and Ruxu Du

Gas Source Declaration with a Mobile Robot Achim Lilienthal, Andreas Zell, Holger Ulmer and Holger Frohlich

Bacterium-inspired Robots for Environmental Monitoring ..... Amii Dhariwal, Gaurav Sukhatme and Aristides Requi

.............................. 1436

Development of A Web-Services-based Remote Monitoring and Control Architecture ................................... 1444 Min-Hsiung Hung, Kuan-Yii Chen and Shih-Sung Lin

Session: WP-3 AUTOMATION: BIOLOGY.

Automating Crystallization of Membrane Proteins by Robot with Soft Coordinate Measuring ........... Lalitha Muthusubramaniam, Avinash Peddi, Yuan F. Zheng, Vadim Cherezov and Martin Caffrey

A Nano-liter Biomaterial Spotting System for Bio-chip Micormay Fabrication ............................................. 1456 Mingjun Zhang. Tzyh-Jong T a m and Ning Xi

Robot Team Forming of Membrane Proteins in Crystallization ..........

Towards Optimal Strategies for Moving Droplets in Digital Microfluidic Systems

....... 1462 Yuan F. Zheng and Weidong Chen

.......... 1468 Karl Bohringer

Automation of Yeast Pedigree Analysis ............................................................................................................. 1475 John Koschwanez, Mark Holl, Michael McMurray, Daniel Gottschling and Deirdre Meldrum

Session: WP-4 ROBOT LOCALIZATION ILI

Vision Based Topological Markov Localization ................................................................................................ 1481 Jana Kosecka and Fayin Li

Global Localization with Detection of Changes in Non-stationary Environments ............................................ 1487 Kanji Tanaka, Yoshihiko Kimuro, Nobuhiro Okada and Eiji Kondo

Particle Filter Based Outdoor Robot Localization Using Natural Features Extracted from Laser Scanners ..... 1493 Martin Adams, Sen Zhang and Lihua Xie

Guaranteed Dynamic Localisation using Constraints Propagation Techniques on Real Intervals ..................... 1499,

Relocation using laser and vision ..

El hadji Amadou Gning and Philippe Bonnifait

....................................... 1505 Diego Onin, Jose Neira an

. . Session: WP-5 . .

HUMAN ROBOT INTERFACE TECHNIQUES AND DEVICES

Automatic Generation of Robot Interface Specifications and Representations ......................... Ross Taylor and Chetan Kapoor

Improvement of Robot Audition by Interfacing Sound Source Separation and Automatic Speech Recognition with Missing Feature Theory ................................................ ; ........................................................ 1517

Shun 'ichi Yamamoto, Kazuhiro Nakadai, Hiroshi Tsujino, Toshio Yokoyama and Hiroshi Okuno, G.

A Whole Palm Tactile Display Using Suction Pressure ................................................................................ 1524 Yasutoshi Makino, Naoya Asamura and Hiroyuki Shinoda

Robot Navigation Using Qualitative Landmark States from Sketched Route Maps .......................................... 1530

Control of Thermal Tactile Display Based on Prediction of Contact Temperature ........................................... 1536

George Chronis and Marjorie Skubic

Akio Yamamoto, Benjamin Cros, Hironori Hashimoto and Toshiro Higuchi

Session: WP-6 SENSOR EVALUATION

Evaluation of a Vision-based Tactile Sensor ...................................................................................................... 1542 Kazuto Kamiyama, Hiroyuki Kajimoto, Naoki Kawakami and Susumu Tachi

Tactile Recognition of Algebraic Shapes Using Differential Invariants ............................................................ 1548 Rinat Ibrayev and Yan-Bin Jia

......................................................... ....................................................................... 1554 David Silver, Deryck Morales, Ioannis Rekleitis, Brad Lisien and Howie Choset

Non-Contact Stiffness Imager ........ .... ................................................ 1562

Controlling Mobile Sensors for Monitoring Events with Coverage Constraints

Makoto Kaneko, Tomohiro nd

....... Zack Butler and Daniela Rus

wiii

Session: WP-7 COORDINATION AND MANIPULATION

Toward Sensorless Manipulation Using Airflow ................ Hyungpil Moon and'fonathan Lurttz

Control a Rigid Caging Formation for Cooperative Object Transportation by Multiple Mobile Robots .__. Zhidong Wang, Yasuhisa Hirata and Kazuhiro Kosuge

Modular Composition and Self-Coordination Technique for Mobile Manipulators 1586 Giuseppe Casalino and alessio turerta

Collision avoiding continuation method for the inverse kinematics of redundant manipulators 1593 Andreas Mueller

Preshaped Trajectories for Residual Vibration Suppression in Payloads Suspended from Multiple Robot Manipulators ..........................................................

Rob Smith, Gregory Starr, Ron Lumia and John Wood

Session: WP-8 BIO-APPLICATIONS

Biologically Motivated Self-Localization for Mobile Robots ....

Biologically Inspired Tracking Control of Mobile Robots with Bounded Accelerations

.............. 1604 Ralf Stemnter

.... 1610 Simon X . Yang, Aimiin Zhu and Max Q.-H. Meng

SMA Actuator-based Novel Type of Micropump for Biomedical Application ._._ 1616 Toshio Fukuda

Comparison of Control Strategies for an EMG Controlled Orthotic Exoskeleton for the Hand ... 1622 Matthew DiCicco, Lenny Lucas and Yoky Matsuoka

Dynamics and Kinematics of Viral Protein Linear Nano-Actuators for Bio-Nano Robotic Systems 1628 Atul Dubey, Gaurav Sharma, Constantinos Mavroidis, Silvina -Maria Tomassone and Martin Yarmush

Session: WP-9 VISUAL TRACKING

CAMEO .............................................................................................................................................................. 1634 Paul Rybski, Fernando de la Torre, Raju Patil, Carlos Vullespi, Manuela Veloso and Brett Browning

Intelligent Missions for MAVs

Motile Cell Galvanotaxis Control using High-speed Tracking System

Using a Hybrid of Silhouette and Range Templates for Real-time Pose Estimation ...........

Range Identification for Perspective Dynamic Systems Using Linear Approximation .........

I 640 Sinisa Todorovic and Michael Nechyba

....... .. 1646 . Naoko Ogawa, Hiromasa Oku, Koichi Hashimoto and Masato

.. 1652 Eric Huber and Kenneth Baker

............ 1658 Lili Ma, YangQuan Chen a d Kevin Moore

xxiv

Session: WP-10 TELEPRESENCE AND TELEOPERATION

Optimal Incremental Approach to the Motion Compression for Telepresent Locomotion ................................ 1664 Jianbo Su

A First Generation Mutually-Immersive Mobile Telepresence Surrogate With Automatic Backtracking ........ 1670 Norman Jouppi, Subu lyer, Wayne Mack, April Slayden and Stan Thomas

Multi-Fingered Hand System for Telepresence Based on Tactile Information ................ 1676 Akihito Sano, Hideo Fujimoto, Kosuke Nishi and Hideki Miyanishi

Teleoperated Manipulator for Leak Detection of Sealed Radioactive Sources .............. .......................... 1682 Wei Wang and Kui Yuan . . . Telerobotic Mini-Golf ........................................................................................................................................ 1688

Sudath Munasinghe, Ju-Jang Lee, Usui Tatsumi, Masatoshi Nakamura and Naruto Egashira

Session: WP-11 DEFORMABLE AND RIGID OBJECT GRASPING

Stable grasping and relative angle control of an object by dual finger robots without object sensing ............... 1694 Ryuta Ozawa, Suguru Arimoto, Morio Yoshida and Shinsuke Nakamura

Modeling and dual arm manipulation of a flexible object .................................................................................. 1700 Zoe Doulgeri arid John Peltekis

Constraints and Deformations Analysis for Machining Accuracy Assessment of Closed Kinematic Chains ........ ..........

Yoshihiko Nakantura and Akihiko Mura

Tactile Gloves for Autonomous Grasping with the NASA/DARPA Robonaut ................................................. 1713 Toby Martin, Robert Ambrose, Myron Diftler, Robert Platt and Melissa Butzer

Planning of One-Handed KnottingRaveling Manipulation of Linear Objects .................................................. 171 9 Hidejkmi Wakamatsu, Akira Tsumaya, Eiji Arai and Shinichi Hirai

Session: WP-12 MOBILE ROBOT DESIGN

Design and Implementation of an Open Autonomous Mobile Robot System ................................................... 1726 Jianqiang Jia. Weidong Chen and Yugeng Xi

Leg-in-rotor-I1 ............................................. ................................................................................................ 1732 Hideyuki Tsukagoshi, Yotaro Mori, Msashi Sasaki, Takahiro Tanaka and Ato Kitagawa

The Control of Semi-Autonomous Two-Wheeled Robots Undergoing Large Payload-Variations ................... 1740 Alessio Salemo and Jorge Angeles

Analytical Method for Designing Modular Robot Interfaces with High Connection Accuracy ........................ 1746

Development of a Soccer-Playing Dynamically-Balancing Mobile Robot ....................................................... 1752

Sung-Ho Shin and Delbert Tesar

Brett Browning, Paul E. Rybski, Jeremy Searock and Manuela M . Veloso

xxv

Session: WP-13 SIMULTANEOUS LOCALIZATON AND MAPPING IV

Online Control Policy Optimization for Minimizing Map Uncertainty ............................................................. 1758 Robert Sim, Gregory Dudek and Nicholas Roy

Bearing-only Landmark Initialization with Unknown Data Association ........................................................... 1764 AI Costa, George Kantor and Howie Choset

Simultaneous Localisation and Mapping on the Great Banier Reef .................................................................. 1771 Stefan Williams and Ian Mahon

A Comparison of Maximum Likelihood Methods for Appearance-Based Minimalistic SLAM ....................... 1777 Paul E. Rybski, Srergios Roumeliotis, Maria Gini and Nikolaos Papanikolopoulos

An Architecture for Indoor Navigation ...................... ........................................................... 1783 Wenfeng Li; Henrik Christensen, Anders Ore

Session: WP-14 MECHANISM KINEMATICS AND DYNAMICS

Solving Geometric Constraints by Iterative Projections and Backprojections ......................................... 1789 Federico Thomas

An Efficient Dynamic Modeling Methodology for General Type of Hybrid Robotic Systems ............... Byung-Ju Yi

Legless Locomotion . .................................................................. 1803 Ravi Balasubramanian, Alfred A. Rim' and Matthew T. Mason

An Integral Friction Model ..................... ............ ..... 1809 Gianarttortio Magrtani and Paolo Rocco

Model Order Reduction for Contact Dynamics Simulations of Manipulator Systems ...................................... 1814 Ou M a

Session: WP-15 ROBOTICS EDUCATION IT

Distance Learning in Robotics and Automation by Remote Control of Leg0 Mobile Robots ........................... 1820 Fabio Carusi, Marc0 Casini, Domenico Prattichiuo and Antonio Vicino

The Remote Exploration Program .................. ............................. ...................... 1826 Jim Gamer, William D. Smart, Keith Bennett, David J. Bruemmer, Douglas A. Few and Christine M. Roman

Formal Measures of Learning in a Secondary School Mobile Robotics Course 1831 Illah Nourbakhsh, Kevin Crowley, Emily Hamner and Katie Wilkinson

Open Laboratory for Robotics Education ......... 1837 Josep Femandez and Alicia Casals

Session: ThA- 1 ROBOT VISION APPLICATIONS I

Improving vision-based control using efficient second-order minimization techniques .................................... 1843 Ezio Malis

xxvi

Dynamic Active Catching Using a High-speed Multifingered Hand and a High-speed Vision System ............ 1849 Yoshiro Imai, Akio Namiki, Koichi Hashimoto and Masatoshi Ishikawa

A Visual Servoing Technique for Large Displacements .................................................................................... 1855 Graziano Chesi and Antonio Vicino

Measurement Errors in Visul Servoing .................................................................................... ...... 1861 Ville Kyrki, Danica Kragic and Henrik Christensen

Robust CAD Model Based Visual Tracking for 3D Microassembly Using Image Space Potentials ..... 1868 Berk Yesin and Bradley Nelson

Session: ThA-2 HUMAN ROBOT INTERACTION I

Distributed Error Handling and HRI ...... ........................................... ... 1874 Brian Zimmel, Matthew Long, Je Fer Carlson and Robin Mu

Safe Planning for Human - Robot Interaction ................................... ........................................... 1882 Dana Kulic and Elizabeth Crofr

Human-Robot Interaction based on Haar-like Features and Eigenfaces ........... ......................................... 1888 Jose Barrero, Paulo Menezes and Jorge Dins

Navigation for Human-Robot Interaction Tasks ................... Philipp Althaus, Hiroshi Ishiguro, Takayuki Kanda,

............................................. 1894 and Henrik Christensen

Face tracking and hand gesture recognition for human-robot interaction .......................................................... 1901 Ludovic Brethes, Paulo Menezes, Fredenc Lerasle and Jean-Bernard Hayet

Session: ThA-3 CALIBRATION

Geometry-Based Robot Calibration Method ................................................ Lei Sun. Jingtai Liu, Weiwei Sun, Shuihua Wu and Xingbo Huang

Interval Methods for Certification of the Kinematic Calibration of Parallel Robots ................ 1913 David Daney, Yves Papegay and Arnold Neumaier

Precise deformation of rheologic object under MSD models with many voxels and calibrating parameters .... 1919 Ryo Nogami, Hiroshi Noborio, Fumiaki Ujibe and Hiroki Fujii

The DLR Multisensory Hand-Guided Device ............................... Klaus H. Strobl, Wolfsang Sepp, Eric Wahl, Tim Bodenm Michael Suppa, Javier F. Seara and Gerd Hirzinger

A Classification of 3R Orthogonal Manipulators by the Topology of their Workspace ............................ Maher Baili, Philippe Wenger and Damien Chablat

Session: ThA-4 MOBILE ROBOT NAVIGATION AND PATH PLANNING I

Simultaneous Information and Global Motion Analysis ........ ................................... Shahram Rezaei, Jose Guivant, Juan Nieto and Edua

An Autonomous Car-Like Robot Navigating Safely Among Pedestrians ........ Ckdric Pradalier, Jorge Hermosillo, Carla Koike, Christophe Braillon and Pierre Bessiere

xxvii

Split and Join of Vehicle Formations doing Obstacle Avoidance ...................................................................... 1951 Perter Ogren

A Hierarchical, Multi-Resolutional Moving Object Prediction Approach for Autonomous On-Road Dnving .......................................................................................................................... 1956 . .

Craig Schlenofl Raj Madhavari and Tonj Barbera

Rearrangement of Multiple Movable Objects - Integration of Global and Local Planning Methodology ........ 1962 Jun Ora

Session: ThA-5 HAPTIC SYSTEMS

Disposal of Explosive Ordnances by Use of a Bimanual Haptic Telepresence System ......................... Alexander Kron, GYnther Schmidt, Bemd Petzold, Michael Zah, Peter Hinterseer and Eckehard Steinbach

Implementation of a Rate Mode Impedance Reflecting'Teleoperation Controller on a Haptic Simulation System ........ ..... . 1974

Farid Mobasser and Keyvan

A High Performance 6-DOF Haptic Cobot ........................................................................................................ 1980 Eric L: Faulring, J. Edward Colgate and Michael A. Peshkin

Design and Path Planning of an Encountered-type Haptic Display for Multiple Fingertip Contacts based on the Observation of Human Grasping Behavior .....

Yasuyoshi Yokokohji, Nobuhiko Muramori, Yuji Sato, Takah

Haptic Interaction with Vitual Environment Using an Arm Type ..................................................................... 1992 wusheng chou, tianriiiao wang and jing xiao

Session: ThA-6 AUTOMATION: MINE: MAPPING: EXCAVATION: AND DEMINING

6D SLAM with an Application in Autonomous Mine Mapping ...............

A Campaign in Autonomous Mine Mapping

Configuration and Construction of an Autonomous Vehicle for a Mining Task ..

Development of Mechanical Master-Slave Hand for Demining Operation ..........................

...................... 1998 Andreas Nuechter, Hartmut Surmann, Kai Lingentann, Joachim Hertzberg and Sebastian Thrun

.... 2004 Christopher Baker, Aaron Morris, D

.................................. 2010 Joaquin Gutierrez, Jose Luis Gordillo and Isidro Lopez

......... 2017 . - Naota Furihata and Shigeo Hirose

Robotic System for Humanitarian Demining ..................................................................................................... 2025 Yuki Tojo, Paul0 Debenest, Edwardo Fukushinta and Shigeo Hirose

Session: ThA-7 REHABILITATION ROBOTICS I

STRING-MAN ................................................................................................................................................... 2031 Dragoijub Surdilovic and RoVBernhardt

Development of the Gait Assistant Mobile Robot Using Ergonomic Design .............................. ; ..................... 2037 Tong-fin Park, Chang-soo Han. Jung-Soo Han and Ho-Gil Lee

xxviii

Incorporating User Inputs in Motion Planning for a Smart Wheelchair ............................... ...................... 2043 Sarangi P. Parikh, Valdir Grassi Jr., Vijay Kumar and Jun Okamoto Jr.

Curvature Based Hand Shape Recognition for Virtual Wheelchair Control Interface ................. Seong Pal Kang, Michal Tordon and Jayanfha Karupiriya

Control System for a Robotic Walking Simulator ......................................................... Henning Schmidt, Dieter Sorowka, Frank Piorko, Negib Marhoul and RolfB

.............................. 2055

Session: ThA-8 AUTOMATION: MEDICAL APPLICATIONS I

A computational technique for interactive needle insertions in 3D nonlinear material ..................................... 2061 Han-Wen Nienhuys and Frank van der Sfappen

Micro-mano-devices For Controlled Drug Delivery .................................................. .................................. 2068 Mingjun Zhang. Tzyh-Jong Tarn and Ning X i

Motion Therapy for Persons With Disabilities Using Hidden Markov Model Based Skill Learning ............... 2074 Wentao Yu, Rajiv Dubey and Norali Pernalefe

Effects of Visual Feedback Distortion for the Elderly and the Motor-Impaired in a Robotic Rehabilitation Environment ........................................................................................................... 2080 . . .

Bambi Brewer, Roberta Klatzky and Yoky Mafsuoka

A Genetic Algorithm Based Area Coverage Approach for Controlled Drug Delivery using Micro-Robots ..... 2086 WeiMin Tao, Mingjun Zhang and Tzyh-Jong Tam

Session: ThA-9 SPACE ROBOTS I

Accurate Localization in Combination with Planet Observation and Dead Reckoning for Lunar Rover .......... 2092 Yoji Kuroda, Toshiharu Kurosawa, Akiyoshi Tsuchiya and Takashi Kubota

Mobility Performance Evaluation of Planetary Rover with Similarity Model Experiment ............................... 2098 Yoji Kuroda, Teppei Teshima, Yoshinon Sato and Takashi Kubota

Mobile Manipulation using NASA’s Robonaut ................................................................................................. 2104 Roben Ambrose, Robert Savely and Philip Strawser

The Challenges of Extra-Vehicular Robotic Locomotion Aboard Orbiting Spacecraft ..................................... 21 10 Fredrik Rehnmark, Robert Ambrose and Michael Goza

. . Planar space robots with coup~edjoints ............................................................................................................. 21 16 Jaunie Franch and Sunil Agrawal

Volume 3 (Pages 2123-3188)

Session: ThA-10 AGENT BASEDMULTI ROBOT SYSTEMS I

Reconfigurable Multi-Agent Robots with Mixed Modes of Mobility ................................................................ 2123 Jean-Philippe Clerc and Gloria Wiens

Communication Efficiency in Multi-Agent Systems ......................................................................................... 2129 Mary Bema-Koes, Illah Nourbakhsh and Karia Sycara

xxir

Enabling Intra-Robotic Capabilities Adaptation Using An Organization-Based Multiagent System ................ 21 35 Eric Matson and Scott DeLoach

Reactive Collision Avoidance of Multiple Moving Agents by Cooperation and Conflict Propagation ............ 2141 Madhava Krishna and Henry Hexmoor

Aperiodic Dynamics for AppetitivelAversive Behavior in Autonomous Agents Behavior in Autonomous Agents ................................................................................................................................................................. 2147

Derek Harter and Robert Kozma

Session: ThA- 11 MULTI LEGGED ROBOTS

Automated Gait Adaptation for Legged Robots .............................................................................. ; .................. 2153 Joel Weingarten, Gabriel Lopes. Martin Buehler, Richard Groff and Daniel Koditschek

Stability of Walking in a Multilegged Robot Suffering Leg Loss . ..... Dirk Spenneberg. Kevin McCullough and Frank Kirchner

Path and Posture Planning for Walking Robots by Artificial Potential Field Method ........................................ 2165 Hiroshi Igarashi and Masayoshi Kakikirra

Omni-Directional Gait of Multi-Legged Rescue Robot ........ .......................................................... 2171 Kenji Kamikawa. Tatsuo Arai, Kenj lnoue and Yasushi Mae

Intelligent Gait Synthesizer for Hexapod Walking Rescue Robots .................................................... Enire Karalarli, Aydart Erkmen and Ismet Erknien

Session: ThA-12 DISTRIBUTED ROBOT SYSTEMS AND APPLICATIONS

Evaluation of Traversability of Wheeled Mobile Robots on Uneven Terrains by Fractal Terrain Model . Yasuyoshi Yokokohji, Satoshi Cham and Tsuneo Yoshikawa

A Generalized Region-based Approach for Multi-target Tracking in Outdoor Environments .................. ; ....... 2189

.. Supervisory Control of a Mobile Robot for Agile Motion Coordination ........................................................... 2196

Boyoon Jung and Gaurav Sukhatme

Zhen Zhang, Nilanjan Sarkar and Xiaoping Yun

Enveloping multi-pocket obstacles with hexagonal metamorphic robots .......................................................... 2204 Jennifer Walter, Mary Brooks, David Little and Nancy Amato

Topological Representation and Analysis Method for Multi-port and Multi-orientation Docking Modular Robots ....................................................................................................... 2210

Albert KO, T. L. Lau and Henry Y. K. Lau

Session: ThA-13 UNDERACTUATED SYSTEMS

Passive adaptive grasp multi-fingered humanoid robot hand with high under-actuated function ...................... 2216

Nonlinear Control of Mechanical Systems with one Degree of Underactuation ............................................... 2222

Wenzeng Zhang, Qiang Chen, Zhenguo Sun and Dongbin Zhao

Christine Chevallereau, Jessy Grizzle and Claude Moog

XXX

Pure 2D Visual Servo control for a class of under-actuated dynamic systems .................................................. 2229 Tarek H a n d and Robert Mahony

Grasp Characteristics of An Underactuated Robot Hand .................................................................................. 2236 Minzhou Luo, Tao Mei, Xiaohua Wang and Yong Yu

Inverse Kinematics-Based Motion Planning for Underactuated Systems .......................................................... 2242 Prasun Choudhury, Benjamin Stephens and Kevin Lynch

Session: ThA-14 AUTOMATION: MANUFACTURING SYSTEMS

A New Method For Tuning PJD Parameters of A 3-DoF Reconfigurable Parallel Kinematic Machine . Zhiyong Yang and Tian Huang

Performance Optimization of Manufacturing Systems ......................................................................... Fabio Balduui, Marco Ghirardi and Giuseppe Menga

Modeling and Analysis of a Multiple Product Manufacturing System with Split and Merge ........................... 2261 Jingshan Li and Ningjian Huang

Intelligent Diagnosis in Electromechanical Operation Systems ......................................................................... 2267 Shui Yuan, Ming Ge, Hai Qiu, Jay Lee and Yangsherig Xu

Design of Control Programs for Efficient Handling of Errors in Flexible Manufacturing Cells ....................... 2273 Johan Richardson, Kristin Danielsson and Martin Fabian

Session: ThM-1 ROBOT VISION APPLICATIONS I1

A Vision System for Detecting Mobile Robots in Office Environments ........................................................... 2279 Kanji Tanaka, Kentaro Yainano, Eiji Kondo and Yoshihiko Kimuro

3D Shape Matching Using Collinearity Constraint ............................................................................................ 2285

. 2291

Yonghuai Liu, Longzhuang Li and Baogang Wei

Online Motion Classification using Support Vector Machines ............................................................ Dongwei Cao, Oasania Masoud, Daniel Boley and Nikos Papanikolopoulos

Performing Stable 2D Adaptive Visual Positioningfhacking Control

Alessandro Zachi, Liu Hsu and Fernando Lizarralde Without Explicit Depth Measurement ............. ................................................ ...................... 2297

Combining Multiple Tracking Modalities for Vehicle Tracking in Traffic Intersections .................................. 2303 Harini Veeraraghavan and Nikos Papanikolopoulos

Session: ThM-2 HUMAN ROBOT INTERACTION I1

An Innovative High-Level Human-Robot Interaction for Disabled Persons ..................................................... 2309 Phongchai Nilas, Pramila Rani and Nilanjan Sarkar

Metrics for Human Driving of Multiple Robots ................................................................................................. 2315 Dan Olsen, Stephen B a n Wood and Jonathan Turner

A long-term approach to improving human-robot interaction ................ 2321 Elizabeth Sklar

xxxi

Evaluation of Human-Robot Interaction Awareness in Search and Rescue ..... ....... _.. 2327 Jean Scholtz, Jeff Young, Jill Drury and Holly Yanco

Initial Studies in Human-Robot-Human Interaction 2333 Kyle Reed, Michael Peshkin, J. Edward Colgate and James Patton

Session: ThM-3 SENSING AND CONTROL FOR UAVS

Visually guided Micro-Aerial Vehicle 2339 Franck Rufler and Nicolas

Flying Insect Inspired Vision for Autonomous Aerial Robot Maneuvers in Near-Earth Environments 2347 William Green, Paul Oh and Geoffrey Barrows

Dynamic Allocation and Control of Coordinated UAVs to Engage Multiple Targets in a Time-Optimal Manner ..... 2353

Tomonari Furukawa, Hugh Durrant-Whyte, Frederic Bourgault and Gamini Dissanayake

Dynamic Feedback Controller of Euler Angles and Wind parameters estimation for a Quadrotor Unmanned Aerial Vehicle ....................................................................................... 2359

Abdellah Mokhtari and Abdelaziz Benallegue

Energetics Based Design of Small Flapping Wing Air Vehicles .......... ................................. Rajkiran Madangopal and Zaeem A. Khan

Session: ThM-4 MOBILE ROBOT NAVIGATION AND PATH PLANNING I1

Angle-Based Methods for Mobile Robot Navigation .................................................................. 1 ...................... 2373 Kostas Bekris, Antonis Argyros and Lydia Kavraki

A Multi-robot Approach to Stealthy Navigation in the Presence of an Observer .............................................. 2379 Ashley Tews, Gaurav Sukhamie and Maja Mataric

Clearance Based Path Optimization for Motion Planning .... ........ ........ ....... 2386 Roland Geraerts and Mark O w m a r s

Motion Planning for Mobile Robotics Using the Generalized Sigmoid Function ................. ..................... 2393 Kenneth Mclsaac, Jing Ren and Huang Xishi

A point-based POMDP algorithm for robot planning ...................... ................................. Matthijs T.J. Spaan and Nikos Vlassis

Session: ThM-5 BIOMECHANICAL SYSTEMS

Angular Momentum Regulation During Human Walking ................................................................................. 2405 Marko Popovic, Andreas Hofniann and Hugh Herr

Cellular Force Measurement for Force Reflected Biomanipulation .... Deok-Ho Kim, Byungkyu Kim, Seok Yun and SangJoo Kwon

...... .......... Alexandre Colot, Gilles Cnprari and Roland Siegwart

xxxii

A 3DOF Exoskeleton for Upper-Limb Motion Assist - Consideration of the Effect of Bi-Articular Muscles __.

Kazuo Kiguchi and Toshi ........................................................................................................ 2424

The RoboKnee .................................................................................................................................................... 2430 Jerry Prart, Benjamin Krupp, Christopher Morse and Steven Collins

Session: ThM-6 AUTOMATION: TRANSPORTATION

On The Modeling of Robots Operating on Ships ............................................................................................... 2436 Lonnie Love, John Jansen and Francois Pin

Implementation and Control of a Roadway Crack Tracking Mobile Robot with Force Regulation

Cooperative Transportation of a Large Object - Development of an Industrial Application .

2444 HyunTaek Cho and Poongwoo Jeon

............ 2450 Bart Stouten and Aart-Jan de Graaf

On-Board Vision System for Lane Recognition and Front-Vehicle Detection to Enhance Driver’s Awareness .......... .... 2456

Chung-Jen Chen, Pei-Yung Hsiao, Shih-Shinh Huang and Li-Chen Fu

Decentralized Kinematic Control of Payload Transport by a System of Mobile Manipulators .._. 2462 Chin Pei Tang, Rajankuntar Bhatt and Venkat Krovi

Session: ThM-7 REHABILITATION ROBOTICS I1

Development of Rehabilitation Robot Systems for Walking-Aid ............... ........................................ 2468 Choon-Young Lee, 11-Kwon Jeong, In-ho Lee, Kap-ho Se0 and Ju-Jang Lee

A Gravity Balancing Leg Orthosis for Robotic Rehabilitation. ......................................................................... 2474 Sai Banala, Surd Agrawal, Abbas Fattah, Katherine Rudolph and John Scholz

Development of Muscle Suit for Upper Limb .................................................................................................... 2480 Hiroshi Kobayashi and Kazuaki Hiramatsu

Development of Straight Style Transfer Equipment for Lower Limbs Disabled ......................... 2486 Yoshikazu Mori, Kazuhiro Takayama and Tatsuya Nakamura

Development of a Clinical Jaw Movement Training Robot for Intermaxillary Traction Therapy 2492 Akihisa Okino, Takahiro hioue, Yu Fiji, Toshihide Nasu, Hideaki Takanobu, Kayoko Ohtsuki and Masatoshi Ohnishi

Session: ThM-8 AUTOMATION: MEDICAL APPLICATIONS I1

Manipulation in MRI Devices using Electrostrictive Polymer Actuators .......................................................... 2498 John Vogan, Daniel Kacher, Andreas Wingert, Moustapha Hafez, Jean-Sebastian Plante, Ferenc Jolesz and Steven Dubowsky

A Prototype Master-Slave System consisting of Two MR-Compatible Manipulators with Interchangeable Surgical Tools ........................ ......................................................................... 2505

Fuji0 Tajima, Kousuke Kishi, Kouji Nishizawa, Kazutoshi Kan, Hiroshi Ishii, Masakatsu Fujie, Ken-ichi Sudo, Takeyoshi Dohi and Shin-ichi Takamoto

xxxiii

An In Vitro Soft Membranous Model of Individual Human Cerebral Artery Reproduced with Visco-Elastic Behavior ..............................................................

Seiichi Ikeda, Fumihito Arai, Toshio Fukuda and Makoto Negoro 2511

A Dual Armed Robotic System for Intraoperative Ultrasound Guided Hepatic Ablative Therapy A Prospective Study ..............

Model-Based Control of the Mitsubishi PA-IO Robot Arm

........... 2517 Emad Boctor, Gregory Fischer, Michael Choti, Gabor Fichtinger and Russell Taylor

........... 2523 Christopher Kennedy and Jaydev Desai

Session: ThM-9 SPACE ROBOTS I1

Development of Autonomous Rover for Asteroid Surface Exploration . 2529 Tetsuo Yoshiniitsu

Towards a Substantially Autonomous.Aerobot for Exploration of Titan .

Optimal Wind-Assisted Flight Planning for Planetary Aerobots

....... ........... 2535 Alberto Elfes, Jeffery Hall, James Montgomery, Charles Bergh and Brenda Dudik

........... 2542 Thomas Kaenipke and Alberto Eves

The operational space control applied to a space robotic manipulator ............

Robust component synthesis vibration suppression for maneuver of flexible spacecraft

............................................ 2550 Gianni Ferretti, Giadntonio Magnnni, Paolo Rocco and Luca Vigano'

...... ~ ..................... 2556 Jinjun Slzan and Dong Sun

Session: ThM-10 AGENT BASED/MULTI ROBOT SYSTEMS I1

A Real-Time Task-Oriented Scheduling Algorithm for Distributed Multi-Robot Systems ............................... 2562 Peijiang Yuan, Mehrdad Moallem and Rajni Pate1

Modeling.Mutiple Robot Systems for Area Coverage and Cooperation ......... : .................................................. 2568 Jindong Tan, Ning Xi, Weihua Sheng and Jizhong Xiao

Sharing Inen'ia Load Between Multiple Robots with Active Compliant Grippers Using Trajectory Pre-Shaping ............................................................................................................. 2574

Jing Zhang, Ron Luniia. Greg Starr and John Wood

Attractor dynamics generates robot formations ............................. : .................................................................... 2582

Directional Audio Beacon Deployment ............................................................................................................. 2588

Sergio Monteiro, Miguel Vaz and Estela Bicho

Dylan Shell and Maja Mataric

Session: ThM-11 QUADRUPED ROBOTS

Experimentally.Validated Bounding Models for the Scout Il Quadrupedal Robot ............................................ 2595

Stable Quadrupedal Running based on a Spring-Loaded Two-segment Legged Model .................................... 2601

Ioannis Poulakakis, James Andretv Smith and Martin Buehler

Zu Guang Zhang, Yasuhiro Fukuoka and Hiroshi Kimura

xxxiv

Stability Analysis of Quadruped Bounding with Asymmetrical Body Mass Distribution ................................. 2607 Hong Zou

Dynamic Turning Control of a Quadruped Robot using Oscillator Network ..................................................... 2613 Katsuyoshi Tsujita, Hiroomi Toui and Kazuo Tsuchiya

Policy Gradient Reinforcement Learning for Fast Quadrupedal Locomotion ................................................... 261 9 Nate Kohl and Peter Stone

Session: ThM-12 LEARNING TECHNIQUES

Modelling and Controlling Uncertainty in Optimal Disassembly Planning through Reinforcement Learning ..... ............. ...................................................................

Spyros Reveliotis

Dynamic Assembly Sequence Selection Using Reinforcement Learning .......................................................... 2633 Gordon Lowe and Bijan Shirinzadeh

A Novel Dynamic Priority-Based Action-Selection-Mechanism Integrating a Reinforcement Learning ... I1 Hong Suh, Min Jo Kim, Sanghoon Lee and Byung Ju Yi

Learning Composite Adaptive Control for a Class of Nonlinear Systems .. 2647 Jun Nakanishi, Jay Farrell and Stefan Schaal

Convergence Analysis for a Class of Skill Learning Controllers .. .......... ...... .... 2653 Yongsheng Ou and Yangsheng Xu

Session: ThM-13 FLEXIBLE AND ELASTIC JOINT ROBOTS

A Passivity Based Cartesian Impedance Controller for Flexible Joint Robots - Part I ...................................... 2659 Christian On, A h Albu-Schaffer, Andreas Kugi, Stefano Stramigioli and Gerd Hirzinger

A Passivity Based Cartesian Impedance Controller for Flexible Joint Robots - Part II ..................................... 2666 Alin Albu-Schaeffer, Christian Ott and Gerd Hirzinger

Multi-DOF Flexible Robot base on Tongue ....................................................................................................... 2673 Hideaki Takanobu, Tadayoshi Tandai and Hirofumi Miura

CMAC Adaptive Control of Flexible-Joint Robots using Backstepping with Tuning Functions ...................... 2679 Chris Macnab, Gabriele D’Eleuterio and Max Meng

Regulation with on-line gravity compensation for robots with elastic joints .................................. Loredana Zollo, Alessandro De Luca and Bruno Siciliano

Session: ThM-14 AUTOMATION: SUPPLY CHAINS

Achieving Reliable Delivery in Supply Chains .......................... Danqing Yu and Peter Luh

A Conceptual and Analytical Framework for the Management of Risk in Supply Chains ................................ 2699 Roshan Gaonkar and Viswanadham Nukala

Distributed Supply Chain Planning System for Several Companies using a new Augmented Lagrangian Relaxation .................................................................................................................... 2705

Tatsushi Nishi, Ryuichi Slzinozaki and Masami Konishi

A Multiobjective Optimization Method for Strategic Sourcing and Inventory Replenishment ......................... 271 1 Hongwei Ding, Lyes Benyoucef and Xiaolan Xie

Efficient Algorithms for Load Shuffling in Split-Platform AS/RS .................................................................... 2717 Ya-Hong Hu, Wen-Jing Hsu andXiang Xu

Session: ThE-I ROBOT VISION APPLICATIONS 111

Efficient View-Dependent LOD Control for Large 3D Unclosed Mesh Models of Envirionments ..... Jie Feng and Hongbin Zha

Effective Comer Matching Based on Delaunay Triangulation . Dongxiang Zhou, Ganhua Li and Yunhui Liu

2730 -

hree Dimensional Measurement of Object's Surface in Water Using the Light Stripe Projection Method Atsushi Yamashita, Hirokazu Higuchi, Toru Kaneko and Yoshirnasa Kawata

Developing sensorimotor behavior with a'network of spiking neurons. ...

A Configuration Space for Permutation-Invariant Multi-robot Formations .

2742 David Northmore

... 2746 Stephen Kloder, Sourabh Bhartacharya and Seth Hutchison

Session: ThE-2 HUMAN ROBOT INTERACTION III

Interface Lessons for Fully and Semi-Autonomous Mobile Robots ........

Experimental Study on Interaction between a Rat and a Rat-robot Based on Animal Psychology ................... 2758

.... 2752 Aaron Sreinfdd

Hiroyuki Ishii, Toniohide Aoki, Masaki Nakasuji, Hiroyasu Miwa and Atsuo Takanishi

Decision Making for Remote Robotic Operations ............................................................................................. 2764 Peter March, Ross Taylor, Chetan Kapoor and Delbert Tesar

Evaluation of Human Sense of Security for Coexisting Robots using Virtual Reality -1st report ..... Sen' Nonaka, Kenji Inoue, Tatsuo Arai and Yasushi Mae

Virtualized Reality Interface for Tele-Micromanipulation .._._ ......................................................... 2176 Mehdi Ammi, Antoine Ferreira and Jean-Guy Foiitaine

Session: ThE-3 MODELING

Pattern Formation Theory for Electroactive Polymer Gel Robots ..................................................................... 2782 Mihoko Otake, Yoshihiko Nakamura and Hirochika h o u e

Input Preshaping Control of the safe arm with MR-based Passive Compliant Joints ........................................ 2788 Seung-kook Yun, Sungchul Kang. Seong-Sik Yoon and Munsang Kim

Static Single-Ann Force Generation with Kinematic Constraints ..................................................................... 2794 PENG PAN, Kevin Lynch, Michael Peshkin and Edward Colgare

xxxvi

A Mobility Analysis Method of Closed-Chain Mechanisms with Over-constraints and Non-holonomic Constraints ...................................... ....... 2801

Kiyoung Choi and Byung-Ju Yi

Study on Slime Robot (Development of the mobile robot prototype model using Bridle Bellows) Takeshi Aoki, Akiyoshi Ochiai and Sigeo Hirose

Session: ThE-4 PATH PLANNING TECHNIQUES

Multi-Objective Decision-Theoretic Path Planning .............................................................. 2814 Abdel-Illah Mouaddib

Robust Motion Planning using Markov Decision Processes and Quadtree Decomposition __._.. Julien Burlet, Olivier Aycard and Thierry Fraichard

Path Planning for Minimal Energy Curves of Constant Length .................... ............................. . 2826 Mark Mark Moll and Lydia Kavraki

A New Sensor-Based Path-Planning Algorithm whose Path Length is Shorter on the Average

PAO* for Planning with Hidden State ...............................................

........... 2832 Hiroshi Noborio, Ryo Nogami and Satoru Hirao

.......... 2840 Dave Ferguson, Anthony Stentz and Sebastian Thrun

Session: ThE-5 BIOROBOTICS

Single Cell Trap on a Chip Using In-situ Microfabrication with Photo-Crosslinkable Resin and Thermal Gelation ........

Akihiko Ichikaiva, Fumihi ....................................................... a, Toshio Fukuda and Tohoru Ka

Investigating Protein Structure with a Microrobotic System .................

Development of Autonomous Robotics Technology for the Study of Rat Pups .........

A “Somatic Alphabet” Approach to “Sensitive Skin” ...........

....... ....... 2854 Yu Sun, Michael Greminger and Bradley Nelson

................... 2860 Sanjay Joshi, Jeffrey Schank, Nicolas Giannini, Lisa Hargreaves and Randall Bish

................................ 2865 Walter Dan Stiehl, Levi Lalla and Cynthia Breazeal

Mechanized Cockroach Footpaths Enable Cockroach-like Mobility .......................... Matthew Boggess, Robert Schroer, Roger Quinn and Roy Ritmann

2871

Session: ThE-6 RECONFIGURABLE ROBOTS

Docking Among Independent and Autonomous CONRO Self-Reconfigurable Robots ..................... 2877 Mike Rubenstein, Kenneth Payne, Peter Will and Wei-Min Shen

Self-reconfigurable robots topodynamic ...... 2883 Samir Saidani

Stochastic Self-Reconfigurable Cellular Robotics ..... .............................................. ................. 2888 Paul White

xrrvii

Kinematic Model and Metrology System for Modular Robot Calibration ....................... 2894 Mitchell W. Pryor and Delbert Tesar

Toward Magnetically-Coupled Reconfigurable Modular Robots 2900 Sean Patterson, Kenneth Knowles and Bradley Bishop

Session: ThE-7 HYBRID SYSTEMS AND CONTROL

Enhanced hybrid control of a rotational flexible beam with nonlinear differentiator and PZT actuators .. Dong Sun, Jinjun Shan, Yuxin Su and Hugh H. T. Liu

Infinite Dimension System Approach for Hybrid ForcePosition Control in Micromanipulation 2912 Yantao Shen, Ning Xi, Uche Wejiiiya, Wen J. Li and Jizhong Xiao

Hybrid HMWSVM Model for the Analysis and Segmentation of Teleoperation Tasks ..................... Andrea Castellani, Debora Botturi, Manuele Bicego and Paolo Fiorini

Modeling and Analysis of Perceptive Robot Controller Based on Hybrid Automata ........................................ 2924 Yu Sun , Ning Xi and Yuechao Wang

An Hybrid Representation Well-Adapted to the Exploration of Large Scale Indoors Environments ................ 2930 Alessanciro Corr6a Victorino and Patrick Rives

Session: ThE-8 ROBOT FINGERS

Why Does Surplus DOF of Robot Fingers Enhance Dexterity of Object Manipulation? ....... ...................... 2936 Suguru Arimoto, Ji-hun Bae, Hiroe Hashiguchi and R.vuta Ozawa

Characterizing the Dynamic Deformation of Soft Fingertips and Analyzing Its Significance for Multi-Fingered Operations ................................................................ ............................. 2944

Byoung-Ho Kim and Shinichi Hirai

Motion Planning of Robot Fingertips for Graspless Manipulation .................................................................... 295 I Yusuke Maeda, Toniohisa Nakamura and Tamio Arai

Rotational Contact Model of Soft Fingertip for Tactile Sensing ........................ .......................................... 2957 Takahiro lnoue and Shinichi Hirai . . .

Computational Models of Predicting the Deflected Shape of a Non-Uniform, Flexible Finger ........................ 2963 Xuecheng Yin, Kok-Meng Lee and Chao-Chieh Lan

Session: ThE-9 SPACE ROBOTS Il l

Multisensory Gripper and Local Autonomy of Extravehicular Mobile Robot ....................

State, Shape, and Parameter Estimation of Space Objects from Range Images ................................................. 2974

....................... 2969 Yang Liu, Tao Mei, Bin Liang and Xiaohua Wang

Matthew Lichter and Steven Dubowsky

Testing and Evaluation of An Automated Tether Management System for Microgravity Extravehicular Activltres .............................................................................................................. 2980 . . .

Christopher Hirschi and Minor Mark

xxxviii

Hopping Direction Controllability for Small Body Exploration Robot ......................... ....... 2987 Shingo Shimoda, Andreas Wingert, Kei Takahashi, Takashi Kubota and Ichi

Utility-based plan insertion for continuous resources .......................................................... Richard Washington and David Lees

Session: ThE-10 MULTI AGENT SYSTEMS: CONTROL METHODS

Nonsmooth analysis and sonar-based implementation of distributed coordination algorithms ... 3000 Craig Robinson, Daniel Block, Sean Brennan, Francesco Bull0 and Jorge Cones

Flocking with Obstacle Avoidance in Switching Networks of Interconnected Vehicles ... ........................... 3006 Herbert Tanner

Decentralized Feedback Stabilization of Multiple Non-Holonomic Agents ...................................................... 3012 Savvas Loizou, Dimos Dimarogonas and Kostas Kyriakopoulos

Autonomous Initialization of Robot Formations ... Mathieu Lemay, Francois Michaud, Domi

.................................................................... tourneau and Jean-Marc Valin

Development and Deployment of a Line of Sight Virtual Sensor for Heterogeneous Teams ............. ... 3024 Robert Grabowski, Pradeep Khosla and Howie Choset

Session: ThE-11 BIPED LOCOMOTION

A Simple Reinforcement Learning Algorithm For Biped Locomotion ................................................ Jun Morimoto, Gordon Cheng, Christopher Atkeson and Garth Zeglin

An Empirical Exploration of a Neural Oscillator for Biped Locomotion Control .....

Turning Control of a Biped Locomotion Robot using Nonlinear Oscillators ................

... 3036 Gen Endo, Jun Morinioto, Jun Nakanishi and Gordon Cheng

........... 3043 Shinya Aoi, Kazuo Tsuchiya and Katsuyoshi Tsujita

Passive Trajectory Control of the Lateral Motion in Bipedal Walking ........................ . 3049 Masahiro Doi, Yasuhisa Hasegawa and Toshio Fukuda

Realization of Dynamic Human-Carrying Walking by a Biped Locomotor .......... 3055 Yusuke Sugahara, Takuya Hosobata, Yutaka Mikuriya, Hiroyuki Sunazuka, Hun-Ok Lim and Atsuo Takanishi

Session: ThE-12 ADAPTIVE CONTROL

Adaptive force-motion control of coordinated robots interacting with geometrically unknown environments ............................................. ...... ... 3061

Mehrzad Namvar and Farhad Aghili

Adaptive Cartesian motion control approach for a surgical robotic cameraman . Victor F. Munoz-Martinez, Isabel Garcia-Morales, Jesus Morales-Rod Jesus Fernandez-Lozano and Jesus Gomez-DeGabriel

Approximate Jacobian Adaptive Control for Robot Manipulators .......... ....................................................... 3075 Chien Chern Cheah, Chao Liu and Jean-Jacques E Slotine

xxxix

Adaptive Joint Friction Compensation Using a Model-Based Operational Space Velocity Observer ............... 3081 Qing Hua Xia, Ser Yong Lim, Marcelo H Ang Jr and Tao Ming Lim

Fast Three-DOF Control for Multi-DOF Ultrasonic Servo Motor by Online Adaptation ................................. 3087 Hiroshi Kawano, Hideyuki Ando and Tatsuya Hirahara

Session: ThE- 13 OMNIDIRECTIONAL ROBOTS

Isotropy Analysis of Caster Wheeled Omnidirectional Mobile Robot ............................................................... 3093 Sungbok Kim and Hyunggi Kim

An Algorithm for Optimal Gait Generation for Level Ground Walking of an Omnidirectional Hexapod ........ 3099 Ani01 Arun Durge and K. Kurien Issac

Ominidirectional vision using conformal geometric algebra ............................................................................ 3105 Carlos Lopez and Eduardo Bayro-Corrochano

Development of VmaxCarrier2 .......................................................................................................................... 31 1 1 Kenjiro Tadakrmia. Riichiro Tadakuma and Shigeo HIROSE

Frequency Shape Control of Omni-directional Wheelchair to Increase User’s Comfort ................................... 31 19 Kazuhiko Terashimn, Hideo Kitagawa, Takanori Miyoshi and Juan Urbano

Session: ThE-14 SCHEDULING AND DISASSEMBLY

Adaptive Lot/Equipment Matching Strategy and GA Based Approach for Optimized Dispatching and Scheduling in a Wafer Probe Center ....................................................................................... 3 125

Tsung-Clie Chiang, Yi-Shiuan Shen and Li-Chen Fu

Solving the FMS Scheduling Problem by Critical Ratio-Based Heuristics and the Genetic Algorithm ............ 3131 Tsung-Clie Chiang and Li-Chen Fu

Adaptive Model Objects for Robot Related Applications of Product Models ................................................... 3137 Laszlo Honiath, Inire J. Rudas, Janos F. Bito andAniko Szakal

An Effective FMS Deadlock Prevention Policy Based on Elementary Siphons ................................................ 3143 Zliiwu Li and MengCliu Zhou

An Iterative Diffusion Algorithm for Part Disassembly ..................................................................................... 3149 Etienne Ferre and Jean-Paul Laumond

.Session: ThP-1 RANGE SENSING

Flying Laser Range Finder and its data registration algorithm ......... .._. 3155 Yuicliiro Hirota, Tomohito Masuda, Ryo Kurazunie, Kazuhide Hasegawa and Katsushi lkeuchi

Prototype Range Finder Using an Image Sensing Device with Electronic Pattern Masks .... ; ............................ 3161 Jun Masaki, Nobuhiro Okada and Eiji Kondo

A Compact Range Image Sensor Suitable for Robots ............................... Kazunori Umeda

Pose Invariant, Robust Feature Extraction From Range Data With a Modified Scale Space Approach ........... 3173 Fan Tang, Martin Adants, Javier Ibanez-Guzman and Wijerupoge Sardha Wijesonia

X I

Temporal Range Registration for Unmanned Ground and Aerial Vehicles ....................................................... 31 80 Raj Madhavan, Tsai Hong and Elena Messina

Volume 4 (Pages 3189-4246)

Session: ThP-2 HUMANOID BASED MOTION CONTROL AND SPEECH PRODUCTION

Integrated Motion Control for Walking, Jumping and Running on a Small Bipedal Entertainment Robot ....... 3189 Ken’ichiro Nagasaka, Yoshihiro Kuroki, Shin’ya Suzuki, Yoshihiro ltoh and Jin’ichi Yamaguchi

Planning Humanoid Motions with Striding Ability in a Virtual Environment ......................... ........... 3195 Tsai-Yen Li and Pei-Zhi Huang

Design of the Continuous Symbol Space for the Intelligent Robots using the Dynamics-based Information Processing .._..

Masafumi Okada and Yoshihiko Nak ................................................................................................. 3201

Integrated System Software for HRP2 Humanoid ............................................................................................. 3207 Kei Okada, Takashi Ogura, Atsushi Haneda, Daisuke Kousaka, Hiroyuki Nakai, Masayuki Inaba and Hirochika h u e

Speech Production of an Advanced Talking Robot based on Human Acoustic Theory Kazufumi Nishikawa. Hideaki Takanobu, Takemi Mochida, Masaaki Honda and Atsuo Takanishi

Session: ThP-3 SYSTEM DYNAMICS

Computation of Multi-Rigid-Body Contact Dynamics ...................................................................................... 3220 Tong Liu and Michael Yu Wang

A Modular Dynamic Simulation Algorithm for Complex Robot Systems ................ . 3226 Clifford Bonaventura and Kathryn Jablokow

Study of Effect of Cable Yielding in Cable-Driven Robotic System ......................... ...... ........... 3234 Xiaolei Yin and Alan Bowling

Rimless Wheel with Radially Expanding Spokes .................................................................... 3240 Jin Yan and Sunil K. Agrawal

Introducing robotic origami folding .. ....................................................................................................... Devin Balkcom and Matthew Mason

Session: ThP-4 MOTION AND PATH PLANNING

Incrementally Reducing Dispersion by Increasing Voronoi Bias in RRTs ........................................................ 325 1 Stephen Lindemann and Steven LuValle

Augmenting RRT-Planners with Local Trees .................................................................................................... 3258 Morten Strandberg

Complete Path Planning for a Planar 2-R Manipulator with Point Obstacles .................................................... 3263 G.F. Liu, J.C. Trinkle and R.J. Milgram

Motion Generation for a Tumbling Robot Using a General Contact Model 3210 Juflrtita Albro and James Bobrow

Geometric Motion Planning and Formation Optimization for a Fleet of Nonholonomic Wheeled Mobile Robots ......... 3216

Rajankumar Bhatt, Chin Pei Tang and Venkat Krovi

Session: ThP-5 BIOLOGICALLY INSPIRED ROBOT SYSTEMS

A SMA Actuated Artificial Earthworm 3282 Arianna Menciassi, Samuele Gorini, Giuseppe Pemorio and Paolo Dario

Comparing Cockroach and Whegs Robot Body Motions .......... ......... .... 3288 Robert T. Schroer, Matthew J. Boggess, Richard J. Bac Roger D. Quinn and Roy E. Ritzmann

Energy-Time-Efficient Adaptive Dispatching Algorithms for Ant-Like Robot Systems __.. ......... 3294 H. Jacky Chang, C. S. George Lee, Yung-Hsiang Lu and C. Charlie Hu

Free-flight analysis of flapping flight during turning by fluid-structure interaction

Masaki Hamantoto, Yoshiji 0hta;Keita Hara and Toshiaki Hisada finite element analysis based on arbitrary Lagrangian-Eulerian method ........ ......... 3300

Learning User Models of Mobility-Related Activities Through Instrumented Walking Aids ........................... 3306 Jared Glover, Sebastian Thrun and Judith T. Marthews

Session: ThP-6 MOBILE ROBOT PLATFORMS

Fault Tolerant Kinematic Control of Platoons of Autonomous Vehicles 3313 Giartliica Antonelli and Stefan0 Chiaverini

A Robotic Platform for Testing Moth-Inspired Plume Tracking Strategies ....................................................... 3319 Admi Rutkowski, Shaun Edwards, Mark Willis, Roger Quinn and Gregory Causey

Peter Steinhaus, Mar& Walther, Bjorn Giesler arid Riidiger Dillina 3D Global and Mobile Sensor Data Fusion for Mobile Platform Navigation . ......

Forward and Backward. Motion Control of Personal Riding-type Wheeled Mobile Platform . 3331 Makiko Sasaki, Naoto Yanagihara, Osamu Matsumoto and Kiyoshi Komoriya

Time-Scaled Coordination of Multiple Manipulators ........................ ..................................... 3331 Srinivas Akella and Jufeng Peng

. Session: ThP-7 ARCHITECTURES OF NETWORKED ROBOTICS AND APPLICATIONS

Multi-Robot Formations ... ........... ..... ............. ........ 3345 Shuzhi Sam Ge, Cli Fua an ng

.Web-Based Robotic Control System with Flexible Framework ........... ......... ............ ........ 3351 Dongyao Wang, Xudorig Ma arid Xianzhorig Dai

A Distributed Architecture for Internet Robot ................................. .................................................. 3351 Xueqiao Hou and Jianbo Su

xlii

New Approaches to Internet Based Intelligent Robotic System ..... ........... ............................ 3363 Xueqiao Hou and Jianbo Su

Formations for Localization of Robot Network Fan Zhang, Ben Grocholsky and Vijay

3369

Session: ThP-8 ROBOT HANDS

The ACT Hand .......... ............ ..... 3375

Muscle Actuator Design for the ACT Hand ........ ......... 3380

Michael Vande Weghe, Matthew Rogers, Michael Weissert and Yoky Matsuoka

Nick Gialias and Y o b Matsuoka

The Development of POSTECH Hand 5 ............................................................................................................ 3386 Juhyoung Lee, Youngil Youm and Wankyun Chung

Load-Sensitive Continuously Variable Transmission for Robot Hands

High Performance DSP/FPGA controller for implementation of DLR-HIT Dexterous Robot Hand

Session: ThP-9 ROBOT SOFTWARE TOOLS AND ARCHITECTURES

A Language for Modeling and Programming Cooperative Control Systems

.............. Takeshi Takaki and Toru Omata

3397 Ping He, Yiwei Liu, Hegao Cai, Nikolaus Seitz, Joerg Butterfass, Gerd Hirzinger and Hong Liu

3403 Eric Klavins

Software Approach for the Autonomous Inspection Robot MAKRO ................................................................ 341 1 Hennann Streich and Oliver Adria

A Learning Market Based Layered Multi-robot Architecture Lin Liu, Lei Wang, Zhiqiang Zheng and Zengqi Sun

3417

Integrating Robotics Software ............... .................... ...... ........ ......... 3423 Antonio C. Dominguez-Brito, D Jose Isern-Gonzalez and Jorge Cabrera-Gamez

“May You Have a Strong (-Typed) Foundation”, Why Strong-Typed Programming Languages Do Matter .... 3429 Nicola Tomatis, Roberto Brega, Gabrio Rivera and Roland Siegwart

Session: ThP-10 MULTI ROBOT COOPERATION AND COORDINATION

Robust Multirobot Coordination in Dynamic Environments ............. ............. ............... 343s

Coaching a Robot Collective .......... 3443

A Distributed Architecture for Executing Complex Tasks with Multiple Robots

M. Bernardine Dias, Marc Zinck, Robert Zlot and Anthony Stentz

Marc Perron and Ho

3449 Topi Maenpaa, Antti Tikanmaki. Jukka Riekki and Juha Roning

Semi-autonomous Reconfiguration of Wheeled Mobile Robots in Coordination ...................... Yoshio Yamamoto, Yoshihisa Hiyama and Akira Hujita

xliii

Limited Communication, Multi-Robot Team Based Coverage .............................. Ioanriis Rekleitis, Vincent Lee-Shue, Ai Peng New and Howie Choset

Session: ThP- 1 1 SYSTEMS AND COMPONENT DESIGN FOR SERVICE AND RESCUE ROBOTS

An Interactive Interface for Service Robots .......... E h Topp. Danica Kragic, Patric Jensfelt and Henrik Christensen

An interactive driver assistance system monitoring the scene in and out of the vehicle ......................... ; .......... 3475 Lars Petersson. Luke Fletcher, Nick Barnes and Alexander Zelinsky

A Novel Actuated Tether Design for Rescue Robots Using Hydraulic Transients .......................................

Trajectory Arrangement based on Resistance Force and Shape of Pile at Scooping Motion .......................

Douglas Perrin, Albert Kwon and Robert Howe . .

Shigeru Sarata, Hisashi Osunii, Yoshihiro Kawai and Fumiaki Tomita

Robots on Self-organizing Knowledge Networks ..... 3494 Nak Young Chong, Hiroshi Hongu, Manabu Miyazaki, Koji Takemura and Kenichi Ohara

. Session: T ~ P I 12 LEARNING AND ADAPTIVE CONTROL APPLICATIONS

PD-Type Iterative Learning Control for Trajectory Tracking of a Pneumatic X-Y Table with Disturbances .. 3500

Chili-Keng Chen and James Hwarig

Design of an Anthropomorphic Robot’Head for Studying Autonomous Development and Learning 3506 Hyundo Kim, George York, Greg Burton, Erik Murphy-Chutorian and Jochen Triesch

An SVM Learning Approach to Grasping .... 3512 Rnphnel PelossoJ Andrew Miller, Peter Alien and Tony Jebara

Interactive Grasp Learning Based on Human Demonstration 3519 Staffan Ekvall and Dariica Kragic

tion Control of Uncertain Nonholonomic Mechanical Systems Including Actuator ..................................... 3525

Chartdrn Mouli Anupoju, Chun-Yi Su and Mnsahiro Oya

Session: ThP- 13 ENVIRONMENTAL ROBOTS

The Artificial Ecosystem .................................................................................................................................... 3531 Antonio Sgorbissa and Renato Zaccaria

Adaptive Sampling for Environmental Robotics ................................................................................................ 3537 Mohaniniad Rahimi

Automated Damage Diagnosis and Recovery for Remote Robotics .................................................................. 3545 Josh Bongard and Hod Lipsoii

Design of a High-Impact Survivable Robot ....................................................................................................... 3551 Daniel O’Hallornn, Aion Wolfand Howie Choset

xliv

Methods and Experiments for hazardous area activities using a multi-robot system ......................................... 3559 Frank E. Schneider. Mark Moors and Dennis Wildemuth

Session: ThP- 14 ASSEMBLY

Generating Products For Robotic Assembly _ _ ............ ......... ....................... 3565 Gordon Lowe and Bijan Shirinzadeh

An Admittance Design Method for General Spatial Parts Mating 3571 Masayuki Shimizu and Kazuhiro Kosuge

Admittance Selection for Force-Guided Assembly of Polyhedral Parts in Single-Point Contact ...................... 3577 Shuguang Huang and Joseph Schbnmels

Automatic verification of contact states taking into account manipulator constraints ....... ....................... 3583 Wim Meeussen, Jing Xiao, Joris De Schutter, Herman Bruyninckx and Emesto Stafferti

On the Representation of Contact States Between Curved Objects ......... 3589 Qi Luo, Ernesto Stafferti and Jing Xiao

Session: FA-1 UNMANNED AERIAL VEHICLES I

Modelling the Draganflyer four-rotor helicopter 3596 PIiillip McKerrow

Autonomous Deployment and Repair of a Sensor Network using an Unmanned Aerial Vehicle Peter Corke, Stefan Hrabar, Ron Peterson, Daniela Rus and Srikanth Saripalli

3602

Vibration Isolation for Autonomous Helicopter Flight ...... ....... ........ ............ 3609

Design specifications for an unmanned VTOL .......... ............... ....... 3616

Matthew Dunbabin, Stephen Brosnan, Jonathan R r Co

Polyhronis Spanoudakis, Nikos Tsourveloudis and Kimon Valavanis

A Distributed tasks allocation scheme in multi-UAV context. . ............... .......... 3622 Thomas Lemaire. Rachid Alami and Simon Lacroix

Session: FA-2 ACTUATORS I

Design and Testing of a Prototype Transmission-Based Robot Servoactuator 3628 William R. Hamel and Sewoong Kim

Minimizing Air Consumption of Pneumatic Actuators in Mobile Robots ..... .............. 3634 Grzegorz Granosik and Johann Borenstein

Design and Seek Control of a Disc Drive Actuator with Nonlinear Magnetic Bias _ _ Ryan Rarliff and Prabhakar Pagilla

A Vast DOF Robotic Car Seat Using SMA Actuators with a Matrix Drive System ......... 3647 Kyu Jin Cho, Binayak Roy, Stephen Mascaro and H. Harry Asada

Experimental Results for Nonlinear Flexure Control using Shape Memory Alloy Actuators 3653 M. Moallem

xlv

Session: FA-3 PARALLEL ROBOTS AND MANIPULATORS I

A general approach for optimal kinematic design of parallel manipulators ........................................... Yunjiang Lou, Guanfeng Liu, Jijie X u and Zexiang Li

General solution for the dynamic modeling of parallel robots ............................................... . 3665 Wisama Khalil and Ouarda Ibrahim

A rotary parallel manipulator ................... ....... ..... 367 1 Farrokh Janabi-Sharifi and B o p s Shchokin

Dynamic Modeling and Robust Controller Design of a Two-Stage Parallel Cable Robot 3678 So-ryeok Oh, Kalyan Mankala, Sunil Agrawal and James Albus

4R and 5R Parallel Mechanism Mobile Robots .... 3684 Tasuku Yamawaki, Toru Omata and Osamu Mori

Session: FA-4 TELEOPERATION I

Performance Evaluation of Task Control in Teleoperation Debora Botruri, Andrea Casrellani, Daoide

Performance of robotic teleoperation system with fl Paolo Fiorini

Enhanced Teleopertion for D&D ....................................................................................................................... 3702 Hyosig Kang, Thomas Ewing, Eric Faulring, J. Edward Colgate and Michael Peshkin

Improving Teleoperation .................................................................................................................................... 3708 Brian DeJong, Edward Colgate and Michael Peshkin

Toward On-line Transition to Autonomous Teleoperation from Master-slave Manipulation ........................... 3715 Tsutomu Hasegawa, Korisuke Nakagawa and Kouji Mrirakami

Session: FA-5 BEHAVIOR ROBOTICS I

Teaching Robot to Coordinate its Behaviours ...................................... ......................................................... 3721 Dongbing Gu and Huosheng Hu

When Good Comms Go Bad, Communications Recovery For Multi-Robot Teams ......................................... 3727 Patrick Ulam and Ronald Arkin

Hybrid Behavioral Control Architecture for the Cooperation of Minimalist Mobile Robots ............................ 3735 Lounis Adouane and Nadine Le Fort-Piat

Generating timed trajectories for an autonomous vehicle ........................................ Cristina Santos

Reactive, Distributed~Layered Architecture for Resource-Bounded Multi-Robot Cooperation 3747 Kian Hsiang Low, Wee Kheng Leow and Marcelo H. Ang, Jr.

xlvi

Session: FA-6 MAP BUILDING I

Map Building without Odometry Information ................................................

Acquiring Models of Rectangular 3D Objects for Robot Maps ...............................................

.... 3753 Fraricesco Amigoni, Simone Gasparini and Maria Gini

............ 3759 Derik Schroerer and Michael Beetz

Building an Object Map for Mobile Robots using LRF Scan Matching and Vision-based Object Recognition .........................................................................................................

Cognitive Robot Mapping with Polylines and an Absolute Space Representation ........................

Detecting and Modeling Doors with Mobile Robots ..............................................................

..... 3765 Masahiro Tomono

...... 3771 Kennard Laviers and Gilbert Peterson

.......... 3771 Dragomir Anguelov, Daphne Koller, Evan Parker and Sebastian Thrun

Session: FA-7 BIPED ROBOTS I

Rate of change of angular momentum and balance maintenance of biped robots ............................... 3785 Ambarish Goswami and Vinutha Kallem

Running Control of a Planar Biped Robot based on Energy-Preserving Strategy ....................................... 3791 Sang-Ho Hyon and Takashi Emura

Some Extensions of Passive Walking Formula to Active Biped Robots ......

Trajectory Generation of Biped Running Robot with Minimum Energy Consumption .......

Motion Evaluating System for A Small Biped Entertainment Robot .......................................

........................................ 3797 Fumihiko Asano, Zhi-Wei Luo and Masaki Yarnakira

..... 3803 Yasuraka Fujimoto

...... 3809 Yoshihiro Kuroki. Keisuke Kato, Ken-ichiro Nagasaka, Arsushi Miyamoto, Ken-ichiro Ueno and Jin-ichi Yanmguchi

Session: FA-8 MOTION PLANNING AND NAVIGATION

Motion Planning for Coherent Groups of Entities .... ........................ 3815 Arno Kaniphuis and Mark Ovennars

Motion planning for a Rod-shaped Robot in R3 Ji Yeong Lee and Howie Choset

Perceptual navigation around a sensori-motor trajectory .......

Hierarchies of probabilistic models of navigation ...... ............ . 3837

Formation Maneuvering using Passive Acoustic Communications ...

................................................ 3831 Cedric Pradalier and Pierre Bessiere

Julien Diard, Pierre Bessiere and Eninlanuel

3843 Patrick McDoweil, Brian Bourgeois and Sitharama lyengar

xlvii

Session: FA-9 COLLISION AND OBSTACLE AVOIDANCE I

Experimental Study of Curvature-based Control Laws for Obstacle Avoidance ....

,' '

3849 Fumin Zhang, Alan O'Connor, Derek Luebke and P. S. Krishnaprasad

A Divide and Conquer Strategy based on Situations to achieve Reactive Collision Avoidance in Troublesome Scenarios ...................................................................................................................................... 3855

Javier Minguez, Javier Osuna and Luis Montano

A Method for Mobile Robot Navigation on Rough Terrain .............................................................................. 3863 Cang Ye and Johann Borenstein

Motion Planning for Camera Movements .......................................................................................................... 3870 Dennis Nieuivenhuisen and Mark Ovennars

Cascaded Filter Approach to Multi-Objective Control ............ Bryan Thibodeau, Stephen Hart, Deepak Karuppiah, John Sweeney and Oliver Brock

Session: FA-10 DEFORMABLE MODELS

Closed Dynamic Contour Models that Split and Merge ..................................................................................... 3883 Sascha Stoeter and Nikos Papanikolopoulos

A deformable model driven visual method for handling ......................................... ...................................... 3889 Yasuyo Kita, Fuminori Saito and Nobuyuki Kita

Boundary Element Deformable Object Tracking with Equilibrium Constraints ._.__ ...... 3896 Michael Greminger, Yu Sun and Bradley Nelson . .

Extractiong Rheological Properties of Deformable Objects with Haptic Vision ..... ................................... 3902 Naoki Ueda, Shin-ichi Hirai and Hiromi Tanaka

On Cutting and Dissection of Virtual Deformable Objects _ _ ......................................................................... 3908 Hui Zhang, Shahrarn Payandeh and John Dill

Session: FA-1 1 MOTION PLANNING I

Motion Planning through Symbols and Lattices ............................

Computing Configuration Space Obstacles Using Polynomial Transforms ...

. Trajectory Representation Using Sequenced Linear Dynamical Systems ....

.......................... 3914 Stefania Pancanti, Lucia Pallottino, David Salvadorini and Antonio Bicchi

3920 Wenjie Shu and Zhiqiang Zheng

......... 3925 Kevin Dixon and Pradeep Khosla

Motion Prediction for Moving Objects Dizan Vasquez and Thierry

Session: FA- 12 ROBOT CONTROL

. Modeling and Dynamic Control of Compliant Framed Wheeled Modular Mobile Robots ..... Sungyong Park and Mark Minor

xlviii

Design and Gait Control of a Rollerblading Robot ................................................................ ....................... 3944 Sachin Chitta, Frederik Heger and Vijay Kumar

Reflective Force Integration Method for Nonautonomous Mobile Robot Control ............................................ 3950 J. B. Park and B. H. Lee

Stiffness Control on Redundant Manipulators ...... ........ .......

A Time-Optimal Control Strategy for Pursuit-Evasion Games Problems .......

Yanmei Li and Imin Kao

.......... ........ 3962 ke Shen Hin Lim, Tomonari Furukawa, Hugh Durrant-Whyte and Gami

Session: FA-13 MATHEMATICAL MODELING AND PATH PLANNING

Guided Expansive Spaces Trees ......................................................................................................................... 3968 Jeff Phillips, Nazareth Bedrossian and Lydia Kavraki

Deterministic Sampling Methods for Spheres and SO(3) .................................................................................. 3974 Anna Yershova and Steven LaValle

Exact Pareto-Optimal Coordination of Two Translating Polygonal Robots on an Acyclic Roadmap ............... 3981 Hamidreza Chitsaz, Jason O'Kane and Steven LaValle

Kinodynamic Motion Planning .. ....... .......... ...... 3987 Florent Lamiraux, Etienne Ferre' and Envan VaMe

Effective Sampling and Distance Metrics for 3D Rigid Body Path Planning .................................................... 3993 James Kufier

Session: FA-14 AUTOMATION: SERVICE

Development of a femur fracture reduction robot .............................................................................................. 3999 Shin 'ichi Warisaiva, Tatsuya Ishizuka, Mamoru Mitsuishi, Nobuhiko Sugano and Kazuo Yonenobu

Implementation of Multi-Functional Service Robots Using Tripodal Schematic Control Architecture ........... 4005 Gunhee Kim, Woojin Chung, Munsang Kim and Chongwon Lee

Door opening control using the multi-fingered robotic hand for the indoor service robot .... .................... 401 1 Changju Rhee, Youngbo Shim, Woojin Chung, Hyungjin Lee and Munsang Kim

Integrated Localization of the Service Robot PSR ........ .............................................................................. 4017 Dongheui Lee, Woojin Chung and Munsang Kim

Development of Dynamically Reconfigurable Personal Robot . ................. _._.. 4023

Session: FM-1 UNMANNED AERIAL VEHICLES II

Se-gon Roh, K. H Park, Jin Ho Park and Hyoukryeol Choi

Sensor Fusion for Navigation of an Autonomous Unmanned Aerial Vehicle ................................................... 4029 Jurek Sasiadek and Pande Hartana

Model Identification of a Small-Scale Air Vehicle ........................................................................................... 4035 Huaiyu Wu, Dong Sun, Zhaoying Zhou and Shenshu Xiao

A Framework for UAV Based Navigation and Control ...... .............. 404 1 Lefteris Doitsidis, Kimon Valavanis, Nikos Tsoundoudis and Michail Kontitsis

Minimization and Equalization of Energy for Formation Flying Reconfiguration ..... Cornel Sultan, Sanjeev Seereeram and Raman Mehra

Experiments in Multirobot Air-Ground Coordination ....................................................................... Luiz Clzairnowicz, Ben Grocholsky, James Keller, Vijay Kumar and Carnillo Taylor

Session: FM-2 ACTUATORS I1

Development of a Silicon Outer Fence Mold Actuator ... .................. .................... _ _ _ _ _ 4059 Yasuhiro Hayakawa and Kensuke Morishita

An evaluation of Ultrasonic Motors as driving technology in impedance controlled robots ..... 4065 Jose L. Pons, Humberto Rodriguez and Eduardo Rocon

Development and Evaluation of a Passively Operating Non-contact, Load-responsive Transmission ... Hitoshi'Maekawa. Yasuhiro Gotoh, Koji Sato, Masato Enokizono and Kiyoshi Komoriya

Multilevel Bridge Governor by Using Model Predictive Control in Wavelet Packets for Tracking Trajectories

Paolo Mercorelli, Nicolai Kubasiak and Steven Liu 4079

Wearable DC Powerline Communication Network Using Conductive Fabrics __. 4085 Eric Wade and Harry Asada

Se.ssion: FM-3 PARALLEL ROBOTS AND MANIPULATORS I1

Study of the Sources of Inaccuracy of a 3 DOF Flexure Hinge-based Parallel Manipulator ............................. 4091 Tiavina Niaritsiry, Nuno Fazenda and Reymond Clavel

Analysis and Design of Parallel Mechanisms with Flexure Joints ..................................................................... 4097 Byoung Hun Kang, John T. Wen, Nicholas G. Dagalakis and Jason J. Gonnan

Guaranteed in-the-workspace improved trajectory/suface/volume verification forparallel robots .................... 4103 Jean-Pierre Merlet

A high-speed parallel robot for Scara motions ................................................................................................... 4109 Sebastien Krut, Vincent Nabat, Olivier Company and Francois Pierrot

Combining end-effector and legs observation for kinematic calibration of parallel mechanisms ..................... 41 16 Pierre Renaud, Nicolas Andre& Franpis Pierrot and Philippe Martinet

Session: FM-4 TELEOPERATION I1

Teleoperation of Constrained Dynamical Systems over a TCP/IP Local Network ............................................ 4122 Alessandro Casavola, Edoardo M o x a and Michela Sorbara

Analysis of Perceived Workload when using a PDA for Mobile Robot Teleoperation ..................................... 4128 Julie A. Adams and Hande Kaymaz Keskinpala

Scale Dynamic Adaptation of the Local Space for Assisted Teleoperation ....................................................... 4134 Luis M. Munoz. Alicia Casals and Josep Amat

I

A New Position Error Based Robust Controller Design Framework of

Kyongho Park, Wan Kyun Clzung and Youngil Youni Teleoperation for Free to Contact Motion ................................................... ......... 4140

Design and Operation of a Force-Reflecting Magnetic Levitation Coarse-Fine Teleoperation System ............ 4147 Bertram Unger and Ralph Hollis

Session: FM-5 BEHAVIOR ROBOTICS I1

Towards Performance Guarantees for Emergent Behavior ................................................... .................... 4153 Damian Lyons and Ronald Arkin

Shepherding Behaviors . 4159

Behavior description and control using behavior module for personal robot . 4165 Yukiko Hoshino, Tsuyoshi Takagi, Ugo Diprofio and Masahiro Fujita

Reflective Navigation - Individual Behaviors and Group Behaviors .............................................................. 4172 Boris Kluge and Erwin Prassler

Distributed Behavior Collaboration for Self-Reconfigurable Robots ................................................................ 4178 Behnam Salemi and Wei-Min Shen

Session: FM-6 MAP BUILDING I1

Constructing Radio Signal Strength Maps with Multiple Robots ...................................................................... 4184

Value-Based Action Selection for Exploration and Dynamic Target Observation with Robot Teams .............. 4190

Mong-ying Hsieh, Vijay Kumar and Camillo Taylor

Ashley Stroupe, Ramprasad Ravichandran and Tucker Balch

Multi-Robot Mapping using Manifold Representations ..................................................................................... 41 98 Andrew Howard

2D Mapping of Cluttered Indoor Environments by Means of 3D Perception .................................................... 4204 Oliver Wurf; Kai 0. Arras, Henrik I . Christensen and Bemardo Wagner

Coordinated Control of Multiple Terrain Mapping UGVs ................................................................................. 4210 Kingsley Fregene, Raj Madhavan and Diane Kennedy

Session: €34-7 BIPED ROBOTS II

Pragmatic rules for real-time control of the dynamic walking of an under-actuated biped robot ...................... 4216 Christophe Sabourin, Olivier Bruneau and Jeau Guy Fontaine

Computer System and Control of Biped JOHNNIE ........................................................................................... 4222 Sebastian Lohmeier, Klaus Loefler, Michael Gienger, Heinz Ulbrich and Friedrich Pfeiffer

Effect of Gravity Balancing on Biped Stability .................................................................................................. 4228 Abhishek Agrawal and Sunil Agrawal

Inducing Dynamically Stable Walking in an Underactuated Prototype Planar Biped ....................................... 4234 Eric R. Westervelt, Gabriel Buche and Jessy W. Grizzle

li

Robust balance control of a one-legged pneumatically-actuated, Acrobot-like hopping robot ......................... 4240 John Leavitt, James Bobrow and Athanasios Sideris

Volume 5 (Pages 4247-5306)

Session: FM-8 MOBILE ROBOT NAVIGATION

Visual Rotation Detection and Estimation for Mobile Robot Navigation ........... ................................. 4247 Matthew Albert and Jonathan Connell

Mobile Robot Navigation Based on Direct Depth and Color-based Environment Modeling ............................ 4253 Sung-Kee Park, Munsang Kim and Chong-won Lee

Environment Exploration Using A Navigation Algorithm Based on Virtual Centrifugal Force ....................... 4259 Li.ying Su, Min Tan, Guoping Liu and Yueqing Yu

. . Passive Sonar Appl~cations ................................................................................................................................ 4265 Leonard0 Mattos and Edward Grant

Evaluation of Iconic Memory-based O W Navigation ....................................................................................... 427 1 Yasushi Yagi, Kentaro Tsuji and Masahiko Yachida

Session: FM-9 COLLISION AND OBSTACLE AVOIDANCE I1

Obstacles Avoidance for Car-Like Robots. Integration And Experimentation on Two Robots ........................ 4277 Olivier Lefebvre, Florent Lamiraux and Cedric Pradalier

Vehicle Following with Obstacle Avoidance Capabilities in Natural Environments ........................................ 4283 Teck Chew Ng, Jian Shen, Javier Ibanez Guzman, Zhiming Gong, Nan Wang and Cheng Cheii

Approximate Safety Enforcement Using Computed Viability Envelopes ......................................................... 4289 Maciej Kalisiak and Michiel van de Paniie

Autonomous reaching and obstacle avoidance with the ..................................................................................... 4295 Ioannis IossiJidis and Gregor Schoener

A Reduced-Order Analytical Solution to Mobile Robot Trajectory Generation in the Presence of Moving Obstacles ................................................................................................................. 4301

Jing Wang, Zhihua Qu, Yi Guo and Jian Yang

Session; FM-IO FLEXIBLE AND REDUNDANT MANIPULATORS

A FEM'Model for Active Vibration Control of Flexible Linkages ......... 4308 Xiaoyun Wang and James Mills

Symbolic Computation of the Inverse Dynamics of Elastic Joint Robots .......................................................... 4314 Robert Hopler and Michael Thunimel

Friction Compensation in Low and High-Reversal-Velocity Manipulators ....................... ; ............................... 4320 Mehrdad R. Kerniani, Mathew Wong, Rajni V. Patel, Mehrdad Moallem and Mile Ostojic

Low Overhead Manipulation of Bound Book Pages .......................................................................................... 4326 Josh Young and Nlah Nourbakhsh

tii

Real-Time Trajectory Resolution for Dual Robot Machining .......................... ........................................... 4332 William Owen, Elizabeth Croft and Beno Benhabib

Session: FM-11 MOTION PLANNING I1

Motion Planning for Dual-arm Mobile Manipulator -Realization of “Tidying a Room Motion”- ................... 4338 Takayasu Takahama, Keiji Nagatani and Yutaka Tanaka

Energy-Efficient Motion Planning for Mobile Robots ....................................................................................... 4344 Yongguo Mei, Yung-Hsiang Lu, Y. Charlie Hu and C.S. George Lee

A Knowledge Based Genetic Algorithm for Path Planning of a Mobile Robot ................................................. 4350 Yanrong Hu and Simon X . Yang

Accounting for Limited Sensing in Real-Time Obstacle Avoidance for Mobile Robots ......... ...................... 4356 Rafael C. Gonzalez, Diego Alvarez, Andrei Shkel and Vladimir Lumelsky

Improving the Performance of Sampling-Based Planners by Using a Symmetry-Exploiting Gap Reduction Algorithm ............................................................................................... 4362

Peng Cheng, Eniilio Frazzoli and Steven Lavalle

Session: FM-12 VEHICLE CONTROL

Control of a mobile robot with passive multiple trailers ................. Myoungkuk Park, Woojin Chung, Munsang Kim and Jaeb

....................... _ _ _ _ _ 4369

Experimental Results on a Traction Control Algorithm for Mobile Robots in Volcano Environment .............. 4315 Daniele Caltabiano, Danilo Ciancitto and Giovanni Muscata

A new nonlinear control for vehicle in sliding conditions ..__ ....................................................................... 4381 Roland Lenain, Benoit Thuilot, Christophe Cariou and Philippe Martinet

Zipping, Weaving ........................................................................................................................ Yusuke Ikenioto, Yasuhisa Hasegawa, Toshio Fukuda and Kazuhiko Matsuda

Design and Control of an Indoor Micro Quadrotor .................................................................. ...................... 4393 Samir Bouabdallah, Pierpaolo Murrieri and Roland Siegwart

Session: FW-13 MOTION AND PLANNING TECHNIQUES

Motion Planning Using Dynamic Roadmaps ........................................................................ 4399 Marcelo Kallmann and Maja Matari

Adapting the Sampling Distribution in PRM Planners Based on an Approximated Medial Axis ........ 4405 Yuandong Yang and Oliver Brock

Active Viewpoint Planning for Model Construction

Multi-Robot Planning ............ ............... ......... 4417

...... 4411 S. Y. Chen and Y. F. Li

Michael Melholt Quott ozbeh Iza

Robust 3D Vision Based Control and Planning ........................................................................................... Philippe Zanne, Guillaume Morel and Franck Plestan

liii

Session: FIv-14 AUTOMATION: CLEANING: CONSTRUCTION: AND AGRICULTURE

Virtual Fences for Controlling Cows .............. .. 4429 Zack Butler, Peter Corke, Ron Peterson and Daniela Rus

Autonomous Cleaning Robot .. 4431 Sewan Kim

Motion Analysis of a Cleaner Robot for Vertical Type Air Conditioning Duct _ _ 4442 Motoji Yamamoto, Yotaro Enatsu and Akira Mohri

The Low Cost Gripper Design For an Apple Picking Robot Achmad Iiwan Setiawan, Tomonari Furukawa and

_ _ 4448

Sensor Space Planning with applications to construction environments .. 4454 Edward Latinier, DeWitt Latimer, Rajiv Snrena, Catherine Lyons and Scott Thayer

Session: FE-1 AUTONOMOUS UNDERWATER VEHICLES

Multiple Communicating Autonomous Underwater Vehicles ....... ...... _. 4461

A Self-Organizing Map Based Navigation System ...... _. 4466

Edgar An, Pierre-Pltilippe Beaujean, Bertrand Baud, Ted Carlsoti and Tzyh Jong Tam

Kazuo Ishii, Shuhei Nishida and Tainaki Ura

Toward Underwater Navigation Based on Range Measurements from a Single Location

AUV Docking System for Sustainable Science Missions

4412 Aditya Cadre and Daniel Stilwell

4478 Tarun Podder, Mark Sibenac and James Bellingham

Fault Diagnosis for AUVs Using Support Vector Machines .............................................................................. 4486 Giatiluca Antonelli, Fabrizio Caccavale, Carlo Sansone and Luigi Villani

Session: FE-2 ACTUATORS 111

Electric Direct-drive Stepping Motor for Robots ............................................................................................... 4492 Takashi Nagata, Koichi Suzumori, Takefuini Kanda, Kazuo Uzuka and lsao Enomoto

Free-Roaming Planar Motors ............................. ............................................................................ 4498 Tom Lauivers, Zack Edmondon arid Ralph Hollis

. . Switching Motor Control .................................................................................................................................... 4504 Jonathan Fiene and Gunter Nienteyer

Construction of Small Humanoids with a New Joint Actuator Module ............................................................. 4510 Kab-11 Kim, Young 1. Son and Paul B.S. Kim

Nonlinear Friction Compensation and Disturbance Observer for a High-speed Motion Platform .................... 45 15 Ying Waiig, Zlzenhua Xiong, Han Ding and Xiaiigyang Zhu

liv

Session: FE-3 PARALLEL ROBOTS AND MANIPULATORS 111

On the Connections Between Cable-Driven Robots, Parallel Manipulators and Grasping 4521 Imme Ebert-Uphoff and Philip Voglewede

Optimum Dynamic Balancing of Planar Parallel Manipulators _.._.. ................................... Cursel Alici and Bijan Shirinzadeh

Structure Synthesis and Singularity Analysis of a Parallel Manipulator Based on Selective Actuation ............ 4533 Yan Jin, I-Ming Chen and Guilin Yang

“Measuring Closeness” to Singularities for Parallel Manipulators .................................................................... 4539 Philip Voglewede and Imme Ebert-Uphoff

A New Configuration of a Six Degrees-of-Freedom Parallel Robot for MEMS Fabrication ............................ 4545 Hagay Bamberger and Moshe Shoham

Session: FE-4 TELEOPERATION III

Unsupervised Scoring for Scalable Internet-Based Collaborative Teleoperation .............................................. 455 1 Ken Goldberg, Dezhen Song, In Yong Song, Jane McGonigal and Dana Plautz

Discrete Time Passivity in Bilateral Teleoperation over the Internet ................................................................. 4557 Paul Berestesky, Nikhil Cliopra and Mark, W. Spong

Acquisition of Topological Action Maps through Teleoperation .......................................................... Richard Alan Peters I1 and Xinyu Ao

Calibrating Human Hand for Teleoperating the HIT-DLR Hand ... ........................................................ 4571 Haiying Hu, Xiaohui Gao, Jiawei Li, Jie Wang and Hong Liu

Scaled Teleoperation Controller Design for Micromanipulation over Internet .................................................. 4577 Moussa Boukhnifer, Antoine Ferreira and Jean-Guy Fonraine

Session: FE-5 NON-HOLONOMIC ROBOTS AND SYSTEMS

Energy-Based Model-Reduction of Nonholonomic Mechanical Systems .. ,4584 Vincent Duindam and Stefano Stramigioli

Doubly nonholonomic mobile manipulators ............................................................................................ 4590 Janusz Jakubiak and Katarzyna Zadarnowska

Planning for Noise-Induced Trajectory Bias in Nonholonomic Robots with Uncertainty Yu Zhou and Gregory Chirikjian

Model Reduction Method for Nonholonomic Mechanical Systems with Semidirect Product Symmetry ......... 4602 Meihua Tai

Robust Motion Tracking Control of Partially Nonholonomic Mechanical Systems ......... .................. 4608 Jian Wang, Masahiro Oya and Chun-yi Su

Iv

Session: FE-6 NEURAL NETWORK TECHNIQUES

Neural Dynamics Based Full-State Tracking Control of a Mobile Robot 4614 Simon X . Yang, Haowen Yang and Max Q.-H. Meng

Evolving Spiking Neural Network Controllers for Autonomous Robots ... ....... .............. 4620 aha Hani Hagras, Anthony Pounds-Cornish, Martin Colley, Vic Calla

Motion Control of Mobile Manipulator Based on Neural Networks and Error Compensation __.__ Choon-Young Lee. 11-Kwon Jeong, In-ha Lee and Ju-Jang Lee

Neural-Based Control of A Robotic Hand __._ .................................... 4633 Pedrani Afshar and Yoky Matsuoka

Hardware Implementation of a Real Time Neural Network Controller with a DSP and an FPGA ................... 4639 Sungsu Kin1

Session: FE-7 LEGGED ROBOTS

On Increasing Energy Autonomy for a One-Legged Hopping Robot 4645 Evangelos Papadopoulos and Nicholas Cherouvini

Learning and Using Models of Kicking Motions for Legged Robots 465 1 Sonia Clternova and Manuela Veloso

Actuating a Simple 3D Passive Dynamic Walker Russ Tedrake, Teresa Weirui Z h n g , Min

4656

An Actuator with Physically Variable Stiffness for Highly Dynamic Legged Locomotion ..____ Jonathan Hurst, Joel Chestnutt and Alfred Rizzi

The Design, Fabrication, and Characterization, of Millimeter Scale Motors for Miniature Direct Drive Robots ........................................................................................................................... 4668

James Mulling, Brian Dessent, Eddie Grant, Jeffrey Eischen and Alexei Gruverman

Session: FE-8 NAVIGATION TECHNIQUES

Multi-Robot Communication-Sensitive Reconnaissance .......... ............ ............... 4614 Alan Wagner and Ronald Arkin

Wheel torque control for a rough terrain rover _.__ 4682 Pierre Lnnion, Ambroise Krebs, Michel Lauria, Steven Shooter and Roland Siegwarf

The SRT Method .........

Robot motion control from a visual memory ........... 4695

Stability of a Multi Tracked Robot Traveling Over Steep Slopes ...

Anthony Remazeilles, Francois Chaumette and Patrick Gros

............. .............. 4701 Shraga Shoval

[vi

Session: FE-9 IMAGING

Robust and Video-frame Rate Tracking of Planar Motion by Matched Filtering on P G A .............................. 4707 Shinya Yamamoto and Shinichi Hirai

Using Small Format Aerial Photographs (SFAP) to Map Coral Reefs in Rio Grande do Norte, Brazil ............ 4713 Ricardo Amaral and Luiz Goncalves

Image Distortion Correction for .... ........... ,4718

A Virtual Wiper - Restoration of Deteriorated Images by Using a Pan-Tilt Camera - .....

Chao Hu. Max Meng,

Atsushi Yamashita, Toru Kaneko and Kenjiro Miura

Radiometric Calibration of CCD Sensors .......................................................................................................... 4730 Albert0 Ortiz and Gabriel Oliver

Session: FE-10 BIOLOGICALLY INSPIRED ROBOT AND SENSOR DESIGN

UBH3 ................................ .................................................................................... 4736 Gabriele Vassura, zz , Luigi Biagiotti and Claudio Melchiorri

On the Design and Developmental Metrics of a “Skin-Like’’ Multi-Input Quasi-Compliant Gripper Sensor Using Tactile Matrix ........................................................................................... *

Dr. Debanik Roy

Design of an Artificial Muscle Continuum Robot .. ............................. Michael Pritts and Christopher Rahn

An identification technique for evaluating static body segment parameters in the upper extremity .......... Timotej Kodek and Mark0 Munih

Wearable Conductive Fiber Sensors for Measuring Joint Movements .. ...... 4753 Peter Gibbs and H. Hany Asada

Session: FE-1 1 MATHEMATICAL TECHNIQUES FOR MOTION & PATH PLANNING

Computing a set of Local Optimal Paths through Cluttered Environments and Over Open Terrain ................. 4759 Zvi Shiller, Yusuke Fujita, Dan Ophir and Yoshihiko Nakamura

Robotic Navigation Using Harmonic Function-based Probabilistic Roadmaps ...... Moslem Kazemi and Mehran Mehrandezh

Value Iteration Under the Constraint of Vector Quantization for Improving Compressed State-Action Maps ....................................................................................................... 477 1

Ryuichi Ueda and Tamio Arai

C-space Exploration Using Noisy Sensor Models ............................................................................................. 4777 Michael Suppa, Pengpeng Wang, Kamal Gupta and Gerd Hirzinger

Robust Multiple-Contact Postures in a Two-Dimensional Gravitational Field .................................................. 4783 Yizhar Or and Elon Rimon

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Session: FE-12 MANIPULATION AND CONTROL

:: . Multi-Contact Compliant Motion Control for Robotic Manipulators ............. ............ ........ 4189 Jaeheung Park, Rui Cortesao and Oussama Khatib

Optimal Selection of Manipulator Impedance for Contact Tasks . 4795 Simon DiMaio, Keyvan Hashtrudi-Lad and Septimiu (Ti

Impedance matching for a serial link manipulator ....... 4802 Ryo Kurazunte and Tsutoniu Hasegawa

A General Singularity Avoidance Framework for Robot Manipulators Jinhyun Kim, Giacomo Marani, Wan Kyun Chung and Junku

4809

Dynamic Manipulation of a String using a Manipulator -Parameter identification and control based on a rigid body link model - ........

Minoru Hashimoto, Tomoaki Ichikawa, Shigeru lnui and 4815

Session: FE-13 LOCALIZATION AND MAP BUILDING

Automatic Online Localization of Nodes in an Active Sensor Network ............................................................ 4821 Alex Brooks, Stefan Williams and Alexei Makarenko

Fast Sum of Absolute Differences Visual Landmark Detector . Craig Watman. David Austin, Nick Barnes, Gary Overett and Simon Thompson

Robot Phonotaxis with Dynamic Sound-source Localization ... Sean B. Andersson, Amir A. Handzel, Vinay Shah and

,4833

A local map building process for a reactive navigation of a mobile robot 4839 Joseph Canou, Gilles Mourioux, Cyril Novales and Girard Poisson

Local Metrical and Global Topological Maps in the Hybrid Spatial Semantic Hierarchy Benjamin Kuipers, Joseph Modayil, Patrick Beeson. Matt MacMahon and Fran

4845

Session: FE-14 AUTOMATION: INSPECTION

Sensor Based Robotics for fully automated Inspection of Bores at Low Volume High Variant P& 4852 Georg Biegelbauer, Helmut Noehmayer, Christof Eberst and Markus Vincze

A n ultrasonic profiling method for sewer inspection ............................... .Francisco Goniez, Kaspar Althoefer and Lakmal D. Seneviratne

Performance Development of a High-speed Automatic Object Identification using Passive RFID Technology .........................................

Development of a robot for the detection of plastic dangerous objects ............................................................. 4869

.................................................... 4864 Katariina Penttila, Lauri Sydanheimo and Markku Kivikoski

Toshihiro YUKA WA and Hideharu OKANO

Automated pipe inspection using ANN and laser data fusion ................................. ____. 4875 Olga Duran, Kaspar Althoefer and Lakmal Seneviratne

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Session: FP-1 UNDERWATER ROBOTS

A Novel Type of Underwater Micro Biped Robot with Multi DOF .................................................................. 4881 SHUXIANG GUO, Yuya OKUDA and Kinji ASAKA

Design and Dynamic Analysis of Fish Robot ................................ ................................................................ 4887 Youngil Youm

Concept Designs for Underwater Swimming Exoskeletons ............................................................... 4893 Peter Neuhaus, Michael O’Sullivan, David Eaton, John Ca@and Jerry Pratt

Adaptive DOB Control for AUVs .................................................. ........ ................. 4899

On controlling aircraft and underwater vehicles ...........

Side Zhao, Junku Yuh and Song Choi

.......................... 4905 Calin Belta

Session: FP-2 NOVEL ACTUATORS

Analysis and Design of a Novel Power Supply for Mobile Robots . ............................................... 491 1 Justin Raade and Tim McCee

Shape Memory Alloy Microgripper for Robotic Microassembly of Tissue Engineering Scaffolds .................. 4918 Han Zhang, Yws Bellouard, Etienne Burdet, Reyntond Clavel and Aun-Neow Po0

Texture discrimination by an autonomous mobile brain-based device with whiskers ................ Ani1 Seth, Jeffrey MeKimtry, Gerald Edelman and Jeffrey Krichmar

Segmented Binary Control of Shape Memory Alloy Actuator Systems Using the Peltier Effect ...................... 4931

Application of Robot Arm Using Fiber Knitted Type Pneumatic Artificial Rubber Muscles

Brian Selden, KyuJin Cho and Harry Asada

Kenji Kawashima, Takahiro Sasaki, A i Ohkubo, Toshiyuki Miyata and Toshiharu Kagawa

Session: FP-3 PARALLEL ROBOTS AND STEWART PLATFORMS

A Stability Measure for Underconstrained Cable-Driven Robots ................................. ,4943 Paul Bosscher and Imnie Ebert-Uphoff

Wrench-Based Analysis of Cable-Driven Robots ..................................................................... 4950 Paul Bosscher and Imme Ebert-Uphoff

Force-Feasible Workspace Analysis for Underconstrained, Point-Mass Cable Robots 4956 Andrew Riechel and Imine Ebert- Uphoff

Optimum Design of a Class of Fault Tolerant Isotropic Gough-Stewart Platforms ................. ................... 4963 Yong Yi, John Mclnroy and Farhad Jafari

Generating Classes of Orthogonal Gough-Stewart Platforms ............................. ......... 4969 Yong Yi, John Mclnroy and Farhad Jafari

Session: FP-4 FAILURE MONITORING: DIAGNOSIS AND RECOVERY

An Adapt-and-Detect Actuator FDI Scheme for Robot Manipulators ..

Fault Detection and Identification for Robot Manipulators ..............................................................

............ .......... 4975 Alessandro De Luca and Raffaella Mattone

......... 4981 Michael Mclntyre, Warren Dixon, Darren Dawson and Ian Walker

Follow-up Analysis of Mobile Robot Failures ................................................................................................... 4987 Jennifer Carlson, Robin R. Murphy and Andrew Nelson

Failure-Tolerant Path Planning for the PA-IO Robot Operating Amongst Obstacles ........................................ 4995

Operational Fault Detection for Telerobotic Systems Using Discrete Wavelet Transform (DWT) and AC Analysis of Position Data ....................................................................................... 5001

Rodrigo S. Jamisola, Jr., Anthony A. Maciejewski and Rodney G. Roberts

. Sewoong Kim and William Hamel

Session:-FP-5 MICROROBOTS AND MICROMANIPULATION

Force Sensing in a Microrobot driven by the . .

* ........................................................................................................... Jens Kamenik, .Stephan Fahlbusch and Axel Kortschack

Locomotive Mechanism Design and Fabrication of Biomimetic Micro Robot Using Shape Memory Alloy ........ ....... .......

Young Pyo Lee, Moon Gu Lee and Jong-Oh Purk

Mechanical Force Response of Single Living Cells using a Microrobotic System .. ....... . 5013 Deok-Ho Kim. Seok Yun and Byungkyu Kim

Autonomous Micromanipulation Using a New Strategy of Accurate Release by Rolling ................................ 5019 Fabien Dionnet, D. Sinan Haliyo and Stiphane Rkgnier

Advanced Controller Design and Implementation of a Sensorized Microgripper for Micromanipulation ........ 5025 Jungyul Park, Sangniin Kim, Deok-Ho Kim, SangJoo Kwon and Jong-Oh Park

Session: FP-6 FUZZY AND NEURO-FUZZY TECHNIQUES

Fuzzy System Approach for Task Planning and Control of Micro Wall Climbing Robots ............................... 5033 Jun Xiao, Jizhong Xiao, Ning Xi and Weihua Sheng

On-Line Data-Driven Fuzzy Clustering With Applications To Real-Time Robotic Tracking ......................... 5039 Peter Xiaoping Liu and Max Q-H Meng

A Fuzzy Logic Approach to Reactive Navigation of Behavior-based Mobile Robots ...................................... 5045 Anmin Zhu and Simon X . Yang

Robust Neuro-Fuzzy Navigation of Mobile Manipulator among Dynamic Obstacles ...................................... 505 1 Jean Bosco Mbede, Shugen Ma, Youssoufi Toure, Volker Graefe and Lei Zhang

“Conductive Polymer Molecular Wires” for Neuro-Robotic Interfaces ............................................................ 5058 Alik Widge, Malika Jeffries-El, Carl Lagenaur, Victor Weedn and Yoky Matsuoka

Session: FP-7 SNAKE ROBOTS

Neural Oscillator Network-Based Controller for Meandering Locomotion of Snake-Like Robots ................... 5064 Kousuke Inoue, Shugen Ma arid Chenghua Jin

Studies on Lateral Rolling Locomotion of A Snake Robot ............... ......... 5070 Li Chen, Yuechao Wang, Shugen Ma and Bin Li

Turning and side motion of snake-like robot. Changlong Ye, Shugen Ma, Bin Li an

Development of The Snake-like Rescue Robot KOHGA ................ ............... .... 5081 Tetsushi Kamegawa, Tatsuhiro Yamasaki, Hiroki lgarashi and Fumitoshi Matsuno

Stuck evasion control for Active-Wheel Passive-Joint snake-like mobile robot ‘Genbu’ ................................. 5087 Hitoshi Kimura, Shigeo Hirose and Keisuke Shimizu

Session: FP-8 WHEELED & LEGGED ROBOT NAVIGATION TECHNIQUES

Performance of Optical Row Techniques for Indoor Navigation with a Mobile Robot ............ Chris McCarthy and Nick Barnes

Integrated Navigation System for Indoor Service Robots in Large-scale Environments ................................... 5099 Woojin Chung, Gunlzee Kim, Munsang Kim and Chongwon Lee

A Navigable Six-Legged Robot PIatform .......................... Yanto Go, Xiaolei Yin and Alan Bowling

......................................................................... 5105

Decoupled control of posture and trajectory of the hybrid wheel-legged robot Hylos ... 5111 Christophe Grand, Faii BenAmar, Frgde‘ric Plumet and Philippe Bidaud

Natural terrain classification using 3-d ladar data .............................................................................................. 5 I 17 Nicolas Vandapel, Daniel F. Huber, Anuj Kapuria and Martial Hebert

Session: FP-9 POSE ESTIMATION

Global Alignment of Sensor Positions with Noisy Motion Measurements ........................................................ 5123 Hossein Madjidi and Shahriar Negalidaripour

Robust Pose Estimation for a Car-like Vehicle _._. .................................................... ......................... 5129 Kane Usher, Matthew Dunbabin, Peter Corke and Peter Ridley

Combination of Foveal and Peripheral Vision for Object Recognition and Pose Estimation ............... . 5135 Marten Bjorkman and Danica Kragic

Pose Estimation For Servicing of Orbital Replacement Units in a Cluttered Environment 5141 Chiun-Hong Chien and Kenneth Baker

Calculating the 3D-Pose of Rigid-Objects Using Active Appearance Models ........... ........... 5147 Pradit Mittrapiyanuruk, Guilhenne N. DeSouza and Avinash C. Kak

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Session: FP-IO DISCRETE EVENT SYSTEMS AND AUTOMATION

MLAV ...... 5153

State Feedback Control of DES on the Finite Forbidden State Problem 5159 Yu Ru, Weimin Wu, Hongye Su and Jian Chu

Liveness enforcing in closed AGV systems with dynamic routing .__.. ...... ....... _.____ 5165

COSlMIR Transport ...... 5171

Fast Robot Prototyping with the Cubesystem

Elzbieta Roszkowska

Roland Wise

...... Andreas Birk

Session: FP-11 TRACKING

Template tracking with Lie algebras Eduardo Bayro-Corrochano

5183

Tracking and Catching of 3D Flying Target based on GAG Strategy . ... 5189 Ryosuke Mori, Koichi Hasltirnoto and Furnio Miyazaki

A New High Speed CMOS Camera for Real-Time Tracking Applications 5195 Ulrich Muehlntann, Migule Ribo, Peter Lang and Axel Pinz

Boundary Modeling in Human Walking Trajectory Analysis for Surveillance ....... ..... 5201' Ka Keung Lee and Yangslteng Xu

Range Identification for Perspective Dynamic System with Single Homogeneous Observation 5207 Lili Ma, YangQuan Chen and Kevin Moore

Session: FP-12 MANIPULATOR CONTROL TECHNIQUES

Compliant Motion Control of Manipulator's Redundant DOF Based on Model-Based Collision Detection System ....... ............................................................... 5212

Shinya Morinaga and Kazuhiro Kosuge

A Task Frame Formalism for Practical Implementations~. ...... ........... .... 5218 Torsten Kroeger, Bernd Finkemeyer and Friedric

Optimal Control of Multiple Robot Systems with Friction using MPCC 5224 Jufeng Peng, Mihai Anitescu. and Srinivas Akella

Active Vibration Control in a Macro-Manipulator using Strengthened Piezoelectric Actuators ....................... 5232 Mehrdad R. Kerniani, Rajni V. Patel and Mehrdad Moallem

Modeling and Testing of a Novel Piezoelectric Pump ....................................................................................... 5238 John Jansen, Randal L i d , Lonnie Lolie and Joel Chesser

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Session: FP-13 MISCELLANEOUS APPLICATIONS

Self-aware Actuation for Fault Repair in Sensor Networks .... ...................................................................... 5244 Saurabh Ganeriwal, Aman Kansal and Mani B. Srivas ava

Bandwidth Reduction for Controller Area Networks using Adaptive Sampling ............................................... 5250 Ian Gravagne, John Davis, Jeffrey Dacunha and Robert Marks

Process Model, Constraints, and the Coordinated Search Strategy ... .................... ........... 5256 Frederic Bourgault, Tomonari Furukawa and Hugh Durra

Recursive non-linear Bayesian state estimation and model recognition with application to contouring tasks ................................................... ................................... 5262

Tine Lefebvre, Herman Bruyninckr and Joris De Sclzutter

Hybrid Model in a Real-time Soil Parameter Identification Scheme for Autonomous Excavation ................... 5268 Choo Par Tan, Yahya Zweiri, Kaspar Althoefer and Lakmal Seneviratne

Session: FP-14 FMTURING: MODELING: AND APPLICATIONS

Optimal Fixture Layout Design for 3-D Workpieces ......................................................................................... 5274 Yunhui Liu Liu

Contact Modes and Complementary Cones ....................................................................................................... 5280 Stephen Berard, Kevin Egan and Jeff Trinkle

Hierarchical Clustering of 3D Objects and its Application to Minimum Distance Computation ...................... 5287 Angel D. Sappa and Miguel Angel Garcia

Graph Grammars for Self Assembling Robotic Systems ................................. ............................................ 5293 Eric Klavins, Roben Christ and David Lip&

Petri Net Modeling and Lagrangian Relaxation Approach to Vehicle Scheduling ............................................ 5301 Da-Yin Liao, MuDer Jeng and MengChu Zhou

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