CORA: An anthropomorphic robot assistant for human environment

Iossifidis, Ioannis; Bruckhoff, Carsten; Theis, C.; Grote, C.; Faubel, Christian; Schöner, Gregor

doi:10.1109/roman.2002.1045654

Cited by 18 publications

(10 citation statements)

References 4 publications

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“…It is equipped a with stereo vision system mounted on a 2 DoF head. For more details, please refer to [12]. The behavior generated by the whole system and the effects of single contributions was tested in a simulation framework.…”

Section: Implementation and Resultsmentioning

confidence: 99%

Autonomous movement generation for manipulators with multiple simultaneous constraints using the attractor dynamics approach

Reimann

Iossifidis

Schöner

2011

2011 IEEE International Conference on Robotics and Automation

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The movement of autonomous agents in natural environments is restricted by potentially large numbers of constraints. To generate behavior that fulfills all given constraints simultaneously, the attractor dynamics approach to movement generation represents each constraint by a dynamical system with attractors or repellors at desired or undesired values of a relevant variable. These dynamical systems are transformed into vector fields over the control variables of a robotic agent that force the state of the whole system in directions beneficial to the satisfaction of the behavioral constraint. The attractor dynamics approach was recently successfully applied to the generation of manipulator motion trajectories avoiding collision with obstacles [1] and constraints on gripper orientation during reaching and grasping movements [2]. Continuing that body of work, this paper proposes a system which generates movements satisfying both obstacle avoidance and gripper orientation constraints simultaneously. As an extension, the additional constraint of avoiding hardware limits for joint angles is included. Properties of the resulting system are demonstrated by a systematic study generating movements with a large number of constraints in different scene setups. Specific characteristics are highlighted by several showcase example movements.

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Section: Implementation and Resultsmentioning

confidence: 99%

Autonomous movement generation for manipulators with multiple simultaneous constraints using the attractor dynamics approach

Reimann

Iossifidis

Schöner

2011

2011 IEEE International Conference on Robotics and Automation

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“…The behavior generation scheme described in the previous section was implemented for the 8 DoF manipulator CoRA [21]. Experiments that demonstrate successful generation of movements adhering to the given behavioral constraints were carried out both with the real manipulator and in a software simulator.…”

Section: Implementation and Resultsmentioning

confidence: 99%

Generating collision free reaching movements for redundant manipulators using dynamical systems

Reimann

Iossifidis

Schöner

2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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For autonomous robots to manipulate objects in unknown environments, they must be able to move their arms without colliding with nearby objects, other agents or humans. The simultaneous avoidance of multiple obstacles in real time by all link segments of a manipulator is still a hard task both in practice and in theory. We present a systematic scheme for the generation of collision free movements for redundant manipulators in scenes with arbitrarily many obstacles. Based on the dynamical systems approach to robotics, constraints are formulated as contributions to a dynamical system that erect attractors for targets and repellors for obstacles. These contributions are formulated in terms of variables relevant to each constraint and then transformed into vector fields over the manipulator joint velocity vector as an embedding space in which all constraints are simultaneously observed. We demonstrate the feasibility of the approach by implementing it on a real anthropomorphic 8-degrees-of-freedom redundant manipulator. In addition, performance is characterized by detecting failures in a systematic simulation experiment in randomized scenes with varying numbers of obstacles.

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“…Issofidis et al introduced an anthropomorphic robot assistant for human environment based on a seven degree of freedom (DOF) manipulator arm in combination with a two DOF stereo camera head [19]. The robotic system comprises an interface to the worker for the interactive correction of grasping orientation of the end effector.…”

Section: Assist Robotsmentioning

confidence: 99%