| WEDNESDAY, OCTOBER 12, 2005 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 8:00-8:10 | Welcome | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Rodney Brooks, MIT
brooks@ai.mit.edu Hugh Durrant-Whyte, Australian Centre for Field Robotics hugh@acfr.usyd.edu.au Sebastian Thrun, Stanford University thrun@stanford.edu | X | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 8:10-10:10 | Technical Session 1: Physical Human-Robot interaction and Haptics | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 8:10-8:20 | Introduction by the Session Chairs Antonio Bicchi, Universita di Pisa bicchi@ing.unipi.it Yoshi Nakamuranakamura@ynl.t.u-tokyo.ac.jp X
| 8:20-8:40
| Technical Paper:
A Unified Passivity Based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots | Alin Albu-Schaeffer, Christian Ott, and Gerd Hirzinger, DLR German Aerospace Center Alin.Albu-Schaeffer@dlr.de Christian.ott@dlr.de Gerd.Hirzinger@dlr.de X
| 8:40-9:00
| Technical Paper:
Wave Haptics: Encoderless Virtual Stiffnesses | Gunter Niemeyer, Stanford University; Nicola Diolaiti, University of Bologna; Neal Tanner, Stanford University gunter.niemeyer@stanford.edu ndiolaiti@deis.unibo.it tanner@stanford.edu
| 9:00-9:20
| Technical Paper:
Reality-based Estimation of Needle and Soft-tissue Interaction for Accurate Haptic Feedback in Prostate Brachytherapy Simulation | James Hing, Ari Brooks, and Jaydev Desai, Drexel University jth23@coe.drexel.edu Ari.Brooks@DrexelMed.edu desai@coe.drexel.edu X
| 9:20-9:40
| Technical Paper:
Haptic Virtual Fixtures for Robot-Assisted Manipulation | Jake Abbott, Panadda Marayong, and Allison Okamura, Johns Hopkins University jabbott@ethz.ch pmarayong@jhu.edu aokamura@jhu.edu X
| 9:40-10:10
| Open Discussion moderated by the Session Chairs | Antonio Bicchi, Universita di Pisa bicchi@ing.unipi.it Yoshi Nakamuranakamura@ynl.t.u-tokyo.ac.jp X
|
| 10:10-10:30
| Coffee Break
|
| 10:30-12:00
| Technical Session 2: Planning
| 10:30-10:40
| Introduction by the Session Chairs | Nick Roy, MIT nickroy@mit.edu Roland Siegwart, EPFL roland.siegwart@epfl.ch X
| 10:40-11:00
| Technical Paper:
POMDP Planning for Robust Robot Control | Joelle Pineau, McGill University; Geoff Gordon, Carnegie Mellon University jpineau@cs.mcgill.ca ggordon@cs.cmu.edu X
| 11:00-11:20
| Technical Paper:
On the Probabilistic Foundations of Probabilistic Roadmap Planning | David Hsu, National University of Singapore; Jean-Claude Latombe, Stanford University; Hanna Kurniawati, National University of Singapore dyhsu@comp.nus.edu.sg latombe@cs.stanford.edu hannakur@comp.nus.edu.sg
| 11:20-11:40
| Technical Paper:
Human-aware Robot Planning | Rachid Alami, LAAS/CNRS Rachid.Alami@laas.fr X
| 11:40-12:00
| Open discussion moderated by the Session Chairs | Nick Roy, MIT nickroy@mit.edu Roland Siegwart, EPFL roland.siegwart@epfl.ch X
|
| 12:00-1:30
| Lunch
|
| 1:30-3:00
| Technical Session 3: Humanoids
| 1:30-1:40
| Introduction by the Session Chairs | Hirohisa Hirukawa, AIST hiro.hirukawa@aist.go.jp X
| 1:40-2:00
| Technical Paper:
Humanoid HRP2-DHRC for autonomous and interactive behavior | Satoshi Kagami, AIST s.kagami@aist.go.jp X
| 2:00-2:20
| Technical Paper:
Android Science: Toward a new cross-interdisciplinary framework | Hiroshi Ishiguro, Osaka University ishiguro@ams.eng.osaka-u.ac.jp
| 2:20-2:40
| Technical Paper:
Segmentation, Classification, Composition and Conditioning of Motion Patterns of Humans and Humanoid Robots | Yoshi Nakamura, University of Tokyo nakamura@ynl.t.u-tokyo.ac.jp
| 2:40-3:00
| Open discussion moderated by the Session Chairs | Hirohisa Hirukawa, AIST hiro.hirukawa@aist.go.jp X
|
| 3:00-3:30
| Coffee Break
|
| 3:30-5:00
| Technical Session 4: Mechanisms and Design
| 3:30-3:40
| Introduction by the Session Chairs | Jean-Pierre Merlet, INRIA Jean-Pierre.Merlet@sophia.inria.fr Gerd Hirzinger, DLR Gerd.Hirzinger@dlr.de X
| 3:40-4:00
| Technical Paper:
Design of a Compact 6-DOF Haptic Device to Use Parallel Mechanisms | Masaru Uchiyama, Yuichi Tsumaki, and Woo-Keun Yoon, Tohoku University uchiyama@space.mech.tohoku.ac.jp tsumaki@cc.hirosaki-u.ac.jp wk.yoon@aist.go.jp X
| 4:00-4:20
| Technical Paper:
Hybrid Nanorobotic Approaches to NEMS | Bradley J. Nelson, Lixin Dong, Arunkumar Subramanian, and Dominik Bell, Swiss Federal Institute of Technology (ETH), Zurich bnelson@ethz.ch ldong@ethz.ch arun@ethz.ch dbell@ethz.ch X
| 4:20-4:40
| Technical Paper:
Jacobian, manipulability, condition number and accuracy of parallel | Jean-Pierre Merlet, INRIA Jean-Pierre.Merlet@sophia.inria.fr X
| 4:40-5:00
| Open discussion moderated by the Session Chairs | Jean-Pierre Merlet, INRIA Jean-Pierre.Merlet@sophia.inria.fr Gerd Hirzinger, DLR Gerd.Hirzinger@dlr.de X
|
| 6:00-8:00
| Dinner
|
| 8:00-9:30
| Special Session: Panel Discussion on Robotics Science
|
| Session Chair | Ruzena Bajcsy, University of California at Berkeley bajcsy@eecs.berkeley.edu X
|
|
|
|
| THURSDAY, OCTOBER 13, 2005
| 8:00-10:00
| Special Overview Session
| 8:00-8:10
| Introduction by the Session Chairs | Hirochika Inoue, University of Tokyo inoue-h@c03.itscom.net Raja Chatila, LAAS raja@laas.fr
| 8:10-8:40
| Invited Overview Talk:
The Expo in Japan | Hirohisa Hirukawa, AIST hiro.hirukawa@aist.go.jp X
| 8:40-9:00
| Invited Overview Talk:
European Robotics Platform (EUROP) | Henrik Christensen, Royal Institute of Technology hic@nada.kth.se X
| 9:00-9:20
| Invited Overview Talk:
A Study on International Research and Development in Robotics | Vijay Kumar, University of Pennsylvania kumar@grasp.upenn.edu X
| 9:20-9:40
| Invited Overview Talk:
The Robotics Handbook | Bruno Siciliano, University of Naples siciliano@unina.it
| 9:40-10:00
| Open discussion moderated by the Session Chairs | Hirochika Inoue, University of Tokyo inoue-h@c03.itscom.net Raja Chatila, LAAS raja@laas.fr
|
| 10:10-10:30
| Coffee Break
|
| 10:30-12:00
| Technical Session 5: SLAM
| 10:30-10:40
| Introduction by the Session Chairs | Paul Newman, Oxford University pnewman@robots.ox.ac.uk Henrik Christensen, Royal Institute of Technology hic@nada.kth.se X
| 10:40-11:00
| Technical Paper:
Subjective Localization with Action Respecting Embedding | Dana Wilkinson, University of Waterloo; Michael Bowling, University of Alberta; Ali Ghodsi and Adam Milstein, University of Waterloo d3wilkinson@uwaterloo.ca bowling@cs.ualberta.ca aghodsib@uwaterloo.ca ahpmilst@uwaterloo.ca X
| 11:00-11:20
| Technical Paper:
DSLAM: Decoupled Localization and Mapping for Autonomous Robot | Zhan Wang, Shoudong Huang, and Gamini Dissanayake, University of Technology, Sydney zwang@eng.uts.edu.au sdhuang@eng.uts.edu.au gdissa@eng.uts.edu.au X
| 11:20-11:40
| Technical Paper:
A Provably Consistent Method for Imposing Exact Sparsity in Feature-based SLAM Information Filters | Matthew Walter, Massachusetts Institute of Technology; Ryan Eustice, Woods Hole Oceanographic Institution; John Leonard, Massachusetts Institute of Technology mwalter@mit.edu ryan@whoi.edu jleonard@mit.edu X
| 11:40-12:00
| Open discussion moderated by the Session Chairs | Paul Newman, Oxford University pnewman@robots.ox.ac.uk Henrik Christensen, Royal Institute of Technology hic@nada.kth.se X
|
| 12:00-1:30
| Lunch
|
| 1:30-3:00
| Technical Session 6: Field Robots
| 1:30-1:40
| Introduction by the Session Chairs | Al Kelly, Carnegie Mellon University alonzo@ri.cmu.edu Chuck Thorpe, Carnegie Mellon University cet@cs.cmu.edu X
| 1:40-2:00
| Technical Paper:
Field D*: An Interpolation-based Path Planner and Replanner | Dave Ferguson and Anthony Stentz, Carnegie Mellon University dif@cmu.edu axs@rec.ri.cmu.edu X
| 2:00-2:20
| Technical Paper:
Tradeoffs Between Directed and Autonomous Driving on the Mars Exploration Rovers | Jeffrey Biesiadecki, Chris Leger and Mark Maimone, Jet Propulsion Laboratory jeffb@helios.jpl.nasa.gov cleger@helios.jpl.nasa.gov mwm@helios.jpl.nasa.gov X
| 2:20-2:40
| Technical Paper:
Surface Minining: Challenges and Main Research Issues for Autonomous Operations | Eduardo Nebot, Australian Centre for Field Robotics nebot@acfr.usyd.edu.au X
| 2:40-3:00
| Open Discussion moderated by the Session Chairs | Al Kelly, Carnegie Mellon University alonzo@ri.cmu.edu Chuck Thorpe, Carnegie Mellon University cet@cs.cmu.edu X
|
| 3:00-3:30
| Coffee Break
|
| 3:00-4:30
| Technical Session 7: Robotic Vision
| 3:00-3:10
| Introduction by the Session Chairs | Yoshiaki Shirai, Osaka University shirai@mech.eng.osaka-u.ac.jp Bob Bolles, SRI International bolles@AI.SRI.COM
| 3:10-3:30
| Technical Paper:
Bias Reduction and Filter Convergence for Long Range Stereo | Gabe Sibley, USC; Larry Matthies, JPL; Gaurav Sukhatme, USC gsibley@usc.edu lhm@helios.jpl.nasa.gov gaurav@usc.edu X
| 3:30-3:50
| Technical Paper:
Fusion of stereo with color and contrast for direction of visual attention | Andrew Blake, Microsoft Research Cambridge ablake@microsoft.com X
| 3:50-4:10
| Technical Paper:
Learning depth from singular monocular images, with application to high-speed obstacle avoidance | Andrew Y. Ng, Stanford University ang@cs.stanford.edu X
| 4:10-4:30
| Open Discussion moderated by the Session Chairs | Yoshiaki Shirai, Osaka University shirai@mech.eng.osaka-u.ac.jp Bob Bolles, SRI International bolles@AI.SRI.COM
|
| 6:00-10:00
| | Dinner Cruise through the San Francisco Bay
|
|
|
|
| FRIDAY, OCTOBER 14, 2005
| 8:00-10:00
| Technical Session 8: Robot Design and Control
| 8:00-8:10
| Introduction by the Session Chairs | Claire Tomlin, Stanford University and UC Berkeley tomlin@stanford.edu
| 8:10-8:30
| Technical Paper:
One is Enough! | Tom Lauwers, George Kantor, and Ralph Hollis, Carnegie Mellon University tlauwers@cs.cmu.edu kantor@ri.cmu.edu rhollis@cs.cmu.edu X
| 8:30-8:50
| Technical Paper:
A Steerable, Untethered, 250x60 micrometer MEMS Mobile Micro-Robot | Bruce Donald, Dartmouth College; Christopher Levey, Dartmouth Thayer School of Engineering; Craig McGray, Igor Paprotny, Dartmouth College; Daniela Rus, Massachusetts Institute of Technology brd@cs.dartmouth.edu craig@cs.dartmouth.edu igorpapa@cs.dartmouth.edu rus@csail.mit.edu X
| 8:50-9:10
| Technical Paper:
Some Issues in Humanoid Robot Design | Atsuo Takanishi, Waseda University takanisi@waseda.jp X
| 9:10-9:30
| Technical Paper:
That which does not stabilize, will only make us stronger | Hami Kazerooni, University of California, Berkeley kazerooni@berkeley.edu X
| 9:30-10:00
| Open discussion moderated by the Session Chairs | Claire Tomlin, Stanford University and UC Berkeley tomlin@stanford.edu tbd ???
|
| 10:00-10:30
| Coffee Break
|
| 10:30-12:00
| Technical Session 9: Underwater Robotics
| 10:30-10:40
| Introduction by the Session Chairs | Louis Whitcomb, Johns Hopkins University llw@jhu.edu Hugh Durrant-Whyte, Australian Centre for Field Robotics hugh@acfr.usyd.edu.au X
| 10:40-11:00
| Technical Paper:
Improved Estimation of Target Velocity Using Multiple Model Estimation and a Dynamic Bayesian Network for a Robotic Tracker of Ocean Animals | Aaron Plotnik and Stephen Rock, Stanford University aplotnik@stanford.edu rock@stanford.edu X
| 11:00-11:20
| Technical Paper:
Techniques for Deep Sea Near Bottom Survey Using an Autonomous Underwater Vehicle | Dana R. Yoerger, Michael Jakuba, Albert M. Bradley, Woods Hole Oceanographic Institution; and Brian Bingham, Franklin W. Olin College of Engineering dyoerger@whoi.edu mjakuba@mit.edu abradley@whoi.edu bbing@olin.edu
| 11:20-11:40
| Technical Paper:
Advances in High Resolution Imaging from Underwater Vehicles | Hanumant Singh, Chris Roman, Oscar Pizarro, and Ryan Eustice, Woods Hole Oceanographic Institution hsingh@whoi.edu croman@whoi.edu opizarro@whoi.edu ryan@whoi.edu X
| 11:40-12:00
| Open discussion moderated by the Session Chairs | Louis Whitcomb, Johns Hopkins University llw@jhu.edu Hugh Durrant-Whyte, Australian Centre for Field Robotics hugh@acfr.usyd.edu.au X
| 12:00-12:20
| Special Overview Session, Continued
| 12:00-12:20
| Invited Overview Talk:
Robotics driven by real world applications: an Australian perspective | Alex Zelinski, CSIRO ICT Centre Australia alex@rsise.anu.edu.au
| 12:20-1:30
| Lunch
|
|
| 2:00-6:00
| | Excursion to Alcatraz Island
|
| 6:00-8:00
| Timne for individual dinners
|
| 8:00-10:00
| Open Video Session
|
| Session Chair | Oussama Khatib, Stanford University khatib@cs.stanford.edu X
|
|
|
|
| SATURDAY, OCTOBER 15, 2005
| 8:00-10:00
| Technical Session 10: Learning and Adaptive Behavior
| 8:00-8:10
| Introduction by the Session Chairs | Herman Bruyninckx, Katholieke Universiteit Leuven Herman.Bruyninckx@mech.kuleuven.ac.be Paolo Dario, Pisa University dario@sssup.it
| 8:10-8:30
| Technical Paper:
Semantic Labeling of Places | Cyrill Stachniss, Oscar Martinez Mozos, Axel Rottmann, and Wolfram Burgard, University of Freiburg stachnis@informatik.uni-freiburg.de omartine@informatik.uni-freiburg.de rottmann@informatik.uni-freiburg.de burgard@informatik.uni-freiburg.de X
| 8:30-8:50
| Technical Paper:
Emergence, Exploration and Learning of Embodied Behavior | Yasuo Kuniyoshi, University of Tokyo kuniyosh@isi.imi.i.u-tokyo.ac.jp X
| 8:50-9:10
| Technical Paper:
Morphological computation: connecting brain, body, and environment | Rolf Pfeiffer, AI Lab, University of Zurich pfeifer@ifi.unizh.ch
| 9:10-9:30
| Technical Paper:
Location-based activity recognition | Dieter Fox, University of Washington fox@cs.washington.edu X
| 9:30-10:00
| Open discussion moderated by the Session Chairs | Herman Bruyninckx, Katholieke Universiteit Leuven Herman.Bruyninckx@mech.kuleuven.ac.be Paolo Dario, Pisa University dario@sssup.it
|
| 10:00-10:30
| Coffee Break
|
| 10:30-11:40
| Technical Session 11: Networked Robotics
| 10:30-10:40
| Introduction by the Session Chairs | Tomomasa Sato, University of Tokyo tomomasasato@jcom.home.ne.jp Ray Jarvis, Monash University Ray.Jarvis@eng.monash.edu.au X
| 10:40-11:00
| Technical Paper:
Networked Robotic Cameras for Collaborative Observation of Natural Environments | Dezshen Song, Texas A&M University; Ken Goldberg, University of California, Berkeley dzsong@cs.tamu.edu goldberg@ieor.berkeley.edu X
| 11:00-11:20
| Technical Paper:
Embedded Intelligence: A New Frontier in Robotics | Shankar Sastry, University of California, Berkeley sastry@eecs.berkeley.edu
| 11:20-:40
| Open discussion moderated by the Session Chairs | Tomomasa Sato, University of Tokyo tomomasasato@jcom.home.ne.jp Ray Jarvis, Monash University Ray.Jarvis@eng.monash.edu.au X
|
| 12:00-1:30
| Lunch
|
| 1:30-3:00
| Technical Session 12: Interfaces and Interaction
| 1:30-1:40
| Introduction by the Session Chairs | Hiroshi Ishiguro, Osaka University ishiguro@ams.eng.osaka-u.ac.jp Makoto Kaneko, Hiroshima University kaneko@hfl.hiroshima-u.ac.jp X
| 1:40-2:00
| Technical Paper:
Haptic Communication between Humans and Robots | Takahiro Miyashita, Taichi Tajika, ATR; Hiroshi Ishiguro, Osaka University and ATR; Kiyoshi Kogure, and Norihiro Hagita, ATR miyasita@atr.jp tajika@atr.jp ishiguro@atr.jp kogure@atr.jp hagita@atr.jp X
| 2:00-2:20
| Technical Paper:
A vestibular interface for natural control of steering locomotion of robotic artifacts: preliminary experiments | Cecilia Laschi, Eliseo Stefano Maini, Francesco Patane, Luca Ascari, Scuola Superiore Santa Anna; Gaetano Ciaravella, IMT Lucca; Ulisse Bertocchi, Cesare Stefanini, and Paolo Dario, Scuola Superiore Santa Anna cecilia@arts.sssup.it es.maini@ieee.org f.patane@arts.sssup.it ascari@sssup.it gaetano.ciaravella@imtlucca.it u.bertocchi@crim.sssup.it cesare@sssup.it dario@sssup.it
| 2:20-2:40
| Technical Paper:
How social robots will help us to diagnose, treat, and understand autism | Brian Scassellati, Yale University scaz@cs.yale.edu X
| 2:40-3:00
| Open discussion moderated by the Session Chairs | Hiroshi Ishiguro, Osaka University and ATR ishiguro@ams.eng.osaka-u.ac.jp Makoto Kaneko, Hiroshima University kaneko@hfl.hiroshima-u.ac.jp X
|
| 3:00
| Adjorn
|
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