*** ROBIO 2012 TECHNICAL PROGRAM *** ============================================================================== === Tuesday December 11, 2012 === ============================================================================== Session Tu1-1: Humanoid Robots I Chairs: Haider Sajjad, Yiwei Liu ------------------------------------------------------------------------------ Time: Tuesday December 11, 10:20 - 12:05 Room: Jade 1 ------------------------------------------------------------------------------ Hierarchical Fall Avoidance Strategy for Small-scale Humanoid Robots Bassam Jalgha, Daniel Asmar, Elie Shammas and Imad Elhajj On Evolving a Dynamic Bipedal Walk using Partial Fourier Series Sajjad Haider, Shaukat Abidi and Mary-Anne Williams Development of a Face Robot for Cranial Nerves Examination Training Chunbao Wang, Yohan Noh, Chihara Terunage, Mitsuhiro Tokumoto, Isamu Okuyama, Matsuoka Yusuke, Hiroyuki Ishii, Atsuo Takanishi, Kazuyuki Hatake and Satoru Shoji Architecture Innovation for the Lower Limbs of a Humanoid Robot Jingshan Zhao, Xiang Liu, Fu-Lei Chu and Zhi-Jing Feng HIT-ARM I High Speed Dexterous Robot Arm Yiwei Liu, Zongwu Xie, Qi Zhang and Bin Wang Music Conductor Gesture Recognition by Using Inertial Measurement System for Human-robot Musical Interaction Sarah Cosentino, Yoshihisa Sugita, Massimiliano Zecca, Salvatore Sessa, Zhuohua Lin, Klaus Petersen, Hiroyuki Ishii and Atsuo Takanishi ============================================================================== Session Tu1-2: Legged Robots I Chairs: Zhenli Lu, Mingguo Zhao ------------------------------------------------------------------------------ Time: Tuesday December 11, 10:20 - 12:05 Room: Jade 2 ------------------------------------------------------------------------------ Simulated Performance Assessment of Different Digital Hydraulic Configurations for Use on the HyQ Leg Shuang Peng, David Branson, Emanuele Guglielmino and Darwin G. Caldwell A COP-based Controller for Adaptive Motion Planning of a Single-Legged Robot Zhenli Lu, Filipe Silva, Yun Zhang, Qinruo Wang and Luis Seabra Lopes Self-Adjusting Locomotion on a Partially Broken-down Quadrupedal Biomorphic Robot by Evolutionary Algorithms Guo-Yuan Qiu and Shih-Hung Wu Analysis of the Disturbance Rejection Ability of a Passive Dynamic Walker with Hip Spring Mingguo Zhao and Biao Hu Energetics of Level Walking Trot Gaits in Quadruped Robots P. Murali Krishna, R. Prasanth Kumar and Suresh Srivastava The Function of the Spine and its Morphological Effect in Quadruped Robot Locomotion Qian Zhao, Hidenobu Sumioka, Xiaoxiang Yu, Kohei Nakajima, Zhimin Wang and Rolf Pfeifer ============================================================================== Session Tu1-3: Vision/Image Processing I Chairs: Junqiu Wang, Xianmin Zhang ------------------------------------------------------------------------------ Time: Tuesday December 11, 10:20 - 12:05 Room: Jade 3 ------------------------------------------------------------------------------ Unsupervised Progressive Structure-from-Motion for Unordered Images Yingkui Du, Baojie Fan, Yandong Tang and Jianda Han Discriminative Sparse Representation for Online Visual Object Tracking Tianxiang Bai, Y.F. Li and Xiaolong Zhou Tightly-coupled vision-aided inertial navigation via trifocal constraints Ehsan Asadi and Carlo Luigi Bottasso Normal Estimation for Pointcloud using GPU based Sparse Tensor Voting Ming Liu, Francois Pomerleau, Francis Colas and Roland Siegwart Robust Location Recognition Based on Efficient Feature Integration Junqiu Wang and Yasushi Yagi Pre-attentive Visual Segmentation Algorithm for Cognitive Robots Yuanlong Yu and Jason Gu ============================================================================== Session Tu1-4: Biologically Inspired Robotics I Chairs: Kazuhiro Kosuge, Yisheng Guan ------------------------------------------------------------------------------ Time: Tuesday December 11, 10:20 - 12:05 Room: Jade 8 ------------------------------------------------------------------------------ A Hybrid Dynamic Model Of An Insect-Like MAV With Soft Wings Ayman Belkhiri, Mathieu Porez and Frederic Boyer Shape Modeling of a Concentric-tube Continuum Robot Shaoping Bai and Chuhao Xing A Lower-limb Exoskeleton for Gait Assistance in Quadriplegia Daniel Sanz-Merodio, Manuel Cestari, Juan Carlos Arevalo and Elena Garcia Landmark-Tree Map: a Biologically Inspired Topological Map for Long-Distance Robot Navigation Marcus Augustine, Elmar Mair, Annett Stelzer, Frank Ortmeier, Darius Burschka and Michael Suppa Viscoelastic Analysis on a Novel Adhesive Tread-Based Footpad for Three-Dimensional Climbing Robots Xuan Wu, Shaoming Sun, Yongjie Zhang, Yanwei Liu, Chongyang Hu and Tao Mei Development of MorphHand: Design of an Underactuated Anthropomorphic Rubber Finger for a Prosthetic Hand Using Compliant Joints Tapio Veli Juhani Tarvainen, Wenwei Yu and Jose Gonzalez ============================================================================== Session Tu1-5: Grasping and Manipulation I Chairs: Yong Yu, Dan Zhang ------------------------------------------------------------------------------ Time: Tuesday December 11, 10:20 - 12:05 Room: Jade 5 ------------------------------------------------------------------------------ Design and Analysis of a Miniature 4-Dimensional Force/Torque Sensor Qiaokang Liang, Dan Zhang, Yaonan Wang and Yunjian Ge Dynamic Analysis of Planar Flexible 3-RRR Parallel Robots Qinghua Zhang, Xianmin Zhang and Jinglun Liang TACTIP - Tactile Fingertip Device, Challenges in Reduction of Size to Ready for Robot Hand Integration Benjamin Winstone, Gareth Griffiths, Chris Melhuish, Anthony Pipe and Jonathan Rossiter Biologically Inspired Tactile Classification of Object-hand and Object-world Interactions Barrett Heyneman and Mark Cutkosky Design Optimization for Lower Limb Assistive Mechanism Based on Manipulability Inclusive Principle Yong Yu and Wenyuan Liang Gripper Self-Alignment for Autonomous Pole-Grasping with a Biped Climbing Robot Yisheng Guan, Zhiguang Xiao, Wenqiang Wu, Junjun Wu, Haifei Zhu and Manjia Su ============================================================================== Session Tu1-6: Smart Structures, Materials, Actuators I Chairs: Huayan Pu, Shinichi Hirai ------------------------------------------------------------------------------ Time: Tuesday December 11, 10:20 - 12:05 Room: Jade 9 ------------------------------------------------------------------------------ Experimental Study on Oscillating Paddling Gait of an Eccentric Paddle Mechanism Huayan Pu, Yi Sun, Shugen Ma and Zhenbang Gong Achieving Compliant Spherical Linkage Designs from Compliant Planar Linkages Based on PRBM: A Spherical Young Mechanism Case Study Geng Li and Guimin Chen Dynamic Simulation of Six-strut Tensegrity Robot Rolling Shinichi Hirai and Ryo Imuta An Asteroid Landing Mechanism and Its Landing Simulation Zhijun Zhao, Jingdong Zhao and Hong Liu A Valveless Piezoelectric Pump with Multistage Y-shape Treelike Bifurcate Tubes Jun Huang and Jianhui Zhang Design of a High Capacity Electro Permanent Magnetic Adhesion for Climbing Robots Peter Ward and Dikai Liu ============================================================================== Session Tu1-7: Service Robots I Chairs: Genci Capi, Jianwei Zhang ------------------------------------------------------------------------------ Time: Tuesday December 11, 10:20 - 12:05 Room: Jade 7 ------------------------------------------------------------------------------ Redundant Actuation Research of the Quadruped Walking Chair with Parallel Leg Mechanism Lingfeng Sang, Hongbo Wang, Dianfan Zhang, Xiong Zhang, Xiangwang Kong and Yan Liang Development of a New Robotic System for Assisting and Guiding Visually Impaired People Genci Capi New Approach in Control of Assembly/Disassembly Line Served by Robotic Manipulator Mounted on Mobile Platform Eugenia Minca, Adrian Filipescu and Alina Voda Racket Control and its Experiments for Robot Playing Table Tennis Chunfang Liu, Yoshikazu Hayakawa and Akira Nakashima The Design of Robot for Space Station Operation Yongquan Chen, Yong Yang, Huihuan Qian and Yangsheng Xu Stress Relief Robotic System Based on Diffused Illumination Multi-touch Technology Xin Tian, Xinyu Wu, Jianquan Sun, Ping Jiang and Ruiqing Fu ============================================================================== Session Tu2-1: Humanoid Robots II Chairs: Yili Fu, Jingwei Guan ------------------------------------------------------------------------------ Time: Tuesday December 11, 13:30 - 15:00 Room: Jade 1 ------------------------------------------------------------------------------ Footprint Searching and Trajectory Design of a Humanoid Robot Pin-Yong Ling, Kenneth Chao, Han-Pang Huang and Jiu-Lou Yan Robust Swing Leg Placement under Large Disturbances Ruta Desai and Hartmut Geyer FPGA-implementation of Passivity-based Control for Elastic-joint Robot Qi Zhang, Zongwu Xie, Hegao Cai and Hong Liu Design And Development of A 7-DOF Humanoid Arm Xijian Huo, Yiwei Liu, Li Jiang and Hong Liu Study on Distance Measurement for NAO Humanoid Robot Jingwei Guan and Max Q.-H. Meng Designing Gestures with Semantic Meanings for Humanoid Robot Minhua Zheng and Max Q.-H. Meng ============================================================================== Session Tu2-2: Legged Robots II Chairs: Shuro Nakajima, Kenichi Narioka ------------------------------------------------------------------------------ Time: Tuesday December 11, 13:30 - 15:00 Room: Jade 2 ------------------------------------------------------------------------------ Concept of Adaptive Gait for Leg-wheel Robot, RT-Mover Shuro Nakajima and Kazuhisa Ietomi Stable Running Velocity Change of Biped Robot Based on Virtual Torque Jae Uk Cho, Je Sung Yeon and Jong Hyeon Park Development of a Minimalistic Pneumatic Quadruped Robot for Fast Locomotion Kenichi Narioka, Andre Rosendo, Alexander Sproewitz and Koh Hosoda The Walk-&-Roller: A Multimodal Robotic Vehicle Capable of Quasistatic Three-Legged Rolling Motion Mahmood Karimi, Ky Woodard, Benjamin A. Sams and Thomas R. Bewley Stepping to Recover: A 3D-LIPM Based Push Recovery and Fall Management Scheme for Biped Robots Awais Yasin, Qiang Huang, Zhangguo Yu and Weimin Zhang A Miniature Biped Wall-climbing Robot for Inspection of Magnetic Metal Surfaces Zhiqiang Bi, Yisheng Guan, Shizhong Chen, Haifei Zhu and Hong Zhang ============================================================================== Session Tu2-3: Vision/Image Processing II Chairs: Wei Yang, Ying Liu ------------------------------------------------------------------------------ Time: Tuesday December 11, 13:30 - 15:00 Room: Jade 3 ------------------------------------------------------------------------------ Histogram of Silhouette Direction Code: An Efficient HOG-based Descriptor for Accurate Human Detection Wei Yang, Zhan Song and Xinyu Wu Probabilistic Block-Matching Based 6D Camera Localization Damien Vivet, Clement Deymier, Benoit Priot and Vincent Calmettes Moving Target Detection based on the Properties of Corners Bin Leng, Qing He, Dewen Zeng, Jian Cao, Guan Guan, Hongwei Xu, Xiaoling Wu and Weimin Zheng Optimal Quantization of JPEG2000 Baseline Compression in RGB Space Ying Liu, Yimin Zhou and Guoqing Xu Monocular Vision Tracking Based On Particle Filter and Hu Moment Xiuzhi Li, Xue Zhao and Songmin Jia Robust Optical Flow Estimation for Illumination Changes Xiuzhi Li, Songmin Jia and Xue Zhao ============================================================================== Session Tu2-4: Biologically Inspired Robotics II Chairs: Tetsuro Funato, Shinya Aoi ------------------------------------------------------------------------------ Time: Tuesday December 11, 13:30 - 15:00 Room: Jade 8 ------------------------------------------------------------------------------ Multiscale Dynamic Modeling of Flexibility in Myosin V using a Planar Mechanical Model Mahdi Haghshenas-Jaryani and Alan Bowling Design of An Anthropomorphic Tendon-Driven Robotic Finger Shouhei Shirafuji, Shuhei Ikemoto and Koh Hosoda A System Model That Focuses on Kinematic Synergy for Understanding Human Control Structure Tetsuro Funato, Shinya Aoi, Nozomi Tomita and Kazuo Tsuchiya Cusp Catastrophe Embedded in Gait Transition of a Quadruped Robot Driven by Nonlinear Oscillators with Phase Resetting Shinya Aoi, Daiki Katayama, Soichiro Fujiki, Takehisa Kohda, Kei Senda and Kazuo Tsuchiya Self-Stabilizing Function of Two Dimensional human Lower Limb Musculoskeletal System Handdeut Chang, Yasuhiro Sugimoto, Koichi Osuka and Yoshiyuki Sankai Improving Adaptive Walking of a Biped Robot on a Splitbelt Treadmill by Controlling the Interlimb Coordination Soichiro Fujiki, Shinya Aoi, Kei Senda and Kazuo Tsuchiya ============================================================================== Session Tu2-5: Grasping and Manipulation II Chairs: Johannes Alexander Coy, Dikai Liu ------------------------------------------------------------------------------ Time: Tuesday December 11, 13:30 - 15:00 Room: Jade 5 ------------------------------------------------------------------------------ Motion Control of Instantaneous Force for an Artificial Muscle Manipulator with Variable Rheological Joint Hiroki Tomori, Suguru Nagai, Tatsuo Majima and Taro Nakamura Development and Study of a Robot for Transferring Mycobacterium Tuberculosis Samples Yan Wang, Guanyang Liu and Chao Chen A Comparative Study of H(inf) and PID Control for Indirect Deformable Object Manipulation Steven Kinio and Alexandru Patriciu Analysis of a Contact Problem for Tactile Sensors and a Computationally Effective Simulation for Grasping Dmitry Sinyukov, Taskin Padir and Eduardo Torres-Jara Studies of Adaptive Control Methods Based on VSC for Trajectory Tracking of Robotic Manipulators Jingmei Zhai, Haiyang He and Bo Kang First Step Towards a Flexible Design Kit Johannes Alexander Coy, Jan David Jerome Gumprecht, Daniel Bernd Roppenecker and Tim Christian Lueth ============================================================================== Session Tu2-6: Machine Learning I Chairs: Han Wang, Yiannis Gatsoulis ------------------------------------------------------------------------------ Time: Tuesday December 11, 13:30 - 15:00 Room: Jade 9 ------------------------------------------------------------------------------ 7-Motion Discrimination Technique for Forearms Using Real-Time EMG Signals Nobutaka Tsujiuchi, Haruaki Mizuno, Takayuki Koizumi and Shinya Yamada Classifier Ensemble with Incremental Learning for Disaster Victim Detection Bhuman Soni and Arcot Sowmya Closed-loop Multiple View Registration Xiaowei Shao, Yun Shi, Yulin Duan, Huijing Zhao and Ryosuke Shibasaki Agricultural Produce Grading by Computer Vision Using Genetic Programming Panitnat Yimyam and Adrain Clark Biologically Inspired Intrinsically Motivated Learning for Service Robots Based on Novelty Detection and Habituation Yiannis Gatsoulis, Chris Burbridge and T. Martin McGinnity A Fast and Robust Head Pose Estimation System Based on Depth Data Xiaozheng Mou and Han Wang ============================================================================== Session Tu2-7: SLAM I Chairs: Aiguo Ming, Ioannis Rekleitis ------------------------------------------------------------------------------ Time: Tuesday December 11, 13:30 - 15:00 Room: Jade 7 ------------------------------------------------------------------------------ A Novel Mapping Strategy based on Neocortex Model: Pre-liminary Results by Hierarchical Temporal Memory Xinzheng Zhang, Jianfen Zhang, Ahmad B. Rad, Xiaochun Mai and Yichen Jin Monocular SLAM: Using Trapezoids to Model Landmark Uncertainties Mohammad Hossein Mirabdollah and Barrbel Mertsching Improving 3D Indoor Mapping with Motion Data Jianhao Du, Yongsheng Ou and Weihua Sheng Real-time Monocular Visual Self-localization Approach Using Natural Circular Landmarks for Indoor Navigation Yuandong Sun, Ning Ding, Huihuan Qian and Yangsheng Xu Simultaneous Localization and Uncertainty Reduction on Maps (SLURM): Ear based Exploration Ioannis Rekleitis Mobile Robot Parallel PF-SLAM Based on OpenMP Songmin Jia, Xiaolin Yin and Xiuzhi Li ============================================================================== Session Tu3-1: Underwater Robots I Chairs: Lige Zhang, Gert Toming ------------------------------------------------------------------------------ Time: Tuesday December 11, 15:20 - 16:50 Room: Jade 1 ------------------------------------------------------------------------------ Underwater Object Detection and Localization Based on Multi-Beam Sonar Image Processing Liyuan Weng, Min Li, Zhenbang Gong and Shugen Ma Line Formation Algorithm in a Self-organized Swarm of Micro-underwater Unmanned Vehicles Thomas Sousselier, Johann Dreo and Jean-Philippe Brunet Kinematics Study on Pectoral Fins of Koi Carp by Digital Image Processing Lei Wang, Bo Liu, Min Xu, Jie Yang and Shiwu Zhang Fluid Dynamics Experiments with a Passive Robot in Regular Turbulence Gert Toming, Taavi Salumae, Asko Ristolainen, Francesco Visentin, Otar Akanyeti and Maarja Kruusmaa Mapping and Visualizing Ancient Water Storage Systems with an ROV -- An Approach Based on Fusing Stationary Scans within a Particle Filter William McVicker, Jeffery Forrester, Timothy Gambin, Jane Lehr, Zoe J. Wood and Christopher M. Clark Hardware-in-the-Loop Verification for 3D Obstacle Avoidance Algorithm of an Underactuated Flat-Fish Type AUV Saravanakumar Subramanian, Thomas George and Asokan Thondiyath ============================================================================== Session Tu3-2: Biomimicking I Chairs: Liwei Shi, Alexey Gribovskiy ------------------------------------------------------------------------------ Time: Tuesday December 11, 15:20 - 16:50 Room: Jade 2 ------------------------------------------------------------------------------ Development of a Venus Flytrap-inspired Robotic Flytrap Liwei Shi, Shuxiang Guo, Hiroki Kudo and Kinji Asaka Robot Tadpole with a Novel Biomimetic Wire-driven Propulsor Baofeng Liao, Zheng Li and Ruxu Du CPG Parameter Search for a Biomimetic Robotic Fish Based on Particle Swarm Optimization Zhengxing Wu, Junzhi Yu and Min Tan Numerical Analysis of Biomimetic Gannet Impacting with Water during Plunge-diving Xingbang Yang, Tianmiao Wang, Jianhong Liang, Guocai Yao, Yang Chen and Qi Shen A Bio-mimetic Fingertip That Detects Force and Vibration Modalities and its Application to Surface Identification Katudampe Vithanage Damith Suresh Chathuranga, Van Anh Ho and Shinichi Hirai Building a Safe Robot for Behavioral Biology Experiments Alexey Gribovskiy, Jose Halloy, Jean-Louis Deneubourg and Francesco Mondada ============================================================================== Session Tu3-3: Medical & Surgery Robots I Chairs: Med Amine Laribi, Daniel Bernd Roppenecker ------------------------------------------------------------------------------ Time: Tuesday December 11, 15:20 - 16:50 Room: Jade 3 ------------------------------------------------------------------------------ Modeling of Flexible Arm with Triangular Notches for Applications in Single Port Access Abdominal Surgery Wei Dong, Wenlong Yang, Dawei Han and Zhijiang Du Development of a Maxillofacial Multi-arm Surgery Robot Xiangzhan Kong, Xingguang Duan and Yonggui Wang A Design of Slave Surgical Robot Based on Motion Capture Med Amine Laribi, Thomas Riviere, Marc Arsicault and Said Zeghloul Statistical Atlas Based Registration and Planning for Ablating Bone Tumors in Minimally Invasive Interventions Xin Kang, Hongliang Ren, Jing Li and Waipan Yau Interdisciplinary Development of a Single-Port Robot Daniel Bernd Roppenecker, Alexander Meining, Gerald Horst, Heinz Ulbrich and Tim Christian Lueth Towards the Development of a Robust Model for Estimating Wrist Torque at Different Wrist Angles Mojgan Tavakolan and Carlo Menon ============================================================================== Session Tu3-4: Mobile Robots I Chairs: Rene Matthias, Jin-hui Zhu ------------------------------------------------------------------------------ Time: Tuesday December 11, 15:20 - 16:50 Room: Jade 8 ------------------------------------------------------------------------------ Bond Graph Modeling of an Over-actuated Intelligent Autonomous Vehicle with Decoupled Steering Wheel Tarun Kumar Bera, Arun Kumar Samantaray, Rochdi Merzouki and Belkacem Ouldbouamama Introducing a Standardized Electronics Architecture for Multi-Modular Self-Reconfigurable Mobile Robots Rene Matthias and Heinz Worn Design of a Wheel-type Mobile Robot for Rough Terrain Jin-hui Zhu, Bin-bin Li, Russel Thomas James, Yi-zhen Li and Hua-qing Min Passive Scattering Transform Bilateral Teleoperation for an Internet-based Mobile Robot Yibin Chen, Ning Xi and Hongyi Li Design of Vertical Climbing Robot with Compliant Foot Yanwei Liu, Chongyang Hu, Xuan Wu, Yongjie Zhang, Tao Mei and Shaoming Sun ============================================================================== Session Tu3-5: Grasping and Manipulation III Chairs: Heping Chen, De Xu ------------------------------------------------------------------------------ Time: Tuesday December 11, 15:20 - 16:50 Room: Jade 5 ------------------------------------------------------------------------------ Integrative Joint for Space Manipulator Yu He, Hui Li, Zhihong Jiang, Que Dong, Bo Wei and Qiang Huang Dynamic Simulation and Analysis for Bolt and Nut Mating of Dual Arm Robot Fuhai Zhang, Lei Hua, Yili Fu and Bin Guo An Algorithm for Object Manipulation with Three-fingered Robotic Hands Qin Zhang, Zhi Chen and Kamiya Yoshitsugu Obstacle Modeling for Manipulator Using Iterative Least Square (ILS) and Iterative Closest Point (ICP) Base on Kinect Wantana Sukmanee, Miti Ruchanurucks and Panjawee Rakprayoon ============================================================================== Session Tu3-6: Machine Learning II Chairs: Manabu Gouko, Dan Xu ------------------------------------------------------------------------------ Time: Tuesday December 11, 15:20 - 16:50 Room: Jade 9 ------------------------------------------------------------------------------ A Novel Formalization For Robot Cognition Based on Affordance Model Chang'an Yi, Huaqing Min, Ronghua Luo, Zhipeng Zhong and Xiaowen Shen An Improved Incremental Online Training Algorithm for Reducing the Influence of Muscle Fatigue in sEMG based HMI Yi Zhang, Xinli Xu, Yuan Luo, Huosheng Hu and Huiyu Zhou Real-time Dynamic Gesture Recognition System based on Depth Perception for Robot Navigation Dan Xu, Yen-Lun Chen, Chuan Lin, Xin Kong and Xinyu Wu A Spectral Clustering Method Combining Path with Density Hongwei Xu, Jiafeng He, Qing He, Dewen Zeng, Guan Guan, Bin Leng and Weimin Zheng On Learning Coordination Among Soccer Agents Syed Ali Raza, Muhammad Usman Sharif and Sajjad Haider Reinforcement Learning for Discernment Behavior Acquisition Manabu Gouko, Yuichi Kobayashi and Chyon Hae Kim ============================================================================== Session Tu3-7: SLAM II Chairs: Han Wang, Xinzheng Zhang ------------------------------------------------------------------------------ Time: Tuesday December 11, 15:20 - 16:50 Room: Jade 7 ------------------------------------------------------------------------------ Visual Odometry using RGB-D Camera on Ceiling Vision Han Wang, Wei Mou, Hendra Suratno, Gerald Seet, Maohai Li, M.W.S. Lau and Danwei Wang Estimating Terrain Elevation Maps from Sparse and Uncertain Multi-Sensor Data Dominik Belter, Przemyslaw Labecki and Piotr Skrzypczynski A New Localization Method for Mobile Robot by Data Fusion of Vision Sensor Data and Motion Sensor Data Tae-jae Lee, Wook Bahn, Byung-moon Jang, Ho-Jeong Song and Dong-il Cho Localization of a Simple Robot with Low Computational-power Using a Single Short Range Sensor Demetris Stavrou and Christos Panayiotou A New Algorithm for Robot Localization Using Monocular Vision and Inertia/Odometry Sensors Kai Wang, Yunhui Liu and Luyang Li Keypoints Based Laser Scan Matching - A Robust Approach Ranjit Ray, Debajyoti Banerji, Sambhunath Nandy and Sankar Nath Shome Incremental Human Motion Map System and Human Walking Behavior Representation in Indoor Environment Tetsuya Wada, Zhidong Wang, Yuji Ogawa, Yasuhisa Hirata and Kazuhiro Kosuge ============================================================================== === Wednesday December 12, 2012 === ============================================================================== Session We1-1: Underwater Robots II Chairs: Young-sun Ryuh, Shugen Ma ------------------------------------------------------------------------------ Time: Wednesday December 12, 10:20 - 12:05 Room: Jade 1 ------------------------------------------------------------------------------ Analysis of Swimming Patterns of Diving Beetles incorporating Robotics Hee Joong Kim and Jihong Lee Characteristics Evaluation of the Vertical Motion of a Spherical Chunfeng Yue, Shuxiang Guo, Liwei Shi and Juan Du Effect Analysis of Chordwise Flexibility on Propulsion Performance of Oscillating Pectoral Foils Lige Zhang, Shusheng Bi, Yueri Cai, Chuanmeng Niu and Hongwei Ma Bio-inspired Multi-robot Communication Through Behavior Recognition Michael Novitzky, Charles Pippin, Thomas Collins, Tucker Balch and Michael West Multi-agent Control and Implementation of Bio-inspired Underwater Robots for Mariculture Monitoring and Control Young-sun Ryuh and Jeon-Il Moon ============================================================================== Session We1-2: Biomimicking II Chairs: Shuxiang Guo, Yili Fu ------------------------------------------------------------------------------ Time: Wednesday December 12, 10:20 - 12:05 Room: Jade 2 ------------------------------------------------------------------------------ A Rat-like Robot WR-5 for Animal Behavior Research Qing Shi, Hiroyuki Ishii, Hikaru Sugita, Shinichi Kinoshita, Zhuohua Lin, Atsuo Takanishi, Satoshi Okabayashi, Naritoshi Iida and Hiroshi Kimura A New Design and Analysis of Compliant Spine Mechanism for Caterpillar Climbing Robot Wei Wang and Dawei Xie Design and Kinematics Simulation for Bionic Crank-slider Mechanism of Jumping Robot Kai Zhao, Junmao Yin, Diansheng Chen and Tianmiao Wang 4D Simulation and Control System for Life Science Automation Yanfei Li, Steffen Junginger, Norbert Stoll and Kerstin Thurow Studies of Motor Synergies in Generating Optimal Goal-directed Movements in Human-like Robotic Arm Kin Chung Denny Fu, Yutaka Nakamura, Tomoyuki Yamamoto and Hiroshi Ishiguro Development and Depth Control of a Robotic Fish Mimicking Cownose Ray Chuanmeng Niu, Lige Zhang, Shusheng Bi and Yueri Cai ============================================================================== Session We1-3: Medical & Surgery Robots II Chairs: Ran Zhou, Jason Gu ------------------------------------------------------------------------------ Time: Wednesday December 12, 10:20 - 12:05 Room: Jade 3 ------------------------------------------------------------------------------ Endoscopes Shape Reconstruction Based on Electromagnetic Localization and Curve Fitting Xiaoxiao Li, Baopu Li, Shuang Song, Chao Hu and Max Q.-H. Meng Wireless Capsule Endoscopy Video Automatic Segmentation Ran Zhou, Baopu Li, Zhe Sun, Chao Hu and Max Q.-H. Meng Ankle-Angle Analysis of Drop-Foot Patients in Walking with FES Ningjia Yang, Feng Duan, Sicen Liu, Lili Dai, Jeffery Too Chuan Tan and Binbin Xu Design and Optimization of a Parallel Guidance Device for Minimal Invasive Spinal Surgery Peng Gao, Ying Hu, Haiyang Jin, Peng Zhang and Jianwei Zhang Posture Study for Self-training System of Patient Transfer Zhifeng Huang, Ayanori Nagata, Masako Kanai-Pak, Jukai Maeda, Yasuko Kitajima, Mitsuhiro Nakamura, Kyoko Aida, Noriaki Kuwahara, Taiki Ogata and Jun Ota Kinematics, Control and Workspace Analysis of a Bowden Wire Actuated Manipulator for Minimally Invasive Single-port Surgery Salman Can, Brian Jensen, Emmanuel Carlos Dean-Leon, Christoph Staub, Alois Knoll, Adam Fiolka, Armin Schneider, Alexander Meining and Hubertus Feussner ============================================================================== Session We1-4: Mobile Robots II Chairs: Yunhui Liu, Kazuhito Yokoi ------------------------------------------------------------------------------ Time: Wednesday December 12, 10:20 - 12:05 Room: Jade 8 ------------------------------------------------------------------------------ Variable-resolution Velocity Roadmap Generation Considering Safety Constraints for Mobile Robots Jingyu Xiang, Yuichi Tazaki, Tatsuya Suzuki and Blaine Levedahl Mobile Robot Action Based on QR code Identification Wenyu Li, Feng Duan, Bo Chen, Jing Yuan, Jeffery Too Chuan Tan and Binbin Xun Event-based Particle Filtering for Robot Self-localization David Weikersdorfer and Jorg Conradt Ball Dynamics Simulation on OpenHRP3 Rafael Cisneros, Eiichi Yoshida and Kazuhito Yokoi A Globally Asymptotic Attitude Estimation Using Complementary Filtering Benziane Lotfi, Benallegue Abdelaziz and El Hadri Abdelhafid A Real-time Method for Detecting Sharp Images in Visual Navigation Junjun Wu, Yisheng Guan, Manjia Su and Hong Zhang ============================================================================== Session We1-5: Aerial Robots I Chairs: Gerasimos Rigatos, Michael Wang ------------------------------------------------------------------------------ Time: Wednesday December 12, 10:20 - 12:05 Room: Jade 5 ------------------------------------------------------------------------------ Sensor Fusion for UAV Navigation Based on Derivative-free Nonlinear Kalman Filtering Gerasimos Rigatos Monocular Visual SLAM for Small UAVs in GPS-denied Environments Chaolei Wang, Tianmiao Wang, Jianhong Liang, Yang Chen, Yicheng Zhang and Cong Wang Self-tuning of Two-axis Autopilot for Small Airplanes and Aerial Robots Drago Matko, Tine Tomazic and Rok Markovic Structural Target Recognition Algorithm for Visual Guidance of Small Unmanned Helicopters Yi Zhou, Tianmiao Wang, Jianhong Liang, Chaolei Wang and Yicheng Zhang Cooperative vSLAM Based on UAV Application Xiaodong Li and Nabil Aouf ============================================================================== Session We1-6: Smart Structures, Materials, Actuators II Chairs: Masamitsu Kurisu, Xinkai Chen ------------------------------------------------------------------------------ Time: Wednesday December 12, 10:20 - 12:05 Room: Jade 9 ------------------------------------------------------------------------------ An Omnidirectional Mobile Robot: Concept and Analysis Shugen Ma, Chao Ren and Changlong Ye Fault Detection and Diagnosis based on Sparse Representation Classification (SRC) Lijun Wu, Xiaogang Chen, Yi Peng, Qixiang Ye and Jianbin Jiao Nonlinear Contact and Impact of Revolute Joints Rongqiang Liu, Jing Zhang, Hongwei Guo and Zongquan Deng Development of Hopping Mechanism using Permanent Magnets for A Tiny Asteroid Rover - Estimation of Hopping Velocity - Masamitsu Kurisu Optimization Design for Linkage Mechanism of Dexterous hand Based on Reliability Analysis of Kinematic Accuracy Nianfeng Wang, Shuai Wei and Xianmin Zhang Development of a Rotary-percussive Drilling Mechanism (RPDM) Qiquan Quan, Peng Li, Shengyuan Jiang, Xuyan Hou, Dewei Tang, Zongquan Deng and Weiwei Zhang ============================================================================== Session We1-7: Service Robots II Chairs: Toshikatsu Suzuki, Chi Zhu ------------------------------------------------------------------------------ Time: Wednesday December 12, 10:20 - 12:05 Room: Jade 7 ------------------------------------------------------------------------------ The Control System Design of Automatic Weeding Robot Based on Visual navigation Chuanbo Qin, Qiliang Du, Lianfang Tian and Xiaogang Huang A SIFT-Based Person Identification using a Distance-Dependent Appearance Model for a Person Following Robot Junji Satake, Masaya Chiba and Jun Miura Posture Estimation using a 3D Range Camera for Standing-Up Motion Assist Robot Natsumi Tsukada, Kazuya Ogura, Aiguo Ming and Makoto Shimojo Power Assistance on Slope of an Omnidirectional Hybrid Walker and Wheelchair Toshikatsu Suzuki, Chi Zhu, Masataka Yoshioka, Shota Simazu, Yuichiro Yoshikawa, Yuji Okada, Yuling Yan, Haoyong Yu and Feng Dung Study on Cooperation between Humanoid Robot Nao and Barrett WAM Tingting Liu and Max Q.-H. Meng Gradient Calibration for the RCBHT Cantilever Snap Verification System. Juan Rojas, Kensuke Harada, Hiromu Onda, Natsuki Yamanobe, Eichi Yoshida, Kazuki Nagata and Yoshihiro Kawai ============================================================================== Session We2-1: Micro/nano Devices & Robots Chairs: Markus Kagerer, Kundong Wang ------------------------------------------------------------------------------ Time: Wednesday December 12, 13:30 - 15:00 Room: Jade 1 ------------------------------------------------------------------------------ Manufacturing of Patient-specific Pancreas Models for Surgical Resections Johannes Schwaiger, Markus Kagerer, Mattias Traeger, Sonja Gillen, Martin Dobritz, Joerg Kleeff, Hubertus Feussner and Tim C. Lueth Design of an Aerostatic Imprint Head with Off-plane Alignment Functionality for Nanoimprint Lithography Chong Du, Weihai Chen, Yunjie Wu, Wenjie Chen and Mei Yuan Inchworm-like Micro Robot for Human Intestine Kundong Wang and Xuan Jin Design and Analysis of a New Flexure-based XY Micropositioning Stage with Decoupled Motion Characteristic Xiantao Sun, Weihai Chen, Rui Zhou, Jianbin Zhang and Wenjie Chen An Inchworm Robot using Electro-conjugate Fluid Shouhei Ueno, Kenjiro Takemura, Shinichi Yokota and Kazuya Edamura Milling Force Mixed-signal Denoising Based on ICA in High Speed Micro-milling Yue Sun, Yongsheng Liu, Zhanjiang Yu, Huadong Yu and Jinkai Xu ============================================================================== Session We2-2: Biomimicking III Chairs: Gi-Hun Yang, Minoru Hashimoto ------------------------------------------------------------------------------ Time: Wednesday December 12, 13:30 - 15:00 Room: Jade 2 ------------------------------------------------------------------------------ Numerical Simulation of Odor Plume in Indoor Ventilated Environments for Studying Odor Source Localization with Mobile Robots Xiao-Bao Jiang, Qing-Hao Meng, Yang Wang, Ming Zeng and Wei Li Finding and Utilizing Self-preserving Functions in Blood Pulsation -Development for Ethanol Based Artificial Circulation System- Chyon Hae Kim, Yuki Nishi, Shyunsuke Nagahama and Shigeki Sugano Obstacle Avoidance Research of Snake-like Robot based on Multi-sensor Information Fusion Qianying Wu, Junyao Gao, Chengzu Huang, Zhengyang Zhao, Cheng Wang, Xuandong Su, Huaxin Liu, Xin Li, Yi Liu and Zhe Xu Implementation and Navigation of a 3-DOF Fish Robot "ICHTHUS V5.5" Gi-Hun Yang, Sang-Hyo Lee, Hyun-Jin Lee and Young-Sun Ryuh Muscle Roles on Directional Change during Hopping of a Biomimetic Feline Hindlimb Andre Rosendo, Kenichi Narioka and Koh Hosoda Temporal Gait Parameters Captured by Surface Electromyography Measurement Chi Chong Chan and Wei-Hsin Liao ============================================================================== Session We2-3: Medical & Surgery Robots III Chairs: Xiaorui Zhu, Kazuhito Yokoi ------------------------------------------------------------------------------ Time: Wednesday December 12, 13:30 - 15:00 Room: Jade 3 ------------------------------------------------------------------------------ A Laser Sintered Miniature Gear Hub for a Surgical Robot and the Maximum Torque it Can Transmit Mattias F. Traeger, Daniel B. Roppenecker and Tim C. Lueth Workflow Analysis and Surgical Phase Recognition in Minimally Invasive Surgery Oliver Weede, Frank Dittrich, Brian Jensen, Alois Knoll, Dirk Wilhelm, Michael Kranzfelder, Hubertus Feussner, Armin Schneider and Heinz Worn Improvement of Dynamic Transparency of Haptic Devices by Using Spring Balance Rongfang Fan, Chen Zhao and Hanwang Zhao Design of a Miniaturized Active Endoscopic Capsule with Revolving Head Mechanism Xiaorui Zhu, Chunxin Qiu and Zhidong Shi Image-guided Steering of a Motorized Hand-Held Flexible Rhino Endoscope in ENT Diagnoses Chen Fang, Weiwei Sang, Jan D.J. Gumprecht, Gero Strauss and Tim C. Lueth Quantitative Evaluation of Human Rising movements from Chair in Terms of Physical Strain Imposed on Joints Kazunori Wada, Keisuke Hagiwara, Toshikazu Matsui and Nobuaki Nakazawa ============================================================================== Session We2-4: Human Robot Interaction I Chairs: Yi Zhang, Jian Huang ------------------------------------------------------------------------------ Time: Wednesday December 12, 13:30 - 15:00 Room: Jade 8 ------------------------------------------------------------------------------ A Multi-Sensor Armband based on Muscle and Motion Measurements James Cannan and Huosheng Hu Hand Tracking and Pose Recognition via Depth and Color Information Cheng Tang, Yongsheng Ou, Guolai Jiang, Qunqun Xie and Yangsheng Xu A Trifocal Tensor Based Camera-Projector System for Robot-Human Interaction Jinglin Shen and Nicholas Gans Tool Centered Learning from Demonstration for Robotic Arms with Visual Feedback Anh Son Phung, Jorn Malzahn, Frank Hoffmann and Torsten Bertram Measurement of the Relationship between Weight Perception and Upper Limb Movement Jian Huang, Tetsuya Tanino, Kazuki Wada and Nobuyasu Tomokuni Analyzing Stability of Haptic Interface using Linear Matrix Inequality Approach Quoc Viet Dang, Laurent Vermeiren, Antoine Dequidt and Michel Dambrine ============================================================================== Session We2-5: Aerial Robots II Chairs: Qiang Zhan, Ertugrul Cetinsoy ------------------------------------------------------------------------------ Time: Wednesday December 12, 13:30 - 15:00 Room: Jade 5 ------------------------------------------------------------------------------ 3D PRM Based Real-time Path Planning for UAV in Complex Environment Fei Yan, Yan Zhuang and Jizhong Xiao An Implement of RPV Control System for Small Unmanned Helicopters Yicheng Zhang, Tianmiao Wang, Jianhong Liang, Chaolei Wang, Yang Chen, Yi Zhou, Yubao Luan and Han Gao Aerial Localization of an RF Source in NLOS Condition Seyyed Mohammad Mehdi Dehghan, Mojtaba Farmani and Hadi Moradi Control System Design and Experiments of a Quadrotor Qiang Zhan, Junqing Wang and Xi Xi Dynamic IBVS Control of an Underactuated UAV Hamed Jabbari Asl, Giuseppe Oriolo and Hossein Bolandi Design and Simulation of a Holonomic Quadrotor UAV with Sub-Rotor Control Surfaces Ertugrul Cetinsoy ============================================================================== Session We2-6: Smart Structures, Materials, Actuators III Chairs: Haoyong Yu, Mahdy Eslamy ------------------------------------------------------------------------------ Time: Wednesday December 12, 13:30 - 15:00 Room: Jade 9 ------------------------------------------------------------------------------ Research on the Relationship between the Oscillating Vibrator Parameter and the Working Ability of Caudal-fin-type Valveless Piezoelectric Pump Liang Wang, Jianhui Zhang, Xiaoqi Hu and Jiamei Jin Kinematic Analysis and Optimal Design of A 3D Compliant Probe Xuchong Zhang, Zhong Chen and Xianmin Zhang An Attempt to Make a Large-scale Stacked-type Electrostatic Actuator for Artificial Muscles of Robots Makoto Ito and Keiji Saneyoshi Design and Analysis of a Novel Compact Compliant Actuator with Variable Impedance Haoyong Yu, Sunan Huang, Gong Chen, Siew-Lok Toh, Manolo STA Cruz, Yessine Ghorbel, Chi Zhu and Yuehong Yin An Easily Manufactured Structure and Its Analytic Solutions for Forward and Inverse Position of 1-2-3-SPS Type 6-DOF Basic Parallel Mechanism Tongzhu Yu, Huiping Shen, Jiaming Deng, Yixiao Kong, Hongbo Yin and Tingli Yang ============================================================================== Session We2-7: Service Robots III Chairs: Ryo Hanai, Yohan Noh ------------------------------------------------------------------------------ Time: Wednesday December 12, 13:30 - 15:00 Room: Jade 7 ------------------------------------------------------------------------------ Study of Service Robot Architecture Based on Middleware and Abstract Environment Qiongxiong Ma, Yanbiao Zou and Tie Zhang Doorway Passing of an Intelligent Wheelchair by Dynamically Generating Bézier Curve Trajectory Sen Wang, Ling Chen, Huosheng Hu and Klaus McDonald-Maier Development of an Assistive Device for Elderly People: Fuzzy Sensor Fusion Experimental Study Omar Nour, Ahmed Ramadan, Ahmed Abo-Ismail, Makasatsu Fujie and Atsuo Takanishi Proposal of Architecture and Implementation Process for IEC61508 Compliant, Dependable Robot Systems Ryo Hanai, Hajime Saito, Yoshihiro Nakabo, Kiyoshi Fujiwara, Takuya Ogure, Daichi Mizuguchi, Keiko Homma and Kohtaro Ohba Development of the Airway Management Training System WKA-5: Improvement of Mechanical Designs for High-Fidelity Patient Simulation Yohan Noh, Chunbao Wang, Mitsuhiro Tokumoto, Matsuoka Yusuke, Chihara Terunaga, Hiroyuki Ishii, Atsuo Takanishi, Toshiyuki Takayama and Satoru Shoji Study on a Practical Robotic Follower to Support Home Oxygen Therapy Patients -Prototype Development Applying the Inverted Pendulum Control- Masatsugu Iribe, Ryoichi Dasai, Gen Endo, Toshio Takubo, Tetsuya Kinugasa and Koichi Osuka ============================================================================== Session We3-1: Intelligent Systems I Chairs: Ronald Arkin, Markus Kagerer ------------------------------------------------------------------------------ Time: Wednesday December 12, 15:20 - 16:50 Room: Jade 1 ------------------------------------------------------------------------------ Primate-inspired Mental Rotations: Implications for Robot Control Ronald Arkin, Frank Dellaert and Joan Devassy Piezo Inkjet Drop-on-Demand Experimentation Platform Manufactured with Rapid Prototyping Techniques Enabling Future Technologies Markus Kagerer, Kenji Lars Eiler, Thomas Ottnad, Franz Irlinger and Tim Christian Lueth Map Integration of Human Trajectory with Sitting/Standing Position using LRF and Kinect Sensor Yuma Nihei, Ippei Samejima, Naotaka Hatao, Hiroshi Takemura and Satoshi Kagami An Online Gait Adaptation with SuperBot in Sloped Terrains Teawon Han, Nadeesha Ranasinghe, Luenin Barrios and Wei-Min Shen Study of Composite Fuzzy Control of Dissolved Oxygen in a Sequencing Batch Reactor Pilot Process of Synthetic Papermaking Wastewater Wenhao Shen, Erpan Tao, Li Ning and Tianlong Liu Bionic Eye System Based on Fuzzy Adaptive PID Control Yumei Zhou, Jun Luo, Juqi Hu, Hengyu Li and Shaorong Xie ============================================================================== Session We3-2: Biologically Inspired Robotics III Chairs: Kohei Nakajima, Minoru Hashimoto ------------------------------------------------------------------------------ Time: Wednesday December 12, 15:20 - 16:50 Room: Jade 2 ------------------------------------------------------------------------------ Local Information Transfer in Soft Robotic Arm Kohei Nakajima, Tao Li, Rongjie Kang, Emanuele Guglielmino, Darwin Caldwell and Rolf Pfeifer Active Walking Robot Mimicking Flat-Footed Passive Dynamic Walking Yuta Hanazawa, Hiroyuki Suda, Yu Iemura and Masaki Yamakita Adaptive RBFNN Type-2 Fuzzy Sliding Mode Controller for Robot Arm with Pneumatic Muscles Rezoug Amar, Hamerlain Mustapha and Tadjine Mohamed A Method for Optimal Design of an Inchworm Climbing Robot David Pagano, Dikai Liu and Kenneth Waldron A Simplified CPGs Network with Phase Oscillator Model for Locomotion Control of Snake-like Robot Mohamad Nor Norzalilah and Shugen Ma Modeling and Experimental Investigation of Viscoelastic Contact Between a Spiral-type Robotic Capsule and a Gastrointestinal Tract Hao Zhou, Gursel Alici, Trung Duc Than and Weihua Li ============================================================================== Session We3-3: Sensor Networks Chairs: Hongliang Ren, Tiantian Feng ------------------------------------------------------------------------------ Time: Wednesday December 12, 15:20 - 16:50 Room: Jade 3 ------------------------------------------------------------------------------ A Fully-autonomous Hovercraft Inspired by Bees: Wall Following and Speed Control in Straight and Tapered Corridors Frederic L. Roubieu, Julien Serres, Nicolas Franceschini, Franck Ruffier and Stephane Viollet Behavior-based Fuzzy Control Framework for Multi-Mobile-Robot Deployment Xu Zhong and Yu Zhou Design and Implementation of Interconnecting IPv6 Wireless Sensor Networks with the Internet Guoping Yu, Huasong Min, Hongxing Wei and Haojun Huang Design of Transmote: a Modular Self-Reconfigurable Robot with Versatile Transformation Capabilities Guifang Qiao, Guangming Song, Jun Zhang, Hongtao Sun, Weiguo Wang and Aiguo Song Design of a Self-reconfigurable Wireless Network System for Modular Self-reconfigurable Robots Guifang Qiao, Guangming Song, Jun Zhang, Hongtao Sun, Jian Ge and Weiguo Wang Teleoperation of Humanoid Motion Using 3G Communication Network Qian Xu, Qiang Huang, Xuechao Chen, Awais Yasin and Zhangguo Yu ============================================================================== Session We3-4: Human Robot Interaction II Chairs: Wenhuan Cui, Xia Zhang ------------------------------------------------------------------------------ Time: Wednesday December 12, 15:20 - 16:50 Room: Jade 8 ------------------------------------------------------------------------------ Research on Healthy Subject Gait Cycle Phase at Different Walking Speeds Huifeng Zhang, Jinwu Qian, Linyong Shen and Yanan Zhang Robust Hand Tracking with Refined CAMShift Based on Combination of Depth and Image Features Wenhuan Cui, Wenmin Wang and Hong Liu The Application of Neural Oscillators as Trajectory Generators to a Wearable Robotic Suit Xia Zhang and Minoru Hashimoto Ethological Evaluation of Human-Robot Interaction: Are Children More Efficient and Motivated with Computer, Virtual Agent or Robots? Celine Jost, Vanessa Andre, Brigitte Le Pevedic, Alban Lemasson, Martine Hausberger and Dominique Duhaut Human Position Tracking for Side By Side Walking Mobile Robot using Foot Positions Pakorn Udsatid, Nattee Niparnan and Attawith Sudsang Human Gesture Recognition through a Kinect Sensor Ye Gu, Ha Do, Yongsheng Ou and Weihua Sheng ============================================================================== Session We3-5: Rehabilitation Robots I Chairs: Weihai Chen, Zhibin Song ------------------------------------------------------------------------------ Time: Wednesday December 12, 15:20 - 16:50 Room: Jade 5 ------------------------------------------------------------------------------ Posture Control Using New Ankle-Foot Assist Device with Stewart Platform Type Parallel Link Mechanisms Takayuki Onodera, Ming Ding, Hiroshi Takemura and Hiroshi Mizoguchi Prototyping a Parallel Link Arm Driven by Small Pneumatic Actuator for Shoulder Prostheses Masashi Sekine, Kento Sugimori, Tapio Tarvainen and Wenwei Yu Finite Element Analysis and Optimized Design of Exoskeleton for Lower Extremity Rehabilitation Training Baijun Ding, Jinwu Qian, Linyong Shen and Yanan Zhang Recognition of Motion of Human Upper Limb using SEMG in Real Time: Towards Bilateral Rehabilitation Zhibin Song, Shuxiang Guo, Muye Pang and Songyuan Zhang Wearable Dummy to Simulate Joint Impairment: Model for Discontinuous Friction Resistance Due to Arthritis Shun Ishikawa, Shogo Okamoto, Yasuhiro Akiyama, Kaoru Isogai, Yoji Yamada and Susumu Hara The Mechanism of Synchronization-Based Control Using Neural Oscillators for Walking Assist Xia Zhang and Minoru Hashimoto ============================================================================== Session We3-6: Machine Learning III Chairs: Andrea Soltoggio, I-Ming Chen ------------------------------------------------------------------------------ Time: Wednesday December 12, 15:20 - 16:50 Room: Jade 9 ------------------------------------------------------------------------------ Robotic Reactive Motion with Jerk Reduction Jared Johnson and Jeremiah Neubert Using Movement Primitives in Interpreting and Decomposing Complex Trajectories in Learning-by-doing Andrea Soltoggio, Andre Lemme and Jochen J. Steil Teaching Coordinated Strategies to Soccer Robots via Imitation Saleha Raza, Sajjad Haider and Mary-Anne Williams Multi-Robot Gas-Source Localization based on Reinforcement Learning Jian-Long Wei, Qing-Hao Meng, Ci Yan, Ming Zeng and Wei Li Context-GMM: Incremental Learning of Sparse Priors for Gaussian Mixture Regression Arturo Ribes, Jesus Cerquides, Yiannis Demiris and Ramon Lopez de Mantaras Effect of Low Level Imitation Strategy on an Autonomous Multi-robot System Using On-line Learning for Cognitive Map Building Abdelhak Chatty, Syed Khursheed Hasnain, Philippe Gaussier, Ilhem Kallel, Philippe Laroque and Adel M. Alimi ============================================================================== Session We3-7: Man Machine Interface I Chairs: Horacio Martinez, Yujin Wakita ------------------------------------------------------------------------------ Time: Wednesday December 12, 15:20 - 16:50 Room: Jade 7 ------------------------------------------------------------------------------ Real-time 3D Visualization in an Open Architecture of a Robotic Application in the Biomechanics Horacio Martinez, Constantin von Deimling, Heinz Ulbrich, Rudiger von Eisenhart-Rothe and Rainer Burgkart Head Movements Based Control of an Intelligent Wheelchair in an Indoor Environment Ericka Janet Rechy-Ramirez, Huosheng Hu and Klaus McDonald-Maier Effect of Dynamic Change of Arm Position on Myoelectric Pattern Recognition Jianwei Liu, Dingguo Zhang, Jiayuan He and Xiangyang Zhu Generic Bioelectrical Potential Signal Human-computer Interface with Electrostimulation Feedback Noel Segura-Meraz, Yasuhisa Hasegawa and Junji Takahashi User Evaluation to Apply the Robotic Arm RAPUDA for an Upper-limb Disabilities Patient's Daily Life Yujin Wakita, Woo-Keun Yoon and Natsuki Yamanobe A Real-time Intelligent Shoe-keyboard for Computer Input Yanbo Tao, Tinlun Lam, Huihuan Qian and Yangsheng Xu ============================================================================== === Thursday December 13, 2012 === ============================================================================== Session Th1-1: Intelligent Systems II Chairs: Wenrong Wu, Grienggrai Rajchakit ------------------------------------------------------------------------------ Time: Thursday December 13, 10:20 - 12:05 Room: Jade 1 ------------------------------------------------------------------------------ Decision Model for Determining the Behavior of Pedestrians Approaching from Both Sides of a Blind Corner by Considering Tactics and Information Uncertainty Tamao Okamoto and Yoji Yamada Exponential Stability of Switched Linear Systems with Interval Time-varying Delays Grienggrai Rajchakit Human Recognition with a Hardware-Accelerated Multi-Prototype Learning and Classification System Indra Bagus Wicaksono, Fengwei An and Hans Juergen Mattausch Primitive Action Learning Using Fuzzy Neural Networks Yiannis Gatsoulis, Indrazno Siradjuddin and T. Martin McGinnity A Precision Robotic system for 3-D Micro-Assembly Wenrong Wu, dahai Yu, kai Du, zurong Qiu and xinhan Huang Hydraulic Prosthetic Knee Mechanism With Neural Network Interphase K Chaitanya, Y. Kalyan Chakravarthy, A Srinath and K. Rajasekhara Rao ============================================================================== Session Th1-2: Motion Planning I Chairs: Chuangqi Wang, Wenfu Xu ------------------------------------------------------------------------------ Time: Thursday December 13, 10:20 - 12:05 Room: Jade 2 ------------------------------------------------------------------------------ Path Updating Tree based Fast Path Planner for Unpredictable Changing Environments Chuangqi Wang, Bin Chen and Hong Liu Path Planning of Dual-arm Space Robot for Keeping the Base Inertially Stabilized during Target Capturing Wenfu Xu, Houde Liu, Yu She and Bin Liang A Cell Based Voronoi Roadmap for Motion Planning of Articulated Robots Using Movement Primitives Christian Kohrt, Anthony Pipe, Janice Kiely, Richard Stamp and Gudrun Schiedermeier A Floyd-Genetic Algorithm Based Path Planning System for Mobile Robots in Laboratory Automation Hui Liu, Norbert Stoll, Steffen Junginger and Kerstin Thurow Path Planning Algorithm for Space Manipulator with a Minimum Energy Demand Wing Kwong Chung and Yangsheng Xu The Dynamics Analysis For a Five DOF Serial-parallel Manipulator With RP-(2-RRU/1-RUU) Structure Chao Hou, Peng Zhang, Ying Hu and Jianwei Zhang ============================================================================== Session Th1-3: Tele-robotics and Networked Robots Chairs: Qian Xu, Abderrahmane Kheddar ------------------------------------------------------------------------------ Time: Thursday December 13, 10:20 - 12:05 Room: Jade 3 ------------------------------------------------------------------------------ Development of a Teleoperation System With a New Workspace Spanning Technique Mohamed Mamdouh and Ahmed Ramadan Tele-Impedance Control of a Variable Stiffness Prosthetic Hand Elif Hocaoglu and Volkan Patoglu A Remote Control System with Combination of Manual and Automatic Control Using Gripping Force Kazuma Shimojo, Yasuo Hayashibara and Ken Tomiyama Compliance Estimation during Bilateral Teleoperation of a Robotic Arm Remo Pillat and Arjun Nagendran On-line Operator Skill Assessment for Telerobot Operation Using Electroencephalo-graph (EEG) Shuang Liu, Ning Xi and JiaYunyi Jia ============================================================================== Session Th1-4: Multi-Robot Systems I Chairs: Dong Sun, Kuniaki Kawabata ------------------------------------------------------------------------------ Time: Thursday December 13, 10:20 - 12:05 Room: Jade 8 ------------------------------------------------------------------------------ Distributed Multirobot Shape Control with a Multilevel-based Topology and Market-based Auction Algorithm Xiao Yan and Dong Sun Wave-Transformation-Based Control Law for Teleoperation with Large Time-varying Delays Fangping Yang, Hongyi Li and Yuechao Wang Development of a Cricket Interaction System Utilizing Mobile Robot for Behavioral Data Collection Kuniaki Kawabata, Hitoshi Aonuma, Koh Hosoda and Jianru Xue Distributed Motion Control Algorithm for Fission Behavior of Flocks Xiaokang Lei, Mingyong Liu, Wenbai Li and Panpan Yang Decentralized Task Allocation for Heterogeneous Agent Systems with Constraints on Agent Capacity and Critical Tasks Giulio Binetti, David Naso and Biagio Turchiano Cooperative Control and Communication Optimization for Networked Multi-agent Systems with Nonholonomic Constraints Weirong Liu, Feng Zhou, Heng Li, Jianming Xiao, Jing Wang, Mengfei Wen and Jun Peng ============================================================================== Session Th1-5: Rehabilitation Robots II Chairs: Tim Lueth, Nianfeng Wang ------------------------------------------------------------------------------ Time: Thursday December 13, 10:20 - 12:05 Room: Jade 5 ------------------------------------------------------------------------------ Analysis for the Foot Board Lower Limb Rehabilitation Robot Yongqiang Wu, Yanan Zhang, Linyong Shen and Jinwu Qian Kinematic Design of a Parallel Ankle Rehabilitation Robot for Sprained Ankle Physiotherapy Yongfeng Wang, Zhanyong Mei, Jiali Xu and Guoru Zhao Mechanical Design of a Compliant Prosthesis Finger by Structural Topology Optimization Nianfeng Wang and Xianmin Zhang A Robust Adaptive Neural Controller to Drive a Knee Joint Actuated Orthosis Mefoued Saber, Daachi Mohamed EL Hocine, Daachi Boubakeur, Mohammed Samer and Amirat Yacine Virtual Therapist: A Phantom Robot-Based Haptic System for Personalized Post-Surgery Finger Rehabilitation Zhe Xu, Rebecca Fiebrink and Yoky Matsuoka Design and Implementation of a New Motorized-Mechanical Exoskeleton Based on CGA Patternized Control Wankwan Banchadit, Auchara Temram, Tassanai Sukwan, Peerapat Owatchaiyapong and Jackrit Suthakorn ============================================================================== Session Th1-6: Robot Control I Chairs: Junjian Lin, Zhicheng Qiu ------------------------------------------------------------------------------ Time: Thursday December 13, 10:20 - 12:05 Room: Jade 9 ------------------------------------------------------------------------------ Fuzzy PD Compliance Control of 6 Degrees-of-Freedom Robot Using Disturbed Force Sense Junjian Lin and Tie Zhang End Edge Feedback and RBF Neural Network Based Vibration Control of Flexible Manipulator Zhicheng Qiu, Biao Ma and Xiangtong Zhang Operator Based Robust Control for Robot Manipulator Using Robust Right Coprime Factorization Shuhui Bi, Guangliang Liu and Mingcong Deng Design and Implementation of a Vehicle Dynamics Control System by Means of Torque Vectoring for a Scaled Vehicle Sebastian Reuter, Hilal Diab, Stefan Kowalewski, Eckart Hauck and Sabina Jeschke A Fault Tolerant Adaptive Control for Robot Manipulators Giuseppe Muscio and Francesco Pierri Combining Stereo Vision and Fuzzy Image Based Visual Servoing for Autonomous Object Grasping Using a 6-DoF Manipulator Le Duc Hanh and Chyi-Yeu Lin ============================================================================== Session Th1-7: Man Machine Interface II Chairs: Ortiz Jesus, Jeffrey Too Chuan Tan ------------------------------------------------------------------------------ Time: Thursday December 13, 10:20 - 12:05 Room: Jade 7 ------------------------------------------------------------------------------ Design of Unit for Haptic Device on Foot Yasunobu Masuda, Takehito Kikuchi, Wataru Kobayashi, Tetsu Mitsumata and Suguru Ohori Hand Detection using Multi-Resolution HOG Features Yanguo Zhao, Zhan Song and Xinyu Wu Smart Devices in Robot-Assisted Laser Microsurgery: Towards Ubiquitous Tele-Cooperation Jesus Ortiz, Leonardo Mattos and Darwin Caldwell Multimodal Human-Robot Interaction with Chatterbot System: Extending AIML Towards Supporting Embodied Interactions Jeffrey Too Chuan Tan, Feng Duan and Tetsunari Inamura Intuitive Operation of A Wheelchair Mounted Robotic Arm for The Upper Limb Disabled: The Mouth-only Approach Wei Wang, Zeming Zhang, Yuki Suga, Hiroyasu Iwata and Shigeki Sugano Design and Implementation of Behaviour Detection System for the Elderly Based on Smart Phone Min Dong, Zhi Hou, Zhitian Liu, Sheng Bi, Peidong Lin, Liangchang Zhu, Jiayi Xin and Liangpeng Liu Real-time Hand-Writing Tracking and Recognition by Integrated Micro Motion and Vision Sensors Platform Shengli Zhou, Guanglie Zhang, Ronald Chung, Jay Y. J. Liou and Wen J. Li ============================================================================== Session Th2-1: Intelligent Systems III Chairs: Guanglie Zhang, Tetsuya Wada ------------------------------------------------------------------------------ Time: Thursday December 13, 13:30 - 15:00 Room: Jade 1 ------------------------------------------------------------------------------ Development of Virtual Reality Bike with Cylindrical MR Fluid Brake Takehito Kikuchi, Keigo Kobayashi and Masao Sugiyama A New Prismatic Series Elastic Actuator with Compact Size and High Performance Nicholas Paine and Luis Sentis A Real-time Velocity Estimation using Motion Blur in Air Hockey Shayan Rezvankhah, Amirali Bagherzade, Hadi Moradi and Babak Najar Araabi Design of a Network-based Mobile Gait Rehabilitation System Wenlong Zhang, Xiuming Zhu, Song Han, Nancy Byl, Aloysius Mok and Masayoshi Tomizuka Micro Vision Based Cell Motility Analyzing Algorithm by Optically-Induced Dielectrophoresis Guanglie Zhang, Long-Ho Chau, Mengxing Ouyang and Wen J. Li Robot Aided Object Segmentation Based on Kinect without Prior Knowledge Wenzheng Chi, Max Q.-H. Meng and Xijun Chen ============================================================================== Session Th2-2: Motion Planning II Chairs: I-Ming Chen, Chris Smith ------------------------------------------------------------------------------ Time: Thursday December 13, 13:30 - 15:00 Room: Jade 2 ------------------------------------------------------------------------------ Dynamics based Time-Optimal Smooth Motion Planning for the Delta Robot. Yunqiang Zhang, Ruining Huang, Yunjiang Lou and Zexiang Li Global Path Planning for Mobile Robot Based on A* Algorithm and Genetic Algorithm Liang Zhang, Huasong Min, Hongxing Wei and Haojun Huang Wheeled-tip Object Manipulation: Modeling and Motion Planning of Throwing an Object Sina Parastegari, Majid Nili Ahmadabadi, Ehsan Noohi and Hadi Moradi Offline Kinematics Analysis and Path Planning of Two-Robot Coordination in Exhaust Manifold Welding Fan Ouyang, Tie Zhang and Can Ying Measurement Framework of Partial Caging Quality Teesit Makapunyo, Thanathorn Phoka, Peam Pipattanasomporn, Nattee Niparnan and Attawith Sudsang Periodic Trajectory Generation and Tracking Control for a Class of Underactuated Mechanical Systems Hongtai Cheng, Heping Chen, Xiaohua Zhang, Bingtuan Gao and Hongjun Chen ============================================================================== Session Th2-3: Vision/Image Processing III Chairs: Marcel Haselich, Fei Chao ------------------------------------------------------------------------------ Time: Thursday December 13, 13:30 - 15:00 Room: Jade 3 ------------------------------------------------------------------------------ Parallelized Energy Minimization for Real-Time Markov Random Field Terrain Classification in Natural Environments Marcel Haselich, Simon Eggert and Dietrich Paulus Robust Visual Tracking Based on Gabor Feature and Sparse Representation Weiguang Li, Yueen Hou, Huidong Lou and Guoqiang Ye Water Detection with Segmentation Guided Dynamic Texture Recognition Pedro Santana, Ricardo Mendonca and Jose Barata Forward Obstacle Detection System by Stereo Vision Hiroaki Iwata and Keiji Saneyoshi A Developmental Constraint Driven Approach to Developmental Robotic Hand-eye Coordination Fei Chao, Haixiong Lin, Min Jiang and Changle Zhou Online Motion Segmentation using Spatially-constrained J-linkage in Dynamic Scene Jungwon Kang, Sang Un Park and Myung Jin Chung ============================================================================== Session Th2-4: Multi-Robot Systems II Chairs: Wei Pan, Lizhen Wang ------------------------------------------------------------------------------ Time: Thursday December 13, 13:30 - 15:00 Room: Jade 8 ------------------------------------------------------------------------------ Dynamic Bandwidth Management for Teleoperation of Collaborative Robots Chadi Mansour, Elie Shammas, Imad Elhajj and Daniel Asmar Cooperative Transportation Control in Consideration of not only Internal Force but also External Force Applied to ``MRWheel'' Koshi Kashiwazaki, Kazuhiro Kosuge, Yasuhisa Hirata, Yusuke Sugahara, Takashi Kanbayashi, Koki Suzuki, Kazunori Murakami and Kenichi Nakamura Estimation of Relative Positions and Orientations on a Car Transportation System Grasping two Drive Wheels Naoaki Yonezawa, Kazuhiro Kosuge, Yasuhisa Hirata, Yusuke Sugahara, Takashi Kanbayashi, Koki Suzuki, Kazunori Murakami and Kenichi Nakamura Discrete Analysis of Obstacle Clustering by Distributed Robots Yuichiro Sueoka, Takuto Kita, Masato Ishikawa, Yasuhiro Sugimoto and Koichi Osuka Part Dispatching Rule-Based Multi-robot Coordination in Pick-and-Place Task Yanjiang Huang, Ryosuke Chiba, Tamio Arai, Tsuyoshi Ueyama and Jun Ota Distributed Formation Control for a Cooperative Multi-agent System Using Potential Function and Extremum Seeking Algorithm Heng Li, Jun Peng, Jianming Xiao, Feng Zhou, Weirong Liu and Jing Wang ============================================================================== Session Th2-5: Rehabilitation Robots III Chairs: Yuji Okada, Jun Peng ------------------------------------------------------------------------------ Time: Thursday December 13, 13:30 - 15:00 Room: Jade 5 ------------------------------------------------------------------------------ Parameterized Inverted and Double Pendulum Model for Controlling Lower-limb Active Orthosis Juan Carlos Arevalo, Daniel Sanz-Merodio, Manuel Cestari and Elena Garcia An Electrical Muscle Simulator based on Functional Electrical Stimulation Haibin Wang, Guan Guan, Qing He, Dewen Zeng, Bin Leng, Hongwei Xu and Weiming Zheng Basic Experiments on Collision of Sharp Mechanical Hazards against Eye for Estimation of Injury Severity Soichiro Ito, Yoji Yamada, Takamasa Hattori, Shogo Okamoto and Susumu Hara Mechanical Design of a Magnetic Resonance Compatible Device Used for Finger Rehabilitation and Brain Imagine Studying ZhenJin Tang, Shigeki Sugano and Hiroyasu Iwata Motion Support of Upper Extremity with Agonist alone under Negative Admittance Control Yuji Okada, Chi Zhu, Simazu Shota, Toshikatsu Suzuki, Masataka Yoshioka, Yuichiro Yoshikawa, Yuling Yan, Haoyong Yu and Feng Dung ============================================================================== Session Th2-6: Robot Control II Chairs: Yongsheng Ou, Zhicheng Qiu ------------------------------------------------------------------------------ Time: Thursday December 13, 13:30 - 15:00 Room: Jade 9 ------------------------------------------------------------------------------ The Analysis and Synthesis of PID Controller Based on Closed Loop Response Characteristics Zhiqiang Zhu, Yuqing He, Juntong Qi, Jianda Han and Tianran Wang Adaptive Fuzzy Tracking Control of a Human Limb With an Exoskeleton Yongsheng Ou, Zhijun Li, Guanglin Li and Chunyi Su Fuzzy Moving Fast Terminal Sliding Mode Control for Robotic Manipulators H.J. Shi, L.F. Qian, Y.D. Xu and L.M. Chen A Direct Visual Servo Scheme Based on Simplified Interaction Matrix for High-Speed Manipulation Shouren Huang, Yuji Yamakawa, Taku Senoo and Masatoshi Ishikawa Pneumatic Drive Active Vibration Control for Flexible Manipulator Using an Adaptive Interactive PD Controller Zhicheng Qiu and Zhili Zhao Integrated Rotary Compliant Joint and Its Impedance-based Controller for Single-Joint Pressing Massage Robot Yuancan Huang, Chongjian Ran, Jian Li and Guodong Li ============================================================================== Session Th2-7: Sensors I Chairs: Haoting Liu, Jinping Hou ------------------------------------------------------------------------------ Time: Thursday December 13, 13:30 - 15:00 Room: Jade 7 ------------------------------------------------------------------------------ Defect Segmentation of Fiber Splicing on an Industrial Robot System Using GMM and Graph Cut Haoting Liu, Wei Wang, Xinfeng Li and Fan Li Numerical Model of a Novel Tactile Sensor Based on Finite Element Analysis Xin Sun, Xuekun Zhuang, Hongqing Pan, Yaoxiong Wang, Yubing Wang, Xubin Liang, Quanjun Song and Feng Shuang Developing Tactile Sensors for an Soft-bodied Robot Jinping Hou, Richard Bonser and George Jeronimidis A Model-based Human Walking Speed Estimation Using Body Acceleration Data Jwu-Sheng Hu, Kuan-Chun Sun and Chi-Yuan Cheng Multiple Emitter Localization Using Range Only Measurements Considering Geometrical Constraints Samitha Ekanayake, Pubudu Pathirana and Terry Caelli Twin Low-cost Infrared Range Finders for Detecting Obstacles Using in Mobile Platforms Saman Kumpakeaw ============================================================================== Session Th3-1: Modular Robot Systems Chairs: Michael Goeller, Masato Ishikawa ------------------------------------------------------------------------------ Time: Thursday December 13, 15:20 - 17:20 Room: Jade 1 ------------------------------------------------------------------------------ Conceptual Study of a Class of Hybrid Hyper-Redundant Robot Chibani Abdelhakim, Mahfoudi Chawki, Chettibi Taha and Merzouki Rochdi Geometric Modelling of Multisection Bionic Manipulator: Experimental Validation on RobotinoXT Coralie Escande, Rochdi Merzouki, Pushparaj Mani Pathak and Vincent Coelen Performance Analysis and Optimization of Serial Robots Wenqiang Wu, Yisheng Guan, Huaizhu Li, Haifei Zhu and Hong Zhang Modular Robots for On-Orbit Satellite Servicing Michael Goeller, Jan Oberlaender, Klaus Uhl, Arne Roennau and Ruediger Dillmann On Discrete-valued Modeling of Nonholonomic Mobile Robot Systems Takuto Kita, Masato Ishikawa and Koichi Osuka Parameterized Space Conditions for the Definition of Locomotion Modes in Modular Snake Robots Kamilo Melo, Monica Hernandez and Daniel Gonzalez ============================================================================== Session Th3-2: Motion Planning III Chairs: Corrado Guarino Lo Bianco, Dewen Zeng ------------------------------------------------------------------------------ Time: Thursday December 13, 15:20 - 17:20 Room: Jade 2 ------------------------------------------------------------------------------ An Improved Ant Colony Optimization Algorithm Based on Dynamically Adjusting Ant Number Dewen Zeng, Qing He, Bin Leng, Weimin Zheng, Hongwei Xu, Yiyu Wang and Guan Guan Experimental Validation of a Time Scaling Algorithm for Robotics Systems Corrado Guarino Lo Bianco, Fabio Ghilardelli and Daniel Kubus An Electromyography-driven Central Pattern Generator Model for Robotic Control Application Kui Xiang, Shuxiang Guo and Zhibin Song Euclidean Distance and Workspace Region Based Control Algorithm for Collision Avoidance in a Laparoscopic Surgical Robot: MU-LapaRobot Jitendra Yadav and Jackrit Suthakorn Single Loop and Double Loop Balancing Control of AU Self-Balancing Bicycle (AUSB) Narong Aphiratsakun and Kittiphan Techakittiroj Cartesian Robot Motion Embedded on Logistics Process, Screws Approach Mario Arbulu, Geman Ortiz, Luis Miguel Beltran, Leonardo Gonzalez and Claudia Garzon ============================================================================== Session Th3-3: Vision/Image Processing IV Chairs: Zhidong Wang, Chris Smith ------------------------------------------------------------------------------ Time: Thursday December 13, 15:20 - 17:20 Room: Jade 3 ------------------------------------------------------------------------------ Image-based Tree Pruning Wei Liu, Geroge Kantor, Fernando De la Torre and Nanning Zheng A Two-Stage Strategy to Introduce Spectral Matching into Recognition of Occluded Objects Jia Yun Wu and Xiao Chen Vanishing Point Detection Using Local Dominant Orientation Signature for Omnidirectional Vision-Based Robots Jun-Yu Yang, Feng-Li Lian and Jiun-Jau Lai Object Extraction from Stereo Vision using Continuity of Disparity Map Kotaro Oshida and Keiji Saneyoshi Unscented Blind Image De-blurring Using Camera with Inertial Measurement Unit Chin-Yuan Tseng, Jian-An Chen and Jwu-Sheng Hu Supporting System for Self Training of Bed-Making Using Image Processing with Color and Distance Information Ayanori Nagata, Zhifeng Huang, Masako Kanai-Pak, Jukai Maeda, Yasuko Kitajima, Mitsuhiro Nakamura, Kyoko Aida, Noriaki Kuwahara, Taiki Ogata and Jun Ota ============================================================================== Session Th3-4: Multi-Robot Systems III Chairs: Jun Peng, Hongliang Ren ------------------------------------------------------------------------------ Time: Thursday December 13, 15:20 - 17:20 Room: Jade 8 ------------------------------------------------------------------------------ Transportation of a Large Object by Small Mobile Robots Using Hand Carts Takuya Sakuyama, Jorge Figueroa, Yuta Miyazaki and Jun Ota Trust Networks in Multi-Robot Communities Kevin Mantel and Christopher M. Clark Analysis of Implicit Control Structure in Object Clustering Phenomena Yuichiro Sueoka, Yasuhiro Sugimoto, Masato Ishikawa, Koichi Osuka and Akio Ishiguro Hearing Based Relative Localization for Mobile Robots in Outdoor Environments Jing Guo, Qing-Hao Meng, Yu-Xiu Wu, Wei-Xing Yang, Ming Zeng and Wei Li Towards Cloud Robotic System: A Case Study of Online Co-localization for Fair Resource Competence Lujia Wang, Ming Liu and Max Q.-H. Meng ============================================================================== Session Th3-5: Search Rescue Robots Chairs: Daniel Asmar, Changlong Ye ------------------------------------------------------------------------------ Time: Thursday December 13, 15:20 - 17:20 Room: Jade 5 ------------------------------------------------------------------------------ Kinematic Analysis of an Active Angular Swivel Steering Mechanism for Robotic Mobile Bases Elie Shammas and Daniel Asmar Design, Implementation and Experimental Tests of A New Generation of Antarctic Rover Cheng Chen, Chunguang Bu, Yuqing He and Jianda Han The Design of a Throwable Two-Wheeled Reconnaissance Robot Hengrui Gao, Shusheng Bi, Rong Zhang and Shichuan Tang Development of a Variable Parallelogram Tracked Mobile Robot Changlong Ye, Guangming Lv, Shugen Ma and Huichao Ni Development of an Underactuated Robot Gripper Capable of Retracting Motion Hiroyuki Nishimura, Atsushi Kakogawa and Shugen Ma Multi-Robot Repeated Boundary Coverage Under Uncertainty Pooyan Fazli and Alan Mackworth ============================================================================== Session Th3-6: Robot Control III Chairs: Emmanuel Dean-Leon, Seiji Sugiyama ------------------------------------------------------------------------------ Time: Thursday December 13, 15:20 - 17:20 Room: Jade 9 ------------------------------------------------------------------------------ Adaptive Harmonic Compensation of Shunt Active Power Filter Using Sliding Mode Controller Juntao Fei, Shenglei Zhang and Jian Zhou User Friendly Matlab-Toolbox for Symbolic Robot Dynamic Modeling used for Control Design Emmanuel Dean-Leon, Suraj Nair and Alois Knoll Stabilization of an Unmanned Aerial Vehicle Using Real-Time Embedded Motion Estimation Matthieu Claybrough and Francois Defay Guide Robot with Personal Identification Method Using Dress Color Information via KINECT Seiji Sugiyama, Kouhei Baba and Tsuneo Yoshikawa An Open Control System Architecture with an On-line Velocity Filter for Industrial Robots Zheng Wang, Yunjiang Lou, Yue Liu and Zexiang Li Proposal for An IR System to Support Automatic Control for A Personal Mobility Vehicle Taro Fujikawa and Shuro Nakajima ============================================================================== Session Th3-7: Sensors II Chairs: Jian Guo, Zhuohua Lin ------------------------------------------------------------------------------ Time: Thursday December 13, 15:20 - 17:20 Room: Jade 7 ------------------------------------------------------------------------------ Development of Force Sensing Systems for a Novel Robotic Catheter System Jian Guo, Shuxiang Guo, Nan Xiao and Yunliang Wang Performance Evaluation of the Wireless Inertial Measurement Unit WB-4 with Magnetic Field Calibration Zhuohua Lin, Massimiliano Zecca, Salvatore Sessa, Luca Bartolomeo, Hiroyuki Ishii and Atsuo Takanishi Optimal Sensor Placement in Range Based Localization for Linear Arrays Sanvidha Charaka Kumara Herath, Pubudu Nishantha Pathirana and Gareth Williams Localization with Ghost Elimination of Emitters Via Time-of-Arrival Measurements Sanvidha Charaka Kumara Herath, Pubudu Nishantha Pathirana and Nicholas L.de Boer Estimation of Bounded Unknown Input and its Application to Attitude Estimation for Accelerated Rigid Body Using GPS/INS Measurements Iftikhar Ahmad, Abdelhafid El Hadri and Abdelaziz Benallegue Multi-Objective Optimizing for Image Recovering in Compressive Sensing Sheng Bi, Ning Xi, King Wai Chiu Lai, Huaqing Min and Liangliang Chen ++++++++++++++++++++++++++++++++++++++++
PLEASE NOTE THAT THE PAPERS BELOW WILL NOT BE ORALLY PRESENTED.
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Design and Implementation of an Adaptive Sliding Mode Controller for Stabilizing Nonholonomnic Wheeled Mobile Robot Mobin Saeedi, Alireza Mohammad Shahri and Seyed Alireza Khatamian Oskooei Adaptive Extended Kalman Filter for Asynchronous Shuttering Error of Stereo Vision Localization Hamid Bazargani, Ehsan Omidi and Ali Talebi Automatic Face Detection System for Street View Images Xin Yang and Xingang Wang Robust Adaptive Fuzzy Sliding Mode Synchronous Control for a Planar Redundantly Actuated Parallel Manipulator Yi Long and Xiao-Jun Yang Hammerstein-Wiener Model Research for a Stewart Platform Xuewei Wang, Wensheng Zhang and Baolin Wu Auto-Alignment of Multi-Beam Laser Based on Visual Feedback Kai Yao and Baolin Wu Design and Implementation of Hot-line Working Robot Master-slave Manipulator Xiao Lv and Shouyin Lu Hyperspectrum Image Fusion for Sensor Guided Mobile Manipulations Weixian Li, Chi Zhang, Ning Xi and Yunyi Jia Mechanical Design, Modeling and Analysis of a Miniature Throw-able Robot with Transformation Yuan Qu, Rong Liu and Bowen Li Robust Object Tracking With Multiple Basic Mean Shift Tracker Yuanchen Qi, Chengdong Wu, Dongyue Chen and Xiaosheng Yu Stereo Camera Calibration with an Embedded Calibration Device and Scene Features Xiameng Qin, Jiaolong Yang, Wei Liang, Mingtao Pei and Yunde Jia Motion Planning for the Fast Opening of the Protection Cover Based on High Order Polynomial Interpolation Zuoxun Wang, De Xu, Baolin Wu and Fudong Li Probabilistic Depth Map Fusion of Kinect and Stereo in Real-Time Yong Duan, Mingtao Pei and Yucheng Wang A Palm Vein Feature Extraction Method based on Affine Invariant Wei-Qi Yuan and Wei Li Motor Functional Rehabilitation Monitoring System Design and Implementation based on Wearable Body Area Network Tiantian Feng, Guozheng Xu, Youmin Guo, Xiang Gao, Huijun Li and Zhiwei Liang Field Programmable Gate Array (FPGA) Based Collision Avoidance Using Acceleration Velocity Obstacles Roopak Dubey, Neeraj Pradhan, K. Madhava Krishna and Shubhajit Roy Chowdhury Rapid Prototyping of Real-time Controllers for Humanoid Robotics: A Case Study Yang Zhou, Bin Wang, Li Jiang and Hong Liu A Design of Intelligence Interactive System of Service Robot Based on The Android Haibo An, Huanbing Gao, Shouyin Lu and Jindong Tan Robot's Remote Real-time Navigation Controlled by Smart Phone Qian Wang, Wei Pan and Mo Li Attitude Control Improvement of a Small Quad-rotor Aircraft Platform Based on Singular Perturbations Approach: Real-Time Application Ivan Gonzalez, Sergio Salazar, Jorge Torres and Rogelio Lozano Kinematics Analysis of 2-PRU-PRRU Parallel Mechanism Qiaohong Chen, Xufeng Yu and Qinchuan Li Obstacle Avoidance for Mobile Manipulation by Real-Time Sensor-Based Redundancy Resolution Huatao Zhang, Yunyi Jia, Ning Xi and Aiguo Song Brownian Motion as Exploration Strategy for Autonomous Swarm Robots Fredy Martinez, Edwar Jacinto and Diego Acero High Precision Control for Piezo-Actuated XY-Table Xinkai Chen COSA-UDA Finger: A Novel Coupled and Self-adaptive Under-actuated Finger with Upside-down Actuator Haipeng Zhou, Lei Yang, Wenzeng Zhang, Zhenguo Sun and Qiang Chen LISA Hand: Novel Indirect Self-Adaptive Robotic Hand on the Road towards Robust Grasping and Simplicity Jian Jin, Wenzeng Zhang, Zhenguo Sun and Qiang Chen On-board Multiple Target Detection and Tracking on Camera-Equipped Aerial Vehicles Menna Siam, Ramy ElSayed and Mohamed ElHelw Effects of Unidirectional Parallel Springs on Required Peak Power and Energy in Powered Prosthetic Ankles: Comparison between Different Active Actuation Concepts Mahdy Eslamy, Martin Grimmer and Andre Seyfarth ============================================================================== Program last updated: Tue Dec 4 09:23:59 2012