2016 IEEE International Conference on Robotics and Automation (ICRA 2016)

Stockholm, Sweden

16-21 May 2016

Pages 1-853

IEEE Catalog Number: CFP16RAA-POD ISBN: 978-1-4673-8027-0

1/6

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IEEE Catalog Number: CFP16RAA-POD ISBN (Print-On-Demand): 978-1-4673-8027-0 ISBN (Online): 978-1-4673-8026-3 ISSN: 1060-0272

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TABLE OF CONTENTS

EXACT ROBOT NAVIGATION USING POWER DIAGRAMS ...... 1 Omur Arslan ; Daniel E. Koditschek

GAUSSIAN PROCESS MOTION PLANNING ...... 9 Mustafa Mukadam ; Xinyan Yan ; Byron Boots

TOPOLOGICAL TRAJECTORY CLUSTERING WITH RELATIVE PERSISTENT HOMOLOGY ...... 16 Florian T. Pokorny ; Ken Goldberg ; Danica Kragic

HIGH-DIMENSIONAL WINDING-AUGMENTED MOTION PLANNING WITH 2D TOPOLOGICAL TASK PROJECTIONS AND PERSISTENT HOMOLOGY...... 24 Florian T. Pokorny ; Danica Kragic ; Lydia E. Kavraki ; Ken Goldberg

RESOURCE-AWARE MOTION PLANNING ...... 32 Manfred Krohnert ; Raphael Grimm ; Nikolaus Vahrenkamp ; Tamim Asfour

AN MDP-BASED APPROXIMATION METHOD FOR GOAL CONSTRAINED MULTI-MAV PLANNING UNDER ACTION UNCERTAINTY...... 56 Lantao Liu ; Nathan Michael

LEARNING HIGH-DIMENSIONAL MIXTURE MODELS FOR FAST COLLISION DETECTION IN RAPIDLY-EXPLORING RANDOM TREES ...... 63 Jinwook Huh ; Daniel D. Lee

BURS OF FREE C-SPACE: A NOVEL STRUCTURE FOR PATH PLANNING...... 70 Bakir Lacevic ; Dinko Osmankovic ; Adnan Ademovic

PATH PLANNING FOR ROBOTIC MANIPULATORS USING EXPANDED BUBBLES OF FREE C-SPACE...... 77 Adnan Ademovic ; Bakir Lacevic

REDUCED COMPLEXITY MULTI-SCALE PATH-PLANNING ON PROBABILISTIC MAPS ...... 83 Florian Hauer ; Panagiotis Tsiotras

HIERARCHICAL REJECTION SAMPLING FOR INFORMED KINODYNAMIC PLANNING IN HIGH- DIMENSIONAL SPACES...... 89 Tobias Kunz ; Andrea Thomaz ; Henrik Christensen

A HIGHLY SENSITIVE DUAL MODE TACTILE AND PROXIMITY SENSOR USING CARBON MICROCOILS FOR ROBOTIC APPLICATIONS ...... 97 Hyo Seung Han ; Junwoo Park ; Tien Dat Nguyen ; Uikyum Kim ; Canh Toan Nguyen ; Hoa Phung ; Hyouk Ryeol Choi

NANOFORCE SENSING WITH MAGNETIC SPRINGS USING A DIFFERENTIAL APPROACH TO COMPENSATE EXTERNAL MECHANICAL DISTURBANCES ...... 103 Margot Billot ; Emmanuel Piat ; Joel Abadie ; Joel Agnus ; Philippe Stempflé

IMPROVED NORMAL AND SHEAR TACTILE FORCE SENSOR PERFORMANCE VIA LEAST SQUARES ARTIFICIAL NEURAL NETWORK (LSANN) ...... 116 Meng Yee Chuah ; Sangbae Kim

TACTILE MANIPULATION WITH BIOMIMETIC ACTIVE TOUCH ...... 123 Luke Cramphorn ; Benjamin Ward-Cherrier ; Nathan F. Lepora

NARROW PASSAGE SAMPLING IN THE OBSERVATION OF ROBOTIC ASSEMBLY TASKS ...... 130 Korbinian Nottensteiner ; Mikel Sagardia ; Andreas Stemmer ; Christoph Borst

ROBOTIC GRASP CONTROL WITH HIGH-RESOLUTION COMBINED TACTILE AND PROXIMITY SENSING...... 138 Kazuhiro Shimonomura ; Hiroto Nakashima ; Kentaro Nozu

EXPERIENCE-BASED TORQUE ESTIMATION FOR AN INDUSTRIAL ROBOT...... 144 Erik Berger ; Steve Grehl ; David Vogt ; Bernhard Jung ; Heni Ben Amor

COMPRESSED SENSING FOR TACTILE SKINS...... 150 Brayden Hollis ; Stacy Patterson ; Jeff Trinkle

VARIABILITY AND PREDICTABILITY IN TACTILE SENSING DURING GRASPING...... 158 Qian Wan ; Ryan P. Adams ; Robert D. Howe

ANALYTIC GRASP SUCCESS PREDICTION WITH TACTILE FEEDBACK ...... 165 Robert Krug ; Achim J. Lilienthal ; Danica Kragic ; Yasemin Bekiroglu

DESIGNING EMBROIDERED ELECTRODES FOR WEARABLE SURFACE ELECTROMYOGRAPHY ...... 172 A. Shafti ; R. B. Ribas Manero ; A. M. Borg ; K. Althoefer ; M. J. Howard

TERRAIN CONTACT MODELING AND CLASSIFICATION FOR ATVS...... 186 Mario Gianni ; Manuel A. Ruiz Garcia ; Federico Ferri ; Fiora Pirri

PROBABILISTIC CONSOLIDATION OF GRASP EXPERIENCE...... 193 Yasemin Bekiroglu ; Andreas Damianou ; Renaud Detry ; Johannes A. Stork ; Danica Kragic ; Carl Henrik Ek

MOVEMENT PRIMITIVES WITH MULTIPLE PHASE PARAMETERS ...... 201 Marco Ewerton ; Guilherme Maeda ; Gerhard Neumann ; Viktor Kisner ; Gerrit Kollegger ; Josef Wiemeyer ; Jan Peters

LEARNING OPTIMAL NAVIGATION ACTIONS FOR FORESIGHTED ROBOT BEHAVIOR DURING ASSISTANCE TASKS...... 207 Abdelmoniem Bayoumi ; Maren Bennewitz

LIST PREDICTION APPLIED TO MOTION PLANNING...... 213 Abhijeet Tallavajhula ; Sanjiban Choudhury ; Sebastian Scherer ; Alonzo Kelly

LEARNING SOFT TASK PRIORITIES FOR CONTROL OF REDUNDANT ROBOTS ...... 221 Valerio Modugno ; Gerard Neumann ; Elmar Rueckert ; Giuseppe Oriolo ; Jan Peters ; Serena Ivaldi

STREAM-BASED ACTIVE LEARNING FOR EFFICIENT AND ADAPTIVE CLASSIFICATION OF 3D OBJECTS ...... 227 Alexander Narr ; Rudolph Triebel ; Daniel Cremers

GENERALIZING DEMONSTRATED MOTIONS AND ADAPTIVE MOTION GENERATION USING AN INVARIANT RIGID BODY TRAJECTORY REPRESENTATION...... 234 Maxim Vochten ; Tinne De Laet ; Joris De Schutter

COMBINING MODEL-BASED POLICY SEARCH WITH ONLINE MODEL LEARNING FOR CONTROL OF PHYSICAL HUMANOIDS...... 242 Igor Mordatch ; Nikhil Mishra ; Clemens Eppner ; Pieter Abbeel

LEARNING MOVEMENT SYNCHRONIZATION IN MULTI-COMPONENT ROBOTIC SYSTEMS ...... 249 Mohammad Thabet ; Alberto Montebelli ; Ville Kyrki

HIERARCHICAL INTERACTIVE LEARNING FOR A HUMAN-POWERED AUGMENTATION LOWER EXOSKELETON ...... 257 Rui Huang ; Hong Cheng ; Hongliang Guo ; Qiming Chen ; Xichuan Lin

DRIFTING GAUSSIAN PROCESSES WITH VARYING NEIGHBORHOOD SIZES FOR ONLINE MODEL LEARNING...... 264 Franziska Meier ; Stefan Schaal

AUTOMATIC LQR TUNING BASED ON GAUSSIAN PROCESS GLOBAL OPTIMIZATION ...... 270 Alonso Marco ; Philipp Hennig ; Jeannette Bohg ; Stefan Schaal ; Sebastian Trimpe

MONITORING THE EVOLUTION OF CLOUDS WITH UAVS ...... 278 Alessandro Renzaglia ; Christophe Reymann ; Simon Lacroix

PLANNING FOR A GROUND-AIR ROBOTIC SYSTEM WITH COLLABORATIVE LOCALIZATION...... 284 Jonathan Butzke ; Kalin Gochev ; Benjamin Holden ; Eui-Jung Jung ; Maxim Likhachev

PROXEMIC GROUP BEHAVIORS USING RECIPROCAL MULTI-AGENT NAVIGATION ...... 292 Liang He ; Jia Pan ; Wenping Wang ; Dinesh Manocha

REAL-TIME RECIPROCAL COLLISION AVOIDANCE WITH ELLIPTICAL AGENTS ...... 298 Andrew Best ; Sahil Narang ; Dinesh Manocha

AN ANALYSIS ON FLEXIBLE FORMATIONS OF NONHOLONOMIC MOBILE ROBOTS: MOTION PLANNING AND CONTROL PERSPECTIVES ...... 306 Chang Boon Low

OPTIMAL TECHNIQUE FOR MANIPULATION OF A GROUP OF CELLS USING OPTICAL TWEEZERS ...... 314 Reza Haghighi ; Chien Chern Cheah

COOPERATIVE MULTI-QUADROTOR PURSUIT OF AN EVADER IN AN ENVIRONMENT WITH NO-FLY ZONES...... 320 Alyssa Pierson ; Armin Ataei ; Ioannis Ch. Paschalidis ; Mac Schwager

RISK AVERSION IN FINITE MARKOV DECISION PROCESSES USING TOTAL COST CRITERIA AND AVERAGE VALUE AT RISK...... 335 Stefano Carpin ; Yin-Lam Chow ; Marco Pavone

AN EFFICIENT ALGORITHM FOR FAULT-TOLERANT RENDEZVOUS OF MULTI-ROBOT SYSTEMS WITH CONTROLLABLE SENSING RANGE ...... 358 Hyongju Park ; Seth Hutchinson

USING FRACTIONAL-ORDER DIFFERENTIAL EQUATIONS FOR HEALTH MONITORING OF A SYSTEM OF COOPERATING ROBOTS...... 366 Kevin Leyden ; Bill Goodwine

A CONVEX POLYNOMIAL FORCE-MOTION MODEL FOR PLANAR SLIDING: IDENTIFICATION AND APPLICATION ...... 372 Jiaji Zhou ; Robert Paolini ; J. Andrew Bagnell ; Matthew T. Mason

OPTIMAL CONTROL WITH LEARNED LOCAL MODELS: APPLICATION TO DEXTEROUS MANIPULATION...... 378 Vikash Kumar ; Emanuel Todorov ; Sergey Levine

A TWO-FINGERED UNDERACTUATED ANTHROPOMORPHIC MANIPULATOR BASED ON HUMAN PRECISION MANIPULATION MOTIONS...... 384 Ian M. Bullock ; Aaron M. Dollar

FINGER TRAJECTORY GENERATION FOR PLANAR DEXTEROUS MICRO-MANIPULATION ...... 392 Jean-Antoine Seon ; Redwan Dahmouche ; Benoit Brazey ; Michael Gauthier

ADAPTIVE CONTROL FOR PIVOTING WITH VISUAL AND TACTILE FEEDBACK...... 399 Francisco E. Vina ; Yiannis Karayiannidis ; Christian Smith ; Danica Kragic

MULTIMODAL EXECUTION MONITORING FOR ANOMALY DETECTION DURING ROBOT MANIPULATION...... 407 Daehyung Park ; Zackory Erickson ; Tapomayukh Bhattacharjee ; Charles C. Kemp

SENSORLESS AND CONSTRAINT BASED PEG-IN-HOLE TASK EXECUTION WITH A DUAL-ARM ROBOT...... 415 Matteo Parigi Polverini ; Andrea Maria Zanchettin ; Sebastiano Castello ; Paolo Rocco

A FRAMEWORK FOR FINE ROBOTIC ASSEMBLY...... 421 Francisco Suarez-Ruiz ; Quang-Cuong Pham

KINEMATIC MULTI-ROBOT MANIPULATION WITH NO COMMUNICATION USING FORCE FEEDBACK...... 427 Zijian Wang ; Mac Schwager

DECENTRALIZED MOTION CONTROL FOR COOPERATIVE MANIPULATION WITH A TEAM OF NETWORKED MOBILE MANIPULATORS ...... 441 Antonio Petitti ; Antonio Franchi ; Donato Di Paola ; Alessandro Rizzo

GUIDED SEARCH FOR TASK AND MOTION PLANS USING LEARNED HEURISTICS ...... 447 Rohan Chitnis ; Dylan Hadfield-Menell ; Abhishek Gupta ; Siddharth Srivastava ; Edward Groshev ; Christopher Lin ; Pieter Abbeel

ADAPTIVE OBJECT CENTERED TELEOPERATION CONTROL OF A MOBILE MANIPULATOR...... 455 Fredrik Baberg ; Yuquan Wang ; Sergio Caccamo ; Petter Ogren

SHIV: REDUCING SUPERVISOR BURDEN IN DAGGER USING SUPPORT VECTORS FOR EFFICIENT LEARNING FROM DEMONSTRATIONS IN HIGH DIMENSIONAL STATE SPACES...... 462 Michael Laskey ; Sam Staszak ; Wesley Yu-Shu Hsieh ; Jeffrey Mahler ; Florian T. Pokorny ; Anca D. Dragan ; Ken Goldberg

ROBUST LEARNING FROM DEMONSTRATION USING LEVERAGED GAUSSIAN PROCESSES AND SPARSE-CONSTRAINED OPTIMIZATION...... 470 Sungjoon Choi ; Kyungjae Lee ; Songhwai Oh

AVOIDING MOVING OBSTACLES WITH STOCHASTIC HYBRID DYNAMICS USING PEARL: PREFERENCE APPRAISAL REINFORCEMENT LEARNING...... 484 Aleksandra Faust ; Hao-Tien Chiang ; Nathanael Rackley ; Lydia Tapia

SAFE CONTROLLER OPTIMIZATION FOR QUADROTORS WITH GAUSSIAN PROCESSES...... 491 Felix Berkenkamp ; Angela P. Schoellig ; Andreas Krause

VARIABLE DURATION MOVEMENT ENCODING WITH MINIMAL INTERVENTION CONTROL ...... 497 Martijn J. A. Zeestraten ; Sylvain Calinon ; Darwin G. Caldwell

MODEL-BASED REINFORCEMENT LEARNING WITH PARAMETRIZED PHYSICAL MODELS AND OPTIMISM-DRIVEN EXPLORATION...... 504 Chris Xie ; Sachin Patil ; Teodor Moldovan ; Sergey Levine ; Pieter Abbeel

DEEP SPATIAL AUTOENCODERS FOR VISUOMOTOR LEARNING ...... 512 Chelsea Finn ; Xin Yu Tan ; Yan Duan ; Trevor Darrell ; Sergey Levine ; Pieter Abbeel

LEARNING DEEP NEURAL NETWORK POLICIES WITH CONTINUOUS MEMORY STATES ...... 520 Marvin Zhang ; Zoe McCarthy ; Chelsea Finn ; Sergey Levine ; Pieter Abbeel

LEARNING DEEP CONTROL POLICIES FOR AUTONOMOUS AERIAL VEHICLES WITH MPC-GUIDED POLICY SEARCH...... 528 Tianhao Zhang ; Gregory Kahn ; Sergey Levine ; Pieter Abbeel

DEEP LEARNING FOR TACTILE UNDERSTANDING FROM VISUAL AND HAPTIC DATA...... 536 Yang Gao ; Lisa Anne Hendricks ; Katherine J. Kuchenbecker ; Trevor Darrell

INCREMENTAL SEMIPARAMETRIC INVERSE DYNAMICS LEARNING...... 544 Raffaello Camoriano ; Silvio Traversaro ; Lorenzo Rosasco ; Giorgio Metta ; Francesco Nori

SELF-LEARNING AND ADAPTATION IN A SENSORIMOTOR FRAMEWORK ...... 551 Ali Ghadirzadeh ; Judith Butepage ; Danica Kragic ; Marten Bjorkman

ROBUST TRACKING OF UNKNOWN OBJECTS THROUGH ADAPTIVE SIZE ESTIMATION AND APPEARANCE LEARNING...... 559 Alessandro Pieropan ; Niklas Bergstrom ; Masatoshi Ishikawa ; Danica Kragic ; Hedvig Kjellstrom

GLOBAL DATA ASSOCIATION FOR THE PROBABILITY HYPOTHESIS DENSITY FILTER USING NETWORK FLOWS ...... 567 Nicolai Wojke ; Dietrich Paulus

ROBUST CAMERA MOTION ESTIMATION USING DIRECT EDGE ALIGNMENT AND SUB-GRADIENT METHOD ...... 573 Manohar Kuse ; Shaojie Shen

MONOCULAR 3D TRACKING OF DEFORMABLE SURFACES...... 580 Luis Puig ; Kostas Daniilidis

ARTICULATED MOTION ESTIMATION FROM A MONOCULAR IMAGE SEQUENCE USING SPHERICAL TANGENT BUNDLES...... 587 Spyridon Leonardos ; Xiaowei Zhou ; Kostas Daniilidis

DEPTH-BASED OBJECT TRACKING USING A ROBUST GAUSSIAN FILTER...... 608 Jan Issac ; Manuel Wuthrich ; Cristina Garcia Cifuentes ; Jeannette Bohg ; Sebastian Trimpe ; Stefan Schaal

ROBOT ARM POSE ESTIMATION BY PIXEL-WISE REGRESSION OF JOINT ANGLES ...... 616 Felix Widmaier ; Daniel Kappler ; Stefan Schaal ; Jeannette Bohg

SACCADE MIRROR 3: HIGH-SPEED GAZE CONTROLLER WITH ULTRA WIDE GAZE CONTROL RANGE USING TRIPLE ROTATIONAL MIRRORS...... 624 Kazuhisa IIda ; Hiromasa Oku

A LIGHTWEIGHT, MULTI-AXIS COMPLIANT TENSEGRITY JOINT ...... 630 Steven Lessard ; Jonathan Bruce ; Erik Jung ; Mircea Teodorescu ; Vytas Sunspiral ; Adrian Agogino

COMPLIANT ACTUATION FOR ENERGY EFFICIENT IMPEDANCE MODULATION ...... 636 D. J. Braun ; S. Apte ; O. Adiyatov ; A. Dahiya ; N. Hogan

DESIGN OF A VARIABLE COMPLIANT HUMANOID FOOT WITH A NEW TOE MECHANISM ...... 642 Wooseok Choi ; Gustavo A. Medrano-Cerda ; Darwin G. Caldwell ; Nikos G. Tsagarakis

WORK DENSITY ANALYSIS OF ADJUSTABLE STIFFNESS MECHANISMS...... 648 Marius Stucheli ; Andre Foehr ; Mirko Meboldt

DESIGN OF A HOPPING MECHANISM USING A VOICE COIL ACTUATOR: LINEAR ELASTIC ACTUATOR IN PARALLEL (LEAP) ...... 655 Zachary Batts ; Joohyung Kim ; Katsu Yamane

DESIGN AND EVALUATION OF A NOVEL VARIABLE STIFFNESS SPHERICAL JOINT WITH APPLICATION TO MR-COMPATIBLE ROBOT DESIGN ...... 661 Quentin Boehler ; Marc Vedrines ; Salih Abdelaziz ; Philippe Poignet ; Pierre Renaud

+SPEA INTRODUCTION: DRASTIC ACTUATOR ENERGY REQUIREMENT REDUCTION BY SYMBIOSIS OF PARALLEL MOTORS, SPRINGS AND LOCKING MECHANISMS...... 676 Glenn Mathijssen ; Raphael Furnemont ; Tom Verstraten ; Branko Brackx ; Jasmina Premec ; Rene Jimenez ; Dirk Lefeber ; Bram Vanderborght

A LIGHTWEIGHT, LOW-POWER ELECTROADHESIVE CLUTCH AND SPRING FOR EXOSKELETON ACTUATION...... 682 Stuart Diller ; Carmel Majidi ; Steven H. Collins

A HYBRID HYDROSTATIC TRANSMISSION AND HUMAN-SAFE HAPTIC TELEPRESENCE ROBOT ...... 690 John P. Whitney ; Tianyao Chen ; John Mars ; Jessica K. Hodgins

IMAGE-BASED ROBOTIC SYSTEM FOR ENHANCED MINIMALLY INVASIVE INTRA-ARTICULAR FRACTURE SURGERIES...... 696 G. Dagnino ; I. Georgilas ; P. Kohler ; R. Atkins ; S. Dogramadzi

PLENOPTIC CAMERAS IN SURGICAL ROBOTICS: CALIBRATION, REGISTRATION, AND EVALUATION ...... 708 Azad Shademan ; Ryan S. Decker ; Justin Opfermann ; Simon Leonard ; Peter C. W. Kim ; Axel Krieger

HUBOT: A THREE STATE HUMAN-ROBOT COLLABORATIVE FRAMEWORK FOR BIMANUAL SURGICAL TASKS BASED ON LEARNED MODELS...... 715 Pierre Berthet-Rayne ; Maura Power ; Hawkeye King ; Guang-Zhong Yang

TOWARD HUMAN-ROBOT COLLABORATION IN SURGERY: PERFORMANCE ASSESSMENT OF HUMAN AND ROBOTIC AGENTS IN AN INCLUSION SEGMENTATION TASK...... 723 Kirsten E. Kaplan ; Kirk A. Nichols ; Allison M. Okamura

DEVELOPMENT OF A ROBOTIC SYSTEM FOR ORTHODONTIC ARCHWIRE BENDING...... 730 Zeyang Xia ; Hao Deng ; Shaokui Weng ; Yangzhou Gan ; Jing Xiong ; Hesheng Wang

ROBOTIC ULTRASOUND TRAJECTORY PLANNING FOR VOLUME OF INTEREST COVERAGE ...... 736 Christoph Graumann ; Bernhard Fuerst ; Christoph Hennersperger ; Felix Bork ; Nassir Navab

OPTICAL-INERTIAL TRACKING OF AN INPUT DEVICE FOR REAL-TIME ROBOT CONTROL...... 742 Florian Steidle ; Andreas Tobergte ; Alin Albu-Schaffer

SOFT POP-UP MECHANISMS FOR MICRO SURGICAL TOOLS: DESIGN AND CHARACTERIZATION OF COMPLIANT MILLIMETER-SCALE ARTICULATED STRUCTURES ...... 750 S. Russo ; T. Ranzani ; J. Gafford ; C. J. Walsh ; R. J. Wood

A CONTINUUM MANIPULATOR WITH PHASE CHANGING ALLOY...... 758 Farshid Alambeigi ; Reza Seifabadi ; Mehran Armand

LEARNING BINARY FEATURES ONLINE FROM MOTION DYNAMICS FOR INCREMENTAL LOOP- CLOSURE DETECTION AND PLACE RECOGNITION...... 765 Guangcong Zhang ; Mason J. Lilly ; Patricio A. Vela

FAST, ROBUST, CONTINUOUS MONOCULAR EGOMOTION COMPUTATION ...... 773 Andrew Jaegle ; Stephen Phillips ; Kostas Daniilidis

LOW-LATENCY IMAGE PROCESSING FOR VISION-BASED NAVIGATION SYSTEMS...... 781 Petr Cizek ; Jan Faigl ; Diar Masri

MADE TO MEASURE: BESPOKE LANDMARKS FOR 24-HOUR, ALL-WEATHER LOCALISATION WITH A CAMERA ...... 787 Chris Linegar ; Winston Churchill ; Paul Newman

OFF THE BEATEN TRACK: PREDICTING LOCALISATION PERFORMANCE IN VISUAL TEACH AND REPEAT ...... 795 Julie Dequaire ; Chi Hay Tong ; Winston Churchill ; Ingmar Posner

BENEFIT OF LARGE FIELD-OF-VIEW CAMERAS FOR VISUAL ODOMETRY ...... 801 Zichao Zhang ; Henri Rebecq ; Christian Forster ; Davide Scaramuzza

ON DEGENERACY OF OPTIMIZATION-BASED STATE ESTIMATION PROBLEMS...... 809 Ji Zhang ; Michael Kaess ; Sanjiv Singh

PROBE-GK: PREDICTIVE ROBUST ESTIMATION USING GENERALIZED KERNELS ...... 817 Valentin Peretroukhin ; William Vega-Brown ; Nicholas Roy ; Jonathan Kelly

MULTI-LEVEL MAPPING: REAL-TIME DENSE MONOCULAR SLAM ...... 833 W. Nicholas Greene ; Kyel Ok ; Peter Lommel ; Nicholas Roy

ON THE WORKSPACE OF SUSPENDED CABLE-DRIVEN PARALLEL ROBOTS...... 841 J-P. Merlet

TRIPLE SCISSOR EXTENDER: A 6-DOF LIFTING AND POSITIONING ROBOT...... 847 Daniel J. Gonzalez ; H. Harry Asada

DYNAMIC ISOTROPY IN 3-DOF GANTRY TAU ROBOTS - AN ANALYTICAL STUDY...... 854 Behrouz Afzali-Far ; Per Lidstrom ; Anders Robertsson

ON THE STIFFNESS OF THREE/FOUR DEGREE-OF-FREEDOM PARALLEL PICK-AND-PLACE ROBOTS WITH FOUR IDENTICAL LIMBS...... 861 Guanglei Wu ; Shaoping Bai ; Preben Hjornet

DETERMINATION OF THE WRENCH-CLOSURE TRANSLATIONAL WORKSPACE IN CLOSED-FORM FOR CABLE-DRIVEN PARALLEL ROBOTS...... 882 Andreas Pott ; Werner Kraus

A COMPARISON OF THE YAW CONSTRAINING PERFORMANCE OF SCARA-TAU PARALLEL MANIPULATOR VARIANTS VIA SCREW THEORY...... 888 Mats Isaksson ; Kristan Marlow ; Torgny Brogardh ; Anders Eriksson

ENERGY EFFICIENCY OF CABLE-DRIVEN PARALLEL ROBOTS ...... 894 Werner Kraus ; Alexander Spiller ; Andreas Pott

WIRE-DRIVEN PARALLEL ROBOTIC SYSTEM AND ITS CONTROL FOR MAINTENANCE OF OFFSHORE WIND TURBINES ...... 902 Dong Gun Lee ; Sehoon Oh ; Hyoung Il Son

INGESTIBLE, CONTROLLABLE, AND DEGRADABLE ORIGAMI ROBOT FOR PATCHING STOMACH WOUNDS ...... 909 Shuhei Miyashita ; Steven Guitron ; Kazuhiro Yoshida ; Shuguang Li ; Dana D. Damian ; Daniela Rus

CONSIDERATIONS FOR FOLLOW-THE-LEADER MOTION OF EXTENSIBLE TENDON-DRIVEN CONTINUUM ROBOTS...... 917 Maria Neumann ; Jessica Burgner-Kahrs

COMPLEMENTARY MODEL UPDATE: A METHOD FOR SIMULTANEOUS REGISTRATION AND STIFFNESS MAPPING IN FLEXIBLE ENVIRONMENTS ...... 924 Rangaprasad Arun Srivatsan ; Elif Ayvali ; Long Wang ; Rajarshi Roy ; Nabil Simaan ; Howie Choset

USING BAYESIAN OPTIMIZATION TO GUIDE PROBING OF A FLEXIBLE ENVIRONMENT FOR SIMULTANEOUS REGISTRATION AND STIFFNESS MAPPING...... 931 Elif Ayvali ; Rangaprasad Arun Srivatsan ; Long Wang ; Rajarshi Roy ; Nabil Simaan ; Howie Choset

TOWARD REAL-TIME 3D ULTRASOUND REGISTRATION-BASED VISUAL SERVOING FOR INTERVENTIONAL NAVIGATION ...... 945 Oliver Zettinig ; Bernhard Fuerst ; Risto Kojcev ; Marco Esposito ; Mehrdad Salehi ; Wolfgang Wein ; Julia Rackerseder ; Edoardo Sinibaldi ; Benjamin Frisch ; Nassir Navab

DRY-WIRELESS EEG AND ASYNCHRONOUS ADAPTIVE FEATURE EXTRACTION TOWARDS A PLUG- AND-PLAY CO-ADAPTIVE BRAIN ROBOT INTERFACE ...... 959 Giuseppe Lisi ; Masashi Hamaya ; Tomoyuki Noda ; Jun Morimoto

VISUAL-TACTILE SENSORY MAP CALIBRATION OF A BIOMIMETIC WHISKERED ROBOT ...... 967 Tareq Assaf ; Emma D. Wilson ; Sean Anderson ; Paul Dean ; John Porrill ; Martin J. Pearson

MICRONEEDLE-BASED HIGH-DENSITY SURFACE EMG INTERFACE WITH HIGH SELECTIVITY FOR FINGER MOVEMENT RECOGNITION ...... 973 Minjae Kim ; Dong Sung Kim ; Wan Kyun Chung

WHAT LIES BEHIND: RECOVERING HIDDEN SHAPE IN DENSE MAPPING ...... 979 Michael Tanner ; Pedro Pinies ; Lina Maria Paz ; Paul Newman

SURFACE RECONSTRUCTION FROM IMAGE SPACE ADJACENCY OF LINES USING BREADTH-FIRST PLANE SEARCH...... 995 Gerhard Mentges ; Rolf-Rainer Grigat

FAST, ACCURATE GAUSSIAN PROCESS OCCUPANCY MAPS VIA TEST-DATA OCTREES AND NESTED BAYESIAN FUSION ...... 1003 Jinkun Wang ; Brendan Englot

PROBABILISTIC MAP FUSION FOR FAST, INCREMENTAL OCCUPANCY MAPPING WITH 3D HILBERT MAPS...... 1011 Kevin Doherty ; Jinkun Wang ; Brendan Englot

ROOM SEGMENTATION: SURVEY, IMPLEMENTATION, AND ANALYSIS ...... 1019 Richard Bormann ; Florian Jordan ; Wenzhe Li ; Joshua Hampp ; Martin Hagele

FROM GRIDS TO CONTINUOUS OCCUPANCY MAPS THROUGH AREA KERNELS...... 1043 Carlos E. O. Vido ; Fabio Ramos

AUTOMATED THREE-DIMENSIONAL AXIS MAPPING WITH A MOBILE PLATFORM...... 1049 Marc J. Gallant ; Joshua A. Marshall

TOWARDS LIFELONG FEATURE-BASED MAPPING IN SEMI-STATIC ENVIRONMENTS ...... 1063 David M. Rosen ; Julian Mason ; John J. Leonard

LARGE-SCALE COOPERATIVE 3D VISUAL-INERTIAL MAPPING IN A MANHATTAN WORLD ...... 1071 Chao X. Guo ; Kourosh Sartipi ; Ryan C. Dutoit ; Georgios A. Georgiou ; Ruipeng Li ; John O'Leary ; Esha D. Nerurkar ; Joel A. Hesch ; Stergios I. Roumeliotis

A PASSIVITY-BASED APPROACH FOR TRAJECTORY TRACKING AND LINK-SIDE DAMPING OF COMPLIANTLY ACTUATED ROBOTS ...... 1079 Manuel Keppler ; Dominic Lakatos ; Christian Ott ; Alin Albu-Schaffer

SIMULTANEOUS POSITION AND STIFFNESS CONTROL FOR AN INFLATABLE SOFT ROBOT ...... 1095 Morgan T. Gillespie ; Charles M. Best ; Marc D. Killpack

REGION CONTROL FOR ROBOTS DRIVEN BY SERIES ELASTIC ACTUATORS ...... 1102 Xiang Li ; Gong Chen ; Yongping Pan ; Haoyong Yu

IMPROVED DYNAMIC FORMULATION FOR DECOUPLED CARTESIAN ADMITTANCE CONTROL AND RCM CONSTRAINT...... 1124 Juan Sandoval ; Gerard Poisson ; Pierre Vieyres

IMPLICIT FORCE CONTROL FOR AN INDUSTRIAL ROBOT BASED ON STIFFNESS ESTIMATION AND COMPENSATION DURING MOTION ...... 1138 Roberto Rossi ; Luca Fossali ; Alberto Novazzi ; Luca Bascetta ; Paolo Rocco

A MODEL COMPENSATION-PREDICTION SCHEME FOR CONTROL OF MICROMANIPULATION SYSTEMS WITH A SINGLE FEEDBACK LOOP...... 1154 Weize Zhang ; Juntian Qu ; Xinyu Liu

OBSERVER BASED IMPEDANCE CONTROL OF A PNEUMATIC SYSTEM WITH LONG TRANSMISSION LINES ...... 1160 Melih Turkseven ; Jun Ueda

KONTUR-2: FORCE-FEEDBACK TELEOPERATION FROM THE INTERNATIONAL SPACE STATION...... 1166 Jordi Artigas ; Ribin Balachandran ; Cornelia Riecke ; Martin Stelzer ; Bernhard Weber ; Jee-Hwan Ryu ; Alin Albu-Schaeffer

FAST IMAGE MOSAICING USING INCREMENTAL BAGS OF BINARY WORDS ...... 1174 Emilio Garcia-Fidalgo ; Alberto Ortiz ; Francisco Bonnin-Pascual ; Joan P. Company

ON-BOARD VISION-BASED 3D RELATIVE LOCALIZATION SYSTEM FOR MULTIPLE QUADROTORS...... 1181 Duarte Dias ; Rodrigo Ventura ; Pedro Lima ; Alcherio Martinoli

COOPERATIVE SENSOR FAULT RECOVERY IN MULTI-UAV SYSTEMS ...... 1188 Alejandro Suarez ; Guillermo Heredia ; Anibal Ollero

RATE-ADAPTIVE MULTICAST VIDEO STREAMING FROM TEAMS OF MICRO AERIAL VEHICLES...... 1194 Raheeb Muzaffar ; Vladimir Vukadinovic ; Andrea Cavallaro

COLLABORATIVE LOCALIZATION AND FORMATION FLYING USING DISTRIBUTED STEREO-VISION...... 1202 Nathan Piasco ; Julien Marzat ; Martial Sanfourche

EXPERIMENTS ON COORDINATED MOTION OF AERIAL ROBOTIC MANIPULATORS ...... 1224 G. Muscio ; F. Pierri ; M. A. Trujillo ; E. Cataldi ; G. Giglio ; G. Antonelli ; F. Caccavale ; A. Viguria ; S. Chiaverini ; A. Ollero

OPTIMAL EVENT HANDLING BY MULTIPLE UNMANNED AERIAL VEHICLES ...... 1230 Martijn De Roo ; Paolo Frasca ; Raffaella Carloni

LANDING OF A FIXED-WING UAV ON A MOBILE GROUND VEHICLE ...... 1237 Tin Muskardin ; Georg Balmer ; Sven Wlach ; Konstantin Kondak ; Maximilian Laiacker ; Anibal Ollero

FAST NONLINEAR MODEL PREDICTIVE CONTROL VIA PARTIAL ENUMERATION ...... 1243 Vishnu R. Desaraju ; Nathan Michael

ASSISTIVE COLLISION AVOIDANCE FOR QUADROTOR SWARM TELEOPERATION...... 1249 Dingjiang Zhou ; Mac Schwager

LIVE-FLY, LARGE-SCALE FIELD EXPERIMENTATION FOR LARGE NUMBERS OF FIXED-WING UAVS...... 1255 Timothy H. Chung ; Michael R. Clement ; Michael A. Day ; Kevin D. Jones ; Duane Davis ; Marianna Jones

REAL-TIME LOOP CLOSURE IN 2D LIDAR SLAM...... 1271 Wolfgang Hess ; Damon Kohler ; Holger Rapp ; Daniel Andor

IMPROVING ACCURACY OF FEATURE-BASED RGB-D SLAM BY MODELING SPATIAL UNCERTAINTY OF POINT FEATURES ...... 1279 Dominik Belter ; Michal Nowicki ; Piotr Skrzypczynski

CPA SLAM: CONSISTENT PLANE-MODEL ALIGNMENT FOR DIRECT RGB-D SLAM ...... 1285 Lingni Ma ; Christian Kerl ; Jorg Stuckler ; Daniel Cremers

COMPARATIVE DESIGN SPACE EXPLORATION OF DENSE AND SEMI-DENSE SLAM...... 1292 M. Zeeshan Zia ; Luigi Nardi ; Andrew Jack ; Emanuele Vespa ; Bruno Bodin ; Paul H. J. Kelly ; Andrew J. Davison

PINPOINT SLAM: A HYBRID OF 2D AND 3D SIMULTANEOUS LOCALIZATION AND MAPPING FOR RGB-D SENSORS...... 1300 Esra Ataer-Cansizoglu ; Yuichi Taguchi ; Srikumar Ramalingam

DIRECT SEMI--DENSE SLAM FOR ROLLING SHUTTER CAMERAS ...... 1308 Jae-Hak Kim ; Cesar Cadena ; Ian Reid

TREE-CONNECTIVITY: EVALUATING THE GRAPHICAL STRUCTURE OF SLAM...... 1316 Kasra Khosoussi ; Shoudong Huang ; Gamini Dissanayake

FAST DEPTH EDGE DETECTION AND EDGE BASED RGB-D SLAM...... 1323 Laurie Bose ; Arthur Richards

VISUAL-INERTIAL DIRECT SLAM ...... 1331 Alejo Concha ; Giuseppe Loianno ; Vijay Kumar ; Javier Civera

A UNIFIED REPRESENTATION FOR APPLICATION OF ARCHITECTURAL CONSTRAINTS IN LARGE- SCALE MAPPING...... 1339 Paul Amayo ; Pedro Pinies ; Lina M. Paz ; Paul Newman

A UNIFIED RESOURCE-CONSTRAINED FRAMEWORK FOR GRAPH SLAM...... 1346 Liam Paull ; Guoquan Huang ; John J. Leonard

OPTIMAL CONFIGURATION OF SERIES AND PARALLEL ELASTICITY IN A 2D MONOPED...... 1360 Yevgeniy Yesilevskiy ; Zhenyu Gan ; C. David Remy

OPTIMIZATION AND STABILIZATION OF TRAJECTORIES FOR CONSTRAINED DYNAMICAL SYSTEMS...... 1366 Michael Posa ; Scott Kuindersma ; Russ Tedrake

SIMULTANEOUS OPTIMIZATION OF GAIT AND DESIGN PARAMETERS FOR BIPEDAL ROBOTS...... 1374 Ulrich J. Romer ; Cornelius Kuhs ; Mathias J. Krause ; Alexander Fidlin

MODEL PREDICTIVE CONTROL OF AUTONOMOUS MOBILITY-ON-DEMAND SYSTEMS...... 1382 Rick Zhang ; Federico Rossi ; Marco Pavone

EVOLUTIONARY OPTIMIZATION FOR PARAMETERIZED WHOLE-BODY DYNAMIC MOTOR SKILLS ...... 1390 Sehoon Ha ; C. Karen Liu

FAST NONLINEAR MODEL PREDICTIVE CONTROL FOR UNIFIED TRAJECTORY OPTIMIZATION AND TRACKING ...... 1398 Michael Neunert ; Cedric De Crousaz ; Fadri Furrer ; Mina Kamel ; Farbod Farshidian ; Roland Siegwart ; Jonas Buchli

OPTIMAL FEEDBACK LINEARIZATION CONTROL OF BRUSHLESS MOTORS...... 1405 Farhad Aghili ; Chun-Yi Su

OPTIMIZING GAZE DIRECTION IN A VISUAL NAVIGATION TASK...... 1427 Tuomas Valimaki ; Risto Ritala

AGGRESSIVE DRIVING WITH MODEL PREDICTIVE PATH INTEGRAL CONTROL...... 1433 Grady Williams ; Paul Drews ; Brian Goldfain ; James M. Rehg ; Evangelos A. Theodorou

ON REACHABILITY SETS FOR OPTIMAL FEEDBACK CONTROLLERS: MONITORING THE APPROACH OF A REGION OF ATTRACTION...... 1441 Christof Vomel ; Diego Pardo ; Jonas Buchli

3D DYNAMIC WALKING WITH UNDERACTUATED HUMANOID ROBOTS: A DIRECT COLLOCATION FRAMEWORK FOR OPTIMIZING HYBRID ZERO DYNAMICS ...... 1447 Ayonga Hereid ; Eric A. Cousineau ; Christian M. Hubicki ; Aaron D. Ames

OPTIMIZED AND TRUSTED COLLISION AVOIDANCE FOR UNMANNED AERIAL VEHICLES USING APPROXIMATE DYNAMIC PROGRAMMING ...... 1455 Zachary N. Sunberg ; Mykel J. Kochenderfer ; Marco Pavone

RECEDING HORIZON "NEXT-BEST-VIEW" PLANNER FOR 3D EXPLORATION ...... 1462 Andreas Bircher ; Mina Kamel ; Kostas Alexis ; Helen Oleynikova ; Roland Siegwart

AGGRESSIVE QUADROTOR FLIGHT THROUGH CLUTTERED ENVIRONMENTS USING MIXED INTEGER PROGRAMMING...... 1469 Benoit Landry ; Robin Deits ; Peter R. Florence ; Russ Tedrake

ONLINE GENERATION OF COLLISION-FREE TRAJECTORIES FOR QUADROTOR FLIGHT IN UNKNOWN CLUTTERED ENVIRONMENTS...... 1476 Jing Chen ; Tianbo Liu ; Shaojie Shen

HIGH SPEED NAVIGATION FOR QUADROTORS WITH LIMITED ONBOARD SENSING ...... 1484 Sikang Liu ; Michael Watterson ; Sarah Tang ; Vijay Kumar

MINIMUM-ENERGY PATH GENERATION FOR A QUADROTOR UAV...... 1492 Fabio Morbidi ; Roel Cano ; David Lara

AGGRESSIVE QUADROTOR FLIGHT USING DENSE VISUAL-INERTIAL FUSION ...... 1499 Yonggen Ling ; Tianbo Liu ; Shaojie Shen

AN ANALYSIS OF WIND FIELD ESTIMATION AND EXPLOITATION FOR QUADROTOR FLIGHT IN THE URBAN CANOPY LAYER ...... 1507 John Ware ; Nicholas Roy

FAST RADIATION MAPPING AND MULTIPLE SOURCE LOCALIZATION USING TOPOGRAPHIC CONTOUR MAP AND INCREMENTAL DENSITY ESTIMATIONINCREMENTAL DENSITY ESTIMATION...... 1515 Abdullah Al Redwan Newaz ; Sungmoon Jeong ; Hosun Lee ; Hyejeong Ryu ; Nak Young Chong ; Matthew T. Mason

INFORMATIVE SOARING WITH DRIFTING THERMALS ...... 1522 Joseph L. Nguyen ; Nicholas R. J. Lawrance ; Robert Fitch ; Salah Sukkarieh

FAST, ON-BOARD, MODEL-AIDED VISUAL-INERTIAL ODOMETRY SYSTEM FOR QUADROTOR MICRO AERIAL VEHICLES ...... 1530 Dinuka Abeywardena ; Shoudong Huang ; Ben Barnes ; Gamini Dissanayake ; Sarath Kodagoda

VELOCITY AIDED ATTITUDE ESTIMATION FOR AERIAL ROBOTIC VEHICLES USING LATENT ROTATION SCALING...... 1538 Guillaume Allibert ; Robert Mahony ; Moses Bangura

VISUAL INERTIAL ODOMETRY FOR QUADROTORS ON SE(3)...... 1544 Giuseppe Loianno ; Michael Watterson ; Vijay Kumar

WORK THOSE ARMS: TOWARD DYNAMIC AND STABLE HUMANOID WALKING THAT OPTIMIZES FULL-BODY MOTION ...... 1552 Christian M. Hubicki ; Ayonga Hereid ; Michael X. Grey ; Andrea L. Thomaz ; Aaron D. Ames

SYNTHESIS OF FULL-BODY 3-D HUMAN GAIT USING OPTIMAL CONTROL METHODS...... 1560 Martin L. Felis ; Katja Mombaur

OFF-LINE CONTROLLER DESIGN FOR RELIABLE WALKING OF RANGER...... 1567 Matthew Kelly ; Matthew Sheen ; Andy Ruina

WALKING PATTERN GENERATORS DESIGNED FOR PHYSICAL COLLABORATION ...... 1573 Don Joven Agravante ; Alexander Sherikov ; Pierre-Brice Wieber ; Andrea Cherubini ; Abderrahmane Kheddar

FOCUSED ONLINE VISUAL-MOTOR COORDINATION FOR A DUAL-ARM ROBOT MANIPULATOR...... 1579 Seongyong Koo ; Sven Behnke

ROBOT-HUMAN BALANCE STATE TRANSFER DURING FULL-BODY HUMANOID TELEOPERATION USING DIVERGENT COMPONENT OF MOTION DYNAMICS ...... 1587 Joao Ramos ; Albert Wang ; Sangbae Kim

FAST ALGORITHMS TO TEST ROBUST STATIC EQUILIBRIUM FOR LEGGED ROBOTS...... 1601 Andrea Del Prete ; Steve Tonneau ; Nicolas Mansard

PARAMETRIZATION OF CATMULL-CLARK SUBDIVISION SURFACES FOR POSTURE GENERATION ...... 1608 Adrien Escande ; Stanislas Brossette ; Abderrahmane Kheddar

WHOLE-BODY PLANNING FOR HUMANOIDS ALONG DEFORMABLE TASKS...... 1615 Marco Cognetti ; Valentino Fioretti ; Giuseppe Oriolo

NEOL: TOWARD NEVER-ENDING OBJECT LEARNING FOR ROBOTS...... 1621 Yuyin Sun ; Dieter Fox

DAILY ACTIVITY RECOGNITION USING THE INFORMATIVE FEATURES FROM SKELETAL AND DEPTH DATA ...... 1628 Min-Yu Wu ; Tzu-Yang Chen ; Kuan-Yu Chen ; Li-Chen Fu

DEEP LEARNING FOR HUMAN PART DISCOVERY IN IMAGES ...... 1634 Gabriel L. Oliveira ; Abhinav Valada ; Claas Bollen ; Wolfram Burgard ; Thomas Brox

LEARNING CONVOLUTIONAL ACTION PRIMITIVES FOR FINE-GRAINED ACTION RECOGNITION...... 1642 Colin Lea ; Rene Vidal ; Gregory D. Hager

ROBUST SPEECH/NON-SPEECH DISCRIMINATION BASED ON PITCH ESTIMATION FOR MOBILE ROBOTS...... 1650 Francois Grondin ; Francois Michaud

MULTI-SENSORIAL AND EXPLORATIVE RECOGNITION OF GARMENTS AND THEIR MATERIAL PROPERTIES IN UNCONSTRAINED ENVIRONMENT ...... 1656 Christos Kampouris ; Ioannis Mariolis ; Georgia Peleka ; Evangelos Skartados ; Andreas Kargakos ; Dimitra Triantafyllou ; Sotiris Malassiotis

COLOR OBJECT RECOGNITION VIA CROSS-DOMAIN LEARNING ON RGB-D IMAGES ...... 1672 Yawen Huang ; Fan Zhu ; Ling Shao ; Alejandro F. Frangi

ARBITRARY VIEW ACTION RECOGNITION VIA TRANSFER DICTIONARY LEARNING ON SYNTHETIC TRAINING DATA...... 1678 Jingtian Zhang ; Lining Zhang ; Hubert P. H. Shum ; Ling Shao

CONVOLUTIONAL HYPERCUBE PYRAMID FOR ACCURATE RGB-D OBJECT CATEGORY AND INSTANCE RECOGNITION...... 1685 Hasan F. M. Zaki ; Faisal Shafait ; Ajmal Mian

CONTROL OF MICROSTRUCTURES PROPELLED VIA BACTERIAL BATHS...... 1693 Elizabeth E. Hunter ; Nathaniel Chodosh ; Edward B. Steager ; Vijay Kumar

FEEDBACK CONTROL OF INERTIAL FOCUSING USING REAL-TIME EXTRACTION OF EQUILIBRIUM POSITIONS ...... 1701 Young Jin Heo ; Junsu Kang ; Wan Kyun Chung

A FULLY AUTOMATED ROBOTIC SYSTEM FOR THREE-DIMENSIONAL CELL ROTATION...... 1707 Zenan Wang ; Chen Feng ; Ramadass Muruganandam ; Joyce Mathew ; Peng Cheang Wong ; Wei Tech Ang ; Steven Yih Min Tan ; Win Tun Latt

CATCH, LOAD AND LAUNCH TOWARD ON-CHIP ACTIVE CELL EVALUATION...... 1713 Ryo Murakami ; Chia-Hung Dylan Tsai ; Hiroaki Ito ; Motomu Tanaka ; Shinya Sakuma ; Fumihito Arai ; Makoto Kaneko

MAGNETIC MICROROBOTS WITH ADDRESSABLE SHAPE CONTROL ...... 1719 Hen-Wei Huang ; Mahmut Selman Sakar ; Katharina Riederer ; Naveen Shamsudhin ; Andrew Petruska ; Salvador Pane ; Bradley J. Nelson

CLOSED-LOOP 3D PATH FOLLOWING OF SCALED-UP HELICAL MICROSWIMMERS...... 1725 Ali Oulmas ; Nicolas Andreff ; Stephane Regnier

FIVE-DEGREE-OF-FREEDOM MAGNETIC CONTROL OF MICRO-ROBOTS USING ROTATING PERMANENT MAGNETS...... 1731 Patrick Ryan ; Eric Diller

DEVELOPMENT OF A 3D-MAGNETIC TWEEZER SYSTEM HAVING MAGNETIC POLE POSITIONING MECHANISM ...... 1745 Daisuke Matsuura ; Hitoshi Aoki ; Yukio Takeda

HUMANOID WALKING WITH COMPLIANT SOLES USING A DEFORMATION ESTIMATOR ...... 1757 Giovanni De Magistris ; Adrien Pajon ; Sylvain Miossec ; Abderrahmane Kheddar

MODEL PREDICTIVE CONTROL FOR DYNAMIC FOOTSTEP ADJUSTMENT USING THE DIVERGENT COMPONENT OF MOTION...... 1763 Robert J. Griffin ; Alexander Leonessa

UNIFIED BIPEDAL GAIT FOR WALKING AND RUNNING BY DYNAMICS-BASED VIRTUAL HOLONOMIC CONSTRAINT IN PDAC ...... 1769 Taisuke Kobayashi ; Yasuhisa Hasegawa ; Kosuke Sekiyama ; Tadayoshi Aoyama ; Toshio Fukuda

LOOKING FOR MOTOR SYNERGIES IN DARWIN-OP BIPED ROBOT ...... 1776 Tomas Cunha ; Pedro M Vieira ; Kevin Costa ; Cristina P Santos

REAL-TIME FOOTSTEP PLANNING USING A GEOMETRIC APPROACH...... 1782 Philipp Karkowski ; Maren Bennewitz

BIPEDAL GAIT RECHARACTERIZATION AND WALKING PATTERN GENERALIZATION FOR STABLE DYNAMIC WALKING...... 1788 Yan Gu ; Bin Yao ; C. S. George Lee

REALIZING DYNAMIC AND EFFICIENT BIPEDAL LOCOMOTION ON THE HUMANOID ROBOT DURUS...... 1794 Jacob Reher ; Eric A. Cousineau ; Ayonga Hereid ; Christian M. Hubicki ; Aaron D. Ames

LEARNING THE ODOMETRY ON A SMALL HUMANOID ROBOT ...... 1810 Quentin Rouxel ; Gregoire Passault ; Ludovic Hofer ; Steve N'Guyen ; Olivier Ly

WALK-MAN HUMANOID LOWER BODY DESIGN OPTIMIZATION FOR ENHANCED PHYSICAL PERFORMANCE...... 1817 F. Negrello ; M. Garabini ; M. G. Catalano ; P. Kryczka ; W. Choi ; D. G. Caldwell ; A. Bicchi ; N. G. Tsagarakis

INERTIAL SENSOR-BASED HUMANOID JOINT STATE ESTIMATION ...... 1825 Nicholas Rotella ; Sean Mason ; Stefan Schaal ; Ludovic Righetti

GAUSSIAN MARKOV RANDOM FIELDS FOR FUSION IN INFORMATION FORM...... 1840 Liye Sun ; Teresa Vidal-Calleja ; Jaime Valls Miro

MULTI-SENSOR FUSION OF OCCUPANCY GRIDS BASED ON INTEGER ARITHMETIC ...... 1854 Tiana Rakotovao ; Julien Mottin ; Diego Puschini ; Christian Laugier

STATE ESTIMATION FOR TENSEGRITY ROBOTS...... 1860 Ken Caluwaerts ; Jonathan Bruce ; Jeffrey M. Friesen ; Vytas Sunspiral

2D-IMAGE TO 3D-RANGE REGISTRATION IN URBAN ENVIRONMENTS VIA SCENE CATEGORIZATION AND COMBINATION OF SIMILARITY MEASUREMENTS ...... 1866 Yipu Zhao ; Yuanfang Wang ; Yichang Tsai

PROBABILISTIC MULTI-SENSOR FUSION BASED ON SIGNED DISTANCE FUNCTIONS ...... 1873 Vincent Dietrich ; Dong Chen ; Kai M. Wurm ; Georg V. Wichert ; Philipp Ennen

A DISTRIBUTED MEMS GYRO NETWORK FOR JOINT VELOCITY ESTIMATION...... 1879 X. Xinjilefu ; Siyuan Feng ; Christopher G. Atkeson

DIRECT VISUAL-INERTIAL ODOMETRY WITH STEREO CAMERAS...... 1885 Vladyslav Usenko ; Jakob Engel ; Jorg Stuckler ; Daniel Cremers

MICRO-HAND POSITIONING IN CONSIDERATION OF THE OBSTACLE AVOIDANCE AND THE GRASPING PART BY USING THE AUTOMATIC STAGE...... 1893 Kotaro Yamamoto ; Masaru Kojima ; Mitsuhiro Horade ; Kazuto Kamiyama ; Yasushi Mae ; Tatsuo Arai

DYNAMICS AND SCALING OF MAGNETICALLY FOLDING MULTI-MATERIAL STRUCTURES ...... 1899 Xiaotian Ma ; Dana Vogtmann ; Sarah Bergbreiter

OPTIMAL CONTROL OF MULTIPLE MAGNETIC MICROBEADS NAVIGATING IN MICROFLUIDIC CHANNELS...... 1921 Lyes Mellal ; David Folio ; Karim Belharet ; Antoine Ferreira

INDEPENDENT CONTROL OF TWO MILLIMETER-SCALE SOFT-BODIED MAGNETIC ROBOTIC SWIMMERS ...... 1933 Jiachen Zhang ; Piyush Jain ; Eric Diller

SPERM-SHAPED MAGNETIC MICROROBOTS: FABRICATION USING ELECTROSPINNING, MODELING, AND CHARACTERIZATION ...... 1939 Islam S. M. Khalil ; Ahmet Fatih Tabak ; Abdelrahman Hosney ; Abdalla Mohamed ; Anke Klingner ; Maged Ghoneima ; Metin Sitti

NOVEL IN SITU NANOMANIPULATION INTEGRATED WITH SEM-CT IMAGING SYSTEM...... 1945 Masahiro Nakajima ; Masaru Takeuchi ; Naoki Hisamoto ; Toshio Fukuda ; Yasuhisa Hasegawa ; Qiang Huang

DEX-NET 1.0: A CLOUD-BASED NETWORK OF 3D OBJECTS FOR ROBUST GRASP PLANNING USING A MULTI-ARMED BANDIT MODEL WITH CORRELATED REWARDS ...... 1957 Jeffrey Mahler ; Florian T. Pokorny ; Brian Hou ; Melrose Roderick ; Michael Laskey ; Mathieu Aubry ; Kai Kohlhoff ; Torsten Kroger ; James Kuffner ; Ken Goldberg

VISUAL CUES USED TO EVALUATE GRASPS FROM IMAGES...... 1965 Matthew Sundberg ; Walter Litwinczyk ; Cindy Grimm ; Ravi Balasubramanian

REFLEX CONTROL OF THE PISA/IIT SOFTHAND DURING OBJECT SLIPPAGE...... 1972 Arash Ajoudani ; Elif Hocaoglu ; Alessandro Altobelli ; Matteo Rossi ; Edoardo Battaglia ; Nikos Tsagarakis ; Antonio Bicchi

ROPE CAGING AND GRASPING ...... 1980 Tsz-Ho Kwok ; Weiwei Wan ; Jia Pan ; Charlie C. L. Wang ; Jianjun Yuan ; Kensuke Harada ; Yong Chen

A FAIL-SAFE OBJECT HANDOVER CONTROLLER...... 2003 Sina Parastegari ; Ehsan Noohi ; Bahareh Abbasi ; Milos Zefran

LIGHTWEIGHT UNDERACTUATED PNEUMATIC FINGERS CAPABLE OF GRASPING VARIOUS OBJECTS ...... 2009 Ashlih Dameitry ; Hideyuki Tsukagoshi

GRASP DETECTION FOR ASSISTIVE ROBOTIC MANIPULATION ...... 2015 Siddarth Jain ; Brenna Argall

ON THE EVOLUTION OF FINGERTIP GRASPING MANIFOLDS ...... 2022 K. Hang ; J. A. Haustein ; M. Li ; A. Billard ; C. Smith ; D. Kragic

WRENCH RESISTANT MULTI-FINGER HAND MECHANISMS...... 2030 Joel W. Burdick ; Elon Rimon

OBJECT DISCOVERY AND GRASP DETECTION WITH A SHARED CONVOLUTIONAL NEURAL NETWORK...... 2038 Di Guo ; Tao Kong ; Fuchun Sun ; Huaping Liu

PRECISION GRASPING BASED ON PROBABILISTIC MODELS OF UNKNOWN OBJECTS ...... 2044 Dong Chen ; Vincent Dietrich ; Georg Von Wichert

INVESTIGATION OF EFFECTS OF DYNAMICS ON INTRINSIC WRENCH SENSING IN CONTINUUM ROBOTS...... 2052 Rajarshi Roy ; Long Wang ; Nabil Simaan

ROBWORKPHYSICSENGINE: A NEW DYNAMIC SIMULATION ENGINE FOR MANIPULATION ACTIONS...... 2060 Thomas N. Thulesen ; Henrik G. Petersen

A TRAJECTORY OPTIMIZATION FORMULATION FOR ASSISTIVE ROBOTIC DEVICES...... 2068 Sourav Rakshit ; Srinivas Akella

EXTRACTING FEASIBLE ROBOT PARAMETERS FROM DYNAMIC COEFFICIENTS USING NONLINEAR OPTIMIZATION METHODS...... 2075 Claudio Gaz ; Fabrizio Flacco ; Alessandro De Luca

AIMING AND VAULTING: SPIDER INSPIRED LEAPING FOR JUMPING ROBOTS...... 2082 Hossein Faraji ; Ramsey Tachella ; Ross L. Hatton

FAST FORWARD DYNAMICS SIMULATION OF ROBOT MANIPULATORS WITH HIGHLY FRICTIONAL GEARS...... 2096 Naoki Wakisaka ; Ryo Kikuuwe ; Tomomichi Sugihara

INVERSE KINEMATICS AND DESIGN OF A NOVEL 6-DOF COUPLED HANDHELD ROBOTIC ARM...... 2102 Austin Gregg-Smith ; Walterio W. Mayol-Cuevas

KINEMATIC MODELING AND SINGULARITY TREATMENT OF STEERABLE WHEELED MOBILE ROBOTS WITH JOINT ACCELERATION LIMITS ...... 2110 Mohamed Sorour ; Andrea Cherubini ; Robin Passama ; Philippe Fraisse

THE SECOND GENERATION PROTOTYPE OF A DUCT CLIMBING TENSEGRITY ROBOT, DUCTTV2...... 2123 Jeffrey M. Friesen ; Paul Glick ; Michael Fanton ; Pavlo Manovi ; Alexander Xydes ; Thomas Bewley ; Vytas Sunspiral

POWER MANIPULABILITY ANALYSIS OF REDUNDANTLY ACTUATED PARALLEL KINEMATIC MANIPULATORS WITH DIFFERENT TYPES OF ACTUATORS ...... 2129 Michael Lorenz ; Jan Brinker ; Isabel Prause ; Burkhard Corves

DESIGN OF A SPHERICAL ROBOT ARM WITH THE SPIRAL ZIPPER PRISMATIC JOINT ...... 2137 Foster Collins ; Mark Yim

ROBOT LEARNING WITH A SPATIAL, TEMPORAL, AND CAUSAL AND-OR GRAPH...... 2144 Caiming Xiong ; Nishant Shukla ; Wenlong Xiong ; Song-Chun Zhu

ROBUST SINGLE-VIEW INSTANCE RECOGNITION ...... 2152 David Held ; Sebastian Thrun ; Silvio Savarese

DEEP METRIC LEARNING AUTOENCODER FOR TEMPORAL ALIGNMENT OF HUMAN MOTION ...... 2160 Xiaochuan Yin ; Qijun Chen

OPTIMIZING FOR WHAT MATTERS: THE TOP GRASP HYPOTHESIS ...... 2167 Daniel Kappler ; Stefan Schaal ; Jeannette Bohg

REAL-TIME 3D SCENE LAYOUT FROM A SINGLE IMAGE USING CONVOLUTIONAL NEURAL NETWORKS...... 2183 Shichao Yang ; Daniel Maturana ; Sebastian Scherer

HOW MANY BITS DO I NEED FOR MATCHING LOCAL BINARY DESCRIPTORS?...... 2190 Pablo F. Alcantarilla ; Bjorn Stenger

FUSING LIDAR AND IMAGES FOR PEDESTRIAN DETECTION USING CONVOLUTIONAL NEURAL NETWORKS...... 2198 Joel Schlosser ; Christopher K. Chow ; Zsolt Kira

ALEXTRAC: AFFINITY LEARNING BY EXPLORING TEMPORAL REINFORCEMENT WITHIN ASSOCIATION CHAINS ...... 2212 Alex Bewley ; Lionel Ott ; Fabio Ramos ; Ben Upcroft

RE-USING TACTILE EXPERIENCE BY ROBOTIC HANDS TO DISCRIMINATE IN-HAND OBJECTS VIA TEXTURE PROPERTIES ...... 2242 Mohsen Kaboli ; Rich Walker ; Gordon Cheng

AN EFFICIENT PROBABILISTIC SURFACE NORMAL ESTIMATOR ...... 2248 Daniel J. Lee ; Mark E. Campbell

SIMULTANEOUS DENSE SCENE RECONSTRUCTION AND OBJECT LABELING...... 2255 Umar Asif ; Mohammed Bennamoun ; Ferdous Sohel

HIERARCHICAL GRAPH-BASED DISCOVERY OF NON-PRIMITIVE-SHAPED OBJECTS IN UNSTRUCTURED ENVIRONMENTS ...... 2263 Christian A. Mueller ; Andreas Birk

CLUTTERED SCENE SEGMENTATION USING THE SYMMETRY CONSTRAINT...... 2271 Aleksandrs Ecins ; Cornelia Fermuller ; Yiannis Aloimonos

PART-BASED ROOM CATEGORIZATION FOR HOUSEHOLD SERVICE ROBOTS ...... 2287 Peter Ursic ; Rok Mandeljc ; Ales Leonardis ; Matej Kristan

WHEN 2.5D IS NOT ENOUGH: SIMULTANEOUS RECONSTRUCTION, SEGMENTATION AND RECOGNITION ON DENSE SLAM...... 2295 Keisuke Tateno ; Federico Tombari ; Nassir Navab

ENVIRONMENT EXPLORATION FOR OBJECT-BASED VISUAL SALIENCY LEARNING...... 2303 Celine Craye ; David Filliat ; Jean-Francois Goudou

EFFICIENT, DENSE, OBJECT-BASED SEGMENTATION FROM RGBD VIDEO ...... 2310 Mahsa Ghafarianzadeh ; Matthew B. Blaschko ; Gabe Sibley

UNDERSTAND SCENE CATEGORIES BY OBJECTS: A SEMANTIC REGULARIZED SCENE CLASSIFIER USING CONVOLUTIONAL NEURAL NETWORKS ...... 2318 Yiyi Liao ; Sarath Kodagoda ; Yue Wang ; Lei Shi ; Yong Liu

DETECTION OF PEDESTRIANS AT FAR DISTANCE ...... 2326 Rudy Bunel ; Franck Davoine ; Philippe Xu

INTEGRATED ON-LINE ROBOT-CAMERA CALIBRATION AND OBJECT POSE ESTIMATION ...... 2332 Karl Pauwels ; Danica Kragic

POWERED UPPER-LIMB CONTROL USING PASSIVITY-BASED NONLINEAR DISTURBANCE OBSERVER FOR UNKNOWN PAYLOAD CARRYING APPLICATIONS...... 2340 Min Jun Kim ; Woongyong Lee ; Jae Yeon Choi ; Yong Sik Park ; Sung Ho Park ; Goobong Chung ; Kyung-Lyong Han ; Il Seop Choi ; Il Hong Suh ; Youngjin Choi ; Wan Kyun Chung

CONTROL OF CONSTRAINED ROBOTS SUBJECT TO UNILATERAL CONTACTS AND FRICTION CONE CONSTRAINTS ...... 2347 Farhad Aghili ; Chun-Yi Su

A HIERARCHICAL APPROACH TO MINIMUM-TIME CONTROL OF INDUSTRIAL ROBOTS...... 2368 Saed Al Homsi ; Alexander Sherikov ; Dimitar Dimitrov ; Pierre-Brice Wieber

COOPERATIVE REDUNDANT OMNIDIRECTIONAL MOBILE MANIPULATORS: MODEL-FREE DECENTRALIZED INTEGRAL SLIDING MODES AND PASSIVE VELOCITY FIELDS...... 2375 A. -N. Ponce-Hinestroza ; J. -A. Castro-Castro ; H. -I. Guerrero-Reyes ; V. Parra-Vega ; E. Olguin-Diaz

ROBUST TWO-DEGREE-OF-FREEDOM ITERATIVE LEARNING CONTROL FOR FLEXIBILITY COMPENSATION OF INDUSTRIAL ROBOT MANIPULATORS ...... 2381 Cong Wang ; Minghui Zheng ; Zining Wang ; Masayoshi Tomizuka

FAULT TOLERANT CONTROL FOR OMNI-DIRECTIONAL MOBILE PLATFORMS WITH 4 MECANUM WHEELS...... 2395 Panagiotis Vlantis ; Charalampos P. Bechlioulis ; George Karras ; George Fourlas ; Kostas J. Kyriakopoulos

SOFTBOT: SOFTWARE-BASED LEAD-THROUGH FOR RIGID SERVO ROBOTS...... 2401 Yackov Lubarsky ; Amit Wolf ; Lior Wolf ; Curime Batliner ; Jake Newsum

MODEL-FREE JOINT TORQUE CONTROL STRATEGY FOR HYDRAULIC ROBOTS ...... 2408 Woongyong Lee ; Min Jun Kim ; Wan Kyun Chung

TORQUE EVALUATION METHOD OF SPHERICAL MOTORS USING SIX-AXIS FORCE/TORQUE SENSOR ...... 2416 Masaaki Kumagai

CATCHING THE WAVE: A TRANSPARENCY ORIENTED WAVE BASED TELEOPERATION ARCHITECTURE ...... 2422 Cristian Secchi ; Federica Ferraguti ; Cesare Fantuzzi

SWEET PEPPER POSE DETECTION AND GRASPING FOR AUTOMATED CROP HARVESTING ...... 2428 Christopher Lehnert ; Inkyu Sa ; Christopher McCool ; Ben Upcroft ; Tristan Perez

SINGLE IMAGE BASED CAMERA CALIBRATION AND POSE ESTIMATION OF THE END-EFFECTOR OF A ROBOT ...... 2435 R. A. Boby ; S. K. Saha

REAL-TIME SCALABLE 6DOF POSE ESTIMATION FOR TEXTURELESS OBJECTS...... 2441 Zhe Cao ; Yaser Sheikh ; Natasha Kholgade Banerjee

RESHAPING OUR MODEL OF THE WORLD OVER TIME...... 2449 Marius Fehr ; Marcin Dymczyk ; Simon Lynen ; Roland Siegwart

VISION SYSTEM AND DEPTH PROCESSING FOR DRC-HUBO+...... 2456 Inwook Shim ; Seunghak Shin ; Yunsu Bok ; Kyungdon Joo ; Dong-Geol Choi ; Joon-Young Lee ; Jaesik Park ; Jun-Ho Oh ; In So Kweon

RECOGNISING THE CLOTHING CATEGORIES FROM FREE-CONFIGURATION USING GAUSSIAN- PROCESS-BASED INTERACTIVE PERCEPTION...... 2464 Li Sun ; Simon Rogers ; Gerardo Aragon-Camarasa ; J. Paul Siebert

A MODEL-BASED APPROACH TO FINDING SUBSTITUTE TOOLS IN 3D VISION DATA...... 2471 Paulo Abelha ; Frank Guerin ; Markus Schoeler

WATCH-BOT: UNSUPERVISED LEARNING FOR REMINDING HUMANS OF FORGOTTEN ACTIONS ...... 2479 Chenxia Wu ; Jiemi Zhang ; Bart Selman ; Silvio Savarese ; Ashutosh Saxena

HISTOGRAM OF DISTANCES FOR LOCAL SURFACE DESCRIPTION...... 2487 Odysseas Kechagias-Stamatis ; Nabil Aouf

A DISTRIBUTED ROBOTIC VISION SERVICE ...... 2494 William Chamberlain ; Jurgen Leitner ; Tom Drummond ; Peter Corke

AUTONOMOUS DISASSEMBLY OF ELECTRIC VEHICLE MOTORS BASED ON ROBOT COGNITION ...... 2500 Mohamad Bdiwi ; Aquib Rashid ; Matthias Putz

VISUAL DETECTION OF OCCLUDED CROP: FOR AUTOMATED HARVESTING...... 2506 Christopher McCool ; Inkyu Sa ; Feras Dayoub ; Christopher Lehnert ; Tristan Perez ; Ben Upcroft

ROBUST STEREO VISUAL ODOMETRY THROUGH A PROBABILISTIC COMBINATION OF POINTS AND LINE SEGMENTS ...... 2521 Ruben Gomez-Ojeda ; Javier Gonzalez-Jimenez

AUGMENTED DICTIONARY LEARNING FOR SPARSE REPRESENTATIONS OF TRAJECTORIES WITH APPLICATION TO MOTION PREDICTION ...... 2527 Yu Fan Chen ; Miao Liu ; Jonathan P. How

A MULTISTAGE CONTROLLER WITH SMOOTH SWITCHING FOR AUTONOMOUS PALLET PICKING ...... 2535 Mohammad M. Aref ; Reza Ghabcheloo ; Antti Kolu ; Jouni Mattila

INTENT-AWARE LONG-TERM PREDICTION OF PEDESTRIAN MOTION...... 2543 Vasiliy Karasev ; Alper Ayvaci ; Bernd Heisele ; Stefano Soatto

ROBUST HOMING FOR AUTONOMOUS ROBOTS...... 2550 Igor Bogoslavskyi ; Mladen Mazuran ; Cyrill Stachniss

FIRST APPLICATIONS OF SOUND-BASED CONTROL ON A MOBILE ROBOT EQUIPPED WITH TWO MICROPHONES ...... 2557 Aly Magassouba ; Nancy Bertin ; Francois Chaumette

ROUTE PLANNING FOR ACTIVE CLASSIFICATION WITH UAVS...... 2563 Kelen C. T. Vivaldini ; Vitor Guizilini ; Matheus D. C. Oliveira ; Thiago H. Martinelli ; Denis F. Wolf ; Fabio Ramos

ROBUST SAMPLING-BASED MOTION PLANNING FOR AUTONOMOUS TRACKED VEHICLES IN DEFORMABLE HIGH SLIP TERRAIN...... 2569 Sang Uk Lee ; Ramon Gonzalez ; Karl Iagnemma

ANY-TIME PATH-PLANNING: TIME-VARYING WIND FIELD + MOVING OBSTACLES...... 2575 Michael Otte ; William Silva ; Eric Frew

ACTIVE SENSING DATA COLLECTION WITH AUTONOMOUS MOBILE ROBOTS ...... 2583 Richard Wang ; Manuela Veloso ; Srinivasan Seshan

CLUSTER-BASED LOOP CLOSING DETECTION FOR UNDERWATER SLAM IN FEATURE-POOR REGIONS...... 2589 Pep Lluis Negre ; Francisco Bonin-Font ; Gabriel Oliver

NEURAL-BASED UNDERWATER SURFACE LOCALIZATION THROUGH ELECTROLOCATION ...... 2596 Yannick Morel ; Vincent Lebastard ; Frederic Boyer

ADAPTIVE UNDERWATER SONAR SURVEYS IN THE PRESENCE OF STRONG CURRENTS ...... 2604 David P. Williams ; Francesco Baralli ; Michele Micheli ; Simone Vasoli

UNDERWATER VEHICLES ATTITUDE ESTIMATION IN PRESENCE OF MAGNETIC DISTURBANCES ...... 2612 Benedetto Allotta ; Riccardo Costanzi ; Francesco Fanelli ; Niccolo Monni ; Alessandro Ridolfi

PRELIMINARY STUDY OF COOPERATIVE NAVIGATION OF UNDERWATER VEHICLES WITHOUT A DVL UTILIZING RANGE AND RANGE-RATE OBSERVATIONS ...... 2618 Zachary J. Harris ; Louis L. Whitcomb

ONLINE FAULT DETECTION AND MODEL ADAPTATION FOR UNDERWATER VEHICLES IN THE CASE OF THRUSTER FAILURES ...... 2625 Georgios Fagogenis ; Valerio De Carolis ; David M. Lane

3D UNDERWATER LOCALIZATION SCHEME USING EM WAVE ATTENUATION WITH A DEPTH SENSOR ...... 2631 Daegil Park ; Kyungmin Kwak ; Jinhyun Kim ; Wan Kyun Chung

AUV BEHAVIORS FOR COLLECTION OF BISTATIC AND MULTISTATIC ACOUSTIC SCATTERING DATA FROM SEABED TARGETS ...... 2645 Erin M. Fischell ; Henrik Schmidt

ANOMALY DETECTION IN UNSTRUCTURED ENVIRONMENTS USING BAYESIAN NONPARAMETRIC SCENE MODELING ...... 2651 Yogesh Girdhar ; Walter Cho ; Matthew Campbell ; Jesus Pineda ; Elizabeth Clarke ; Hanumant Singh

THE EFFICACY OF INTERACTION BEHAVIOR AND INTERNAL STIFFNESS CONTROL FOR EMBODIED INFORMATION GAIN IN HAPTIC PERCEPTION...... 2657 Nantachai Sornkarn ; Thrishantha Nanayakkara

HAPTIC SIMULATION OF AN AUTOMOTIVE AUTOMATIC GEARSHIFT: STABILITY ANALYSIS AND DESIGN OF FORCE PROFILES WITH HYSTERESIS ...... 2663 Domenico Chiaradia ; Massimiliano Solazzi ; Diego Caporali ; Massimiliano Russo ; Alessandro Piu ; Antonio Frisoli

PASSIVITY AND PRACTICAL CONSIDERATIONS FOR THE SNMF SYSTEM ...... 2669 Ryder C. Winck ; Wayne J. Book

UNSUPERVISED FEATURE LEARNING FOR CLASSIFYING DYNAMIC TACTILE EVENTS USING SPARSE CODING ...... 2675 Jean-Philippe Roberge ; Samuel Rispal ; Tony Wong ; Vincent Duchaine

USER-S TASK PERFORMANCE IN TWO-HANDED COMPLEMENTARY-MOTION TELEOPERATION ...... 2682 Maelle Agbale ; Renz Ocampo ; Mahdi Tavakoli

DEVELOPMENT AND EXPERIMENTAL VALIDATION OF A MINIMALISTIC SHAPE-CHANGING HAPTIC NAVIGATION DEVICE ...... 2688 Adam J. Spiers ; Janet Van Der Linden ; Maria Oshodi ; Aaron M. Dollar

A NOVEL HAPTIC DEVICE WITH HIGH-FORCE DISPLAY CAPABILITY AND WIDE WORKSPACE ...... 2704 Giuk Lee ; Sung-Moon Hur ; Yonghwan Oh

A UNIFIED REPRESENTATION TO INTERACT WITH SIMULATED DEFORMABLE OBJECTS IN VIRTUAL ENVIRONMENTS ...... 2710 Davide Zerbato ; Paolo Fiorini

CLOSED-LOOP SHAPE CONTROL OF A HAPTIC JAMMING DEFORMABLE SURFACE...... 2718 Andrew A. Stanley ; Kenji Hata ; Allison M. Okamura

REDUCED DYNAMICAL EQUATIONS FOR BARYCENTRIC SPHERICAL ROBOTS...... 2725 Matt Burkhardt ; Joel W. Burdick

DEVELOPMENT AND EXPERIMENTAL VALIDATION OF A REORIENTATION ALGORITHM FOR A FREE-FLOATING SERIAL MANIPULATOR...... 2733 Jean-Alexandre Bettez-Bouchard ; Clement Gosselin

MOTION PLANNING FOR A HOOP-PENDULUM TYPE OF UNDERACTUATED SYSTEMS ...... 2739 Yang Bai ; Mikhail Svinin ; Motoji Yamamoto

A*-CONNECT: BOUNDED SUBOPTIMAL BIDIRECTIONAL SEARCH ...... 2752 Fahad Islam ; Venkatraman Narayanan ; Maxim Likhachev

PLANNING MOTIONS FOR A PLANAR ROBOT ATTACHED TO A STIFF TETHER ...... 2759 Reza H. Teshnizi ; Dylan A. Shell

RRT-BASED NONHOLONOMIC MOTION PLANNING USING ANY-ANGLE PATH BIASING ...... 2775 Luigi Palmieri ; Sven Koenig ; Kai O. Arras

RANDOM INSPECTION TREE ALGORITHM IN VISUAL INSPECTION WITH A REALISTIC SENSING MODEL AND DIFFERENTIAL CONSTRAINTS...... 2782 Pfemysl Kafka ; Jan Faigl ; Petr Vana

THE STOCHASTIC TRAVELING SALESMAN PROBLEM AND ORIENTEERING FOR KINODYNAMIC VEHICLES...... 2788 Aviv Adler ; Sertac Karaman

HUMAN-ROBOT COLLABORATIVE HIGH-LEVEL CONTROL WITH APPLICATION TO RESCUE ROBOTICS ...... 2796 Philipp Schillinger ; Stefan Kohlbrecher ; Oskar Von Stryk

CONTROL AND EXPERIMENTAL VALIDATION OF ROBOT-ASSISTED AUTOMATIC MEASUREMENT SYSTEM FOR MULTI-STUD TENSIONING MACHINE (MSTM) ...... 2816 Meng Li ; Xingguang Duan ; Haoyuan Li ; Tengfei Cui ; Liang Gao ; Yue Zhan ; Yan Xu

VERIFICATION OF GAIT CONTROL BASED ON REACTION NULL-SPACE FOR GROUND-GRIPPING ROBOT IN MICROGRAVITY...... 2822 Yudai Yuguchi ; Kenji Nagaoka ; Kazuya Yoshida

MEASUREMENT OF STRESS DISTRIBUTIONS OF A WHEEL WITH GROUSERS TRAVELING ON LOOSE SOIL...... 2828 Shoya Higa ; Kazumasa Sawada ; Kenji Nagaoka ; Keiji Nagatani ; Kazuya Yoshida

TASK FRAME ESTIMATION DURING MODEL-BASED TELEOPERATION FOR SATELLITE SERVICING ...... 2834 Xiao Li ; Peter Kazanzides

DESIGN OF FOUR-ARM FOUR-CRAWLER DISASTER RESPONSE ROBOT OCTOPUS ...... 2840 Mitsuhiro Kamezaki ; Hiroyuki Ishii ; Tatsuzo Ishida ; Masatoshi Seki ; Ken Ichiryu ; Yo Kobayashi ; Kenji Hashimoto ; Shigeki Sugano ; Atsuo Takanishi ; Masakatsu G. Fujie ; Shuji Hashimoto ; Hiroshi Yamakawa

MOTION CONTROL OF A COMPLIANT WHEEL-LEG ROBOT FOR ROUGH TERRAIN CROSSING...... 2846 Arthur Bouton ; Christophe Grand ; Faiz Benamar

AUTONOMOUS REPOSITIONING AND LOCALIZATION OF AN IN SITU FABRICATOR ...... 2852 Timothy Sandy ; Markus Giftthaler ; Kathrin Dorfler ; Matthias Kohler ; Jonas Buchli

LOW DIMENSIONAL HUMAN PREFERENCE TRACKING FOR MOTION OPTIMIZATION...... 2867 Stephen G. McGill ; Seung-Joon Yi ; Daniel D. Lee

LABAN HEAD-MOTIONS CONVEY ROBOT STATE: A CALL FOR ROBOT BODY LANGUAGE...... 2881 Heather Knight ; Reid Simmons

LEARNING SOCIALLY NORMATIVE ROBOT NAVIGATION BEHAVIORS WITH BAYESIAN INVERSE REINFORCEMENT LEARNING ...... 2889 Billy Okal ; Kai O. Arras

AUTONOMOUS INDOOR ROBOT NAVIGATION USING A SKETCH INTERFACE FOR DRAWING MAPS AND ROUTES ...... 2896 Federico Boniardi ; Abhinav Valada ; Wolfram Burgard ; Gian Diego Tipaldi

SINGING MINSTREL ROBOTS, A MEANS FOR IMPROVING SOCIAL BEHAVIORS ...... 2902 Igor Rodriguez ; Aitzol Astigarraga ; Txelo Ruiz ; Elena Lazkano

TRANSHUMUS: A POETIC EXPERIENCE IN MOBILE ROBOTICS...... 2908 Guilhem Saurel ; Michel Taix ; Jean-Paul Laumond

ENHANCING HUMAN-ROBOT INTERACTION BY INTERPRETING UNCERTAIN INFORMATION IN NAVIGATIONAL COMMANDS BASED ON EXPERIENCE AND ENVIRONMENT ...... 2915 M. A. Viraj J. Muthugala ; A. G. Buddhika P. Jayasekara

A SMARTPHONE-BASED LASER DISTANCE SENSOR FOR OUTDOOR ENVIRONMENTS ...... 2922 Jason H. Gao ; Li-Shiuan Peh

NON-LINEAR MODEL-FREE CONTROL OF FLAPPING WING FLYING ROBOT USING IPID...... 2930 Aneesh N. Chand ; Michihiro Kawanishi ; Tatsuo Narikiyo

APPLICATION OF AN APPROXIMATE MODEL PREDICTIVE CONTROL SCHEME ON AN UNMANNED AERIAL VEHICLE ...... 2952 Matthias Hofer ; Michael Muehlebach ; Raffaello D'Andrea

TRAJECTORY GENERATION FOR QUADROTOR BASED SYSTEMS USING NUMERICAL OPTIMAL CONTROL ...... 2958 Mathieu Geisert ; Nicolas Mansard

FROM TRACKING TO ROBUST MANEUVER REGULATION: AN EASY-TO-DESIGN APPROACH FOR VTOL AERIAL ROBOTS ...... 2965 Sara Spedicato ; Antonio Franchi ; Giuseppe Notarstefano

ADAPTIVE SUPER TWISTING CONTROLLER FOR A QUADROTOR UAV ...... 2971 Sujit Rajappa ; Carlo Masone ; Heinrich H. Bulthoff ; Paolo Stegagno

SENSORS MODEL BASED DATA FUSION USING COMPLEMENTARY FILTERS FOR ATTITUDE ESTIMATION AND STABILIZATION ...... 2978 A. El Hadri ; L. Benziane ; A. Seba ; A. Benallegue

OBSTACLE DETECTION, TRACKING AND AVOIDANCE FOR A TELEOPERATED UAV...... 2984 Marcin Odelga ; Paolo Stegagno ; Heinrich H. Bulthoff

PROP-HANGING CONTROL OF A THRUST VECTOR VEHICLE WITH HYBRID NONLINEAR DYNAMIC INVERSION METHOD ...... 2999 Yang Jiali ; Zhu Jihong

FULL ATTITUDE CONTROL OF A VTOL TAILSITTER UAV...... 3006 S. Verling ; B. Weibel ; M. Boosfeld ; K. Alexis ; M. Burri ; R. Siegwart

ON-LINE COACHING OF ROBOTS THROUGH VISUAL AND PHYSICAL INTERACTION: ANALYSIS OF EFFECTIVENESS OF HUMAN-ROBOT INTERACTION STRATEGIES ...... 3028 Andrej Gams ; Ales Ude

AN ISO10218-COMPLIANT ADAPTIVE DAMPING CONTROLLER FOR SAFE PHYSICAL HUMAN- ROBOT INTERACTION...... 3043 Benjamin Navarro ; Andrea Cherubini ; Aicha Fonte ; Robin Passama ; Gerard Poisson ; Philippe Fraisse

MANIPULATOR PERFORMANCE CONSTRAINTS IN CARTESIAN ADMITTANCE CONTROL FOR HUMAN-ROBOT COOPERATION ...... 3049 Fotios Dimeas ; Vassilis C. Moulianitis ; Charalampos Papakonstantinou ; Nikos Aspragathos

IMPEDANCE-BASED GAUSSIAN PROCESSES FOR PREDICTING HUMAN BEHAVIOR DURING PHYSICAL INTERACTION...... 3055 Jose Ramon Medina ; Satoshi Endo ; Sandra Hirche

CADENCE CONTROL OF CYCLING WHEELCHAIR WITH CONTINUOUSLY VARIABLE TRANSMISSION AND SERVO BRAKE ...... 3062 Yasuhisa Hirata ; Shotaro Ando ; Kazuhiro Kosuge

ESSENTIAL CONSIDERATIONS FOR DESIGN AND CONTROL OF HUMAN-INTERACTIVE ROBOTS...... 3069 Hyunglae Lee ; Neville Hogan

PORT-BASED MODELING OF HUMAN-ROBOT COLLABORATION TOWARDS SAFETY-ENHANCING ENERGY SHAPING CONTROL ...... 3075 Milad Geravand ; Erfan Shahriari ; Alessandro De Luca ; Angelika Peer

DESIGN AND DEVELOPMENT OF A HYBRID MAGNETO-RHEOLOGICAL CLUTCH FOR SAFE ROBOTIC APPLICATIONS...... 3083 Masoud Moghani ; Mehrdad R. Kermani

ANGLED SENSOR CONFIGURATION CAPABLE OF MEASURING TRI-AXIAL FORCES FOR PHRI ...... 3089 Christian Reeks ; Marc G. Carmichael ; Dikai Liu ; Kenneth J. Waldron

ALGORITHMIC SAFETY MEASURES FOR INTELLIGENT INDUSTRIAL CO-ROBOTS ...... 3095 Changliu Liu ; Masayoshi Tomizuka

MULTI-CONSTRAINED JOINT TRANSPORTATION TASKS BY TEAMS OF AUTONOMOUS MOBILE ROBOTS USING A DYNAMICAL SYSTEMS APPROACH...... 3111 Toni Machado ; Tiago Malheiro ; Sergio Monteiro ; Wolfram Erlhagen ; Estela Bicho

RECURRENT NEURAL NETWORKS FOR DRIVER ACTIVITY ANTICIPATION VIA SENSORY-FUSION ARCHITECTURE ...... 3118 Ashesh Jain ; Avi Singh ; Hema S Koppula ; Shane Soh ; Ashutosh Saxena

UNSUPERVISED TRAJECTORY COMPRESSION ...... 3126 Padraig Corcoran ; Peter Mooney ; Guoquan Huang

IMPROVING DEPENDABILITY OF INDUSTRIAL TRANSPORT ROBOTS USING MODEL-BASED TECHNIQUES ...... 3133 Clemens Muhlbacher ; Stephan Gspandl ; Michael Reip ; Gerald Steinbauer

DYNAMIC ROUTING OF ENERGY-AWARE VEHICLES WITH TEMPORAL LOGIC CONSTRAINTS ...... 3141 Derya Aksaray ; Cristian-Ioan Vasile ; Calin Belta

A NEW MULTI-AGENT APPROACH FOR LANE DETECTION AND TRACKING ...... 3147 M. Revilloud ; D. Gruyer ; Mc. Rahal

OPTIMAL NAVIGATION POLICY FOR AN AUTONOMOUS AGENT OPERATING IN ADVERSARIAL ENVIRONMENTS...... 3154 Emmanuel Boidot ; Aude Marzuoli ; Eric Feron

OBSERVABILITY ANALYSIS AND OPTIMAL SENSOR PLACEMENT IN STEREO RADAR ODOMETRY ...... 3161 Andreu Corominas-Murtra ; Joan Valve ; Joan Sola ; Ismael Flores ; Juan Andrade-Cetto

TRAFFIC AWARENESS DRIVER ASSISTANCE BASED ON STEREOVISION, EYE-TRACKING, AND HEAD-UP DISPLAY ...... 3167 Tobias Langner ; Daniel Seifert ; Bennet Fischer ; Daniel Goehring ; Tinosch Ganjineh ; Raul Rojas

EXPLOITING FULLY CONVOLUTIONAL NEURAL NETWORKS FOR FAST ROAD DETECTION ...... 3174 Caio Cesar Teodoro Mendes ; Vincent Fremont ; Denis Fernando Wolf

MULTI-SCALE OBJECT CANDIDATES FOR GENERIC OBJECT TRACKING IN STREET SCENES...... 3180 Aljosa Osep ; Alexander Hermans ; Francis Engelmann ; Dirk Klostermann ; Markus Mathias ; Bastian Leibe

HIGH-PERFORMANCE AND TUNABLE STEREO RECONSTRUCTION...... 3188 Sudeep Pillai ; Srikumar Ramalingam ; John J. Leonard

GENERATION AND REAL-TIME IMPLEMENTATION OF HIGH-SPEED CONTROLLED MANEUVERS USING AN AUTONOMOUS 19-GRAM QUADROTOR ...... 3204 Ying Chen ; Nestor O. Perez-Arancibia

A NOVEL HYPERACUTE GIMBAL EYE TO IMPLEMENT PRECISE HOVERING AND TARGET TRACKING ON A QUADROTOR ...... 3212 Augustin Manecy ; Julien Diperi ; Marc Boyron ; Nicolas Marchand ; Stephane Viollet

BAT BOT (B2), A BIOLOGICALLY INSPIRED FLYING MACHINE ...... 3219 Alireza Ramezani ; Xichen Shi ; Soon-Jo Chung ; Seth Hutchinson

DEVELOPMENT OF A 3.2G UNTETHERED FLAPPING-WING PLATFORM FOR FLIGHT ENERGETICS AND CONTROL EXPERIMENTS...... 3227 Michelle H. Rosen ; Geoffroy Le Pivain ; Ranjana Sahai ; Noah T. Jafferis ; Robert J. Wood

NON-LINEAR RESONANCE MODELING AND SYSTEM DESIGN IMPROVEMENTS FOR UNDERACTUATED FLAPPING-WING VEHICLES...... 3234 Noah T. Jafferis ; Moritz A. Graule ; Robert J. Wood

THRUST LOSS SAVING DESIGN OF OVERLAPPING ROTOR ARRANGEMENT ON SMALL MULTIROTOR UNMANNED AERIAL VEHICLES ...... 3242 Hikaru Otsuka ; Keiji Nagatani

VERSATILE AERIAL GRASPING USING SELF-SEALING SUCTION ...... 3249 Chad C. Kessens ; Justin Thomas ; Jaydev P. Desai ; Vijay Kumar

LOCAL HISTOGRAM MATCHING FOR EFFICIENT OPTICAL FLOW COMPUTATION APPLIED TO VELOCITY ESTIMATION ON POCKET DRONES...... 3255 Kimberly McGuire ; Guido De Croon ; Christophe De Wagter ; Bart Remes ; Karl Tuyls ; Hilbert Kappen

DESIGN, MODELING AND CONTROL OF AN OMNI-DIRECTIONAL AERIAL VEHICLE ...... 3261 Dario Brescianini ; Raffaello D'Andrea

DYNAMIC UNDERACTUATED FLYING-WALKING (DUCK) ROBOT...... 3267 Christopher J. Pratt ; Kam K. Leang

A CONTROLLABLE FLYING VEHICLE WITH A SINGLE MOVING PART...... 3275 Weixuan Zhang ; Mark W. Mueller ; Raffaello D'Andrea

ANOMALOUS YAW TORQUE GENERATION FROM PASSIVELY PITCHING WINGS ...... 3282 Nick Gravish ; Robert J. Wood

SUAV: Q - A HYBRID APPROACH TO SOLAR POWERED FLIGHT ...... 3288 Ruben D'Sa ; Devon Jenson ; Nikolaos Papanikolopoulos

3D GAZE CURSOR: CONTINUOUS CALIBRATION AND END-POINT GRASP CONTROL OF ROBOTIC ACTUATORS ...... 3295 Pablo M. Tostado ; William W. Abbott ; A. Aldo Faisal

SRAC: SELF-REFLECTIVE RISK-AWARE ARTIFICIAL COGNITIVE MODELS FOR ROBOT RESPONSE TO HUMAN ACTIVITIES...... 3301 Hao Zhang ; Christopher Reardon ; Fei Han ; Lynne E. Parker

MARKERLESS PERSPECTIVE TAKING FOR HUMANOID ROBOTS IN UNCONSTRAINED ENVIRONMENTS...... 3309 Tobias Fischer ; Yiannis Demiris

NOVEL PLANNING-BASED ALGORITHMS FOR HUMAN MOTION PREDICTION...... 3317 Dizan Vasquez

LEARNING TIME SERIES MODELS FOR PEDESTRIAN MOTION PREDICTION ...... 3323 Chenghui Zhou ; Borja Balle ; Joelle Pineau

INTERPRETING MULTIMODAL REFERRING EXPRESSIONS IN REAL TIME ...... 3331 David Whitney ; Miles Eldon ; John Oberlin ; Stefanie Tellex

CUBIMORPH: DESIGNING MODULAR INTERACTIVE DEVICES...... 3339 A. Roudaut ; D. Krusteva ; M. McCoy ; A. Karnik ; K. Ramani ; S. Subramanian

LEARNING ASSISTIVE STRATEGIES FROM A FEW USER-ROBOT INTERACTIONS: MODEL-BASED REINFORCEMENT LEARNING APPROACH ...... 3346 Masashi Hamaya ; Takamitsu Matsubara ; Tomoyuki Noda ; Tatsuya Teramae ; Jun Morimoto

MODELING COMMUNICATIVE BEHAVIORS FOR OBJECT REFERENCES IN HUMAN-ROBOT INTERACTION ...... 3352 Henny Admoni ; Thomas Weng ; Brian Scassellati

AN ARCHITECTURAL APPROACH TO SAFETY OF COMPONENT-BASED ROBOTIC SYSTEMS...... 3360 Min Yang Jung ; Peter Kazanzides

INVESTIGATING SPATIAL GUIDANCE FOR A COOPERATIVE HANDHELD ROBOT ...... 3367 Austin Gregg-Smith ; Walterio W. Mayol-Cuevas

HIERARCHICAL ACTION LEARNING BY INSTRUCTION THROUGH INTERACTIVE GROUNDING OF BODY PARTS AND PROTO-ACTIONS...... 3375 Maxime Petit ; Yiannis Demiris

ROBOBENCH: TOWARDS SUSTAINABLE ROBOTICS SYSTEM BENCHMARKING...... 3383 Jonathan Weisz ; Yipeng Huang ; Florian Lier ; Simha Sethumadhavan ; Peter Allen

LEARNING TO REMOVE MULTIPATH DISTORTIONS IN TIME-OF-FLIGHT RANGE IMAGES FOR A ROBOTIC ARM SETUP...... 3390 Kilho Son ; Ming-Yu Liu ; Yuichi Taguchi

EXEMPLAR-BASED PREDICTION OF GLOBAL OBJECT SHAPE FROM LOCAL SHAPE SIMILARITY...... 3398 Jeannette Bohg ; Daniel Kappler ; Stefan Schaal

SUPERSIZING SELF-SUPERVISION: LEARNING TO GRASP FROM 50K TRIES AND 700 ROBOT HOURS...... 3406 Lerrel Pinto ; Abhinav Gupta

WAVELETS-BASED 6 DOF VISUAL SERVOING ...... 3414 Mouloud Ourak ; Brahim Tamadazte ; Olivier Lehmann ; Nicolas Andreff

TOWARDS ULTRASOUND-BASED VISUAL SERVOING USING SHEARLET COEFFICIENTS ...... 3420 Lesley-Ann Duflot ; Alexandre Krupa ; Brahim Tamadazte ; Nicolas Andreff

VISUAL SERVOING OF A MEDICAL ULTRASOUND PROBE FOR NEEDLE INSERTION ...... 3426 Kim Mathiassen ; Kyrre Glette ; Ole Jakob Elle

VITA: VISUAL TASK SPECIFICATION INTERFACE FOR MANIPULATION WITH UNCALIBRATED VISUAL SERVOING...... 3434 Mona Gridseth ; Oscar Ramirez ; Camilo Perez Quintero ; Martin Jagersand

CONFIDENCE-DRIVEN CONTROL OF AN ULTRASOUND PROBE: TARGET-SPECIFIC ACOUSTIC WINDOW OPTIMIZATION...... 3441 Pierre Chatelain ; Alexandre Krupa ; Nassir Navab

DISCRIMINATIVE LEARNING BASED VISUAL SERVOING ACROSS OBJECT INSTANCES ...... 3447 Harit Pandya ; K. Madhava Krishna ; C. V. Jawahar

A SPARSE SNAPSHOT-BASED NAVIGATION STRATEGY FOR UAS GUIDANCE IN NATURAL ENVIRONMENTS...... 3455 Aymeric Denuelle ; Mandyam V. Srinivasan

REAL-TIME, GPU-BASED POSE ESTIMATION OF A UAV FOR AUTONOMOUS TAKEOFF AND LANDING ...... 3463 A. Benini ; M. J. Rutherford ; K. P. Valavanis

MULTI-ROBOT VISUAL SUPPORT SYSTEM BY ADAPTIVE ROI SELECTION BASED ON GESTALT PERCEPTION...... 3471 Shouta Samejima ; Kosuke Sekiyama

AN INFORMATION GAIN FORMULATION FOR ACTIVE VOLUMETRIC 3D RECONSTRUCTION...... 3477 Stefan Isler ; Reza Sabzevari ; Jeffrey Delmerico ; Davide Scaramuzza

DESIGN OF A HIGHLY BIOMIMETIC ANTHROPOMORPHIC ROBOTIC HAND TOWARDS ARTIFICIAL LIMB REGENERATION ...... 3485 Zhe Xu ; Emanuel Todorov

EXPERIMENTAL IMPLEMENTATION OF UNDERACTUATED POTENTIAL ENERGY SHAPING ON A POWERED ANKLE-FOOT ORTHOSIS ...... 3493 Ge Lv ; Hanqi Zhu ; Toby Elery ; Luwei Li ; Robert D. Gregg

IMU-BASED ITERATIVE CONTROL FOR HIP EXTENSION ASSISTANCE WITH A SOFT EXOSUIT ...... 3501 Ye Ding ; Ignacio Galiana ; Christopher Siviy ; Fausto A. Panizzolo ; Conor Walsh

CONTROLLING NEGATIVE AND POSITIVE POWER AT THE ANKLE WITH A SOFT EXOSUIT ...... 3509 Sangjun Lee ; Simona Crea ; Philippe Malcolm ; Ignacio Galiana ; Alan Asbeck ; Conor Walsh

SOFTHAND PRO-D: MATCHING DYNAMIC CONTENT OF NATURAL USER COMMANDS WITH HAND EMBODIMENT FOR ENHANCED PROSTHESIS CONTROL...... 3516 Cristina Piazza ; Cosimo Della Santina ; Manuel Catalano ; Giorgio Grioli ; Manolo Garabini ; Antonio Bicchi

A FORCE-AND-SLIPPAGE CONTROL STRATEGY FOR A POLIARTICULATED PROSTHETIC HAND ...... 3524 F. Cordella ; C. Gentile ; L. Zollo ; R. Barone ; R. Sacchetti ; A. Davalli ; B. Siciliano ; E. Guglielmelli

ACTIVE IMPEDANCE CONTROL OF A LOWER LIMB EXOSKELETON TO ASSIST SIT-TO-STAND MOVEMENT...... 3530 Weiguang Huo ; Samer Mohammed ; Yacine Amirat ; Kyoungchul Kong

A FABRIC-REGULATED SOFT ROBOTIC GLOVE WITH USER INTENT DETECTION USING EMG AND RFID FOR HAND ASSISTIVE APPLICATION...... 3537 Hong Kai. Yap ; Benjamin W. K. Ang ; Jeong Hoon. Lim ; James C. H. Goh ; Chen-Hua Yeow

AN ENERGY-EFFICIENT TORQUE CONTROLLER BASED ON PASSIVE DYNAMICS OF HUMAN LOCOMOTION FOR A ROBOTIC TRANSTIBIAL PROSTHESIS ...... 3543 Kebin Yuan ; Qining Wang ; Long Wang

INVESTIGATION OF A COGNITIVE STRAIN ON HAND GRASPING INDUCED BY SENSORY FEEDBACK FOR MYOELECTRIC HAND ...... 3549 Hiroshi Yamada ; Yusuke Yamanoi ; Ko Wakita ; Ryu Kato

A VERSATILE AND EFFICIENT PATTERN GENERATOR FOR GENERALIZED LEGGED LOCOMOTION ...... 3555 Justin Carpentier ; Steve Tonneau ; Maximilien Naveau ; Olivier Stasse ; Nicolas Mansard

3-DOF PASSIVE DYNAMIC WALKING OF COMPASS-LIKE BIPED ROBOT WITH SEMICIRCULAR FEET GENERATED ON SLIPPERY DOWNHILL...... 3570 Fumihiko Asano ; Toshiaki Saka ; Yuji Harata

MODEL-BASED BOUNDING ON A QUADRUPED ROBOT...... 3576 Chun-Kai Huang ; Chung-Li Chen ; Chia-Jui Hu ; Pei-Chun Lin

ROBOT LOCOMOTION ON HARD AND SOFT GROUND: MEASURING STABILITY AND GROUND PROPERTIES IN-SITU ...... 3582 Will Bosworth ; Jonas Whitney ; Sangbae Kim ; Neville Hogan

QUADRUPED PRONKING ON COMPLIANT TERRAINS USING A REACTION WHEEL ...... 3590 Vasileios Vasilopoulos ; Konstantinos Machairas ; Evangelos Papadopoulos

ACOUSTICS BASED TERRAIN CLASSIFICATION FOR LEGGED ROBOTS ...... 3596 Joshua Christie ; Navinda Kottege

ROAD FOLLOWING WITH BLIND CRAWLING ROBOT...... 3612 Martin Stejskal ; Jakub Mrva ; Jan Faigl

TOWARDS A MULTI-LEGGED MOBILE MANIPULATOR...... 3618 Bilal Ur Rehman ; Michele Focchi ; Jinoh Lee ; Houman Dallali ; Darwin G. Caldwell ; Claudio Semini

BEYOND LAYERS: A 3D-AWARE TOOLPATH ALGORITHM FOR FUSED FILAMENT FABRICATION ...... 3625 Samuel Lensgraf ; Ramgopal R. Mettu

ROBUST CONTROL OF AUTOMATED MANUFACTURING SYSTEMS WITH ASSEMBLY OPERATIONS USING PETRI NETS...... 3632 Nan Du ; Hesuan Hu ; Yang Liu

TYING KNOT PRECISELY ...... 3639 Weifu Wang ; Devin Balkcom

GRASPING AND FOLDING KNOTS ...... 3647 Weifu Wang ; Devin Balkcom

ROBOTIC FOLDING OF 2D AND 3D STRUCTURES FROM A RIBBON...... 3655 Liyu Wang ; Mark M. Plecnik ; Ronald S. Fearing

AN AUTOMATED SYSTEM FOR INVESTIGATING SPERM ORIENTATION IN FLUID FLOW...... 3661 Zhuoran Zhang ; Jun Liu ; Jim Meriano ; Changhai Ru ; Shaorong Xie ; Jun Luo ; Yu Sun

DISTRIBUTED SUPERVISOR SYNTHESIS FOR AUTOMATED MANUFACTURING SYSTEMS WITH FLEXIBLE ROUTES AND ASSEMBLY OPERATIONS USING PETRI NETS...... 3667 Chen Chen ; Yan Yang ; Hesuan Hu

SIMULTANEOUS MODEL IDENTIFICATION AND TASK SATISFACTION IN THE PRESENCE OF TEMPORAL LOGIC CONSTRAINTS ...... 3682 Sandeep P. Chinchali ; Scott C. Livingston ; Marco Pavone ; Joel W. Burdick

OPTIMAL TEMPORAL LOGIC PLANNING IN PROBABILISTIC SEMANTIC MAPS...... 3690 Jie Fu ; Nikolay Atanasov ; Ufuk Topcu ; George J. Pappas

UNILATERAL WALKING SURFACE STIFFNESS PERTURBATIONS EVOKE BRAIN RESPONSES: TOWARD BILATERALLY INFORMED ROBOT-ASSISTED GAIT REHABILITATION...... 3698 Jeffrey Skidmore ; Panagiotis Artemiadis

REDUNDANT KINEMATICS AND WORKSPACE CENTERING CONTROL OF ASSISTON-GAIT OVERGROUND GAIT AND BALANCE TRAINER ...... 3704 Hammad Munawar ; Mustafa Yalcin ; Volkan Patoglu

DEVELOPMENT OF A WALKING ASSISTANCE APPARATUS FOR GAIT TRAINING AND PROMOTION OF EXERCISE ...... 3711 E. Tanaka ; K. Muramatsu ; K. Watanuki ; S. Saegusa ; L. Yuge

ESTIMATION OF TREMOR PARAMETERS AND EXTRACTION TREMOR FROM RECORDED SIGNALS FOR TREMOR SUPPRESSION...... 3717 Shengxin Wang ; Yongsheng Gao ; Feiyun Xiao ; Xizhe Zang ; Yanhe Zhu ; Jie Zhao

EFFICACY OF COORDINATING SHOULDER AND ELBOW MOTION IN A MYOELECTRIC TRANSHUMERAL PROSTHESIS IN REACHING TASKS ...... 3723 Nasser A. Alshammary ; Daniel A Bennett ; Michael Goldfarb

ON THE FEASIBILITY OF WEARABLE EXOTENDON NETWORKS FOR WHOLE-HAND MOVEMENT PATTERNS IN STROKE PATIENTS ...... 3729 Sangwoo Park ; Lauri Bishop ; Tara Post ; Yuchen Xiao ; Joel Stein ; Matei Ciocarlie

CPWALKER: ROBOTIC PLATFORM FOR GAIT REHABILITATION IN PATIENTS WITH CEREBRAL PALSY ...... 3736 C. Bayon ; O. Ramirez ; M. D. Del Castillo ; J. I. Serrano ; R. Raya ; J. M. Belda-Lois ; R. Poveda ; F. Molla ; T. Martin ; I. Martinez ; S. Lerma Lara ; E. Rocon

DEVELOPMENT OF POLYMER-BASED TENDON-DRIVEN WEARABLE ROBOTIC HAND...... 3750 Brian Byunghyun Kang ; Haemin Lee ; Hyunki In ; Useok Jeong ; Jinwon Chung ; Kyu-Jin Cho

OVERGROUND ROBOT BASED GAIT REHABILITATION SYSTEM MOPASS - OVERVIEW AND FIRST RESULTS FROM USABILITY TESTING ...... 3756 Olena Kuzmicheva ; Santiago Focke Martinez ; Ulrich Krebs ; Matthias Spranger ; Simon Moosburner ; Barbel Wagner ; Axel Graser

UNDERACTUATED ROBOT FINGER CONTROLLED BY VARIABLE VIBRATION CENTER EFFECT ...... 3764 Satoshi Mori ; Mitsuru Higashimori

INITIAL RESULTS FOR A BALLBOT DRIVEN WITH A SPHERICAL INDUCTION MOTOR...... 3771 Greg Seyfarth ; Ankit Bhatia ; Olaf Sassnick ; Michael Shomin ; Masaaki Kumagai ; Ralph Hollis

PERFORMANCE WITHOUT TWEAKING DIFFERENTIATORS VIA A PR CONTROLLER: FURUTA PENDULUM CASE STUDY...... 3777 T. Ortega ; R. Villafuerte ; C. Vazquez ; L. Freidovich

STEP CLIMBING COOPERATION PRIMITIVES FOR LEGGED ROBOTS WITH A REVERSIBLE CONNECTION...... 3791 Carlos S. Casarez ; Ronald S. Fearing

ONLINE MOTION PLANNING OVER UNEVEN TERRAIN WITH WALKING PRIMITIVES AND REGRESSION...... 3799 Sotiris Apostolopoulos ; Marion Leibold ; Martin Buss

ELECTROADHESIVE FEET FOR TURNING CONTROL IN LEGGED ROBOTS ...... 3806 Abraham Simpson Chen ; Sarah Bergbreiter

DIFFERENTIAL JUMPING: A NOVEL MODE FOR MICRO-ROBOT NAVIGATION ...... 3813 Tirthankar Bandyopadhyay ; Karl Von-Richter ; Marc-Antoine Pallaud ; Alberto Elfes

CONTROL SCHEME OF NONGRASPING MANIPULATION BASED ON VIRTUAL CONNECTING CONSTRAINT ...... 3819 Tadayoshi Aoyama ; Takeshi Takaki ; Qingyi Gu ; Idaku Ishii

AUTOMATIC CONFIGURATION OF MOBILE CONVEYOR LINES...... 3841 Dohee Lee ; Tsz-Chiu Au

DEFECT DETECTION WITH ESTIMATION OF MATERIAL CONDITION USING ENSEMBLE LEARNING FOR HAMMERING TEST...... 3847 Hiromitsu Fujii ; Atsushi Yamashita ; Hajime Asama

ROBUST OPTIMIZATION OF ROBOTIC PICK AND PLACE OPERATIONS FOR DEFORMABLE OBJECTS THROUGH SIMULATION...... 3863 Troels Bo Jurgensen ; Kristian Debrabant ; Norbert Kruger

3D PRINTING OF VARIABLE STIFFNESS HYPER-REDUNDANT ROBOTIC ARM...... 3871 Yang Yang ; Yonghua Chen ; Yingtian Li ; Michael Zhiqiang Chen

PRINTABLE HYDRAULICS: A METHOD FOR FABRICATING ROBOTS BY 3D CO-PRINTING SOLIDS AND LIQUIDS...... 3878 Robert Maccurdy ; Robert Katzschmann ; Youbin Kim ; Daniela Rus

HIGH-PERFORMANCE ROBOTIC CONTOUR TRACKING BASED ON THE DYNAMIC COMPENSATION CONCEPT...... 3886 Shouren Huang ; Niklas Bergstrom ; Yuji Yamakawa ; Taku Senoo ; Masatoshi Ishikawa

DIFFERENTIAL FEED CONTROL APPLIED TO CORNER MATCHING IN AUTOMATED SEWING...... 3894 Johannes Schrimpf ; Geir Mathisen

HIGH ACCURATE ROBOTIC DRILLING WITH EXTERNAL SENSOR AND COMPLIANCE MODEL- BASED COMPENSATION ...... 3901 J. R. Diaz Posada ; U. Schneider ; S. Pidan ; M. Geravand ; P. Stelzer ; A. Verl

TOWARDS MANIPULATION PLANNING FOR MULTIPLE INTERLINKED DEFORMABLE LINEAR OBJECTS ...... 3908 Ankit J. Shah ; Julie A. Shah

EFFICIENTLY SOLVING GENERAL REARRANGEMENT TASKS: A FAST EXTENSION PRIMITIVE FOR AN INCREMENTAL SAMPLING-BASED PLANNER...... 3924 Athanasios Krontiris ; Kostas E. Bekris

A COORDINATE-FREE FRAMEWORK FOR ROBOTIC PIZZA TOSSING AND CATCHING...... 3932 Aykut C. Satici ; Fabio Ruggiero ; Vincenzo Lippiello ; Bruno Siciliano

REARRANGEMENT PLANNING USING OBJECT-CENTRIC AND ROBOT-CENTRIC ACTION SPACES...... 3940 Jennifer E. King ; Marco Cognetti ; Siddhartha S. Srinivasa

CONSIDERING AVOIDANCE AND CONSISTENCY IN MOTION PLANNING FOR HUMAN-ROBOT MANIPULATION IN A SHARED WORKSPACE ...... 3948 Rafi Hayne ; Ruikun Luo ; Dmitry Berenson

PLANNING AND EXECUTION OF GROPING BEHAVIOR FOR CONTACT SENSOR BASED MANIPULATION IN AN UNKNOWN ENVIRONMENT ...... 3955 Masaki Murooka ; Ryohei Ueda ; Shunichi Nozawa ; Yohei Kakiuchi ; Kei Okada ; Masayuki Inaba

PLANNING FOR GRASP SELECTION OF PARTIALLY OCCLUDED OBJECTS ...... 3971 Sung-Kyun Kim ; Maxim Likhachev

AFFORDANCE-FEASIBLE PLANNING WITH MANIPULATOR WRENCH SPACES...... 3979 Andrew Price ; Stephen Balakirsky ; Aaron Bobick ; Henrik Christensen

FOLDING ASSEMBLY BY MEANS OF DUAL-ARM ROBOTIC MANIPULATION ...... 3987 Diogo Almeida ; Yiannis Karayiannidis

OPTICAL MANIPULATION OF MULTIPLE MICROSCOPIC OBJECTS WITH BROWNIAN PERTURBATIONS...... 3994 Quang Minh Ta ; Chien Chern Cheah

CURVATURE CONTROL OF SOFT ORTHOTICS VIA LOW COST SOLID-STATE OPTICS...... 4008 Huichan Zhao ; Rukang Huang ; Robert F. Shepherd

HYDRO MUSCLE -A NOVEL SOFT FLUIDIC ACTUATOR...... 4014 Saivimal Sridar ; Corey J. Majeika ; Phillip Schaffer ; Matthew Bowers ; Seiichiro Ueda ; Andrew J. Barth ; Jon L. Sorrells ; Jon T. Wu ; Thane R. Hunt ; Marko Popovic

DESIGN AND IMPLEMENTATION OF A 300% STRAIN SOFT ARTIFICIAL MUSCLE...... 4022 Elliot W. Hawkes ; David L. Christensen ; Allison M. Okamura

COMPARISON OF KINESTHETIC AND SKIN DEFORMATION FEEDBACK FOR MASS RENDERING...... 4030 Jacob M. Suchoski ; Aaron Barron ; Connie Wu ; Zhan Fan Quek ; Sean Keller ; Allison M. Okamura

BAYESIAN ESTIMATION OF NON-RIGID MECHANICAL PARAMETERS USING TEMPORAL SEQUENCES OF DEFORMATION SAMPLES ...... 4036 Shan Yang ; Ming C. Lin

MUSCULOSKELETAL QUADRUPED ROBOT WITH TORQUE-ANGLE RELATIONSHIP CONTROL SYSTEM...... 4044 Satoshi Nishikawa ; Kazuya Shida ; Yasuo Kuniyoshi

HYSTERESIS MODEL OF LONGITUDINALLY LOADED CABLE FOR CABLE DRIVEN ROBOTS AND IDENTIFICATION OF THE PARAMETERS ...... 4051 Muneaki Miyasaka ; Mohammad Haghighipanah ; Yangming Li ; Blake Hannaford

DESIGN AND ANALYSIS OF A WIRE-DRIVEN FLEXIBLE MANIPULATOR FOR BRONCHOSCOPIC INTERVENTIONS...... 4058 Ning Liu ; Christos Bergeles ; Guang-Zhong Yang

REAL-TIME PLANNER FOR MULTI-SEGMENT CONTINUUM MANIPULATOR IN DYNAMIC ENVIRONMENTS...... 4080 Ahmad Ataka ; Peng Qi ; Hongbin Liu ; Kaspar Althoefer

A LIGHTWEIGHT ROBOTIC ARM WITH PNEUMATIC MUSCLES FOR ROBOT LEARNING ...... 4086 Dieter Buchler ; Heiko Ott ; Jan Peters

TELEOPERATION MAPPINGS FROM RIGID LINK ROBOTS TO THEIR EXTENSIBLE CONTINUUM COUNTERPARTS...... 4093 Chase G. Frazelle ; Apoorva D. Kapadia ; Katelyn E. Fry ; Ian. D. Walker

BIMANUAL TELEOPERATION WITH HEART MOTION COMPENSATION ON THE DA VINCI(R) RESEARCH KIT: IMPLEMENTATION AND PRELIMINARY EXPERIMENTS...... 4101 Angelica Ruszkowski ; Caitlin Schneider ; Omid Mohareri ; Septimiu Salcudean

REAL-TIME TROCAR DETECTION AND LOCALIZATION DURING COMANIPULATED LAPAROSCOPIC SURGERY ...... 4109 Lin Dong ; Guillaume Morel

ROBUST IMAGE-BASED COMPUTATION OF THE 3D POSITION OF RCM INSTRUMENTS AND ITS APPLICATION TO IMAGE-GUIDED MANIPULATION ...... 4115 David Navarro-Alarcon ; Zerui Wang ; Hiu Man Yip ; Yun-Hui Liu ; Fangxun Zhong ; Tianxue Zhang ; Jiadong Shi ; Hesheng Wang

THIN-DIAMETER CHOPSTICKS ROBOT FOR LAPAROSCOPIC SURGERY...... 4122 Haruka Sakurai ; Takahiro Kanno ; Kenji Kawashima

DYNAMIC MODELING OF CABLE DRIVEN ELONGATED SURGICAL INSTRUMENTS FOR SENSORLESS GRIP FORCE ESTIMATION...... 4128 Yangming Li ; Muneaki Miyasaka ; Mohammad Haghighipanah ; Lei Cheng ; Blake Hannaford

UNSCENTED KALMAN FILTER AND 3D VISION TO IMPROVE CABLE DRIVEN SURGICAL ROBOT JOINT ANGLE ESTIMATION ...... 4135 Mohammad Haghighipanah ; Muneaki Miyasaka ; Yangming Li ; Blake Hannaford

TSC-DL: UNSUPERVISED TRAJECTORY SEGMENTATION OF MULTI-MODAL SURGICAL DEMONSTRATIONS WITH DEEP LEARNING...... 4150 Adithyavairavan Murali ; Animesh Garg ; Sanjay Krishnan ; Florian T. Pokorny ; Pieter Abbeel ; Trevor Darrell ; Ken Goldberg

UNSUPERVISED SURGICAL DATA ALIGNMENT WITH APPLICATION TO AUTOMATIC ACTIVITY ANNOTATION...... 4158 Yixin Gao ; S. Swaroop Vedula ; Gyusung I. Lee ; Mija R. Lee ; Sanjeev Khudanpur ; Gregory D. Hager

CONCURRENT NONPARAMETRIC ESTIMATION OF ORGAN GEOMETRY AND TISSUE STIFFNESS USING CONTINUOUS ADAPTIVE PALPATION ...... 4164 Preetham Chalasani ; Long Wang ; Rajarshi Roy ; Nabil Simaan ; Russell H. Taylor ; Marin Kobilarov

PATH PLANNING FOR ROBOT-ENHANCED CARDIAC RADIOFREQUENCY CATHETER ABLATION...... 4172 Xiao-Yun Zhou ; Sabine Ernst ; Su-Lin Lee

AUTONOMOUS MULTIPLE-THROW MULTILATERAL SURGICAL SUTURING WITH A MECHANICAL NEEDLE GUIDE AND OPTIMIZATION BASED NEEDLE PLANNING...... 4178 Siddarth Sen ; Animesh Garg ; David V. Gealy ; Stephen McKinley ; Yiming Jen ; Ken Goldberg

AUTOMATED IN-PLANE OCT-PROBE POSITIONING TOWARDS REPETITIVE OPTICAL BIOPSIES...... 4186 M. Ourak ; A. De Simone ; B. Tamadazte ; G. J. Laurent ; A. Menciassi ; N. Andreff

REACTIVE HIGH-LEVEL BEHAVIOR SYNTHESIS FOR AN ATLAS HUMANOID ROBOT...... 4192 Spyros Maniatopoulos ; Philipp Schillinger ; Vitchyr Pong ; David C. Conner ; Hadas Kress-Gazit

REAL-TIME PLANNING AND EXECUTION OF EVASIVE MOTIONS FOR A HUMANOID ROBOT...... 4200 Marco Cognetti ; Daniele De Simone ; Leonardo Lanari ; Giuseppe Oriolo

REGIONALLY ACCELERATED BATCH INFORMED TREES (RABIT*): A FRAMEWORK TO INTEGRATE LOCAL INFORMATION INTO OPTIMAL PATH PLANNING...... 4207 Sanjiban Choudhury ; Jonathan D. Gammell ; Timothy D. Barfoot ; Siddhartha S. Srinivasa ; Sebastian Scherer

AN EFFICIENT ROBOTIC EXPLORATION PLANNER WITH PROBABILISTIC GUARANTEES ...... 4215 Alexander Ivanov ; Mark Campbell

DECENTRALIZED MULTI-AGENT EXPLORATION WITH ONLINE-LEARNING OF GAUSSIAN PROCESSES...... 4222 Alberto Viseras ; Thomas Wiedemann ; Christoph Manss ; Lukas Magel ; Joachim Mueller ; Dmitriy Shutin ; Luis Merino

MULTIMODAL INFORMATION-THEORETIC MEASURES FOR AUTONOMOUS EXPLORATION ...... 4230 Dushyant Rao ; Asher Bender ; Stefan B. Williams ; Oscar Pizarro

FEEDBACK MOTION PLANNING UNDER NON-GAUSSIAN UNCERTAINTY AND NON-CONVEX STATE CONSTRAINTS ...... 4238 Mohammadhussein Rafieisakhaei ; Amirhossein Tamjidi ; Suman Chakravorty ; P. R. Kumar

ONLINE MOTION GENERATION FOR MIRRORING HUMAN ARM MOTION ...... 4245 Roman Weitschat ; Alexander Dietrich ; Jorn Vogel

PURSUIT-EVASION WITH FIXED BEAMS...... 4251 Nicholas M. Stiffler ; Jason M. O'Kane

VORONOI-BASED COVERAGE CONTROL OF HETEROGENEOUS DISK-SHAPED ROBOTS...... 4259 Omur Arslan ; Daniel E. Koditschek

SUPER RAY BASED UPDATES FOR OCCUPANCY MAPS ...... 4267 Youngsun Kwon ; Donghyuk Kim ; Sung-Eui Yoon

THE RIGHT DIRECTION TO SMELL: EFFICIENT SENSOR PLANNING STRATEGIES FOR ROBOT ASSISTED GAS TOMOGRAPHY ...... 4275 Muhammad Asif Arain ; Erik Schaffernicht ; Victor Hernandez Bennetts ; Achim J. Lilienthal

INTEGRATED CONTROL OF A MULTI-FINGERED HAND AND ARM USING PROXIMITY SENSORS ON THE FINGERTIPS ...... 4282 Keisuke Koyama ; Yosuke Suzuki ; Aiguo Ming ; Makoto Shimojo

SELF-CALIBRATING MULTI-SENSOR FUSION WITH PROBABILISTIC MEASUREMENT VALIDATION FOR SEAMLESS SENSOR SWITCHING ON A UAV ...... 4289 Karol Hausman ; Stephan Weiss ; Roland Brockers ; Larry Matthies ; Gaurav S. Sukhatme

MAXIMUM LIKELIHOOD PARAMETER IDENTIFICATION FOR MAVS...... 4297 Michael Burri ; Janosch Nikolic ; Helen Oleynikova ; Markus W. Achtelik ; Roland Siegwart

EXTENDING KALIBR: CALIBRATING THE EXTRINSICS OF MULTIPLE IMUS AND OF INDIVIDUAL AXES...... 4304 Joern Rehder ; Janosch Nikolic ; Thomas Schneider ; Timo Hinzmann ; Roland Siegwart

LOCAL AND CLOSED-LOOP CALIBRATION OF AN INDUSTRIAL SERIAL ROBOT USING A NEW LOW- COST 3D MEASURING DEVICE...... 4312 Martin Gaudreault ; Ahmed Joubair ; Ilian A. Bonev

ELASTO-GEOMETRICAL CALIBRATION OF AN INDUSTRIAL ROBOT UNDER MULTIDIRECTIONAL EXTERNAL LOADS USING A LASER TRACKER...... 4320 Kaveh Kamali ; Ahmed Joubair ; Ilian A. Bonev ; Pascal Bigras

UNSUPERVISED CALIBRATION OF WHEELED MOBILE PLATFORMS...... 4328 Maurilio Di Cicco ; Bartolomeo Della Corte ; Giorgio Grisetti

INSTANCE SELECTION FOR EFFICIENT AND RELIABLE CAMERA CALIBRATION...... 4335 Humphrey Hu ; George Kantor

GEOMETRY BASED EXHAUSTIVE LINE CORRESPONDENCE DETERMINATION ...... 4341 Bhat K K Srikrishna ; Utpala Musti ; Janne Heikkilä

CHOOSING A TIME AND PLACE FOR CALIBRATION OF LIDAR-CAMERA SYSTEMS ...... 4349 Terry Scott ; Akshay A. Morye ; Pedro Piniés ; Lina M. Paz ; Ingmar Posner ; Paul Newman

NEW PROBABILISTIC APPROACHES TO THE AX = XB HAND-EYE CALIBRATION WITHOUT CORRESPONDENCE...... 4365 Qianli Ma ; Haiyuan Li ; Gregory S. Chirikjian

CALIBRATION OF INDUSTRY ROBOTS WITH CONSIDERATION OF LOADING EFFECTS USING PRODUCT-OF-EXPONENTIAL (POE) AND GAUSSIAN PROCESS (GP)...... 4380 Wei Jing ; Pey Yuen Tao ; Guilin Yang ; Kenji Shimada

VISUAL TRACKING OF BIOPSY NEEDLES IN 2D ULTRASOUND IMAGES ...... 4386 Mert Kaya ; Enes Senel ; Awais Ahmad ; Ozkan Bebek

MAGNETIC NEEDLE GUIDANCE FOR NEUROSURGERY: INITIAL DESIGN AND PROOF OF CONCEPT ...... 4392 Andrew J. Petruska ; Fabio Ruetz ; Ayoung Hong ; Luca Regli ; Oguzkan Sürücü ; Ajmal Zemmar ; Bradley J. Nelson

SNAP-ON ROBOTIC WRIST MODULE FOR ENHANCED DEXTERITY IN ENDOSCOPIC SURGERY...... 4398 Joshua Gafford ; Tommaso Ranzani ; Sheila Russo ; Hiroyuki Aihara ; Christopher Thompson ; Robert Wood ; Conor Walsh

AUTOMATE SURGICAL TASKS FOR A FLEXIBLE SERPENTINE MANIPULATOR VIA LEARNING ACTUATION SPACE TRAJECTORY FROM DEMONSTRATION...... 4406 Wenjun Xu ; Jie Chen ; Henry Y. K. Lau ; Hongliang Ren

CATADIOPTRIC STEREO TRACKING FOR THREE DIMENSIONAL SHAPE MEASUREMENT OF MRI GUIDED CATHETERS ...... 4422 Russell C. Jackson ; Taoming Liu ; M. Cenk Çavusoglu

PROGRESS TOWARD ROBOTIC SURGERY OF THE LATERAL SKULL BASE: INTEGRATION OF A DEXTEROUS CONTINUUM MANIPULATOR AND FLEXIBLE RING CURETTE ...... 4429 Anzhu Gao ; John P. Carey ; Ryan J. Murphy ; Iulian Iordachita ; Russell H. Taylor ; Mehran Armand

COMPENSATION FOR UNCONSTRAINED CATHETER SHAFT MOTION IN CARDIAC CATHETERS...... 4436 Alperen Degirmenci ; Paul M. Loschak ; Cory M. Tschabrunn ; Elad Anter ; Robert D. Howe

STEERING AN ACTUATED-TIP NEEDLE IN BIOLOGICAL TISSUE: FUSING FBG-SENSOR DATA AND ULTRASOUND IMAGES...... 4443 Navid Shahriari ; Roy J. Roesthuis ; Nick J. Van De Berg ; John J. Van Den Dobbelsteen ; Sarthak Misra

NEEDLE STEERING FUSING DIRECT BASE MANIPULATION AND TIP-BASED CONTROL ...... 4450 Jason Chevrie ; Alexandre Krupa ; Marie Babel

ON THE INSEPARABLE NATURE OF SENSOR SELECTION, SENSOR PLACEMENT, AND STATE ESTIMATION FOR CONTINUUM ROBOTS OR "WHERE TO PUT YOUR SENSORS AND HOW TO USE THEM"...... 4472 Arthur W. Mahoney ; Trevor L. Bruns ; Philip J. Swaney ; Robert J. Webster

PLANAR ODOMETRY FROM A RADIAL LASER SCANNER. A RANGE FLOW-BASED APPROACH...... 4479 Mariano Jaimez ; Javier G. Monroy ; Javier Gonzalez-Jimenez

COLLAR LINE SEGMENTS FOR FAST ODOMETRY ESTIMATION FROM VELODYNE POINT CLOUDS ...... 4486 Martin Velas ; Michal Spanel ; Adam Herout

MOTION-BASED DETECTION AND TRACKING IN 3D LIDAR SCANS ...... 4508 Ayush Dewan ; Tim Caselitz ; Gian Diego Tipaldi ; Wolfram Burgard

HIERARCHICAL SPATIAL MODEL FOR 2D RANGE DATA BASED ROOM CATEGORIZATION ...... 4514 Peter Ursi ; Ales Leonardis ; Danijel Skoaj ; Matej Kristan

SIMULTANEOUS TRACKING AND RENDERING: REAL-TIME MONOCULAR LOCALIZATION FOR MAVS...... 4522 Kyel Ok ; W. Nicholas Greene ; Nicholas Roy

NOISE MASK FOR TDOA SOUND SOURCE LOCALIZATION OF SPEECH ON MOBILE ROBOTS IN NOISY ENVIRONMENTS ...... 4530 François Grondin ; François Michaud

REAL-TIME HIGH-ACCURACY 2D LOCALIZATION WITH STRUCTURED PATTERNS...... 4536 Lukas Hostettler ; Ayberk Ozgür ; Séverin Lemaignan ; Pierre Dillenbourg ; Francesco Mondada

PROBABILISTIC SENSOR DATA PROCESSING FOR ROBOT LOCALISATION ON LOAD-SENSING FLOORS...... 4544 Maxime Rio ; Francis Colas ; Mihai Andries ; François Charpillet

TOWARDS A HYPERBOLIC ACOUSTIC ONE-WAY LOCALIZATION SYSTEM FOR UNDERWATER SWARM ROBOTICS ...... 4551 Andreas René Geist ; Axel Hackbarth ; Edwin Kreuzer ; Viktor Rausch ; Michael Sankur ; Eugen Solowjow

RFID-ENABLED LOCATION FINGERPRINTING BASED ON SIMILARITY MODELS FROM PROBABILISTIC SIMILARITY MEASURES...... 4557 Artur Koch ; Andreas Zell

FAST LOCALIZATION AND TRACKING USING EVENT SENSOR ...... 4564 Wenzhen Yuan ; Srikumar Ramalingam

A PRACTICAL OPTIMAL CONTROL APPROACH FOR TWO-SPEED ACTUATORS...... 4572 Alexandre Girard ; H. Harry Asada

SLIP-AWARE MODEL PREDICTIVE OPTIMAL CONTROL FOR PATH FOLLOWING...... 4585 Venkataramanan Rajagopalan ; Çetin Meriçli ; Alonzo Kelly

KINEMATIC CONTROL OF AN AUTONOMOUS UNDERWATER VEHICLE-MANIPULATOR SYSTEM (AUVMS) USING AUTOREGRESSIVE PREDICTION OF VEHICLE MOTION AND MODEL PREDICTIVE CONTROL ...... 4591 Jonathan Woolfrey ; Dikai Liu ; Marc Carmichael

MODEL-PREDICTIVE CONTROL WITH STOCHASTIC COLLISION AVOIDANCE USING BAYESIAN POLICY OPTIMIZATION ...... 4597 Olov Andersson ; Mariusz Wzorek ; Piotr Rudol ; Patrick Doherty

A TOPOLOGY-GUIDED PATH INTEGRAL APPROACH FOR STOCHASTIC OPTIMAL CONTROL ...... 4605 Jung-Su Ha ; Han-Lim Choi

FULLY AUTONOMOUS HIP EXOSKELETON SAVES METABOLIC COST OF WALKING ...... 4628 Keehong Seo ; Jusuk Lee ; Younbaek Lee ; Taesin Ha ; Youngbo Shim

HIERARCHICAL PLANNING OF DYNAMIC MOVEMENTS WITHOUT SCHEDULED CONTACT SEQUENCES...... 4636 Carlos Mastalli ; Ioannis Havoutis ; Michele Focchi ; Darwin G. Caldwell ; Claudio Semini

FINDING OPTIMAL ISOMORPHIC GOAL ADJACENCY...... 4650 Deniz Senel ; H. Isil Bozma ; Ferit Oztürk

MECHANICS OF A SCALABLE HIGH FREQUENCY FLAPPING WING ROBOTIC PLATFORM CAPABLE OF LIFT-OFF...... 4664 Jesse A. Roll ; Dane T. Bardroff ; Xinyan Deng

THE FLYING MONKEY: A MULTIFUNCTIONAL MESOSCALE ROBOT THAT CAN RUN, FLY, AND GRASP...... 4672 Yash Mulgaonkar ; Brandon Araki ; Je-Sung Koh ; Luis Guerrero-Bonilla ; Daniel M. Aukes ; Anurag Makineni ; Michael T. Tolley ; Daniela Rus ; Robert J. Wood ; Vijay Kumar

AN INTEGRATED JUMPING-CRAWLING ROBOT USING HEIGHT-ADJUSTABLE JUMPING MODULE ...... 4680 Gwang-Pil Jung ; Carlos S. Casarez ; Sun-Pill Jung ; Ronald S. Fearing ; Kyu-Jin Cho

A CONTINUOUS JUMPING ROBOT ON WATER MIMICKING WATER STRIDERS ...... 4686 Jihong Yan ; Kai Yang ; Tao Wang ; Xinbin Zhang ; Jie Zhao

OBJECT SHAPE RECOGNITION USING ELECTRIC SENSE AND ELLIPSOID'S POLARIZATION TENSOR ...... 4692 Sylvain Lanneau ; Vincent Lebastard ; Frédéric Boyer

OUROBOT - A SELF-PROPELLED CONTINUOUS-TRACK-ROBOT FOR RUGGED TERRAIN ...... 4708 Jan Paskarbeit ; Simon Beyer ; Adrian Gucze ; Johann Schroder ; Matthäus Wiltzok ; Manfred Fingberg ; Axel Schneider

A STRUCTURALLY FLEXIBLE HUMANOID SPINE BASED ON A TENDON-DRIVEN ELASTIC CONTINUUM...... 4714 Jens Reinecke ; Bastian Deutschmann ; David Fehrenbach

CIRCUMNUTATIONS AS A PENETRATION STRATEGY IN A PLANT-ROOT-INSPIRED ROBOT...... 4722 Emanuela Del Dottore ; Alessio Mondini ; Ali Sadeghi ; Virgilio Mattoli ; Barbara Mazzolai

DISTRIBUTED SENSING AND NONLINEAR MISO MODELS FOR PREDICTING THE PROPULSIVE FORCES OF FLEXIBLE, MULTI-DOF ROBOTIC FINS ...... 4729 Jeff C Kahn ; James L. Tangorra

SPEED EVALUATION OF A FREELY SWIMMING ROBOTIC FISH WITH AN ARTIFICIAL LATERAL LINE...... 4737 Wei Wang ; Yuan Li ; Xingxing Zhang ; Chen Wang ; Shiming Chen ; Guangming Xie

A TETHER-LESS LEGGED PIEZOELECTRIC MINIATURE ROBOT USING BOUNDING GAIT LOCOMOTION FOR BIDIRECTIONAL MOTION ...... 4743 Hassan H. Hariri ; Leonardus A. Prasetya ; Shaohui Foong ; Gim Song Soh ; Kevin N. Otto ; Kristin L. Wood

DEPTH CONTROL OF THE BIOMIMETIC U-CAT TURTLE-LIKE AUV WITH EXPERIMENTS IN REAL OPERATING CONDITIONS...... 4750 A. Chemori ; K. Kuusmik ; T. Salumäe ; M. Kruusmaa

ABSOLUTE POSE ESTIMATION USING MULTIPLE FORMS OF CORRESPONDENCES FROM RGB-D FRAMES ...... 4756 Shuda Li ; Andrew Calway

MODELLING UNCERTAINTY IN DEEP LEARNING FOR CAMERA RELOCALIZATION ...... 4762 Alex Kendall ; Roberto Cipolla

OBJECT-AWARE BUNDLE ADJUSTMENT FOR CORRECTING MONOCULAR SCALE DRIFT...... 4770 Duncan P. Frost ; Olaf Kähler ; David W. Murray

LOCALIZATION ACCURACY ESTIMATION WITH APPLICATION TO PERCEPTION DESIGN ...... 4777 Jan Rohde ; Jan Erik Stellet ; Holger Mielenz ; J. Marius Zollner

FAST AND EFFECTIVE ONLINE POSE ESTIMATION AND MAPPING FOR UAVS...... 4784 Johannes Schneider ; Christian Eling ; Lasse Klingbeil ; Heiner Kuhlmann ; Wolfgang Forstner ; Cyrill Stachniss

NON-UNIFORM SAMPLING STRATEGIES FOR CONTINUOUS CORRECTION BASED TRAJECTORY ESTIMATION ...... 4792 Renaud Dubé ; Hannes Sommer ; Abel Gawel ; Michael Bosse ; Roland Siegwart

THE LINE LEADING THE BLIND: TOWARDS NONVISUAL LOCALIZATION AND MAPPING FOR TETHERED MOBILE ROBOTS ...... 4799 Patrick McGarey ; Kirk Mactavish ; François Pomerleau ; Timothy D. Barfoot

VISION-BASED ROBOT LOCALIZATION ACROSS SEASONS AND IN REMOTE LOCATIONS ...... 4815 Anirudh Viswanathan ; Bernardo R. Pires ; Daniel Huber

2D VISUAL PLACE RECOGNITION FOR DOMESTIC SERVICE ROBOTS AT NIGHT ...... 4822 James Mount ; Michael Milford

POINT CLOUD DESCRIPTORS FOR PLACE RECOGNITION USING SPARSE VISUAL INFORMATION...... 4830 Titus Cieslewski ; Elena Stumm ; Abel Gawel ; Mike Bosse ; Simon Lynen ; Roland Siegwart

DO YOU SEE THE BAKERY? LEVERAGING GEO-REFERENCED TEXTS FOR GLOBAL LOCALIZATION IN PUBLIC MAPS ...... 4837 Noha Radwan ; Gian Diego Tipaldi ; Luciano Spinello ; Wolfram Burgard

MAKING OBJECTS GRASPABLE IN CONFINED ENVIRONMENTS THROUGH PUSH AND PULL MANIPULATION WITH A TOOL...... 4851 Sarah Elliott ; Michelle Valente ; Maya Cakmak

SYNERGY-BASED INTERFACE FOR BILATERAL TELE-MANIPULATIONS OF A MASTER-SLAVE SYSTEM WITH LARGE ASYMMETRIES ...... 4859 A. Brygo ; I. Sarakoglou ; A. Ajoudani ; N. G Hernandez ; G. Grioli ; M. Catalano ; D. G Caldwell ; N. Tsagarakis

DENOISING AUTO-ENCODERS FOR LEARNING OF OBJECTS AND TOOLS AFFORDANCES IN CONTINUOUS SPACE...... 4866 Atabak Dehban ; Lorenzo Jamone ; Adam R. Kampff ; José Santos-Victor

FLEXIBLE, SEMI-AUTONOMOUS GRASPING FOR ASSISTIVE ROBOTICS ...... 4872 Jorn Vogel ; Katharina Hertkorn ; Rohit U. Menon ; Máximo A. Roa

SWING-UP REGRASPING ALGORITHM USING ENERGY CONTROL ...... 4888 Avishai Sintov ; Amir Shapiro

HAPTIC FEEDBACK FOR IMPROVED ROBOTIC ARM CONTROL DURING SIMPLE GRASP, SLIPPAGE, AND CONTACT DETECTION TASKS...... 4894 M. Reza Motamedi ; Jean-Baptiste Chossat ; Jean-Philippe Roberge ; Vincent Duchaine

DEVELOPMENT OF A FOOD HANDLING GRIPPER CONSIDERING AN APPETIZING PRESENTATION ...... 4901 Gen Endo ; Nobuhiro Otomo

FREE FLYER ACQUISITION OF SPINNING OBJECTS WITH GECKO-INSPIRED ADHESIVES ...... 4907 Matthew A. Estrada ; Benjamin Hockman ; Andrew Bylard ; Elliot W. Hawkes ; Mark R. Cutkosky ; Marco Pavone

INTERACTIVE COMPUTATIONAL IMAGING FOR DEFORMABLE OBJECT ANALYSIS...... 4914 Donald G. Dansereau ; Surya P. N. Singh ; Jürgen Leitner

A NEW INTERACTION FORCE DECOMPOSITION MAXIMIZING COMPENSATING FORCES UNDER PHYSICAL WORK CONSTRAINTS ...... 4922 Alexander M. Schmidts ; Manuel Schneider ; Markus Kühne ; Angelika Peer

STABLE SIMULATION OF UNDERACTUATED COMPLIANT HANDS...... 4938 Alessio Rocchi ; Barrett Ames ; Zhi Li ; Kris Hauser

SORO-TRACK: A TWO-AXIS SOFT ROBOTIC PLATFORM FOR SOLAR TRACKING AND BUILDING- INTEGRATED PHOTOVOLTAIC APPLICATIONS ...... 4945 Bratislav Svetozarevic ; Zoltán Nagy ; Johannes Hofer ; Dominic Jacob ; Moritz Begle ; Eleni Chatzi ; Arno Schlueter

AUXETIC METAMATERIAL SIMPLIFIES SOFT ROBOT DESIGN ...... 4951 Andrew G. Mark ; Stefano Palagi ; Tian Qiu ; Peer Fischer

A GEOMETRY DEFORMATION MODEL FOR COMPOUND CONTINUUM MANIPULATORS WITH EXTERNAL LOADING...... 4957 S. M. Hadi Sadati ; Ali Shiva ; Ahmad Ataka ; S. Elnaz Naghibi ; Ian. D. Walker ; Kaspar Althoefer ; Thrishantha Nanayakkara

A COMPOSITE SOFT BENDING ACTUATION MODULE WITH INTEGRATED CURVATURE SENSING ...... 4963 Selim Ozel ; Erik H. Skorina ; Ming Luo ; Weijia Tao ; Fuchen Chen ; Yixiao Pan ; Cagdas D. Onal

FAST, COMPACT, AND LIGHTWEIGHT SHAPE-SHIFTING SYSTEM COMPOSED OF DISTRIBUTED SELF-FOLDING ORIGAMI MODULES...... 4969 Sa-Reum Kim ; Dae-Young Lee ; Je-Sung Koh ; Kyu-Jin Cho

PRINTABLE SKIN ADHESIVE STRETCH SENSOR FOR MEASURING MULTI-AXIS HUMAN JOINT ANGLES...... 4975 Hyosang Lee ; Jiseung Cho ; Jung Kim

MOTION CONTROL OF A SOFT-ACTUATED MODULAR MANIPULATOR ...... 4997 Erik H. Skorina ; Weijia Tao ; Fuchen Chen ; Ming Luo ; Cagdas D. Onal

IMPROVING SOFT PNEUMATIC ACTUATOR FINGERS THROUGH INTEGRATION OF SOFT SENSORS, POSITION AND FORCE CONTROL, AND RIGID FINGERNAILS ...... 5024 John Morrow ; Hee-Sup Shin ; Calder Phillips-Grafflin ; Sung-Hwan Jang ; Jacob Torrey ; Riley Larkins ; Steven Dang ; Yong- Lae Park ; Dmitry Berenson

CROSS-MODAL ADAPTATION FOR RGB-D DETECTION ...... 5032 Judy Hoffman ; Saurabh Gupta ; Jian Leong ; Sergio Guadarrama ; Trevor Darrell

LEARNING ANISOTROPIC ICP (LA-ICP) FOR ROBUST AND EFFICIENT 3D REGISTRATION ...... 5040 Bhoram Lee ; Daniel D. Lee

3D POINT CLOUD SEGMENTATION USING TOPOLOGICAL PERSISTENCE ...... 5046 William J. Beksi ; Nikolaos Papanikolopoulos

PERCH: PERCEPTION VIA SEARCH FOR MULTI-OBJECT RECOGNITION AND LOCALIZATION ...... 5052 Venkatraman Narayanan ; Maxim Likhachev

HIERARCHICAL SEMANTIC PARSING FOR OBJECT POSE ESTIMATION IN DENSELY CLUTTERED SCENES...... 5068 Chi Li ; Jonathan Bohren ; Eric Carlson ; Gregory D. Hager

STRUCTURE-BASED AUTO-CALIBRATION OF RGB-D SENSORS...... 5076 Bernhard Zeisl ; Marc Pollefeys

AN INTEGRATED APPROACH TO VISUAL PERCEPTION OF ARTICULATED OBJECTS...... 5091 Roberto Martín-Martín ; Sebastian Hofer ; Oliver Brock

ROLLING SHUTTER AND MOTION BLUR REMOVAL FOR DEPTH CAMERAS...... 5098 Siddharth Tourani ; Sudhanshu Mittal ; Akhil Nagariya ; Visesh Chari ; Madhava Krishna

PLANTATION MONITORING AND YIELD ESTIMATION USING AUTONOMOUS QUADCOPTER FOR PRECISION AGRICULTURE...... 5121 Vishakh Duggal ; Mohak Sukhwani ; Kumar Bipin ; G. Syamasundar Reddy ; K. Madhava Krishna

SELF-SUPERVISED WEED DETECTION IN VEGETABLE CROPS USING GROUND BASED HYPERSPECTRAL IMAGING...... 5128 Alexander Wendel ; James Underwood

A NOVEL FRAMEWORK FOR MODELING DORMANT APPLE TREES USING SINGLE DEPTH IMAGE FOR ROBOTIC PRUNING APPLICATION...... 5136 Shayan A. Akbar ; Noha M. Elfiky ; Avinash Kak

TOWARDS AUTONOMOUS PHYTOPATHOLOGY: OUTCOMES AND CHALLENGES OF CITRUS GREENING DISEASE DETECTION THROUGH CLOSE-RANGE IMAGING UNDER ACTIVE ILLUMINATION...... 5143 Suproteem K. Sarkar ; Jnaneshwar Das ; Reza Ehsani ; Vijay Kumar

AN EFFECTIVE CLASSIFICATION SYSTEM FOR SEPARATING SUGAR BEETS AND WEEDS FOR PRECISION FARMING APPLICATIONS...... 5157 P. Lottes ; M. Hoeferlin ; S. Sander ; M. Müter ; P. Schulze ; Lammers C. Stachniss

IMAGE CLASSIFICATION WITH ORCHARD METADATA...... 5164 Suchet Bargoti ; James Underwood

TEXTURE-BASED FRUIT DETECTION VIA IMAGES USING THE SMOOTH PATTERNS ON THE FRUIT ...... 5171 Zania S Pothen ; Stephen Nuske

DISCRETE SWITCHING COMMANDS FOR TRACKING AND VIBRATION SUPPRESSION USING A QUANTIZED, COMPLIANT CAMERA ORIENTATION SYSTEM...... 5177 Michael Duckjune Kim ; Jun Ueda

A NEAR-OPTIMAL DYNAMIC POWER SHARING SCHEME FOR SELF-RECONFIGURABLE MODULAR ROBOTS...... 5183 Chi-An Chen ; Thomas Collins ; Wei-Min Shen

MODULAR HYDRAULIC PROPULSION: A ROBOT THAT MOVES BY ROUTING FLUID THROUGH ITSELF ...... 5189 Matthew J. Doyle ; Xinyu Xu ; Yue Gu ; Fernando Perez-Diaz ; Christopher Parrott ; Roderich Groß

A NEW META-MODULE FOR EFFICIENT RECONFIGURATION OF HINGED-UNITS MODULAR ROBOTS...... 5197 Irene Parada ; Vera Sacristán ; Rodrigo I. Silveira

A TASK-DRIVEN ALGORITHM FOR CONFIGURATION SYNTHESIS OF MODULAR ROBOTS...... 5203 Esra Icer ; Andrea Giusti ; Matthias Althoff

DESIGN OF MANUALLY RECONFIGURABLE MODULAR MANIPULATOR WITH THREE REVOLUTE JOINTS AND LINKS ...... 5210 Seonghun Hong ; Dongeun Choi ; Sungchul Kang ; Hyeongcheol Lee ; Woosub Lee

SIMULTANEOUS CONFIGURATION FORMATION AND INFORMATION COLLECTION BY MODULAR ROBOTIC SYSTEMS ...... 5216 Ayan Dutta ; Prithviraj Dasgupta

FULL-RESOLUTION RECONFIGURATION PLANNING FOR HETEROGENEOUS CUBE-SHAPED MODULAR ROBOTS WITH ONLY SLIDING MOTION PRIMITIVE...... 5222 Hiroshi Kawano

STEERING MICRO-ROBOTIC SWARM BY DYNAMIC ACTUATING FIELDS...... 5230 Qianwen Chao ; Jiangfan Yu ; Chengkai Dai ; Tiantian Xu ; Li Zhang ; Charlie C. L. Wang ; Xiaogang Jin

ROBOT-ASSISTED OPTICAL TRAPPING AND MANIPULATION OF A BIOLOGICAL CELL WITH STOCHASTIC PERTURBATIONS ...... 5236 Xiang Li ; Xiao Yan ; Chien Chern Cheah

HYBRID CONTROL OF MULTI-ROBOT SYSTEMS USING EMBEDDED GRAPH GRAMMARS ...... 5242 Meng Guo ; Magnus Egerstedt ; Dimos V. Dimarogonas

DISTRIBUTED FORMATION CONTROL OF NON-HOLONOMIC ROBOTS WITHOUT A GLOBAL REFERENCE FRAME...... 5248 Eduardo Montijano ; Eric Cristofalo ; Mac Schwager ; Carlos Sagues

COORDINATED MOTION FOR MULTI-ROBOT SYSTEMS UNDER TIME VARYING COMMUNICATION TOPOLOGIES ...... 5255 Lorenzo Sabattini ; Cristian Secchi ; Marco Lotti ; Cesare Fantuzzi

DISTRIBUTED TRAJECTORY ESTIMATION WITH PRIVACY AND COMMUNICATION CONSTRAINTS: A TWO-STAGE DISTRIBUTED GAUSS-SEIDEL APPROACH ...... 5261 Siddharth Choudhary ; Luca Carlone ; Carlos Nieto ; John Rogers ; Henrik I. Christensen ; Frank Dellaert

HYBRID ARCHITECTURE FOR COMMUNICATION-AWARE MULTI-ROBOT SYSTEMS ...... 5269 James Stephan ; Jonathan Fink ; Vijay Kumar ; Alejandro Ribeiro

LOW LATENCY BOUNTY HUNTING AND GEOGRAPHICALLY ADJACENT SERVER CONFIGURATION FOR REAL-TIME CLOUD CONTROL...... 5277 Daniel M. Lofaro ; Arvin Asokan

ADAPTIVE FORWARD ERROR CORRECTION WITH ADJUSTABLE-LATENCY QOS FOR ROBOTIC NETWORKS...... 5283 Ryan J. Marcotte ; Edwin Olson

DYNAMIC PERIMETER SURVEILLANCE WITH A TEAM OF ROBOTS...... 5289 David Saldaña ; Reza Javanmard Alitappeh ; Luciano C. A. Pimenta ; Renato Assunção ; Mario F. M. Campos

ENVIRONMENTAL FIELD ESTIMATION WITH HYBRID-MOBILITY SENSOR NETWORKS...... 5301 William C. Evans ; Duarte Dias ; Steven Roelofsen ; Alcherio Martinoli

DEVELOPING ROBOTIC SWARMS FOR OCEAN SURFACE MAPPING ...... 5309 Magnus Delight ; Sankaran Ramakrishnan ; Thomas Zambrano ; Tyler Maccready

DISTRIBUTED PLANAR MANIPULATION IN FLUIDIC ENVIRONMENTS ...... 5322 Guillaume Sartoretti ; Samuel Shaw ; M. Ani Hsieh

CLASSIFYING SWARM BEHAVIOR VIA COMPRESSIVE SUBSPACE LEARNING...... 5328 Matthew Berger ; Lee M. Seversky ; Daniel S. Brown

USING ABSTRACTION FOR SWARM CONTROL OF A PARENT SYSTEM ...... 5344 Kyle L. Crandall ; Caleb Whitehead ; Shuqi Dong ; Adam Wickenheiser

DISCRETE-TIME DISTRIBUTED STATE FEEDBACK CONTROL FOR MULTI-ROBOT SYSTEMS...... 5350 Alessandro Marino ; Francesco Pierri

DISTRIBUTED MULTI-ROBOT NAVIGATION IN FORMATION AMONG OBSTACLES: A GEOMETRIC AND OPTIMIZATION APPROACH WITH CONSENSUS...... 5356 Javier Alonso-Mora ; Eduardo Montijano ; Mac Schwager ; Daniela Rus

FORMALIZING THE IMPACT OF DIVERSITY ON PERFORMANCE IN A HETEROGENEOUS SWARM OF ROBOTS...... 5364 Amanda Prorok ; M. Ani Hsieh ; Vijay Kumar

OPEN ROBOTICS RESEARCH USING WEB-BASED KNOWLEDGE SERVICES...... 5380 Michael Beetz ; Daniel Beßler ; Jan Winkler ; Jan-Hendrik Worch ; Ferenc Bálint-Benczédi ; Georg Bartels ; Aude Billard ; Asil Kaan Bozcuoglu ; Zhou Fang ; Nadia Figueroa ; Andrei Haidu ; Hagen Langer ; Alexis Maldonado ; Ana Lucia Pais Ureche ; Moritz Tenorth ; Thiemo Wiedemeyer

PROBABILISTIC QUALITATIVE MAPPING FOR ROBOTS...... 5388 Jennifer Padgett ; Mark Campbell

GRAPH-BASED CROSS ENTROPY METHOD FOR SOLVING MULTI-ROBOT DECENTRALIZED POMDPS ...... 5395 Shayegan Omidshafiei ; Ali-Akbar Agha-Mohammadi ; Christopher Amato ; Shih-Yuan Liu ; Jonathan P. How ; John Vian

SEARCHING FOR PHYSICAL OBJECTS IN PARTIALLY KNOWN ENVIRONMENTS ...... 5403 Xinkun Nie ; Lawson L. S. Wong ; Leslie Pack Kaelbling

SAFEGUARDING A LUNAR ROVER WITH WALD'S SEQUENTIAL PROBABILITY RATIO TEST...... 5411 P. Michael Furlong ; Michael Dille ; Uland Wong ; Ara Nefian

POMDP-LITE FOR ROBUST ROBOT PLANNING UNDER UNCERTAINTY...... 5427 Min Chen ; Emilio Frazzoli ; David Hsu ; Wee Sun Lee

NEURAL NETWORKS AND DIFFERENTIAL DYNAMIC PROGRAMMING FOR REINFORCEMENT LEARNING PROBLEMS...... 5434 Akihiko Yamaguchi ; Christopher G. Atkeson

AUTONOMOUS DRIFTING USING SIMULATION-AIDED REINFORCEMENT LEARNING...... 5442 Mark Cutler ; Jonathan P. How

FROM HUMAN INSTRUCTIONS TO ROBOT ACTIONS: FORMULATION OF GOALS, AFFORDANCES AND PROBABILISTIC PLANNING...... 5449 Alexandre Antunes ; Lorenzo Jamone ; Giovanni Saponaro ; Alexandre Bernardino ; Rodrigo Ventura

IMPLICIT BELIEF-SPACE PRE-IMAGES FOR HIERARCHICAL PLANNING AND EXECUTION ...... 5455 Leslie Pack Kaelbling ; Tomás Lozano-Pérez

AERIAL-GROUND ROBOTIC SYSTEM FOR AUTONOMOUS DELIVERY TASKS...... 5463 Barbara Arbanas ; Antun Ivanovic ; Marko Car ; Tomislav Haus ; Matko Orsag ; Tamara Petrovic ; Stjepan Bogdan

AUTONOMOUSLY CONSTRUCTING HIERARCHICAL TASK NETWORKS FOR PLANNING AND HUMAN-ROBOT COLLABORATION ...... 5469 Bradley Hayes ; Brian Scassellati

ASSEMBLY SEQUENCE PLANNING FOR CONSTRUCTING PLANAR STRUCTURES WITH RECTANGULAR MODULES ...... 5477 Jungwon Seo ; Mark Yim ; Vijay Kumar

MULTI-OBJECTIVE PLANNING WITH MULTIPLE HIGH LEVEL TASK SPECIFICATIONS ...... 5483 Seyedshams Feyzabadi ; Stefano Carpin

ASYNCHRONOUS MULTIROBOT EXPLORATION UNDER RECURRENT CONNECTIVITY CONSTRAINTS ...... 5491 Jacopo Banfi ; Alberto Quattrini Li ; Nicola Basilico ; Ioannis Rekleitis ; Francesco Amigoni

ANALYZING THE UTILITY OF A SUPPORT PIN IN SEQUENTIAL ROBOTIC MANIPULATION ...... 5499 Chao Cao ; Weiwei Wan ; Jia Pan ; Kensuke Harada

RELATIONAL ACTIVITY PROCESSES FOR MODELLING CONCURRENT COOPERATION...... 5505 Marc Toussaint ; Thibaut Munzer ; Yoan Mollard ; Li Yang Wu ; Ngo Anh Vien ; Manuel Lopes

ON MULTI-MODAL PEOPLE TRACKING FROM MOBILE PLATFORMS IN VERY CROWDED AND DYNAMIC ENVIRONMENTS ...... 5512 Timm Linder ; Stefan Breuers ; Bastian Leibe ; Kai O. Arras

REAL-TIME RGB-D BASED TEMPLATE MATCHING PEDESTRIAN DETECTION ...... 5520 Omid Hosseini Jafari ; Michael Ying Yang

GLMP REALTIME PEDESTRIAN PATH PREDICTION USING GLOBAL AND LOCAL MOVEMENT PATTERNS...... 5528 Aniket Bera ; Sujeong Kim ; Tanmay Randhavane ; Srihari Pratapa ; Dinesh Manocha

HIERARCHICAL ONLINE DOMAIN ADAPTATION OF DEFORMABLE PART-BASED MODELS...... 5536 Jiaolong Xu ; David Vázquez ; Krystian Mikolajczyk ; Antonio M. López

WALKING COMPASS WITH HEAD-MOUNTED IMU SENSOR ...... 5542 Jens Windau ; Laurent Itti

AUTOMATIC BONE PARAMETER ESTIMATION FOR SKELETON TRACKING IN OPTICAL MOTION CAPTURE...... 5548 Tobias Schubert ; Katharina Eggensperger ; Alexis Gkogkidis ; Frank Hutter ; Tonio Ball ; Wolfram Burgard

COMPACT COAXIAL THERMAL AND COLOR IMAGING SYSTEM WITH SILICON-GLASS HYBRID LENS...... 5555 Tomoyuki Takahata ; Kiyoshi Matsumoto ; Isao Shimoyama

TELE-OPERATION SYSTEM WITH RELIABLE GRASPING FORCE ESTIMATION TO COMPENSATE FOR THE TIME-VARYING SEMG FEATURE...... 5561 Minkyu Kim ; Jaemin Lee ; Keehoon Kim

OPTIC-FLOW BASED CAR-LIKE ROBOT OPERATING IN A 5-DECADE LIGHT LEVEL RANGE...... 5568 Stefano Mafrica ; Alain Servel ; Franck Ruffier

LARGE-SCALE MODEL-ASSISTED BUNDLE ADJUSTMENT USING GAUSSIAN MAX-MIXTURES...... 5576 Paul Ozog ; Ryan M. Eustice

HYBRID DRIVING-STEPPING LOCOMOTION WITH THE WHEELED-LEGGED ROBOT MOMARO...... 5589 Max Schwarz ; Tobias Rodehutskors ; Michael Schreiber ; Sven Behnke

ACTIVELY ARTICULATED SUSPENSION FOR A WHEEL-ON-LEG ROVER OPERATING ON A MARTIAN ANALOG SURFACE...... 5596 William Reid ; Francisco Javier Pérez-Grau ; Ali Haydar Goktogan ; Salah Sukkarieh

RECURRENT NEURAL NETWORKS FOR FAST AND ROBUST VIBRATION-BASED GROUND CLASSIFICATION ON MOBILE ROBOTS ...... 5603 Sebastian Otte ; Christian Weiss ; Tobias Scherer ; Andreas Zell

FAD LEARNING: SEPARATE LEARNING FOR THREE ACCELERATIONS -LEARNING FOR DYNAMICS OF BOAT THROUGH MOTOR BABBLING ...... 5609 Akio Numakura ; Shigenobu Kato ; Kazuyuki Sato ; Takeya Tomizawa ; Tasuku Miyoshi ; Takuya Akashi ; Chyon Hae Kim

SKYLINE-BASED LOCALISATION FOR AGGRESSIVELY MANOEUVRING ROBOTS USING UV SENSORS AND SPHERICAL HARMONICS ...... 5615 Thomas Stone ; Dario Differt ; Michael Milford ; Barbara Webb

FAST 6D POSE ESTIMATION FOR TEXTURE-LESS OBJECTS FROM A SINGLE RGB IMAGE ...... 5623 E. Muñoz ; Y. Konishi ; V. Murino ; A. Del Bue

PROBABILISTIC TRAVERSABILITY MAP GENERATION USING 3D-LIDAR AND CAMERA ...... 5631 Juil Sock ; Jun Kim ; Jihong Min ; Kiho Kwak

AUTOMATED CODING OF ACTIVITY VIDEOS FROM AN OCD STUDY...... 5638 Joshua Fasching ; Nicholas Walczak ; Gail A. Bernstein ; Tasoulla Hadjiyanni ; Kathryn Cullen ; Vassilios Morellas ; Nikolaos Papanikolopoulos

TRACKING MULTIPLE RIGID SYMMETRIC AND NON-SYMMETRIC OBJECTS IN REAL-TIME USING DEPTH DATA ...... 5644 Sharath Akkaladevi ; Martin Ankerl ; Christoph Heindl ; Andreas Pichler

VISION-BASED FOR WELDING GROOVE MEASUREMENTS FOR ROBOTIC WELDING APPLICATIONS ...... 5650 Bruno Quaresma Leonardo ; Cristiano Rafael Steffens ; Sidnei Carlos Da Silva Filho ; Jusoan Lang Mór ; Valquíria Hüttner ; Eduardo Do Amaral Leivas ; Vagner Santos Da Rosa ; Silvia Silva Da Costa Botelho

PROBABILISTIC VISUAL VERIFICATION FOR ROBOTIC ASSEMBLY MANIPULATION ...... 5656 Changhyun Choi ; Daniela Rus

DESIGN AND CHARACTERIZATION OF A DEBRIDING TOOL IN ROBOT-ASSISTED TREATMENT OF OSTEOLYSIS...... 5664 Farshid Alambeigi ; Shahriar Sefati ; Ryan J. Murphy ; Iulian Iordachita ; Mehran Armand

MULTI-SENSOR SURFACE ANALYSIS FOR ROBOTIC IRONING...... 5670 Yinxiao Li ; Xiuhan Hu ; Danfei Xu ; Yonghao Yue ; Eitan Grinspun ; Peter K. Allen

SAFE AND ROBUST ROBOT MANEUVERS BASED ON REACH CONTROL ...... 5677 Marijan Vukosavljev ; Ivo Jansen ; Mireille E. Broucke ; Angela P. Schoellig

ROBUST AND ADAPTIVE WHOLE-BODY CONTROLLER FOR HUMANOIDS WITH MULTIPLE TASKS UNDER UNCERTAIN DISTURBANCES...... 5683 Jinoh Lee ; Houman Dallali ; Maloin Jin ; Darwin Caldwell ; Nikolaos Tsagarakis

ADAPTIVE CONTROL FOR ROBOT NAVIGATION IN HUMAN ENVIRONMENTS BASED ON SOCIAL FORCE MODEL...... 5690 Chen Wang ; Yanan Li ; Shuzhi Sam Ge ; Tong Heng Lee

A STUDY ON THE L1 OPTIMAL PD CONTROLLER WITH APPLICATION TO JOINT MOTION CONTROL OF A ROBOT MANIPULATOR ...... 5696 Jung Hoon Kim ; Sung-Moon Hur ; Jongwoo Lee ; Yonghwan Oh

MULTIPLE-HYPOTHESIS CHANCE-CONSTRAINED TARGET TRACKING UNDER IDENTITY UNCERTAINTY ...... 5702 Yoonseon Oh ; Songhwai Oh

AUGMENTED L1 ADAPTIVE CONTROL OF AN ACTUATED KNEE JOINT EXOSKELETON: FROM DESIGN TO REAL-TIME EXPERIMENTS ...... 5708 H. Rifaï ; M. S. Ben Abdessalem ; A. Chemori ; S. Mohammed ; Y. Amirat

ADAPTIVE-ROBUST CONTROL OF UNCERTAIN EULER-LAGRANGE SYSTEMS WITH PAST DATA: A TIME-DELAYED APPROACH...... 5715 Spandan Roy ; Indra Narayan Kar

PLACE CATEGORIZATION AND SEMANTIC MAPPING ON A MOBILE ROBOT...... 5729 Niko Sünderhauf ; Feras Dayoub ; Sean McMahon ; Ben Talbot ; Ruth Schulz ; Peter Corke ; Gordon Wyeth ; Ben Upcroft ; Michael Milford

SCENENET: AN ANNOTATED MODEL GENERATOR FOR INDOOR SCENE UNDERSTANDING...... 5737 Ankur Handa ; Viorica Patraucean ; Simon Stent ; Roberto Cipolla

LEARNING TO GENERALIZE 3D SPATIAL RELATIONSHIPS ...... 5744 Jimmy Li ; David Meger ; Gregory Dudek

MONOCULAR RECONSTRUCTION OF VEHICLES: COMBINING SLAM WITH SHAPE PRIORS...... 5758 Falak Chhaya ; Dinesh Reddy ; Sarthak Upadhyay ; Visesh Chari ; M. Zeeshan Zia ; K. Madhava Krishna

TOWARDS VISUAL MAPPING IN INDUSTRIAL ENVIRONMENTS - A HETEROGENEOUS TASK- SPECIFIC AND SALIENCY DRIVEN APPROACH ...... 5766 J. Rafid Siddiqui ; Henrik Andreasson ; Dimiter Driankov ; Achim J. Lilienthal

SCALING PERCEPTION TOWARDS AUTONOMOUS OBJECT MANIPULATION - IN KNOWLEDGE LIES THE POWER...... 5774 Ferenc Bálint-Benczédi ; Patrick Mania ; Michael Beetz

FIND MY OFFICE: NAVIGATING REAL SPACE FROM SEMANTIC DESCRIPTIONS...... 5782 Ben Talbot ; Obadiah Lam ; Ruth Schulz ; Feras Dayoub ; Ben Upcroft ; Gordon Wyeth

Author Index