Advances in Robotics Research: Theory, Implementation, Application [1 ed.] 9783642012129, 3642012124

Table of contents :
Front Matter....Pages -
Joint Dominance Coefficients: A Sensitivity-Based Measure for Ranking Robotic Degrees of Freedom....Pages 1-10
Learning Kinematics from Direct Self-Observation Using Nearest-Neighbor Methods....Pages 11-20
Guidelines for Low Mass and Low Inertia Dynamic Balancing of Mechanisms and Robotics....Pages 21-30
Probability-Based Robot Search Paths....Pages 31-42
Mapping and Navigation of Mobile Robots in Natural Environments....Pages 43-52
Sensor-Based Online Planning of Time-Optimized Paths in Dynamic Environments....Pages 53-63
Analysis of Strain Transfer to FBG’s for Sensorized Telerobotic End-Effector Applications....Pages 65-75
Intuitive Collision Avoidance of Robots Using Charge Generated Virtual Force Fields....Pages 77-87
6D Pose Uncertainty in Robotic Perception....Pages 89-98
3D Shape Detection for Mobile Robot Learning....Pages 99-109
3D Collision Detection for Industrial Robots and Unknown Obstacles Using Multiple Depth Images....Pages 111-122
Reducing Motion Artifacts in Mobile Vision Systems via Dynamic Filtering of Image Sequences....Pages 123-133
A Software Architecture for Model-Based Programming of Robot Systems....Pages 135-146
Intuitive Robot Programming of Spatial Control Loops with Linear Movements....Pages 147-158
Model-Based Programming “by Demonstration”– Fast Setup of Robot Systems (ProDemo)....Pages 159-168
New Concept for Wrist Design of the Humanoid Robot ARMAR....Pages 169-178
Biological Motivated Control Architecture and Mechatronics for a Human-Like Robot....Pages 179-190
Using the Torso to Compensate for Non-Minimum Phase Behaviour in ZMP Bipedal Walking....Pages 191-202
Object-Specific Grasp Maps for Use in Planning Manipulation Actions....Pages 203-213
Vision Controlled Grasping by Means of an Intelligent Robot Hand....Pages 215-226
Learning an Object-Grasp Relation for Silhouette-Based Grasp Planning....Pages 227-237
Efficient Parallel Random Sample Matching for Pose Estimation, Localization, and Related Problems....Pages 239-250
Automated Robot Assisted Fracture Reduction....Pages 251-262
Path Planning for Robot-Guided Endoscopes in Deformable Environments....Pages 263-274
An Unmanned Helicopter for Autonomous Flights in Urban Terrain....Pages 275-285
Interaction of Altitude Control and Waypoint Navigation of a 4 Rotor Helicopter....Pages 287-298
Cooperative Autonomous Helicopters for Load Transportation and Environment Perception....Pages 299-310
Robot on the Leash — An Intuitive Inexpensive Interface for Robots Using the Nintendo Wii Remote....Pages 311-321
Robot Basketball: Ball Dribbling — A Modified Juggling Task....Pages 323-334
Research on Exoskeletons at the TU Berlin....Pages 335-346
Hard- and Software Architecture of a Small Autonomous Underwater Vehicle for Environmental Monitoring Tasks....Pages 347-356
Back Matter....Pages -