Program

Please note that the venue for ISER sessions is Les Oiseaux room,

Marina Mandarin.

Thursday 17 June 2004

2000 – 2200

Welcome Reception and Registration

Les Oiseaux Room, Marina Mandarin Hotel

Friday 18 June 2004

0810 – 0830

Registration

0830 – 0840

Opening by Oussama Khatib & Marcelo H. Ang Jr.

0840 – 1020

Session 1 Human Centred Robotics

Session Chairs: Christian Laugier and Chien Chern Cheah

Paper ID		Title
129 digest	Presentation materials and movies	SVM-base human action recognition and its remarkable motion features discovery algorithm	T. Mori, M. Shimosaka, T. Sato
138 digest	Presentation materials and movies	fMRI compatible haptic interfaces to investigate human motor control	E. Burdet, R. Gassert, G. Ganesh , D. Chapuis, H. Bleuler
151 digest	Presentation materials and movies	Nonholonomic modelling of needle steering	R.J. Webster III, N. J. Cowan, G.S. Chirikjian, and A.M. Okamura
167 digest	Presentation materials and movies	Microphone array for 2D sound localization and capture	S. Kagami, H. Mizoguchi, Y. Tamai, T. Kanade

1020 – 1040

Coffee Break

1040 – 1220

Session 2 Identification and Control

Session Chairs: Yoshihiko Nakamura and Sebastian Thrun

Paper ID		Title
110 digest	Presentation materials and movies	Experiments on adaptive control of robots with uncertain kinematics and dynamics	C.C. Cheah, C. Liu, J.J. Slotine
128 digest	Presentation materials and movies	Improving the speed of shape memory alloy actuators by faster electrical heating	R. Featherstone, Y. H. Teh
177 digest	Presentation materials and movies	Adaptive friction compensation using a velocity observer	QH. Xia, M.H. Jr Ang, S.Y. Lim, T.M. Lim
178 digest	Presentation materials and movies	Wave-shape pattern control of electro-active polymer gel robots	M. Otake, Y. Nakamura, M. Inaba, H. Inoue

1220 – 1330

Lunch Break

1330 – 1535

Session 3 Localisation and Map Building

Session Chairs: Brad Nelson and Etienne Burdet

Paper ID		Title
133 digest	Presentation materials and movies	Topological global localisation and mapping with fingerprint and uncertainty	A. Tapus, N. Tomatis, R. Siegwart
134 digest	Presentation materials and movies	Terrain aided localisation and mapping for marine environments	S.B. Williams, I. Mahon
154 digest	Presentation materials and movies	The SDR Experience: Experiments with a large-scale heterogeneous mobile robot team	A. Howard, L.E. Parker, G. Sukhatme
155 digest	Presentation materials and movies	Centibots: Very large scale distributed robotic teams	K. Konolige D. Fox, C. Ortiz, A. Agno, M. Eriksen, B. Limketkai, J. Ko
182 digest	Presentation materials and movies	Large-Scale robotics 3-D mapping of urban structures.	M. Montemerlo, S. Thrun

1535 – 1555

Coffee Break

1555 – 1710

Session 4 Medical Robotics

Session Chairs: Alicia Casals and Salah Sukkarieh

Paper ID		Title
116 digest	Presentation materials and movies	A force controlled laparoscopic surgical robot without distal force sensing	N. Zemiti, T. Ortmaier, M. Vitrani, G. Morel
143 digest	Presentation materials and movies	Modeling and experiments on a legged microrobot locomoting in a tubular, compliant and slippery environment	P. Dario, C. Stefanini, A. Menciassi
174 digest	Presentation materials and movies	Quasi hands free interaction with a robot for online task correction	A. Casals, M. Frigola, J. Amat, J. Laporte

Night Social Program

Traditional Junk Boat Dinner Cruise

All participants are to meet at the hotel lobby at 17:25

Saturday 19 June 2004

0830 – 1010

Session 5 Vision

Session Chairs: Homayoon Kazerooni and Daniela Rus

Paper ID		Title
105 digest	Presentation materials and movies	Driving on a known sensori-motor trajectory with a car-like robot	C. Pradalier, P. Bessiere, C. Laugier
120 digest	Presentation materials and movies	Vision-based Navigational competencies for a car-like vehicle	K. Usher, J. Roberts, P. Corke, E. Duff
126 digest	Presentation materials and movies	Comparison of temporal filters for optical flow estimation in continuous mobile robot navigation	C.D. McCarthy, N.M. Barnes
147 digest	Presentation materials and movies	Experiments in robot control from uncalibrated overhead imagery	R. Rao, C. Taylor, V. Kumar

1010 – 1030

Coffee Break

1030 – 1235

Session 6 Humanoids

Session Chairs: Oussama Khatib and Minoru Asada

Paper ID		Title
137 digest	Presentation materials and movies	A Tele-operated humanoid operator	K.Yokoi, K.Nakashima, Y. Yanagihara
162 digest	Presentation materials and movies	Hand-position oriented humanoid walking motion control system	K. Nishiwaki, Y. Fukumoto, S. Kagami, M. Inaba, H. Inoue
164 digest	Presentation materials and movies	Body information acquisition system of redundant musculo-skeletal humanoid	I. Mizuuchi, Y. Nakanishi, T. Yoshikai, M. Inaba, H. Inoue
166 digest	Presentation materials and movies	Coordinated task execution for humanoid robots	T. Asfour, D.N. Ly, K. Regenstein, R. Dillmann
171 digest	Presentation materials and movies	Imitation learning based on visuo-somatic mapping	M. Asada, M. Ogino, S. Matsuyama, J. Ooga

1235 – 1445

Extended Lunch/Recreation Break

1445 – 1545

Keynote: The Mars Exploration Rover Mission

1545 – 1605

Coffee Break

1605 – 1810

Session 7 Designs

Session Chairs: Peter Corke and Mark Yim

Paper ID		Title
108 digest	Presentation materials and movies	Crawling and jumping by a deformable robot	Y. Sugiyama, S. Hirai
123 digest	Presentation materials and movies	Berkeley lower extremity exoskeleton project	H. Kazerooni
139 digest	Presentation materials and movies	Toward self-replication of robot control circuitry by self-inspection	J. Suthakorn, G. Chirikjian
175 digest	Presentation materials and movies	Optimal mechanical/control design for safe and fast robotics	G. Tonietti, R. Schiavi, A. Bicchi
180 digest	Presentation materials and movies	Actuation, sensing and fabrication for In Vivo Magnetic microrobots	K.B. Yesin, K. Vollmers, B.J. Nelson

Night Social Program

Dinner with Malay Cultural Show

All participants are to meet at the hotel lobby at 18:30

Sunday 20 June 2004

0830 – 1010

Session 8 Flying Robots

Session Chairs: Allison Okamura and Vijay Kumar

Paper ID		Title
124 digest	Presentation materials and movies	Deployment and connectivity repair for a sensor network with a flying robot	P. Corke, S. Hrabar, R. Peterson, D. Rus, S. Saripalli, G. Sukhatme
142 digest	Presentation materials and movies	Autonomous landing of an unmanned helicopter based on vision and inertial sensing	T. Merz, S. Duranti, G. Conte
149 digest	Presentation materials and movies	Synergies in feature localisation by air-ground robot teams	B. Grocholsky, S. Bayraktar, V. Kumar, C. J. Taylor, G. J. Pappas
156 digest	Presentation materials and movies	Autonomous inverted helicopter flight via reinforcement learning	A.Y. Ng, A. Coates, M. Diel, V. Ganapathi, J. Schulte, B. Tse, E. Berger, and E. Liang

1010 – 1030

Coffee Break

1030 – 1235

Session 9 Perception

Session Chairs: Alex Zelinsky and Hiroshi Kimura

Paper ID		Title
115 digest	Presentation materials and movies	Trajectory sonar perception in the Ligurian Sea	R.J. Rikoski, J.J. Leonard, P. M. Newman, H. Schmidt
146 digest	Presentation materials and movies	Construction of a geometric 3-D model from sensor measurements collected during compliant motion	P. Slaets, J. Rutgeerts, K. Gadeyne, T. Lefebvre, H. Bruyninckx, J. De Schutter
161 digest	Presentation materials and movies	Stiffness imager	M. Kaneko, T. Kawahara, S. Tanaka.
172 digest	Presentation materials and movies	Towards high-fidelity on board attitude estimation for Legged Locomotion via a hybrid range and inertial approach	S.P.N. Singh, K.J. Waldron
183 digest	Presentation materials and movies	Toward Reliable Off Road Autonomous Vehicles Operating in Challenging Environments	A. Kelly, O. Amidi, M. Bode, M. Happold, H. Herman, T. Pilarski, P. Rander, A. Stentz, N. Vallidis, R. Warner

1235 – 1405

Lunch Break

1405 – 1545

Session 10 Walking Robots

Session Chairs: Roy Featherstone and Alonzo Kelly

Paper ID		Title
132 digest	Presentation materials and movies	Towards adaptive walking of a quadruped robot in outdoor environment based on biological concepts	H. Kimura, Y. Fukuoka
135 digest	Presentation materials and movies	Legged odometry from body pose in a hexapod robot	P.C. Lin, H. Komsuoglu, D.E. Koditschek
153 digest	Presentation materials and movies	Free-climbing with a multi-use robot	T. W. Bretl, S. Rock, J.C. Latombe, B. Kennedy, H. Aghazarian
157 digest	Presentation materials and movies	Limbless conforming gaits with modular robots	M.Yim, C. Eldershaw, Y. Zhang, D.G. Duff

1545 – 1605