2006 |
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I Iossifidis; G Schöner Reaching with a redundant anthropomorphic robot arm using attractor dynamics Incollection VDI Berichte, (1956), 2006, ISSN: 00835560. Abstract | BibTeX | Tags: dynamical systems, Kinematics, Motion planning, Redundant manipulator @incollection{Iossifidis2006d, title = {Reaching with a redundant anthropomorphic robot arm using attractor dynamics}, author = {I Iossifidis and G Schöner}, issn = {00835560}, year = {2006}, date = {2006-01-01}, booktitle = {VDI Berichte}, number = {1956}, abstract = {The attractor dynamics approach has been extended to generate goal directed movement of a redundant, anthropomorphic arm while avoiding dynamic obstacles and respecting joint limits. A straight-line trajectory has been generated to make the robot's movement human like, using two heading direction angles of the tool-point which is quite analogous to the movement represented in the primate central nervous system. Two additional angles control the tool's spatial orientation so that it follows the tool-point's collision-free path. The attractor dynamics approach to trajectory formation is generalized to the control of the motion of a redundant robot arm by applying a task decomposition, comprising endeffector, wrist and elbow motion. This new approach, implemented on the autonomous robotic assistant Cora, enables collision free movement in a considerably wide set of obstacles and target geometries.}, keywords = {dynamical systems, Kinematics, Motion planning, Redundant manipulator}, pubstate = {published}, tppubtype = {incollection} } The attractor dynamics approach has been extended to generate goal directed movement of a redundant, anthropomorphic arm while avoiding dynamic obstacles and respecting joint limits. A straight-line trajectory has been generated to make the robot's movement human like, using two heading direction angles of the tool-point which is quite analogous to the movement represented in the primate central nervous system. Two additional angles control the tool's spatial orientation so that it follows the tool-point's collision-free path. The attractor dynamics approach to trajectory formation is generalized to the control of the motion of a redundant robot arm by applying a task decomposition, comprising endeffector, wrist and elbow motion. This new approach, implemented on the autonomous robotic assistant Cora, enables collision free movement in a considerably wide set of obstacles and target geometries. | |
Ioannis Iossifidis Dynamische Systeme zur Steuerung anthropomorpher Roboterarme in autonomen Robotersystemen Book Logos Verlag Berlin, 2006, ISBN: 3-8325-1305-1. Abstract | Links | BibTeX | Tags: Autonome Robotik, Bewegungsplanung, Dynamische Systeme, Kinematik, Selbstorganisation @book{Iossifidis2006b, title = {Dynamische Systeme zur Steuerung anthropomorpher Roboterarme in autonomen Robotersystemen}, author = {Ioannis Iossifidis}, url = {http://www.logos-verlag.de/cgi-bin/engbuchmid?isbn=1305&lng=deu&id=}, isbn = {3-8325-1305-1}, year = {2006}, date = {2006-01-01}, pages = {160}, publisher = {Logos Verlag Berlin}, abstract = {Das übergeordnete Forschungsgebiet, in das sich die vorliegende Arbeit einbettet, befasst sich mit der Erforschung von informationsverabeitenden Prozessen im Gehirn und der Anwendung der resultierenden Erkenntnisse auf technische Systeme. In Analogie zu biologischen Systemen, deren Beschaffenheit aus den Anforderungen der Umwelt an ihr Verhalten resultiert, leitet sich die Anthropomorphie als Entwurfsprinzip für die Struktur des mit den Menschen interagierenden robotischen Assistenzsystemen ab. Der Autor behandelt in der vorliegende Arbeit das Problem der Erzeugung von Motorverhalten im dreidimensionalen Raum am Beispiel eines anthropomorphen Roboterarmes in einem anthropomorphen robotischen Assistenzsystem. Entwickelt wurde hierbei ein allgemeiner Ansatz, der die Konzepte der Erzeugung von Motorverhalten im 3D-Raum, der Voraussimulation dynamischer Systeme zur Systemdiagnose und zur Suche gewünschter Systemzustände, sowie ein Konzept der Organisation von Verhalten enthält und vereinigt. Nichtlineare dynamische Systeme bilden das mathematische Fundament, die einheitlich, formale Sprache des Ansatzes, mit der sowohl das Motorverhalten des Roboters als auch dessen zeitkontinuierliche Teilsysteme rückgekoppelt werden.}, keywords = {Autonome Robotik, Bewegungsplanung, Dynamische Systeme, Kinematik, Selbstorganisation}, pubstate = {published}, tppubtype = {book} } Das übergeordnete Forschungsgebiet, in das sich die vorliegende Arbeit einbettet, befasst sich mit der Erforschung von informationsverabeitenden Prozessen im Gehirn und der Anwendung der resultierenden Erkenntnisse auf technische Systeme. In Analogie zu biologischen Systemen, deren Beschaffenheit aus den Anforderungen der Umwelt an ihr Verhalten resultiert, leitet sich die Anthropomorphie als Entwurfsprinzip für die Struktur des mit den Menschen interagierenden robotischen Assistenzsystemen ab. Der Autor behandelt in der vorliegende Arbeit das Problem der Erzeugung von Motorverhalten im dreidimensionalen Raum am Beispiel eines anthropomorphen Roboterarmes in einem anthropomorphen robotischen Assistenzsystem. Entwickelt wurde hierbei ein allgemeiner Ansatz, der die Konzepte der Erzeugung von Motorverhalten im 3D-Raum, der Voraussimulation dynamischer Systeme zur Systemdiagnose und zur Suche gewünschter Systemzustände, sowie ein Konzept der Organisation von Verhalten enthält und vereinigt. Nichtlineare dynamische Systeme bilden das mathematische Fundament, die einheitlich, formale Sprache des Ansatzes, mit der sowohl das Motorverhalten des Roboters als auch dessen zeitkontinuierliche Teilsysteme rückgekoppelt werden. | |
2005 |
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I Iossifidis; A Steinhage Behavior generation for Anthropomorphic robots by means of dynamical systems Book 2005, ISSN: 16107438. @book{Iossifidis2005c, title = {Behavior generation for Anthropomorphic robots by means of dynamical systems}, author = {I Iossifidis and A Steinhage}, issn = {16107438}, year = {2005}, date = {2005-01-01}, booktitle = {Springer Tracts in Advanced Robotics}, volume = {14}, abstract = {This article describes the current state of our research on anthropomorphic robots. Our aim is to make the reader familiar with the two basic principles our work is based on: anthropomorphism and dynamics. The principle of anthropomorphism means a restriction to human-like robots which use version, audition and touch as their only sensors so that natural man-machine interaction is possible. The principle of dynamics stands for the mathematical framework based on which our robots generate their behavior. Both principles have their root in the idea that concepts of biological behavior and information processing can be exploited to control technical systems. textcopyright Springer-Verlag Berlin Heidelberg 2005.}, keywords = {}, pubstate = {published}, tppubtype = {book} } This article describes the current state of our research on anthropomorphic robots. Our aim is to make the reader familiar with the two basic principles our work is based on: anthropomorphism and dynamics. The principle of anthropomorphism means a restriction to human-like robots which use version, audition and touch as their only sensors so that natural man-machine interaction is possible. The principle of dynamics stands for the mathematical framework based on which our robots generate their behavior. Both principles have their root in the idea that concepts of biological behavior and information processing can be exploited to control technical systems. textcopyright Springer-Verlag Berlin Heidelberg 2005. | |
I Iossifidis; C Bruckhoff; C Theis; C Grote; C Faubel; G Schöner A cooperative robotic assistant for human environments Book 2005, ISSN: 16107438. @book{Iossifidis2005a, title = {A cooperative robotic assistant for human environments}, author = {I Iossifidis and C Bruckhoff and C Theis and C Grote and C Faubel and G Schöner}, issn = {16107438}, year = {2005}, date = {2005-01-01}, booktitle = {Springer Tracts in Advanced Robotics}, volume = {14}, abstract = {CoRA is a robotic assistant whose task is to collaborate with a human operator on simple manipulation or handling tasks. Its sensory channels comprising vision, audition, haptics, and force sensing are used to extract perceptual information about speech, gestures and gaze of the operator, and object recognition. The anthropomorphic robot arm makes goal-directed movements to pick up and hand-over objects. The human operator may mechanically interact with the arm by pushing it away (haptics) or by taking an object out of the robot's gripper (force sensing). The design objective has been to exploit the human operator's intuition by modeling the mechanical structure, the senses, and the behaviors of the assistant on human anatomy, human perception, and human motor behavior. textcopyright Springer-Verlag Berlin Heidelberg 2005.}, keywords = {}, pubstate = {published}, tppubtype = {book} } CoRA is a robotic assistant whose task is to collaborate with a human operator on simple manipulation or handling tasks. Its sensory channels comprising vision, audition, haptics, and force sensing are used to extract perceptual information about speech, gestures and gaze of the operator, and object recognition. The anthropomorphic robot arm makes goal-directed movements to pick up and hand-over objects. The human operator may mechanically interact with the arm by pushing it away (haptics) or by taking an object out of the robot's gripper (force sensing). The design objective has been to exploit the human operator's intuition by modeling the mechanical structure, the senses, and the behaviors of the assistant on human anatomy, human perception, and human motor behavior. textcopyright Springer-Verlag Berlin Heidelberg 2005. | |
I Iossifidis; G Lawitzky; S Knoop; R Zöllner Towards benchmarking of domestic robotic assistants Book 2005, ISSN: 16107438. @book{Iossifidis2005b, title = {Towards benchmarking of domestic robotic assistants}, author = {I Iossifidis and G Lawitzky and S Knoop and R Zöllner}, issn = {16107438}, year = {2005}, date = {2005-01-01}, booktitle = {Springer Tracts in Advanced Robotics}, volume = {14}, abstract = {As service robotics research advances rapidly, availability of objective, reproducible test specifications and evaluation criteria and also of benchmarking is more and more felt to be desirable in the community. As a first step towards benchmarking, in this paper we propose a formalization of tests - exemplified for domestic grasp & place tasks. The underlying philosophy of our approach is to confront the robot system in a black-box manner with requirements of a "rational customer", and characterize the performance of the system in an objective way by the outcomes of a test-suite tailored to this scenario. A formalized single test description consists of a clear and reproducible specification of the robot's task and the full context on the one hand, and a number of figures which objectively characterize the test result on the other hand. We illustrate this methodology for the domestic assistance scenario. textcopyright Springer-Verlag Berlin Heidelberg 2005.}, keywords = {}, pubstate = {published}, tppubtype = {book} } As service robotics research advances rapidly, availability of objective, reproducible test specifications and evaluation criteria and also of benchmarking is more and more felt to be desirable in the community. As a first step towards benchmarking, in this paper we propose a formalization of tests - exemplified for domestic grasp & place tasks. The underlying philosophy of our approach is to confront the robot system in a black-box manner with requirements of a "rational customer", and characterize the performance of the system in an objective way by the outcomes of a test-suite tailored to this scenario. A formalized single test description consists of a clear and reproducible specification of the robot's task and the full context on the one hand, and a number of figures which objectively characterize the test result on the other hand. We illustrate this methodology for the domestic assistance scenario. textcopyright Springer-Verlag Berlin Heidelberg 2005. | |
2004 |
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Erwin Prassler; Gisbert Lawitzky; Andreas Stopp; Gerhard Grunwald; Martin Hägele; Rüdiger Dillmann; Ioannis Iossifidis Advances in Human Robot Interaction (Springer Tracts in Advanced Robotics) Book Springer, 2004, ISBN: 3540232117. @book{Prassler2004, title = {Advances in Human Robot Interaction (Springer Tracts in Advanced Robotics)}, author = {Erwin Prassler and Gisbert Lawitzky and Andreas Stopp and Gerhard Grunwald and Martin Hägele and Rüdiger Dillmann and Ioannis Iossifidis}, url = {http://www.amazon.co.uk/Advances-Interaction-Springer-Advanced-Robotics/dp/3540232117}, isbn = {3540232117}, year = {2004}, date = {2004-01-01}, pages = {414}, publisher = {Springer}, keywords = {}, pubstate = {published}, tppubtype = {book} } | |
Ioannis Iossifidis; Gregor Schöner Attractor dynamics approach for autonomous collision-free path generation in 3d-space for an 7 dof robot arm Inproceedings Proceedings of the ROBOTIK 2004, Leistungsstand - Anwendungen - Visionen - Trends, number 1841 in VDI-Berichte, pp. 815–822, VDI/VDE VDI Verlag, München, Germany, 2004. BibTeX | Tags: @inproceedings{Iossifidis2004a, title = {Attractor dynamics approach for autonomous collision-free path generation in 3d-space for an 7 dof robot arm}, author = {Ioannis Iossifidis and Gregor Schöner}, year = {2004}, date = {2004-01-01}, booktitle = {Proceedings of the ROBOTIK 2004, Leistungsstand - Anwendungen - Visionen - Trends, number 1841 in VDI-Berichte}, pages = {815--822}, publisher = {VDI Verlag}, address = {München, Germany}, organization = {VDI/VDE}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } | |
Ioannis Iossifidis; Carsten Bruckhoff; Christoph Theis; Claudia Grote; Christian Faubel; Gregor Schöner A Cooperative Robot Assistant CoRA For Human Environments Incollection Prassler, Erwin; Lawitzky, Gisbert; Stopp, Andreas; Grunwald, Gerhard; Hägele, Martin; Dillmann, Rüdiger; Iossifidis, Ioannis (Ed.): Advances in Human Robot Interaction, 14/2004 (ISBN: 3-540-23211-7,), pp. 385–401, Springer Press, 2004, ISBN: 3-540-23211-7,. Abstract | Links | BibTeX | Tags: @incollection{Iossifidis2004d, title = {A Cooperative Robot Assistant CoRA For Human Environments}, author = {Ioannis Iossifidis and Carsten Bruckhoff and Christoph Theis and Claudia Grote and Christian Faubel and Gregor Schöner}, editor = {Erwin Prassler and Gisbert Lawitzky and Andreas Stopp and Gerhard Grunwald and Martin Hägele and Rüdiger Dillmann and Ioannis Iossifidis}, url = {http://www.springerlink.com/index/91656F7B99CD2C2C}, doi = {10.1007/b97960}, isbn = {3-540-23211-7,}, year = {2004}, date = {2004-01-01}, booktitle = {Advances in Human Robot Interaction}, volume = {14/2004}, number = {ISBN: 3-540-23211-7,}, pages = {385--401}, publisher = {Springer Press}, chapter = {7}, series = {Springer Tracts in Advanced Robotics STAR}, abstract = {CoRA is a robotic assistant whose task is to collaborate with a human operator on simple manipulation or handling tasks. Its sensory channels comprising vision, audition, haptics, and force sensing are used to extract perceptual information about speech, gestures and gaze of the operator, and object recognition. The anthropomorphic robot arm makes goal-directed movements to pick up and hand-over objects. The human operator may mechanically interact with the arm by pushing it away (haptics) or by taking an object out of the robotrsquos gripper (force sensing). The design objective has been to exploit the human operatorrsquos intuition by modeling the mechanical structure, the senses, and the behaviors of the assistant on human anatomy, human perception, and human motor behavior.}, keywords = {}, pubstate = {published}, tppubtype = {incollection} } CoRA is a robotic assistant whose task is to collaborate with a human operator on simple manipulation or handling tasks. Its sensory channels comprising vision, audition, haptics, and force sensing are used to extract perceptual information about speech, gestures and gaze of the operator, and object recognition. The anthropomorphic robot arm makes goal-directed movements to pick up and hand-over objects. The human operator may mechanically interact with the arm by pushing it away (haptics) or by taking an object out of the robotrsquos gripper (force sensing). The design objective has been to exploit the human operatorrsquos intuition by modeling the mechanical structure, the senses, and the behaviors of the assistant on human anatomy, human perception, and human motor behavior. | |
Ioannis Iossifidis; Axel Steinhage Behavior Generation For Anthropomorphic Robots by Means of Dynamical Systems Incollection Prassler, Erwin; Lawitzky, Gisbert; Stopp, Andreas; Grunwald, Gerhard; Hägele, Martin; Dillmann, Rüdiger; Iossifidis, Ioannis (Ed.): Advances in Human Robot Interaction, 14/2004 (ISBN: 3-540-23211-7,), pp. 269–300, Springer Press, 2004, ISBN: 3-540-23211-7,. Abstract | Links | BibTeX | Tags: @incollection{Iossifidis2004c, title = {Behavior Generation For Anthropomorphic Robots by Means of Dynamical Systems}, author = {Ioannis Iossifidis and Axel Steinhage}, editor = {Erwin Prassler and Gisbert Lawitzky and Andreas Stopp and Gerhard Grunwald and Martin Hägele and Rüdiger Dillmann and Ioannis Iossifidis}, url = {http://www.springerlink.com/index/96DD6AB012CF71E7}, doi = {0.1007/b97960}, isbn = {3-540-23211-7,}, year = {2004}, date = {2004-01-01}, booktitle = {Advances in Human Robot Interaction}, volume = {14/2004}, number = {ISBN: 3-540-23211-7,}, pages = {269--300}, publisher = {Springer Press}, chapter = {6}, series = {Springer Tracts in Advanced Robotics STAR}, abstract = {This article describes the current state of our research on anthropomorphic robots. Our aim is to make the reader familiar with the two basic principles our work is based on: anthropomorphism and dynamics. The principle of anthropomorphism means a restriction to human-like robots which use version, audition and touch as their only sensors so that natural man-machine interaction is possible. The principle of dynamics stands for the mathematical framework based on which our robots generate their behavior. Both principles have their root in the idea that concepts of biological behavior and information processing can be exploited to control technical systems.}, keywords = {}, pubstate = {published}, tppubtype = {incollection} } This article describes the current state of our research on anthropomorphic robots. Our aim is to make the reader familiar with the two basic principles our work is based on: anthropomorphism and dynamics. The principle of anthropomorphism means a restriction to human-like robots which use version, audition and touch as their only sensors so that natural man-machine interaction is possible. The principle of dynamics stands for the mathematical framework based on which our robots generate their behavior. Both principles have their root in the idea that concepts of biological behavior and information processing can be exploited to control technical systems. | |
Erwin Prassler; Gisbert Lawitzky; Andreas Stopp; Gerhard Grunwald; Martin Hägele; Rüdiger Dillmann; Ioannis Iossifidis Advances in Human Robot Interaction Book Springer Press, 2004. Abstract | Links | BibTeX | Tags: @book{Prassler2004b, title = {Advances in Human Robot Interaction}, author = {Erwin Prassler and Gisbert Lawitzky and Andreas Stopp and Gerhard Grunwald and Martin Hägele and Rüdiger Dillmann and Ioannis Iossifidis}, editor = {Erwin Prassler and Gisbert Lawitzky and Andreas Stopp and Gerhard Grunwald and Martin Hägele and Rüdiger Dillmann and Ioannis Iossifidis}, url = {http://www.springeronline.com/sgw/cda/frontpage/0,11855,5-102-22-35029562-0,00.html?changeHeader=true}, year = {2004}, date = {2004-01-01}, booktitle = {Advances in Human Robot Interaction}, volume = {14/2004}, pages = {414}, publisher = {Springer Press}, series = {Springer Tracts in Advanced Robotics STAR}, abstract = {Human Robot Interaction and Cooperation Motion Coordination Multi-Modal Robot Interfaces Physical Interaction between Humans and Robots Robot Learning Visual Instruction of Robots}, keywords = {}, pubstate = {published}, tppubtype = {book} } Human Robot Interaction and Cooperation Motion Coordination Multi-Modal Robot Interfaces Physical Interaction between Humans and Robots Robot Learning Visual Instruction of Robots | |
Ioannis Iossifidis; Gregor Schöner; Gregor Schoner Proc. IEEE International Conference on Robotics and Automation ICRA '04, pp. 4295––4300 Vol.5, 2004, ISSN: 1050-4729. Abstract | Links | BibTeX | Tags: anthropomorphic arm, attractor dynamics, autonomous reaching, collision avoidance, end effector shift, end effectors, man machine interaction, manipulator dynamics, obstacle avoidance, robotic assistant, time varying environment, time-varying systems @inproceedings{Iossifidis2004b, title = {Autonomous reaching and obstacle avoidance with the anthropomorphic arm of a robotic assistant using the attractor dynamics approach}, author = {Ioannis Iossifidis and Gregor Schöner and Gregor Schoner}, doi = {10.1109/ROBOT.2004.1302393}, issn = {1050-4729}, year = {2004}, date = {2004-01-01}, booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA '04}, volume = {5}, pages = {4295----4300 Vol.5}, abstract = {To enable a robotic assistant to autonomously reach for and transport objects while avoiding obstacles we have generalized the attractor dynamics approach established for vehicles to trajectory formation in robot arms. This approach is able to deal with the time-varying environments that occur when a human operator moves in a shared workspace. Stable fixed points (attractors) for the heading direction of the end-effector shift during movement and are being tracked by the system. This enables the attractor dynamics approach to avoid the spurious states that hamper potential field methods. Separating planning and control computationally, the approach is also simpler to implement. The stability properties of the movement plan make it possible to deal with fluctuating and imprecise sensory information. We implement this approach on a seven degree of freedom anthropomorphic arm reaching for objects on a working surface. We use an exact solution of the inverse kinematics, which enables us to steer the spatial position of the elbow clear of obstacles. The straight-line trajectories of the end-effector that emerge as long as the arm is far from obstacles make the movement goals of the robotic assistant predictable for the human operator, improving man-machine interaction.}, keywords = {anthropomorphic arm, attractor dynamics, autonomous reaching, collision avoidance, end effector shift, end effectors, man machine interaction, manipulator dynamics, obstacle avoidance, robotic assistant, time varying environment, time-varying systems}, pubstate = {published}, tppubtype = {inproceedings} } To enable a robotic assistant to autonomously reach for and transport objects while avoiding obstacles we have generalized the attractor dynamics approach established for vehicles to trajectory formation in robot arms. This approach is able to deal with the time-varying environments that occur when a human operator moves in a shared workspace. Stable fixed points (attractors) for the heading direction of the end-effector shift during movement and are being tracked by the system. This enables the attractor dynamics approach to avoid the spurious states that hamper potential field methods. Separating planning and control computationally, the approach is also simpler to implement. The stability properties of the movement plan make it possible to deal with fluctuating and imprecise sensory information. We implement this approach on a seven degree of freedom anthropomorphic arm reaching for objects on a working surface. We use an exact solution of the inverse kinematics, which enables us to steer the spatial position of the elbow clear of obstacles. The straight-line trajectories of the end-effector that emerge as long as the arm is far from obstacles make the movement goals of the robotic assistant predictable for the human operator, improving man-machine interaction. | |
Ioannis Iossifidis; Gisbert Lawitzky; Stephan Knoop; Raoul Zöllner Towards Benchmarking of Domestic Robotic Assistants Incollection Prassler, Erwin; Lawitzky, Gisbert; Stopp, Andreas; Grunwald, Gerhard; Hägele, Martin; Dillmann, Rüdiger; Iossifidis, Ioannis (Ed.): Advances in Human Robot Interaction, 14/2004 (ISBN: 3-540-23211-7,), pp. 403–414, Springer Press, 2004. Abstract | Links | BibTeX | Tags: @incollection{Iossifidis2004cb, title = {Towards Benchmarking of Domestic Robotic Assistants}, author = {Ioannis Iossifidis and Gisbert Lawitzky and Stephan Knoop and Raoul Zöllner}, editor = {Erwin Prassler and Gisbert Lawitzky and Andreas Stopp and Gerhard Grunwald and Martin Hägele and Rüdiger Dillmann and Ioannis Iossifidis}, url = {http://www.springerlink.com/index/AB4F63B9DADFE299}, year = {2004}, date = {2004-01-01}, booktitle = {Advances in Human Robot Interaction}, volume = {14/2004}, number = {ISBN: 3-540-23211-7,}, pages = {403--414}, publisher = {Springer Press}, chapter = {7}, series = {Springer Tracts in Advanced Robotics STAR}, abstract = {As service robotics research advances rapidly, availability of objective, reproducible test specifications and evaluation criteria and also of benchmarking is more and more felt to be desirable in the community. As a first step towards benchmarking, in this paper we propose a formalization of tests - exemplified for domestic grasp&place tasks. The underlying philosophy of our approach is to confront the robot system in a black-box manner with requirements of a ldquorational customerrdquo, and characterize the performance of the system in an objective way by the outcomes of a test-suite tailored to this scenario. A formalized single test description consists of a clear and reproducible specification of the robotrsquos task and the full context on the one hand, and a number of figures which objectively characterize the test result on the other hand. We illustrate this methodology for the domestic assistance scenario.}, keywords = {}, pubstate = {published}, tppubtype = {incollection} } As service robotics research advances rapidly, availability of objective, reproducible test specifications and evaluation criteria and also of benchmarking is more and more felt to be desirable in the community. As a first step towards benchmarking, in this paper we propose a formalization of tests - exemplified for domestic grasp&place tasks. The underlying philosophy of our approach is to confront the robot system in a black-box manner with requirements of a ldquorational customerrdquo, and characterize the performance of the system in an objective way by the outcomes of a test-suite tailored to this scenario. A formalized single test description consists of a clear and reproducible specification of the robotrsquos task and the full context on the one hand, and a number of figures which objectively characterize the test result on the other hand. We illustrate this methodology for the domestic assistance scenario. | |
2003 |
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I Iossifidis; C Theis; C Grote; C Faubel; G Schöner Anthropomorphism as a pervasive design concept for a robotic assistant Inproceedings Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453), pp. 3465–3472, IEEE, 2003, ISBN: 0-7803-7860-1. Abstract | Links | BibTeX | Tags: @inproceedings{Iossifidis2003, title = {Anthropomorphism as a pervasive design concept for a robotic assistant}, author = {I Iossifidis and C Theis and C Grote and C Faubel and G Schöner}, doi = {10.1109/IROS.2003.1249692}, isbn = {0-7803-7860-1}, year = {2003}, date = {2003-01-01}, booktitle = {Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)}, volume = {4}, pages = {3465--3472}, publisher = {IEEE}, abstract = {CORA is a robotic assistant whose task is to collaborate with a human operator on simple manipulation or handling tasks. Its sensory channels comprising vision, audition, haptics, and force sensing are used to extract perceptual information about speech, gestures and gaze of the operator, and object recognition. The anthropomorphic robot arm makes goal-directed movements to pick up and hand over objects. The human operator may mechanically interact with the arm by pushing it away (haptics) or by taking an object out of the robot's gripper (force sensing). The design objective has been to exploit the human operator's intuition by modeling the mechanical structure, the senses, and the behaviors of the assistant on human anatomy, human perception, and human motor behavior.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } CORA is a robotic assistant whose task is to collaborate with a human operator on simple manipulation or handling tasks. Its sensory channels comprising vision, audition, haptics, and force sensing are used to extract perceptual information about speech, gestures and gaze of the operator, and object recognition. The anthropomorphic robot arm makes goal-directed movements to pick up and hand over objects. The human operator may mechanically interact with the arm by pushing it away (haptics) or by taking an object out of the robot's gripper (force sensing). The design objective has been to exploit the human operator's intuition by modeling the mechanical structure, the senses, and the behaviors of the assistant on human anatomy, human perception, and human motor behavior. | |
Ioannis Iossifidis; Christoph Theis; Claudia Grote; Christian Faubel; Gregor Schoner Anthropomorphism as a pervasive design concept for a robotic assistant Inproceedings Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), pp. 3465––3472 vol.3, 2003. Abstract | Links | BibTeX | Tags: anthropomorphic robot arm, anthropomorphism, force sensing, grippers, human anatomy, human motor behavior, human operators intuition, human perception, man-machine systems, manipulators, mechanical structure modeling, object recognition, operators gaze, operators gesture, pervasive design, robot vision, robotic assistant, robots gripper, sensory channels, user modelling @inproceedings{Iossifidis2003b, title = {Anthropomorphism as a pervasive design concept for a robotic assistant}, author = {Ioannis Iossifidis and Christoph Theis and Claudia Grote and Christian Faubel and Gregor Schoner}, doi = {10.1109/IROS.2003.1249692}, year = {2003}, date = {2003-01-01}, booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003)}, volume = {4}, pages = {3465----3472 vol.3}, abstract = {CORA is a robotic assistant whose task is to collaborate with a human operator on simple manipulation or handling tasks. Its sensory channels comprising vision, audition, haptics, and force sensing are used to extract perceptual information about speech, gestures and gaze of the operator, and object recognition. The anthropomorphic robot arm makes goal-directed movements to pick up and hand over objects. The human operator may mechanically interact with the arm by pushing it away (haptics) or by taking an object out of the robot's gripper (force sensing). The design objective has been to exploit the human operator's intuition by modeling the mechanical structure, the senses, and the behaviors of the assistant on human anatomy, human perception, and human motor behavior.}, keywords = {anthropomorphic robot arm, anthropomorphism, force sensing, grippers, human anatomy, human motor behavior, human operators intuition, human perception, man-machine systems, manipulators, mechanical structure modeling, object recognition, operators gaze, operators gesture, pervasive design, robot vision, robotic assistant, robots gripper, sensory channels, user modelling}, pubstate = {published}, tppubtype = {inproceedings} } CORA is a robotic assistant whose task is to collaborate with a human operator on simple manipulation or handling tasks. Its sensory channels comprising vision, audition, haptics, and force sensing are used to extract perceptual information about speech, gestures and gaze of the operator, and object recognition. The anthropomorphic robot arm makes goal-directed movements to pick up and hand over objects. The human operator may mechanically interact with the arm by pushing it away (haptics) or by taking an object out of the robot's gripper (force sensing). The design objective has been to exploit the human operator's intuition by modeling the mechanical structure, the senses, and the behaviors of the assistant on human anatomy, human perception, and human motor behavior. | |
2002 |
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Ioannis. Iossifidis; Carsten Bruckhoff; Christoph Theis; Claudia Grote; Christian Faubel; Gregor Schoner CORA: An anthropomorphic robot assistant for human environment Inproceedings Proc. 11th IEEE International Workshop on Robot and Human Interactive Communication, pp. 392–398, 2002. Abstract | Links | BibTeX | Tags: assembling, Cooperative Robot Assistant, CORA, gesture recognition, haptic interfaces, household, industrial assembly, manipulators, object recognition, robot assistant, robots, speech recognition @inproceedings{Iossifidis2002a, title = {CORA: An anthropomorphic robot assistant for human environment}, author = {Ioannis. Iossifidis and Carsten Bruckhoff and Christoph Theis and Claudia Grote and Christian Faubel and Gregor Schoner}, doi = {10.1109/ROMAN.2002.1045654}, year = {2002}, date = {2002-01-01}, booktitle = {Proc. 11th IEEE International Workshop on Robot and Human Interactive Communication}, pages = {392--398}, abstract = {We describe the general concept, system architecture, hardware, and the behavioral abilities of CORA (Cooperative Robot Assistant), an autonomous nonmobile robot assistant. Outgoing from our basic assumption that the behavior to perform determines the internal and external structure of the behaving system, we have designed CORA anthropomorphic to allow for humanlike behavioral strategies in solving complex tasks. Although CORA was built as a prototype of a service robot system to assist a human partner in industrial assembly tasks, we will show that CORA's behavioral abilities are also conferrable in a household environment. After the description of the hardware platform and the basic concepts of our approach, we present some experimental results by means of an assembly task.}, keywords = {assembling, Cooperative Robot Assistant, CORA, gesture recognition, haptic interfaces, household, industrial assembly, manipulators, object recognition, robot assistant, robots, speech recognition}, pubstate = {published}, tppubtype = {inproceedings} } We describe the general concept, system architecture, hardware, and the behavioral abilities of CORA (Cooperative Robot Assistant), an autonomous nonmobile robot assistant. Outgoing from our basic assumption that the behavior to perform determines the internal and external structure of the behaving system, we have designed CORA anthropomorphic to allow for humanlike behavioral strategies in solving complex tasks. Although CORA was built as a prototype of a service robot system to assist a human partner in industrial assembly tasks, we will show that CORA's behavioral abilities are also conferrable in a household environment. After the description of the hardware platform and the basic concepts of our approach, we present some experimental results by means of an assembly task. | |
I Iossifidis; A Steinhage Controlling a redundant robot arm by means of a haptic sensor Book 2002, ISSN: 00835560. Abstract | BibTeX | Tags: Artificial skin, Inverse kinematics, Man-machine-interaction, Robot manipulator control @book{Iossifidis2002d, title = {Controlling a redundant robot arm by means of a haptic sensor}, author = {I Iossifidis and A Steinhage}, issn = {00835560}, year = {2002}, date = {2002-01-01}, booktitle = {VDI Berichte}, number = {1679}, abstract = {This paper describes the hardware- and software-implementation of a touch-sensitive device on the manipulator arm of our anthropomorphic robot CORA. This so-called artificial skin is used to control the configuration of the manipulator while the robot is grasping for objects. By exploiting redundant degrees of freedom, this operator-induced movement constraint can be accounted for without changing the configuration of the end-effector.}, keywords = {Artificial skin, Inverse kinematics, Man-machine-interaction, Robot manipulator control}, pubstate = {published}, tppubtype = {book} } This paper describes the hardware- and software-implementation of a touch-sensitive device on the manipulator arm of our anthropomorphic robot CORA. This so-called artificial skin is used to control the configuration of the manipulator while the robot is grasping for objects. By exploiting redundant degrees of freedom, this operator-induced movement constraint can be accounted for without changing the configuration of the end-effector. | |
Ioannis Iossifidis; Axel Steinhage Controlling a Redundant Robot Arm by Means of a Haptic Sensor Inproceedings ROBOTIK 2002, Leistungsstand - Anwendungen - Visionen, pp. 269–274, VDI/VDE VDI Verlag, Ludwigsburg, Germany, 2002. Abstract | BibTeX | Tags: Artificial skin, Inverse kinematics, Man-machine-interaction, Robot manipulator control @inproceedings{Iossifidis2002c, title = {Controlling a Redundant Robot Arm by Means of a Haptic Sensor}, author = {Ioannis Iossifidis and Axel Steinhage}, year = {2002}, date = {2002-01-01}, booktitle = {ROBOTIK 2002, Leistungsstand - Anwendungen - Visionen}, pages = {269--274}, publisher = {VDI Verlag}, address = {Ludwigsburg, Germany}, organization = {VDI/VDE}, series = {VDI-Berichte 1679}, abstract = {Abstract This paper describes the hardware- and software-implementation of a touch-sensitive device on the manipulator arm of our anthropomorphic robot CORA. This so-called artificial skin is used to control the configuration of the manipulator while the robot is grasping for objects. By exploiting redundant degrees of freedom, this operator-induced movement constraint can be accounted for without changing the configuration of the end-effector.}, keywords = {Artificial skin, Inverse kinematics, Man-machine-interaction, Robot manipulator control}, pubstate = {published}, tppubtype = {inproceedings} } Abstract This paper describes the hardware- and software-implementation of a touch-sensitive device on the manipulator arm of our anthropomorphic robot CORA. This so-called artificial skin is used to control the configuration of the manipulator while the robot is grasping for objects. By exploiting redundant degrees of freedom, this operator-induced movement constraint can be accounted for without changing the configuration of the end-effector. | |
Ioannis Iossifidis CoRA, übernehmen Sie! Journal Article RUBIN, pp. 71–73, 2002. BibTeX | Tags: @article{Iossifidis2002cb, title = {CoRA, übernehmen Sie!}, author = {Ioannis Iossifidis}, year = {2002}, date = {2002-01-01}, journal = {RUBIN}, pages = {71--73}, keywords = {}, pubstate = {published}, tppubtype = {article} } | |
Ioannis Iossifidis Video Demonstration: Interactive grasping Miscellaneous http://www.ini.rub.de /thbio/group/robotic/video4.rm, 2002. @misc{Iossifidis2002b, title = {Video Demonstration: Interactive grasping}, author = {Ioannis Iossifidis}, url = {http://www.ini.rub.de/thbio/group/robotic/video4.rm}, year = {2002}, date = {2002-01-01}, howpublished = {http://www.ini.rub.de /thbio/group/robotic/video4.rm}, keywords = {}, pubstate = {published}, tppubtype = {misc} } | |
I Iossifidis; C Bruckhoff; C Theis; C Grote; C Faubel; G Schöner CORA: An anthropomorphic robot assistant for human environment Inproceedings Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication, pp. 392–398, IEEE, 2002, ISBN: 0-7803-7545-9. Abstract | Links | BibTeX | Tags: @inproceedings{Iossifidis2002ab, title = {CORA: An anthropomorphic robot assistant for human environment}, author = {I Iossifidis and C Bruckhoff and C Theis and C Grote and C Faubel and G Schöner}, doi = {10.1109/ROMAN.2002.1045654}, isbn = {0-7803-7545-9}, year = {2002}, date = {2002-01-01}, booktitle = {Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication}, pages = {392--398}, publisher = {IEEE}, abstract = {We describe the general concept, system architecture, hardware, and the behavioral abilities of CORA (Cooperative Robot Assistant), an autonomous nonmobile robot assistant. Outgoing from our basic assumption that the behavior to perform determines the internal and external structure of the behaving system, we have designed CORA anthropomorphic to allow for humanlike behavioral strategies in solving complex tasks. Although CORA was built as a prototype of a service robot system to assist a human partner in industrial assembly tasks, we will show that CORA's behavioral abilities are also conferrable in a household environment. After the description of the hardware platform and the basic concepts of our approach, we present some experimental results by means of an assembly task.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } We describe the general concept, system architecture, hardware, and the behavioral abilities of CORA (Cooperative Robot Assistant), an autonomous nonmobile robot assistant. Outgoing from our basic assumption that the behavior to perform determines the internal and external structure of the behaving system, we have designed CORA anthropomorphic to allow for humanlike behavioral strategies in solving complex tasks. Although CORA was built as a prototype of a service robot system to assist a human partner in industrial assembly tasks, we will show that CORA's behavioral abilities are also conferrable in a household environment. After the description of the hardware platform and the basic concepts of our approach, we present some experimental results by means of an assembly task. | |
2001 |
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Christoph Theis; Ioannis Iossifidis; Axel Steinhage Image processing methods for interactive robot control Inproceedings Proc. 10th IEEE International Workshop on Robot and Human Interactive Communication, pp. 424–429, 2001. Abstract | Links | BibTeX | Tags: active stereo camera system, anthropomorphic assistance robot, human hand tracking, human pointing gesture, image processing, image processing methods, interactive robot control, multi-modal man-machine interaction system, robot dynamics, user interfaces @inproceedings{Theis2001, title = {Image processing methods for interactive robot control}, author = {Christoph Theis and Ioannis Iossifidis and Axel Steinhage}, doi = {10.1109/ROMAN.2001.981941}, year = {2001}, date = {2001-01-01}, booktitle = {Proc. 10th IEEE International Workshop on Robot and Human Interactive Communication}, pages = {424--429}, abstract = {In this paper we describe a straight forward technique for tracking a human hand based on images acquired by an active stereo camera system. We demonstrate the implementation of this method on an anthropomorphic assistance robot as part of a multi-modal man-machine interaction system: detecting the hand-position, the robot can interprete a human pointing gesture as the specification of a target object to grasp}, keywords = {active stereo camera system, anthropomorphic assistance robot, human hand tracking, human pointing gesture, image processing, image processing methods, interactive robot control, multi-modal man-machine interaction system, robot dynamics, user interfaces}, pubstate = {published}, tppubtype = {inproceedings} } In this paper we describe a straight forward technique for tracking a human hand based on images acquired by an active stereo camera system. We demonstrate the implementation of this method on an anthropomorphic assistance robot as part of a multi-modal man-machine interaction system: detecting the hand-position, the robot can interprete a human pointing gesture as the specification of a target object to grasp | |
Ioannis Iossifidis; Axel Steinhage Dynamical Systems: A Framework for Man Machine Interaction Inproceedings Kluev, V V; D'Attellis, C E; Mastorakis, N E (Ed.): Proceedings of the International Conference On Automation and Information: Theory and Applications 2001, (AITA 2001), WSES WSES Press, Skiathos Island, Greece, 2001. Abstract | BibTeX | Tags: Anthropomorphic Robot, Dynamic Approach, dynamical systems @inproceedings{Iossifidis2001b, title = {Dynamical Systems: A Framework for Man Machine Interaction}, author = {Ioannis Iossifidis and Axel Steinhage}, editor = {V V Kluev and C E D'Attellis and N E Mastorakis}, year = {2001}, date = {2001-01-01}, booktitle = {Proceedings of the International Conference On Automation and Information: Theory and Applications 2001, (AITA 2001)}, number = {ISBN:960-8052-44-0}, publisher = {WSES Press}, address = {Skiathos Island, Greece}, organization = {WSES}, abstract = {We present an architecture to generate behavior for anthropomorphic robots. The goal is to equip the robots with the capacity to interact naturally with a human sharing the same interaction- channels. Motivated by the research on biological systems, our basic assumption is that the behavior to perform determines the external and internal structure of the behaving system. We describe the anthropomorphic design of our robots and present a distributed control system that generates human- like navigation and manipulation behavior. As the mathematical framework for this purpose we have developed a control system which is entirely based on dynamical systems in the form of instantiated dynamics and neural fields.}, keywords = {Anthropomorphic Robot, Dynamic Approach, dynamical systems}, pubstate = {published}, tppubtype = {inproceedings} } We present an architecture to generate behavior for anthropomorphic robots. The goal is to equip the robots with the capacity to interact naturally with a human sharing the same interaction- channels. Motivated by the research on biological systems, our basic assumption is that the behavior to perform determines the external and internal structure of the behaving system. We describe the anthropomorphic design of our robots and present a distributed control system that generates human- like navigation and manipulation behavior. As the mathematical framework for this purpose we have developed a control system which is entirely based on dynamical systems in the form of instantiated dynamics and neural fields. | |
I Iossifidis; A Steinhage Dynamical systems: A framework for man machine interaction Book 2001, ISBN: 9608052440. Abstract | BibTeX | Tags: Anthropomorphic Robot, Dynamic Approach, dynamical systems @book{Iossifidis2001a, title = {Dynamical systems: A framework for man machine interaction}, author = {I Iossifidis and A Steinhage}, isbn = {9608052440}, year = {2001}, date = {2001-01-01}, booktitle = {Advances in Automation, Multimedia and Video Systems, and Modern Computer Science}, abstract = {We present an architecture to generate behavior for anthropomorphic robots. The goal is to equip the robots with the capacity to interact naturally with a human sharing the same interaction-channels. Motivated by the research on biological systems, our basic assumption is that the behavior to perform determines the external and internal structure of the behaving system. We describe the anthropomorphic design of our robots and present a distributed control system that generates human-like navigation and manipulation behavior. As the mathematical framework for this purpose we have developed a control system which is entirely based on dynamical systems in the form of instantiated dynamics and neural fields.}, keywords = {Anthropomorphic Robot, Dynamic Approach, dynamical systems}, pubstate = {published}, tppubtype = {book} } We present an architecture to generate behavior for anthropomorphic robots. The goal is to equip the robots with the capacity to interact naturally with a human sharing the same interaction-channels. Motivated by the research on biological systems, our basic assumption is that the behavior to perform determines the external and internal structure of the behaving system. We describe the anthropomorphic design of our robots and present a distributed control system that generates human-like navigation and manipulation behavior. As the mathematical framework for this purpose we have developed a control system which is entirely based on dynamical systems in the form of instantiated dynamics and neural fields. | |
Ioannis Iossifidis; Axel Steinhage Control of an 8 DoF Manipulator by Means of Neural Fields Inproceedings Halme, Aarne; Chatila, Raja; Prassler, Erwin (Ed.): Proceedings of the International Conference On Field and Service Robotics, FSR2001, Yleisjäljennös-Painopörssi, Helsinki, Finland, 2001. Abstract | BibTeX | Tags: Inverse kinematics, neural fields, Robot manipulator control @inproceedings{Iossifidis2001c, title = {Control of an 8 DoF Manipulator by Means of Neural Fields}, author = {Ioannis Iossifidis and Axel Steinhage}, editor = {Aarne Halme and Raja Chatila and Erwin Prassler}, year = {2001}, date = {2001-01-01}, booktitle = {Proceedings of the International Conference On Field and Service Robotics, FSR2001}, publisher = {Yleisjäljennös-Painopörssi}, address = {Helsinki, Finland}, abstract = {In this article we present a new approach for the control of a redundant robot arm. Our approach contains two parts: first, we have implemented a concept which deals with the underdetermined problem of the inverse kinematics of robot arms with more than six degrees of freedom. This concept guarantees a one-to-one mapping between the task coordinates (position and orientation) and the joint coordinates of the robot arm and allows to use the additional degrees of freedom for additional task requirements such as obstacle avoidance and smoothness of the trajectory. Second, we apply a mathe- matical concept known as neural fields to the control of the end-effector's position. The application of neural fields to the problem of trajectory generation solves two problems: a smooth end-effector trajec- tory is generated and obstacles are avoided. After presenting our hardware platform, an anthropomorphic assistance robot, we will describe the basic concepts of our approach.}, keywords = {Inverse kinematics, neural fields, Robot manipulator control}, pubstate = {published}, tppubtype = {inproceedings} } In this article we present a new approach for the control of a redundant robot arm. Our approach contains two parts: first, we have implemented a concept which deals with the underdetermined problem of the inverse kinematics of robot arms with more than six degrees of freedom. This concept guarantees a one-to-one mapping between the task coordinates (position and orientation) and the joint coordinates of the robot arm and allows to use the additional degrees of freedom for additional task requirements such as obstacle avoidance and smoothness of the trajectory. Second, we apply a mathe- matical concept known as neural fields to the control of the end-effector's position. The application of neural fields to the problem of trajectory generation solves two problems: a smooth end-effector trajec- tory is generated and obstacles are avoided. After presenting our hardware platform, an anthropomorphic assistance robot, we will describe the basic concepts of our approach. | |
C Theis; I Iossifidis; A Steinhage Image processing methods for interactive robot control Inproceedings Proceedings 10th IEEE International Workshop on Robot and Human Interactive Communication. ROMAN 2001 (Cat. No.01TH8591), pp. 424–429, IEEE, 2001, ISBN: 0-7803-7222-0. Abstract | Links | BibTeX | Tags: @inproceedings{Theis2001b, title = {Image processing methods for interactive robot control}, author = {C Theis and I Iossifidis and A Steinhage}, url = {http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=981941}, doi = {10.1109/ROMAN.2001.981941}, isbn = {0-7803-7222-0}, year = {2001}, date = {2001-01-01}, booktitle = {Proceedings 10th IEEE International Workshop on Robot and Human Interactive Communication. ROMAN 2001 (Cat. No.01TH8591)}, pages = {424--429}, publisher = {IEEE}, abstract = {In this paper we describe a straight forward technique for tracking a human hand based on images acquired by an active stereo camera system. We demonstrate the implementation of this method on an anthropomorphic assistance robot as part of a multi-modal man-machine interaction system: detecting the hand-position, the robot can interprete a human pointing gesture as the specification of a target object to grasp}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } In this paper we describe a straight forward technique for tracking a human hand based on images acquired by an active stereo camera system. We demonstrate the implementation of this method on an anthropomorphic assistance robot as part of a multi-modal man-machine interaction system: detecting the hand-position, the robot can interprete a human pointing gesture as the specification of a target object to grasp | |
Werner von Seelen; Ioannis Iossifidis; Axel Steinhage Visually guided behavior of an autonomous robot with a neuronal architecture Inproceedings 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001, IEEE Banff, Canada, 2001. @inproceedings{Seelen2001, title = {Visually guided behavior of an autonomous robot with a neuronal architecture}, author = {Werner von Seelen and Ioannis Iossifidis and Axel Steinhage}, year = {2001}, date = {2001-01-01}, booktitle = {2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001}, address = {Banff, Canada}, organization = {IEEE}, series = {CIRA 2001, Workshop Vision-Based Object Recognition in Robotics}, abstract = {We constructed two Robot Systems. Both have a "neuronal architecture". The first (ARNOLD) is able to explore visually an unknown environement, to navigate in this environment and to use his 7DOF-arm to grasp and transport objects. The system can be guided by gestures and a limited set of spoken commands. The second system (CORA) is stationary and shall cooperate with a human at a production line in an interactive assembly process. Our contribution is focussed on to the vision problems. In both cases we use a 2DOF stereo camera system. The visual navigation is based on "place fields" obtained by correlating the current view with stored views captured at strategic points. This can be combined with a trajectory finding on the basis of nonlinear dynamics. Obstacles are avoided by repellors in the trajectory-equation and by inverse perspective mapping. Position and form of objects are evaluated in the sense of finding an appropriate grasping configuration for selected objects. The scene analysis in the CORA-system presupposes the estimation of the view-direction of the human partner. Than a limited set of objects can be detected and tracked if this is necessary (Hausdorff distance). The actual analysis of the entire scene relies on the relation of the detected objects to eachother within the environement, on the task to be fulfilled and on the step that is reached within the entire task. The different necessary estimations and detections within the sequences are coded in terms of Neural fields. In this way the visual perception, the interactive communication and the visually guided behaviour is realised in the same formate.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } We constructed two Robot Systems. Both have a "neuronal architecture". The first (ARNOLD) is able to explore visually an unknown environement, to navigate in this environment and to use his 7DOF-arm to grasp and transport objects. The system can be guided by gestures and a limited set of spoken commands. The second system (CORA) is stationary and shall cooperate with a human at a production line in an interactive assembly process. Our contribution is focussed on to the vision problems. In both cases we use a 2DOF stereo camera system. The visual navigation is based on "place fields" obtained by correlating the current view with stored views captured at strategic points. This can be combined with a trajectory finding on the basis of nonlinear dynamics. Obstacles are avoided by repellors in the trajectory-equation and by inverse perspective mapping. Position and form of objects are evaluated in the sense of finding an appropriate grasping configuration for selected objects. The scene analysis in the CORA-system presupposes the estimation of the view-direction of the human partner. Than a limited set of objects can be detected and tracked if this is necessary (Hausdorff distance). The actual analysis of the entire scene relies on the relation of the detected objects to eachother within the environement, on the task to be fulfilled and on the step that is reached within the entire task. The different necessary estimations and detections within the sequences are coded in terms of Neural fields. In this way the visual perception, the interactive communication and the visually guided behaviour is realised in the same formate. | |
1999 |
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Ioannis Iossifidis Visuelle Navigation auf einem autonomen mobilen Roboter PhD Thesis Fakultät für Physik, Technische Universität Dortmund, 1999. BibTeX | Tags: @phdthesis{Iossifidis1999, title = {Visuelle Navigation auf einem autonomen mobilen Roboter}, author = {Ioannis Iossifidis}, year = {1999}, date = {1999-01-01}, school = {Fakultät für Physik, Technische Universität Dortmund}, keywords = {}, pubstate = {published}, tppubtype = {phdthesis} } | |
2006 |
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Reaching with a redundant anthropomorphic robot arm using attractor dynamics Incollection VDI Berichte, (1956), 2006, ISSN: 00835560. | |
Dynamische Systeme zur Steuerung anthropomorpher Roboterarme in autonomen Robotersystemen Book Logos Verlag Berlin, 2006, ISBN: 3-8325-1305-1. | |
2005 |
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Behavior generation for Anthropomorphic robots by means of dynamical systems Book 2005, ISSN: 16107438. | |
A cooperative robotic assistant for human environments Book 2005, ISSN: 16107438. | |
Towards benchmarking of domestic robotic assistants Book 2005, ISSN: 16107438. | |
2004 |
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Advances in Human Robot Interaction (Springer Tracts in Advanced Robotics) Book Springer, 2004, ISBN: 3540232117. | |
Attractor dynamics approach for autonomous collision-free path generation in 3d-space for an 7 dof robot arm Inproceedings Proceedings of the ROBOTIK 2004, Leistungsstand - Anwendungen - Visionen - Trends, number 1841 in VDI-Berichte, pp. 815–822, VDI/VDE VDI Verlag, München, Germany, 2004. | |
A Cooperative Robot Assistant CoRA For Human Environments Incollection Prassler, Erwin; Lawitzky, Gisbert; Stopp, Andreas; Grunwald, Gerhard; Hägele, Martin; Dillmann, Rüdiger; Iossifidis, Ioannis (Ed.): Advances in Human Robot Interaction, 14/2004 (ISBN: 3-540-23211-7,), pp. 385–401, Springer Press, 2004, ISBN: 3-540-23211-7,. | |
Behavior Generation For Anthropomorphic Robots by Means of Dynamical Systems Incollection Prassler, Erwin; Lawitzky, Gisbert; Stopp, Andreas; Grunwald, Gerhard; Hägele, Martin; Dillmann, Rüdiger; Iossifidis, Ioannis (Ed.): Advances in Human Robot Interaction, 14/2004 (ISBN: 3-540-23211-7,), pp. 269–300, Springer Press, 2004, ISBN: 3-540-23211-7,. | |
Advances in Human Robot Interaction Book Springer Press, 2004. | |
Proc. IEEE International Conference on Robotics and Automation ICRA '04, pp. 4295––4300 Vol.5, 2004, ISSN: 1050-4729. | |
Towards Benchmarking of Domestic Robotic Assistants Incollection Prassler, Erwin; Lawitzky, Gisbert; Stopp, Andreas; Grunwald, Gerhard; Hägele, Martin; Dillmann, Rüdiger; Iossifidis, Ioannis (Ed.): Advances in Human Robot Interaction, 14/2004 (ISBN: 3-540-23211-7,), pp. 403–414, Springer Press, 2004. | |
2003 |
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Anthropomorphism as a pervasive design concept for a robotic assistant Inproceedings Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453), pp. 3465–3472, IEEE, 2003, ISBN: 0-7803-7860-1. | |
Anthropomorphism as a pervasive design concept for a robotic assistant Inproceedings Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), pp. 3465––3472 vol.3, 2003. | |
2002 |
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CORA: An anthropomorphic robot assistant for human environment Inproceedings Proc. 11th IEEE International Workshop on Robot and Human Interactive Communication, pp. 392–398, 2002. | |
Controlling a redundant robot arm by means of a haptic sensor Book 2002, ISSN: 00835560. | |
Controlling a Redundant Robot Arm by Means of a Haptic Sensor Inproceedings ROBOTIK 2002, Leistungsstand - Anwendungen - Visionen, pp. 269–274, VDI/VDE VDI Verlag, Ludwigsburg, Germany, 2002. | |
CoRA, übernehmen Sie! Journal Article RUBIN, pp. 71–73, 2002. | |
Video Demonstration: Interactive grasping Miscellaneous http://www.ini.rub.de /thbio/group/robotic/video4.rm, 2002. | |
CORA: An anthropomorphic robot assistant for human environment Inproceedings Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication, pp. 392–398, IEEE, 2002, ISBN: 0-7803-7545-9. | |
2001 |
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Image processing methods for interactive robot control Inproceedings Proc. 10th IEEE International Workshop on Robot and Human Interactive Communication, pp. 424–429, 2001. | |
Dynamical Systems: A Framework for Man Machine Interaction Inproceedings Kluev, V V; D'Attellis, C E; Mastorakis, N E (Ed.): Proceedings of the International Conference On Automation and Information: Theory and Applications 2001, (AITA 2001), WSES WSES Press, Skiathos Island, Greece, 2001. | |
Dynamical systems: A framework for man machine interaction Book 2001, ISBN: 9608052440. | |
Control of an 8 DoF Manipulator by Means of Neural Fields Inproceedings Halme, Aarne; Chatila, Raja; Prassler, Erwin (Ed.): Proceedings of the International Conference On Field and Service Robotics, FSR2001, Yleisjäljennös-Painopörssi, Helsinki, Finland, 2001. | |
Image processing methods for interactive robot control Inproceedings Proceedings 10th IEEE International Workshop on Robot and Human Interactive Communication. ROMAN 2001 (Cat. No.01TH8591), pp. 424–429, IEEE, 2001, ISBN: 0-7803-7222-0. | |
Visually guided behavior of an autonomous robot with a neuronal architecture Inproceedings 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001, IEEE Banff, Canada, 2001. | |
1999 |
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Visuelle Navigation auf einem autonomen mobilen Roboter PhD Thesis Fakultät für Physik, Technische Universität Dortmund, 1999. | |