The Experts below are selected from a list of 20442 Experts worldwide ranked by ideXlab platform

Gerd Hirzinger - One of the best experts on this subject based on the ideXlab platform.

  • A new generation of ergonomic exoskeletons - The high-performance X-Arm-2 for Space Robotics telepresence
    IEEE International Conference on Intelligent Robots and Systems, 2011
    Co-Authors: Andre Schiele, Gerhard Hirzinger, Gerd Hirzinger
    Abstract:

    This paper introduces the mechatronic design and a first performance analysis of a new haptic exoskeleton, the X-Arm-2. The X-Arm-2 is a fully actuated force-reflecting human arm exoskeleton that is based on our previously proposed approach to ergonomic and human-centered exoskeleton design [1] [2]. The X-Arm-2 is a highly power-dense impedance-type haptic device that (1) can interact with natural human arm movement of varying operators without requiring adjustments and creating constraint forces, (2) provides crisp force-feedback through high actuator bandwidth, low residual friction and good joint torque sensor resolution, (3) has a low total mass of only 6.2 kg and (4) low inertia through a human-oriented mixed implementation of Bowden-cable relocated and directly-integrated DC actuators.

  • rokviss Robotics component verification on iss current experimental results on parameter identification
    International Conference on Robotics and Automation, 2006
    Co-Authors: Alin Albuschaffer, Wieland Bertleff, Klaus Landzettel, Bernd Schafer, Bernhard Rebele, Gerd Hirzinger
    Abstract:

    ROKVISS, the German new Space Robotics technology experiment, was successfully installed outside at the Russian Service Module of the International Space Station (ISS) during an extravehicular Space walk at the end of January 2005. Since February 2005 a two joint manipulator can be operated from ground via a direct radio link. The aim of ROKVISS is the in flight verification of highly integrated modular robotic joints as well as the demonstration of different control modes, reaching from high system autonomy to force feedback teleoperation. A main goal of the experiment is the evaluation of the dynamical parameters (especially friction, motor constant and stiffness), as well as the monitoring of their evolution over the duration of the mission, in order to validate the long term performance of the system. The paper gives first a short overview of the experiment and in particular a description of the applied control structures. The main focus of the paper is on the joint parameter identification results obtained so far, during one year of operation

  • Space Robotics dlr s telerobotic concepts lightweight arms and articulated hands
    Autonomous Robots, 2003
    Co-Authors: Gerd Hirzinger, Bernhard Brunner, J Butterfas, Klaus Landzettel, N Sporer, M Schedl
    Abstract:

    The paper briefly outlines DLR's experience with real Space robot missions (ROTEX and ETS VII). It then discusses forthcoming projects, e.g., free-flying systems in low or geostationary orbit and robot systems around the Space station ISS, where the telerobotic system MARCO might represent a common baseline. Finally it describes our efforts in developing a new generation of “mechatronic” ultra-light weight arms with multifingered hands. The third arm generation is operable now (approaching present-day technical limits). In a similar way DLR's four-fingered hand II was a big step towards higher reliability and yet better performance. Artificial robonauts for Space are a central goal now for the Europeans as well as for NASA, and the first verification tests of DLR's joint components are supposed to fly already end of 93 on the Space station.

  • Space Robotics driver for a new mechatronic generation of light weight arms and multifingered hands
    International Conference on Advanced Intelligent Mechatronics, 2001
    Co-Authors: Gerd Hirzinger, M Schedl, M Fischer, Markus Grebenstein, N Sporer, J Butterfass, I Schafer, L Hong, Alin Albuschaffer, P Neumann
    Abstract:

    Based on the long term goal "robonauts for Space", the paper describes design and development efforts in DLR's Robotics lab towards a new generation of "mechatronic" ultra-light weight robots with articulated hands. The design of fully sensorized joints with complete state feedback and the underlying mechanisms are outlined. The second light-weight arm generation is available now; in the same way the second generation a most highly integrated 4 finger-hand is near completion. Thus it is hoped that big steps towards a new generation of Space as well as service and personal robots have been achieved.

  • a unified ground control and programming methodology for Space Robotics applications demonstrations on ets vii
    2000
    Co-Authors: Gerd Hirzinger, Klaus Landzettel, B Brunner, R Lampariello, G Schreiber, Bernhardmichael Steinmetz
    Abstract:

    The paper outlines the main features of DLR’s ground control station for Space Robotics applications. It combines sensorbased task-level teleprogramming with the features of teleoperation and shared autonomy. The teaching by showing approach is the key to a easy-to-use programming interface at different levels of Space robot controlling. This approach has led to a modular task-directed programming scheme, which provides a very flexible architecture to adapt the applicationspecific requirements to a given controlling scheme. To demonstrate the power of our system, we describe the results of the GETEX experiment, which was performed in April ’99 at the first free-floating Space robot on NASDA’s ETS-VII satellite 1 .

Karl D. Iagnemma - One of the best experts on this subject based on the ideXlab platform.

  • a dynamic model based wheel slip detector for mobile robots on outdoor terrain
    IEEE Transactions on Robotics, 2008
    Co-Authors: Chris C. Ward, Karl D. Iagnemma
    Abstract:

    This paper introduces a model-based approach to estimating longitudinal wheel slip and detecting immobilized conditions of autonomous mobile robots operating on outdoor terrain. A novel tire traction/braking model is presented and used to calculate vehicle dynamic forces in an extended Kalman filter framework. Estimates of external forces and robot velocity are derived using measurements from wheel encoders, inertial measurement unit, and GPS. Weak constraints are used to constrain the evolution of the resistive force estimate based upon physical reasoning. Experimental results show the technique accurately and rapidly detects robot immobilization conditions while providing estimates of the robot's velocity during normal driving. Immobilization detection is shown to be robust to uncertainty in tire model parameters. Accurate immobilization detection is demonstrated in the absence of GPS, indicating the algorithm is applicable for both terrestrial applications and Space Robotics.

  • Model-Based Wheel Slip Detection for Outdoor Mobile Robots
    Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007
    Co-Authors: Chris C. Ward, Karl D. Iagnemma
    Abstract:

    This paper introduces a model-based approach to estimating longitudinal wheel slip and detecting immobilized conditions of autonomous mobile robots operating on outdoor terrain. A novel tire traction/braking model is presented and used to calculate vehicle dynamic forces in an extended Kalman filter framework. Estimates of external forces and robot velocity are derived using measurements from wheel encoders, IMU, and GPS. Weak constraints are used to constrain the evolution of the resistive force estimate based upon physical reasoning. Experimental results show the technique accurately and rapidly detects robot immobilization conditions while providing estimates of the robot's velocity during normal driving. Immobilization detection is shown to be robust to uncertainty in tire model parameters. Accurate immobilization detection is demonstrated in the absence of GPS, indicating the algorithm is applicable for both terrestrial applications and Space Robotics.

J Heindl - One of the best experts on this subject based on the ideXlab platform.

  • sensor based Space Robotics rotex and its telerobotic features
    International Conference on Robotics and Automation, 1993
    Co-Authors: Gerd Hirzinger, Bernhard Brunner, J Dietrich, J Heindl
    Abstract:

    In early 1993 the Space robot technology experiment ROTEX was flown with Space-shuttle Columbia. A multisensory robot onboard the Spacecraft successfully worked in autonomous modes, teleoperated by astronauts, as well as in different telerobotic ground control modes. These included online teleoperational and telesensor-programming: a task-level oriented programming technique involving learning-by-showing concepts in a virtual environment. The robot's key features were its multisensory gripper and the local sensory feedback schemes that are the basis for shared autonomy. The corresponding man-machine interface concepts, which use a six-degree-of-freedom non-force-reflecting control ball and visual feedback to the human operator, are explained. Stereographic simulation on the ground was used to predict not only the robot's free motion but even the sensor-based path refinement onboard. Prototype tasks performed by this Space robot were the assembly of a truss structure, connecting/disconnecting an electrical plug (orbit replaceable unit exchange), and grasping free-floating objects. >

  • multisensory shared autonomy and tele sensor programming key issues in the Space robot technology experiment rotex
    Intelligent Robots and Systems, 1993
    Co-Authors: B Brunner, Gerd Hirzinger, Klaus Landzettel, J Heindl
    Abstract:

    Outlines key technologies in the approach of the author's research establishment to Space Robotics. Based on multisensory gripper technology, local on-board sensory feedback, and predictive graphic simulation (with emphasis on sensory simulation) a tele-sensor programming concept is introduced that allows sensor-based teleoperation in spite of large signal delays as well as sensor-based off-line programming following a "learning by showing" concept. A small multisensory robot based on these concepts has flown in Space with a ten-day Space Shuttle mission. This robot technology experiment ROTEX was very successful and showed that, with these sensor-based concepts, even present-day Space robots can perform different prototype tasks in a variety of operational modes, including automatic (reprogrammable) operation, and on-board teleoperation using human and/or machine intelligence.

Klaus Landzettel - One of the best experts on this subject based on the ideXlab platform.

  • rokviss Robotics component verification on iss current experimental results on parameter identification
    International Conference on Robotics and Automation, 2006
    Co-Authors: Alin Albuschaffer, Wieland Bertleff, Klaus Landzettel, Bernd Schafer, Bernhard Rebele, Gerd Hirzinger
    Abstract:

    ROKVISS, the German new Space Robotics technology experiment, was successfully installed outside at the Russian Service Module of the International Space Station (ISS) during an extravehicular Space walk at the end of January 2005. Since February 2005 a two joint manipulator can be operated from ground via a direct radio link. The aim of ROKVISS is the in flight verification of highly integrated modular robotic joints as well as the demonstration of different control modes, reaching from high system autonomy to force feedback teleoperation. A main goal of the experiment is the evaluation of the dynamical parameters (especially friction, motor constant and stiffness), as well as the monitoring of their evolution over the duration of the mission, in order to validate the long term performance of the system. The paper gives first a short overview of the experiment and in particular a description of the applied control structures. The main focus of the paper is on the joint parameter identification results obtained so far, during one year of operation

  • rokviss Space Robotics dynamics and control performance experiments at the iss
    IFAC Proceedings Volumes, 2004
    Co-Authors: Bernd Schafer, Bernhard Rebele, Klaus Landzettel
    Abstract:

    Abstract To guarantee for mission success, already during the design phase, confidence in the robotic dynamics and control models has to be ensured. For validation purposes of the underlying models and design characteristics, the need to have in-orbit testbeds is addressed, especially for the novel robotic electro-mechanical components, such as DLR‘s intelligent robotic joints of the 3 rd generation light-weight robot arms. An ISS-based twojoint robotic configuration experiment, ROKVISS is presented that focuses on the inorbit demonstration of the robot dynamics and control performance by making use of parameter identification techniques for both robotic joint and contact dynamics.

  • Space Robotics dlr s telerobotic concepts lightweight arms and articulated hands
    Autonomous Robots, 2003
    Co-Authors: Gerd Hirzinger, Bernhard Brunner, J Butterfas, Klaus Landzettel, N Sporer, M Schedl
    Abstract:

    The paper briefly outlines DLR's experience with real Space robot missions (ROTEX and ETS VII). It then discusses forthcoming projects, e.g., free-flying systems in low or geostationary orbit and robot systems around the Space station ISS, where the telerobotic system MARCO might represent a common baseline. Finally it describes our efforts in developing a new generation of “mechatronic” ultra-light weight arms with multifingered hands. The third arm generation is operable now (approaching present-day technical limits). In a similar way DLR's four-fingered hand II was a big step towards higher reliability and yet better performance. Artificial robonauts for Space are a central goal now for the Europeans as well as for NASA, and the first verification tests of DLR's joint components are supposed to fly already end of 93 on the Space station.

  • a unified ground control and programming methodology for Space Robotics applications demonstrations on ets vii
    2000
    Co-Authors: Gerd Hirzinger, Klaus Landzettel, B Brunner, R Lampariello, G Schreiber, Bernhardmichael Steinmetz
    Abstract:

    The paper outlines the main features of DLR’s ground control station for Space Robotics applications. It combines sensorbased task-level teleprogramming with the features of teleoperation and shared autonomy. The teaching by showing approach is the key to a easy-to-use programming interface at different levels of Space robot controlling. This approach has led to a modular task-directed programming scheme, which provides a very flexible architecture to adapt the applicationspecific requirements to a given controlling scheme. To demonstrate the power of our system, we describe the results of the GETEX experiment, which was performed in April ’99 at the first free-floating Space robot on NASDA’s ETS-VII satellite 1 .

  • dlr s Robotics lab recent developments in Space Robotics
    International Conference on Robotics and Automation, 1999
    Co-Authors: Gerd Hirzinger, M Schedl, Bernhard Brunner, Klaus Landzettel, I Schaefer, M Fischer, Markus Grebenstein, N Sporer, Jonathan M Schott, C Deutrich
    Abstract:

    The paper gives an overview of DLR's latest developments and project experience in Space Robotics. From the technology point of view, progress in the design and development of light weight robots and articulated multifinger-hands as well as in the refinement of IILR's sensor-based, task level teleprogramming system MARC0 (and its virtual reality concept) is reported. In addition DLR's experiences with NASDA's free flying Space robot ETS VI1 in terms of sensor-controlled ground programming and dynamic robot-satellite interaction are outlined. Ongoing laboratory experiments towards free flying Space robots (ESS) are supposed to prepare the basis for a European or German free-flyer project. And the design of endeffector technologies and ground control concepts for the robotic part of EuTEF on the International Space Station are fully underway.

Chris C. Ward - One of the best experts on this subject based on the ideXlab platform.

  • a dynamic model based wheel slip detector for mobile robots on outdoor terrain
    IEEE Transactions on Robotics, 2008
    Co-Authors: Chris C. Ward, Karl D. Iagnemma
    Abstract:

    This paper introduces a model-based approach to estimating longitudinal wheel slip and detecting immobilized conditions of autonomous mobile robots operating on outdoor terrain. A novel tire traction/braking model is presented and used to calculate vehicle dynamic forces in an extended Kalman filter framework. Estimates of external forces and robot velocity are derived using measurements from wheel encoders, inertial measurement unit, and GPS. Weak constraints are used to constrain the evolution of the resistive force estimate based upon physical reasoning. Experimental results show the technique accurately and rapidly detects robot immobilization conditions while providing estimates of the robot's velocity during normal driving. Immobilization detection is shown to be robust to uncertainty in tire model parameters. Accurate immobilization detection is demonstrated in the absence of GPS, indicating the algorithm is applicable for both terrestrial applications and Space Robotics.

  • Model-Based Wheel Slip Detection for Outdoor Mobile Robots
    Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007
    Co-Authors: Chris C. Ward, Karl D. Iagnemma
    Abstract:

    This paper introduces a model-based approach to estimating longitudinal wheel slip and detecting immobilized conditions of autonomous mobile robots operating on outdoor terrain. A novel tire traction/braking model is presented and used to calculate vehicle dynamic forces in an extended Kalman filter framework. Estimates of external forces and robot velocity are derived using measurements from wheel encoders, IMU, and GPS. Weak constraints are used to constrain the evolution of the resistive force estimate based upon physical reasoning. Experimental results show the technique accurately and rapidly detects robot immobilization conditions while providing estimates of the robot's velocity during normal driving. Immobilization detection is shown to be robust to uncertainty in tire model parameters. Accurate immobilization detection is demonstrated in the absence of GPS, indicating the algorithm is applicable for both terrestrial applications and Space Robotics.