2013
Ioannis Iossifidis
Motion constraint satisfaction by means of closed form solution for redundant robot arms Proceedings Article
In: 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, pp. 2106–2111, 2013, ISBN: 978-1-4799-2744-9.
Abstract | Links | BibTeX | Tags: Autonomous robotics, Inverse kinematics, motion constraints, redundant robot
@inproceedings{Iossifidis2013b,
title = {Motion constraint satisfaction by means of closed form solution for redundant robot arms},
author = {Ioannis Iossifidis},
doi = {10.1109/ROBIO.2013.6739780},
isbn = {978-1-4799-2744-9},
year = {2013},
date = {2013-01-01},
booktitle = {2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013},
pages = {2106–2111},
abstract = {Generation of flexible goal directed movement describes the key skill of autonomous articulated robots. Critical points are still the acknowledgement of reaching and grasping task while satisfying static and dynamically changing constraints given by the environment or caused by the human operator in a collaborative situation. This means that the motion planning dynamics has to incorporate multiple contributions of different qualities which should be formulated in constraint specific reference frames and then transformed into the frame of joint velocities. Whereby the handling of the contribution to motion planning is determined by the solution of the inverse kinematics problem. In this work a closed form solution for the inverse kinematics problem for an eight degree of freedom arm is presented. The geometrical properties of the multi redundant arm and the resulting free parameter which determine it's null space motion are utilized to satisfy constraints of the desired motion. We implement this system on an eight DoF redundant manipulator and show its feasibility in a simulation. textcopyright 2013 IEEE.},
keywords = {Autonomous robotics, Inverse kinematics, motion constraints, redundant robot},
pubstate = {published},
tppubtype = {inproceedings}
}
Generation of flexible goal directed movement describes the key skill of autonomous articulated robots. Critical points are still the acknowledgement of reaching and grasping task while satisfying static and dynamically changing constraints given by the environment or caused by the human operator in a collaborative situation. This means that the motion planning dynamics has to incorporate multiple contributions of different qualities which should be formulated in constraint specific reference frames and then transformed into the frame of joint velocities. Whereby the handling of the contribution to motion planning is determined by the solution of the inverse kinematics problem. In this work a closed form solution for the inverse kinematics problem for an eight degree of freedom arm is presented. The geometrical properties of the multi redundant arm and the resulting free parameter which determine it's null space motion are utilized to satisfy constraints of the desired motion. We implement this system on an eight DoF redundant manipulator and show its feasibility in a simulation. textcopyright 2013 IEEE.
Ioannis Iossifidis
Motion Constraint Satisfaction by Means of Closed Form Solution for Redundant Robot Arms Proceedings Article
In: Proc. IEEE/RSJ International Conference on Robotics and Biomimetics (RoBio2013), 2013.
Abstract | BibTeX | Tags: Autonomous robotics, Inverse kinematics, motion constraints, redundant robot
@inproceedings{Iossifidis2013db,
title = {Motion Constraint Satisfaction by Means of Closed Form Solution for Redundant Robot Arms},
author = {Ioannis Iossifidis},
year = {2013},
date = {2013-01-01},
booktitle = {Proc. IEEE/RSJ International Conference on Robotics and Biomimetics (RoBio2013)},
abstract = {Autonomous robots with limited computational capacity call for control approaches that generate meaningful, goal-directed behavior without using a large amount of resources. The attractor dynamics approach to movement generation is a framework that links sensor data to motor commands via coupled dynamical systems that have attractors at behaviorally desired states. The low computational demands leave enough system resources for higher level function like forming a sequence of local goals to reach a distant one. The comparatively high performance of local behavior generation allows the global planning to be relatively simple.
In the present paper, we apply this approach to generate walking trajectories for a small humanoid robot, the Aldebaran Nao, that are goal-directed and avoid obstacles. The sensor information is a single camera in the head of the robot. The limited field of vision is compensated by head movements. The design of the dynamical system for motion generation and the choice of state variable makes a computationally expensive scene representation or local map building unnecessary.},
keywords = {Autonomous robotics, Inverse kinematics, motion constraints, redundant robot},
pubstate = {published},
tppubtype = {inproceedings}
}
Autonomous robots with limited computational capacity call for control approaches that generate meaningful, goal-directed behavior without using a large amount of resources. The attractor dynamics approach to movement generation is a framework that links sensor data to motor commands via coupled dynamical systems that have attractors at behaviorally desired states. The low computational demands leave enough system resources for higher level function like forming a sequence of local goals to reach a distant one. The comparatively high performance of local behavior generation allows the global planning to be relatively simple.
In the present paper, we apply this approach to generate walking trajectories for a small humanoid robot, the Aldebaran Nao, that are goal-directed and avoid obstacles. The sensor information is a single camera in the head of the robot. The limited field of vision is compensated by head movements. The design of the dynamical system for motion generation and the choice of state variable makes a computationally expensive scene representation or local map building unnecessary.
In the present paper, we apply this approach to generate walking trajectories for a small humanoid robot, the Aldebaran Nao, that are goal-directed and avoid obstacles. The sensor information is a single camera in the head of the robot. The limited field of vision is compensated by head movements. The design of the dynamical system for motion generation and the choice of state variable makes a computationally expensive scene representation or local map building unnecessary.
Ioannis Iossifidis
Motion Constraint Satisfaction by Means of Closed Form Solution for Redundant Robot Arms Proceedings Article
In: Proc. IEEE/RSJ International Conference on Robotics and Biomimetics (RoBio2013), 2013.
Abstract | BibTeX | Tags: Autonomous robotics, Inverse kinematics, motion constraints, redundant robot
@inproceedings{Iossifidis2013ab,
title = {Motion Constraint Satisfaction by Means of Closed Form Solution for Redundant Robot Arms},
author = {Ioannis Iossifidis},
year = {2013},
date = {2013-01-01},
booktitle = {Proc. IEEE/RSJ International Conference on Robotics and Biomimetics (RoBio2013)},
abstract = {Autonomous robots with limited computational capacity call for control approaches that generate meaningful, goal-directed behavior without using a large amount of resources. The attractor dynamics approach to movement generation is a framework that links sensor data to motor commands via coupled dynamical systems that have attractors at behaviorally desired states. The low computational demands leave enough system resources for higher level function like forming a sequence of local goals to reach a distant one. The comparatively high performance of local behavior generation allows the global planning to be relatively simple.
In the present paper, we apply this approach to generate walking trajectories for a small humanoid robot, the Aldebaran Nao, that are goal-directed and avoid obstacles. The sensor information is a single camera in the head of the robot. The limited field of vision is compensated by head movements. The design of the dynamical system for motion generation and the choice of state variable makes a computationally expensive scene representation or local map building unnecessary.},
keywords = {Autonomous robotics, Inverse kinematics, motion constraints, redundant robot},
pubstate = {published},
tppubtype = {inproceedings}
}
Autonomous robots with limited computational capacity call for control approaches that generate meaningful, goal-directed behavior without using a large amount of resources. The attractor dynamics approach to movement generation is a framework that links sensor data to motor commands via coupled dynamical systems that have attractors at behaviorally desired states. The low computational demands leave enough system resources for higher level function like forming a sequence of local goals to reach a distant one. The comparatively high performance of local behavior generation allows the global planning to be relatively simple.
In the present paper, we apply this approach to generate walking trajectories for a small humanoid robot, the Aldebaran Nao, that are goal-directed and avoid obstacles. The sensor information is a single camera in the head of the robot. The limited field of vision is compensated by head movements. The design of the dynamical system for motion generation and the choice of state variable makes a computationally expensive scene representation or local map building unnecessary.
In the present paper, we apply this approach to generate walking trajectories for a small humanoid robot, the Aldebaran Nao, that are goal-directed and avoid obstacles. The sensor information is a single camera in the head of the robot. The limited field of vision is compensated by head movements. The design of the dynamical system for motion generation and the choice of state variable makes a computationally expensive scene representation or local map building unnecessary.
2010
Hendrik Reimann; Ioannis Iossifidis; Gregor Schoner; Gregor Schöner
Integrating orientation constraints into the attractor dynamics approach for autonomous manipulation Proceedings Article
In: 2010 10th IEEE-RAS International Conference on Humanoid Robots, pp. 294–301, IEEE, 2010, ISBN: 978-1-4244-8688-5.
Abstract | Links | BibTeX | Tags: attractor dynamics approach, Autonomous robotics, dynamical systems, Inverse kinematics
@inproceedings{Reimann2010a,
title = {Integrating orientation constraints into the attractor dynamics approach for autonomous manipulation},
author = {Hendrik Reimann and Ioannis Iossifidis and Gregor Schoner and Gregor Schöner},
url = {http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5686349},
doi = {10.1109/ICHR.2010.5686349},
isbn = {978-1-4244-8688-5},
year = {2010},
date = {2010-12-01},
urldate = {2010-12-01},
booktitle = {2010 10th IEEE-RAS International Conference on Humanoid Robots},
pages = {294–301},
publisher = {IEEE},
abstract = {When autonomous robots generate behavior in complex environments they must satisfy multiple different constraints such as moving toward a target, avoidance of obstacles, or alignment of the gripper with a particular orientation. It is often convenient to represent each type of constraint in a specific reference frame, so that the satisfaction of all constraints requires transformation into a shared base frame. In the attractor dynamics approach, behavior is generated as an attractor solution of a dynamical system that is formulated in such a base frame to enable control. Each constraint contributes an attractive (for targets) or repulsive (for obstacles) component to the vector field. Here we show how these dynamic contributions can be formulated in different reference frames suited to each constraint and then be transformed and integrated within the base frame. Building on earlier work, we show how the orientation of the gripper can be integrated with other constraints on the movement of the manipulator. We also show, how an attractor dynamics of “neural” activation variables can be designed that activates and deactivates the different contributions to the vector field over time to generate a sequence of component movements. As a demonstration, we treat a manipulation task in which grasping oblong cylindrical objects is decomposed into an ensemble of separate constraints that are integrated and resolved using the attractor dynamics approach. The system is implemented on the small humanoid robot Nao, and illustrated in two exemplary movement tasks.},
keywords = {attractor dynamics approach, Autonomous robotics, dynamical systems, Inverse kinematics},
pubstate = {published},
tppubtype = {inproceedings}
}
When autonomous robots generate behavior in complex environments they must satisfy multiple different constraints such as moving toward a target, avoidance of obstacles, or alignment of the gripper with a particular orientation. It is often convenient to represent each type of constraint in a specific reference frame, so that the satisfaction of all constraints requires transformation into a shared base frame. In the attractor dynamics approach, behavior is generated as an attractor solution of a dynamical system that is formulated in such a base frame to enable control. Each constraint contributes an attractive (for targets) or repulsive (for obstacles) component to the vector field. Here we show how these dynamic contributions can be formulated in different reference frames suited to each constraint and then be transformed and integrated within the base frame. Building on earlier work, we show how the orientation of the gripper can be integrated with other constraints on the movement of the manipulator. We also show, how an attractor dynamics of “neural” activation variables can be designed that activates and deactivates the different contributions to the vector field over time to generate a sequence of component movements. As a demonstration, we treat a manipulation task in which grasping oblong cylindrical objects is decomposed into an ensemble of separate constraints that are integrated and resolved using the attractor dynamics approach. The system is implemented on the small humanoid robot Nao, and illustrated in two exemplary movement tasks.
2008
Hendrik Reimann; Ioannis Iossifidis
Mathematical and Simulation Framework for Arbitrary Open Chain Manipulators Technical Report
Institut für Neuroinformatik, Ruhr-Universität Bochum no. IRINI 2008-03, 2008.
BibTeX | Tags: Inverse kinematics, screw theory
@techreport{Reimann2008,
title = {Mathematical and Simulation Framework for Arbitrary Open Chain Manipulators},
author = {Hendrik Reimann and Ioannis Iossifidis},
year = {2008},
date = {2008-01-01},
number = {IRINI 2008-03},
institution = {Institut für Neuroinformatik, Ruhr-Universität Bochum},
keywords = {Inverse kinematics, screw theory},
pubstate = {published},
tppubtype = {techreport}
}
2006
Ioannis Iossifidis
Dynamische Systeme zur Steuerung anthropomorpher Roboterarme in autonomen Robotersystemen Book
Logos Verlag Berlin, 2006.
Abstract | Links | BibTeX | Tags: Autonomous robotics, dynamical systems, Inverse kinematics
@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=},
year = {2006},
date = {2006-08-01},
urldate = {2006-08-01},
number = {ISBN: 3-8325-1305-1},
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 = {Autonomous robotics, dynamical systems, Inverse kinematics},
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.
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.
Ioannis Iossifidis
Dynamische Systeme zur Steuerung anthropomorpher Roboterarme in autonomen Robotersystemen PhD Thesis
Faculty for Physics and Astronomy, Ruhr-University Bochum, 2006.
Abstract | Links | BibTeX | Tags: Autonomous robotics, dynamical systems, Inverse kinematics
@phdthesis{Iossifidis2006c,
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=},
year = {2006},
date = {2006-01-01},
urldate = {2006-01-01},
number = {ISBN: 3-8325-1305-1},
pages = {160},
publisher = {Logos Verlag Berlin},
address = {Bochum, Germany},
school = {Faculty for Physics and Astronomy, Ruhr-University Bochum},
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 = {Autonomous robotics, dynamical systems, Inverse kinematics},
pubstate = {published},
tppubtype = {phdthesis}
}
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.
2004
Ioannis Iossifidis; Gregor Schöner
Attractor dynamics approach for autonomous collision-free path generation in 3d-space for an 7 dof robot arm Proceedings Article
In: 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: Autonomous robotics, collision avoidance, dynamical systems, Inverse kinematics, movement model
@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 = {Autonomous robotics, collision avoidance, dynamical systems, Inverse kinematics, movement model},
pubstate = {published},
tppubtype = {inproceedings}
}
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: Autonomous robotics, behavior generation, dynamical systems, Inverse kinematics, movement model, redundant robot arm
@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 = {Autonomous robotics, behavior generation, dynamical systems, Inverse kinematics, movement model, redundant robot arm},
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
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.
Links | BibTeX | Tags: Autonomous robotics, behavior generation, dynamical systems, Inverse kinematics, movement model, redundant robot arm
@book{Prassler2004c,
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 = {Autonomous robotics, behavior generation, dynamical systems, Inverse kinematics, movement model, redundant robot arm},
pubstate = {published},
tppubtype = {book}
}
2002
I Iossifidis; A Steinhage
Controlling a redundant robot arm by means of a haptic sensor Book
2002, ISSN: 00835560.
Abstract | BibTeX | Tags: Artificial skin, direct physical interaction, haptic interface, 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, direct physical interaction, haptic interface, 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 Proceedings Article
In: 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{Iossifidis2002b,
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.
2001
Ioannis Iossifidis; Axel Steinhage
Control of an 8 DoF Manipulator by Means of Neural Fields Proceedings Article
In: 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.