*** ROBIO 2006 TECHNICAL PROGRAM *** ============================================================================== === Monday December 18, 2006 === ============================================================================== Session M1-1: Robot Vision I Chairs: Yasushi Yagi, Huosheng Hu ------------------------------------------------------------------------------ Time: Monday December 18, 10:20 - 12:20 Room: Haitang ------------------------------------------------------------------------------ Integrating Shape and Color Features for Adaptive Real-time Object Tracking Junqiu Wang and Yasushi Yagi Vision and Laser Data Fusion for Tracking People with a Mobile Robot Nicola Bellotto and Huosheng Hu A Redundancy-Based Scheme to Perform Safe Vision-Based Tasks Amidst Obstacles David Folio and Viviane Cadenat Stereo SLAM Using Two Estimators Trung Ngo Thanh, Yusuke Sakaguchi, Hajime Nagahara and Masahiko Yachida A Gesture Model and Its Applications in Risk Assessment for Misrecognition Jian Lu, Wei Jiang and Kyoko Hamajima Tracking Chemical Plumes in 3-Dimensions R. Andrew Russell ============================================================================== Session M1-2: Human-Robot Interaction I Chairs: Shugen Ma, Masahiro Nohmi ------------------------------------------------------------------------------ Time: Monday December 18, 10:20 - 12:20 Room: Chahua ------------------------------------------------------------------------------ Effectiveness of Distributed Pressure and Slippage Force Presentation in Tactile Virtual Reality Yiru Zhou, Masahiro Ohka, Tetsu Miyaoka and Yasunaga Mitsuya A Wearable Sensor System for Human Motion Analysis and Humanoid Robot Control Tao Liu, Yoshio Inoue and Kyoko Shibata Communication Mechanism Study of a Multi Robot Planetary Exploration System Zheng Zhang, Shugen Ma, Binggang Cao and Zhenli Lu Contact Task by Force Feedback Teleoperation Under Communication Time Delay Masahiro Nohmi and Thomas Bock Building and Understanding Robotics - a Practical Course for Different Levels Education Houxiang Zhang, Tim Baier, Jianwei Zhang, Wei Wang, Rong Liu, Dazhai Li and Guanghua Zong Event Based Methodology for SuperMedia Enhanced Teleoperation Yang Liu, Ning Xi, Amit Goradia and Yonghui Xue ============================================================================== Session M1-3: Biomimetics I Chairs: Kinhuat Low, Heinz Frank ------------------------------------------------------------------------------ Time: Monday December 18, 10:20 - 12:20 Room: Mudan ------------------------------------------------------------------------------ A Numerical Analysis of an Undulatory Mechanical Fin Driven by Shape Memory Alloy Yonghua Zhang, Laibin Jia, Jianhui He, Jie Yang, Shiwu Zhang and Kinhuat Low Design and Investigation of Shape Memory Alloy Driven Flexible Pectoral Fin Yonghua Zhang, Jianhui He, Jie Yang, Shiwu Zhang and Kinhuat Low Visual Tracking of Multiple Robotic Fish for Cooperative Control Junzhi Yu, Yimin Fang, Long Wang and Lizhong Liu Throwing Objects - A Bio-Inspired Approach for the Transportation of Parts Heinz Frank, Norbert Wellerdick-Wojtasik, Bianca Hagebeuker, Gregor Novak and Stefan Mahlknecht Estimation of Surface Properties Using A New Robotic Finger Kiyoshi Ioi, Hirofumi Maeda and Ryo Sato Elliptic Trajectory Generation for Galloping Quadruped Robots Kyeong Yong Kim, Ohung Kwon, Je Sung Yeon and Jong Hyeon Park ============================================================================== Session M1-4: Mobile Robots I Chairs: Yu Song, Hongbin Zha ------------------------------------------------------------------------------ Time: Monday December 18, 10:20 - 12:20 Room: Lake Side ------------------------------------------------------------------------------ Design and Implement of a Rotorcraft UAV Testbed Juntong Qi, Jianda Han, Xingang Zhao and Zhe Jiang A Method for Robustness Improvement of Robot Obstacle Avoidance Algorithm Guanghua Zong, Luhua Deng and Wei Wang Parameterized Design of Mechanical Structure of Move-in-mud Robot Bingbing Yan, Fujun Ren and Chenggang Yan Optimal Genetic Fuzzy Obstacle Avoidance Controller of Autonomous Mobile Robot Based on Ultrasonic Sensors Qiao Liu, Yonggang Lu and Cunxi Xie Odor Sensor Requirements for an Insect Inspired Plume Tracking Mobile Robot David Harvey, Tien-Fu Lu and Michael Keller Intelligent Detection of Bumps in a Mobile Robot Fujun He, Zhijiang Du and Lining Sun ============================================================================== Session M1-5: Sensors I Chairs: Michael Gauthier, Marco Maggiali ------------------------------------------------------------------------------ Time: Monday December 18, 10:20 - 12:20 Room: Sporting Seagulls ------------------------------------------------------------------------------ Trajectory Modelling of a Planar Magnetic Cell Micropusher Michael Dauge, Michael Gauthier and Emmanuel Piat The Gas-Leaking Sensing System and the Vision Navigation and Orientation of Mobile Manipulator Ping Duan, Chengjun DIng, Bingqing Liu and Minglu Zhang Effect of Compliant Interface on the Curvature and Stress of Micron-Size Film-Substrate Composite Structure Yun Liu and Yin Zhang A Multi-Purpose Tactile Sensor Inspired by Human Finger for Texture and Tissue Stiffness Detection Yuhua Zhang, Yuka Mukaibo and Takashi Maeno Research on Precise Biomimetic Actuator Based on Inchworm Principle Quanguo Lu and Dingfang Chen Processing of an Embedded Tactile Matrix Sensor Giorgio Cannata and Marco Maggiali ============================================================================== Session M1-6: Control I Chairs: Lei Guo, Zhiwei Gao ------------------------------------------------------------------------------ Time: Monday December 18, 10:20 - 12:20 Room: Blooming Flowers ------------------------------------------------------------------------------ Design of Fuzzy Sliding-mode Controller for Bicycle Robot Nonlinear System Lei Guo, Qizheng Liao and Shimin Wei Introducing HIT Spherical Robot: Dynamic Modeling and Analysis Based on Decoupled Subsystem Ming Yue, Zongquan Deng, Xinyi Yu and Weizhen Yu Single Arm Running Control Method of Inspection Robot Based on Obliquitous Sensor Xinglong Zhu, Jiping Zhou, Hongguang Wang, Lijin Fang and Mingyang Zhao Drilling Path Optimization Based on Swarm Intelligent Algorithm Guang Yu Zhu Direct Torque Controlled Drive for Permanent Magnet Synchronous Motor Based on Neural Networks and Multi Fuzzy Controllers Xianqing Cao, Chunhua Zang and Liping Fan ============================================================================== Session M2-1: Robot Vision II Chairs: Andrew Vardy, Yasushi Yagi ------------------------------------------------------------------------------ Time: Monday December 18, 13:30 - 15:10 Room: Haitang ------------------------------------------------------------------------------ Delay Constrained Self Congestion Control for FGS Video Streams Wei Xing, Gang Sun, Dongming Lu and Mingguang Wu Crowd Density Estimation Using Texture Analysis and Learning Xinyu Wu, Guoyuan Liang, Ka Keung Lee and Yangsheng Xu Long-Range Visual Homing Andrew Vardy The Design and Implementation of Middleware-based and VR-based Software Framework for Distributed Industrial Robot Application in Train Maintenance Hongjun Song, Fengyu Zhou, Yibin Li and Lei Jia ============================================================================== Session M2-2: Human-Robot Interaction II Chairs: Dong Sun, R. Andrew Russell ------------------------------------------------------------------------------ Time: Monday December 18, 13:30 - 15:10 Room: Chahua ------------------------------------------------------------------------------ A Visual Impedance Force Control of A Robotic Cell Injection System Haibo Huang, Dong Sun, James K. Mills and Wen J. Li Development of Human Motion Detecting Device for Human-Machine Interface Toru Tsumugiwa, Atsushi Kamiyoshi, Ryuichi Yokogawa and Hiroshi Shibata Robust 3D Robotic Sound Localization Using State-Space HRTF Inversion Fakheredine Keyrouz, Klaus Diepold and Patrick Dewilde Modeling Piezoelectric Actuator Hysteresis with Singularity Free Prandtl-Ishlinskii Model U-Xuan Tan, Tun Latt Win and Wei Tech Ang TASTI Follows Chemical Trails with its Robot Tongue R. Andrew Russell ============================================================================== Session M2-3: Biomimetics II Chairs: Ming Xie, Matthew Howard ------------------------------------------------------------------------------ Time: Monday December 18, 13:30 - 15:10 Room: Mudan ------------------------------------------------------------------------------ Flying Robots Fast Circumnavigation Trajectory Design and Guidance Wenyong Zhou, Jianping Yuan and Jianjun Luo Biologically Inspired Approach to Robot Intelligence: Spatial Language Learning in Virtual Environment K. S. Jayakumar and Ming Xie Human Driving Behavior Recognition Based on Hidden Markov Models Xiaoning Meng, Ka Keung Lee and Yangsheng Xu The Design of CPG Control Module of the Bionic Mechanical Crab Jin He, Chunfeng Lu and Shitang Yin Learning Utility Surfaces for Movement Selection Matthew Howard, Michael Gienger, Christian Goerick and Sethu Vijayakumar ============================================================================== Session M2-4: Mobile Robots II Chairs: Kazuhito Yokoi, K. H. Low ------------------------------------------------------------------------------ Time: Monday December 18, 13:30 - 15:10 Room: Lake Side ------------------------------------------------------------------------------ Line Tracking of the Gyrobot - a Gyroscopically Stabilized Single-Wheeled Robot Zhen Zhu, Abdullah Al Mamun, Prahlad Vadakkepat and Tong Heng Lee Development of a Software for Motion Optimization of Robots - Application to the Kick Motion of the HRP-2 Robot Sylvain Miossec, Kazuhito Yokoi and Abderrahmane Kheddar Walking Control of Underactuated Compass-Type Robots without Gait Planning Shingo Hatsuda, Hisakazu Nakamura, Hirokazu Nishitani, Akitoshi Isshiki and Koki Yamaguchi Initial Prototype Design and Development of Hybrid Modular Underwater Vehicle K. H. Low, S. Prabu and Anjan P. Pattathil Design and Simulation of UUV-based Underwater Sensor Networkss Vigilance and Detection System Xiaodong Tian, Zhong Liu, Lu Li and Gang Zhou ============================================================================== Session M2-5: Sensors II Chairs: Yuechao Wang, Aldo Laurentini ------------------------------------------------------------------------------ Time: Monday December 18, 13:30 - 15:10 Room: Sporting Seagulls ------------------------------------------------------------------------------ Feedback Control for Yaw Angle with Input Nonlinearity via Input-State Linearization Zhe Jiang, Jianda Han, Yuechao Wang, Juntong Qi, Xiangang Zhao and He Wang Exploration the Load of Molecular Motors Based on FoF1-ATPase Cunshe Chen, Xiaojuan Li and Huaitian Lu Dynamic Analysis of Composite Stator of Ultrasonic Motor Based on Substructure Interface Loading Theory Chao Chen, Chun-Sheng Zhao and Qing-Jun Ding Experimental Results Show Near-Optimality Of A Sensor Location Algorithm Andrea Bottino and Aldo Laurentini Analysis of a Pre-stressed Six-component Force/Torque Sensor Based on Stewart Platform Jiantao Yao, Yulei Hou, Ling Lu and Yongsheng Zhao ============================================================================== Session M2-6: Control II Chairs: Pedro Santana, Paulo Carvalhal ------------------------------------------------------------------------------ Time: Monday December 18, 13:30 - 15:10 Room: Blooming Flowers ------------------------------------------------------------------------------ Efficient Oscillation Method with Nonlinear Oscillator for Large Force Generation of Manipulator Exploiting Oscillatory Motion Jun Kobayashi and Fujio Ohkawa Configuration Control of Space Robots for Impact Minimization Panfeng Huang, Wenfu Xu, Bin Liang and Yangsheng Xu Sensor Fault Estimator and Its Application for Linear Multi-Variable Dynamic Systems with Delayed State and Input Zhiwei Gao, Tim Breikin and Hong Wang Study on Passive Torque Servo System Based on H-infinity Robust Controller Ruibo Yuan, Jing Luo, Zhangyong Wu and Keding Zhao Reconfigurable Parallel VLSI Co-Processor for Space Robots Using FPGA Ran Wei, M. H. Jin, J. J. Xia and H. Liu ============================================================================== Session M3-1: Robot Vision III Chairs: Jian Yang, Yunde Jia ------------------------------------------------------------------------------ Time: Monday December 18, 15:30 - 17:10 Room: Haitang ------------------------------------------------------------------------------ A New Method of Image Feature Extraction and Denoising Based on Independent Component Analysis Ying Yu and Jian Yang Adaptive Visual Servoing of Robot Manipulators Using Uncalibrated Eye-in-hand Visual Feedback Hesheng Wang and Yun-Hui Liu A Practical Iris Recognition Algorithm Qichuan Tian, Zhengguang Liu, Linsheng Li and Zhiyi Sun A Novel Image Reconstruction Method Expanding Dynamic Range and Spatial Resolution Zhong-li Wang and Yun-de Jia A New Wavelet Based Multi-focus Image Fusion Scheme and Its Application on Optical Microscopy Yu Song, Mantian Li, Lining Sun and Qingling Li An Efficient Reformative Kernel Discriminant Analysis for Face Recognition Jun-Bao Li, Jeng-Shyang Pan and Zhe-Ming Lu ============================================================================== Session M3-2: Human-Robot Interaction III Chairs: Macim Ramdani, Bufu Huang ------------------------------------------------------------------------------ Time: Monday December 18, 15:30 - 17:10 Room: Chahua ------------------------------------------------------------------------------ Human Upper Body Posture Estimation From Forces Exerted on Handles Nacim Ramdani, Gael Pages, Philippe Fraisse and David Guiraud An Intelligent Shoe-Integrated System for Plantar Pressure Measurement Meng Chen, Bufu Huang, Ka Keung Lee and Yangsheng Xu A Teleprogramming Method for Internet-Based Teleoperation Zainan Jiang, Hong Liu, Zong Wu, Bin Wang and Jie Wang Development of Robot Teleoperation System in Bad Viewing Condition Kazuyuki Kon, Yuki Urano, Naoji Shiroma, Yusuke Fujino, Hiroaki Fukukshima, Fumitoshi Matsuno and Noritaka Sato Control Scheme for Stable Bilateral Teleoperation with Time Delay Muhammad Usman Keerio, Lei Zhang, Yuepin Lu, Ali Raza Jafri and Jiapeng Yang ============================================================================== Session M3-3: Biomimetics III Chairs: Michael Y. Wang, Dong Sun ------------------------------------------------------------------------------ Time: Monday December 18, 15:30 - 17:10 Room: Mudan ------------------------------------------------------------------------------ From Natural Flyers to the Mechanical Realization of a Flapping Wing Micro Air Vehicle Andrew Conn, Stuart Burgess, Rick Hyde and Chung Seng Ling Visualization and Estimation of Contact Stimuli using Living Microorganisms Anchelee Davies, Naoko Ogawa, Hiromasa Oku, Koichi Hashimoto and Masatoshi Ishikawa An Insect-Mimicking Flapping System Actuated by A Piezoceramic Actuator Hoon Cheol Park, Mohammad Syaifuddin, Nam Seo Goo, Doyoung Byun and Kwang Joon Yoon Dynamic Modeling of Robotic Fish Using Schiehlen's Method Junzhi Yu, Lizhong Liu and Long Wang Bioinspired Aquatic Propulsion Mechanisms with Real-Time Variable Apparent Stiffness Fins Shunichi Kobayashi, Tomomasa Ozaki, Masataka Nakabayashi, Hirohisa Morikawa and Akitoshi Itoh ============================================================================== Session M3-4: Mobile Robots III Chairs: Wei Wang, Rong Liu ------------------------------------------------------------------------------ Time: Monday December 18, 15:30 - 17:10 Room: Lake Side ------------------------------------------------------------------------------ A Visual Guided 4 DOF Miniature Robot System for Micro-Handling Purpose Yu Song, Mantian Li, Lining Sun and Qingqing Li Mobile Robot Collision Avoidance Algorithm Based on Hybrid Zeno Behavior Automaton Shou-tao Li, Yuan-chun Li and Hui-qiu Lu Research and Application of an Eradicating Stump Robot Huaimin Lu, Xiurong Guo, Danfeng Du, Xiaodong Yu and Jinghao Liu The Auto-docking System Design for the Fuel Loading Robot Used in Hazardous Environment Xiangming Dun, Jianjun Yuan and Liang Chen Principle and Application of Vibrating Suction Method Tao Zhu, Rong Liu, Xudong Wang and Kun Wang ============================================================================== Session M3-5: Sensor Network Chairs: Ganesh P. Kumar, Qian Wang ------------------------------------------------------------------------------ Time: Monday December 18, 15:30 - 17:10 Room: Sporting Seagulls ------------------------------------------------------------------------------ A Dynamic MDS-Based Localization Algorithm for Mobile Sensor Networks Changhua Wu, Weihua Sheng and Wen-Zhan Song Multi-Target Detection by Multi-sensor Systems: A Comparison of Systems P. K. Ganesh, K. Madhava Krishna and Paulo Menezes Energy Consumption Control for Large Scale Sensor Networks Using Partition Energy Balanced Adaptive Clustering Hierarchy Scheme Yi Wang, Deyun Zhang and Xinxin Ma An Integrated Investigation into A Communication Network for A PCBA System Qian Wang, Antony Mileham, Geraint Owen and Christopher Chatwin Active Sensor Network Deployment and Coverage Enhancement using Circle Packings Miu-Ling Lam and Yun-Hui Liu ============================================================================== Session M3-6: Control III Chairs: Pedro Santana, Paulo Carvalhal ------------------------------------------------------------------------------ Time: Monday December 18, 15:30 - 17:10 Room: Blooming Flowers ------------------------------------------------------------------------------ Impedance Control of the Hydraulic Shoulder: A 3-DOF Parallel Manipulator Houman Sadjadian and H. D. Taghirad A Motion Controller for Compliant Four-Wheel-Steering Robots Pedro Santana, Carlos Candido, Vasco Santos and Jose Barata The Fault Diagnosis of a Class of Nonlinear Stochastic Time-Delay Systems Fei Yu, Dongmei Lv and Bingyong Yan A Bluetooth-based Wireless Distributed Data Acquisition and Control System Ezequiel Coelho, Paulo Carvalhal, Manuel Ferreira, Luis Silva, Heitor Almeida, Cristina Santos and Jose Afonso Profile Generation Algorithm and Implementation for High Accuracy Motion Haihua Mu and Yunfei Zhou ============================================================================== === Tuesday December 19, 2006 === ============================================================================== Session T1-1: Robot Vision IV Chairs: Lilong Cai, Mark Edgington ------------------------------------------------------------------------------ Time: Tuesday December 19, 10:20 - 12:20 Room: Haitang ------------------------------------------------------------------------------ Recovery of Egomotion from Optical Flow with Large Motion Based on Subspace Method Zexu Zhang, Pingyuan Cui and Hutao Cui Towards a Multimodal Sensorimotor Coordination Based Object Recognition System Yohannes Kassahun, Mark Edgington, Jose de Gea and Frank Kirchner A Novel Approach for 3D Discontinuity Measurement by Combining Relative and Absolute Methods Jiarui Liao and Lilong Cai Detection and Extraction of Discontinuous Lines Zhanwei Wu, Bin Kong, Fei Zheng and Jun Gao An Adaptive-Fuzzy Filter Algorithm for Vision Preprocessing Yu Ding, Qidan Zhu, Zhuoyi Xing and Lei Li A 2D Unknown Contour Recovery Method Immune to System Non-Linear Effects Sergi Hernandez Juan and Josep M. Mirats Tur ============================================================================== Session T1-2: Human-Robot Interaction IV Chairs: Tao Zhang, Macim Ramdani ------------------------------------------------------------------------------ Time: Tuesday December 19, 10:20 - 12:20 Room: Chahua ------------------------------------------------------------------------------ A Novel Graphic Interface Design for the Navigation of Remotely Controlled Rescue Robot Zhixiao Yang, Sumin Jiao, Dexian Zhang and Akio Gofuku A Time Series Based Solution for the Difference Rate Sampling Between Haptic Rendering and Visual Display Juan Wu, Aiguo Song and Jianqing Li Intelligent Shoes for Human Identification Bufu Huang, Meng Chen, Weizhong Ye and Yangsheng Xu Emulating the Motion of a Human Upper Limb: Controlling a Finger-arm Robot by Using the Manipulability of its Finger Jian Huang, Bui Trong Quan, Minoru Harada and Tetsuro Yabuta Modular Software Architecture for Teams of Cooperating, Heterogeneous Robots Martin Friedmann, Jutta Kiener, Sebastian Petters, Dirk Thomas and Oskar von Stryk Vision-Based Finger Guessing Game in Human Machine Interaction Kuo-Tsung Tseng, Wen-Fu Huang and Cheng-Hua Wu ============================================================================== Session T1-3: Walking Robots I Chairs: Yong Yu, Masatsugu Iribe ------------------------------------------------------------------------------ Time: Tuesday December 19, 10:20 - 12:20 Room: Mudan ------------------------------------------------------------------------------ Design and Kinematic Simulation for Six-DOF Leg Mechanism of Hexapod Robot Jianhua Gao Biologically Inspired Energy Efficient Walking for Biped Robots Hyun Kyu Kim, Woong Kwon and Kyung Shik Roh A Designing Method of the Passive Dynamic Walking Robot Via Analogy With the Phase Locked Loop Circuits Masatsugu Iribe and Koichi Osuka Sliding Mode Control Based on Virtual Suspension Model for Controlling Posture and Vibration of Six-Legged Walking Robot Qingjiu Huang Energy-Efficient Trajectory Plannning for Biped Walking Robot Qingjiu Huang and Takamasa Hase A PAWL for Enhancing Strength and Endurance during Walking Using Interaction Force and Dynamical Information Feng Chen, Yong Yu, Yunjian Ge, Jian Sun and Baoyuan Wu ============================================================================== Session T1-4: Mobile Robots IV Chairs: Carsten Stechert, R. Andrew Russell ------------------------------------------------------------------------------ Time: Tuesday December 19, 10:20 - 12:20 Room: Lake Side ------------------------------------------------------------------------------ A Model Approach for Perception Based Intelligent System Design Himanshu Dutt Sharma and N. Umashankar Demand-Driven Development of Parallel Robots with Adaptronic Components by a Modular System Carsten Stechert, Nenad Pavlovic and Hans-Joachim Franke Improving the Robustness of Naive Physics Airflow Mapping, Using Bayesian Reasoning on a Multiple Hypothesis Tree Gideon Kowadlo and R. Andrew Russell A Novel Real-Time Error Compensation Methodology for mu-IMUS-based Digital Writing Instrument Chi Chiu Tsang, Guanglie Zhang, Yilun Luo, Zhuxin Dong, Guangyi Shi, Sze Yin Kwok, Heidi Y. Y. Wong, Philip H. W. Leong, Wen J. Li, Gary Chun Tak Chow and Ming Yiu Wong Particle Swarm Optimization for Series Hybrid Electric Vehicle Operation Parameters Zhancheng Wang, Bufu Huang, WeiMin Li and Yangsheng Xu Locomotion Systems in Robotic Application Omid Jahanian and Ghasem Karimi ============================================================================== Session T1-5: Manipulation I Chairs: Jianwei Zhang, Zhidong Wang ------------------------------------------------------------------------------ Time: Tuesday December 19, 10:20 - 12:20 Room: Sporting Seagulls ------------------------------------------------------------------------------ Design and Realization of a Novel Reconfigurable Robot with Serial and Parallel Mechanisms Wei Wang, Houxiang Zhang, Guanghua Zong and Jianwei Zhang Reusability-based Semantics for Grasp Evaluation in Context of Service Robotics Tim Baier and Jianwei Zhang Impedance-based Motion Control of Passive-type Robot Porter for Handling an Object ZhiDong Wang, Kenta Fukaya, Yasuhisa Hirata and Kazuhiro Kosuge A Bio-Mimetic Joint Motion Planning for Humanoid Fingers: Practical Analysis Byoung-Ho Kim Planning Optimal Force-Closure Grasps for Curved Objects Thanathorn Phoka, Nattee Niparnan and Attawith Sudsang Maximum Dynamic Load Carrying Capacity of 6UPS-Stewart Platform Flexible Joint Manipulator Moharam Habibnejad Korayem and Mohsen Shokri ============================================================================== Session T1-6: Control IV Chairs: Hongbin Zha, Hiroko Oshima ------------------------------------------------------------------------------ Time: Tuesday December 19, 10:20 - 12:20 Room: Blooming Flowers ------------------------------------------------------------------------------ Intelligent Control of Powered Exoskeleton to Assist Paraplegic Patients Mobility using Hybrid Neuro-Fuzzy ANFIS Approach Ali Selk Ghafari, Ali Meghdari and Gholam Reza Vossoughi H-Infinity Robust Control of a Novel Magnetic Levitation Stage Benyong Chen, Yanbao Li, Guizhen Zhang and Liqiong Zhang Robust Adaptive Neural Network Control of Uncertain Rheonomically Constrained Manipulators Xiaotao Cao and Yuanchun Li A New Mechanism for Robots Control Based on Player/Stage Xinqing Yan, Wenfeng Li and Dingfang Chen Controlled Anti-Phase Synchronization of Passive Gait Zhenze Liu, Yantao Tian and Changjiu Zhou A New Modelling Method for Design Information Based Polychromatic Sets Theory Shanshan Zhao, Zongbin Li and Ningning Chang ============================================================================== Session T2-1: Camera Calibration Chairs: Tae-Hyoung Park, Chi-Cheng Cheng ------------------------------------------------------------------------------ Time: Tuesday December 19, 13:30 - 15:10 Room: Haitang ------------------------------------------------------------------------------ Determining Camera Pose Based on Cylinder Ting Wang, Yuechao Wang and Xiaofan Li A Fast Focusing Method for CCM Auto-Focusing Handlers Hee-Sang Yoon and Tae-Hyoung Park Determining 3-D Translational Motion by the Parallel Trinocular Gwo-Long Lin and Chi-Cheng Cheng Accurate Camera Calibration with New Minimizing Function Qiaoyu Xu, Dong Ye, Rensheng Che and Yan Huang ============================================================================== Session T2-2: Human-Robot Interaction V Chairs: Shuxiang Guo, Guangming Xiong ------------------------------------------------------------------------------ Time: Tuesday December 19, 13:30 - 15:10 Room: Chahua ------------------------------------------------------------------------------ Development of a Novel Tele-Rehabilitation System Gang Song and Shuxiang Guo Design of Dynamics for Synchronization Based Control of Human-Robot Interaction Minoru Hashimoto, Hironori Hashizume and Yuki Katoh Knowledge-Based Autonomous Behavior Control of Robots in a Symbiotic Human-Robot System Tao Zhang and Haruki Ueno Perturbation and Stability of Networked Robot System with Data Dropout Qiao Liu and Yi Li Optimum Design and Simulation of a Mobile Robot with Standing-up Devices to Assist Elderly People and Paraplegic Patients Guangming Xiong, Jianwei Gong, Junyao Gao, Tao Zhao, Dongxue Liu and Xijun Chen ============================================================================== Session T2-3: Walking Robots II Chairs: Wei-Hsin Liao, Hoon Choel Park ------------------------------------------------------------------------------ Time: Tuesday December 19, 13:30 - 15:10 Room: Mudan ------------------------------------------------------------------------------ A Research on Hexapod Walking Bio-robot's Working Space and Flexibility Baoling Han, Qingsheng Luo, Qiuli Wang and Xiaochuan Zhao Drag Reduction of Micro-Structured Super-Hydrophobic Surface Doyoung Byun, Saputra Cahyadi and Hoon Choel Park A Leg Exoskeleton Utilizing a Magnetorheological Actuator Jinzhou Chen and Wei-Hsin Liao Design of Electric Simulation System Based on DSP for Modular Dual-Joint of Space Robot Xiang Chen, Han-xu Sun, Qing-xuan Jia, Ping Ye and Wei Xi Development of Elevator Control Surface for Small Air Robot Using Piezoceramic Actuator Kwang Joon Yoon, Hery Setiawan, Ngoc-Trung Nguyen and Hoon Cheol Park ============================================================================== Session T2-4: Localization Chairs: Rakesh Goyal, Cedric Tessier ------------------------------------------------------------------------------ Time: Tuesday December 19, 13:30 - 15:10 Room: Lake Side ------------------------------------------------------------------------------ A New Approach to Biomimetic Robots for Odor Source Localization Liang Liang, Jianping Li, Jian Jia and XiaoGuang Gao Sensor Based Localization for Mobile Robots by Exploration and Selection of Best Direction Rakesh Goyal, Madhava Krishna and Shivudu Bhuvanagiri Landmark Design Using Projective Invariant for Mobile Robot Localization Yang Guo and Xinhe Xu Large-Scale Topological Environmental Model Based Particle Filters for Mobile Robot Indoor Localization Fei Yan, Yan Zhuang and Wei Wang A Probabilistic Framework for Multi-Sensor, Multi-Detector Localization Systems: Application to Vehicle Guidance Cedric Tessier, Christophe Debain, Roland Chapuis and Frederic Chausse ============================================================================== Session T2-5: Manipulation II Chairs: Nuttapon Boonphinon, Yingjie Yin ------------------------------------------------------------------------------ Time: Tuesday December 19, 13:30 - 15:10 Room: Sporting Seagulls ------------------------------------------------------------------------------ Computing Frictionless Force-Closure Grasps of 2D Objects from Contact Point Set Nattee Niparnan, Thanathorn Phoka and Attawith Sudsang Development of a Multi-DOF Anthropomorphic Prosthetic Hand Dawei Zhao, L. Jiang, H. Huang, M. H. Jin and H. G. Cai A Bundle Trust Region Method for Optimal Grasp Planning of Multi-fingered Robot Hand Yingjie Yin, Kazuya Tamura and Shigeyuki Hosoe Design of a PD Position Control based on the Lyapunov Theory for a Robot Manipulator of Flexible-Link Cecilia Murrugarra, Juan Grieco, Gerardo Fernandez and Osberth De Castro The Mechanical Design and Experiments of HIT/DLR Prosthetic Hand Hai Huang, Li Jiang, Yiwei Liu, Lingqi Hou, Hong Liu and Hegao Cai ============================================================================== Session T2-6: Control V Chairs: Jinshi Cui, Yonghua Zhang ------------------------------------------------------------------------------ Time: Tuesday December 19, 13:30 - 15:10 Room: Blooming Flowers ------------------------------------------------------------------------------ Research on Vehicle Magneto-rheological Suspensions Vibration Control and Test Rui Li, Weimin Chen, Yinguo Li, Miao Yu and Changrong Liao Shepherd: an Interface for Overcoming Reference Frame Transformations in Robot Control Kazuhiro Hosoi and Masanori Sugimoto Arm Rehabilitation Robot Impedance Control and Experimentation Yong Yang, Lan Wang, Jie Tong and Lixun Zhang Research on Locomotion Control of Lunar Rover with Six Cylinder-Conical Wheels Xinyi Yu, Zhongquan Deng, Haitao Fang and Jianguo Tao Modification of Algorithms for Determination of Dynamic Load Carrying Capacity in Flexible Joint Robots Moharam Habibnejad Korayem and A. Pilechian ============================================================================== Session T3-1: Calibration and 3D Reconstruction Chairs: Y. F. Li, Tae-Hyoung Park ------------------------------------------------------------------------------ Time: Tuesday December 19, 15:30 - 17:30 Room: Haitang ------------------------------------------------------------------------------ A 5-DOF Movement Simulator of Spacecraft and Its Position Measurement Method Lijin Fang, Chunying Jiang and Mingyang Zhao A New Method for Automatic Calibration of an Active Vision System in Dynamic Applications B. Zhang and Y. F. Li A Clustering Approach to Free Form Surface Reconstruction from Multi-View Range Images Hong Zhou and Yonghuai Liu Panoramic 3D Reconstruction by Fusing Color Intensity and Laser Range Data Wei Jiang and Jian Lu Study on Welder Training by Means of Haptic Guidance and Virtual Reality for Arc Welding Yizhong Wang, Yonghua Chen, Zhonglinag Nan and Yong Hu ============================================================================== Session T3-2: Cooperative Robots Chairs: Minoru Hashimoto, Guangming Xiong ------------------------------------------------------------------------------ Time: Tuesday December 19, 15:30 - 17:30 Room: Chahua ------------------------------------------------------------------------------ Mobile Robots Odor Localization with an Improved Ant Colony Algorithm Jun-Cai Li, Qinghao Meng, Fei Li and Ming Zeng RoboCup is a Stage which Impulse the Research of Basic Technology in Robot Xianyi Cheng, Jigang Zhang and Jia Ke Heterogeneity Driven Circular Formation Nuttapol Boonpinon and Attawith Sudsang The Research of A Parent-Children Type Robot System Bo Huang, Mantian Li and Lining Sun Behaviour Cooperation by Negation for Mobile Robots Pedro Santana and Luis Correia Behavior Coordination in the Internet-based Multi-robot Teleoperation System Wei Zheng, Yuechao Wang and Ning Xi ============================================================================== Session T3-3: Robot Systems Chairs: Wei-Hsin Liao, Jun-Tong Qi ------------------------------------------------------------------------------ Time: Tuesday December 19, 15:30 - 17:30 Room: Mudan ------------------------------------------------------------------------------ Effective Nonlinear Control Algorithms for a Series of Pneumatic Climbing Robots Houxiang Zhang, Jianwei Zhang and Guanghua Zong Using Game Approach to Control Bioeffects for Wireless Body Sensor Networks Hongliang Ren and Max Meng Development of a New Mobility System "Tread-Walk" -Design of a Control Algorithm for Slope Movement- Misato Nihei, Yuzo Kaneshige, Masakatsu Fujie and Takenobu Inoue Maneuvering and Buoyancy Control of Robotic Fish Integrating with Modular Undulating Fins K. H. Low Gecko Inspired Electrostatic Chuck Jose Berengueres, Shigeki Saito, Kenjiro Tadakuma, Masataka Urago and Hiroyuki Meguro Abstraction of Odor Source Declaration Algorithm from Moth-Inspired Plume Tracing Strategies Wei Li ============================================================================== Session T3-4: SLAM Chairs: Baoling Han, Cedric Tessier ------------------------------------------------------------------------------ Time: Tuesday December 19, 15:30 - 17:30 Room: Lake Side ------------------------------------------------------------------------------ Feature Map Building Based on Shape Similarity for Home Robot ApriAttenda Jiang Zhu, Nafis Ahmad, Hideichi Nakamoto and Nobuto Matsuhira Stereo Mapping for A Prototype Lunar Rover Jian Hou, Naiming Qi, Hong Zhang and Tun Liu Research on Autonomous Navigation of Lunar Rovers for the Moon Exploration Pingyuan Cui, Fuzhan Yue and Hutao Cui Cooperative Mutual 3D Laser Mapping and Localization Julian Ryde and Huosheng Hu Active Mobile Robot Simultaneous Localization and Mapping Nan Zhang, Maohai Li and Bingrong Hong Simultaneous Localization and Mapping Using Invariant Natural Features Nan Zhang, Maohai Li and Bingrong Hong ============================================================================== Session T3-5: Manipulation III Chairs: Nasser Sadati, Hiroko Oshima ------------------------------------------------------------------------------ Time: Tuesday December 19, 15:30 - 17:30 Room: Sporting Seagulls ------------------------------------------------------------------------------ The Linear Relationship of Constraints in Structural Synthesis of Parallel Manipulators Sheng Guo and YueFa Fang Relationship Between Model Parameters and Fingertip Manipulation of a Tendon-Muscle Driven System Model Salvador Rivera Chequer and Ryuichi Yokogawa 3D Grasp Synthesis Based on Object Exploration Eris Chinellato, Gabriel Recatala, Angel del Pobil, Youcef Mezouar and Philippe Martinet Optimal Control of Robot Manipulators Using Fuzzy Interaction Prediction System Nasser Sadati and Mohammad Mollaie Emamzadeh Motion Planning for a Mobile Manipulator with Several Grasping Postures Kimitoshi Yamazaki, Masahiro Tomono and Takashi Tsubouchi Verification of Tactile Sensor for Manipulator Hiroko Oshima, Nobutaka Tsujiuchi, Takayuki Koizumi, Akihito Ito, Yoshiro Nojiri, Yotaro Tsuchiya, Naomichi Hirama and Shiro Kurogi ============================================================================== Session T3-6: Control VI Chairs: Jinshi Cui, Nuttapon Boonphinon ------------------------------------------------------------------------------ Time: Tuesday December 19, 15:30 - 17:30 Room: Blooming Flowers ------------------------------------------------------------------------------ Biologically Inspired Reflex Based Stabilization Control of a Humanoid Robot with Artificial SMA Muscles Robert Kratz, Sebastian Klug, Maximilian Stelzer and Oskar von Stryk Research on Path-Constrained Time-Optimal Robot Control Dongmei Xie, Daokui Qu and Fang Xu A Proposal for a Hybrid Opened Architecture with Hardware Reconfigurable Control Applied in Mobile Robots Leonimer Melo and Joao Mauricio Rosario A Novel Control Strategy and an Asymptotically Stable for Flexible Link Robot Zhihuan Zhang A New Nonlinear Controller Design Method Based on Control Lyapunov Function Yuqing He and Jianda Han An Adaptive UKF Algorithm and Its Application in Mobile Robot Control Qi Song, Jianda Han and Juntong Qi ============================================================================== === Wednesday December 20, 2006 === ============================================================================== Session W1-1: Stereo Vision Chairs: Yunde Jia, Qiang Huang ------------------------------------------------------------------------------ Time: Wednesday December 20, 10:20 - 12:20 Room: Haitang ------------------------------------------------------------------------------ Study on Epipolar Geometry Restoration of Parallel Binocular Vision Hong Wei Gao, Cheng Dong Wu and Bin Li Trinocular Cooperative Stereo Vision and Occlusion Detection Mingxiang Li and Yunde Jia Combining Fixed Stereo and Active Monocular Cameras into a Platform for Security Applications Abdelaziz Khiat, Sofiane Yous, Tsukasa Ogasawara and Masatsugu Kidode Location and Tracking of Robot End-effector Based on Stereo Vision Altaf Rajpar, Qiang Huang, Yunting Pang, Yie Tian and Kejie Li An Automatic Matching Method of Object Contour Curves Based on Periodic Curvature Function Xingce Wang, Mingquan Zhou and Xinyu Liu ============================================================================== Session W1-2: Kinematics I Chairs: Yangmin Li, Xianghua Ying ------------------------------------------------------------------------------ Time: Wednesday December 20, 10:20 - 12:20 Room: Chahua ------------------------------------------------------------------------------ Sensitivity Analysis for Dynamic Characteristic of Flexible Parallel Robots Zhao-Cai Du, Yue-Qing Yu and Li-Ying Su A Mobile Hybrid Parallel Robot With Redundant Kinematic Structure Huapeng Wu, Heikki Handroos, Pekka Pessi and Jussi Hopia FPGA-Implementation of Inverse Kinematics and Servo Controller for Robot Manipulator Ying-Shieh Kung, Kuan-Hsuan Tseng, Chia-Sheng Chen, Hau-Zen Sze and An-Peng Wang Stiffness Optimization of a 3-DOF Parallel Kinematic Machine Using Particle Swarm Optimization Qingsong Xu and Yangmin Li Forward Kinematics and Workspace Analysis for a 7-DOF Cable-Driven Humanoid Arm Quanzhu Chen, Weihai Chen, Jianbin Zhang and Shouqian Yu ============================================================================== Session W1-3: Flying Robots and Snakes Chairs: Shugen Ma, Aksel Andreas Transeth ------------------------------------------------------------------------------ Time: Wednesday December 20, 10:20 - 12:20 Room: Mudan ------------------------------------------------------------------------------ Non-smooth 3D Modeling of a Snake Robot with Frictional Unilateral Constraints Aksel Andreas Transeth, Remco I. Leine, Christoph Glocker and Kristin Y. Pettersen Non-smooth 3D Modeling of a Snake Robot with External Obstacles Aksel Andreas Transeth, Remco I. Leine, Christoph Glocker and Kristin Y. Pettersen Robust H2 Control with Adaptive Mechanism for the Yaw Control of Small-scale Helicopter Xingang Zhao, Zhe Jiang, Jianda Han and Guangjun Liu An Attitude Determination System For A Small Unmanned Helicopter Using Low-Cost Sensors Tongyue Gao, Zhenbang Gong, Jun Luo, Wei Ding and Wei Feng Locomotion of a Snake-like Robot Controlled by the Bidirectional Cyclic Inhibitory CPG Model Zhenli Lu, Shugen Ma, Bin Li and Yuechao Wang Three-phase Control for Miniaturization of a Snake-like Swimming Robot Jonathan Rossiter, Boyko Stoimenov, Yoshihiro Nakabo and Toshiharu Mukai ============================================================================== Session W1-4: Motion Planning I Chairs: Simon Yang, Jun-Tong Qi ------------------------------------------------------------------------------ Time: Wednesday December 20, 10:20 - 12:20 Room: Lake Side ------------------------------------------------------------------------------ Path Planning with Steering Sets for Car-Like Robots and Finding an Effective Set Yumiko Suzuki, Satoshi Kagami and James Kuffner Circle Sector Expansion for On-line Exploration Sven Ronnback, Tomas Berglund, Kalevi Hyyppa and Hakan Fredriksson Obstacle-avoidance Path Planning for Soccer Robots Using Particle Swarm Optimization Li Wang, Yushu Liu, Yuanqing Xu and Hongbin Deng Accessibility Analysis for CMM Inspection Planning Using Haptic Device Yizhong Wang, Yonghua Chen, Zhongliang Nan and Yong Hu Yet Another Simple Characterization of Searchable Polygons by 1-Searcher John Z. Zhang and Ben Burnett Path Planning of Cooperative Robotics and Robot Team Yili Fu, Han Li and Yulin Ma ============================================================================== Session W1-5: Actuator Chairs: Shuxiang Guo, Tao Zhang ------------------------------------------------------------------------------ Time: Wednesday December 20, 10:20 - 12:20 Room: Sporting Seagulls ------------------------------------------------------------------------------ Basic Principle For Electromechanical Integrated Toroidal Actuator Lizhong Xu and Yi Cai An Exoskeleton System for Measuring Mechanical Characteristics of Extravehicular Activity Glove Joint Jianyu Wang, Z. W. XIe, J. D. Zhao, H. G. Fang, M. H. Jin and Hong Liu Sliding-Mode Based Controller for Magnetostrictive Actuator Xinxin Li, Wen Wang and Zichen Chen Modeling and Experiment Evaluation of Circular Polyacrylate Dielectric Elastomer Actuation Xinmei Qi, Shousen Zheng and Juan Chen Structural Sensing and Actuation Utilizing Macro Fiber Composite Yoshinori Nagata, Seokyong Park and Aiguo Ming Solenoid Actuator-Based Novel Type of Micropump Shuxiang Guo, Qinxue Pan, Jian Guo and Jian Wang ============================================================================== Session W1-6: Virtual Reality and Medical Robots Chairs: Nasser Sadati, Xiufen Ye ------------------------------------------------------------------------------ Time: Wednesday December 20, 10:20 - 12:20 Room: Blooming Flowers ------------------------------------------------------------------------------ Research on Control System of Radio Frequency Ablation Surgical Robot Qinjun Du, Qiang Huang, Chuncheng Liu and Weimin Zhang Research on the Framework of the Crane's Virtual Design System and Its Key Technologies Guoqian Wei, Qiuhua Tang and Dingfang Chen Neural Control of a Fully Actuated Biped Robot Nasser Sadati and Kaveh Hamed sEMG Based Control for 5 DOF Upper Limb Rehabilitation Robot System Qingling Li, Dongyan Wang, Zhijiang Du, Lining Sun and Yu Song A Test-bed for Above-knee Intelligent Prosthesis Lina Hao, Xinhe Xu and Jun Cheng Gait Analysis of an Underwater Octopod Microrobot Xiufen Ye, Baofeng Gao, Shuxiang Guo, Weixing Feng and Kejun Wang ============================================================================== Session W2-1: Tracking I Chairs: Masakazu Matsugu, Hong Liu ------------------------------------------------------------------------------ Time: Wednesday December 20, 13:30 - 15:10 Room: Haitang ------------------------------------------------------------------------------ Face Tracking Active Vision System with Saccadic and Smooth Pursuit Masakazu Matsugu, Kan Torii, Yoshinori Ito, Tadashi Hayashi and Tsutomu Osaka Evaluation of A Laser-based Multi-people Detection and Tracking System Jinshi Cui, Hongbin Zha, Huijing Zhao and Ryosuke Shibasaki Multi-CAMSHIFT for Multi-View Faces Tracking and Recognition Han Pang Huang and Chun-Ting Lin LP-based Optimal Path Planning in Acceleration Space Di Zu, Jianda Han and Dalong Tan ============================================================================== Session W2-2: Kinematics II Chairs: Yangmin Li, Xianghua Ying ------------------------------------------------------------------------------ Time: Wednesday December 20, 13:30 - 15:10 Room: Chahua ------------------------------------------------------------------------------ Dynamic and Kinetic Analyses of the Stator of A Cylindrical Ultrasonic Motor Hua Zhu and Chunsheng Zhao Analysis of Dynamic Stress and Fatigue Property of Flexible Robots Zhao-Cai Du, Yue-Qing Yu and Li-Ying Su A New Geometrical Method for the Inverse Kinematics of the Hyper-Redundant Manipulators Sheng Li, Yiqing Wang, Qingwei Chen and Weili Hu GA-Based Multi-Objective Optimal Design of a Planar 3-DOF Cable-Driven Parallel Manipulator Yangmin Li and Qingsong Xu ============================================================================== Session W2-3: Humanoid Robots I Chairs: Kazuhito Yokoi, Seul Jung ------------------------------------------------------------------------------ Time: Wednesday December 20, 13:30 - 15:10 Room: Mudan ------------------------------------------------------------------------------ Dynamic Simulator for Humanoids Using Constraint-Based Method with Static Friction Jean-Remy Chardonnet, Sylvain Miossec, Abderrahmane Kheddar, Hitoshi Arisumi, Hirohisa Hirukawa, Francois Pierrot and Kazuhito Yokoi Research and Development of the Humanoid Head Portrait Robot "H&Frobot-II" with Expression and Function of Recognizing Human Expression Qingmei Meng, Weiguo Wu and Lin Lu FPGA Design for Controlling Humanoid Robot Arms by Exoskeleton Motion Capture System Woon-kyu Lee and Seul Jung Realization and Trajectory Planning for Obstacle Stepping Over by Humanoid Robot BHR-2 Ali Raza Jarfi, Qiang Huang, Lige Zhang, Jie Yang, Zhijie Wang and Shusheng Lv Development, Stability Locomotion Analysis and Experiments of Wheeled-Locomotion Mechanism for a Humanoid and Gorilla Robot Weiguo Wu, Yu Wang and Feng Liang ============================================================================== Session W2-4: Motion Planning II Chairs: Simon Yang, Pan-Feng Huang ------------------------------------------------------------------------------ Time: Wednesday December 20, 13:30 - 15:10 Room: Lake Side ------------------------------------------------------------------------------ An Extension of Distance-Propagating Dynamic System for Robot Path Planning to Safe Obstacle Clearance Allan R. Willms and Simon X. Yang PSO-Based Time-Optimal Trajectory Planning for Space Robot with Dynamic Constraints Panfeng Huang and Yangsheng Xu Research on Optimized Multiple Robots Path Planning and Task Allocation Approach Taixiong Zheng and Xiangyang Zhao The "Double Rings" Spatial Data Warehouse Structure Based on the Ecology Landscape and the Knowledge Extracting and Forecasting Methods Research Haibo Li, Lizhen Wang and Limei Mu ============================================================================== Session W2-5: Medical Robots I Chairs: Max Meng, Weixing Feng ------------------------------------------------------------------------------ Time: Wednesday December 20, 13:30 - 15:10 Room: Sporting Seagulls ------------------------------------------------------------------------------ Development of Real-Time Simulation for Workload Quantization in Robotic Tele-surgery Kazuya Kawamura, Yo Kobayashi and Masakatsu G. Fujie Laparoscopic Robot Design and Kinematic Validation Yili Fu, Bo Pan, Kang Li and Shuguo Wang Modeling of Individual Left Ventricle for Cardiac Resynchronization Therapy Yang Yang, Ryo Saegusa, Shuji Hashimoto, Naoyoshi Aoyama and Kenji Hasegawa Muscle Model for Safe Minimally Invasive Surgery Naoto Nakamura, Masaru Yanagihara, Kazuya Kawamura and Masakatsu Fujie Modules Design of a Reconfigurable Multi-Legged Walking Robot Yi Sun, Xuedong Chen, Tianhong Yan and Wenchuan Jia ============================================================================== Session W2-6: Fuzzy/Neural Evolutional Algorithms I Chairs: Huosheng Hu, Baoguo Li ------------------------------------------------------------------------------ Time: Wednesday December 20, 13:30 - 15:10 Room: Blooming Flowers ------------------------------------------------------------------------------ Estimation of Wrist Force/Torque for Robot Gripper Using Neural Network Guo-Zheng Yan, Ting Wu and Ke-Jun Xu Adaptive Fuzzy Control for Mobile Robot Obstacle Avoidance Based on Virtual Line Path Tracking Baoguo Li and Chunxi Zhang Inequality-based Manipulator-Obstacle Avoidance Using the LVI-based Primal-dual Neural Network Yunong Zhang, Zhonghua Li and Hong-Zhou Tan GA-Based Feature Subset Selection for Myoelectric Classification Mohammadreza Asghari Oskoei and Huosheng Hu Non-holonomic Path Planning of Space Robot Based On Generic Algorithm Wenfu Xu, Bin Liang, Cheng Li, Wenyi Qiang, Yangsheng Xu and Ka Keung Lee ============================================================================== Session W3-1: Tracking II Chairs: Hong Liu, Yan Zhuang ------------------------------------------------------------------------------ Time: Wednesday December 20, 15:30 - 17:30 Room: Haitang ------------------------------------------------------------------------------ A Pan-Tilt Camera Control System of UAV Visual Tracking Based on Biomimetic Eye Hairong Zou, Zhenbang Gong, Shaorong Xie and Wei Ding Visual Target Tracking Based on Multiple Cues and Particle Filter Guixi Liu, Chunyu Fan and Enke Gao Target Tracking in Colored Image Sequence Using Weighted Color Histogram Based Particle Filter Yan Zhuang, Wei Wang and Ruizhi Xing A Novel EMG Motion Pattern Classifier Based on Wavelet Transform and Nonlinearity Analysis Method Jingdong Zhao, Li Jiang, Hegao Cai, Hong Liu and Gerd Hirzinger Moving Object Tracking and Vision Navigation Based on Selective Attention Mechanism Haoting Liu, Jianqun Yang and Zhehao Wei ============================================================================== Session W3-2: Climbing Robots Chairs: Jason Gu, Masayoshi Wada ------------------------------------------------------------------------------ Time: Wednesday December 20, 15:30 - 17:30 Room: Chahua ------------------------------------------------------------------------------ Suction Ability Analyses of a Novel Wall Climbing Robot Daijun Xu, Xueshan Gao, Ningjun Fan, Kejie Li, Koki Kikuchi and Xiaobing Wu A Combined Logistic and Model Based Approach for Fault Detection and Identification in a Climbing Robot Yong Jiang, Hongguang Wang, Lijin Fang and Mingyang Zhao Path Planning of the Nonholonomic Pole Climbing Robot UT-PCR Sara Mahdavi, Ehsan Noohi and Majid Nili Ahmadabadi A Wall Climbing Robot for Oil Tank Inspection Love Kalra, Jason Gu and Max Meng Studies on 4WD Mobile Robots Climbing Up a Step Masayoshi Wada ============================================================================== Session W3-3: Humanoid Robots II Chairs: Kazuhito Yokoi, Toshikazu Matsui ------------------------------------------------------------------------------ Time: Wednesday December 20, 15:30 - 17:30 Room: Mudan ------------------------------------------------------------------------------ A Method Determining the Reaching Behavior of Humanoid Robots Haitao Na, Ee Sian Neo and Kazuhito Yokoi A New Optimal Control Model for Reproducing Human Arm's Two-Point Reaching Movements: A Modified Minimum Torque Change Model Toshikazu Matsui, Mai Honda and Nobuaki Nakazawa Robust Control of a Humanoid Robot Using a Bio-Inspired Approach Based on Central Pattern Generators, Reflexes, and Proprioceptive Feedback Sebastian Bartsch and Frank Kirchner Research on the Kinematics and Dynamics of a 7-DOF Arm of Humanoid Robot Tiejun Zhao, Jing Yuan, Ming-yang Zhao and Da-long Tan Biased Competitive Model of Humanoid Visual Attention Using Fuzzy Discrete Event System Rajibul Huq, Momotaz Begum, George K. I. Mann and Raymond G. Gosine Dynamic Stability Analyses Based on ZMP of a Wheel-Based Humanoid Robot Yanjie Li, Dalong Tan, Zhenwei Wu and Hua Zhong ============================================================================== Session W3-4: MEMS/NANO Chairs: Muhammad Haris Azal, Wen J. Li ------------------------------------------------------------------------------ Time: Wednesday December 20, 15:30 - 17:30 Room: Lake Side ------------------------------------------------------------------------------ High Precision Formation for Two-Photon 3D Microfabrication Guohua Gao, Yu Zhu, Guanghong Duan and Yingxing Fang Towards Guidance Chip for Micro Aerial Vehicles Muhammad Haris Afzal, Muhammad Asif and Muhammad Akhtar Khan A Microscopic Multi-view Based Workcell for Wafer-level Microassembling Minglei Sun, Jingjun Yu, Guanghua Zong, Shusheng Bi and Rong Liu A Novel High Speed/High Precision Displacement Measurement Method Using Double Grating Scales for a Macro/Micro Driven System: Principle Design and Experimental Verification Degang Jie, Yanjie Liu, Lining Sun, Hegao Cai and Zhichao Chen Kinematics of Micro Bending Robot Using Shape Memory Alloy for Active Catheter Yili Fu, Xianling Li, Hao Liu, Zhaoguang Liang and Xin Ma Characteristics Analysis of a Biomimetic Underwater Walking Microrobot Wei Zhang, Shuxiang Guo and Kinji Asaka ============================================================================== Session W3-5: Medical Robots II Chairs: Weixing Feng, Guozheng Yan ------------------------------------------------------------------------------ Time: Wednesday December 20, 15:30 - 17:30 Room: Sporting Seagulls ------------------------------------------------------------------------------ Research of FNF Internal Fixation Operation Parametric Planning and Evaluation System Tianmiao Wang, Kun Lv, Baoqing Pei and Li Zhou A Study of Real-Time EMG-Driven Arm Wrestling Robot Quanjun Song, Huanghuan Shen, Shuangwei Xie, Zhen Gao, Ming Liu, Yong Yu and Yunjian Ge The WalkTrainer: A Robotic System for Walking Rehabilitation Mohamed Bouri, Yves Stauffer, Carl Schmitt, Yves Allemand, Stany Gnemmi, Patrick Metrailler, Roland Brodard and Reymond Clavel A Novel Fluoroscopy-Guided Robot-Assisted Orthopaedic Surgery System Zhijiang Du, Minxiu Kong, Lixin Fu and Lining Sun Realization of a Catheter Driving Mechanism with Micro Force Sensor for Intravascular Neurosurgery Weixing Feng, Shuxiang Guo, Changmin Chi, Huanran Wang, Kejun Wang and Xiufen Ye Estimation of Rotator Cuff Activity Using a Surface EMG during Shoulder External Rotation Takeshi Ando, Misato Nihei and Masakatsu Fujie ============================================================================== Session W3-6: Fuzzy/Neural Evolutional Algorithms II Chairs: Nicolas Bredeche, Michele Folgheraiter ------------------------------------------------------------------------------ Time: Wednesday December 20, 15:30 - 17:30 Room: Blooming Flowers ------------------------------------------------------------------------------ Evolutionary Robotics, Anticipation and the Reality Gap Cedric Hartland and Nicolas Bredeche A Bioinspired Neural Controller for a Mobile Robot Michele Folgheraiter, Giuseppina Gini, Alessandro Nava and Nicola Mottola Adaptive Neuro - Fuzzy Controller for Stabilizing Autonomous Bicycle N. Umashankar and Himanshu Dutt Sharma Error Compensation for a Parallel Robot Using Back Propagation Neural Networks Li Ma, Weibin Rong, Lining Sun and Zheng Li Design of a Central Pattern Generator for Bionic-robot Joint with Angular Frequency Modulation Daibing Zhang, Dewen Hu, LinChen Shen and Haibin Xie Evaluating Adaptive Oscillatory Neural Network Controller Using a Simple Vehicle Model Guillaume Jouffroy ============================================================================== Program last updated: Sun Jan 7 19:55:33 2007