Veröffentlichungen

@inproceedings{Iossifidis2014a,

title = {Simulated Framework for the Development and Evaluation of Redundant Robotic Systems},

author = {Ioannis Iossifidis},

year  = {2014},

date = {2014-01-01},

booktitle = {International Conference on Pervasive and Embedded and Communication Systems, 2014, PECCS2014},

abstract = {In the current work we present a simulated environment for the development and evaluation of multi redundant open chain manipulators. The framework is implemented in Matlab and provides solutions for the kinematics and dynamics of an arbitrary open chain manipulator. For a anthropomorphic trunk-shoulder-arm configura- tion with in total nine degree of freedoms, a closed form solution of the inverse kinematics problem is derived. The attractor dynamics approach to motion generation was evaluated within this framework and the results are verified on the real anthropomorphic robotic assistant Cora.},

keywords = {Autonomous robotics, man machine interaction, simulated reality},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Iossifidis2014b,

title = {Development of a Haptic Interface for Safe Human Robot Collaboration},

author = {Ioannis Iossifidis},

year  = {2014},

date = {2014-01-01},

booktitle = {International Conference on Pervasive and Embedded and Communication Systems, 2014, PECCS2014},

abstract = {In the context of the increasing number of collaborative workplaces in industrial environments, where humans and robots sharing the same workplace, safety and intuitive interaction is a prerequisite. This means, that the robot can (1) have contact with his own body and the surrounding objects, (2) the motion of the robot can be corrected online by the human user just by touching his artificial skin or (3) interrupt the action in dangerous situations. In the current work we introduce a haptic interface (artificial skin) which is utilized to cover the arms of an anthropomorphic robotic assistant. The touched induced input of the artificial skin is interpreted and fed into the motor control algorithm to generate the desired motion and to avoid harm for human and machine.},

keywords = {Autonomous robotics, direct physical interaction, haptic interface, human robot collaboration, man machine interaction},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Iossifidis2014c,

title = {Development of a Haptic Interface for Safe Human Robot Collaboration},

author = {Ioannis Iossifidis},

year  = {2014},

date = {2014-01-01},

booktitle = {International Conference on Pervasive and Embedded and Communication Systems, 2012, PECCS2014},

keywords = {Autonomous robotics, direct physical interaction, haptic interface, human robot collaboration, man machine interaction},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Iossifidis2014ab,

title = {Simulated Framework for the Development and Evaluation of Redundant Robotic Systems},

author = {Ioannis Iossifidis},

year  = {2014},

date = {2014-01-01},

booktitle = {International Conference on Pervasive and Embedded and Communication Systems, 2012, PECCS2014},

keywords = {Autonomous robotics, man machine interaction, simulated reality},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Iossifidis2014e,

title = {Development of a Haptic Interface for Safe Human Robot Collaboration},

author = {Ioannis Iossifidis},

year  = {2014},

date = {2014-01-01},

booktitle = {International Conference on Pervasive and Embedded and Communication Systems, 2012, PECCS2014},

keywords = {Autonomous robotics, direct physical interaction, haptic interface, human robot collaboration, man machine interaction},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Iossifidis2013c,

title = {Utilizing artificial skin for direct physical interaction},

author = {Ioannis Iossifidis},

doi = {10.1109/ROBIO.2013.6739562},

year  = {2013},

date = {2013-01-01},

urldate = {2013-01-01},

booktitle = {2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013},

abstract = {Focusing on the development of flexible robots for industrial and household environments, we identify intuitive teaching as the key feature and direct physical interaction and guidance as the most important interface. In the current work we introduce a multi redundant robotic assistant equipped with a touch sensitive skin around the upper- and the forearm, in order to incorporate contact forces into the arm control. A context-sensitive interpretation of the contact forces is being used to guide the attention of the robot, to avoid obstacles and to move the robot arm directly by the human operator. textcopyright 2013 IEEE.},

keywords = {Autonomous robotics, direct physical interaction, haptic interface, human robot collaboration, man machine interaction},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Iossifidis2013d,

title = {Utilizing Artificial Skin for Direct Physical Interaction},

author = {Ioannis Iossifidis},

year  = {2013},

date = {2013-01-01},

booktitle = {Proc. IEEE/RSJ International Conference on Robotics and Biomimetics (RoBio2013)},

abstract = {Autonomous robots with limited computational capacity call for control approaches that generate meaningful, goal-directed behavior without using a large amount of resources. The attractor dynamics approach to movement generation is a framework that links sensor data to motor commands via coupled dynamical systems that have attractors at behaviorally desired states. The low computational demands leave enough system resources for higher level function like forming a sequence of local goals to reach a distant one. The comparatively high performance of local behavior generation allows the global planning to be relatively simple. In the present paper, we apply this approach to generate walking trajectories for a small humanoid robot, the Aldebaran Nao, that are goal-directed and avoid obstacles. The sensor information is a single camera in the head of the robot. The limited field of vision is compensated by head movements. The design of the dynamical system for motion generation and the choice of state variable makes a computationally expensive scene representation or local map building unnecessary.},

keywords = {Autonomous robotics, direct physical interaction, haptic interface, human robot collaboration, man machine interaction},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Sandamirskayasubmitted,

title = {Natural human-robot interaction through spatial language: a dynamic neural fields approach},

author = {Yulia Sandamirskaya and John Lipinski and Ioannis Iossifidis and G Schöner},

url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5598671},

issn = {1944-9445},

year  = {2010},

date = {2010-01-01},

booktitle = {Proc. 19th IEEE International Workshop on Robot and Human Interactive Communication (ROMAN 2010)},

pages = {600--607},

publisher = {IEEE},

keywords = {arm movement model, Autonomous robotics, behavior generation, Dynamical systems, man machine interaction, movement model, speech recognition},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Zibner2010ab,

title = {Scene Representation for Anthropomorphic Robots: A Dynamic Neural Field Approach},

author = {Stephan S K U Zibner and Christian Faubel and Ioannis Iossifidis and Gregor Schöner},

url = {http://www.vde-verlag.de/proceedings-en/453273138.html},

year  = {2010},

date = {2010-01-01},

booktitle = {ISR / ROBOTIK 2010},

number = {Isr},

publisher = {VDE VERLAG GmbH},

address = {Munich, Germany},

abstract = {An internal representation of a scene is essential to generate actions on scene objects. A stabilized storage of object location and features offers the flexibility to process queries phrased in human-based terms relating to objects, which may not be in the current camera view. Scene representation is therefore an internal representation of the surrounding world that is stabilized against head and body movement. It contains associated information about location and features of objects. Because objects and bodies move, scene representation is not a one-time process, but a constantly scene- adapting mechanism of scanning for, storing, updating, and deleting information. 

 

 Our novel architecture incorporates the generation of autonomous scanning sequences on real-time camera images. The head can then be oriented towards a selected object and the color feature can be extracted. Object location and feature information are associatively stored in a three-dimensional Dynamic Neural Field. Changes in the scene, even for multiple objects, can be tracked simultaneously. The stored information is used to generate behavior for cued recall. Cues can be table regions, features, or object labels. The robot demonstrates a successful recall by centering its gaze on the stated object.},

keywords = {Autonomous robotics, dynamic neural field, Dynamical systems, man machine interaction, scene representation, speech recognition},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Zibner2010c,

title = {Scenes and Tracking with Dynamic Neural Fields: How to Update a Robotic Scene Representation},

author = {Stephan K U Zibner and Christian Faubel and John P Spencer and Ioannis Iossifidis and Gregor Schöner},

year  = {2010},

date = {2010-01-01},

booktitle = {Proc. Int. Conf. on Development and Learning (ICDL10)},

keywords = {Autonomous robotics, dynamic neural field, Dynamical systems, man machine interaction, scene representation, speech recognition},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Zibnersubmittedb,

title = {Scene Representation with Dynamic Neural Fields: An Example of Complex Cognitive Architectures Based on Dynamic Neural Field Theory},

author = {Stephan K U Zibner and Christian Faubel and Ioannis Iossifidis and Gregor Schöner},

year  = {2010},

date = {2010-01-01},

booktitle = {Proc. Int. Conf. on Development and Learning (ICDL10)},

keywords = {Autonomous robotics, dynamic neural field, Dynamical systems, man machine interaction, scene representation, speech recognition},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Zibneri,

title = {Scene and Tracking with Dynamic Neural Field Approach},

author = {Stephan Zibner and Christian Faubel and Ioannis Iossifidis and Gregor Schöner and John P Spencer},

year  = {2010},

date = {2010-01-01},

booktitle = {ISR / ROBOTIK 2010},

address = {Munich, Germany},

abstract = {An internal representation of a scene is essential to generate actions on scene objects. A stabilized storage of object location and features offers the flexibility to process queries phrased in human-based terms relating to objects, which may not be in the current camera view. Scene representation is therefore an internal representation of the surrounding world that is stabilized against head and body movement. It contains associated information about location and features of objects. Because objects and bodies move, scene representation is not a one-time process, but a constantly scene- adapting mechanism of scanning for, storing, updating, and deleting information. 

 

 Our novel architecture incorporates the generation of autonomous scanning sequences on real-time camera images. The head can then be oriented towards a selected object and the color feature can be extracted. Object location and feature information are associatively stored in a three-dimensional Dynamic Neural Field. Changes in the scene, even for multiple objects, can be tracked simultaneously. The stored information is used to generate behavior for cued recall. Cues can be table regions, features, or object labels. The robot demonstrates a successful recall by centering its gaze on the stated object.},

keywords = {Autonomous robotics, dynamic neural field, Dynamical systems, man machine interaction, scene representation, speech recognition},

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}

}