| Wed Oct 02 08:30-08:50 |
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| Session: |
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| Chair: | |
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| Room: | 7 |
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| Wed Oct 02 09:40-10:40 |
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| Session: |
Control 1
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| Chair: | Alessandro DE LUCA |
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| Room: | 7 |
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| Time: | 09:40 |
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| Title: | Paper # 220, A Geometrical Method for the Singularity Analysis of 3-RRR Planar Parallel Robots with Different Actuation Schemes |
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| Authors: |
| Yang, Guilin | Gintic Institute of Manufacturing Technology |
| Chen, Weihai | Gintic Institute of Manufacturing Technology |
| Chen, I-Ming | Nanyang Technological University |
| Goh, Kiah Mok | Gintic Institute of Manufacturing Technology |
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| Time: | 10:00 |
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| Title: | Paper # 494, Motion control of robotic manipulators in task space |
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| Authors: |
| Galicki, Miroslaw | University of Zielona Gora & Friedrich Schiller University Jena |
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| Time: | 10:20 |
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| Title: | Paper # 740, Composite-H Controller Synthesis for Flexible Joint Robots |
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| Authors: |
| Taghirad, Hamid D. | K. N. T. Univ. of Technology |
| Bakhshi, Gh. | K. N. T. Univ. of Technology |
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| Wed Oct 02 11:00-12:40 |
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| Session: |
Control 2
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| Chair: | Takahiro SUZUKI |
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| Room: | 7 |
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| Time: | 11:00 |
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| Title: | Paper # 151, Stability Analysis and Robust Composite Controller synthesis for flexible joint robots |
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| Authors: |
| Taghirad, Hamid D. | K. N. T. Univ. of Technology |
| Khosravi, Mohammad Azam | Advanced Robotics and Automated Systems, Department of Electrical Engineering, K |
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| Time: | 11:20 |
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| Title: | Paper # 855, Optimal mechanical design of a rotary inverted pendulum |
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| Authors: |
| Potsaid, Benjamin | Rensselaer Polytechnic Institute |
| Wen, John T. | Rensselaer Polytechnic Institute |
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| Time: | 11:40 |
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| Title: | Paper # 508, Direct Lyapunov Design - A Synthesis Procedure for Motor Schema Using a Second-Order Lyapunov Stability Theorem |
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| Authors: |
| Harper, Christopher J. | University of the West of England |
| Winfield, Alan | University of the West of England |
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| Time: | 12:00 |
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| Title: | Paper # 663, Output Feedback Adaptive Control of Robot Manipulators Using Observer Bac kstepping |
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| Authors: |
| Calugi, Francesco | Lund University |
| Robertsson, Anders | Lund Institute of Technology, Lund University |
| Johansson, Rolf | Lund University |
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| Time: | 12:20 |
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| Title: | Paper # 921, A Testbed for Mars Precision Landing Experiments by Emulating Spacecraft Dynamics on a Model Helicopter |
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| Authors: |
| Saripalli, Srikanth | University of Southern California, Los Angeles |
| Sukhatme, Gaurav S. | University of Southern California, Los Angeles |
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| Wed Oct 02 14:00-15:20 |
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| Session: |
Control 3
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| Chair: | Stefano STRAMIGIOLI |
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| Room: | 7 |
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| Time: | 14:00 |
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| Title: | Paper # 290, Takagi-Sugeno Model Synthesis of a Quasi-Linear Parameter Varying Mobile Robot |
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| Authors: |
| Economou, John | Cranfield University-RMCS |
| Tsourdos, Antonios | Cranfield University-RMCS |
| White, Brian | Cranfield University-RMCS |
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| Time: | 14:20 |
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| Title: | Paper # 900, Nonlinear H-infinity control via quasi-LPV representation applied in a underactuated manipulator |
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| Authors: |
| Siqueira, Adriano | University of Sao Paulo |
| Terra, Marco | University of Sao Paulo |
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| Time: | 14:40 |
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| Title: | Paper # 266, Stability Guaranteed Control: Time Domain Passivity Approach |
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| Authors: |
| Ryu, Jee-Hwan | University of Washington |
| Kwon, Dong-Soo | Korea Advanced Institute of Science and Technology |
| Hannaford, Blake | University of Washington |
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| Time: | 15:00 |
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| Title: | Paper # 1021, PID Composite Controller and Its Tuning for Flexible Link Robots |
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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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| Wed Oct 02 15:40-17:20 |
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| Session: |
Control Application 1
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| Chair: | Hannes BLEULER |
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| Room: | 7 |
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| Time: | 15:40 |
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| Title: | Paper # 6, Self Stabilizing Strategy in Tracking Control of Unmanned Electric Bicycle with Mass Balance |
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| Authors: |
| Ham, Woonchul | Chonbuk National University |
| Lee, Sangduck | Chonbuk National University |
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| Time: | 16:00 |
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| Title: | Paper # 142, Robust Attenuation of Direct-Drive Robot-Tip Vibrations |
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| Authors: |
| Kostic, Dragan | Eindhoven University of Technology |
| de Jager, Bram | Eindhoven University of Technology |
| Steinbuch, Maarten | Eindhoven University of Technology |
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| Time: | 16:20 |
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| Title: | Paper # 264, Feedback Control for Wire-Suspended Mechanism with Exact Linearization |
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| Authors: |
| Yanai, Noritaka | Kyushu University |
| Yamamoto, Motoji | Kyushu University |
| Mohri, Akira | Kyushu University |
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| Time: | 16:40 |
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| Title: | Paper # 283, Computing and Calibrating Collision Impulses and its Application for Air Hockey Game |
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| Authors: |
| Iguchi, Toshiko | Osaka Electro-Communication University |
| Katsuyama, Noriyuki | Osaka Electro-Communication University |
| Noborio, Hiroshi | Osaka Electro-Communication University |
| Hirai, Shinichi | Ritsumeikan University |
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| Time: | 17:00 |
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| Title: | Paper # 581, Precision Force Control via Macro/Micro Actuatorfor Surface Mounting System |
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| Authors: |
| Lee, Duk-Young | Korea Advanced Institute of Science and Technology |
| Shim, Jae-Hong | Korea Polytechnic University |
| Cho, Hyungsuck | Korea Advanced Institute of Science and Technology |
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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: | 7 |
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| Thu Oct 03 09:20-10:40 |
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| Session: |
Control Application 2
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| Chair: | Satoshi TADOKORO |
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| Room: | 7 |
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| Time: | 09:20 |
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| Title: | Paper # 103, Performance analysis of a three point hitch controller |
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| Authors: |
| Cordesses, Lionel | RENAULT Agriculture |
| Poirier, Jean-Paul | RENAULT Agriculture |
| Veron, Christian | RENAULT Agriculture |
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| Time: | 09:40 |
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| Title: | Paper # 291, Screw bondgraph contact dynamics |
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| Authors: |
| Visser, Martijn | University of Twente |
| Stramigioli, Stefano | University of Twente |
| Heemskerk, Cock | Fokker Space BV |
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| Time: | 10:00 |
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| Title: | Paper # 379, Compensation of Stick-slip effect in an Electrical Actuator |
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| Authors: |
| Merzouki, Rochdi | Laboratoire de Robotique de Versailles, France |
| Cadiou, J. Charles | Laboratoire de Robotique de Versailles, France |
| M'sirdi, K. Nacer | Laboratoire de Robotique de Versailles, France |
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| Time: | 10:20 |
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| Title: | Paper # 690, Disturbance Rejection Analysis of Multiple Impedance Control for Space Free-Flying Robots |
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| Authors: |
| Moosavian, S. Ali A. | K.N. Toosi University of Technology |
| Rastegari, Rambod | K. N. T. Univ. of Technology |
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| Thu Oct 03 11:00-12:40 |
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| Session: |
Impedance Control
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| Chair: | John T. WEN |
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| Room: | 7 |
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| Time: | 11:00 |
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| Title: | Paper # 75, Impedance Controller Design of Internet-Based Teleoperation Using Absolute Stability Concept |
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| Authors: |
| Cho, Hyunchul | Hanyang University |
| Park, Jong Hyeon | Hanyang University |
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| Time: | 11:20 |
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| Title: | Paper # 102, Optimal attachment of bi-articular muscles for improved stiffness generation |
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| Authors: |
| Kim, Sungbok | Hankuk University of Foreign Studies |
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| Time: | 11:40 |
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| Title: | Paper # 285, An Impedance-Compliance Control for a Cable-Actuated Robot |
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| Authors: |
| Zollo, Loredana | Scuola Superiore Sant'Anna, Pisa |
| Siciliano, Bruno | Università degli Studi di Napoli Federico II |
| Laschi, Cecilia | Scuola Superiore Sant'Anna, Pisa |
| Teti, Giancarlo | Scuola Superiore Sant'Anna, Pisa |
| Dario, Paolo | Scuola Superiore Sant'Anna, Pisa |
| Guglielmelli, Eugenio | Scuola Superiore Sant'Anna, Pisa |
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| Time: | 12:00 |
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| Title: | Paper # 481, Impedance Force Control of Free-Joint Manipulators with One Motor under Gravity |
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| Authors: |
| Suzuki, Takahiro | University of Tokyo |
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| Time: | 12:20 |
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| Title: | Paper # 965, Stiffness Control of Antagonistically Driven Redundant D.O.F. Manipulator |
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| Authors: |
| Koganezawa, Koichi | Tokai University |
| Ban, Shinsuke | Tokai University |
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| Thu Oct 03 14:00-15:20 |
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| Session: |
Control 4
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| Chair: | Evangelos PAPADOPOULOS |
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| Room: | 7 |
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| Time: | 14:00 |
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| Title: | Paper # 308, Shared Control in Hybrid Vision/Force robotic Servoing using the Task Frame |
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| Authors: |
| Baeten, Johan | Katholieke Universiteit Leuven |
| Bruyninckx, Herman | Katholieke Universiteit Leuven |
| De Schutter, Joris | Katholieke Universiteit Leuven |
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| Time: | 14:20 |
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| Title: | Paper # 928, Vision-Guided Flight Stability and Control for Micro Air Vehicles |
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| Authors: |
| Ettinger, Scott | University of Florida |
| Nechyba, Michael | University of Florida |
| Ifju, Peter | University of Florida |
| Waszak, Marty | NASA Langley |
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| Time: | 14:40 |
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| Title: | Paper # 695, Design and Control of a Pendulum Driven Hopping Robot |
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| Authors: |
| Paul, Chandana | AI Lab, University of Zurich |
| Dravid, Raja | AI Lab, University of Zurich |
| Iida, Fumiya | AI Lab, University of Zurich |
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| Time: | 15:00 |
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| Title: | Paper # 1057, The Effect of Actuator Relocation on Singularity, Jacobian and Kinematic Isotropy of Parallel Robots |
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| Authors: |
| Chung, Young-Hoon | School of Yeungnam University, Korea |
| Lee, Jae-Won | School of Yeungnam University, Korea |
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| Thu Oct 03 15:40-16:40 |
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| Session: |
Control 5
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| Chair: | Wan Kyun CHUNG |
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| Room: | 7 |
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| Time: | 15:40 |
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| Title: | Paper # 811, Feedback Stabilization of a Spherical Mobile Robot |
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| Authors: |
| Mukherjee, Ranjan | Michigan State University |
| Das, Tuhin | Michigan State University |
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| Time: | 16:00 |
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| Title: | Paper # 866, A general constraint-based control framework with examples in modular self-reconfigurable robots |
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| Authors: |
| Zhang, Ying | Palo Alto Research Center |
| Fromherz, Markus | Palo Alto Research Center |
| Crawford, Lara | Palo Alto Research Center |
| Shang, Yi | Palo Alto Research Center |
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| Time: | 16:20 |
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| Title: | Paper # 703, Analysis and Model-based Control of Servomechanisms with Friction |
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| Authors: |
| Papadopoulos, Evangelos | National Technical University of Athens |
| Chasparis, Georgios | National Technical University of Athens |
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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: | 7 |
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| Fri Oct 04 09:20-10:40 |
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| Session: |
Actuators 1
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| Chair: | Gerd HIRZINGER |
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| Room: | 7 |
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| Time: | 09:20 |
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| Title: | Paper # 607, Current Control of Piezoelectric Actuators with Power Loss Compensation |
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| Authors: |
| Ronkanen, Pekka | Tampere University of Technology |
| Kallio, Pasi | Tampere University of Technology |
| Koivo, Heikki | Helsinki University of Technology |
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| Time: | 09:40 |
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| Title: | Paper # 638, A Miniature Robot driven by Smart Power Integrated Circuits |
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| Authors: |
| Lopez-Sanchez, Jaime | University of Barcelona |
| Simu, Urban | Angstrom Laboratory, Uppsala |
| Puig-Vidal, Manel | University of Barcelona |
| Johansson, Stephan | Angstrom Laboratory, Uppsala |
| Miribel, Pere Lluis | University of Barcelona |
| Montane, Enric | University of Barcelona |
| Bota, Sebastian | University of Barcelona |
| Samitier, Josep | University of Barcelona |
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| Time: | 10:00 |
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| Title: | Paper # 685, A Modular Framework for the Development of Self-reconfiguring Manufacturing Control Systems |
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| Authors: |
| Carpanzano, Emanuele | Institute of Industrial Technologies and Automation |
| Dallefrate, Dario | Institute of Industrial Technologies and Automation, National Research Council, |
| Jatta, Francesco | Institute of Industrial Technologies and Automation, National Research Council, |
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| Time: | 10:20 |
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| Title: | Paper # 698, Actuator Selection for Desired Dynamic Performance |
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| Authors: |
| Bowling, Alan | University of Notre Dame |
| Khatib, Oussama | Stanford University (USA) |
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| Fri Oct 04 11:00-12:40 |
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| Session: |
Actuators 2
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| Chair: | Christian OTT |
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| Room: | 7 |
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| Time: | 11:00 |
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| Title: | Paper # 158, Control Analysis of Ultrasonic Motor |
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| Authors: |
| Kyodo, Yasumasa | University of Tsukuba |
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| Time: | 11:20 |
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| Title: | Paper # 501, Basic Characteristics of the Small Spherical Stepping Motor |
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| Authors: |
| Yano, Tomoaki | Intelligent System Institute, AIST |
| Suzuki, Takeo | Yasukawa Electric Corporation |
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| Time: | 11:40 |
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| Title: | Paper # 537, Preisach Model of SMA Actuators Using Proportional Relationship of Major Loop of Hysteresis |
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| Authors: |
| Choi, Byung-Jun | Kyungpook National University |
| Lee, Yun-Jung | Kyungpook National University |
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| Time: | 12:00 |
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| Title: | Paper # 600, Adaptive Simultaneous Position and Stiffness Control for a Soft Robot Arm |
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| Authors: |
| Tonietti, Giovanni | University of Pisa, Centro |
| Bicchi, Antonio | University of Pisa, Centro "E. Piaggio" |
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| Time: | 12:20 |
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| Title: | Paper # 998, Fuzzy Position/Vibration Control of a 3-DOF Rigid Robot with a Flexible Tool |
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| Authors: |
| Alasty, Aria | Sharif University of Technology |
| Sepehri, Ali | Sharif University of Technology |
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| Fri Oct 04 14:00-15:20 |
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| Session: |
Actuators 3
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| Chair: | Masakatsu FUJIE |
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| Room: | 7 |
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| Time: | 14:00 |
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| Title: | Paper # 144, Smart Motion Control by Phase-coupled Shape Memory Composites |
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| Authors: |
| Winzek, Bernhard | center of advanced european studies and research (caesar), Bonn |
| Sterzl, Tobias | center of advanced european studies and research (caesar), Bonn |
| Rumpf, Holger | center of advanced european studies and research (caesar), Bonn |
| Quandt, Eckhard | center of advanced european studies and research (caesar), Bonn |
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| Time: | 14:20 |
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| Title: | Paper # 361, A Dynamic Model of ICPF Actuator Considering Ion-Induced Lateral Strain for Molluskan Robotics |
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| Authors: |
| Tadokoro, Satoshi | Kobe University |
| Fukuhara, Masahiko | Kobe University |
| Maeba, Yosuke | Kobe University |
| Konyo, Masashi | Kobe University |
| Takamori, Toshi | Kobe University |
| Oguro, Keisuke | National Institute of Advanced Industrial Science and Technology, Japan |
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| Time: | 14:40 |
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| Title: | Paper # 572, Comparison of Adaptive and Nonadaptive Tracking Control Laws for a Flexible Joint Manipulator |
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| Authors: |
| Ott, Christian | DLR Institute of Robotics and Mechatronics |
| Albu-Schaeffer, Alin | DLR Institute of Robotics and Mechatronics |
| Hirzinger, Gerd | German Aerospace Center - DLR |
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| Time: | 15:00 |
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| Title: | Paper # 948, Metamorphic robot made of low melting point alloy |
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| Authors: |
| Nakai, Hiroyuki | University of Tokyo |
| Kuniyoshi, Yasuo | University of Tokyo |
| Inaba, Masayuki | University of Tokyo |
| Inoue, Hirochika | University of Tokyo |
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| Fri Oct 04 15:40-17:00 |
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| Session: |
Actuators 4
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| Chair: | Hyungsuck CHO |
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| Room: | 7 |
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| Time: | 15:40 |
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| Title: | Paper # 100, Pneumatic Direct-drive Stepping Motor for Robots |
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| Authors: |
| Suzumori, Koichi | Okayama University |
| Hashimoto, Tatsuya | Okayama University |
| Uzuka, Kazuo | TOK Bearings Co. LTD. |
| Enomoto, Isao | TOK Bearing Co.LTD. |
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| Time: | 16:00 |
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| Title: | Paper # 191, Biologically inspired control laws for trajectory formation and generating motor command in multi-joint manipulator movement |
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| Authors: |
| Toda, Hideki | Tsukuba University, Ibaraki, Japan |
| Sankai, Yoshiyuki | University of Tsukuba |
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| Time: | 16:20 |
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| Title: | Paper # 601, Balance Control of a Single Wheel Robot |
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| Authors: |
| Ou, Yongsheng | Chinese University of Hong Kong |
| Xu, Yangsheng | The Chinese University of Hong Kong |
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| Time: | 16:40 |
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| Title: | Paper # 633, A Study of the Control of an Underactuated Underwater Robotic Vehicle |
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| Authors: |
| Koh, Teck Hong | Nanyang Technological University |
| Lau, Michael | Nanyang Technological University |
| Low, Eicher | Nanyang Technological University |
| Seet, Gerald | Nanyang Technological University |
| Swei, Sean | Nanyang Technological University |
| Cheng, Ping L. | Nanyang Technological University |
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