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IEEE International Conference on robotics and Automation (ICRA)

作者： M. Ehreumann T. Lutticke R. Dillmann Inst. for Process Control & Robotics Karlsruhe Univ. Germany University of Karlsruhe Institute for Process Control & Robotics Karlsruhe Karlsruhe Germany

ISBN: (纸本)0780365763

Giving an advice to a mobile robot still requires classical user interfaces. A more intuitive way of commanding can be provided by verbal or gesture commands. In this article, we present new approaches and enhancements for established methods that are in use in our laboratory. Our aim is to direct a robot with simple dynamic gestures. We focus on visual gesture recognition. Based on skin color segmentation algorithms for tracking the user's hand, hidden Markov models are used for gesture type recognition. The filters applied to the recorded trajectory strongly compress the input data. They also mark start and end point of a possible gesture. The hidden Markov models have been enhanced by a threshold model in order to wipe out insignificant movements. Pre-classification of the reference gestures serves for keeping computational effort low.

关键词： Mobile robots Fingers Hidden Markov models Humans Skin Tracking Data gloves Magnetic sensors process control User interfaces

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A system for automatic planning, evaluation and execution of assembly sequences for industrial robots

A system for automatic planning, evaluation and execution of...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： U. Thomas F.M. Wahl Institute of Robotics and Process Control Technical University of Braunschweig Brunswick Germany

This paper describes a new system to automatically generate, evaluate and execute assembly sequences, With the commands generated by the system, robots are enabled to assemble complex products without explicit robot programming. Our approach uses CAD-models, symbolic spatial relations and a robot work cell description as input. The system provides a user-friendly interface to define the goal state of the parts to be assembled. The automatically generated and decomposed assembly plans can be executed by robots by means of a set of predefined skill primitives. For this purpose we classify the robot tasks by analyzing the symbolic spatial relations between the objects to be assembled, the depart-spaces and the necessary tools. The tasks are decomposed into suitable elementary robot operations, the skills, automatically. For guiding the robot during assembly we employ internal and external sensors.

关键词： Robotic assembly Assembly systems Service robots robotics and automation Robot sensing systems Electrical equipment industry Industrial control Manufacturing automation Fasteners process planning

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A new generation robot system for object picking

A new generation robot system for object picking

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International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

作者： M. Muller H. Worn Institute for Process Control and Robotics (IPR) University of Karlsruhe Karlsruhe Germany

Robot systems for object picking from unsorted heaps of objects (ROs) have been investigated for more than twenty years. Nevertheless, the developed systems are not flexible and reliable enough for the widespread requirements of today. The paper presents first a classification of ROs according to the manner of sensory acquisition and processing of knowledge about the scene. Based thereupon, a new generation robot system is introduced, which involves reliable object picking without unintended lifting and damaging of neighbouring objects, whereas a minimum of previous knowledge about the scene is required. The robot system was realized and tested successfully in the shipping department of a German catalogue sales company.

关键词： Layout Robot sensing systems Intelligent robots Artificial intelligence process control Intellectual property System testing Marketing and sales Employment Information processing

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Developing of compliant motion controller for robot manipulators

Developing of compliant motion controller for robot manipula...

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International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

作者： S.I. Stepanov H. Worn D. Osswald Institute for Process Control and Robotics (IPR) University of Karlsruhe Karlsruhe Germany

This paper presents the development of a compliant motion controller for robotic manipulators by using the armature current of its motors for a local work space. For this purposes we use the mathematical model of the brushless motor of the robot. The main objective is to develop algorithms for compliant motion control without the need for other than internal sensors, like displacement transducers and current sensors of motors. Additionally, a reduced robot model is presented which is sufficient for this purpose.

关键词： Motion control Robot control Manipulators Force control Robot sensing systems Sliding mode control Displacement control Orbital robotics Velocity control Sensor phenomena and characterization

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Computer- and robot-based operation theatre of the future in cranio-facial surgery

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International Congress Series 2001年第C期1230卷 753-759页

作者： Wörn, Heinz Mühling, Joachim University of Karlsruhe (TH) Institute for Process Control and Robotics Kaiserstraße 12 D-76128 Karlsruhe Germany University of Heidelberg Department of Oral and Maxillofacial Surgery Im Neuenheimer Feld 400 D-69120 Heidelberg Germany

This paper presents an overview of our research in medical high-tech computing and robot-based surgical intervention in cranio facial surgery defining an operation theatre of the future. Our overall goal is to provide improved operation methods and workflows—high-quality, safer and more economical due to shorter operation time and less postoperative treatment. Our operation theatre of the future includes workflow definition as well as high-tech hardware and software systems for pre- and intraoperative steps and the operation room itself. The system's workflow consists of dedicated tasks for image acquisition up to intraoperative application, which jointly integrates to a workflow attending conventional surgical proceeding. Thus, managing highly complex systems like surgical robots or operation planning tools is easy as we follow the surgeon's well-known pre- and intraoperative processes. Modules within the workflow can be categorized by image acquisition, data modeling, operation planning and simulation, and supervision of surgery or intraoperative execution, respectively. The intraoperative setting of the operation theatre of the future involves, e.g. visualization techniques for Virtual and Augmented Reality, heart–lung machine control and the application of surgical robotics. The workflow settings with first-system modules of our operation theatre of the future already showed its potential during the initial clinical evaluation and have been presented at the largest German exhibition for medical systems called MEDICA in 2000. © 2001 Elsevier Science B.V. All rights reserved.

关键词： 3D surface models Augmented reality Cranio-facial surgery Operation planning Operation theatre Robot system

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Sensor fusion approaches for observation of user actions in programming by demonstration

Sensor fusion approaches for observation of user actions in ...

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International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

作者： M. Ehrenmann R. Zollner S. Knoop R. Dillmann Universität Karlsruhe (TH) Institute for Process Control & Robotics Karlsruhe Germany

Good observation of a manipulation presentation performed by a human teacher is crucial to further processing steps in programming by demonstration which is of prime importance in interactive robot programming. This paper outlines a sensor fusion concept for hand action tracking by observing the hand posture, position and applied forces. The input sources include: a data glove which classifies several gestures and grasps, a stereo camera mounted head and several force sensors fitted on the finger tips. The hardware used is presented as well as the first implementation of measurement and fusion approaches. Accuracies of the experiment are also given.

关键词： Sensor fusion Robot sensing systems Sensor systems Humans Data gloves Robot vision systems Cameras Force sensors Image reconstruction process control

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Safety in computer assisted surgery

Safety in computer assisted surgery

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2001 Medicine Meets Virtual Reality Conference: Outer Space, Inner Space, Virtual Space, MMVR 2001

作者： Burghart, Catherina R. Hassfeld, Stefan Soler, Luc Woern, Heinz Institute of Process Control and Robotics University of Karlsruhe 76128 Karlsruhe Germany Clinic of Maxillofacial Surgery University of Heidelberg 69120 Heidelberg Germany Hôpital Civil University of Strasbourg 67091 Strasbourg France

ISBN: (纸本)1586031430

Today, surgeons accept computer assisted technologies as important tools to enhance the treatment of a patient. The positive impact and acceptance of computer assisted technologies could be increased to a great extent, if all methods and devices used for diagnosis and treatment of a patient are better co-ordinated and more finely tuned. Often computer assisted treatments cannot be performed due to a lack of communication between hospital departments, useless patient data, deficient interfaces, etc. Risks for the patient and potential errors within the treatment are often unrecognised, as up to now the safety of computer integrated surgery is only product-, device and security oriented. We have developed a new approach for a safety architecture, which includes safety aspects considering patients, users, interdependencies and interactions of computer assisted methods and apparatuses.

关键词： Hospital data processing

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Automated generated collision-free time optimized robot movements in industrial environments based on rounding

Automated generated collision-free time optimized robot move...

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： B. Hein M. Salonia H. Worn Computer Science Department Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany

ISBN: (纸本)078037004X

This paper presents a new approach to optimized notion planning for industrial robot arms with six degrees of freedom in an online given 3D environment. The method is based on the A*-search algorithm and needs no essential off-line computations. The algorithm works in an implicitly discrete configuration space. Collisions are detected in the Cartesian workspace by hierarchical distance computation based on the given CAD model. The collision-free result path is then optimized in execution time using rounding, a common command of every standard robot controller in the industry.

关键词： Service robots robotics and automation Industrial control Orbital robotics Robot control Computer industry Defense industry process planning Robot programming Computer science

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A volume-based process model for computer-assisted surgery

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International Congress Series 2001年第C期1230卷 8-13页

作者： Däuber, S. Krempien, R. Schorr, O. Brief, J. Hassfeld, S. Wörn, H. Department of Computer Science University of Karlsruhe (TH) Institute for Process Control and Robotics 76128 Karlsruhe Kaiserstraße 12 Germany Department of Clinical Radiology University of Heidelberg Hedelberg Germany Department of Oral and Maxillofacial Surgery University of Heidelberg Hedelberg Germany

Computer systems, which assists surgical procedures, are more and more leaving the status of being mere prototypes [1-4]. It is increasingly necessary for the surgeons and developers to ensure the quality, accuracy and security of their systems. Standards may help to achieve these objects. In this work, we present a standard which deals with the inaccuracies emerging in the particular steps of a CAS procedure. It is based on the definition of radiotherapy procedures as provided by the International Commission on Radiation Units and Measurements (ICRU) [5]. © 2001 Elsevier Science B.V.

关键词： Accuracy Computer-assisted surgery Standardization

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Dynamic grasp recognition within the framework of programming by demonstration

Dynamic grasp recognition within the framework of programmin...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： R. Zollner O. Rogalla R. Dillmann J.M. Zollner Institute for Process Control & Robotics Universitat Karlsruhe Karlsruhe Germany Forschungszentrum Informatik Karlsruhe Germany

Programming robots by unexperienced human users require methods following the Programming by Demonstration (PbD) paradigm. The main goal of these systems is to allow the unexperienced human user to easily integrate motion and perception skills or complex problem solving strategies. Unfortunately actual PbD systems are dealing only with manipulations based on Pick & Place operations. This paper describes how fine manipulations like detecting screw moves can be recognized by a PbD system. Therefore the question: "What happens during a grasp?" has to be answered. In order to do this, finger movements and forces on the fingertips are gathered and analyzed while an object is grasped. This assumes vast sensory employment like a data glove and integrated tactile sensors. An overview of the used tactile sensors and the gathered signals is given. Furthermore a classification of the recognized dynamic grasp is pointed out as well as the classification method based on a support vector machine (SVM).

关键词： Dynamic programming Robot programming Humans Tactile sensors Support vector machines Support vector machine classification Problem-solving Fasteners Fingers Employment

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