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2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： H. Peters J. Raczkowsky H. Woern Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany

This article describes the proposal for an architecture that allows to easily connect different devices or modules to a system for computer integrated surgery (CIS). This would allow the reuse of expensive CIS devices like robots. Yet, in contrast to other surgical robot systems, this architecture does not require a robot - it just supports its use. Therefore, a robot and its attached tool are distinguished as two separate devices. All devices in this architecture have knowledge about themselves and thus hardly depend on other devices. The article motivates and describes this architecture and explains an example implementation.

关键词： Computer architecture Surgery Robots Computational Intelligence Society Proposals Medical robotics

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Path planning for a humanoid using NURBS curves

Path planning for a humanoid using NURBS curves

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： A.J. Schmid H. Woern Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany

In this paper we present an algorithm for planning the path of a 3 DOF mobile platform for a humanoid robot. It is simple enough to be executed online and yet powerful enough to generate a smooth path from starting point and orientation to a destination point with a different orientation. Thus we strive to achieve a human-like appearance of our robot that encourages the humans in vicinity to interact with our humanoid robot and enhances the possibilities of human-robot collaboration. We opted to use NURBS curves as the basis for our path planning algorithm

关键词： Path planning Spline Surface topography Surface reconstruction Humanoid robots Humans Collaborative work Manipulators Robot kinematics robotics and automation

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The working principle of resistive tactile sensor cells

The working principle of resistive tactile sensor cells

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IEEE International Conference on Mechatronics and Automation

作者： K. Weiss H. Worn Institute for Process Control and Robotics IPR University of Karlsruhe Karlsruhe Germany

Tactile sensors systems are very important for today's service robotics. Designed as a holohedral cover for a robot, they are suitable for collision detection when working in unstructured environments, for human-machine interaction or, with a high resolution, as object sensors enabling dexterous hands for reactive gripping. In this paper, we explain construction and working principle of resistive tactile sensor cells. The latter is based on the change of the electrical resistance between a conductive polymer and at least two electrodes. For this effect, we formulate a model to describe the dependence between the sensor's electrical resistance and the applied load. The model enables further improvements of resistive tactile sensor cells.

关键词： Tactile sensors Robot sensing systems Optical sensors Optical polymers Optical scattering Ultrafast optics Intelligent sensors Electric resistance Electrodes Capacitive sensors

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Resistive tactile sensor matrices using inter-electrode sampling

Resistive tactile sensor matrices using inter-electrode samp...

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Annual Conference of Industrial Electronics Society

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

Tactile sensors can be used in many applications from object recognition in industrial grippers and medical devices to human-robot-interaction in service robotics. Among the different working principles of tactile sensors, the resistive is of particular interest. Those sensors are constructed in a simple way, are insensitive to shock and overdrive and can be designed with both, a high spatial resolution and a large sensing area. Conventional resistive tactile sensors are based on two electrode layers, located on opposed sides of a conductive polymer. Since this design has disadvantages affecting lifetime, we use a onesided contacting by the use of a regular electrode matrix. However, this increases the signal processing circuit's complexity. This paper introduces a novel kind of resistive tactile sensor matrix with an inter-electrode sampling technique for high speed measurements at an reduced number of electrodes and therefore a reduced complexity. The design of such sensor matrices is described and a method for comparing their performance based on the matrix efficiency is introduced. In addition, a working prototype was build and successfully tested.

关键词： Tactile sensors Sampling methods Electrodes Object recognition Grippers Service robots Robot sensing systems Medical robotics Electric shock Spatial resolution

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Towards a new concept of robot programming in high speed assembly applications

Towards a new concept of robot programming in high speed ass...

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2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

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

In this paper, we present work about robot control architecture, assembly planning and task planning for manufacturing robots. The interface between an offline planning unit and control systems is handled with skill primitives. Thus, skill primitives and skill primitive nets are explained in detail. Our long term aim is to combine robot control with task and assembly planning, so that with less human interaction manufacturing costs can be reduced. Even parallel kinematic machines provide enormous opportunities to reduce cycle times and thus the benefit should not be wasted by expensive specialized robot programming. Thus, we give an overview of our system and focus on some aspects to implement such a sophisticated system.

关键词： Robot programming Robotic assembly Motion planning Assembly systems control systems Robot control Kinematics Robot sensing systems process planning Production planning

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Automatic device registration using intraoperative computed tomography

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International Congress Series 2005年 1281卷 589-594页

作者： Knoop, H. Raczkowsky, J. Wyslucha, U. Eggers, G. Fiegele, T. Wörn, H. Institute for Process Control and Robotics Universität Karlsruhe (TH) Germany MAQUET GmbH Co KG Rastatt Germany Department of Cranio-Maxillofacial Surgery University Clinic Heidelberg Germany Department of Neurosurgery University Hospital Innsbruck Austria

After performing intraoperative CT scans with the MAQUET Advanced Workplace for Image Guided Surgery System (AWIGS), the patient is moved back to the operating position, where a registration step of the image data is required for the intraoperative devices, such as commercial navigation systems, Projector Based Augmented Reality (Probaris), or surgical robotic assistance (e.g. RobaCKa). We present an automatic solution that consists of a hard- and a software part: the interfaces provide a simple, stable and automatic transformation calculation and its standardized exchange by the use of DICOM. © 2005 CARS and Elsevier B.V.

关键词： Device registration DICOM Intraoperative imaging

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Low-Level Finger Coordination for Compliant Anthropomorphic Robot Grippers

Low-Level Finger Coordination for Compliant Anthropomorphic ...

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IEEE Conference on Decision and control

作者： A. Lehmann R. Mikut D. Osswald Institute of Applied Computer Science Forschungszentrum Karlsruhe GmbH (FZK) Germany Institute for Process Control and Robotics University of Karlsruhe Germany

The execution of a grasp process with an anthropomorphic multi-finger robot gripper has to base on an appropriate movement planning and an accurate low-level control strategy. Stability problems may arise, if there is a deviation, e.g. through position, orientation and/or size perturbation of the object, between planned and real executable movement patterns. One opportunity to react to such perturbations is the use of visual information. But if the there is no visual system available or even the object is concealed, e.g. through the robot gripper, the robot arm or another object, then the use of a visual system is insufficient. For this reason a low-level finger coordination depending on the actual state of the grasp (grasp phase) is presented. With this concept it is possible to coordinate the grasp on the level of the low-level controller and therefore to improve the grasp performance.

关键词： Fingers Anthropomorphism Robot kinematics Grippers Visual system Strategic planning Motion planning Humans Computer science Object detection

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A novel approach to proactive human-robot cooperation

A novel approach to proactive human-robot cooperation

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： O.C. Schrempf U.D. Hanebeck A.J. Schmid H. Worn Intelligent Sensor-Actuator-Systems Laboratory Institute of Computer Science and Engineering Universität Karlsruhe Karlsruhe Germany Institute for Process Control and Robotics Universität Karlsruhe Karlsruhe Germany

This paper introduces the concept of proactive execution of robot tasks in the context of human-robot cooperation with uncertain knowledge of the human's intentions. We present a system architecture that defines the necessary modules of the robot and their interactions with each other. The two key modules are the intention recognition that determines the human user's intentions and the planner that executes the appropriate tasks based on those intentions. We show how planning conflicts due to the uncertainty of the intention information are resolved by proactive execution of the corresponding task that optimally reduces the system's uncertainly. Finally, we present an algorithm for selecting this task and suggest a benchmark scenario.

关键词： Robot sensing systems Intelligent robots Uncertainty Application software Humanoid robots Human robot interaction Bayesian methods Intelligent sensors Laboratories Computer science

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MICRON: Small Autonomous Robot for Cell Manipulation Applications

MICRON: Small Autonomous Robot for Cell Manipulation Applica...

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IEEE International Conference on robotics and Automation (ICRA)

作者： J. Brufau M. Puig-Vidal J. Lopez-Sanchez J. Samitier N. Snis U. Simu S. Johansson W. Driesen J.-M. Breguet J. Gao T. Velten J. Seyfried R. Estana H. Woern Instrumentation and Communication Systems Laboratory Universitat de Barcelona Barcelona Spain Laboratoir de Systèmes Robotiques Swiss Federal Institute of Technology Lausanne Switzerland Department of Engineering Sciences Uppsala University Uppsala Fraunhofer Institute of Biomedical Engineering Saint Ingbert Germany Inst. for Process Control and Robotics Universität Karlsruhe Karlsruhe Germany

Manipulating in the micro- or even nano world still poses a great challenge to robotics. Conventional (stationary) systems suffer from drawbacks regarding integration into process supervision and multi-robot approaches, which become highly relevant to fight scaling effects. This paper describes work currently being carried out which aims to make automated manipulation of micrometer-scaled objects possible by robots with nanometer precision. The goal is to establish a small cluster of (up to five) micro robots equipped with on-board electronics, sensors and wireless power supply. Power autonomy has been reached using inductive energy transmission from an external wireless power supply system or a battery based system. Electronics requirements are fulfilled in the electronic module with the full custom integrated circuit design for the robot locomotion control and the closed loop force control for AFM tool in cell manipulation applications. The maximum velocity obtained is about 0.4 mm/s with a saw tooth voltage signals of 20Vpp and 2500 Hz. In order to keep a AFM tool on micro-robot a specific tip with integrated piezoresistance, instead of the classical laser beam methodology, is validated for force measurement.

关键词： robotics and automation Robot sensing systems Wireless sensor networks Power supplies Force control Batteries Application specific integrated circuits Robot control Teeth Voltage

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Advanced surgical planning for intraoperative CAS

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International Congress Series 2005年 1281卷 1332-1332页

作者： M. Aschke H. Knoop O. Schorr G. Eggers J. Raczkowsky H. Wörn Institute for Process Control and Robotics Universität Karlsruhe (TH) Germany Department of Cranio-Maxillofacial Surgery University Clinic Heidelberg Germany

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