Robotik 2006 Tagung München, 15. bis 17. Mai 2006
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2006
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| 245 | 1 | 0 | |a Robotik 2006 |b Tagung München, 15. bis 17. Mai 2006 |c VDI/VDE-Gesellschaft Mess- und Automatisierungstechnik |
| 250 | |a Als Ms. gedr. | ||
| 264 | 1 | |a Düsseldorf |b VDI-Verl. |c 2006 | |
| 300 | |a 317 S. |b Ill., graph. Darst. |e CD-ROM (12 cm) | ||
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| 337 | |b n |2 rdamedia | ||
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| 490 | 1 | |a VDI-Berichte |v 1956 | |
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| DE-BY-TUM_call_number | 0701 55 B 122 |
|---|---|
| DE-BY-TUM_katkey | 1553372 |
| DE-BY-TUM_location | Mag |
| DE-BY-TUM_media_number | 040071031140 |
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| adam_text | юЫб
of Contents
Page
Keynotes
A pionieer s viewpoint:
40
years development of robotics in Germany
1
Walter
Reis, Reis
Robotics GmbH
&
Co. KG,
Obernburg ¡D)
Challenges of Globalization in the Automotive Industry
3
Herbert
Dreher,
Continental Automotive Systems, Frankfurt
(D¡
Robotic-Quo
Vadis
5
Roland
Siegwart,
Ecole Polytechnique
Federale
de Lausanne (EPFLj,
Lausanne
(CH)
Session
Al
:
VR
Simulation
techniques
Cost
effective robot simulation
tools for
SMEs
9
Craig
Lybeck,
Mika
Anttila,
Juha Renfors,
Visual
Components Oy,
Helsinki (SFj
Comprehensive use of
simulation techniques
to
support
new innovative I
1
robot applications
Volker
Miegel,
Christoph
Winterhalter,
ABB Automation GmbH,
Friedberg
(Dj
The Robocoaster simulation platform, path and video generation
13
for an authentic mars flight simulation
Johann Heindl,
Martin Otter,
Heiko Hirschmueller, Mirko
Frommberger,
DLR Oberpfaffenhofen, Wessling, Florian Siegert, RSS GmbH, München,
Harald Heinrich,
KUKA
Roboter GmbH, Augsburg (DI
Taking space robotics technology into the forest and to construction sites:
15
Control, simulation and training
Jürgen Roßmann, Dortmunder
Initiative
zur Rechnerintegrierten Fertigung
(RIF)
e.V.,
Dortmund
¡D)
Session A2: Simulation
techniques for system design
MANDY:
Consistent open source tool for design, programming,
17
visualization and simulation of robot arms
Wolfgang Weber, FH Darmstadt, Stefan
Rothenbücher,
7U Darmstadt
¡D)
Speeding up software development for mobile robots with flexible partial
19
simulation environment
Ilkka Kauppi, Hannu Lehtinen,
Petri
Kaarmila, VTT,
Espoo (SFj
Page
Simplified programming of robot assembly cells by using motion
21
oriented elements
Markus
Ehrmann, Marc Seckner,
Detlef Zühlke,
Technical University
of
Kaiserslautern
(Dj
Fusing realities in human-robot social interaction
23
Mauro Dragone,
University College Dublin ¡IRLj, Brian R. Duffy,
Institut
Eurécom
(F),
Thomas
Holz,
Gregory
M.
P.
O Hare,
University College Dublin (IRLj
Session
A3:
Object and task modelling
Automatic 2D and
3D
models reconstruction in a pre-historical cave
25
during robot inspection
Tommaso
Gramegna,
Grazia Garelli,
Giovanni Attolico,
Arcangelo Distante,
National Research Council
-
ISSIA-CNR,
Bari
¡Ij
Design and implementation of an interactive object modelling system
27
Regine
Becher,
Peter
Steinhaus,
Raoul
Zöllner, Rüdiger Dillmann,
University of
Karlsruhe
(D)
A deterministic hierarchical local planner for probabilistic roadmap construction
29
Detlef
Mages,
Björn Hein,
Heinz Worn, University of Karlsruhe [D]
Context-sensitive generation of goal-directed behavioral sequences based
31
on neural attractor dynamics
Claudia
Grote,
Gregor
Schoner,
Ruhr-University of
Bochum
(Dj
Session
A4:
Control architectures
Method transfer between applied robotics and general motion
33
Joachim
Strobel,
KUKA
Roboter
GmbH, Augsburg
(D)
A versatile modular robot control architecture for sensor integrated assembly
35
Jochen Maaß,
Thomas Reisinger,
Jürgen Hesselbach,
Walter Schumacher,
Technical University of Braunschweig (Dj
Robot integrated PLC-based process control for complex path applications
37
Alexander
Meißner, Dürr
Systems GmbH, Bietigheim-Bissingen
¡Dj
How MAS support distributed robot control
39
Bianca
Innocenti,
Beatriz López,
Joaquim
Salvi,
University
of Girona
(Ej
Page
Session A5: Robot motion control
Study on the robust control technology for the flexible
¡oint
of industrial robots
41
Sang-Hun Lee, Jong-Sung
Hur,
Hyundai Heavy Industries Co., Ltd.,
Yonginsi, Gyeonggi-do, Jong-Guk Yim, Jong-Hyeon Park, Hanyang University,
Seoul,
¡KR)
A modular real-time coordinate transformation for a redundant 9-axis
43
industrial robot
Peter Lober, Rashid Nawaz, Technical University
Bergakademie
Freiberg (Dj
Reaching with a redundant anthropomorphic robot arm using attractor dynamics
45
loannis lossifidis,
Gregor Schöner,
Ruhr-University
Bochum
(D)
Open real-time controller for PA
10
robot arm
47
Raúl
Armando
Castillo-Cruces,
Jürgen Wahrburg,
University of
Siegen
(Dj
Session A6: Motion planning
A new fast motion planning approach for dexterous manipulators
49
in SD-cartesian space
Darko Ojdanic, University of Bremen,
Oleg
Ivlev, Friedrich-Wilhelm-BesseHnstitut
Forschungsgesellschaft
mbH,
Bremen, Axel Graeser, University of Bremen (Dj
Fast hierarchical A* path planning for industrial robots based on efficient use
51
of distance computation
Björn Hein,
Heinz Worn, University of
Karlsruhe
ID)
Path planning and visualisation in high dimensional configuration space
53
Martin Ruehl, Hubert Roth, University of
Siegen
(DI
Fast aproximated conversion of workspace distances into a free regions
55
in configuration space of robots
Marcos Adrian Salonia,
Björn Hein,
Heinz Worn, University of Karlsruhe
(DI
Session A7: Robot programming
Application of wireless technologies in automotive production systems
57
Renzo Calcagno, Fulvio
Rusina,
Franco
Deregibus,
Comau SPA,
Torino
¡Ij,
Alberto Sangiovanni Vincente///,
Akise Bonivento,
University of California,
BeáeleylUSAI
Page
Multi-modal graphical programming of automation components in a
59
SD-simulation environment
Jürgen Roßmann, Dortmunder
Initiative
zur Rechnerintegrierten Fertigung
(RIF)
e.V.,
Dortmund, Michael
Schiuse,
EFR-Systems GmbH, Dortmund, Thomas Josef Jung,
Dortmunder Initiative zur Rechnerintegrierten Fertigung
(RIF) e.
V.,
Dortmund
(D)
Discrete
event based framework for controlling and programming robot
61
manipulators and virtual humans
Jürgen Roßmann, Dortmunder
Initiative
zur Rechnerintegrierten Fertigung (RIFj e.
V.,
Dortmund, Michael
Schiuse,
Christian Schielte, EFR-Systems GmbH, Dortmund (DJ
Distributed applications for robotic systems using RobleKSHechnology
63
Daniel
Westhoff,
University of Hamburg,
Hagen
Stanek,
genRob.com, Aidlingen,
Jianwei Zhang, University of Hamburg ID)
Session A8: Humanoids
Multi-sensor robot control for humanoid two-arm skills
65
Giulio Milighetti,
Helge-Björn Kuntze, Fraunhofer
НТВ,
Karlsruhe
(D)
Designing a team of soccer-playing humanoid robots
67
Sven
Behnke, Michael
Schreiber, Maren
Bennewitz,
Jörg Stückler, Hauke Strasdat,
Johannes Schwenk,
University of Freiburg
(Dj
Primitive skill-based supervisory control of a humanoid robot applied to
69
a visuakacoustic localization task
Giulio
Milighetti,
Helge-Björn
Kuntze, Thomas
Emter, Fraunhofer
НТВ,
Karlsruhe,
Dirk Bechler,
Kristian
Kroschei, University of Karlsruhe [D]
Petri
nets for task supervision in humanoid robots
71
Arne Lehmann, RalfMikut, Forschungszentrum
Karlsruhe GmbH, Tamim Asfour,
University of
Karlsruhe (DJ
Optimal design of an exoskeleton hip using three-degrees-of-freedom
73
spherical mechanism
Ekta Singla,
Bhaskar
Dasgupta, Indian
Institue
of Technology, Kanpur
(IND),
Konstantin Kondak,
Christian Fleischer,
Gunter
Hommel,
Technical University
of Berlin
(Dì
Mohon
and perturbation generation algorithm for gait rehabilitation robots
75
Henning
Schmidt,
Fraunhofer
IPK/Charité
University Hospital, Berlin, Stefan Hesse,
Charité
University Hospital, Berlin,
Jörg Krüger, Fraunhofer IPK, Berlin
(D¡
Page
Patient-cooperative rehabilitation robotics
77
Robert Riener,
Mathias Wellner,
Tobias
Nef,
ΕΤΗ
and University of
Zürich,
Lars Lünenburger,
University Hospital
Balgrist,
Gery
Colombo, University of
Zürich &
Hocoma
AG, Zürich (CHj
Torque control of an exoskeletal knee with EMG signals
79
Christian Fleischer,
Günter
Hommel,
Technical University of Berlin
(D¡
Session
Bl
:
Safely for
assisiivé
robots
Design and control of safe robotic arm with compliant fluidic
¡oints
83
Miroslav
Mihajlov, University of Bremen,
Oleg
Ivlev, Friedrich-Wilhelm-Bessel-lnstitut
Forschungsges.
mbH,
Bremen, Axel
Gräser,
University of Bremen (Dj
Innovative robot control offers more operator ergonomics and personnel safety
85
Franz
Som, Reis
Robotics GmbH
&
Co. KG, Obernburg
(D¡
Investigation of robot human impact
87
Susanne Oberer, Fraunhofer
IPA, Stuttgartiul, Matteo Malosio, ITIA-CNR,
Milano
¡Ij,
Rolf Dieter Schraft, Fraunhofer
IPA, Stuttgart
(D)
Collision detection for mulH-camera-survilled workspaces
89
Thorsten
Geeks,
Dominik Henrich,
University of
Bayreuth (Dj
Session B2:
Robote
for
SME
manufacturing: SMErooot
PC based control systems for compliance control and intuitive programming
91
of industrial robots
Davide
Colombo,
Dario
Dallefrate, Lorenzo Molinari Tosatti, TTIA-CNR,
Milano
(Ij
Robot cell integration by means of application
-
P n P
93
Martin
Naumann,
Rolf Dieter
Schraň,
KaiWegener,
Fraunhofer
IPA,
Stuttgart
(DI,
Luca
Lachello,
Comau
Robotics, Torino (I)
The need for an intuitive teaching method for small and medium enterprises
95
Rolf Dieter Schraft, Christian Meyer,
Fraunhofer
Institute
-
IPA,
Stuttgart
(D¡
Session B3: Industrial application*
Handfing
and assembly
Gentle robotic handling
-
A comparison of different approaches for
97
shear force reduction
Uwe Zimmermann, Rainer Bischoff,
KUKA
Roboter GmbH, Augsburg,
Suei
Jen
Chen,
Heinz
Worn, University of
Karisruhe (DI
Vacuum layer
grippers: Applications,
system concepts and key issues
99
Walter
H
.
Schaaf,
ΚαπΉβίηζ
Moder, J. Schmalz GmbH, Glatten (DI
Page
3D
sensor system for robot applications in the ¡ntralogistic market
101
Cnrisfian Wurll,
Bernd
Schnoor,
Botond Görög, KUKA
Roboter GmbH, Augsburg (DJ
Portable robot systems for machine tending tasks
103
Christian
Brecher, Ben Schröter, RWTH
Aachen University, Aachen,
André
Kürzel, Markus
Herchel, WMF
AG,
Geisľmgen,
Björn Matthias,
ABB Corporate
Research, Ladenburg
¡Dj
Session B4:
Industrial
applications
1
Robot
based material processing systems
-
innovations and applications
105
Norbert
Hoeppe, Axel Fischer,
Reis
GmbH
&
Co. KG
Maschinenfabrik,
Obernburg
¡DI
Realization of high-dynamic sewing plant for fibre-reinforced composite based
107
on parallel manipulator
Taoufik Mbarek, Mohnnad Tarsha Kordi,
Mathias Hüsing, Burkhard
Corves,
RWTH Aachen
(Dj
Robots for hygienic tasks ¡n food production
109
Andreas Wolf,
robomotion
GmbH,
Stuttgart
Application of customer specific robots in ultrasonic inspection
111
of aircraft components
Albrecht Maurer,
GE
Inspection Technologies, Alzenau (D)
Session B5: Industrial applications
2
Offline-programming enables robotized SD-Ourved profile extrusion
113
Jobst Bickendorf, Stefan Gasper, AUTOCAM GmbH, Dortmund ID)
Robots in the
bodyshop
-
Intelligent concenpts for cost saving
115
Nigel
Ramsden,
FANUC Robotics Europe, Echternach
Щ,
Michael
Klos,
FANUC Robotics
Deutschland GmbH, Neuhausen ¡D)
Robot oriented design for construction automation and robotics
117
Thomas
Bock, Jana
Timmermans,
Technical University of Munich ¡D)
Robotics in consumer industries
-
New applications in food, pharma and
119
healthcare
Frank-Peter Kirgis, ABB Automation GmbH,
Friedberg ¡D)
Page
Session B6: Force control
Autonomous execution of automatically planned robot tasks based on
121
force torque maps
Ulrike
Thomas, Alexander Movshyn,
Friedrich
M.
Wahl,
Technical University
of Braunschweig (Dj
Iterative learning control for hybrid force/velocity control
123
Giacomo
Ziliani, Giovanni Legnani, Antonio
Vistoli,
University of Brescia (Ij
Sensorless force guided motions of an industrial robot based on motor currents
1 25
Alexander
Winkler,
Jozef Suchý,
Chemnitz University of Technology, Chemnitz (Dj
Force measurements for the robot-based sheet metal forming
1 27
Horst
Meier, Oliver Dewald,
Volker Smukala,
University of
Bochum (D)
Session B7: Robot
grippers
and grasp planning
Reactive grasping in industrial automation
1 29
Karsten Weiß,
Dirk
Gager, Heinz
Worn, University of Karlsruhe ¡Dj
Grip-Gage-Go for measuring parts held in automation
131
Roben
E.
Darrow, Jack Jenkins,
Rick Scholz,
Control Gaging Inc., Ann Arbor ¡USA)
Multifunctional gripping systems fulfil rough industrial demands
133
Matthias
Haag,
Andreas
Hoch,
Schunk GmbH
&
Co. KG, Lauffen ¡D)
The modular multisensory DLR-HIT-hand: Hardware and software architecture
135
Hong Uu, P. Meusel, B.
Willberg,
G.
Hirzinger, German Aerospace Center
— DLR,
Wessling (D), M. H.Jin, Y. W. Liu, R. Wei, Z. W. Xie,
H. G.
Cai,
Harbin Institute
of Technology, Harbin (PRCj
Session B8: Micro
Micro-mechatronic actuators for desktop factory applications
137
Rolf
Slätter,
Reinhard Degen,
Micromotion GmbH,
Mainz,
Ame
Burisch,
Technical
University Braunschweig
(Dj
In situ micro
gripper
shaping by electro discharge machining
139
Benoit
Lorent,
Melanie
Dofflon,
Cédric
Joseph, Reymond
Clavel,
Ecole Polytechnique
Fédérale de Lausanne (CHj
A micromanipulation
setup
for comparative tests
of
microgrippers
141
Melanie
Dafflon, Benoit Lorent, Reymond
Clavel,
Ecole Polytechnique Fédérale
de Lausanne ¡CH)
Page
Session B9: Anthropomorphic robot hands
Position-based and force-based control strategies for a hand exoskeleton
143
developed for rehabilitation
Andreas
Wege, Günter
Hommel,
Technical University of Berlin ¡D)
Multimodal
learning of demonstrated grasping skills for flexibly handling
145
grasped objects
AAarkus
Hüser,
Tim Baier, Jianwei Zhang, Daniel
Westhoff,
University of Hamburg (Dj
Optimisation of anthropomorphic robot hand design through human
147
manual dexterity testing
Matthew
J
.
Fanvgia, Michael A. Saliba, University of Malta, Msida (MTj
An anthropomorphic grasping approach for an assistant humanoid robot
149
Antonio Morales, UniversityJaume
I, Castellón
(Ej,
Pedram Azad, Tamim Asfour,
Dirk Kraft, S.
Knoop,
Rüdiger Dillmann,
University of Karlswhe, A. Kargov,
Ch. Pylatiuk, Stefan
Schulz, Forschungszentrum
Karlsruhe,
¡Dj
Session
Cl
:
Robot soccer
Robotsoccer: Past
-
present
-
future
15 3
Peter
Kopaček,
Vienna University of Technology, Vienna ¡A)
Reasoning and planning for robotsoccer
155
Jan Faigl, Tomáš Krajník, Maďm Saska, Petr Stepán, Miroslav Kulich,
Czech Technical
University
in Prague, Prague
¡CZ}
The challenge of the
FIRA
MiraSot league for education and research
- 157
Some further comments
Norbertjesse, University of Dortmund (Dj
DaiGuardRS
-
An affordable platform for research into humanoid robotic soccer
159
Jacky
Baltes,
John Anderson, University of Manitoba, Winnipeg
{CND)
Session
Œ
Mubi-robot technology and applications
Sensor concept for robotic swarms for the elimination marine oil pollutions
161
Dennis Fritsch,
Kai Wegener, Rolf Dieter Schraft, Fraunhofer
IPA,
Stuttgart
¡Dì
Omní-directional
non-visual perception for human interactions with service robots
163
Enzo Mumolo,
Massimiliano Nolich, University of Trieste, Enrico
Pagello,
University of Padua ¡I]
Page
Cooperating multi-robot systems in manufacturing processes
165
Marcel
Bräsch,
KUKA
Controls GmbH, Augsburg,
Thorsten Schüppstuhl,
Кгаиѕ
-Maffei
Kunststofftechnik
GmbH, Viersen,
Bernd Kuhlenkötter,
Guido Hoffmeier, Institut für Roboterforschung, Dortmund, (Dj
Session C3i
Mobile rabots
Automated inspection systems for large underground concrete pipes partially
167
filled with waste water
Norbert Elkmann, Fraunhofer
Institute
-
IFF, Magdeburg,
Heiko Althoff,
Emschergenossenschaft/Lippeverband, Essen,
Sven
Kutzner,
José
Saenz,
Thomas
Stürze, Christoph
Walter,
Erik Schulenberg, Fraunhofer Institute -
IFF,
Magdeburg ¡DI
Progress in the development of an interactive shopping-assistant
169
Hans-Joachim Böhme, Andrea Scheidig, Torsten Wilhelm, Christof Schröter,
Christian Martin, Alexander König, S. Müller, Horst-Michael Groß,
Technical
University of
Ilmenau
(D)
New
applications with lightweight 30-Sensors
171
Hartmut Surmann, Rainer
Worst,
Fraunhofer AIS, Sankt Augustin
(Dj
Session C4:
Mobile robot
navigation
Lateral-offset-steering
drive modules of the
KASPER
robot
173
Ágoston
Szöke,Jörg
Isele,
Forschungszentrum Karlsruhe
(Dj
Drift
control of a lateral guided vehicle with modified SSM using
175
1
KHz intelligent camera
Yoshihiro Takita, Yumiko Sakai, Takeshi Takahashi, Hisashi Date, National Defense
Academy, Yokosuka, Naohisa Mulcouzaka, Hamamafsu Photonics K. K, Hamafcita (¡j
Improved path pbnning in highly dynamic environments based on time variant
177
potential fields
Patrick
Heinemann, Hannes
Becker, Andreas
Zeil,
University of
Tübingen (D)
Automatic parallel parking of car-like robots
179
Mario Florencio,
Pedro
Agostinho, João
Silva
Sequeira, Instituto Superior Técnio,
Lisbon
(Рј
Session C5: Mobile robot localization
Pose estimation in rough terrain for the outdoor vehicle RAVON
181
Norbert Schmitz,
Martin Proetzsch,
Karsten Berns,
University of
Kaiserslautern
(D)
Page
A multi-model set membership estimator for mobile robot localization
1 83
Sylvia Horn, Klaus Janschek, Technical University of Dresden ¡D)
Gate recognition and crossing for autonomous security robot
185
Vladimir Polotski, Frontline Robotics Ltd., Ottawa,
Jurek Sąsiadek, Yi
Lu,
Carleton
University, Ottawa (CDNj
Robot
localization and mapping in dynamic environments by means
187
of a rotating ring of range sensors
Pedro M.
Zapata-Loria,
Alejandro Ramirez-Serrano, University of Calgary
(CND),
Giovanni C. Pettinaro, Lugano (CHj
Session C6: Simultaneous localization and mapping (SLAM)
Extracting drivable surfaces in outdoor 6D SLAM
189
Andreas
Nuchter,
Kai
Lingemann, Joachim
Hertzberg,
University of
Osnabrück (D)
Autonomous robot navigation with
3D
laser measurements
191
Martin Soika, Siemens
AG,
Munich, Sebastian
Pook,
University of
Paderborn,
Wendelin Feiten,
Siemens
AG,
Munich
¡Dj
Polynomial control for differential drive mini mobile robot
193
Fabio
Paolo Bonsignorio, Heron s.r.l.,
Genova
(I)
Autonomous mapping: Closing multiple loops in corridor type envirenments
195
Jean-Julien
Carriere,
Ecole Polytechnique de
Montreal,
Vladimir Polotski,
Frontline
Robotics Ltd., Ottawa
¡CDNj
Session C7:
Climbing
robots
Inspection
of
surfaces
with a manipulator mounted on a climbing
robot
197
Karsten Berns, Carsten
Hillenbrand, Technical University of
Kaiserslautern
(Dj
Pole climbing and manipulating robots: Assessment of different design categories
199
Mahmoud
Tavakoli, Lino Marques,
Aníbal
T. de
Almeida, University of
Coimbra
¡P¡
Service
robotíc
systems for glass curtain walls cleaning on the high-rise buildings
201
Houxiang Zhang,
Danie/
Westhoff,
Jianwei Zhang, University of Hamburg
(Di,
Guanghua
Zong,
Beihang
University, Beijing (PRCj
Fully automated facade cleaning robot for a high-rise building in Munich, Germany
203
Tion
Krüger, Norbert
Elkmann, Mario
Lucke,
Dietmar Kunst, Thomas Stürze,
Fraunhofer-Institut
IFF,
Magdeburg (D)
Page
Session C8: Air and space robotics
Control of an unmanned blimp with acceleration sensors
205
Michael Gerke, Ivan
Masár,
Christoph
racking,
FeŕnUniversität
in
Hagen (Dj
Elaborated modeling and control for autonomous small size helicopters
207
Konstantin Kondak, Markus
Bernard, Nikolas
Losse,
Günter
Hommel,
Technical University of Berlin [D]
Development of mobile mini robots for space application
209
A/Ion-Woo/;
Han, Peter Kopaček,
Bernhard Putz,
Technical University of Vienna (A)
An aerial robotic system for terrain modelling
21 1
Jing Liu, Xiaoguang Zhao,
Min Tan,
Chinese Academy of Science, Beijing (PRCj
Session
Су!
lolefobohcs
Haptic
guidance with force feedback to assist teleoperation systems
2
Ì
3
via high speed networks
Emmanuel
Ñuño, Luis Basañez,
Technical University of Catalonia, Barcelona (E)
Tele-piloted vehicles using a newly developed free space optical communication
215
system
Greg Baiden, Ivan Filion, Yassiah Bissiri, Laurentian University, Sudbury
(CND)
Live on stage by ego
secundus
217
Reinhard Langmann,
University of Applied Sciences Duesseldorf (D)
A robust controller for underwater robotic vehicles under thruster redundancy
219
and fault accommodation
Quang Hoang Nguyen, Edwin
Kreuzer,
Hamburg University of Technology,
Hamburg (D)
Session Dl
:
Research projects
-
COGNIRON
-
The cognitive robot companion
223
Martin
Hagele, Fraunhofer
IPA,
Stuttgart
(D)
-
NEUROBOTICS: The fusion of neuroscience and robotics
223
P. van
der Smagt, Gerd
Hirzinger, German Aerospace Center
- DLR,
Wessling (D)
-The collaborative research center
588:
Humanoid robots
- 223
Learning and cooperating mulitmodal robots
Rüdiger Dillmann,
University of Karlsruhe (D)
Page
Research projects
-
Summary
2
-
Collaborative research centre
(SFB) 45 3 :
High-fidelity telepresence and teleaction
225
Martin Buss,
Georg Färber,
Technical University Munich (D
-
DESIRE: German service robotics initiative
225
Rolf Dieter
Schrak, Fraunhofer
IPA,
Stuttgart,
Erwin
A. Prassler, Applied University
of Sciences
Bonn-Rhein-Sieg, Madin Hagele, Fraunhofer
IPA,
Stuttgart
(Dj
AMAROB
-
Autonomous Manipulator Control for Rehabilitation Robots
225
AxelGraeser, Institute of Automation, University of Bremen (Dj
Session D2: Flexible manufacturing systems
A standard communication interface for industrial robots and processor
227
based peripherals
-
X1RP
Michael Gauss, University of Karlsruhe, Fan Dai, ABB Corporate Research,
Ladenburg,
Franz
Som, Reis GmbH
&
Co. KG
Maschinenfabrik, Obernburg,
Uwe E.
Zimmermann,
KUKA
Roboter GmbH, Augsburg,
Heinz
Worn,
University of Kahswhe (Dj
Computer-aided assembly planning and autonomous task execution
229
with cooperating industrial robots
Veit
Ruckel,
Klaus
Feldmann,
University of
Erlangen-Nuremberg, Erlangen
¡Dj
Environment guided handling of deformable linear objects:
231
From task demonstration to task execution
Jürgen
Acker,
Björn Kahl, Dominik Henrich,
University of
Bayreuth
(D¡
The rear axle production line for Clio and new Modus
233
Ozkan Eminoglu,
Ali /Cerna/
Ayar,
Dílek
IBilgin)
Tükel, KaleAltinay
Robotics
and Automation Inc., Istanbul (TR)
Session D3:
Industrial applications of robot vision
Robot sawing of bathroom faucets with ¡mage processing
235
Wolfgang
Gerite,
University of Applied Sciences Trier (Dj
Eliminating motion blur in on-the-fly imaging of fast moving objects in robotic
237
assembly and handling
Timo
Prusi,
Jani
Uusitalo, Reijo Tuokko, Tampere University of Technology,
Tampere (SFj
Robot assisted visual quality control in mass-customized production
239
Fernando Garcia,
Jani
Uusitalo, Reijo Tuokko, Tampere University Technology ¡SFj
Page
Automatic placement of sheet metal in a press: Robots eye ensures precision work
241
Patrick
Englisch, Andreas Tarnoki, VMT Bildverarbeitungssysteme GmbH,
Weinheim
¡D)
Session D4: Laser based robot vision
Optical system for segment deflection measurement
243
Miha Vrhovec, Marko
Munih, University of Ljubljana
(SLOJ, Igor
Kovac,
Graz
University of Technology,
Graz
¡A)
Quality is almost free
-
Laser vision technology insures Six Sigma level robotic
245
welding quality is achieved
Jeffrey Noruk, Servo-Robot Corp., Mequon (USA), Jean-Paul Boillot, Servo-Robot Inc.,
St. Bruno ICND)
Profile measurement using robot and distance sensor
247
Justin
Cinkelj,
Jure Rejc,
Marko
Munih, University of Ljubljana ¡SLOj
Flexibility with
3D
surface inspection
249
Schadnusch
Nejad,
ATMvisionAG, Pfullendorf (D)
Session D5: Camera based robot vision
Robots as carrier for vision sensors
-
chances and restrictions
251
KarlHeinz Hohm, Enis
Ersü, Stephan Wienand,
Georg Lambert,
ISRA VISION SYSTEMS AG,
Darmstadt
(D)
Trimming
robot
with camera-based sensor system for automatic tolerance
253
compensation
Manfred Dresselhaus, Axel Fischer,
Reis
Robotics GmbH
&
Co. KG, Obernburg (Dj
Design and implementation of a parallel three-degree-of-freedom camera
255
motion device
Philipp
Wagner, Wolfgang
Günlhner,
Heinz Ulbrich, Technical University of Munich (D)
Enhancing
inerţial
measurement units by multi-sensor fusion with visual data
257
for active camera stabilization
Wolfgang
Günthner,
Technical University of Munich, Stefan Glasauer, Bernstein
Center Munich,
Philipp
Wagner, Heinz Ulbrich, Technical University of Munich ¡D)
Session D6: Visual servoing
Visual servo and robot control
259
Georg
Lambert, Enis
Ersü, Stephan Wienand,
ISRA VISION SYSTEMS
AG,
Darmstadt
¡D)
Page
A novel visual servoing method for manipulator
261
Junhongji, Lining Sun, Wentao
Bao,
Harbin Institute o( Technology, Harbin (PRQ
Impedance-based smoothing for visual servoing along edges
263
Friedrich
Lange, Mirko Frommberger, Gerd
Hirzinger, German Aerospace
Center
- DLR,
Wessling (D)
Approaching control of the humanoid robot by linear visual servoing
265
using stereo omnidirectional images
Kazuya Okamoto, Kengo Yamaguchi, Noriaki
Maru,
Wakayama Univeristy,
Wakayama (j)
Session D7: Robot calibration
Optimal tolerance, model and pose selection for calibration of
267
parallel manipulators
Tim
Boye,
Alexander
Veri,
University of Stuttgart, Andreas Pott, University of
Duisburg-Essen, Duisburg
(D¡
Parallel robot self-calibration without additional sensors or constraint devices
269
Philipp Last, Christoph Budde, Mathias Krefft, Jürgen
Hesselbach,
Technical University of Braunschweig (D)
Methods and tools to design and test robot control systems
271
Matthias
Kurze, DLR,
Wessling, Martin
Weiß,
KUKA
Roboter GmbH,
Augsburg,
Martin Otter,
DLR,
Wessling (Dj
A new pose measuring system based on a spatial four bar linkage
273
with R-S-S-R chain
Diego
Tosi,
Giovanni Legnani, Nicola Pedrocchi, University of Brescia ¡I)
Session D8: Modeling and control of parallel kinematic machines
Kinematic and dynamic modeling of compliant parallel robots
275
Annika
Raatz, Frank Trauden,
Philipp
Last, Technical University of Braunschweig (Dj,
Nicolae Plitea, Technical University of Cluj-Napoca (ROj,
Jürgen
Hesselbach,
Technical University of Braunschweig (Dj
The concept of
isotrop/
for serial and parallel manipulators and its influence
277
on force, velocity, stiffness, accuracy, and repeatability performances
Giovanni Legnani, Diego
Tosi,
University of Brescia, Irene Fassi, Institute of
Industrial Technologies and Automation,
Milano
(I)
Page
Application of
Grassmann
geometry to closeness measure of singular
279
configuration on the HEXA-parallel robot
Carlos
Bier, Alexandre
Campos,
Jürgen
Hesselbach,
Harald Löwe, Jochen Maaß,
Technical
University of Braunschweig (Dj
Session D9: Design of parallel kinematic machines
Design of an adaptronic swivel joint for parallel robots based
281
on high-frequency excitation
Nenad
Pavlovic,
Technical University, Braunschweig,
Ralf Keimer,
German
Aerospace Centre
- DLR
Braunschweig,
Hansjoachim Franke,
Technical University,
Braunschweig (Dj
Designing a robot based on parallel mechanism to reproduce
283
human chewing behaviour
József-Sebastian
Pap, W. L. Xu, John E. Bronlund, Massey University,
Palmerston North, Oliver
Röhrle,
Andrew
J.
Pulían,
University of Auckland (NZj
Special aspects of modeling PARTNER robotic system
285
Cornel
Brisan,
Technical University of Cluj-Napoca (RO), Manfred
Hiller,
DuisburgřEssen
University,
Duisburg (Dj
VARIOPOD
-
A reconfigurable parallel robot with high flexibility
287
Mathias Krefft, Jochen Maaß,
Technical University of Braunschweig,
Holger Brüggemann, Gustav
Herrmann, University of Applied Sciences
Wolfenbüttel, Jürgen
Hesselbach, Technical University of Braunschweig (Dj
Poster presentations
P-l Acoustic detection of contact state changes of deformable linear objects
291
Jan Deiterding,
Antoine
Schlechter, Dominik Henrich,
University of
Bayreuth
(Dj
P-2 Mofion
control functions for industrial robots
293
Kiyoshi Maekawa, Hiroyuki Makita, Mitsubishi Electric Corp., Amagasaki, Hyogo (¡j
P-3 The kinematics calibration of a planar parallel manipulator
295
Junhongji, YuhongZhu, Lining Sun, Harbin
Institute
of Technology, Harbin (PRCj
9-А
Real-time robot data interface for remote laser welding
297
Fan Dai, ABB Corporate Research,
Ladenburg
(D¡
P-5 A graph-based approach for multi-physics modelling of a robot product
299
family design
Johann
Werner,
Stephan
Rudolph, University of Stuttgart (Dj
Page
P-ó
Development of an anthropomorphic robot Finger:
301
Mechanical and kinematic aspects
Nathaniel Mifsud, Anne Marie Grech, Michael
Sáliba,
Simon
Fabri,
University of Malta, Msida (MTj
P-7 A data-driven, component-based framework for visual perception
303
Stefan
Vacek,
University of Karlsruhe, Gerhard Bocksch, Karlsruhe,
Rüdiger
Dillmann, University of Karlsruhe fDj
P-8 A market framework for collaborative robot exploration
305
Declan
O Beirne, Michael Schukat, National University of Ireland,
Galway(IRL¡
P-9 Simultaneous localization and mapping for mobile robots through bayesian
307
invariant recognition control
Fabio
Paolo Bonsignorio, Heron
s.u.,
Genova
(l¡
P-1
0
Synchronisation of industrial robots for ultrasonic inspection of
309
irregular-shaped carbon-fiber composites
Juergen Bosse, Bernhard
Thaler, Robo-Technology GmbH, Puchheim (Dj
P-1
1
Beam in motion
-
A new standard of laser robot systems
311
Thomas Mongols, JENOPVK
Automatisierungstechnik
GmbH, Jena,
Andreas
Rosenbusch, STÄUBLI
Tec-Systems GmbH,
Bayreuth (Dj
P-1
2
Sensor fusion for navigation of sewer inspection robots
ЗІЗ
Alireza Ahrary, Masumi /sh/kawa, Kyushu Institute of Technology, fGrakyushu City (jj
P-1
3
Control of high precision decoupled dual-stage with reaction force
315
compensator
Kihyun Kim, Samsung Electronics, YoungMan Choi, Korean Advanced Institute of
Science
&
Technology (KAIST), Suk-Won Lee, Samsung Electronics, Moon Gu Lee,
Ajou University, Jong-Oh Park, Chonnam National University, Seoul ¡KR)
Organisation
317
|
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| building | Verbundindex |
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| discipline | Informatik Werkstoffwissenschaften / Fertigungstechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| edition | Als Ms. gedr. |
| format | Book |
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| genre | (DE-588)1071861417 Konferenzschrift 2006 München gnd-content |
| genre_facet | Konferenzschrift 2006 München |
| id | DE-604.BV021614817 |
| illustrated | Illustrated |
| indexdate | 2024-12-23T19:21:18Z |
| institution | BVB |
| institution_GND | (DE-588)2085237-X |
| isbn | 3180919566 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-014829968 |
| oclc_num | 179949240 |
| open_access_boolean | |
| owner | DE-91G DE-BY-TUM DE-210 DE-1046 DE-92 DE-859 DE-1043 DE-83 DE-706 |
| owner_facet | DE-91G DE-BY-TUM DE-210 DE-1046 DE-92 DE-859 DE-1043 DE-83 DE-706 |
| physical | 317 S. Ill., graph. Darst. CD-ROM (12 cm) |
| publishDate | 2006 |
| publishDateSearch | 2006 |
| publishDateSort | 2006 |
| publisher | VDI-Verl. |
| record_format | marc |
| series | VDI-Berichte |
| series2 | VDI-Berichte |
| spellingShingle | Robotik 2006 Tagung München, 15. bis 17. Mai 2006 VDI-Berichte Robotik (DE-588)4261462-4 gnd Industrieroboter (DE-588)4026861-5 gnd |
| subject_GND | (DE-588)4261462-4 (DE-588)4026861-5 (DE-588)1071861417 |
| title | Robotik 2006 Tagung München, 15. bis 17. Mai 2006 |
| title_auth | Robotik 2006 Tagung München, 15. bis 17. Mai 2006 |
| title_exact_search | Robotik 2006 Tagung München, 15. bis 17. Mai 2006 |
| title_full | Robotik 2006 Tagung München, 15. bis 17. Mai 2006 VDI/VDE-Gesellschaft Mess- und Automatisierungstechnik |
| title_fullStr | Robotik 2006 Tagung München, 15. bis 17. Mai 2006 VDI/VDE-Gesellschaft Mess- und Automatisierungstechnik |
| title_full_unstemmed | Robotik 2006 Tagung München, 15. bis 17. Mai 2006 VDI/VDE-Gesellschaft Mess- und Automatisierungstechnik |
| title_short | Robotik 2006 |
| title_sort | robotik 2006 tagung munchen 15 bis 17 mai 2006 |
| title_sub | Tagung München, 15. bis 17. Mai 2006 |
| topic | Robotik (DE-588)4261462-4 gnd Industrieroboter (DE-588)4026861-5 gnd |
| topic_facet | Robotik Industrieroboter Konferenzschrift 2006 München |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=014829968&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV000016148 |
| work_keys_str_mv | AT vdivdegesellschaftmessundautomatisierungstechnik robotik2006tagungmunchen15bis17mai2006 |