2011
Hendrik Reimann; Ioannis Iossifidis; Gregor Schöner
Autonomous movement generation for manipulators with multiple simultaneous constraints using the attractor dynamics approach Proceedings Article
In: 2011 IEEE International Conference on Robotics and Automation, ICRA2011, 2011.
Abstract | BibTeX | Tags: anthropomorphic robot arm, attractor dynamics approach, dynamical systems
@inproceedings{Reimann2011,
title = {Autonomous movement generation for manipulators with multiple simultaneous constraints using the attractor dynamics approach},
author = {Hendrik Reimann and Ioannis Iossifidis and Gregor Schöner},
year = {2011},
date = {2011-01-01},
urldate = {2011-01-01},
booktitle = {2011 IEEE International Conference on Robotics and Automation, ICRA2011},
abstract = {The movement of autonomous agents in natural environments is restricted by potentially large numbers of con- straints. To generate behavior that fulfills all given constraints simultaneously, the attractor dynamics approach to movement generation represents each constraint by a dynamical system with attractors or repellors at desired or undesired values of a relevant variable. These dynamical systems are transformed into vector fields over the control variables of a robotic agent that force the state of the whole system in directions beneficial to the satisfaction of the behavioral constraint. The attractor dynamics approach was recently successfully applied to the generation of manipulator motion trajectories avoiding collision with obstacles [1] and constraints on gripper orientation during reaching and grasping movements [2]. Continuing that body of work, this paper proposes a system which generates movements satisfying both obstacle avoidance and gripper orientation constraints simultaneously. As an extension, the additional constraint of avoiding hardware limits for joint angles is in- cluded. Properties of the resulting system are demonstrated by a systematic study generating movements with a large number of constraints in different scene setups. Specific characteristics are highlighted by several showcase example movements.},
keywords = {anthropomorphic robot arm, attractor dynamics approach, dynamical systems},
pubstate = {published},
tppubtype = {inproceedings}
}
The movement of autonomous agents in natural environments is restricted by potentially large numbers of con- straints. To generate behavior that fulfills all given constraints simultaneously, the attractor dynamics approach to movement generation represents each constraint by a dynamical system with attractors or repellors at desired or undesired values of a relevant variable. These dynamical systems are transformed into vector fields over the control variables of a robotic agent that force the state of the whole system in directions beneficial to the satisfaction of the behavioral constraint. The attractor dynamics approach was recently successfully applied to the generation of manipulator motion trajectories avoiding collision with obstacles [1] and constraints on gripper orientation during reaching and grasping movements [2]. Continuing that body of work, this paper proposes a system which generates movements satisfying both obstacle avoidance and gripper orientation constraints simultaneously. As an extension, the additional constraint of avoiding hardware limits for joint angles is in- cluded. Properties of the resulting system are demonstrated by a systematic study generating movements with a large number of constraints in different scene setups. Specific characteristics are highlighted by several showcase example movements.
2003
Ioannis Iossifidis; Christoph Theis; Claudia Grote; Christian Faubel; Gregor Schoner
Anthropomorphism as a pervasive design concept for a robotic assistant Proceedings Article
In: 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{Iossifidis2003,
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.
I Iossifidis; C Theis; C Grote; C Faubel; G Schöner
Anthropomorphism as a pervasive design concept for a robotic assistant Proceedings Article
In: 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: 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 = {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 = {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.