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The DLR artificial skin step I: Uniting sensitivity and collision tolerance

The DLR artificial skin step I: Uniting sensitivity and coll...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M.W. Strohmayr H. Wörn G. Hirzinger Institute of Robotics and Mechatronics DLR German Aerospace Center Germany Institute for Process control and Robotics (IPR) Karlsruhe Institute of Technology Germany

ISBN: (纸本)9781467356404

The integration of artificial skin into robotic systems has long been foreseen. For the last decades the introduction was always just a couple of years away. One of the possible reasons for the slow progress is the focus of the research efforts on high sensitivity and spatial resolution. The resulting tactile sensor prototypes are presented as laboratory prototypes with no or little chance to be successfully integrated into a robotic system. In order to enable the operation of an artificial skin on a robotic system in real-world applications the conflict of goals between high sensitivity and an overload-proof, collision tolerant, design needs to be solved. Within this paper we present a stretchable tactile surface sensor as a major functional component of an artificial skin setup that is able to unite the required sensitivity with the ability to withstand collisions. The results of first experiments regarding sensitivity and the ability of the DLR Artificial Skin setup to withstand high impact forces are presented.

关键词： Skin Polymers Sensitivity Damping Tactile sensors

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Force approximation and tactile sensor prediction for reactive grasping

Force approximation and tactile sensor prediction for reacti...

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Proceedings of the Biannual World Automation Congress

作者： Heinz Wörn Thomas Haase Institute for Process Control and Robotics (IPR) Karlsruhe Institute of Technology Karlsruhe Germany

The sense of touch is an important component of dexterous manipulation. Multi-fingered robot hands with integrated tactile sensors are able to analyze and evaluate grasps. Therefore, predefined set-points are required to compare realized with nominal target values. Based on the comparison results, developed reactive grasping skills are able to optimize grasps. The question that arises here is whether and how tactile set-points as well as acting forces could be obtained. A preliminary analysis could provide information about important expectation values and grasp characteristics. Thus, force approximation and tactile sensor prediction are required. This paper describes an innovative approach of how to assign forces to received tactile sensor values as well as the design of a tactile sensor prediction. Additionally, potential fields of applications as well as some statistical analysis of received tactile sensor images are presented. It is shown, how to extend the designed algorithms to find reasonable grasp positions at the surface of complex objects.

关键词： Tactile sensors Force Grasping Force measurement Service robots

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Efficient Monitoring of process Plants by Telepresence and Attention Guidance

Efficient Monitoring of Process Plants by Telepresence and A...

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ROBOTIK 2012;7th German Conference on robotics

作者： Christian Connette Georg Arbeiter Felix Messmer Martin Haegele Alexander Verl Simon Notheis Michael Mende Bjoern Hein Heinz Woern Fraunhofer Institute for Manufactuiring Engineering and Automation (IPA) Institute for Process Control and Robotics (IPR) Karlsruhe Institute of Technology (KIT)

While nowadays inspection and maintenance is mainly performed manually, the deployment of mobile robot systems could reduce the necessary resources for these tasks in the future. Within this paper major hindrances and possible remedies for the deployment of teleoperated mobile robots in industrial environments are discussed. Specifically, concepts for the seamless integration of mobile robots into industrial infrastructures, for intuitive feedback and commanding of such robots as well as advanced user-interfaces are elaborated. It is discussed in how far this multi-modal approach promises to significantly improve the usability of teleoperated robots for industrial applications.

关键词： Mobile robots Robot kinematics Robot sensing systems process control Inspection Service robots

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OP sense — A robotic research platform for telemanipulated and automatic computer assisted surgery

OP sense — A robotic research platform for telemanipulated ...

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International Workshop on Advanced Motion control (AMC)

作者： Holger Mönnich Heinz Wörn Daniel Stein KUKA Laboratories GmbH Augsburg Germany Institute for Process Control and Robotics (IPR) Karlsruhe Institute of Technology Karlsruhe Germany

OP:Sense is a research platform developed for applications in roboter assisted surgery. The system can be used for automatic positioning tasks, like CO 2 laser cutting or conventional bone cutting techniques or highly accurate positioning, like needle placement in biopsie. Due to the flexibility of the used lightweight robots the system can also be used for minimal invasive surgery. Also new combinations of MIRS techniques and automatic positioning becomes possible, a semi-autonomous usage of the surgical robotic system. In this paper the focus is to describe the control system developed for OP:sense that enables to use the system in a wide area of surgical applications.

关键词： Robot kinematics Jacobian matrices Surgery Accuracy Convergence Kinematics

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Robot3D — A simulator for mobile modular self-reconfigurable robots

Robot3D — A simulator for mobile modular self-reconfigurabl...

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

作者： Lutz Winkler Vojtěch Vonásek Heinz Wörn Libor Přeučil Institute for Process Control and Robotics (IPR) Karlsruhe Institute for Technology (KIT) Germany CTU in Prague Faculty of Electrical Engineering Dept. of Cybernetics CTU in Prague Dept. of Cybernetics

A heterogeneous, mobile, self-reconfigurable and modular robot platform is being developed in the projects SYMBRION and REPLICATOR. The locomotion of the robots as well as forming of the robot organisms will be controlled using evolutionary and bio-inspired techniques. As the robots are not available at the beginning of the projects and experiments are time consuming and carry risks of damaging the robots, the evolutionary algorithms will be run using a simulation. The simulation has to provide realistic movements of a swarm of robots, simulating the docking procedure between the robots as well as simulating organism motion. High requirements are imposed on such a simulator. We developed the Robot3D simulator, which dynamically simulates a swarm of mobile robots as well as robot organisms. In this paper we will give an overview of the simulation framework, we will show first results of performance tests and we will present applications for which Robot3D has already been used.

关键词： Organisms Robot sensing systems Robot kinematics Mobile robots Collision avoidance

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High Performance Optical Flow Serves Bayesian Filtering for Safe Human-Robot Cooperation

High Performance Optical Flow Serves Bayesian Filtering for ...

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Joint international symposium on robotics

作者： Jurgen Graf F. Dittrich H. Worn Institute of Process Control and Robotics (IPR) Karlsruhe Institute of Technology (KIT)

ISBN: (纸本)9783800732739

Optical Flow estimation has found a way to be calculated in real time with feasible accuracy. This is due to novel extensions in the variational formulation and the progress developing modern graphic processor units (GPU) which enable parallel computations due to dozens of stream processors. This paper will show the development of a new data term for the variational formulation of the optical flow estimation and then embedding the optical flow field into a Bayesian filter for the purpose of human kinematic estimation. The theoretical considerations are manifested by experimental results. Novel theoretical considerations including an implemented framework with experimental results for markerless human motion and kinematic estimation.

关键词： Bayesian filtering Optic Flow Traffic estimation flow field

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Path Planning process Optimization for a Bin Picking System.

Path Planning Process Optimization for a Bin Picking System.

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Joint international symposium on robotics

作者： Ricardo A. Tauro Benedikt Kaiser Heinz Woern Institute for Process Control and Robotics (IPR) Karlsruhe Institute of Technology (KIT) Germany

ISBN: (纸本)9781617387197

Nowadays, it is impossible to think of a flexible automatic production without robots. Robots are very important tools in tasks such as objects handling. In the industrial robotic area, especially in logistics, production and assembly, the necessity to sort objects can often be observed. Katsoulas already noted that "such systems are of great importance because they undertake a task that is very monotonous, strenuous and sometimes quite dangerous for humans" [13]. The most complex sorting task has been named bin picking [10, 9]. Due to the fact that in such application the system has not a certain previous knowledge of the environment, the integration of sensors as well as algorithms for the sensor evaluation and computation of a collision free path is vital to achieve a robust system.

关键词： Path planning Robot sensing systems Containers Real time systems Sensor systems

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Evaluating Risk Estimation Methods and Path Planning for Safe Human-Robot Cooperation

Evaluating Risk Estimation Methods and Path Planning for Saf...

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Joint international symposium on robotics

作者： J. Graf P. Czapiewski H. Woern Institute for Process Control and Robotics (IPR) Karlsruhe Institute of Technology (KIT) Karlsruhe Germany

ISBN: (纸本)9781617387197

Integration of machine intelligence into industrial robot cells is demanding and yet not properly solved especially, when it comes to safety aspects between man and machine. The state of the art solution is installing safety fences or vision systems which define static areas of allowed entrance or not allowed entrance. Markerless kinematic estimation for industrial robots is a novelty and state of the art in research. Having knowledge about the kinematic configuration of the human body offers a great possibility to define a function which takes the kinematic configurations of the robot and the human as arguments and find a mapping into a degree of believe with respect to the risk for the human. Depending on the risk estimation, the robot may raise or reduce its speed or if necessary re-plan its path. This paper will discuss how to achieve a two threaded fuzzy logic based system for reason of safety guaranteeing method and controlling path planning. Experimental have been carried out and will be discussed.

关键词： Fuzzy logic Robots Path planning Safety Humans Estimation Kinematics

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A Real-Time Wearable Projector-Wiimote-System for Augmented Reality Interaction Scenarios on Plane Objects

A Real-Time Wearable Projector-Wiimote-System for Augmented ...

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Joint international symposium on robotics

作者： Alexander Steiger Bjoern Hein Heinz Woern Karlsruhe Institute of Technology (KIT) Institute for Process Control and Robotics (IPR) Karlsruhe Germany

ISBN: (纸本)9781617387197

This paper presents a wearable setup (see Figure 1) and a real-time, intuitive Augmented Reality (AR) interaction technique, designed as interface for a computer or a robot. The system presented consists of a miniaturized projector and up to 2 Wii Remotes (Wiimotes) mounted on a helmet. After a four-point touch calibration (see Figure 8) with an infrared-pen the user can interact on a flat plane e.g. a wall, table or whiteboard. A maximum of 4 IR-pens can be used at the same time to navigate, select and manipulate objects in the projected virtual space in either 2D or 3D. Under certain light conditions it is also possible to augment virtual informations onto arbitrary flat objects. In case of tracking an IR-pen, keystone distortion can be realised by additional semi-automated user calibration. When using a whiteboard (see Figure 2), the calibration is done automatically.

关键词： Calibration Robots Three dimensional displays Cameras Computers Libraries Switches

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An automatic and complete self-calibration method for robotic guided laser ablation

An automatic and complete self-calibration method for roboti...

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IEEE International Conference on robotics and Automation (ICRA)

作者： H. Mönnich Daniel Stein J. Raczkowsky H. Wörn IPR - Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany IPR Karlsruhe University of Karlsruhe Karlsruhe Germany

This paper describes the content of the video for ICRA 2010. The approach presented in the video is a complete automatic registration of all needed devices for robotic guided CO2 bone processing. The system consists of an optical tracking system, a lightweight robot and a scan head. While a standard point to point transformation for the transformation between optical tracking system and robot is inadequate, a special registration algorithm was developed and therefore is used. This allows an automatic registration by moving the robot to different positions and storing the position of a body attached to the robot TCP. The scan head is registered to the optical tracking system or to the robot using a camera that tracks the prototype laser. Only the patient must be registered manually. The result is that the robot moves to the target position on the bone defined inside the segmented 3D CT dataset. With the known registration between robot and tracking system the robot can also be controlled via visual servoing.

关键词： robotics and automation Laser ablation Target tracking Bones Standards development Robot vision systems Cameras Prototypes control systems Visual servoing

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