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12:30 |
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Registrations |
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13:00-16:45 |
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Workshops |
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17:00-19:00 |
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Technical tour to AIST |
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19:00-21:00 |
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Welcome Reception
at Uotami (Japanese style pub) →map
located on B1 floor of DAYZ TOWN
* Gather at conference hall at 18:50, then we walk to the venue.
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8:30 |
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Registrations |
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9:00-9:10 |
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Opening |
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9:10-10:10 |
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Invited talk 1 |
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10:10-10:20 |
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(Break) |
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10:20-12:00 |
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Oral Session 1 : PLANNING,
LOCALIZATION AND NAVIGATION ( 5 papers ) |
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| 33 |
Humanoid Motion Planning for
Dynamic Tasks |
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Eiichi Yoshida, Igor Belousov,
Claudia Esteves, Jean-Paul
Laumond |
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| 42 |
Non-Gaited Humanoid Locomotion
Planning |
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Kris Hauser, Tim Bretl, Jean-Claude
Latombe |
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| 44 |
Vision-Guided Humanoid Footstep
Planning for Dynamic Environments |
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Philipp Michel, Joel Chestnutt, James Kuffner,
Takeo Kanade |
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| 52 |
Humanoid Robot Localisation
Using Stereo Vision |
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Simon Thompson, Satoshi
Kagami |
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| 79 |
A Modular Architecture for
Humanoid Robot Navigation |
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Jens-Steffen Gutmann, Masaki Fukuchi, Masahiro
Fujita |
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12:00-13:00 |
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(Lunch) |
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13:00-14:00 |
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Poster Session 1 : DESIGN
AND MODELING OF HUMANOIDS ( 12 papers ) |
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| 2 |
Design Concept of a Human-like
Robot Head |
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Karsten Berns, Tim
Braum |
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| 15 |
Fast Inverse Kinematics and
Kinetics Solver for Human-like Figures |
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Richard Kulpa, Franck
Multon |
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| 17 |
A Pneumatic Biped: Experimental
Walking Results and Compliance Adaptation
Experiments |
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Bram Vanderborght, Bjorn Verrelst, Ronald Van
Ham, Michael Van Damme, Dirk
Lefeber |
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| 18 |
Development of Humanoid Robot
HRP-3P |
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Kazuhiko Akachi, Kenji Kaneko, Noriyuki
Kanehira, Shigehiko Ota, Go Miyamori, Masaru
Hirata, Shuuji Kajita, Fumio
Kanehiro |
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| 24 |
Design of a Biomimetic Upper
Body for the Humanoid Robot Robota |
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Florent Guenter, Lorenzo Roos, Andre Guignard,
Aude G. Billard |
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| 56 |
MAC-EYE: a Tendon Driven Fully
Embedded Robot Eye |
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Dario Biamino, Giorgio Cannata, Marco
Maggiali, Alessandro
Piazza |
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| 70 |
Pedaling by a Redundant
Musculo-Skeletal Humanoid Robot |
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Yuto Nakanishi, Ikuo Mizuuchi, Tomoaki
Yoshikai, Tetsunari Inamura, Masayuki
Inaba |
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| 72 |
Modeling Joint Constraints for
an Articulated 3D Human Body Model with Artificial
Correspondences in ICP |
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Steffen Knoop, Stefan Vacek, Rudiger
Dillmann |
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| 81 |
An Embedded Tactile and Force
Sensor for Robotic Manipulation and
Grasping |
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Giorgio Cannata, Marco
Maggiali |
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| 85 |
Engineering Solutions to Build
an Inexpensive Humanoid Robot Based on a
Distributed Control Architecture |
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Vitor M. F. Santos, Filipe M. T.
Silva |
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| 97 |
A Space Construction
Humanoid |
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Myron A. Diftler, Joshua S. Mehling, P. A.
Strawser, William R. Doggett, Ivan M.
Spain |
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14:00-15:40 |
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Oral Session 2 : BIPED AND
WHOLE-BODY MOTION ( 5 papers ) |
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| 29 |
Optimization Based Gait Pattern
Generation for a Biped Robot |
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Thomas Buschmann, Sebastian Lohmeier, Heinz
Ulbrich, Friedrich
Pfeiffer |
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| 40 |
Whole-Body Human-to-Humanoid
Motion Transfer |
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Nirut Naksuk, C. S. George Lee, Shirley
Rietdyk |
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| 60 |
Powered Bipeds Based on Passive
Dynamic Principles |
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Stuart O. Anderson, Martijn Wisse, Chris G.
Atkeson, Jessica K. Hodgins, Garth J. Zeglin, B.
Moyer |
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| 64 |
Online Dynamical Retouch of
Motion Patterns Towards Animatronic Humanoid
Robots |
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Tomomichi Sugihara, Wataru Takano, Katsu
Yamane, Kou Yamamoto, Yoshihiko
Nakamura |
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| 109 |
Comparison of Several Kinds of
Feet for Humanoid Robot |
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Fethi Ben Ouezdou, Samer Alfayad, Bachar
Almasri |
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15:40-16:40 |
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Poster Session 2 :
INTERACTIVE HUMANOIDS ( 12 papers ) |
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| 4 |
Robotic Imitation from Human
Motion Capture Using Gaussian Processes |
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Aaron P. Shon, Keith Grochow, Rajesh P. N.
Rao |
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| 23 |
Experiments of Vision
Guided Walking of Humanoid Robot, KHR-2 |
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Jung-Yup Kim, Ill-Woo Park, Jungho
Lee, Jun-Ho Oh |
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| 36 |
Re-Using Schematic Grasping
Policies |
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Robert Platt, Roderic A. Grupen, Andrew H.
Fagg |
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| 43 |
Learning Visual Object
Definitions by Observing Human
Activities |
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Manuela Veloso, Felix von Hundelshausen, Paul
E. Rybski |
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| 47 |
Estimating Pose Sequences from
Depth Image Streams |
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Kikuo Fujimura, Youding Zhu, Victor
Ng-Thow-Hing |
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| 51 |
A Humanoid Robot Drawing Human
Portraits |
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Sylvain Calinon, Julien Epiney, Aude
Billard |
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| 63 |
Primitive Communication of
Humanoid Robot with Human via Hierarchical Mimesis
Model on the Proto Symbol Space |
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Wataru Takano, Katsu Yamane, Yoshihiko
Nakamura |
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| 73 |
On-site Humanoid Navigation
Through Hand-in-Hand Interface |
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Takashi Ogura, Atsushi Haneda, Kei Okada,
Masayuki Inaba |
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| 84 |
Navigation in the Presence of
Humans |
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E. Akin Sisbot, Rachid Alami, Thierry Simeon,
Kerstin Dautenhahn, M. Walters, S. Woods, K. L.
Koay, C. Nehaniv |
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| 90 |
Imitation Bootstrapping:
Experiments on a Robotic Hand |
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Erhan Oztop, Thierry Chaminade, Gordon Cheng,
Mitsuo Kawato |
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| 91 |
Human Friendship Estimation
Model for Communication Robots |
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Shogo Nabe, Takayuki Kanda, Kazuo Hiraki,
Hiroshi Ishiguro, Norihiro
Hagita |
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| 104 |
A Humanoid Behavior Modification
System by Monitoring & Evaluating Causality
Between Sensors & Actions |
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Tomoaki Yoshikai, Ikuo Mizuuchi, Masayuki
Inaba |
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16:40-18:20 |
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Oral Session 3 : LEARNING
AND DEVELOPMENT ( 5 papers ) |
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| 20 |
Learning CPG-based Biped
Locomotion with a Policy Gradient Method |
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Takamitsu Matsubara, Jun Morimoto, Jun
Nakanishi, Masa-aki Sato, Kenji
Doya |
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| 48 |
Learning Dynamic Humanoid Motion
Using Predictive Control in Low Dimensional
Subspaces |
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Rawichote Chalodhorn, David B. Grimes, Gabriel
Y. Maganis, Rajesh P. N.
Rao |
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| 62 |
Behavior Model of Humanoid
Robots based on Operant Conditioning |
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Kazuko Itoh, Hiroyasu Miwa, Munemichi
Matsumoto, Massimiliano Zecca, Hideaki Takanobu,
Stefano Roccella, Maria Chiara Carrozza, Paolo
Dario, Atsuo Takanishi |
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| 67 |
From Sensorimotor Development to
Object Perception |
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Lorenzo Natale, Francesco Orabona, Fabio
Berton, Giorgio Metta, Giulio
Sandini |
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| 78 |
Using a Controller Based on
Reinforcement Learning for a Passive Dynamic
Walking Robot |
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Erik Schuitema, Daan G. E. Hobbelen, Pieter P.
Jonker, Martijn Wisse, J. G. Daniel
Karssen |
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18:30-20:30 |
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Banquet |
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at Restaurant L'ESPOIR at EPOCHAL TSUKUBA (Conference Cite)
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9:00-10:00 |
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Invited talk 2 |
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Humanoid Robots
Step Up to Perform Human Tasks - Our R&D Challenge |
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Mr. Tadahiro Kawada |
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10:00-11:00 |
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Poster Session 3 : MOTION
CONTROL OF HUMANOIDS ( 12 papers ) |
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| 3 |
Task-Oriented Whole Body Motion
for Humanoid Robots |
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Michael Gienger, Herbert Jansen, Christian
Goerick |
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| 6 |
The Tele-Operation of the
Humanoid Robot -Workspace Extension of the Arm
with Step Motion- |
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Hitoshi Hasunuma, Katsumi
Nakashima |
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| 11 |
Grasping with Flexible
Viewing-Direction with a Learned Coordinate
Transformation Network |
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Cornelius Weber, Konstantinos Karantzis,
Stefan Wermter |
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| 25 |
Distributed Controller for
Cooperative Joint Torque Control of Compact
Humanoid Robots |
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Nobuyasu Tomokuni, Masaru Saiga, Tetsuro
Yabuta |
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| 28 |
How do Humans Turn? Head and
Body Movements for the Steering of
Locomotion |
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Halim Hicheur, Alain
Berthoz |
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| 32 |
Rh-0 Humanoid Full Size Robot's
Control Strategy Based on the Lie Logic
Technique |
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Mario Arbulu, Jose M. Pardos, Luis Cabas,
Pavel Staroverov, Dmitry Kaynov, Carlos Perez,
Miguel Rodriguez, Carlos
Balaguer |
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| 46 |
A Vision/Position/Force Control
Approach for Performing Assembly Tasks with a
Humanoid Robot |
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Pierre Dauchez, Philippe Fraisse, Francois
Pierrot |
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| 53 |
Biped Gait Optimization Using
Estimation of Distribution Algorithm |
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Lingyun Hu, Changjiu Zhou, Zengqi
Sun |
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| 57 |
Walking Control Using the SC
Approach for Humanoid Robot |
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Koki Kameta, Akinori Sekiguchi, Yuichi
Tsumaki, Dragomir N.
Nenchev |
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| 68 |
Swing Leg Retraction Helps Biped
Walking Stability |
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Martijn Wisse, Chris G. Atkeson, Daniel K.
Kloimwieder |
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| 69 |
Bracing Behavior in Humanoid
through Preview Control of Impact
Disturbance |
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Shigeru Kanzaki, Kei Okada, Masayuki
Inaba |
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| 80 |
A Study on Joint Compliance for
a Biped Robot |
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Ki-Joo Lee, Hong Jae Yim, Siyoul Jang,
Yun-Seok Kang, Yun-Ki You, Tae Won Park,
Joong-Kyung Park, Changhyun Roh, Youngbo Shim,
Kyungsik Roh |
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11:00-12:40 |
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Oral Session 4 : HUMANOID
DESIGN ( 5 papers ) |
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| 9 |
Modelling of the Shoulder
Complex and Application to the Design of Upper
Extremities
for Humanoid
Robots |
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Bertrand Tondu |
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| 76 |
Mechanical Design of Humanoid
Robot Platform KHR-3 (KAIST Humanoid Robot - 3:
HUBO) |
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Ill-Woo Park, Jung-Yup Kim, Jungho Lee, Jun-Ho
Oh |
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| 77 |
Obrero: A Platform for Sensitive
Manipulation |
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Eduardo Torres-Jara |
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| 89 |
Development of a Humanoid Robot
Having 2-DOF Waist and 2-DOF Trunk |
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Aiman Musa M. Omer, Yu Ogura, Hideki Kondo,
Akitoshi Morishima, Giuseppe Carbone, Marco
Ceccarelli, Hun-ok Lim, Atsuo
Takanishi |
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| 108 |
Development of Muscle-Driven
Flexible-Spine Humanoids |
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Ikuo Mizuuchi, Tomoaki Yoshikai, Yuto
Nakanishi, Yoshinao Sodeyama, Taichi Yamamoto,
Akihiko Miyadera, Tuomas Niemela, Marika Hayashi,
Junichi Urata, Masayuki
Inaba |
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12:40-13:40 |
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(Lunch) |
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13:40-15:20 |
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Oral Session 5 : NEW
PARADIGMS AND APPLICATIONS ( 5 papers ) |
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| 37 |
Humanoids for Lunar and
Planetary Surface Operations |
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Adrian Stoica, Didier Keymeulen, Ambrus
Csaszar, Quan Gan, Timothy Hidalgo, Jeff Moore,
Jason Newton, Steven Sandoval, Jiajing
Xu |
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| 38 |
Identifying Musculo-tendon
Parameters of Human Body Based on the
Musculo-Skeletal Dynamics Computation and
Hill-Stroeve Muscle Model |
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Gentiane Venture, Katsu Yamane, Yoshihiko
Nakamura |
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| 61 |
A Cognitive Architecture for a
Humanoid Robot: A First Approach |
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Catherina Burghart, Ralf Mikut, Rainer
Stiefelhagen, Tamim Asfour, Hartwig Holzapfel,
Peter Steinhaus, Ruediger
Dillmann |
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| 105 |
Real-Time Stereo Facial Feature
Tracking: Mimicking Human Mouth Movement on a
Humanoid Robot Head |
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Sabri Gurbuz, Toshihiro Shimizu, Gordon
Cheng |
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| 115 |
Uncovering Manifold Structures
in Robonaut's Sensory-Data State Space |
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Richard Alan Peters II, Odest Chadwicke
Jenkins |
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15:20-16:20 |
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Poster Session 4 :
COGNITIVE HUMANOIDS ( 12 papers ) |
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| 5 |
Is This Robot Like Me? Links
Between Human and Robot Personality
Traits |
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Sarah Woods, Kerstin Dautenhahn, Christina
Kaouri, Rene te Boekhorst, Kheng Lee
Koay |
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| 19 |
Distributed Visual Attention on
a Humanoid Robot |
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Ales Ude, Valentin Wyart, Li-Heng Lin, Gordon
Cheng |
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| 30 |
Peripersonal Space and Object
Recognition for Humanoids |
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Christian Goerick, Heiko Wersing, Inna
Mikhailova, Mark Dunn |
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| 31 |
Development and Psychological
Evaluation of Multimodal Presentation Markup
Language for Humanoid Robots |
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Yoshitaka Nishimura, Kazutaka Kushida, Hiroshi
Dohi, Mitsuru Ishizuka, Johane Takeuchi, Hiroshi
Tsujino |
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| 41 |
Mortality Salience and the
Uncanny Valley |
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Karl F. MacDorman |
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| 59 |
Lifelike Behavior of
Communication Robots Based on Developmental
Psychology Findings |
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Fumitaka Yamaoka, Takayuki Kanda, Hiroshi
Ishiguro, Norihiro
Hagita |
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| 66 |
Development of Face Robot to
Express the Individual Face by Optimizing the
Facial Features |
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Kazuko Itoh, Hiroyasu Miwa, Yoshitaka Onishi,
Kazutaka Imanishi, Kouki Hayashi, Atsuo
Takanishi |
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| 71 |
Towards a Humanoid Museum Guide
Robot that Interacts with Multiple
Persons |
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Maren Bennewitz, Felix Faber, Dominik Joho,
Michael Schreiber, Sven
Behnke |
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| 75 |
Learning Sequential Constraints
of Tasks from User Demonstrations |
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Michael Pardowitz, Raoul Zollner, Rudiger
Dillmann |
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| 93 |
A Single Camera Motion Capture
System Dedicated to Gestures Imitation |
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Paulo Menezes, Frederic Lerasle, Jorge Dias,
Raja Chatila |
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| 96 |
A Genetic-Fuzzy Algorithm for
the Articulatory Imitation of Facial Movements
During Vocalization of a Humanoid Robot |
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Enzo Mumolo, Massimiliano Nolich, Emanuele
Menegatti |
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| 101 |
A Shape Matching Algorithm for
Synthesizing Humanlike Enveloping Grasps |
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Ying Li, Nancy S.
Pollard |
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16:20-18:00 |
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Oral Session 6 : PHYSICAL
AND SOCIAL INTERACTION ( 5 papers ) |
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| 7 |
Close Encounters: Spatial
Distances Between People and a Robot of
Mechanistic Appearance |
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Michael L. Walters, Kerstin Dautenhahn, Kheng
Lee Koay, Christina Kaouri, Rene te Boekhorst,
Chrystopher Nehaniv, Iain Werry, David
Lee |
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| 16 |
Robot Manzai -Robots'
Conversation as a Passive Social Medium- |
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Koutarou Hayashi, Takayuki Kanda, Takahiro
Miyashita, Hiroshi Ishiguro, Norihiro
Hagita |
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| 86 |
The Interactive Motion Control
for a Small Humanoid Robot |
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Tomohisa Moridaira, Atsushi Miyamoto, Satoru
Shimizu, Yasunori Kawanami, Ken'ichiro Nagasaka,
Yoshihiro Kuroki |
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| 94 |
Intent Imitation Using Wearable
Motion Capturing System with On-Line Teaching of
Task Attention |
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Tetsunari Inamura, Naoki Kojo, Tomoyuki
Sonoda, Kazuyuki Sakamoto, Kei Okada, Masayuki
Inaba |
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| 95 |
Robot Command, Interrogation and
Teaching Via Social Interaction |
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Peter Ford Dominey, Manuel Alvarez, Bin Gao,
Marc Jeambrun, Anne Cheylus, Alfredo Weitzenfeld,
Adrian Martinez, Antonio
Medrano |
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