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 Seiten, Papiertasche, CD-Rom
ISBN 978-3-8007-3601-0
Persönliche VDE-Mitglieder erhalten auf diesen Titel 10% Rabatt

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.

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

Autoren: Becker, Felix; Boerner, Simon; Lysenko, Victor; Zeidis, Igor; Zimmermann, Klaus

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5

A Tea-Serving Robot for Office Environment

Autoren: Kumar, Swagat; Garg, Sourav; Kejriwal, Nishant

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7

Virtual Joints to Solve the Inverse Kinematics Problem

Autoren: Weber, Wolfgang; Koenig, Alexander; Schneider, Katharina

8

Online Determination of kinematic Singularities without Jacobian Matrices

Autoren: Schlosser, Christian; Koetter, Tobias; Schueppstuhl, Thorsten

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12

Intuitive and Adaptive Robotic Arm Manipulation using the Leap Motion Controller

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

13

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

Autoren: Fetzner, Angelika; Frese, Christian; Frey, Christian

14

Cobomanip: a new generation of Intelligent Assist Device

Autoren: David, Olivier; Andre, Sylvain; Kfoury, Fares; Garrec, Philippe

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16

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

Autoren: 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

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

18

A Mobile Manipulator Controller Implemented in the Robot Operating System

Autoren: Barros, Taiser Tadeu Teixeira; Fetter Lages, Walter

19

Automated programming of cooperating industrial robots

Autoren: Wagner, Maximilian; Hess, Peter; Reitelshoefer, Sebastian

20

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

Autoren: Bubeck, Alexander; Weisshardt, Florian; Verl, Alexander

21

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

Autoren: Miermeister, Philipp; Kraus, Werner; Winkler, Bernd; Pott, Andreas

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

Autoren: Ohkawa, Shinya; Takita, Yoshihiro; Date, Hisashi

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26

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

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

27

Flexible and Assistive Quality Checks with Industrial Robots

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

28

Evaluation of wheel mechanisms for omnidirectional robot undercarriages

Autoren: Jacobs, Theo; Hesse, Maximilian; Verl, Alexander

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Nonlinear Model-based Position Control for Quadrotor UAVs

Autoren: Beul, Marius; Worst, Rainer; Behnke, Sven

31

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

Autoren: Seemann, Martin; Janschek, Klaus

32

Enhancing Software Portability with a Testing and Evaluation Platform

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

33

Cycle Time Estimation for a Δ-Type Robot

Autoren: Mueller, Martin; Kuhlenkoetter, Bernd; Geiger, Harald

34

Robots in Food Industry Challenges and Chances

Autoren: Mueller, Martin; Kuhlenkoetter, Bernd; Nassmacher, Ralf

35

HEPHESTOS: Hard Material Small-Batch Industrial Machining Robot

Autoren: Schreck, Gerhard; Surdilovic, Dragoljub; Krueger, Joerg

36

Efficient inline measuring in robot applications

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

37

The Curvature Control of a Hyper-redundant Robot

Autoren: Popescu, Nirvana; Popescu, Decebal; Ivanescu, Mircea; Nitulescu, Mircea

38

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

Autoren: Meyer, Benjamin; Ehlers, Kristian; Isokeit, Cedric; Maehle, Erik

39

Learning to Unscrew a Light Bulb from Demonstrations

Autoren: Manschitz, Simon; Kober, Jens; Gienger, Michael; Peters, Jan

40

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

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

41

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

Autoren: Dalgaard, Lars; Heikkilae, Tapio; Koskinen, Jukka

42

Small Part Assembly with Dual Arm robot and Smart Camera

Autoren: Ge, Jingguo; Chi, Zhaofu; Li, Qingwei

43

EuRoC - The Challenge Initiative for European Robotics

Autoren: 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

Autoren: Ehlers, Kristian; Meyer, Benjamin; Maehle, Erik

45

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

Autoren: 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

Autoren: 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

Autoren: 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

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

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

52

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

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

53

High Accuracy Link Mechanism using Singular Configuration

Autoren: Tazawa, Hidehiro; Hayashi, Yuya; Aiyama, Yasumichi

54

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

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

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Registration methods for RGB-D cameras accelerated on GPUs

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

57

An Automatic Industrial Robot Cell Calibration Method

Autoren: Ge, Jingguo; Gu, Hao; Lu. Qi; Li, Qingwei

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59

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

Autoren: Roehrig, Christof; Heller, Andre; Hess, Daniel; Kuenemund, Frank

60

Repair of Aircraft Combustors with Industrial Robots

Autoren: Schwienbacher, Christoph; Koetter, Tobias; Schueppstuhl, Thorsten

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Small industrial robots for on-aircraft repair of composite structures

Autoren: Hoefener, Matthias; Schueppstuhl, Thorsten

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Towards Autonomous Robot Machining

Autoren: Domroes, Frank; Rieger, Michael; Kuhlenkoetter, Bernd

67

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

Autoren: Stumm, Sven; Pintar, Daniel; Kuhlenkoetter, Bernd

68

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

Autoren: Diederichs, Claas; Mikczinski, Manuel; Tiemerding, Tobias

69

A Robotized Solution for Roughing the Uppers of Fashion Shoes

Autoren: Villagrossi, E.; Villagrossi, E.; Pedrocchi, N.; Cenati, C.; Molinari Tosatti, L.

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Directed Visibility based Probabilistic Roadmaps

Autoren: Ellekilde, Lars-Peter

73

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

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

74

Visual Semantic Robot Navigation in Indoor Environments

Autoren: Posada, Luis Felipe; Hoffmann, Frank; Bertram, Torsten

75

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

Autoren: 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

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

77

Combining holistic programming with kinematic parameter optimisation for robot machining

Autoren: 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

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

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Aspects Concerning Kinetostatic Properties of Parallel Robots

Autoren: Brisan, Cornel; Boanta, Catalin; Csiszar, Akos; Verl, Alexander

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

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

83

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

Autoren: Baumgartl, Johannes; Henrich, Dominik

84

Integrating Semantic Information in Navigational Planning

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

85

Risk-Reduced Mobile Robot Path Planning in Smart Environments

Autoren: Arndt, Michael; Berns, Karsten

86

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

Autoren: Hermann, Andreas; Bauer, Joerg; Klemm, Sebastian; Dillmann, Ruediger

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Generating and Executing Hierarchical Mobile Manipulation Plans

Autoren: Stock, Sebastian; Guenther, Martin; Hertzberg, Joachim

89

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

Autoren: Yang, Tangwen; Yang, Tangwen; Yin, Hang; Zhao, Xingang; Han, Jianda; Xu, Weiliang; Xu, Weiliang

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PBK - Powered Bionic Knee System

Autoren: Budaker, Bernhard; Schneider, Urs

92

Design of a robot for hygienization of walls in hospital environments

Autoren: Cepolina, Francesco E.; Muscolo, Giovanni G.

93

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

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

94

Data Flow Analysis in ROS

Autoren: Forouher, Dariush; Hartmann, Jan; Maehle, Erik

95

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

Autoren: Fetter Lages, Walter; Ioris, Darlan; Santini, Diego Caberlon

96

Mobile robot motion planning based on Cloud Computing stereo vision processing

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

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Hybrid Navigation System for Mecanum Based Omnidirectional Automated Guided Vehicles

Autoren: Wissing, Matthias; Kuenemund, Frank; Hess, Daniel; Roehrig, Christof

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Innovative Safety Solution for Machine Integrated Manipulators

Autoren: Frauscher, Stefan; Schimpelsberger, Walter

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

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

102

ISO 13482 – The new safety standard for personal care robots

Autoren: Jacobs, Theo; Virk, Gurvinder Singh

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104

Stiffness Based Global Indices for Structural Evaluation of Anthropomorphic Manipulators

Autoren: Vemula, Bhanoday; Spampinato, Giacomo; Brogardh, Torgny; Feng, Xiaolong

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Aspects concerning the modeling of robots with increased dexterity

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

107

Characterizing the Workspace of Concentric Tube Continuum Robots

Autoren: Granna, Josephine; Burgner, Jessica

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Modeling Robot Assembly Tasks in Manufacturing Using SysML

Autoren: Huckaby, Jacob; Christensen, Henrik

110

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

Autoren: Schlette, Christian; Losch, Daniel; Rossmann, Juergen

111

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

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

112

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

Autoren: Goldhoorn, Matthias; Joyeux, Sylvain

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Experimental Characterization of Collaborative Robot Collisions

Autoren: Matthias, Bjoern; Oberer-Treitz, Susanne; Ding, Hao

115

Multi-Sensor Obstacle Tracking for Safe Human-Robot Interaction

Autoren: Frese, Christian; Fetzner, Angelika; Frey, Christian

116

Safe Assembly of Low Volume Complex Products

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

117

Risk and Safety Aspects for Wall-Climbing Robots

Autoren: Schmidt, Daniel; Berns, Karsten