Technical Program
Conference program at a Glance.
Detailed Program of Wednesday, Thursday, Friday.
Program for Workshops/Tutorials on Monday and Tuesday.
Welcome |
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Invited Speaker Gerhard A. Runshaug: RoboMop - Real-life experiences on the complex way from idea to innovation and success. |
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Coffee Break |
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Robot Architectures and Programming |
Mapping, Detecting and Grasping Objects in Domestic Environments (GRASP) |
Robotic Surgery (ROBOCAST) |
Sensing and Perception I |
Coffee Break |
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Metrics, Performance Evaluation, Benchmarking |
Manipulation and Grasping I |
Mechanics, Design and Control I |
Sensing and Perception II |
Lunch |
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Mobile Manipulation |
Manipulation and Grasping II |
Biologically Inspired Robotics I |
Sensing and Perception III |
Coffee Break |
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Motion Planning and Navigation |
Manipulation and Grasping III |
Biologically Inspired Robotics II |
Sensing and Perception IV |
Townhall Debate "Affordable Robots" |
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Reception |
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Invited Speaker Yoshiyuki Sankai: Robot Suit HAL based on Cybernics. |
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Coffee Break |
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Able Service Robots in Everyday Environments I (DESIRE) |
Collaborative Agens (Robot-At-CWE) |
Mobile Robotics |
Human-Robot Interaction |
Coffee Break |
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Able Service Robots in Everyday Environments II |
Mechanics, Design and Control II |
Localization and Mapping |
Haptics and Haptic Interfaces |
Lunch |
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Service Robots (ZAFH) |
Multi Robot Systems |
Localization and Mapping II |
Multimodal Interaction |
Coffee Break |
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Cruise on Lake Starnberg and Conference Dinner |
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Invited Speaker Gerd Hirzinger: Robotics and Mechatronics – From Space to Surgery and the Virtual World. |
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Coffee Break |
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Advanced Behaviors of Mobile Robots in Public Areas (COMMROB 1/2) |
Aerial Robots |
Identification and Estimation in Robotics |
Humanoid and Walking Robots |
Coffee Break |
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Advanced Behaviors of Mobile Robots in Public Areas (COMMROB 2/2) |
Field Robots I |
Fuzzy Logic in Robotics |
Telerobotics and Robotic Surgery |
Lunch |
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Plenary Talk Antal K. Bejczy: New Roads, New Instruments, New Results in Space Exploration |
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Navigation |
Field Robots II |
Learning and Reasoning |
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Farewell |
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Program Overview
Wednesday, June 24
| Session WA1 Robot Architectures and Programming |
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| 10:00-10:20 |
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Software support for high-level specification, execution and estimation of event-driven, constraint-based multi-sensor robot tasks Ruben Smits, Herman Bruyninckx and Joris De Schutter |
| 10:20-10:40 |
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Reducing the cost of robotics software: SAMGAR, a generic modular robotic software communication architecture Kyron Du Casse, Khenglee Koay, Steve Ho and Kerstin Dautenhahn |
| 10:40-11:00 |
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A Multi-Layer Control Scheme for Multi-Robot Formations with Obstacle Avoidance Vinicius Rampinelli, Alexandre Santos Brandao, Felipe Martins, Mario Sarcinelli-Filho and Ricardo Carelli |
| 11:00-11:20 |
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A real-time distributed software infrastructure for cooperating mobile autonomous robots Frederico Santos, Luis Almeida, Paulo Pedreiras and Luis Seabra Lopes |
| Session WB1 Mapping, Detecting and Grasping Objects in Domestic Environments (GRASP) |
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| 10:00-10:20 |
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Grasping Familiar Objects using Shape Context Jeannette Bohg and Danica Kragic |
| 10:20-10:40 |
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Learning Grasping Affordance Using Probabilistic and Ontological Approaches Carl Barck-Holst, Maria Ralph, Fredrik Holmar and Danica Kragic |
| 10:40-11:00 |
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Grasping Known Objects with Humanoid Robots: A Box-Based Approach Kai Huebner, Kai Welke, Markus Przybylski, Nikolaus Vahrenkamp, Tamim Asfour, Danica Kragic and Rüdiger Dillmann |
| 11:00-11:20 |
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Modeling and Evaluation of Human-to-Robot Mapping of Grasps Javier Romero, Hedvig Kjellström and Danica Kragic |
| Session WC1 Robotic Surgery (ROBOCAST) |
| 10:00-10:20 |
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Advanced Planning and Intra-operative Validation for Robot-Assisted Keyhole Neurosurgery In ROBOCAST Seyed-Ahmad Ahmadi, Tassilo Klein, Nassir Navab, Ran Roth, Reuben Shamir, Leo Joskowicz, Elena DeMomi, Giancarlo Ferrigno, Luca Antiga and Roberto Israel Foroni. |
| 10:20-10:40 |
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ROBOt and sensors integration for Computer Assisted Surgery and Therapy Elena De Momi, Pietro Cerveri and Giancarlo Ferrigno. |
| 10:40-11:00 |
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Robot assisted laser bone processing: Marking and cutting experiments Jessica Burgner, Meiko Müller, Jörg Raczkowsky and Heinz Wörn |
| 11:00-11:20 |
| Control design issues for a microinvasive neurosurgery teleoperator system Jacopo Semmoloni, Rudy Manganelli, Alessandro Formaglio and Domenico Prattichizzo |
| Session WD1 Sensing and Perception I |
| 10:00-10:20 |
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Visual Scene Detection and Interpretation using Encyclopedic Knowledge and Formal Description Logic Dejan Pangercic, Rok Tavcar, Moritz Tenorth and Michael Beetz |
| 10:20-10:40 |
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Acquisition of a Dense 3D Model Database for Robotic Vision Zeeshan Zia, Ulrich Friedrich Klank and Michael Beetz |
| 10:40-11:00 |
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Basic Object Shape Detection and Tracking Using Perceptual Organization Andreas Richtsfeld and Markus Vincze. |
| 11:00-11:20 |
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High Accurate and Robust Shadow casting Image Processing with Data Composition for Tele-Sampling Task Yasuharu Kunii, Takuya Niibori and Takahiro Shinotsuka |
| Session WA2 Metrics, Performance Evaluation, Benchmarking |
| 11:40-12:00 |
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Benchmarking and Standardization of Intelligent Robotic Systems Raj Madhavan, Rolf Lakaemper and Tamas Kalmar-Nagy. |
| 12:00-12:20 |
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Ontology for Robotics: a Roadmap Anders Nilsson, Riccardo Muradore, Klas Nilsson and Paolo Fiorini. |
| 12:20-12:40 |
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A Comparative Study on Robust Localization: Fault Tolerance and Robustness Test on Probabilistic Filters for Range-Based Positioning Luca Carlone and Basilio Bona. |
| 12:40-13:00 |
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Collision Analysis and Evaluation of Collision Safety for Service Robots Working in Human Environments Jung-Jun Park and Jae-Bok Song. |
| Session WB2 Manipulation and Grasping I |
| 11:40-12:00 |
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Real Life Grasping using an Under-actuated Robot Hand – Simulation and Experiments Johan Tegin, Boyko Iliev, Alexander Skoglund, Danica Kragic and Jan Wikander. |
| 12:00-12:20 |
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Grasping Movements Recognition in 3D Space Using a Bayesian Approach Diego Faria, Hadi Aliakbarpour and Jorge Dias. |
| 12:20-12:40 |
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Automatic and hand guided self-registration between a robot and an optical tracking system Daniel Stein, Holger Mönnich, Jörg Raczkowsky and Heinz Wörn |
| 12:40-13:00 |
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A Framework for Robust Cognitive Spatial Mapping Andrzej Pronobis, Kristoffer Sjö, Alper Aydemir, Adrian Bishop and Patric Jensfelt |
| Session WC2 Mechanics, Design and Control I |
| 11:40-12:00 |
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On Path Errors of Redundant Robots in Fault Tolerant Operations for Locked Joint Failures Jing Zhao, Yu Liu and Yi Jin. |
| 12:00-12:20 |
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A Path Following Feedback Control Law for A New Type of Undulatory Locomotor: A Trident Steering Walker Hiroaki Yamaguchi. |
| 12:20-12:40 |
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Design and Analysis of a 3-PPR Planar Robot with U-shape Base Shaoping Bai and Stephane Caro |
| 12:40-13:00 |
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Development of Pipe Inspection Robot; Driving System and Control of Outer-rotor-typed Spherical Ultrasonic Motor Masahiko Hoshina, Tomoaki Mashimo and Shigeki Toyama |
| Session WD2 Sensing and Perception II |
| 11:40-12:00 |
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Horopter based Dynamic Background Segmentation applied to an Interactive Mobile Robot José Augusto Soares Prado, Luis Santos and Jorge Dias |
| 12:00-12:20 |
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Vision-based Human Augmented Mapping for Indoor Environments Soohwan Kim, Ju-Hong Park and Sung-Kee Park |
| 12:20-12:40 |
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A single camera feature based vision system for helicopter autonomous landing Andrea Cesetti, Emanuele Frontoni, Adriano Mancini, Primo Zingaretti and Sauro Longhi |
| 12:40-13:00 |
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An Efficient Algorithm for Extrinsic Calibration between a 3D Laser Range Finder and a Stereo Camera for Surveillance Hadi Aliakbarpour, Pedro Nunez, Jose Prado, Kamrad Khoshhal Roudposhti and Jorge Dias |
| Session WA3 Mobile Manipulation |
| 14:00-14:20 |
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Transformational Planning for Mobile Manipulation based on Action-related Places Andreas Fedrizzi, Lorenz Moesenlechner, Freek Stulp and Michael Beetz |
| 14:20-14:40 |
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Dexterous Mobility with the uBot-5 Mobile Manipulator Scott Kuindersma, Edward Hannigan, Dirk Ruiken and Roderic Grupen |
| 14:40-15:00 |
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Target pose computation for nonholonomic mobile manipulators Andrea Monastero and Paolo Fiorini |
| 15:00-15:20 |
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Towards Harmonization and Refactoring of Mobile Manipulation Algorithms Edmund Milke, Stefan Christen, Walter Nowak and Erwin Prassler. |
| Session WB3 Manipulation and Grasping II |
| 14:00-14:20 |
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Programming-by-Demonstration of Reaching Motions for Robot Grasping Alexander Skoglund, Johan Tegin, Boyko Iliev and Rainer Palm. |
| 14:20-14:40 |
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Simple Orientation Control of An Object by Regrasping using A Dual-arm Manipulator with Multi-Fingered Hands Akihiro Kawamura, Kenji Tahara, Ryo Kurazume and Tsutomu Hasegawa |
| 14:40-15:00 |
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On the Use of Iterative LCP Solvers for Dry Frictional Contacts in Grasping Gustavo Arechavaleta, Efraín López-Damian and José Luis Morales |
| 15:00-15:20 |
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Extraction of grasp-related features by human dual-hand object exploration Krzysztof Charusta, Dimitar Dimitrov, Achim J Lilienthal and Boyko Iliev |
| Session WC3 Biologically Inspired Robotics I |
| 14:00-14:20 |
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Online Adaptation of Gaze Fixation for a Stereo-Vergence System with Foveated Vision Cem Karaoguz, Mark Dunn, Tobias Rodemann and Christian Goerick |
| 14:20-14:40 |
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Kinematic Modelling of Anthropomorphic Robot Upper Limb with Human-like Hands Bertrand Tondu. |
| 14:40-15:00 |
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Human-like ZMP trajectory reference in sagittal plane for a biped robot J. P. Ferreira, Manuel Crisóstomo and António Coimbra. |
| 15:00-15:20 |
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A Lower Limb EMG-driven Biomechanical Model for Applications in Rehabilitation Robotics Massimo Sartori, Monica Reggiani, Cristiano Mezzato and Enrico Pagello. |
| Session WD3 Sensing and Perception III |
| 14:00-14:20 |
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A human body model initialization approach made real-time capable through heuristic constraints Martin Lösch, Stefan Gärtner, Steffen Knoop, Sven R. Schmidt-Rohr and Rüdiger Dillmann |
| 14:20-14:40 |
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Active 3-D Vision on a Humanoid Head Ales Ude and Erhan Oztop |
| 14:40-15:00 |
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Vision-based Global Localization for Mobile Robots Using an Object and Spatial Layout-based Hybrid Map Soonyong Park and Sung-Kee Park |
| 15:00-15:20 |
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Virtual Range Scan for Avoiding 3D Obstacles Using 2D Tools Stefan Stiene and Joachim Hertzberg. |
| Session WA4 Motion Planning and Navigation |
| 15:40-16:00 |
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Mobile Robot Navigation in a Corridor Using Visual Odometry Enis Bayramoglu, Nils Axel Andersen, Niels Kjølstad Poulsen, Jens Christian Andersen and Ole Ravn |
| 16:00-16:20 |
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ABUG: A Fast Bug-derivative Anytime Path Planner with Provable Suboptimality Bounds Javier Antich, Alberto Ortiz and Javier Minguez. |
| 16:20-16:40 |
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Path Planning and Dynamic Objects Detection Istvan Szoke, Gheorghe Lazea, Levente Tamas, Mircea Popa and Andras Majdik. |
| 16:40-17:00 |
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Motion Planning and Control of a Simplified Helicopter Model based on Virtual Holonomic Constraints Simon Westerberg, Uwe Mettin, Anton S. Shiriaev, Leonid B. Freidovich and Yury Orlov. |
| Session WB4 Manipulation and Grasping III |
| 15:40-16:00 |
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Human-Performed Assembly Task Evaluation through a Virtual Operator Ashvin Sobhee, Sébastien Druon and André Crosnier |
| 16:00-16:20 |
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Optimization criterion for safety task transfer in cooperative robotics Albert Hernansanz, Josep Amat and Alícia Casals. |
| 16:20-16:40 |
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Exploiting redundancy in closed-loop inverse kinematics for dexterous object manipulation Vincenzo Lippiello, Fabio Ruggiero and Luigi Villani. |
| 16:40-17:00 |
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Measurement of static constraints imposed by a human hand on a grasped object Kazuya Matsuo, Kouji Murakami, Tsutomu Hasegawa, Kenji Tahara and Ryo Kurazume |
| Session WC4 Biologically Inspired Robotics II |
| 15:40-16:00 |
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Filtering environmental sounds using basic audio cues in robot audition Tobias Rodemann, Frank Joublin and Christian Goerick. |
| 16:00-16:20 |
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Predicting the Compliance of Soft Fingertips with Differentiated Layer Design: A Numerical and Experimental Investigation Giovanni Berselli, Marco Piccinini, Andrea Zucchelli and Gabriele Vassura |
| 16:20-16:40 |
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A Reliable Distributed Algorithm for Group Size Estimation with Minimal Communication Requirements Manuele Brambilla, Carlo Pinciroli, Mauro Birattari and Marco Dorigo |
| 16:40-17:00 |
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Development of a Tactile Sensor Based on Biologically Inspired Edge Encoding Craig Chorley, Jonathan Rossiter, Chris Melhuish and Tony Pipe. |
| Session WD4 Sensing and Perception IV |
| 15:40-16:00 |
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Maximum Likelihood Point Cloud Acquisition from a Mobile Platform Todor Stoyanov and Achim Lilienthal |
| 16:00-16:20 |
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Laser-based Perception for Door and Handle Identification Radu B. Rusu, Wim Meeussen, Sachin Chitta and Michael Beetz |
| 16:20-16:40 |
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Real Time Visual Traffic Lights Recognition with Image Processing Raoul de Charette and Fawzi Nashashibi. |
| 16:40-17:00 |
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Semantic Mapping with Image Segmentation using Conditional Random Fields Fabiano Correa and Jun Okamoto Jr. |
Thursday, June 25
Session TA1 |
| 10:00-10:20 |
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Online Generation of Reachable Grasps for Dexterous Manipulation Using a Representation of the Reachable Workspace Franziska Zacharias, Christoph Borst and Gerd Hirzinger |
| 10:20-10:40 |
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6D Object Localization and Obstacle Detection for Collision-Free Manipulation with a Mobile Service Robot Jens Kuehnle, Zhixing Xue, Thilo Grundmann, Alexander Verl, Steffen Ruehl, J. Marius Zoellner, Ruediger Dillmann, Robert Eidenberger and Raoul D. Zoellner |
| 10:40-11:00 |
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An Automatic Grasp Planning System for Service Robots Zhixing Xue, Alexander Kasper, J. Marius Zoellner and Ruediger Dillmann. |
| 11:00-11:20 |
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An Integrated Active Perception Module for a Distributed Cognitive Architecture Robert Eidenberger, Raoul Zoellner and Josef Scharinger. |
| Session TB1 Collaborative Agens (Robot-At-CWE) |
| 10:00-10:20 |
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Pose Control of the Humanoid Robot RH-1 for Mobile Manipulation Concepción A. Monje, Paolo Pierro and Carlos Balaguer. |
| 10:20-10:40 |
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A Versatile Generalized Inverted Kinematics Implementation for Collaborative Working Humanoid Robots: The Stack of Tasks Nicolas Mansard, Olivier Stasse, Paul Evrard and Abderrahmane Kheddar |
| 10:40-11:00 |
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Humanoid teleoperation system for space environments Paolo Pierro, Daniel Hernández, Miguel González-Fierro, Lorenzo Blasi, Andrea Milani and Carlos Balaguer |
| 11:00-11:20 |
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Learning collaborative manipulation tasks by demonstration using a haptic interface Sylvain Calinon, Paul Evrard, Elena Gribovskaya, Aude Billard and Abderrahmane Kheddar |
| Session TC1 Mobile Robotics |
| 10:00-10:20 |
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GIS Map Based Mobile Robot Navigation in Urban Environments Josep M. Mirats-Tur, Claudio Zinggerling and Andreu Corominas |
| 10:20-10:40 |
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Switching Visual Servoing Approach for Stable Corridor Navigation Juan Marcos Toibero, Carlos Soria, Flavio Roberti, Ricardo Carelli and Paolo Fiorini. |
| 10:40-11:00 |
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Minimalist Path Tracking for Mobile Robots Antonio Sgorbissa and Renato Zaccaria. |
| 11:00-11:20 |
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Dynamic Modeling and Adaptive Dynamic Compensation for Unicycle-Like Mobile Robots Felipe Martins, Mario Sarcinelli-Filho, Teodiano Bastos-Filho and Ricardo Carelli. |
| Session TD1 Human-Robot Interaction |
| 10:00-10:20 |
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Human-Aware Task Planning for Mobile Robots Marcello Cirillo, Lars Karlsson and Alessandro Saffiotti |
| 10:20-10:40 |
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A Practical Mascot Type Face Robot Design Methodology for Effective Emotion Expression Kyung-geune Oh, Chan-yul Jung and Seung-jong Kim |
| 10:40-11:00 |
| Real Time Imitation of Facial Expression with a Mascot Type Face Robot Kyung-geune Oh, Chan-yul Jung, Won-hyo Yu, Jong-ju Shin, Dai-jin Kim and Seung-jong Kim |
| 11:00-11:20 |
| Clustering of Motion Data from On-Body Wireless Sensor Networks for Human-Imitative Walking in Bipedal Robots D.K. Arvind and Michal Bartosik |
| Session TA2 Able Service Robots in Everyday Environments II |
| 11:40-12:00 |
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Using Entropy for Dimension Reduction of Tactile Data Matthias Schoepfer, Michael Pardowitz and Helge Ritter |
| 12:00-12:20 |
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DESIRE WEB 2.0 - Integration Management and Distributed Software Development for Service Robots Ulrich Reiser, Regina Klauser, Christopher Parlitz and Alexander Verl |
| 12:20-12:40 |
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An Approach for Robust Mapping, Detection, Tracking and Classification in Dynamic Environments Gwennael Gate and Fawzi Nashashibi |
| 12:40-13:00 |
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Environmental identification based on changes in sensory information Manabu Gouko and Koji Ito |
| Session TB2 Mechanics, Design and Control II |
| 11:40-12:00 |
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Design and implementation of the low-level control system of an All-Terrain Mobile Robot Luca Bascetta, Gianantonio Magnani, Paolo Rocco and Andrea Maria Zanchettin. |
| 12:00-12:20 |
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Robust Control of Robots with Variable Joint Stiffness Gianluca Palli and Claudio Melchiorri |
| 12:20-12:40 |
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Improvement of Kinematically Redundant Manipulator Design and Placement Using Torque-Weighted Isotropy Measures Frank L. Hammond III and Kenji Shimada. |
| 12:40-13:00 |
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Neural-Network-Based Discrete-Time Variable Structure Control of Robotic Manipulators Maria Letizia Corradini, Gianluca Ippoliti, Sauro Longhi, Giuseppe Orlando and Raffaele Signorini. |
| Session TC2 Localization and Mapping |
| 11:40-12:00 |
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RFID Tag Bearing Estimation for Mobile Robot Localization Annalisa Milella, Donato Di Paola, Grazia Cicirelli and Tiziana D'Orazio. |
| 12:00-12:20 |
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A method to estimate robot's location using vision sensor for various type of mobile robots Tomohiro Uchimoto, Sho'ji Suzuki and Hitoshi Matsubara. |
| 12:20-12:40 |
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A novel geo-localisation method using GPS, 3D-GIS and Laser scanner for intelligent vehicle navigation in urban areas Jing Peng, Maan El Badaoui El Najjar, Cindy Cappelle, Denis Pomorski, François Charpillet and Abdallah Deeb |
| 12:40-13:00 |
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On Measurement Models for Line Segments and Point Based SLAM Satish Pedduri, Gururaj Kosuru, Madhava Krishna and Amit Kumar Pandey. |
| Session TD2 Haptics and Haptic Interfaces |
| 11:40-12:00 |
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Passivity Analysis of Haptic Systems Interacting with Viscoelastic Virtual Environment Hyoung Il Son, Tapomayukh Bhattacharjee and Doo Yong Lee. |
| 12:00-12:20 |
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Effect of the Tactile Array Density on the Discrimination of Edge Patterns: Implications for Tactile Systems Design Nadia Garcia-Hernandez, Nikos Tsagarakis and Darwin Caldwell. |
| 12:20-12:40 |
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Light-Exoskeleton and Data-Glove Integration for Enhancing Virtual Reality Applications Luis Ivan Lugo Villeda, Silvia Pabon, Miguel Angel Padilla Casteñeda, Antonio Frisoli, Edoardo Sotgiu and Massimo Bergamasco |
| 12:40-13:00 |
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Development of Wearable-Agri-Robot Mechanism for Agricultural Work and Following System Yamamoto Gohei and Toyama Shigeki |
| Session TA3 Service Robots (ZAFH) |
| 14:00-14:20 |
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Robotic Software Systems: From Code-Driven to Model-Driven Designs Christian Schlegel, Thomas Hassler, Alex Lotz and Andreas Steck. |
| 14:20-14:40 |
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The Teaching-Box: A Universal Robot Learning Framework Wolfgang Ertel, Markus Schneider, Richard Cubek and Michel Tokic. |
| 14:40-15:00 |
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Towards a robust Visual SLAM Approach: Addressing the Challenge of life-long Operation Siegfried Hochdorfer and Christian Schlegel. |
| 15:00-15:20 |
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Model Predictive Collaborative Motion Planning and Control of Mobile Robots Including Safety Aspects Holger Voos |
| Session TB3 Multi Robot Systems |
| 14:00-14:20 |
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Formation Control of Multiple Nonholonomic Mobile Robots Via Dynamic Feedback Linearization Gayan Gamage, George Mann and Raymond Gosine. |
| 14:20-14:40 |
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A Multi-robot Coordination System based on RFID technology Marco Baglietto, Giorgio Cannata, Francesco Capezio, Alberto Grosso and Antonio Sgorbissa |
| 14:40-15:00 |
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Self-Organised Recruitment in a Heteregeneous Swarm Carlo Pinciroli, Rehan O'Grady, Anders Lyhne Christensen and Marco Dorigo. |
| 15:00-15:20 |
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Robotics enable the Simulation and Animation of the Virtual Human Christian Schlette and Jürgen Rossmann. |
| Session TC3 Localization and Mapping II |
| 14:00-14:20 |
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Relaxing Loop-Closing Errors in 3D Maps Based on Planar Surface Patches Kaustubh Pathak, Max Pfingsthorn, Narunas Vaskevicius and Andreas Birk |
| 14:20-14:40 |
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Development of Compact and Light-weight LRF Based Positioning Sensor for Mobile Robot Localization Hirohiko Kawata, Akihisa Ohya and Shin'ichi Yuta. |
| 14:40-15:00 |
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Precise Realtime Localization by RF Transceiver ToF Measurements Hamed Bastani and Andreas Birk |
| 15:00-15:20 |
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Iterative Localization Optimization for Networked Mobile Robots Hamed Bastani and Andreas Birk |
| Session TD3 Multimodal Interaction |
| 14:00-14:20 |
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Assigning virtual tool dynamics to an industrial robot through an admittance controller Gianni Ferretti, Gianantonio Magnani and Paolo Rocco |
| 14:20-14:40 |
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Online trajectory following with position based force/vision control Olli Alkkiomäki, Ville Kyrki, Heikki Kälviäinen, Yong Liu and Heikki Handroos |
| 14:40-15:00 |
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Multi-modal force/vision sensor fusion in 6-DOF pose tracking Olli Alkkiomäki, Ville Kyrki, Yong Liu, Heikki Handroos and Heikki Kälviäinen |
| 15:00-15:20 |
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The Realization of Robot Theater: Humanoid Robots and Theatric Performance Chyi-Yeu Lin, Chang-Kuo Tseng, Wei-Chung Teng, Wei-Chen Lee, Chung-Hsien Kuo, Hung-Yan Gu, Kuo-Liang Chung and Chin-Shyurng Fahn |
Friday, June 26
| Session FA1 Advanced Behaviors of mobile robots in public areas (COMMROB 1/2) |
| 10:00-10:20 |
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Improving user interfaces of interactive robots with multimodality Mathieu Vallee, Brice Burger, Dominik Ertl, Frederic Lerasle and Juergen Falb |
| 10:20-10:40 |
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Vision and ToF-based driving assistance for a personal transporter Marcus Strand, Thomas Schamm, Thomas Gumpp, Marius Zöllner, Rüdiger Dillmann and Ralf Kohlhaas. |
| 10:40-11:00 |
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Intuitive Control for the Mobile Service Robot InBOT using Haptic Interaction Thilo Kerscher, Michael Göller, Marco Ziegenmeyer, Arne Rönnau, J. Marius Zöllner and Rüdiger Dillmann. |
| 11:00-11:20 |
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Setup and Control Architecture for an Interactive Shopping Cart Michael Göller, Michel Devy, Thilo Kerscher, J.Marius Zöllner, Rüdiger Dillmann, Thierry Germa and Frederic Lerasle. |
| Session FB1 Aerial Robots |
| 10:00-10:20 |
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Simultaneous Visual Target Tracking and Navigation in a GPS-Denied Environment Yoko Watanabe, Patrick Fabiani and Guy Le Besnerais. |
| 10:20-10:40 |
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Miniature Quad-rotor Dynamics Modeling & Guidance for Vision-based Target Tracking control Tasks Antonio Barrientos and Julian Colorado |
| 10:40-11:00 |
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A Vision Based Onboard Approach for Landing and Position Control of an Autonomous Multirotor UAV in GPS-Denied Environments Sven Lange, Niko Sünderhauf and Peter Protzel |
| 11:00-11:20 |
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Using Image Profiles and Integral Images for Efficient Calculation of Sparse Optical Flow Fields Niko Sünderhauf and Peter Protzel |
| Session FC1 Identification and Estimation in robotics |
| 10:00-10:20 |
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Friction and backlash measurement and identification method for robotic arms Lorinc Marton and Bela Lantos. |
| 10:20-10:40 |
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Loop Closure and Trajectory Estimation with Long-Range Passive RFID in Densely Tagged Environments Philipp Vorst, Bin Yang and Andreas Zell. |
| 10:40-11:00 |
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A Robust Neural Adaptive Force Controller for a C5 Parallel Robot Brahim Achili, Boubaker Daachi, Araab Ali-Cherif and Yacine Amirat. |
| 11:00-11:20 |
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Towards Closed-form Solution of Constraint Networks for Maximum Likelihood Mapping Dario Lodi Rizzini. |
| Session FD1 Humanoid and Walking Robots |
| 10:00-10:20 |
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SVR controller of a biped robot in the sagittal plane when pulling a mass J. P. Ferreira, Manuel Crisóstomo and António Coimbra. |
| 10:20-10:40 |
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Centroid-based Analysis of Quadruped-Robot Walking Balance Byoung-Ho Kim. |
| 10:40-11:00 |
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A Parametric Study on the Passive Dynamics of Straight-Ahead Level-Ground Quadrupedal Running Panagiotis Chatzakos and Evangelos Papadopoulos |
| 11:00-11:20 |
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Design of a shape-changing anthropomorphic mannequin for tailoring applications Artur Abels and Maarja Kruusmaa. |
| Session FA2 Advanced Behaviors of mobile robots in public areas (COMMROB 2/2) |
| 11:40-12:00 |
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Integrated subsystem for Obstacle detection from a belt of micro-cameras. Michel Devy, Mario Ibarra Manzano, Jean-Louis Boizard, Pierre Lacroix, Wassim Filali and Jean-Yves Fourniols. |
| 12:00-12:20 |
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RFID-based topological and metrical self-localization in a structured environment Younes Raoui, Michael Göller, Michel Devy, Thilo Kerscher, Johann Marius Zöllner, Rüdiger Dillmann and Anthony Coustou. |
| 12:20-12:40 |
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A Step towards a Sociable Robot Guide which Monitors and Adapts to the Person’s Activities Amit Kumar Pandey and Rachid Alami |
| 12:40-13:00 |
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A Framework for Adapting Social Conventions in a Mobile Robot Motion in Human-Centered Environment Amit Kumar Pandey and Rachid Alami |
| Session FB2 Field Robots I |
| 11:40-12:00 |
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Lateral Movement of Flexible Mono-Tread Mobile Track (FMT) Tetsuya Kinugasa, Takafumi Haji, Koji Yoshida, Hisanori Amano and Koichi Osuka |
| 12:00-12:20 |
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Robotic Screw Explorer for Lunar Subsurface Investigation: Dynamics Modelling and Experimental Validation Kenji Nagaoka, Takashi Kubota, Masatsugu Otsuki and Satoshi Tanaka |
| 12:20-12:40 |
|
Trajectory Planning and Time-Independent Motion Control for a Kinematically Redundant Hydraulic Manipulator Uwe Mettin, Pedro X. La Hera, Daniel Ortíz Morales, Anton S. Shiriaev, Leonid B. Freidovich and Simon Westerberg |
| 12:40-13:00 |
|
Modelling and Control of the GreenWeeder for Crop Row Tracking Kim Son Dang, Jayantha Katupitiya, Ray Eaton and Ngai M. Kwok |
| Session FC2 Fuzzy Logic in Robotics |
| 11:40-12:00 |
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Mobile Robot Navigation in Unknown Environments Based on Supervisory Control of Partially-Observed Fuzzy Discrete Event Systems Awantha Jayasiri, George Mann and Raymond Gosine. |
| 12:00-12:20 |
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Type-2 Fuzzy Reactive Navigation of Autonomous Robot Manipulators Jean Bosco Mbede, Pierre Ele and Edouard Ondoua. |
| 12:20-12:40 |
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Rejection of an external force in the Sagittal Plane applied on a Biped Robot using a Neuro-Fuzzy Controller J. P. Ferreira, Manuel Crisóstomo and António Coimbra. |
| 12:40-13:00 |
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Fuzzy Approaches to Driven Kalman Filtering for Small Robot Localization Jeffrey Kramer and Abraham Kandel. |
| Session FD2 Telerobotics and Robotic Surgery |
| 11:40-12:00 |
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Preliminary Protocol for Interoperable Telesurgery H. Hawkeye King, Kotaro Tadano, Regina Donlin, Diana Friedman, Mitchel J. H. Lum, Victoria Asch, Cong Wang, Kenji Kawashima and Blake Hannaford. |
| 12:00-12:20 |
|
Design of a haptic master interface for Robotically Assisted Vitreo-Retinal Eye Surgery |
| 12:20-12:40 |
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LQ Control Design of Cooperative Teleoperation Systems Rita Bacocco and Claudio Melchiorri |
| 12:40-13:00 |
| Stability Analysis of Scaled Force-Position Control Architecture with Sensor Noise Maya Wulandari and Dong Soo Kwon |
| 13:00-13:20 |
| Cooperative Control of A Multi-arm System Using Semi-autonomous
Telemanipulation and Adaptive Impedance Yushing Cheung and Justin Chung |
| Session FA3 Navigation |
| 15:00-15:20 |
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Improved Laser-based Navigation for Mobile Robots Muhammad Awais. |
| 15:20-15:40 |
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Bi-Steerable Robot Navigation Using a Modified Dynamic Window Approach Karima Rebai, Ouahiba Azouaoui and Ouadah Noureddine. |
| 15:40-16:00 |
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Moving Obstacles Detection and Tracking with Laser Range Finder Karima Rebai, Akrame Benabderrahmane, Ouahiba Azouaoui and Ouadah Noureddine |
| 16:00-16:20 |
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A 3D Laser Scanner System for Autonomous Vehicle Navigation Francesco Maurelli, David Droeschel, Thomas Wisspeintner, Stefan May and Hartmut Surmann |
| 16:20-16:40 |
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Robot Navigation using Tube Skeletons and Fast Marching Santiago Garrido, Luis Moreno, Mohamed Abderrahim and Dolores Blanco. |
| Session FB3 Field Robots II |
| 15:00-15:20 |
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Lean Robotics For Humanitarian Mine Sweeping Vittorio Belotti, Manjula Hemapala, Rinaldo Michelini and Roberto Razzoli. |
| 15:20-15:40 |
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Accurate Perception of Environmental Ferrous Features' Positioning Using a Simple Mobile Robot Platform Hamed Bastani and Hamid Mirmohammad Sadeghi |
| 15:40-16:00 |
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Estimating Ground and Other Planes from a Single Tilted Laser Range Finder for On-Road Driving Yasovardhan Reddy E, Hemanth Korrapati and Madhava Krishna K |
| 16:00-16:20 |
|
Realization of a highly accurate mobile robot system for multi purpose precision forestry applications Juergen Rossmann, Michael Schluse, Christian Schlette, Arno Buecken, Petra Krahwinkler and Markus Emde |
| 16:20-16:40 |
|
FRC: A low-cost service robot for subsea flexible risers Dimitrios Psarros, Vasileios Papadimitriou, Panagiotis Chatzakos, Vasileios Spais and Kostas Hrissagis. |
| 16:40-17:00 |
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Real-Time Audio-Visual Calls Detection System for a Chicken Robot Alexey Gribovskiy and Francesco Mondada |
| Session FC3 Learning and Reasoning |
| 15:00-15:20 |
| Prediction learning in robotic pushing manipulation Marek Kopicki, Jeremy Wyatt and Rustam Stolkin. |
| 15:20-15:40 |
| Vision-Based Reinforcement Learning using Approximate Policy Iteration Marwan Shaker, Tom Duckett and Shigang Yue |
| 15:40-16:00 |
| The Coordination of Deliberative Reasoning in a Mobile Robot Patrick Ulam. |
| 16:00-16:20 |
| Reducing complexity in Robotic Learning by Experimentation Federico Di Palma, Andrea Monastero and Paolo Fiorini |