Rubric: Proceedings - General Proceedings
ISR Europe 2023
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Informationstechnische Gesellschaft im VDE (VDE ITG) (Ed.)

ISR Europe 2023

56th International Symposium on Robotics, in cooperation with Fraunhofer IPA September 26 – 27, 2023 in Stuttgart

2023, X, 439 pages, 140 x 124 mm, Slimlinebox, CD-Rom
ISBN 978-3-8007-6140-1, e-book: ISBN 978-3-8007-6141-8
Personal VDE Members are entitled to a 10% discount on this title

Content Foreword

Robotics technologies are in an active process of convergence towards innovative solutions with great benefit for all mankind. We roboticists are at the forefront of this development, combining Industry 4.0 and AI trends with established use cases from the industry. Robots are increasingly taking over dangerous, dull or painful tasks Recent years have shown many interesting developments that can be published at the ISR, making it the ideal platform for presenting your research results to the community.

The 56th International Symposium on Robotics - ISR Europe 2023 will be held in Stuttgart, Germany on September 26 to 27, 2023. This international conference is jointly organized by the Mechanical Engineering Industry Association (VDMA) and the Information Technology Society (ITG) within the VDE. ISR Europe 2023 takes place in a new format without the automatica exhibition this year.
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.
Search Conference Papers
1

UAVs and Neural Networks for search and rescue missions

Authors:
Surmann, Hartmut; Leinweber, Artur; Senkowski, Gerhard; Meine, Julien; Slomma, Dominik
2

Guidance of Agricultural Ground Robots Team with an Aerial Vehicle: A Cost-Effective Solution

Authors:
Ugurlu, Halil Ibrahim; Bardakci, Deniz; Pham, Huy Xuan; Kayacan, Erdal
3

ORB-Net: End-to-end Planning Using Feature-based Imitation Learning for Autonomous Drone Racing

Authors:
Pham, Huy Xuan; Heiss, Micha; Tran, Dung; Nguyen, Minh Anh; Nguyen, Anh Quang; Kayacan, Erdal
4

Task-Level Programming by Demonstration for Mobile Robotic Manipulators through Human Demonstrations based on Semantic Skill Recognition

Authors:
Mayershofer, Luisa; Lehner, Peter; Leidner, Daniel; Albu-Schaeffer, Alin
5

Graph Neural Networks for Joint Action Recognition, Prediction and Motion Forecasting for Industrial Human-Robot Collaboration

Authors:
Lagamtzis, Dimitrios; Schmidt, Fabian; Seyler, Jan; Dang, Thao; Schober, Steffen
6

Human Model in a Simulation-Assisted Risk Assessment Tool for Safe Robot Applications

Authors:
Dai, Fan; Klose, Silke; Huck, Tom P.; Ledermann, Christoph
7

Modeling of Load-dependent Friction in Robot Joints Using Long Short-term Memory Networks

Authors:
Trinh, Minh; Pellenz, Yannick; Gruendel, Lukas; Petrovic, Oliver; Becher, Christian
8

Data-centric and Goal-oriented AI for Robotic Repair Tasks

Authors:
Dachtler, Kristina; Ortner, Michael; Ferri, Massimo; Eberst, Christof; Schiendorfer, Alexander
9

Real-to-sim Robotic Scene Generator

Authors:
Petter, Jascha; Schreier, Fabian; Eivazi, Shahram
10

Method for Integrating Exoskeletons into Ergonomics Assessment

Authors:
Ralfs, Lennart; Schuetz, Johannes; Schmermbeck, Katharina; Weidner, Robert
11

Assessing the Impact of Human-Robot Collaboration on Stress Levels and Cognitive Load in Industrial Assembly Tasks

Authors:
Bussolan, Andrea; Baraldo, Stefano; Gambardella, Luca Maria; Valente, Anna
12

Expectations of usability aspects for human-robot interactions in manufacturing settings are changed by experience

Authors:
Niehaus, Susanne; Funk, Miriam; Rosen, Patricia Helen; Ranavolo, Alberto; Chini, Giorgia; Varrecchia, Tiwana; Draicchio, Francesco; Petyx, Marta; Wischniewski, Sascha
13

An Android Robot Head as Embodied Conversational Agent

Authors:
Heisler, Marcel; Becker-Asano, Christian
14

Adversarial attack resistance in next-best-view prediction using spherical harmonics

Authors:
Pop, Alexandru; Tamas, Levente
15

Loss it right: Euclidean and Riemannian Metrics in Learning-based Visual Odometry

Authors:
Alvarez-Tunon, Olaya; Brodskiy, Yury; Kayacan, Erdal
16

A Biomimetic Fingerprint for Robotic Tactile Sensing

Authors:
Juina Quilachamin, Oscar Alberto; Navarro-Guerrero, Nicolas
17

A soft pneumatic robotic finger integrated with sound sensor for texture identification of cloths through friction.

Authors:
Lazaridis, Vasileios; Koustoumpardis, Panagiotis; Nikolakopoulos, Pantelis
18

Modelling of a Dual-Motor Robotic Drive with Estimation, Preload, and Guidance of Backlash

Authors:
Kaiser, Benedikt; Schaefer, Adrian; Schuetz, Andreas; Parspour, Nejila; Lechler, Armin; Verl, Alexander
19

EfficientPPS: Part-aware Panoptic Segmentation of Transparent Objects for Robotic Manipulation

Authors:
Alt, Benjamin; Nguyen, Minh Da; Hermann, Andreas; Katic, Darko; Jaekel, Rainer; Dillmann, Ruediger; Sax, Eric
20

Online 3D Deformable Object Classification for Mobile Cobot Manipulation

Authors:
Nguyen, Khang; Dang, Tuan; Huber, Manfred
21

Depth Image Enhancement with Sensor Fusion CycleGAN for Bin Picking Applications

Authors:
Stueckelmaier, Emily; Moenning, Manuel; Voelk, Markus; Kraus, Werner; Bormann, Richard
22

6DoF State Estimation with a Mesh Constrained Particle Filter For Wheeled Robots

Authors:
Schroepfer, Peter; Chahine, Georges; Pradalier, Cedric
23

Measuring 3D-reconstruction quality in probabilistic volumetric maps with the Wasserstein Distance

Authors:
Aravecchia, Stephanie; Richard, Antoine; Clausel, Marianne; Pradalier, Cedric
24

Educating Future Software Engineers for Industrial Robotics

Authors:
Schuerrle, Berit; Grimmeisen, Philipp; Pfeiffer, Jerome; Zimmermann, Thilo; Morozov, Andrey; Wortmann, Andreas
25

MobileRobot: Control of a Redundant Kinematic using Drive-Steering Modules for Mobile Manipulation

Authors:
Hess, Daniel; Trinh, Buu Hai Dang; Parys, Mathias; Roehrig, Christof
26

Light Monocular Camera-based Obstacle Detection and Avoidance Algorithm for Small drone Flying in an unknown Maze

Authors:
Danial, Jeryes; Asher, Yosi Ben
27

Easy-to-Use Seamtracking through weld-arc sensor signals for collaborative robot welding applications

Authors:
Dripke, Caren; Sutariya, Ronil
28

A Robotic Printer for Nonplanar Additive Manufacturing of Carbon Fiber Reinforced Polymers

Authors:
Kipping, Johann; Nettig, Doran; Kallai, Zsolt; Schueppstuhl, Thorsten
29

Automated Grinding for Surface Defect Removal on Aircraft Components

Authors:
Kaehler, Falko; Masekowsky, Soeren; Schueppstuhl, Thorsten
30

A Model-driven and role-oriented approach to software deployment in robotics

Authors:
Wu, Ruichao; Garcia, Nadia Hammoudeh; Kahl, Bjoern; Hellmann Santos, Christoph
31

Towards Robustification of Incremental Model Predictive Control Deploying an Adaptive Tube Technique

Authors:
Zheng, Tian; Li, Hengrui; Wang, Yongchao; Xie, Jing; Leibold, Marion; Lee, Jinoh
32

Optimal Robot Motion Generation Respecting Position-Dependent Safety Constraints

Authors:
Clever, Debora; Stuhlenmiller, Florian; Wahrburg, Arne; Matthias, Bjoern; Enayati, Nima
33

Mobile Preassembly Systems with Cooperative Dual-Arm Manipulation - A Concept for Industrial Applications in the Near Future

Authors:
Wittmann, Jonas; Laile, Mathias; Rainer, Johannes; Fottner, Johannes; Rixen, Daniel
34

Task-Specific Reconfiguration of VariableWorkstations using Automated Planning of Workcell Layouts

Authors:
Bachmann, Timo; Eiberger, Oliver; Eiband, Thomas; Lay, Florian; Angsuratanawech, Promwat; Rodriguez, Ismael; Lehner, Peter; Stulp, Freek; Nottensteiner, Korbinian
35

Human Robot Collaborative Assembly Using Behavior Trees and Dynamic Tree Dispatching

Authors:
Behery, Mohamed; Deutsch, Jonas; Trinh, Minh; Koetter, David; Brecher, Christian; Lakemeyer, Gerhard
36

Hexapod Robot, Basic Obstacles Strategies and Simulation Results

Authors:
Nitulescu, Mircea
37

Graph-based Design Languages for the Development of a Robotic Cell with Compliant Grippers

Authors:
Grueble, Tobias; Stetter, Ralf; Schuchter, Timo; Till, Markus; Rudolph, Stephan
38

Evaluation of external control of KUKA Industrial Robots for laboratory and prototype environments

Authors:
Mehner, Malte; Matkovic, Nikolas; Muehlbeier, Edgar; Mayer, Dominik; Fleischer, Juergen; Verl, Alexander
39

Technology packages for industrial robots to enable human-robot collaboration

Authors:
Heiligensetzer, Peter; Mohre, Michael; Pieniack, Sebastian
40

A prototype adjuster for motion planning of redundant robots

Authors:
Leniowski, Ryszard; Leniowska, Lucyna; Ozog, Dominik; Tomecki, Krzysztof
41

MEMS LiDAR Sensor Simulation for Autonomous Driving: A Novel Framework Using Open-source Tools

Authors:
Berens, Felix; Elser, Stefan; Reischl, Markus
42

A Study on a New Illuminance Sensing System Based on Color Image of Objects

Authors:
Kakishima, Keisuke; Yoshimi, Takashi
43

Towards a Semantic Digital Twin for Marine Robotics

Authors:
Odonkor, Derrick; Coffelt, Jeremy Paul; Syrbe, Joern; Beetz, Michael
44

Implementation of a ROS-based Digital Twin Approach of a Multi-Robot Cell for Incremental Manufacturing

Authors:
Opolka, Anna Marie; Griemert, Rudolf; Wacker, Christian; Wagner, Arne; Droeder, Klaus
45

Performance analysis of a novel cutting tool for hole generation on a CFRP material via robot machining

Authors:
Sawyer, Daniela; Celikag, Huseyin; Ozturk, Erdem; Walsh, Mark
46

Using Solana Blockchain and OPC UA for Trusted Third Party Industrial Robot Control Services

Authors:
Vick, Axel; Chen, Wei; Krueger, Joerg
47

Door Manipulation as a Fundamental Skill Realized on Robots With Differential Drive

Authors:
Mueller, Tristan; Mueller, Steffen; Gross, Horst-Michael
48

Bridging Distance with a Collaborative Telepresence Robot for Older Adults – Report on Progress in the CO-HUMANICS Project

Authors:
Fischedick, Soehnke Benedikt; Richter, Kay; Wengefeld, Tim; Seichter, Daniel; Scheidig, Andrea; Doering, Nicola; Broll, Wolfgang; Werner, Stephan; Raake, Alexander; Gross, Horst-Michael
49

Towards a Robotic-Based Development Environment for Designing and Evaluating Exoskeletons

Authors:
Hoffmann, Niclas; Mir Latifi, Seyed Milad; Nagwekar, Rajal; Weidner, Robert
50

The influence of an interactive user training on perceived safety in HRI

Authors:
Exeler, Sharon; Nertinger, Simone; Herzog, Olivia; Naceri, Abdeldjallil; Haddadin, Sami
51

Benchmark on deep reinforcement learning-based placing using a robot arm

Authors:
Kernbach, Andreas; Hoffmann, Kathrin; Sawodny, Oliver; Eivazi, Shahram
52

Virtual AI training and observation environment based on multiplayer game design

Authors:
Halt, Lorenz; Ganter, Lukas
53

Automatic Path Planning for Robotic Grinding and Polishing Tasks based on Point Cloud Slicing

Authors:
Raible, Julian; Braun, Christopher; Huber, Marco
54

Improved Dynamic Behaviour of Industrial Robots through Hybrid Drives

Authors:
Hansen, Stephan; Hamann, Tobias; Boehlmann, Christian; Moeller, Christian; Hintze, Wolfgang
55

A Concept for Unifying the Performance Assessment of Industrial Robot Systems with Closed-loop Dynamic Trajectories

Authors:
Finkbeiner, Martin Satoshi; Schaefle, Tobias Rainer; Beck, Joshua; Stoll, Johannes T.; Kraus, Werner; Giftthaler, Markus
56

Autonomous robotics in agriculture – a preliminary techno-economic evaluation of a mechanical weeding system

Authors:
Rossmadl, Andreas; Gandorfer, Markus; Kopfinger, Stefan; Busboom, Axel
57

Upside down: an open-source motion platform for highly dynamic movement

Authors:
Man Singh Pradhan, Nayan; Frank, Patrick; Mo, An; Badri-Sproewitz, Alexander
58

Recurrent Neural Network for Modelling a Contractive Soft Actuator

Authors:
Kienzlen, Annika; Zuern, Manuel; Kazemi, Shahab; Xu, Weiliang; Cheng, Leo K.; Strommel, Martin; Verl, Alexander
59

Denoising and Segmentation of SONAR Images for Rescue Operations

Authors:
Keen, Hannan Ejaz; Haider, Amjad; Berns, Karsten
60

Learning Multiple Radiation Source Distribution Models using Gaussian Processes

Authors:
De Schepper, David; Simons, Mattias; Schroeyers, Wouter; Kellens, Karel; Demeester, Eric