IROS '02

IROS 2002
2002 IEEE/RSJ International Conference on
Intelligent Robots and Systems

Technical Program

Wed Oct 02 08:30-08:50
Session:  
Chair:
Room:10
Wed Oct 02 09:40-10:40
Session: Micro Robot Systems 1  
Chair:Jean-Marc BREGUET
Room:10
Time:09:40 
Title:Paper # 329, Micro Robot Actuated by Soft Actuators Based on Dielectric Elastomer 
Authors:  
Choi, Hyoukryeol Sungkyunkwan University
Ryew, Sungmoo Sungkyunkwan University
Jung, Kwangmok Sungkyunkwan University
Kim, Hunmo Sungkyunkwan University
Jeon, Jaewook Sungkyunkwan University
Nam, Jaedo Sungkyunkwan University
Maeda, Ryutaro Advanced Institute of Industrial Science and Technology (AIST)
Tanie, Kazuo Intelligent System Institute, AIST
Time:10:00 
Title:Paper # 336, GA-Based Control of a Binary-Continuous Joints of a Multi-Link Micromanipulator Using SMA Actuators 
Authors:  
Forêt, Jérôme Laboratoire de Vision et Robotique - ENSIB
Ferreira, Antoine Laboratoire de Vision et Robotique
Fontaine, Jean-Guy Laboratoire de Vision et Robotique - ENSIB
Time:10:20 
Title:Paper # 1068, Calibration of a Micromanipulation System 
Authors:  
Li, Guang Yong Michigan State University
Xi, Ning Michigan State University
Wed Oct 02 11:00-12:40
Session: Micro Robot Systems 2  
Chair:Hidenori ISHIHARA
Room:10
Time:11:00 
Title:Paper # 306, Control of a particular coarse-fine micro-positioning system based on a magnetic actuation 
Authors:  
Gauthier, Michael Laboratoire d'Automatique de Besançon - UMR CNRS 6596
Piat, Emmanuel Laboratoire d'Automatique de Besançon - UMR CNRS 6596
Time:11:20 
Title:Paper # 309, Microfabrication and scale effect studies for a magnetic micromanipulation system 
Authors:  
Gauthier, Michael Laboratoire d'Automatique de Besançon - UMR CNRS 6596
Piat, Emmanuel Laboratoire d'Automatique de Besançon - UMR CNRS 6596
Time:11:40 
Title:Paper # 777, Environmental Influences on Microassembly 
Authors:  
Zhou, Quan Tampere University of Technology
Corral, Carlos Tampere University of Technology
Esteban, Pedro Tampere University of Technology
Koivo, Heikki Helsinki University of Technology
Time:12:00 
Title:Paper # 829, Visual servoed micropositioning for protein manipulation tasks 
Authors:  
Youcef, Mezouar Columbia University
Allen, Peter Columbia University, New York
Time:12:20 
Title:Paper # 538, AFM-based Micro Force Sensor and Haptic Interface for a Nanohandling Robot 
Authors:  
Fahlbusch, Stephan University of Oldenburg, Division Microrobotics and Control Engineering
Shirinov, Aleksandr University of Oldenburg, Division Microrobotics and Control Engineering
Fatikow, Sergej University of Oldenburg, Division Microrobotics and Control Engineering
Wed Oct 02 14:00-15:20
Session: Micro Manipulation  
Chair:Brad NELSON
Room:10
Time:14:00 
Title:Paper # 416, Design of 3DOF Parallel Mechanism with Thin Plate for Micro Finger Module in Micro Manipulation 
Authors:  
TANIKAWA, Tamio Advanced Institute of Industrial Science and Technology (AIST)
UKIANA, Motohide Hitachi Science Systems, Ltd.
MORITA, Kazuhiro Hitachi Science Systems, Ltd.
KOSEKI, Yoshihiko National Institute of Advanced Industrial Science and Technology (AIST)
OHBA, Kohtaro National Institute of Advanced Industrial Science and Technology (AIST)
FUJII, Kazuhiro Hitachi Science Systems, Ltd.
ARAI, Tatsuo Osaka University
Time:14:20 
Title:Paper # 507, Sensorless Sorting of Two Parts in the Plane Using Programmable Force Fields 
Authors:  
Sudsang, Attawith Chulalongkorn University
Time:14:40 
Title:Paper # 627, Electrostatic Detachment of a Micro-object from a Probe by Applied Voltage 
Authors:  
Saito, Shigeki Tokyo Institute of Technology
Himeno, Hideo Tokyo Institute of Technology
Takahashi, Kunio Tokyo Institute of Technology
Onzawa, Tadao Tokyo Institute of Technology
Time:15:00 
Title:Paper # 841, A Novel Dual-Axis Electrostatic Microactuation System for Micromanipulation 
Authors:  
Sun, Yu University of Minnesota
Piyabongkarn, D. University of Minnesota
Sezen, A. Serdar University of Minnesota
Nelson, Brad University of Minnesota
Rajamani, Rajesh University of Minnesota
Schoch, Reto Swiss Federal Institute of Technology Zurich (ETH)
Potasek, David University of Minnesota
Wed Oct 02 15:40-17:20
Session: Haptics & Tactile sensing 1  
Chair:Makoto KANEKO
Room:10
Time:15:40 
Title:Paper # 78, Haptic Control of a Mobile Robot: A User Study 
Authors:  
Lee, Sangyoon Pohang University of Science and Technology
Sukhatme, Gaurav S. University of Southern California, Los Angeles
Kim, Gerard Pohang University of Science and Technology
Park, Chan-Mo Pohang University of Science and Technology
Time:16:00 
Title:Paper # 83, A Method for Analyzing Parallel Mechanism Stiffness including Elastic Deformations in the Structure 
Authors:  
Yoon, Woo-Keun Intelligent System Institute, AIST
Suehiro, Takashi Intelligent System Institute, AIST
Tsumaki, Yuichi Hirosaki University
Uchiyama, Masaru Tohoku University
Time:16:20 
Title:Paper # 660, Stable haptic interaction in a dynamic virtual environment 
Authors:  
Davanne, Jerome LIFL (Computer Science Lab of Lille, France)
Meseure, Philippe LIFL (Computer Science Lab of Lille, France)
Chaillou, Christophe LIFL (Computer Science Lab of Lille, France)
Time:16:40 
Title:Paper # 733, Description of a Haptic System for Virtual Maintainability in Aeronautics 
Authors:  
Savall, Joan CEIT
Borro, Diego CEIT
Gil, Jorge Juan University of Navarra
Matey, Luis CEIT
Time:17:00 
Title:Paper # 1045, Friction Compensation for 6DOF Cartesian Coordinate Haptic Interface 
Authors:  
Ando, Noriaki University of Tokyo
Szemes, Peter University of Tokyo
Korondi, Peter Technical University of Budapest
Hashimoto, Hideki University of Tokyo
Thu Oct 03 08:30-08:50
Session:  
Chair:
Room:10
Thu Oct 03 09:20-10:40
Session: Haptics & Tactile sensing 2  
Chair:Yasuharu KUNII
Room:10
Time:09:20 
Title:Paper # 366, A bilateral force reflecting teleoperation system for wiping operation 
Authors:  
Kim, Kiho Korea Atomic Energy Research Institute
Jun, Jimyung Chonbuk National University
Kwon, Hyokjo Chonbuk National University
Oh, Chaeyoun Chonbuk National University
Park, Jangjin Korea Atomic Energy Research Institute
Time:09:40 
Title:Paper # 417, Multi-Fingered Exoskeleton Haptic Device using Passive Force Feedback for Dexterous Teleoperation 
Authors:  
Koyama, Tatsuya Keio University, Yokohama
Yamano, Ikuo Keio University, Yokohama
Takemura, Kenjiro Keio University, Yokohama
Maeno, Takashi Keio University, Yokohama
Time:10:00 
Title:Paper # 425, Haptic Feedback Augmentation through Position Based Adaptive Force Scaling: Theory and Experiment 
Authors:  
Roy, Jaydeep Johns Hopkins University
Rothbaum, Daniel Johns Hopkins University
Whitcomb, Louis Johns Hopkins University
Time:10:20 
Title:Paper # 556, A New Kind of Force-reflecting Device and Its Control 
Authors:  
Yuan, Kui Chinese Academy of Science, Beijing
Zhu, Haibing Chinese Academy of Science, Beijing
Thu Oct 03 11:00-12:40
Session: Haptics & Tactile sensing 3  
Chair:Rajiv DUBEY
Room:10
Time:11:00 
Title:Paper # 208, Haptic Modeling Based on Contact and Motion Types 
Authors:  
Xiao, Jing University of North Carolina - Charlotte
You, Song University of North Carolina - Charlotte
Time:11:20 
Title:Paper # 545, An Artificial Whisker Sensor for Robotics 
Authors:  
Lungarella, Max Neuroscience Research Institute (AIST)
Hafner, Verena Vanessa University of Zurich
Pfeifer, Rolf University of Zurich
Yokoi, Hiroshi Hokkaido University
Time:11:40 
Title:Paper # 579, Application-Specific Evaluation of Tactile Array Displays for the Human Fingertip 
Authors:  
Kammermeier, Peter Institute of Automatic Control Engineering (LSR), Technische Universität
Schmidt, Guenther Institute of Automatic Control Engineering (LSR), Technische Universität München
Time:12:00 
Title:Paper # 911, An Implicit-Based Haptic Rendering Technique 
Authors:  
Kim, Laehyun University of Southern California, Los Angeles
Kyrikou, Anna University of Southern California, Los Angeles
Desbrun, Mathieu University of Southern California, Los Angeles
Sukhatme, Gaurav S. University of Southern California, Los Angeles
Time:12:20 
Title:Paper # 640, Design, Control, and Evaluation of a New 6 DOF Haptic Device 
Authors:  
Ueberle, Marc Technical University Berlin
Buss, Martin Technical University Berlin
Thu Oct 03 14:00-15:20
Session: Mobile Robot Technology  
Chair:Thomas HENDERSON
Room:10
Time:14:00 
Title:Paper # 143, Self-controlled Sensor-/Platform-Adjustment for a Mobile Robot 
Authors:  
Bitterling, Johannes University of Hamburg
Mertsching, Bärbel University of Hamburg
Time:14:20 
Title:Paper # 229, Evaluating the Odometry Error of a Mobile Robot 
Authors:  
Martinelli, Agostino Univeristà di Roma Tor Vergata
Time:14:40 
Title:Paper # 562, Calibrating a 4-wheel mobile robot 
Authors:  
McKerrow, Phillip University of Wollongong
Ratner, Danny University of Wollongong
Time:15:00 
Title:Paper # 832, Communication and Mobility Enhancements to the Scout Robot 
Authors:  
Yesin, Kemal University of Minnesota
Burt, Ian University of Minnesota
Drenner, Andrew University of Minnesota
Kratochvil, Brad University of Minnesota
Nelson, Brad University of Minnesota
Papanikolopoulos, Nikos University of Minnesota
Thu Oct 03 15:40-16:40
Session: Teleoperation and On-line Robotics 1  
Chair:Pedro J SANZ
Room:10
Time:15:40 
Title:Paper # 380, Modeling of PWS Mobile Manipulator Including Slipping of Carrying Objects 
Authors:  
Ikeda, Takeshi Fukui University
Minami, Mamoru Fukui University
Time:16:00 
Title:Paper # 617, KAIST Interactive Bicycle Racing Simulator: The 2nd Version with Advanced Features 
Authors:  
Kwon, Dong-Soo Korea Advanced Institute of Science and Technology
Yang, Gi-Hun Korea Advanced Institute of Science and Technology
Park, Youngjin Korea Advanced Institute of Science and Technology
Kim, Sunmin Korea Advanced Institute of Science and Technology
Lee, Chong-Won Korea Advanced Institute of Science and Technology
Shin, Jae-Cheol Korea Advanced Institute of Science and Technology
Han, Soonhung Korea Advanced Institute of Science and Technology
Lee, Jonghwan Korea Advanced Institute of Science and Technology
Wohn, Kwangyun Korea Advanced Institute of Science and Technology
Kim, Se-hoon Korea Advanced Institute of Science and Technology
Lee, Doo Yong Korea Advanced Institute of Science and Technology
Lee, Kyungno Korea Advanced Institute of Science and Technology
Yang, Jae-Heon Korea Advanced Institute of Science and Technology
Choi, Yun-Mook Korea Advanced Institute of Science and Technology
Time:16:20 
Title:Paper # 668, Model-Based Automation for Heavy Duty Mobile Excavator 
Authors:  
Zweiri, Yahya H. King's College London
Althoefer, Kaspar King's College London
Seneviratne, Lakmal Dept. of Mechanical Engineering, King's College London, UK
Fri Oct 04 08:30-08:50
Session:  
Chair:
Room:10
Fri Oct 04 09:20-10:40
Session: Virtual Reality & Simulation 1  
Chair:Darwin CALDWELL
Room:10
Time:09:20 
Title:Paper # 535, Interface Design and Implementation for Mono-functional Modular Robots 
Authors:  
Matsumoto, Kohsei University of Tokyo
Shimada, Kenichi University of Tokyo
Chen, Huiying University of Tokyo
Ota, Jun University of Tokyo
ARAI, Tamio The University of Tokyo
Time:09:40 
Title:Paper # 705, First Experiments Relating Behavior Selection Architectures to Environmental Complexity 
Authors:  
Canamero, Lola University of Hertfordshire, Department of Computer Science
Avila-GArcia, Orlando University of Hertfordshire, Department of Computer Science
Hafner, Elena Aachen University of Technology, IND
Time:10:00 
Title:Paper # 775, A new simulation framework for autonomy in robotic missions 
Authors:  
Flueckiger, Lorenzo QSS Group Inc., NASA Ames Research Center
Neukom, Christian QSS Group Inc., NASA Ames Research Center
Time:10:20 
Title:Paper # 793, Hierarchical Back-Face Culling for Collision Detection 
Authors:  
Redon, Stephane INRIA Rocquencourt
Kheddar, Abderrahmane Université d'Evry - CEMIF-SC
Coquillart, Sabine INRIA Rocquencourt
Fri Oct 04 11:00-12:40
Session: Virtual Reality & Simulation 2  
Chair:Yun-Hui LIU
Room:10
Time:11:00 
Title:Paper # 207, A Comparative Study of Many Randomized Algorithms to Calibrate Virtual Contact and Friction Force Models 
Authors:  
Enoki, Ryo Osaka Electro-Communication University
Noborio, Hiroshi Osaka Electro-Communication University
Time:11:20 
Title:Paper # 681, Planning human walk in virtual environments 
Authors:  
Pettre, Julien LAAS-CNRS
Thierry, Simeon LAAS-CNRS
Laumond, Jean-Paul LAAS-CNRS
Time:11:40 
Title:Paper # 693, Physically Realistic Simulation of Large Deformation using LEM for Interactive Applications 
Authors:  
Sundaraj, Kenneth INRIA Rhône-Alpes
Laugier, Christian INRIA Rhône-Alpes
Time:12:00 
Title:Paper # 700, Quantitative Evaluation of Artificial Tactile Feel Display Integrated with Visual Information 
Authors:  
Konyo, Masashi Kobe University
Tadokoro, Satoshi Kobe University
Hira, Makiko Kobe University
Takamori, Toshi Kobe University
Time:12:20 
Title:Paper # 255, Teaching by Demonstration of Assembly Motion in VR - Non-deterministic Search-type Motion in the Teaching Stage - 
Authors:  
Onda, Hiromu Intelligent System Institute, AIST
Suehiro, Takashi Intelligent System Institute, AIST
Kitagaki, Kosei Intelligent System Institute, AIST
Fri Oct 04 14:00-15:20
Session: Teleoperation and On-line Robotics 2  
Chair:Dong-Soo KWON
Room:10
Time:14:00 
Title:Paper # 174, Involving the Operator in a Singularity Avoidance Strategy for a Redundant Slave Manipulator in a Teleoperated Application 
Authors:  
Rubí, Jaime CEIT
Rubio, Ángel TECNUN
Avello, Alejo CEIT
Time:14:20 
Title:Paper # 401, Stable Adaptive Bilateral Control of Transparent Teleoperation through Time-Varying Delay 
Authors:  
Leeraphan, Singha King Mongkut's University of Technology Thonburi
Maneewarn, Thavida King Mongkut's University of Technology Thonburi
Laowattana, Djitt King Mongkut's University of Technology Thonburi
Time:14:40 
Title:Paper # 750, Design and Prototype of a Remote Arm-Wrestling System 
Authors:  
KANO, Kunihiko Ryukoku University
KITAYAMA, Shinya Ryukoku University
YAMAMOTO, Naoki Ryukoku University
TSUTSUMI, Kazuyoshi Ryukoku University
Time:15:00 
Title:Paper # 747, Causality Analysis Using Bond-graph and Its Significance in Bilateral Teleoperation 
Authors:  
Park, Hyung-Soon Korea Advanced Institute of Science and Technology
Chang, Pyung-Hun Korea Advanced Institute of Science and Technology
Fri Oct 04 15:40-17:00
Session: Teleoperation and On-line Robotics 3  
Chair:Jing XIAO
Room:10
Time:15:40 
Title:Paper # 35, Statistical Analysis and Prediction of Round Trip Delay for Internet-based Teleoperation 
Authors:  
Ye, Xiufen University of Alberta
Meng, Max Q-H Chinese University of Hong Kong
Liu, Peter Xiaoping University of Alberta
Time:16:00 
Title:Paper # 768, A Predictive Interface Based on Virtual and Augmented Reality for Task Specification in a Web Telerobotic System 
Authors:  
Marin, Raul Universitat Jaume I de Castello
Sanz, Pedro J Universitat Jaume I de Castello
del Pobil, Angel P. Universitat Jaume I de Castello
Time:16:20 
Title:Paper # 985, A Software Framework based on Real-Time CORBA for Telerobotic Systems 
Authors:  
Bottazzi, Stefano University of Parma
Caselli, Stefano University of Parma
Reggiani, Monica University of Parma
Amoretti, Michele University of Parma
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