Tamin Asfour

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In this paper, we present a new humanoid robot currently being developed for applications in human-centered environments. In order for humanoid robots to enter human-centered environments, it is indispensable to equip them with manipulative, perceptive and communicative skills necessary for real-time interaction with the environment and humans. The goal of(More)
In this paper we present the current state of our humanoid robot ARMAR. We introduce different subsystems that were developed based on the intended application, i. e. service in a household environment. The paper primarily addresses the control strategies, computer architecture and the generation of humanlike motions. We present experimental results showing(More)
We discuss the need of an elaborated in-between stage bridging early vision and cognitive vision which we call ‘Early Cognitive Vision’ (ECV). This stage provides semantically rich, disambiguated and largely task independent scene representations which can be used in many contexts. In addition, the ECV stage is important for generalization processes across(More)
An autonomous mobile humanoid robot able to assist in a workshop environment and interact with human beings, must have the basic capability of learning manipulation tasks by demonstration. In this paper two aspects to reach this goal are considered. First we describe how the mechanics must be constructed to manipulate objects like humans do. Then we propose(More)
A new approach for global self-localization based on a world model and active vision using varying density gaussian spheres is introduced. The method simultaneously improves and extends our previous proposed approach [1] by contemplating the acquired uncertainty in the perception layer. The used appearance-based object recognition components deliver noisy(More)
Grasp stability estimation with complex robots in environments with uncertainty is a major research challenge. Analytical measures such as force closure based grasp quality metrics are often impractical because tactile sensors are unable to measure contacts accurately enough especially in soft contact cases. Recently, an alternative approach of learning the(More)
When studying the dynamic, physical interaction of robots with the environment a generic physics simulator becomes most important when robot and environment exceed a certain complexity. Investigation of current problems in robotics, e.g. in multifingered manipulation or two-legged walking requires simulations which reflect physical details of the real robot(More)
0167-8655/$ see front matter 2010 Elsevier B.V. A doi:10.1016/j.patrec.2010.09.028 ⇑ Corresponding author. Tel.: +49 721 608 8489; fa E-mail addresses: gonzalez@ira.uka.de (D. Gonza (T. Asfour), ruediger.dillmann@kit.edu (R. Dillmann). An autonomous environmental visual perception approach for humanoid robots is presented. The proposed framework exploits(More)
Optical flow is widely used in many applications of portable mobile devices and automotive embedded systems for the determination of motion of objects in a visual scene. Also in robotics, it is used for motion detection, object segmentation, time-to-contact information, focus of expansion calculations, robot navigation, and automatic parking for vehicles.(More)
A variety of different robots was built at our institute. As these robots differ as well in size, shape and in actuation principle it would be very time consuming and inefficient to tailor a computer and hardware architecture especially to the specific robot. In this paper it will be described how common aspects in robot control can be identified and how(More)