Time

16 July 2007

17 July 2007

18 July 2007

8:30 – 8:45

Opening Session
(Venus 1)

Briefing Session
(Venus 1)

Briefing Session
(Venus 1)

8:45 – 9:30

Plenary Talk 1
(Venus 1)

Plenary Talk 2
(Venus 1)

Plenary Talk 3
(Venus 1)

9:30 – 10:00

Tea Break
Foyer of Venus Ballroom

Tea Break
Foyer of Venus Ballroom

Tea Break
Foyer of Venus Ballroom

10:00 – 12:40

M11
Session
(Venus 1)

M12
Session
(Venus 3)

T11
Session
(Venus 1)

T12
Session
(Venus 3)

W11
Session
(Venus 1)

12:40 – 13:45

Lunch
(Venus 2)

Lunch
(Venus 2)

Lunch
(Venus 2)

13:45 – 14:30

Plenary Talk 5
(Venus 1)

Exhibition
(Foyer)

Plenary Talk 4
(Venus 1)

14:30 – 15:00

Tea Break
Foyer of Venus Ballroom

Tea Break
Foyer of Venus Ballroom

Tea Break
Foyer of Venus Ballroom

15:00 – 16:40

M21
Session
(Venus 1)

M22
Session
(Venus 3)

T21
Session
(Venus 1)

T22
Session
(Venus 3)

W21
Session
(Venus 1)

W22
Session
(Venus 3)

16:40 – 17:40

16:40 – 17:40
Farewell Reception
(Foyer)

18:30 – 20:30

End of Day 1

Awards Banquet
(Mercury Ballroom)
(At Level 5)

End of Conference

End of Day 2

8:45 – 9:30
Plenary Talk 1: Bipedal Humanoid Robot and Its Applications
Speaker: Professor Atsuo Takanishi
Venue: Venus I
Session Chair: Osman Tokhi

9:30 – 10:00
Tea Break

10:00 – 12:40
M11 Session: Climbing Robots (1)
Venue: Venus I
Session Chair: Osman Tokhi

10:00 – 10:20
A SLIDING SOCK LOCOMOTION MODULE FOR A RESCUE ROBOT
(Luca Rimassa, Matteo Zoppi and Rezia Molfino)

10:20 – 10:40
ROBOTRAIN AS SNAKELIKE ROBOTIC SYSTEM WITH MINIMAL NUMBER OF DOF
(Vladimir Pavlovsky, Natalia Petrovskaya, Vladimir Evgrafov and Vladimir Pavlovsky, Jr)

10:40 – 11:00
DEVELOPMENT OF A CLIMBING ROBOT FOR WELD INSPECTION
(Jianzhong Shang, Bryan Bridge, Tariq Sattar, Shymal Mondal and Alina Brenner)

11:00 – 11:20
DESIGN OF A NEW LEG MECHANISM FOR THE WHEELED WALL CLIMBING ROBOT
(Hejin Yang, Yili Fu, Zhihai Li and Shuguo Wang)

11:20 – 11:40
INTELLIGENT SPIDER WALKING ROBOT FOR ROUGH TERRAIN
(Michael McCready, Liqiong Tang and Gurvinder Singh Virk)

11:40 – 12:00
ON THE DESIGN OF A FOUR-BAR MECHANISM FOR OBSTACLES CLIMBING WHEELS
(Antonio González, Erika Ottaviano and Marco Ceccarelli)

12:00 – 12:20
THE CONTROL OF QUADRUPED WALKING ROBOT BASED ON BIOLOGICALLY INSPIRED APPROACH
(Choi Hyouk Ryeol, Kang Tae Hun, Koo Ig Mo and Song Young Kuk)

12:20 – 12:40
SERVICING SOLAR POWER PLANTS WITH WALLWALKER
(Ridha Azaiz)

10:00 – 12:40
M12 Session: Walking Robots (1)
Venue: Venus III
Session Chair: Atsuo Takanishi

10:00 – 10:20
USING VIRTUAL MODEL CONTROL AND GENETIC ALGORITHM TO OBTAIN STABLE BIPEDAL WALKING GAIT THROUGH OPTIMIZING THE ANKLE TORQUE
(Van-Huan Dau, Chee-Meng Chew and Aun-Neow Poo)

10:20 – 10:40
THINKING ABOUT BOUNDING AND GALLOPING USING SIMPLE MODELS
(Kenneth Waldron, Joaquin Estremera, Paul Csonka and Surya Singh)

10:40 – 11:00
RESEARCH ON UNDERACTUATED DYNAMICAL WALKING OF 3D BIPED ROBOT
(Sheng Tao and Ma Hongxu)
11:00 – 11:20
MOVEMENT SIMULATION FOR MERO MODULAR WALKING ROBOT
(Ion Ion, Ion Simionescu, Adrian Curaj and Alexandru Marin)

11:20 – 11:40
DETECTING SOUND SOURCES WITH THE HUMANOID ROBOT RH-1
(Pavel Staroverov, Ricardo Martinez, Dmitry Kaynov, Mario Arbulu, Luis Cabas and Carlos Balaguer)

11:40 – 12:00
CONSTRAINT BASED TRAJECTORY SIMPLIFICATION OF FULL BODY TRAJECTORIES FOR A WALKING ROBOT  (Hanns Tappeiner and Alfred Rizzi)

12:00 – 12:20
DESIGN AND PROBLEMS OF A NEW LEG-WHEEL WALKING ROBOT
(Cristina Tavolieri, Erica Ottaviano, Marco Ceccarelli and Andrea Nardelli)

12:20 – 12:40
A PROPOSAL FOR BIPEDAL LOCOMOTION USING GYROSCOPIC EFFECT
(Pulkit Kapur, Rahul Mukhi and Vinayak)

12:40 – 13:45
Lunch
(Venus II)

14:30 – 15:00
Tea Break

15:00 – 17:40
M21 Session: Supporting Technologies (1)
Venue: Venus I
Session Chair: Giovanni Muscato

15:00 – 15:20
A MODULAR APPROACH FOR CONTROLLING MOBILE ROBOTS (Kristian Regenstein, Thilo Kerscher, Clemens Birkenhofer, Tamim Asfour, J. Marius Zöllner and Rüdiger Dillmann)

15:20 – 15:40
AN APPROACH TO GLOBAL LOCALIZATION PROBLEM USING MEAN SHIFT ALGORITHM
(Giovanni Muscato and Salvatore Sessa)

15:40 – 16:00
CREATING A GESTURE RECOGNITION SYSTEM BASED ON SHIRT SHAPES
(Pavel Staroverov, Silvia Marcos, Dmtry Kaynov, Mario Arbulu, Luis Cabas and Carlos Balaguer)

16:00 – 16:20
DESIGNING OF A COMMAND SHAPER USING MULTI-OBJECTIVE PARTICLE SWARM ALGORITHM FOR VIBRATION CONTROL OF A SINGLE-LINK FLEXIBLE MANIPULATOR SYSTEM
(M. S. Alam, M. O. Tokhi and M. A. Hossain)

16:20 – 16:40
PERFORMANCE METRICES FOR IMPROVING HRI
(Yiannis Gatsoulis and Gurvinder Singh Virk)

16:40 – 17:00
SPARBOT – A ROBOTIC FOCUS MITT TRAINING PLATFORM
(Richard Stokes, Liqiong Tang and Ibrahim A. Al-Bahadly)

17:00 – 17:20
PARALLEL PARTICLE SWARM OPTIMIZATION FOR NETWORKED CLAWAR SYSTEM COOPERATION
(Fabio P. Bonsignorio)

17:20 – 17:40
GA TUNED COLSED-LOOP CONTROL OF SPRING BRAKE ORTHOSIS
(M S Huq, R Massoud, M S Alam and M O Tokhi)

15:00 – 17:40
M22 Session: Climbing Robots (2)
Venue: Venus III
Session Chair: Manuel Armada

15:00 – 15:20
KINEMATICS, SENSORS AND CONTROL OF THE FULLY AUTOMATED FACADE CLEANING ROBOT SIRIUSC FOR THE FRAUNHOFER HEADQUARTERS BUILDUNG, MUNICH
(Norbert Elkmann, Mario Lucke, Tino Krüger and Thomas Stürze)

15:20 – 15:40
GAIT PARAMETER ADAPTATION TO ENVIRONMENTAL PERTURBATIONS IN QUADRUPEDAL ROBOTS
(Elena Garcia, Joaquin Estremera, Pablo Gonzalez de Santos and Manuel Armada)

15:40 – 16:00
ON FOUR LEGS TOWARDS FLEXIBLE AND FAST LOCOMOTION
(Cem Kara, Christian Heckhoff, Thorsten Brandt and Dieter Schramm)

16:00 – 16:20
PATH PLANNING FOR THE "3DCLIMBER"
(Mahmoud Tavakoli, Lino Marques and Aníbal T. de Almeida)

16:20 – 16:40
TERRAIN-ADAPTIVE LOCOMOTION OF A WHEEL-LEGGED SERVICE ROBOT USING
ACTUATOR-BASED FORCE MEASUREMENTS
(Petri Virekoski and Ilkka Leppänen)

16:40 – 17:00
DEVELOPMENT OF AN AMPHIBIOUS HEXAPOD ROBOT BASED ON A WATER STRIDER
(Soh Fujii and Taro Nakamura)

17:00 – 17:20
A WHEELED WALL-CLIMBING ROBOT WITH TWO CLIMBING LEGS
(Zhihai Li, Yili Fu, Hejin Yang and Shuguo Wang)

17:20 – 17:40
A CPG WITH FORCE FEEDBACK FOR A STATICALLY STABLE QUADRUPED GAIT
(Jose Cappelletto, Pablo Estevez, Gerardo Fernandez-Lopez and Juan Carlos Grieco)

8:45 – 9:30
Plenary Talk 2: Robots Walking Down Under
Speaker: Professor John Billingsley
Venue: Venus I
Session Chair: Gurvinder Virk

9:30 – 10:00
Tea Break

10:00 – 12:40
T11 Session: Walking Robots (2)
Venue: Venus I
Session Chair: John Billingsley

10:00 – 10:20
A HOPPING MOBILITY CONCEPT FOR A ROUGH TERRAIN SEARCH AND RESCUE ROBOT (Steven Dubowsky, Jean-Sebastien Plante, Sam Kesner and Penny Boston)

10:20 – 10:40
A STEP TOWARDS PNEUMATICALLY ACTUATED BIPED LOCOMOTION : A BIO INSPIRED PLATFORM FOR STIFFNESS CONTROL
(Giovanni Muscato and Giacomo Spampinato)

10:40 – 11:00
USING OPTIMIZATION TECHNIQUES FOR THE DESIGN AND CONTROL OF FAST BIPEDS (Tobias Luksch, Karsten Berns, Katja Mombaur and Gerrit Schultz)

11:00 – 11:20
POSTURAL STABILITY CONTROL FOR ROBOT-HUMAN COOPERATION FOR SIT-TO-STAND ASSISTANCE (Viviane Pasqui, Ludovic Saintbauzel and Philippe Bidaud)

11:20 – 11:40
TRAJECTORY GENERATOR FOR RHYTHMIC MOTION CONTROL OF ROBOT USING NEURAL OSCILLATORS
(Weiwei Huang, Chee-Meng Chew, Geok-Soon Hong and Nithya Gnanassegarane)

11:40 – 12:00
LEG CONTROL FOR CHANGING LOCOMOTION BETWEEN LEG-TYPE AND WHEEL-TYPE BASED ON EFFECTIVE USE OF TOTAL POWER
(Tokuji Okada, Wagner Tanaka Botelho and Toshimi Shimizu)

12:00 – 12:20
A BASIC VARIABLES SET BASED SCHEME OF ONLINE MOTION PLANNING FOR HUMANOID ROBOTS (Wang Jian, Sheng Tao and Ma Hongxu)

12:20 – 12:40
OPTIMIZED ROBOT DURING ELEVATION OF AN OBJECT: COMPARISON KNEE BENDING IMPRESSION (Hamed Ajabi Naeini and Mostafa Rostami)

10:00 – 12:40
T12 Session: Supporting Technologies (2)
Venue: Venus III
Session Chair: Gurvinder Virk

10:00 – 10:20
THE IMPROVEMENT OF STRUCTURAL AND REAL TIME CONTROL PERFORMANCES FOR MERO MODULAR WALKING ROBOTS
(Ion Ion, Luige Vladareanu, Radu Munteanu jr. and Mihai Munteanu)

10:20 – 10:40
IMPROVING PNEUMATIC CYLINDER PERFORMANCE FOR LEGGED ROBOTICS
(Graham McLatchey and John Billingsley)

10:40 – 11:00
INTEGRATED INTELLIGENT MECHROBOT SYSTEM
(Liqiong Tang and Gurvinder Singh Virk)

11:00 – 11:20
MOTION ESTIMATION AND SELF-LOCALIZATION BASED ON COMPUTER VISION AND ARTIFICIAL MARKER DEPOSITION
(Savan Chaniyara, Kaspar Althoefer and Lakmald Seneviratne)

11:20 – 11:40
SOFTWARE AND COMMUNICATION INFRASTRUCTURE DESIGN OF THE HUMANOID ROBOT RH-1 (Dmitry Kaynov, Mario Arbulu, Pavel Staroverov, Luis Cabas and Carlos Balaguer)

11:40 – 12:00
SPRING-ORTHOSIS ASSISTED FES-CYCLING
(Rasha Massoud, Osman Tokhi and Shafiul Alam)

12:00 – 12:20
HIL/SIL BY DEVELOPMENT OF CLAWAR
(Sergiy Dzhantimirov, Frank Palis, Ulrich Schmucker, Andriy Telesh and Yuriy Zavgorodniy)

12:20 – 12:40
DESIGN AND DEVELOPMENT OF MICRO-GRIPPING DEVICES FOR MANIPULATION OF MICRO-PARTS
(Z.W. Zhong, S.K. Nah and S.H. Tan)\

12:40 – 13:45
Lunch
(Venus II)

14:30 – 15:00
Tea Break

15:00 – 17:40
T21 Session: Climbing Robots (3)
Venue: Venus I
Session Chair: Philippe Bidaud

15:00 – 15:20
STABILITY AND GAIT OPTIMIZATION OF A HYBRID LEGGED-WHEELED ROVER
(Byron Johns and Ayanna Howard)

15:20 – 15:40
DEVELOPMENT OF A SEALING SYSTEM FOR A CLIMBING ROBOT WITH UNDERPRESSURE ADHESION (Carsten Hillenbrand, Daniel Schmidt, Karsten Berns, Tim Leichner, Tobias Gastauer and Bernd Sauer)

15:40 – 16:00
AUTONOMOUS CLIMBING MOTIONS FOR CONNECTED CRAWLER ROBOTS
(Sho Yokota, Yasuhiro Ohyama, Hiroshi Hashimoto, Jin-Hua She, Kuniaki Kawabata, Hisato Koabayashi and Pierre Blazevic)

16:00 – 16:20
AN EVOLVED NEURAL NETWORK FOR FAST QUADRUPEDAL LOCOMOTION
(Irene Markelic and Keyan Zahedi)

16:20 – 16:40
DEVELOPMENT OF AN OMNI-DIRECTIONAL MOBILE ROBOT BASED ON SNAIL LOCOMOTION (kuniaki satou and Taro Nakamura)

16:40 – 17:00
ROBOT FOR MOTION IN TUBE
(Jatsun Sergey, Mishenko Vladimir and Jatsun Andrey)

17:00 – 17:20
DESIGN AND CONSTRUCTION OF A ROPE CLIMBING ROBOT
(Juan Pablo Martínez Esponda)

17:20 – 17:40
DEVELOPMENT OF A SUCTION TYPE MINIATURE CLIMBING ROBOT WITH MINIMAL ACTUATORS
(Muthu veerappan Vignesh)

15:00 – 17:40
T22 Session: Supporting Technologies (3)
Venue: Venus II
Session Chair: Heinz Woem

15:00 – 15:20
IN SEARCH OF PRINCIPLES OF ODOUR SOURCE LOCALISATION
(Endre Kadar, Gurvinder Virk and Christodoulos Lytridis)

15:20 – 15:40
MCA2 - AN EXTENSIBLE MODULAR FRAMEWORK FOR ROBOT CONTROL APPLICATIONS
(Klaus Uhl and Marco Ziegenmeyer)

15:40 – 16:00
REAL-TIME COMPUTATIONAL COMPLEXITY OF THE ALGORITHMS FOR A SINGLE LINK MANIPULATOR SYSTEM
(M A Hossain, N H Siddique, M O Tokhi and M S Alam)

16:00 – 16:20
CONTROLLING AN ACTIVELY ARTICULATED SUSPENSION VEHICLE FOR MOBILITY IN ROUGH TERRAIN
(Siddharth Sanan, Sartaj Singh and Krishna K Madhava)

16:20 – 16:40
NEW STANDARDS FOR NEW ROBOTS
(Gurvinder Singh Virk)

16:40 – 17:00
CONTACT PROCESSING IN THE SIMULATION OF CLAWAR
(Ulrich Schmucker, Vadym Rusin, Mykhaylo Konyev and Tamas Juhasz)

17:00 – 17:20
A BIOLOGICALLY INSPIRED ARCHITECTURE FOR CONTROL OF GRASPING MOVEMENTS OF AN ANTHROPOMORPHIC GRIPPER (Sergio Varona Moya, Javier Molina Vilaplana, Alejandro Linares Barranco, Jorge Juan Feliu Battle and Juan Lopez Coronado)

17:20 – 17:40
A CONCURRENT PLANNING ALGORITHM FOR DUAL-ARM SYSTEMS
(CHIEN-CHOU LIN, JEN-HUI CHUANG and TING-WEI CHAN)

18:30 – 20:30
Awards Banquet
Venus Ballroom

8:45 – 9:30
Plenary Talk 3: From Micro to Nano and Swarm Robots
Speaker: Professor Heinz Woen
Venue: Venus I
Session Chair: Jean-Guy Fontaine

9:30 – 10:00
Tea Break

10:00 – 12:40
W11 Session: Walking Robots (3)
Venue: Venus I
Session Chair: Jean-Guy Fontaine

10:00 – 10:20
A SELF-ADJUSTING UNIVERSAL JOINT CONTROLLER FOR STANDING AND WALKING LEGS
(Axel Schneider, Björn Fischer, Holk Cruse and Josef Schmitz)

10:20 – 10:40
AUTONOMOUS BIPEDAL GAIT ADJUSTMENT UNDER PERTURBATIONS
(Lin Yang, Chee-Meng Chew and Aun-Neow Poo)

10:40 – 11:00

STIFFNESS AND DUTY FACTOR MODELS FOR THE DESIGN OF RUNNING BIPED
(Muhammad E. Abdallah and Kenneth J. Waldron)

11:00 – 11:20
GAIN PROPERTY FOR BIPED WALKING VIA LEG LENGTH VARIATION (Tetsuya Kinugasa, Shoichi Miwa, Yannick Aoustin and Christine Chevallereau)

11:20 – 11:40
ROTOPOD: A NOVEL APPROACH TO EFFICIENT LEGGED LOCOMOTION
(Damian Lyons)

11:40 – 12:00
FOOT PLANNING MOTION OF HUMANOID ROBOT RH-1 USING LAG ALGORITHM
(Mario Arbulu, Luis Cabas, Pavel Staroverov, Dmitry Kaynov, Carlos Perez and Carlos Balaguer)

12:00 – 12:20
THE DESIGN OF A HUMANOIDAL BIPED FOR THE RESEARCH ON THE GAIT PATTERN GENERATORS
(Przemyslaw Kryczka and Chee-Meng Chew)

12:20 – 12:40
OBSERVER-BASED CONTROL OF A WALKING BIPED ROBOT: STABILITY ANALYSIS
(Vincent Lebastard, Yannick Aoustin and Franck Plestan)

12:40 – 13:45
Lunch
(Venus II)

14:30 – 15:00
Tea Break

15:00 – 16:40
W21 Session: Humanoid Soccer Robots
Venue: Venus I
Session Chair: Zhou Changjiu

15:00 – 15:20
A DISTRIBUTED EMBEDDED CONTROL ARCHITECTURE FOR HUMANOID SOCCER ROBOTS
Carlos Antonio Calderon, Changjiu Zhou, Pik Kong Yue, Mike Wong and Mohan Rajesh Elara

15:20 – 15:40
DESIGN OF A HUMANOID SOCCER ROBOT: WUKONG
Qing Tang, Rong Xiong, Jian Chu and Xinfeng Du

15:40 – 16:00
FORMULATION OF DESIRED ZERO MOMENT POINT TRJECTORY USING STATISTICAL METHOD
Lingyun Hu, Changjiu Zhou, Bi Wu and Tianwu Yang

16:00 – 16:20
LOCOMOTION CONTROL SCHEME FOR FAST WALKING HUMANOID SOCCER ROBOT
Weerayut Sawasdee, Pasan Kulvanit and Thavida Maneewarn

16:20 – 16:40
OPTIMUM PERFORMANCE OF THE FAST WALKING HUMANOID SOCCER ROBOT: EXPERIMENTAL STUDY
Pasan Kulvanit, Bantoon Srisuwan and Djitt Laowattana

15:00 – 16:40
W22 Session: Supporting Technologies (4)
Venue: Venus III
Session Chair: Yu Haoyong

15:00 – 15:20
HIDDEN MARKOV MODEL BASED FUZZY CONTROLLER FOR FLEXIBLE-LINK MANIPULATOR
(M.N.H. Siddique, M.A. Hossain, M.S. Alam and M.O. Tokhi)

15:20 – 15:40
A NOVEL MINIATURE ATTITUDE MEASUREMENT SYSTEM FOR CLIMBING AND WALKING ROBOTS
(Guanglong Wang, Chunxi Zhang, Zhaoying Zhou and Rong Zhu)

15:40 – 16:00
ASYNCHRONOUS LOCAL POSITIONING SYSTEM BASED ON ULTRASONIC ACTIVE BEACONS AND FEED FORWARD NEURAL NETWORKS
(Pablo Estevez, Juan Hernandez, Jose Cappelletto and Juan Carlos Grieco)

16:00 – 16:20
A SELF ORGANIZING NETWORK MODEL FOR CLAWAR SYSTEM COMMUNICATION COEVOLUTION
(Fabio P. Bonsignorio)

16:20 – 16:40
WALKER SYSTEM WITH ASSISTANCE DEVICE FOR STANDING-UP
(Daisuke Chugo, Wataru Matsuoka and Kunikatsu Takase)

16:40 – 17:40
Farewell Reception
(Foyer)