IEEE-RAS 7th International Conference on Humanoid Robots

Workshops and Tutorials

The Second Workshop on Humanoid Soccer Robots
Organizers: Changjiu Zhou, Enrico Pagello, Emanuele Menegatti and Sven Behnke

Towards the Realisation of the Computational Brain with Humanoid Robots
Organizers: Gordon Cheng, Christopher Atkeson, Jessica Hodgins and Mitsuo Kawato

The Active Vision of Humanoids
Organizers: Yiannis Aloimonos and Giulio Sandini

Motion Planning for Humanoid Robots
Organizers: Kensuke Harada, Eiichi Yoshida and Kazuhito Yokoi

Benchmarking in Humanoid Robotics
Organizers:Tamim Asfour, Ales Ude, Alex Waibel and Ruediger Dillmann

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Oral Papers and Posters

Oral Paper Session FrA1 : Walking Control I

• A Collocation Method for Real-Time Walking Pattern Generation
  Thomas Buschmann, Sebastian Lohmeier, Mathias Bachmayer, Heinz Ulbrich and Friedrich Pfeiffer
  
• A strategy to combine active trajectory control with the exploitation of the natural dynamics to reduce energy consumption for bipedal robots
  Bram Vanderborght, Michael Van Damme, Ronald Van Ham, Pieter Beyl and Dirk Lefeber
  
• Online Gain Switching Algorithm for Joint Position Control of a Hydraulic Humanoid Robot
  Jung-Yup Kim, Christopher Atkeson, Jessica Hodgins, Darrin Bentivegna and Sung Ju Cho
  
• Simultaneous adaptation to rough terrain and unknown external forces for biped humanoids
  Sang-Ho Hyon and Gordon Cheng
  

Oral Paper Session FrA2 : Hands and Grasping

• A model of shared grasp affordances from demonstration
  John Sweeney and Roderic Grupen
  
• Backdrivable Miniature Hydrostatic Transmission for Actuation of Anthropomorphic Robot Hands
  Hiroshi Kaminaga, Taichi Yamamoto, Junya Ono and Yoshihiko Nakamura
  
• Grasp Planning in Complex Scenes
  Dmitry Berenson, Rosen Diankov, Koichi Nishiwaki, Satoshi Kagami and James Kuffner
  
• Learning Grasp Strategies Composed of Contact Relative Motions
  Robert Platt
  

Oral Paper Session FrP1 : Balance Control

• Multiple Balance Strategies From One Optimization Criterion
  Christopher Atkeson and Benjamin Stephens
  
• Learning Capture Points for Humanoid Push Recovery
  John Rebula, Fabian Canas, Jerry Pratt and Ambarish Goswami
  
• Biologically Inspired Kinematic Synergies Provide a New Paradigm for Humanoid Balance Control
  Helmut Hauser, Gerhard Neumann, Auke J. Ijspeert and Wolfgang Maass
  
• Dynamic Balance Control of Humanoids for Multiple Grasps and non Coplanar Frictional Contacts
  Cyrille Collette, Alain Micaelli, Pierre Lemerle and Claude Andriot
  

Oral Paper Session FrP2 : Behaviors and Interaction

• ``Give me the Purple Ball'' --he said to HRP-2 N.14
  Eiichi Yoshida, Anthony Mallet, Florent Lamiraux, Oussama Kanoun, Olivier Stasse, Mathieu Poirier, Peter Ford Dominey, Jean-Paul Laumond and Kazuhito Yokoi
  
• Design of the Musculoskeletal Trunk and Realization of Powerful Motions Using Spines
  Yuto Nakanishi, Yuta Namiki, Kazuo Hongo, Junichi Urata, Ikuo Mizuuchi and Masayuki Inaba
  
• Sensory Prediction for Autonomous Robots
  Ryo Saegusa, Francesco Nori, Giulio Sandini, Giorgio Metta and Sophie Sakka
  
• Behavior Integration for Whole-body Close Interactions by a Humanoid with Soft Sensor Flesh
  Tomoaki Yoshikai, Marika Hayashi, Yui Ishizaka, Takashi Sagisaka and Masayuki Inaba
  

Oral Paper Session SaA1 : Motion Generation and Interfaces

• Synthesizing Goal-Directed Actions from a Library of Example Movements
  Ales Ude, Marcia Riley, Andrej Kos, Bojan Nemec, Tamim Asfour and Gordon Cheng
  
• Optimization of sequential attractor-based movement for compact behaviour generation
  Marc Toussaint, Michael Gienger and Christian Goerick
  
• Viewing and Reviewing How Humanoids Sensed, Planned and Behaved with Mixed Reality Technology
  Kazuhiko Kobayashi, Koichi Nishiwaki, Shinji Uchiyama, Hiroyuki Yamamoto and Satoshi Kagami
  
• Expanding Task Functionality in Established Humanoid Robots
  Victor Ng-Thow-Hing, Evan Drumwright, Kris Hauser, Qingquan Wu and Joel Wormer
  

Oral Paper Session SaA2 : Perception and Modeling

• Sensorimotor Processes for Learning Object Representations
  Damir Omrcen, Ales Ude, Kai Welke, Tamim Asfour and Ruediger Dillmann
  
• Towards Autonomous Object Reconstruction for Visual Search by the Humanoid Robot HRP-2.
  Olivier Stasse, Diane Larlus, Baptiste Lagarde, Adrien Escande, Francois Saidi, Abderrahmane Kheddar, Kazuhito Yokoi & Frederic Jurie
  
• 3D Pose and Shape Estimation with Deformable Models in Lifelike Scenes
  Astrid Laubenheimer, Steffen Richter and Kristian Kroschel
  
• A highly stretchable tactile distribution sensor for smooth surfaced humanoids
  Hassan Alirezaei, Akihiko Nagakubo and Yasuo Kuniyoshi
  

Oral Paper Session SaP1 : Motion Planning

• Learning Object Models for Whole Body Manipulation
  Mike Stilman, Koichi Nishiwaki and Satoshi Kagami
  
• On Humanoid Motion Optimization
  Wael Suleiman, Eiichi Yoshida, Jean-Paul Laumond and André Monin
  
• Continuous gradient proximity distance for humanoids collision-free optimized postures
  Adrien Escande, Sylvain Miossec and Abderrahmane Kheddar
  
• An Adaptive Action Model for Legged Navigation Planning
  Joel Chestnutt, Koichi Nishiwaki, James Kuffner and Satoshi Kagami
  

Oral Paper Session SaP2 : Walking Control II

• Stochastic Optimization of Bipedal Walking using Gyro Feedback and Phase Resetting
  Felix Faber and Sven Behnke
  
• Walking Control around Singularity Using a Spherical Inverted Pendulum with an Underfloor Pivot
  Koki Kameta, Akinori Sekiguchi, Yuichi Tsumaki and Yoshikazu Kanamiya
  
• An Inverted Pendulum Based Approach to Biped Trajectory Generation with Swing Leg Dynamics
  Kemalettin Erbatur and Utku Seven
  
• Online Gait Planning with Dynamical 3D-Symmetrization method
  Koji Terada and Yasuo Kuniyoshi
  

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Poster Presentations

Poster Session A

• Pose Estimation of a Moving Humanoid Using Gauss-Newton Optimization on a Manifold
  Michel Sarkis, Klaus Diepold and Knut Hüper


• A Fast Solution to the Approximation of 3D Scattered Point Data from Stereo Images using Triangular Meshes
  Michel Sarkis and Klaus Diepold


• Drum-mate: A Human-Humanoid Drumming Experience
  Hatice Kose-Bagci, Kerstin Dautenhahn, Dag Sverre Syrdal and Chrystopher L. Nehaniv


• Towards Incremental Hierarchical Behavior Generation for Humanoids
  Christian Goerick, Bram Bolder, Herbert Janssen, Michael Gienger, Hisashi Sugiura, Mark Dunn, Inna Mikhailova, Tobias Rodemann, Heiko Wersing and Stephan Kirstein


• Joint Control of a Humanoid Robot
  Dmitry Kaynov, Alberto Aceña Hernandez and Carlos Balaguer


• Egomotion using Planes
  Julio Zamora Esquivel and Eduardo Bayro Corrochano


• Real-Time Cooperative Behavior Acquisition by a Humanoid Apprentice
  Peter Ford Dominey, Anthony Mallet and Eiichi Yoshida


• Stretch-Legged Walking in Sagittal Plane
  Min-su Kim


• Modified Transpose Jacobian Control of a Biped Robot
  S. Ali Akbar Moosavian, Mansoor Alghooneh and Amir Takhmar


• Controller Design and Experimental Approach on the Dynamic Walking on the Spot in Planar Biped Robot
  Baek-Kyu Cho


• An Advanced Musculoskeletal Humanoid Kojiro
  Ikuo Mizuuchi, Yuto Nakanishi, Yoshinao Sodeyama, Yuta Namiki, Tamaki Nishino, Naoya Muramatsu, Junichi Urata, Kazuo Hongo, Tomoaki Yoshikai and Masayuki Inaba


• The Perception of Animacy and Intelligence Based on a Robot’s Embodiment
  Christoph Bartneck, Takayuki Kanda, Omar Mubin and Abdullah Al Mahmud


• Falling Motion Control for Humanoid Robots While Walking
  Kunihiro Ogata, Koji Terada and Yasuo Kuniyoshi


• Guaranteed computation of constraints for safe path planning
  Lengagne Sebastien, Ramdani Nacim and Fraisse Philippe


• Estimating Group States for Interactive Humanoid Robots
  Masahiro Shiomi, Kenta Nohara, Takayuki Kanda, Hiroshi Ishiguro and Norihito Hagita


• Modeling human postural coordination to improve the control of balance in humanoids
  BONNET Vincent, LAGARDE Julien, FRAISSE Philippe, RAMDANI Nacim, RAMDANI Sofiane, POIGNET Philippe and BARDY Benoit


• Feature-based Head Pose Estimation from Images
  Teodora Vatahska, Maren Bennewitz and Sven Behnke


• Fuzzy Logic Based Body State Estimation in a Bipedal Robot with Passive Dynamic Gaits
  Xiaohua Yang, Qining Wang, Guangming Xie and Long Wang


• FPGA-Based Gait Control System for Passive Bipedal Robots
  Jingeng Mai, Qining Wang and Long Wang


• Dynamic motion adaptation for 3D acrobatic humanoids
  Franck MULTON, Ludovic HOYET, Taku KOMURA and Richard KULPA


• Teaching by touching: an intuitive method for development of humanoid robot motions
  Fabio Dalla Libera, Takashi Minato, Ian Fasel, Hiroshi Ishiguro, Emanuele Menegatti and Enrico Pagello

Poster Session B

• Concept for Behavior Generation for the Humanoid Robot Head ROMAN based on Habits of Interaction
  Jochen Hirth and Karsten Berns


• User specificatoin method and humanoid confirmation behavior
  Kazuhiko Shinozawa, Takahiro Miyashita, Masayuki Kakio and Norihiro Hagita


• Accurate Control of a Human-like Tendon-driven Neck
  Francesco Nori, Lorenzo Jamone, Giorgio Metta and Giulio Sandini


• Real-time Bipedal Walking Adjustment Modes using Truncated Fourier Series Formulation
  Lin Yang, Chee-Meng Chew and Aun-Neow Poo


• A Framework for Creating, Coordinating, and Executing Skills on a Humanoid Robot
  Nicolas Gorges, Andreas Schmid, Dirk Osswald and Heinz Woern


• Imitation Learning for Locomotion and Manipulation
  Nathan Ratliff, Andrew Bagnell and Siddhartha Srinivasa


• Intelligent Perceptual Information Parallel Processing System Controlled by Mathematical AIM Model
  Masahiko Mikawa, Masahiro Yoshikawa, Takeshi Tsujimura and Kazuyo Tanaka


• Towards the implementation of a "chaotic" smooth pursuit
  Boris Alejandro Duran and Giulio Sandini


• Toe Joint Mechanism Using Parallel Four-bar Linkage Enabling Humanlike Multiple Support at Toe Pad and Toe Tip
  Kou Yamamoto, Tomomichi Sugihara and Yoshihiko Nakamura


• Biped Walking Pattern Generation Using Reinforcement Learning
  Jungho Lee and Jun Ho Oh


• An Autonomous Reactive System for Humanoids Equipped with Very Many Actuators and Sensors
  Ikuo Mizuuchi, Tamaki Nishino, Yoshinao Sodeyama, Yuto Nakanishi, Yuta Namiki, Tomoaki Yoshikai and Masayuki Inaba


• Task-Driven Moving Object Detection for Robots Using Visual Attention
  Yuanlong Yu, George Mann and Raymond Gosine


• Fast Audio-Visual Multi-Person Tracking for a Humanoid Stereo Camera Head
  Kai Nickel and Rainer Stiefelhagen


• i-RoK: A Human Like Robotic Head
  Orhan Olcucuoglu, A. Bu ra Koku and E. lhan Konukseven


• Walking Control on Uneven Terrain with Short Cycle Pattern Generation
  Koichi Nishiwaki and Satoshi Kagami


• Coding Interaction Patterns between Human and Receptionist Robot
  Catherina Burghart, Hartwig Holzapfel, Roger Haeussling and Stephan Breuer


• Improved Task-Oriented Force Feedback Control Method for Humanoid Robot
  Huan Tan and Qingmin Liao


• Design of Double Video Signal Based Location and Stereo Video Signal Generation System for Humanoid Robot
  Huan Tan and Qingmin Liao


• Stable Trajectory Planning, Complete Dynamic Modeling and Regulated Sliding Mode Control of a Biped Robot
  S. Ali Akbar Moosavian, Amir Takhmar and Mansoor Alghooneh


• Randomized Path Planning for Redundant Manipulators without Inverse Kinematics
  Mike Vande Weghe, Dave Ferguson and Siddhartha Srinivasa


• Compliant Control of a Hydraulic Humanoid Joint
  Darrin Bentivegna, Christopher Atkeson and Jung-Yup Kim


• Policy imitation for extreme humanoid balance
  Stuart Anderson, Jessica Hodgins and Chris Atkeson


• Robust Stabilization of Hybrid Periodic Orbits of Passive Walking Mechanisms
  Oumnia Licer, Noureddine EL Alami and Mostafa Mrabti


• Dynamic Humanoid Balance through Inertial Control
  Odest Jenkins, Pawel Wrotek and Morgan McGuire

Poster Session C

• Biped Humanoid Robot Mahru III
  Woong Kwon, Hyun K. Kim, Joong Kyung Park, Chang Hyun Roh, Jawoo Lee, Jaeho Park, Won-Kuk Kim and Kyungshik Roh


• Humanoid Push Recovery
  Benjamin Stephens


• A simple approach to humanoid locomotion
  Jun Morimoto, Gen Endo and Gordon Cheng


• Optimal Trajectory Generation for Bipedal Robots
  Van-Huan DAU, Chee-Meng CHEW and Aun-Neow POO


• Methods for Lightweight Design of Mechanical Components in Humanoid Robots
  Albert Albers, Jens Ottnad, Helge Weiler and Pascal Haeussler


• Haptic Exploration for 3D Shape Reconstruction using Five-Finger Hands
  Alexander Bierbaum, Kai Welke, Tamim Asfour and Rüdiger Dillmann


• Hierarchical Reactive Control for a Team of Humanoid Soccer Robots
  Sven Behnke, Jörg Stückler, Michael Schreiber, Hannes Schulz, Martin Böhnert, and Konrad Meier


• Planning tangling motions for humanoids
  Edmond Ho and Taku Komura


• An Efficient Framework for Multiple Tasks in Human-like Robots
  Jae Won Jeong and Pyung Hun Chang


• Design and Control of a Humanoid Robot Using Standard Reconfigurable Modules
  Changjiu Zhou, Lingyun Hu, Liandong Zhang, Bi Wu, Tianwu Yang and Pik Kong Yue


• Locomotion Planning of Humanoid Robot Robo-Erectus Senior (RESr-1)
  Lingyun Hu, Changjiu Zhou, Bi Wu, Tianwu Yang and Pik Kong Yue


• Reliable Features Matching for Humanoid Robots
  Alberto Pretto, Emanuele Menegatti and Enrico Pagello


• Walking Pattern Generation of a Biped Walking Robot using Convolution Sum
  Jung-Hoon Kim


• Introducing a Cartesian Approach for Gait Planning and Control of Biped Robots and Implementing on Various Slopes
  S. Ali Akbar Moosavian, Mansoor Alghooneh and Amir Takhmar


• Local-Level Control of a Humanoid Robot Prototype with Force-Driven Balance
  Milton Silva, Pedro Ferreira, Filipe Silva and Vítor Santos


• CB2: A Child Robot with Biomimetic Body for Cognitive Developmental Robotics
  Takashi Minato, Yuichiro Yoshikawa, Tomoyuki Noda, Shuhei Ikemoto, Hiroshi Ishiguro and Minoru Asada


• Real-Time gait planning for Rh-1 humanoid robot, using Local Axis Gait algorithm
  Mario Arbulu and Carlos Balaguer


• A Tactile Language for Intuitive Human-Robot Communication
  Andreas Schmid, Martin Hoffmann and Heinz Wörn


• Modeling, Planning and Control of the Infant-size Humanoid Robot THBIP-II
  Zeyang Xia and Ken Chen