Alle Publikationen
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2016
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(2016) : SmartWorkbench: Toward Adaptive and Transparent User Assistance in Industrial Human-Robot Applications In: VDE: Proceedings of ISR 2016: 47st International Symposium on Robotics: Berlin: VDE Verlag GmbH, S. 1-8. Online verfügbar unter https://ieeexplore.ieee.org/document/7559127/authors
Abstract: With the increase in customized production scenarios with small batch sizes research on human-robot working cells gains significance. We present a Smart Workbench that allows for adaptive user assistance in industrial human-robot use cases through (1) monitoring the user condition and (2) providing multi-modal information about the process and the robot intention. We further show results from a first study regarding the usefulness of biofeedback for workload estimation.
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(2016) : Control and Analysis of a Therapeutic Massage Robot: A Milestone of Human-Robot in Physical Contact In: VDE: Proceedings of ISR 2016: 47st International Symposium on Robotics: Berlin: VDE Verlag GmbH. Online verfügbar unter https://ieeexplore.ieee.org/document/7559129/
Abstract: A therapeutic massage robot is developed and used to perform therapeutic massage. Impedance control in Cartesian spaces is properly designed to realize different massage techniques. To evaluate the feelings of relaxation for those subjects being massaged with more quantitative index, electrocardiography (ECG) of subjects is measured before and after massage manipulation. The features of heart rate variability (HRV), including mean HR, SDNN, RMSSD and pNN50, are extracted and analyzed to evaluate the effectiveness of robotic massage. Comparison between robotic massage and massage by therapist is conducted in the experiments. According to the experimental results, mean HR decreases, whereas SDNN, RMSSD, pNN50 increase. HRV increased in both massage groups, showing the relaxation trend after robotic massage. The result gives a scientific clue that therapeutic massage is feasible to realize on a robotic massage robot.
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(2016) : Modularization of skill ontologies for industrial robots In: VDE: Proceedings of ISR 2016: 47st International Symposium on Robotics: Berlin: VDE Verlag GmbH, S. 1-6. Online verfügbar unter https://ieeexplore.ieee.org/document/7559114/
Abstract: With industrial robots ready to take the next step in mastering manufacturing tasks new approaches to reduce the programming effort are needed. This is achieved by introducing skills as robot "know-how" and using them as a higher abstraction level of robot instructions during programming. The skills are reusable items providing motion control and rich declarative descriptions of complex robot capabilities. Storing the skills requires an adequate knowledge representation model that enables reuse and reasoning on skills and simplifies knowledge management. In this paper we report on development of a skill representation model and its implementation in a knowledge base. The developed model is effectively a class hierarchy of the skill concepts implemented in a modularized ontology structure. The resulting model clarifies the intrinsic concepts of a skill and presents a module structure that enables the future development and reuse of skills in general.
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(2016) : Context-aware Planning by Refinement for Personal Robots in Smart Homes In: VDE: Proceedings of ISR 2016: 47st International Symposium on Robotics: Berlin: VDE Verlag GmbH. Online verfügbar unter https://ieeexplore.ieee.org/document/7559161/authors
Abstract: The idea of integrating robots and smart environments is becoming more popular. An important challenge for robotics and large advanced applications, such as Ambient Assisted Living, is to enable robots to seamlessly operate as part of smart spaces.They evolve in an unpredictable and highly dynamic environment where context information change quickly and where smart devices can join or leave it at anytime. In this situation, context-aware task planning is a key enabler. Actually, as the environment evolves, plans can become outdated, putting robots in blocking situations. Currently, few planners are able to consider smart spaces constraints during execution phase. In this paper, we propose a novel planning approach called DHTN (Dynamic HTN) based on HTN (Hierarchical Task Networks) planner. DHTN is able to generate and adapt the plan at execution and has the capability to smartly probe the environment by exclusively querying devices that provide useful data. Our approach was implemented and evaluated through simulation and a real life scenario using Nao robot in a smart office.
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VDE (2016): Proceedings of ISR 2016: 47st International Symposium on Robotics. Berlin: VDE Verlag GmbH
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(2016) : What Older Adults would Like a robot to Do in Their Homes - First results from a User Study in the Homes of Users In: VDE: Proceedings of ISR 2016: 47st International Symposium on Robotics: Berlin: VDE Verlag GmbH. Online verfügbar unter https://ieeexplore.ieee.org/document/7559131/
Abstract: The paper presents a first analysis of user trials where for the first time a service robot was set free in the home of users. Users were provided with basic robot functionalities such as navigation, grasping objects from the floor, a series of entertainment functions such as listening to radio or books, a physical fitness application, and communication functions. Users could freely select what to do and have been questioned on what functionality would help them to stay longer at home and live independently.
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(2016) : May I be your Personal Coach? Bringing Together Person Tracking and Visual Re-identification on a Mobile Robot In: VDE: Proceedings of ISR 2016: 47st International Symposium on Robotics: Berlin: VDE Verlag GmbH, S. 1-8. Online verfügbar unter https://ieeexplore.ieee.org/document/7559109/
Abstract: Mobile robots following and guiding stroke patients during their rehabilitation program are in the focus of our research in rehabilitation robotics. To be able to act autonomously, it is crucial for the robot to extract long and precise movement trajectories of the patients. But already keeping track on one specific person in a crowded dynamic environment is inherently hard, since multi-sensor tracking as well as appearance-based re-identification are challenging tasks in realworld environments. Therefore, we aim for developing a coupled person tracking system that combines user tracking by spatial proximity with appearance-based user recognition. We analyzed all subcomponents of such a system and identified four essential parts, that significantly influence the overall performance. We show, that it is essential, to (1) accurately detect all persons in scene, (2) track people as long as no ambiguities occur, (3) visually re-identify the user otherwise, and (4) reduce the search space for re-identification to just relevant hypotheses using spatial proximity as criterion. In our experiments, we show, that by addressing all these aspects, our system significantly outperforms each approach, that excludes just one of these important parts.
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(2016) : Model Predictive Contact Control for Human-Robot Interaction In: VDE: Proceedings of ISR 2016: 47st International Symposium on Robotics: Berlin: VDE Verlag GmbH. Online verfügbar unter https://ieeexplore.ieee.org/document/7559128/
Abstract: For shared human-robot workspaces and safe physical human-robot interaction, robots have to react adequately to intended and unintended contacts with their environment. In this contribution, a Nonlinear Model Predictive Control approach is presented that allows to move the robot end-effector along Cartesian trajectories while at the same time the robot reacts compliantly to contacts based on the estimated contact force. The impairment of the trajectory following task during contacts is minimized by exploiting the robot redundancy. The controller is based on the kinematic robot model. That means no exact knowledge of the robot dynamics is required and the approach is applicable to both fixed-base and mobile manipulators. In contrast to classical control strategies, joint constraints and self-collisions can be directly considered. In order to reduce the amount of unintended contacts, the control approach can also be combined with a collision avoidance extension. The developed algorithms are validated in experimental results on a KUKA LWR IV.
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