VDMA; VDE; ITG; IFR (Ed.)

ISR 2018

50th International Symposium on Robotics June, 20-21, 2018, Messe München, Munich, Germany

2018, 506 pages, Slimlinebox, CD-Rom
ISBN 978-3-8007-4699-6
Personal VDE Members are entitled to a 10% discount on this title

Content Foreword

Robotics in the era of Digitalization! After two years the 50th International Symposium on Robotics, ISR 2018, will again be held in Munich, Germany, from June 20-21, 2018. This international conference is jointly organized by the Mechanical Engineering Industry Association (VDMA) and the Information Technology Society (ITG) within VDE and supported by Fraunhofer IPA. The ISR 2018 conference will again take place at automatica, the leading exhibition for smart automation and robotics. With over 800 exhibitors and more than 43,000 visitors from all over the world, automatica 2016 established itself as the leading marketplace for automated production. As the fair will start one day before ISR 2018, there will be enough possibility and time for all conference participants to visit automatica. In about 150 presentations, ISR 2018 will give an insight into the latest state-of-the-art robot technologies to participants from both industry and science. Sessions will be held on Modeling, Planning and Control as well as Components and Technologies. Robotics in Production / Industrial Robots will also be addressed as well as Service Robotics. Additionally there will be sessions on Robotics in New Markets and Applications and on the Workplace of the Future as well as a special IERA session. Presentations of the final nominees of the Joseph F. Engelberger Award and the IERA award highlight the conference's gala banquet. Of course there will be a conference poster session that can be visited between and during the conference sessions. We cordially invite researchers and experts from the field of robotics to submit their abstracts, as we are confident we can provide an exciting conference program in June 2018.
VDMA
Mit gut 3.200 Mitgliedern ist der VDMA die größte Netzwerkorganisation und wichtiges Sprachrohr des Maschinenbaus in Deutschland und Europa.

VDE – Verband der Elektrotechnik Elektronik Informationstechnik e.V.
Der VDE ist einer der großen europäischen Verbände für Branchen und Berufe der Elektro- und Informationstechnik. Eine internationale Experten-Plattform für Wissenschaft, Normung und Produktprüfung – interdisziplinär, eng verflochten, und einmalig auf der Welt. Eine geballte Konzentration an Erfahrung, Marktkenntnissen und technologischem Know-how.

ITG – Informationstechnische Gesellschaft im VDE (ITG)
Die ITG ist als interdisziplinär arbeitende, wissenschaftliche Fachgesellschaft in das fachübergreifende Netzwerk des VDE eingebunden. Sie agiert als Schnittstelle für Experten der Informationstechnik (ITK) in Wirtschaft, Verwaltung, Lehre und Forschung. Ihre Mitglieder bündeln in enger internationaler Anbindung die deutsche Kompetenz im Bereich der ITK. Die ITG fördert Forschung und Anwendung dieser Schlüsseltechnologie sowie deren effizienten Einsatz in den Bereichen Daten- und Kommunikationstechnik und -systeme, Umweltschutz, Medizin und Verkehr.

IFR – International Federation of Robotics
The International Federation of Robotics connects the world of robotics around the globe. Our members come from the robotics industry, national or international industry associations and research & development institutes. Our federation represents over 50 members from more than 20 countries. The IFR statistical department is the primary global resource for data on robotics. The IFR was established as a non-profit organization in 1987.

1

A Compliant, High Precision, Pneumatic Rotary Drive for Robotics

Authors:
Stoll, Johannes T.; Pott, Andreas
2

Comparison of 3D Shape Reconstruction Methods for Fiber-Optic Sensors

Authors:
Riehs, Christopher; Kleiner, Bernhard; Schneider, Urs; Verl, Alexander
3

Development of light and compact clutch device using jamming effect

Authors:
Aiyama, Yasumichi; Liu, Tianren
4

Tactile Sensor Modules for Flexible Manipulation

Authors:
Mueller, Veit; Urbahn, Christoph; Al-Gaifi, Reem Muhammed; Schmidt, Maximilian; Saenz, Jose; Elkmann, Norbert
5

On the implementation of transferable assembly applications for industrial robots

Authors:
Halt, Lorenz; Tenbrock, Philipp; Naegele, Frank; Pott, Andreas
6

Robotic Friction Stir Welding of complex geometry and mixed materials

Authors:
Bolmsjoe, Gunnar; Ferreira Magalhaes, Ana Catarina; Cederqvist, Lars; De Backer, Jeroen
7

Online Motion Planning for Dual-Arm Industrial Robots

Authors:
Beuke, Felix; Alatartsev, Sergey; Jessen, Simon; Hanel, Christian; Verl, Alexander
8

Workpiece localization methods for robotic welding – a review

Authors:
Schleth, Gesine; Kuss, Alexander; Kraus, Werner
9

Development and evaluation of a fingertip operated joystick

Authors:
Suzuki, Satoru; Matsuhira, Nobuto; Shimada, Tsutomu; Shimada, Shintaro
10
11

Experimental Platform of Space Robot Grasping Various Nonprehensile Targets

Authors:
Zhang, Xin; Liu, Jinguo; Feng, Jingkai
12

Datasets of Long Range Navigation Experiments in a Moon Analogue Environment on Mount Etna

Authors:
Vayugundla, Mallikarjuna; Steidle, Florian; Smisek, Michal; Schuster, Martin J.; Bussmann, Kristin; Wedler, Armin
13

Stabilization of a hopper with three reaction wheels

Authors:
Ryadchikov, Igor; Sokolov, Dmitry; Biryuk, Andrei; Sechenev, Semyon; Svidlov, Alexander; Volkodav, Pavel; Mamelin, Yury; Popko, Kirill; Nikulchev, Evgeny
14

Automated and Flexible Coil Winding Robotic Framework

Authors:
Michieletto, Stefano; Stival, Francesca; Castelli, Francesco; Pagello, Enrico
15

Estimating powered wheelchair driver intentions more accurately using force feedback information

Authors:
Huentemann, Alexander; Poorten, Emmanuel Vander; Demeester, Eric
16
17
18

Design and Development of a Low-Cost Open-Source Robotics Education Platform

Authors:
Darrah, Timothy; Hutchins, Nicole; Biswas, Gautam
19
20

Theoretical Aspects of Impedance Controllers’ Modularization

Authors:
Fodor, F.; Verl, A.,; Brisan, C.
21

The Robotic Service Assistant – Relieving the Nursing Staff of Workload

Authors:
Baumgarten, Simon; Jacobs, Theo; Graf, Birgit
22

Simulation of multi-axis machining using the BSP-dexel representation

Authors:
Katz, Evgenii; Kurennov, Dmitry; Petunin, Alexander
23

Systematic Analysis of Global and Local Planners for Optimal Trajectory Planning

Authors:
Pittner, Maximilian; Hiller, Markus; Particke, Florian; Patino-Studencki, Lucila; Thielecke, Joern
24

Performance Impact Assessment for SSM using Simulated Stations

Authors:
Lehment, Nicolas; Boca, Remus
25

HRIM: the Hardware Robot Information Model

Authors:
Zamalloa, Irati; Hernandez, Alejandro; Kojcev, Risto; Muguruza, Inigo; Mayoral, Victor
26

A Virtual Robot to support Programming Learning

Authors:
Aparicio, Joao Tiago; Aparicio, Manuela; Costa, Carlos J.
27

Positioning Error Analysis of Least Squares Method for Wireless Sensor Networks

Authors:
Tian, Xiangrui; Zhen, Weikun; Scherer, Sebastian; Lu, Xiong
28

The Potential of RFID-Technology in Combination with Robotic Manipulators

Authors:
Thormann, Christian; Winkler, Alexander
29

Design Concept of an Automated Solid Waste Selection System

Authors:
Boanta, Catalin; Margaritescu, Mihai; Verl, Alexander; Brisan, Cornel
30
31
32

ESMERA - European SMEs Robotics Applications

Authors:
Icer, Esra; Weisenburger, Sebastian; Zechmair, Michael; Peters, Arne; Michalos, George; Knoll, Alois; Makris, Sotiris
33

Robotized transportation of existing carts

Authors:
Jacobsen, Niets Jul
34

Augmented Reality Robot Operation Interface with Google Tango

Authors:
Gradmann, Michael; Orendt, Eric M.; Schmidt, Edgar; Schweizer, Stephan; Henrich, Dominik
35
36

Determining robot contour accuracies on non-standard geometries using imaging techniques

Authors:
Scharfenberg, Christoph; Gauger, Ute; Wolf, Adrian; Fischer, Jan; Schray, Martin
37
38
39

Towards a Common Manufacturing Service Bus to Enable Flexible Plug-and-Produce Automation

Authors:
Miranda, Fabio; Martins, Renato; Dorofeev, Kirill; Gentile, Valerio; Ferreira, Pedro; Guedes, Magno
40

Production Logistics with Mobile Robots

Authors:
Wurll, Christian; Fritz, Timo; Hermann, Yannick; Hollnaicher, David
41

How to Always Keep an Eye on the User with a Mobile Robot?

Authors:
Vorndran, Alexander; Trinh, Thanh Q.; Mueller, Steffen; Scheidig, Andrea; Groß, Horst-Michael
42

Visual Classification of Single Waste Items in Roadside Application Scenarios for Waste Separation

Authors:
Lindermayr, Jochen; Senst, Cathrin; Hoang, Manh-Ha; Haegele, Martin
43

Immersive Teleoperation of the Eye Gaze of Social Robots – Assessing Gaze-Contingent Control of Vergence, Yaw and Pitch of Robotic Eyes

Authors:
Cambuzat, Remi; Elisei, Frederic; Bailly, Gerard; Simonin, Olivier; Spalanzani, Anne
44

"Take a seat, please": Approaching and Recognition of Seated Persons by a Mobile Robot

Authors:
Trinh, Thanh Q.; Wengefeld, Tim; Mueller, Steffen; Vorndran, Alexander; Volkhardt, Michael; Scheidig, Andrea; Gross, Horst-Michael
45
46

Functional Integration of a Robotics Software Framework into a Human Simulation System

Authors:
Lemmerz, Kai; Glogowski, Paul; Hypki, Alfred; Kuhlenkoetter, Bernd
47

A Cable-Driven Parallel Robot Remotely Controlled by a Human-Driven Parallel Cable Robot

Authors:
Jung, Jinwoo; Kim, Eui-Sun; Jin, XueJun; Piao, Jinlong; Choi, Eunpyo; Park, Jong-Oh; Kim, Chang-Sei
48

PowerGrasp: Concept for a novel Soft-Robotic Arm Support System

Authors:
Kuschan, Jan; Goppold, Jean-Paul; Schmidt, Henning; Krueger, Joerg
49

Design of a wearable robotic hand to investigate multisensory illusions and the bodily self of humans

Authors:
Huynh, Vu; Scherf, Andrej; Bittner, Alina; Saetta, Gianluca; Lenggenhager, Bigna; Beckerle, Philipp
50
51

Dynamic Route Planning for Area Processing Autonomous Robots

Authors:
Weisenboehler, Moritz; Wurll, Christian
52

3D SLAMWith Scan Matching and Factor Graph Optimization

Authors:
Emter, Thomas; Petereit, Janko
53

Semi-automatic Calibration of UWB Range Measurements for an Autonomous Mobile Robot

Authors:
Stampa, Merlin; Mueller, Marcel; Hess, Daniel; Roehrig, Christof
54
55
56
57
58

Sealing Process on a Large Floor Grid Crossbeam Assembly through Human-Robot Cooperation

Authors:
Mueller, Rainer; Vette-Steinkamp, Matthias; Geenen, Aaron
59

System Identification and Sliding Mode Depth Control of the Micro AUV SEMBIO

Authors:
Behrje, Ulrich; Amory, Ammar; Meyer, Benjamin; Maehle, Erik
60

Semantic Segmentation Guided SLAM Using Vision and LIDAR

Authors:
Patel, Naman; Krishnamurthy, Prashanth; Farshad Khorrami
61

Lack of Robustness of LIDAR-Based Deep Learning Systems to Small Adversarial Perturbations

Authors:
Patel, Naman; Liu, Kang; Krishnamurthy, Prashanth; Garg, Siddharth; Khorrami, Farshad
62

Orientation dependent stiffness optimization of wearable robotics components

Authors:
Kriegesmann, Benedikt; Weidner, Robert; Fleming, Erik A.
63

Calibration of multiple 3D LiDAR sensors to a common vehicle frame

Authors:
Heide, Nina; Emter, Thomas; Petereit, Janko
64

Behavior-Based Low-Level Control for (Semi-)Autonomous Vehicles in Rough Terrain

Authors:
Ropertz, Thorsten; Wolf, Patrick; Berns, Karsten
65

Guiding Robots to Predefined Goal Positions with Multi-Modal Feedback

Authors:
Riedl, Michael; Henrich, Dominik
66
67
68

Improvements in Robot Teaching for Handling Operations in Production Environments

Authors:
Hodapp, Jan; Andulkar, Mayur; Reichling, Thorsten; Berger, Ulrich
69

Fast Graphical Task Modelling for Flexible Human-Robot Teaming

Authors:
Riedelbauch, Dominik; Henrich, Dominik
70
71

Identifying Human Hand Orientation around a Cylindrical Handlebar for physical Human-Robot Interaction

Authors:
Tran, Antony; Liu, Dikai; Ranasinghe, Ravindra; Carmichael, Marc
72

Framework for automated program generation of HRC applications

Authors:
Mueller, Fabian; Deuerlein, Christian; Ruecker, Daniel; Koch, Michael; Hess, Peter; Hasse, Alexander
73

User-Centered Design of Multimodal Robot Feedback for Cobots of Human-RobotWorking Cells in Industrial Production Contexts

Authors:
Hoecherl, Johannes; Schmargendorf, Maike; Wrede, Britta; Schlegl, Thomas
74
75

Gesture based robot programming using ROS platform

Authors:
Forgo, Zoltan; Hypki, Alfred; Kuhlenkoetter, Bernd
76

A user study on robot path planning inside a Virtual Reality environment

Authors:
Just, Christian; Ortmaier, Tobias; Kahrs, Lueder A.
77

New concept of safety to realize improvement of higher productivity and safety in an environment of human-robot collaboration, and proposal of the concept of Collaboration Safety Level

Authors:
Maeda, Ikuo; Nobuhiro, Masaki; Shimizu, Takayoshi; Okada, Kazuya; Dohi, Masao; Fujitani, Shigetoshi; Inada, Koji; Fujita, Toshihiro
78

A Method for Quantifying a Robot’s Confidence in its Human Co-worker in Human-Robot Cooperative Grit-Blasting

Authors:
Tran, Antony; Liu, Dikai; Ranasinghe, Ravindra; Carmichael, Marc
79

Learning Multi-Goal Inverse Kinematics in Humanoid Robot

Authors:
Singamaneni, Phaniteja; Dewangan, Parijat; Sarkar, Abhishek; Krishna, Madhava K.
80

Performance characterization and improvement of an underactuated robot gripper

Authors:
Carabin, Giovanni; Renato, Vidoni; Dominik, Matt
81

TrimBot2020: an outdoor robot for automatic gardening

Authors:
Strisciuglio, Nicola; Tylecek, Radim; Blaich, Michael; Petkov, Nicolai; Biber, Peter; Hemming, Jochen; Henten, Eldert van; Sattler, Torsten; Pollefeys, Marc; Gevers, Theo; Brox, Thomas; Fisher, Robert B.
82

Using OPC UA for Distributed Industrial Robot Control

Authors:
Vick, Axel; Krueger, Joerg