German Association of Robotics (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, Papiertasche, CD-Rom
ISBN 978-3-8007-3418-4
Personal VDE Members are entitled to a 10% discount on this title

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.

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
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
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
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
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
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
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
63
64

2D Semantic Mapping on Occupancy Grids

Authors:
Liu, Ziyuan; Chen, Dong; von Wichert, Georg
65
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
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
96

From Saliency Based Image Features Towards Semantic Mapping

Authors:
Neubert, Peer; Sünderhauf, Niko; Protzel, Peter