Veröffentlichungen

@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{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{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{Iossifidis2001bb,

title = {Dynamical Systems: A Framework for Man Machine Interaction},

author = {Ioannis Iossifidis and Axel Steinhage},

editor = {V V Kluev and C E D'Attellis and N E Mastorakis},

year  = {2001},

date = {2001-01-01},

booktitle = {Proceedings of the International Conference On Automation and Information: Theory and Applications 2001, (AITA 2001)},

number = {ISBN:960-8052-44-0},

publisher = {WSES Press},

address = {Skiathos Island, Greece},

organization = {WSES},

abstract = {We present an architecture to generate behavior for anthropomorphic robots. The goal is to equip the robots with the capacity to interact naturally with a human sharing the same interaction- channels. Motivated by the research on biological systems, our basic assumption is that the behavior to perform determines the external and internal structure of the behaving system. We describe the anthropomorphic design of our robots and present a distributed control system that generates human- like navigation and manipulation behavior. As the mathematical framework for this purpose we have developed a control system which is entirely based on dynamical systems in the form of instantiated dynamics and neural fields.},

keywords = {Anthropomorphic Robot, Dynamic Approach, Dynamical systems, Machine Learning},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Iossifidis2001cb,

title = {Control of an 8 DoF Manipulator by Means of Neural Fields},

author = {Ioannis Iossifidis and Axel Steinhage},

editor = {Aarne Halme and Raja Chatila and Erwin Prassler},

year  = {2001},

date = {2001-01-01},

booktitle = {Proceedings of the International Conference On Field and Service Robotics, FSR2001},

publisher = {Yleisjäljennös-Painopörssi},

address = {Helsinki, Finland},

abstract = {In this article we present a new approach for the control of a redundant robot arm. Our approach contains two parts: first, we have implemented a concept which deals with the underdetermined problem of the inverse kinematics of robot arms with more than six degrees of freedom. This concept guarantees a one-to-one mapping between the task coordinates (position and orientation) and the joint coordinates of the robot arm and allows to use the additional degrees of freedom for additional task requirements such as obstacle avoidance and smoothness of the trajectory. Second, we apply a mathe- matical concept known as neural fields to the control of the end-effector's position. The application of neural fields to the problem of trajectory generation solves two problems: a smooth end-effector trajec- tory is generated and obstacles are avoided. After presenting our hardware platform, an anthropomorphic assistance robot, we will describe the basic concepts of our approach.},

keywords = {inverse kinematics, Machine Learning, neural fields, robot manipulator control},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Theis2001b,

title = {Image processing methods for interactive robot control},

author = {Christoph Theis and Ioannis Iossifidis and Axel Steinhage},

doi = {10.1109/ROMAN.2001.981941},

year  = {2001},

date = {2001-01-01},

urldate = {2001-01-01},

booktitle = {Proc. 10th IEEE International Workshop on Robot and Human Interactive Communication},

pages = {424--429},

abstract = {In this paper we describe a straight forward technique for tracking a human hand based on images acquired by an active stereo camera system. We demonstrate the implementation of this method on an anthropomorphic assistance robot as part of a multi-modal man-machine interaction system: detecting the hand-position, the robot can interprete a human pointing gesture as the specification of a target object to grasp},

keywords = {active stereo camera system, human hand tracking, human pointing gesture, image processing, interactive robot control, Machine Learning, multi-modal man-machine interaction system},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Seelen2001b,

title = {Visually guided behavior of an autonomous robot with a neuronal architecture},

author = {Werner Seelen and Ioannis Iossifidis and Axel Steinhage},

year  = {2001},

date = {2001-01-01},

booktitle = {2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001},

address = {Banff, Canada},

organization = {IEEE},

series = {CIRA 2001, Workshop Vision-Based Object Recognition in Robotics},

abstract = {We constructed two Robot Systems. Both have a "neuronal architecture". The first (ARNOLD) is able to explore visually an unknown environement, to navigate in this environment and to use his 7DOF-arm to grasp and transport objects. The system can be guided by gestures and a limited set of spoken commands. The second system (CORA) is stationary and shall cooperate with a human at a production line in an interactive assembly process. Our contribution is focussed on to the vision problems. In both cases we use a 2DOF stereo camera system. The visual navigation is based on "place fields" obtained by correlating the current view with stored views captured at strategic points. This can be combined with a trajectory finding on the basis of nonlinear dynamics. Obstacles are avoided by repellors in the trajectory-equation and by inverse perspective mapping. Position and form of objects are evaluated in the sense of finding an appropriate grasping configuration for selected objects. The scene analysis in the CORA-system presupposes the estimation of the view-direction of the human partner. Than a limited set of objects can be detected and tracked if this is necessary (Hausdorff distance). The actual analysis of the entire scene relies on the relation of the detected objects to eachother within the environement, on the task to be fulfilled and on the step that is reached within the entire task. The different necessary estimations and detections within the sequences are coded in terms of Neural fields. In this way the visual perception, the interactive communication and the visually guided behaviour is realised in the same formate.},

keywords = {active stereo camera system, Autonomous robotics, human hand tracking, human pointing gesture, image processing, interactive robot control, Machine Learning, multi-modal man-machine interaction system},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{iossifidisControlDoFManipulator2001b,

title = {Control of an 8 DoF Manipulator by Means of Neural Fields},

author = {Ioannis Iossifidis and Axel Steinhage},

editor = {Aarne Halme and Raja Chatila and Erwin Prassler},

year  = {2001},

date = {2001-01-01},

booktitle = {Proceedings of the International Conference On Field and Service Robotics, FSR2001},

publisher = {Yleisjäljennös-Painopörssi},

address = {Helsinki, Finland},

abstract = {In this article we present a new approach for the control of a redundant robot arm. Our approach contains two parts: first, we have implemented a concept which deals with the underdetermined problem of the inverse kinematics of robot arms with more than six degrees of freedom. This concept guarantees a one-to-one mapping between the task coordinates (position and orientation) and the joint coordinates of the robot arm and allows to use the additional degrees of freedom for additional task requirements such as obstacle avoidance and smoothness of the trajectory. Second, we apply a mathe- matical concept known as neural fields to the control of the end-effector's position. The application of neural fields to the problem of trajectory generation solves two problems: a smooth end-effector trajec- tory is generated and obstacles are avoided. After presenting our hardware platform, an anthropomorphic assistance robot, we will describe the basic concepts of our approach.},

keywords = {inverse kinematics, Machine Learning, neural fields, robot manipulator control},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Iossifidis2001b,

title = {Dynamical Systems: A Framework for Man Machine Interaction},

author = {Ioannis Iossifidis and Axel Steinhage},

editor = {V V Kluev and C E D'Attellis and N E Mastorakis},

year  = {2001},

date = {2001-01-01},

booktitle = {Proceedings of the International Conference On Automation and Information: Theory and Applications 2001, (AITA 2001)},

number = {ISBN:960-8052-44-0},

publisher = {WSES Press},

address = {Skiathos Island, Greece},

organization = {WSES},

abstract = {We present an architecture to generate behavior for anthropomorphic robots. The goal is to equip the robots with the capacity to interact naturally with a human sharing the same interaction- channels. Motivated by the research on biological systems, our basic assumption is that the behavior to perform determines the external and internal structure of the behaving system. We describe the anthropomorphic design of our robots and present a distributed control system that generates human- like navigation and manipulation behavior. As the mathematical framework for this purpose we have developed a control system which is entirely based on dynamical systems in the form of instantiated dynamics and neural fields.},

keywords = {Anthropomorphic Robot, Dynamic Approach, Dynamical systems, Machine Learning},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Iossifidis2001c,

title = {Control of an 8 DoF Manipulator by Means of Neural Fields},

author = {Ioannis Iossifidis and Axel Steinhage},

editor = {Aarne Halme and Raja Chatila and Erwin Prassler},

year  = {2001},

date = {2001-01-01},

booktitle = {Proceedings of the International Conference On Field and Service Robotics, FSR2001},

publisher = {Yleisjäljennös-Painopörssi},

address = {Helsinki, Finland},

abstract = {In this article we present a new approach for the control of a redundant robot arm. Our approach contains two parts: first, we have implemented a concept which deals with the underdetermined problem of the inverse kinematics of robot arms with more than six degrees of freedom. This concept guarantees a one-to-one mapping between the task coordinates (position and orientation) and the joint coordinates of the robot arm and allows to use the additional degrees of freedom for additional task requirements such as obstacle avoidance and smoothness of the trajectory. Second, we apply a mathe- matical concept known as neural fields to the control of the end-effector's position. The application of neural fields to the problem of trajectory generation solves two problems: a smooth end-effector trajec- tory is generated and obstacles are avoided. After presenting our hardware platform, an anthropomorphic assistance robot, we will describe the basic concepts of our approach.},

keywords = {inverse kinematics, Machine Learning, neural fields, robot manipulator control},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Theis2001,

title = {Image processing methods for interactive robot control},

author = {Christoph Theis and Ioannis Iossifidis and Axel Steinhage},

doi = {10.1109/ROMAN.2001.981941},

year  = {2001},

date = {2001-01-01},

urldate = {2001-01-01},

booktitle = {Proc. 10th IEEE International Workshop on Robot and Human Interactive Communication},

pages = {424--429},

abstract = {In this paper we describe a straight forward technique for tracking a human hand based on images acquired by an active stereo camera system. We demonstrate the implementation of this method on an anthropomorphic assistance robot as part of a multi-modal man-machine interaction system: detecting the hand-position, the robot can interprete a human pointing gesture as the specification of a target object to grasp},

keywords = {active stereo camera system, human hand tracking, human pointing gesture, image processing, interactive robot control, Machine Learning, multi-modal man-machine interaction system},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Seelen2001,

title = {Visually guided behavior of an autonomous robot with a neuronal architecture},

author = {Werner Seelen and Ioannis Iossifidis and Axel Steinhage},

year  = {2001},

date = {2001-01-01},

booktitle = {2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001},

address = {Banff, Canada},

organization = {IEEE},

series = {CIRA 2001, Workshop Vision-Based Object Recognition in Robotics},

abstract = {We constructed two Robot Systems. Both have a "neuronal architecture". The first (ARNOLD) is able to explore visually an unknown environement, to navigate in this environment and to use his 7DOF-arm to grasp and transport objects. The system can be guided by gestures and a limited set of spoken commands. The second system (CORA) is stationary and shall cooperate with a human at a production line in an interactive assembly process. Our contribution is focussed on to the vision problems. In both cases we use a 2DOF stereo camera system. The visual navigation is based on "place fields" obtained by correlating the current view with stored views captured at strategic points. This can be combined with a trajectory finding on the basis of nonlinear dynamics. Obstacles are avoided by repellors in the trajectory-equation and by inverse perspective mapping. Position and form of objects are evaluated in the sense of finding an appropriate grasping configuration for selected objects. The scene analysis in the CORA-system presupposes the estimation of the view-direction of the human partner. Than a limited set of objects can be detected and tracked if this is necessary (Hausdorff distance). The actual analysis of the entire scene relies on the relation of the detected objects to eachother within the environement, on the task to be fulfilled and on the step that is reached within the entire task. The different necessary estimations and detections within the sequences are coded in terms of Neural fields. In this way the visual perception, the interactive communication and the visually guided behaviour is realised in the same formate.},

keywords = {active stereo camera system, Autonomous robotics, human hand tracking, human pointing gesture, image processing, interactive robot control, Machine Learning, multi-modal man-machine interaction system},

pubstate = {published},

tppubtype = {inproceedings}

}