DGR (Hrsg.)

ROBOTIK 2012

Proceedings for the conference of ROBOTIK 2012, 7th German Conference on Robotics, 21 - 22 May 2012, International Congress Center Munich (ICM) in conjunction with AUTOMATICA

2012, 546 pages, Slimline-Box, CD-ROM
ISBN 978-3-8007-3418-4
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Robotik 2012 is the 7th in a series of German robotics conferences. It is organized by the German Association of Robotics (DGR), which is an umbrella organization for the coordination of scientific and technological robotics activities in Germany. For the 5th time the conference is taking place in Munich in conjunction with AUTOMATICA, the leading trade fair for automation and mechatronics.

This conference proceeding contains the following papers, purchasable as PDF download with payment via credit card / PayPal:


1	Graph-Based Action Models for Human Motion Classification Authors: Endres, Felix; Hess, Jürgen; Burgard, Wolfram

2	Hardware Design and Mathematical Modeling for an Artificial Pneumatic Spine for a Biped Humanoid Robot Authors: Bauer, Christian; Engelmann, Mark; Gaiser, Immanuel; Mikut, Ralf; Schulz, Stefan; Fischer, Andreas; Stein, Thorsten

3	A Dynamical Systems Approach to Adaptive Sequencing of Movement Primitives Authors: Luksch, Tobias; Gienger, Michael; Mühlig, Manuel; Yoshiike, Takahide

4	Playing Tangram with a Humanoid Robot Authors: Hirth, Jochen; Schmitz, Norbert; Berns, Karsten

5	Robotic System for Mapping 3D in-wall Information for Craftsmen Authors: Vorndamme, J.; Petereit, S.; Pitzer, B.; Roan, P.; Lilge, T.; Albert, A.

6	Integrated Vision/Force Robot System for Shelving and Retrieving of Imprecisely Placed Objects Authors: Bdiwi, Mohamad; Suchý, Jozef

7	An Autonomous Flying Robot for Network Robotics Authors: Blum, Christian; Hafner, Verena V.

8	Piezo-driven Micro Robots for Different Environments: Prototypes and Experiments Authors: Becker, Felix; Zimmermann, Klaus; Minchenya, Vladimir T.; Volkova, Tatiana

9	Development of validation methods for the safety of mobile service robots with manipulator Authors: Jacobs, Theo; Reiser, Ulrich; Hägele, Martin; Verl, Alexander

10	Safety of Industrial Robots: From Conventional to Collaborative Applications Authors: Fryman, Jeff; Matthias, Björn

11	Safety Challenges of Transferable Robotic Systems Authors: Salmi, Timo; Väätäinen, Otso; Malm, Timo; Montonen, Jari

12	Sensor- and Plausibility-based Surveillance of Human/Robot-Workspaces Authors: Hänel, Maria; Fischer, Markus; Kuhn, Stefan; Henrich, Dominik

13	Comparison of sampling based motion planning algorithms specialized for robot manipulators Authors: Fragkopoulos, Christos; Abbas, Khizar; Eldeep, Ahmed; Graeser, Axel

14	Trajectory modification considering dynamic constraints of autonomous robots Authors: Rösmann, Christoph; Feiten, Wendelin; Wösch, Thomas; Hoffmann, Frank; Bertram, Torsten

15	Locomotion through Reconfiguration based on Motor Primitives for Roombots Self-Reconfigurable Modular Robots Authors: Bonardi, Stéphane; Moeckel, Rico; Sproewitz, Alexander; Vespignani, Massimo; Ijspeert, Auke Jan

16	Generating Behaviour Networks from Finite-State Machines Authors: Armbrust, Christopher; Schmidt, Daniel; Berns, Karsten

17	3D-Sensor Based Dynamic Path Planning and Obstacle Avoidance for Industrial Manipulators Authors: Leutert, Florian; Freier, Christoph; Schilling, Klaus

18	Fast Vision-based Grasp and Delivery Planning for unknown Objects Authors: Baumgartl, Johannes; Henrich, Dominik

19	Object Pose Detection in Industrial Environment Authors: Palzkill, Matthias; Verl, Alexander

20	A New Library for Real-time Continuous Collision Detection Authors: Täubig, Holger; Frese, Udo

21	Safety Properties and Collision Behavior of Robotic Arms with Elastic Tendon Actuation Authors: Lens, Thomas; von Stryk, Oskar; Karguth, Andreas

22	An AmI Environment Implementation: Embedding TurtleBot into a novel Robotic Service Wall Authors: Georgoulas, C.; Linner, T.; Kasatkin, A.; Bock, T.

23	Visually and Force Controlled Opening and Closing of Doors by Means of a Mobile Robot Arm Authors: Milighetti, Giulio; Hoffmann, Eugen; Fetzner, Angelika; Kuntze, Helge-Björn

24	A Visual Dirt Detection System for Mobile Service Robots Authors: Bormann, Richard; Fischer, Jan; Arbeiter, Georg; Weisshardt, Florian; Verl, Alexander

25	Design of wheel modules for non-holonomic, omnidirectional mobile robots in context of the emerging control problems Authors: Jacobs, Theo; Connette, Christian; Hägele, Martin; Verl, Alexander

26	Unified Closed Form Inverse Kinematics for the KUKA youBot Authors: Sharma, Shashank; Kraetzschmar, Gerhard K.; Scheurer, Christian; Bischoff, Rainer

27	Uniform Cellular Design of Artificial Robotic Skin Authors: Mittendorfer, Philipp; Cheng, Gordon

28	An approach to locomotion systems based on 3D tensegrity structures with a minimal number of struts Authors: Böhm, V.; Jentzsch, A.; Kaufhold, T.; Schneider, F.; Becker, F.; Zimmermann, K.

29	Operating Unknown Constrained Mechanisms with Compliant Robots Authors: Lutscher, Ewald; Cheng, Gordon

30	Development of Position Monitoring system for studying performance of wind tracking algorithms Authors: Moshayedi, Ata Jahangir; Gharpure, D. C.

31	Shifting allometry: combination of macroscopic engineering with microscopic biomimetics allows realization of new robot functions in meso dimension Authors: Fremerey, Max; Gorb, Stanislav; Heepe, Lars; Kasper, Dominik; Maempel, Joerg; Witte, Hartmut

32	Handling Uncertainties in Object Placement using Drop Regions Authors: Jorgensen, Jimmy A.; Ellekilde, Lars-Peter; Petersen, Henrik G.

33	Management and Manipulation of Modular and Reconfigurable Satellites Authors: Oberländer, Jan; Uhl, Klaus; Pfotzer, Lars; Göller, Michael; Rönnau, Arne; Dillmann, Rüdiger

34	Comparison of Localization Algorithms for AGVs in Industrial Environments Authors: Kirsch, Christopher; Künemund, Frank; Heß, Daniel; Röhrig, Christof

35	Visibility-Based Path Planning for Autonomous Underwater Vehicle Authors: Gal, Oren

36	Investigation on a Planar Cable-Driven Parallel Robot Authors: Kraus, Werner; Schmidt, Valentin; Pott, Andreas; Verl, Alexander

37	Rule based Intention Generalization through Human-Robot Interaction Authors: Awais, Muhammad; Henrich, Dominik

38	Gripping Point Determination and Collision Prevention in a Bin- Picking application Authors: Spenrath, Felix; Spiller, Alexander; Verl, Alexander

39	Automatic Path and Trajectory Planning for Robotic Spray Painting Authors: Gasparetto, Alessandro; Vidoni, Renato; Pillan, Daniele; Saccavini, Ennio

40	New developments and application spectrum for robotics in laser material processing - Challenges and opportunities for the flexible use of robot systems for laser welding Authors: Friedel, Eugen; Wagner, Nikolaus

41	Autonomous Foods Handling by Chopsticks for Meal Assistant Robot Authors: Yamazaki, Akira; Masuda, Ryosuke

42	Application of Hybrid A* to an Autonomous Mobile Robot for Path Planning in Unstructured Outdoor Environments Authors: Petereit, Janko; Emter, Thomas; Frey, Christian W.; Kopfstedt, Thomas; Beutel, Andreas

43	A mobile robot platform for socially assistive home-care applications Authors: Merten, Matthias; Bley, Andreas; Schröter, Christof; Gross, Horst-Michael

44	Simultaneous Localization and Mapping with the Kinect sensor Authors: Emter, Thomas; Stein, Andreas

45	An Easy to Use Framework for Educational Robots Authors: Maas, Raphael; Maehle, Erik

46	Conceptual Design of a Dynamic Risk-Assessment Server for Autonomous Robots Authors: Ertle, Philipp; Tokic, Michel; Bystricky, Tobias; Ebel, Marius; Voos, Holger; Söffker, Dirk

47	Robust Real-Time Registration of RGB-D Images using Multi-Resolution Surfel Representations Authors: Stückler, Jörg; Behnke, Sven

48	Coarse Geometry acquisition of welding parts using a novel cheap depth sensor Authors: Gecks, Thorsten; Müller, Christopher; Henrich, Dominik; Vogl, Wolfgang

49	Rapid Detection of Fast Objects in Highly Dynamic Outdoor Environments using Cost-Efficient Sensors Authors: Connette, Christian; Fischer, Jan; Maidel, Benjamin; Mirus, Florian; Nilsson, Sofie; Pfeiffer, Kai; Verl, Alexander; Durbec, Axel; Ewert, Björn; Haar, Tobias; Grüdl, Dietmar

50	Efficient Monitoring of Process Plants by Telepresence and Attention Guidance Authors: Connette, Christian; Arbeiter, Georg; Meßmer, Felix; Hägele, Martin; Verl, Alexander; Notheis, Simon; Mende, Michael; Hein, Björn; Wörn, Heinz

51	MPG - Fast Forward Reasoning on 6 DOF Pose Uncertainty Authors: Lang, Muriel; Feiten, Wendelin

52	Enabling robots in small-part assembly lines: The "ROSETTA approach" - an industrial perspective Authors: Patel, Rajendra; Hedelind, Mikael; Lozan-Villegas, Pablo

53	Advanced methods for small batch robotic machining of hard materials Authors: Surdilovic, Dragoljub; Zhao, Hongqing; Schreck, Gerhard; Krüger, Jörg

54	Optimised Pattern Recognition For RoboticWeldment Geometry Measuring Authors: Hoffmeier, Guido; Plyusnina, Maria; Kuhlenkötter, Bernd; Bickendorf, Jobst

55	A Flexible Haptic Test Bed Authors: Bartelt, Matthias; Domrös, Frank; Kuhlenkötter, Bernd

56	Auto-Calibration Method for Overconstrained Cable-Driven Parallel Robots Authors: Miermeister, Philipp; Pott, Andreas; Verl, Alexander

57	Outdoor RGB-D SLAM Performance in Slow Mine Detection Authors: Abbas, Syed Muhammad; Muhammad, Abubakr

58	Visual Servoing of a Sensor Arm for Mine Detection Robot Marwa Authors: Manzoor, Talha; Munawar, Adnan; Muhammad, Abubakr

59	Optical Position Stabilization of an UAV for Autonomous Landing Authors: Ax, Markus; Thamke, Stefan; Kuhnert, Lars; Schlemper, Jens; Kuhnert, Klaus-Dieter

60	MONSUN II: A small and inexpensive AUV for underwater swarms Authors: Osterloh, Christoph; Pionteck, Thilo; Maehle, Erik

61	Advanced Mobile Robot Engineering with Virtual Testbeds Authors: Rossmann, Jürgen; Schluse, Michael; Sondermann, Björn; Emde, Markus; Rast, Malte

62	A Real-Time Optical Sensor Simulation Framework for Development and Testing of Industrial and Mobile Robot Applications Authors: Rossmann, Jürgen; Hempe, Nico; Emde, Markus; Steil, Thomas

63	Implementation of the Hungarian Method for object tracking on a camera monitored transportation system Authors: Lütteke, Felix; Zhang, Xu; Franke, Jörg

64	2D Semantic Mapping on Occupancy Grids Authors: Liu, Ziyuan; Chen, Dong; von Wichert, Georg

65	Optimized Mobile Indoor Robot Navigation through Probabilistic Tracking of People in a Wireless Sensor Network Authors: Arndt, Michael; Berns, Karsten

66	Robots Assisting in the Packaging Industry Authors: Wallhoff, Frank; Blume, Jürgen; Bannat, Alexander; Appleton, Ben; Rösel, Wolfgang; Zwicker, Carola; Zäh, Michael; Reinhart, Gunther; Pichler, Andreas; Ferrara, Paolo; Behrndt, Robert

67	Trajectory Description Conception for Industrial Robots Authors: Alatartsev, Sergey; Güdemann, Matthias; Ortmeier, Frank

68	AMADEUS – A robotic multipurpose solution for intralogistics Authors: Halt, Lorenz; Meßmer, Felix; Hermann, Marco; Wochinger, Thomas; Naumann, Martin; Verl, Alexander

69	Fast and Accurate Trajectory Generation for Non-Circular Omnidirectional Robots in Industrial Applications Authors: Künemund, Frank; Kirsch, Christopher; Heß, Daniel; Röhrig, Christof

70	A Narrow Passage Assistance Functions on a Mobility Scooter for Elderly People Authors: Eck, Daniel; Heim, Thomas; Hess, Robin; Schilling, Klaus

71	Book Detection and Grasping in Library Scenario Authors: Heyer, Stefan; Enjarini, Bashar; Fragkopoulos, Christos; Graeser, Axel

72	Micro-Macro Telemanipulator for Middle-Ear Microsurgery Authors: Entsfellner, Konrad; Strauss, Gero; Berger, Thomas; Dietz, Andreas; Lueth, Tim C.

73	Position Control of Soft-Robots with Rotary-Type Pneumatic Actuators Authors: Taghia, Javad; Wilkening, André; Ivlev, Oleg

74	Control of physical interaction tasks using pneumatic soft-robots Authors: Baiden, David; Bartuszies, Sven; Ivlev, Oleg

75	A Multi-Link-Flexible Robot Arm Catching Thrown Balls Authors: Malzahn, Jörn; Phung, Anh Son; Bertram, Torsten

76	An Elephant’s Trunk-Inspired Robotic Arm – Trajectory Determination and Control Authors: Behrens, Roland; Poggendorf, Maik; Schulenburg, Erik; Elkmann, Norbert

77	Robot Programming for Surface Finishing based on CAD Model Including External Axes Authors: Dani, Jörg; Winkler, Alexander; Suchý, Jozef

78	Programming System for Efficient Use of Industrial Robots for Deburring in SME Environments Authors: Dietz, Thomas; Schneider, Ulrich; Barho, Marc; Oberer-Treitz, Susanne; Drust, Manuel; Hollmann, Rebecca; Hägele, Martin

79	A Framework for a Fault Tolerant and Learning Robotic Assembly System Authors: Nägele, Frank; Naumann, Martin; Verl, Alexander

80	High-level integration of components into a robot cell using semantically annotated state chart descriptions Authors: Naumann, Martin; Verl, Alexander

81	A Toolkit for Automatic Generation of Polygonal Maps – Las Vegas Reconstruction Authors: Wiemann, Thomas; Nüchter, Andreas; Hertzberg, Joachim

82	Ground Plan Based Exploration with a Mobile Indoor Robot Authors: Wettach, Jens; Berns, Karsten

83	Real-Time Visual SLAM Using FastSLAM and the Microsoft Kinect Camera Authors: Hartmann, Jan; Forouher, Dariush; Litza, Marek; Klüssendorff, Jan Helge; Maehle, Erik

84	Efficient Mobile Robot Navigation using 3D Surfel Grid Maps Authors: Kläß, Jochen; Stückler, Jörg; Behnke, Sven

85	Shape-Primitive Based Object Recognition and Grasping Authors: Nieuwenhuisen, Matthias; Stückler, Jörg; Berner, Alexander; Klein, Reinhard; Behnke, Sven

86	Extraction of Solids of Revolution from Point Cloud Scenes for Grasp Planning Tasks Authors: Escaida Navarro, Stefan; Klock, Tobias; Braun, Daniel; Wörn, Heinz

87	Rotary Surface Object Manipulation by Multifingered Robot Hand Authors: Li, Qiang; Haschke, Robert; Ritter, Helge; Bolder, Bram

88	k-TR Theory for Balance of Nature and Nurture in Robotic Perception Authors: Mahesh Varadarajan, Karthik; Vincze, Markus

89	Control with a Compliant Force-Torque Sensor Authors: Lange, Friedrich; Suppa, Michael; Hirzinger, Gerd

90	Force controlled handling with cooperating industrial robots Authors: Spiller, Alexander; Verl, Alexander

91	Filtering and Corner Detection in Predictive Robotic Contour Following Authors: Koch, Heiko; König, Alexander; Kleinmann, Karl; Weigl-Seitz, Alexandra; Suchý, Jozef

92	AR-based Approach for Evaluation of new Model-based Control Algorithms Authors: Notheis, Simon; August, Wilhelm; Hein, Björn; Wörn, Heinz

93	A framework for object training and 6 DoF pose estimation Authors: Fischer, Jan; Arbeiter, Georg; Bormann, Richard; Verl, Alexander

94	Robustly Segmenting Cylindrical and Box-like Objects in Cluttered Scenes using Depth Cameras Authors: Goron, Lucian Cosmin; Marton, Zoltan-Csaba; Lazea, Gheorghe; Beetz, Michael

95	Conceptual Similarity as a Key to High-Level Robot Programming by Demonstration Authors: Cubek, Richard; Ertel, Wolfgang

96	From Saliency Based Image Features Towards Semantic Mapping Authors: Neubert, Peer; Sünderhauf, Niko; Protzel, Peter

DGR (Hrsg.)

ROBOTIK 2012

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