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✦ Abstract—In this paper, we present an efficient 3D object recognition and pose estimation approach for grasping procedures in cluttered and occluded environments. In contrast to common appearance-based approaches, we rely solely on 3D geometry information. Our method is based on a robust geometric descriptor, a hashing technique and an efficient,(More)
—This paper presents a novel human-like learning controller to interact with unknown environments. Strictly derived from the minimization of instability, motion error, and effort, the controller compensates for the disturbance in the environment in interaction tasks by adapting feedforward force and impedance. In contrast with conventional learning(More)
— This paper describes a novel method for motion generation and reactive collision avoidance. The algorithm performs arbitrary desired velocity profiles in absence of external disturbances and reacts if virtual or physical contact is made in a unified fashion with a clear physically interpretable behavior. The method uses physical analogies for defining(More)
— Because bin-picking effectively mirrors great challenges in robotics, it has been a relevant robotic showpiece application for several decades. In this paper we describe the computer vision algorithms in combination with the sophisticated control schemes of the robot and demonstrate a reliable and robust solution to the chosen problem. This paper(More)
— In this paper we present a novel control architecture for realizing human-friendly behaviors and intuitive state based programming. The design implements strategies that take advantage of sophisticated soft-robotics features for providing reactive, robust, and safe robot actions in dynamic environments. Quick access to the various functionalities of the(More)
— The increasing ability of industrial robots to perform complex tasks in collaboration with humans requires more capable ways of communication and interaction. Traditional systems use separate interfaces such as touchscreens or control panels in order to operate the robot, or to communicate its state and prospective actions to the user. Transferring human(More)
— In this paper we present an approach to extending the capabilities of telemanipulation systems by intelligently augmenting a human operator's motion commands based on quantitative three-dimensional scene perception at the remote telemanipulation site. This framework is the first prototype of the Augmented Shared-Control for Efficient, Natural(More)
— In this paper we present the synchronization and driver architecture of the DLR LWR-III, which supplies an easy to use interface for applications. For our purpose we abstracted the robot hardware entirely from the control algorithms using the common device driver concept of modern operating systems. The software architecture is split into two modular(More)