Prof. Dr. rer. nat. Ioannis Iossifidis

AUSGEWÄHLTE PUBLIKATIONEN

• anthropomorphic robot arm 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 sensory channels

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  2010

  3.

  Reimann, H; Iossifidis, Ioannis; Schöner, G

  Generating collision free reaching movements for redundant manipulators using dynamical systems Proceedings Article

  In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, S. 5372–5379, IEEE, 2010, ISBN: 978-1-4244-6674-0.

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

  @inproceedings{Reimann2010b,
  
  title = {Generating collision free reaching movements for redundant manipulators using dynamical systems},
  
  author = {H Reimann and Ioannis Iossifidis and G Schöner},
  
  url = {http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5650603},
  
  doi = {10.1109/IROS.2010.5650603},
  
  isbn = {978-1-4244-6674-0},
  
  year  = {2010},
  
  date = {2010-10-01},
  
  urldate = {2010-10-01},
  
  booktitle = {2010 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  
  pages = {5372--5379},
  
  publisher = {IEEE},
  
  abstract = {For autonomous robots to manipulate objects in unknown environments, they must be able to move their arms without colliding with nearby objects, other agents or humans. The simultaneous avoidance of multiple obstacles in real time by all link segments of a manipulator is still a hard task both in practice and in theory. We present a systematic scheme for the generation of collision free movements for redundant manipulators in scenes with arbitrarily many obstacles. Based on the dynamical systems approach to robotics, constraints are formulated as contributions to a dynamical system that erect attractors for targets and repellors for obstacles. These contributions are formulated in terms of variables relevant to each constraint and then transformed into vector fields over the manipulator joint velocity vector as an embedding space in which all constraints are simultaneously observed. We demonstrate the feasibility of the approach by implementing it on a real anthropomorphic 8-degrees-of-freedom redundant manipulator. In addition, performance is characterized by detecting failures in a systematic simulation experiment in randomized scenes with varying numbers of obstacles.},
  
  keywords = {anthropomorphic arm, attractor dynamics approach, autonomous obstacle avoidance, central nervous system, collision avoidance, Dynamical systems, manipulator dynamics, redundant manipulators, redundant robot arm},
  
  pubstate = {published},
  
  tppubtype = {inproceedings}
  
  }
  
  

  Schließen

  For autonomous robots to manipulate objects in unknown environments, they must be able to move their arms without colliding with nearby objects, other agents or humans. The simultaneous avoidance of multiple obstacles in real time by all link segments of a manipulator is still a hard task both in practice and in theory. We present a systematic scheme for the generation of collision free movements for redundant manipulators in scenes with arbitrarily many obstacles. Based on the dynamical systems approach to robotics, constraints are formulated as contributions to a dynamical system that erect attractors for targets and repellors for obstacles. These contributions are formulated in terms of variables relevant to each constraint and then transformed into vector fields over the manipulator joint velocity vector as an embedding space in which all constraints are simultaneously observed. We demonstrate the feasibility of the approach by implementing it on a real anthropomorphic 8-degrees-of-freedom redundant manipulator. In addition, performance is characterized by detecting failures in a systematic simulation experiment in randomized scenes with varying numbers of obstacles.

  Schließen

  • http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5650603
  • doi:10.1109/IROS.2010.5650603

  Schließen

  2008

  2.

  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

  2006

  1.

  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