Veröffentlichungen

@inproceedings{Iossifidis2006a,

title = {Dynamical Systems Approach for the Autonomous Avoidance of Obstacles and Joint-limits for an Redundant Robot Arm},

author = {Ioannis Iossifidis and Gregor Schöner and Gregor Schoner},

doi = {10.1109/IROS.2006.282468},

isbn = {1-4244-0258-1},

year  = {2006},

date = {2006-10-01},

booktitle = {2006 IEEE/RSJ International Conference on Intelligent Robots and Systems},

pages = {580--585},

publisher = {IEEE},

abstract = {We extend the attractor dynamics approach to generate goal-directed movement of a redundant, anthropomorphic arm while avoiding dynamic obstacles and respecting joint limits. To make the robot's movements human-like, we generate approximately straight-line trajectories by using two heading direction angles of the tool-point quite analogously to how movement is represented in the primate central nervous system. Two additional angles control the tool's spatial orientation so that it follows the tool-point's collision-free path. A fifth equation governs the redundancy angle, which controls the elevation of the elbow so as to avoid obstacles and respect joint limits. These variables make it possible to generate movement while sitting in an attractor (or, in the language of the potential field approach, in a minimum). We demonstrate the approach on an assistant robot, which interacts with human users in a shared workspace},

keywords = {anthropomorphic arm, attractor dynamics approach, autonomous obstacle avoidance, collision avoidance, dynamical systems approach, manipulator dynamics, primate central nervous system, redundant manipulators, redundant robot arm, telerobotics},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Wichert2005,

title = {The Robotic Bar - An Integrated Demonstration of a Robotic Assistant},

author = {George von Wichert and Caesar Klimowicz and Werner Neubauer and Thomas Wösch and Gisbert Lawitzky and R Caspari and Hans-Jörg Heger and Peter Witschel and Uwe Handmann and M Rinne},

url = {http://link.springer.com/chapter/10.1007%2F978-3-540-31509-4_30},

doi = {10.1007/978-3-540-31509-4_30},

year  = {2005},

date = {2005-01-01},

booktitle = {Advances in Human-Robot Interaction - Springer Tracts in Advanced Robotics (STAR)},

volume = {14},

pages = {359-370},

publisher = {Springer Verlag, Berlin, Heidelberg, Germany},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Wiegand2004a,

title = {Evolutionary Optimization of Neural Networks for Face Detection},

author = {Stefan Wiegand and Christian Igel and Uwe Handmann},

url = {https://www.elen.ucl.ac.be/Proceedings/esann/esannpdf/es2004-25.pdf},

isbn = {2-930307-04-8},

year  = {2004},

date = {2004-01-01},

booktitle = {ESANN 2004, 12th European Symposium on Artificial Neural Networks, Bruges, Belgium, Proceedings},

pages = {139-144},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Iossifidis2004a,

title = {Attractor dynamics approach for autonomous collision-free path generation in 3d-space for an 7 dof robot arm},

author = {Ioannis Iossifidis and Gregor Schöner},

year  = {2004},

date = {2004-01-01},

booktitle = {Proceedings of the ROBOTIK 2004, Leistungsstand - Anwendungen - Visionen - Trends, number 1841 in VDI-Berichte},

pages = {815--822},

publisher = {VDI Verlag},

address = {München, Germany},

organization = {VDI/VDE},

keywords = {arm movement model, Autonomous robotics, collision avoidance, Dynamical systems, inverse kinematics, movement model},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Iossifidis2004b,

title = {Autonomous reaching and obstacle avoidance with the anthropomorphic arm of a robotic assistant using the attractor dynamics approach},

author = {Ioannis Iossifidis and Gregor Schöner and Gregor Schoner},

doi = {10.1109/ROBOT.2004.1302393},

issn = {1050-4729},

year  = {2004},

date = {2004-01-01},

booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA '04},

volume = {5},

pages = {4295----4300 Vol.5},

abstract = {To enable a robotic assistant to autonomously reach for and transport objects while avoiding obstacles we have generalized the attractor dynamics approach established for vehicles to trajectory formation in robot arms. This approach is able to deal with the time-varying environments that occur when a human operator moves in a shared workspace. Stable fixed points (attractors) for the heading direction of the end-effector shift during movement and are being tracked by the system. This enables the attractor dynamics approach to avoid the spurious states that hamper potential field methods. Separating planning and control computationally, the approach is also simpler to implement. The stability properties of the movement plan make it possible to deal with fluctuating and imprecise sensory information. We implement this approach on a seven degree of freedom anthropomorphic arm reaching for objects on a working surface. We use an exact solution of the inverse kinematics, which enables us to steer the spatial position of the elbow clear of obstacles. The straight-line trajectories of the end-effector that emerge as long as the arm is far from obstacles make the movement goals of the robotic assistant predictable for the human operator, improving man-machine interaction.},

keywords = {anthropomorphic arm, attractor dynamics, autonomous reaching, collision avoidance, end effector shift, end effectors, man machine interaction, manipulator dynamics, obstacle avoidance, robotic assistant, time varying environment, time-varying systems},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Handmann2003a,

title = {Lernen im Kontext der Szenenanalyse},

author = {Uwe Handmann and Michael Dose},

year  = {2003},

date = {2003-01-01},

booktitle = {Lernen zur Organisation komplexer Systeme der Informationsverarbeitung},

publisher = {Bundesministerium für Bildung und Forschung (BMBF)},

address = {Technische Informationsbibliothek und Universitätsbibliothek, Hannover, Germany},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Iossifidis2003e,

title = {Anthropomorphism as a pervasive design concept for a robotic assistant},

author = {Ioannis Iossifidis and Christoph Theis and Claudia Grote and Christian Faubel and Gregor Schoner},

doi = {10.1109/IROS.2003.1249692},

year  = {2003},

date = {2003-01-01},

booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003)},

volume = {4},

pages = {3465----3472 vol.3},

abstract = {CORA is a robotic assistant whose task is to collaborate with a human operator on simple manipulation or handling tasks. Its sensory channels comprising vision, audition, haptics, and force sensing are used to extract perceptual information about speech, gestures and gaze of the operator, and object recognition. The anthropomorphic robot arm makes goal-directed movements to pick up and hand over objects. The human operator may mechanically interact with the arm by pushing it away (haptics) or by taking an object out of the robot's gripper (force sensing). The design objective has been to exploit the human operator's intuition by modeling the mechanical structure, the senses, and the behaviors of the assistant on human anatomy, human perception, and human motor behavior.},

keywords = {anthropomorphic robot arm, anthropomorphism, force sensing, grippers, human anatomy, human motor behavior, human operators intuition, human perception, Machine Learning, man-machine systems, manipulators, mechanical structure modeling, object recognition, operators gaze, operators gesture, pervasive design, robot vision, robotic assistant, robots gripper, sensory channels, user modelling},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Iossifidis2003bc,

title = {Anthropomorphism as a pervasive design concept for a robotic assistant},

author = {Ioannis Iossifidis and C Theis and C Grote and Christian Faubel and G Schöner},

doi = {10.1109/IROS.2003.1249692},

isbn = {0-7803-7860-1},

year  = {2003},

date = {2003-01-01},

urldate = {2003-01-01},

booktitle = {Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)},

volume = {4},

pages = {3465--3472},

publisher = {IEEE},

abstract = {CORA is a robotic assistant whose task is to collaborate with a human operator on simple manipulation or handling tasks. Its sensory channels comprising vision, audition, haptics, and force sensing are used to extract perceptual information about speech, gestures and gaze of the operator, and object recognition. The anthropomorphic robot arm makes goal-directed movements to pick up and hand over objects. The human operator may mechanically interact with the arm by pushing it away (haptics) or by taking an object out of the robot's gripper (force sensing). The design objective has been to exploit the human operator's intuition by modeling the mechanical structure, the senses, and the behaviors of the assistant on human anatomy, human perception, and human motor behavior.},

keywords = {anthropomorphic robot arm, anthropomorphism, force sensing, grippers, human anatomy, human motor behavior, human operators intuition, human perception, Machine Learning, man-machine systems, manipulators, mechanical structure modeling, object recognition, operators gaze, operators gesture, pervasive design, robot vision, robotic assistant, robots gripper, sensory channels, user modelling},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Iossifidis2003,

title = {Anthropomorphism as a pervasive design concept for a robotic assistant},

author = {Ioannis Iossifidis and Christoph Theis and Claudia Grote and Christian Faubel and Gregor Schoner},

doi = {10.1109/IROS.2003.1249692},

year  = {2003},

date = {2003-01-01},

booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003)},

volume = {4},

pages = {3465----3472 vol.3},

abstract = {CORA is a robotic assistant whose task is to collaborate with a human 

operator on simple manipulation or handling tasks. Its sensory channels 

comprising vision, audition, haptics, and force sensing are used 

to extract perceptual information about speech, gestures and gaze 

of the operator, and object recognition. The anthropomorphic robot 

arm makes goal-directed movements to pick up and hand over objects. 

The human operator may mechanically interact with the arm by pushing 

it away (haptics) or by taking an object out of the robot's gripper 

(force sensing). The design objective has been to exploit the human 

operator's intuition by modeling the mechanical structure, the senses, 

and the behaviors of the assistant on human anatomy, human perception, 

and human motor behavior.},

keywords = {anthropomorphic robot arm, anthropomorphism, force sensing, grippers, human anatomy, human motor behavior, human operators intuition, human perception, Machine Learning, man-machine systems, manipulators, mechanical structure modeling, object recognition, operators gaze, operators gesture, pervasive design, robot vision, robotic assistant, robots gripper, sensory channels, user modelling},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Iossifidis2003b,

title = {Anthropomorphism as a pervasive design concept for a robotic assistant},

author = {Ioannis Iossifidis and C Theis and C Grote and Christian Faubel and G Schöner},

doi = {10.1109/IROS.2003.1249692},

isbn = {0-7803-7860-1},

year  = {2003},

date = {2003-01-01},

urldate = {2003-01-01},

booktitle = {Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)},

volume = {4},

pages = {3465--3472},

publisher = {IEEE},

abstract = {CORA is a robotic assistant whose task is to collaborate with a human operator on simple manipulation or handling tasks. Its sensory channels comprising vision, audition, haptics, and force sensing are used to extract perceptual information about speech, gestures and gaze of the operator, and object recognition. The anthropomorphic robot arm makes goal-directed movements to pick up and hand over objects. The human operator may mechanically interact with the arm by pushing it away (haptics) or by taking an object out of the robot's gripper (force sensing). The design objective has been to exploit the human operator's intuition by modeling the mechanical structure, the senses, and the behaviors of the assistant on human anatomy, human perception, and human motor behavior.},

keywords = {Machine Learning},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Iossifidis2003g,

title = {Anthropomorphism as a pervasive design concept for a robotic assistant},

author = {Ioannis Iossifidis and Christoph Theis and Claudia Grote and Christian Faubel and Gregor Schoner},

doi = {10.1109/IROS.2003.1249692},

year  = {2003},

date = {2003-01-01},

booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003)},

volume = {4},

pages = {3465----3472 vol.3},

abstract = {CORA is a robotic assistant whose task is to collaborate with a human operator on simple manipulation or handling tasks. Its sensory channels comprising vision, audition, haptics, and force sensing are used to extract perceptual information about speech, gestures and gaze of the operator, and object recognition. The anthropomorphic robot arm makes goal-directed movements to pick up and hand over objects. The human operator may mechanically interact with the arm by pushing it away (haptics) or by taking an object out of the robot's gripper (force sensing). The design objective has been to exploit the human operator's intuition by modeling the mechanical structure, the senses, and the behaviors of the assistant on human anatomy, human perception, and human motor behavior.},

keywords = {anthropomorphic robot arm, anthropomorphism, force sensing, grippers, human anatomy, human motor behavior, human operators intuition, human perception, man-machine systems, manipulators, mechanical structure modeling, object recognition, operators gaze, operators gesture, pervasive design, robot vision, robotic assistant, robots gripper, sensory channels, user modelling},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Iossifidis2003bd,

title = {Anthropomorphism as a pervasive design concept for a robotic assistant},

author = {Ioannis Iossifidis and C Theis and C Grote and Christian Faubel and G Schöner},

doi = {10.1109/IROS.2003.1249692},

isbn = {0-7803-7860-1},

year  = {2003},

date = {2003-01-01},

urldate = {2003-01-01},

booktitle = {Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)},

volume = {4},

pages = {3465--3472},

publisher = {IEEE},

abstract = {CORA is a robotic assistant whose task is to collaborate with a human operator on simple manipulation or handling tasks. Its sensory channels comprising vision, audition, haptics, and force sensing are used to extract perceptual information about speech, gestures and gaze of the operator, and object recognition. The anthropomorphic robot arm makes goal-directed movements to pick up and hand over objects. The human operator may mechanically interact with the arm by pushing it away (haptics) or by taking an object out of the robot's gripper (force sensing). The design objective has been to exploit the human operator's intuition by modeling the mechanical structure, the senses, and the behaviors of the assistant on human anatomy, human perception, and human motor behavior.},

keywords = {anthropomorphic robot arm, anthropomorphism, force sensing, grippers, human anatomy, human motor behavior, human operators intuition, human perception, man-machine systems, manipulators, mechanical structure modeling, object recognition, operators gaze, operators gesture, pervasive design, robot vision, robotic assistant, robots gripper, sensory channels, user modelling},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{iossifidisAnthropomorphismPervasiveDesign2003c,

title = {Anthropomorphism as a Pervasive Design Concept for a Robotic Assistant},

author = {Ioannis Iossifidis and Christoph Theis and Claudia Grote and Christian Faubel and Gregor Schoner},

doi = {10.1109/IROS.2003.1249692},

year  = {2003},

date = {2003-01-01},

booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003)},

volume = {4},

pages = {3465----3472 vol.3},

abstract = {CORA is a robotic assistant whose task is to collaborate with a human operator on simple manipulation or handling tasks. Its sensory channels comprising vision, audition, haptics, and force sensing are used to extract perceptual information about speech, gestures and gaze of the operator, and object recognition. The anthropomorphic robot arm makes goal-directed movements to pick up and hand over objects. The human operator may mechanically interact with the arm by pushing it away (haptics) or by taking an object out of the robot's gripper (force sensing). The design objective has been to exploit the human operator's intuition by modeling the mechanical structure, the senses, and the behaviors of the assistant on human anatomy, human perception, and human motor behavior.},

keywords = {anthropomorphic robot arm, anthropomorphism, force sensing, grippers, human anatomy, human motor behavior, human operators intuition, human perception, Machine Learning, man-machine systems, manipulators, mechanical structure modeling, object recognition, operators gaze, operators gesture, pervasive design, robot vision, robotic assistant, robots gripper, sensory channels, user modelling},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{iossifidisAnthropomorphismPervasiveDesign2003ab,

title = {Anthropomorphism as a Pervasive Design Concept for a Robotic Assistant},

author = {Ioannis Iossifidis and C. Theis and C. Grote and Christian Faubel and G. Schöner},

doi = {10.1109/IROS.2003.1249692},

isbn = {0-7803-7860-1},

year  = {2003},

date = {2003-01-01},

urldate = {2003-01-01},

booktitle = {Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)},

volume = {4},

pages = {3465--3472},

publisher = {IEEE},

abstract = {CORA is a robotic assistant whose task is to collaborate with a human operator on simple manipulation or handling tasks. Its sensory channels comprising vision, audition, haptics, and force sensing are used to extract perceptual information about speech, gestures and gaze of the operator, and object recognition. The anthropomorphic robot arm makes goal-directed movements to pick up and hand over objects. The human operator may mechanically interact with the arm by pushing it away (haptics) or by taking an object out of the robot's gripper (force sensing). The design objective has been to exploit the human operator's intuition by modeling the mechanical structure, the senses, and the behaviors of the assistant on human anatomy, human perception, and human motor behavior.},

keywords = {Machine Learning},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Iossifidis2003c,

title = {Anthropomorphism as a pervasive design concept for a robotic assistant},

author = {Ioannis Iossifidis and Christoph Theis and Claudia Grote and Christian Faubel and Gregor Schoner},

doi = {10.1109/IROS.2003.1249692},

year  = {2003},

date = {2003-01-01},

booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003)},

volume = {4},

pages = {3465----3472 vol.3},

abstract = {CORA is a robotic assistant whose task is to collaborate with a human operator on simple manipulation or handling tasks. Its sensory channels comprising vision, audition, haptics, and force sensing are used to extract perceptual information about speech, gestures and gaze of the operator, and object recognition. The anthropomorphic robot arm makes goal-directed movements to pick up and hand over objects. The human operator may mechanically interact with the arm by pushing it away (haptics) or by taking an object out of the robot's gripper (force sensing). The design objective has been to exploit the human operator's intuition by modeling the mechanical structure, the senses, and the behaviors of the assistant on human anatomy, human perception, and human motor behavior.},

keywords = {anthropomorphic robot arm, anthropomorphism, force sensing, grippers, human anatomy, human motor behavior, human operators intuition, human perception, Machine Learning, man-machine systems, manipulators, mechanical structure modeling, object recognition, operators gaze, operators gesture, pervasive design, robot vision, robotic assistant, robots gripper, sensory channels, user modelling},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Iossifidis2003bb,

title = {Anthropomorphism as a pervasive design concept for a robotic assistant},

author = {Ioannis Iossifidis and C Theis and C Grote and Christian Faubel and G Schöner},

doi = {10.1109/IROS.2003.1249692},

isbn = {0-7803-7860-1},

year  = {2003},

date = {2003-01-01},

urldate = {2003-01-01},

booktitle = {Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)},

volume = {4},

pages = {3465--3472},

publisher = {IEEE},

abstract = {CORA is a robotic assistant whose task is to collaborate with a human operator on simple manipulation or handling tasks. Its sensory channels comprising vision, audition, haptics, and force sensing are used to extract perceptual information about speech, gestures and gaze of the operator, and object recognition. The anthropomorphic robot arm makes goal-directed movements to pick up and hand over objects. The human operator may mechanically interact with the arm by pushing it away (haptics) or by taking an object out of the robot's gripper (force sensing). The design objective has been to exploit the human operator's intuition by modeling the mechanical structure, the senses, and the behaviors of the assistant on human anatomy, human perception, and human motor behavior.},

keywords = {anthropomorphic robot arm, anthropomorphism, force sensing, grippers, human anatomy, human motor behavior, human operators intuition, human perception, Machine Learning, man-machine systems, manipulators, mechanical structure modeling, object recognition, operators gaze, operators gesture, pervasive design, robot vision, robotic assistant, robots gripper, sensory channels, user modelling},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Dose2003,

title = {Mensch-Maschine-Interaktion auf Grundlage der Gesichtsdetektion},

author = {Michael Dose and Uwe Handmann and others},

year  = {2003},

date = {2003-01-01},

booktitle = {MORPHA -Kommunikation, Interaktion und Kooperation zwischen Menschen und intelligenten antropomorphen Assistenzsystemen},

publisher = {Bundesministerium für Bildung und Forschung (BMBF)},

address = {Technische Informationsbibliothek und Universitätsbibliothek, Hannover, Germany},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Iossifidis2002bd,

title = {Controlling a Redundant Robot Arm by Means of a Haptic Sensor},

author = {Ioannis Iossifidis and Axel Steinhage},

year  = {2002},

date = {2002-01-01},

booktitle = {ROBOTIK 2002, Leistungsstand - Anwendungen - Visionen},

pages = {269--274},

publisher = {VDI Verlag},

address = {Ludwigsburg, Germany},

organization = {VDI/VDE},

series = {VDI-Berichte 1679},

abstract = {Abstract This paper describes the hardware- and software-implementation of a touch-sensitive device on the manipulator arm of our anthropomorphic robot CORA. This so-called artificial skin is used to control the configuration of the manipulator while the robot is grasping for objects. By exploiting redundant degrees of freedom, this operator-induced movement constraint can be accounted for without changing the configuration of the end-effector.},

keywords = {artificial skin, inverse kinematics, Machine Learning, man-machine-interaction, robot manipulator control},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Iossifidis2002ad,

title = {CORA: An anthropomorphic robot assistant for human environment},

author = {Ioannis Iossifidis and Carsten Bruckhoff and Christoph Theis and Claudia Grote and Christian Faubel and Gregor Schoner},

doi = {10.1109/ROMAN.2002.1045654},

year  = {2002},

date = {2002-01-01},

urldate = {2002-01-01},

booktitle = {Proc. 11th IEEE International Workshop on Robot and Human Interactive Communication},

pages = {392--398},

abstract = {We describe the general concept, system architecture, hardware, and the behavioral abilities of CORA (Cooperative Robot Assistant), an autonomous nonmobile robot assistant. Outgoing from our basic assumption that the behavior to perform determines the internal and external structure of the behaving system, we have designed CORA anthropomorphic to allow for humanlike behavioral strategies in solving complex tasks. Although CORA was built as a prototype of a service robot system to assist a human partner in industrial assembly tasks, we will show that CORA's behavioral abilities are also conferrable in a household environment. After the description of the hardware platform and the basic concepts of our approach, we present some experimental results by means of an assembly task.},

keywords = {assembling, Cooperative Robot Assistant, CORA, gesture recognition, haptic interfaces, household, industrial assembly, Machine Learning, manipulators, object recognition, robot assistant, robots, speech recognition},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Iossifidis2002b,

title = {Controlling a Redundant Robot Arm by Means of a Haptic Sensor},

author = {Ioannis Iossifidis and Axel Steinhage},

year  = {2002},

date = {2002-01-01},

booktitle = {ROBOTIK 2002, Leistungsstand - Anwendungen - Visionen},

pages = {269--274},

publisher = {VDI Verlag},

address = {Ludwigsburg, Germany},

organization = {VDI/VDE},

series = {VDI-Berichte 1679},

abstract = {Abstract This paper describes the hardware- and software-implementation of a touch-sensitive device on the manipulator arm of our anthropomorphic robot CORA. This so-called artificial skin is used to control the configuration of the manipulator while the robot is grasping for objects. By exploiting redundant degrees of freedom, this operator-induced movement constraint can be accounted for without changing the configuration of the end-effector.},

keywords = {artificial skin, inverse kinematics, Machine Learning, man-machine-interaction, robot manipulator control},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Iossifidis2002bf,

title = {Controlling a Redundant Robot Arm by Means of a Haptic Sensor},

author = {Ioannis Iossifidis and Axel Steinhage},

year  = {2002},

date = {2002-01-01},

booktitle = {ROBOTIK 2002, Leistungsstand - Anwendungen - Visionen},

pages = {269--274},

publisher = {VDI Verlag},

address = {Ludwigsburg, Germany},

organization = {VDI/VDE},

series = {VDI-Berichte 1679},

abstract = {Abstract This paper describes the hardware- and software-implementation of a touch-sensitive device on the manipulator arm of our anthropomorphic robot CORA. This so-called artificial skin is used to control the configuration of the manipulator while the robot is grasping for objects. By exploiting redundant degrees of freedom, this operator-induced movement constraint can be accounted for without changing the configuration of the end-effector.},

keywords = {artificial skin, inverse kinematics, man-machine-interaction, robot manipulator control},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{iossifidisControllingRedundantRobot2002b,

title = {Controlling a Redundant Robot Arm by Means of a Haptic Sensor},

author = {Ioannis Iossifidis and Axel Steinhage},

issn = {00835560},

year  = {2002},

date = {2002-01-01},

booktitle = {ROBOTIK 2002, Leistungsstand - Anwendungen - Visionen},

number = {1679},

pages = {269--274},

publisher = {VDI Verlag},

address = {Ludwigsburg, Germany},

series = {VDI-Berichte 1679},

abstract = {Abstract This paper describes the hardware- and software-implementation of a touch-sensitive device on the manipulator arm of our anthropomorphic robot CORA. This so-called artificial skin is used to control the configuration of the manipulator while the robot is grasping for objects. By exploiting redundant degrees of freedom, this operator-induced movement constraint can be accounted for without changing the configuration of the end-effector.},

keywords = {artificial skin, inverse kinematics, Machine Learning, man-machine-interaction, robot manipulator control},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Iossifidis2002bb,

title = {Controlling a Redundant Robot Arm by Means of a Haptic Sensor},

author = {Ioannis Iossifidis and Axel Steinhage},

year  = {2002},

date = {2002-01-01},

booktitle = {ROBOTIK 2002, Leistungsstand - Anwendungen - Visionen},

pages = {269--274},

publisher = {VDI Verlag},

address = {Ludwigsburg, Germany},

organization = {VDI/VDE},

series = {VDI-Berichte 1679},

abstract = {Abstract This paper describes the hardware- and software-implementation of a touch-sensitive device on the manipulator arm of our anthropomorphic robot CORA. This so-called artificial skin is used to control the configuration of the manipulator while the robot is grasping for objects. By exploiting redundant degrees of freedom, this operator-induced movement constraint can be accounted for without changing the configuration of the end-effector.},

keywords = {artificial skin, inverse kinematics, Machine Learning, man-machine-interaction, robot manipulator control},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Wichert2002,

title = {The Robotic Bar - An Integrated Demonstration of Man-Robot Interaction in a Service Scenario},

author = {George von Wichert and Caesar Klimowicz and Werner Neubauer and Thomas Wösch and Gisbert Lawitzky and R Caspari and Hans-Jörg Heger and Peter Witschel and Uwe Handmann and M Rinne},

url = {http://ieeexplore.ieee.org/document/1045651/},

doi = {10.1109/ROMAN.2002.1045651},

year  = {2002},

date = {2002-01-01},

booktitle = {11th IEEE International Workshop on Robot and Human Communication, Berlin, Germany, Proceedings},

pages = {374-379},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}