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arXiv 2024年

作者： Oehler, Martin von Stryk, Oskar Simulation Systems Optimization and Robotics Group Technical University of Darmstadt Germany

Autonomous locomotion for mobile ground robots in unstructured environments such as waypoint navigation or flipper control requires a sufficiently accurate prediction of the robot-terrain interaction. Heuristics like occupancy grids or traversability maps are widely used but limit actions available to robots with active flippers as joint positions are not taken into account. We present a novel iterative geometric method to predict the 3D pose of mobile ground robots with active flippers on uneven ground with high accuracy and online planning capabilities. This is achieved by utilizing the ability of signed distance fields to represent surfaces with sub-voxel accuracy. The effectiveness of the presented approach is demonstrated on two different tracked robots in simulation and on a real platform. Compared to a tracking system as ground truth, our method predicts the robot position and orientation with an average accuracy of 3.11 cm and 3.91◦, outperforming a recent heightmap-based approach. The implementation is made available as an open-source ROS package. Copyright © 2024, The Authors. All rights reserved.

关键词： Forecasting

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The Foundation for Developing an Exoskeleton for the Rehabilitation of Temporomandibular Disorders

The Foundation for Developing an Exoskeleton for the Rehabil...

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IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)

作者： Paul-Otto Müller Oskar von Stryk Simulations Systems Optimization and Robotics Group Technical University of Darmstadt Darmstadt Germany

ISBN: (数字)9798331516857

ISBN: (纸本)9798331516864

Temporomandibular disorders affect a significant portion of the population, often causing pain and restricted jaw movement. Physiotherapy with active jaw exoskeletons seems to be a promising treatment approach. However, there has been limited progress in this area, with only a few studies published. The lack of detailed simulations and biomechanical jaw models in these papers impedes the design and validation of such devices. Thus, this work presents an open-source and extendable jaw model framework to support the development of jaw exoskeletons for TMD rehabilitation. The framework includes three model variants with varying complexity: a rigid body model with point-on-surface constraints, a rigid body model with mesh geometry constraints, and a hybrid model combining rigid dynamics with finite element methods. Model customization is facilitated through JSON configuration files, requiring minimal programming expertise. The framework was evaluated using experimental kinematic data from a single participant, with muscle excitations computed via PID controllers tuned through global optimization. The models successfully reproduced jaw movements without prior individualization, demonstrating their suitability for prototyping and studying exoskeleton behavior. The basic models are ideal for rapid prototyping, while the hybrid model provides insights into the effects of exoskeletons on the masticatory system. This framework establishes a foundation for advancing jaw exoskeleton development, with future work focusing on patient-specific modeling, improved anatomical detail, and tools for exoskeleton control and design. The framework code is publicly available and can be found at https://***/paulotto/exosim.

关键词： Accuracy Computational modeling Biological system modeling Exoskeletons Predictive models Muscles Programming Rapid prototyping Data models optimization

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The Foundation for Developing an Exoskeleton for the Rehabilitation of Temporomandibular Disorders

The Foundation for Developing an Exoskeleton for the Rehabil...

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2025 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2025

作者： Muller, Paul-Otto Von Stryk, Oskar Technical University of Darmstadt Simulations Systems Optimization and Robotics Group Darmstadt Germany

ISBN: (纸本)9798331516857

关键词： Exoskeleton (robotics)

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Efficient Dynamic LiDAR Odometry for Mobile Robots with Structured Point Clouds

Efficient Dynamic LiDAR Odometry for Mobile Robots with Stru...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Jonathan Lichtenfeld Kevin Daun Oskar von Stryk Simulation Systems Optimization and Robotics Group Technical University of Darmstadt Darmstadt Germany

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive volumetric maps. To enhance efficiency on computationally limited robots, we reuse data between the odometry and detection module. Utilizing a range image segmentation technique and a novel residual-based heuristic, our method distinguishes dynamic from static objects before integrating them into the point cloud map. The approach demonstrates robust object tracking and improved map accuracy in environments with numerous dynamic objects. Even highly non-rigid objects, such as running humans, are accurately detected at point level without prior downsampling of the point cloud and hence, without loss of information. Evaluation on simulated and real-world data validates its computational efficiency. Compared to a stateof-the-art volumetric method, our approach shows comparable detection performance at a fraction of the processing time, adding only 14 ms to the odometry module for dynamic object detection and tracking. The implementation and a new realworld dataset are available as open-source for further research.

关键词： Point cloud compression Laser radar Pipelines Object detection Real-time systems Computational efficiency Odometry Mobile robots Object tracking Intelligent robots

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Development and Evaluation of a Transparency Model for the Design of Humanoid Service Robots

Development and Evaluation of a Transparency Model for the D...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Lejla Nukovic Jérôme Kirchhoff Oskar von Stryk Department of Computer Science Simulation Systems Optimization and Robotics Group Technical University of Darmstadt Germany

ISBN: (数字)9798350375022

ISBN: (纸本)9798350375039

The seamless integration and acceptance of humanoid service robots in society requires a general understanding of those robots. An overall transparent design can be a means to establish this. To guide the implementation of effective transparency mechanisms, we propose the novel Transparency Design Model, which builds on the concept of Interaction Transparency from our previous work. This model encompasses a wide range of transparency aspects aimed to improve the overall transparency of humanoid service robot designs. To demonstrate the applicability of our model and gather initial insights on its impact on robot perception, we conducted a user study involving 50 participants. The study compared a neutral and transparent robot behavior within a complex sales service scenario. Our findings indicate that the transparent design significantly improve the robot’s likeability, anthropomorphism, and benevolence. Additionally, we observed positive trends in attractiveness, stimulation, and novelty as measured by the User Experience Questionnaire. These measurable effects highlight the important role of Interaction Transparency. The results also imply that a holistic system analysis in multiple complex and application-dependent interactions is worthwhile as the service content influences the perception and effects of the individual design steps. Further, there is a need to develop a new scale for measuring Interaction Transparency. Lastly, future research could benefit from employing multi-modal assessment tools.

关键词： Service robots Atmospheric measurements Standards organizations Humanoid robots Particle measurements Market research User experience Reliability Anthropomorphism System analysis and design

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3D Coverage Path Planning for Efficient Construction Progress Monitoring

arXiv

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arXiv 2023年

作者： Becker, Katrin Oehler, Martin Stryk, Oskar von Simulation Systems Optimization and Robotics Group Technical University of Darmstadt Germany

On construction sites, progress must be monitored continuously to ensure that the current state corresponds to the planned state in order to increase efficiency, safety and detect construction defects at an early stage. Autonomous mobile robots can document the state of construction with high data quality and consistency. However, finding a path that fully covers the construction site is a challenging task as it can be large, slowly changing over time, and contain dynamic objects. Existing approaches are either exploration approaches that require a long time to explore the entire building, object scanning approaches that are not suitable for large and complex buildings, or planning approaches that only consider 2D coverage. In this paper, we present a novel approach for planning an efficient 3D path for progress monitoring on large construction sites with multiple levels. By making use of an existing 3D model we ensure that all surfaces of the building are covered by the sensor payload such as a 360-degree camera or a lidar. This enables the consistent and reliable monitoring of construction site progress with an autonomous ground robot. We demonstrate the effectiveness of the proposed planner on an artificial and a real building model, showing that much shorter paths and better coverage are achieved than with a traditional exploration planner. Copyright © 2023, The Authors. All rights reserved.

关键词： 3D modeling

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Accurate Pose Prediction on Signed Distance Fields for Mobile Ground Robots in Rough Terrain

Accurate Pose Prediction on Signed Distance Fields for Mobil...

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IEEE International Workshop on Safety, Security, and Rescue robotics (SSRR)

作者： Martin Oehler Oskar von Stryk ASimulation Systems Optimization and Robotics Group Technical University of Darmstadt Germany

Autonomous locomotion for mobile ground robots in unstructured environments such as waypoint navigation or flipper control requires a sufficiently accurate prediction of the robot-terrain interaction. Heuristics like occupancy grids or traversability maps are widely used but limit actions available to robots with active flippers as joint positions are not taken into account. We present a novel iterative geometric method to predict the 3D pose of mobile ground robots with active flippers on uneven ground with high accuracy and online planning capabilities. This is achieved by utilizing the ability of signed distance fields to represent surfaces with sub-voxel accuracy. The effectiveness of the presented approach is demonstrated on two different tracked robots in simulation and on a real platform. Compared to a tracking system as ground truth, our method predicts the robot position and orientation with an average accuracy of 3.11 cm and 3.91°, outperforming a recent heightmap-based approach. The implementation is made available as an open-source ROS package.

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A Flexible Framework for Virtual Omnidirectional Vision to Improve Operator Situation Awareness

arXiv

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arXiv 2023年

作者： Oehler, Martin von Stryk, Oskar The Simulation Systems Optimization and Robotics Group Technical University of Darmstadt Germany

During teleoperation of a mobile robot, providing good operator situation awareness is a major concern as a single mistake can lead to mission failure. Camera streams are widely used for teleoperation but offer limited field-of-view. In this paper, we present a flexible framework for virtual projections to increase situation awareness based on a novel method to fuse multiple cameras mounted anywhere on the robot. Moreover, we propose a complementary approach to improve scene understanding by fusing camera images and geometric 3D Lidar data to obtain a colorized point cloud. The implementation on a compact omnidirectional camera reduces system complexity considerably and solves multiple use-cases on a much smaller footprint compared to traditional approaches such as actuated pan-tilt units. Finally, we demonstrate the generality of the approach by application to the multi-camera system of the Boston Dynamics Spot. The software implementation is available as open-source ROS packages on the project page https://***. io/omnidirectional_vision. Copyright © 2023, The Authors. All rights reserved.

关键词： Remote control

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Online 2D-3D Radiation Mapping and Source Localization using Gaussian Processes with Mobile Ground Robots

Online 2D-3D Radiation Mapping and Source Localization using...

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IEEE International Workshop on Safety, Security, and Rescue robotics (SSRR)

作者： Jonas SüB Martin Volz Kevin Daun Oskar von Stryk Simulation Systems Optimization and Robotics Group Technical University of Darmstadt Darmstadt Germany

We present a novel method for online radiation mapping and source localization in 2D and 3D with mobile ground robots using Gaussian Processes to assist personnel in potentially dangerous scenarios such as nuclear catastrophes or dismantling nuclear reactors. While existing methods typically make strong model assumptions or are limited for robot onboard application by high computational cost, we propose a method that requires only weak model assumptions and gains efficiency by pre-sampling and local map update schemes. The resulting models can predict the radiation levels in complex indoor environments with multiple sources and quantify the uncertainty in their estimates. The proposed method can be applied in combination with teleoperated, semi-autonomous, or autonomous exploration. It was successfully evaluated at the EnRicH 2023 competition in a decommissioned nuclear power plant, where it provided the best localization and mapping of five radiation sources and received the award for radiation mapping. Our evaluation of data from the competition validates the accuracy and computational efficiency of the proposed approach. Moreover, we provide an open-source ROS implementation of the proposed method and open-access evaluation data.

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Affordance-based Actionable Semantic Mapping and Planning for Mobile Rescue Robots

Affordance-based Actionable Semantic Mapping and Planning fo...

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IEEE International Workshop on Safety, Security, and Rescue robotics (SSRR)

作者： Frederik Bark Kevin Daun Oskar von Stryk Simulation Systems Optimization and Robotics Group Technical University of Darmstadt Darmstadt Germany

Autonomous and tele-operation of rescue robots in urban search and rescue (USAR) environments is very challenging as details of missions and environments are usually unknown, mission goals might change dynamically and there is only little repeatability between different missions. Therefore, we propose a novel actionable semantic mapping and planning approach which leverages complementary capabilities of operator and robotic assistance functions. While related methods often focus on accuracy for geometric or semantic representations, we propose a novel framework focusing on an actionable map representation which is well suited for planning complex behaviors in uncertain environments. We represent the environment topologically as a scene graph coupled with a geometrically and semantically dense representation as Truncated Signed Distance Functions. We propose to apply the concept of affordances to map possible actions and costs to object classes. Building on that, we propose a combined topological and geometric task planning method allowing for easy operator interaction on task selection and prioritization. The successful application in two complex scenarios demonstrates the flexibility and efficiency of the proposed approach and the benefit of operator interaction.

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