VDE e.V.; Konferenzservice (Hrsg)

ISR / Robotik 2014

Proceedings for the joint conference of 45th International Symposium on Robotics and 8th German Conference on Robotics 2 - 3 June 2014, Munich, Germany

2014, 807 pages, Papiertasche, CD-Rom
ISBN 978-3-8007-3601-0
Personal VDE Members are entitled to a 10% discount on this title

In about 150 presentations, ISR/ROBOTIK 2014 will, once again, give an insight to the latest state-of-the-art robot technology to participants from both industry and science. Sessions will be held on Research and Development as well as Components & Technologies, also Robotics in Productio/Industrial Robots will be addressed as well as Robotics in Service / Mobile Robotics.

1
2
3

On the Mechanics of Bristle-Bots - Modeling, Simulation and Experiments

Authors:
Becker, Felix; Boerner, Simon; Lysenko, Victor; Zeidis, Igor; Zimmermann, Klaus
4
5

A Tea-Serving Robot for Office Environment

Authors:
Kumar, Swagat; Garg, Sourav; Kejriwal, Nishant
6
7

Virtual Joints to Solve the Inverse Kinematics Problem

Authors:
Weber, Wolfgang; Koenig, Alexander; Schneider, Katharina
8

Online Determination of kinematic Singularities without Jacobian Matrices

Authors:
Schlosser, Christian; Koetter, Tobias; Schueppstuhl, Thorsten
9
10
11
12

Intuitive and Adaptive Robotic Arm Manipulation using the Leap Motion Controller

Authors:
Bassily, D.; Georgoulas, C.; Guettler, J.; Linner, T.; Bock, T.
13

A 3D Representation of Obstacles in the Robots Reachable Area Considering Occlusions

Authors:
Fetzner, Angelika; Frese, Christian; Frey, Christian
14

Cobomanip: a new generation of Intelligent Assist Device

Authors:
David, Olivier; Andre, Sylvain; Kfoury, Fares; Garrec, Philippe
15
16

3D Multi-Sensor Data Fusion for Object Localization in Industrial Applications

Authors:
Pfitzner, C.; Antal, W.; Hess, P.; May, S.; Merkl, C.; Koch, P.; Koch, R.; Wagner, M.
17

A Learning from Demonstration Framework for Manipulation Tasks

Authors:
Tosello, Elisa; Michieletto, Stefano; Bisson, Andrea; Pagello, Enrico; Menegatti, Emanuele
18

A Mobile Manipulator Controller Implemented in the Robot Operating System

Authors:
Barros, Taiser Tadeu Teixeira; Fetter Lages, Walter
19

Automated programming of cooperating industrial robots

Authors:
Wagner, Maximilian; Hess, Peter; Reitelshoefer, Sebastian
20

BRIDE - A toolchain for framework-independent development of industrial service robot applications

Authors:
Bubeck, Alexander; Weisshardt, Florian; Verl, Alexander
21

Cable-Driven Robots for the Rapid Deployment of Fully Automated Material Handling Solutions

Authors:
Miermeister, Philipp; Kraus, Werner; Winkler, Bernd; Pott, Andreas
22
23
24

Development of the Autonomous Brush-cutting Robot using Articulated Steering Vehicle

Authors:
Ohkawa, Shinya; Takita, Yoshihiro; Date, Hisashi
25
26

Interactive Path Editor for Industrial Robots using a 3D-Simulation Environment

Authors:
Schneider, Katharina; Weber, Wolfgang; Weigl-Seitz, Alexandra; Kleinmann, Karl
27

Flexible and Assistive Quality Checks with Industrial Robots

Authors:
Rooker, Martijn; Hofmann, Michael; Minichberger, Juergen; Ikeda, Markus; Ebenhofer, Gerhard; Fritz, Gerald; Pichler, Andreas
28

Evaluation of wheel mechanisms for omnidirectional robot undercarriages

Authors:
Jacobs, Theo; Hesse, Maximilian; Verl, Alexander
29
30

Nonlinear Model-based Position Control for Quadrotor UAVs

Authors:
Beul, Marius; Worst, Rainer; Behnke, Sven
31

RRT-based Trajectory Planning for Fixed Wing UAVs using Bezier Curves

Authors:
Seemann, Martin; Janschek, Klaus
32

Enhancing Software Portability with a Testing and Evaluation Platform

Authors:
Weisshardt, Florian; Kett, Jannik; Freitas Oliveira Araujo, Thiago de; Alexander Bubeck,; Verl, Alexander
33

Cycle Time Estimation for a Δ-Type Robot

Authors:
Mueller, Martin; Kuhlenkoetter, Bernd; Geiger, Harald
34

Robots in Food Industry Challenges and Chances

Authors:
Mueller, Martin; Kuhlenkoetter, Bernd; Nassmacher, Ralf
35

HEPHESTOS: Hard Material Small-Batch Industrial Machining Robot

Authors:
Schreck, Gerhard; Surdilovic, Dragoljub; Krueger, Joerg
36

Efficient inline measuring in robot applications

Authors:
Knauserud, Oystein; Solhaug Linnerud, Adne; Dransfeld, Sebastian; Wetterwald, Lars Erik; Lind, Morten
37

The Curvature Control of a Hyper-redundant Robot

Authors:
Popescu, Nirvana; Popescu, Decebal; Ivanescu, Mircea; Nitulescu, Mircea
38

The development of the modular Hard- and Software Architecture of the Autonomous Underwater Vehicle MONSUN

Authors:
Meyer, Benjamin; Ehlers, Kristian; Isokeit, Cedric; Maehle, Erik
39

Learning to Unscrew a Light Bulb from Demonstrations

Authors:
Manschitz, Simon; Kober, Jens; Gienger, Michael; Peters, Jan
40

Towards a novel embodied robot bio-inspired by non-human primates

Authors:
Muscolo, Giovanni Gerardo; Recchiuto, Carmine Tommaso; Sellers, William; Molfino, Rezia
41

The R3-COP Decision Support Framework for Autonomous Robotic System Design

Authors:
Dalgaard, Lars; Heikkilae, Tapio; Koskinen, Jukka
42

Small Part Assembly with Dual Arm robot and Smart Camera

Authors:
Ge, Jingguo; Chi, Zhaofu; Li, Qingwei
43

EuRoC - The Challenge Initiative for European Robotics

Authors:
Siciliano, Bruno; Caccavale, Fabrizio; Zwicker, Ekkehard; Achtelik, Michael; Mansard, Nicolas; Borst, Christoph; Achtelik, Markus; Jepsen, Niels Osterby; Awad, Ramez; Bischoff, Rainer
44

Full Holonomic Control of the Omni-directional AUV SMART-E

Authors:
Ehlers, Kristian; Meyer, Benjamin; Maehle, Erik
45

Integration and Assessment of Multiple Mobile Manipulators in a Real-World Industrial Production Facility

Authors:
Bogh, Simon; Schou, Casper; Ruehr, Thomas; Kogan, Yevgen; Doemel, Andreas; Brucker, Manuel; Eberst, Christof; Tornese, Riccardo; Sprunk, Christoph; Tipaldi, Gian Diego; Hennessy, Trine
46

Situation Responsive Networking of Mobile Robots for Disaster Management

Authors:
Kuntze, Helge-Bjoern; Frey, Christian; Emter, Thomas; Petereit, Janko; Tchouchenkov, Igor; Mueller, Thomas; Tittel, Martin; Worst, Rainer; Pfeiffer, Kai; Walter, Moriz; Rademacher, Sven; Mueller, Fabian
47

The RoCKIn@Home Challenge

Authors:
Schneider, Sven; Hegger, Frederik; Ahmad, Aamir; Awaad, Iman; Amigoni, Francesco; Berghofer, Jakob; Bischoff, Rainer; Bonarini, Andrea; Dwiputra, Rhama; Fontana, Giulio; Fontana, Giulio; Iocchi, Luca; Kraetzschmar, Gerhard; Lima, Pedro; Matteucci, Matteo; Nardi, Daniele; Schiaffonati, Viola
48

The RoCKIn@Work Challenge

Authors:
Dwiputra, Rhama; Berghofer, Jakob; Ahmad, Aamir; Awaad, Iman; Amigoni, Francesco; Bischoff, Rainer; Bonarini, Andrea; Fontana, Giulio; Hegger, Frederik; Hochgeschwender, Nico; Iocchi, Luca; Kraetzschmar, Gerhard; Lima, Pedro; Matteucci, Matteo; Nardi, Daniele; Schiaffonati, Viola; Schneider, Sven
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50
51

Increasing Robotic Machining Accuracy Using Offline Compensation Based on Joint-Motion Simulation

Authors:
Haage, Mathias; Halbauer, Marcel; Lehmann, Christian; Staedter, J. Philipp
52

The Shared Control Dynamic Window Approach for Non-Holonomic Semi-Autonomous Robots

Authors:
Inigo-Blasco, Pablo; Diaz-del-Rio, Fernando; Vicente Diaz, Saturnino; Cagigas Muniz, Daniel
53

High Accuracy Link Mechanism using Singular Configuration

Authors:
Tazawa, Hidehiro; Hayashi, Yuya; Aiyama, Yasumichi
54

Extending Dynamic Trajectories of Cable-Driven Parallel Robots as a Novel Robotic Roller Coaster

Authors:
Schmidt, Valentin; Kraus, Werner; Ho, Wei Yang; Seon, Jeongan; Pott, Andreas; Park, Jong-Oh; Verl, Alexander
55
56

Registration methods for RGB-D cameras accelerated on GPUs

Authors:
Montoyo, Javier; Morell, Vicente; Cazorla, Miguel; Garcia-Rodriguez, Jose; Orts Escolano, Sergio
57

An Automatic Industrial Robot Cell Calibration Method

Authors:
Ge, Jingguo; Gu, Hao; Lu. Qi; Li, Qingwei
58
59

Global Localization and Position Tracking of Automatic Guided Vehicles using passive RFID Technology

Authors:
Roehrig, Christof; Heller, Andre; Hess, Daniel; Kuenemund, Frank
60

Repair of Aircraft Combustors with Industrial Robots

Authors:
Schwienbacher, Christoph; Koetter, Tobias; Schueppstuhl, Thorsten
61
62

Small industrial robots for on-aircraft repair of composite structures

Authors:
Hoefener, Matthias; Schueppstuhl, Thorsten
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64
65
66

Towards Autonomous Robot Machining

Authors:
Domroes, Frank; Rieger, Michael; Kuhlenkoetter, Bernd
67

A novel concept for realistic simulation of industrial pick and place applications

Authors:
Stumm, Sven; Pintar, Daniel; Kuhlenkoetter, Bernd
68

A Flexible and Compact High Precision Micro-Factory for Low Volume Production and Lab-Automation

Authors:
Diederichs, Claas; Mikczinski, Manuel; Tiemerding, Tobias
69

A Robotized Solution for Roughing the Uppers of Fashion Shoes

Authors:
Villagrossi, E.; Villagrossi, E.; Pedrocchi, N.; Cenati, C.; Molinari Tosatti, L.
70
71
72

Directed Visibility based Probabilistic Roadmaps

Authors:
Ellekilde, Lars-Peter
73

Fast multi-camera reconstruction and surveillance with human tracking and optimized camera configurations

Authors:
Ober-Gecks, Antje; Haenel, Maria; Werner, Tobias; Henrich, D.
74

Visual Semantic Robot Navigation in Indoor Environments

Authors:
Posada, Luis Felipe; Hoffmann, Frank; Bertram, Torsten
75

Use of Industrial Robots in Additive Manufacturing – A Survey and Feasibility Study

Authors:
Zhang, George Q.; Li, Xiongzi; Boca, Remus; Newkirk, Jeremy; Zhang, Biao; Fuhlbrigge, Thomas A.; Feng, Helen K.; Hunt, Nick J.
76

Simple Mobile Robots and Self-AdaptiveWireless Networks

Authors:
Surmann, Hartmut; Worst, Rainer; Zimmermann, Erik; Wilkes, Stefan; Liebelt, Tom-Marvin; Eulering, Christopher
77

Combining holistic programming with kinematic parameter optimisation for robot machining

Authors:
Schneider, Ulrich; Diaz Posada, Julian Ricardo; Drust, Manuel; Verl, Alexander; Zwaag, Johnny van der
78

The influence of the robot’s stiffness on roller hemming processes

Authors:
Drossel, Welf-Guntram; Pfeifer, Marko; Findeisen, Mathias; Roessinger, Markus; Eckert, Alexander; Barth, Daniel
79

Aspects Concerning Kinetostatic Properties of Parallel Robots

Authors:
Brisan, Cornel; Boanta, Catalin; Csiszar, Akos; Verl, Alexander
80
81
82

Tracking and Grasping of Known and Unknown Objects from a Conveyor Belt

Authors:
Escaida Navarro, Stefan; Weiss, David; Stogl, Denis; Milev, Dimitar; Hein, Bjoern
83

GPU-based Grasp And Placement Planners For Sensor-modelled Objects

Authors:
Baumgartl, Johannes; Henrich, Dominik
84

Integrating Semantic Information in Navigational Planning

Authors:
Deeken, Henning; Puetz, Sebastian; Wiemann, Thomas; Lingemann, Kai; Hertzberg, Joachim
85

Risk-Reduced Mobile Robot Path Planning in Smart Environments

Authors:
Arndt, Michael; Berns, Karsten
86

Mobile Manipulation Planning Optimized for GPGPU Voxel-Collision Detection in High Resolution Live 3D-Maps

Authors:
Hermann, Andreas; Bauer, Joerg; Klemm, Sebastian; Dillmann, Ruediger
87
88

Generating and Executing Hierarchical Mobile Manipulation Plans

Authors:
Stock, Sebastian; Guenther, Martin; Hertzberg, Joachim
89

Interaction modeling and simulation of a flexible needle insertion into soft tissues

Authors:
Yang, Tangwen; Yang, Tangwen; Yin, Hang; Zhao, Xingang; Han, Jianda; Xu, Weiliang; Xu, Weiliang
90
91

PBK - Powered Bionic Knee System

Authors:
Budaker, Bernhard; Schneider, Urs
92

Design of a robot for hygienization of walls in hospital environments

Authors:
Cepolina, Francesco E.; Muscolo, Giovanni G.
93

Towards a Robot for Supporting Older People to Stay Longer Independent at Home

Authors:
Vincze, Markus; Zagler, Wolfgang; Lammer, Lara; Weiss, Astrid; Huber, Andreas; Fischinger, David; Koertner, Tobias; Schmid, Alexandra; Gisinger, Christoph
94

Data Flow Analysis in ROS

Authors:
Forouher, Dariush; Hartmann, Jan; Maehle, Erik
95

An Architecture for Controlling the Barrett WAM Robot Using ROS and OROCOS

Authors:
Fetter Lages, Walter; Ioris, Darlan; Santini, Diego Caberlon
96

Mobile robot motion planning based on Cloud Computing stereo vision processing

Authors:
Salmeron-Garcia, Javier; Inigo-Blasco, Pablo; Diaz-del-Rio, Fernando; Cagigas-Muniz, Daniel
97

Hybrid Navigation System for Mecanum Based Omnidirectional Automated Guided Vehicles

Authors:
Wissing, Matthias; Kuenemund, Frank; Hess, Daniel; Roehrig, Christof
98
99

Innovative Safety Solution for Machine Integrated Manipulators

Authors:
Frauscher, Stefan; Schimpelsberger, Walter
100
101

Dynamic safety in collaborative robot workspaces through a network of devices fulfilling functional safety requirements

Authors:
Vicentini, Federico; Pedrocchi, Nicola; Giussani, Matteo; Molinari Tosatti, Lorenzo
102

ISO 13482 – The new safety standard for personal care robots

Authors:
Jacobs, Theo; Virk, Gurvinder Singh
103
104

Stiffness Based Global Indices for Structural Evaluation of Anthropomorphic Manipulators

Authors:
Vemula, Bhanoday; Spampinato, Giacomo; Brogardh, Torgny; Feng, Xiaolong
105
106

Aspects concerning the modeling of robots with increased dexterity

Authors:
Lapusan, Ciprian; Fodor, Ferencz; Csiszar, Akos; Verl, Alexander; Brisan, Cornel
107

Characterizing the Workspace of Concentric Tube Continuum Robots

Authors:
Granna, Josephine; Burgner, Jessica
108
109

Modeling Robot Assembly Tasks in Manufacturing Using SysML

Authors:
Huckaby, Jacob; Christensen, Henrik
110

A Visual Programming Framework for Complex Robotic Systems in Micro-Optical Assembly

Authors:
Schlette, Christian; Losch, Daniel; Rossmann, Juergen
111

Service-oriented Robotics Manufacturing by reasoning about the Scene Graph of a Robotics Cell

Authors:
Hoffmann, Alwin; Angerer, Andreas; Schierl, Andreas; Vistein, Michael; Reif, Wolfgang
112

Extension of a plan-based component manager for real time adaptation

Authors:
Goldhoorn, Matthias; Joyeux, Sylvain
113
114

Experimental Characterization of Collaborative Robot Collisions

Authors:
Matthias, Bjoern; Oberer-Treitz, Susanne; Ding, Hao
115

Multi-Sensor Obstacle Tracking for Safe Human-Robot Interaction

Authors:
Frese, Christian; Fetzner, Angelika; Frey, Christian
116

Safe Assembly of Low Volume Complex Products

Authors:
Solhaug Linnerud, Adne; Wetterwald, Lars Erik; Dransfeld, Sebastian; Knauserud, Oystein
117

Risk and Safety Aspects for Wall-Climbing Robots

Authors:
Schmidt, Daniel; Berns, Karsten