| Wed Oct 02 08:30-08:50 |
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| Session: |
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| Chair: | |
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| Room: | 6 |
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| Wed Oct 02 09:40-10:40 |
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| Session: |
Robot Design
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| Chair: | Steven SHOOTER |
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| Room: | 6 |
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| Time: | 09:40 |
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| Title: | Paper # 483, A study of self-diagnosis system of an autonomous mobile robot : expansion of state sensory system |
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| Authors: |
| Kawabata, Kuniaki | RIKEN |
| Akamatsu, Tomoki | Toyo University |
| Asama, Hajime | RIKEN |
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| Time: | 10:00 |
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| Title: | Paper # 767, Ada: Constructing a Synthetic Organism |
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| Authors: |
| Eng, Kynan | Swiss Federal Institute of Technology Zurich (ETH) |
| Baebler, Andreas | Swiss Federal Institute of Technology Zurich (ETH) |
| Bernadet, Ulysses | Swiss Federal Institute of Technology Zurich (ETH) |
| Blanchard, Mark | Swiss Federal Institute of Technology Zurich (ETH) |
| Briska, Adam | Swiss Federal Institute of Technology Zurich (ETH) |
| Costa, Marcio | Nagaoka University of Technology |
| Delbruck, Tobi | Swiss Federal Institute of Technology Zurich (ETH) |
| Douglas, Rodney | Swiss Federal Institute of Technology Zurich (ETH) |
| Hepp, Klaus | Swiss Federal Institute of Technology Zurich (ETH) |
| Klein, David | Swiss Federal Institute of Technology Zurich (ETH) |
| Manzolli, Jonatas | University of Campinas, Brazil |
| Mintz, Matti | Tel Aviv University |
| Netter, Thomas | Swiss Federal Institute of Technology Zurich (ETH) |
| Roth, Fabian | Swiss Federal Institute of Technology Zurich (ETH) |
| Wassermann, Klaus | Swiss Federal Institute of Technology Zurich (ETH) |
| Whatley, Adrian | Swiss Federal Institute of Technology Zurich (ETH) |
| Wittmann, Aaron | Swiss Federal Institute of Technology Zurich (ETH) |
| Verschure, Paul | Swiss Federal Institute of Technology Zurich (ETH) |
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| Time: | 10:20 |
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| Title: | Paper # 907, Web-Based Knowledge Intensive Intelligent Support for Robot Family Design |
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| Authors: |
| Zha, Xuan F. | Gintic Institute of Manufacturing Technology |
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| Wed Oct 02 11:00-12:40 |
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| Session: |
Obstacle Avoidance & Planning for Manipulators
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| Chair: | Gabriele VASSURA |
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| Room: | 6 |
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| Time: | 11:00 |
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| Title: | Paper # 1010, Inverse Kinematics of Multi-Link Flexible Robots for High Speed Applications |
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| Authors: |
| Cheong, Joono | Pohang University of Science and Technology |
| Chung, Wan Kyun | Pohang University of Science and Technology |
| Youm, Youngil | Pohang University of Science and Technology |
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| Time: | 11:20 |
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| Title: | Paper # 584, Smooth Trajectory Planning for XYnR Planar Underactuated Robots |
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| Authors: |
| De Luca, Alessandro | Università di Roma |
| Iannitti, Stefano | Università di Roma "La Sapienza" |
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| Time: | 11:40 |
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| Title: | Paper # 952, Probabilistic Motion Planning for Redundant Robots along Given End-Effector Paths |
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| Authors: |
| Oriolo, Giuseppe | DIS, University of Rome La Sapienza |
| Ottavi, Mauro | DIS, University of Rome La Sapienza |
| Vendittelli, Marilena | DIS, University of Rome La Sapienza |
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| Time: | 12:00 |
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| Title: | Paper # 214, Motion Planning for Mobile Manipulator with Keeping Manipulability |
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| Authors: |
| Nagatani, Keiji | Okayama University |
| Hirayama, Tomonobu | Okayama University |
| Gofuku, Akio | Okayama University |
| Tanaka, Yutaka | Okayama University |
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| Time: | 12:20 |
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| Title: | Paper # 1017, Obstacle Evaluation of the Configuration Space for Cylindrical Manipulators |
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| Authors: |
| Curto, Belen | University of Salamanca |
| Moreno, Vidal | University of Salamanca |
| Theron, Roberto | University of Salamanca |
| Blanco, F. Javier | University of Salamanca |
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| Wed Oct 02 14:00-15:20 |
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| Session: |
Dexterous Manipulation and Grasping 1
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| Chair: | Glauco A. P. CAURIN |
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| Room: | 6 |
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| Time: | 14:00 |
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| Title: | Paper # 368, Automatic Real-Time Grasping Force Determination for Multifingered Manipulation: Theory and Experiments |
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| Authors: |
| Liu, Guanfeng | Hong Kong University of Science and Technology |
| Xu, Jijie | Hong Kong University of Science and Technology |
| Li, Zexiang | Hong Kong University of Science and Technology |
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| Time: | 14:20 |
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| Title: | Paper # 524, Stable grasping control under gravity by dual robotic fingers with soft rolling contacts |
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| Authors: |
| Doulgeri, Zoe | Aristotle University of Thessaloniki |
| Fasoulas, John | Aristotle University of Thessaloniki |
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| Time: | 14:40 |
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| Title: | Paper # 730, A Novel Approach to Mechanical Design of Articulated Fingers for Robotic Hands |
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| Authors: |
| Lotti, Fabrizio | DIEM- University of Bologna Italy |
| Vassura, Gabriele | DIEM- University of Bologna Italy |
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| Time: | 15:00 |
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| Title: | Paper # 851, An experiment in constraining vision-based finger contact selection with gripper geometry |
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| Authors: |
| Morales, Antonio | Universitat Jaume I de Castello |
| Sanz, Pedro J | Universitat Jaume I de Castello |
| del Pobil, Angel P. | Universitat Jaume I de Castello |
| Fagg, Andrew H. | University of Massachusetts |
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| Wed Oct 02 15:40-17:20 |
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| Session: |
Dexterous Manipulation and Grasping 2
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| Chair: | Claudio MELCHIORRI |
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| Room: | 6 |
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| Time: | 15:40 |
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| Title: | Paper # 10, A Grasp Evaluation Procedure Based on Disturbance Forces |
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| Authors: |
| Strandberg, Morten | Royal Institute of Technology, Stockholm |
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| Time: | 16:00 |
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| Title: | Paper # 48, A multistage neural network architecture to learn hand grasping posture |
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| Authors: |
| GORCE, Philippe | Universite Paris-Sud |
| rezzoug, nasser | Universite Paris-Sud |
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| Time: | 16:20 |
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| Title: | Paper # 857, Vision-based computation of three-finger grasps on unknown planar objects |
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| Authors: |
| Morales, Antonio | Universitat Jaume I de Castello |
| Sanz, Pedro J | Universitat Jaume I de Castello |
| del Pobil, Angel P. | Universitat Jaume I de Castello |
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| Time: | 16:40 |
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| Title: | Paper # 912, Nullspace Composition of Control Laws for Grasping |
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| Authors: |
| Platt, Robert | University of Massachusetts |
| Fagg, Andrew H. | University of Massachusetts |
| Grupen, Roderic | University of Massachusetts |
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| Time: | 17:00 |
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| Title: | Paper # 1076, Planning and Control System for an Anthropomorphic Gripper |
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| Authors: |
| Caurin, Glauco A. P. | Universidade de Sao Paulo - EESC |
| de Aguiar, Paulo M. | Universidade de Sao Paulo - EESC |
| Valente, Carlos M. Oliveira | Universidade de Sao Paulo - EESC |
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| Thu Oct 03 08:30-08:50 |
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| Session: |
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| Chair: | |
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| Room: | 6 |
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| Thu Oct 03 09:20-10:40 |
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| Session: |
Manipulation & Assembly 1
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| Chair: | Herman BRUYNINCKX |
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| Room: | 6 |
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| Time: | 09:20 |
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| Title: | Paper # 87, Teaching of Grasp/Graspless Manipulation for Industrial Robots by Human Demonstration |
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| Authors: |
| MAEDA, Yusuke | The University of Tokyo |
| ISHIDO, Nanako | The University of Tokyo |
| KIKUCHI, Haruka | The University of Tokyo |
| ARAI, Tamio | The University of Tokyo |
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| Time: | 09:40 |
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| Title: | Paper # 26, Data Fusion for Compliant Motion Tasks Based on Human Skills |
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| Authors: |
| Cortesão, Rui | University of Coimbra |
| Koeppe, Ralf | German Aerospace Center - DLR |
| Nunes, Urbano | Instituto de Sistemas e Robotica |
| Hirzinger, Gerd | German Aerospace Center - DLR |
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| Time: | 10:00 |
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| Title: | Paper # 160, Multi-modal Information-Sharing Teaching System in Sensor-Based Robotics - Structured Description based on Task Properties that Enables Re-use of Skills - |
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| Authors: |
| Mizukawa, Makoto | Shibaura Institute of Technology |
| Nakamura, Yukihiro | NTT Communications Co. |
| Ogata, Hiroyuki | NTT Cyber Solutions Labs. |
| Yanagihira, Yoshimasa | NTT Cyber Solutions Labs. |
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| Time: | 10:20 |
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| Title: | Paper # 590, Manipulating Deformable Linear Objects: Manipulation Skill for Active Damping of Oscillations |
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| Authors: |
| Schlechter, Antoine | University of Kaiserslautern |
| Henrich, Dominik | University of Kaiserslautern |
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| Thu Oct 03 11:00-12:40 |
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| Session: |
Manipulation & Assembly 2
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| Chair: | Angel P. DEL POBIL |
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| Room: | 6 |
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| Time: | 11:00 |
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| Title: | Paper # 534, Calculating Optimal Trajectories from Contact Transitions |
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| Authors: |
| Takamatsu, Jun | University of Tokyo |
| Kimura, Hiroshi | University of Electro-Communications, Tokyo |
| Ikeuchi, Katsushi | University of Tokyo |
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| Time: | 11:20 |
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| Title: | Paper # 649, Calculating hand configurations for precision and pinch grasps |
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| Authors: |
| Borst, Christoph | DLR Institute of Robotics and Mechatronics |
| Fischer, Max | DLR Institute of Robotics and Mechatronics |
| Hirzinger, Gerd | German Aerospace Center - DLR |
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| Time: | 11:40 |
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| Title: | Paper # 676, A Probabilistic Algorithm for Manipulation Planning under Continuous Grasps and Placements |
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| Authors: |
| Anis, Sahbani | LAAS-CNRS |
| Juan, Cortes | LAAS-CNRS |
| Thierry, Simeon | LAAS-CNRS |
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| Time: | 12:00 |
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| Title: | Paper # 1047, Active-External Enveloping Grasps: Dynamical-Balance based Motion Analysis |
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| Authors: |
| Park, Jonghoon | Pohang University of Science and Technology |
| Chung, Wan Kyun | Pohang University of Science and Technology |
| Kaneko, Makoto | Hiroshima University |
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| Time: | 12:20 |
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| Title: | Paper # 737, Kinematic Control of Wheeled Mobile Manipulators |
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| Authors: |
| Bayle, Bernard | LAAS-CNRS |
| Fourquet, Jean-Yves | Ecole Nationale d'Ingénieurs de Tarbes |
| Lamiraux, Florent | LAAS-CNRS |
| Renaud, Marc | LAAS-CNRS |
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| Thu Oct 03 14:00-15:20 |
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| Session: |
Manipulation & Assembly 3
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| Chair: | Hisashi OSUMI |
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| Room: | 6 |
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| Time: | 14:00 |
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| Title: | Paper # 447, Robust Finger Gaits from Closed-Loop Controllers |
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| Authors: |
| Huber, Manfred | University of Texas at Arlington |
| Grupen, Roderic | University of Massachusetts |
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| Time: | 14:20 |
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| Title: | Paper # 609, Spatial Parts Mating with Friction Using Structured Compliance with Compliance Center |
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| Authors: |
| Shimizu, Masayuki | Tohoku University |
| Kosuge, Kazuhiro | Tohoku University |
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| Time: | 14:40 |
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| Title: | Paper # 642, A Sensorized microElectro Discharge Machined Superelastic Alloy Microgripper for Micromanipulation: simulation and characterization |
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| Authors: |
| Menciassi, Arianna | Scuola Superiore Sant'Anna, Pisa |
| Eisinberg, Anna | Scuola Superiore Sant'Anna, Pisa |
| Mazzoni, Marcello | Scuola Superiore Sant'Anna, Pisa |
| Dario, Paolo | Scuola Superiore Sant'Anna, Pisa |
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| Time: | 15:00 |
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| Title: | Paper # 844, A Fuzzy Behavior-Based Control System for Manipulation |
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| Authors: |
| Wasik, Zbigniew | Orebro University |
| Saffiotti, Alessandro | Orebro University |
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| Thu Oct 03 15:40-16:40 |
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| Session: |
Manipulation & Assembly 4
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| Chair: | Bill GOODWINE |
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| Room: | 6 |
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| Time: | 15:40 |
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| Title: | Paper # 119, A Full Contact Model for Fixture Kinematic Analysis |
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| Authors: |
| Wang, Michael Yu | The Chinese University of Hong Kong |
| Liu, Tong | The Chinese University of Hong Kong |
| Pelinescu, Diana | Università degli Studi di Cassino |
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| Time: | 16:00 |
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| Title: | Paper # 129, A Stochastic Ellipsoid Approach to Repeatability Modelisation of Industrial Manipulator robots |
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| Authors: |
| BRETHE, Jean-François | GREAH, Université du Havre |
| DAKYO, Brayima | GREAH, Université du Havre |
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| Time: | 16:20 |
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| Title: | Paper # 549, The Improved Screw Theory using Second Order Terms |
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| Authors: |
| Takamatsu, Jun | University of Tokyo |
| Kimura, Hiroshi | University of Electro-Communications, Tokyo |
| Ikeuchi, Katsushi | University of Tokyo |
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| Fri Oct 04 08:30-08:50 |
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| Session: |
|
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| Chair: | |
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| Room: | 6 |
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| Fri Oct 04 09:20-10:40 |
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| Session: |
Manipulation & Assembly 5
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| Chair: | Roderic GRUPEN |
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| Room: | 6 |
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| Time: | 09:20 |
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| Title: | Paper # 123, Manipulation of 3D Enveloped Object |
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| Authors: |
| Harada, Kensuke | Hiroshima University |
| Kaneko, Makoto | Hiroshima University |
|
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| Time: | 09:40 |
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| Title: | Paper # 146, A geometrically validated approach to autonomous robotic assembly |
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| Authors: |
| Brignone, Lorenzo | The Nottingham Trent University |
| Howarth, Martin | Sheffield Hallam University |
|
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| Time: | 10:00 |
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| Title: | Paper # 624, Platform for Experimentation with Tele-Robotics' Systems |
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| Authors: |
| Adrian, Mora | Polytechnic University of Madrid |
| Antonio, Barrientos | Polytechnic University of Madrid |
|
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| Time: | 10:20 |
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| Title: | Paper # 863, Vision-Based Stratified Robotic Manipulation |
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| Authors: |
| Wei, Yejun | University of Notre Dame |
| B.Skaar, Steven | University of Notre Dame |
| Goodwine, Bill | University of Notre Dame |
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| Fri Oct 04 11:00-12:40 |
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| Session: |
Industrial Applications 1
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| Chair: | Joanne WALKER |
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| Room: | 6 |
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| Time: | 11:00 |
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| Title: | Paper # 420, Integrated Design with Classification of Transporter Routing for AGV Systems |
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| Authors: |
| Chiba, Ryosuke | University of Tokyo |
| Ota, Jun | University of Tokyo |
| ARAI, Tamio | The University of Tokyo |
|
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| Time: | 11:20 |
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| Title: | Paper # 605, Safe Human-Robot-Cooperation: Image-based collision detection for Industrial Robots |
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| Authors: |
| Ebert, Dirk | University of Kaiserslautern |
| Henrich, Dominik | University of Kaiserslautern |
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| Time: | 11:40 |
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| Title: | Paper # 657, An Intelligent Vibratory Conveyor for the Individual Object Transportation in Two Dimensions |
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| Authors: |
| Frei, Peter | Swiss Federal Institute of Technology Zurich (ETH) |
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| Time: | 12:00 |
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| Title: | Paper # 167, Design of a Robotic Rig for Testing Bicycle Transmissions |
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| Authors: |
| Shooter, Steven | Bucknell University |
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| Time: | 12:20 |
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| Title: | Paper # 206, Development of Deposition Models for Paint Application on Surfaces Embedded in R^3 for Use in Automated Path Planning |
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| Authors: |
| Conner, David | Carnegie Mellon University |
| Atkar, Prasad | Carnegie Mellon University |
| Rizzi, Alfred | Carnegie Mellon University |
| Choset, Howie | Carnegie Mellon University |
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| Fri Oct 04 14:00-15:20 |
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| Session: |
Industrial Applications 2
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| Chair: | Peter FREI |
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| Room: | 6 |
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| Time: | 14:00 |
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| Title: | Paper # 135, Optimization in Automated Surface Inspection of Stamped Automotive Parts |
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| Authors: |
| Sheng, Weihua | Michigan State University |
| Xi, Ning | Michigan State University |
| Song, Mumin | Ford Motor Company |
| Chen, Yifan | Ford Motor Company |
|
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| Time: | 14:20 |
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| Title: | Paper # 234, A System to Automate the Generation of Program Variants for Industrial Robot Applications |
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| Authors: |
| Freund, Eckhard | Institute of Robotics Research, University of Dortmund |
| Luedemann-Ravit, Bernd | Institute of Robotics Research, University of Dortmund |
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| Time: | 14:40 |
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| Title: | Paper # 523, CNC Laser Marking on Freeform Surfaces without Prior Geometrical Information |
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| Authors: |
| Gong, Zhiming | Gintic Institute of Manufacturing Technology |
| Huang, Sheng | Gintic Institute of Manufacturing Technology |
| Zeng, Hao | Gintic Institute of Manufacturing Technology |
| Chen, Xiaoqi | Gintic Institute of Manufacturing Technology |
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| Time: | 15:00 |
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| Title: | Paper # 604, Experimental Evaluation of a Vision-based Measuring Device for Parallel Machine-tool Calibration |
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| Authors: |
| Renaud, Pierre | Université Blaise Pascal / Institut Français de Mécanique Avancée |
| Andreff, Nicolas | Université Blaise Pascal / Institut Français de Mécanique Avancée |
| Dhome, Michel | Université Blaise Pascal / CNRS |
| Martinet, Philippe | Université Blaise Pascal |
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| Fri Oct 04 15:40-17:00 |
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| Session: |
Industrial Applications 3
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| Chair: | Pyung-Hun CHANG |
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| Room: | 6 |
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| Time: | 15:40 |
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| Title: | Paper # 149, Robotic Contamination Cleaning System |
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| Authors: |
| Kim, Kiho | Korea Atomic Energy Research Institute |
| Lee, Hohee | Korea Atomic Energy Research Institute |
| Park, Jangjin | Korea Atomic Energy Research Institute |
| Yang, Myungseung | Korea Atomic Energy Research Institute |
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| Time: | 16:00 |
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| Title: | Paper # 618, Development of Mobile Robot Systems for Automatic Diagnosis of Boiler Tubes in Fossil Power Plants and Large Size Pipelines |
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| Authors: |
| Park, Sangdeok | Research Institute of Industrial Science and Technology |
| Jeong, Hee Don | Research Institute of Industrial Science and Technology |
| Kim, Seung Seop | Research Institute of Industrial Science and Technology |
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| Time: | 16:20 |
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| Title: | Paper # 719, Pipe inspection using intelligent analysis techniques with high noise-tolerance |
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| Authors: |
| Duran, Olga | Dept. of Mechanical Engineering, King's College London, UK |
| Althoefer, Kaspar | King's College London |
| Seneviratne, Lakmal | Dept. of Mechanical Engineering, King's College London, UK |
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| Time: | 16:40 |
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| Title: | Paper # 947, Sensor-based Analysis of High-Precision Insertion Tasks |
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| Authors: |
| Yamamoto, Yoshio | Tokai University |
| Yoneyama, Takeshi | Kanawaza University |
| Hashimoto, Tadashi | Konica Corporation |
| Okubo, Takahiro | Konica Corporation |
| Itoh, Toyotsugu | Konica Corporation |
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