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 haptic interface human anatomy human motor behavior human operators intuition inverse kinematics Machine Learning man machine interaction man-machine systems man-machine-interaction manipulators mechanical structure modeling movement model object recognition operators gesture pervasive design robot manipulator control robot vision robotic assistant sensory channels user modelling

  150 Einträge « ‹ 9 von 15 › »

  2010

  70.

  Zibner, S K U; Faubel, Christian; Iossifidis, Ioannis; Schöner, G

  Scene representation for anthropomorphic robots: A dynamic neural field approach Proceedings Article

  In: Joint 41st International Symposium on Robotics and 6th German Conference on Robotics 2010, ISR/ROBOTIK 2010, 2010, ISBN: 9781617387197.

  Abstract | BibTeX | Schlagwörter: Autonomous robotics, dynamic field theory (DFT), Dynamical systems, embodied cognition, neural processing

  @inproceedings{Zibner2010b,
  
  title = {Scene representation for anthropomorphic robots: A dynamic neural field approach},
  
  author = {S K U Zibner and Christian Faubel and Ioannis Iossifidis and G Schöner},
  
  isbn = {9781617387197},
  
  year  = {2010},
  
  date = {2010-01-01},
  
  urldate = {2010-01-01},
  
  booktitle = {Joint 41st International Symposium on Robotics and 6th German Conference on Robotics 2010, ISR/ROBOTIK 2010},
  
  volume = {2},
  
  abstract = {For autonomous robotic systems, the ability to represent a scene, to memorize and track objects and their associated features is a prerequisite for reasonable interactive behavior. In this paper, we present a biologically inspired architecture for scene representation that is based on Dynamic Field Theory. At the core of the architecture we make use of three-dimensional Dynamic Neural Fields for representing space-feature associations. These associations are built up autonomously in a sequential way and they are maintained and continuously updated. We demonstrate these capabilities in two experiments on an anthropomorphic robotic platform. In the first experiment we show the sequential scanning of a scene. The second experiment demonstrates the maintenance of associations for objects, which get out of view, and the correct update of the scene representation, if such objects are removed.},
  
  keywords = {Autonomous robotics, dynamic field theory (DFT), Dynamical systems, embodied cognition, neural processing},
  
  pubstate = {published},
  
  tppubtype = {inproceedings}
  
  }
  
  

  Schließen

  For autonomous robotic systems, the ability to represent a scene, to memorize and track objects and their associated features is a prerequisite for reasonable interactive behavior. In this paper, we present a biologically inspired architecture for scene representation that is based on Dynamic Field Theory. At the core of the architecture we make use of three-dimensional Dynamic Neural Fields for representing space-feature associations. These associations are built up autonomously in a sequential way and they are maintained and continuously updated. We demonstrate these capabilities in two experiments on an anthropomorphic robotic platform. In the first experiment we show the sequential scanning of a scene. The second experiment demonstrates the maintenance of associations for objects, which get out of view, and the correct update of the scene representation, if such objects are removed.

  Schließen

  2009

  69.

  Tuma, M; Iossifidis, Ioannis; Schöner, G

  Temporal stabilization of discrete movement in variable environments: An attractor dynamics approach Proceedings Article

  In: 2009 IEEE International Conference on Robotics and Automation, S. 863–868, IEEE, 2009, ISBN: 978-1-4244-2788-8.

  Abstract | Links | BibTeX | Schlagwörter: attractor dynamics approach, Autonomous robotics, Dynamical systems, hopf oscillator

  @inproceedings{Tuma2009b,
  
  title = {Temporal stabilization of discrete movement in variable environments: An attractor dynamics approach},
  
  author = {M Tuma and Ioannis Iossifidis and G Schöner},
  
  url = {http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5152562},
  
  doi = {10.1109/ROBOT.2009.5152562},
  
  isbn = {978-1-4244-2788-8},
  
  year  = {2009},
  
  date = {2009-05-01},
  
  urldate = {2009-05-01},
  
  booktitle = {2009 IEEE International Conference on Robotics and Automation},
  
  pages = {863--868},
  
  publisher = {IEEE},
  
  abstract = {The ability to generate discrete movement with distinct and stable time courses is important for interaction scenarios both between different robots and with human partners, for catching and interception tasks, and for timed action sequences. In dynamic environments, where trajectories are evolving online, this is not a trivial task. The dynamical systems approach to robotics provides a framework for robust incorporation of fluctuating sensor information, but control of movement time is usually restricted to rhythmic motion and realized through stable limit cycles. The present work uses a Hopf oscillator to produce discrete motion and formulates an online adaptation rule to stabilize total movement time against a wide range of disturbances. This is integrated into a dynamical systems framework for the sequencing of movement phases and for directional navigation, using 2D-planar motion as an example. The approach is demonstrated on a Khepera mobile unit in order to show its reliability even when depending on low-level sensor information.},
  
  keywords = {attractor dynamics approach, Autonomous robotics, Dynamical systems, hopf oscillator},
  
  pubstate = {published},
  
  tppubtype = {inproceedings}
  
  }
  
  

  Schließen

  The ability to generate discrete movement with distinct and stable time courses is important for interaction scenarios both between different robots and with human partners, for catching and interception tasks, and for timed action sequences. In dynamic environments, where trajectories are evolving online, this is not a trivial task. The dynamical systems approach to robotics provides a framework for robust incorporation of fluctuating sensor information, but control of movement time is usually restricted to rhythmic motion and realized through stable limit cycles. The present work uses a Hopf oscillator to produce discrete motion and formulates an online adaptation rule to stabilize total movement time against a wide range of disturbances. This is integrated into a dynamical systems framework for the sequencing of movement phases and for directional navigation, using 2D-planar motion as an example. The approach is demonstrated on a Khepera mobile unit in order to show its reliability even when depending on low-level sensor information.

  Schließen

  • http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5152562
  • doi:10.1109/ROBOT.2009.5152562

  Schließen

  68.

  Tuma, Matthias; Iossifidis, Ioannis; Schöner, Gregor

  Temporal Stabilization of Discrete Movement in Variable Environments: An Attractor Dynamics Approach Proceedings Article

  In: Proc. IEEE International Conference on Robotics and Automation ICRA '09, S. 863–868, Kobe, Japan, 2009.

  Abstract | BibTeX | Schlagwörter: attractor dynamics approach, Autonomous robotics, Dynamical systems, hopf oscillator

  @inproceedings{Tuma2009,
  
  title = {Temporal Stabilization of Discrete Movement in Variable Environments: An Attractor Dynamics Approach},
  
  author = {Matthias Tuma and Ioannis Iossifidis and Gregor Schöner},
  
  year  = {2009},
  
  date = {2009-01-01},
  
  booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA '09},
  
  pages = {863--868},
  
  address = {Kobe, Japan},
  
  abstract = {The ability to generate discrete movement with distinct and stable time courses 
  
   
  
   is important for interaction scenarios both between different robots and with human partners, 
  
   
  
   for catching and interception tasks, and for timed action sequences. 
  
   
  
   In dynamic environments, where trajectories are evolving on-line, this is not a trivial task. 
  
   
  
   The dynamical systems approach to robotics provides a framework for robust 
  
   
  
   incorporation of fluctuating sensor information, but control of movement time is usually 
  
   
  
   restricted to rhythmic motion and realized through stable limit cycles. The present work 
  
   
  
   uses a Hopf oscillator to produce discrete motion and formulates an on-line adaptation rule 
  
   
  
   to stabilize total movement time against a wide range of disturbances. This is integrated into 
  
   
  
   a dynamical systems framework for the sequencing of movement phases and for directional navigation, using 2D-planar motion 
  
   
  
   as an example. The approach is demonstrated on a Khepera mobile unit in order to show its 
  
   
  
   reliability even when depending on low-level sensor information.},
  
  keywords = {attractor dynamics approach, Autonomous robotics, Dynamical systems, hopf oscillator},
  
  pubstate = {published},
  
  tppubtype = {inproceedings}
  
  }
  
  

  Schließen

  The ability to generate discrete movement with distinct and stable time courses
  
  is important for interaction scenarios both between different robots and with human partners,
  
  for catching and interception tasks, and for timed action sequences.
  
  In dynamic environments, where trajectories are evolving on-line, this is not a trivial task.
  
  The dynamical systems approach to robotics provides a framework for robust
  
  incorporation of fluctuating sensor information, but control of movement time is usually
  
  restricted to rhythmic motion and realized through stable limit cycles. The present work
  
  uses a Hopf oscillator to produce discrete motion and formulates an on-line adaptation rule
  
  to stabilize total movement time against a wide range of disturbances. This is integrated into
  
  a dynamical systems framework for the sequencing of movement phases and for directional navigation, using 2D-planar motion
  
  as an example. The approach is demonstrated on a Khepera mobile unit in order to show its
  
  reliability even when depending on low-level sensor information.

  Schließen

  67.

  Iossifidis, Ioannis; Schöner, Gregor

  Reaching while avoiding obstacles: a neuronally inspired attractor dynamics approach Proceedings Article

  In: Bernstein Conference on Computational Neuroscience (BCCN 2009), 2009.

  Links | BibTeX | Schlagwörter: anthropomorphic arm, central nervous system, collision avoidance, Dynamical systems, manipulator dynamics, obstacle avoidance, redundant manipulators, redundant robot arm

  @inproceedings{Iossifidis2009,
  
  title = {Reaching while avoiding obstacles: a neuronally inspired attractor dynamics approach},
  
  author = {Ioannis Iossifidis and Gregor Schöner},
  
  doi = {10.3389/conf.neuro.10.2009.14.007},
  
  year  = {2009},
  
  date = {2009-01-01},
  
  booktitle = {Bernstein Conference on Computational Neuroscience (BCCN 2009)},
  
  keywords = {anthropomorphic arm, central nervous system, collision avoidance, Dynamical systems, manipulator dynamics, obstacle avoidance, redundant manipulators, redundant robot arm},
  
  pubstate = {published},
  
  tppubtype = {inproceedings}
  
  }
  
  

  Schließen

  • doi:10.3389/conf.neuro.10.2009.14.007

  Schließen

  2008

  66.

  Dogan, Ueruen; Edelbrunner, Hannes; Iossifidis, Ioannis

  Towards a Driver Model: Preliminary Study of Lane Change Behavior Proceedings Article

  In: 2008 11th International IEEE Conference on Intelligent Transportation Systems, S. 931–937, IEEE, 2008, ISBN: 978-1-4244-2111-4.

  Abstract | Links | BibTeX | Schlagwörter: driver information systems, driver model, drivers lane change behavior prediction, feed forward neural network, feedforward neural nets, lane change maneuvers, Machine Learning, recurrent neural nets, recurrent neural network, support vector machines, traffic simulator

  @inproceedings{Dogan2008b,
  
  title = {Towards a Driver Model: Preliminary Study of Lane Change Behavior},
  
  author = {Ueruen Dogan and Hannes Edelbrunner and Ioannis Iossifidis},
  
  url = {http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=4732700},
  
  doi = {10.1109/ITSC.2008.4732700},
  
  isbn = {978-1-4244-2111-4},
  
  year  = {2008},
  
  date = {2008-10-01},
  
  booktitle = {2008 11th International IEEE Conference on Intelligent Transportation Systems},
  
  pages = {931--937},
  
  publisher = {IEEE},
  
  abstract = {The presented work formulates an framework in which early prediction of drivers lane change behavior is realized. We aim to build a representation of drivers lane change behavior in order to recognize and to predict driver's intentions as a first step towards a realistic driver model. In the test bed of the Institute of Neuroinformatik, based on the traffic simulator NISYS TRS 1, 10 individuals have driven in the experiments and they performed more then 150 lane change maneuvers. Lane-offset, distance to the front car and time to contact, were recorded. The acquired data was used to train - in parallel- a recurrent neural network, a feed forward neural network and a set of support vector machines. In the followed test drives the system was able of performing a lane change prediction time of 1.5 sec beforehand. The proposed approach describes a framework for lane-change detection and prediction, which will serve as a prerequisite for a successful driver model.},
  
  keywords = {driver information systems, driver model, drivers lane change behavior prediction, feed forward neural network, feedforward neural nets, lane change maneuvers, Machine Learning, recurrent neural nets, recurrent neural network, support vector machines, traffic simulator},
  
  pubstate = {published},
  
  tppubtype = {inproceedings}
  
  }
  
  

  Schließen

  The presented work formulates an framework in which early prediction of drivers lane change behavior is realized. We aim to build a representation of drivers lane change behavior in order to recognize and to predict driver's intentions as a first step towards a realistic driver model. In the test bed of the Institute of Neuroinformatik, based on the traffic simulator NISYS TRS 1, 10 individuals have driven in the experiments and they performed more then 150 lane change maneuvers. Lane-offset, distance to the front car and time to contact, were recorded. The acquired data was used to train - in parallel- a recurrent neural network, a feed forward neural network and a set of support vector machines. In the followed test drives the system was able of performing a lane change prediction time of 1.5 sec beforehand. The proposed approach describes a framework for lane-change detection and prediction, which will serve as a prerequisite for a successful driver model.

  Schließen

  • http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=4732700
  • doi:10.1109/ITSC.2008.4732700

  Schließen

  65.

  Schöner, Gregor; Iossifidis, Ioannis

  Auf gute Zusammenarbeit Artikel

  In: Gerhirn und Geist, Spektrum der Wissenschaft, Bd. 3, 2008.

  BibTeX | Schlagwörter: 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

  @article{Schoener2008,
  
  title = {Auf gute Zusammenarbeit},
  
  author = {Gregor Schöner and Ioannis Iossifidis},
  
  year  = {2008},
  
  date = {2008-01-01},
  
  journal = {Gerhirn und Geist, Spektrum der Wissenschaft},
  
  volume = {3},
  
  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 = {article}
  
  }
  
  

  Schließen

  64.

  Reimann, Hendrik; Iossifidis, Ioannis

  Mathematical and Simulation Framework for Arbitrary Open Chain Manipulators Forschungsbericht

  Institut für Neuroinformatik, Ruhr-Universität Bochum Nr. IRINI 2008-03, 2008.

  BibTeX | Schlagwörter: inverse kinematics, screw theory

  @techreport{Reimann2008,
  
  title = {Mathematical and Simulation Framework for Arbitrary Open Chain Manipulators},
  
  author = {Hendrik Reimann and Ioannis Iossifidis},
  
  year  = {2008},
  
  date = {2008-01-01},
  
  number = {IRINI 2008-03},
  
  institution = {Institut für Neuroinformatik, Ruhr-Universität Bochum},
  
  keywords = {inverse kinematics, screw theory},
  
  pubstate = {published},
  
  tppubtype = {techreport}
  
  }
  
  

  Schließen

  2006

  63.

  Iossifidis, Ioannis; Schöner, Gregor; Schoner, Gregor

  Dynamical Systems Approach for the Autonomous Avoidance of Obstacles and Joint-limits for an Redundant Robot Arm Proceedings Article

  In: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, S. 580–585, IEEE, 2006, ISBN: 1-4244-0258-1.

  Abstract | Links | BibTeX | Schlagwörter: 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

  @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}
  
  }
  
  

  Schließen

  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

  Schließen

  • doi:10.1109/IROS.2006.282468

  Schließen

  62.

  Iossifidis, Ioannis

  Dynamische Systeme zur Steuerung anthropomorpher Roboterarme in autonomen Robotersystemen Buch

  Logos Verlag Berlin, 2006.

  Abstract | Links | BibTeX | Schlagwörter: Autonomous robotics, Dynamical systems, inverse kinematics

  @book{Iossifidis2006b,
  
  title = {Dynamische Systeme zur Steuerung anthropomorpher Roboterarme in autonomen Robotersystemen},
  
  author = {Ioannis Iossifidis},
  
  url = {http://www.logos-verlag.de/cgi-bin/engbuchmid?isbn=1305&lng=deu&id=},
  
  year  = {2006},
  
  date = {2006-08-01},
  
  urldate = {2006-08-01},
  
  number = {ISBN: 3-8325-1305-1},
  
  pages = {160},
  
  publisher = {Logos Verlag Berlin},
  
  abstract = {Das übergeordnete Forschungsgebiet, in das sich die vorliegende Arbeit einbettet, befasst sich mit der Erforschung von informationsverabeitenden Prozessen im Gehirn und der Anwendung der resultierenden Erkenntnisse auf technische Systeme. 
  
   
  
   In Analogie zu biologischen Systemen, deren Beschaffenheit aus den Anforderungen der Umwelt an ihr Verhalten resultiert, leitet sich die Anthropomorphie als Entwurfsprinzip für die Struktur des mit den Menschen interagierenden robotischen Assistenzsystemen ab. 
  
   
  
   Der Autor behandelt in der vorliegende Arbeit das Problem der Erzeugung von Motorverhalten im dreidimensionalen Raum am Beispiel eines anthropomorphen Roboterarmes in einem anthropomorphen robotischen Assistenzsystem. 
  
   
  
   Entwickelt wurde hierbei ein allgemeiner Ansatz, der die Konzepte der Erzeugung von Motorverhalten im 3D-Raum, der Voraussimulation dynamischer Systeme zur Systemdiagnose und zur Suche gewünschter Systemzustände, sowie ein Konzept der Organisation von Verhalten enthält und vereinigt. 
  
   
  
   Nichtlineare dynamische Systeme bilden das mathematische Fundament, die einheitlich, formale Sprache des Ansatzes, mit der sowohl das Motorverhalten des Roboters als auch dessen zeitkontinuierliche Teilsysteme rückgekoppelt werden.},
  
  keywords = {Autonomous robotics, Dynamical systems, inverse kinematics},
  
  pubstate = {published},
  
  tppubtype = {book}
  
  }
  
  

  Schließen

  Das übergeordnete Forschungsgebiet, in das sich die vorliegende Arbeit einbettet, befasst sich mit der Erforschung von informationsverabeitenden Prozessen im Gehirn und der Anwendung der resultierenden Erkenntnisse auf technische Systeme.
  
  In Analogie zu biologischen Systemen, deren Beschaffenheit aus den Anforderungen der Umwelt an ihr Verhalten resultiert, leitet sich die Anthropomorphie als Entwurfsprinzip für die Struktur des mit den Menschen interagierenden robotischen Assistenzsystemen ab.
  
  Der Autor behandelt in der vorliegende Arbeit das Problem der Erzeugung von Motorverhalten im dreidimensionalen Raum am Beispiel eines anthropomorphen Roboterarmes in einem anthropomorphen robotischen Assistenzsystem.
  
  Entwickelt wurde hierbei ein allgemeiner Ansatz, der die Konzepte der Erzeugung von Motorverhalten im 3D-Raum, der Voraussimulation dynamischer Systeme zur Systemdiagnose und zur Suche gewünschter Systemzustände, sowie ein Konzept der Organisation von Verhalten enthält und vereinigt.
  
  Nichtlineare dynamische Systeme bilden das mathematische Fundament, die einheitlich, formale Sprache des Ansatzes, mit der sowohl das Motorverhalten des Roboters als auch dessen zeitkontinuierliche Teilsysteme rückgekoppelt werden.

  Schließen

  • http://www.logos-verlag.de/cgi-bin/engbuchmid?isbn=1305&lng=deu&id=

  Schließen

  61.

  Iossifidis, Ioannis

  Dynamische Systeme zur Steuerung anthropomorpher Roboterarme in autonomen Robotersystemen Promotionsarbeit

  Faculty for Physics and Astronomy, Ruhr-University Bochum, 2006.

  Abstract | Links | BibTeX | Schlagwörter: Autonomous robotics, Dynamical systems, inverse kinematics

  @phdthesis{Iossifidis2006c,
  
  title = {Dynamische Systeme zur Steuerung anthropomorpher Roboterarme in autonomen Robotersystemen},
  
  author = {Ioannis Iossifidis},
  
  url = {http://www.logos-verlag.de/cgi-bin/engbuchmid?isbn=1305&lng=deu&id=},
  
  year  = {2006},
  
  date = {2006-01-01},
  
  urldate = {2006-01-01},
  
  number = {ISBN: 3-8325-1305-1},
  
  pages = {160},
  
  publisher = {Logos Verlag Berlin},
  
  address = {Bochum, Germany},
  
  school = {Faculty for Physics and Astronomy, Ruhr-University Bochum},
  
  abstract = {Das übergeordnete Forschungsgebiet, in das sich die vorliegende Arbeit einbettet, befasst sich mit der Erforschung von informationsverabeitenden Prozessen im Gehirn und der Anwendung der resultierenden Erkenntnisse auf technische Systeme. In Analogie zu biologischen Systemen, deren Beschaffenheit aus den Anforderungen der Umwelt an ihr Verhalten resultiert, leitet sich die Anthropomorphie als Entwurfsprinzip für die Struktur des mit den Menschen interagierenden robotischen Assistenzsystemen ab. Der Autor behandelt in der vorliegende Arbeit das Problem der Erzeugung von Motorverhalten im dreidimensionalen Raum am Beispiel eines anthropomorphen Roboterarmes in einem anthropomorphen robotischen Assistenzsystem. Entwickelt wurde hierbei ein allgemeiner Ansatz, der die Konzepte der Erzeugung von Motorverhalten im 3D-Raum, der Voraussimulation dynamischer Systeme zur Systemdiagnose und zur Suche gewünschter Systemzustände, sowie ein Konzept der Organisation von Verhalten enthält und vereinigt. Nichtlineare dynamische Systeme bilden das mathematische Fundament, die einheitlich, formale Sprache des Ansatzes, mit der sowohl das Motorverhalten des Roboters als auch dessen zeitkontinuierliche Teilsysteme rückgekoppelt werden.},
  
  keywords = {Autonomous robotics, Dynamical systems, inverse kinematics},
  
  pubstate = {published},
  
  tppubtype = {phdthesis}
  
  }
  
  

  Schließen

  Das übergeordnete Forschungsgebiet, in das sich die vorliegende Arbeit einbettet, befasst sich mit der Erforschung von informationsverabeitenden Prozessen im Gehirn und der Anwendung der resultierenden Erkenntnisse auf technische Systeme. In Analogie zu biologischen Systemen, deren Beschaffenheit aus den Anforderungen der Umwelt an ihr Verhalten resultiert, leitet sich die Anthropomorphie als Entwurfsprinzip für die Struktur des mit den Menschen interagierenden robotischen Assistenzsystemen ab. Der Autor behandelt in der vorliegende Arbeit das Problem der Erzeugung von Motorverhalten im dreidimensionalen Raum am Beispiel eines anthropomorphen Roboterarmes in einem anthropomorphen robotischen Assistenzsystem. Entwickelt wurde hierbei ein allgemeiner Ansatz, der die Konzepte der Erzeugung von Motorverhalten im 3D-Raum, der Voraussimulation dynamischer Systeme zur Systemdiagnose und zur Suche gewünschter Systemzustände, sowie ein Konzept der Organisation von Verhalten enthält und vereinigt. Nichtlineare dynamische Systeme bilden das mathematische Fundament, die einheitlich, formale Sprache des Ansatzes, mit der sowohl das Motorverhalten des Roboters als auch dessen zeitkontinuierliche Teilsysteme rückgekoppelt werden.

  Schließen

  • http://www.logos-verlag.de/cgi-bin/engbuchmid?isbn=1305&lng=deu&id=

  Schließen

  150 Einträge « ‹ 9 von 15 › »