VDMA; VDE; ITG; DGR; IFR (Hrsg.)

ISR 2016

47th International Symposium on Robotics Robotics in the era of digitalisation June, 21-22, 2016, Munich, Germany

2016, 695 Seiten, Slimlinebox, CD-Rom
ISBN 978-3-8007-4231-8
Persönliche VDE-Mitglieder erhalten auf diesen Titel 10% Rabatt

Inhaltsverzeichnis Vorwort

Robotics in the era of Digitalization! After two years the 47th International Symposium on Robotics ISR 2016 will again be held in Munich, Germany, from June 21-22, 2016. 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 and the German Society for Robotics (DGR).

The international trade fair for automation and mechatronics AUTOMATICA has again been chosen as conference platform. AUTOMATICA expects more than 800 exhibitors and more than 35,000 visitors from June 21-24, 2016. As the fair will last longer than ISR 2016, there is the possibility and time for all conference participants to visit this interesting exhibition during and after the conference. In about 150 presentations, ISR 2016 will give an insight to the latest state-of-the-art robot technology to participants from both industry and science. Sessions will be held on Modeling, Planning and Control as well as Components & Technologies, also Robotics in Production / Industrial Robots will be addressed as well as Service Robotics. Additionally there will be sessions on Robotics in New Markets & Applications and on the workplace of the future. Presentations of the final nominees of the Joseph F. Engelberger Award highlight the conference's gala banquet. Of course there will be a conference poster session and video presentations of latest robot development, that can be visited between and parallel to the conference sessions. We cordially invite researchers and experts from the field of robotics to send in their abstracts and we are full of expectations for an exciting conference program in June 2016.
VDMA – Verband Deutscher Maschinen- und Anlagenbau e.V.

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
Die ITG ist die nationale Vereinigung aller auf dem Gebiet der Informationstechnik Tätigen in
Wirtschaft, Verwaltung, Lehre und Forschung und Wissenschaft. Ihre Ziele sind die Förderung der wissenschaftlichen und technischen Weiterentwicklung und Bewertung der Informationstechnik in Theorie und Praxis. 1954 als Nachrichtentechnische Gesellschaft gegründet, ist sie die älteste Fachgesellschaft im VDE.

DGR – Deutsche Gesellschaft für Robotik

IFR – International Federation of Robotics

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Real Time Texture Generation in Optimized Large-Scale Polygon Meshes with KinectFusion

Autoren: Mock, Alexander; Wiemann, Thomas; Borrmann, Dorit; Igelbrink, Tristan; Hertzberg, Joachim

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Experimental Robot Inverse Dynamics Identification Using Classical and Machine Learning Techniques

Autoren: Bargsten, Vinzenz; Gea Fernandez, Jose de; Kassahun, Yohannes

4

The Advantages of Using Behavior Trees in Mult-Robot Systems

Autoren: Colledanchise, Michele; Marzinotto, Alejandro; Dimarogonas, Dimos V.; Oegren, Petter

5

Automatic Testing Framework for Benchmarking Applications

Autoren: Weisshardt, Florian; Koehler, Florian

6

Active Ankle – an Almost-Spherical Parallel Mechanism

Autoren: Simnofske, Marc; Kumar, Shivesh; Bongardt, Bertold; Kirchner, Frank

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Development of a Self-Adaptive Gripper and Implementation of a Gripping Reflex to Increase the Dynamic Payload Capacity

Autoren: Manz, Marc; Bartsch, Sebastian; Simnofske, Marc; Kirchner, Frank

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Reduction of Heart Rate by Robot Trajectory Profiles in Cooperative HRI

Autoren: Kuehnlenz, Barbara; Kuehnlenz, Kolja

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Attribute Enabled Programming of Industrial Robots

Autoren: Wang, Jianjun; Rossano, Gregory; Fuhlbrigge, Thomas; Staab, Harald; Boca, Remus

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Example Application of ISO/TS 15066 to a Collaborative Assembly Scenario

Autoren: Matthias, Bjoern; Reisinger, Thomas

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A Flexible Architecture for Automatically Generating Robot Applications based on Expert Knowledge

Autoren: Macho, Miroslav; Naegele, Ludwig; Hoffmann, Alwin; Angerer, Andreas; Reif, Wolfgang

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Establishing Performance Guarantees for Behavior-Based Robot Missions Using an SMT Solver

Autoren: Tang, Feng; Lyons, Damian M.; Arkin, Ronald C.

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Industrial implementation of a multi-task redundancy resolution at velocity level for highly redundant mobile manipulators

Autoren: Scheurer, Christian; Fiore, Mario Daniele; Sharma, Shashank; Natale, Ciro

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Data-Driven Human Grasp Movement Analysis

Autoren: Marino, Hamal; Gabiccini, Marco; Leonardis, Ales; Bicchi, Antonio

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Distance Metrics for Path Planning with Dynamic Roadmaps

Autoren: Voelz, Andreas; Graichen, Knut

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May I be your Personal Coach? Bringing Together Person Tracking and Visual Re-identification on a Mobile Robot

Autoren: Wengefeld, Tim; Eisenbach, Markus; Trinh, Thanh Q.; Gross, Horst-Michael

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Texture Characterization with Semantic Attributes: Database and Algorithm

Autoren: Bormann, Richard; Esslinger, Dominik; Hundsdoerfer, Daniel; Haegele, Martin; Vincze, Markus

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ENACT: An Efficient and Extensible Entity-Actor Framework for Modular Robotics Software Components

Autoren: Werner, Tobias; Gradmann, Michael; Orendt, Eric M.; Sand, Maximilian; Spangenberg, Michael; Henrich, Dominik

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Affordance Estimation For Vision-Based Object Replacement on a Humanoid Robot

Autoren: Mustafa, Wail; Waechter, Mirko; Szedmak, Sandor; Agostini, Alejandro

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A Framework for Robot Control Software Development and Debugging Using a Real-Time Capable Physics Simulation

Autoren: Aichele, Fabian; Schenke, Bjoern; Eckstein, Bernd; Groz, Albert

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Modularization of skill ontologies for industrial robots

Autoren: Jacobsson, Ludwig; Malec, Jacek; Nilsson, Klas

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User-Defined Transition between Path Segments in Terms of Tolerances in Speed and Position Deviation

Autoren: Weber, Wolfgang; Koenig, Alexander; Nodem, Dany Xavier

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Robot Assembly Skills Based on Compliant Motion

Autoren: Dai, Fan; Wahrburg, Arne; Matthias, Bjoern; Ding, Hao

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Editing and synchronizing multi-robot playback programs

Autoren: Riedl, Michael; Baumgartl, Johannes; Henrich, Dominik

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Experimental verification of the advantages of a modular open chain metamorphic manipulator

Autoren: Valsamos, Charalampos; Moulianitis, Vassilis; Aspragathos, Nikos

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Online Calibration of Industrial Robots using Inertial Sensors

Autoren: Vieler, Hendrik; Lechler, Armin; Grimm, Jochen

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Practical trajectory designs for semi-automation of forestry cranes

Autoren: Fodor, Szabolcs; Freidovich, Leonid; Vazquez, Carlos

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Autonomous Surveying of Underfloor Voids

Autoren: Julia, Miguel; Holloway, Mathew; Reinoso, Oscar; Childs, Peter R. N.

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SmartWorkbench: Toward Adaptive and Transparent User Assistance in Industrial Human-Robot Applications

Autoren: Hoecherl, Johannes; Schlegl, Thomas; Berlehner, Thomas; Kuhn, Harald; Wrede, Britta

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Model Predictive Contact Control for Human-Robot Interaction

Autoren: Zube, Angelika; Hofmann, Jonas; Frese, Christian

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A Sampling-Based Tree Planner for Navigation Among Movable Obstacles

Autoren: Castaman, Nicola; Tosello, Elisa; Pagello, Enrico

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What Older Adults would Like a robot to Do in Their Homes – First results from a User Study in the Homes of Users

Autoren: Vincze, Markus; Fischinger, David; Bajones, Markus; Wolf, Daniel; Suchi, Markus; Lammer, Lara; Weiss, Astrid; Pripfl, Juergen; Koertner, Tobias; Gisinger, Christoph

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Enabling Autonomous Locomotion into Sand – A Mobile and Modular Drilling Robot

Autoren: Becker, Felix; Boerner, Simon; Lichtenheldt, Roy; Zimmermann, Klaus

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A robot for spray applied insulation in underfloor voids

Autoren: Holloway, Mathew; Julia, Miguel; Childs, Peter

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Automatic Tire Changing of Large Mining Vehicles with Industrial Robots

Autoren: Staab, Harald; Boca, Remus; Martinez, Carlos; Rossano, Greg; Eakins, Will; Lasko, Dan; Fuhlbrigge, Tom

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Sensorless Null-Space Admittance Control for Redundant Manipulators

Autoren: Wahrburg, Arne; Boes, Johannes; Matthias, Bjoern; Dai, Fan; Ding, Hao

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A wireless haptic data suit for controlling humanoid robots

Autoren: Graziano, Alessandro; Tripicchio, Paolo; Avizzano, Carlo Alberto; Ruffaldi, Emanuele

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Planning and Execution of Collision-free Multi-robot Trajectories in Industrial Applications

Autoren: Angerer, Andreas; Hoffmann, Alwin; Larsen, Lars; Vistein, Michael; Kim, Jonghwa; Kupke, Michael; Reif, Wolfgang

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Anytime Assembly Sequence Planning

Autoren: Andre, Robert; Thomas, Ulrike

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A Complete Automated Chain for Flexible Assembly using Recognition, Planning and Sensor-Based Execution

Autoren: Nottensteiner, Korbinian; Bodenmueller, Tim; Kassecker, Michael; Roa, Maximo A.; Stemmer, Andreas; Stouraitis, Theodoros; Seidel, Daniel; Thomas, Ulrike

53

Improved Ergonomics via an Intelligent Movement and Gesture Detection Jacket

Autoren: Kuschan, Jan; Schmidt, Henning; Krueger, Joerg

54

Development and Control of the Multi-Legged Robot MANTIS

Autoren: Bartsch, Sebastian; Manz, Marc; Kampmann, Peter; Dettmann, Alexander; Hanff, Hendrik; Langosz, Malte; Szadkowski, Kai von; Hilljegerdes, Jens; Simnofske, Marc; Kloss, Philipp; Meder, Manuel; Kirchner, Frank

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The Neurorobotic Platform: A simulation environment for brain-inspired robotics

Autoren: Roehrbein, Florian; Gewaltig, Marc-Oliver; Laschi, Cecilia; Klinker, Gudrun; Levi, Paul; Knoll, Alois

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Using a Flexible Skill-Based Approach to Recognize Objects in Industrial Scenarios

Autoren: Andersen, Rasmus S.; Schou, Casper; Damgaard, Jens S.; Madsen, Ole

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Laser scanner detection and localization of successively arranged mobile robots

Autoren: Halmheu, Rainer; Otto, Boris; Pauleser, Thomas

61

Analytic Forward and Inverse Kinematics of a Multi-Elastic-Link Robot Arm

Autoren: Alsayegh, Myrel; Mues, Freia Irina; Malzahn, Joern; Bertram, Torsten

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3D Scanning of Workpieces with Cooperative Industrial Robot Arms

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

63

Visual/Tactile sensing to monitor grasps with robot-hand for planar elastic objects

Autoren: Gil, Pablo; Mateo, Carlos M.; Delgado, Angel; Torres, Fernando

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Development of an intelligent care cart and new supplies concepts for care homes and hospitals

Autoren: Graf, B.; King, R. S.; Schiller, C.; Roessner, A.

65

Test concept for a mobile robot with optimized traction

Autoren: Barthuber, Ludwig; Fyraj, Klajdo; Firsching, Peter

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A new Multi-Modal Approach towards reliable Bin-Picking Application

Autoren: Mueller, Veit; Behrens, Roland; Elkmann, Norbert

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Influence of Grasping Position to Robot Assembling Task

Autoren: Suyama, Akira; Aiyama, Yasumichi

71

A Virtual Space Robotics Testbed for Optical Sensors in Aerospace Applications

Autoren: Emde, Markus; Priggemeyer, Marc; Steil, Thomas; Grinshpun, Georgij; Rossmann, Juergen

72

Folding mechanism for a remotely deployable robotic vehicle

Autoren: Holloway, Mathew; Julia, Miguel; Childs, Peter

73

Context-aware Planning by Refinement for Personal Robots in Smart Homes

Autoren: Ramoly, Nathan; Bouzeghoub, Amel; Finance, Beatrice

74

Dynamic modeling of new modular manipulators

Autoren: Forgo, Zoltan; Szilagyi, Arnold

75

On Cognitive RobotWoodworking in SMErobotics

Autoren: Haage, Mathias; Profanter, Stefan; Kessler, Ingmar; Perzylo, Alexander; Somani, Nikhil; Soernmo, Olof; Karlsson, Martin; Robertz, Sven Gestegard; Nilsson, Klas; Resch, Ludovic; Marti, Michael

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Learning and executing rhythmic movements through chaotic neural networks: a new method for walking humanoid robots

Autoren: Bana, Matteo; Franchi, Alessio Mauro; Gini, Giuseppina; Keldibek, Amina; Folgheraiter, Michele

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7DoF Hand and Arm Tracking for Teleoperation of Anthropomorphic Robots

Autoren: Grasshoff, Jan; Hansen, Lasse; Kuhlemann, Ivo; Ehlers, Kristian

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81

Novel Intelligent Technologies for Industrial Robot in Manufacturing – Architectures and Applications

Autoren: Okuda, Haruhisa; Haraguchi, Rintaro; Domae, Yukiyasu; Shiratsuchi, Koji

82

Two Autonomous Robots for the DLR SpaceBot Cup – Lessons Learned from 60 Minutes on the Moon

Autoren: Lange, Sven; Wunschel, Daniel; Schubert, Stefan; Pfeifer, Tim; Weissig, Peter; Uhlig, Andreas; Truschzinski, Martina; Protzel, Peter

83

Ultra-Flexible Production Systems for Automated Factories

Autoren: Boca, Remus; Fuhlbrigge, Thomas; Staab, Harald; Zhang, George; Choi, Sang; Martinez, Carlos; Eakins, William; Rossano, Gregory; Nidamarthi, Srinivas

84

Mechatronics Practice in Education Step by Step, Workshop on Mobile Robotics

Autoren: Yudin, Anton; Salmina, Maria; Sukhotskiy, Vladimir; Dessimoz, Jean-Daniel

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Relative Motion Estimation Based on Sensor Eigenfusion Using a Stereoscopic Vision System and Adaptive Statistical Filtering

Autoren: Notomista, Gennaro; Kammenhuber, Alexander; Nadarajan, Parthasarathy; Botsch, Michael; Selvaggio, Mario

87

Advanced safety solutions for human-robot-cooperation

Autoren: Salmi, Timo; Marstio, Ilari; Malm, Timo; Montonen, Jari

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89

Automatic Gyro Effect Simulation for Robotic Painting Application

Autoren: Li, Xiongzi; Wang, Jianjun; Choi, Sang; Li, Ray; Riveland, Steinar; Landsnes, Oeyvind; Hara, Masao

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Detection of Assembly Variations for Automatic Program Adaptation in Robotic Welding Systems

Autoren: Kuss, Alexander; Schneider, Ulrich; Dietz, Thomas; Verl, Alexander

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92

Teaching Door Assembly Tasks in Uncertain Environment

Autoren: Michieletto, Stefano; Stival, Francesca; Castelli, Francesco; Pagello, Enrico

93

A variant-flexible assembly cell for hydraulic valve sections using a sensitive lightweight robot

Autoren: Lehmann, Christian; Staedter, J. Philipp; Waechter, Kornelius

94

Analysis and Development of the Fused Layer Manufacturing Process using Industrial Robots

Autoren: Rieger, Michael; Johnen, Benjamin; Kuhlenkötter, Bernd

95

Repair of composite structures with a novel human-machine system

Autoren: Rodeck, Rebecca; Schueppstuhl, Thorsten

96

Machine Learning In Incremental Sheet Forming

Autoren: Stoerkle, Denis Daniel; Seim, Patrick; Thyssen, Lars; Kuhlenkoetter, Bernd

97

Robot based automation of artistic stone surface production

Autoren: Steinhagen, Gregor; Braumann, Johannes; Krewet, Carsten; Brueninghaus, Jan; Brell-Cokcan, Sigrid; Kuhlenkoetter, Bernd

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Automatic Programming and Control for Robotic Deburring

Autoren: Diaz Posada, Julian Ricardo; Kumar, Shivaram; Kuss, Alexander; Schneider, Ulrich; Drust, Manuel; Dietz, Thomas; Verl, Alexander