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Visual grasping using passive joints and clustered SIFT-features

Visual grasping using passive joints and clustered SIFT-feat...

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Joint 41st International Symposium on robotics, ISR 2010 and 6th German Conference on robotics 2010, ROBOTIK 2010

作者： Gorges, Nicolas Haase, Andre Wörn, Heinz Institute for Process Control and Robotics Karlsruhe Institute of Technology Engler-Bunte-Ring 8 76131 Karlsruhe Germany

ISBN: (纸本)9781617387197

This work addresses the problem of visual-based grasping of unknown objects with a five-finger robot hand. The contribution of this work consists of two parts. Firstly, the sensor system of the robot finger tips has been enhanced to increase its sensitivity for reactive grasping of unknown objects. Therefore, two additional passive degrees of freedom are introduced to the finger tips to make them adjust themselves to the object surface. Secondly, a robust approach to visual determination of unknown objects is introduced. The visual part starts with the extraction of interest points which are typical for an object. A cluster of these object features indicate an object candidate. The proportions of this accumulation of 3-dim. points and the distribution of the feature categories within this cluster indicates an object to be grasped. The proposed approach has been tested with the novel tactile sensor system.

关键词： Degrees of freedom (mechanics)

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A cognitive path-guidance-system for minimally invasive surgery

A cognitive path-guidance-system for minimally invasive surg...

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8th IEEE International Symposium on Intelligent Systems and Informatics, SIISY 2010

作者： Weede, O. Stein, D. Gorges, N. Müller, B. Wörn, H. Institute for Process Control and Robotics Karlsruhe Germany Heidelberg University Hospital Department of Surgery Heidelberg Germany

ISBN: (纸本)9781424473946

The presented path-guidance system is able to learn movements and to predict motion. It shall enhance safe navigation for surgeons in minimally invasive surgery by creating a virtual fixture which holds the end-effector's motion to a desired path and warning the surgeon in a dangerous situation. Surgeons can demonstrate interventions and best practices. The system collects information from surgeon demonstrated trajectories, defined as best practices, and extracts knowledge to provide guidance for other users to carry out the same intervention. Knowledge extraction is achieved through trajectory clustering, maximum likelihood classification and a Markov model to predict states. The fundamental task is to guide a surgeon along a desired trajectory (navigated path) and prevent them entering into zones of risk. The path is not sequential, furcations are permitted and modeled showing alternatives in the ongoing intervention. An evaluation with a pelvitrainer showed good results with over 89% hit rate in predicting the motion. ©2010 IEEE.

关键词： Trajectories

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Active fault tolerant control of an electro-hydraulic servo axis with a duplex-valve-system

Active fault tolerant control of an electro-hydraulic servo ...

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5th IFAC Symposium on Mechatronic Systems, MECHATRONICS 2010

作者： Beck, Mark Schwung, Andreas Muenchhof, Marco Isermann, Rolf TU Darmstadt Institute of Automatic Control Laboratory for Control Systems and Process Automation 64283 Darmstadt Germany TU Darmstadt Institute of Automatic Control Laboratory for Control Theory and Robotics 64283 Darmstadt Germany

ISBN: (纸本)9783902661760

In this paper fault detection, fault diagnosis and active fault tolerant control of an electro-hydraulic servo-axis with a duplex-valve-system are described. The fault detection is based on parity equations. The semi-physical models allow the detection of even small faults in the hydraulic system. The fault diagnosis used on the testbed is based on fuzzy-logic. In order to tolerate a failed hydraulic proportional valve, a duplex-valve-system built up with standard direct-driven proportional valves is applied. The fault management module allows the supervision of the hydraulic servo axis and decides on reconfiguration and fault accomodation of the control-loop. The Internal Model control (IMC)-tracking control structure used for reconfiguration allows bumpless transfer between controllers. Experimental results show the industrial applicability of the approach. © 2010 IFAC.

关键词： Fault detection

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A new Probabilistic Path Planning Algorithm for (Dis)assembly Tasks

A new Probabilistic Path Planning Algorithm for (Dis)assembl...

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Joint international symposium on robotics

作者： Ulrike Thomas Rene Iser Institute for Robotics and Process Control Technical University of Braunschweig

ISBN: (纸本)9783800732739

In this paper, a new probabilistic path planning algorithm is described. The algorithm has been developed for assembly planning purposes, but however it can also be used in similar scenarios. Most assembly planning algorithms apply the so called assembly-by-disassembly strategy, therewith planning starts from the goal position of parts and tries to remove single parts or group of parts. Such problems are characterized by the appearance of many narrow passages. Thus, we have developed an probabilistic algorithm able to find paths even if many of such passages exist. The idea of our path planner emanates from the particle In each iteration, it propagates new samples, discards bad evaluated samples and assigns higher weights to good examples. The evaluation functions propagates the samples to explore free space as well as to condensate on the border of obstacles, which leads samples to pass narrow passages. We have evaluated our path planning algorithm with different examples and compared it to the well-known RRT and PRM planners. We could achieve good execution times for realistic industrial assembly tasks.

关键词： Path planning PASSAGE algorithms Disassembly tasks execution time assembly planning trees (mathematics) narrow passage iterative methods

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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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Haptic object recognition using passive joints and haptic key features

Haptic object recognition using passive joints and haptic ke...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Nicolas Gorges Stefan Escaida Navarro Dirk Göger Heinz Wörn Institute for Process Control and Robotics Karlsruhe Institute of Technology Karlsruhe Germany

This paper presents a novel approach for haptic object recognition with an anthropomorphic robot hand. Firstly, passive degrees of freedom are introduced to the tactile sensor system of the robot hand. This allows the planar tactile sensor patches to optimally adjust themselves to the object's surface and to acquire additional sensor information for shape reconstruction. Secondly, this paper presents an approach to classify an object directly from the haptic sensor data acquired by a palpation sequence with the robot hand - without building a 3d-model of the object. Therefore, a finite set of essential finger positions and tactile contact patterns are identified which can be used to describe a single palpation step. A palpation sequence can then be merged into a simple statistical description of the object and finally be classified. The proposed approach for haptic object recognition and the new tactile sensor system are evaluated with an anthropomorphic robot hand.

关键词： Haptic interfaces Object recognition Tactile sensors Robot sensing systems Shape Transmission line matrix methods Sensor systems robotics and automation Anthropomorphism Surface reconstruction

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Enhancements of force-torque map based assembly applied to parallel robots

Enhancements of force-torque map based assembly applied to p...

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IEEE-ICIT 2010 International Conference on Industrial Technology, ICIT 2010

作者： Dietrich, Franz Wobbe, Frank Buchholz, Dirk Sowinski, Frank Raatz, Annika Schumacher, Walter Wahl, Friedrich M. Institute of Machine Tools and Production Technology Technische Universität Braunschweig 38106 Braunschweig Germany Institute of Control Engineering Technische Universität Braunschweig 38106 Braunschweig Germany Institute for Robotics and Process Control Technische Universität Braunschweig 38106 Braunschweig Germany

ISBN: (纸本)9781424456970

This article presents the application and enhancements of assembly strategies using force-torque maps in view of parallel robots. Starting from classical assembly strategies the fundamentals of force-torque maps are briefly discussed. Taking up the core idea, a strategy for assembling objects by parallel robots is proposed, where frictional effects are reduced by an enhanced force and position control. Special attention is paid to acquisition of force-torque maps with respect to parameter sensitivity. Practical issues are pointed out and discussed in view of industrial applications. A quality assessment of force-torque maps based on a redundancy index is introduced hinting at the performance and possibilities of optimization of the assembly strategy. ©2010 IEEE.

关键词： Position control

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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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Real-time collision detection for intrinsic safety of Multi-fingered SDH-2

Real-time collision detection for intrinsic safety of Multi-...

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IEEE International Conference on robotics and Automation (ICRA)

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

This paper presents an algorithm to detect finger collisions in Multi-fingered robot hand SDH-2. The need for this feature is discussed and advantages are shown. It will be presented, in which way the algorithm is build into a basic development environment of reactive grasping and what are possible problems and possibilities in collaboration with the tactile sensor elements.

关键词： Safety

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A tactile proximity sensor

A tactile proximity sensor

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IEEE SENSORS

作者： Dirk Goeger Matthias Blankertz Heinz Woern Institute of Process Control Automation and Robotics Karlsruhe Institute of Technology Karlsruhe Germany

This paper introduces a novel tactile sensor with the ability to detect objects in the sensor's near proximity. For both tasks, the same capacitive sensing principle is used. The tactile part of the sensor provides a tactile sensor array enabling the sensor to gather pressure profiles of the mechanical contact area. Several tactile sensors have been developed in the past. These sensors lack the capability of detecting objects in their near proximity before a mechanical contact occurs. Therefore, we developed a tactile proximity sensor, which is able to measure the current flowing out of or even into the sensor. Measuring these currents and the exciting voltage makes a calculation of the capacitance coupled to the sensor's surface and, using more sensors of this type, the change of capacitance between the sensors possible. The sensor's mechanical design, the analog/digital signal processing and the hardware efficient demodulator structure, implemented on a FPGA, will be discussed in detail.

关键词： Electrodes Tactile sensors Current measurement Capacitance Voltage measurement

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