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Measuring vulnerability to promote disaster-resilient societies: Conceptual frameworks and definitions
This chapter stresses the need for a paradigm shift from quantification and analysis of the hazard to the identification, assessment and ranking of vulnerabilities. It underlines the importance ofExpand
Adaptive and Generic Corner Detection Based on the Accelerated Segment Test
It is shown how the accelerated segment test, which underlies FAST, can be significantly improved by making it more generic while increasing its performance, by finding the optimal decision tree in an extended configuration space, and demonstrating how specialized trees can be combined to yield an adaptive and generic accelerated segments test. Expand
Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm
An efficient collision detection method that uses only proprioceptive robot sensors and provides also directional information for a safe robot reaction after collision is presented. Expand
The DLR lightweight robot: design and control concepts for robots in human environments
The first systematic experimental evaluation of possible injuries during robot‐human crashes using standardized testing facilities is presented, and a consistent approach for using these sensors for manipulation in human environments is described. Expand
DLR's torque-controlled light weight robot III-are we reaching the technological limits now?
A third generation of torque-controlled light weight robots has been developed in DLR's robotics and mechatronics lab which is based on all the experiences that have been had with the first twoExpand
Surflet-pair-relation histograms: a statistical 3D-shape representation for rapid classification
Experiments with artificial data containing varying levels of noise and occlusion of the objects show that Kullback-Leibler and likelihood matching yield robust recognition rates. Expand
A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots
This paper describes a general passivity-based framework for the control of flexible joint robots. Recent results on torque, position, as well as impedance control of flexible joint robots areExpand
DLR-Hand II: next generation of a dextrous robot hand
This paper outlines the 2nd generation of multisensory hand design at DLR, based on the results of the DLR Hand I, with the newly designed sensors as the 6-DOF fingertip force torque sensor, the integrated electronics and the new communication architecture with a reduction of cabling to the hand to only 12 lines. Expand
Application of Affine-Invariant Fourier Descriptors to Recognition of 3-D Objects
The method of Fourier descriptors is extended to produce a set of normalized coefficients which are invariant under any affine transformation (translation, rotation, scaling, and shearing) and allows considerable robustness when applied to images of objects which rotate in all three dimensions. Expand
The KUKA-DLR Lightweight Robot arm - a new reference platform for robotics research and manufacturing
The stages of product genesis, the most innovative features and first application examples are presented and the KUKA Lightweight Robot is presented, a unique reference platform for robotics research and future manufacturing. Expand