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Chapter and Conference Paper
Adaptive Bayesian Optimization for Robotic Pushing of Thin Fragile Deformable Objects
Robotic manipulation of deformable objects is challenging due to the great variety of materials and shapes. This task is even more complex when the object is also fragile, and the allowed amount of deformatio...
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Chapter
Aktive Beseitigung von Weltraumschrott zur Aufrechterhaltung und Weiterentwicklung des Ökosystems Weltraum
Kommunikations- und Erdbeobachtungssatelliten, Raketen und zukünftige Serviceinfrastrukturen im Erdorbit sind auf kollisionsfreie Flugbahnen angewiesen. Schon jetzt, zu Beginn des Aufbaus gigantischer Satellit...
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Chapter and Conference Paper
Learning Teleoperation of an Assistive Humanoid Platform by Intact and Upper-Limb Disabled Users
With the advent of highly dexterous robotic arms, assistive platforms for home healthcare are gaining increasing attention from the research community. Control of the many degrees of freedom of such platforms,...
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Chapter and Conference Paper
Visual and Tactile Fusion for Estimating the Pose of a Grasped Object
This paper considers the problem of fusing vision and touch senses together to estimate the 6D pose of an object while it is grasped. Assuming that a textured 3D model of the object is available, first, Scale-...
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Reference Work Entry In depth
Mechanism Design of DLR Humanoid Robots
This chapter provides an overview on the development process from lightweight manipulators toward anthropomorphic humanoid robots at the German Aerospace Center – DLR. The technological basis for these robots ...
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Reference Work Entry In depth
Manipulation and Task Execution by Humanoids
This chapter is focused on planning and execution of tasks, most notably manipulation, with humanoid robots. The chapter opens with a discussion on different levels of planning: high-level planning for task se...
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Reference Work Entry In depth
DLR Multi-fingered Hands
This chapter describes the history of development of multi-fingered hands at the Institute of Robotics and Mechatronics, German Aerospace Center (DLR). It provides an overview of kinematics, actuators, and sen...
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Chapter and Conference Paper
Tactile-Based In-Hand Object Pose Estimation
This paper presents a method to estimate the pose of an object inside a robotic hand by exploiting contact and joint position information. Once an initial visual estimation is provided, a Bootstrap Particle Fi...
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Living Reference Work Entry In depth
DLR Multi-fingered Hands
This chapter describes the history of development of multi-fingered hands at the Institute of Robotics and Mechatronics, German Aerospace Center (DLR). It provides an overview of kinematics, actuators, and sen...
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Living Reference Work Entry In depth
Manipulation and Task Execution by Humanoids
This chapter is focused on planning and execution of tasks, most notably manipulation, with humanoid robots. The chapter opens with a discussion on different levels of planning: high-level planning for task se...
-
Living Reference Work Entry In depth
Mechanisms and Design of DLR Humanoid Robots
This chapter provides an overview on the development process from lightweight manipulators toward anthropomorphic humanoid robots at the German Aerospace Center – DLR. The technological basis for these robots ...
-
Chapter and Conference Paper
Interpreting Manipulation Actions: From Language to Execution
Processing natural language instructions for execution of robotic tasks has been regarded as a means to make more intuitive the interaction with robots. This paper is focused on the applications of natural lan...
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Article
Open AccessGrasp quality measures: review and performance
The correct grasp of objects is a key aspect for the right fulfillment of a given task. Obtaining a good grasp requires algorithms to automatically determine proper contact points on the object as well as prop...
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Chapter
Contact Trajectories for Regrasp Planning on Discrete Objects
Manipulation tasks, in general, require a grasp change on the object during its execution. The manipulation problem can be solved by simply rolling or sliding the fingers on the object surface, the so-called r...
