Lehrgebiet: Theoretische Informatik und künstliche Intelligenz
Büro: 01.214
Labor: 04.105
Telefon: +49 208 88254-806
E-Mail:
Ioannis Iossifidis studierte Physik (Schwerpunkt: theoretische Teilchenphysik) an der Universität Dortmund und promovierte 2006 an der Fakultät für Physik und Astronomie der Ruhr-Universität Bochum.
Am Institut für Neuroinformatik leitete Prof. Dr. Iossifidis die Arbeitsgruppe Autonome Robotik und nahm mit seiner Forschungsgruppe erfolgreich an zahlreichen, vom BmBF und der EU, geförderten Forschungsprojekten aus dem Bereich der künstlichen Intelligenz teil. Seit dem 1. Oktober 2010 arbeitet er an der HRW am Institut Informatik und hält den Lehrstuhl für Theoretische Informatik – Künstliche Intelligenz.
Prof. Dr. Ioannis Iossifidis entwickelt seit über 20 Jahren biologisch inspirierte anthropomorphe, autonome Robotersysteme, die zugleich Teil und Ergebnis seiner Forschung im Bereich der rechnergestützten Neurowissenschaften sind. In diesem Rahmen entwickelte er Modelle zur Informationsverarbeitung im menschlichen Gehirn und wendete diese auf technische Systeme an.
Ausgewiesene Schwerpunkte seiner wissenschaftlichen Arbeit der letzten Jahre sind die Modellierung menschlicher Armbewegungen, der Entwurf von sogenannten «Simulierten Realitäten» zur Simulation und Evaluation der Interaktionen zwischen Mensch, Maschine und Umwelt sowie die Entwicklung von kortikalen exoprothetischen Komponenten. Entwicklung der Theorie und Anwendung von Algorithmen des maschinellen Lernens auf Basis tiefer neuronaler Architekturen bilden das Querschnittsthema seiner Forschung.
Ioannis Iossifidis’ Forschung wurde u.a. mit Fördermitteln im Rahmen großer Förderprojekte des BmBF (NEUROS, MORPHA, LOKI, DESIRE, Bernstein Fokus: Neuronale Grundlagen des Lernens etc.), der DFG («Motor‐parietal cortical neuroprosthesis with somatosensory feedback for restoring hand and arm functions in tetraplegic patients») und der EU (Neural Dynamics – EU (STREP), EUCogII, EUCogIII ) honoriert und gehört zu den Gewinnern der Leitmarktwettbewerbe Gesundheit.NRW und IKT.NRW 2019.
ARBEITS- UND FORSCHUNGSSCHWERPUNKTE
- Computational Neuroscience
- Brain Computer Interfaces
- Entwicklung kortikaler exoprothetischer Komponenten
- Theorie neuronaler Netze
- Modellierung menschlicher Armbewegungen
- Simulierte Realität
WISSENSCHAFTLICHE EINRICHTUNGEN
- Labor mit Verlinkung
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LEHRVERANSTALTUNGEN
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PROJEKTE
- Projekt mit Verlinkung
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WISSENSCHAFTLICHE MITARBEITER*INNEN
Felix Grün
Büro: 02.216 (Campus Bottrop)
Marie Schmidt
Büro: 02.216 (Campus Bottrop)
Aline Xavier Fidencio
Gastwissenschaftlerin
Muhammad Ayaz Hussain
Doktorand
Tim Sziburis
Doktorand
Farhad Rahmat
studentische Hilfskraft
AUSGEWÄHLTE PUBLIKATIONEN
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2002
13.Iossifidis, Ioannis; Steinhage, Axel
Controlling a Redundant Robot Arm by Means of a Haptic Sensor Proceedings Article
In: ROBOTIK 2002, Leistungsstand - Anwendungen - Visionen, S. 269–274, VDI Verlag, Ludwigsburg, Germany, 2002, ISSN: 00835560.
Abstract | BibTeX | Schlagwörter: artificial skin, inverse kinematics, Machine Learning, man-machine-interaction, robot manipulator control
@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}
}
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.12.Iossifidis, Ioannis; Steinhage, A
Controlling a redundant robot arm by means of a haptic sensor Buch
2002, ISSN: 00835560.
Abstract | BibTeX | Schlagwörter: artificial skin, inverse kinematics, Machine Learning, man-machine-interaction, robot manipulator control
@book{Iossifidis2002d,
title = {Controlling a redundant robot arm by means of a haptic sensor},
author = {Ioannis Iossifidis and A Steinhage},
issn = {00835560},
year = {2002},
date = {2002-01-01},
urldate = {2002-01-01},
booktitle = {VDI Berichte},
number = {1679},
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 = {book}
}
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.11.Iossifidis, Ioannis; Steinhage, Axel
Controlling a Redundant Robot Arm by Means of a Haptic Sensor Proceedings Article
In: ROBOTIK 2002, Leistungsstand - Anwendungen - Visionen, S. 269–274, VDI/VDE VDI Verlag, Ludwigsburg, Germany, 2002.
Abstract | BibTeX | Schlagwörter: artificial skin, inverse kinematics, Machine Learning, man-machine-interaction, robot manipulator control
@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}
}
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.10.Iossifidis, Ioannis; Steinhage, A
Controlling a redundant robot arm by means of a haptic sensor Buch
2002, ISSN: 00835560.
Abstract | BibTeX | Schlagwörter: artificial skin, direct physical interaction, haptic interface, inverse kinematics, Machine Learning, man-machine-interaction, robot manipulator control
@book{Iossifidis2002db,
title = {Controlling a redundant robot arm by means of a haptic sensor},
author = {Ioannis Iossifidis and A Steinhage},
issn = {00835560},
year = {2002},
date = {2002-01-01},
urldate = {2002-01-01},
booktitle = {VDI Berichte},
number = {1679},
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, direct physical interaction, haptic interface, inverse kinematics, Machine Learning, man-machine-interaction, robot manipulator control},
pubstate = {published},
tppubtype = {book}
}
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.9.Iossifidis, Ioannis; Steinhage, Axel
Controlling a Redundant Robot Arm by Means of a Haptic Sensor Proceedings Article
In: ROBOTIK 2002, Leistungsstand - Anwendungen - Visionen, S. 269–274, VDI/VDE VDI Verlag, Ludwigsburg, Germany, 2002.
Abstract | BibTeX | Schlagwörter: artificial skin, inverse kinematics, Machine Learning, man-machine-interaction, robot manipulator control
@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}
}
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.8.Iossifidis, Ioannis; Steinhage, A
Controlling a redundant robot arm by means of a haptic sensor Buch
2002, ISSN: 00835560.
Abstract | BibTeX | Schlagwörter: artificial skin, direct physical interaction, haptic interface, inverse kinematics, Machine Learning, man-machine-interaction, robot manipulator control
@book{Iossifidis2002dc,
title = {Controlling a redundant robot arm by means of a haptic sensor},
author = {Ioannis Iossifidis and A Steinhage},
issn = {00835560},
year = {2002},
date = {2002-01-01},
urldate = {2002-01-01},
booktitle = {VDI Berichte},
number = {1679},
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, direct physical interaction, haptic interface, inverse kinematics, Machine Learning, man-machine-interaction, robot manipulator control},
pubstate = {published},
tppubtype = {book}
}
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.7.Iossifidis, Ioannis; Steinhage, Axel
Controlling a Redundant Robot Arm by Means of a Haptic Sensor Proceedings Article
In: ROBOTIK 2002, Leistungsstand - Anwendungen - Visionen, S. 269–274, VDI/VDE VDI Verlag, Ludwigsburg, Germany, 2002.
Abstract | BibTeX | Schlagwörter: artificial skin, inverse kinematics, Machine Learning, man-machine-interaction, robot manipulator control
@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}
}
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.6.Iossifidis, Ioannis; Steinhage, A
Controlling a redundant robot arm by means of a haptic sensor Buch
2002, ISSN: 00835560.
Abstract | BibTeX | Schlagwörter: artificial skin, direct physical interaction, haptic interface, inverse kinematics, man-machine-interaction, robot manipulator control
@book{Iossifidis2002dd,
title = {Controlling a redundant robot arm by means of a haptic sensor},
author = {Ioannis Iossifidis and A Steinhage},
issn = {00835560},
year = {2002},
date = {2002-01-01},
urldate = {2002-01-01},
booktitle = {VDI Berichte},
number = {1679},
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, direct physical interaction, haptic interface, inverse kinematics, man-machine-interaction, robot manipulator control},
pubstate = {published},
tppubtype = {book}
}
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.5.Iossifidis, Ioannis; Steinhage, Axel
Controlling a Redundant Robot Arm by Means of a Haptic Sensor Proceedings Article
In: ROBOTIK 2002, Leistungsstand - Anwendungen - Visionen, S. 269–274, VDI/VDE VDI Verlag, Ludwigsburg, Germany, 2002.
Abstract | BibTeX | Schlagwörter: artificial skin, inverse kinematics, man-machine-interaction, robot manipulator control
@inproceedings{Iossifidis2002bf,
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, man-machine-interaction, robot manipulator control},
pubstate = {published},
tppubtype = {inproceedings}
}
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.2001
4.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{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}
}
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.