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Chapter and Conference Paper
Konzept und Realisierung Eines mit Kontrastauswertung Arbeitenden TV-Trackers
Eswirdein TV-Zielverfolgungssystem vorgestellt, das auf vergleichsweise einfacher, dafür sehr schneller Bild-Informationsverarbeitung beruht. Es setzt sich zusammen aus TV-Kamera einschl. Drehstand, Farbmonito...
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Chapter
Neue Teach-In-Verfahren in der Robotik
Der Vortrag beschreibt die Technik der „Sensorprogrammierung“. Sie erlaubt ein sehr unmittelbares Einlernen von Roboterbewegungen entweder nur in Bezug auf Bahnen oder gleichzeitig auch in Bezug auf Bearbeitun...
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Chapter and Conference Paper
Multisensory Feedback including Cooperative Robots
For on-line sensory feedback in robotics several major prerequisites are necessary:
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the design of small, cheap gripper sensors...
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Chapter and Conference Paper
Predictive and Estimation Schemes in Sensor-Controlled Telerobotics
The paper discusses the problems that arise when sensorcontrolled robots in space are teleoperated from ground stations. Predictive 3D-computer-graphics presently seems the only way to successfully cope with t...
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Chapter and Conference Paper
On a unified concept for a new generation of light-weight robots
The paper outlines a concept for the design of a new generation of light weight robots using an integrated and unified approach for all relevant elements. A light multisensory gripper as the critical end-mass ...
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Chapter
Multisensory Telerobotic Techniques
The paper outlines the telerobotic concepts as presently developed for a small multisensory robot to fly with the next spacelab mission D2; the robot is supposed to work in an autonomous mode, teleoperated by ...
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Chapter and Conference Paper
Echtzeitfähiges Lokalisieren von Polyedern im 3-D Raum
Das Problem des Lokalisierens von Polyedern im 3-D Raum (Positions- und Orientierungsbe-stimmung) wird behandelt. Zunächst werden Repräsentationsformen für 3-D Objekte und Objektlage im Raum erläutert. Dann wi...
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Chapter and Conference Paper
Neural Control Within the BMFT-Project Neres
Whereas the identification and control of linear systems is well understood, this does not apply in general to nonlinear systems. Here, neural nets open up new paths for the treatment of multidimensional nonli...
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Chapter and Conference Paper
Erkennen und Lokalisieren von Polyedern im 3-D Raum
Das Problem des Erkennens von Polyedern im 3-D Raum wird formuliert, eine Lösung dazu wird erarbeitet, und ein mögliches Erkennungsmodul wird mit einem früher vorgestellten Lokalisierungsmodul integriert. Erst...
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Chapter and Conference Paper
A sensor-based telerobotic system for the space robot experiment ROTEX
The space robot technology experiment ROTEX to fly with the next spacelab mission D2 in 1993 provides a sensor-controlled robot which is supposed to work in an autonomous mode, teleoperated by astronauts, and ...
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Chapter and Conference Paper
ROTEX — The first space robot technology experiment
The paper describes the key technologies developed for the space robot technology experiment ROTEX that flew with shuttle flight STS 55 end of April 93. During this „spacelab-D2”-mission for the first time in ...
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Chapter
Modular concepts for the new generation of DLR’s light weight robots
The paper outlines DLR’s mechatronic developments in the robotics area over the last five years. They aim at designing a new multisensory, modularly configurable light weight robot generation in a unified and ...
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Chapter and Conference Paper
Technische Erfordernisse und Möglichkeiten der Telekonsultation bei laparoskopischen Eingriffen
Mit der Einführung der minimal-invasiven Operationstechnik in Form der Videolaparoskopie oder -thorakoskopie hat der Operateur notwendigerweise die unmittelbare visuelle Kontrolle über das Operationsfeld verlo...
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Chapter and Conference Paper
A Parametric Method of Shape-from-Shading and Experimental Comparisons
In this paper, we present a new method of shape from shading by using radial basis functions to parameterize the object depth. The radial basis functions are deformed by adjusting their centers, widths, and we...
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Chapter and Conference Paper
Learning compliant motions by task-demonstration in virtual environments
We are proposing a supervised learning approach in robot force control which enables robot programming by demonstration through an operator. The learning element of the controller is based on a neural network ...
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Chapter and Conference Paper
A feature map approach to pose estimation based on quaternions
This paper proposes a novel solution to the problem of pose estimation of three-dimensional objects using feature maps. Our approach relies on quaternions as the mathematical representation of object orientation....
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Chapter and Conference Paper
A Feature Map Approach to Real-Time 3-D Object Pose Estimation from Single 2-D Perspective Views
A novel approach to the computation of an approximate estimate of spatial object pose from camera images is proposed. The method is based on a neural network that generates pose hypotheses in real time, which ...
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Chapter and Conference Paper
Stereo Matching by RBF Networks with Occlusion Detection
In this paper, we propose a new solution to the stereo correspondence problem by using both features and intensity values. A cost function is formed by integrating intensity errors, gradient errors, and a smoo...
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Chapter
Singularity Consistent Inverse Kinematics by Enhancing the Jacobian Transpose
Redundant and singular consistent movement is calculated via the Jacobian transposed matrix J T . The proposed algorithm is enhanced by a correction function g and sta...
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Chapter and Conference Paper
DLR’s multisensory articulated hand
The paper outlines DLR’s new 4-finger hand characterized by the fact that all 12 active joints (3 for each finger) are integrated into the fingers or the palm. With 112 sensors, around 1000 mechanical and arou...
