Alexa Hauck

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In the eld of visual control of robot motion, visual servoing has been proposed as the suitable control strategy to cope with imprecise models and calibration errors. Remaining problems such as the necessity of a high rate of visual feedback are deemed to be solvable by the development of real-time vision modules. However, human grasping, which still(More)
This paper presents an approach to the recognition of articulated 3D objects in monocular video images. A hierarchical object representation models objects as a composition of rigid components which are explicitly connected by speciic kinematic constraints, e.g., rotational and/or translational joints. The recognition task follows this tree-like structure(More)
The design of mobile robots which can cope with unexpected disturbances like obstacles or misplaced objects is an active eld of research. Such an autonomous robot assesses the situation by comparing data from one or more sensors with an internal representation of its environment. In this paper we present a hierarchically structured world model that combines(More)
In the eld of visually guided grasping, humans still outshine their robotic counterparts with respect to accuracy, speed, robustness, and exibility. We therefore examined current neuroscientiic models for the control of human reach-to-grasp movements and, based on one of them, developed a novel visual motion control strategy. This control strategy was(More)