Advances in Robotics Research: Theory, Implementation, Application

Klaas Klasing, Dirk Wollherr, Martin Buss (auth.), Torsten Kröger, Friedrich M. Wahl (eds.)9783642012129, 3642012124

The German Workshop on Robotics is a convention of roboticists from academia and industry working on mathematical and algorithmic foundations of robotics, on the design and analysis of robotic systems as well as on robotic applications. Selected contributions from researchers in German-speaking countries as well as from the international robotics community compose this volume. The papers are organized in ten scientific tracks: Kinematic and Dynamic Modeling, Motion Generation, Sensor Integration, Robot Vision, Robot Programming, Humanoid Robots, Grasping, Medical Robotics, Autonomous Helicopters, and Robot Applications.

Due to an extensive review and discussion process, this collection of scientific contributions is of very high caliber and promises to strongly influence future robotic research activities.

Table of contents :
Front Matter….Pages –
Joint Dominance Coefficients: A Sensitivity-Based Measure for Ranking Robotic Degrees of Freedom….Pages 1-10
Learning Kinematics from Direct Self-Observation Using Nearest-Neighbor Methods….Pages 11-20
Guidelines for Low Mass and Low Inertia Dynamic Balancing of Mechanisms and Robotics….Pages 21-30
Probability-Based Robot Search Paths….Pages 31-42
Mapping and Navigation of Mobile Robots in Natural Environments….Pages 43-52
Sensor-Based Online Planning of Time-Optimized Paths in Dynamic Environments….Pages 53-63
Analysis of Strain Transfer to FBG’s for Sensorized Telerobotic End-Effector Applications….Pages 65-75
Intuitive Collision Avoidance of Robots Using Charge Generated Virtual Force Fields….Pages 77-87
6D Pose Uncertainty in Robotic Perception….Pages 89-98
3D Shape Detection for Mobile Robot Learning….Pages 99-109
3D Collision Detection for Industrial Robots and Unknown Obstacles Using Multiple Depth Images….Pages 111-122
Reducing Motion Artifacts in Mobile Vision Systems via Dynamic Filtering of Image Sequences….Pages 123-133
A Software Architecture for Model-Based Programming of Robot Systems….Pages 135-146
Intuitive Robot Programming of Spatial Control Loops with Linear Movements….Pages 147-158
Model-Based Programming “by Demonstration”– Fast Setup of Robot Systems (ProDemo)….Pages 159-168
New Concept for Wrist Design of the Humanoid Robot ARMAR….Pages 169-178
Biological Motivated Control Architecture and Mechatronics for a Human-Like Robot….Pages 179-190
Using the Torso to Compensate for Non-Minimum Phase Behaviour in ZMP Bipedal Walking….Pages 191-202
Object-Specific Grasp Maps for Use in Planning Manipulation Actions….Pages 203-213
Vision Controlled Grasping by Means of an Intelligent Robot Hand….Pages 215-226
Learning an Object-Grasp Relation for Silhouette-Based Grasp Planning….Pages 227-237
Efficient Parallel Random Sample Matching for Pose Estimation, Localization, and Related Problems….Pages 239-250
Automated Robot Assisted Fracture Reduction….Pages 251-262
Path Planning for Robot-Guided Endoscopes in Deformable Environments….Pages 263-274
An Unmanned Helicopter for Autonomous Flights in Urban Terrain….Pages 275-285
Interaction of Altitude Control and Waypoint Navigation of a 4 Rotor Helicopter….Pages 287-298
Cooperative Autonomous Helicopters for Load Transportation and Environment Perception….Pages 299-310
Robot on the Leash — An Intuitive Inexpensive Interface for Robots Using the Nintendo Wii Remote….Pages 311-321
Robot Basketball: Ball Dribbling — A Modified Juggling Task….Pages 323-334
Research on Exoskeletons at the TU Berlin….Pages 335-346
Hard- and Software Architecture of a Small Autonomous Underwater Vehicle for Environmental Monitoring Tasks….Pages 347-356
Back Matter….Pages –