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2006 6th International Conference on Humanoid Robots
December 4-6, 2006 – Genoa, Italy
Abstracts
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The proceedings of the Humanoids 2006
Conference are copyrighted by IEEE R&A Society
IEEE Cat. No. 06EX1315C
ISBN 1-4244-0200-X
Library of Congress 2006920947
Welcome Message - ORganizing Committees - Where WE ARE - Tourist Map of Genoa
December 5th 2006
9h00 - 10h00
Invited Talk
Rüdiger Dillmann - University of Karlsruhe, Germany:
Perception and Understanding of Human Activities by Humanoid Robots
10h30 - 12h30 Oral Session - I
Multimodal Control
Time |
ID |
Title |
Authors |
|
10h30 10h50 |
94 |
Hideki Kadone and Yoshihiko Nakamura | |
|
11h10 11h30 |
185 |
Vision based behavior verification system of humanoid robot for daily environment tasks |
Kei Okada, Mitsuharu Kojima, Yuuichi Sagawa, Toshiyuki Ichino, Kenji Sato and Masayuki Inaba |
|
11h30 11h50 |
144 |
Simon Thompson and Satoshi Kagami | |
|
11h50 12h10 |
49 |
Stefan Zickler and Manuela Veloso | |
|
12h10 12h30 |
138 |
Speech Recognition for a Robot with Motor Noise Utilizing Missing Feature Theory |
Yoshitaka Nishimura, Mikio Nakano, Kazuhiro Nakadai, Hiroshi Tsujino and Mitsuru Ishizuka |
14h00 - 16h20 - Oral Session - II
Human-Robot Interaction
|
Time |
ID |
Title |
Authors |
|
14h00 14h20 |
137 |
Marek Doniec, Ganghua Sun and Brian Scassellati | |
|
14h20 14h40 |
121 |
Imitation Learning of Dual-Arm Manipulation Tasks in Humanoid Robots |
Tamim Asfour, Florian Gyarfas, Pedram Azad and Rüdiger Dillmann |
|
14h40 15h00 |
17 |
Christian Goerick, Heiko Wersing, Inna Mikhailova and Stephan Kirstein | |
|
15h00 15h20 |
52 |
Playing a different imitation game: Interaction with an Empathic Android Robot |
Frank Hegel, Thorsten Spexard, Thurid Vogt, Gernot Horstmann and Britta Wrede |
|
15h20 15h40 |
163 |
Somboon Hongeng | |
|
15h40 16h00 |
172 |
Gutemberg Guerra-Filho and Yiannis Aloimonos | |
|
16h00 16h20 |
176 |
Naoki Kojo, Tetsunari Inamura, Kei Okada and Masayuki Inaba |
16h50 - 18h10 - Oral Session - III
Manipulatory Skills
|
Time |
ID |
Title |
Authors |
|
16h50 17h10 |
29 |
Dexterous Skills Transfer by Extending Human Body Schema to a Robotic Hand |
Erhan Oztop, Mike Lin, Mitsuo Kawato and Gordon Cheng |
|
17h10 17h30 |
30 |
Unconstrained Real-time Markerless Hand Tracking for Humanoid Interaction |
Thomas Gumpp, Pedram Azad, Kai Welke, Erhan Oztop, Rudiger Dillmann and Gordon Cheng |
|
17h30 17h50 |
128 |
Robert Platt, Robert Burridge, Myron Diftler, Jodi Graf, Michael Goza and Eric Huber | |
|
17h50 18h10 |
136 |
Aaron Edsinger and Charles Kemp |
Poster Session - I
|
ID |
Title |
Authors |
|
11 |
Programming by Cooperation: Perceptual-Motor Sequence Learning via Human-Robot Interaction |
Jean-David Boucher and Peter Ford Dominey |
|
14 |
Manuela Veloso, Nicholas Armstrong-Crews, Sonia Chernova, Elisabeth Crawford, Colin McMillen, Maayan Roth and Douglas Vail | |
|
19 |
Ronald Van Ham, Bram Vanderborght, Björn Verrelst, Michaël Van Damme and Dirk Lefeber | |
|
20 |
Bram Vanderborght, Björn Verrelst, Michaël Van Damme, Ronald Van Ham, Pieter Beyl and Dirk Lefeber | |
|
26 |
Kimberly Hambuchen, William Bluethmann, S. Michael Goza, Robert Ambrose, Kenneth Rabe and Mark Allan | |
|
27 |
How does a Balancing Motion of a Humanoid Robots Affect a Human Motion and Impression? |
Masayuki Kakio, Takahiro Miyashita, Noriaki Mitsunaga, Hiroshi Ishiguro and Norihiro Hagita |
|
28 |
Dynamic Pen Spinning Using a High-speed Multifingered Hand with High-speed Tactile Sensor |
Tatsuya Ishihara, Akio Namiki, Masatoshi Ishikawa and Makoto Shimojo |
|
36 |
Fast and Robust Feature-based Recognition of Multiple Objects |
Kai Welke, Pedram Azad and Rüdiger Dillmann |
|
37 |
Akinori Sekiguchi, Yuki Atobe, Koki Kameta, Yuichi Tsumaki and Dragomir Nenchev | |
|
38 |
Christian Ott, Oliver Eiberger, Werner Friedl, Berthold Bäuml, Ulrich Hillenbrand, Christoph Borst, Alin Albu-Schäffer, Bernhard Brunner, Heiko Hirschmüller, Simon Kielhöfer, Rainer Konietschke, Michael Suppa, Thomas Wimböck, Franziska Zacharias and Gerd Hirzinger | |
|
40 |
Design and Control of 2D Biped that can Walk and Run with Pneumatic Artificial Muscles |
Koh Hosoda, Takashi Takuma and Atsushi Nakamoto |
|
42 |
Learning feature representations for an object recognition system |
Kai Welke, Erhan Oztop, Ales Ude, Rüdiger Dillmann and Gordon Cheng |
|
45 |
A Novel Humanoid Binaural 3D Sound Localization and Separation Algorithm |
Fakheredine Keyrouz, Werner Maier and Klaus Diepold |
|
46 |
Information-Based Gaze Direction Planning Algorithm for SLAM |
Georgios Lidoris, Kolja Kühnlenz, Dirk Wollherr and Martin Buss |
|
48 |
Upper Body of a new Humanoid Robot – the Design of ARMAR III |
Albert Albers, Sven Brudniok, Korkiat Sedchaicharn and Christian Sauter |
|
50 |
Robot learning of upper-body human motion by active imitation |
Juan Pedro Bandera Rubio, Rebeca Marfil Robles, Luis Molina-Tanco, Juan Antonio Rodríguez Fernández, Antonio Bandera Rubio and Francisco Sandoval Hernández |
|
54 |
The Task Matrix Framework for Platform-Independent Humanoid Programming |
Evan Drumwright, Victor Ng-Thow-Hing and Maja Mataric' |
|
58 |
Ee Sian Neo, Ken-ichi Maruyama, Takeshi Sakaguchi, Yoshihiro Kawai and Kazuhito Yokoi | |
|
62 |
Hitoshi Hasunuma, Kensuke Harada and Hirohisa Hirukawa | |
|
63 |
Robust speech recognition system for communication robots in real environments |
Carlos Toshinori Ishi, Shigeki Matsuda, Takayuki Kanda, Takatoshi Jitsuhiro, Hiroshi Ishiguro, Satoshi Nakamura and Norihiro Hagita |
|
65 |
A Visual Attention Framework for Search Behavior by a Humanoid Robot |
Francois Saidi, Olivier Stasse and Kazuhito Yokoi |
|
67 |
Design and Development of Biped Humanoid Robot, AMI2 for Social Interaction with Human |
Yong-Ho Seo, Yeong-Nam Chae, Il-Woong Jeong, Won-Hyung Kang and Hyun-S Yang |
|
70 |
Advanced Distributed Architecture for a Small Biped Robot Control |
Miguel Albero Gil, Franciosco Blanes Nogera, Gines Benet Gilabert, Jose Simo and Javier Coronel |
|
72 |
Shinya Fujie, Toshihiko Yamahata and Tetsunori Kobayashi | |
|
77 |
A Methodological Approach to Design of Soft Fingertips for Humanoid Robot Hands |
Antonio Sardo, Paolo Tiezzi and Gabriele Vassura |
|
79 |
A Cognitive Architecture for Flexible Imitative Interaction Using Tools and Objects |
Ryo Fukano, Yasuo Kuniyoshi and Akihiko Nagakubo |
|
80 |
The Relationship between Contingency and Complexity in a Lifelike Humanoid Robot |
Fumitaka Yamaoka, Takayuki Kanda, Hiroshi Ishiguro and Norihiro Hagita |
|
81 |
Bertrand Tondu | |
|
83 |
Online Biped Walking Pattern Generation for Humanoid Robot KHR-3 (KAIST Humanoid Robot-3: HUBO) |
Ill-Woo Park, Jung-Yup Kim and Jun-Ho Oh |
|
85 |
A Robot That Can Engage in Both Task-Oriented and Non-Task-Oriented Dialogues |
Mikio Nakano, Atsushi Hoshino, Johane Takeuchi, Yuji Hasegawa, Toyotaka Torii, Kazuhiro Nakadai, Kazuhiko Kato and Hiroshi Tsujino |
|
87 |
An Affect-Expression Space Model of the Face in a Mascot-Type Robot |
Hui Sung Lee, Jeong Woo Park and Myoung Jin Chung |
|
88 |
Exploring the dynamic walking range of the biped robot "Runbot" with an active upper-body component |
Poramate Manoonpong, Tao Geng and Florentin Woergoetter |
December 6th 2006
9h00 - 10h00
Invited Talk
Giacomo Rizzolatti - University of Parma, Italy:
Cortical Mechanisms for Recognition of Actions and Intentions
10h30 - 12h30 - Oral Session - IV
Locomotion
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 |
Pierre-Brice Wieber |
14h00 - 16h20 - Oral Session - V
Humanoid Platforms
Time |
ID |
Title |
Authors |
|
14h00 14h20 |
154 |
Lorenzo Jamone, Giorgio Metta, Francesco Nori and Giulio Sandini | |
|
14h20 14h40 |
161 |
Giorgio Cannata, Mirko D'Andrea and Marco Maggiali | |
|
14h40 15h00 |
100 |
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 |
Gordon Cheng, Sang-ho Hyon, Jun Morimoto, Ales Ude and Stephen C. Jacobsen |
16h50 - 18h30 - Oral Session - VI
Balance Control
Time |
ID |
Title |
Authors |
|
16h50 17h10 |
39 |
Victor Nunez, Nelly Nadjar-Gauthier, Kazuhito Yokoi, Pierre Blazevic and Olivier Stasse | |
|
17h10 17h30 |
131 |
Tomomichi Sugihara and Yoshihiko Nakamura | |
|
17h30 17h50 |
153 |
Jerry Pratt, John Carff, Sergey Drakunov and Ambarish Goswami | |
|
17h50 18h10 |
96 |
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 |
Poster Session - II
|
ID |
Title |
Authors |
|
92 |
Humanoid Robot's Autonomous Acquisition of Proto-Symbols through Motion Segmentation |
Wataru Takano and Yoshihiko Nakamura |
|
93 |
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 |
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 |
Takahiro Miyashita, Kazuhiko Shinozawa and Norihiro Hagita | |
|
114 |
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 |
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 |
Taichi Tajika, Takahiro Miyashita, Hiroshi Ishiguro and Norihiro Hagita | |
|
123 |
Sven Behnke, Michael Schreiber, Joerg Stueckler and Hauke Stasdat | |
|
124 |
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 |
Kiyoshi Fujiwara, Shuuji Kajita, Kensuke Harada, Kenji Kaneko, Mitsuharu Morisawa, Fumio Kanehiro, Shinichiro Nakaoka and Hirohisa Hirukawa | |
|
141 |
Chyi-Yeu Lin, Po-Chia Jo and Chang-Kuo Tseng | |
|
145 |
Sebastian Lohmeier, Thomas Buschmann, Markus Schwienbacher, Heinz Ulbrich and Friedrich Pfeiffer | |
|
146 |
Koichi Nishiwaki, Woo-Keun Yoon and Satoshi Kagami | |
|
148 |
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 |
Nasser Sadati and Kaveh Hamed | |
|
174 |
The Development of Biped Robot MARI-3 for Fast Walking and Running |
Atsuo Kawamura and Chi Zhu |
|
177 |
Madjid Boudaba and Alicia Casals | |
|
180 |
Gianmarco Veruggio | |
|
183 |
Attending to Learn and Learning to Attend for a Social Robot |
Lijin Aryananda |
|
188 |
Stuart Anderson, Chris Atkeson and Jessica Hodgins |