2009 Ieee/Rsj International Conference on Intelligent Robots and Systems, Iros 2009, Date: 11 October 2009 through 15 October 2009, Location: St. Louis, MO, Patrocinadores: IEEE Robotics and Automation Society, IEEE;Robotics Society of Japan, RSJ;Society of Instrument and Control Engineers, SICE;IEEE Industrial Electronics Society, IES;Institute of Control, Robotics and Systems in Korea, ICROS