| Simultaneous Localization And Mapping / Part 1： |
| Session Summary / Raja Chatila |
| Towards Robust Data Association and Feature Modeling for Concurrent Mapping and Localization / John J. Leonard ; Paul M. Newman ; Richard J. Rikoski ; José Neira ; Juan D. Tardós |
| Introduction / 1： |
| "Explore and return" using Laser / 2： |
| Sonar Perceptual Grouping Using the Hough Transform / 3： |
| Delayed Stochastic Mapping / 4： |
| Conclusion / 5： |
| A Real-time Algorithm for Acquiring Multi-Planar Volumetric Models with Mobile Robots / Sebastian Thrun ; Wolfram Burgard ; Deepayan Chakrabarti ; Rosemary Emery ; Yufeng Liu ; Christian Martin |
| Multi-Surface Models |
| Acquisition of Compact 3D Models in Real-Time |
| Experimental Results |
| Discussion |
| Implementation of Simultaneous Navigation and Mapping in Large Out-door Environments / Jose Guivant ; Eduardo Nebot |
| Simultaneous Localization and Mapping |
| Sub-Optimal Decorrelation Algorithm |
| Environment Description and Feature Detection |
| Conclusions / 6： |
| A Bayesian Algorithm for Simultaneous Localisation and Map Building / Hugh Durrant-Whyte ; Somajyoti Majumder ; Marc de Battista ; Steve Scheding |
| Bayesian Formulation of the SLAM problem |
| Solving the SLAM problem |
| Implementation of the SOG Method in Sub-Sea SLAM |
| Discussion and Conclusion |
| Humanoid Robotics I / Part 2： |
| ETL-Humanoid: A Research Vehicle for Open-Ended Action Imitation / Hirochika Inoue ; Yasuo Kuniyoshi ; Gordon Cheng ; Akihiko Nagakubo |
| Essential Issues in Imitation |
| ETL-Humanoid: Our Research Vehicle |
| Multi-modal Perception and Action |
| Proto-Imitation Experiments |
| Summary and Conclusions |
| Low-level Autonomy of the Humanoid Robots H6 & H7 / Satoshi Kagami ; Koichi Nishiwaki ; James Kuffner ; Kei Okada ; Masayuki Inaba |
| Low-level Autonomy of Humanoid Robots |
| Humanoid Robots H6 & H7 |
| Autonomy in Bipedal Locomotion |
| Autonomy in Object Manipulation |
| Autonomy in Human Interaction |
| OpenHRP: Open Architecture Humanoid Robotics Platform / Hirohisa Hirukawa ; Fumio Kanehiro ; Shuuji Kajita7： |
| Overview of OpenHRP |
| Unification of the controllers |
| Determining the repulsive force |
| Sharing software between the simulator and the controllers |
| Simulations and experiments |
| Building Spined Muscle-Tendon Humanoid / Ikuo Mizuuchi ; Ryosuke Tajima ; Tomoaki Yoshikai ; Daisuke Sato ; Koichi Nagashima |
| Design of spined muscle-tendon humanoid "Kenta" |
| Design of the Software System Structure |
| First steps to manage the body |
| Summary and Concluding Remarks |
| Dynamics and Control / Part 3： |
| Stride Period Adaptation for a Biomimetic Running Hexapod / Bernard Roth ; Jonathan K. Karpick ; Jorge G. Cham ; Jonathan E. Clark ; Mark R. Cutkosky |
| Simplified Model for Open-Loop Locomotion and Adaptation |
| Stride Period Adaptation |
| Conclusions and Future Work |
| Adaptive Dynamic Walking of a Quadruped Robot on Irregular Terrain Using a Neural System Model / Hiroshi Kimura ; Yasuhiro Fukuoka ; Yoshiro Hada ; Kunikatsu Takase |
| Adaptive Dynamic Walking Using a Neural System Model |
| Planar Walking |
| Three-dimensional Walking |
| Design and Applications of Parallel Robots / Karol Miller |
| Optimal Design of Parallel Robots |
| Medical Applications - MRI Compatible Parallel Robot |
| Conclusions and Discussion |
| Humanoid Robotics II / Part 4： |
| Development of an Interactive Humanoid Robot "Robovie" - An inter-disciplinary approach / Tomomasa Sato ; Hiroshi Ishiguro ; Tetsuo Ono ; Michita Imai ; Takayuki Kanda |
| Robovie: An Interactive Humanoid Robot |
| Two Cognitive Experiments |
| A Robot Architecture for Generating Episode Chains |
| The German Collaborative Research Centre on Humanoid Robots / Rüdiger Dillmann |
| The PbD Process |
| System Structure |
| PbD Phases |
| Experiments |
| Future Work |
| A New Generation of Compliance Controlled Manipulators with Human Arm Like Properties / Ralf Koeppe ; Alin Albu-Schäffer ; Carsten Preusche ; Günter Schreiber ; Gerd Hirzinger |
| The Human Arm System |
| The Advanced Robot: Design and Control Principles |
| Human Centred Robotics / Part 5： |
| Uniting Haptic Exploration and Display / James Trevelyan ; Allison M. Okamura |
| The Correspondence Between Exploration and Display |
| Exploration, Modeling, and Display of Surface Features |
| Human-Centered Robotics and Interactive Haptic Simulation / O. Khatib ; O. Brock ; K.C. Chang ; D. Ruspini ; L. Sentis ; S. Viji |
| Whole-Robot Control: Task and Posture |
| Interactive Haptic Simulation |
| Task-Consistent Elastic Plans |
| Collaboration, Dialogue, and Human-Robot Interaction / Terrence Fong ; Charles Thorpe ; Charles Baur |
| Dialogue |
| System Design |
| Results |
| Related Work |
| Applications / Part 6： |
| Vertebrate-type Perception and Gaze Control for Road Vehicles / Paolo Dario ; M. Pellkofer ; M. Lützeler ; E. D. Dickmanns |
| Motivation |
| Camera Configuration |
| Gaze Control Unit |
| Requesting Attention |
| Active Vision for Road Recognition |
| Optimization of Gaze Behavior |
| Experimental results / 8： |
| Towards a Realistic Medical Simulator using Virtual Environments and Haptic Interaction / Christian Laugier ; César Mendoza ; Kenneth Sundaraj9： |
| Physical Models for Soft Tissue |
| Numerical Resolution |
| Real-Time Interactions |
| Spoken Language Interface of the Jijo-2 Office Robot / Toshihiro Matsui ; Hideki Asoh ; Futoshi Asano ; John Fry ; Isao Hara ; Yoichi Motomura ; Katsunobu Itoh |
| Robot Architecture |
| Navigation and Map |
| Spoken Language Dialogue System |
| Task Execution |
| Example Dialogue and Behavior |
| Intelligent Home Appliances / Henrik I. Christensen |
| Example Systems |
| Analysis/Synthesis |
| Summary |
| Field Robots / Part 7： |
| Vision-Based Navigation / Chuck ThorpePart 8： |
| Vision-based Navigation, Environmental Representations and Imaging Geometries / Yoshiaki Shirai ; José Santos-Victor ; Alexandre Bernardino |
| Imaging geometries |
| Environmental representations |
| Examples of Navigation and Vision based Control |
| Mobile Robot Navigation As A Planar Visual Servoing Problem / Peter Corke |
| Visual Servoing Revisited |
| A Planar Formulation For Navigation |
| What Can We Learn From The Visual Servoing Literature? |
| Landing Strategies in Honeybees, and Applications to UAVs / M. V. Srinivasan ; S. W. Zhang ; J. S. Chahl ; M. A. Garratt |
| How Bees Perform Smooth Landings |
| Tests on a Robotic Gantry |
| Implementation in flying vehicles |
| Visual navigation in a plane using the conformal point / Richard Hartley ; Chanop Silpa-Anan |
| Motion in a plane |
| Proof of the angle construction |
| Determining the position of the conformal point |
| Homography from conformal point |
| Camera moving in a plane |
| Motion estimation in planar motion |
| Examples |
| Planning and Modeling / Part 9： |
| A Single-Query Bi-Directional Probabilistic Roadmap Planner with Lazy Collision Checking / Bob Bolles ; Gildardo Sánchez ; Jean-Claude Latombe |
| Definitions and Notations |
| Experimental Foundations |
| Description of SBL |
| Geometrical Interpretation of the CCT Stiffness Mapping for Serial Manipulators / Chintien Huang ; Imin Kao |
| Screw-Based Jacobian Matrices of Serial Manipulators |
| The Conservative Congruence Transformation |
| The Interpretation of Kg |
| Example of the Planar 3R Manipulator |
| A Dynamic Model of Contact Between a Robot and an Environment with Unknown Dynamics / Roy Featherstone |
| Background |
| Dual Vector Spaces |
| Dynamic Model of Contact |
| Analysis |
| Control |
| Robot Technology I / Part 10： |
| AURORA - Minimalist Design for Tracked Locomotion / John Hollerbach ; Jan-Olof Eklundh ; Dr. Hagen Schempf |
| Performance Requirement |
| System Description |
| Prototype Testing |
| Summary & Conclusion |
| Analysis of Robotic Locomotion Devices for the Gastrointestinal Tract / L. Phee ; A. Menciassi ; D. Accoto ; C. Stefanini ; P. Dario |
| Inchworm Type Locomotion |
| Types of Actuators and Mechanisms |
| First Prototype for Navigation in the Colon: Experimental Results |
| Modified Clampers Disposition: A Second Prototype |
| Advanced Sonar Sensing / Lindsay Kleeman |
| Sensor Design |
| Range and Bearing Measurements |
| Natural Selection of Landmarks |
| Discrimination |
| Interference Rejection |
| Classification |
| Some Underwater Results |
| Mechano-Media that Transmit Kinesthetic Knowledge from a Human to Other Humans / Yasuyoshi Yokokohji ; Yoshihiko Sugawara ; Junji Kinoshita ; Tsuneo Yoshikawa |
| WYSIWYF display |
| Accurate Image Overlay on HMDs by Hybrid Vision/Inertial Tracking |
| Encountered-type Haptic Device That Renderes Multiple Virtual Objects |
| Mechano-Media |
| Robot Technology II / Part 11： |
| The Evolution of a Robot Soccer Team / Raymond Austin Jarvis ; Alex Zelinsky ; Claude Sammut ; Bernhard Hengst |
| The Sony Legged Robot League |
| History |
| Vision |
| Localisation |
| Locomotion |
| Communication |
| Game Play Behaviours |
| Simultaneous Localization And Mapping / Part 1： |
| Session Summary / Raja Chatila |
| Towards Robust Data Association and Feature Modeling for Concurrent Mapping and Localization / John J. Leonard ; Paul M. Newman ; Richard J. Rikoski ; José Neira ; Juan D. Tardós |
| Introduction / 1： |
| "Explore and return" using Laser / 2： |
| Sonar Perceptual Grouping Using the Hough Transform / 3： |
