2012 IEEE International Conference on Robotics and Biomimetics (ROBIO 2012) Conference Digest December 11-14, 2012 Guangzhou, China Sponsored by IEEE Robotics and Automation Society (RAS) South China University of Technology (SCUT) National Natural Science Foundation of China (NSFC) State Key Laboratory of Robotics and System, HIT IEEE Systems, Man, and Cybernetics Society (SMC) Robotics Society of Japan (RSJ) Japan Society of Mechanical Engineering (JSME) Guangdong Mechanical Engineering Society (GDMES) ROBIO 2012 PROCEEDINGS Additional copies may be ordered from: IEEE Sevice Center 445 Hoes Lane P.O. Box 1331 Piscataway, NJ 08855-1331 USA. IEEE Catalog Number: CFP12581-ART ISBN: 978-1-4673-2127-3 IEEE Catalog Number (USB drive): CFP12581-USB Copyright and Reprint Permission: Abstracting is permitted with credit to the source. Libraries are permitted to pho- tocopy beyond the limit of U.S. copyright law for private use of patrons those articles in this volume that carry a code at the bottom of the first page, provided the per-copy fee indicated in the code is paid through Copyright Clearance Center, 222 Rosewood Drive, Danvers, MA 01923. For other copying, reprint or republication permission, write to IEEE Copyrights Manager, IEEE Operations Center, 445 Hoes Lane, P.P. Box 1331, Piscataway, NJ 08855-1331. All rights reserved. Copyright ©2012 by the Institute of Electrical and Electronics Engineers, Inc. The Institute of Electrical and Electronics Engineers, Inc Welcome Message On behalf of the IEEE ROBIO 2012 Organizing Committee, we would like to extend a warm welcome to you all to the 2012 IEEE International Conference on Robotics and Biomimetics. ROBIO is a maturing and vibrant international conference running an- nually since 2004 and gaining increasing international prominence especially in areas of biomimicking and biological inspired robotics research. We are pleased to bring you to the 2012 edition as a forum that facilitates timely and productive academic and scientific exchanges among researchers in a wide range of research topics in robotics, biomimetics and beyond. A total 553 papers were submitted to this year's conference, from 39 countries and regions, with more than 55% from outside Mainland China. Members of the ROBIO Program Committee worked very hard to ensure a fair and careful review process, which is critical in order to maintain the high standard of this conference. After a thorough review process, 369 or about 66% of the submitted papers were accepted for oral presentation at ROBIO 2012. The technical program runs for three days on December 11, 12, and 13, in seven parallel tracks. We are fortunate to be able to anchor the technical program with four plenary talks by leading experts of in robotics and biomimetics: Profs. Kevin Warwick from United Kingdom, Zexiang Li from Hong Kong, China, Vijay Kumar from the United States, and Koh Hosoda from Japan. Known as Flower City with its pleasant and ever green weather throughout the year, Guangzhou, the host city of ROBIO 2012, is located some 120 km from Hong Kong. Being the third largest Chinese city with a population of 13 million and the host of 2010 Asian Games, Guangzhou plays a pivotal role in the rapid social and economic development of southern China and enjoys a modern transportation infrastructure. Through its social program, ROBIO 2012 allows its attendees to experience and enjoy the Chinese culture, highlighted by a night cruise along Pearl River which snakes through the city. ROBIO 2012 has been the collective effort of a number of sponsoring societies and organizations, and of our colleagues, friends and volunteers. We would like to take this opportunity to express our sincere gratitude for their help and contributions. The ROBIO conference series is one of the most popular and important events sponsored by IEEE Robotics and Automation Society. In addition, we would like to acknowledge our local sponsoring organization, South China University of Technology. Other members of the organizing committee dedicated a significant amount of their time to ensure this conference a success and, needless to say, we are deeply indebted for their assistance in all areas of the conference. Finally, thank all the authors for your support and participation in ROBIO 2012. This is your conference to be enjoyed and celebrated. We wish you a great conference and a pleasant stay in Guangzhou! Hong Zhang, General Chair Huosheng Hu, Program Chair Table of Contents Advisory Board 2 Organizing Committee 3 Program Committee 5 General Information 6 Local Guide to Guangzhou 12 Plenary I: Prof. Kevin Warwick 17 Plenary II: Prof. Zexiang Li 19 Plenary III: Prof. Vijay Kumar 21 Plenary IV: Prof. Koh Hosoda 22 Tutorials 23 Technical Sessions: Tuesday, December 11 27 Technical Sessions: Wednesday, December 12 49 Technical Sessions: Thursday, December 13 71 Index of Session Chairs 93 Index of Authors 95 1 2012 IEEE International Conference on Robotics and Biomimetics Honorary Chair Yingjun Wang South China University of Technology, China Advisory Council T. J. Tarn Washington University, USA Toshio Fukuda Nagoya University, Japan ROBIO Steering Committee Wen J. Li, City University of Hong Kong, China Yunhui Liu, Chinese University of Hong Kong, China Shugen Ma, Ritsumeikan University, Japan Max Q. H. Meng, Chinese University of Hong Kong, China Ning Xi, City University of Hong Kong, China Hong Zhang, University of Alberta, Canada 2 Organizing Committee General Chair Hong Zhang, University of Alberta, Canada General Co-Chairs Xianmin Zhang, South China University of Technology, China Peter Corke, Queensland University of Technology, Australia Gregory Dudek, McGill University, Canada Kazuhiro Kosuge, Tohoku University, Japan Program Chair Huosheng Hu, University of Essex, UK Program Co-Chairs Yisheng Guan, South China University of Technology, China Hajime Asama, University of Tokyo, Japan Tim Lueth, Technical University of Munich, Germany Eddie Tunstel, Johns Hopkins University, USA Awards Chairs Wei-Hsin Liao, Chinese University of Hong Kong, China Martin Adams, University of Chile, Chile Yili Fu, Harbin Institute of Technology, China Tutorial/Workshop Chairs Minoru Hashimoto, Shinshu University, Japan Kazuhito Yokoi, ISRI/AIST, Japan Jianwei Zhang, University of Hamburg, Germany Organized Sessions Chairs Shuxiang Guo, Kagawa University, Japan Timothy Barfoot, University of Toronto, Canada Abderrahmane Kheddar, LIRMM, France 3 Publicity Chairs I-Ming Chen, Nanyang Technology University, Singapore Chris Smith, Gonzaga University, USA Publication Chairs Zhidong Wang, Chiba Institute of Technology, Japan Lizhen Wang, Yunnan University, China Local Arrangement Chair Nianfeng Wang, South China University of Technology, China Finance Chairs Melanie Calvert, University of Alberta, Canada Wei Sun, South China University of Technology, China Hongxia Yang, South China University of Technology, China 4 Program Committee Chair: Huosheng Hu Co-Chairs: Yisheng Guan, Hajima Asama, Tim Lueth, Eddie Tustel Members (in alphabetic order) Adams, Martin Kurisu, Masamitsu Shen, Yantao Aphiratsakun, Narong Lai, King Suebsomran, Anan Arisumi, Hitoshi Li, Dayou Sun, Dong Azzouzi, Messaouda Li, Peng Suthakorn, Jackrit Bayraktaroglu, Zeki Y. Li, Wen Jung Suzuki, Tatsuya Bellotto, Nicola Li, Yangmin Tahara, Kenji Bowling, Alan Li, Youfu Tan, Jindong Capi, Genci Liao, Wei-Hsin Tan, Min Carey, Stephanie Limsakul, Chusak Tarn, T.J. Chen, Ling Liu, Jinguo Tatsuno, Kyoichi Chen, Wenhua Liu, Honghai Ting, Yung Chen, Xinkai Liu, Yong Theodoridis, Theo Duan, Xingguang Liu, Yunhui Tsuji, Toshio Deelertpaiboon, Chirdpong Lu, Zhenli Umeda, Kazunori Elhajj, Imad Luo, jun Wang, Han Fu, Yili Ma, Lei Wang, Hesheng Fukuda, Osamu Ma, Shugen Wang, Kundong Fung, Wai-keung Meng, Max Wang, Nianfeng Gu, Dongbing Meng, Qinggang Wang, Zhidong Gu, Jason Meng, Qinghao Whidborne, James Guo, Shuxiang Menon, Carlo Xiao, Jizhong Guo, Yi Miao, Lei Xu, De Hasegawa, Yasuhisa Ming, Aiguo Yagi, Yasushi Harada, Kensuke Mir-Nasiri, Nazim Yamashita, Atsushi Hirai, Shinichi Mitani, Atsushi Yano, Kenichi Hirata, Yasuhisa Nakajima, Shuro Yu, Yong Huang, Jian Neubert, Jeremiah Yuan, Kui Huang, Qiang Ogawara, Koichi Yue, Yong Huang, Xinhan Oscar, Ylaya Chuy Zhang, Jianwei Inoue, Kenji Oskoei, Mohammadreza Zhang, Xianmin Ito, Kazuyuki Ota, Yusuke Zhang, Yi Iwashita, Yumi Oyekan, John Zhou, Yu Jia, Songmin Pan, Wei Zhou, Huiyu Kawabata, Kuniaki Peng, Jun Zhu, Xiangyang Kruusmaa, Maarja Roning, Juha Zhu, Xiaorui Kuno, Yoshinori Ryuh, Yongsun Zhuang, Yan 5 General Information Conference Registration The conference registration desk, located in the grand lobby on the first floor of Crowne Plaza City Centre, will be open according to the schedule below for on-site registration as well as for the pre-registration attendees to pick up their registration package. Day Monday, Dec. 10 Tuesday, Dec. 11 Wednesday, Dec. 12 Thursday, Dec. 13 Time 14:00 - 18:30 08:30 - 16:30 08:30 - 16:30 08:30 - 16:30 Four-day Conference Schedule The conference technical sessions and social functions cover a four-day period, Decem- ber 11-14, from Tuesday to Friday. The overall schedule is shown in the table below. Time/Day Tuesday, Dec. 11 Wednesday, Dec. 12 Thursday, Dec. 13 Friday, Dec. 14 Plenary Talk I Plenary Talk II Plenary Talk IV Morning Parallel Sessions Parallel Sessions Parallel Sessions Tutorials (Tu1) (We1) (Th1) Parallel Sessions Parallel Sessions Parallel Sessions Afternoon (Tu2) (We2) (Th2) Parallel Sessions Parallel Sessions Parallel Sessions (Tu3) (We3) (Th3)