| Wed Oct 02 08:30-08:50 |
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| Session: |
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| Chair: | |
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| Room: | 8 |
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| Wed Oct 02 09:40-10:40 |
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| Session: |
Kinematics
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| Chair: | Krzysztof KOZLOWSKI |
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| Room: | 8 |
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| Time: | 09:40 |
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| Title: | Paper # 63, Kinematic Control Algorithms for On-Line Obstacle Avoidance for Redundant Manipulators |
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| Authors: |
| Zlajpah, Leon | Institute Jozef Stefan |
| Nemec, Bojan | Institute Jozef Stefan |
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| Time: | 10:00 |
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| Title: | Paper # 1054, Kinematic Inversion |
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| Authors: |
| Amar, Ramdane-Cherif | Laboratory PRISM, University of Versailles |
| Darchi, B | Laboratory LRV, University of Versailles |
| Benallegue, Abdelaziz | Laboratoire de Robotique de Versailles, France |
| Levy, N | Laboratory PRISM, University of Versailles |
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| Time: | 10:20 |
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| Title: | Paper # 387, Detection of Transition to Chaos During Stability Roughness Smoothing of a Robot Arm |
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| Authors: |
| Kaygisiz, H. Burak | The Scientific and Technical Resezrch Council of Turkey |
| Erkmen, M. Aydan | Middle East Technical University |
| Erkmen, Ismet | Middle East Technical University |
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| Wed Oct 02 11:00-12:40 |
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| Session: |
Dynamics
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| Chair: | Bruno SICILIANO |
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| Room: | 8 |
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| Time: | 11:00 |
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| Title: | Paper # 250, On the Identification of Robot Parameters by the Classic Calibration Algorithms and Error Absorbing Trees |
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| Authors: |
| Otsuki, Takeshi | Osaka Electro-Communication University |
| Iguchi, Toshiko | Osaka Electro-Communication University |
| Oda, Seiji | Osaka Electro-Communication University |
| Noborio, Hiroshi | Osaka Electro-Communication University |
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| Time: | 11:20 |
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| Title: | Paper # 289, Some properties of dynamic equations of motion in terms of the eigenfactor quasi-coordinate velocity vector |
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| Authors: |
| Herman, Przemyslaw | Poznañ University of Technology |
| Kozlowski, Krzysztof | Poznañ University of Technology |
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| Time: | 11:40 |
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| Title: | Paper # 580, Geometric Formulation Approach for Determining the Actual Solution of the Forward Kinematics of 6-dof Parallel Manipulators |
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| Authors: |
| Song, Se-Kyong | Mechatronics Center, Samsung Electronics Co. |
| Kwon, Dong-Soo | Korea Advanced Institute of Science and Technology |
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| Time: | 12:00 |
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| Title: | Paper # 606, A Novel Theory for Sample Data System Passivity |
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| Authors: |
| Stramigioli, Stefano | University of Twente |
| Secchi, Cristian | Università di Modena e Reggio Emilia |
| van de Schaft, Arjan J. | University of Twente |
| Fantuzzi, Cesare | Università di Modena e Reggio Emilia |
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| Time: | 12:20 |
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| Title: | Paper # 1030, Dynamic task priority approach to avoid kinematic singularity for autonomous manipulatoin |
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| Authors: |
| Kim, Jinhyun | Pohang University of Science and Technology |
| Marani, Giacomo | University of Hawaii |
| Chung, Wan Kyun | Pohang University of Science and Technology |
| Yuh, Junku | University of Hawaii |
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| Wed Oct 02 14:00-15:20 |
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| Session: |
Humanoid Robots 1
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| Chair: | Masayuki INABA |
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| Room: | 8 |
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| Time: | 14:00 |
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| Title: | Paper # 342, Design of Prototype Humanoid Robotics Platform for HRP |
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| Authors: |
| Kaneko, Kenji | AIST |
| kanehiro, Fumio | AIST |
| Kajita, Shuuji | AIST |
| Yokoyama, Kazuhiko | Yaskawa Electric Corporation |
| Akachi, Kazuhiko | Kawada Industries,Inc. |
| Kawasaki, Toshikazu | Kawada Industries,Inc. |
| Ohta, Shigehiko | Kawada Industries,Inc. |
| Isozumi, Takakatsu | Kawada Industries,Inc. |
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| Time: | 14:20 |
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| Title: | Paper # 359, Balance Control Analysis of Humanoid Robot based on ZMP Feedback Control |
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| Authors: |
| Nazir, Napoleon | Tokyo Institute of Technology |
| Nakaura, Shigeki | Tokyo Institute of Technology |
| Sampei, Mitsuji | Tokyo Institute of Technology |
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| Time: | 14:40 |
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| Title: | Paper # 375, Development of a New Human-like Head Robot WE-4 |
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| Authors: |
| Miwa, Hiroyasu | Waseda University |
| Okuchi, Tetsuya | Waseda University |
| Takanobu, Hideaki | Kogakuin Univ. |
| Takanishi, Atsuo | Waseda University |
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| Time: | 15:00 |
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| Title: | Paper # 479, Humanoid robot learning and game playing using PC-based vision |
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| Authors: |
| Bentivegna, Darrin | ATR Human Information Science Laboratories |
| Ude, Ales | ATR Human Information Science Laboratories |
| Atkeson, Christopher G. | Carnegie Mellon University |
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| Wed Oct 02 15:40-17:20 |
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| Session: |
Humanoid Robots 2
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| Chair: | Atsuo TAKANISHI |
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| Room: | 8 |
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| Time: | 15:40 |
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| Title: | Paper # 441, Design and Experiments of Advanced Leg Module(HRP-2L) for Humanoid Robot(HRP-2) Development |
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| Authors: |
| Kanehira, Noriyuki | Kawada Industries,Inc. |
| Ohta, Shigehiko | Kawada Industries,Inc. |
| Kawasaki, Toshikazu | Kawada Industries,Inc. |
| Isozumi, Takakatsu | Kawada Industries,Inc. |
| Kawada, Tadahiro | Kawada Industries,Inc. |
| kanehiro, Fumio | AIST |
| Kajita, Shuuji | AIST |
| Kaneko, Kenji | AIST |
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| Time: | 16:00 |
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| Title: | Paper # 541, Active/Passive Hybrid Walking by The Biped Robot TOKAI ROBO-HABILIS 1 |
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| Authors: |
| Koganezawa, Koichi | Tokai University |
| Osamu, Matsumoto | Tokai University |
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| Time: | 16:20 |
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| Title: | Paper # 561, Stability and controllability in a rising motion: a global dynamics approach |
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| Authors: |
| Yamamoto, Tomoyuki | Japan Advanced Institute of Science and Technology |
| Kuniyoshi, Yasuo | University of Tokyo |
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| Time: | 16:40 |
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| Title: | Paper # 964, An Energy Consumption Based Control for Humanoid Walking |
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| Authors: |
| Yamasaki, Fuminori | Osaka University |
| Hosoda, Koh | Osaka University |
| Asada, Minoru | Osaka University |
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| Time: | 17:00 |
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| Title: | Paper # 1081, The intelligent ASIMO: System overview and integration |
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| Authors: |
| Sakagami, Yoshiaki | Honda R&D Co. Ltd. |
| Watanabe, Ryujin | Honda R&D Co. Ltd. |
| Aoyama, Chiaki | Honda R&D Co. Ltd. |
| Matsunaga, Shinichi | Honda R&D Co. Ltd. |
| Higaki, Nobuo | Honda R&D Co. Ltd. |
| Fujimura, Kikuo | Honda R&D America Inc. |
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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: | 8 |
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| Thu Oct 03 09:20-10:40 |
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| Session: |
Humanoid Robots 3
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| Chair: | Rüdiger DILLMANN |
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| Room: | 8 |
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| Time: | 09:20 |
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| Title: | Paper # 274, Experiments in Vision-Guided Biped Walking |
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| Authors: |
| Lorch, Oliver | Institute of Automatic Control Engineering (LSR), Technische Universität München |
| Albert, Amos | Institute of Automatic Control, Universitaet Hannover |
| Denk, Joachim | Institute of Automatic Control Engineering (LSR), Technische Universität München |
| Gerecke, Marc | Institute of Automatic Control, Universitaet Hannover |
| Cupec, Robert | Institute of Automatic Control Engineering (LSR), Technische Universität München |
| F. Seara, Javier | Institute of Automatic Control Engineering (LSR), Technische Universität |
| Gerth, Wilfried | Institute of Automatic Control, Universitaet Hannover |
| Schmidt, Guenther | Institute of Automatic Control Engineering (LSR), Technische Universität München |
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| Time: | 09:40 |
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| Title: | Paper # 1073, Actuator Selection and Hardware Realization of a Small and Fast-Moving, Autonomous Humanoid Robot |
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| Authors: |
| Hardt, Michael | Technische Universitaet Darmstadt, Simulation and Systems Optimization Group |
| Wollherr, Dirk | Technical University Berlin, Control Systems Group |
| Buss, Martin | Technical University Berlin |
| von Stryk, Oscar | Technische Universitaet Darmstadt |
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| Time: | 10:00 |
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| Title: | Paper # 1078, Study on Brachiation Controller -Adjustment Method of Strength and Timing Parameters- |
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| Authors: |
| Kajima, Hideki | Nagoya University |
| Hasegawa, Yasuhisa | Nagoya University |
| Fukuda, Toshio | Nagoya University |
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| Time: | 10:20 |
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| Title: | Paper # 1074, Human Lift-up Motion Generation based on Identification of Time-variant Performance Index |
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| Authors: |
| MIYATA, Natsuki | National Institute of Advance Industrial Science and Technology |
| OGURI, Kenichiro | University of Tokyo |
| Ota, Jun | University of Tokyo |
| ARAI, Tamio | The University of Tokyo |
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| Thu Oct 03 11:00-12:40 |
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| Session: |
Humanoid Robots 4
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| Chair: | Tetsunari INAMURA |
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| Room: | 8 |
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| Time: | 11:00 |
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| Title: | Paper # 303, Path-Planning and Tracking in a 3D Complex Environment for an Anthropomorphic Biped Robot |
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| Authors: |
| Bourgeot, Jean-Matthieu | INRIA Rhône-Alpes |
| Cislo, Nathalie | Université Joseph Fourier, Grenoble |
| Espiau, Bernard | INRIA Rhône-Alpes |
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| Time: | 11:20 |
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| Title: | Paper # 945, Rapid Development System for Humanoid Vision-based Behaviors with Real-Virtual Common Interface |
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| Authors: |
| Okada, Kei | University of Tokyo |
| Kino, Yasuo | University of Tokyo |
| kanehiro, Fumio | AIST |
| Kuniyoshi, Yasuo | University of Tokyo |
| Inaba, Masayuki | University of Tokyo |
| Inoue, Hirochika | University of Tokyo |
|
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| Time: | 11:40 |
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| Title: | Paper # 958, UKEMI: Falling Motion Control to Minimize Damage to Biped Humanoid Robot |
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| Authors: |
| FUJIWARA, Kiyoshi | AIST |
| kanehiro, Fumio | AIST |
| Kajita, Shuuji | AIST |
| Kaneko, Kenji | AIST |
| YOKOI, Kazuhito | AIST |
| HIRUKAWA, Hirohisa | AIST |
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| Time: | 12:00 |
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| Title: | Paper # 993, The Design and Control of the Flexible Spine of a Fully Tendon-Driven Humanoid "Kenta" |
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| Authors: |
| Mizuuchi, Ikuo | University of Tokyo |
| Tajima, Ryosuke | University of Tokyo |
| Yoshikai, Tomoaki | University of Tokyo |
| Sato, Daisuke | University of Tokyo |
| Nagashima, Koichi | University of Tokyo |
| Inaba, Masayuki | University of Tokyo |
| Kuniyoshi, Yasuo | University of Tokyo |
| Inoue, Hirochika | University of Tokyo |
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| Time: | 12:20 |
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| Title: | Paper # 226, Intelligent Soft-Computing Paradigms for Humanoid Robots |
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| Authors: |
| Katic, Dusko M. | Robotics Laboratory, Mihailo Pupin Institute |
| Vukobratovic, Miomir | Robotics Laboratory, Mihailo Pupin Institute |
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| Thu Oct 03 14:00-15:20 |
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| Session: |
Humanoid Robots 5
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| Chair: | Kenji KANEKO |
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| Room: | 8 |
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| Time: | 14:00 |
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| Title: | Paper # 347, Imitating Human Dance Motion through Motion Structure Analysis |
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| Authors: |
| Nakazawa, Atsushi | Japan Science and Technology Corporation |
| Nakaoka, Shinichiro | University of Tokyo |
| Kudoh, Shunsuke | University of Tokyo |
| Harada, Takaaki | Keio University |
| Ikeuchi, Katsushi | University of Tokyo |
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| Time: | 14:20 |
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| Title: | Paper # 867, An Anthropomorphic Robotic Platform for Experimental Validation of Biologically-inspired Sensory-motor Co-ordination in Grasping |
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| Authors: |
| Laschi, Cecilia | Scuola Superiore Sant'Anna, Pisa |
| GORCE, Philippe | Universite Paris-Sud |
| Coronado, Juan-Lopez | Universidad Politécnica de Cartagena |
| Leoni, Fabio | Scuola Superiore Sant'Anna, Pisa |
| Teti, Giancarlo | Scuola Superiore Sant'Anna, Pisa |
| rezzoug, nasser | Universite Paris-Sud |
| Guerrero-González, Antonio | Universidad Politécnica de Cartagena |
| Pedreño Molina, Juan Luis | Universidad Politécnica de Cartagena |
| Zollo, Loredana | Scuola Superiore Sant'Anna, Pisa |
| Guglielmelli, Eugenio | Scuola Superiore Sant'Anna, Pisa |
| Dario, Paolo | Scuola Superiore Sant'Anna, Pisa |
| Burnod, Yves | Université paris VI |
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| Time: | 14:40 |
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| Title: | Paper # 910, Deriving Action and Behavior Primitives from Human Motion Capture Data |
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| Authors: |
| Jenkins, Odest | University of Southern California, Los Angeles |
| Mataric, Maja J. | University of Southern California, Los Angeles |
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| Time: | 15:00 |
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| Title: | Paper # 916, Online 3D Vision, Motion Planning and Bipedal Locomotion Control Coupling System of Humanoid Robot : H7 |
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| Authors: |
| Kagami, Satoshi | National Institute of Advanced Industrial Science and Technology |
| Nishiwaki, Koichi | University of Tokyo |
| Kuffner, James | National Institute of Advanced Industrial Science and Technology |
| Kuniyoshi, Yasuo | University of Tokyo |
| Inaba, Masayuki | University of Tokyo |
| Inoue, Hirochika | University of Tokyo |
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| Thu Oct 03 15:40-16:40 |
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| Session: |
Humanoid Robots 6
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| Chair: | Kazuhito YOKOI |
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| Room: | 8 |
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| Time: | 15:40 |
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| Title: | Paper # 443, The Dynamic Postural Adjustment with the Quadratic Programming Method |
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| Authors: |
| Kudoh, Shunsuke | University of Tokyo |
| Komura, Taku | RIKEN |
| Ikeuchi, Katsushi | University of Tokyo |
|
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| Time: | 16:00 |
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| Title: | Paper # 980, Whole Body Teleoperation of a Humanoid Robot -Development of a Simple Master Device using Joysticks- |
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| Authors: |
| Neo, Ee Sian | University of Tsukuba |
| YOKOI, Kazuhito | AIST |
| Kajita, Shuuji | AIST |
| kanehiro, Fumio | AIST |
| Tanie, Kazuo | Intelligent System Institute, AIST |
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| Time: | 16:20 |
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| Title: | Paper # 1062, Whole-body Cooperative Balancing of Humanoid Robot using COG Jacobian |
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| Authors: |
| Sugihara, Tomomichi | University of Tokyo |
| Nakamura, Yoshihiko | 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: | 8 |
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| Fri Oct 04 09:20-10:40 |
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| Session: |
Locomotion with Legs 1
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| Chair: | Hirochika INOUE |
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| Room: | 8 |
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| Time: | 09:20 |
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| Title: | Paper # 14, Increasing Evolvability of a Locomotion Controller Using a Passive-Dynamic-Walking Embodiment |
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| Authors: |
| Ishiguro, Akio | Nagoya University |
| Fujii, Akinobu | Nagoya University |
| Kawasumi, Kenta | Nagoya University |
|
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| Time: | 09:40 |
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| Title: | Paper # 33, Dynamic control of bipeds using ankle and hip strategies |
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| Authors: |
| GORCE, Philippe | Universite Paris-Sud |
| GUIHARD, Marina | Université Paris XII, Val de Marne |
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| Time: | 10:00 |
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| Title: | Paper # 625, The Efficacy of the Neck and Tail of Miniature Dinosaur-like Robot TITRUS-III |
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| Authors: |
| TAKITA, Kensuke | Tokyo Institute of Technology |
| KATAYAMA, Toshio | Tokyo Institute of Technology |
| HIROSE, Shigeo | Tokyo Institute of Technology |
|
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| Time: | 10:20 |
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| Title: | Paper # 880, Flexible Locomotion Control of a Self-contained Biped Leg-wheeled System |
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| Authors: |
| Matsumoto, Osamu | National Institute of Advanced Industrial Science and Technology |
| Kajita, Shuuji | AIST |
| Komoriya, Kiyoshi | National Institute of Advanced Industrial Science and Technology |
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| Fri Oct 04 11:00-12:40 |
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| Session: |
Locomotion with Legs 2
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| Chair: | Philippe GORCE |
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| Room: | 8 |
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| Time: | 11:00 |
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| Title: | Paper # 84, Omni-directional Walking of a Quadruped Robot |
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| Authors: |
| Ma, Shugen | Ibaraki University |
| Tomiyama, Takashi | Ibaraki University |
| Wada, Hideyuki | Ibaraki University |
|
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| Time: | 11:20 |
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| Title: | Paper # 109, Torque Distribution for Achieving a Hugging Walk |
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| Authors: |
| Kaneko, Makoto | Hiroshima University |
| Mizuno, Akihiko | Hiroshima University |
| Harada, Kensuke | Hiroshima University |
|
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| Time: | 11:40 |
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| Title: | Paper # 133, Generation of an Adaptive Controller CPG for a Quadruped Robot with Neuromodulation Mechanism |
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| Authors: |
| Fujii, Akinobu | Nagoya University |
| Saito, Nobuhiro | Nagoya University |
| Nakahira, Kota | Nagoya University |
| Ishiguro, Akio | Nagoya University |
| Eggenberger, Peter | University of Zurich |
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| Time: | 12:00 |
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| Title: | Paper # 155, Quasi-Periodic Gaits of Passive One-Legged Hopper |
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| Authors: |
| Hyon, Sang-Ho | Tohoku University |
| Emura, Takashi | Tohoku University |
|
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| Time: | 12:20 |
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| Title: | Paper # 594, New Mechansim of Attitude Control for Hopping Robot |
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| Authors: |
| Shimoda, Shingo | University of Tokyo |
| Kubota, Takashi | The Institute of Space and Astronautical Science |
| Nakatani, Ichiro | The Institute of Space and Astronautical Science |
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| Fri Oct 04 14:00-15:20 |
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| Session: |
Locomotion with Legs 3
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| Chair: | Takashi MAENO |
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| Room: | 8 |
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| Time: | 14:00 |
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| Title: | Paper # 198, A Novel Gait Generation for Biped Walking Robots Based on Mechanical Energy Constraint |
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| Authors: |
| Asano, Fumihiko | RIKEN Bio-Mimetic Control Research Center |
| Yamakita, Masaki | THOMSON-CSF Communications |
| Kamamichi, Norihiro | Tokyo Institute of Technology |
| Luo, Zhi-Wei | RIKEN Bio-Mimetic Control Research Center |
|
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| Time: | 14:20 |
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| Title: | Paper # 1033, A Walking and Wheeled Hybrid Locomotion with Twin-Frame Structure Robot |
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| Authors: |
| OTA, Yusuke | Tokyo Institute of Technology |
| YONEDA, Kan | Tokyo Institute of Technology |
| TAMAKI, Tatsuya | Tokyo Institute of Technology |
| HIROSE, Shigeo | Tokyo Institute of Technology |
|
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| Time: | 14:40 |
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| Title: | Paper # 1036, Improved mobility through abstracted biological principles |
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| Authors: |
| Quinn, Roger | Case Western Reserve University |
| Offi, John | Case Western Reserve University |
| Kingsley, Daniel | Case Western Reserve University |
| Ritzmann, Roy | Case Western Reserve University |
|
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| Time: | 15:00 |
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| Title: | Paper # 1058, Design of a Battery-powered Multi-purpose Bipedal Locomotor with Parallel Mechanism |
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| Authors: |
| Sugahara, Yusuke | Waseda University |
| Endo, Tatsuro | Waseda University |
| Lim, Hun-ok | Kanagawa Institute of Technology |
| Takanishi, Atsuo | Waseda University |
|
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| Fri Oct 04 15:40-17:00 |
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| Session: |
Locomotion with Legs 4
|
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| Chair: | Yusuke OTA |
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| Room: | 8 |
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| Time: | 15:40 |
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| Title: | Paper # 256, Hopping Height Control of An Active Suspension Type Leg Module Based on Reinforcement Learning and A Neural Network |
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| Authors: |
| KUSANO, Yoshinori | Ryukoku University |
| TSUTSUMI, Kazuyoshi | Ryukoku University |
|
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| Time: | 16:00 |
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| Title: | Paper # 487, Co-evolution of Morphology and Walking Pattern of Biped Humanoid Robot using Evolutionary Computation -Consideration of characteristic of the servomotors- |
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| Authors: |
| Endo, Ken | Kitano Symbiotic Systems Project, ERATO, JST |
| Maeno, Takashi | Keio University, Yokohama |
| Kitano, Hiroaki | Kitano Symbiotic Systems Project, ERATO, JST |
|
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| Time: | 16:20 |
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| Title: | Paper # 615, Online Generation of Humanoid Walking Motion based on a Fast Generation Method of Motion Pattern that Follows Desired ZMP |
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| Authors: |
| Nishiwaki, Koichi | University of Tokyo |
| Kagami, Satoshi | National Institute of Advanced Industrial Science and Technology |
| Kuniyoshi, Yasuo | University of Tokyo |
| Inaba, Masayuki | University of Tokyo |
| Inoue, Hirochika | University of Tokyo |
|
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| Time: | 16:40 |
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| Title: | Paper # 244, Punctuated Anytime Learning for Hexapod Gait Generation |
|---|
| Authors: |
| Parker, Gary | Connecticut College |
|
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