Monday (Oct. 25) International Conference Room
MA1-A	Human Friendly & Medical Robotics (10:40 - 12:20)
	Organizers A. Takanishi : Waseda Univ. H. Takanobu : Waseda Univ. Chairpersons A. Takanishi : Waseda Univ. H. Takanobu : Waseda Univ.
MA1-A	Reactive navigation and interaction with home automation networks for Personal Robots	G. Teti : Scuola Superiore S. Anna D. Soulandros E. Guglielmelli C. Laschi P. Dario
MA1-A	Power Assist Control for Walking Support System	Y. Nemoto : Hitach Ltd. S. Egawa A. Koseki S. Hattori M. Fujie
MA1-A	Robotic Training for Mouth Opening and Closing Disorders	H. Takanobu : Waseda Univ. M. Nakazawa T. Maruyama A. Takanishi K. Ohtsuki M. Ohnishi
MP1-A	Service Robot & Humanoid (13:40 - 15:20)
	Chairpersons P. M. Taylor : Univ. of Newcastle upon Tyne T. Morita : Waseda Univ.
MP1-A	Knowledge-Based Modeling in Autonomous Human Type Service Robot --A Cognitive Science Approach--	H. Ueno : Nat. Center for Sci. Information Syst.
MP1-A	Robot as Friendly Artifact --Human Recognition and Interaction--	Y. Shirai : Osaka Univ. H. Inoue : The Univ. of Tokyo M. Inaba M. Terada Y. Tateyama
MP1-A	Programming of Manipulation Tasks of the Humanoid Robot ARMAR	K. Berns : Forschungszentrum Informatik T. Asfour J. Schelling R. Dillmann
MP2-A	Robotic Aid & Medical Robotics (15:40 - 17:20)
	Chairpersons M. Fujie : Hitachi Limited C. Laschi : Scuola Superiore Sant'Anna
MP2-A	A Framework to Direct Research into Dressing Aids for the Elderly and Disabled	P. M. Taylor : The Univ. of Newcastle upon Tyne J. R. Aspland
MP2-A	TEM : Therapeutic Exercise Machine for Lower Extremity of Spastic Patients	T. Sakaki : Yasukawa Electric Co. S. Okada R. Hirata M. Kondo S. Murai M. Matsuzaki H. Morita Y. Okajima : Keio Univ. N. Tanaka A. Kimura S. Uchida M. Taki Y. Tomita T. Horiuchi
MP2-A	Development of EMG Based Force Sensing System in Virtual Reality System	K. Naruse : Hokkaido Univ. H. Kita T. Hayashi H. Yokoi Y. Kakazu
	Monday (Oct. 25) Room 1001
MA1-B	Assembly (10:40 - 12:20)
	Chairpersons K. Kim : KIST S. Kawamura : Ritsumaikan Univ.
MA1-B	Fine Motion Planning Using Skill-Based Backprojection to Handle Control and Visual Errors	A. Nakamura : Electrotechnical Lab. T. Suehiro K. Machida H. Tsukune
MA1-B	Application of pseudo contact point position information for a bearing assembly task	M. Fujiwara : Mie Pref. Ind. Res. Inst. K. Kitagaki : Electrotechnical Lab. T. Ogasawara : Nara Inst. of Sci. and Tech.
MA1-B	Assembly Illustration Understanding from Assembly Explanation and Model of Mechanical Parts	N. Abe : Kyushu Inst. of Tech. K. Tanaka H. Taki
MA1-B	Grasping and Reliable Picking of Overlapping Objects in Unstructured Scenes	M. Muller : Univ. of Karlsruhe T. Langle H. Worn
MP1-B	Industrial Application (13:40 - 15:20)
	Chairpersons I. J. Rudas : Banki Donat Poly. T. Uchiyama : Fujitsu Limited
MP1-B	A Study on Phase Control Method of Ultrasonic Motor --A Servo Drive Technique around Resonance Frequency Using Current Phase as a Reference--	Y. Kyodo : The Univ. of Tsukuba
MP1-B	Robotic Deburring Strategy Using Burr Shape Recognition	S. H. Jang : Hang-Yang Univ. J. O. Park J. H. Park C. S. Lee : KIST Europe
MP1-B	Manipulating deformable linear objects --Vision-based recognition of contact state transitions--	F. Abegg : Univ. of Karlsruhe D. Henrich H. Worn
MP1-B	Analysis and Planning of Indirect Simultaneous Positioning Operation for Deformable Objects	T. Wada : Ritsumeikan Univ. S. Hirai S. Kawamura
MP2-B	Advanced Factory Automation (15:40 - 17:20)
	Chairpersons J. Seyfried : Univ. Karlsruhe N. Abe : Kyushu Inst. of Tech.
MP2-B	World Perception and Machine Awareness in Industrial Robot Applications	G. C. Pettinaro : ABB Corporate Res.
MP2-B	Extraction of Human Intention for Human Co-operating Systems --Prototype Assembling Work Support Robot System according to Human Intention--	Y. Hayakawa : Waseda Univ. Y. Kira T. Ogata S. Sugano
MP2-B	Development of a Microrobot-Based Microassembly Station	S. Fatikow : Univ. of Karlsruhe J. Seyfried St. Fahlbusch A. Buerkle F. Schmoeckel
MP2-B	Decentralized Autonomous Mobile Robots for Adaptive Production System --Cooperative Work in Autonomous Starter Assembly Line--	T. Ueyama : Denso Corp. S. Takeda S. Hashimoto H. Terada H. Kotani
	Monday (Oct. 25) Room 1002
MA1-C	Robot Hand (10:40 - 12:20)
	Chairpersons H. Zhang : Univ. of Alberta T. Omata : Tokyo Inst. of Tech.
MA1-C	On the Design of a Novel Dexterous Hand	W. J. Chen : Nanyang Tech. Univ. M. Xie
MA1-C	Grasping of Unknown Objects Based on a Continuous Estimation of Relation between Finger Position and Contact Point	M. Tada : The Univ. of Tokyo T. Sato T. Mori
MA1-C	Online Construction of the Manipulation-Model of an unknown Object by a Robot Hand using the Regrasping Primitives	M. A. Farooqi : Tokyo Inst. of Tech. T. Omata
MA1-C	A Heuristic Approach to Grasp Planning for a Multifingered Hand-Arm Robot	N. Kawarazaki : Kanagawa Inst. of Tech. T. Hasegawa : Kyushu Univ. K. Nishihara : Kanagawa Inst. of Tech
MP1-C	Contact Sensing & Robot Hand (13:40 - 15:20)
	Chairpersons Y. Yamada : Toyota Tech. Inst. M. Xie : Nanyang Tech. Univ.
MP1-C	A Soft Tactile Sensor with Films of LC Resonance Traps	N. Futai : The Univ. of Tokyo I. Shimoyama H. Inoue
MP1-C	Sensing Contact Forces in a Dextrerous Hand	Y. Guan : Univ. of Alberta H. Zhang
MP1-C	Experimental Validation on Enveloping Multiple Objects	K. Harada : Hiroshima Univ. M. Kaneko
MP1-C	Enveloping Grasp with a New Detaching Strategy	T. Shirai : Hiroshima Univ. M. Kaneko K. Harada T. Tsuji
MP2-C	Teleoperation (15:40 - 17:20)
	Chairpersons T. Sato : the Univ. of Tokyo A. K. Bejczy : JPL
MP2-C	Tele-Manipulating Two Remote Robot Arms by Direct Instruction Using Stereo Vision and Force Feedback Device	K. Tanaka : Kyushu Inst. of Tech. N. Abe T. Horie H. Taki : Wakayama Univ.
MP2-C	Construction of an Experimental System for Dual-Arm Robot Teleoperation in Space with Concepts of Virtual Grip and Ball	W. K. Yoon : Tohoku Univ. Y. Tsumaki M. Uchiyama
MP2-C	Workability Evaluation for Teleoperation System via Communication Network on Task-based Data Exchange	T. Matsumaru : Toshiba Corp. S. Kawabata : Univ. of Electro-Comm. T. Kotoku : Mech. Eng. Lab. N. Matsuhira : Toshiba Corp. K. Komoriya : Mech. Eng. Lab. K. Tanie K. Takase : Univ. of Electro-Comm.
MP2-C	Concept of Wearable Robot for EVA Spacesuit	Y. Umetani : Toyota Tech. Inst. Y. Yamada T. Morizono T. Yoshida : Shimizu Corp. S. Aoki
	Tuesday (Oct. 26) International Conference Room
TA1-A	Space Robot I --Engineering Test Satellite VII-- (10:40 - 12:20)
	Organizer M. Oda : NASDA Chairpersons M. Oda : NASDA K. Matsumoto : Nat. Aerospace Lab.
TA1-A	Rendezvous docking and space robot experiments on NASDA's ETS-VII satellite --An overview of the project and experiment results--	M. Oda : NASDA
TA1-A	Components and Control Systems of ETS-VII Robot Experiment Subsystem	M. Oda : NASDA T. Inagaki S. Nishida : Toshiba Corp. M. Hayashi T. Sugano
TA1-A	Teleoperation of ETS-VII Space Robot	M. Oda : NASDA Y. Takano T. Doi S. Nishida : Toshiba Corp. Y. Takekawa T. Noguchi
TA1-A	Coordinated control of a satellite mounted robot arm and the satellite attitude Results of the in-orbit experiments on NASDA's ETS-VII satellite	M. Oda : NASDA
TP1-A	Space Robot II --Experiment resluts on ETS-VII satellite-- (13:40 - 15:20)
	Organizer M. Oda : NASDA Chairpersons M. Oda : NASDA K. Matsumoto : Nat. Aerospace Lab.
TP1-A	Teleoperation Experiments for Antenna Assembling Experiment on Engineering Test Satellite VII	S. Kimura : Communications Res. Lab. S. Tsuchiya Y. Nagai : Electro-Comm. Univ. K. Nakamura : NEC Corp. K. Satoh H. Morikawa
TP1-A	Truss Structure Tele-opelation using ETS-7 Space Robot	K. Matsumoto : Nat. Aerospace. Lab. S. Wakabayashi M. Nohmi L. F. Penin H. Ueno : Shimizu Corp. T. Yoshida
TP1-A	DLR's Experiments on the ETS VII Space Robot Mission	K. Landzettel : DLR Oberpfaffenhofen B. Brunner K. Deutrich G. Schreiber B. M. Steinmetz G. Hirzinger
TP1-A	Robot Vision Techniques to Approach and Capture a Failed Satellite	N. Inaba : NASDA M. Oda
TP2-A	Space Robot III --Advanced Robotic Hand System Experiments on ETS-VII-- (15:40 - 17:20)
	Organizer K. Machida : ETL Chairpersons K. Machida : ETL T. Mikami : Fujitsu Limited
TP2-A	Advanced Robotic Hand System: Sensor-Fused Telerobotic Experiment on ETS-VII	K. Machida : Electrotechnical Lab. Y. Toda K. Akita : Inst. for Unmanned Space Exp. Free-Flyer T. Mikami : Fujitsu Limited
TP2-A	Ground Control System for Precise Telerobotic Operation of the Advanced Robotic Hand	A. Noda : Fujitsu Limited N. Tsuda M. Moriya H. Nishida : Electrotechnical Lab. K. Machida K. Akita : Inst. for Unmanned Space Exp. Free-Flyer
TP2-A	Flexible Solar Cell Sheet Handling by a Three-finger Multisensory Hand	N. Kubota : Kawasaki Heavy Ind. LTD. M. Ohno R. Sakata K. Machida : Electrotechnical Lab. K. Tanie : Mech. Eng. Lab. K. Akita : Inst. for Unmanned Space Exp. Free-Flyer
TP2-A	Wire Handling Experiment by Teleoperation of the Advanced Robotic Hand from the Ground	N. Matsuhira : Toshiba Corp. M. Asakura Y. Shinomiya K. Machida : Electrotechnical Lab. K. Tanie : Mech. Eng. Lab. K. Akita : Inst. for Unmanned Space Exp. Free-Flyer
	Tuesday (Oct. 26) Room 1001
TA1-B	Sensor-based Navigation (10:40 - 12:20)
	Chairpersons H. Asama : RIKEN T. Wang : Beijing Univ. of Aeron. & Astronautics
TA1-B	Relative position localizing system for multiple autonomous mobile robots in distributed robotic system --system design and prototype development--	S. Premvuti : Thammasat Univ. C. Sittisombat K. Aunvichit T. Jenjiratthitikarn
TA1-B	Global Integration of Ultrasonic Sensors Information in Mobile Robot Localization	L. Moreno : Univ. Carlos III de Madrid J. M. Armingol A. de la Escalera M. A. Salichs
TA1-B	Reliable Self-Localization, Multirobot Sensor Integration, Accurate Path-Planning and Basic Soccer Skills: Playing an Effective Game of Robotic Soccer	J.-S. Gutmann : Albert-Ludwigs-Univ. Freiburg W. Hatzack I. Herrmann B. Nobel F. Rittinger A. Topor T. Weigel
TA1-B	Robust navigation and battery re-charging system for long term activity of autonomous mobile robot	Y. Hada : Univ. of Tsukuba S. Yuta
TP1-B	Navigation Strategy (13:40 - 15:20)
	Chairpersons S. Yuta : Tsukuba Univ. R. Chatila : LAAS/CNRS
TP1-B	Combining Kalman Filtering with Markov Models for Vehicle Location	S. Thiebaux : CSIRO CMIS P. Lamb
TP1-B	Generating validity regions using Markovian spatial clustering	A. Lambert : UTC/HEUDIASYC M. Van Dang G. Govaert
TP1-B	A Method of Planning Movement and Observation for a Mobile Robot Considering Uncertainties of Movement, Visual Sensing, and a Map	T. Kanbara : Hiroshima City Univ. J. Miura Y. Shirai : Osaka Univ. A. Hayashi : Hiroshima City Univ. S. Li
TP2-B	Visual Servoing & Navigation (15:40 - 17:45)
	Chairpersons P. Dario : Scuola Superiore Sant'Anna H. Arai : MEL
TP2-B	Full 3-D Visual Feedback Control of Robotic Manipulators: A Dissipation Theoretical Approach	A. Maruyama : Nachi-fujikoshi Corp. M. Fujita : Kanazawa Univ. K. Kanitani : Nachi-fujikoshi Corp.
TP2-B	Combining Pixel and Depth Information in Image Based Visual Servoing	E. Cervera : Jaume-I Univ. P. Martinet : Blaise Pascal Univ. of Clermont-Ferrand
TP2-B	Vision-based Action Control of Quadruped Legged Robot JROB-1	K. Okada : The Univ. of Tokyo S. Kagami M. Inaba H. Inoue
TP2-B	Vision Functions for the Guidance of Smart Vehicle	S. M. Wong : Nanyang Tech. Univ. M. Xie
TP2-B	Development and optimization of machine vision systems using a panoramic annular lens (PAL)	P. Greguss : Technical Univ. of Budapest A. H. Vaughan
	Tuesday (Oct. 26) Room 1002
TA1-C	Manipulator Control I (10:40 - 12:20)
	Chairpersons H. Kawasaki : Gifu Univ. R. Jamisola : Nat. Univ. of Singapore
TA1-C	Bracing Control of Redundant Manipulator	K. Uematsu : Nagoya Univ. T. Fukuda
TA1-C	Global Parameter Optimization in an Adaptive Control Built up of Uniform Structures and Procedures	I. J. Rudas : Banki Donat Poly. J. K. Tar K. Kozlowski : Poznan Univ. of Tech. J. F. Bito : Banki Donat Poly.
TA1-C	Adaptive Control Compensating Constraint State Transitions for Robotic Manipulator	H. Kawasaki : Gifu Univ. R. Taniuchi
TA1-C	Dynamic Identification and Control of an Industrial Robot	R. Jamisola : Nat. Univ. of Singapore M. H. Ang, Jr. T. M. Lim O. Khatib : Stanford Univ. S. Y. Lim : Gintic Inst. of Manuf. Tech.
TP1-C	Manipulator Control II (13:40 - 15:20)
	Chairpersons P. Coiffet : CNRS N. Matsuhira : Toshiba Corp.
TP1-C	Vibration Suppression Control of Two Cooperative Flexible Manipulator Working in 3D Space	M. Yamano : Tohoku Univ. A. Konno M. Uchiyama
TP1-C	Robust Tracking Control of Rigid Link Flexible Joint Robots Using Only Joint Position and Velocity Measurements	M. Oya : Kyushu Inst. of Tech. U. Onizuka K. Sato : Saga Univ.
TP1-C	Vibration Control of the End-Effectors of Mobile Rotational Joints Planar Robots	C. Mrad : Kanazawa Univ. Y. Kamiya H. Seki
TP2-C	Legged Robot (15:40 - 17:20)
	Chairpersons T. Yoshida : Shimizu Corp. A. Morecki : Warsaw Univ. of Tech.
TP2-C	Attitude Control of Human Type Biped Robot on a Slope Whose Inclination is Varying	M. Kumagai : Tohoku Univ. T. Emura
TP2-C	Generation of Walk Transient Trajectories for a Biped Robot	L. France : INRIA A. Girault B. Espiau
TP2-C	A Prismatic-joint Leg Mechanism and Its Application to a Biped Walking Robot	K. Mitobe : Yamagata Univ. T. Nakano H. Nagasawa G. Capi Y. Nasu
TP2-C	The Development of Handy 1 a Rehabilitation Robotic System to Assist the Severely Disabled	M. Topping : Staffordshire Univ. J. Smith
	Wednesday (Oct. 27) International Conference Room
WA1-A	Kinematics (9:00 - 10:40)
	Chairpersons P. Dauchez : LIRMM Y. Takeda : Tokyo Inst. of Tech.
WA1-A	An Evolutionary Strategy for Calculating the Inverse Kinematics of Redundant Manipulators	R. Schaufler : Univ. of Siegen C. H Fedrowitz
WA1-A	Direct Inverse Kinematics Using Fast Interval Bisection Method And Its Automatic Programming	K. Tagawa : Kobe Univ. F. Ohara Y. Ohta H. Haneda
WA1-A	On the Identifiability of the Joint Offsets of Redundant Manipulators	G. Bilodeau : McGill Univ. J. Angeles
WA1-A	Singularity analysis and its avoidance for KIST Hybrid master arm	J. Kim : Korea Inst. of Sci. and Tech. S. Chang I. Kim J. H. Borm : Ajou Univ. J. W. Lee : Korea Inst. of Sci. and Tech. J. O. Park
WA2-A	Parallel Mechanisms (10:50 - 12:30)
	Chairpersons M. Uchiyama : Tohoku Univ. J. Angeles : McGill Univ.
WA2-A	A Motion Control Scheme in Task Oriented Coordinates and its Robustness for Parallel Wire Driven Systems	H. Kino : Shiga Univ. of Med. Sci. C. C. Cheah : Nanyang Tech. Univ. S. Yabe : Ritsumeikan Univ. S. Kawamura S. Arimoto
WA2-A	Development of a Spatial Six-Degree-of-Freedom In-Parallel Actuated Worktable with Rolling Spherical Bearings	Y. Takeda : Tokyo Inst. of Tech. H. Funabashi M. Kimura K. Hirose : Hephaist Seiko Co.
WA2-A	A new 3T-1R parallel robot	O. Company : LIRMM F. Pierrot
WA2-A	A Concept for a computer aided configuration (CAC) tool for Parallel Kinematic Machines	I. Fassi : ITLA-CNR L. M. Tosatti S. Negri G. Di Bernardo
	Wednesday (Oct. 27) Room 1001
WA1-B	Learning & Skill (9:00 - 10:40)
	Chairpersons H. Ueno : Nat. Center for Sci. Information Syst. M. Kaneko : Hiroshima Univ.
WA1-B	A Self-Organizing Visuo-Motor Map for a Redundant Manipulator in Environments with Obstacles	N. Okada : Kyushu Univ. Y. Shimizu Y. Maruki : Oita Nat. Col. of Tech. E. Kondo : Kyushu Univ. A. Yoshida
WA1-B	Acquisition of Probabilistic Behavior Decision Model based on the Interactive Teaching Method	T. Inamura : The Univ. of Tokyo M. Inaba H. Inoue
WA1-B	Partition Nets: An Efficient On-Line Learning Algorithm	K. F. MacDorman : Osaka Univ.
WA1-B	Computer-Aided Discovery of Motor Skills for Robotic Motions	E. Horiuchi : Mech. Eng. Lab.
WA2-B	Non-holonomic Robotics (10:50 - 12:30)
	Chairpersons T. Suehiro : ETL T. Matsumaru : Shizuoka Univ.
WA2-B	Path Control During Backward Driving of a Tractor-Trailer with Off-Axle Hitching	P. Petrov : Ecole de technologie superieure M. Tetreault J. de Lafontaine
WA2-B	Motion Planning of Discrete-time Nonholonomic Systems	H. Arai : Mech. Eng. Lab.
WA2-B	From Reeds and Shepp's to Continuous-Curvature Paths	Th. Fraichard : Inria Rhone-Alpes & Gravir
WA2-B	Kinematic Control of a Redundant Nonholonomic Mobile Manipulator for SingularityAvoidance	V. Fernandez : Univ. Carlos III de Madrid C. Balaguer M. A. Salichs D. Blanco