HUMANOIDS'06 - 2006 IEEE-RAS International Conference on Humanoid Robots

CONFERENCE PROGRAM
5-6 December 2006

VENUE:
Oral and poster sessions will be held at Magazzini del Cotone in the Scirocco-Libeccio Hall (3rd floor)

DETAILED TIMETABLE December 6 2006 (General timetable)
9h00-10h00:   PLENARY TALK
SPEAKER: Giacomo Rizzolatti, University of Parma, Italy
TITLE: Cortical mechanisms for recognition of actions and intentions
10h00-10h30:   COFFEE BREAK + Foot Race: Humanoids vs. AIBOs
10h30-12h30:   ORAL SESSION - IV   LOCOMOTION
   Chairs: Jessica Hodgins and Jean-Paul Laumond
Time ID Title Authors
10h30-10h50 6 Ankle springs instead of arc-shaped feet for passive dynamic walkers Martijn Wisse, Daan Hobbelen, Remco Rotteveel, Stuart Anderson and Garth Zeglin
11h10-11h30 9 Dynamically Stepping Over Obstacles by the Humanoid Robot HRP-2 Björn Verrelst, Olivier Stasse, Kazuhito Yokoi and Bram Vanderborght
11h30-11h50 16 Controlling velocity in bipedal walking: A dynamic programming approach Thijs Mandersloot, Martijn Wisse and Christopher Atkeson
11h50-12h10 112 Optimizing principles underlying the shape of trajectories in goal oriented locomotion for humans Gustavo Arechavaleta, Jean-Paul Laumond, Halim Hicheur and Alain Berthoz
12h10-12h30 157 Trajectory Free Linear Model Predictive Control for Stable Walking in the Presence of Strong Perturbations Pierre-Brice Wieber
12h30-14h00:   LUNCH BREAK + Soccer demos and Freestyle
14h00-16h20:   ORAL SESSION - V   HUMANOID PLATFORMS
   Chairs: Gordon Cheng and Giorgio Cannata
Time ID Title Authors
14h00-14h20 154 James: A Humanoid Robot Acting over an Unstructured World Lorenzo Jamone, Giorgio Metta, Francesco Nori and Giulio Sandini
14h20-14h40 161 Design of a Humanoid Robot Eye: Models and Experiments Giorgio Cannata, Mirko D'Andrea and Marco Maggiali
14h40-15h00 100 Evaluation of Android Using Unconscious Recognition Michihiro Shimada, Takashi Minato, Shoji Itakura and Hiroshi Ishiguro
15h00-15h20 101 Composition and Evaluation of the Humanlike Motions of an Android Motoko Noma, Naoki Saiwaki, Shoji Itakura and Hiroshi Ishiguro
15h20-15h40 107 ARMAR-III: An Integrated Humanoid Platform for Sensory-Motor Control Tamim Asfour, Kristian Regensteine, Pedram Azad, Joachim Schröder, Alexander Bierbaum, Niko Vahrenkamp and Rüdiger Dillmann
15h40-16h00 181 Realization of Standing of the Musculoskeletal Humanoid Kotaro by Reinforcing Muscles Ikuo Mizuuchi, Yuto Nakanishi, Tomoaki Yoshikai, Yoshinao Sodeyama, Yuta Namiki, Tamaki Nishino, Junichi Urata and Masayuki Inaba
16h00-16h20 182 CB: A Humanoid Research Platform for Exploring NeuroScience Gordon Cheng, Sang-ho Hyon, Jun Morimoto, Ales Ude and Stephen C. Jacobsen
16h20-16h50:   COFFEE BREAK + Penalty kicks
16h50-18h30:   ORAL SESSION - VI   BALANCE CONTROL
   Chairs: Darwin Caldwell and Martijn Wisse
Time ID Title Authors
16h50-17h10 39 Whole body posture controller based on inertial forces Victor Nunez, Nelly Nadjar-Gauthier, Kazuhito Yokoi, Pierre Blazevic and Olivier Stasse
17h10-17h30 131 Gravity Compensation on Humanoid Robot Control with Robust Joint Servo and Non-integrated Rate-gyroscope Tomomichi Sugihara and Yoshihiko Nakamura
17h30-17h50 153 Capture Point: A Step toward Humanoid Push Recovery Jerry Pratt, John Carff, Sergey Drakunov and Ambarish Goswami
17h50-18h10 96 Task-driven Support Polygon Reshaping for Humanoids Eiichi Yoshida, Oussama Kanoun, Claudia Esteves and Jean-Paul Laumond
18h10-18h30 55 Gravity Compensation and Full-Body Balancing for Humanoid Robots Sang-Ho Hyon and Gordon Cheng
18h30-19h10:   (Second Match) 2-on-2 Soccer Robots Match (40 min.)
Whole Day:   POSTER - SESSION - II
ID Title Authors
92 Humanoid Robot's Autonomous Aquisition of Proto-Symbols through Motion Segmentation Wataru Takano and Yoshihiko Nakamura
93 Hierarchical Concept Formation in Associative Memory Models and its Application to Memory of Motions for Humanoid Robots Hideki Kadone and Yoshihiko Nakamura
98 Implementation of a neurophysiologic model of saccadic movements on an anthropomorphic robotic head Luigi Manfredi, Eliseo Stefano Maini, Cecilia Laschi, Paolo Dario, Benoit Girard, Nicolas Tabareau and Alain Berthoz
104 Learning Dynamical System Modulation for Constrained Reaching Tasks Micha Hersch, Florent Guenter, Sylvain Calinon and Aude Billard
106 Design of the Lower body for the Robotic Baby "iCub" Nikolaos Tsagarakis, Martin Sinclair, Francesco Becchi, Giulio Sandini and Darwin Caldwell
108 pneumatic Muscle Actuators for Humanoid applications - Sensor and Valve Integration Steve Davis and Darwin Caldwell
113 Gesture translation for heterogeneous robots Takahiro Miyashita, Kazuhiko Shinozawa and Norihiro Hagita
114 Humanoid stereo head with augmented mobility Matteo Zoppi and Rezia Molfino
116 The Uncanny Valley and the Search for Human Skin-Like Materials for a Prosthetic Fingertip John-John Cabibihan, Stéphane Pattofatto, Moez Jomâa, Ahmed Benallal, Maria Chiara Carrozza and Paolo Dario
119 DIEES Biped Robot: A bio-inspired Pneumatic Platform for Human Locomotion Analysis and Stiffness Control Giacomo Spampinato and Giovanni Muscato
120 Sensory-Motor Manifold Structure Induced by Task Outcome: Experiments with Robonaut. Richard Alan Peters II, Odest Chadwicke Jenkins and Robert E. Bodenheimer
122 Automatic Categorization of Haptic Interactions - What are the Typical Haptic Interactions Between a Human and a Robot? Taichi Tajika, Takahiro Miyashita, Hiroshi Ishiguro and Norihiro Hagita
123 See, walk, and kick: Humanoid robots start to play soccer Sven Behnke, Michael Schreiber, Joerg Stueckler and Hauke Stasdat
124 Learning Grasp Context Distinctions that Generalize Robert Platt, Roderic Grupen and Andrew Fagg
130 Movement generation using dynamical systems : a drumming humanoid robot Sarah Degallier, Cristina Santos, Ludovic Righetti and Auke Ijspeert
133 A Storytelling Robot: Modeling and Evaluation of Human-like Gaze Behavior Bilge Mutlu, Jessica Hodgins and Jodi Forlizzi
140 Towards an Optimal Falling Motion for a Humanoid Robot Kiyoshi FUJIWARA, Shuuji KAJITA, Kensuke HARADA, Kenji KANEKO, Mitsuharu MORISAWA, Fumio KANEHIRO, Shinichiro NAKAOKA and Hirohisa HIRUKAWA
141 Multi-Functional Intelligent Robot DOC-2 Chyi-Yeu Lin, Po-Chia Jo and Chang-Kuo Tseng
145 Leg Design for a Humanoid Walking Robot Sebastian Lohmeier, Thomas Buschmann, Markus Schwienbacher, Heinz Ulbrich and Friedrich Pfeiffer
146 Motion Control System that Realizes Physical Interaction between Robot's Hands and Environment during Walk Koichi Nishiwaki, Woo-Keun Yoon and Satoshi Kagami
148 Analysis and stabilization of the passive walking robot via analogy with the Phase Locked Loop circuits Masatsugu Iribe and Koichi Osuka
149 Parallel O(logN) Algorithm for Dynamics Simulation of Humanoid Robots Katsu Yamane and Yoshihiko Nakamura
150 Efficient Collision and Self-Collision Detection for Humanoids Based on Sphere Trees Hierarchies Klaus Steinbach, James Kuffner, Tamim Asfour and Ruediger Dillmann
155 Coaching: An Approach to Efficiently and Intuitively Create Humanoid Robot Behaviors Marcia Riley, Ales Ude, Christopher Atkeson and Gordon Cheng
158 Real-Time Self Collision Avoidance for Humanoids by means of Nullspace Criteria and Task Intervals Hisashi Sugiura, Michael Gienger, Herbert Janssen and Christian Goerick
159 A Biped Gait Planning Allowing Immediate Modification of Foot Placement Mitsuharu Morisawa, Kensuke Harada, Shuuji Kajita, Kenji Kaneko, Fumio Kanehiro, Kiyoshi Fujiwara, Shunichiro Nakaoka and Hirohisa Hirukawa
162 A Biologically Plausible Bayesian Model of Visual Attention for Humanoid Robots Momotaz Begum, George K. I. Mann and Raymond Gosine
168 Neural Control of an Underactuated Biped Robot Nasser Sadati and Kaveh Hamed
174 The Development of Biped Robot MARI-3 for Fast Walking and Running Atsuo Kawamura and Chi Zhu
177 Grasping of Planar Objects Using Visual Perception Madjid Boudaba and Alicia Casals
180 The EURON Roboethics Roadmap Gianmarco Veruggio
183 Attending to Learn and Learning to Attend for a Social Robot Lijin Aryananda
188 Coordinating Feet in Bipedal Balance Stuart Anderson, Chris Atkeson and Jessica Hodgins