Veröffentlichungen

@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{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{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{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{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{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}

}