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Proceedings of IEEE/RSJ International Conference on Intelligent Robots and systems (IROS'94)

作者： U. Rembold T. Lueth T. Ogasawara Inst. for Real-Time Comput. Syst. & Robotics IPR Karlsruhe Univ. Germany Institute for Real-Time Computer Systems and Robotics IPR University of Karlsruhe Karlsruhe Germany Electro Technical Laboratory Tsukuba Ibaraki Japan

Besides the typical use of industrial robots in a manufacturing setting, new application areas for robots have been appearing during the past few years. In these areas, service robots perform general purpose activities without requiring repeated high speed movements or other requirements of industrial robot applications. For the development of service robots, the use and integration of research results obtained in the autonomous robot field is much more necessary than for the development of robots used in manufacturing. Both, high autonomy during service performance and simple system access, which also means flexible programming or user-friendly system control is desired over an easily operated man/machine interface. In this paper, properties of service robots are defined and some similarities and differences between service robots and fully autonomous robots are explained. The enhancement of an existing autonomous assembly robot, which is made to be a flexible service robot for industrial environments, is considered. The paper concludes with a running experiment, which shows how this robot prototype is used for different tasks in a manufacturing line.< >

关键词： Robotic assembly Service robots Production facilities Robot sensing systems robotics and automation Manufacturing industries Product design Sensor systems Air transportation real time systems

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Simultaneous planning and execution in cranio- and maxillofacial surgery

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Studies in Health Technology and Informatics 1996年 29卷 435-446页

作者： Bohner, Petra Pokrandt, Peter Hassfeld, Stefan Institute for Real-Time Computer Systems and Robotics University of Karlsruhe D-76128 Karlsruhe Germany Clinic for Maxillofacial and Craniofacial Surgery University of Heidelberg D-69120 Heidelberg Germany

This paper describes the development of a system for simultaneous planning and execution of surgical operations in the cranio-maxillo facial area. Simultaneous planning and execution is the process of taking an implicit task description, planning a sequence of explicit execution commands e.g. for robots and monitoring their execution. As the execution planning process is running completely on-line, that means during the actual execution of the assembly task, the planning process is highly reactive based on sensor information about the robot's present environment. In order to meet the problem that medical data is usually complex and needs time-costly preprocessing an appropriate architecture for evaluating sensor data has been developed. In this paper, a detailed presentation of the phases of execution planning and sensor data evaluation is given. As an example, the execution of a LeFort I osteotomy is presented. © The authors 1996.

关键词： Surgery

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Leg synchronization of a walking machine by means of backpropagation-networks

Leg synchronization of a walking machine by means of backpro...

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International Joint Conference on Neural Networks (IJCNN)

作者： K. Berns St. Piekenbrock H. Dillmann Group Interactive Planning Research Centre for Computer Science University of Karlsruhe Germany Institute for Real Time Process Control and Robotics University of Karlsruhe Germany

In this paper various approaches to synchronize leg movement of a walking machine are reported. Backpropagation-networks with diverse topologies, different types of encodings of information and of training methods are... 详细信息

关键词： Leg Legged locomotion Network topology Mobile robots Robot kinematics Neural networks Propulsion Switches Foot computer science

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KANTRA-human-machine interaction for intelligent robots using natural language

KANTRA-human-machine interaction for intelligent robots usin...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： T.C. Lueth T. Laengle G. Herzog E. Stopp U. Rembold Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany Project VITRA-FB 14 Informatik University of Saarland Saarbrucken Germany

In this paper, a new natural language interface is presented that can be applied to make the use of intelligent robots more flexible. This interface was developed for the autonomous mobile two-arm robot KAMRO, which uses several camera systems to generate an environment model and to perform assembly tasks. A fundamental requirement in human-machine interaction for intelligent robots is the ability to refer to objects in the robot's environment. Hence, the interface and the intelligent system need similar environment models and it is necessary to provide current sensor information. Additional flexibility can be achieved by integrating the man-machine interface into control architecture of the robot and to give it an access to all internal information and to the models that the robot uses for an autonomous behaviour. In order to fully exploit the capabilities or a natural language access, we present a dialogue-based interface KANTRA, in which the human-machine interaction is not restricted to unidirectional communication.< >

关键词： Intelligent robots Robot sensing systems Natural languages Robotic assembly Man machine systems Intelligent sensors Mobile robots Robot vision systems Cameras Assembly systems

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Robot assistant for dental implantology 4th

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4th International Conference on Medical Image Computing and computer-Assisted Intervention, MICCAI 2001

作者： Boesecke, R. Brief, J. Raczkowsky, J. Schorr, O. Daueber, S. Krempien, R. Treiber, M. Wetter, T. Hassfeld, S. TaMed GmbH Hufschmiedstr. ¼ WieslochD-69168 Germany Department of Oral and Maxillofacial Surgery University Hospital Heidelberg Germany Department of Radiology University Hospital Heidelberg Germany Institute of Real-Time Computer Systems and Robotics University of Karlsruhe Germany Department of Medical Informatics University Hospital Heidelberg Germany

ISBN: (纸本)3540426973

We introduce a method to apply a preoperative 3D plan for inserting dental implants with an assisting medical robot. The treatment plan is based on the 3D visualization of the CT data of the patient.s maxilla and mandible, and supplies the location of the implants in the patient.s coordinates. The plan is then transferred to the surgical robot.s coordinate system. The robot guides the tool, a drill guide. Position, orientation, and depth of the initial drilling is defined with the tool held by the robot while the surgeon drills. The robot assists the dentist, and the optimal treatment plan will be applied directly to the patient. © Springer-Verlag Berlin Heidelberg 2001.

关键词： Drills

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Generating robot action plans by means of an heuristic search

Generating robot action plans by means of an heuristic searc...

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IEEE International Conference on robotics and Automation (ICRA)

作者： B. Frommherz G. Werling Campus-based Engineering Center (CEC) Digital Equipment GmbH Karlsruhe Germany Institute of Real-time Computer Systems and Robotics University of Karlsruhe Germany

A planning concept is proposed which meets the requirements of flexibility and simplicity of the resulting plan structures and efficiency of replanning. The concept is based on a heuristic search process (branch-and-bound) by which a plan generation tree containing (as nodes) the most promising solution graphs is partly developed. This is achieved by a heuristic evaluation function which estimates the quality of the intermediate plans during the plan synthesis phase. The concept is shown for the area of automatic assembly using a small assembly task as an example. A short description of a robot planning system which is based on the concept is included.< >

关键词： Robots Robotic assembly Power system planning real time systems Meeting planning Phase estimation robotics and automation Assembly systems Artificial intelligence Search methods

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Automatic generation of realistic training data for learning parallel-jaw grasping from synthetic stereo images

Automatic generation of realistic training data for learning...

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International Conference on Advanced robotics (ICAR)

作者： Justus Drögemüller Carlos X. Garcia Elena Gambaro Michael Suppa Jochen Steil Máximo A. Roa Technical University of Braunschweig Institute of Robotics and Process Control Technical University of Munich (TUM) Chair of Robotics Artificial Intelligence and Real-time Systems Roboception GmbH German Aerospace Center (DLR)

ISBN: (纸本)9781665436854

This paper proposes a novel approach to automatically generate labeled training data for predicting parallel-jaw grasps from stereo-matched depth images. We generate realistic depth images using Semi-Global Matching to compute disparity maps from synthetic data, which allows producing images that mimic the typical artifacts from real stereo matching in our data, thus reducing the gap from simulation to real execution. Our pipeline automatically generates grasp annotations for single or multiple objects on the synthetically rendered scenes, avoiding any manual image pre-processing steps such as inpainting or denoising. The labeled data is then used to train a CNN-model that predicts parallel-jaw grasps, even in scenarios with large amount of unknown depth values. We further show that scene properties such as the presence of obstacles (a bin, for instance) can be added to our pipeline, and the training process results in grasp prediction success rates of up to 90%.

关键词： Training Annotations Computational modeling Pipelines Noise reduction Training data Manuals

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Robust subgoal planning and motion execution for robots in fuzzy environments

Robust subgoal planning and motion execution for robots in f...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： Jianwei Zhang J. Raozkowsky Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Germany Karlsruher Institut fur Technologie - Campus Nord Eggenstein-Leopoldshafen Baden-WÃ¼rttemberg DE Inst. for Real-Time Comput. Syst. & Robotics Karlsruhe Univ. Germany

In this paper, a fuzzy environment includes obstacles in the vicinity of robot motion, which cannot be modelled exactly or are entirely unknown, and a vague description of the relationship between the robot and the obstacles. An integrated concept for solving the problem of motion planning and control of robots in fuzzy environments is proposed. First, critical points for the desired motion are found in a connectivity network on the boundary of static obstacles. By considering the degree of uncertainty of the obstacles, the local geometry, the available free space and the path shape, these points are further adjusted to form subgoals which reliably decide the global motion direction. During on-line motion execution, a fuzzy controller evaluates sensor data, realizes the motion towards subgoals and avoids local unexpected collisions. Simulations with mobile robots show some control results using this concept.< >

关键词： Robustness Motion planning Motion control Robot control Fuzzy control Robot motion Orbital robotics Uncertainty Computational geometry Shape

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Microassembly planning for manufacturing by flexible microrobots

Microassembly planning for manufacturing by flexible microro...

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IEEE International Conference on robotics and Automation (ICRA)

作者： S. Fatikow R. Mounassypov Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany Department of Technical Cybernetics Ufa State Aviation Technical University Bashkortostan Russia

Automation of highly precise microassembly steps will make it easier to realize low cost microsystems. For this, a microrobot-based microassembly desktop station is being developed at the University of Karlsruhe. In this paper, we suggest a common microassembly model for a computer-aided microassembly planning-which is based on geometric reasoning-and discuss its components in detail. The feasibility criteria for the generation of feasible assembly sequences and the optimization criteria for selecting the optimal assembly plan are described. For both these planning steps, the algorithms for an automatic procedure have been developed and implemented. For stations employing several microrobots, a method for decomposition and allocation of an assembly plan is suggested. Finally, we discuss the structure of the station's planning system.

关键词： Microassembly Flexible manufacturing systems Robotic assembly Microscopy robotics and automation Glass Sensor systems Robot sensing systems Intelligent robots Process planning

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Assembly sequence planning for manufacturing by microrobots

Assembly sequence planning for manufacturing by microrobots

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

The authors present a microassembly system model based on geometric reasoning. Its components, which include an X-Y positioning table with a glass plate fixed on top of it, operating microrobots on the plate, and a CCD-camera, are discussed in detail. Feasibility criteria for the generation of possible assembly sequences and optimisation criteria for selecting the best assembly plan, which reflect the specific features of microassembly, are suggested. For both planning steps, algorithms for an automatic procedure have been developed and implemented. An important advantage of te suggested bottom-up search procedure is that the assembly plan is determined at each step of the algorithm, so that the searching of all feasible sequences and the selection of the best one are integrated into one automated planning procedure. This allows one to replan the assembly process during plan execution, starting from the current process state and without exploring the space of all possible assembly plans. For a multirobot system, a method for decomposition of an assembly plan and its implementation is suggested.

关键词： Manufacturing Robotic assembly Microassembly Service robots robotics and automation Microscopy Glass Sensor systems Robot sensing systems Intelligent robots

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