Konzepte für den Roboterassistenten der Zukunft

Sami Haddadin; Michael Suppa; Stefan Fuchs; Tim Bodenmüller; Alin Albu-Schäffer; Gerd Hirzinger

doi:10.1524/auto.2010.0888

Konzepte für den Roboterassistenten der Zukunft

Translated title of the contribution: Towards the Robotic Co-Worker

Sami Haddadin, Michael Suppa, Stefan Fuchs, Tim Bodenmüller, Alin Albu-Schäffer, Gerd Hirzinger

Deutsches Zentrum für Luft- und Raumfahrt (DLR)

Research output: Contribution to journal › Article › peer-review

5 Scopus citations

Abstract

The realization of a sensor based robotic co-worker that brings robots closer to humans in industrial settings and achieve close cooperation is an important goal in robotics. In this paper a solid concept and a prototype realization of a co-worker scenario are developed in order to demonstrate that stateof-the-art technology is now mature enough to reach this aspiring aim. We support our ideas by addressing the industrially relevant bin-picking problem with the DLR Lightweight Robot (LWR-III), which is equipped with a Time-of-Flight camera for object recognition and the DLR 3D-Modeller for generating accurate environment models. Strategies are devised for safe interaction with the human during task execution, state depending robot behavior, and the appropriate mechanisms, to realize robustness in partially unstructured environments.

Translated title of the contribution	Towards the Robotic Co-Worker
Original language	German
Pages (from-to)	695-709
Number of pages	15
Journal	At-Automatisierungstechnik
Volume	58
Issue number	12
DOIs	https://doi.org/10.1524/auto.2010.0888
State	Published - Dec 2010
Externally published	Yes

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title = "Konzepte f{\"u}r den Roboterassistenten der Zukunft",

abstract = "The realization of a sensor based robotic co-worker that brings robots closer to humans in industrial settings and achieve close cooperation is an important goal in robotics. In this paper a solid concept and a prototype realization of a co-worker scenario are developed in order to demonstrate that stateof-the-art technology is now mature enough to reach this aspiring aim. We support our ideas by addressing the industrially relevant bin-picking problem with the DLR Lightweight Robot (LWR-III), which is equipped with a Time-of-Flight camera for object recognition and the DLR 3D-Modeller for generating accurate environment models. Strategies are devised for safe interaction with the human during task execution, state depending robot behavior, and the appropriate mechanisms, to realize robustness in partially unstructured environments.",

keywords = "Collision detection, Data fusion, Machine vision, Multisensor 3D-modelling, Physical human-robot interaction, Robotics, Soft-robotics",

author = "Sami Haddadin and Michael Suppa and Stefan Fuchs and Tim Bodenm{\"u}ller and Alin Albu-Sch{\"a}ffer and Gerd Hirzinger",

note = "Funding Information: Diese Arbeit wurde durch das European Commission{\textquoteright}s Sixth Framework Programme im Rahmen der Projekts PHRIENDS (grant no. 045359) und durch das Bundes-ministerium f{\"u}r Bildung und Forschung (Vertragsnummer 16SV2298) im Rahmen des Projekts Lynkeus in Koopera-tion mit KUKA Roboter GmbH, Augsburg gef{\"o}rdert. Wir m{\"o}chten uns herzlich bei Sven Parusel, Simon Kielh{\"o}-fer, Holger Urbanek, Xavier Giralt und Ralf K{\"u}hnemann f{\"u}r ihre Zusammenarbeit und wertvolle Unterst{\"u}tzung bedanken. Des Weiteren gilt unsere Wertsch{\"a}tzung Tilo W{\"u}sthoff f{\"u}r die Aufnahme der Fotos, die in diesem Ar-tikel abgebildet sind.",

year = "2010",

month = dec,

doi = "10.1524/auto.2010.0888",

language = "Deutsch",

volume = "58",

pages = "695--709",

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number = "12",

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AU - Fuchs, Stefan

AU - Bodenmüller, Tim

AU - Albu-Schäffer, Alin

AU - Hirzinger, Gerd

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AB - The realization of a sensor based robotic co-worker that brings robots closer to humans in industrial settings and achieve close cooperation is an important goal in robotics. In this paper a solid concept and a prototype realization of a co-worker scenario are developed in order to demonstrate that stateof-the-art technology is now mature enough to reach this aspiring aim. We support our ideas by addressing the industrially relevant bin-picking problem with the DLR Lightweight Robot (LWR-III), which is equipped with a Time-of-Flight camera for object recognition and the DLR 3D-Modeller for generating accurate environment models. Strategies are devised for safe interaction with the human during task execution, state depending robot behavior, and the appropriate mechanisms, to realize robustness in partially unstructured environments.

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KW - Soft-robotics

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Konzepte für den Roboterassistenten der Zukunft

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