2014 IEEE/RSJ International Conference on Intelligent Robots and Systems
September 14-18, 2014, Palmer House Hilton, Chicago, IL, USA

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Technical Program for Wednesday September 17, 2014

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WeP1L Plenary session, Grand/State Ballrooms Add to My Program 
Plenary Session III  
Chair: Neira, JoséUniv. de Zaragoza
08:00-08:50, Paper WeP1L.1 Add to My Program
From Visual SLAM to Generic Real-Time 3D Scene Perception
video starts at 0h00m00s
Davison, Andrew JImperial Coll. London
WeA1 Speaking session, Grand Ballroom Add to My Program 
Medical Robots and Systems II / Rehabilitation Robotics II  
Chair: Taylor, Russell H.The Johns Hopkins Univ.
09:00-09:20, Paper WeA1.1 Add to My Program
Keynote: Towards Intelligent Robotic Surgical Assistants
video starts at 0h00m35s
Cavusoglu, M. CenkCase Western Res. Univ.
09:20-09:23, Paper WeA1.2 Add to My Program
Task-Space Motion Planning of MRI-Actuated Catheters for Catheter Ablation of Atrial Fibrillation
video starts at 0h20m46s
Greigarn, TipakornCase Western Res. Univ
Cavusoglu, M. CenkCase Western Res. Univ
09:23-09:26, Paper WeA1.3 Add to My Program
Using Lie Algebra for Shape Estimation of Medical Snake Robots
video starts at 0h23m49s
Rangaprasad, Arun SrivatsanCarnegie Mellon Univ
Travers, MatthewCarnegie Mellon Univ
Choset, HowieCarnegie Mellon Univ
09:26-09:29, Paper WeA1.4 Add to My Program
Modeling and Control of Robotic Surgical Platform for Single-Port Access Surgery
video starts at 0h26m08s
Lee, JusukSamsung Electronics Co., Ltd
Kim, JiyoungSamsung Electronics Co., Ltd
Lee, Kwang-KyuCenter of Human-Centered Interaction for Coexistence
Hyung, SeungYongSamsung Electronics Co., Ltd
Kim, Yong-JaeKorea Univ. of Tech. and Education
Kwon, WoongSamsung Electronics Co., Ltd
Roh, KyungshikSamsung Electronics Co., Ltd
Choi, Jung-YunSamsung Electronics Co., Ltd
09:29-09:32, Paper WeA1.5 Add to My Program
Semi-Autonomous Navigation for Robot Assisted Tele-Echography Using Generalized Shape Models and Co-Registered RGB-D Cameras
video starts at 0h28m52s
Zhang, LinImperial Coll. London
Lee, Su-LinImperial Coll. London
Yang, Guang-ZhongImperial Coll. London
Mylonas, GeorgeImperial Coll. London
09:32-09:35, Paper WeA1.6 Add to My Program
State Recognition of Bone Drilling with Audio Signal in Robotic Orthopedics Surgery System
video starts at 0h31m57s
Sun, YuShenzhen Inst. of Advanced Tech. Chinese Acad. of S
Jin, HaiyangShenzhen Inst. of Advanced Tech. Chinese Acad. of S
Hu, YingShenzhen Inst. of Advanced Tech. ShenZhen, China
Zhang, PengShenzhen Inst. of Advanced Tech
Zhang, JianweiUniv. of Hamburg
09:35-09:38, Paper WeA1.7 Add to My Program
Estimating Contact Force for Steerable Ablation Catheters Based on Shape Analysis
video starts at 0h34m18s
Khoshnam Tehrani, MahtaThe Univ. of Western Ontario
Patel, Rajnikant V.The Univ. of Western Ontario
09:38-09:41, Paper WeA1.8 Add to My Program
Predicting Kinematic Configuration from String Length for a Snake-Like Manipulator Not Exhibiting Constant Curvature Bending
video starts at 0h37m12s
Murphy, Ryan JosephJohns Hopkins Univ. Applied Physics Lab
Otake, YoshitoThe Johns Hopkins Univ
Taylor, Russell H.The Johns Hopkins Univ
Armand, MehranJohns Hopkins Univ. Applied Physics Lab
09:41-09:44, Paper WeA1.9 Add to My Program
Comparison of Methods for Estimating the Position of Actuated Instruments in Flexible Endoscopic Surgery
video starts at 0h40m15s
Cabras, PaoloCnrs - Icube Umr 7357
Goyard, DavidICUBE - Univ. of Strasbourg, France
Nageotte, FlorentUniv. of Strasbourg
Zanne, PhilippeUniv. of Strasbourg
Doignon, ChristopheUniv. of Strasbourg
09:44-09:47, Paper WeA1.10 Add to My Program
Robust Forceps Tracking Using Online Calibration of Hand-Eye Coordination for Microsurgical Robotic System
video starts at 0h43m25s
Tanaka, ShinichiThe Univ. of Tokyo
Baek, Young MinThe Univ. of Tokyo
Harada, KanakoThe Univ. of Tokyo
Sugita, NaohikoThe Univ. of Tokyo
Morita, AkioNippon Medical School Hospital
Sora, ShigeoTokyo Metropolitan Pol. Hospital
Nakatomi, HirofumiThe Univ. of Tokyo
Saito, NobuhitoThe Univ. of Tokyo
Mitsuishi, MamoruThe Univ. of Tokyo
09:47-09:50, Paper WeA1.11 Add to My Program
MRI-Powered Closed-Loop Control for Multiple Magnetic Capsules
video starts at 0h45m53s
Eqtami, AlinaChildren's Hospital Boston, Harvard Medical School
Felfoul, OuajdiBoston Childrens Hospital
Dupont, PierreChildren's Hospital Boston, Harvard Medical School
09:50-09:53, Paper WeA1.12 Add to My Program
Development and Evaluation of an Operation Interface for Physical Therapy Devices Based on Rehabilitation Database
video starts at 0h48m30s
Tsuji, ToshiakiSaitama Univ
Momiki, ChinamiSaitama Univ
Sakaino, ShoSaitama Univ
09:53-09:56, Paper WeA1.13 Add to My Program
EMG-Based Continuous Control Method for Electric Wheelchair
video starts at 0h51m30s
Jang, GihoHanyang Univ
Choi, YoungjinHanyang Univ
09:56-09:59, Paper WeA1.14 Add to My Program
NTUH-II Robot Arm with Dynamic Torque Gain Adjustment Method for Frozen Shoulder Rehabilitation
video starts at 0h54m11s
Lin, Chia-HsunNational Taiwan Univ
Lien, Wei-MingNational Taiwan Univ
Wang, Wei-WenNational Taiwan Univ
Chen, Sung-HuaTaiwan Univ
Lo, Chan-HsiangNational Taiwan Univ
Lin, Sheng-YenNational Taiwan Univ
Fu, Li-ChenNational Taiwan Univ
Lai, Jin-ShinNational Taiwan Univ
09:59-10:02, Paper WeA1.15 Add to My Program
Involuntary Movement During Haptics-Enabled Robotic Rehabilitation: Analysis and Control Design
video starts at 0h56m46s
Atashzar, Seyed FarokhWestern Univ. (The Univ. of Western Ontario)
Saxena, AbhijitCanadian Surgical Tech. & Advanced Robotics, the Univ
Shahbazi, MahyaWetsern Univ. (UWO)
Patel, Rajnikant V.The Univ. of Western Ontario
10:02-10:05, Paper WeA1.16 Add to My Program
A Framework for Supervised Robotics-Assisted Mirror Rehabilitation Therapy
video starts at 0h59m33s
Shahbazi, MahyaWetsern Univ. (UWO)
Atashzar, Seyed FarokhWestern Univ. (The Univ. of Western Ontario)
Patel, Rajnikant V.The Univ. of Western Ontario
10:05-10:08, Paper WeA1.17 Add to My Program
Development of an Upper Limb Exoskeleton Powered Via Pneumatic Electric Hybrid Actuators with Bowden Cable
video starts at 1h02m11s
Noda, TomoyukiATR Computational Neuroscience Lab
Teramae, TatsuyaATR Computational Neuroscience Lab
Ugurlu, BarkanATR, Computational Neuroscience Labs
Morimoto, JunATR Computational Neuroscience Labs
10:08-10:11, Paper WeA1.18 Add to My Program
A Novel Customized Cable-Driven Robot for 3-DOF Wrist and Forearm Motion Training
video starts at 1h05m13s
Cui, XiangBeijing Univ. of Aeronaurics and Astronautics
Chen, WeihaiBeijing Univ. of Aeronaurics and Astronautics
Agrawal, SunilColumbia Univ
Wang, JianhuaBeijing Univ. of Aeronautics and Astronautics
10:11-10:14, Paper WeA1.19 Add to My Program
Identifying Inverse Human Arm Dynamics Using a Robotic Testbed
video starts at 1h08m18s
Schearer, EricNorthwestern Univ
Liao, Yu-WeiNorthwestern Univ
Perreault, EricRehabilitaiton Inst. of Chicago
Tresch, MatthewNorthwestern Univ
Memberg, WilliamCase Western Res. Univ
Kirsch, RobertCase Western Res. Univ
Lynch, KevinNorthwestern Univ
10:14-10:17, Paper WeA1.20 Add to My Program
A Risk Assessment Infrastructure for Powered Wheelchair Motion Commands without Full Sensor Coverage
video starts at 1h11m07s
TalebiFard, PouriaUniv. of British Columbia
Sattar, JunaedUniv. of British Columbia
Mitchell, IanUniv. of British Columbia
10:17-10:20, Paper WeA1.21 Add to My Program
LINarm: A Low-Cost Variable Stiffness Device for Upper-Limb Rehabilitation
video starts at 1h14m06s
Malosio, MatteoNational Res. Council of Italy
Caimmi, MarcoNational Res. Council of Italy
Legnani, GiovanniUniv. of Brescia
Molinari, LorenzoCnr-Itia
WeA2 Speaking session, State Ballroom Add to My Program 
Motion and Path Planning III / Planning, Failure Detection and Recovery  
Chair: Kroeger, TorstenGoogle, Inc.
09:00-09:20, Paper WeA2.1 Add to My Program
Keynote: Planning for Complex High-Level Missions
video starts at 0h01m02s
Kavraki, LydiaRice Univ.
09:20-09:23, Paper WeA2.2 Add to My Program
Nonlinear Dimensionality Reduction for Kinematic Cartography with an Application Toward Robotic Locomotion
video starts at 0h21m20s
Dear, TonyCarnegie Mellon Univ
Hatton, RossOregon State Univ
Choset, HowieCarnegie Mellon Univ
09:23-09:26, Paper WeA2.3 Add to My Program
Orienting in Mid-Air through Configuration Changes to Achieve a Rolling Landing for Reducing Impact after a Fall
video starts at 0h24m20s
Bingham, JeffreyGeorgia Inst. of Tech
Lee, JeongseokGeorgia Inst. of Tech
Haksar, RaviGeorgia Inst. of Tech
Ueda, JunGeorgia Inst. of Tech
Liu, KarenGeorgia Tech
09:26-09:29, Paper WeA2.4 Add to My Program
Motion Planning for Non-Holonomic Mobile Robots Using the I-PID Controller and Potential Field
video starts at 0h27m20s
Ma, YingchongEc. Centrale De Lille
Zheng, GangInria
Perruquetti, WilfridEc. Centrale De Lille
Qiu, ZhaopengEc. Centrale De Lille
09:29-09:32, Paper WeA2.5 Add to My Program
Spherical Parabolic Blends for Robot Workspace Trajectories
video starts at 0h30m10s
Dantam, NeilGeorgia Inst. of Tech
Stilman, MikeGeorgia Tech
09:32-09:35, Paper WeA2.6 Add to My Program
Trajectory Planning for Car-Like Robots in Unknown, Unstructured Environments
video starts at 0h32m40s
Fassbender, DennisUniv. of the Bundeswehr Munich
Mueller, AndreUniv. of the Bundeswehr Munich
Wuensche, Hans JUniBw Munich
09:35-09:38, Paper WeA2.7 Add to My Program
Fast, Dynamic Trajectory Planning for a Dynamically Stable Mobile Robot
video starts at 0h35m37s
Shomin, MichaelCarnegie Mellon Univ
Hollis, RalphCarnegie Mellon Univ
09:38-09:41, Paper WeA2.8 Add to My Program
Risk-Aware Trajectory Generation with Application to Safe Quadrotor Landing
video starts at 0h38m10s
Mueller, JoergUniv. of Southern California
Sukhatme, GauravUniv. of Southern California
09:41-09:44, Paper WeA2.9 Add to My Program
Hierarchical Robustness Approach for Nonprehensile Catching of Rigid Objects
video starts at 0h41m06s
Pekarovskiy, AlexanderTech. Univ. Muenchen
Stockmann, FerdinandTech. Univ. of Munich
Okada, MasafumiTokyo Inst. of Tech
Buss, MartinTech. Univ. München
09:44-09:47, Paper WeA2.10 Add to My Program
Parameterized Controller Generation for Multiple Mode Behavior
video starts at 0h44m13s
Gong, ChaohuiCarnegie Mellon Univ
Travers, MatthewCarnegie Mellon Univ
Kao, Hsien-TangCarnegie Mellon Univ
Choset, HowieCarnegie Mellon Univ
09:47-09:50, Paper WeA2.11 Add to My Program
Extending Equilibria to Periodic Orbits for Walkers Using Continuation Methods
video starts at 0h46m49s
Rosa, NelsonNorthwestern Univ
Lynch, KevinNorthwestern Univ
09:50-09:53, Paper WeA2.12 Add to My Program
Global Registration of Mid-Range 3D Observations and Short Range Next Best Views
video starts at 0h49m43s
Aleotti, JacopoUniv. of Parma
Lodi Rizzini, DarioUniv. of Parma
Monica, RiccardoUniv. of Parma
Caselli, StefanoUniv. of Parma
09:53-09:56, Paper WeA2.13 Add to My Program
Model-Free Robot Anomaly Detection
video starts at 0h52m40s
Hornung, Rachel HannahDLR, Germany
Urbanek, HolgerGerman Aerospace Center
Klodmann, JulianGerman Aerospace Center
Osendorfer, ChristianTech. Univ. München
van der Smagt, PatrickTum
09:56-09:59, Paper WeA2.14 Add to My Program
A Constraint-Based Method for Solving Sequential Manipulation Planning Problems
video starts at 0h55m56s
Lozano-Perez, TomasMit
Kaelbling, LeslieMit
09:59-10:02, Paper WeA2.15 Add to My Program
Attack Resilient State Estimation for Autonomous Robotic Systems
video starts at 0h58m59s
Bezzo, NicolaUniv. of Pennsylvania
Weimer, JamesUniv. of Pennsylvania
Pajic, MiroslavUniv. of Pennsylvania
Sokolsky, OlegUniv. of Pennsylvania
Pappas, George J.Univ. of Pennsylvania
Lee, InsupUniv. of Pennsylvania
10:02-10:05, Paper WeA2.16 Add to My Program
A Metric for Self-Rightability and Understanding Its Relationship to Simple Morphologies
video starts at 1h01m59s
Kessens, Chad C.United States Army Res. Lab
Lennon, CraigUnited States Army Res. Lab
Collins, JasonEngility
10:05-10:08, Paper WeA2.17 Add to My Program
Sampling Based Motion Planning with Reachable Volumes: Application to Manipulators and Closed Chain Systems
video starts at 1h04m56s
McMahon, TroyTexas A&M
Thomas, ShawnaTexas A&M Univ
Amato, NancyTexas A&M Univ
10:08-10:11, Paper WeA2.18 Add to My Program
Probabilistically Complete Kinodynamic Planning for Robot Manipulators with Acceleration Limits
video starts at 1h07m10s
Kunz, TobiasGeorgia Tech
Stilman, MikeGeorgia Tech
10:11-10:14, Paper WeA2.19 Add to My Program
Run-Time Detection of Faults in Autonomous Mobile Robots Based on the Comparison of Simulated and Real Robot Behaviour
video starts at 1h10m02s
Millard, Alan GregoryUniv. of York
Timmis, JonUniv. of York
Winfield, AlanUniv. of the West of England, Bristol
10:14-10:17, Paper WeA2.20 Add to My Program
Sampling-Based Tree Search with Discrete Abstractions for Motion Planning with Dynamics and Temporal Logic
video starts at 1h12m57s
McMahon, JamesThe Naval Res. Lab
Plaku, ErionCatholic Univ. of America
10:17-10:20, Paper WeA2.21 Add to My Program
Distributed Fault Detection and Recovery for Networked Robots
video starts at 1h15m31s
Arrichiello, FilippoUniv. Di Cassino E Del Lazio Meridionale
Marino, AlessandroUniv. Degli Studi Di Salerno
Pierri, FrancescoUniv. Della Basilicata
WeA3 Speaking session, Red Lacquer Room Add to My Program 
Networked Robots / Swarm Robotics  
Chair: Vaughan, RichardSimon Fraser Univ.
09:00-09:20, Paper WeA3.1 Add to My Program
Keynote: Networked Robots
video starts at 0h00m05s
Rus, DanielaMIT
09:20-09:23, Paper WeA3.2 Add to My Program
Autonomous Wireless Backbone Deployment with Bounded Number of Networked Robots
video starts at 0h20m41s
Santos, Elerson Rubens da SilvaUniv. Federal De Minas Gerais
Vieira, MarcosUniv. Federal De Minas Gerais
09:23-09:26, Paper WeA3.3 Add to My Program
Point Cloud Culling for Robot Vision Tasks under Communication Constraints
video starts at 0h23m30s
Beksi, WilliamUniv. of Minnesota
Papanikolopoulos, NikosUniv. of Minnesota
09:26-09:29, Paper WeA3.4 Add to My Program
Robust Routing and Multi-Confirmation Transmission Protocol for Connectivity Management of Mobile Robotic Teams
video starts at 0h26m19s
Stephan, JamesUniv. of Pennsylvania
Fink, JonathanArl
Charrow, BenjaminUniv. of Pennsylvania
Kumar, VijayUniv. of Pennsylvania
Ribeiro, AlejandroUniv. of Pennsylvania
09:29-09:32, Paper WeA3.5 Add to My Program
A Centralized-Equivalent Decentralized Implementation of Extended Kalman Filters for Cooperative Localization
video starts at 0h29m40s
Kia, SolmazUinversity of California Irvine
Rounds, StephenJohn Deere
Martinez, SoniaUC San Diego
09:32-09:35, Paper WeA3.6 Add to My Program
From Autonomy to Cooperative Traded Control of Humanoid Manipulation Tasks with Unreliable Communication: System Design and Lessons Learned
video starts at 0h32m46s
Mainprice, JimWorcester Pol. Inst
Phillips-Grafflin, CalderWorcester Pol. Inst
Suay, Halit BenerWorcester Pol. Inst
Alunni, NicholasWorcester Pol. Inst
Lofaro, DanielGeorge Mason Univ
Berenson, DmitryWorcester Pol. Inst. (WPI)
Chernova, SoniaWorcester Pol. Inst
Lindeman, RobertWorcester Pol. Inst
Oh, Paul Y.Drexel Univ
09:35-09:38, Paper WeA3.7 Add to My Program
Route Swarm: Wireless Network Optimization through Mobility
video starts at 0h35m48s
Williams, RyanUniv. of Southern California
Gasparri, AndreaUniv. Degli Studi Roma Tre
Krishnamachari, BhaskarUSC Viterbi School of Engineering
09:38-09:41, Paper WeA3.8 Add to My Program
Cooperative Dynamic Behaviors in Networked Systems with Decentralized State Estimation
video starts at 0h38m53s
Sabattini, LorenzoUniv. of Modena and Reggio Emilia
Secchi, CristianUniv. of Modena & Reggio Emilia
Fantuzzi, CesareUniv. Di Modena E Reggio Emilia
09:41-09:44, Paper WeA3.9 Add to My Program
Adding Transmission Diversity to Unmanned Systems through Radio Switching and Directivity
video starts at 0h42m03s
Lowrance, Christopher JohnUniv. of Louisville
Lauf, Adrian P.Univ. of Louisville
09:44-09:47, Paper WeA3.10 Add to My Program
Effective Compression of Range Data Streams for Remote Robot Operations Using H.264
video starts at 0h45m00s
Nenci, FabrizioInst. for Autonomous Intelligent Systems, Univ. of Freiburg
Spinello, LucianoUniv. of Freiburg
Stachniss, CyrillUniv. of Bonn
09:47-09:50, Paper WeA3.11 Add to My Program
Network Lifetime Maximization in Mobile Visual Sensor Networks
video starts at 0h47m41s
Yu, ShengweiMarvell Semiconductor, Inc
Lee, C. S. GeorgePurdue Univ
09:50-09:53, Paper WeA3.12 Add to My Program
Task Assignment and Trajectory Optimization for Displaying Stick Figure Animations with Multiple Mobile Robots
video starts at 0h50m33s
Yamane, KatsuDisney
Goerner, JaredGoogle
09:53-09:56, Paper WeA3.13 Add to My Program
Worst-Case Optimal Average Consensus Estimators for Robot Swarms
video starts at 0h53m37s
Elwin, MatthewNorthwestern Univ
Freeman, RandyNorthwestern Univ
Lynch, KevinNorthwestern Univ
09:56-09:59, Paper WeA3.14 Add to My Program
Robust Sensor Cloud Localization from Range Measurements
video starts at 0h56m41s
Dubbelman, GijsCMU Robotics Inst
Duisterwinkel, ErikIncas3 / Tue
Demi, LibertarioTU Eindhoven
Talnishnikh, ElenaIncas3
Wörtche, HeinrichIncas3
Bergmans, Jan W. M.TU Eindhoven
09:59-10:02, Paper WeA3.15 Add to My Program
Application of Grazing-Inspired Guidance Laws to Autonomous Information Gathering
video starts at 0h59m39s
Apker, ThomasExelis, Inc
Liu, Shih-YuanU.C. Berkeley
Sofge, DonaldNaval Res. Lab
Hedrick, KarlUniv. of California, Berkeley
10:02-10:05, Paper WeA3.16 Add to My Program
Human-Swarm Interaction Using Spatial Gestures
video starts at 1h01m56s
Nagi, JawadDalle Molle Inst. for Artificial Intelligence (IDSIA)
Giusti, AlessandroIDSIA Lugano, SUPSI
Gambardella, LucaUsi-Supsi
Di Caro, Gianni A.Idsia (usi/supsi)
10:05-10:08, Paper WeA3.17 Add to My Program
Mapping of Unknown Environments Using Minimal Sensing from a Stochastic Swarm
video starts at 1h04m47s
Dirafzoon, AlirezaNorth Carolina State Univ
Betthauser, JosephNorth Carolina State Univ
Schornick, JeffNorth Carolina State Univ
Benavides, DanielNorth Carolina State Univ
Lobaton, EdgarNorth Carolina State Univ
10:08-10:11, Paper WeA3.18 Add to My Program
Probabilistic Guidance of Distributed Systems Using Sequential Convex Programming
video starts at 1h07m49s
Morgan, DanielUniv. of Illinois at Urbana-Champaign
Subramanian, Giri PrashanthUniv. of Illinois at Urbana Champaign
Bandyopadhyay, SaptarshiUniv. of Illinois at Urbana-Champaign
Chung, Soon-JoUniv. of Illinois at Urbana-Champaign
Hadaegh, FredJet Propulsion Lab
10:11-10:14, Paper WeA3.19 Add to My Program
Geodesic Topological Voronoi Tessellations in Triangulated Environments with Multi-Robot Systems
video starts at 1h10m49s
Lee, Seoung KyouRice Univ
Fekete, SándorTech. Univ. Braunschweig
McLurkin, JamesRice Univ
10:14-10:17, Paper WeA3.20 Add to My Program
Outdoor Flocking and Formation Flight with Autonomous Aerial Robots
video starts at 1h13m55s
Vásárhelyi, GáborEötvös Univ
Virágh, CsabaEötvös Univ. of Budapest
Somorjai, GergoElte
Tarcai, NorbertEötvös Loránd Univ
Szörényi, TamásEötvös Univ
Nepusz, TamásDepartment of Biological Physics, Eötvös Loránd Univ
Vicsek, TamasEotvos Univ
10:17-10:20, Paper WeA3.21 Add to My Program
Sponsor Talk: Autonomous Robot Fleets for Automated Warehouses
video starts at 1h16m42s
Sweet, Larry (Ted Macdonald filled in)Symbotic
WeAI Interactive session, 3rd Floor Interactive Salons Add to My Program 
Interactive Session 9  
WeB1 Speaking session, Grand Ballroom Add to My Program 
Mechanisms and Actuators / Force and Tactile Sensing  
Chair: Okamura, Allison M.Stanford Univ.
10:50-11:10, Paper WeB1.1 Add to My Program
Keynote: Natural Machine Motion and Embodied Intelligence
video starts at 0h00m38s
Bicchi, AntonioUniv. di Pisa & Istituto Italiano di Tecnologia
11:10-11:13, Paper WeB1.2 Add to My Program
Dynamic Trajectory Planning of Planar 2-Dof Redundantly Actuated Cable-Suspended Parallel Robots
video starts at 0h20m40s
Tang, LeweiTsinghua Univ
Gosselin, ClementUniv. Laval
Tang, XiaoqiangTsinghua Univ
Jiang, XiaolingUniv. Laval
11:13-11:16, Paper WeB1.3 Add to My Program
Workspace Augmentation of Spatial 3-DOF Cable Parallel Robots Using Differential Actuation
video starts at 0h23m24s
Khakpour, HamedEc. Pol. De Montreal
Birglen, LionelEc. Pol. De Montreal
11:16-11:19, Paper WeB1.4 Add to My Program
Tendon Routing Resolving Inverse Kinematics for Variable Stiffness Joint
video starts at 0h26m12s
Shirafuji, ShouheiOsaka Univ
Ikemoto, ShuheiOsaka Univ
Hosoda, KohOsaka Univ
11:19-11:22, Paper WeB1.5 Add to My Program
Drum Stroke Variation Using Variable Stiffness Actuators
video starts at 0h28m41s
Kim, YongtaeSeoul National Univ
Garabini, ManoloUniv. Di Pisa
Park, JaeheungSeoul National Univ
Bicchi, AntonioUniv. Di Pisa & Istituto Italiano Di Tecnologia
11:22-11:25, Paper WeB1.6 Add to My Program
Compliant Robotic Systems on Graphs
video starts at 0h31m41s
Groothuis, Stefan S.Univ. of Twente
Stramigioli, StefanoUniv. of Twente
Carloni, RaffaellaUniv. of Twente
11:25-11:28, Paper WeB1.7 Add to My Program
Reaching Desired States Time-Optimally from Equilibrium and Vice Versa for Visco-Elastic Joint Robots with Limited Elastic Deflection
video starts at 0h34m39s
Mansfeld, NicoRobotics and Mechatronics Center
Haddadin, SamiLeibniz Univ. Hanover
11:28-11:31, Paper WeB1.8 Add to My Program
Force-Guiding Particle Chains for Shape-Shifting Displays
video starts at 0h37m10s
Lasagni, MatteoGraz Univ. of Tech
Roemer, KayTU Graz
11:31-11:34, Paper WeB1.9 Add to My Program
A Class of Microstructures for Scalable Collective Actuation of Programmable Matter
video starts at 0h40m06s
Holobut, PawelInst. of Fundamental Tech. Res. Pol. Acad
Kursa, MichałInst. of Fundamental Tech. Res. PAN
Lengiewicz, JakubInst. of Fundamental Tech. Res. Pol. Acad
11:34-11:37, Paper WeB1.10 Add to My Program
HiGen: A High-Speed Genderless Mechanical Connection Mechanism with Single-Sided Disconnect for Self-Reconfigurable Modular Robots
video starts at 0h43m02s
Parrott, ChristopherThe Univ. of Sheffield
Dodd, T JThe Univ. of Sheffield
Gross, RoderichThe Univ. of Sheffield
11:37-11:40, Paper WeB1.11 Add to My Program
Stretchable Electroadhesion for Soft Robots
video starts at 0h46m04s
Germann, Juerg MarkusEpfl
Schubert, BryanEpfl
Floreano, DarioEc. Pol. Federal, Lausanne
11:40-11:43, Paper WeB1.12 Add to My Program
Miniature Capacitive Three-Axis Force Sensor
video starts at 0h49m12s
Bekhti, RachidÉcole De Tech. Supérieure
Duchaine, VincentEc. De Tech. Superieure
Cardou, PhilippeLaval Univ
11:43-11:46, Paper WeB1.13 Add to My Program
A Framework for Dynamic Sensory Substitution
video starts at 0h51m48s
Mkhitaryan, ArtashesTech. Univ. of Munich
Burschka, DariusTech. Univ. Muenchen
11:46-11:49, Paper WeB1.14 Add to My Program
High-Throughput Analysis of the Morphology and Mechanics of Tip Growing Cells Using a Microrobotic Platform
video starts at 0h54m52s
Felekis, DimitriosETH Zürich
Vogler, HannesInst. of Plant Biology and Zurich-Basel Plant Science Center
Mecja, GeraldoETH Zurich
Muntwyler, SimonETH Zurich
Sakar, Mahmut SelmanETH Zurich
Grossniklaus, UeliInst. of Plant Biology and Zurich-Basel Plant Science Center
Nelson, Bradley J.ETH Zurich
11:49-11:52, Paper WeB1.15 Add to My Program
What's in the Container? Classifying Object Contents from Vision and Touch
video starts at 0h57m53s
Güler, PürenKth
Bekiroglu, YaseminKth
Kragic, DanicaKth
Gratal Martínez, XaviKTH Stockholm
Pauwels, KarlUniv. of Granada
11:52-11:55, Paper WeB1.16 Add to My Program
3D Spatial Self-Organization of a Modular Artificial Skin
video starts at 0h59m56s
Mittendorfer, PhilippTech. Univ. München
Dean-Leon, EmmanuelTech. Univ. Muenchen
Cheng, GordonTech. Univ. Munich
11:55-11:58, Paper WeB1.17 Add to My Program
Detection of Membrane Puncture with Haptic Feedback Using a Tip-Force Sensing Needle
video starts at 1h02m58s
Elayaperumal, SanthiStanford Univ
Bae, Jung HwaStanford Univ
Daniel, BruceStanford Univ. Department of Radiology
Cutkosky, MarkStanford Univ
11:58-12:01, Paper WeB1.18 Add to My Program
Active Gathering of Frictional Properties from Objects
video starts at 1h05m43s
Rosales, CarlosUniv. of Pisa
Ajoudani, ArashFondazione Istituto Italiano Di Tecnologia
Gabiccini, MarcoUniv. of Pisa
Bicchi, AntonioUniv. Di Pisa & Istituto Italiano Di Tecnologia
12:01-12:04, Paper WeB1.19 Add to My Program
Localization and Manipulation of Small Parts Using GelSight Tactile Sensing
video starts at 1h08m27s
Li, RuiMit
Platt, RobertNortheastern Univ
Yuan, WenzhenMit
ten Pas, AndreasNortheastern Univ
Roscup, NathanNortheastern Univ
Srinivasan, MandayamMit
Adelson, EdwardMit
12:04-12:07, Paper WeB1.20 Add to My Program
Exploiting Global Force Torque Measurements for Local Compliance Estimation in Tactile Arrays
video starts at 1h11m25s
Ciliberto, CarloIstituto Italiano Di Tecnologia
Fiorio, LucaIstituto Italiano Di Tecnologia
Maggiali, MarcoItalian Inst. of Tech
Natale, LorenzoIstituto Italiano Di Tecnologia
Rosasco, LorenzoIstituto Italiano Di Tecnologia & MassachusettsInstitute of Tech
Metta, GiorgioIstituto Italiano Di Tecnologia (IIT)
Sandini, GiulioIstituto Italiano Di Tecnologia
Nori, FrancescoIstituto Italiano Di Tecnologia
12:07-12:10, Paper WeB1.21 Add to My Program
Toward a Modular Soft Sensor-Embedded Glove for Human Hand Motion and Tactile Pressure Measurement
video starts at 1h14m28s
Hammond III, Frank L.Harvard Univ
Menguc, YigitHarvard Univ
Wood, RobertHarvard Univ
WeB2 Speaking session, State Ballroom Add to My Program 
Humanoids and Bipeds III / Human Detection and Tracking  
Chair: Bertrand, SylvainInst. for Human and Machine Cognition
10:50-11:10, Paper WeB2.1 Add to My Program
Keynote on Humanoids and Bipeds
video starts at 0h00m34s
Hong, DennisUcla
11:10-11:13, Paper WeB2.2 Add to My Program
3D-SLIP Steering for High-Speed Humanoid Turns
video starts at 0h22m44s
Wensing, PatrickThe Ohio State Univ
Orin, DavidThe Ohio State Univ
11:13-11:16, Paper WeB2.3 Add to My Program
Emergence of Humanoid Walking Behaviors from Mixed-Integer Model Predictive Control
video starts at 0h25m36s
Ibanez, AurélienUniv. Pierre Et Marie Curie, CNRS-UPMC
Bidaud, PhilippeUniv. Pierre Et Marie Curie - Paris 6
Padois, VincentUniv. Pierre Et Marie Curie
11:16-11:19, Paper WeB2.4 Add to My Program
Trajectory Generation for Continuous Leg Forces During Double Support and Heel-To-Toe Shift Based on Divergent Component of Motion
video starts at 0h28m35s
Englsberger, JohannesDLR (German Aerospace Center)
Koolen, TwanMassachusetts Inst. of Tech
Bertrand, SylvainInst. for Human and Machine Cognition
Pratt, JerryInst. for Human and Machine Cognition
Ott, ChristianGerman Aerospace Center (DLR)
Albu-Schäffer, AlinDLR - German Aerospace Center
11:19-11:22, Paper WeB2.5 Add to My Program
Model Preview Control in Multi-Contact Motion - Application to a Humanoid Robot
video starts at 0h31m37s
Audren, HervéCnrs-Aist-Jrl
Vaillant, JorisCnrs-Um2 Lirmm
Kheddar, AbderrahmaneCNRS-AIST JRL (Joint Robotics Lab. UMI3218/CRT
Escande, AdrienCnrs
Kaneko, KenjiNational Inst. of AIST
Yoshida, EiichiNational Inst. of AIST
11:22-11:25, Paper WeB2.6 Add to My Program
Predictive Control for Dynamic Locomotion of Real Humanoid Robots
video starts at 0h34m32s
Piperakis, StylianosTech. Univ. of Crete
Orfanoudakis, EmmanouilTech. Univ. of Crete
Lagoudakis, MichailTech. Univ. of Crete
11:25-11:28, Paper WeB2.7 Add to My Program
A Robot-Machine Interface for Full-Functionality Automation Using a Humanoid
video starts at 0h37m07s
Jeong, HeejinUniv. of Pennsylvania
Shim, David HyunchulKaist
Cho, SungwookKorea Advanced Inst. of Science and Tech
11:28-11:31, Paper WeB2.8 Add to My Program
Planar Sliding Analysis of a Biped Robot in Centroid Acceleration Space
video starts at 0h40m13s
Senoo, TakuUniv. of Tokyo
Ishikawa, MasatoshiUniv. of Tokyo
11:31-11:34, Paper WeB2.9 Add to My Program
Energy Based Control of Compass Gait Soft Limbed Bipeds
video starts at 0h43m04s
Godage, Isuru S.Clemson Univ
Wang, YueClemson Univ
Walker, IanClemson Univ
11:34-11:37, Paper WeB2.10 Add to My Program
Analytical Control Parameters of the Swing Leg Retraction Method Using an Instantaneous SLIP Model
video starts at 0h46m04s
Shemer, NatanTech. - Israel Inst. of Tech
Degani, AmirTech. - Israel Inst. of Tech
11:37-11:40, Paper WeB2.11 Add to My Program
Task-Oriented Whole-Body Planning for Humanoids Based on Hybrid Motion Generation
video starts at 0h48m44s
Cognetti, MarcoSapienza Univ. of Rome
Mohammadi, PouyaSapienza Univ. of Rome
Oriolo, GiuseppeSapienza Univ. of Rome
Vendittelli, MarilenaSapienza Univ. of Rome
11:40-11:43, Paper WeB2.12 Add to My Program
Real-Time People Detection and Tracking for Indoor Surveillance Using Multiple Top-View Depth Cameras
video starts at 0h51m44s
Tseng, Ting-EnNational Taiwan Univ
Liu, An-ShengNational Taiwan Univ
Hsiao, Po-HaoNational Taiwan Univ
Huang, Cheng-MingNational Taipei Univ. of Tech
Fu, Li-ChenNational Taiwan Univ
11:43-11:46, Paper WeB2.13 Add to My Program
Robot-Assisted Human Indoor Localization Using the Kinect Sensor and Smartphones
video starts at 0h54m21s
Jiang, ChaoStevens Inst. of Tech
Fahad, MuhammadStevens Inst. of Tech
Guo, YiStevens Inst. of Tech
Yang, JieFlorida State Univ
Chen, YingyingStevens Inst. of Tech
11:46-11:49, Paper WeB2.14 Add to My Program
Gesture-Based Attention Direction for a Telepresence Robot: Design and Experimental Study
video starts at 0h56m50s
Tee, Keng PengInst. for Infocomm Res
Yan, RuiInst. for Infocomm Res
Chua, YuanweiInst. for Infocomm Res
Huang, ZhiyongInst. for Infocomm Res
Liemhetcharat, SomchayaInst. of Infocomm Res
11:49-11:52, Paper WeB2.15 Add to My Program
Kinect-Based People Detection and Tracking from Small-Footprint Ground Robots
video starts at 0h59m52s
Pesenti Gritti, ArmandoPol. Di Milano
Tarabini, OscarPol. Di Milano
Guzzi, JeromeIdsia, Usi-Supsi
Di Caro, Gianni A.Idsia (usi/supsi)
Caglioti, VincenzoPol. Di Milano
Gambardella, LucaUsi-Supsi
Giusti, AlessandroIDSIA Lugano, SUPSI
11:52-11:55, Paper WeB2.16 Add to My Program
Robust Articulated Upper Body Pose Tracking under Severe Occlusions
video starts at 1h02m51s
Sigalas, MarkosFoundation for Res. and Tech. - Hellas
Pateraki, MariaFoundation for Res. and Tech. - Hellas
Trahanias, PanosFoundation for Res. and Tech. – Hellas (FORTH)
11:55-11:58, Paper WeB2.17 Add to My Program
Pedestrian Detection Combining RGB and Dense LIDAR Data
video starts at 1h05m33s
Premebida, CristianoUniv. of Coimbra
Carreira, Joao Luis da SilvaInst. of Systems and Robotics, Univ. of Coimbra
Batista, JorgeUniv. of Coimbra
Nunes, UrbanoInst. De Sistemas E Robotica
11:58-12:01, Paper WeB2.18 Add to My Program
Confidence-Based Pedestrian Tracking in Unstructured Environments Using 3D Laser Distance Measurements
video starts at 1h08m31s
Häselich, MarcelUniv. of Koblenz-Landau
Jöbgen, BenediktUniv. of Koblenz-Landau
Wojke, NicolaiUniv. of Koblenz-Landau
Hedrich, JensUniv. of Koblenz-Landau
Paulus, DietrichUniv. Koblenz-Landau
12:01-12:04, Paper WeB2.19 Add to My Program
Whole-Body Pose Estimation in Physical Rider-Bicycle Interactions with a Monocular Camera and a Set of Wearable Gyroscopes
video starts at 1h11m31s
Lu, XiangNankai Univ
Yu, KaiyanRutgers, the State Univ. of New Jersey
Zhang, YizhaiNorthwestern Pol. Univ
Yi, JingangRutgers Univ
Liu, JingtaiNankai Univ
12:04-12:07, Paper WeB2.20 Add to My Program
Pedalvatar: An IMU-Based Real-Time Body Motion Capture System Using Foot Rooted Kinematic Model
video starts at 1h14m23s
Zheng, YangThe Chinese Univ. of Hong Kong
Chan, Ka ChunThe Chinese Univ. of Hong Kong
Wang, Charlie C.L.The Chinese Univ. of Hong Kong
12:07-12:10, Paper WeB2.21 Add to My Program
Sponsor Talk: TOYOTA – Partner Robot
video starts at 1h17m20s
Djugash, JosephToyota Motor Engineering & Manufacturing North America
WeB3 Speaking session, Red Lacquer Room Add to My Program 
Collision Detection and Avoidance / Sensing II  
Chair: MacDonald, BruceUniv. of Auckland
10:50-11:10, Paper WeB3.1 Add to My Program
Keynote: Bayesian Perception & Decision from Theory to Real World Applications
video starts at 0h01m40s
Laugier, ChristianINRIA Rhône-Alpes
11:10-11:13, Paper WeB3.2 Add to My Program
Real-Time Collision Avoidance in Human-Robot Interaction Based on Kinetostatic Safety Field
video starts at 0h22m41s
Parigi Polverini, MatteoPol. Di Milano
Zanchettin, Andrea MariaPol. Di Milano
Rocco, PaoloPol. Di Milano
11:13-11:16, Paper WeB3.3 Add to My Program
Determining States of Inevitable Collision Using Reachability Analysis
video starts at 0h25m39s
Lawitzky, AndreasTech. Univ. München
Nicklas, AnselmTech. Univ. München
Wollherr, DirkTech. Univ. München
Buss, MartinTech. Univ. München
11:16-11:19, Paper WeB3.4 Add to My Program
Collision Prediction among Polygons with Arbitrary Shape and Unknown Motion
video starts at 0h27m45s
Lu, YanyanGeorge Mason Univ
Xi, ZhonghuaGeorge Mason Univ
Lien, Jyh-MingGeorge Mason Univ
11:19-11:22, Paper WeB3.5 Add to My Program
Unified GPU Voxel Collision Detection for Mobile Manipulation Planning
video starts at 0h30m25s
Hermann, AndreasRes. Center for Information Tech. (FZI)
Drews, FlorianRes. Center for Information Tech. (FZI)
Bauer, JörgRes. Center for Information Tech. (FZI)
Klemm, SebastianRes. Center for Information Tech. (FZI)
Roennau, ArneFZI Forschungszentrum Informatik
Dillmann, RüdigerKarlsruhe Inst. of Tech. (KIT)
11:22-11:25, Paper WeB3.6 Add to My Program
A Practical Reachability-Based Collision Avoidance Algorithm for Sampled-Data Systems: Application to Ground Robots
video starts at 0h33m15s
Dabadie, CharlesISAE Supaero
Kaynama, ShahabUC Berkeley
Tomlin, ClaireUC Berkeley
11:25-11:28, Paper WeB3.7 Add to My Program
Time Scaled Collision Cone Based Trajectory Optimization Approach for Reactive Planning in Dynamic Environments
video starts at 0h36m14s
Singh, Arun KumarInternational Inst. of Information Tech
Gopalakrishnan, BharathIiit Hyderabad
Krishna, MadhavaIIIT Hyderabad
11:28-11:31, Paper WeB3.8 Add to My Program
A Representation Method Based on the Probability of Collision for Safe Robot Navigation in Domestic Environments
video starts at 0h38m56s
Coenen, Sebastiaan Antonius MariaEindhoven Univ. of Tech
Lunenburg, Janno Johan MariaEindhoven Univ. of Tech
van de Molengraft, Marinus Jacobus GerardusUniv. of Tech. Eindhoven
Steinbuch, MaartenEindhoven Univ. of Tech
11:31-11:34, Paper WeB3.9 Add to My Program
Real-Time 3D Collision Avoidance for Biped Robots
video starts at 0h41m44s
Hildebrandt, Arne-ChristophTech. Univ. München
Wittmann, RobertTech. Univ. München
Wahrmann, DanielTech. Univ. München
Ewald, AlexanderTech. Univ. Muenchen
Buschmann, ThomasTech. Univ. Muenchen
11:34-11:37, Paper WeB3.10 Add to My Program
Ensuring Safety in Human-Robot Coexistence Environment
video starts at 0h44m00s
Tsai, Chi-ShenUniv. of California, Berkeley
Hu, Jwu-ShengNational Chiao Tung Univ
Tomizuka, MasayoshiUniv. of California
11:37-11:40, Paper WeB3.11 Add to My Program
A Unified Framework for External Wrench Estimation, Interaction Control and Collision Reflexes for Flying Robots
video starts at 0h47m00s
Tomic, TeodorGerman Aerospace Center (DLR)
Haddadin, SamiLeibniz Univ. Hanover
11:40-11:43, Paper WeB3.12 Add to My Program
Deterioration of Depth Measurements Due to Interference of Multiple RGB-D Sensors
video starts at 0h50m11s
Martín Martín, RobertoTech. Univ. Berlin
Lorbach, MalteTU Berlin
Brock, OliverTech. Univ. Berlin
11:43-11:46, Paper WeB3.13 Add to My Program
IMU/LIDAR Based Positioning of a Gangway for Maintenance Operations on Wind Farms
video starts at 0h53m07s
Merriaux, PierreIrseem/Esigelec
Boutteau, RémiIrseem
Vasseur, PascalUniv. De Rouen
Savatier, XavierIrseem Ea 4353
11:46-11:49, Paper WeB3.14 Add to My Program
A Quantitative Evaluation of Surface Normal Estimation in Point Clouds
video starts at 0h56m08s
Jordan, KrzysztofStevens Inst. of Tech
Mordohai, PhilipposStevens Inst. of Tech
11:49-11:52, Paper WeB3.15 Add to My Program
View Planning for 3D Object Reconstruction with a Mobile Manipulator Robot
video starts at 0h58m32s
Vasquez-Gomez, J. IrvingInaoe
Sucar, Luis EnriqueInst. Nacional De Astrafisica, Optica Y Electraonica
Murrieta-Cid, RafaelCenter for Mathematical Res
11:52-11:55, Paper WeB3.16 Add to My Program
Planar Pose Estimation for General Cameras Using Known 3D Lines
video starts at 1h01m11s
Miraldo, PedroInst. for Systems and Robotics - Univ. of Coimbra
Araujo, HelderUniv. of Coimbra
11:55-11:58, Paper WeB3.17 Add to My Program
GPS-Based Preliminary Map Estimation for Autonomous Vehicle Mission Preparation
video starts at 1h04m09s
Dupuis, YohanCerema
Merriaux, PierreIrseem/Esigelec
Subirats, PeggyCerema
Boutteau, RémiIrseem
Savatier, XavierIrseem Ea 4353
Vasseur, PascalUniv. De Rouen
11:58-12:01, Paper WeB3.18 Add to My Program
Dynamic Objects Tracking with a Mobile Robot Using Passive UHF RFID Tags
video starts at 1h07m10s
Liu, RanUniv. of Tuebingen
Huskić, GoranUniv. of Tübingen
Zell, AndreasUniv. of Tübingen
12:01-12:04, Paper WeB3.19 Add to My Program
Spatio-Temporal Motion Features for Laser-Based Moving Objects Detection and Tracking
video starts at 1h10m14s
Shen, XiaotongNational Univ. of Singapore
Kim, Seong-WooSmart
Ang Jr, Marcelo HNational Univ. of Singapore
12:04-12:07, Paper WeB3.20 Add to My Program
The Role of Target Modeling in Designing Search Strategies
video starts at 1h13m16s
Renzaglia, AlessandroUniv. of Minnesota
Noori, NargesUniv. of Minnesota, Robotic Sensor Network Lab
Isler, VolkanUniv. of Minnesota
12:07-12:10, Paper WeB3.21 Add to My Program
Advances in Fibrillar On-Off Polymer Adhesive: Sensing and Engagement Speed
video starts at 1h16m21s
Wettels, NicholasNasa-Jpl
Parness, AaronNasa Jet Propulsion Lab
WeBI Interactive session, 3rd Floor Interactive Salons Add to My Program 
Interactive Session 10  
WeAward_Awards Awards ceremony, Grand/State Ballrooms Add to My Program 
Awards Ceremony  
WeC1 Speaking session, Grand Ballroom Add to My Program 
Surgical Robotics II / Teleoperation and Telerobotics  
Chair: Hamel, William R.Univ. of Tennessee
14:00-14:20, Paper WeC1.1 Add to My Program
Keynote: Surgical Robotics: Transition to Automation
video starts at 0h00m58s
Hannaford, BlakeUniv. of Washington
14:20-14:23, Paper WeC1.2 Add to My Program
Bimanual Telerobotic Surgery with Asymmetric Haptic Force Feedback: A Davinci Surgical System Implementation
video starts at 0h20m49s
Mohareri, OmidUniv. of British Columbia
Schneider, CaitlinUniv. of British Columbia
Salcudean, Septimiu E.Univ. of British Columbia
14:23-14:26, Paper WeC1.3 Add to My Program
First 3D Printed Medical Robot for ENT Surgery – Application Specific Manufacturing of Laser Sintered Disposable Manipulators
video starts at 0h23m42s
Entsfellner, KonradTech. Univ. München
Kuru, IsmailTech. Univ. München
Maier, ThomasTech. Univ. München
Gumprecht, Jan David JeromeTech. Univ. München
Lueth, Tim C.Tech. Univ. München
14:26-14:29, Paper WeC1.4 Add to My Program
Mass and Inertia Optimization for Natural Motion in Hands-On Robotic Surgery
video starts at 0h26m35s
Petersen, JoshuaImperial Coll. London
Rodriguez y Baena, FerdinandoImperial Coll. London, UK
14:29-14:32, Paper WeC1.5 Add to My Program
Interleaved Continuum-Rigid Manipulation Approach: Development and Functional Evaluation of a Clinical Scale Manipulator
video starts at 0h29m13s
Conrad, BenjaminUniv. of Wisconsin - Madison
Zinn, MichaelUniv. of Wisconsin - Madison
14:32-14:35, Paper WeC1.6 Add to My Program
Using Monocular Images to Estimate Interaction Forces During Minimally Invasive Surgery
video starts at 0h32m21s
Noohi, EhsanUniv. of Illinois at Chicago
Parastegari, SinaUniv. of Illinois at Chicago
Zefran, MilosUniv. of Illinois at Chicago
14:35-14:38, Paper WeC1.7 Add to My Program
Recursive Estimation of Needle Pose for Control of 3D-Ultrasound-Guided Robotic Needle Steering
video starts at 0h35m26s
Adebar, Troy K.Stanford Univ
Okamura, Allison M.Stanford Univ
14:38-14:41, Paper WeC1.8 Add to My Program
Development of Multi-Axial Force Sensing System for Haptic Feedback Enabled Minimally Invasive Robotic Surgery
video starts at 0h38m30s
Lee, Dong-HyukSungkyunkwan Univ
Kim, UikyumSungKyunKwan Univ
Choi, Hyouk RyeolSungkyunkwan Univ
14:41-14:44, Paper WeC1.9 Add to My Program
Estimation of Needle Tissue Interaction Based on Non-Linear Elastic Modulus and Friction Force Patterns
video starts at 0h41m24s
Elgezua Fernandez, InkoWaseda Univ
Kobayashi, YoWaseda Univ
Fujie, Masakatsu G.Waseda Univ
14:44-14:47, Paper WeC1.10 Add to My Program
Design and Realization of Grasper-Integrated Force Sensor for Minimally Invasive Robotic Surgery
video starts at 0h43m56s
Kim, UikyumSungKyunKwan Univ
Lee, Dong-HyukSungkyunkwan Univ
Choi, Hyouk RyeolSungkyunkwan Univ
Moon, HyungpilSungkyunkwan Univ
Koo, Ja ChoonSungkyunkwan Univ
14:47-14:50, Paper WeC1.11 Add to My Program
A Biomechanical Model Describing Tangential Tissue Deformations During Contact Micro-Probe Scanning
video starts at 0h46m44s
Rosa, BenoîtKU Leuven
Morel, GuillaumeUniv. Pierre Et Marie Curie - Paris 6
Szewczyk, JérômeUniv. Pierre Et Marie Curie-Paris 6
14:50-14:53, Paper WeC1.12 Add to My Program
Industrial Robotic Assembly Process Modeling Using Support Vector Regression
video starts at 0h49m46s
Li, BinbinTexas State Univ. San Marcos
Chen, HepingTexas State Univ
Jin, TongdanTexas State Univ
14:53-14:56, Paper WeC1.13 Add to My Program
Teleoperation System Using past Image Records for Mobile Manipulator
video starts at 0h52m53s
Murata, RyosukeKyoto Univ
Songtong, SiraKyoto Univ
Mizumoto, HisashiThe Univ. of Electro Communications
Kon, KazuyukiKyoto Univ
Matsuno, FumitoshiKyoto Univ
14:56-14:59, Paper WeC1.14 Add to My Program
Experimental Evaluation of Guidance and Forbidden Region Virtual Fixtures for Object Telemanipulation
video starts at 0h55m52s
King, H. HawkeyeUniv. of Washington
Hannaford, BlakeUniv. of Washington
14:59-15:02, Paper WeC1.15 Add to My Program
Investigating Human Perceptions of Robot Capabilities in Remote Human-Robot Team Tasks Based on First-Person Robot Video Feeds
video starts at 0h58m56s
Canning, CodyTufts Univ
Donahue, ThomasTufts Univ
Scheutz, MatthiasTufts Univ
15:02-15:05, Paper WeC1.16 Add to My Program
Know Thy User: Designing Human-Robot Interaction Paradigms for Multi-Robot Manipulation
video starts at 1h02m00s
Lewis, BennieUniv. of Central Florida
Sukthankar, GitaUniv. of Central Florida
15:05-15:08, Paper WeC1.17 Add to My Program
Modeling Visuo-Motor Control and Guidance Functions in Remote-Control Operation
video starts at 1h05m02s
Andersh, JonathanUniv. of Minnesota
Li, BinUniv. of Minnesota
Mettler, BereniceUniv. of Minnesota
15:08-15:11, Paper WeC1.18 Add to My Program
Transparency Compensation for Bilateral Teleoperators with Time-Varying Communication Delays
video starts at 1h07m50s
Rodriguez-Seda, Erick J.United States Naval Acad
15:11-15:14, Paper WeC1.19 Add to My Program
Model-Free Path Planning for Redundant Robots Using Sparse Data from Kinesthetic Teaching
video starts at 1h10m42s
Seidel, DanielBielefeld Univ
Emmerich, ChristianBielefeld Univ
Steil, Jochen J.Bielefeld Univ
15:14-15:17, Paper WeC1.20 Add to My Program
Learning Task Outcome Prediction for Robot Control from Interactive Environments
video starts at 1h13m47s
Haidu, AndreiUniv. Bremen
Daniel, KohlsdorfGeorgia Inst. of Tech
Beetz, MichaelUniv. of Bremen
WeC2 Speaking session, State Ballroom Add to My Program 
Learning by Demonstration / Industrial and Manufacturing Robotics  
Chair: Parker, LynneUniv. of Tennessee
14:00-14:20, Paper WeC2.1 Add to My Program
Keynote: Machine Learning of Motor Skills for Robotics
video starts at 0h00m37s
Peters, JanTech. Univ. Darmstadt
14:20-14:23, Paper WeC2.2 Add to My Program
A Robust Autoregressive Gaussian Process Motion Model Using L1-Norm Based Low-Rank Kernel Approximation
video starts at 0h19m26s
Kim, EunwooSeoul National Univ
Choi, SungjoonSeoul National Univ
Oh, SonghwaiSeoul National Univ
14:23-14:26, Paper WeC2.3 Add to My Program
Unifying Scene Registration and Trajectory Optimization for Learning from Demonstrations with Application to Manipulation of Deformable Objects
video starts at 0h22m07s
Lee, Alex XavierUC Berkeley
Huang, SandyUniv. of California, Berkeley
Hadfield-Menell, DylanUC Berkeley
Tzeng, EricUC Berkeley
Abbeel, PieterUC Berkeley
14:26-14:29, Paper WeC2.4 Add to My Program
Robot Learns Chinese Calligraphy from Demonstrations
video starts at 0h25m13s
Sun, YuandongThe Chinese Univ. of Hong Kong
Qian, HuihuanCuhk
Xu, YangshengChinese Univ. of HongKong/ShenzhenInstituteofAdvancedTechno
14:29-14:32, Paper WeC2.5 Add to My Program
Learning to Sequence Movement Primitives from Demonstrations
video starts at 0h28m13s
Manschitz, SimonTech. Univ. Darmstadt
Kober, JensBielefeld Univ
Gienger, MichaelHonda Res. Inst. Europe
Peters, JanTech. Univ. Darmstadt
14:32-14:35, Paper WeC2.6 Add to My Program
Kinematically Optimised Predictions of Object Motion
video starts at 0h30m37s
Belter, DominikPoznan Univ. of Tech
Wyatt, JeremyUniv. of Birmingham
Kopicki, MarekUniv. of Birmingham
Zurek, SebastianUniv. of Birmingham, UK
14:35-14:38, Paper WeC2.7 Add to My Program
Program Synthesis by Examples for Object Repositioning Tasks
video starts at 0h33m02s
Feniello, AshleyMicrosoft Robotics
Dang, HaoMicrosoft Res
Birchfield, StanMicrosoft Corp
14:38-14:41, Paper WeC2.8 Add to My Program
LAT: A Simple Learning from Demonstration Method
video starts at 0h35m50s
Reiner, BenjaminUniv. of Applied Sciences Ravensburg-Weingarten
Ertel, WolfgangUniv. of Applied Sciences, Ravensburg-Weingarten, Germany
Posenauer, HeikoUniv. Ravensburg Weingarten
Schneider, MarkusUniv. Ravensburg-Weingarten
14:41-14:44, Paper WeC2.9 Add to My Program
Discovering Task Constraints through Observation and Active Learning
video starts at 0h38m25s
Hayes, BradleyYale Univ
Scassellati, BrianYale
14:44-14:47, Paper WeC2.10 Add to My Program
Unsupervised Object Individuation from RGB-D Image Sequences
video starts at 0h41m15s
Koo, SeongyongTech. Univ. of Munich
Lee, DongheuiTech. Univ. of Munich
Kwon, Dong-SooKaist
14:47-14:50, Paper WeC2.11 Add to My Program
Grasp Planning Based on Strategy Extracted from Demonstration
video starts at 0h43m19s
Lin, YunUniv. of South Florida
Sun, YuUniv. of South Florida
14:50-14:53, Paper WeC2.12 Add to My Program
Stiffness Modeling of Industrial Robots for Deformation Compensation in Machining
video starts at 0h46m26s
Schneider, UlrichFraunhofer IPA
Momeni, MahdiEc. Superieure D'electricite (Supelec)
Ansaloni, MatteoUniv. Degli Studi Di Modena E Reggio Emilia
Verl, AlexanderFraunhofer-Gesellschaft
14:53-14:56, Paper WeC2.13 Add to My Program
A Study on Data-Driven In-Hand Twisting Process Using a Novel Dexterous Robotic Gripper for Assembly Automation
video starts at 0h49m04s
Chen, FeiIstituto Italiano Di Tecnologia
Cannella, FerdinandoIstituto Italiano Di Tecnologia
Canali, CarloDepartment of Advanced Robotics, Istituto Italiano Di Tecnologia
Hauptman, TravelerIIT Istituto Italiano Tecnologia
Sofia, GiuseppeIIT Istituto Italiano Tecnologia
Caldwell, Darwin G.Istituto Italiano Di Tecnologia
14:56-14:59, Paper WeC2.14 Add to My Program
Velocity Coordination and Corner Matching in a Multi-Robot Sewing Cell
video starts at 0h51m51s
Schrimpf, JohannesNorwegian Univ. of Science and Tech
Bjerkeng, MagnusNorwegian Univ. of Science and Tech
Mathisen, GeirNtnu
14:59-15:02, Paper WeC2.15 Add to My Program
On the Location of the Center of Mass for Parts with Shape Variation
video starts at 0h54m40s
Panahi, FatemehUtrecht Univ
van der Stappen, FrankUtrecht Univ
15:02-15:05, Paper WeC2.16 Add to My Program
Design and Motion Planning of Body-In-White Assembly Cells
video starts at 0h57m32s
Pellegrinelli, StefaniaNational Res. Council of Italy, Inst. of Industrial Tech
Pedrocchi, NicolaNational Res. Council of Italy
Molinari Tosatti, LorenzoNational Res. Council of Italy
Fischer, AnathTech. Isreael Inst. of Tech. Faculty of Mechanical
Tolio, Tullio A. M.National Res. Council of Italy, Inst. of Industrial Tech
15:05-15:08, Paper WeC2.17 Add to My Program
Cartesian Sensor-Less Force Control for Industrial Robots
no video available
Cho, HyunchulEngine & Machinery Res. Inst
Kim, Min JeongHyundai Heavy Industries
Lim, HyunkyuHyundai Heavy Industries Co. Ltd
Kim, DonghyeokHyundai Heavy Industries Co
15:08-15:11, Paper WeC2.18 Add to My Program
Improving the Sequence of Robotic Tasks with Freedom of Execution
video starts at 1h00m15s
Alatartsev, SergeyOtto-Von-Guericke Univ. of Magdeburg
Ortmeier, FrankOtto-Von-Guericke-Univ. Magdeburg
15:11-15:14, Paper WeC2.19 Add to My Program
Parallel Active/Passive Force Control of Industrial Robots with Joint Compliance
video starts at 1h03m22s
Dayal, Udai, ArunIndian Inst. of Tech
Hayat, Abdullah AamirIndian Inst. of Tech. Delhi
Saha, Subir KumarIndain Inst. of Tech. Delhi
15:14-15:17, Paper WeC2.20 Add to My Program
Automated Guidance of Peg-In-Hole Assembly Tasks for Complex-Shaped Parts
video starts at 1h06m10s
Song, Hee-ChanKorea Univ
Kim, Young-LoulKorea Univ
Song, Jae-BokKorea Univ
15:17-15:20, Paper WeC2.21 Add to My Program
Intuitive Skill-Level Programming of Industrial Handling Tasks on a Mobile Manipulator
video starts at 1h08m47s
Pedersen, Mikkel RathAalborg Univ. Copenhagen
Herzog, Dennis LevinAalborg Univ. Copenhagen
Krueger, VolkerAalborg Univ. Copenhagen
WeC3 Speaking session, Red Lacquer Room Add to My Program 
Localization and Mapping IV / Locomotion, Navigation, and Mobility  
Chair: Antonelli, GianlucaUniv. of Cassino and Southern Lazio
14:00-14:20, Paper WeC3.1 Add to My Program
Keynote: Toward Persistent SLAM in Challenging Environments
video starts at 0h01m39s
Eustice, RyanUniv. of Michigan
14:20-14:23, Paper WeC3.2 Add to My Program
Simultaneous Localization and Planning on Multiple Map Hypotheses
video starts at 0h22m47s
Morris, TimothyQueensland Univ. of Tech
Dayoub, FerasQueensland Univ. of Tech
Corke, PeterQut
Upcroft, BenQueensland Univ. of Tech
14:23-14:26, Paper WeC3.3 Add to My Program
Long--Term Topological Localisation for Service Robots in Dynamic Environments Using Spectral Maps
video starts at 0h26m03s
Krajník, TomášUniv. of Lincoln
Pulido Fentanes, JaimeUniv. of Lincoln
Martinez Mozos, OscarUniv. of Lincoln
Duckett, TomUniv. of Lincoln
Ekekrantz, JohanKTH Royal Inst. of Tech
Hanheide, MarcUniv. of Lincoln
14:26-14:29, Paper WeC3.4 Add to My Program
SAIL-MAP: Loop-Closure Detection Using Saliency-Based Features
video starts at 0h28m56s
Birem, MerwanBlaise Pascal Univ
Quinton, Jean-CharlesBlaise Pascal Univ
Berry, FrancoisCnrs
Mezouar, YoucefIfma
14:29-14:32, Paper WeC3.5 Add to My Program
Visual Place Recognition Using HMM Sequence Matching
video starts at 0h31m38s
Hansen, PeterCarnegie Mellon Univ. in Qatar
Browning, BrettCarnegie Mellon Univ
14:32-14:35, Paper WeC3.6 Add to My Program
Linear-Time Estimation with Tree Assumed Density Filtering and Low-Rank Approximation
video starts at 0h34m22s
Ta, Duy-NguyenGeorgia Inst. of Tech
Dellaert, FrankGeorgia Inst. of Tech
14:35-14:38, Paper WeC3.7 Add to My Program
Large-Scale Image Mosaicking Using Multimodal Hyperedge Constraints from Multiple Registration Methods within the Generalized Graph SLAM Framework
video starts at 0h37m08s
Pfingsthorn, MaxJacobs Univ. Bremen
Birk, AndreasJacobs Univ
Ferreira, FaustoCnr
Veruggio, GianmarcoCnr
Caccia, MassimoConsiglio Nazionale Delle Ricerche
Bruzzone, GabrieleC.n.r
14:38-14:41, Paper WeC3.8 Add to My Program
Localization Algorithm Based on Zigbee Wireless Sensor Network with Application to an Active Shopping Cart
video starts at 0h40m13s
Gai, ShengnanHanyangUniversity
Jung, Eui-jungHanyang Univ
Yi, Byung-JuHanyang Univ
14:41-14:44, Paper WeC3.9 Add to My Program
RF Odometry for Localization in Pipes Based on Periodic Signal Fadings
video starts at 0h43m19s
Rizzo, CarlosUniv. of Zaragoza
Kumar, VijayUniv. of Pennsylvania
Lera, FranciscoUniv. of Zaragoza
Villarroel, José LuisUniv. of Zaragoza
14:44-14:47, Paper WeC3.10 Add to My Program
Multi-Vehicle Localisation with Additive Compressed Factor Graphs
video starts at 0h46m25s
Toohey, LachlanThe Univ. of Sydney
Pizarro, OscarAustralian Centre for Field Robotics
Williams, Stefan BernardUniv. of Sydney
14:47-14:50, Paper WeC3.11 Add to My Program
Building Local Terrain Maps Using Spatio-Temporal Classification for Semantic Robot Localization
video starts at 0h48m50s
Laible, StefanUniv. of Tuebingen
Zell, AndreasUniv. of Tübingen
14:50-14:53, Paper WeC3.12 Add to My Program
HexaMorph: A Reconfigurable and Foldable Hexapod Robot Inspired by Origami
video starts at 0h51m36s
Gao, WeiPurdue Univ
Huo, KePurdue Univ
Seehra, Jasjeet SinghPurdue Univ
Ramani, KarthikPurdue Univ
Cipra, RaymondPurdue Univ
14:53-14:56, Paper WeC3.13 Add to My Program
On the Optimal Selection of Motors and Transmissions for Electromechanical and Robotic Systems
video starts at 0h54m35s
Rezazadeh, SiavashOregon State Univ
Hurst, JonathanOregon State Univ
14:56-14:59, Paper WeC3.14 Add to My Program
Active Behavior of Musculoskeletal Robot Arms Driven by Pneumatic Artificial Muscles for Receiving Human’s Direct Teaching Effectively
video starts at 0h57m14s
Ikemoto, ShuheiOsaka Univ
Kayano, YujiOsaka Univ
Hosoda, KohOsaka Univ
14:59-15:02, Paper WeC3.15 Add to My Program
Received Signal Strength Based Bearing-Only Robot Navigation in a Sensor Network Field
video starts at 1h00m04s
Deshpande, NikhilIstituto Italiano Di Tecnologia
Grant, EdwardNorth Carolina State Univ
Draelos, MarkNorth Carolina State Univ
Henderson, Thomas C.Univ. of Utah
15:02-15:05, Paper WeC3.16 Add to My Program
GeckoGripper: A Soft, Inflatable Robotic Gripper Using Gecko-Inspired Elastomer Micro-Fiber Adhesives
video starts at 1h03m08s
Song, SukhoCarnegie Mellon Univ
Majidi, CarmelCarnegie Mellon Univ
Sitti, MetinMax-Planck Inst
15:05-15:08, Paper WeC3.17 Add to My Program
Design and Architecture of a Series Elastic Snake Robot
video starts at 1h06m16s
Rollinson, DavidCarnegie Mellon Univ
Bilgen, YigitCarnegie Mellon Univ
Brown, H. BenCarnegie Mellon Univ
Enner, FlorianCarnegie Mellon Univ
Ford, StevenCarnegie Mellon Univ
Layton, CurtisCarnegie Mellon Univ
Rembisz, JustineCarnegie Mellon Univ
Schwerin, MichaelCarnegie-Mellon Univ
Willig, AndrewCarnegie Mellon Univ
Velagapudi, PrasannaCarnegie Mellon Univ
Choset, HowieCarnegie Mellon Univ
15:08-15:11, Paper WeC3.18 Add to My Program
Hybrid Unmanned Aerial Underwater Vehicle: Modeling and Simulation
video starts at 1h09m19s
Drews Jr, PauloFederal Univ. of Rio Grande (FURG)
Alves Neto, ArmandoUniv. Federal De São João Del-Rei
Campos, Mario MontenegroUniv. Federal De Minas Gerais
15:11-15:14, Paper WeC3.19 Add to My Program
Circumnavigation by a Mobile Robot Using Bearing Measurements
video starts at 1h11m53s
Zheng, RonghaoCity Univ. of Hong Kong
Sun, DongCity Univ. of Hong Kong
WeCI Interactive session, 3rd Floor Interactive Salons Add to My Program 
Interactive Session 11  
WeD1 Speaking session, Grand Ballroom Add to My Program 
Micro/Nano Robotics II / Impedance, Compliance, and Force Control  
Chair: Sun, DongCity Univ. of Hong Kong
15:50-16:10, Paper WeD1.1 Add to My Program
Keynote: Soft, Printable, and Small: An Overview of Manufacturing Methods for Novel Robots at Harvard
video starts at 0h00m43s
Wood, RobertHarvard Univ.
16:10-16:13, Paper WeD1.2 Add to My Program
Modeling and Experiments of High Speed Magnetic Micromanipulation at the Air/liquid Interface
video starts at 0h19m58s
Dkhil, MohamedFemto-St
Bolopion, AudeFemto-St Inst
Gauthier, MichaelFEMTO-ST Inst
Régnier, StéphaneUniv. Pierre Et Marie Curie
16:13-16:16, Paper WeD1.3 Add to My Program
Assembly and Mechanical Characterizations of Polymer Microhelical Devices
video starts at 0h22m27s
Alvo, SébastienCnrs
Decanini, DominiqueLpn-Cnrs
Couraud, LaurentCnrs-Lpn
Haghiri-Gosnet, Anne-MarieLpn-Cnrs
Hwang, GilguengCnrs
16:16-16:19, Paper WeD1.4 Add to My Program
Controllable Roll-To-Swim Motion Transition of Helical Nanoswimmers
video starts at 0h25m22s
Barbot, AntoineLpn-Cnrs
Decanini, DominiqueLpn-Cnrs
Hwang, GilguengCnrs
16:19-16:22, Paper WeD1.5 Add to My Program
Three Dimensional Rotation of Bovine Oocyte by Using Magnetically Driven On-Chip Robot
video starts at 0h28m22s
Feng, LinNagoya Univ
U, NinggaNagoya Univ
Turan, BilalBilkent Univ
Arai, FumihitoNagoya Univ
16:22-16:25, Paper WeD1.6 Add to My Program
Robust Nanomanipulation Control Based on Laser Beam Feedback
video starts at 0h31m27s
Amari, NabilEc. Nationale Supérieure D'ingénieurs De Bourges
Folio, DavidINSA Centre Val De Loire, Univ. D'orléans, PRISME EA 4229,
Ferreira, AntoineINSA Centre Val De Loire
16:25-16:28, Paper WeD1.7 Add to My Program
Microrobotic Platform for Mechanical Stimulation of Swimming Microorganism on a Chip
video starts at 0h34m26s
Ahmad, BelalKyushu Inst. of Tech
Kawahara, TomohiroKyushu Inst. of Tech
Yasuda, TakashiKyushu Inst. of Tech
Arai, FumihitoNagoya Univ
16:28-16:31, Paper WeD1.8 Add to My Program
Magnetic-Based Motion Control of Sperm-Shaped Microrobots Using Weak Oscillating Magnetic Fields
video starts at 0h37m04s
Khalil, Islam S.M.German Univ. in Cairo
Youakim, KareemGerman Univ. in Cairo
Sanchez Secades, Luis AlonsoUniv. of Twente
Misra, SarthakUniv. of Twente
16:31-16:34, Paper WeD1.9 Add to My Program
On-Chip Flexible Scaffold for Construction of Multishaped Tissues
video starts at 0h40m08s
Chumtong, PuwananOsaka Univ
Kojima, MasaruOsaka Univ
Horade, MitsuhiroOsaka Univ
Ohara, KenichiMeijo Univ
Kamiyama, KazutoOsaka Univ
Mae, YasushiOsaka Univ
Akiyama, YoshikatsuTokyo Women's Medical Univ
Yamato, MasayukiTokyo Women's Medical Univ
Arai, TatsuoOsaka Univ
16:34-16:37, Paper WeD1.10 Add to My Program
Cell Isolation System for Rare Circulating Tumor Cell
video starts at 0h43m03s
Masuda, TaisukeNagoya Univ
Sun, YilingNagoya Univ
Song, WoneuiNagoya Univ
Niimi, MiyakoNagoya Univ
Yusa, AkikoAichi Science and Tech. Foundation
Hayao, NakanishiAichi Cancer Center Hospital
Arai, FumihitoNagoya Univ
16:37-16:40, Paper WeD1.11 Add to My Program
Incorporating In-Situ Force Sensing Capabilities in a Magnetic Microrobot
video starts at 0h45m56s
Jing, WumingPurdue Univ
Cappelleri, DavidPurdue Univ
16:40-16:43, Paper WeD1.12 Add to My Program
Joint Space Torque Controller Based on Time-Delay Control with Collision Detection
video starts at 0h48m52s
Hur, Sung-moonKorea Inst. of Science & Tech. (KIST)
Oh, Sang-RokKist
Oh, YonghwanKorea Inst. of Science & Tech. (KIST)
16:43-16:46, Paper WeD1.13 Add to My Program
Force/vision Control for Robotic Cutting of Soft Materials
video starts at 0h51m58s
Long, PhilipEc. Centrale De Nantes, IRCCyN
Khalil, WisamaEc. Centrale De Nantes
Martinet, PhilippeEc. Centrale De Nantes
16:46-16:49, Paper WeD1.14 Add to My Program
Hierarchical Inequality Task Specification for Indirect Force Controlled Robots Using Quadratic Programming
video starts at 0h55m01s
Lutscher, EwaldTech. Univ. München
Cheng, GordonTech. Univ. Munich
16:49-16:52, Paper WeD1.15 Add to My Program
Fast Dual-Arm Manipulation Using Variable Admittance Control: Implementation and Experimental Results
video starts at 0h57m11s
Bjerkeng, MagnusNorwegian Univ. of Science and Tech
Schrimpf, JohannesNorwegian Univ. of Science and Tech
Myhre, TorsteinNorwegian Univ. of Science and Tech
Pettersen, Kristin Y.Norwegian Univ. of Science and Tech
16:52-16:55, Paper WeD1.16 Add to My Program
External Torque Sensing Algorithm for Flexible-Joint Robot Based on Disturbance Observer Structure
video starts at 0h59m43s
Park, Young JinPostech
Chung, Wan KyunPostech
16:55-16:58, Paper WeD1.17 Add to My Program
Implicit Force Control for an Industrial Robot with Flexible Joints and Flexible Links
video starts at 1h02m34s
Rossi, RobertoPol. Di Milano
Bascetta, LucaPol. Di Milano
Rocco, PaoloPol. Di Milano
16:58-17:01, Paper WeD1.18 Add to My Program
Cartesian Space Synchronous Impedance Control of Two 7-DOF Robot Arm Manipulators
video starts at 1h04m48s
Jin, MingheHarbin Inst. of Tech
Zhang, ZijianHarbin Inst. of Tech
Ni, FengleiHarbin Inst. of Tech
Liu, HongHarbin Inst. of Tech
17:01-17:04, Paper WeD1.19 Add to My Program
Fully Omnidirectional Compliance in Mobile Robots Via Drive-Torque Sensor Feedback
video starts at 1h07m47s
Kim, Kwan SukUniv. of Texas at Austin
Kwok, AlanThe Univ. of Texas at Austin
Thomas, GrayUniv. of Texas at Austin
Sentis, LuisThe Univ. of Texas at Austin
17:04-17:07, Paper WeD1.20 Add to My Program
Augmenting Impedance Control with Structural Compliance for Improved Contact Transition Performance
no video available
Kim, DongwonUniv. of Michigan
Gillespie, BrentUniv. of Michigan
Johnson, BrandonUniv. of Michigan
Lai, XingjianUniv. of Michigan
17:07-17:10, Paper WeD1.21 Add to My Program
Fuzzy Learning Variable Admittance Control for Human-Robot Cooperation
video starts at 1h10m27s
Dimeas, FotiosUniv. of Patras
Aspragathos, Nikos A.Univ. of Patras
WeD2 Speaking session, State Ballroom Add to My Program 
Unmanned Aerial Systems II / Legged Robots II  
Chair: Carloni, RaffaellaUniv. of Twente
15:50-16:10, Paper WeD2.1 Add to My Program
Keynote: Material-Handling – Paradigms for Humanoids and UAVs
video starts at 0h00m59s
Oh, Paul Y.Drexel Univ.
16:10-16:13, Paper WeD2.2 Add to My Program
Robust Attitude Controller for Uncertain Hexarotor Micro Aerial Vehicles (MAVs)
video starts at 0h18m52s
Derawi, DafizalMalaysia-Japan International Inst. of Tech. Univ
Salim, Nurul DayanaMalaysia-Japan International Inst. of Tech. Univ
Zamzuri, HairiUniv. Teknologi Malaysia
Liu, HaoTsinghua Univ
Abdul Rahman, Mohd AziziMalaysia-Japan International Inst. of Tech
Mazlan, Saiful AmriMalaysia-Japan International Inst. of Tech. Univ
16:13-16:16, Paper WeD2.3 Add to My Program
Emergency Landing for a Quadrotor in Case of a Propeller Failure: A Backstepping Approach
video starts at 0h22m06s
Lippiello, VincenzoUniv. Di Napoli Federico II
Ruggiero, FabioUniv. Di Napoli Federico II
Serra, DianaUniv. Degli Studi Di Napoli Federico II
16:16-16:19, Paper WeD2.4 Add to My Program
Guaranteed Road Network Search with Small Unmanned Aircraft
video starts at 0h25m03s
Dille, MichaelSGT Inc. / NASA Ames Res. Center
Grocholsky, BenCarnegie Mellon Univ
Singh, SanjivCarnegie Mellon Univ
16:19-16:22, Paper WeD2.5 Add to My Program
A Ground-Based Optical System for Autonomous Landing of a Fixed Wing UAV
video starts at 0h27m50s
Kong, WeiweiUniv. of Hamburg
Zhou, DianleNational Univ. of Defense Tech
Zhang, YuNational Univ. of Defense Tech
Zhang, DaibingNational Univ. of Defense Tech
Wang, XunNational Univ. of Defense Tech
Zhao, BoxinNational Univ. of Defense Tech
Yan, ChengpingNational Univ. of Defense Tech
Shen, LinchengNational Univ. of Defense Tech
Zhang, JianweiUniv. of Hamburg
16:22-16:25, Paper WeD2.6 Add to My Program
On Crop Height Estimation with UAVs
video starts at 0h30m41s
Anthony, DavidUniv. of Nebraska Lincoln
Elbaum, SebastianUniv. of Nebraska - Lincoln
Lorenz, AaronUniv. of Nebraska - Lincoln
Detweiler, CarrickUniv. of Nebraska-Lincoln
16:25-16:28, Paper WeD2.7 Add to My Program
Model-Aided State Estimation for Quadrotor Micro Air Vehicles Amidst Wind Disturbances
video starts at 0h33m45s
Abeywardena, DinukaUniv. of Tech. Sydney
Wang, ZhanKungliga Tekniska Högskolan (KTH)
Dissanayake, GaminiUniv. of Tech. Sydney
Waslander, Steven LakeUniv. of Waterloo
Kodagoda, SarathUniv. of Tech. Sydney
16:28-16:31, Paper WeD2.8 Add to My Program
Inspection of Pole-Like Structures Using Vision-Controlled VTOL UAV and Shared Autonomy
video starts at 0h36m56s
Sa, InkyuQueensland Univ. of Tech
Hrabar, StefanCSIRO ICT Centre
Corke, PeterQut
16:31-16:34, Paper WeD2.9 Add to My Program
Image-Based Control for Dynamically Cross-Coupled Aerial Manipulation
video starts at 0h40m03s
Mebarki, RafikUniv. of Naples, Federico II
Lippiello, VincenzoUniv. Di Napoli Federico II
Siciliano, BrunoUniv. Napoli Federico II
16:34-16:37, Paper WeD2.10 Add to My Program
The Quadroller: Modeling of a UAV/UGV Hybrid Quadrotor
video starts at 0h43m10s
Page, JaredUniv. of Queensland
Pounds, PaulThe Univ. of Queensland
16:37-16:40, Paper WeD2.11 Add to My Program
Persistent Monitoring with a Team of Autonomous Gliders Using Static Soaring
video starts at 0h46m04s
Acevedo, José JoaquínUniv. De Sevilla
Lawrance, Nicholas Robert JonathonThe Univ. of Sydney
Arrue, Begoña C.Univ. De Sevilla
Sukkarieh, SalahUniv. of Sydney
Ollero, AnibalUniv. of Seville
16:40-16:43, Paper WeD2.12 Add to My Program
Compliant Terrain Legged Locomotion Using a Viscoplastic Approach
video starts at 0h49m07s
Vasilopoulos, VasileiosNational Tech. Univ. of Athens
Paraskevas, Iosif S.National Tech. Univ. of Athens
Papadopoulos, EvangelosNational Tech. Univ. of Athens
16:43-16:46, Paper WeD2.13 Add to My Program
Passive Dynamic Walking of Compass-Like Biped Robot with Dynamic Absorbers
video starts at 0h52m06s
Akutsu, YukihiroJapan Advanced Inst. of Science and Tech
Asano, FumihikoJapan Advanced Inst. of Science and Tech
Tokuda, IsaoRitsumeikan Univ
16:46-16:49, Paper WeD2.14 Add to My Program
More Solutions Means More Problems: Resolving Kinematic Redundancy in Robot Locomotion on Complex Terrain
video starts at 0h55m13s
Satzinger, BrianUniv. of California at Santa Barbara
Reid, JasonJet Propulsion Lab
Bajracharya, MaxJpl
Hebert, PaulJet Propulsion Lab
Byl, KatieUcsb
16:49-16:52, Paper WeD2.15 Add to My Program
Hopping Control for the Musculoskeletal Bipedal Robot BioBiped
video starts at 0h58m15s
Ahmad Sharbafi, MaziarTech. Univ. of Darmstadt
Radkhah, KatayonTech. Univ. Darmstadt
von Stryk, OskarTech. Univ. Darmstadt
Seyfarth, AndreTU Darmstadt
16:52-16:55, Paper WeD2.16 Add to My Program
A Passive Dynamic Quadruped That Moves in a Large Variety of Gaits
video starts at 1h01m24s
Gan, ZhenyuUniv. of Michigan
Remy, C. DavidUniv. of Michigan
16:55-16:58, Paper WeD2.17 Add to My Program
Velocity Disturbance Rejection for Planar Bipeds Walking with HZD-Based Control
video starts at 1h04m16s
Post, DavidUniv. of Notre Dame
Schmiedeler, JamesUniv. of Notre Dame
16:58-17:01, Paper WeD2.18 Add to My Program
Reactive Posture Behaviors for Stable Legged Locomotion Over Steep Inclines and Large Obstacles
video starts at 1h07m24s
Roennau, ArneFZI Forschungszentrum Informatik
Heppner, GeorgForschungszentrum Informatik
Nowicki, MichałPoznan Univ. of Tech
Zöllner, Johann MariusFZI Forschungszentrum Informatik
Dillmann, RüdigerKarlsruhe Inst. of Tech. (KIT)
17:01-17:04, Paper WeD2.19 Add to My Program
The Effect of Leg Impedance on Stability and Efficiency in Quadrupedal Trotting
video starts at 1h10m37s
Bosworth, WilliamMit
Kim, SangbaeMassachusetts Inst. of Tech
Hogan, NevilleMassachusetts Inst. of Tech
17:04-17:07, Paper WeD2.20 Add to My Program
On the Energetics of Quadrupedal Bounding with and without Torso Compliance
video starts at 1h13m02s
Cao, QuUniv. of Delaware
Poulakakis, IoannisUniv. of Delaware
17:07-17:10, Paper WeD2.21 Add to My Program
On the Dynamics of a Quadruped Robot Model with Impedance Control: Self-Stabilizing High Speed Trot-Running and Period-Doubling Bifurcations
video starts at 1h16m08s
Lee, JongwooMassachusetts Inst. of Tech
Hyun, Dong JinMit
Ahn, JooeunMit
Kim, SangbaeMassachusetts Inst. of Tech
Hogan, NevilleMassachusetts Inst. of Tech
WeD3 Speaking session, Red Lacquer Room Add to My Program 
Computer Vision II / Recognition  
Chair: Martinet, PhilippeEc. Centrale de Nantes
15:50-16:10, Paper WeD3.1 Add to My Program
Keynote: Semantic Parsing in Indoors and Outdoors Environments
video starts at 0h00m36s
Kosecka, JanaGeorge Mason Univ.
16:10-16:13, Paper WeD3.2 Add to My Program
A Model-Free Approach for the Segmentation of Unknown Objects
video starts at 0h21m35s
Asif, UmarUwa
Bennamoun, MohammedUwa
Sohel, FerdousUwa
16:13-16:16, Paper WeD3.3 Add to My Program
Automatic Detection of Pole-Like Structures in 3D Urban Environments
video starts at 0h24m34s
Tombari, FedericoUniv. of Bologna
Fioraio, NicolaUniv. of Bologna
Cavallari, TommasoUniv. of Bologna
Salti, SamueleUniv. of Bologna
Petrelli, AliosciaUniv. of Bologna
Di Stefano, LuigiUniv. of Bologna
16:16-16:19, Paper WeD3.4 Add to My Program
Real-Time and Low Latency Embedded Computer Vision Hardware Based on a Combination of FPGA and Mobile CPU
video starts at 0h27m31s
Honegger, DominikETH Zürich
Oleynikova, HelenETH Zürich
Pollefeys, MarcETH Zurich
16:19-16:22, Paper WeD3.5 Add to My Program
Multi-View Terrain Classification Using Panoramic Imagery and LIDAR
video starts at 0h30m16s
Taghavi Namin, SarahNational ICT Australia, Australian National Univ
Najafi, MohammadNational ICT Australia, Australian National Univ
Petersson, LarsNational ICT Australia
16:22-16:25, Paper WeD3.6 Add to My Program
Efficient Real-Time Loop Closure Detection Using GMM and Tree Structure
video starts at 0h33m21s
Boulekchour, MohammedCRANFIELD Univ
Aouf, NabilCranfield Univ
16:25-16:28, Paper WeD3.7 Add to My Program
Place Categorization Using Sparse and Redundant Representations
video starts at 0h36m16s
Carrillo, HenryUniv. of Zaragoza
Latif, YasirUniv. De Zaragoza
Neira, JoséUniv. De Zaragoza
Castellanos, Jose A.Univ. of Zaragoza
16:28-16:31, Paper WeD3.8 Add to My Program
Real-Time Global Localization of Intelligent Road Vehicles in Lane-Level Via Lane Marking Detection and Shape Registration
video starts at 0h39m13s
Cui, DixiaoXi'an Jiaotong Univ
Xue, JianruXi'an Jiaotong Univ
Du, ShaoyiXi'an Jiaotong Univ
Zheng, NanningXi'an Jiaotong Univ
16:31-16:34, Paper WeD3.9 Add to My Program
On-Road Vehicle Detection through Part Model Learning and Probabilistic Inference
video starts at 0h42m14s
Wang, ChaoPeking Univ
Zhao, HuijingPeking Univ
Guo, ChunzhaoToyota Central R&D Labs. Inc
Mita, SeiichiToyota Tech. Inst
Zha, HongbinPeking Univ
16:34-16:37, Paper WeD3.10 Add to My Program
Real-Time Depth Enhanced Monocular Odometry
video starts at 0h45m19s
Zhang, JiCarnegie Mellon Univ
Kaess, MichaelCarnegie Mellon Univ
Singh, SanjivCarnegie Mellon Univ
16:37-16:40, Paper WeD3.11 Add to My Program
MEVO: Multi-Environment Stereo Visual Odometry
video starts at 0h48m24s
Koletschka, ThomasUniv. of Pennsylvania
Puig, LuisUniv. of Pennsylvania
Daniilidis, KostasUniv. of Pennsylvania
16:40-16:43, Paper WeD3.12 Add to My Program
Place Recognition and Self-Localization in Interior Hallways by Indoor Mobile Robots: A Signature-Based Cascaded Filtering Framework
video starts at 0h51m22s
Ahmad Yousef, KhalilThe Hashemite Univ
Park, JohnnyPurdue Univ
Kak, AvinashPurdue Univ
16:43-16:46, Paper WeD3.13 Add to My Program
Automated Perception of Safe Docking Locations with Alignment Information for Assistive Wheelchairs
video starts at 0h54m28s
Jain, SiddarthNorthwestern Univ
Argall, BrennaNorthwestern Univ
16:46-16:49, Paper WeD3.14 Add to My Program
Terrain Classification Using Laser Range Finder
video starts at 0h57m30s
Walas, Krzysztof, TadeuszPoznan Univ. of Tech
Nowicki, MichałPoznan Univ. of Tech
16:49-16:52, Paper WeD3.15 Add to My Program
A Novel Feature for Polyp Detection in Wireless Capsule Endoscopy Images
video starts at 1h00m22s
Yuan, YixuanThe Chinese Univ. of Hong Kong
Meng, Max Q.-H.The Chinese Univ. of Hong Kong
16:52-16:55, Paper WeD3.16 Add to My Program
Automation of "Ground Truth" Annotation for Multi-View RGB-D Object Instance Recognition Datasets
video starts at 1h03m29s
Aldoma, AitorVienna Univ. of Tech
Fäulhammer, ThomasUniv. of Tech. Vienna
Vincze, MarkusVienna Univ. of Tech
16:55-16:58, Paper WeD3.17 Add to My Program
Recognition of Inside Pipeline Geometry by Using PSD Sensors for Autonomous Navigation
video starts at 1h06m25s
Choi, Yun SeokSungKyunKwan Univ
Kim, Ho MoonSungkyunkwan Univ
Suh, Jung SeokSungKyunKwan Univ
Mun, Hyeong MinSungkyunkwan Univ
Yang, Seung UngSungkyunkwan Univ
Park, Chan MinSungkyunkwan Univ
Choi, Hyouk RyeolSungkyunkwan Univ
16:58-17:01, Paper WeD3.18 Add to My Program
Large Scale Place Recognition in 2D LIDAR Scans Using Geometrical Landmark Relations
video starts at 1h09m08s
Himstedt, MarianUniv. of Luebeck
Hartmann, JanUniv. of Lübeck
Hellbach, SvenUniv. of Applied Sciences Dresden
Boehme, Hans-JoachimUniv. of Applied Sciences Dresden
Maehle, ErikUniv. Luebeck
17:01-17:04, Paper WeD3.19 Add to My Program
Evaluation of Feature Selection and Model Training Strategies for Object Category Recognition
video starts at 1h12m05s
Ali, HaiderGerman Aerospace Centre (DLR)
Marton, Zoltan-CsabaGerman Aerospace Center (DLR)
17:04-17:07, Paper WeD3.20 Add to My Program
Automatic Segmentation and Recognition of Human Activities from Observation Based on Semantic Reasoning
video starts at 1h15m01s
Ramirez-Amaro, KarinneInst. for Cognitive Systems. Tech. Univ. München
Beetz, MichaelUniv. of Bremen
Cheng, GordonTech. Univ. Munich
17:07-17:10, Paper WeD3.21 Add to My Program
Detection of Liquids in Cups Based on the Refraction of Light with a Depth Camera Using Triangulation
video starts at 1h17m57s
Hara, YoshitakaUniv. of Tsukuba
Honda, FuhitoUniv. of Tsukuba
Tsubouchi, TakashiUniv. of Tsukuba
Ohya, AkihisaUniv. of Tsukuba
WeDI Interactive session, 3rd Floor Interactive Salons Add to My Program 
Interactive Session 12  
WeEI , 3rd Floor Interactive Salons Add to My Program 
Final Interactive Farewell Reception (Interactive Session 13)