Christian Schlette

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It contradicts the human's expectations when humanoid robots move awkwardly during manipulation tasks. The unnatural motion may be caused by awkward start or goal configurations or by probabilistic path planning processes that are often used. This paper shows that the choice of an arm's target configuration strongly effects planning time and how human-like(More)
Localization, navigation and identification of characteristics of the environment are of high importance in mobile robotics. In this paper we used methods of mobile robotics to derive highly accurate position information of a wood harvester's cabin as well as of its harvesting head. In addition to enhance the harvesting process, the fusion of data provided(More)
eRobotics is a newly evolving branch of e-Systems engineering, providing tools to support the whole life cycle of robotic applications by means of electronic media. With the eRobotics methodology, the target system and its environment can be modeled, validated, and calibrated to achieve a close-to-reality simulation. In this contribution, we present(More)
The development of programming paradigms for industrial assembly currently gets fresh impetus from approaches in human demonstration and programmingby-demonstration. Major lowand mid-level prerequisites for machine vision and learning in these intelligent robotic applications are pose estimation, stereo reconstruction and action recognition. As a basis for(More)
This article takes well-known methods in robotics and combines them in order to enable the simulation and animation of the Virtual Human - a model of human kinematics. The Virtual Human consists of standard kinematic chains, that are arranged and coupled with each other to approximate the degrees of freedom of the human body. The anthropomorphic multi-robot(More)
The development of control systems for multiple cooperating robot manipulators with redundant kinematics is still a demanding task. This task becomes even more challenging if the robots to be controlled operate in at least partly unknown environments which vary over time and which may be thousands of kilometers away from the operator, for example in space.(More)
This contribution presents a uniform framework and versatile data structure to simulate, program and control kinematics and other articulated mechanisms as integral part of a comprehensive 3D simulation and Virtual Reality system. Such a system has demanding requirements regarding the interoperability of frameworks and data structures on which the(More)