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作者： Srinivasa, Siddhartha S. Berenson, dmitry Cakmak, Maya Collet, Alvaro dogar, Mehmet R. dragan, Anca d. Knepper, Ross A. Niemueller, Tim Strabala, Kyle Vande Weghe, Mike Ziegler, Julius Robotics Institute Carnegie Mellon University Pittsburgh PA 15213 United States Electrical Engineering and Computer Science Department University of California Berkeley Berkeley 94703 United States School of Interactive Computing Georgia Institute of Technology Atlanta GA 30332 United States Knowledge-based Systems Group RWTH Aachen University Aachen 52062 Germany Department of Measurement and Control Systems Karlsruhe Institute of Technology Karlsruhe D-76128 Germany

We present the hardware design, software architecture, and core algorithms of Herb 2.0, a bimanual mobile manipulator developed at the Personal robotics Lab at Carnegie Mellon university, Pittsburgh, PA. We have developed Herb 2.0 to perform useful tasks for and with people in human environments. We exploit two key paradigms in human environments: that they have structure that a robot can learn, adapt and exploit, and that they demand general-purpose capability in robotic systems. In this paper, we reveal some of the structure present in everyday environments that we have been able to harness for manipulation and interaction, comment on the particular challenges on working in human spaces, and describe some of the lessons we learned from extensively testing our integrated platform in kitchen and office environments. © 2012 IEEE.

关键词： Motion planning

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Team AnnieWAY's autonomous system for the dARPA Urban Challenge 2007

Team AnnieWAY's autonomous system for the DARPA Urban Challe...

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作者： Kammel, Sören Ziegler, Julius Pitzer, Benjamin Werling, Moritz Gindele, Tobias Jagzent, daniel Schöder, Joachim Thuy, Michael Goebl, Matthias Von Hundelshausen, Felix Pink, Oliver Frese, Christian Stiller, Christoph Institute for Measurement and Control University of Karlsruhe Karlsruhe 76131 Germany Institute for Applied Computer Science/Automation University of Karlsruhe Karlsruhe 76128 Germany Industrial Applications of Informatics and Microsystems University of Karlsruhe Karlsruhe 76131 Germany Institute for Distributed Measurement Systems Technical University of Munich Munich 80290 Germany Institute for Institute for Real-Time Computer Systems Technical University of Munich Munich 80290 Germany Department of Aerospace Engineering University of the Federal Armed Forces Neubiberg 85577 Germany

ISBN: (纸本)9783642039904

This paper reports on AnnieWAY, an autonomous vehicle that is capable of driving through urban scenarios and that has successfully entered the finals of the 2007 dARPA Urban Challenge competition. After describing the main challenges imposed and the major hardware components, we outline the underlying software structure and focus on selected algorithms. Environmental perception mainly relies on a recent laser scanner which delivers both range and reflectivity measurements. While range measurements are used to provide 3d scene geometry, measuring reflectivity allows for robust lane marker detection. Mission and maneuver planning is conducted using a concurrent hierarchical state machine that generates behavior in accordance with California traffic laws. We conclude with a report of the results achieved during the competition. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Reflection

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Cognition-oriented building blocks of future benchmark scenarios for humanoid home robots

Cognition-oriented building blocks of future benchmark scena...

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2007 AAAI Workshop

作者： Burghart, Catherina R. Mikut, Ralf Holzapfel, Hartwig Institute of Process Control and Robotics University of Karlsruhe D-76128 Karlsruhe Germany Forschungszentrum Karlsruhe GmbH Institute of Applied Computer Science P.O. Box 3640 D-76021 Karlsruhe Germany Interactive Systems Lab. University of Karlsruhe D-76128 Karlsruhe Germany

ISBN: (纸本)9781577353317

Comparing intelligent robots interacting with humans is a difficult task. First of all, robotic helps in everyday life can be involved in different tasks. Additionally, the grade of autonomy of the robot and the type of interaction between human and robot may differ to a great extent. It also is an intricate task to design common metrics to assess human-robot interaction. Thus normal benchmarks fail in this case. After an overview of already existing benchmarks in robotics this paper sketches affordances for benchmarks for human-robot interaction in a home environment. Many aspects of already existing benchmarks, evaluation criteria, and metrics have to be combined to asses human-robot interaction in a complex environment. The great difficulty is measuring human and robot behavior;here novel approaches taking into account perspectives from different fields (i.e. engineers, psychologists, sociologist) are needed, as a human being does not behave as anticipated by the system designer most of the time. Copyright © 2007, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Human robot interaction

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A system for facial reconstruction using distraction and symmetry considerations

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International Congress Series 2001年第C期1230卷 62-67页

作者： Burgert, O. Salb, T. Gockel, T. dillmann, R. Hassfeld, S. Brief, J. Krempien, R. Walz, S. Mühling, J. Institute of Real-Time Computer Systems and Robotics University of Karlsruhe D-76128 Karlsruhe Gebaude 07.21 Kaiserstr. 12 Germany Department of Oral and Maxillofacial Surgery University of Heidelberg D-69120 Heidelberg Germany Department of Radiology University of Heidelberg D-69120 Heidelberg Germany

The goal of the system presented in this paper is to support several facial surgeries that are aiming to transform an unsymmetrical face to a symmetric one. There are two main techniques to achieve this goal: distraction of the lower jaw and adding or removing tissue or bone at certain facial regions. Both planning tasks are done based on segmented CT or MRI data. The distraction of the lower jaw is simulated by cutting the jaw, moving it in 3d along a distraction axis and choosing a distractor for this procedure after determining, which is the best result. Furthermore, we are working on consideration of soft tissue movement so the patient can see what he or she will look like after the surgery. For supporting implants in craniofacial surgery, we are proposing a tool based on symmetry considerations. Nowadays, if implants have to be fitted to the patient's bone, they are handmade while the surgery is running. This is quite time consuming and it would be helpful to shorten this procedure by producing the implants preoperatively. Our system allows to determine regions where implants should be set and proposes an initial contour for the implants. © 2001 Elsevier Science B.V.

关键词： distraction Face Symmetry

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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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3d norm data: The first step towards semiautomatic virtual craniofacial surgery

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computer Aided Surgery 2001年第5期5卷

作者： J. Brief S. Hassfeld S. däuber A. Pernozzoli J. Münchenberg T. Redlich M. Walz R. Krempien H. Weisser C. Poeckler J. Raczkowsky O. Burgert T. Salb B. Kotrikova U. Rembold H. Wörn R. dillmann J. Mühling Departments of Oral and Maxillofacial Surgery (J.B. S.H. A.P. T.R. B.K. J.Müh.) and Radiology (R.K.) University of Heidelberg Heidelberg Department of Radiology University of Heidelberg Mannheim (M.W. H.W. C.P.) and Institute of Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe (S.D. J.Mün. J.R. O.B. T.S. U.R. H.W. R.D.) Germany

When planning craniofacial surgical interventions, the ideal appearance of the patient is very important. The final appearance should be as close as possible to that which the patient would have if he/she were without defects. Our first step towards achieving this is to build a database containing sets of three-dimensional CT images that allows for comparison of the shape of a patient with defects to the typical shape of an age- and sex-matched “average” person without defects. We started to collect CT data from patients without pathologies and, in co-operation with two radiology institutes (in Mannheim and Heidelberg), over 100 CT data sets have now been collected and classified according to age and sex. It is necessary to choose an appropriate statistical method to calculate the norm data from the different data sets. Based on the statistical method, an age- and sex-matched “average” model of the anatomy will be created. Comp Aid Surg 5:353–358 (2000). © 2000 Wiley-Liss, Inc.

关键词： 3d norm data virtual healing virtual craniofacial surgery

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Relocalisation by partial map matching 3rd

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3rd International Workshop on Modelling and Integration of Sensor Based Intelligent Robot systems, 1998

作者： Rencken, Wolfgang d. Feiten, Wendlin Zöllner, Raoul Siemens AG Coporate Technology München81730 Germany Institute for Real-Time Computer Control Systems Dept. of Computer Science University of Karlsruhe Karlsruhe76128 Germany

ISBN: (纸本)3540669337

The autonomous operation of an intelligent service robot in practical applications requires that the robot builds up a map of the environment by itself. A prerequisite for building large scale consistent maps is that the robot is able to recognise previously mapped areas and relocalise within these areas. The recognition is based on constructing partial maps of geometric landmarks which are then compared to yield the optimal correspondence between these landmarks. For each landmark a signature is constructed which contains additional information about its immediate environment and its non-geometric properties. It is ensured that the signatures are robust with respect to missing landmarks, rotation and translation of landmarks and varying landmark lengths. Both simulation and experiments on real robots have shown that the approach is capable of recognising previously mapped areas robustly in real-time. © Springer-Verlag Berlin Heidelberg 1999.

关键词： Intelligent robots

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A system for robot assisted maxillofacial surgery

A system for robot assisted maxillofacial surgery

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6th Conferenc on Medicine Meets Virtual reality, MMVR 1998

作者： Burghart, Catherina R. Muenchenberg, Jan E. Rembold, Ulrich Institute of Real-Time Computer Control Systems and Robotics University of Karlsruhe 76128 Karlsruhe Germany

ISBN: (纸本)9051993862

In maxillofacial surgery the quality of the surgical outcome mainly depends on the experience of the operating surgeon. Thus we intend to support the surgeon before and during surgery in order to enhance the surgical results. On the one hand this implies the use of image processing, three dimensional modelling techniques and visualization techniques of medical image data, on the other hand planning systems, intraoperative navigation devices and surgical robots are needed. In this paper a complex expert system is presented, which uses a planner for generating treatment plans, an infrared navigation for monitoring both patient, robot, and surgical tool, and a surgical robotic system in order to work on bone. Special stress is laid on the architecture of the planning system, the structure of the treatment plans, and the intraopertative communication protocols.

关键词： Robotic surgery

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Knowledgebased segmentation

Knowledgebased segmentation

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6th Conferenc on Medicine Meets Virtual reality, MMVR 1998

作者： Burghart, Catherina R. Pernozzoli, Arno Rembold, Ulrich Institute of Real-Time Computer Control Systems and Robotics University of Karlsruhe 76128 Karlsruhe Germany

ISBN: (纸本)9051993862

The segmentation of medical images like CT or MRI scans represents a great challenge to researchers in computer vision, due to the variability of the individual anatomy and the different characteristics of the scanning systems. As an anatomical knowledge base improves the recognition of structures in CT or MRI scans, we chose a knowledge based segmentation in our approach, which will be explained in the following.

关键词： computerized tomography

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Range image registration for free-form surfaces using curvature information as invariance 9

Range image registration for free-form surfaces using curvat...

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9th European Signal Processing Conference, EUSIPCO 1998

作者： Rieder, Markus Guir, Nicolas dillmann, R. Department for Computer Science Institute for Real-Time Computer Control Systems and Robotics University of Karlsruhe Karlsruhe76128 Germany Department of Computer Architecture University of Malaga Malaga Spain

A curvature based technique for fast range image registration is described in this work. With this technique the rotation and the displacement of a surface with respect to another one is calculated. The proposed algorithm uses Gaussian curvature information from each image point to extract a number of feature points. Two bounds are applied to the curvature values. Points with these bound curvature value are classified into two classes of feature points. In order to calculate the rotation angle between the two range images, the feature points are paired. That means the angle and the distance of the point pairs have to be transformed into a general view coordinate system. In the orientation matching procedure, we compare each pairing in the first image with each possible in the second one. This process is independent of the translation calculation which is calculated in a sequencing step. This pipelining principle speeds up the registration process if correspondences are calculated constantly.

关键词： Image registration

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