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 Seiten, Papiertasche, CD-Rom
ISBN 978-3-8007-3418-4
Persönliche VDE-Mitglieder erhalten auf diesen Titel 10% Rabatt

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

Autoren: Endres, Felix; Hess, Jürgen; Burgard, Wolfram

2

Hardware Design and Mathematical Modeling for an Artificial Pneumatic Spine for a Biped Humanoid Robot

Autoren: 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

Autoren: Luksch, Tobias; Gienger, Michael; Mühlig, Manuel; Yoshiike, Takahide

4

Playing Tangram with a Humanoid Robot

Autoren: Hirth, Jochen; Schmitz, Norbert; Berns, Karsten

5

Robotic System for Mapping 3D in-wall Information for Craftsmen

Autoren: Vorndamme, J.; Petereit, S.; Pitzer, B.; Roan, P.; Lilge, T.; Albert, A.

6

7

An Autonomous Flying Robot for Network Robotics

Autoren: Blum, Christian; Hafner, Verena V.

8

Piezo-driven Micro Robots for Different Environments: Prototypes and Experiments

Autoren: Becker, Felix; Zimmermann, Klaus; Minchenya, Vladimir T.; Volkova, Tatiana

9

Development of validation methods for the safety of mobile service robots with manipulator

Autoren: Jacobs, Theo; Reiser, Ulrich; Hägele, Martin; Verl, Alexander

10

11

Safety Challenges of Transferable Robotic Systems

Autoren: Salmi, Timo; Väätäinen, Otso; Malm, Timo; Montonen, Jari

12

Sensor- and Plausibility-based Surveillance of Human/Robot-Workspaces

Autoren: Hänel, Maria; Fischer, Markus; Kuhn, Stefan; Henrich, Dominik

13

Comparison of sampling based motion planning algorithms specialized for robot manipulators

Autoren: Fragkopoulos, Christos; Abbas, Khizar; Eldeep, Ahmed; Graeser, Axel

14

Trajectory modification considering dynamic constraints of autonomous robots

Autoren: Rösmann, Christoph; Feiten, Wendelin; Wösch, Thomas; Hoffmann, Frank; Bertram, Torsten

15

Locomotion through Reconfiguration based on Motor Primitives for Roombots Self-Reconfigurable Modular Robots

Autoren: Bonardi, Stéphane; Moeckel, Rico; Sproewitz, Alexander; Vespignani, Massimo; Ijspeert, Auke Jan

16

Generating Behaviour Networks from Finite-State Machines

Autoren: Armbrust, Christopher; Schmidt, Daniel; Berns, Karsten

17

3D-Sensor Based Dynamic Path Planning and Obstacle Avoidance for Industrial Manipulators

Autoren: Leutert, Florian; Freier, Christoph; Schilling, Klaus

18

Fast Vision-based Grasp and Delivery Planning for unknown Objects

Autoren: Baumgartl, Johannes; Henrich, Dominik

19

Object Pose Detection in Industrial Environment

Autoren: Palzkill, Matthias; Verl, Alexander

20

A New Library for Real-time Continuous Collision Detection

Autoren: Täubig, Holger; Frese, Udo

21

Safety Properties and Collision Behavior of Robotic Arms with Elastic Tendon Actuation

Autoren: Lens, Thomas; von Stryk, Oskar; Karguth, Andreas

22

An AmI Environment Implementation: Embedding TurtleBot into a novel Robotic Service Wall

Autoren: 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

Autoren: Milighetti, Giulio; Hoffmann, Eugen; Fetzner, Angelika; Kuntze, Helge-Björn

24

A Visual Dirt Detection System for Mobile Service Robots

Autoren: 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

Autoren: Jacobs, Theo; Connette, Christian; Hägele, Martin; Verl, Alexander

26

Unified Closed Form Inverse Kinematics for the KUKA youBot

Autoren: Sharma, Shashank; Kraetzschmar, Gerhard K.; Scheurer, Christian; Bischoff, Rainer

27

Uniform Cellular Design of Artificial Robotic Skin

Autoren: Mittendorfer, Philipp; Cheng, Gordon

28

An approach to locomotion systems based on 3D tensegrity structures with a minimal number of struts

Autoren: Böhm, V.; Jentzsch, A.; Kaufhold, T.; Schneider, F.; Becker, F.; Zimmermann, K.

29

Operating Unknown Constrained Mechanisms with Compliant Robots

Autoren: Lutscher, Ewald; Cheng, Gordon

30

31

Shifting allometry: combination of macroscopic engineering with microscopic biomimetics allows realization of new robot functions in meso dimension

Autoren: Fremerey, Max; Gorb, Stanislav; Heepe, Lars; Kasper, Dominik; Maempel, Joerg; Witte, Hartmut

32

Handling Uncertainties in Object Placement using Drop Regions

Autoren: Jorgensen, Jimmy A.; Ellekilde, Lars-Peter; Petersen, Henrik G.

33

Management and Manipulation of Modular and Reconfigurable Satellites

Autoren: Oberländer, Jan; Uhl, Klaus; Pfotzer, Lars; Göller, Michael; Rönnau, Arne; Dillmann, Rüdiger

34

Comparison of Localization Algorithms for AGVs in Industrial Environments

Autoren: Kirsch, Christopher; Künemund, Frank; Heß, Daniel; Röhrig, Christof

35

36

Investigation on a Planar Cable-Driven Parallel Robot

Autoren: Kraus, Werner; Schmidt, Valentin; Pott, Andreas; Verl, Alexander

37

Rule based Intention Generalization through Human-Robot Interaction

Autoren: Awais, Muhammad; Henrich, Dominik

38

Gripping Point Determination and Collision Prevention in a Bin- Picking application

Autoren: Spenrath, Felix; Spiller, Alexander; Verl, Alexander

39

Automatic Path and Trajectory Planning for Robotic Spray Painting

Autoren: Gasparetto, Alessandro; Vidoni, Renato; Pillan, Daniele; Saccavini, Ennio

40

41

Autonomous Foods Handling by Chopsticks for Meal Assistant Robot

Autoren: Yamazaki, Akira; Masuda, Ryosuke

42

Application of Hybrid A* to an Autonomous Mobile Robot for Path Planning in Unstructured Outdoor Environments

Autoren: Petereit, Janko; Emter, Thomas; Frey, Christian W.; Kopfstedt, Thomas; Beutel, Andreas

43

A mobile robot platform for socially assistive home-care applications

Autoren: Merten, Matthias; Bley, Andreas; Schröter, Christof; Gross, Horst-Michael

44

Simultaneous Localization and Mapping with the Kinect sensor

Autoren: Emter, Thomas; Stein, Andreas

45

An Easy to Use Framework for Educational Robots

Autoren: Maas, Raphael; Maehle, Erik

46

Conceptual Design of a Dynamic Risk-Assessment Server for Autonomous Robots

Autoren: 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

Autoren: Gecks, Thorsten; Müller, Christopher; Henrich, Dominik; Vogl, Wolfgang

49

Rapid Detection of Fast Objects in Highly Dynamic Outdoor Environments using Cost-Efficient Sensors

Autoren: 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

Autoren: 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

Autoren: Lang, Muriel; Feiten, Wendelin

52

Enabling robots in small-part assembly lines: The "ROSETTA approach" - an industrial perspective

Autoren: Patel, Rajendra; Hedelind, Mikael; Lozan-Villegas, Pablo

53

Advanced methods for small batch robotic machining of hard materials

Autoren: Surdilovic, Dragoljub; Zhao, Hongqing; Schreck, Gerhard; Krüger, Jörg

54

Optimised Pattern Recognition For RoboticWeldment Geometry Measuring

Autoren: Hoffmeier, Guido; Plyusnina, Maria; Kuhlenkötter, Bernd; Bickendorf, Jobst

55

A Flexible Haptic Test Bed

Autoren: Bartelt, Matthias; Domrös, Frank; Kuhlenkötter, Bernd

56

Auto-Calibration Method for Overconstrained Cable-Driven Parallel Robots

Autoren: Miermeister, Philipp; Pott, Andreas; Verl, Alexander

57

Outdoor RGB-D SLAM Performance in Slow Mine Detection

Autoren: Abbas, Syed Muhammad; Muhammad, Abubakr

58

Visual Servoing of a Sensor Arm for Mine Detection Robot Marwa

Autoren: Manzoor, Talha; Munawar, Adnan; Muhammad, Abubakr

59

Optical Position Stabilization of an UAV for Autonomous Landing

Autoren: Ax, Markus; Thamke, Stefan; Kuhnert, Lars; Schlemper, Jens; Kuhnert, Klaus-Dieter

60

MONSUN II: A small and inexpensive AUV for underwater swarms

Autoren: Osterloh, Christoph; Pionteck, Thilo; Maehle, Erik

61

Advanced Mobile Robot Engineering with Virtual Testbeds

Autoren: Rossmann, Jürgen; Schluse, Michael; Sondermann, Björn; Emde, Markus; Rast, Malte

62

63

64

2D Semantic Mapping on Occupancy Grids

Autoren: Liu, Ziyuan; Chen, Dong; von Wichert, Georg

65

66

Robots Assisting in the Packaging Industry

Autoren: 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

Autoren: Alatartsev, Sergey; Güdemann, Matthias; Ortmeier, Frank

68

AMADEUS – A robotic multipurpose solution for intralogistics

Autoren: 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

Autoren: Künemund, Frank; Kirsch, Christopher; Heß, Daniel; Röhrig, Christof

70

A Narrow Passage Assistance Functions on a Mobility Scooter for Elderly People

Autoren: Eck, Daniel; Heim, Thomas; Hess, Robin; Schilling, Klaus

71

Book Detection and Grasping in Library Scenario

Autoren: Heyer, Stefan; Enjarini, Bashar; Fragkopoulos, Christos; Graeser, Axel

72

Micro-Macro Telemanipulator for Middle-Ear Microsurgery

Autoren: Entsfellner, Konrad; Strauss, Gero; Berger, Thomas; Dietz, Andreas; Lueth, Tim C.

73

Position Control of Soft-Robots with Rotary-Type Pneumatic Actuators

Autoren: Taghia, Javad; Wilkening, André; Ivlev, Oleg

74

Control of physical interaction tasks using pneumatic soft-robots

Autoren: Baiden, David; Bartuszies, Sven; Ivlev, Oleg

75

A Multi-Link-Flexible Robot Arm Catching Thrown Balls

Autoren: Malzahn, Jörn; Phung, Anh Son; Bertram, Torsten

76

An Elephant’s Trunk-Inspired Robotic Arm – Trajectory Determination and Control

Autoren: Behrens, Roland; Poggendorf, Maik; Schulenburg, Erik; Elkmann, Norbert

77

Robot Programming for Surface Finishing based on CAD Model Including External Axes

Autoren: Dani, Jörg; Winkler, Alexander; Suchý, Jozef

78

Programming System for Efficient Use of Industrial Robots for Deburring in SME Environments

Autoren: 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

Autoren: Nägele, Frank; Naumann, Martin; Verl, Alexander

80

81

A Toolkit for Automatic Generation of Polygonal Maps – Las Vegas Reconstruction

Autoren: Wiemann, Thomas; Nüchter, Andreas; Hertzberg, Joachim

82

Ground Plan Based Exploration with a Mobile Indoor Robot

Autoren: Wettach, Jens; Berns, Karsten

83

Real-Time Visual SLAM Using FastSLAM and the Microsoft Kinect Camera

Autoren: Hartmann, Jan; Forouher, Dariush; Litza, Marek; Klüssendorff, Jan Helge; Maehle, Erik

84

Efficient Mobile Robot Navigation using 3D Surfel Grid Maps

Autoren: Kläß, Jochen; Stückler, Jörg; Behnke, Sven

85

Shape-Primitive Based Object Recognition and Grasping

Autoren: Nieuwenhuisen, Matthias; Stückler, Jörg; Berner, Alexander; Klein, Reinhard; Behnke, Sven

86

Extraction of Solids of Revolution from Point Cloud Scenes for Grasp Planning Tasks

Autoren: Escaida Navarro, Stefan; Klock, Tobias; Braun, Daniel; Wörn, Heinz

87

Rotary Surface Object Manipulation by Multifingered Robot Hand

Autoren: Li, Qiang; Haschke, Robert; Ritter, Helge; Bolder, Bram

88

k-TR Theory for Balance of Nature and Nurture in Robotic Perception

Autoren: Mahesh Varadarajan, Karthik; Vincze, Markus

89

Control with a Compliant Force-Torque Sensor

Autoren: Lange, Friedrich; Suppa, Michael; Hirzinger, Gerd

90

Force controlled handling with cooperating industrial robots

Autoren: Spiller, Alexander; Verl, Alexander

91

Filtering and Corner Detection in Predictive Robotic Contour Following

Autoren: Koch, Heiko; König, Alexander; Kleinmann, Karl; Weigl-Seitz, Alexandra; Suchý, Jozef

92

AR-based Approach for Evaluation of new Model-based Control Algorithms

Autoren: Notheis, Simon; August, Wilhelm; Hein, Björn; Wörn, Heinz

93

A framework for object training and 6 DoF pose estimation

Autoren: Fischer, Jan; Arbeiter, Georg; Bormann, Richard; Verl, Alexander

94

Robustly Segmenting Cylindrical and Box-like Objects in Cluttered Scenes using Depth Cameras

Autoren: Goron, Lucian Cosmin; Marton, Zoltan-Csaba; Lazea, Gheorghe; Beetz, Michael

95

96

From Saliency Based Image Features Towards Semantic Mapping

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