Prof. Dr. rer. nat. Ioannis Iossifidis

AUSGEWÄHLTE PUBLIKATIONEN

• anthropomorphic robot arm anthropomorphism arm movement model artificial skin attractor dynamics approach Autonomous robotics BCI behavior generation direct physical interaction Dynamical systems force sensing grippers haptic interface human anatomy human operators intuition human perception inverse kinematics Machine Learning man machine interaction man-machine systems man-machine-interaction manipulators movement model object recognition operators gaze operators gesture robot manipulator control robot vision robotic assistant robots gripper

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  79 Einträge « ‹ 8 von 8 › »

  2001

  9.

  Iossifidis, Ioannis; Steinhage, A

  Dynamical systems: A framework for man machine interaction Buch

  2001, ISBN: 9608052440.

  Abstract | BibTeX | Schlagwörter: Anthropomorphic Robot, Dynamic Approach, Dynamical systems, Machine Learning

  @book{Iossifidis2001a,
  
  title = {Dynamical systems: A framework for man machine interaction},
  
  author = {Ioannis Iossifidis and A Steinhage},
  
  isbn = {9608052440},
  
  year  = {2001},
  
  date = {2001-01-01},
  
  urldate = {2001-01-01},
  
  booktitle = {Advances in Automation, Multimedia and Video Systems, and Modern Computer Science},
  
  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 = {book}
  
  }
  
  

  Schließen

  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.

  Schließen

  8.

  Iossifidis, Ioannis; Steinhage, Axel

  Dynamical Systems: A Framework for Man Machine Interaction Proceedings Article

  In: Kluev, V V; D'Attellis, C E; Mastorakis, N E (Hrsg.): Proceedings of the International Conference On Automation and Information: Theory and Applications 2001, (AITA 2001), WSES WSES Press, Skiathos Island, Greece, 2001.

  Abstract | BibTeX | Schlagwörter: Anthropomorphic Robot, Dynamic Approach, Dynamical systems, Machine Learning

  @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}
  
  }
  
  

  Schließen

  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.

  Schließen

  7.

  Iossifidis, Ioannis; Steinhage, Axel

  Control of an 8 DoF Manipulator by Means of Neural Fields Proceedings Article

  In: Halme, Aarne; Chatila, Raja; Prassler, Erwin (Hrsg.): Proceedings of the International Conference On Field and Service Robotics, FSR2001, Yleisjäljennös-Painopörssi, Helsinki, Finland, 2001.

  Abstract | BibTeX | Schlagwörter: inverse kinematics, Machine Learning, neural fields, robot manipulator control

  @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}
  
  }
  
  

  Schließen

  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.

  Schließen

  6.

  Theis, Christoph; Iossifidis, Ioannis; Steinhage, Axel

  Image processing methods for interactive robot control Proceedings Article

  In: Proc. 10th IEEE International Workshop on Robot and Human Interactive Communication, S. 424–429, 2001.

  Abstract | Links | BibTeX | Schlagwörter: active stereo camera system, human hand tracking, human pointing gesture, image processing, interactive robot control, Machine Learning, multi-modal man-machine interaction system

  @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}
  
  }
  
  

  Schließen

  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

  Schließen

  • doi:10.1109/ROMAN.2001.981941

  Schließen

  5.

  Seelen, Werner; Iossifidis, Ioannis; Steinhage, Axel

  Visually guided behavior of an autonomous robot with a neuronal architecture Proceedings Article

  In: 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001, IEEE Banff, Canada, 2001.

  Abstract | BibTeX | Schlagwörter: 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

  @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}
  
  }
  
  

  Schließen

  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.

  Schließen

  1999

  4.

  Iossifidis, Ioannis

  Visuelle Navigation Auf Einem Autonomen Mobilen Roboter thesis

  1999.

  BibTeX | Schlagwörter: Machine Learning

  @thesis{iossifidisVisuelleNavigationAuf1999b,
  
  title = {Visuelle Navigation Auf Einem Autonomen Mobilen Roboter},
  
  author = {Ioannis Iossifidis},
  
  year  = {1999},
  
  date = {1999-01-01},
  
  institution = {Fakultät für Physik, Technische Universität Dortmund},
  
  keywords = {Machine Learning},
  
  pubstate = {published},
  
  tppubtype = {thesis}
  
  }
  
  

  Schließen

  3.

  Iossifidis, Ioannis

  Visuelle Navigation auf einem autonomen mobilen Roboter Promotionsarbeit

  Fakultät für Physik, Technische Universität Dortmund, 1999.

  BibTeX | Schlagwörter: Autonomous robotics, Machine Learning, place cells, robot navigation

  @phdthesis{Iossifidis1999c,
  
  title = {Visuelle Navigation auf einem autonomen mobilen Roboter},
  
  author = {Ioannis Iossifidis},
  
  year  = {1999},
  
  date = {1999-01-01},
  
  school = {Fakultät für Physik, Technische Universität Dortmund},
  
  keywords = {Autonomous robotics, Machine Learning, place cells, robot navigation},
  
  pubstate = {published},
  
  tppubtype = {phdthesis}
  
  }
  
  

  Schließen

  2.

  Iossifidis, Ioannis

  Visuelle Navigation auf einem autonomen mobilen Roboter Promotionsarbeit

  Fakultät für Physik, Technische Universität Dortmund, 1999.

  BibTeX | Schlagwörter: Machine Learning

  @phdthesis{Iossifidis1999,
  
  title = {Visuelle Navigation auf einem autonomen mobilen Roboter},
  
  author = {Ioannis Iossifidis},
  
  year  = {1999},
  
  date = {1999-01-01},
  
  school = {Fakultät für Physik, Technische Universität Dortmund},
  
  keywords = {Machine Learning},
  
  pubstate = {published},
  
  tppubtype = {phdthesis}
  
  }
  
  

  Schließen

  1.

  Iossifidis, Ioannis

  Visuelle Navigation auf einem autonomen mobilen Roboter Promotionsarbeit

  Fakultät für Physik, Technische Universität Dortmund, 1999.

  BibTeX | Schlagwörter: Autonomous robotics, Machine Learning, place cells, robot navigation

  @phdthesis{Iossifidis1999b,
  
  title = {Visuelle Navigation auf einem autonomen mobilen Roboter},
  
  author = {Ioannis Iossifidis},
  
  year  = {1999},
  
  date = {1999-01-01},
  
  school = {Fakultät für Physik, Technische Universität Dortmund},
  
  keywords = {Autonomous robotics, Machine Learning, place cells, robot navigation},
  
  pubstate = {published},
  
  tppubtype = {phdthesis}
  
  }
  
  

  Schließen

  79 Einträge « ‹ 8 von 8 › »