Mario Richtsfeld

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This work describes the development of a novel vision-based grasping system for unknown objects based on laser range and stereo data. The work presented here is based on 2.5D point clouds, where every object is scanned from the same view point of the laser range and camera position. We tested our grasping point detection algorithm separately on laser range(More)
The problem of grasping novel objects in a fully automatic way has gained increasing importance. In this work we consider the problem of grasping novel objects with the help of a laser range scanner. This includes autonomous object detection and grasp motion planning. The used system consists of a fixed working station equipped with a laser range scanner, a(More)
This paper presents a system with a fixed robot arm and a scanning unit on a table, which is able to detect and grasp given cylindrical objects with cluttered adjacent objects in soft real-time. In the fields of industrial and home robotics, the requirements of complete 3D data, noiselessness, and obstacle-free situations are often not provided. The(More)
We present a closed process chain for robotic sewing from CAD design to the component model to realize a lot-size-one production. To achieve a better solidity and durability of two overlapping carbon fibre layers, an automated fibre mat stitching system was developed. At the moment, the stitching path is predefined and inflexible to minor changes. To enable(More)
Nowadays, robust and light-weight parts used in the automobile and aeronautics industry are made of carbon fibres. To increase the mechanical toughness of the parts the carbon fibres are stitched in the preforming process using a sewing robot. However, current systems miss high flexibility and rely on manual programming of each part. The main target of this(More)
This paper presents a method for automatic seam following of two overlapping carbon fiber mats based on laser scans. We introduce a novel approach that combines one existing and two newly developed edge detection methods in a two out of three voting scheme to obtain high edge tracking robustness. The experimental results demonstrate the feasibility of a(More)