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This paper presents an approach for computing power grasps for hands with kinematic structure similar to the human hand, which allows the implementation of strategies inspired in human grasping actions. The proposed method first samples the object surface to look for the best spots for creating an opposing grasp with two or three fingers, and then aligns(More)
Many houseworks such as cleaning the floor or wiping the windows require to manipulate tools over wide areas. It is necessary to move along a path while manipulating a tool with the whole body and applying exactly the right amount of force to successfully accomplish the task. So mastering such a challenge demands detailed knowledge about the involved(More)
—Solving arbitrary manipulation tasks is a key feature for humanoid service robots. However, especially when tasks involve handling complex mechanisms or using tools, a generic action description is hard to define. Different objects require different handling methods. Therefore, we try to solve manipulation tasks from point of view of the object, rather(More)
In autonomous bimanual operation of a robot, parallelized planning and execution of a task is essential. Elements of a task have different functional and spatial relationships. They may depend on each other and have to be executed in a specific order or they may be independent and their order can be determined freely. Consequently, individual actions can be(More)
— Autonomous and teleoperated robots have been proven to be capable of solving complex manipulation tasks. However, autonomous robots can only be deployed in predefined domains and teleoperation requires full attention of a human operator. Therefore, combining autonomous capabilities of the robot with teleoperation is desirable, yet balancing the work load(More)
— Autonomous mobile manipulation in every day environments is a key feature for next generation service robots. However, the diversity of problems that need to be solved by a robot is vast. Detailed knowledge about the environment, surrounding objects, and handling instructions is required. In this paper we combine object-centered hybrid reasoning with(More)
Many household chores and industrial manufacturing tasks require a certain compliant behavior to make deliberate physical contact with the environment. This compliant behavior can be implemented by modern robotic manipulators. However, in order to plan the task execution, a robot requires generic process models of these tasks which can be adapted to(More)
The on-going work at German Aerospace Center (DLR) and European Space Agency (ESA) on the Meteron Supvis-Justin space telerobotic experiment utilizing supervised autonomy is presented. The Supvis-Justin experiment will employ a tablet UI for an astronaut on the International Space Station (ISS) to communicate task level commands to a service robot. The goal(More)
— As the human race continue its exploration farther into the solar system, extraterrestrial habitats can be placed on asteroids, moons, and planets, such as Mars. These habitats would require on continuous monitoring and maintenance in order to remain safe and functional. However, permanent astronaut on-site may not be available for this task. A possible(More)