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2012


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The Balancing Cube: A Dynamic Sculpture as Test Bed for Distributed Estimation and Control

Trimpe, S., D’Andrea, R.

IEEE Control Systems Magazine, 32(6):48-75, December 2012 (article)

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DOI [BibTex]

2012


DOI [BibTex]


Towards Multi-DOF model mediated teleoperation: Using vision to augment feedback
Towards Multi-DOF model mediated teleoperation: Using vision to augment feedback

Willaert, B., Bohg, J., Van Brussel, H., Niemeyer, G.

In IEEE International Workshop on Haptic Audio Visual Environments and Games (HAVE), pages: 25-31, October 2012 (inproceedings)

Abstract
In this paper, we address some of the challenges that arise as model-mediated teleoperation is applied to systems with multiple degrees of freedom and multiple sensors. Specifically we use a system with position, force, and vision sensors to explore an environment geometry in two degrees of freedom. The inclusion of vision is proposed to alleviate the difficulties of estimating an increasing number of environment properties. Vision can furthermore increase the predictive nature of model-mediated teleoperation, by effectively predicting touch feedback before the slave is even in contact with the environment. We focus on the case of estimating the location and orientation of a local surface patch at the contact point between the slave and the environment. We describe the various information sources with their respective limitations and create a combined model estimator as part of a multi-d.o.f. model-mediated controller. An experiment demonstrates the feasibility and benefits of utilizing vision sensors in teleoperation.

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DOI [BibTex]

DOI [BibTex]


Failure Recovery with Shared Autonomy
Failure Recovery with Shared Autonomy

Sankaran, B., Pitzer, B., Osentoski, S.

In International Conference on Intelligent Robots and Systems, October 2012 (inproceedings)

Abstract
Building robots capable of long term autonomy has been a long standing goal of robotics research. Such systems must be capable of performing certain tasks with a high degree of robustness and repeatability. In the context of personal robotics, these tasks could range anywhere from retrieving items from a refrigerator, loading a dishwasher, to setting up a dinner table. Given the complexity of tasks there are a multitude of failure scenarios that the robot can encounter, irrespective of whether the environment is static or dynamic. For a robot to be successful in such situations, it would need to know how to recover from failures or when to ask a human for help. This paper, presents a novel shared autonomy behavioral executive to addresses these issues. We demonstrate how this executive combines generalized logic based recovery and human intervention to achieve continuous failure free operation. We tested the systems over 250 trials of two different use case experiments. Our current algorithm drastically reduced human intervention from 26% to 4% on the first experiment and 46% to 9% on the second experiment. This system provides a new dimension to robot autonomy, where robots can exhibit long term failure free operation with minimal human supervision. We also discuss how the system can be generalized.

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link (url) [BibTex]

link (url) [BibTex]


Task-Based Grasp Adaptation on a Humanoid Robot
Task-Based Grasp Adaptation on a Humanoid Robot

Bohg, J., Welke, K., León, B., Do, M., Song, D., Wohlkinger, W., Aldoma, A., Madry, M., Przybylski, M., Asfour, T., Marti, H., Kragic, D., Morales, A., Vincze, M.

In 10th IFAC Symposium on Robot Control, SyRoCo 2012, Dubrovnik, Croatia, September 5-7, 2012., pages: 779-786, September 2012 (inproceedings)

Abstract
In this paper, we present an approach towards autonomous grasping of objects according to their category and a given task. Recent advances in the field of object segmentation and categorization as well as task-based grasp inference have been leveraged by integrating them into one pipeline. This allows us to transfer task-specific grasp experience between objects of the same category. The effectiveness of the approach is demonstrated on the humanoid robot ARMAR-IIIa.

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Video pdf DOI [BibTex]

Video pdf DOI [BibTex]


Visual Servoing on Unknown Objects
Visual Servoing on Unknown Objects

Gratal, X., Romero, J., Bohg, J., Kragic, D.

Mechatronics, 22(4):423-435, Elsevier, June 2012, Visual Servoing \{SI\} (article)

Abstract
We study visual servoing in a framework of detection and grasping of unknown objects. Classically, visual servoing has been used for applications where the object to be servoed on is known to the robot prior to the task execution. In addition, most of the methods concentrate on aligning the robot hand with the object without grasping it. In our work, visual servoing techniques are used as building blocks in a system capable of detecting and grasping unknown objects in natural scenes. We show how different visual servoing techniques facilitate a complete grasping cycle.

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Grasping sequence video Offline calibration video Pdf DOI [BibTex]

Grasping sequence video Offline calibration video Pdf DOI [BibTex]


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Movement Segmentation and Recognition for Imitation Learning

Meier, F., Theodorou, E., Schaal, S.

In Seventeenth International Conference on Artificial Intelligence and Statistics, La Palma, Canary Islands, Fifteenth International Conference on Artificial Intelligence and Statistics , April 2012 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]


Emotionally Assisted Human-Robot Interaction Using a Wearable Device for Reading Facial Expressions
Emotionally Assisted Human-Robot Interaction Using a Wearable Device for Reading Facial Expressions

Gruebler, A., Berenz, V., Suzuki, K.

Advanced Robotics, 26(10):1143-1159, 2012 (article)

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link (url) DOI [BibTex]


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From Dynamic Movement Primitives to Associative Skill Memories

Pastor, P., Kalakrishnan, M., Meier, F., Stulp, F., Buchli, J., Theodorou, E., Schaal, S.

Robotics and Autonomous Systems, 2012 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Structure and aggregation of colloids immersed in critical solvents

Mohry, T. F., Maciolek, A., Dietrich, S.

Journal of Chemical Physics, 136(22), 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Ewald sum for hydrodynamic interactions with periodicity in two dimensions

Bleibel, J.

Journal of Physics A: Mathematical and Theoretical, 45(22), 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Nanodroplets at topographic steps

Bartsch, H.

Universität Stuttgart, Stuttgart, 2012 (mastersthesis)

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[BibTex]

[BibTex]


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Patchy worm-like micelles: solution structure studied by small-angle neutron scattering

Rosenfeldt, S., Luedel, F., Schulreich, C., Hellweg, T., Radulescu, A., Schmelz, J., Schmalz, H., Harnau, L.

Physical Chemistry Chemical Physics, 14, pages: 12750-12756, 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Time correlations and persistence probability of a Brownian particle in a shear flow

Chakraborty, D.

European Physical Journal B, 85(8), Springer-Verlag Heidelberg, Heidelberg, 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Event-based State Estimation with Switching Static-gain Observers

Trimpe, S.

In Proceedings of the 3rd IFAC Workshop on Distributed Estimation and Control in Networked Systems, 2012 (inproceedings)

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PDF DOI [BibTex]

PDF DOI [BibTex]


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Local theory for ions in binary liquid mixtures

Bier, M., Gambassi, A., Dietrich, S.

The Journal of Chemical Physics, 137(3), American Institute of Physics, Woodbury, N.Y., 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Effect of ions on confined near-critical binary aqueous mixture

Pousaneh, F., Ciach, A., Maciolek, A.

Soft Matter, 8(29):7567-7581, 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Janus particles in critical liquids

Labbe-Laurent, M.

Universität Stuttgart, Stuttgart, 2012 (mastersthesis)

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[BibTex]

[BibTex]


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Surface integration approach: a new technique for evaluating geometry dependent forces between objects of various geometry and a plate

Dantchev, D., Valchev, G.

Journal of Colloid and Interface Science, 372(1):148-163, 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Phase equilibria of binary liquid crystals

Klöss, Hans-Christian

Universität Stuttgart, Stuttgart, 2012 (mastersthesis)

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[BibTex]

[BibTex]


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Pinning of drops at superhydrophobic surfaces

Daschke, Lena

Universität Stuttgart, Stuttgart, 2012 (mastersthesis)

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[BibTex]

[BibTex]


Usability benchmarks of the Targets-Drives-Means robotic architecture
Usability benchmarks of the Targets-Drives-Means robotic architecture

Berenz, V., Suzuki, K.

In 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), Osaka, Japan, November 29 - Dec. 1, 2012, pages: 514-519, 2012 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Event-based State Estimation with Variance-Based Triggering

Trimpe, S., D’Andrea, R.

In Proceedings of the 51st IEEE Conference on Decision and Control, 2012 (inproceedings)

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PDF Supplementary material DOI [BibTex]

PDF Supplementary material DOI [BibTex]


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Stability of thin wetting films on chemically nanostructured surfaces

Checco, A., Ocko, B. M., Tasinkevych, M., Dietrich, S.

Physical Review Letters, 109(16), American Physical Society., Woodbury, N.Y., etc., 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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The structure of fluids with impurities

Bier, M., Harnau, L.

Zeitschrift f\"ur physikalische Chemie, 226(7-8):807-814, Akademische Verlagsgesellschaft, Frankfurt am Main, 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Impedance spectroscopy of ions at interfaces

Reindl, A.

Universität Stuttgart, Stuttgart, 2012 (mastersthesis)

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[BibTex]

[BibTex]


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Stepwise swelling of a thin film of lamellae-forming poly(styrene-b-butadiene) in cyclohexane vapor

Di, Zhenyu, Posselt, Dorthe, Smilgies, Detlef-M., Li, Ruipeng, Rauscher, Markus, Potemkin, Igor I., Papadakis, Christine M.

Macromolecules, 45(12):5185-5195, 2012 (article)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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A close look at proteins: submolecular resolution of two- and three-dimensionally folded cytochrome c at surfaces

Deng, Z., Thontasen, N., Malinowski, N., Rinke, G., Harnau, L., Rauschenbach, S., Kern, K.

Nano Letters, 12, pages: 2452-2458, 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Field-induced breakup of emulsion droplets stabilized by colloidal particles

Kim, E. G., Stratford, K., Clegg, P. S., Cates, M. E.

Physical Review E, 85(2), 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Surface of an evaporating liquid

Arnold, Daniel

Universität Stuttgart, Stuttgart, 2012 (mastersthesis)

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[BibTex]

[BibTex]


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Precursor films in wetting phenomena

Popescu, M. N., Oshanin, G., Dietrich, S., Cazabat, A. M.

Journal of Physics: Condensed Matter, 24, 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Statics and dynamics of critical Casimir forces

Tröndle, M.

Universität Stuttgart, Stuttgart, 2012 (phdthesis)

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link (url) [BibTex]

link (url) [BibTex]


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First passages in bounded domains: When is the mean first passage time meaningful?

Mattos, Thiago G., Mejia-Monasterio, Carlos, Metzler, Ralf, Oshanin, Gleb

Physical Review E, 86(3), Published by the American Physical Society through the American Institute of Physics, Melville, NY, 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Gelation, phase behavior, and dynamics of beta-lactoglobulin amyloid fibrils at varying concentrations and ionic strengths

Bolisetty, S., Harnau, L., Jung, J., Mezzenga, R.

Biomacromolecules, 13, pages: 3241-3252, 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Interactions of distinct quadrupolar nematic colloids

Eskandari, Z., Silvestre, N. M., Tasinkevych, M., Telo da Gama, M. M.

Soft Matter, 8(39):10100-10106, Royal Society of Chemistry, Cambridge, UK, 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Critical Casimir forces beyond the Derjaguin approximation

Brunner, Niklas

Universität Stuttgart, Stuttgart, 2012 (mastersthesis)

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[BibTex]

[BibTex]


Autonomous battery management for mobile robots based on risk and gain assessment
Autonomous battery management for mobile robots based on risk and gain assessment

Berenz, V., Tanaka, F., Suzuki, K.

Artif. Intell. Rev., 37(3):217-237, 2012 (article)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Inverse dynamics with optimal distribution of contact forces for the control of legged robots

Righetti, L., Schaal, S.

In Dynamic Walking 2012, Pensacola, 2012 (inproceedings)

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[BibTex]

[BibTex]


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Transport of cargo by catalytic Janus micro-motors

Baraban, L., Tasinkevych, M., Popescu, M. N., Sanchez, S., Dietrich, S., Schmidt, O. G.

Soft Matter, 8(1):48-52, 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Mesoscopic analysis of Gibbs’criterion for sessile nanodroplets on trapezoidal substrates

Dutka, F., Napiorkowski, M., Dietrich, S.

Journal of Chemical Physics, 136(6), 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Complete wetting of elastically responsive substrates

Bernardino, N. R., Dietrich, S.

Physical Review E, 85(5), 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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GPU-accelerated simulation of colloidal suspensions with direct hydrodynamic interactions

Kopp, M., Höfling, F.

The European Physical Journal - Special Topics, 210(1):101-117, 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Liquid crystal boojum-colloids

Tasinkevych, M., Silvestre, N. M., da Gama, M. M. Telo

New Journal of Physics, 14, Institute of Physics Pub., Bristol, UK, 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Crystalline inverted membrane grown on surfaces by electrospray ion beam deposition in vacuum

Rauschenbach, S., Rinke, G., Malinowski, N., Weitz, R., Dinnebier, R., Thontasen, N., Deng, Z., Lutz, T., Rollo, P., Costantini, G., Harnau, L., Kern, K.

Advanced Materials, 24, pages: 2761-2767, 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Crystallization of flexible molecules

Held, Felix

Universität Stuttgart, Stuttgart, 2012 (mastersthesis)

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[BibTex]

[BibTex]


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Encoding of Periodic and their Transient Motions by a Single Dynamic Movement Primitive

Ernesti, J., Righetti, L., Do, M., Asfour, T., Schaal, S.

In 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), pages: 57-64, IEEE, Osaka, Japan, November 2012 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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An adaptive sensor foot for a bipedal and quadrupedal robot

Fondahl, K., Kuehn, D., Beinersdorf, F., Bernhard, F., Grimminger, F., Schilling, M., Stark, T., Kirchner, F.

In 2012 4th IEEE RAS EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), pages: 270-275, June 2012 (inproceedings)

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DOI [BibTex]

DOI [BibTex]


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Learning Force Control Policies for Compliant Robotic Manipulation

Kalakrishnan, M., Righetti, L., Pastor, P., Schaal, S.

In ICML’12 Proceedings of the 29th International Coference on International Conference on Machine Learning, pages: 49-50, Edinburgh, Scotland, 2012 (inproceedings)

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[BibTex]

[BibTex]


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Quadratic programming for inverse dynamics with optimal distribution of contact forces

Righetti, L., Schaal, S.

In 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), pages: 538-543, IEEE, Osaka, Japan, November 2012 (inproceedings)

Abstract
In this contribution we propose an inverse dynamics controller for a humanoid robot that exploits torque redundancy to minimize any combination of linear and quadratic costs in the contact forces and the commands. In addition the controller satisfies linear equality and inequality constraints in the contact forces and the commands such as torque limits, unilateral contacts or friction cones limits. The originality of our approach resides in the formulation of the problem as a quadratic program where we only need to solve for the control commands and where the contact forces are optimized implicitly. Furthermore, we do not need a structured representation of the dynamics of the robot (i.e. an explicit computation of the inertia matrix). It is in contrast with existing methods based on quadratic programs. The controller is then robust to uncertainty in the estimation of the dynamics model and the optimization is fast enough to be implemented in high bandwidth torque control loops that are increasingly available on humanoid platforms. We demonstrate properties of our controller with simulations of a human size humanoid robot.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]