Steffen W. Ruehl

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The major goal of research regarding mobile service robotics is to enable a robot to assist human beings in their everyday life. This implies that the robot will have to deal with everyday life environments. One of the most important steps towards able service robots is to enhance the ability to operate well in unstructured living environments. In this(More)
We present our recent work on the soft- and hardware design of the bimanual mobile manipulation platform HoLLiE that is equipped with an actuated upper body. The goal was to develop a robust but extensible robot with a non-intimidating abstract anthropomatic appearance based on a combination of industrial robotic components and intelligent mechatronics.(More)
The main goal of mobile service robots is to assist human beings in everyday life. Instead of limiting treatment to just artificial, structured lab areas, such systems must in particular be able to operate well in human, unstructured environments. In this paper we present an approach to recognize and localize as well as reliably and robustly manipulate(More)
For complex manipulation with multiple objects a service robot needs information about the structure of its environment including how and where it can manipulate in it. For this purpose, we introduce the Graspability. It is a measure describing the quality of a pose in Cartesian space for grasping or placing an object. The graspability considers kinematic(More)
An autonomous ice cream serving robot is presented in this video. The video was filmed during the Automatica 2010 trade fair in Munich. Within four days, approximately 250 scoops of different kinds of ice cream have been served to visitors during the fair. Using the KUKA light-weighted robotic arms and the DLR/HIT robotic hands, two scientific aspects are(More)
We present our recent work on the Soft- and Hardware-design of a bi-manual mobile manipulation platform that can be used to evaluate planing paradigms in different scenarios, especially for industrial applications. The integration of different hardware parts (platform, arms, hands, head) establishes a testbed for diverse software packages, especially our(More)
In order to perform useful tasks, a service robot needs to manipulate objects in its environment. In this paper, we propose a method for experimental evaluation of the suitability of a robotic hand for grasping tasks in service robotics. The method is applied to the Schunk 5-Finger Gripping Hand, which is a mechatronic gripper designed for service robots.(More)