Table of Contents

• Panel discussion: Co-X and humanoids?Henrik I. Christensen, Elena Messina, Rodney A. Brooks, James Wells, Marc Raibert. 1 [doi]
• ForewordKazuhiko Kawamura, C. S. George Lee. 1 [doi]
• Dynamic legged robots for rough terrainMarc Raibert. 1 [doi]
• Constrained accelerations for controlled geometric reduction: Sagittal-plane decoupling for bipedal locomotionRobert D. Gregg, Ludovic Righetti, Jonas Buchli, Stefan Schaal. 1-7 [doi]
• Static multi-contact inverse problem for multiple humanoid robots and manipulated objectsKarim Bouyarmane, Abderrahmane Kheddar. 8-13 [doi]
• Generation of dynamic multi-contact motions: 2D case studiesSebastien Lengagne, Paul Mathieu, Abderrahmane Kheddar, Eiichi Yoshida. 14-20 [doi]
• Motion planning of optimal throw for whole-body humanoidJoo H. Kim. 21-26 [doi]
• A new control law for a 3D biped robot based on regulation of the zero moment point and joint pathTing Wang, Christine Chevallereau. 27-32 [doi]
• Weight-adaptive walking of the passenger-carrying biped robot, HUBO FX-1Jung Hoon Kim, Jung-Yup Kim, Jun-Ho Oh. 33-39 [doi]
• Development of a walking stabilizing controller for humanoid robotsTeng-Hu Cheng, Han-Pang Huang, Jiu-Lou Yan, Yi-Wen Chao. 40-45 [doi]
• Realization of miniature humanoid for obstacle avoidance with real-time ZMP preview control used for full-sized humanoidYoungbum Jun, Robert Ellenberg, Paul Y. Oh. 46-51 [doi]
• Push Recovery by stepping for humanoid robots with force controlled jointsBenjamin J. Stephens, Christopher G. Atkeson. 52-59 [doi]
• Stabilization of a hopping humanoid robot for a pushBaek-Kyu Cho, Sang-Sin Park, Jun-Ho Oh. 60-65 [doi]
• Design of the dynamic stability properties of the collective behavior of articulated bipedsAlbert Mukovskiy, Jean-Jacques E. Slotine, Martin A. Giese. 66-73 [doi]
• Applied joint-space torque and stiffness control of tendon-driven fingersMuhammad E. Abdallah, Robert Platt, Charles W. Wampler, Brian K. Hargrave. 74-79 [doi]
• Combining motion planning and optimization for flexible robot manipulationJonathan Scholz, Mike Stilman. 80-85 [doi]
• A neural network method of learning human motion by observation in operational spaceAdam Spiers, Guido Herrmann, Chris Melhuish, Tony Pipe. 86-91 [doi]
• Imitation learning of arm gestures in presence of missing data for humanoid robotsAnand Thobbi, Weihua Sheng. 92-97 [doi]
• Transferring impedance control strategies between heterogeneous systems via apprenticeship learningMatthew Howard, Djordje Mitrovic, Sethu Vijayakumar. 98-105 [doi]
• Learning motion dynamics to catch a moving objectSeungsu Kim, Elena Gribovskaya, Aude Billard. 106-111 [doi]
• Evaluation of feature representation and machine learning methods in grasp stability learningJanne Laaksonen, Ville Kyrki, Danica Kragic. 112-117 [doi]
• SkyAI: Highly modularized reinforcement learning libraryAkihiko Yamaguchi, Tsukasa Ogasawara. 118-123 [doi]
• A study on musical conducting robots and their usersBrain Geuther, Autumn Breese, Yunfeng Wang. 124-129 [doi]
• Heterogeneous artificial agents for triage nurse assistanceD. Mitchell Wilkes, Stan Franklin, Erdem Erdemir, Stephen M. Gordon, Steve Strain, Karen Miller, Kazuhiko Kawamura. 130-137 [doi]
• Robust hands-free Automatic Speech Recognition for human-machine interactionRandy Gomez, Tatsuya Kawahara, Kazuhiro Nakadai. 138-143 [doi]
• Eccentricity edge-graphs from HDR images for object recognition by humanoid robotsDavid Israel Gonzalez-Aguirre, Tamim Asfour, Rüdiger Dillmann. 144-151 [doi]
• Perceiving clutter and surfaces for object placement in indoor environmentsMartin J. Schuster, Jason Okerman, Hai Nguyen, James M. Rehg, Charles C. Kemp. 152-159 [doi]
• Perception and probabilistic anchoring for dynamic world state loggingNico Blodow, Dominik Jain, Zoltan Csaba Marton, Michael Beetz. 160-166 [doi]
• Development of a biped robot with torque controlled jointsChristian Ott, Christoph Baumgärtner, Johannes Mayr, Matthias Fuchs, Robert Burger, Dongheui Lee, Oliver Eiberger, Alin Albu-Schäffer, Markus Grebenstein, Gerd Hirzinger. 167-173 [doi]
• Realization of flexible motion by musculoskeletal humanoid "Kojiro" with add-on nonlinear spring unitsMasahiko Osada, Nobuyuki Ito, Yuto Nakanishi, Masayuki Inaba. 174-179 [doi]
• Dexterous mechanism design for an anthropomorphic artificial hand: Osaka City University Hand IRaafat Ahmed Abdel El-Azim Mahmoud, Atsushi Ueno, Shoji Tatsumi. 180-185 [doi]
• Design, realization and sensorization of the dexterous iCub handAlexander Schmitz, Ugo Pattacini, Francesco Nori, Lorenzo Natale, Giorgio Metta, Giulio Sandini. 186-191 [doi]
• Development of a mini-humanoid pianistAlyssa M. Batula, Youngmoo E. Kim. 192-197 [doi]
• Modeling and simulation of masticatory robotMing Cong, Zhanbo Chang, Yu Du, Weiliang Xu. 198-203 [doi]
• Optimizing the stepping of a humanoid robot for a sequence of tasksOussama Kanoun, Jean-Paul Laumond. 204-209 [doi]
• Control of Instantaneously Coupled Systems applied to humanoid walkingEric C. Whitman, Christopher G. Atkeson. 210-217 [doi]
• Sit-to-stand task on a humanoid robot from human demonstrationMichael Mistry, Akihiko Murai, Katsu Yamane, Jessica K. Hodgins. 218-223 [doi]
• Safe adjustment regions for legged locomotion pathsJoel E. Chestnutt, Yutaka Takaoka, Masahiro Doi, Keisuke Suga, Satoshi Kagami. 224-229 [doi]
• Humanoid walking coordination through a single spatial parameterJean-Christophe Palyart Lamarche, Olivier Bruneau, Jean-Guy Fontaine. 230-236 [doi]
• Walking in unknown environments - A step towards more autonomyThomas Buschmann, Sebastian Lohmeier, Markus Schwienbacher, Valerio Favot, Heinz Ulbrich, Felix von Hundelshausen, Gerhard Rohe, Hans-Joachim Wuensche. 237-244 [doi]
• Inclination estimation and balance of robot using Vestibular Dynamic InclinometerVishesh Vikas, Carl D. Crane III. 245-250 [doi]
• A comparison between two bio-inspired adaptive models of Vestibulo-Ocular Reflex (VOR) implemented on the iCub robotElena Franchi, Egidio Falotico, Davide Zambrano, Giovanni Gerardo Muscolo, Laura Marazzato, Paolo Dario, Cecilia Laschi. 251-256 [doi]
• Contact force measurement noise in the partial feedback linearization control of humanoid robotsDouglas R. Isenberg, Michael A. Mclain, Y. P. Kakad. 257-262 [doi]
• Muscle geometric topology estimation based on muscle length - joint angle nonlinearity in tendon-driven robot systemsYuto Nakanishi, Kazuo Hongo, Junichi Urata, Ikuo Mizuuchi, Masayuki Inaba. 263-268 [doi]
• Object impedance control using a closed-chain task definitionMuhammad E. Abdallah, Charles W. Wampler, Robert Platt. 269-274 [doi]
• Compliance control with dual-arm humanoid robots: Design, planning and programmingDragoljub Surdilovic, Yelve Yakut, Tuan Minh Nguyen, Xuan Ba Pham, Axel Vick, Roberto M. Martin. 275-281 [doi]
• Dexterous robotic hand grasping method for automotive partsJavier Adolfo Alcazar, Leandro G. Barajas. 282-287 [doi]
• A methodology for setting grasping force for picking up an object with unknown weight, friction, and stiffnessTaisuke Sugaiwa, Genki Fujii, Hiroyasu Iwata, Shigeki Sugano. 288-293 [doi]
• Integrating orientation constraints into the attractor dynamics approach for autonomous manipulationHendrik Reimann, Ioannis Iossifidis, Gregor Schöner. 294-301 [doi]
• Learning end-effector orientations for novel object grasping tasksBenjamin Balaguer, Stefano Carpin. 302-307 [doi]
• Reinforcement learning for balancer embedded humanoid locomotionAkihiko Yamaguchi, Sang-Ho Hyon, Tsukasa Ogasawara. 308-313 [doi]
• Humanoid robot task recognition from movement analysisSovannara Hak, Nicolas Mansard, Olivier Stasse. 314-321 [doi]
• A computational model for synchronous motion imitation by humans: The mirror controller applied on stepping motionsMehdi Benallegue, Pierre-Brice Wieber, Abderrahmane Kheddar, Bernard Espiau. 322-327 [doi]
• Learning from demonstration using a multi-valued function regressor for time-series dataJesse Butterfield, Sarah Osentoski, Graylin Jay, Odest Chadwicke Jenkins. 328-333 [doi]
• Complementary humanoid behavior shaping using corrective demonstrationÇetin Meriçli, Manuela M. Veloso, H. Levent Akin. 334-339 [doi]
• Mood as an affective component for robotic behavior with continuous adaptation via Learning MomentumSunghyun Park, Lilia Moshkina, Ronald C. Arkin. 340-345 [doi]
• The BERT2 infrastructure: An integrated system for the study of human-robot interactionAlexander Lenz, Sergey Skachek, Katharina Hamann, Jasmin Steinwender, Tony Pipe, Chris Melhuish. 346-351 [doi]
• Towards social integration of humanoid robots by conversational concept learningFlorian Kraft, Kevin Kilgour, Rainer Saam, Sebastian Stüker, Matthias Wölfel, Tamim Asfour, Alex Waibel. 352-357 [doi]
• Person identification through perceptual fusionEric Martinson, Wallace E. Lawson, J. Greg Trafton. 358-364 [doi]
• Hierarchical object geometric categorization and appearance classification for mobile manipulationZoltan Csaba Marton, Dejan Pangercic, Radu Bogdan Rusu, Andreas Holzbach, Michael Beetz. 365-370 [doi]
• Object segmentation and learning through feature grouping and manipulationEva Stergarse Kuzmic, Ales Ude. 371-378 [doi]
• Cross four-bar linkage for the knees of a planar bipedal robotArnaud Hamon, Yannick Aoustin. 379-384 [doi]
• Development of very small high output motor driver for realizing forceful musculoskeletal humanoidsNobuyuki Ito, Junichi Urata, Yuto Nakanishi, Kei Okada, Masayuki Inaba. 385-390 [doi]
• ECCE1: The first of a series of anthropomimetic musculoskeletal upper torsosHugo Gravato Marques, Michael Jäntsch, Steffen Wittmeier, Owen Holland, Cristiano Alessandro, Alan Diamond, Max Lungarella, Rob Knight. 391-396 [doi]
• Improving imitated grasping motions through interactive expected deviation learningKathrin Gräve, Jörg Stückler, Sven Behnke. 397-404 [doi]
• Reinforcement learning of full-body humanoid motor skillsFreek Stulp, Jonas Buchli, Evangelos Theodorou, Stefan Schaal. 405-410 [doi]
• Learning table tennis with a Mixture of Motor PrimitivesKatharina Mülling, Jens Kober, Jan Peters. 411-416 [doi]
• Learning the skill of archery by a humanoid robot iCubPetar Kormushev, Sylvain Calinon, Ryo Saegusa, Giorgio Metta. 417-423 [doi]
• Multi-humanoid world modeling in Standard Platform robot soccerBrian Coltin, Somchaya Liemhetcharat, Çetin Meriçli, Junyun Tay, Manuela M. Veloso. 424-429 [doi]
• KNOWROB-MAP - knowledge-linked semantic object mapsMoritz Tenorth, Lars Kunze, Dominik Jain, Michael Beetz. 430-435 [doi]
• Interactive musical participation with humanoid robots through the use of novel musical tempo and beat tracking techniques in the absence of auditory cuesDaniel M. Lofaro, Paul Y. Oh, Junho Oh, Youngmoo E. Kim. 436-441 [doi]
• Fast and Automatic Detection and Segmentation of unknown objectsGert Kootstra, Niklas Bergström, Danica Kragic. 442-447 [doi]
• Omni-directional closed-loop walk for NAODavid Gouaillier, Cyrille Collette, Chris Kilner. 448-454 [doi]
• Convolution-sum-based generation of walking patterns for uneven terrainsHyungju Andy Park, Muhammad Ahmad Ali, C. S. George Lee. 455-460 [doi]
• Fourier series-based walking pattern generation for a biped humanoid robotIll-Woo Park, Jung-Yup Kim. 461-467 [doi]
• Bipedal walking trajectory generation based on ZMP and Euler's equations of motionBarkan Ugurlu, Atsuo Kawamura. 468-473 [doi]
• An approach of generic solution for humanoid stepping over motionMario Arbulú, Abderrahmane Kheddar, Eiichi Yoshida. 474-479 [doi]
• A control architecture with stabilizer for 3D stable dynamic walking of SHERPA biped robot on compliant groundAhmed Chemori, Sébastien Le Floch, Sébastien Krut, Etienne Dombre. 480-485 [doi]
• A generalized 3D inverted pendulum model to represent human normal walkingSophie Sakka, Chris Hayot, Patrick Lacouture. 486-491 [doi]
• Multilinear decomposition of human walking pathsChristian Alberto Ramirez, Mario Castelán, Gustavo Arechavaleta. 492-497 [doi]
• Athlete Robot with applied human muscle activation patterns for bipedal runningRyuma Niiyama, Satoshi Nishikawa, Yasuo Kuniyoshi. 498-503 [doi]
• Controlling humanoid robots with human motion data: Experimental validationKatsu Yamane, Stuart O. Anderson, Jessica K. Hodgins. 504-510 [doi]
• Adaptive torque-based control of a humanoid robot on an unstable platformStuart O. Anderson, Jessica K. Hodgins. 511-517 [doi]
• Manipulation of documented objects by a walking humanoid robotSébastien Dalibard, Alireza Nakhaei, Florent Lamiraux, Jean-Paul Laumond. 518-523 [doi]
• Obstacle avoidance for a humanoid arm using conformal geometric algebraOscar Eleno Carbajal-Espinosa, Alexander G. Loukianov, Eduardo Jose Bayro-Corrochano. 524-529 [doi]
• Design and optimization of a fuzzy-neural hybrid controller for an artificial muscle robotic arm using genetic algorithmsErdem Erdemir, Mehmed Ozkan, Kazuhiko Kawamura, D. Mitch Wilkes, Murat Firat, Ali Polat. 530-535 [doi]
• Exploiting sensorimotor stochasticity for learning control of variable impedance actuatorsDjordje Mitrovic, Stefan Klanke, Matthew Howard, Sethu Vijayakumar. 536-541 [doi]
• Learning of generalized manipulation strategies in the context of Programming by DemonstrationRainer Jäkel, Sven R. Schmidt-Rohr, Martin Lösch, Alexander Kasper, Rüdiger Dillmann. 542-547 [doi]
• Task modeling in imitation learning using latent variable modelsCarl Henrik Ek, Dan Song, Kai Huebner, Danica Kragic. 548-553 [doi]
• Unsupervised learning of action primitivesSan Mohan, Volker Krüger, Danica Kragic. 554-559 [doi]
• On-line periodic movement and force-profile learning for adaptation to new surfacesAndrej Gams, Martin Do, Ales Ude, Tamim Asfour, Rüdiger Dillmann. 560-565 [doi]
• Remembering interaction episodes: An unsupervised learning approach for a humanoid robotSebastian Gieselmann, Marc Hanheide, Britta Wrede. 566-571 [doi]
• Learning to detect the functional components of doorbell buttons using active exploration and multimodal correlationVladimir Sukhoy, Alexander Stoytchev. 572-579 [doi]
• From monaural to binaural speaker recognition for humanoid robotsKarim Youssef, Sylvain Argentieri, Jean-Luc Zarader. 580-586 [doi]
• A common interface for humanoid simulation and hardwareRobert Ellenberg, Robert M. Sherbert, Paul Y. Oh, Alex Alspach, Roy James Gross, Junho Oh. 587-592 [doi]
• Planning multi-robot grasping motionsNikolaus Vahrenkamp, Enrico Kuhn, Tamim Asfour, Rüdiger Dillmann. 593-600 [doi]
• Stiffness modeling for multi-fingered grasping with rolling contactsRomain Michalec, Alain Micaelli. 601-608 [doi]
• Antagonistically driven finger design for the anthropomorphic DLR Hand Arm SystemMarkus Grebenstein, Maxime Chalon, Gerd Hirzinger, Roland Siegwart. 609-616 [doi]
• Representation of pre-grasp strategies for object manipulationDaniel Kappler, Lillian Y. Chang, Markus Przybylski, Nancy S. Pollard, Tamim Asfour, Rüdiger Dillmann. 617-624 [doi]
• Bio-inspired motion strategies for a bimanual manipulation taskJan Steffen, Christof Elbrechter, Robert Haschke, Helge J. Ritter. 625-630 [doi]
• Collaborating with Kaspar: Using an autonomous humanoid robot to foster cooperative dyadic play among children with autismJoshua Wainer, Kerstin Dautenhahn, Ben Robins, Farshid Amirabdollahian. 631-638 [doi]
• A multi-modal architecture for human robot communicationArjun Arumbakkam, Taizo Yoshikawa, Behzad Dariush, Kikuo Fujimura. 639-646 [doi]
• Assessment of human response to robot facial expressions through visual evoked potentialsRichard Craig, Ravi Vaidyanathan, Christopher James, Chris Melhuish. 647-652 [doi]
• Intuitive multimodal interaction and predictable behavior for the museum tour guide robot RobotinhoMatthias Nieuwenhuisen, Judith Gaspers, Oliver Tischler, Sven Behnke. 653-658 [doi]
• Real world issues with real-time control of MABEL: A platform for experimental control of bipedal locomotionJeffrey Koncsol, Hae Won Park, Koushil Sreenath. 659-664 [doi]
• Development of stiffness changeable multijoint cervical structure with soft sensor flesh for musculo-skeletal humanoidsTamon Izawa, Yuto Nakanishi, Nobuyuki Ito, Masahiko Osada, Kazuo Hongo, Shigeki Ohta, Tomoaki Yoshikai, Kei Okada, Masayuki Inaba. 665-670 [doi]
• Design of an embedded networking infrastructure for whole-body tactile sensing in humanoid robotsEmanuele Baglini, Giorgio Cannata, Fulvio Mastrogiovanni. 671-676 [doi]
• Development of the actuation of a new wrist for the next generation of the humanoid Robot ARMARAlbert Albers, Christian Sander, Akin Simsek. 677-682 [doi]